CN109093641A - A kind of mechanical grip for machine-building - Google Patents
A kind of mechanical grip for machine-building Download PDFInfo
- Publication number
- CN109093641A CN109093641A CN201811181965.XA CN201811181965A CN109093641A CN 109093641 A CN109093641 A CN 109093641A CN 201811181965 A CN201811181965 A CN 201811181965A CN 109093641 A CN109093641 A CN 109093641A
- Authority
- CN
- China
- Prior art keywords
- clamping jaw
- fixed
- hand
- mechanical grip
- pawl
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- 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
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
-
- 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
Abstract
The invention discloses a kind of mechanical grips for machine-building, including clamping jaw pawl body, it is provided with hand at the top of clamping jaw pawl body and twists screw hole, hand, which is twisted, is fixed with the stubborn blind nut of hand at the top of screw hole, and hand is twisted blind nut and is mutually clamped with the stubborn screw hole of hand, the side of clamping jaw pawl body is provided with running through-hole, the inside of running through-hole is provided through clamping jaw connecting rod, the front of clamping jaw connecting rod is fixed with connecting rod fixed screw, clamping jaw fixing groove is provided through at the top of clamping jaw connecting rod, the inside of clamping jaw fixing groove is fixed with mechanical grip, the front of mechanical grip, which is fixed with, actuates fixed screw, the back side for actuating fixed screw, which is fixed with, actuates up-and-down rod, the front for actuating up-and-down rod, which is fixed with, actuates variation screw, the back side for actuating variation screw is fixed with fixed link, the bottom of mechanical grip is provided with clamping jaw pawl point, pawl point sawtooth is provided at the top of clamping jaw pawl point , which passes through pawl point sawtooth and hand twists blind nut etc. and achievees the purpose that increase grip and be conveniently replaceable fixing bolt.
Description
Technical field
The present invention relates to technical field of mechanical manufacturing equipment, specially a kind of mechanical grip for machine-building.
Background technique
Mechanical grip is a kind of certain holding functions that can imitate manpower and arm, to by fixed routine crawl, carrying object
The automatic pilot of part or operational instrument, feature are that various expected operations, construction and performance can be completed by programming
On have the advantage of people and robotics respectively concurrently, manipulator is the industrial robot occurred earliest, and what is occurred earliest show
For robot, it can replace the heavy labor of people to realize the mechanization and automation of production, can be operated under hostile environment with
Personal safety is protected, thus is widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.
But the existing mechanical grip for machine-building is easy since manufacture processing object density height keeps weighing items high
Occur falling since grip is insufficient during the motion after clamping jaw clamping jaw is clamped, is interrupted process, while by
So that mechanical grip is worked long hours in automation process, causes internal support part fixing bolt to be easy to appear abrasion, but existing
The mode of some mechanical grip replacement inner bodies is relatively complicated.
So how to design a kind of mechanical grip for machine-building, becoming us will currently be solved the problems, such as.
Summary of the invention
The purpose of the present invention is to provide a kind of mechanical grips for machine-building, to solve to mention in above-mentioned background technique
Grip deficiency out and it is not easy to replacement fixing bolt problem.
To achieve the above object, the invention provides the following technical scheme: a kind of mechanical grip for machine-building, including
Clamping jaw pawl body is provided with hand at the top of the clamping jaw pawl body and twists screw hole, and the hand, which is twisted, to be fixed with hand and twist blind nut at the top of screw hole, and
The hand is twisted blind nut and is mutually clamped with the stubborn screw hole of hand, and the side of the clamping jaw pawl body is provided with running through-hole, the running through-hole
Inside is provided through clamping jaw connecting rod, and the front of the clamping jaw connecting rod is fixed with connecting rod fixed screw, and the clamping jaw connects
Clamping jaw fixing groove is provided through at the top of extension bar, the inside of the clamping jaw fixing groove is fixed with mechanical grip, the mechanical folder
The front of pawl, which is fixed with, actuates fixed screw, and the back side for actuating fixed screw, which is fixed with, actuates up-and-down rod, described to actuate change
The front of lever, which is fixed with, actuates variation screw, and the back side for actuating variation screw is fixed with fixed link, the mechanical grip
Bottom be provided with clamping jaw pawl point, be provided with pawl point sawtooth at the top of the clamping jaw pawl point, and the pawl point sawtooth and clamping jaw pawl
Sharp precision welding, the clamping jaw pawl body are internally provided with fixing bolt, and the inside of the fixing bolt is fixed with control iron core, described
Attachment cap is fixed at the top of control iron core.
