CN213184723U - Medium pipeline connecting and inserting device for robot - Google Patents
Medium pipeline connecting and inserting device for robot Download PDFInfo
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- CN213184723U CN213184723U CN202022448710.4U CN202022448710U CN213184723U CN 213184723 U CN213184723 U CN 213184723U CN 202022448710 U CN202022448710 U CN 202022448710U CN 213184723 U CN213184723 U CN 213184723U
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- medium pipeline
- plug
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- robot
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Abstract
The utility model provides a robot connects and inserts device with medium pipeline, including executor subassembly, medium pipeline plug subassembly and medium pipeline socket subassembly, be between executor subassembly and medium pipeline plug subassembly, medium pipeline plug subassembly and the medium pipeline socket subassembly and be dismantled and be connected, the executor subassembly is used for getting and puts medium pipeline plug subassembly to make medium pipeline plug subassembly and medium pipeline socket subassembly connect and insert. The utility model discloses can combine the high-efficient medium pipeline of accomplishing reliably of robot to connect automatically, connect and connect the executor subassembly after accomplishing to separate with medium pipeline plug subassembly and medium pipeline socket subassembly, make the medium pipeline plug subassembly and the medium pipeline socket subassembly that connect and move along with equipment and still can normally work in the adverse circumstances such as high temperature, high dust, guarantee reliable locking, can not lead to the interface to throw off because of pipeline pressure or other external actions.
Description
Technical Field
The utility model belongs to the technical field of smelt automation, especially relate to a robot connects cartridge with medium pipeline to put.
Background
In the steel smelting production process, a plurality of procedures need to perform the plugging operation of dielectric or fluid medium pipelines, such as a tank pouring station, a continuous casting bale and the like. At present, the medium pipeline plugging operation in the steel production process is mostly finished manually, the production field is mostly in severe environments such as high temperature, high dust and the like, and the labor intensity of workers is high. Workers in charge of plugging the medium pipeline usually have other operation tasks at the same time, and production accidents caused by missed plugging and forgetting plugging of the connector sometimes occur in production. Meanwhile, part of the electric connection devices have higher power, and the manual connection is dangerous.
Therefore, with the intelligent upgrade of steel production, the adoption of an automatic scheme to complete the medium pipeline plugging operation becomes one of the requirements of intelligent modification of steel mills. In other industries, some media pipelines have automatic plugging schemes, but after plugging is completed, other auxiliary power sources such as a hydraulic cylinder or an air cylinder are required to continuously lock or press the plugging part, so that the interface is prevented from loosening and disconnecting due to pressure in the media pipelines or other external reasons. In steel production, after a medium pipeline is plugged, the plugging part is often moved to a smelting or casting station along with equipment and stays for a long time in a high-temperature and high-dust environment, plugging locking protection and maintenance cost are high by adopting other auxiliary power sources, and reliability is difficult to guarantee.
SUMMERY OF THE UTILITY MODEL
In view of the above prior art's shortcoming, the utility model aims to provide a robot connects with medium pipeline to insert device for it depends on the manual work to have danger, inserts the device and easily becomes flexible off-going problem under adverse conditions to solve among the prior art medium pipeline and inserts the operation.
In order to realize above-mentioned purpose and other relevant purpose, the utility model provides a robot connects and connects device with medium pipeline, including executor subassembly, medium pipeline plug subassembly and medium pipeline socket subassembly, be connected for dismantling between executor subassembly and the medium pipeline plug subassembly, be connected for dismantling between medium pipeline plug subassembly and the medium pipeline socket subassembly, the executor subassembly is used for getting and puts medium pipeline plug subassembly to make medium pipeline plug subassembly and medium pipeline socket subassembly connect and insert.
Further, the actuator assembly comprises an actuator mounting plate, an actuator guide part and a stop structure, wherein the actuator guide part and the stop structure are arranged on the actuator mounting plate;
the medium pipeline plug assembly comprises a plug mounting plate, a first plug guide part, a second plug guide part and a locking structure, wherein the first plug guide part, the second plug guide part and the locking structure are arranged on the plug mounting plate;
the medium pipeline socket assembly comprises a socket mounting plate, a socket guide part and a locking sleeve, wherein the socket guide part and the locking sleeve are arranged on the socket mounting plate;
the actuator assembly and the medium pipeline plug assembly are connected with the first plug guide part in a matched mode through the actuator guide part and attached or separated through the stop structure; the medium pipeline plug assembly and the medium pipeline socket assembly are connected with the socket guide part in a matched mode through the second plug guide part and are locked or unlocked through the locking structure and the locking sleeve.
