CN208147311U - Automate screw assembly equipment - Google Patents
Automate screw assembly equipment Download PDFInfo
- Publication number
- CN208147311U CN208147311U CN201820473851.1U CN201820473851U CN208147311U CN 208147311 U CN208147311 U CN 208147311U CN 201820473851 U CN201820473851 U CN 201820473851U CN 208147311 U CN208147311 U CN 208147311U
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Abstract
The utility model provides a kind of automation screw assembly equipment, including two axis robots and servo electric screwdriver, wherein two axis robot includes base assembly, big arm component, small arm component；The first end of the big arm component and the base assembly are pivotally connected by first, and the base assembly includes first motor and drives the big arm component to pivot around described first by the first motor；The second end of the big arm component and the small arm component are pivotally connected by second, and the small arm component includes the second motor and pivoted by small arm component described in second motor driven around described second；The servo electric screwdriver is installed on the small arm component.The utility model is realized that screw is locked automatically by two axis robots and servo electric screwdriver and is paid, so that entire product structure is simple, cost is relatively low, lock small especially suitable for place pays occasion of less demanding.
Description
Technical field
The utility model relates to Automated assembly fields, more specifically to a kind of automation screw assembly equipment.
Background technique
In the manufacturings such as electronics, machinery, screw assembling work is using very extensive.Previous screw assembling work is big
Part is manual operations, i.e., by the way that screw is manually placed into screw hole location, then is locked one by one with screwdriver, and which, which exists, gives birth to
The drawbacks such as low efficiency, large labor intensity are produced, the expansion of production scale of enterprise and the raising of productivity effect are unfavorable for.With scientific skill
Gradually there are the locking machines tools such as servo electric screwdriver, pneumatic screw batch in the rapid development of art, substitutes the mode tightened by hand, mentions
High working efficiency, mitigates the working strength of worker's lock screw.
Currently, the automated assembling equipment with the screwed lock mainly has XY desktop machine people, standard SCARA
(Selective Compliance Assembly Robot Arm, the robot arm applied to assembling work) robot, six
Articulated robot and non-standard robot etc..
However, the occupied area of above-mentioned XY desktop machine people is larger, ease for use is lower, is unfavorable for the use of automatic production line
And adjustment；The higher cost of standard SCARA robot, six articulated robot schemes, most of lock pays the applied field of technique at present
Scape is not necessarily to so many freedom degree.
Utility model content
The technical problem to be solved by the present invention is to big for the land occupation of above-mentioned automated assembling equipment, ease for use is low
And the problem of higher cost, a kind of new automation screw assembly equipment is provided.
The technical solution that the utility model solves above-mentioned technical problem is to provide a kind of automation screw assembly equipment, wraps
Two axis robots and servo electric screwdriver are included, wherein two axis robot includes base assembly, big arm component, small arm component；It is described
The first end of big arm component and the base assembly are pivotally connected by first, and the base assembly includes first motor and passes through
The first motor drives the big arm component to pivot around described first；The second end of the big arm component and the forearm
Component is pivotally connected by second, and the small arm component includes the second motor and passes through forearm group described in second motor driven
Part is pivoted around described second；The servo electric screwdriver is installed on the small arm component；First pivot and the second pivot
It is arranged in parallel.
In automation screw assembly equipment described in the utility model, two axis robot further includes bellows group
Part, and cable, the tracheae between the small arm component and base assembly are located in the bellows component.
In automation screw assembly equipment described in the utility model, the servo electric screwdriver include driving mechanism, batch bar,
Sleeve assembly, transmission component and piston component, and the sleeve assembly includes batch mouth, described batch of bar and transmission component installing
In the sleeve assembly, the driving mechanism is rotated via described batch of bar of transmission component driving；The piston component dress
It is located in the sleeve assembly；Described batch of bar does axial reciprocating movement under piston component promotion.
