CN106584494B - The self-centering grasping mechanism of manipulator - Google Patents
The self-centering grasping mechanism of manipulator Download PDFInfo
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- CN106584494B CN106584494B CN201611200500.5A CN201611200500A CN106584494B CN 106584494 B CN106584494 B CN 106584494B CN 201611200500 A CN201611200500 A CN 201611200500A CN 106584494 B CN106584494 B CN 106584494B
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- driving
- axis
- support housing
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- bevel
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
- B25J15/026—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by gears
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses grasping mechanisms comprising fixed connecting plate, the first power mechanism for being installed on fixed connecting plate, the second power mechanism；Elastic mechanism is installed on fixed connecting plate, elastic mechanism includes being flexibly connected with fixed connecting plate and can be around the central axis of own axis, the slide outside of central axis is socketed with arrangement concentric with it and can be around the first transmission shaft of own axis, the slide outside of first transmission shaft is socketed with arrangement concentric with it and can be around the second driving shaft of own axis, the output end of first transmission shaft is provided with the first bevel gear wheel, several first bevel pinions are meshed with the first bevel gear wheel, the output end of second driving shaft is provided with the second bevel gear wheel, several second bevel pinions are meshed with the second bevel gear wheel, the number of first bevel pinion is identical as the number of the second bevel pinion；Suitable for the secured crawl to stacked objects such as paper, steel plates, the elevating function that relational implementation grabs bar is fitted with rack using spur gear, so that the bottom of the upper surface of stacked objects and support housing be fitted.
Description
Technical field
The present invention relates to field of machining, in particular to a kind of automatic mechanical hand.
Background technique
Manipulator imitates certain holding functions of manpower and arm, to by fixed routine crawl, carrying object or operative employee
The automatic pilot of tool can replace the heavy labor of people to realize the mechanization and automation of production, can be under hostile environment
Operation is widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy to protect personal safety.
Grasping mechanism in manipulator is core component, and grasping mechanism determines the working range that manipulator can adapt to
Summary of the invention
Compared with the existing technology, the present invention provides a kind of grasping mechanism for being applicable to a variety of occasions, in particular with
Self-centering mode quickly grabs various sizes of cylindrical object, square objects etc., can also be using full-enclosed structure to soft
Property object realize not damaged crawl.
To realize the above-mentioned technical purpose, the technical solution adopted in the present invention is as follows.
Grasping mechanism comprising fixed connecting plate, the first power mechanism for being installed on fixed connecting plate, the second engine
Structure；
Elastic mechanism is installed on fixed connecting plate, elastic mechanism include be flexibly connected with fixed connecting plate and can around from
The central axis of body axis rotation, the slide outside of central axis are socketed with arrangement concentric with it and can be around the of own axis
One transmission shaft, the slide outside of the first transmission shaft are socketed with arrangement concentric with it and can be around the second transmissions of own axis
Axis, the first transmission shaft are connect by the first transmission mechanism with the first power mechanism, the driving end of the first transmission shaft and the first transmission
The driven member of mechanism connects, and the driving link of the first transmission mechanism is connect with the output end of the first power mechanism, the first transmission shaft
Output end is provided with the first bevel gear wheel, several first bevel pinions are meshed with the first bevel gear wheel；Second driving shaft is logical
It crosses the second transmission mechanism to connect with the second power mechanism, the driving end of second driving shaft and the driven member of the second transmission mechanism connect
It connects, the driving link of the second transmission mechanism is connect with the output end of the second power mechanism, and the output end of second driving shaft is provided with
Two bevel gear wheels, several second bevel pinions are meshed with the second bevel gear wheel, the number of the first bevel pinion and second small
The number of bevel gear is identical；
Fixed connecting plate is connect by fastener with supporing shell, and supporing shell includes intermediate connection shell, support housing, Gu
Determine connecting plate and connect shell phase connection with centre, centre connection valve jacket is connected to the outside of elastic mechanism, vertically sets on centre connection shell
It is equipped with the support housing of several coplanar arrangements, being movably installed in support housing can be around the lifting and driving of own axis
Axis, screw rod slidably connect sliding block in support housing, and the wall portion of support housing is provided with guide runner along support housing length side
To the sliding slot of movement, it is provided with the lug boss to match with the sliding slot on sliding block, is slidably fitted in sliding block and support housing phase
Vertical grabs bar, grabs the rack gear for being provided on bar and extending along its length；The quantity of support housing and above-mentioned first small bevel gear
Wheel, the number of the second bevel pinion it is identical, and support housing at least there are two；
The spur gear to match with rack gear is installed in sliding block, is provided on lifting and driving axis and extends cloth along its axis direction
The keyway set, spur gear is socketed on outside lifting and driving axis and spur gear passes through key or the keyway of convex block and lifting and driving axis
Matching, sliding block is connected by screw with screw rod, and the rotation of screw rod can drive sliding block to slide along the length direction of support housing,
The driving end of lifting and driving axis is connected to the second bevel pinion, and the driving end of screw rod connects the first bevel pinion, or lifting passes
The driving end of moving axis is connected to the first bevel pinion, and the driving end of screw rod connects the second bevel pinion.
