CN110842955A - L-shaped flexible finger clamp fixing piece and multi-finger clamp fixing piece - Google Patents
L-shaped flexible finger clamp fixing piece and multi-finger clamp fixing piece Download PDFInfo
- Publication number
- CN110842955A CN110842955A CN201911059916.3A CN201911059916A CN110842955A CN 110842955 A CN110842955 A CN 110842955A CN 201911059916 A CN201911059916 A CN 201911059916A CN 110842955 A CN110842955 A CN 110842955A
- Authority
- CN
- China
- Prior art keywords
- groove
- locking
- fixing block
- base
- flexible finger
- 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
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 24
- 239000000126 substance Substances 0.000 claims description 4
- 238000000034 method Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000003306 harvesting Methods 0.000 description 1
Images
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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B11/00—Work holders not covered by any preceding group in the subclass, e.g. magnetic work holders, vacuum work holders
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Clamps And Clips (AREA)
Abstract
The invention provides an L-shaped flexible finger clamp fixing piece which comprises a clamp base, a fixing block and a limiting and locking mechanism, wherein the clamp base is connected with a mechanical arm, one end of the clamp base is provided with a groove for accommodating an L-shaped flexible finger, the fixing block is matched with the groove and used for clamping and fixing the L-shaped flexible finger in the groove or loosening and removing the groove by sliding in the groove, and the limiting and locking mechanism is used for connecting and locking the fixing block and the clamp base so as to limit the relative movement of the fixing block and the clamp base; the groove is flat-bottomed and horizontal U-shaped and does not penetrate through the clamp base, and the lower part of the end face of the U-shaped bottom of the groove is sunken to form a sunken groove so as to accommodate the bottom protruding part of the L-shaped flexible finger in a matching mode. The invention provides a multi-finger clamp fixing piece. The invention adopts the mutual matching of the slide block, the mortise and tenon quick-release limiting locking mechanism and the clamp base, does not need tools and is easy to disassemble and assemble.
Description
Technical Field
The invention belongs to the technical field of fixture fixing, and particularly relates to an L-shaped flexible finger fixture fixing piece and a multi-finger fixture fixing piece.
Background
The fruit is got with letter sorting in-process commonly used manipulator clamp to agricultural harvesting, and the manipulator commonly uses flexible finger to be connected with the mounting, and the connected mode of being connected mounting and arm again, among the prior art, flexible finger on the manipulator is connected with anchor clamps: 1. two ends of the lower side of the flexible finger are hinged on the bracket and the connecting rod, and screws are required to be disassembled for replacing the flexible finger, so that the process is complicated; 2. the flexible finger is fixed in an inserting manner, the shape of the flexible finger needs to be reshaped, and the process is complex; 3. the tail end of a finger needs to be placed in the fixed housing, then the other end of the finger needs to be fixed by the mounting block, the mounting block and the fixed housing are fixed through the stud, and the finger is complex to disassemble; and the fixture fixing parts matched with the L-shaped flexible fingers are fewer.
In summary, a fixture fixing member suitable for an L-shaped flexible finger is in urgent need of development.
Disclosure of Invention
In view of the above-described shortcomings of the prior art, it is an object of the present invention to provide an L-shaped flexible finger grip fixture.
In order to achieve the above and other related objects, the present invention provides an L-shaped flexible finger clamp fixture, which includes a clamp base connected to a robot arm and having a groove at one end thereof for accommodating an L-shaped flexible finger, a fixing block matched with the groove and used for clamping and fixing the L-shaped flexible finger in the groove by sliding in the groove or loosening and removing the groove, and a limit locking mechanism for connecting and locking the fixing block and the clamp base to limit the relative movement of the fixing block and the clamp base; wherein the content of the first and second substances,
the groove is flat-bottomed and horizontal U-shaped and does not penetrate through the clamp base, and the lower part of the end face of the U-shaped bottom of the groove is sunken to form a sunken groove to match and accommodate the bottom protruding part of the L-shaped flexible finger.
Preferably, the limiting locking mechanism comprises a groove U-shaped left end surface and a groove U-shaped right end surface which are symmetrically provided with limiting clamping grooves matched with the limiting clamping grooves arranged on the left end surface and the right end surface of the fixing block, and the limiting protrusions of the fixing block are used for limiting the fixing block to move up and down after the fixing block is pushed into the clamp base; the left end face and the right end face of the U-shaped groove are respectively provided with a pair of fixing block limiting bulges.
Preferably, the cross section of the limit bulge of the fixed block is C-shaped.
