CN110842958A - Self-adaptive tubular thin-walled part clamping jaw - Google Patents
Self-adaptive tubular thin-walled part clamping jaw Download PDFInfo
- Publication number
- CN110842958A CN110842958A CN201911104016.6A CN201911104016A CN110842958A CN 110842958 A CN110842958 A CN 110842958A CN 201911104016 A CN201911104016 A CN 201911104016A CN 110842958 A CN110842958 A CN 110842958A
- Authority
- CN
- China
- Prior art keywords
- sliding block
- transmission
- sliding seat
- hinged
- input lever
- 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.)
- Withdrawn
Links
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
- B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
- B25J15/026—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by gears
Abstract
The invention discloses a self-adaptive circular tube-shaped thin-walled workpiece clamping jaw, which comprises a driving motor and a guide cylinder, wherein the guide cylinder is provided with a transmission screw, the transmission screw is connected with a transmission nut, the transmission nut is provided with an oval through hole, a clamping device is arranged on a guide groove, the clamping device comprises a sliding seat, an outer claw, an inner claw, an input lever, a transmission part, an outer sliding block and an inner sliding block, the sliding seat is slidably connected on the guide groove, the sliding seat is provided with a rectangular through hole, the outer end of the outer sliding block is elastically connected on the outer end of the sliding seat, one end of the input lever is rotatably connected on the sliding seat, the input lever is hinged on the outer sliding block, the input lever is hinged on the transmission nut through the oval through hole, the transmission part is rotatably connected on the sliding seat; the clamping device can be adaptive to clamping of thin-wall parts with different pipe diameters, and the possibility of deformation of the thin-wall parts is greatly reduced by adopting a mode of clamping in an inward-outward opposite direction.
Description
Technical Field
The invention relates to the technical field of clamping devices, in particular to a self-adaptive circular tube-shaped thin-walled part clamping jaw.
Background
The circular tubular thin-wall part is easy to deform under external force, so that the requirements on the balance and stability of the clamping jaw are extremely high, and the clamping and the carrying of the circular tubular thin-wall part are always difficult. At present, no clamping jaw is specially used for clamping the circular tubular thin-walled piece, and a clamping jaw of a one-way external clamping type is mostly adopted, so that the non-balanced clamping of the clamping jaw can easily cause the circular tubular thin-walled piece to be easily deformed or even damaged in the processes of grabbing and transferring, and the circular tubular thin-walled piece is scrapped.
Disclosure of Invention
The invention aims to overcome the defects and provide a self-adaptive circular tubular thin-walled part clamping jaw.
In order to achieve the purpose, the invention adopts the following specific scheme:
a self-adaptive tubular thin-walled part clamping jaw comprises a driving motor and a guide cylinder, wherein the driving motor is fixed at one end of the guide cylinder, the output end of the driving motor extends into the guide cylinder and is connected with a large bevel gear, three guide grooves extending outwards are formed in the circumferential wall of the guide cylinder at equal intervals, the three guide grooves are in the radial direction, transmission screws are arranged in the three guide grooves, two ends of each transmission screw are respectively and rotatably connected to the guide grooves, small bevel gears are fixed at the inner ends of the transmission screws and are meshed with the large bevel gears, each transmission screw is further respectively in threaded connection with a transmission nut, each transmission nut is provided with an oval through hole, and clamping devices are respectively arranged on the three guide grooves;
the clamping device comprises a sliding seat, an outer claw, an inner claw, an input lever, a transmission piece, an outer sliding block and an inner sliding block, wherein the outer sliding block and the inner sliding block are connected to the sliding seat in a sliding mode, the sliding seat is connected to a guide groove in a sliding mode, a rectangular through hole used for moving the input lever and the transmission piece is formed in the sliding seat, the rectangular through hole is located above a transmission nut, the outer claw is correspondingly fixed to the outer sliding block, the inner claw is correspondingly fixed to the inner sliding block, the outer end of the outer sliding block is elastically connected to the outer end of the sliding seat, the input lever and the transmission piece are located in the rectangular through hole, one end of the input lever is rotatably connected to the sliding seat, one end of the input lever is hinged to the bottom of the outer sliding block, the other end of the input lever is hinged to the transmission nut through an oval through hole, the other end of the transmission piece is hinged to the bottom of the inner sliding block.
The outer end of the outer sliding block is fixed with a starting block, the starting block is fixedly connected with a starting spring, and the other end of the starting spring is fixedly connected to the outer sliding block.
