CN110328684A - A kind of mechanical gripper mechanism with stabilization function - Google Patents

A kind of mechanical gripper mechanism with stabilization function Download PDF

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Publication number
CN110328684A
CN110328684A CN201910752025.XA CN201910752025A CN110328684A CN 110328684 A CN110328684 A CN 110328684A CN 201910752025 A CN201910752025 A CN 201910752025A CN 110328684 A CN110328684 A CN 110328684A
Authority
CN
China
Prior art keywords
fixed
mounting blocks
fixed plate
component
plate
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
Application number
CN201910752025.XA
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Chinese (zh)
Inventor
张星
徐维雄
曹劲
吴丽明
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Meizhou Bay Vocational And Technical College
Original Assignee
Meizhou Bay Vocational And Technical College
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Meizhou Bay Vocational And Technical College filed Critical Meizhou Bay Vocational And Technical College
Priority to CN201910752025.XA priority Critical patent/CN110328684A/en
Publication of CN110328684A publication Critical patent/CN110328684A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/02Gripping heads and other end effectors servo-actuated
    • B25J15/0206Gripping heads and other end effectors servo-actuated comprising articulated grippers
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/08Gripping heads and other end effectors having finger members

Abstract

The invention discloses a kind of mechanical gripper mechanisms with stabilization function, it is related to manipulator field, it is unstable for clamping effect of the existing mechanical gripper to object, the problem of being easy loose or dislocation, now propose following scheme, it includes stablizing component, distance adjusts component, clamp assemblies, the distance adjusts component and is installed on stable component, clamp assemblies are installed on distance and adjust on component, the distance adjusts component and clamp assemblies are cooperatively connected, clamp assemblies are under the action of distance adjusts component for clamping to different size of object, the stable component includes the first fixed plate, the bottom of first fixed plate is fixed with two opposite the first fixed blocks.The present invention is used not only for clamping object, and corresponding position is unanimously in a vertical state after clamping, and is also equipped with certain buffer function, so that the clamping stability of object is good, to have the anti-detachment effect of stabilization.