Preferably, spacing locking mechanism still includes, base locking cross slot, seting up on recess top place anchor clamps base terminal surface on the fixed block and with base locking cross slot be in same horizontally fixed block locking cross slot, set up on the fixed block and with fixed block locking cross slot vertically fixed block locking longitudinal trough, block simultaneously the base locking cross slot with fixed block locking cross slot above and below locking anchor clamps base and the horizontal latch segment of fixed block and card go into the fixed block locking longitudinal trough in and support the terminal vertical latch segment in order to prevent anchor clamps base and fixed block relative motion around the fixed block.
Preferably, base locking transverse grooves are symmetrically formed in the left end face and the right end face of the clamp base where the top of the groove is located.
Preferably, the fixing block locking transverse groove transversely penetrates through the fixing block, and each groove surface of the base locking transverse groove and the groove surface of the corresponding fixing block locking transverse groove are in the same plane.
Preferably, the two fixing block locking longitudinal grooves are symmetrically arranged on the fixing block locking transverse groove; the fixing block locking longitudinal grooves do not penetrate through the fixing block in the front-back direction and the up-down direction of the fixing block.
Preferably, there are two transverse locking blocks and two longitudinal locking blocks.
Preferably, the end surface of the U-shaped bottom of the groove is provided with a base air outlet hole which corresponds to the L-shaped flexible finger air inlet hole; the bottom of the clamp base is provided with a base air inlet which is connected with a base air outlet through a base internal channel and is connected with a mechanical arm air outlet.
The utility model provides an adopt above-mentioned flexible finger anchor clamps mounting of L type to make the multi-finger anchor clamps mounting set up on the anchor clamps base a plurality ofly hold the flexible finger recess of L type, with the recess match and through slide in the recess with the flexible finger card of L is compressed tightly and is fixed in the recess or loosens the fixed block of removing the recess and connect and lock the fixed block with the spacing locking mechanism of anchor clamps base in order to restrict both relative motion.
The L-shaped flexible finger clamp fixing piece provided by the scheme has the following beneficial effects:
1) the clamp base is regular in shape, can be quickly connected with the mechanical arm and is convenient to disassemble; and the shape of the flexible finger does not need to be changed to adapt to the fixture fixing piece;
2) according to the invention, the slide block and the quick-release limiting locking mechanism are matched with the clamp base, and only the transverse locking block and the longitudinal locking block are manually clamped and removed to move the slide block for replacing the fingers, so that tools are not required, and the clamp is easy to disassemble and assemble;
3) the limiting locking mechanism only adopts the mortise and tenon structure that the transverse locking block is clamped with the transverse locking groove of the base and the transverse locking groove of the fixing block, the longitudinal locking block is clamped with the longitudinal locking groove of the fixing block, and the transverse locking block and the longitudinal locking block are mutually abutted, and the limiting locking mechanism is fixed without screws, nails and the like, is convenient to disassemble and is firm in locking.
Drawings
Fig. 1 is a schematic view of an L-shaped flexible finger clamp fixture according to a first embodiment of the invention;
FIG. 2 is a schematic view of an L-shaped flexible finger according to an embodiment of the present invention;
FIG. 3 is a top view of the fixture base according to one embodiment of the present invention;
FIG. 4 is a first schematic view of a fixture base according to an embodiment of the present invention;
FIG. 5 is a second schematic view of a fixture base according to a first embodiment of the present invention;
FIG. 6 is a first schematic view of a fixing block according to an embodiment of the present invention;
FIG. 7 is a second schematic view of a fixing block according to an embodiment of the invention;
FIG. 8 is a schematic view of a transverse locking block according to an embodiment of the present invention;
FIG. 9 is a schematic view of a longitudinal locking block according to an embodiment of the present invention;
FIG. 10 is a first schematic view of a two-finger L-shaped flexible finger clamp securing member according to a second embodiment of the present invention;
FIG. 11 is a second illustration of a two-finger L-shaped flexible finger clamp securing member according to a second embodiment of the present invention;
wherein: a 100-L flexible finger; a 101-L-shaped flexible finger air inlet hole; 200-a clamp base; 201-grooves; 202- "U" type bottom end face; 203-groove U-shaped right end surface; 204-groove U-shaped left end face; 205-invagination groove; 206-fixed block limit protrusions; 207-base locking cross slot; 208-base intake aperture; 209-base air outlet; 300-fixing block; 301-a limit card slot; 302-fixing block locking transverse groove; 303-locking the longitudinal groove by the fixing block; 400-transverse locking block; 500-longitudinal locking block.