Grasping mechanism further includes the middle connecting plate being connect by fastener with fixed connecting plate, vertical on middle connecting plate
It is connected with connecting shaft, the other end of connecting shaft is fixedly connected on input connecting plate, and input connecting plate is connected to the 6th power mechanism
Output end.
The driving end of first transmission shaft is provided with the first driving wheel, and the first driving wheel passes through synchronous belt and the first power mechanism
Output end connection, the driving end of second driving shaft is provided with the second driving wheel, and the second driving wheel is moved by synchronous belt with second
The output end of force mechanisms connects.
The driving end of first transmission shaft and the driving end of second driving shaft are located at the same side, the output end of the first transmission shaft with
The output end of second driving shaft is located at the same side.
Support housing is made of fixed plate, movable plate, and lifting and driving axis, screw rod are mounted on fixed plate, by detachable
Mode fixed plate and movable plate are attached.
For convenient for the clamping to object, the gripping end for grabbing bar is provided with claw, and the shape of claw can be directed to gripped object
The shape of body changes；When grasping mechanism clamps stacking object, the center position of claw towards grasping mechanism prolongs
It stretches；When grasping mechanism to cylindrical object and its be internally provided with inner cavity when, grabbing bar may extend to the interior of the cylindrical object
Chamber simultaneously clamps inner wall, can just its machining etc..
Grasping mechanism is also connected with mechanical arm, drives grasping mechanism to realize polyaxial movement by mechanical arm, from
And adapt to various working environments.
Mechanical arm includes pedestal, the third power mechanism being mounted on the base, the output end connection of third power mechanism
In the fixed part of the 4th power mechanism, the output end of the 4th power mechanism is connected to one end of the first cantilever, the first cantilever
The other end is connected to the output end of the 5th power mechanism, and the fixed part of the 5th power mechanism connects one end of the second cantilever, the
The other end of two cantilevers connects the fixed part of the 6th power mechanism, and input connecting plate is connected to the output of the 6th power mechanism
End.
Third power mechanism drives the 4th power mechanism rotary motion about the z axis, and the 4th power mechanism drives the first cantilever around Y
Axis movement, the 5th power mechanism drive the second cantilever to move around Y-axis.
The advantages of grasping mechanism provided by the invention, is：（1）Especially suitable for being grabbed to cylindrical, conical object
It takes, grasping mechanism provided by the invention, which has, makes heart function by oneself, can be realized in the process of grasping to cylindrical, conical object
Accurate crawl；（2）Suitable for the secured crawl to stacked objects such as paper, steel plates, adaptation is made to the width of object when grabbing bar
Property adjust and when grabbing object, the elevating function that relational implementation grabs bar is fitted with rack using spur gear, thus by heap
The upper surface of folded object and the bottom of support housing fit, and are fixed using pressure to it.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention.
Fig. 2 is mechanical arm structural schematic diagram of the invention.
Fig. 3 is the structural schematic diagram of grasping mechanism of the invention.
Fig. 4 is the structural schematic diagram of grasping mechanism of the invention.