The transmission part comprises a connecting rod, a middle lever and a swing rod, one end of the connecting rod is hinged to the other end of the input lever, the middle lever is rotatably connected to the sliding seat, one end of the middle lever is hinged to the other end of the connecting rod, one end of the swing rod is hinged to the other end of the middle lever, and the other end of the swing rod is hinged to the bottom of the inner sliding block.
The outer claw comprises a U-shaped outer base and two outer rollers, one end of the outer base is fixed on the outer sliding block, and two ends of the two outer rollers are respectively connected to two ends of the outer base in a rotating mode correspondingly.
The inner claw comprises a U-shaped inner base and an inner roller, one end of the inner base is correspondingly fixed on the inner sliding block, and two ends of the inner roller are respectively and correspondingly connected to two ends of the inner base in a rotating mode.
The invention has the beneficial effects that: by the arrangement of the structure, the clamping device can be adaptive to clamping of thin-wall parts with different pipe diameters, and the possibility of local deformation and overall deformation of the thin-wall parts is greatly reduced by adopting a mode of clamping the thin-wall parts in opposite directions, so that the appearance of the thin-wall parts can be better protected.
Drawings
FIG. 1 is a perspective view of the present invention;
FIG. 2 is a top view of the present invention;
FIG. 3 is a cross-sectional view taken along A-A of FIG. 2;
fig. 4 is a perspective view of the gripping device;
fig. 5 is a partial structural schematic view of the gripping device;
fig. 6 is a schematic view of the gripping device in a gripping state;
FIG. 7 is a schematic view of the structure of the sliding seat;
FIG. 8 is a schematic structural view of the guide cylinder;
description of reference numerals: 1-driving a motor; 2-a guide cylinder; 21-a guide groove; 3-large bevel gear; 4-a drive screw; 5-small bevel gear; 6-a drive nut; 7-a gripping device; 71-a sliding seat; 711-rectangular through holes; 72-outer jaw; 721-an outer base; 722-an outer roller; 73-inner jaw; 731-inner base; 732-inner rollers; 74-input lever; 75-a transmission member; 751-connecting rod; 752-middle lever; 753 oscillating bar; 76-outer slide block; 77-inner slide block; 78-start block; 79-start the spring.
Detailed Description
The invention will be described in further detail with reference to the following figures and specific examples, without limiting the scope of the invention.
As shown in fig. 1 to 8, the adaptive circular tube-shaped thin-walled workpiece clamping jaw according to this embodiment includes a driving motor 1 and a guide cylinder 2, the driving motor 1 is fixed at one end of the guide cylinder 2, an output end of the driving motor 1 extends into the guide cylinder 2 and is connected with a large bevel gear 3, three guide grooves 21 extending outward are equidistantly arranged on a circumferential wall of the guide cylinder 2, the three guide grooves 21 are radially arranged, a driving screw 4 is arranged in each of the three guide grooves 21, two ends of the driving screw 4 are respectively rotatably connected to the guide grooves 21, specifically, two ends of the driving screw 4 are respectively rotatably connected to the guide grooves 21 through bearings, a small bevel gear 5 is fixed at an inner end of the driving screw 4, the small bevel gear 5 is engaged with the large bevel gear 3, each driving screw 4 is further respectively connected with a driving nut 6 through a thread, the driving nut 6 is provided with an oval through hole, so that the influence of the change of the distance between the outer slide block 76 and the driving nut 6 on the input lever 74 can be eliminated, and the three guide grooves 21 are respectively provided with the clamping devices 7;
the clamping device 7 comprises a sliding seat 71, an outer claw 72, an inner claw 73, an input lever 74, a transmission piece 75, an outer slide block 76 and an inner slide block 77 which are connected to the sliding seat 71 in a sliding manner, the sliding seat 71 is connected to the guide groove 21 in a sliding manner, a rectangular through hole 711 for moving the input lever 74 and the transmission piece 75 is arranged on the sliding seat 71, the rectangular through hole 711 is positioned above the transmission nut 6, the outer claw 72 is correspondingly fixed to the outer slide block 76, the inner claw 73 is correspondingly fixed to the inner slide block 77, the outer end of the outer slide block 76 is elastically connected to the outer end of the sliding seat 71, the input lever 74 and the transmission piece 75 are positioned in the rectangular through hole 711, the upper end of the input lever 74 is rotatably connected to the sliding seat 71 through a pin shaft, the upper end of the input lever 74 is hinged to the bottom of the outer slide block 76, and the lower end of the input lever 74 is, the distance from the upper end of the input lever 74 to the center of the pin shaft is greater than the distance from the upper end of the input lever 74 to the center of the pin shaft, that is, the force arms at the two ends of the input lever 74 are unequal, the transmission member 75 is rotatably connected to the sliding seat 71, the lower end of the transmission member 75 is hinged to the lower end of the input lever 74, and the upper end of the transmission member 75 is hinged to the bottom of the inner sliding block 77.