In automation screw assembly equipment described in the utility model, the piston component includes first piston head, work
Stopper rod, second piston head and stop collar, wherein：The first piston head and second piston head respectively with the sleeve assembly
Inner wall is slidably connected, the stop collar is fixedly connected on the sleeve assembly, and the first piston head and stop collar are in institute
It states and is separated out first annular seal space, the stop collar and second piston head in sleeve assembly and is separated out second in the sleeve assembly
Seal chamber；The piston rod passes through the stop collar and is respectively fixedly connected with the first piston head and second piston head；
Have on the sleeve assembly the first stomata for being connected to the first annular seal space and with second seal chamber
Second stomata of connection, and by making described the to the second seal chamber gas injection described in the second cylinder for being connected to second stomata
Two piston heads push described batch of bar to stretch out batch mouth, by being connected to the first cylinder of first stomata to the first annular seal space
Gas injection makes the second piston head that described batch of bar is retracted batch mouth；First cylinder and the second cylinder are set to the small arm component
It is interior.
In automation screw assembly equipment described in the utility model, the transmission component includes transmission shaft, drive sleeve
Cylinder, first bearing, second bearing, and the second bearing is compound ball bearing；The piston rod is tubulose, the drive sleeve
Cylinder sequentially passes through the first piston head, piston rod and second piston head, and the drive socket is pacified by the first bearing
It is attached to first piston head, is installed to second piston head by second bearing；The transmission shaft slides axially with the drive socket
Connection, and the drive socket is driven to rotate.
In automation screw assembly equipment described in the utility model, the sleeve assembly includes upper bush and batch mouth peace
It is sleeved, and described batch of mouth installation sleeve is fixedly connected on the bottom of the upper bush；The first annular seal space and the second sealing
Chamber is located in the upper bush, and first stomata and the second stomata are located at the upper bush；Described batch of bar passes through
3rd bearing is installed in described batch of mouth installation sleeve.
In automation screw assembly equipment described in the utility model, described batch of mouth is fixed on the bottom of batch mouth installation sleeve
Portion, and third seal chamber is equipped in described batch of mouth；The adsorption orifice in described batch of gonys portion is connected to the third seal chamber, and described
Criticizing tool on the side wall of mouth, there are two the third through-holes being oppositely arranged, described two third through-holes to connect respectively with the third seal chamber
It is logical, and the negative pressure device by being connected to the third through-hole realizes the screw absorption of the adsorption orifice；The negative pressure device is set
In in the small arm component.
In automation screw assembly equipment described in the utility model, the driving mechanism is servo motor；Described batch
Magnet ring is equipped in mouth installation sleeve, and described batch of bar passes through the magnet ring.
In automation screw assembly equipment described in the utility model, described batch of bar is assembled to described by Quick-dismantle component
The bottom of drive socket；The Quick-dismantle component includes that steel ball keeps sleeve, steel ball, spring and retaining ring；Wherein：The drive socket
Outside there is axial groove, and the steel ball remains in the groove；The steel ball keeps the inside tool of sleeve
There is inclined-plane, and the upper and lower position of the steel ball in the trench is changed by the inclined-plane, to realize the limit to batch bar and loosen；
The spring is pressed in the steel ball and keeps at the inner wall step of sleeve and make the steel ball that sleeve be kept to be in Pre strained state；It is described
Retaining ring is installed in the end of drive socket and prevents the spring and steel ball that sleeve is kept to be detached from drive socket.
In automation screw assembly equipment described in the utility model, there is kidney slot in described batch of mouth installation sleeve,
And the screw by being fixed on kidney slot limits described batch of bar, the long axis of the kidney slot is along described batch of mouth mounting cylinder
Axial setting.
The automation screw assembly equipment of the utility model has the advantages that：Pass through two axis robots and servo electricity
It batch realizes that screw lock automatically and pays, so that entire product structure is simple, cost is relatively low, lock small especially suitable for place pays requirement not
High occasion.
Detailed description of the invention
Fig. 1 is the schematic diagram of the utility model automation screw assembly equipment embodiment；
Fig. 2 is the schematic diagram of servo electric screwdriver embodiment in the utility model automation screw assembly equipment；
Fig. 3 is the diagrammatic cross-section of servo electric screwdriver in Fig. 2.
Specific embodiment
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and implementation
Example, the present invention will be further described in detail.It should be appreciated that specific embodiment described herein is only used to explain
The utility model is not used to limit the utility model.