Further, there are three the mechanical grip settings, and three mechanical grips are symmetrical relative to control iron core
Setting, while three mechanical grips are flexibly connected with clamping jaw connecting rod.
Further, the hand is twisted blind nut and is process by rubber material, and the hand twists the internal diameter of blind nut and hand twists spiral shell
The diameter in hole matches, while the hand is twisted blind nut and is fixedly connected with the stubborn screw hole of hand.
Further, the shape of the clamping jaw pawl point is in " arc ", and the outer surface of the clamping jaw pawl point is coarse, while institute
Clamping jaw pawl point is stated to be fixedly connected with mechanical grip.
Further, hollow out inside the fixing bolt, and the fixing bolt is vertically arranged relative to clamping jaw pawl body, while institute
Fixing bolt is stated to be fixedly connected with clamping jaw pawl body.
Further, the mechanical grip includes actuating up-and-down rod and positioned at actuating up-and-down rod positioned at mechanical grip side
The fixed link of side, and the up-and-down rod that actuates is flexibly connected with fixed link.
Compared with prior art, the beneficial effects of the present invention are: this kind is used for the mechanical grip of machine-building, in original dress
It improves and increases on the basis of setting, which is provided with pawl point sawtooth and clamping jaw pawl point etc., and staff passes through device
Attachment cap is connected on Work machine, is powered on, and subsequent machine is started to work, by the way that mechanical grip is moved to specific bit
It sets, regulates direction, attachment cap moves down drive control iron core and moves down that mechanical grip is driven to move down, until gripping objects and control
Iron core contact moves up control iron core since gripping objects produce holding power to control iron core, drives and fix with control iron core
The fixing bolt of connection moves up, so that the fixed clamping jaw connecting rod in fixing bolt side of leading group of people moves up, is fixed to drive by clamping jaw
Slot be flexibly connected mechanical grip move up, due to mechanical grip side actuate up-and-down rod actuated fixed screw fixation make to actuate
For up-and-down rod from past horizontal movement is tilted during mechanical grip moves up, the holding power for actuating up-and-down rod two sides makes mechanical grip
Open, make gripping objects well into three mechanical grips among, subsequent staff, which controls machine, rises mechanical grip, at this time
The gravity of gripping objects is supported by three clamping jaw pawl points, and the pawl point sawtooth in clamping jaw pawl point increases the degree of roughness in clamping jaw pawl point
The frictional force for keeping gripping objects horizontal in clamping jaw pawl point increases to be difficult to generate horizontal sliding, passes through the setting of pawl point sawtooth
Make to increase the frictional force between gripping objects and mechanical grip, achievees the purpose that increase grip, which is provided with hand and twists spiral shell
Lid and hand twist screw hole etc., and staff closes power supply after clamping is completed, and so that hand is twisted spiral shell by directly turning the stubborn blind nut of hand with hand
Whether lid and hand are twisted screw hole and are detached from, check whether abrasion to open clamping jaw pawl body and take out fixing bolt, need replacing, passing through hand
Stubborn blind nut directly opens clamping jaw pawl body and cumbersome opening steps is omitted, and achievees the purpose that be conveniently replaceable fixing bolt.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is clamping jaw pawl point partial schematic diagram of the invention；
Fig. 3 is clamping jaw pawl body cross-sectional view of the invention.