Detailed Description
The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will become apparent to those skilled in the art from the present disclosure.
Referring to fig. 1 to 10, the structures, the ratios, the sizes, and the like shown in the drawings attached to the present specification are only used for understanding and reading the contents disclosed in the specification, and are not used to limit the conditions under which the present invention can be implemented, so that the present invention has no technical essence, and any structural modification, ratio relationship change, or size adjustment should fall within the scope of the present invention without affecting the efficacy and the achievable purpose of the present invention. In addition, the terms such as "top", "bottom", "left", "right", "upper", "lower" and "inner" used in the present specification are used for clarity of description only, and are not intended to limit the scope of the present invention, and changes or modifications of the relative relationship between the terms and the terms are considered to be within the scope of the present invention without substantial changes in the technical content.
The invention provides an L-shaped flexible finger clamp fixing piece which comprises a clamp base 200, a fixing block 300 and a limiting and locking mechanism, wherein the clamp base 200 is connected with a mechanical arm, one end of the clamp base is provided with a groove 201 for accommodating an L-shaped flexible finger 100, the fixing block 300 is matched with the groove 201 and used for clamping and fixing the L-shaped flexible finger in the groove or loosening and removing the groove by sliding in the groove 201, and the limiting and locking mechanism is used for connecting and locking the fixing block 300 and the clamp base 200 so as to limit the relative movement of the fixing block 300 and the clamp base 200; wherein the content of the first and second substances,
the groove 201 is flat-bottomed and horizontal "U" shaped and does not extend through the clamp base 200, and its "U" shaped bottom end face 202 is recessed below to form a recessed groove 205 to accommodate the bottom projection of the L-shaped flexible finger.
The limiting and locking mechanism comprises a groove U-shaped left end surface 204, a groove U-shaped right end surface 203, a groove U-shaped right end surface 204 and a groove U-shaped left end surface 203, wherein the groove U-shaped left end surface and the groove U-shaped right end surface 203 are symmetrically provided with a fixing block limiting bulge 206 which is matched with a limiting clamping groove 301 arranged on the left end surface and the right end surface of the fixing block and limits the fixing; a pair of fixing block limiting bulges 206 are respectively arranged on the left end surface 204 and the right end surface 203 of the U-shaped groove.
The cross section of the fixed block limiting bulge 206 is C-shaped.
Spacing locking mechanism still includes, base locking cross slot 207, seting up on recess top place anchor clamps base terminal surface on the fixed block 300 and with base locking cross slot 207 be in same horizontally fixed block locking cross slot 302, set up in on the fixed block 300 and with fixed block locking cross slot 302 vertically fixed block locking longitudinal trough 303, block simultaneously base locking cross slot 207 and fixed block locking cross slot 302 above and below locking anchor clamps base 200 and the horizontal latch segment 400 of fixed block and block go into the fixed block and lock in the longitudinal trough 303 and support the vertical latch segment 500 of tight horizontal latch segment end in order to prevent anchor clamps base 200 and fixed block 300 back relative motion.
Base locking transverse grooves 207 are symmetrically arranged on the left end face and the right end face of the clamp base at the top of the groove.
The fixing block locking transverse groove 302 transversely penetrates through the fixing block 300, and the groove surfaces of the base locking transverse groove 207 and the groove surfaces of the corresponding fixing block locking transverse groove are in the same plane.
The two fixing block locking longitudinal grooves 303 are symmetrically arranged on the fixing block locking transverse groove 302; the fixing block locking longitudinal groove 303 does not penetrate through the fixing block 300 in the front-rear direction and the up-down direction of the fixing block.
Two blocks are respectively arranged on the transverse locking block 400 and the longitudinal locking block 500.
The end surface 202 of the U-shaped bottom of the groove is provided with a base air outlet 209 corresponding to the L-shaped flexible finger air inlet 101; the bottom of the clamp base is provided with a base air inlet hole 208, and the base air outlet hole 209 is connected with the inner channel of the base and is connected with the air outlet hole of the mechanical arm.
The utility model provides an adopt above-mentioned flexible finger anchor clamps mounting of L type to make the multi-finger anchor clamps mounting of seting up a plurality of recesses 201 that hold flexible finger 100 of L type on the anchor clamps base 200, with recess 201 match and through slide in will the flexible finger card of L is pressed and is fixed in the recess or loosens the fixed block 300 that removes the recess and connect and lock fixed block 300 with the spacing locking mechanism of anchor clamps base 200 in order to restrict both relative motion.