Description

A kind of mechanical gripper mechanism with stabilization function
Technical field
The present invention relates to manipulator field more particularly to a kind of mechanical gripper mechanisms with stabilization function.
Background technique
Manipulator is a kind of certain holding functions that can imitate manpower and arm, to by fixed routine crawl, carrying object Or the automatic pilot of operational instrument.Feature is that various expected operations can be completed by programming, on construction and performance Have the advantage of people and robotics respectively concurrently.Manipulator is the industrial robot occurred earliest, and the modern times occurred earliest Robot, it can replace the heavy labor of people to realize the mechanization and automation of production, can operate under hostile environment to protect Personal safety is protected, thus is widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.Manipulator is most at present Including mechanical arm section and gripping portions, however, the gripping portions structure of existing manipulator is excessively single, so that it is to object It is generally susceptible to mechanical arm mobile influence when clamping and is shaken, object, which occurs, to fall off, so that the stabilization of object clamping Property is not good enough, for this purpose, needing a kind of mechanical gripper mechanism with stabilization function.
Summary of the invention
The purpose of the present invention is to solve clamping effect of the existing mechanical gripper to object is unstable, it is easy to loosen de- The problem of falling, and a kind of mechanical gripper mechanism with stabilization function proposed.
To achieve the goals above, present invention employs following technical solutions:
A kind of mechanical gripper mechanism with stabilization function, including stablize component, distance adjusting component, clamp assemblies, it is described Distance adjust component be installed on stable component, clamp assemblies be installed on distance adjust component on, it is described distance adjust component with Clamp assemblies are cooperatively connected, and clamp assemblies are under the action of distance adjusts component for clamping to different size of object;
The stable component includes the first fixed plate, and the bottom of the first fixed plate is fixed with two opposite the first fixed blocks, and two It is rotatably equipped with lateral first rotating shaft between a first fixed block, the first mounting blocks, the first installation are fixed in first rotating shaft The bottom surface of block is equipped with the first mounting groove, is fixed with the second longitudinal shaft on the inner wall of the first mounting groove, rotates in the second shaft Second fixed block is installed, the lower end of the second fixed block is fixed with hollow guide pad, is sliding combined on the inside of hollow guide pad Rectangle limited block, the bottom of rectangle limited block are fixed with the second mounting blocks that lower end is pierced by hollow guide pad, rectangle limited block Lower pad is equipped with the spring being set on the second mounting blocks, and the distance adjusts component and is fixedly installed under the second mounting blocks End;
The clamp assemblies include the third fixed plate being fixed on distance adjusting component, the inside rotational installation of third fixed plate There is lateral threaded rod, the both ends of threaded rod are respectively equipped with left and right hand thread, and worm drive are combined in left and right hand thread The longitudinal plate being snug fit in third fixed plate, the fixed rack gear in the middle part of threaded rod, gear ring be sequentially connected be fixed on away from From the clockwise and anticlockwise motor adjusted on component, the front and back ends of the longitudinal plate are respectively and fixedly provided with upper end and are pierced by third fixed plate roof simultaneously The sliding block that can be laterally moved is fixed with longitudinal guide rod between two sliding blocks, and being slidably matched on guide rod, there are two laterally Mobile bar, the other end of two mobile bars is rotatably connected to the push rod being obliquely installed, and the other end of push rod is rotatably connected to Fixture block below third fixed plate, vertical slide bar is rotatably connected on fixture block, and third fixed plate is run through in the upper end of slide bar And it is fixed with the limit sleeve that can be moved longitudinally, mobile bar is snug fit at the inside of the limit sleeve.