In figure: 1, clamping jaw pawl body, 2, the stubborn blind nut of hand, 3, attachment cap, 4, control iron core, 5, running through-hole, 6, clamping jaw connection
Bar, 7, mechanical grip, 8, clamping jaw pawl point, 9, actuate up-and-down rod, 10, fixed link, 11, actuate fixed screw, 12, actuate variation spiral shell
Silk, 13, connecting rod fixed screw, 14, clamping jaw fixing groove, 15, pawl point sawtooth, 16, fixing bolt, 17, the stubborn screw hole of hand.
Specific embodiment
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, merely to
Convenient for description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation,
It is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.In addition, term " first ", " second ",
" third " is used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Fig. 1-3 is please referred to, the present invention provides a kind of technical solution: a kind of mechanical grip for machine-building, including folder
Pawl pawl body 1, hand twist blind nut 2, attachment cap 3, control iron core 4, running through-hole 5, clamping jaw connecting rod 6, mechanical grip 7, clamping jaw pawl point
8, up-and-down rod 9, fixed link 10 are actuated, fixed screw 11 is actuated, actuates that change screw 12, connecting rod fixed screw 13, clamping jaw solid
Determine slot 14, pawl point sawtooth 15, fixing bolt 16 and hand and twist screw hole 17, the top of clamping jaw pawl body 1 is provided with hand and twists screw hole 17, and hand twists spiral shell
The top in hole 17 is fixed with hand and twists blind nut 2, and hand twists blind nut 2 and twists the clamping of 17 phase of screw hole with hand, and the side of clamping jaw pawl body 1 is provided with
Through-hole 5 is operated, the inside of running through-hole 5 is provided through clamping jaw connecting rod 6, and the front of clamping jaw connecting rod 6 is fixed with connecting rod
Fixed screw 13, the top of clamping jaw connecting rod 6 are provided through clamping jaw fixing groove 14, and the inside fixation of clamping jaw fixing groove 14 is organic
Tool clamping jaw 7, the front of mechanical grip 7, which is fixed with, actuates fixed screw 11, and the back side for actuating fixed screw 11, which is fixed with, actuates change
Lever 9, the front for actuating up-and-down rod 9, which is fixed with to actuate, changes screw 12, and the back side for actuating variation screw 12 is fixed with fixed link
10, the bottom of mechanical grip 7 is provided with clamping jaw pawl point 8, and the top of clamping jaw pawl point 8 is provided with pawl point sawtooth 15, and pawl point sawtooth
15 are internally provided with fixing bolt 16 with 8 precision welding of clamping jaw pawl point, clamping jaw pawl body 1, and the inside of fixing bolt 16 is fixed with control
The top of iron core 4, control iron core 4 is fixed with attachment cap 3.
The present invention twists blind nut 2 etc. by pawl point sawtooth 15 and hand and reaches the mesh for increasing grip and being conveniently replaceable fixing bolt
, device is connected on Work machine by attachment cap 3 by staff, is powered on, and subsequent machine is started to work, pass through by
Mechanical grip 7 is moved to designated position, regulates direction, and attachment cap 3 moves down drive control iron core 4 and moves down to drive mechanical folder
Pawl 7 moves down, until gripping objects are contacted with control iron core 4, makes to control iron since gripping objects produce holding power to control iron core 4
Core 4 moves up, and the fixing bolt 16 being fixedly connected with control iron core 4 is driven to move up, thus the fixed clamping jaw in 16 side of fixing bolt of leading group of people
Connecting rod 6 moves up, to drive the mechanical grip 7 being flexibly connected by clamping jaw fixing groove 14 to move up, due to 7 side of mechanical grip
The up-and-down rod 9 that actuates actuated that fixed screw 11 is fixed to make to actuate up-and-down rod 9 during mechanical grip 7 moves up from tilting toward water
Flat movement, the holding power for actuating 9 two sides of up-and-down rod open mechanical grip 7, make gripping objects well into three mechanical grips 7
Centre, subsequent staff, which controls machine, rises mechanical grip 7, and the gravity of gripping objects is by three clamping jaw pawl point 8 at this time
It supports, the degree of roughness that the pawl point sawtooth 15 in clamping jaw pawl point 8 increases in clamping jaw pawl point 8 makes gripping objects water in clamping jaw pawl point 8
Flat frictional force increases to be difficult to generate horizontal sliding, and staff closes power supply after clamping is completed, by directly using hand
Turning the stubborn blind nut 2 of hand makes hand twist blind nut 2 and the stubborn disengaging of screw hole 17 of hand, and fixing bolt 16 is taken out inspection to open clamping jaw pawl body 1
Whether wear, whether need replacing.