Fig. 5 is the structural schematic diagram of grasping mechanism of the invention.
Fig. 6 is the structural schematic diagram of grasping mechanism of the invention.
Fig. 7 is the structural schematic diagram that the second bevel gear wheel of the invention and the second bevel pinion cooperate.
Fig. 8 is the structural schematic diagram that the first bevel gear wheel of the invention and the first bevel pinion cooperate.
Fig. 9 is the structural schematic diagram of central axis of the invention and the first transmission shaft, second driving shaft cooperation.
Figure 10 is support housing of the invention and grabs the structural schematic diagram that bar cooperates.
Figure 11 is the structural schematic diagram that support housing of the invention connect shell cooperation with centre.
Figure 12 is the structural schematic diagram of lifting and driving axis and sliding block cooperation of the invention.
Figure 13 is the structural schematic diagram of screw rod and sliding block cooperation of the invention.
Figure 14 is the structural schematic diagram of lifting and driving axis of the invention, screw rod and sliding block cooperation.
It is denoted as in figure：
100, pedestal；200, third power mechanism；300, the 4th power mechanism；400, the first cantilever；500, the 5th power
Mechanism；600, the second cantilever；700, the 6th power mechanism；
800, grasping mechanism；810, connecting plate is inputted；820, connecting shaft；830, middle connecting plate；840, the first engine
Structure；850, the second power mechanism；860, fixed connecting plate；870, support housing；872, intermediate connection shell；874, lifting and driving
Axis；876, screw rod；880, bar is grabbed；882, rack gear；884, claw；890, sliding block；892, spur gear；
900, elastic mechanism；910, central axis；920, the first driving wheel；930, the second driving wheel；940, the second auger tooth
Wheel；942, second driving shaft；950, the second bevel pinion；960, the first bevel gear wheel；962, the first transmission shaft；970, first is small
Bevel gear.
Specific embodiment
As shown in Figure 1, 2, manipulator comprising mechanical arm, the grasping mechanism 800 for being installed on mechanical arm output end,
Grasping mechanism 800 is driven to move towards preset direction by the poly-axial motion of mechanical arm；As shown in Fig. 2, mechanical arm includes
Pedestal 100, the third power mechanism 200 being installed on pedestal 100, it is dynamic that the output end of third power mechanism 200 is connected to the 4th
The fixed part of force mechanisms 300, the output end of the 4th power mechanism 300 are connected to one end of the first cantilever 400, the first cantilever
400 other end is connected to the output end of the 5th power mechanism 500, and the fixed part connection second of the 5th power mechanism 500 is outstanding
One end of arm 600, the other end of the second cantilever 600 connect the fixed part of the 6th power mechanism 700, it is preferable that the 6th power
Mechanism 700 can be rotated relative to the second cantilever 600, and the kinetic energy output end of the 6th power mechanism 700 connects grasping mechanism
800, polyaxial movement occurs for mechanical arm driving grasping mechanism 800.
Specifically, third power mechanism 200 drives the 4th power mechanism rotary motion about the z axis, and the 4th power mechanism 300 drives
Dynamic first cantilever 400 is moved around Y-axis, and the 5th power mechanism 500 drives the second cantilever 600 to move around Y-axis.
So that manipulator of the invention adapts to a variety of environment, the mechanical arm structure of above-mentioned offer is existing routine
Design, it is obvious that the mechanical arm to match with grasping mechanism of the invention is varied, is not limited to above description.
As shown in Figure 2,3, 4, grasping mechanism 800 comprising the input connecting with the output end of the 6th power mechanism 700 connects
Fishplate bar 810, be fixed on input connecting plate 810 connecting shaft 820, be fixed on 820 other end of connecting shaft middle connecting plate 830,
Middle connecting plate 830 is connect by fastener with fixed connecting plate 860, and the first power mechanism is equipped on fixed connecting plate 860
840, the second power mechanism 850；Preferably, the first power mechanism 840, the second power mechanism 850 are located at the two of connecting shaft 820
End.