Preferably, it includes the second fixed plate for being fixed on the second mounting blocks lower end that the distance, which adjusts component, and second is fixed The bottom of plate is fixed with vertical third mounting blocks, and the lower end of third mounting blocks and the top of third fixed plate are fixed, and described Vertical electric cylinder is fixed in two fixed plates, the piston rod of electric cylinder is fixed with the annular being snug fit on third mounting blocks Movable plate, the left and right end of the annular movement plate are respectively and fixedly provided with lateral shaft bar, and the other end of shaft bar is rotatably connected to two The tilting bar of a V-shaped setting, the other end of two tilting bars respectively be located at third mounting blocks the same side two limit sleeves Upper end rotation connection.
Preferably, the lower end of the third mounting blocks is equipped with the second mounting groove, and clockwise and anticlockwise motor is fixed on the second mounting groove It is interior, and the output end of clockwise and anticlockwise motor is fixed with driving gear, driving gear is connect with gear ring by chain drive, and third is fixed The top surface of plate is equipped with the through-hole for accommodating chain.
Preferably, the both ends of the third fixed plate be equipped with the matched longitudinal chute of slide bar, positioned at the two of the same side A slide bar is snug fit in corresponding longitudinal chute.
Preferably, the top surface of the third fixed plate be equipped with the matched horizontal concrete chute of sliding block, and sliding block is snug fit at In horizontal concrete chute.
Preferably, the outer shape of the third mounting blocks is rectangle, and the inside size of annular movement plate and third are pacified The size for filling block is adapted.
Preferably, the spacing collar being fixed on the slide bar below third fixed plate, spacing collar are located at the upper of fixture block Side.
Preferably, the longitudinal chute and the shape of horizontal concrete chute are rectangle, and the outer shape of slide bar and sliding block is equal For rectangle.
Preferably, the width of the rectangle limited block is greater than the width of the second mounting blocks, and the original of spring is long greater than hollow The inside height of guide pad.
Preferably, the top of first fixed plate is equipped with for the bolt fixing hole fixed with mechanical arm.
First mounting blocks of this programme setting can be rotated around first rotating shaft, and the second fixed block can be around the second shaft Rotation, can make hollow guide pad be constantly in vertical state, so that handgrip can be located always after gripping objects in this way In vertical state, do not influenced by mechanical arm movement, and the mistake that the spring by being arranged can move up and down after clamping jaw object It being buffered in journey, grabs the stability of folder to improve, the two combines so that gripper has good stabilization function, so that The clamping stability of object is good.
This programme can drive annular movement plate to move up and down by electric cylinder, the annular movement strip turn moved up and down Shaft moves up and down, and two limit sleeves positioned at third mounting blocks the same side can be driven close to each other or remote by tilting bar From so that two fixture block the distance between of the adjusting positioned at third mounting blocks the same side, is used not only in this way to different big Small object is clamped, and more stable to the clamping of object after spacing increase, to also have certain stabilization, anticreep Fall effect.
This programme drives transmission ring gear against rotation by clockwise and anticlockwise motor, and then drives threaded rod rotation, in left and right hand thread Under the action of, keep two longitudinal plates close to each other or separate, so as to fixture block spacing adjust after still can be at any time For driving fixture block gripping objects.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of clamp assemblies of the invention.
Fig. 2 is the structural schematic diagram that distance of the invention adjusts component.
Fig. 3 is the structural schematic diagram of stabilization component of the invention.
Fig. 4 is that mobile bar of the invention overlooks arrangement schematic diagram.
Fig. 5 is the side view arrangement schematic diagram of guide rod of the invention.