As shown in Figure 1, being the schematic diagram of the utility model automation screw assembly equipment embodiment, automation screw dress
It can realize that electronics, the screw in mechanical device are locked automatically with equipment to pay.Automation screw assembly equipment in the present embodiment includes
Two axis robots and servo electric screwdriver 4, wherein two axis robots include base assembly 1, big arm component 2, small arm component 3.It is above-mentioned big
The first end and base assembly 1 of arm component 2 are pivotally connected by first, and base assembly 1 includes first motor and passes through the first electricity
Machine drives big arm component 2 to pivot around first；The second end of big arm component 2 and small arm component 3 are pivotally connected by second, small
Arm component 3 includes the second motor and is pivoted by the small arm component 3 of the second motor driven around second；Servo electric screwdriver 4 is installed in
On small arm component 3.During the screwed lock, by the driving of first motor and the second motor, it can be achieved that big arm component 2 and small
Servo electric screwdriver 4 and screw are transported to specified lock from suction point and pay point by the swing of arm component 3, are reached lock and are paid servo electricity after point
It criticizes 4 to start to work, screw is subjected to lock and is paid.
Above-mentioned two axis robot further includes bellows component 5, and cable, tracheae of small arm component 3 etc. all pass through bellows group
Part 5 is connected to base assembly 1.
With with the screwed lock SCARA robot compared with, above-mentioned automation screw assembly equipment will have rotation and on
The screw part of lower effect removes, and only remains two freedom degrees around the rotation of the axle center of big arm component 2 and small arm component 3,
So that entire product structure is simple, cost is relatively low, lock small especially suitable for place pays occasion of less demanding.
As shown in Figure 2,3, above-mentioned servo electric screwdriver 4 include driving mechanism 41, batch bar 48, sleeve assembly, transmission component and
Piston component, and batch bar 48 and transmission component are installed in sleeve assembly (sleeve assembly includes batch mouth 44 positioned at bottom).
Above-mentioned driving mechanism 41 is rotated via transmission component driving batch bar 48.Piston component is equally installed in sleeve assembly, and is passed through
Piston motion drives batch bar 48 to do axial reciprocating movement.
In the turn of the screw, for driving mechanism 41 while driving batch bar 48 rotates, piston component pushes batch bar 48 by screw
It pushes, to complete the screwed lock；After completing the screwed lock, batch bar 48 is retracted initial position by piston component.Above-mentioned driving
Servo motor specifically can be used in mechanism 41 or other provide the mechanism of rotation output.
Above-mentioned servo electric screwdriver can not only drive batch bar rotation by merging electric screwdriver structure and piston structure, but also
Batch bar uplink and downlink can be driven, additional down force is provided again without the external world and achieves that screw lock is paid, significantly
Assembling cost and maintenance cost are saved.
Above-mentioned piston component may include first piston head 451, piston rod 452, second piston head 453 and stop collar 454,
Wherein：First piston head 451 and second piston head 453 are slidably connected with the inner wall of sleeve assembly respectively, and stop collar 454 is then fixed
It is connected on sleeve assembly.The periphery of above-mentioned first piston head 451, second piston head 453 and stop collar 454 can pass through respectively
The inner wall of sealing ring and sleeve assembly is tightly connected, so that first piston head 451, stop collar 454 are separated out in sleeve assembly
First annular seal space, stop collar 454 and second piston head 453 are separated out the second seal chamber in sleeve assembly.Piston rod 452 passes through
First annular seal space, stop collar 454 and the second seal chamber, and the both ends of the piston rod 452 are respectively fixedly connected with first piston
First 451 and second piston head 453, and first piston head 451 and second piston head 453 is followed to axially move, batch bar 48 then exists
It is moved under the action of above-mentioned second piston head 453.Particularly, above-mentioned piston rod 452 can be with first piston head 451 or second piston
First 453 one.
Stop collar 454 can be fixed on sleeve assembly in the following manner：In the recessed of the periphery of stop collar 454 setting circumferential direction
Slot, and screw hole 421 is set on sleeve assembly；Stop collar 454 is embedded in groove by end and is threadedly coupled to the spiral shell of screw hole 421
Nail is fixed on sleeve assembly.