Further, the actuator guide part is an actuator guide pin, the first plug guide part is a plug guide hole, the second plug guide part is a plug guide pin, and the socket guide part is a socket guide hole; the stop structure is a sucker or a magnet.
Furthermore, the locking structure comprises a support, a guide rod, a spring and a cam, wherein the support is arranged on the plug mounting plate, the spring is sleeved on the guide rod, one end of the cam is hinged with the support, and the other end of the cam is hinged with the guide rod in a sliding manner; when the guide rod is pushed to compress the spring, the guide rod drives the cam to rotate and retract into the support; when the guide rod is released and reset by the spring, the guide rod drives the cam to rotate and protrude out of the surface of the support.
Furthermore, a groove is formed in the locking sleeve, the cam can be inserted into the locking sleeve when rotating and retracting, and the cam can be embedded into the groove of the locking sleeve when rotating and protruding.
Furthermore, a locking driving part is further arranged on the actuator mounting plate and can push or release the guide rod to drive the cam to retract or protrude, so that the locking structure and the locking sleeve are unlocked or locked.
Further, be provided with pipeline plug portion on the plug mounting panel, be provided with pipeline socket portion on the socket mounting panel, when medium pipeline plug subassembly is connected with medium pipeline socket subassembly, pipeline plug portion pegs graft with pipeline socket portion, pipeline plug portion and pipeline socket portion all include dielectric interface and/or fluid medium interface.
Furthermore, a first sensor and a second sensor are arranged on the actuator mounting plate, a first sensing area is arranged on the plug mounting plate, a second sensing area is arranged on the socket mounting plate, and when the actuator assembly and the medium pipeline plug assembly are connected in place, the first sensing area triggers the first sensor; when the medium pipeline plug assembly and the medium pipeline socket assembly are connected in place, the second sensing area triggers the second sensor.
Further, the medium pipeline socket assembly further comprises a floating portion, the floating portion comprises a fixed side and a floating side, the floating side is fixedly connected with the socket installation plate, the floating side is flexibly connected with the fixed side, and relative displacement can occur between the socket installation plate and the fixed side.
Further, still be provided with the robot connecting portion that is used for being connected with the robot on the executor mounting panel, be provided with a plurality of connecting holes on the robot connecting portion.
As above, the utility model discloses a robot connects cartridge with medium pipeline has following beneficial effect:
the utility model discloses can combine the robot to accomplish medium pipeline automatic plugging high-efficiently, reliably, connect and connect the back executor subassembly and can separate with medium pipeline plug subassembly and medium pipeline socket subassembly of connecing, make the medium pipeline plug subassembly and the medium pipeline socket subassembly of connecing that connect move along with equipment and still can normally work in the adverse circumstances such as high temperature, high dust, guarantee reliable locking, can not lead to the interface to throw off because of pipeline pressure or other external actions; and simultaneously, the utility model discloses the device has easily manufacturing, low cost's advantage concurrently.
Drawings
Fig. 1 is a first schematic diagram of an automatic medium pipeline plugging device for a robot according to the present invention;
fig. 2 is a schematic diagram of a medium pipeline automatic plugging device for a robot according to the present invention;
fig. 3 is a partially enlarged cross-sectional view of the locking structure and the locking sleeve of the present invention.
Description of reference numerals
1-an actuator assembly; 11-a robot connection; 12-an actuator mounting plate; 13-actuator guide pin; 14-a stop structure; 15-locking the driving part; 16-a first sensor; 17-a second sensor;
2-a media line plug assembly; 21-a plug mounting plate; 22-plug guide holes; 23-plug guide pins; 24-cable male; 25-compressed air male head; 26-a locking structure; 261-support; 262-a guide rod; 263-cam; 264-spring; 27-a first sensing zone;
3-a medium line socket assembly; 31-a socket mounting plate; 32-socket guide holes; 33-a female cable head; 34-compressed air female head; 35-a locking sleeve; 351-grooves; 36-a second sensing zone; 37-a float; 371 — the floating side; 372-fixed side.