Figure label: 1 stablize component, 11 first fixed plates, 12 first fixed blocks, 13 first rotating shafts, 14 first mounting blocks, 15 second shafts, 16 second fixed blocks, 17 hollow guide pads, 18 rectangle limited blocks, 19 second mounting blocks, 110 springs, 2 distances Adjust component, 21 second fixed plates, 22 third mounting blocks, 23 electric cylinders, 24 annular movement plates, 25 shaft bars, 26 tilting bars, 3 Clamp assemblies, 31 third fixed plates, 32 threaded rods, 33 gear rings, 34 clockwise and anticlockwise motors, 35 longitudinal plates, 36 sliding blocks, 37 guide rods, 38 mobile bars, 39 push rods, 310 slide bars, 311 fixture blocks, 312 limit sleeves.
Specific embodiment
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.
Referring to Fig.1-5, a kind of mechanical gripper mechanism with stabilization function, including stablize component 1, distance adjusting component 2, clamp assemblies 3, distance adjust component 2 and are installed on stable component 1, and clamp assemblies 3 are installed on distance and adjust on component 2, away from From component 2 and the mating connection of clamp assemblies 3 is adjusted, clamp assemblies 3 are under the action of distance adjusts component 2 for different size Object clamped;
Stablizing component 1 includes the first fixed plate 11, and the bottom of the first fixed plate 11 is fixed with two opposite the first fixed blocks 12, It is rotatably equipped with lateral first rotating shaft 13 between two the first fixed blocks 12, is fixed with the first mounting blocks in first rotating shaft 13 14, the bottom surface of the first mounting blocks 14 is equipped with the first mounting groove, is fixed with the second longitudinal shaft 15 on the inner wall of the first mounting groove, The second fixed block 16 is rotatably equipped in second shaft 15, the lower end of the second fixed block 16 is fixed with hollow guide pad 17, hollow The inside of guide pad 17 is sliding combined with rectangle limited block 18, and the bottom of rectangle limited block 18 is fixed with lower end and is pierced by hollow guiding Second mounting blocks 19 of block 17, the lower pad of rectangle limited block 18 are equipped with the spring 110 being set on the second mounting blocks 19, distance Adjust the lower end that component 2 is fixedly installed in the second mounting blocks 19;
When in use, the first mounting blocks 14 of setting can be rotated around first rotating shaft 13, and the second fixed block 16 can be around The rotation of two shafts 15, can make hollow guide pad 17 be constantly in vertical state in this way, improve the stability of handgrip, and by setting The spring 110 set is buffered during can moving up and down after clamping jaw object, further increases stability, the two phase In conjunction with making gripper have good stabilization function, so that the clamping stability of object is good.
Clamp assemblies 3 include the third fixed plate 31 being fixed on distance adjusting component 2, and the inside of third fixed plate 31 turns Dynamic to be equipped with lateral threaded rod 32, the both ends of threaded rod 32 are respectively equipped with left and right hand thread, equal spiral in left and right hand thread Transmission is combined with the longitudinal plate 35 being snug fit in third fixed plate 31, the fixed rack gear 33 in the middle part of threaded rod 32, gear ring 33 are sequentially connected with the clockwise and anticlockwise motor 34 being fixed on distance adjusting component 2, and the front and back ends of longitudinal plate 35 are respectively and fixedly provided with upper end The sliding block 36 that is pierced by 31 roof of third fixed plate and can laterally move is fixed with longitudinal guide rod between two sliding blocks 36 37, it is slidably matched on guide rod 37 there are two lateral mobile bar 38, the other end of two mobile bars 38, which is rotatably connected to, to incline The push rod 39 being tiltedly arranged, the other end of push rod 39 are rotatably connected to the fixture block 311 positioned at 31 lower section of third fixed plate, fixture block 311 On be rotatably connected to vertical slide bar 310, what the upper end of slide bar 310 can move longitudinally through third fixed plate 31 and being fixed with Limit sleeve 312, mobile bar 38 are snug fit at the inside of limit sleeve 312.
In present embodiment, it includes the second fixed plate 21 for being fixed on 19 lower end of the second mounting blocks that distance, which adjusts component 2, the The bottom of two fixed plates 21 is fixed with vertical third mounting blocks 22, the lower end of third mounting blocks 22 and the top of third fixed plate 31 Portion is fixed, and vertical electric cylinder 23 is fixed in the second fixed plate 21, and the piston rod of electric cylinder 23, which is fixed with, is snug fit at Annular movement plate 24 on three mounting blocks 22, the left and right end of annular movement plate 24 are respectively and fixedly provided with lateral shaft bar 25, shaft bar 25 other end rotation connection there are two the tilting bar 26 of V-shaped setting, the other end of two tilting bars 26 respectively be located at the The upper end of two limit sleeves 312 of three mounting blocks, 22 the same side is rotatablely connected.