According to the adaptive circular tube-shaped thin-walled part clamping jaw in the embodiment, the outer end of the outer sliding block 76 is fixed with the starting block 78, the starting block 78 is fixedly connected with the starting spring 79, the other end of the starting spring 79 is fixedly connected to the outer sliding block 76, and the outer sliding block 76 is elastically connected to the outer end of the sliding seat 71.
The specific operation principle of the embodiment is as follows: firstly, an outer claw 72 and an inner claw 73 are respectively arranged at two ends of a sliding seat 71, then the pipe wall of the thin-walled piece is arranged between the outer claw 72 and the inner claw 73 corresponding to the round tubular thin-walled piece, then a driving motor 1 works to drive a large bevel gear 3 to rotate, the large bevel gear 3 simultaneously drives three small bevel gears 5 to rotate, so that three transmission screws 4 rotate, as the positions of the transmission screws 4 are fixed, when the transmission screws 4 rotate, a transmission nut 6 moves inwards along the transmission screws 4, the lower end part of an input lever 74 is hinged on the transmission nut 6, so that the transmission nut 6 can push the whole clamping device 7 to move inwards, namely the clamping device 7 slides inwards relative to a guide groove 21, when the outer claw 72 is contacted with the outer wall of the thin-walled piece, the outer claw 72 is clamped by the thin-walled piece, so that the outer claw 72 can not move inwards along with the sliding seat 71 continuously, at the moment, under the blocking of the thin-walled, the outer claw 72 drives the outer slide block 76 to compress the starting spring 79 outwards, namely the outer slide block 76 slides outwards relative to the sliding seat 71, the movement of the outer slide block 76 drives the upper end of the input lever 74 to swing outwards, so that the lower end of the input lever 74 swings inwards along with the transmission nut 6, the swing of the input lever 74 drives the transmission piece 75 to swing, the lower end of the transmission piece 75 swings inwards, and the upper end of the transmission piece 75 swings outwards, so that the inner slide block 77 is driven to slide outwards relative to the sliding seat 71, the inner slide block 77 drives the inner claw 73 to move outwards, the outer slide block 76 is connected with the starting spring 79, and the power arm of the outer slide block 76 is smaller than that of the inner slide block 77, so that the moving displacement and the moving speed of the inner slide block 77 are greater than those of the outer slide block 76, thereby realizing opposite clamping of the thin-wall piece, and simultaneously clamping three pipe walls of the thin-wall piece, thereby, then, the whole clamping jaw can be driven to move under the driving of an external manipulator, so that the thin-wall part can be conveyed;
when the thin-wall part needs to be loosened, the driving motor 1 rotates reversely, the transmission nut 6 moves outwards along the transmission screw rod 4, the transmission nut 6 drives the whole clamping device 7 to move outwards, at the moment, the outer claw 72 is not stressed, the starting spring 79 recovers elastic deformation to push the outer sliding block 76 to slide inwards relative to the sliding seat 71, the sliding of the outer sliding block 76 drives the inner sliding block 77 and the inner claw 73 to slide inwards relative to the sliding seat 71 through the input lever 74 and the transmission piece 75, and the sliding seat 71 slides outwards, so that the inner claw 73 gradually moves away from the outer claw 72, and the thin-wall part is automatically loosened.
In addition, the clamping device can adapt to clamping work of thin-wall parts with pipe diameters of various specifications, the clamping device can be applied to the thin-wall parts as long as the pipe diameters of the thin-wall parts are within the stroke of the clamping device 7, and the application range of the clamping jaw of the thin-wall parts is expanded.