Specifically, there are three the settings of mechanical grip 7, and three mechanical grips 7 are symmetrical arranged relative to control iron core 4, together
When three mechanical grips 7 be flexibly connected with clamping jaw connecting rod 6, the setting of three mechanical grips 7 makes gripping objects frictional force phase
It mutually offsets, achievees the purpose that support gripping objects.
The present invention achievees the purpose that support gripping objects, staff's control machine by the setting of three mechanical grips 7
Increase mechanical grip 7, the gravity of gripping objects is supported by three clamping jaw pawl points 8 at this time, the pawl point sawtooth 15 in clamping jaw pawl point 8
Increase the frictional force that the degree of roughness in clamping jaw pawl point 8 keeps gripping objects horizontal in clamping jaw pawl point 8 to increase to be difficult to generate
Level sliding.
It is process specifically, hand twists blind nut 2 by rubber material, and hand twists the internal diameter of blind nut 2 and hand twists the straight of screw hole 17
Diameter matches, while hand is twisted blind nut 2 and is fixedly connected with the stubborn screw hole 17 of hand, and the setting that hand twists blind nut 2 keeps fixing bolt 16 direct
It manually takes out, achievees the purpose that be conveniently replaceable fixing bolt 16.
The present invention is achieved the purpose that be conveniently replaceable fixing bolt 16 by the setting that hand twists blind nut 2, be worked after clamping completion
Personnel close power supply, so that hand is twisted blind nut 2 and the stubborn disengaging of screw hole 17 of hand by directly turning the stubborn blind nut 2 of hand with hand, to open folder
Whether the taking-up of fixing bolt 16 is checked whether abrasion, needed replacing by pawl pawl body 1.
Specifically, the shape of clamping jaw pawl point 8 is in " arc ", and the outer surface of clamping jaw pawl point 8 is coarse, while clamping jaw pawl point 8
It is fixedly connected with mechanical grip 7, the shape setting of clamping jaw pawl point 8 increases the frictional force of gripping objects and mechanical grip 7, reaches
Increase the purpose of grip.
The present invention achievees the purpose that increase grip by the shape setting of clamping jaw pawl point 8, and the gravity of gripping objects is by three
A clamping jaw pawl point 8 supports, and the degree of roughness that the pawl point sawtooth 15 in clamping jaw pawl point 8 increases in clamping jaw pawl point 8 makes gripping objects exist
Horizontal frictional force increases to be difficult to generate horizontal sliding in clamping jaw pawl point 8.
Specifically, 16 inside hollow out of fixing bolt, and fixing bolt 16 is vertically arranged relative to clamping jaw pawl body 1, while fixing bolt
16 are fixedly connected with clamping jaw pawl body 1, and the setting of fixing bolt 16 makes to control the control clamping jaw connecting rod 6 of iron core 4, reach the mechanical folder of control
The purpose of pawl 7.
The present invention achievees the purpose that control mechanical grip 7 by the setting of fixing bolt 16, since gripping objects are to control iron
Core 4, which produces holding power, moves up control iron core 4, drives the fixing bolt 16 being fixedly connected with control iron core 4 to move up, to lead group of people
The fixed clamping jaw connecting rod 6 in 16 side of fixing bolt moves up, to drive the mechanical grip 7 being flexibly connected by clamping jaw fixing groove 14
It moves up.