Annular movement plate 24 can be driven to move up and down by electric cylinder 23, the annular movement plate 24 moved up and down is with turn Shaft 25 moves up and down, and two limit sleeves 312 positioned at 22 the same side of third mounting blocks can be driven mutual by tilting bar 26 Close to or far from so that adjusting in this way can not only positioned at the distance between two fixture blocks 311 of 22 the same side of third mounting blocks For being clamped to different size of object, and it is more stable to the clamping of object after spacing increase, to also have certain Stabilization anti-dropout effect, the distance between two fixture blocks 311 positioned at 22 the same side of third mounting blocks can be according to need It is adjusted, but also the flexibility of clamping jaw is more preferable;
In present embodiment, the lower end of third mounting blocks 22 is equipped with the second mounting groove, and clockwise and anticlockwise motor 34 is fixed on the second installation In slot, and the output end of clockwise and anticlockwise motor 34 is fixed with driving gear, and driving gear is connect with gear ring 33 by chain drive, the The top surface of three fixed plates 31 is equipped with the through-hole for accommodating chain.
In present embodiment, the both ends of third fixed plate 31 be equipped with the matched longitudinal chute of slide bar 310, be located at it is same Two slide bars 310 of side are snug fit in corresponding longitudinal chute.
In present embodiment, the top surface of third fixed plate 31 be equipped with the matched horizontal concrete chute of sliding block 36, and sliding block 36 is sliding It is actively tied in horizontal concrete chute.
In present embodiment, the outer shapes of third mounting blocks 22 is rectangle, and the inside size of annular movement plate 24 with The size of third mounting blocks 22 is adapted.
In present embodiment, the spacing collar positioned at 31 lower section of third fixed plate is fixed on slide bar 310, spacing collar is located at folder The top of block 311.
In present embodiment, the shape of longitudinal chute and horizontal concrete chute is rectangle, and the outside of slide bar 310 and sliding block 36 Shape is rectangle.
In present embodiment, the width of rectangle limited block 18 is greater than the width of the second mounting blocks 19, and the original of spring 110 is long Greater than the inside height of hollow guide pad 17.
In present embodiment, the top of the first fixed plate 11 is equipped with for the bolt fixing hole fixed with mechanical arm.
One of in the present invention, the fixed form between component is fixed or is welded and fixed for screw, by the first fixed plate 11 It is fixedly connected with existing mechanical arm, electric cylinder 23 and clockwise and anticlockwise motor 34 is electrically connected with existing singlechip controller, led to It crosses existing singlechip controller control electric cylinder 23 and clockwise and anticlockwise motor 34 works.Biography can be driven by clockwise and anticlockwise motor 34 Movable tooth circle 33 rotates, and then threaded rod 32 is driven to rotate, under the action of left and right hand thread, two 35 phases of longitudinal plate of setting Mutually close to or far from, so as to push mobile bar 38 mobile by guide rod 37 after the spacing of fixture block 311 is adjusted, 38 movement of mobile bar can drive push rod 39 mobile, so that fixture block 311 rotates, for being clamped to object, setting The quantity of fixture block 311 is four, and is synchronization action, but also the clamping of object is stablized.
Whole device is used not only for clamping object, and corresponding position is unanimously in a vertical state, and also has Standby certain buffer function has the anti-detachment effect of stabilization so that the clamping stability of object is good, and is arranged longitudinal The distance between two fixture blocks 311 can be adjusted at any time as needed, also can in this way for some slightly a little bigger objects It is clamped, so that the good clamping effect of clamping jaw, entire handgrip mechanism structure is simple, low manufacture cost.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto, Anyone skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.

