CN208560876U - A kind of handling device for fixture block - Google Patents
A kind of handling device for fixture block Download PDFInfo
- Publication number
- CN208560876U CN208560876U CN201820934661.5U CN201820934661U CN208560876U CN 208560876 U CN208560876 U CN 208560876U CN 201820934661 U CN201820934661 U CN 201820934661U CN 208560876 U CN208560876 U CN 208560876U
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- Prior art keywords
- support
- lifting
- trunnion
- clamping jaw
- pin shaft
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Abstract
The utility model provides a kind of handling device for fixture block, belongs to technical field of mechanical processing.It includes translation carrying mechanism, clamping device, testing agency, the translation support of translation carrying mechanism, which can slide back and forth, to be arranged on the swallowtail-shaped slide of rack, lifting cylinder and lifting guide assembly are uniformly arranged between translation support and lifting support, the rack gear of clamping device is fixed on slide bar, gear and rack gear intermeshing, upper limit step and lower limit step are provided in the detection bar of testing agency, the upper end of reset spring and lifting support fitting, the lower end of reset spring and lower limit step fitting, microswitch is mounted on switch carrier, switch carrier is fixed on lifting support, the microswitch is located at the surface of detection bar, the microswitch connects driving motor.The utility model fast implements clamping and carrying to fixture block, structurally reasonable, good reliability, high degree of automation.
Description
Technical field
The utility model relates to technical field of mechanical processing, in particular to a kind of handling device for fixture block.
Background technique
Turnning and milling plane mill is four kinds of basic processing methods of machining, is the more part and parcel of parts machining,
The main processing completed to part, is allowed to can be used for the assembly of machine and equipment.Add including turnery processing, Milling Process, planing
Work, grinding, processing method needed for different parts is different, turnery processing is only needed as axial workpiece, but is had zero
Part then needs to process the processing for putting achievable part using wherein two to three kinds or more.In machining, fixture block is a kind of common
Part, fixture block is wide at the top and narrow at the bottom, and common fixture is not all suitable for the carrying of fixture block at present.Common fixture type is pressed using special
Point can be divided into: 1. universal fixture, such as machine vice, chuck, sucker, dividing head and rotary table, there is very big lead to
With property, the transformation of manufacturing procedure and processing object can be preferably adapted to, structure has been formed, the seriation of size, specification, wherein
A kind of most of standard accessories for having become lathe.2. specificity fixture is the clamping of certain product parts in some process
It needs and specially manufactures and designs, service object is single-minded, and specific aim is very strong, generally by product manufacturing factory designed, designed.There are commonly
Turning attachment, fraise jig, drill jig, boring template and pallet.3. flexible jig, the exclusive clamps that can be replaced or adjusted components
Tool.4. built-up jig, the fixture being made of the standardized component of different shape, specification and purposes, be suitable for trial production of new products and
Single-piece, small serial production and the temporary duty that product is often replaced.Fixture currently on the market is not all suitable for the carrying of fixture block.
Utility model content
The purpose of the utility model is to provide a kind of handling devices for fixture block, fast implement the clamping to fixture block and remove
Fortune, structurally reasonable, good reliability, high degree of automation.