Specifically, mechanical grip 7 includes actuating up-and-down rod 9 and positioned at actuating 9 side of up-and-down rod positioned at 7 side of mechanical grip
The fixed link 10 in face, and actuate up-and-down rod 9 and be flexibly connected with fixed link 10, the setting for actuating up-and-down rod 9 is pressing from both sides mechanical grip 7
It is opened before holding object, achievees the purpose that sufficiently to clamp.
The present invention achievees the purpose that sufficiently to clamp by actuating the setting of up-and-down rod 9, due to actuating for 7 side of mechanical grip
Up-and-down rod 9 is actuated, and fixed screw 11 is fixed to be made to actuate up-and-down rod 9 during mechanical grip 7 moves up from the past horizontal fortune of inclination
Dynamic, the holding power for actuating 9 two sides of up-and-down rod opens mechanical grip 7, makes gripping objects well into three mechanical grips 7
Between.
Working principle, firstly, staff checks whether all parts performance is normal, if finding some component capabilities not just
After often, it should be repaired or replaced in time, after device all parts performance to be checked is normal, device is placed in specified work
Device is connected on Work machine by attachment cap 3, is powered on by industry place, staff, and subsequent machine is started to work, and is led to
It crosses and mechanical grip 7 is moved to designated position, regulate direction, attachment cap 3 moves down drive control iron core 4 and moves down to motivation
Tool clamping jaw 7 moves down, until gripping objects are contacted with control iron core 4, makes to control since gripping objects produce holding power to control iron core 4
Iron core 4 processed moves up, and the fixing bolt 16 being fixedly connected with control iron core 4 is driven to move up, to lead group of people what 16 side of fixing bolt was fixed
Clamping jaw connecting rod 6 moves up, to drive the mechanical grip 7 being flexibly connected by clamping jaw fixing groove 14 to move up, due to mechanical grip 7
Side actuate up-and-down rod 9 actuated fixed screw 11 fixation make to actuate up-and-down rod 9 during mechanical grip 7 moves up from inclination
Toward horizontal movement, the holding power for actuating 9 two sides of up-and-down rod opens mechanical grip 7, makes gripping objects well into three machinery
Among clamping jaw 7, subsequent staff, which controls machine, rises mechanical grip 7, and the gravity of gripping objects is by three clamping jaw pawls at this time
Point 8 supports, and the degree of roughness that the pawl point sawtooth 15 in clamping jaw pawl point 8 increases in clamping jaw pawl point 8 makes gripping objects in clamping jaw pawl point 8
The frictional force of upper level increases to be difficult to generate horizontal sliding, and staff closes power supply after clamping is completed, by direct
Turning the stubborn blind nut 2 of hand with hand makes hand twist blind nut 2 and the stubborn disengaging of screw hole 17 of hand, takes out fixing bolt 16 to open clamping jaw pawl body 1
It checks whether abrasion, whether need replacing, complete this subjob.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (6)
1. a kind of mechanical grip for machine-building, including clamping jaw pawl body (1), it is characterised in that: the clamping jaw pawl body (1)
Top is provided with hand and twists screw hole (17), and the hand, which is twisted, to be fixed with hand and twist blind nut (2) at the top of screw hole (17), and the stubborn blind nut of the hand
(2) it twists screw hole (17) with hand to be mutually clamped, the side of the clamping jaw pawl body (1) is provided with running through-hole (5), the running through-hole
(5) inside is provided through clamping jaw connecting rod (6), and the front of the clamping jaw connecting rod (6) is fixed with connecting rod fixed screw
(13), it is provided through clamping jaw fixing groove (14) at the top of the clamping jaw connecting rod (6), the inside of the clamping jaw fixing groove (14)
It is fixed with mechanical grip (7), the front of the mechanical grip (7), which is fixed with, to be actuated fixed screw (11), described to actuate fixed spiral shell
The back side of silk (11), which is fixed with, to be actuated up-and-down rod (9), and the front for actuating up-and-down rod (9), which is fixed with, actuates variation screw
(12), the back side for actuating variation screw (12) is fixed with fixed link (10), and the bottom of the mechanical grip (7) is provided with folder
Pawl pawl point (8) is provided with pawl point sawtooth (15) at the top of the clamping jaw pawl point (8), and the pawl point sawtooth (15) and clamping jaw pawl
Sharp (8) precision welding, the clamping jaw pawl body (1) are internally provided with fixing bolt (16), and the inside of the fixing bolt (16) is fixed
Have control iron core (4), is fixed with attachment cap (3) at the top of the control iron core (4).