Example 1:
as shown in fig. 1 to 6, the present invention provides an L-shaped flexible finger clamp fixing member, which includes a clamp base 200 connected to a robot arm and having a groove 201 at one end thereof for accommodating an L-shaped flexible finger 100, a fixing block 300 matched with the groove 201 and adapted to clamp and fix the L-shaped flexible finger in the groove by sliding in the groove or to release and remove the groove 201, and a limit locking mechanism for connecting and locking the fixing block 300 and the clamp base 200 to limit the relative movement therebetween; wherein the content of the first and second substances,
the groove 201 is flat-bottomed and horizontal "U" shaped and does not extend through the clamp base 200, and its "U" shaped bottom end face 202 is recessed below to form a recessed groove 205 to accommodate the bottom projection of the L-shaped flexible finger.
As shown in fig. 3, 4, 5 and 6, the limiting and locking mechanism includes a groove U-shaped left and right end faces 204 and 203, which are symmetrically provided with a fixing block limiting protrusion 206 that is matched with a limiting slot 301 provided on the left and right end faces of the fixing block and limits the vertical movement of the fixing block after the fixing block 300 is pushed into the clamp base 200; a pair of fixing block limiting bulges 206 are respectively arranged on the left end surface 204 and the right end surface 203 of the U-shaped groove.
The cross section of the fixed block limiting bulge 206 is C-shaped.
Spacing locking mechanism still includes, base locking cross slot 207, seting up on recess top place anchor clamps base terminal surface on fixed block 300 and with base locking cross slot 207 be in same horizontally fixed block locking cross slot 302, set up on the fixed block and with fixed block locking cross slot 302 vertically fixed block locking longitudinal trough 303, block simultaneously base locking cross slot 207 and fixed block locking cross slot 302 lock anchor clamps base 200 and fixed block 300's horizontal latch segment 400 and card go into fixed block locking longitudinal trough 303 from top to bottom and support tight horizontal latch segment end in order to prevent anchor clamps base 200 and fixed block 300 back relative motion's vertical latch segment 500, as shown in fig. 7, 8.
Base locking transverse grooves 207 are symmetrically arranged on the left end face and the right end face of the clamp base at the top of the groove.
The fixing block locking transverse groove 302 transversely penetrates through the fixing block 300, and the groove surfaces of the base locking transverse groove 207 and the groove surfaces of the corresponding fixing block locking transverse groove are in the same plane.
The two fixing block locking longitudinal grooves 303 are symmetrically arranged on the fixing block locking transverse groove 302; the fixing block locking longitudinal groove 303 does not penetrate through the fixing block 300 in the front-rear direction and the up-down direction of the fixing block.
Two blocks are respectively arranged on the transverse locking block 400 and the longitudinal locking block 500.
The end surface 202 of the U-shaped bottom of the groove is provided with a base air outlet 209 corresponding to the L-shaped flexible finger air inlet 101; the bottom of the clamp base is provided with a base air inlet hole 208, and the base air outlet hole 209 is connected with the inner channel of the base and is connected with the air outlet hole of the mechanical arm.
Example 2:
as shown in fig. 9 and 10, in a two-finger L-shaped flexible finger holder fixing member manufactured by using the L-shaped flexible finger holder fixing member according to embodiment 1, a pair of grooves 201 for accommodating L-shaped flexible fingers 100, a fixing block 300 which is matched with the grooves 201 and used for clamping and fixing the L-shaped flexible fingers in the grooves or loosening and removing the grooves by sliding in the grooves, and a limit locking mechanism for connecting and locking the fixing block 300 and the holder base 200 to limit the relative movement therebetween are symmetrically formed at two ends of the holder base 200.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (10)
1. An L-shaped flexible finger clamp fixing piece is characterized by comprising a clamp base, a fixing block and a limiting and locking mechanism, wherein the clamp base is connected with a mechanical arm, one end of the clamp base is provided with a groove for accommodating an L-shaped flexible finger, the fixing block is matched with the groove and used for clamping and fixing the L-shaped flexible finger in the groove or loosening and removing the groove by sliding in the groove, and the limiting and locking mechanism is connected with and locks the fixing block and the clamp base to limit the relative movement of the fixing block and the clamp base; wherein the content of the first and second substances,
the groove is flat-bottomed and horizontal U-shaped and does not penetrate through the clamp base, and the lower part of the end face of the U-shaped bottom of the groove is sunken to form a sunken groove to match and accommodate the bottom protruding part of the L-shaped flexible finger.