Detailed Description
The following description is provided for illustrative purposes, and other advantages and features of the present invention will become apparent to those skilled in the art from the following detailed description.
It should be understood that the structure, ratio, size and the like shown in the drawings attached to the present specification are only used for matching with the content disclosed in the specification, so as to be known and read by those skilled in the art, and are not used for limiting the limit conditions that the present invention can be implemented, so that the present invention has no technical essential meaning, and any structure modification, ratio relationship change or size adjustment should still fall within the scope that the technical content disclosed in the present invention can cover without affecting the function that the present invention can produce and the purpose that the present invention can achieve. Meanwhile, the terms such as "upper", "lower", "left", "right", "middle" and "one" used in the present specification are for convenience of description, and are not intended to limit the scope of the present invention, and changes or adjustments of the relative relationship thereof may be made without substantial technical changes, and the present invention is also regarded as the scope of the present invention.
Please combine fig. 1 and fig. 2 to show, the utility model provides a robot connects cartridge with medium pipeline to put, including executor subassembly 1, medium pipeline plug subassembly 2 and medium pipeline socket subassembly 3, be connected for dismantling between executor subassembly 1 and the medium pipeline plug subassembly 2, be connected for dismantling between medium pipeline plug subassembly 2 and the medium pipeline socket subassembly 3, executor subassembly 1 is used for getting and puts medium pipeline plug subassembly 2 to make medium pipeline plug subassembly 2 and medium pipeline socket subassembly 3 connect the spigot.
The actuator assembly 1 comprises an actuator mounting plate 12, an actuator guide part and a stop structure 14, wherein the actuator guide part and the stop structure 14 are arranged on the actuator mounting plate 12; the medium pipeline plug assembly 2 comprises a plug mounting plate 21, a first plug guide part, a second plug guide part and a locking structure 26, wherein the first plug guide part, the second plug guide part and the locking structure 26 are arranged on the plug mounting plate 21; the medium pipeline socket assembly 3 comprises a socket mounting plate 31, a socket guide part and a locking sleeve 35, wherein the socket guide part and the locking sleeve 35 are arranged on the socket mounting plate 31; the actuator assembly 1 and the medium pipeline plug assembly 2 are connected with the first plug guide part in a matched mode through the actuator guide part and attached or separated through the stop structure 14; the medium pipeline plug assembly 2 and the medium pipeline socket assembly 3 are connected with the socket guide part in a matching mode through the second plug guide part, and are locked or unlocked through the locking structure 26 and the locking sleeve 35.
Specifically, after the actuator assembly 1 and the medium pipeline plug assembly 2 are connected in place in a matched manner through the actuator guide part and the first plug guide part, the stop structure 14 is started, so that the effect of preventing the medium pipeline plug assembly 2 and the actuator assembly 1 from moving relatively can be achieved; after release of the detent 14, the actuator assembly 1 may be separated from the media line plug assembly 2. The stop structure 14 can be a suction cup or an electromagnet, and has small occupied space and strong adsorbability. Accordingly, a stop matching the stop 14 can also be provided on the plug mounting plate 21 according to actual requirements.
After the medium pipeline plug assembly 2 and the medium pipeline socket assembly 3 are connected in place in a matched mode through the first plug guide part and the socket guide part, the locking structure 26 is matched with the locking sleeve 35 to play a locking role. After the locking mechanism 26 is released, the media line plug assembly 2 can be separated from the media line socket assembly 3.
In this embodiment, the actuator guide portion is an actuator guide pin 13, the first plug guide portion is a plug guide hole 22, two actuator guide pins 13 are vertically arranged, and two plug guide holes 22 are correspondingly arranged. The second plug guide part is a plug guide pin 23, the socket guide part is a socket guide hole 32, the plug guide pins 23 and the plug guide holes 22 are respectively positioned at two sides of the plug mounting plate 21, the number of the plug guide pins 23 is two, the plug guide pins 23 are arranged in opposite angles, and the number of the socket guide holes 32 is also two correspondingly; when the actuator assembly 1 is connected with the medium pipeline plug assembly 2, the actuator guide pins 13 are inserted into the corresponding plug guide holes 22; when the media line plug assembly 2 is connected to the media line receptacle assembly 3, the plug guide pins 23 are inserted into the corresponding receptacle guide holes 32.