As shown in figures 5-9, elastic mechanism 900 is installed, elastic mechanism 900 includes connecting with fixed on fixed connecting plate 860
Fishplate bar 860 is flexibly connected and can be around the central axis 910 of own axis, and the slide outside of central axis 910 is socketed with and it
Arranged concentric and can be around the first transmission shaft 962 of own axis, the slide outside of the first transmission shaft 962 is socketed with and it
Arranged concentric and can be around the second driving shaft 942 of own axis, the first transmission shaft 962 passes through the first transmission mechanism and the
The connection of one power mechanism 840, the driving end of the first transmission shaft 962 are connect with the driven member of the first transmission mechanism, the first driver
The driving link of structure is connect with the output end of the first power mechanism 840, and the output end of the first transmission shaft 962 is provided with the first auger tooth
Wheel 960, several first bevel pinions 970 are meshed with the first bevel gear wheel 960；Second driving shaft 942 passes through the second transmission
Mechanism is connect with the second power mechanism 850, and the driving end of second driving shaft 942 is connect with the driven member of the second transmission mechanism, the
The driving link of two transmission mechanisms is connect with the output end of the second power mechanism 850, and the output end of second driving shaft 942 is provided with
Two bevel gear wheels 940, several second bevel pinions 950 are meshed with the second bevel gear wheel 940, the first bevel pinion 970
Number is identical as the number of the second bevel pinion 950.
As viewed in figures 5-8, the first power mechanism 840 is connect by synchronous belt drive mechanism with the first transmission shaft 962, and second
Power mechanism 850 is connected by synchronous belt drive mechanism with second driving shaft 942, specifically, the driving of the first transmission shaft 962
End is provided with the first driving wheel 920, and the first driving wheel 920 is connect by synchronous belt with the output end of the first power mechanism, and second
The driving end of transmission shaft 942 is provided with the second driving wheel 930, and the second driving wheel 930 passes through synchronous belt and the second power mechanism
Output end connection.
As shown in Figure 5,6, the driving end of the first transmission shaft 962 and the driving end of second driving shaft 942 are located at the same side, the
The output end of one transmission shaft 962 and the output end of second driving shaft 942 are located at the same side；To the first transmission shaft, second driving shaft
Layout limited, the offer of power of being more convenient for and the reasonability for improving interior layout.
As shown in Figure 10,11, fixed connecting plate 860 is connect by fastener with supporing shell, and supporing shell includes centre
Shell 872, support housing 870 are connected, fixed connecting plate 860 connect shell 872 with centre and is connected, and centre connection shell 872 is socketed on
The outside of elastic mechanism 900, centre connect the support housing 870 that several coplanar arrangements are vertically installed on shell 872, support
Be movably installed in shell 870 can lifting and driving axis 874, screw rod 876 around own axis, sliding in support housing 870
It is connected with sliding block 890, the wall portion of support housing 870 is provided with the cunning that guide runner 890 is moved along 870 length direction of support housing
Slot is provided with the lug boss to match with the sliding slot on sliding block 890, is slidably fitted in sliding block 890 and hangs down with 870 phase of support housing
Straight grabs bar 880, grabs the rack gear 882 for being provided on bar 880 and extending along its length；Particularly importantly, the number of support housing
It measures identical as above-mentioned first bevel pinion, the number of the second bevel pinion.
As shown in figure 12, the spur gear 892 to match with rack gear 882 is installed, on lifting and driving axis 874 in sliding block 890
It is provided with the keyway being disposed to extend along its axis direction, spur gear 892 is socketed on 874 outside of lifting and driving axis and spur gear
892 are matched by the keyway of key or convex block and lifting and driving axis 874, and the driving end of lifting and driving axis 874 is connected to first
The driving end of bevel pinion or lifting and driving axis 874 is connected to the second bevel pinion；For example, the second power mechanism is to second
When transmission shaft 942 transmits kinetic energy and second driving shaft is driven to rotate, the second fixed bevel gear wheel with 942 phase of second driving shaft
It rotates and the second bevel pinion being meshed therewith is driven to rotate, due to the second bevel pinion and lifting and driving axis
Driving end connection, the second bevel pinion driving lifting and driving axis 874 around own axis and drive matched
Spur gear 892 rotates, due to the meshing relation of spur gear 892 and rack gear 882, realize rack gear 882 along its length on
It is mobile.