2. The L-shaped flexible finger clamp fixing piece according to claim 1, wherein the limiting locking mechanism comprises a groove U-shaped left end surface and a groove U-shaped right end surface, which are symmetrically provided with a fixing block limiting bulge, the fixing block limiting bulge is matched with a limiting clamping groove arranged on the left end surface and the right end surface of the fixing block, and the fixing block is pushed into the clamp base to limit the up-and-down movement of the fixing block; the left end face and the right end face of the U-shaped groove are respectively provided with a pair of fixing block limiting bulges.
3. The L-shaped flexible finger clamp fixture according to claim 2 wherein the cross section of the fixing block limit protrusion is "C" shaped.
4. The L-shaped flexible finger clamp fixing piece according to claim 1, 2 or 3, wherein the limiting locking mechanism further comprises a base locking transverse groove formed in the end face of the clamp base where the top of the groove is located, a fixing block locking transverse groove formed in the fixing block and located at the same level as the base locking transverse groove, a fixing block locking longitudinal groove formed in the fixing block and perpendicular to the fixing block locking transverse groove, and a longitudinal locking block which is clamped into the transverse locking longitudinal groove of the fixing block and is used for locking the clamp base and the fixing block above and below the base locking transverse groove and is clamped into the transverse locking block of the fixing block and is abutted against the end of the transverse locking block to prevent the clamp base and the fixing block from moving back and forth relatively.
5. The L-shaped flexible finger grip holder of claim 4 wherein base locking cross slots are symmetrically disposed on the left and right end faces of the grip base where the top of the groove is located.
6. The L-shaped flexible finger grip mount as claimed in claim 5, wherein said mounting block locking cross slot extends transversely through said mounting block, and each slot surface of said base locking cross slot is coplanar with a corresponding slot surface of said mounting block locking cross slot.
7. The L-shaped flexible finger grip holder of claim 6, wherein two of said fixing block locking longitudinal grooves are symmetrically disposed on said fixing block locking transverse groove; the fixing block locking longitudinal grooves do not penetrate through the fixing block in the front-back direction and the up-down direction of the fixing block.
8. The L-shaped flexible finger grip mount of claim 7 wherein there are two transverse locking blocks and two longitudinal locking blocks.
9. An L-shaped flexible finger clamp fixing piece as claimed in claim 1, 2, 3, 5, 6, 7 or 8, wherein the end surface of the U-shaped bottom of the groove is provided with a base air outlet hole corresponding to the L-shaped flexible finger air inlet hole; the bottom of the clamp base is provided with a base air inlet which is connected with a base air outlet through a base internal channel and is connected with a mechanical arm air outlet.
10. A multi-fingered fixture mount made using the L-shaped flexible finger fixture mount of claim 9, wherein the fixture base is provided with a plurality of grooves for receiving L-shaped flexible fingers, a securing block that mates with the grooves and secures the L-shaped flexible fingers in the grooves by sliding within the grooves, or a spacing locking mechanism that connects and locks the securing block and the fixture base to limit relative movement therebetween.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911059916.3A CN110842955A (en) | 2019-11-01 | 2019-11-01 | L-shaped flexible finger clamp fixing piece and multi-finger clamp fixing piece |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911059916.3A CN110842955A (en) | 2019-11-01 | 2019-11-01 | L-shaped flexible finger clamp fixing piece and multi-finger clamp fixing piece |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110842955A true CN110842955A (en) | 2020-02-28 |
Family
ID=69598808
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911059916.3A Pending CN110842955A (en) | 2019-11-01 | 2019-11-01 | L-shaped flexible finger clamp fixing piece and multi-finger clamp fixing piece |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110842955A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112338945A (en) * | 2020-11-03 | 2021-02-09 | 苏州柔性智能科技有限公司 | Industrial soft finger capable of being quickly connected and detached |