Referring to fig. 3, the locking structure 26 includes a support 261, a guide rod 262, a spring 264 and a cam 263, the support 261 is installed on the plug mounting plate 21, the spring 264 is sleeved on the guide rod 262, one end of the cam 263 is hinged to the support 261, the other end of the cam 263 is hinged to the guide rod 262 in a sliding manner, specifically, a kidney-shaped hole is formed in the other end of the cam 263 and hinged to a side wall of the guide rod 262 through a fastener, and the cam 263 can slide in a certain range conveniently due to the kidney-shaped hole. When the guide rod 262 is pushed to compress the spring 264, the guide rod 262 drives the cam 263 to rotate and retract into the support 261; when the guide rod 262 is released and restored by the spring 264, the guide rod 262 drives the cam 263 to rotate and protrude out of the surface of the support 261. A groove 351 is formed in the locking sleeve 35, the cam 263 is rotated and retracted to insert the locking structure 26 into the locking sleeve 35, and the cam 263 is rotated and protruded to be inserted into the groove 351 of the locking sleeve 35. Specifically, in this embodiment, the cam 263 is L-shaped, and in a natural state, a partial profile of the cam 263 protrudes from the outer surface of the support 261; when the guide rod 262 is pushed, the guide rod 262 makes the cam 263 retract into the support 261 after rotating, and the locking structure 26 can be smoothly inserted into or withdrawn from the locking sleeve 35; after the guide rod 262 is released, the spring 264 resets the guide rod 262, and the guide rod 262 drives the cam 263 to rotate and restore to a natural state, so that the cam 263 protrudes out of the outer surface of the support 261 and is embedded into the groove 351 of the locking sleeve 35, and the locking in a stopping way is realized.
In addition, the actuator mounting plate 12 is further provided with a locking driving portion 15, and the locking driving portion 15 can push or release the guide rod 262 to drive the cam 263 to retract or protrude, so that the locking structure 26 and the locking sleeve 35 are unlocked or locked. In this embodiment, the locking driving part 15 adopts a driving cylinder, and when the actuator assembly 1 is connected with the medium pipeline plug assembly 2, an output shaft of the driving cylinder is aligned with the guide rod 262, and the guide rod 262 can be pushed to move under the action of the cylinder, so that the cam 263 retracts; when the media line plug assembly 2 is connected to the media line receptacle assembly 3, the locking mechanism 26 can be inserted into the locking sleeve 35, the cylinder retracts and causes the guide rod 262 to return under the action of the spring 264, the cam 263 protrudes and is embedded into the groove 351 of the locking sleeve 35, locking of the first locking mechanism and the locking sleeve 35 is achieved, and therefore the media line plug assembly 2 is reliably connected to the media line receptacle assembly 3.
In addition, a pipeline plug part is arranged on the plug mounting plate 21, a pipeline socket part is arranged on the socket mounting plate 31, when the medium pipeline plug component 2 is connected with the medium pipeline socket component 3, the pipeline plug part is plugged with the pipeline socket part, and the pipeline plug part and the pipeline socket part both comprise a dielectric interface and/or a fluid medium interface. In this way, the medium line plug assembly 2 and the medium line socket assembly 3 can be connected by the robot, and the automatic insertion of the line plug part and the line socket part is realized. The number of line plug parts and line socket parts is not limited, and a line of a gaseous medium, a liquid medium or a dielectric medium can be connected. In this embodiment, the pipeline plug portion includes the male connector 24 of cable and the male connector 25 of compressed air, and the pipeline socket portion includes the female connector 33 of cable and the female connector 34 of compressed air, and the male connector 24 of cable corresponds with the female connector 33 of cable to connect and insert, and the male connector 25 of compressed air corresponds with the female connector 34 of compressed air to connect and insert. In other embodiments, the line plug portion may also be a hydraulic male, etc., and the line plug portion may correspondingly be a hydraulic male.
In order to realize automatic plugging, a first sensor 16 and a second sensor 17 are further arranged on the actuator mounting plate 12, a first sensing area 27 is arranged on the plug mounting plate 21, a second sensing area 36 is arranged on the socket mounting plate 31, and when the actuator assembly 1 and the medium pipeline plug assembly 2 are connected in place, the first sensing area 27 triggers the first sensor 16; when the media line plug assembly 2 is connected in place with the media line receptacle assembly 3, the second sensing region 36 triggers the second sensor 17. In this embodiment, the first sensor 16 and the second sensor 17 both use proximity switches, and can detect the connection position in real time.