As shown in figure 13, sliding block 890 is connected by screw with screw rod 876, and the rotation of screw rod 876 can drive sliding block 890
Length direction along support housing slides, and the driving end of screw rod 876 connects the driving of the first bevel pinion 970 or screw rod 876
The second bevel pinion 950 of end connection, for example, when the first power mechanism 840 is driven kinetic energy to the first transmission shaft 962, the first transmission
Axis drives the first bevel gear wheel 960 to rotate, the first bevel pinion that the rotate driving of the first bevel gear wheel is meshed therewith
970 drivings, since the first bevel pinion 970 is connect with the driving end of screw rod, to realize driving sliding block 890 along support housing
Length direction sliding.
Particularly importantly, to realize crawl operation of the grasping mechanism 800 to object, above-mentioned support housing 870 is at least
It two, is adaptively adjusted using the rotation of screw rod so that grabbing bar and being made to the width of object, utilizes the rotation pair of lifting and driving axis
The thickness of object, which is made, to be adaptively adjusted；Figure of description part of the invention provides embodiment party when support housing is four
Formula, since spur gear is connected by lifting and driving axis, the second bevel pinion with the second bevel gear wheel, the second bevel gear wheel turns
Dynamic driving can drive four synchronization liftings for grabbing bar, to adapt to the thickness of object；Since sliding block passes through screw rod, the first small bevel gear
Wheel is connected with the first bevel gear wheel, and the rotation of the first bevel gear wheel can drive four synchronizations for grabbing bar close or same to center
Deviation center is walked, to adapt to the width of object.
For convenient for the clamping to object, the gripping end for grabbing bar 880 is provided with claw, and the shape of claw can be for clamped
The shape of object changes；When grasping mechanism clamps stacking object, center position of the claw towards grasping mechanism
Extend；When grasping mechanism to cylindrical object and its be internally provided with inner cavity when, grabbing bar may extend to the cylindrical object
Inner cavity simultaneously clamps inner wall, can just its machining etc..
As shown in Figure 10,11, support housing is made of fixed plate, movable plate, and lifting and driving axis 874, screw rod 876 are respectively mounted
In fixed plate, fixed plate and movable plate are attached by dismountable mode, the maintenance and maintenance in later period of being more convenient for.
Claims (6)
1. grasping mechanism, it is characterised in that：It includes fixed connecting plate, the first power mechanism for being installed on fixed connecting plate,
Two power mechanisms；
Elastic mechanism is installed, elastic mechanism includes being flexibly connected with fixed connecting plate and can be around itself axis on fixed connecting plate
The central axis of line rotation, the slide outside of central axis are socketed with arrangement concentric with it and can pass around the first of own axis
Moving axis, the slide outside of the first transmission shaft be socketed with it is concentric with it arrangement and can around the second driving shaft of own axis,
First transmission shaft is connect by the first transmission mechanism with the first power mechanism, the driving end of the first transmission shaft and the first transmission mechanism
Driven member connection, the driving link of the first transmission mechanism connect with the output end of the first power mechanism, the output of the first transmission shaft
End is provided with the first bevel gear wheel, several first bevel pinions are meshed with the first bevel gear wheel；Second driving shaft passes through the
Two transmission mechanisms are connect with the second power mechanism, and the driving end of second driving shaft is connect with the driven member of the second transmission mechanism, the
The driving link of two transmission mechanisms is connect with the output end of the second power mechanism, and the output end of second driving shaft is provided with the second auger
Gear, several second bevel pinions are meshed with the second bevel gear wheel, the number of the first bevel pinion and the second bevel pinion
Number it is identical；
Fixed connecting plate is connect by fastener with supporing shell, and supporing shell includes intermediate connection shell, support housing, fixed to connect
Fishplate bar connect shell phase connection with centre, and centre connection valve jacket is connected to the outside of elastic mechanism, is vertically installed on centre connection shell
The support housing of several coplanar arrangements, be movably installed in support housing can around own axis lifting and driving axis,
Screw rod slidably connects sliding block in support housing, and the wall portion of support housing is provided with guide runner along support housing length direction
The sliding slot of movement is provided with the lug boss to match with the sliding slot on sliding block, is slidably fitted in sliding block and mutually hangs down with support housing
Straight grabs bar, grabs the rack gear for being provided on bar and extending along its length；The quantity of support housing and above-mentioned first bevel pinion,
The number of second bevel pinion is identical, and support housing at least there are two；
The spur gear to match with rack gear is installed in sliding block, is provided on lifting and driving axis and is disposed to extend along its axis direction
Keyway, spur gear are socketed on the keyway phase that outside lifting and driving axis and spur gear passes through key or convex block and lifting and driving axis
Match, sliding block is connected by screw with screw rod, and the rotation of screw rod can drive sliding block to slide along the length direction of support housing, lifting
The driving end of transmission shaft is connected to the second bevel pinion, and the driving end of screw rod connects the first bevel pinion or lifting and driving axis
Driving end be connected to the first bevel pinion, the driving end of screw rod connects the second bevel pinion.