There is the first stomata 422 being connected to first annular seal space and be connected to the second seal chamber second on sleeve assembly
Stomata.Threaded hole can be used in above-mentioned first stomata 422 and the second stomata, and cylinder, such as the first gas can be connected to by tracheae
Hole 422 is connected to the first cylinder by tracheae, and the second stomata is connected to the second cylinder by tracheae, and by the first cylinder to the
One seal chamber gas injection passes through the second cylinder to the second seal chamber gas injection, to realize the piston motion of piston component.Specifically, such as
Shown in Fig. 2, in the second cylinder via the second stomata to when the second seal chamber gas injection, the volume expansions of the second seal chamber, due to limit
Position ring 454 is fixed to sleeve assembly, therefore second piston head 453 moves down, and pushes batch 48 downlink of bar to stretch out batch mouth and (drive simultaneously
Piston rod 452 and first piston head 451 move down, and the gas in first annular seal space is discharged by the first stomata 422)；In the first gas
Cylinder via the first stomata 422 to when first annular seal space gas injection, the volume expansions of first annular seal space, since stop collar 454 is fixed to
Sleeve assembly, therefore first piston head 451 moves up, and piston rod 452 and second piston head 453 is driven to move up, thus will batch bar
48 pull-up.Above-mentioned first cylinder and the second cylinder specifically may be provided in small arm component 3.
In above-mentioned first annular seal space and the second seal chamber, cushion can be installed respectively and (such as be fixed on stop collar 454
Both ends), to buffer the shock between first piston head 451, second piston head 453 and stop collar 454.In addition, can also be in sleeve
Increase kidney slot 431 on component, and the screw by being fixed on kidney slot 431 limits batch bar 48, i.e. limitation batch bar
The range of 48 axial movements.Specifically, the long axis of above-mentioned kidney slot 431 is arranged along the axial direction of sleeve assembly.
Above-mentioned transmission component includes transmission shaft 462, drive socket 463, first bearing 465, second bearing 466, wherein
Plain bearing can be used in one bearing 465, only can provide circumferential rotation, and compound ball bearing then can be used in second bearing 466,
It can provide the sliding of circumferential rotation and axial direction.Wherein the piston rod 452 in piston component be tubulose, drive socket 463 according to
It is secondary to pass through first piston head 451, piston rod 452 and second piston head 453, and first piston is installed to by first bearing 465
First 451, second piston head 453 is installed to by second bearing 466.Transmission shaft 462 is then mounted on sleeve assembly by bearing 461
It is interior, and be in axial sliding connection with drive socket 463, and drive socket 463 is driven to rotate.
Specifically, the inner wall of 462 one end of output shaft Yu transmission shaft of driving mechanism 41 is attached by fastening screw and (is passed
The outer wall of moving axis 462 and the inner ring of bearing 461 are attached, and the outer ring of bearing 461 is then connected with the inner wall of sleeve assembly
It connects).The top of sleeve assembly is fixedly connected with driving mechanism 41 using screw.The other end of transmission shaft 462 is that section is
The prism or spline (section of drive socket 463 and transmission shaft 462 is also possible to other non-regular shapes) of regular polygon, it is embedding
Cover in drive socket 463, the section of 463 inner wall of drive socket be the regular polygon matched with the section of transmission shaft 462 or
Splined sleeve.In this way, paying in the device course of work in automatic lock, transmission shaft 462 can not only carry out in drive socket 463
Lower movement, and drive socket 463 can be driven to rotate together.
Company is fixed with the inner ring of first bearing 465 and second bearing 466 respectively in the outer wall both ends of drive socket 463
It connects.The outer ring of above-mentioned first bearing 465 is fixedly connected with first piston head 451, the outer ring of second bearing 466 then with second piston
First 453 are fixedly connected.Specifically, the outer ring of above-mentioned second bearing 466 is pressed on second piston head 453, the top of piston rod 452
It is pressed on first piston head 451, while first piston head 451 is pressed on the outer ring of first bearing 465 again, finally utilizes nut
467 lock total, complete axial locking and fix.
Above-mentioned sleeve assembly specifically may include upper bush 42, batch mouth installation sleeve 43, batch mouth 44, and batch mouth installation sleeve 43
It is fixedly connected on the bottom of upper bush 42, batch mouth 44 is located at the bottom of batch mouth installation sleeve 43.Specifically, this batch of mouth installation sleeve
43 can be fixedly connected with upper bush 42 using screw thread, and batch mouth 44 can also be used with batch mouth installation sleeve 43 and be threadedly coupled.Waist
Shape hole 431 can specifically be located in batch mouth installation sleeve 43.First annular seal space and the second seal chamber are located in upper bush 42, the
One stomata 422 and the second stomata are also located at upper bush 42.It criticizes bar 48 and batch mouth installation sleeve is installed to by 3rd bearing 491
In 43.Specifically, the inner wall for criticizing mouth installation sleeve 43 is connect with the outer ring interference of 3rd bearing 491.
Third seal chamber is equipped in above-mentioned batch of mouth 44, and the adsorption orifice of batch 44 bottom of mouth is connected to third seal chamber；It is criticizing
On the side wall of mouth 44, tool there are two the third through-hole 441 that is oppositely arranged, and two third through-holes 441 respectively with third seal chamber
Connection.Above-mentioned third through-hole 441 can connect negative pressure device (negative pressure device can be set in small arm component 3), make in negative pressure device
Under, the bottom through-hole of batch mouth 44 can realize that screw adsorbs.The structure of above-mentioned batch of mouth mounting cylinder 43, batch mouth 44, not only ensure that
Concentricity of the bar 48 relative to batch mouth 44 is criticized, and in screw adsorption process, guarantees air-flows using two third through-holes 441
Stablize, improves the stationarity of screw absorption.
It can be positioned below magnet ring 492 in 3rd bearing 491, batch bar 48 passes through magnet ring 492, and between magnet ring 492 and batch bar 48
Gap connection.Batch stability of bar rotation can be improved in above-mentioned magnet ring 492.
Criticize the bottom that bar 48 can specifically be assembled to drive socket 463 by Quick-dismantle component.Specifically, Quick-dismantle component includes steel
Pearl keeps sleeve 471, steel ball, spring 472 and retaining ring 473；Wherein the outside (i.e. periphery) of 463 bottom of drive socket can be equipped with axis
To groove, and steel ball remains in above-mentioned groove；Steel ball keeps sleeve 471 to be placed on outside steel ball, and the steel ball keeps set
The inside of cylinder 471 has inclined-plane, and changes the upper and lower position of steel ball in the trench by the inclined-plane, to realize the limit to batch bar 48
Position and loosen.472 springs are pressed in steel ball and keep at the inner wall step of sleeve 471 and make steel ball that sleeve 471 be kept to be in preload shape
State；Retaining ring 473 is installed in the bottom end of drive socket 463 and prevents spring 472 and steel ball that sleeve 471 is kept to be detached from drive socket
463。
The preferable specific embodiment of the above, only the utility model, but the protection scope of the utility model is not
It is confined to this, anyone skilled in the art within the technical scope disclosed by the utility model, can readily occur in
Change or replacement, should be covered within the scope of the utility model.Therefore, the protection scope of the utility model should
It is subject to the protection scope in claims.
Claims (10)
1. a kind of automation screw assembly equipment, which is characterized in that including two axis robots and servo electric screwdriver, wherein two axis
Robot includes base assembly, big arm component, small arm component；The first end of the big arm component and the base assembly pass through the
One is pivotally connected, the base assembly include first motor and by the first motor driving big arm component around described the
One pivots；The second end of the big arm component and the small arm component are pivotally connected by second, the small arm component packet
It includes the second motor and is pivoted by small arm component described in second motor driven around described second；The servo electric screwdriver dress
It is located on the small arm component；First pivot and the setting of the second pivot axis parallel.
2. automation screw assembly equipment according to claim 1, which is characterized in that two axis robot further includes wave
Line tube assembly, and cable, the tracheae between the small arm component and base assembly are located in the bellows component.
3. automation screw assembly equipment according to claim 1 or 2, which is characterized in that the servo electric screwdriver includes driving
Motivation structure, batch bar, sleeve assembly, transmission component and piston component, and the sleeve assembly includes batch mouth, described batch of bar and
Transmission component is installed in the sleeve assembly, and the driving mechanism is rotated via described batch of bar of transmission component driving；Institute
Piston component is stated to be installed in the sleeve assembly；Described batch of bar does axial reciprocating movement under piston component promotion.