The medium pipeline socket assembly 3 further comprises a floating part 37, the floating part 37 comprises a fixed side 372 and a floating side 371, the floating side 371 is fixedly connected with the socket mounting plate 31 through bolts, the floating side 371 is flexibly connected with the fixed side 372, and the socket mounting plate 31 and the fixed side 372 of the floating part 37 can be relatively displaced, so that the rigid friction when the medium pipeline plug assembly 2 is connected with the medium pipeline socket assembly 3 is conveniently reduced, and the connection assembly is smoother.
In order to facilitate the connection between the robot and the actuator component, the actuator mounting plate 12 is further provided with a robot connecting portion 11 for connecting with the robot, and the robot connecting portion 11 is provided with a plurality of connecting holes. In this embodiment, the robot connecting portion 11 is disc-shaped, and a plurality of connecting holes are uniformly distributed along the circumferential direction thereof, and can be connected to a robot flange by bolts.
The process of adopting the robot to realize the automatic plugging of the pipeline joint by the automatic plugging device of the medium pipeline comprises the following steps: firstly, mounting an actuator assembly 1 on a robot flange, driving the actuator assembly 1 to move to the position of a medium pipeline plug assembly 2 by a robot, and positioning through an actuator guide pin 13 and a plug guide hole 22 to enable the actuator assembly 1 and the medium pipeline plug assembly 2 to be connected in place; the first sensing area 27 triggers the first sensor 16 to send a first signal to the control system, and after the control system receives the first signal, the stop structure 14 is started to enable the medium pipeline plug assembly 2 to be tightly attached to the actuator assembly 1 and no longer generate relative displacement; then, the driving cylinder is started to push the guide rod 262 to retract the cam 263; then, the robot drives the actuator component 1 and the medium pipeline plug component 2 to move to the position of the medium pipeline socket component 3 together, the medium line plug component 2 and the medium line socket component 3 are connected in place by the plug guide pins 23 and the socket guide holes 32, meanwhile, the locking structure 26 is inserted into the locking sleeve 35, the cable male head 24 is correspondingly inserted with the cable female head 33, the compressed air male head 25 is correspondingly inserted with the compressed air female head 34, the second sensing area 36 triggers the second sensor 17 (wherein, the second sensor 17 passes through a through hole on the plug mounting plate 21) to send a second signal to the control system, after the control system receives the second signal, the driving cylinder retracts to release the guide rod 262, the spring 264 pushes the guide rod 262 to reset, the cam 263 protrudes and is embedded into the groove 351 of the locking sleeve 35, and the stopping and locking of the medium pipeline plug assembly 2 are completed; finally, the stopping structure 14 releases the medium pipeline plug assembly 2, the robot drives the actuator assembly 1 to separate from the medium pipeline plug assembly 2, automatic plugging of the medium pipeline is completed, and the tightly plugged medium pipeline plug assembly 2 and the medium pipeline socket assembly 3 can move to a smelting or casting station along with the equipment.
To sum up, the embodiment of the utility model provides a medium pipeline connects cartridge device for robot can combine the robot to accomplish medium pipeline automatic insertion high-efficiently, reliably, connect and connect the back executor subassembly that the completion was inserted and can separate with medium pipeline plug subassembly and medium pipeline socket subassembly, make the medium pipeline plug subassembly that connects and medium pipeline socket subassembly still can normally work in moving to adverse circumstances such as high temperature, high dust along with equipment, guarantee reliable locking, can not lead to the interface to throw off because of pipeline pressure or other external actions; and simultaneously, the utility model discloses the device has easily manufacturing, low cost's advantage concurrently.
The above embodiments are merely illustrative of the principles and effects of the present invention, and are not to be construed as limiting the invention. Modifications and variations can be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which may be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (10)
1. The utility model provides a robot connects cartridge with medium pipeline is put which characterized in that: including executor subassembly, medium pipeline plug subassembly and medium pipeline socket subassembly, be connected for dismantling between executor subassembly and the medium pipeline plug subassembly, be connected for dismantling between medium pipeline plug subassembly and the medium pipeline socket subassembly, the executor subassembly is used for getting and puts medium pipeline plug subassembly to make medium pipeline plug subassembly and medium pipeline socket subassembly connect the joint.