2. grasping mechanism according to claim 1, it is characterised in that：The driving end of first transmission shaft is provided with the first driving
Wheel, the first driving wheel are connect by synchronous belt with the output end of the first power mechanism, and the driving end of second driving shaft is provided with the
Two driving wheels, the second driving wheel are connect by synchronous belt with the output end of the second power mechanism.
3. grasping mechanism according to claim 2, it is characterised in that：The driving end of first transmission shaft and second driving shaft
Driving end is located at the same side, and the output end of the first transmission shaft and the output end of second driving shaft are located at the same side.
4. grasping mechanism according to claim 1, it is characterised in that：Support housing is made of fixed plate, movable plate, lifting
Transmission shaft, screw rod are mounted on fixed plate, are attached fixed plate and movable plate by dismountable mode.
5. grasping mechanism according to claim 1, it is characterised in that：The gripping end for grabbing bar is provided with claw.
6. grasping mechanism according to claim 1, it is characterised in that：Grasping mechanism is also connected with mechanical arm.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810318984.6A CN108527420A (en) | 2016-12-22 | 2016-12-22 | A kind of multiple degrees of freedom, self-centering gripping-type manipulator |
| CN201611200500.5A CN106584494B (en) | 2016-12-22 | 2016-12-22 | The self-centering grasping mechanism of manipulator |
| CN201810318986.5A CN108544521A (en) | 2016-12-22 | 2016-12-22 | A kind of Multi-shaft mechanical hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611200500.5A CN106584494B (en) | 2016-12-22 | 2016-12-22 | The self-centering grasping mechanism of manipulator |
Related Child Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810318984.6A Division CN108527420A (en) | 2016-12-22 | 2016-12-22 | A kind of multiple degrees of freedom, self-centering gripping-type manipulator |
| CN201810318986.5A Division CN108544521A (en) | 2016-12-22 | 2016-12-22 | A kind of Multi-shaft mechanical hand |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106584494A CN106584494A (en) | 2017-04-26 |
| CN106584494B true CN106584494B (en) | 2018-11-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611200500.5A Active CN106584494B (en) | 2016-12-22 | 2016-12-22 | The self-centering grasping mechanism of manipulator |
| CN201810318984.6A Withdrawn CN108527420A (en) | 2016-12-22 | 2016-12-22 | A kind of multiple degrees of freedom, self-centering gripping-type manipulator |
| CN201810318986.5A Withdrawn CN108544521A (en) | 2016-12-22 | 2016-12-22 | A kind of Multi-shaft mechanical hand |
Family Applications After (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810318984.6A Withdrawn CN108527420A (en) | 2016-12-22 | 2016-12-22 | A kind of multiple degrees of freedom, self-centering gripping-type manipulator |
| CN201810318986.5A Withdrawn CN108544521A (en) | 2016-12-22 | 2016-12-22 | A kind of Multi-shaft mechanical hand |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN108544521A (en) | 2018-09-18 |
| CN108527420A (en) | 2018-09-14 |
| CN106584494A (en) | 2017-04-26 |
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