The technical scheme adopted by the utility model to solve the technical problem is as follows:
A kind of handling device for fixture block, it includes translation carrying mechanism, clamping device, testing agency, the translation
Carrying mechanism includes rack, translation support, front supporting plate, rear carrier plate, screw rod, feed screw nut, translation motor, lifting cylinder, lifting
Swallowtail-shaped slide is arranged in the rack in guidance set, lifting support, and the translation support, which can slide back and forth, is arranged in rack
On swallowtail-shaped slide, the feed screw nut is fixed on translation support, and the front supporting plate and rear carrier plate are fixed on the front and back of rack
Two sides, the screw rod are rotatably provided on front supporting plate and rear carrier plate, and the screw rod and feed screw nut are threadedly coupled, the translation
Motor and screw rod are coaxially connected, and the translation motor is mounted on front supporting plate, and the lifting cylinder and lifting guide assembly are uniformly distributed
Between translation support and lifting support, the lifting cylinder includes lifting cylinder body and lifting piston rod, the lift cylinders for setting
On the fixed translation support in the upper end of body, the lower end of the lifting piston rod connects lifting support, and the lifting guide assembly includes
The upper end of lifting guide pillar, lifting guide sleeve, the lifting guide sleeve is fixed on translation support, and the lower end of the lifting guide pillar is fixed on
On lifting support, slidable connection, the clamping device include the first left clamping jaw, the up and down for the lifting guide pillar and lifting guide sleeve
Two left clamping jaws, the first right clamping jaw, the second right clamping jaw, clip pad, the first left trunnion, the second left trunnion, the first right trunnion, the second right branch
Ear, the first left pin shaft, the second left pin shaft, the first right pin shaft, the second right pin shaft, front rod component, back link component, slide bar, tooth
Item, gear, driving motor, slide bar support, electric machine support, connecting support, connection pin shaft, the first left trunnion and the second left branch
Ear is fixed on the rear and front end on the left of lifting support, and the first right trunnion and the second right trunnion are fixed on the right side of lifting support
Rear and front end, the first left clamping jaw are hinged on the first left trunnion by the first left pin shaft, and the second left clamping jaw passes through the
Two left pin shafts are hinged on the second left trunnion, and the first right clamping jaw is hinged on the first right trunnion by the first right pin shaft, institute
It states the second right clamping jaw to be hinged on the second right trunnion by the second right pin shaft, the first left clamping jaw, the second left clamping jaw, first right side
Clamping jaw, the second right clamping jaw lower end be both provided with clip pad, the electric machine support is fixed on lifting support, and the slide bar support is solid
It is scheduled on electric machine support, the driving motor is mounted on electric machine support, and the driving motor and gear are coaxially connected, the cunning
Bar, which can horizontally slip, to be arranged on slide bar support, and the rack gear is fixed on slide bar, the gear and rack gear intermeshing, described
The left end of slide bar is provided with connecting support, and the first notch and the second notch, the first left folder are provided in the connecting support
Pawl upper end insertion connecting support the first notch simultaneously by connection pin shaft and connecting support it is hinged, the second left clamping jaw it is upper
End insertion connecting support the second notch simultaneously by connection pin shaft and connecting support it is hinged, the front rod component include first before
Trunnion, the second front journal, front rod, first front journal and the second front journal are threaded in the both ends of front rod, described
First front journal is hinged on the first left clamping jaw, and second front journal is hinged on the first right clamping jaw, first front journal
Positioned at the upside of the first left pin shaft, second front journal is located at the downside of the first right pin shaft, and the back link component includes the
Trunnion, back link after trunnion, second after one, trunnion is threaded in the both ends of back link after trunnion and second after described first,
Trunnion is hinged on the second left clamping jaw after described first, and trunnion is hinged on the second right clamping jaw after described second, after described first
Trunnion is located at the upside of the second left pin shaft, and trunnion is located at the downside of the second right pin shaft after described second, and the testing agency includes
Detection bar, reset spring, microswitch, switch carrier, the detection bar, which can slide up and down, to be arranged on lifting support, the inspection
Upper limit step and lower limit step, the reset spring and the concentric setting of detection bar, the reset bullet are provided on measuring staff
The upper end of spring and lifting support fitting, the lower end of the reset spring and lower limit step fitting, the microswitch are mounted on
On switch carrier, the switch carrier is fixed on lifting support, and the microswitch is located at the surface of detection bar, described micro-
Dynamic switch connection driving motor.
Further, the translation motor is servo motor.
Further, reinforcing rib is provided on the electric machine support.
Further, the microswitch is roller type microswitch.
Further, the clip pad is elastic clip pad.
Further, the driving motor is servo motor.
Compared to the prior art the utility model, has the following advantages that and effect: translation motor drives screw rod rotation, passes through
Feed screw nut drives translation support to slide back and forth, and realizes the adjustment of front-rear position, and then, lifting cylinder movement drives lifting branch
Seat downward actuation, detection bar is for judging the presence or absence of fixture block.When detection bar contacts fixture block, detection bar upward sliding, detection bar
Microswitch is touched in upper end, and microswitch issues action signal, driving motor movement, to the left by gear and rack drives slide bar
Sliding, so that the first left clamping jaw and the second left clamping jaw be driven inwardly to swing, meanwhile, front rod component and back link component drive the
One right clamping jaw and the second right clamping jaw are inwardly swung, and the first left clamping jaw, the second left clamping jaw, the first right clamping jaw, the second right clamping jaw are simultaneously
Realize the clamping to fixture block.Driving motor is servo motor, is advantageously implemented the accurate control to gear, to realize to slide bar
Horizontally slip the accurate control of position.Lifting cylinder movement, fixture block is lifted, before translation motor drives translation support by screw rod
After slide, fixture block is carried to specified station.Translation motor is servo motor, and rotational angle accuracy is good, is conducive to improve silk
The accuracy of bar rotation.Clip pad is elastic clip pad, is advantageously implemented the clamping and carrying to fixture block.It is provided with and adds on electric machine support
Strengthening tendons, intensity is high, and stationarity is good.Microswitch is roller type microswitch, and structure is simple, long service life.The utility model
Fast implement the clamping and carrying to fixture block, structurally reasonable, good reliability, high degree of automation.
Detailed description of the invention
Fig. 1 is the main view of the utility model.
Fig. 2 is the rearview of the utility model.
In figure: 1. translation carrying mechanisms, 2. clamping devices, 3. testing agencies, 4. racks, 5. translation supports, 6. front supporting plates,
7. rear carrier plate, 8. screw rods, 9. feed screw nuts, 10. translation motors, 11. lifting cylinders, 12. lifting guide assemblies, 13. lifting branch
Seat, 14. swallowtail-shaped slides, 15. lifting cylinder bodies, 16. lifting piston rods, 17. lifting guide pillars, 18. lifting guide sleeves, 19. first is left
Clamping jaw, 20. second left clamping jaws, 21. first right clamping jaws, 22. second right clamping jaws, 23. clip pads, 24. first left trunnions, 25. second
Left trunnion, 26. first right trunnions, 27. second right trunnions, 28. first left pin shafts, 29. second left pin shafts, 30. first right pin shafts,
31. the second right pin shaft, 32. front rod components, 33. back link components, 34. slide bars, 35. rack gears, 36. gears, 37. driving electricity
Machine, 38. slide bar supports, 39. electric machine supports, 40. connecting supports, 41. connection pin shafts, 42. first notches, 43. second notches,
44. the first front journal, 45. second front journals, 46. front rods, trunnion after 47. first, trunnion after 48. second, 49. back links,
50. detection bar, 51. reset springs, 52. microswitches, 53. switch carriers, 54. upper limit steps, 55. lower limit steps, 56.
Reinforcing rib.
Specific embodiment
The utility model is described in further detail with reference to the accompanying drawing and by embodiment, and following embodiment is pair
The explanation of the utility model and the utility model is not limited to following embodiment.
As depicted in figs. 1 and 2, a kind of handling device for fixture block, it include translation carrying mechanism 1, clamping device 2,
Testing agency 3, the translation carrying mechanism 1 include rack 4, translation support 5, front supporting plate 6, rear carrier plate 7, screw rod 8, feed screw nut
9, swallowtail-shaped slide is arranged in the rack 4 in translation motor 10, lifting cylinder 11, lifting guide assembly 12, lifting support 13
14, the translation support 5, which can slide back and forth, to be arranged on the swallowtail-shaped slide 14 of rack 4, and the feed screw nut 9 is fixed on translation
On support 5, the front supporting plate 6 and rear carrier plate 7 are fixed on the front and rear sides of rack 4, and the screw rod 8 is rotatably provided in front supporting plate
6 and rear carrier plate 7 on, the screw rod 8 and feed screw nut 9 are threadedly coupled, and the translation motor 10 and screw rod 8 are coaxially connected, described
Translation motor 10 is mounted on front supporting plate 6, and the translation motor 10 is servo motor, and rotational angle accuracy is good, is conducive to mention
The accuracy that high screw rod 8 rotates.The lifting cylinder 11 and lifting guide assembly 12 are uniformly arranged in translation support 5 and lifting branch
Between seat 13, the lifting cylinder 11 includes lifting cylinder body 15 and lifting piston rod 16, and the upper end of the lifting cylinder body 15 is fixed
It translates on support 5, the lower end of the lifting piston rod 16 connects lifting support 13, and the lifting guide assembly 12 includes that lifting is led
The upper end of bar 17, lifting guide sleeve 18, the lifting guide sleeve 18 is fixed on translation support 5, and the lower end of the lifting guide pillar 17 is solid
It is scheduled on lifting support 13, the lifting guide pillar 13 and lifting about 18 slidable connection of guide sleeve, lifting guide assembly 12 guarantee
Lifting support about 13 smooth motion.The clamping device 2 includes the first left clamping jaw 19, the second left clamping jaw 20, the first right folder
Pawl 21, the second right clamping jaw 22, clip pad 23, the first left trunnion 24, the second left trunnion 25, the first right trunnion 26, the second right trunnion 27,
First left pin shaft 28, the second left pin shaft 29, the first right pin shaft 30, the second right pin shaft 31, front rod component 32, back link component
33, slide bar 34, rack gear 35, gear 36, driving motor 37, slide bar support 38, electric machine support 39, connecting support 40, connection pin shaft
41, the first left trunnion 24 and the second left trunnion 25 are fixed on the rear and front end on the left of lifting support 13, the first right branch
Ear 26 and the second right trunnion 27 are fixed on the rear and front end on 13 right side of lifting support, and the first left clamping jaw 19 passes through the first left pin
Axis 28 is hinged on the first left trunnion 24, and the second left clamping jaw 25 is hinged on the second left trunnion 25 by the second left pin shaft 29
On, the first right clamping jaw 21 is hinged on the first right trunnion 26 by the first right pin shaft 30, and the second right clamping jaw 22 passes through
Second right pin shaft 31 is hinged on the second right trunnion 27, the first left clamping jaw 19, the second left clamping jaw 20, the first right clamping jaw 21,
The lower end of second right clamping jaw 22 is both provided with clip pad 23, and the clip pad 23 is elastic clip pad, is advantageously implemented the clamping to fixture block
And carrying.The electric machine support 39 is fixed on lifting support 13, is provided with reinforcing rib 56, intensity on the electric machine support 39
Height, stationarity are good.The slide bar support 38 is fixed on electric machine support 39, and the driving motor 37 is mounted on electric machine support 39
On, the driving motor 37 and gear 36 are coaxially connected, and the driving motor 37 is servo motor, are advantageously implemented to gear 36
Accurate control, horizontally slip the accurate control of position to realize to slide bar 34.The slide bar 34, which can horizontally slip to be arranged, to exist
On slide bar support 38, the rack gear 35 is fixed on slide bar 34, and the gear 36 and rack gear 35 are intermeshed, the slide bar 34
Left end is provided with connecting support 40, and the first notch 42 and the second notch 43 are provided in the connecting support 40, and described first is left
First notch 42 of the upper end insertion connecting support 40 of clamping jaw 19 is simultaneously hinged by connection pin shaft 41 and connecting support 40, and described the
Second notch 42 of the upper end insertion connecting support 40 of two left clamping jaws 20 simultaneously passes through connection pin shaft 41 and connecting support 40 hingedly, institute
Stating front rod component 32 includes the first front journal 44, the second front journal 45, front rod 46, before first front journal 44 and second
Trunnion 45 is threaded in the both ends of front rod 46, and first front journal 44 is hinged on the first left clamping jaw 19, and described second
Front journal 45 is hinged on the first right clamping jaw 21, and first front journal 44 is located at the upside of the first left pin shaft 28, and described second
Front journal 45 is located at the downside of the first right pin shaft 30, the back link component 33 include trunnion 48 after trunnion 47, second after first,
Back link 49, trunnion 48 is threaded in the both ends of back link 49 after trunnion 47 and second after described first, props up after described first
Ear 47 is hinged on the second left clamping jaw 20, and trunnion 48 is hinged on the second right clamping jaw 22 after described second, trunnion after described first
47 are located at the upside of the second left pin shaft 29, and trunnion 48 is located at the downside of the second right pin shaft 31, the testing agency 3 after described second
Including detection bar 50, reset spring 51, microswitch 52, switch carrier 53, the detection bar 50 can slide up and down setting and rise
On descending branch seat 13, upper limit step 54 and lower limit step 55, the reset spring 51 and inspection are provided in the detection bar 50
The concentric setting of measuring staff 50, the upper end of the reset spring 51 and lifting support 13 are bonded, the lower end of the reset spring 51 and
Lower limit step 55 is bonded, and the microswitch 52 is mounted on switch carrier 53, and the switch carrier 53 is fixed on lifting branch
On seat 13, the microswitch 52 is located at the surface of detection bar 50, and the microswitch 52 connects driving motor 37.It is described micro-
Dynamic switch 52 is roller type microswitch, and structure is simple, long service life.
Through the above technical solutions, a kind of handling device for fixture block of the utility model is in use, 10 band of translation motor
Dynamic screw rod 8 rotates, and drives translation support 5 to slide back and forth by feed screw nut 9, realizes the adjustment of front-rear position, then, lifting air
Cylinder 11 acts, and drives 13 downward actuation of lifting support, detection bar 50 is for judging the presence or absence of fixture block.Detection bar 50 contacts fixture block
When, microswitch 52 is touched in 50 upward sliding of detection bar, the upper end of detection bar 50, and microswitch 52 issues action signal, driving
Motor 37 acts, and is slided to the left by gear 36 and rack gear 35 with moving slide-bar 34, to drive the first left clamping jaw 19 and second left
Clamping jaw 20 is inwardly swung, meanwhile, front rod component 32 and back link component 33 drive the first right clamping jaw 21 and the second right clamping jaw 22
It inwardly swings, the first left clamping jaw 19, the second left clamping jaw 20, the first right clamping jaw 21, the second right clamping jaw 22 are realized to fixture block simultaneously
Clamping.Lifting cylinder 11 acts, and fixture block is lifted, and translation motor 10 drives translation support 5 to slide back and forth by screw rod 8, by card
Block is carried to specified station.The utility model fast implements clamping and carrying to fixture block, structurally reasonable, good reliability, automatically
Change degree is high.
Above content is only illustrate to examples for clearly illustrating the present invention described in this specification.The utility model
Person of ordinary skill in the field can make various modifications or additions to the described embodiments or using class
As mode substitute, content without departing from the utility model specification or surmount model defined in the claims
It encloses, all should belong to the protection range of the utility model.
Claims (6)
1. a kind of handling device for fixture block, it is characterised in that: it includes translation carrying mechanism, clamping device, testing agency,
The translation carrying mechanism includes rack, translation support, front supporting plate, rear carrier plate, screw rod, feed screw nut, translation motor, lifting air
Swallowtail-shaped slide is arranged in the rack in cylinder, lifting guide assembly, lifting support, and the translation support can slide back and forth setting
On the swallowtail-shaped slide of rack, the feed screw nut is fixed on translation support, and the front supporting plate and rear carrier plate are fixed on machine
The front and rear sides of frame, the screw rod are rotatably provided on front supporting plate and rear carrier plate, and the screw rod and feed screw nut are threadedly coupled,
The translation motor and screw rod are coaxially connected, and the translation motor is mounted on front supporting plate, the lifting cylinder and lifting guiding
Component is uniformly arranged between translation support and lifting support, and the lifting cylinder includes lifting cylinder body and lifting piston rod, institute
It states on the fixed translation support in upper end of lifting cylinder body, the lower end of the lifting piston rod connects lifting support, the lifting guiding
Component includes lifting guide pillar, lifting guide sleeve, and the upper end of the lifting guide sleeve is fixed on translation support, under the lifting guide pillar
End is fixed on lifting support, and slidable connection, the clamping device include first up and down for the lifting guide pillar and lifting guide sleeve
Left clamping jaw, the second left clamping jaw, the first right clamping jaw, the second right clamping jaw, clip pad, the first left trunnion, the second left trunnion, the first right branch
Ear, the second right trunnion, the first left pin shaft, the second left pin shaft, the first right pin shaft, the second right pin shaft, front rod component, back link group
Part, slide bar, rack gear, gear, driving motor, slide bar support, electric machine support, connecting support, connection pin shaft, the first left trunnion
It is fixed on the rear and front end on the left of lifting support with the second left trunnion, the first right trunnion and the second right trunnion are fixed on lifting
Rear and front end on the right side of support, the first left clamping jaw are hinged on the first left trunnion by the first left pin shaft, and described second is left
Clamping jaw is hinged on the second left trunnion by the second left pin shaft, and the first right clamping jaw is hinged on first right side by the first right pin shaft
On trunnion, the second right clamping jaw is hinged on the second right trunnion by the second right pin shaft, the first left clamping jaw, the second left folder