Claims (10)

1. a kind of mechanical gripper mechanism with stabilization function, which is characterized in that including stablizing component (1), apart from adjusting group Part (2), clamp assemblies (3), it is described distance adjust component (2) be installed on stable component (1), clamp assemblies (3) be installed on away from From adjusting on component (2), the distance adjusts component (2) and clamp assemblies (3) and is cooperatively connected, and clamp assemblies (3) are adjusted in distance For being clamped to different size of object under the action of section component (2);
The stable component (1) includes the first fixed plate (11), and the bottom of the first fixed plate (11) is fixed with opposite two the One fixed block (12) is rotatably equipped with lateral first rotating shaft (13) between two the first fixed blocks (12), first rotating shaft (13) On be fixed with the first mounting blocks (14), the bottom surfaces of the first mounting blocks (14) is equipped with the first mounting groove, on the inner wall of the first mounting groove It is fixed with longitudinal the second shaft (15), is rotatably equipped with the second fixed block (16), the second fixed block in the second shaft (15) (16) lower end is fixed with hollow guide pad (17), is sliding combined with rectangle limited block (18) on the inside of hollow guide pad (17), The bottom of rectangle limited block (18) is fixed with the second mounting blocks (19) that lower end is pierced by hollow guide pad (17), rectangle limited block (18) lower pad is equipped with the spring (110) being set on the second mounting blocks (19), and the distance adjusts component (2) and is fixedly mounted In the lower end of the second mounting blocks (19);
The clamp assemblies (3) include the third fixed plate (31) being fixed in distance adjusting component (2), third fixed plate (31) Inside be rotatably equipped with lateral threaded rod (32), the both ends of threaded rod (32) are respectively equipped with left and right hand thread, left and right rotation Equal worm drive are combined with the longitudinal plate (35) being snug fit in third fixed plate (31), the middle part of threaded rod (32) on screw thread Fixed rack gear (33), gear ring (33) is sequentially connected with the clockwise and anticlockwise motor (34) being fixed in distance adjusting component (2), described The front and back ends of longitudinal plate (35) are respectively and fixedly provided with the sliding block that upper end is pierced by third fixed plate (31) roof and can laterally move (36), it is fixed with longitudinal guide rod (37) between two sliding blocks (36), being slidably matched on guide rod (37), there are two transverse directions Mobile bar (38), the other end of two mobile bars (38) are rotatably connected to the push rod (39) being obliquely installed, push rod (39) it is another One end is rotatably connected to the fixture block (311) below third fixed plate (31), and fixture block is rotatably connected to vertical cunning on (311) The upper end of bar (310), slide bar (310) through third fixed plate (31) and is fixed with the limit sleeve (312) that can be moved longitudinally, and moves Lever (38) is snug fit at the inside of the limit sleeve (312).
2. a kind of mechanical gripper mechanism with stabilization function according to claim 1, which is characterized in that the distance Adjusting component (2) includes the second fixed plate (21) for being fixed on the second mounting blocks (19) lower end, the bottom of the second fixed plate (21) Vertical third mounting blocks (22) are fixed with, the lower end of third mounting blocks (22) and the top of third fixed plate (31) are fixed, institute It states and is fixed on the second fixed plate (21) vertical electric cylinder (23), the piston rod of electric cylinder (23), which is fixed with, is snug fit at The left and right end of annular movement plate (24) on three mounting blocks (22), the annular movement plate (24) is respectively and fixedly provided with lateral shaft Bar (25), the other end rotation connection of shaft bar (25) there are two the tilting bar (26) of V-shaped setting, two tilting bars (26) The other end is rotatablely connected with the upper end for two limit sleeves (312) for being located at third mounting blocks (22) the same side respectively.
3. a kind of mechanical gripper mechanism with stabilization function according to claim 2, which is characterized in that the third The lower end of mounting blocks (22) is equipped with the second mounting groove, and clockwise and anticlockwise motor (34) is fixed in the second mounting groove, and clockwise and anticlockwise motor (34) output end is fixed with driving gear, and driving gear is connect with gear ring (33) by chain drive, third fixed plate (31) Top surface be equipped with through-hole for accommodating chain.
4. a kind of mechanical gripper mechanism with stabilization function according to any one of claims 1 to 3, feature exist In the both ends of the third fixed plate (31) are equipped with slide bar (310) matched longitudinal chute, two cunnings positioned at the same side Bar (310) is snug fit in corresponding longitudinal chute.
5. a kind of mechanical gripper mechanism with stabilization function according to claim 4, which is characterized in that the third The top surface of fixed plate (31) be equipped with sliding block (36) matched horizontal concrete chute, and sliding block (36) is snug fit in horizontal concrete chute.
6. a kind of mechanical gripper mechanism with stabilization function according to claim 2 or 3, which is characterized in that described The outer shape of third mounting blocks (22) is rectangle, and the inside size of annular movement plate (24) and third mounting blocks (22) is big It is small to be adapted.
7. a kind of mechanical gripper mechanism with stabilization function according to claim 4, which is characterized in that the slide bar (310) spacing collar being fixed with below third fixed plate (31) on, spacing collar are located at the top of fixture block (311).
8. a kind of mechanical gripper mechanism with stabilization function according to claim 5, which is characterized in that the longitudinal direction The shape of sliding slot and horizontal concrete chute is rectangle, and the outer shape of slide bar (310) and sliding block (36) is rectangle.
9. a kind of mechanical gripper mechanism with stabilization function according to claim 5, which is characterized in that the rectangle The width of limited block (18) is greater than the width of the second mounting blocks (19), and the original of spring (110) is long greater than hollow guide pad (17) Inside height.
10. a kind of mechanical gripper mechanism with stabilization function according to claim 4, which is characterized in that described The top of one fixed plate (11) is equipped with for the bolt fixing hole fixed with mechanical arm.
CN201910752025.XA 2019-08-15 2019-08-15 A kind of mechanical gripper mechanism with stabilization function Pending CN110328684A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201910752025.XA CN110328684A (en) 2019-08-15 2019-08-15 A kind of mechanical gripper mechanism with stabilization function

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201910752025.XA CN110328684A (en) 2019-08-15 2019-08-15 A kind of mechanical gripper mechanism with stabilization function

Publications (1)

Publication Number Publication Date
CN110328684A true CN110328684A (en) 2019-10-15

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201910752025.XA Pending CN110328684A (en) 2019-08-15 2019-08-15 A kind of mechanical gripper mechanism with stabilization function

Country Status (1)

Country Link
CN (1) CN110328684A (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112222927A (en) * 2020-08-28 2021-01-15 南京昱晟机器人科技有限公司 Handle adjustable intelligence frock manipulator

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112222927A (en) * 2020-08-28 2021-01-15 南京昱晟机器人科技有限公司 Handle adjustable intelligence frock manipulator

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