2. a kind of mechanical grip for machine-building according to claim 1, it is characterised in that: the mechanical grip
(7) there are three setting, and three mechanical grips (7) are symmetrical arranged relative to control iron core (4), while three machinery
Clamping jaw (7) is flexibly connected with clamping jaw connecting rod (6).
3. a kind of mechanical grip for machine-building according to claim 1, it is characterised in that: the hand twists blind nut
(2) it is process by rubber material, and the diameter of the internal diameter of the hand stubborn blind nut (2) and hand stubborn screw hole (17) matches, simultaneously
The hand is twisted blind nut (2) and is fixedly connected with hand stubborn screw hole (17).
4. a kind of mechanical grip for machine-building according to claim 1, it is characterised in that: the clamping jaw pawl point
(8) shape is in " arc ", and the outer surface of the clamping jaw pawl point (8) is coarse, while the clamping jaw pawl point (8) and mechanical grip
(7) it is fixedly connected.
5. a kind of mechanical grip for machine-building according to claim 1, it is characterised in that: the fixing bolt (16)
Internal hollow out, and the fixing bolt (16) is vertically arranged relative to clamping jaw pawl body (1), while the fixing bolt (16) and clamping jaw pawl
Body (1) is fixedly connected.
6. a kind of mechanical grip for machine-building according to claim 1, it is characterised in that: the mechanical grip
(7) include positioned at mechanical grip (7) side actuate up-and-down rod (9) and positioned at the fixed link (10) for actuating up-and-down rod (9) side,
And the up-and-down rod (9) that actuates is flexibly connected with fixed link (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811181965.XA CN109093641A (en) | 2018-10-11 | 2018-10-11 | A kind of mechanical grip for machine-building |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811181965.XA CN109093641A (en) | 2018-10-11 | 2018-10-11 | A kind of mechanical grip for machine-building |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109093641A true CN109093641A (en) | 2018-12-28 |
Family
ID=64868441
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811181965.XA Pending CN109093641A (en) | 2018-10-11 | 2018-10-11 | A kind of mechanical grip for machine-building |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109093641A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109676641A (en) * | 2019-01-31 | 2019-04-26 | 武汉大学 | A kind of robot clamping jaw module |
| CN110653790A (en) * | 2019-10-25 | 2020-01-07 | 河南大学 | AGV robot for carrying large special-shaped piece |
| CN114482521A (en) * | 2022-01-27 | 2022-05-13 | 南通四建集团有限公司 | Preformed hole template suitable for building civil engineering construction |
-
2018
- 2018-10-11 CN CN201811181965.XA patent/CN109093641A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109676641A (en) * | 2019-01-31 | 2019-04-26 | 武汉大学 | A kind of robot clamping jaw module |
| CN109676641B (en) * | 2019-01-31 | 2021-10-22 | 武汉大学 | Robot clamping jaw module |
| CN110653790A (en) * | 2019-10-25 | 2020-01-07 | 河南大学 | AGV robot for carrying large special-shaped piece |
| CN110653790B (en) * | 2019-10-25 | 2022-10-11 | 河南大学 | AGV robot for carrying large special-shaped piece |
| CN114482521A (en) * | 2022-01-27 | 2022-05-13 | 南通四建集团有限公司 | Preformed hole template suitable for building civil engineering construction |
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| Date | Code | Title | Description |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20181228 |
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| WD01 | Invention patent application deemed withdrawn after publication |