Pawl, the first right clamping jaw, the second right clamping jaw lower end be both provided with clip pad, the electric machine support is fixed on lifting support, described
Slide bar support is fixed on electric machine support, and the driving motor is mounted on electric machine support, and the driving motor and gear are coaxial
Connection, the slide bar, which can horizontally slip, to be arranged on slide bar support, and the rack gear is fixed on slide bar, the gear and rack gear phase
Mutually engagement, the left end of the slide bar is provided with connecting support, the first notch and the second notch, institute is provided in the connecting support
State the first left clamping jaw upper end insertion connecting support the first notch and by connection pin shaft and connecting support it is hinged, described second
The second notch and, the front rod component hinged by connection pin shaft and connecting support of the upper end insertion connecting support of left clamping jaw
Including the first front journal, the second front journal, front rod, first front journal and the second front journal are threaded in front rod
Both ends, first front journal are hinged on the first left clamping jaw, and second front journal is hinged on the first right clamping jaw, and described
One front journal is located at the upside of the first left pin shaft, and second front journal is located at the downside of the first right pin shaft, the back link group
Part includes trunnion, back link after trunnion, second after first, and trunnion is threaded in back link after trunnion and second after described first
Both ends, trunnion is hinged on the second left clamping jaw after described first, and trunnion is hinged on the second right clamping jaw after described second, described
Trunnion is located at the upside of the second left pin shaft after first, and trunnion is located at the downside of the second right pin shaft, the detection machine after described second
Structure includes detection bar, reset spring, microswitch, switch carrier, and the detection bar, which can slide up and down, to be arranged on lifting support,
Upper limit step and lower limit step, the reset spring and the concentric setting of detection bar are provided in the detection bar, it is described
The upper end of reset spring and lifting support fitting, the lower end of the reset spring and lower limit step fitting, the microswitch
It being mounted on switch carrier, the switch carrier is fixed on lifting support, and the microswitch is located at the surface of detection bar,
The microswitch connects driving motor.
2. a kind of handling device for fixture block according to claim 1, it is characterised in that: the translation motor is servo
Motor.
3. a kind of handling device for fixture block according to claim 1, it is characterised in that: be arranged on the electric machine support
There is reinforcing rib.
4. a kind of handling device for fixture block according to claim 1, it is characterised in that: the microswitch is idler wheel
Formula microswitch.
5. a kind of handling device for fixture block according to claim 1, it is characterised in that: the clip pad is elastic clip
Pad.
6. a kind of handling device for fixture block according to claim 1, it is characterised in that: the driving motor is servo
Motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820934661.5U CN208560876U (en) | 2018-06-16 | 2018-06-16 | A kind of handling device for fixture block |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820934661.5U CN208560876U (en) | 2018-06-16 | 2018-06-16 | A kind of handling device for fixture block |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208560876U true CN208560876U (en) | 2019-03-01 |
Family
ID=65486292
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820934661.5U Expired - Fee Related CN208560876U (en) | 2018-06-16 | 2018-06-16 | A kind of handling device for fixture block |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208560876U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110049648A (en) * | 2019-05-31 | 2019-07-23 | 江苏科技大学 | A kind of mounting seat of telecommunications |
| CN110906808A (en) * | 2019-12-13 | 2020-03-24 | 中国科学院沈阳自动化研究所 | Ammunition clamping device |
-
2018
- 2018-06-16 CN CN201820934661.5U patent/CN208560876U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110049648A (en) * | 2019-05-31 | 2019-07-23 | 江苏科技大学 | A kind of mounting seat of telecommunications |
| CN110906808A (en) * | 2019-12-13 | 2020-03-24 | 中国科学院沈阳自动化研究所 | Ammunition clamping device |
| CN110906808B (en) * | 2019-12-13 | 2021-08-31 | 中国科学院沈阳自动化研究所 | Ammunition clamping device |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190301 Termination date: 20190616 |