| CN112360008A (en) * | 2020-11-20 | 2021-02-12 | 黄福华 | Energy-conserving heat preservation assembled outer wall of flexonics |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102728630A (en) * | 2012-07-17 | 2012-10-17 | 常州宝菱重工机械有限公司 | Quick locking device for side-guide wear-resisting plate assembly |
| CN205201190U (en) * | 2015-12-17 | 2016-05-04 | 晋江市超骏机械有限公司 | Finger gas blowing device |
| CN107322620A (en) * | 2017-02-24 | 2017-11-07 | 苏州柔触机器人科技有限公司 | A kind of flexible manipulator |
| CN206748002U (en) * | 2017-02-22 | 2017-12-15 | 上海芮豪石油设备有限责任公司 | For processing the split type fixture of high-accuracy valve plate |
| CN207027548U (en) * | 2017-02-24 | 2018-02-23 | 苏州柔触机器人科技有限公司 | It is a kind of to refer to flexible fixture more |
| CN108098809A (en) * | 2018-02-06 | 2018-06-01 | 苏州柔触机器人科技有限公司 | A kind of modular flexible finger component and its Modular Flexible fixture |
| CN109129440A (en) * | 2018-10-21 | 2019-01-04 | 西北农林科技大学 | A kind of fruit sorting grasping mechanism |
| CN211278452U (en) * | 2019-11-01 | 2020-08-18 | 江苏省农业科学院 | L-shaped flexible finger clamp fixing piece and multi-finger clamp fixing piece |
-
2019
- 2019-11-01 CN CN201911059916.3A patent/CN110842955A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102728630A (en) * | 2012-07-17 | 2012-10-17 | 常州宝菱重工机械有限公司 | Quick locking device for side-guide wear-resisting plate assembly |
| CN205201190U (en) * | 2015-12-17 | 2016-05-04 | 晋江市超骏机械有限公司 | Finger gas blowing device |
| CN206748002U (en) * | 2017-02-22 | 2017-12-15 | 上海芮豪石油设备有限责任公司 | For processing the split type fixture of high-accuracy valve plate |
| CN107322620A (en) * | 2017-02-24 | 2017-11-07 | 苏州柔触机器人科技有限公司 | A kind of flexible manipulator |
| CN207027548U (en) * | 2017-02-24 | 2018-02-23 | 苏州柔触机器人科技有限公司 | It is a kind of to refer to flexible fixture more |
| CN108098809A (en) * | 2018-02-06 | 2018-06-01 | 苏州柔触机器人科技有限公司 | A kind of modular flexible finger component and its Modular Flexible fixture |
| CN109129440A (en) * | 2018-10-21 | 2019-01-04 | 西北农林科技大学 | A kind of fruit sorting grasping mechanism |
| CN211278452U (en) * | 2019-11-01 | 2020-08-18 | 江苏省农业科学院 | L-shaped flexible finger clamp fixing piece and multi-finger clamp fixing piece |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112338945A (en) * | 2020-11-03 | 2021-02-09 | 苏州柔性智能科技有限公司 | Industrial soft finger capable of being quickly connected and detached |
| CN112360008A (en) * | 2020-11-20 | 2021-02-12 | 黄福华 | Energy-conserving heat preservation assembled outer wall of flexonics |
| CN112360008B (en) * | 2020-11-20 | 2022-02-15 | 广东省第一建筑工程有限公司 | Energy-conserving heat preservation assembled outer wall of flexonics |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110842955A (en) | L-shaped flexible finger clamp fixing piece and multi-finger clamp fixing piece | |
| CN211278452U (en) | L-shaped flexible finger clamp fixing piece and multi-finger clamp fixing piece | |
| CN109026610B (en) | Compressor and suction muffler and cylinder head assembly thereof | |
| US4308981A (en) | Clip hanger | |
| CN210471842U (en) | Hanger assembly | |
| CN210281430U (en) | Car tuber pipe cutting jig | |
| CN210081225U (en) | Gearbox rear cover clamp | |
| US4480808A (en) | Cable clamp | |
| CN216891186U (en) | Single-side coated product clamp | |
| CN211360274U (en) | Miniature punching pin positioning structure | |
| CN208916263U (en) | Clamping device | |
| CN215701159U (en) | Special fixture for automatic line | |
| CN208789949U (en) | A kind of wing fixed frame | |
| CN208366206U (en) | A kind of cubing of automobile support | |
| CN1785605A (en) | Tool mounting | |
| CN102238861A (en) | Clamping device | |
| CN218044370U (en) | Elastic component and storage bin | |
| CN1283971A (en) | Multipurpose plate for surface cleaning | |
| CN218000063U (en) | Metal component convenient to concatenation | |
| CN212146044U (en) | Novel clamp | |
| CN219235100U (en) | Flexible clamping device for special-shaped workpiece | |
| CN210549648U (en) | Positioning fixture and key processing machine | |
| CN212737740U (en) | Urea tank mounting rack | |
| CN2332283Y (en) | Clothes clips for holding clothes | |
| CN209781532U (en) | oil suction valve spring seat |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |