CN208246218U - A kind of the screwed lock device and the screwed lock robot - Google Patents
A kind of the screwed lock device and the screwed lock robot Download PDFInfo
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- CN208246218U CN208246218U CN201820298068.6U CN201820298068U CN208246218U CN 208246218 U CN208246218 U CN 208246218U CN 201820298068 U CN201820298068 U CN 201820298068U CN 208246218 U CN208246218 U CN 208246218U
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Abstract
The utility model is suitable for screw locking field, a kind of the screwed lock device is provided, including criticizing the guide rod of bar assembly and beak component described in fixed frame, rotatable and sliding batch of bar assembly, sliding drive mechanism, rotary drive mechanism, the beak component below described batch of bar assembly, connection, positioned at the elastic device of described batch of bar assembly and beak component；Any one in described batch of bar assembly or the beak component is fixedly connected with the guide rod, and one of unlocked connection can carry out round-trip limit sliding on the guide rod；Batch bar assembly and beak component respectively by opposite to each other to elastic force；The fixed frame can be respectively relative to and be slided by criticizing bar assembly, guide rod, elastic device, beak component, utilize the ingenious cooperation of batch rod bearing seat, holddown spring, beak connector, the first limited block and guide rod, realize the fast and stable assembly of screw, assembly efficiency is improved, the utility model embodiment also provides a kind of the screwed lock robot.
Description
Technical field
The utility model belongs to the screwed lock field more particularly to a kind of the screwed lock device and the screwed lock robot.
Background technique
One of important procedure when screw assembly is the manufacture of most of production, with the trend of automated production, people
The mode that work is screwed has been difficult to meet the large-scale production demand of product, and automation lock is industrially also gradually adopted to pay
Device is artificial to replace, and realizes that lock pays the promotion of efficiency.
Batch bar is mainly driven to slide up and down using cylinder however, current screws most of on the market lock a pair device automatically,
Not only structure is complex, and required part is more, and operating rate is also unsatisfactory, and job insecurity, and lock pays low efficiency, twists
The problems such as tight of poor quality, it is difficult to really effectively replace artificial.
Utility model content
The utility model embodiment is designed to provide a kind of the screwed lock device and the screwed lock robot, to solve
Existing the screwed lock low efficiency, ropy problem.
The utility model embodiment is achieved in that a kind of the screwed lock device, comprising:
Fixed frame；
Rotatable and sliding batch bar assembly being set on the fixed frame；
Sliding drive mechanism for driving described batch of bar assembly to slide on the fixed frame；
For driving the rotary drive mechanism of described batch of bar assembly rotation；
Beak component below described batch of bar assembly；
Any one in guide rod, described batch of bar assembly or the beak component is fixedly connected with the guide rod, not
One be fixedly connected can carry out round-trip limit sliding on the guide rod；
Positioned at the elastic device of described batch of bar assembly and beak component, the elastic device is used for respectively to described batch of bar group
Part and beak component provide elastic force mutually backwards；；
Wherein,
The screwdriver bit of the mountable different model in the end of described batch of bar assembly；
The beak component can be used for the feeding and limit of screw；
Described batch of bar assembly, guide rod, elastic device, beak component can be respectively relative to the fixed frame and be slided.
Further, the fixed frame is equipped with batch bar sliding rail, and described batch of bar assembly is equipped with batch rod bearing and batch bar axis
Hold seat；Described batch of rod bearing seat is slidably connected with what described batch of bar sliding rail was adapted to.
Further, that slides on described batch of bar sliding rail is equipped with beak connector, and the beak component is fixed on the bird
On mouth connector.
Further, described batch of rod bearing seat is equipped with guide rod through-hole, and the guide rod is arranged in the guide rod through-hole；
The elastic device is holddown spring, and the holddown spring is sheathed on the guide rod, and is located at described batch of bar axis
It holds between seat and the beak connector；
One end that the guide rod is not connect with beak connector is equipped with the first limited block, and described batch of rod bearing seat is limited in institute
It states between the first limited block and holddown spring.
Further, the fixed frame lower end is equipped with the adjustable limit for being limited to the beak connector
Block.
Further, the sliding drive mechanism include Z axis rotating electric machine, Z axis synchronous belt component, screw rod, with described batch
The splined shaft and screw rod spline connecting plate that bar assembly is fixedly connected；The both ends of the Z axis synchronous belt component respectively with the Z
Axis rotating electric machine is connected with screw rod；One end of the screw rod spline connecting plate is fixed on the splined shaft, the other end with it is described
Screw rod adaptation connection.
Further, the sliding drive mechanism further includes the screw rod bracket with the equidirectional setting of the screw rod.
Further, rotary drive mechanism includes R axis rotating electric machine, R axis synchronous belt component；The R axis synchronous belt component
One end is connect with the R axis rotating electric machine, the other end and the spline axis connection.
The utility model embodiment also provides a kind of the screwed lock robot, comprising:
Pedestal；
The X arm that can be rotated horizontally on pedestal；
The Y arm that can be rotated horizontally on X arm；
Using the screwed lock device described in above-mentioned any embodiment, the screwed lock device it is vertical be fixed on it is described
On Y arm.
It further, further include the X arm rotating electric machine and Y arm rotating electric machine for respectively driving X arm and the rotation of Y arm, the rotation of X arm
Motor is fixed on the pedestal or is fixed on X arm, and Y arm rotating electric machine is fixed on the X arm far from X arm rotating electric machine
One end is fixed on Y arm.
The utility model embodiment provides a kind of the screwed lock device and the screwed lock robot, screw rod upper end pass through axis
The flange for holding and being fixed on screw rod bracket upper end is fixed, and lower end is fixed by bearing and the flange being fixed on Y arm, passes through both ends
The mode of fixed screw rod, more firm firm compared to conventional one end cantilever mounted structure, concentricity is further guaranteed；Spiral shell
Silk lock pair device, which utilizes, criticizes rod bearing seat, holddown spring, beak connector, the first limited block, the ingenious cooperation of the parts such as guide rod,
The fast and stable assembly for realizing screw, compared to the conventional structure for driving batch bar to move up and down using cylinder, this implementation
Example can not only save the accessories such as cylinder, carry out screw assembly again in place without waiting for cylinder during working at the same time, save significantly
The working time has been saved, assembly efficiency is improved.
Detailed description of the invention
It, below will be to embodiment or the prior art in order to illustrate more clearly of the technical scheme in the embodiment of the utility model
Attached drawing needed in description is briefly described, it should be apparent that, the accompanying drawings in the following description is only that this is practical new
Some embodiments of type for those of ordinary skill in the art without any creative labor, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the solid of the screwed lock device provided by the embodiment of the utility model not containing sliding and rotary drive mechanism
Figure；
Fig. 2 is that the utility model embodiment provides the screwed lock robot perspective view；
Fig. 3 is the cross-sectional view of 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, the utility model embodiment provides a kind of the screwed lock device 100, including fixed frame 110, can revolve
Turn and being set on the fixed frame 110 for sliding criticizes bar assembly 120, for driving described batch of bar assembly 120 described solid
Determine the sliding drive mechanism (not shown) slided on frame 110, the rotary drive mechanism for driving described batch of bar assembly 120 to rotate
(not shown), the beak component 130 positioned at described batch of 120 lower section of bar assembly, connection described batch of bar assembly 120 and beak component
130 guide rod 140, positioned at the elastic device 150 of described batch of bar assembly 120 and beak component 130；Wherein,
Any one in described batch of bar assembly 120 or the beak component 130 and the fixed company in described 140 one end of guide rod
It connects, one of unlocked connection can carry out round-trip limit sliding on the guide rod 140；Described batch of bar assembly 120 and beak
Component 130 respectively by opposite to each other to elastic force；
The screwdriver bit (not shown) of the mountable different model in the end of described batch of bar assembly 120；
The beak component 130 can be used for the feeding and limit of screw；
Described batch of bar assembly 120, guide rod 140, elastic device 150, beak component 130 can be respectively relative to the fixed frame
110 are slided.
Lock provided in this embodiment pays device 100 and passes through batch bar assembly, guide rod, beak component, elastic device and batch bar group
The overall co-ordination of the spaced motion of any one in part or beak component, so that movement is steady, lock pair effect is good.
Round-trip spaced motion in the present embodiment is to guarantee that beak component can be limited in and need to lock the position paid.
When batch bar assembly 120 is moved to the direction of the beak component 130, batch bar assembly 120 passes through elastic device 150
Elastic force squeeze the beak component 130 so that the beak component is steady, flexible to wait lock being located proximate to of paying；Meanwhile
Described batch of bar assembly also will receive the elastic force opposite with the direction of motion, also carry out certain delay to the movement of described batch of bar assembly
Punching.
When moving when batch bar assembly 120 to the direction far from the beak component 130, described batch of bar assembly 120 is by leading
Bar 140 drives the beak component 130 to move together, far from the position for having locked the screw paid.
Specifically, the fixed frame 110 is equipped with batch bar sliding rail 111, described batch of bar assembly 120 is equipped with batch rod bearing
(not shown) and batch rod bearing seat 121；Described batch of rod bearing seat 121 is slidably connected with what described batch of bar sliding rail 111 was adapted to.It is described
That slides on batch bar sliding rail 111 is equipped with beak connector 112, and the beak component 130 is fixed on the beak connector 112
On.That is, described batch of bar assembly 120 and the beak component 130 respectively by batch rod bearing seat 121 and beak connector 112 with
The described batch of sliding adaptation of bar sliding rail 111.
Described batch of rod bearing seat 121 is equipped with guide rod through-hole (not shown), and the guide rod 140 is arranged in the guide rod through-hole
It is interior；The elastic device 150 is holddown spring, and the holddown spring is sheathed on the guide rod 140 and is located at described batch of bar axis
It holds between seat 121 and the beak connector 112；
One end that the guide rod 140 is not connect with beak connector 112 is equipped with the first limited block 141, described batch of rod bearing
Seat 121 is limited between first limited block 141 and holddown spring.
When described batch of bar assembly 120 is moved to 130 direction of beak component, described batch of rod bearing seat 121 1 is driven
Movement is played, then described batch of rod bearing seat 121 squeezes the beak connector 112 by the elastic force of holddown spring, to drive
The beak component 130 is moved to wait lock the position paid；
When moving when batch bar assembly 120 to the direction far from the beak component 130, described batch of bar assembly 120 drives institute
It states batch rod bearing seat 121 to slide on the guide rod 140, when described batch of rod bearing seat 121 and described batch of rod bearing seat 121 move
When at 141 position of the first limited block, due to the limitation of the first limited block, described batch of rod bearing seat 121 will drive the first limit
Block, guide rod 140, beak connector 112, beak component 130 move together, far from the position for having locked the screw paid.
In the present embodiment, described batch of rod bearing seat 121 and the guide rod be can be movable relatively, guide rod 140 and beak connector
112 are fixedly connected, and in conjunction with the first limited block 141, realize and drive beak component 130 to move by the movement of batch bar assembly
Design.
In other embodiments, it is also possible to 140 relative motion of beak connector 112 and guide rod, then first limit
Block 141 will be arranged far from one end of batch rod bearing seat 121, and batch other end of the rod bearing seat 121 then with the guide rod is fixed
Connection.
In other embodiments, first limited block can be anchored on guide rod using nut and be realized, meanwhile, also more
It is needed conducive to the adjusting of different operating conditions.
With continued reference to Fig. 1,110 lower end of fixed frame be equipped with for the beak connector 112 limited can
Adjust limited block 160.When batch bar assembly 120 is moved to 130 direction of beak component, drive batch rod bearing seat 121 along batch bar
Sliding rail 111 feeds down movement, and holddown spring compressing beak connector 112, which synchronizes to follow, to be moved downward.When beak connector 112
When moving to the adjustable limit block 160 of 110 lower end of fixed frame, 112 stop motion of beak connector is criticized bar assembly 120 and is criticized
Rod bearing seat 121 then continues to move, and the screwdriver bit end in pending bar assembly reaches the screw institute in beak component 130 in place fastly
At position, batch bar assembly carries out swivel feeding movement, will be on the target position of the screwed lock to workpiece.
The sliding drive mechanism is mainly used for described batch of bar assembly 120 of driving and slides on the fixed frame 110, is protecting
In the case that the precision and stability of card transmission is higher and cost is relatively low, the sliding drive mechanism can choose rotating electric machine
In conjunction with the combination of screw rod；
Similarly, the rotary drive mechanism can choose rotating electric machine also to realize the rotation of batch bar assembly.
Further, it further includes mobile mechanism that the lock, which pays device, for the movement of fixed frame 110, to realize fixation
The Primary Location of the position of the screwed lock is realized in the movement of other component on frame 110.
As shown in Figures 2 and 3, the utility model embodiment also provides a kind of the screwed lock robot 200, including pedestal 210,
The X arm 220 that can be rotated horizontally on pedestal, the Y arm 230 that can be rotated horizontally on X arm 220 and real using above-mentioned Arbitrary Term
The screwed lock device 100 described in example is applied, the screwed lock device 100 is vertical to be fixed on the Y arm 230 (that is, being formed
Z axis and R axis).
The pedestal 210 is equipped with X arm rotating electric machine 221, for driving X arm 220 with the rotation of X arm rotating electric machine 221
Axis (figure is not marked) is rotated for axle center.
Further, pass through speed reducer (figure is not marked) connection, the speed reducer between X arm rotating electric machine 221 and X arm 220
It is fixed on the pedestal 210, the input terminal of the speed reducer connects X arm rotating electric machine 221, and output end connects X arm 220.
One end on the X arm 220 far from X arm rotating electric machine 221 is fixed with Y arm rotating electric machine 231, for driving Y arm
230 are rotated with the rotary shaft (figure is not marked) of Y arm rotating electric machine 231 for axle center.
Further, pass through speed reducer (figure is not marked) connection, the speed reducer between Y arm rotating electric machine 231 and Y arm 230
It is fixed on X arm 220, the input terminal of the speed reducer connects Y arm rotating electric machine 231, and output end connects Y arm 230.
In other embodiments, the Y arm rotating electric machine 231 can also be fixed on Y arm 230, by X arm 220
Matching hole is set, realizes Y arm using matching hole as the rotation in axle center.Similarly, the X arm rotating electric machine can also be fixed on X arm.
The X arm rotating electric machine 221 and Y arm rotating electric machine 231 are realized by flange respectively to be fixed.
With continued reference to Fig. 2 and 3, the lock is paid device 100 and is fixed on the Y arm 230.
In the present embodiment, the sliding drive mechanism and rotary drive mechanism are located at the top of Y arm, and criticize bar group
Part 120, batch bar sliding rail 111, beak component 130, guide rod 140 are located at the lower section of Y arm.
Specifically, the sliding drive mechanism include Z axis rotating electric machine 181, Z axis synchronous belt component 182, screw rod 183, with
The splined shaft 184 and screw rod spline connecting plate 185 that described batch of bar assembly 120 is fixedly connected；The Z axis synchronous belt component
Both ends are connect with the Z axis rotating electric machine 181 and screw rod 183 respectively；Institute is fixed in one end of the screw rod spline connecting plate 185
It states on splined shaft 184, the other end is adapted to connection with the screw rod 183.
Z axis rotating electric machine 181 drives screw rod 183 to rotate by Z axis synchronous belt component 182, and screw rod 183 is by its rotary motion
It is converted into the vertical up and down motion of screw rod spline connecting plate 325, to drive the flower being fixedly connected with screw rod spline connecting plate 325
The vertical of key axis 184 follows movement up and down, realizes the up and down motion of batch bar assembly 120.
Further, the sliding drive mechanism further includes the screw rod bracket 186 with the equidirectional setting of the screw rod 183.
186 lower end of screw rod bracket is anchored on Y arm, and upper end is connected by flange with the bearing for being installed on screw rod upper end
It connects；The lower end of the screw rod is fixed by bearing and the flange being installed on Y arm.
In the present embodiment, the screw rod bracket is triangular in shape, so that screw rod is more stable；In order to mitigate the weight of Y arm, institute
Stating screw rod bracket can also be arranged using hollow out.
The rotary drive mechanism includes R axis rotating electric machine 191, R axis synchronous belt component 192；The R axis synchronous belt component
192 one end are connect with the R axis rotating electric machine 191, and the other end is connect with the splined shaft 184.Pass through R axis rotating electric machine 191
Rotation, the rotation of splined shaft 184 is driven, so that the rotation of batch bar assembly is realized, when the driving batch bar group of Z axis rotating electric machine 181
When part moves to scheduled lock pair position, the driving batch bar assembly 120 of R axis rotating electric machine 191 rotates, the lock of final realization screw
It pays.
Certainly in other embodiments, the lock pays the sliding drive mechanism of device 100 and rotary drive mechanism can also be with
It separates, is set up directly on Y arm 230 with fixed frame 110.
The specific structure of sliding drive mechanism and rotary drive mechanism in the present embodiment is not limited to above-mentioned the screwed lock machine
The embodiment of device people is paid in device and can also be used in others lock.
Further, T-type structure, sliding drive mechanism and rotary drive mechanism position can be set into the fixed frame 110
In top, batch bar assembly 120, batch bar sliding rail 111, beak component 130 are located below ipsilateral.
The screwed lock robot of the present embodiment assembles water by the screw that rotation X arm 220 and Y arm 230 navigate to workpiece
Prosposition is set, and batch bar assembly 120 follows splined shaft 184 to carry out vertical movement down, drives batch rod bearing seat 121 sliding along batch bar
Rail 111 feeds down movement, and the compressing beak connector 112 of holddown spring 150, which synchronizes to follow, to be moved downward, when beak connector
112 when moving to the adjustable limit block 160 of 110 lower end of fixed frame, 112 stop motion of beak connector, batch bar assembly 120 and
It criticizes rod bearing seat 121 then to continue to move downward, pending 120 end of bar assembly reaches the screw in beak component 130 in place fastly
When position, splined shaft 184 carries out swivel feeding movement, will be on the target position of the screwed lock to workpiece.
For the screw locking after workpiece, splined shaft 184 drives batch bar assembly 120 and batch rod bearing seat 121 straight up
Movement when batch rod bearing seat 121 moves to the first limited block 141, drives the first limited block 141 to move upwards, and then by leading
Bar 140 drive beak connector 112 move upwards, it is to be exercised to safety without interference position after, wait next step screw assembler
Sequence.
The screwed lock robot can select different batch bar assemblies according to reality, using suitably batch pole length and criticize
Lever lock pays head (screwdriver bit), to assemble the screw of various specifications；Meanwhile batch bar sliding rail, the length of holddown spring and guide rod, can
Adjusting limited block 160 can be adjusted according to working method, to meet the different assembly depth requirements of screw.
Screw rod upper end by bearing and is fixed in the screwed lock device and the screwed lock robot provided in this embodiment
The flange of screw rod bracket upper end is fixed, and lower end is fixed by bearing and the flange being fixed on Y arm, passes through the fixed screw rod in both ends
Mode, more firm firm compared to conventional one end cantilever mounted structure, concentricity is further guaranteed；The screwed lock device
Using batch rod bearing seat, holddown spring, beak connector, the first limited block, the ingenious cooperation of the parts such as guide rod realizes screw
Fast and stable assembly, criticize the conventional structure that moves up and down of bar compared to driving using cylinder, the present embodiment not only can be with
The accessories such as cylinder are saved, screw assembly are carried out again in place without waiting for cylinder during working at the same time, when work is greatly saved
Between, improve assembly efficiency.
Improved in the present embodiment before all parts title first or second or the third that contain or the 4th or
Person the 5th is neither defined the structure of associated components, only for distinguishing the difference of position；The portion mentioned in embodiment
The connection of part limits, and not only limit is directly connected to, and can also include being indirectly connected with.The above content is combine specific be preferably implemented
Mode further detailed description of the utility model is, and it cannot be said that the specific implementation of the utility model is confined to these
Explanation.For the utility model person of an ordinary skill in the technical field, before not departing from the utility model design
Put and make several equivalent substitute or obvious modifications, and performance or use is identical, all shall be regarded as belonging to the utility model by
The scope of patent protection that the claims submitted determine.
Claims (10)
1. a kind of the screwed lock device characterized by comprising
Fixed frame；
Rotatable and sliding batch bar assembly being set on the fixed frame；
Sliding drive mechanism for driving described batch of bar assembly to slide on the fixed frame；
For driving the rotary drive mechanism of described batch of bar assembly rotation；
Beak component below described batch of bar assembly；
Any one in guide rod, described batch of bar assembly or the beak component is fixedly connected with the guide rod, unlocked
One of connection can carry out round-trip limit sliding on the guide rod；
Positioned at the elastic device of described batch of bar assembly and beak component, the elastic device for respectively to the described batch of bar assembly and
Beak component provides elastic force mutually backwards；
Wherein,
The screwdriver bit of the mountable different model in the end of described batch of bar assembly；
The beak component can be used for the feeding and limit of screw；
Described batch of bar assembly, guide rod, elastic device, beak component can be respectively relative to the fixed frame and be slided.
2. the screwed lock device as described in claim 1, which is characterized in that the fixed frame is equipped with batch bar sliding rail, described
It criticizes bar assembly and is equipped with batch rod bearing and batch rod bearing seat；The sliding that described batch of rod bearing seat is adapted to described batch of bar sliding rail connects
It connects.
3. the screwed lock device as claimed in claim 2, which is characterized in that the beak that is equipped with slided on described batch of bar sliding rail connects
Fitting, the beak component are fixed on the beak connector.
4. the screwed lock device as claimed in claim 3, which is characterized in that described batch of rod bearing seat is equipped with guide rod through-hole,
The guide rod is arranged in the guide rod through-hole；
The elastic device is holddown spring, and the holddown spring is sheathed on the guide rod and is located at described batch of rod bearing seat
Between the beak connector；
One end that the guide rod is not connect with beak connector is equipped with the first limited block, and described batch of rod bearing seat is limited in described the
Between one limited block and holddown spring.
5. the screwed lock device as claimed in claim 4, which is characterized in that the fixed frame lower end is equipped with for the bird
The adjustable limit block that mouth connector is limited.
6. the screwed lock device as described in claim 1-5 any one, which is characterized in that the sliding drive mechanism includes
Z axis rotating electric machine, Z axis synchronous belt component, screw rod, the splined shaft being fixedly connected with described batch of bar assembly and screw rod spline connect
Fishplate bar；The both ends of the Z axis synchronous belt component are connect with the Z axis rotating electric machine and screw rod respectively；The screw rod spline connection
One end of plate is fixed on the splined shaft, and the other end is adapted to connection with the screw rod.
7. the screwed lock device stated such as claim 6, which is characterized in that the sliding drive mechanism further includes and the screw rod
The screw rod bracket of equidirectional setting.
8. the screwed lock device as claimed in claim 6, which is characterized in that rotary drive mechanism includes R axis rotating electric machine, R
Axis synchronous belt component；Described R axis synchronous belt component one end is connect with the R axis rotating electric machine, and the other end and the splined shaft connect
It connects.
9. a kind of the screwed lock robot characterized by comprising
Pedestal；
The X arm that can be rotated horizontally on pedestal；
The Y arm that can be rotated horizontally on X arm；
Using the screwed lock device described in claim 1-8 Arbitrary Term, the screwed lock device it is vertical be fixed on the Y
On arm.
10. the screwed lock robot as claimed in claim 9, which is characterized in that further include respectively driving X arm and the rotation of Y arm
X arm rotating electric machine and Y arm rotating electric machine, X arm rotating electric machine is fixed on the pedestal or is fixed on X arm, Y arm electric rotating
Machine is fixed on one end on the X arm far from X arm rotating electric machine or is fixed on Y arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820298068.6U CN208246218U (en) | 2018-03-05 | 2018-03-05 | A kind of the screwed lock device and the screwed lock robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820298068.6U CN208246218U (en) | 2018-03-05 | 2018-03-05 | A kind of the screwed lock device and the screwed lock robot |
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| Publication Number | Publication Date |
|---|---|
| CN208246218U true CN208246218U (en) | 2018-12-18 |
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ID=64607655
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| CN201820298068.6U Active CN208246218U (en) | 2018-03-05 | 2018-03-05 | A kind of the screwed lock device and the screwed lock robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109227100A (en) * | 2018-03-05 | 2019-01-18 | 深圳众为兴技术股份有限公司 | A kind of the screwed lock device, the screwed lock robot and the screwed lock method |
-
2018
- 2018-03-05 CN CN201820298068.6U patent/CN208246218U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109227100A (en) * | 2018-03-05 | 2019-01-18 | 深圳众为兴技术股份有限公司 | A kind of the screwed lock device, the screwed lock robot and the screwed lock method |
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