2. The robot medium pipeline plugging device according to claim 1, wherein:
the actuator assembly comprises an actuator mounting plate, an actuator guide part and a stop structure, wherein the actuator guide part and the stop structure are arranged on the actuator mounting plate;
the medium pipeline plug assembly comprises a plug mounting plate, a first plug guide part, a second plug guide part and a locking structure, wherein the first plug guide part, the second plug guide part and the locking structure are arranged on the plug mounting plate;
the medium pipeline socket assembly comprises a socket mounting plate, a socket guide part and a locking sleeve, wherein the socket guide part and the locking sleeve are arranged on the socket mounting plate;
the actuator assembly and the medium pipeline plug assembly are connected with the first plug guide part in a matched mode through the actuator guide part and attached or separated through the stop structure; the medium pipeline plug assembly and the medium pipeline socket assembly are connected with the socket guide part in a matched mode through the second plug guide part and are locked or unlocked through the locking structure and the locking sleeve.
3. The robot medium pipeline plugging device according to claim 2, wherein: the actuator guide part is an actuator guide pin, the first plug guide part is a plug guide hole, the second plug guide part is a plug guide pin, and the socket guide part is a socket guide hole; the stop structure is a sucker or a magnet.
4. The robot medium pipeline plugging device according to claim 2, wherein: the locking structure comprises a support, a guide rod, a spring and a cam, wherein the support is arranged on the plug mounting plate, the spring is sleeved on the guide rod, one end of the cam is hinged with the support, and the other end of the cam is hinged with the guide rod in a sliding manner; when the guide rod is pushed to compress the spring, the guide rod drives the cam to rotate and retract into the support; when the guide rod is released and reset by the spring, the guide rod drives the cam to rotate and protrude out of the surface of the support.
5. The robot medium pipeline plugging device according to claim 4, wherein: the locking structure is characterized in that a groove is formed in the locking sleeve, the cam can be inserted into the locking sleeve when rotating and retracting, and the cam can be embedded into the groove of the locking sleeve when rotating and protruding.
6. The robot medium pipeline plugging device according to claim 5, wherein: the locking driving part is further arranged on the actuator mounting plate and can push or release the guide rod to drive the cam to retract or protrude, so that the locking structure and the locking sleeve are unlocked or locked.
7. The robot medium pipeline plugging device according to claim 2, wherein: the medium pipeline plug assembly is characterized in that a pipeline plug portion is arranged on the plug mounting plate, a pipeline socket portion is arranged on the socket mounting plate, when the medium pipeline plug assembly is connected with the medium pipeline socket assembly, the pipeline plug portion is connected with the pipeline socket portion in an inserting mode, and the pipeline plug portion and the pipeline socket portion respectively comprise a dielectric medium interface and/or a fluid medium interface.
8. The robot medium pipeline plugging device according to claim 2, wherein: the actuator mounting plate is also provided with a first sensor and a second sensor, the plug mounting plate is provided with a first sensing area, the socket mounting plate is provided with a second sensing area, and the first sensing area triggers the first sensor when the actuator assembly and the medium pipeline plug assembly are connected in place; when the medium pipeline plug assembly and the medium pipeline socket assembly are connected in place, the second sensing area triggers the second sensor.
9. The robot medium pipeline plugging device according to claim 2, wherein: the medium pipeline socket assembly further comprises a floating part, the floating part comprises a fixed side and a floating side, the floating side is fixedly connected with the socket installation plate, the floating side is flexibly connected with the fixed side, and relative displacement can occur between the socket installation plate and the fixed side.
10. The robot medium pipeline plugging device according to claim 2, wherein: still be provided with the robot connecting portion that is used for being connected with the robot on the executor mounting panel, be provided with a plurality of connecting holes on the robot connecting portion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022448710.4U CN213184723U (en) | 2020-10-29 | 2020-10-29 | Medium pipeline connecting and inserting device for robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022448710.4U CN213184723U (en) | 2020-10-29 | 2020-10-29 | Medium pipeline connecting and inserting device for robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213184723U true CN213184723U (en) | 2021-05-11 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022448710.4U Active CN213184723U (en) | 2020-10-29 | 2020-10-29 | Medium pipeline connecting and inserting device for robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN213184723U (en) |
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2020
- 2020-10-29 CN CN202022448710.4U patent/CN213184723U/en active Active
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