4. automation screw assembly equipment according to claim 3, which is characterized in that the piston component includes first living
Chock plug, piston rod, second piston head and stop collar, wherein：The first piston head and second piston head respectively with the set
The inner wall of cartridge module is slidably connected, the stop collar is fixedly connected on the sleeve assembly, and the first piston head and limit
Position ring is separated out first annular seal space, the stop collar and second piston head in the sleeve assembly and divides in the sleeve assembly
It is separated out the second seal chamber；The piston rod passes through the stop collar and is respectively fixedly connected with the first piston head and second and lives
Chock plug；
There is the first stomata being connected to the first annular seal space on the sleeve assembly and be connected to second seal chamber
The second stomata, and it is described second living by making to the second seal chamber gas injection described in the second cylinder for being connected to second stomata
Chock plug pushes described batch of bar to stretch out batch mouth, by being connected to the first cylinder of first stomata to the first annular seal space gas injection
Make the second piston head that described batch of bar is retracted batch mouth；First cylinder and the second cylinder are set in the small arm component.
5. automation screw assembly equipment according to claim 4, which is characterized in that the transmission component includes transmission
Axis, drive socket, first bearing, second bearing, and the second bearing is compound ball bearing；The piston rod is tubulose,
The drive socket sequentially passes through the first piston head, piston rod and second piston head, and the drive socket is described in
First bearing is installed to first piston head, is installed to second piston head by second bearing；The transmission shaft and the drive sleeve
Cylinder is in axial sliding connection, and the drive socket is driven to rotate.
6. automation screw assembly equipment according to claim 5, which is characterized in that the sleeve assembly includes upper bush
With batch mouth installation sleeve, and described batch of mouth installation sleeve is fixedly connected on the bottom of the upper bush；The first annular seal space and
Second seal chamber is located in the upper bush, and first stomata and the second stomata are located at the upper bush；It is described
Bar is criticized to be installed in described batch of mouth installation sleeve by 3rd bearing.
7. automation screw assembly equipment according to claim 6, which is characterized in that described batch of mouth is fixed on batch mouth installation
The bottom of sleeve, and third seal chamber is equipped in described batch of mouth；The adsorption orifice in described batch of gonys portion and the third seal chamber connect
Logical, and have on the side wall of described batch of mouth there are two the third through-hole being oppositely arranged, described two third through-holes are respectively with described the
The connection of three seal chambers, and the negative pressure device by being connected to the third through-hole realizes the screw absorption of the adsorption orifice；It is described
Negative pressure device is set in the small arm component.
8. automation screw assembly equipment according to claim 6, which is characterized in that the driving mechanism is servo electricity
Machine；Magnet ring is equipped in described batch of mouth installation sleeve, and described batch of bar passes through the magnet ring.
9. automation screw assembly equipment according to claim 6, which is characterized in that described batch of bar is filled by Quick-dismantle component
It is fitted on the bottom of the drive socket；The Quick-dismantle component includes that steel ball keeps sleeve, steel ball, spring and retaining ring；Wherein：It is described
The outside of drive socket has axial groove, and the steel ball remains in the groove；The steel ball keeps sleeve
Inside there is inclined-plane, and the upper and lower position of the steel ball in the trench is changed by the inclined-plane, to realize to the limit for criticizing bar
Position and loosen；The spring is pressed in the steel ball and keeps at the inner wall step of sleeve and make the steel ball that sleeve be kept to be in preload
State；The retaining ring is installed in the end of drive socket and prevents the spring and steel ball that sleeve is kept to be detached from drive socket.
10. automation screw assembly equipment according to claim 6, which is characterized in that have in described batch of mouth installation sleeve
There is kidney slot, and the screw by being fixed on kidney slot limits described batch of bar, the long axis of the kidney slot is described in
Criticize the axial setting of mouth mounting cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820473851.1U CN208147311U (en) | 2018-03-30 | 2018-03-30 | Automate screw assembly equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820473851.1U CN208147311U (en) | 2018-03-30 | 2018-03-30 | Automate screw assembly equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208147311U true CN208147311U (en) | 2018-11-27 |
Family
ID=64380703
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820473851.1U Expired - Fee Related CN208147311U (en) | 2018-03-30 | 2018-03-30 | Automate screw assembly equipment |
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| Country | Link |
|---|---|
| CN (1) | CN208147311U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111185938A (en) * | 2020-01-09 | 2020-05-22 | 珠海格力电器股份有限公司 | Wire protection device and robot |
-
2018
- 2018-03-30 CN CN201820473851.1U patent/CN208147311U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111185938A (en) * | 2020-01-09 | 2020-05-22 | 珠海格力电器股份有限公司 | Wire protection device and robot |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181127 Termination date: 20200330 |
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| CF01 | Termination of patent right due to non-payment of annual fee |