As shown in fig. 3 and 5, the transmission member 75 includes a connecting rod 751, an intermediate lever 752, and a swing rod 753, wherein one end of the connecting rod 751 is hinged to a lower end of the input lever 74, the intermediate lever 752 is rotatably connected to the sliding seat 71 through a pin, so that a distance from a lower end of the intermediate lever 752 to a center of the pin is smaller than a distance from an upper end of the intermediate lever 752 to the center of the pin, that is, force arms at two ends of the intermediate lever 752 are not equal, a lower end of the intermediate lever 752 is hinged to the other end of the connecting rod 751, a lower end of the swing rod 753 is hinged to an upper end of the intermediate lever 752, and an upper end of the swing rod 753 is hinged to a bottom of the inner slider 77; during operation, the swing of the input lever 74 is transmitted to the middle lever 752 through the connecting rod 751, when the input lever 74 swings, the connecting rod 751 can push the middle lever 752 to swing, the middle lever 752 drives the inner sliding block 77 to move through the swing rod 753, so that the inner claw 73 is driven to move, clamping and loosening of thin-walled parts are achieved, the middle lever 752 and the inner sliding block 77 are connected together through the swing rod 753, and the influence on the middle lever 752 when the inner sliding block 77 moves can be eliminated.
As shown in fig. 3 to 5, the outer claw 72 includes a U-shaped outer base 721 and two outer rollers 722, one end of the outer base 721 is fixed on the outer slider 76, two ends of the two outer rollers 722 are respectively and correspondingly rotatably connected to two ends of the outer base 721, and the two outer rollers 722 are arranged to contact with the wall of the thin-walled member, so that the pressure on the thin-walled member is smaller, and the shape of the thin-walled member is better protected.
As shown in fig. 3 to 5, the inner jaw 73 includes a U-shaped inner base 731 and an inner roller 732, one end of the inner base 731 is correspondingly fixed to the inner slider 77, two ends of the inner roller 732 are respectively and correspondingly rotatably connected to two ends of the inner base 731, and the outer roller 722 is arranged to contact with a wall of a thin-walled member, so that the pressure on the thin-walled member is lower, and the shape of the thin-walled member is better protected.
According to the adaptive tubular thin-wall part clamping jaw, the outer jaw 72 and the inner jaw 73 are in contact with the thin-wall part in a roller manner, are easy to attach to the wall of the thin-wall part, have lower pressure on the thin-wall part, and are not easy to deform the appearance of the thin-wall part.
By the arrangement of the structure, the clamping device can be adaptive to clamping of thin-wall parts with different pipe diameters, and the possibility of local deformation and overall deformation of the thin-wall parts is greatly reduced by adopting a mode of clamping the thin-wall parts in opposite directions, so that the appearance of the thin-wall parts can be better protected.
The above description is only a preferred embodiment of the present invention, and all equivalent changes or modifications of the structure, characteristics and principles described in the present patent application are included in the protection scope of the present patent application.
Claims (6)
1. The self-adaptive circular tube-shaped thin-walled workpiece clamping jaw is characterized by comprising a driving motor (1) and a guide cylinder (2), wherein the driving motor (1) is fixed at one end of the guide cylinder (2), the output end of the driving motor (1) extends into the guide cylinder (2) and is connected with a large bevel gear (3), three guide grooves (21) extending outwards are formed in the circumferential wall of the guide cylinder (2) at equal intervals, the three guide grooves (21) are arranged along the radial direction, transmission screws (4) are arranged in the three guide grooves (21), two ends of each transmission screw (4) are respectively and rotatably connected onto the guide grooves (21), a small bevel gear (5) is fixed at the inner end of each transmission screw (4), the small bevel gear (5) is meshed with the large bevel gear (3), each transmission screw (4) is further in threaded connection with a transmission nut (6), an oval through hole is formed in the transmission nut (6), and clamping devices (7) are respectively arranged on the three guide grooves (21);
the clamping device (7) comprises a sliding seat (71), an outer claw (72), an inner claw (73), an input lever (74), a transmission piece (75), an outer sliding block (76) and an inner sliding block (77) which are connected to the sliding seat (71) in a sliding mode, the sliding seat (71) is connected to the guide groove (21) in a sliding mode, a rectangular through hole (711) used for moving the input lever (74) and the transmission piece (75) is formed in the sliding seat (71), the rectangular through hole (711) is located above the transmission nut (6), the outer claw (72) is correspondingly fixed to the outer sliding block (76), the inner claw (73) is correspondingly fixed to the inner sliding block (77), the outer end of the outer sliding block (76) is elastically connected to the outer end of the sliding seat (71), the input lever (74) and the transmission piece (75) are located in the rectangular through hole (711), one end of the input lever (74) is rotatably connected to the sliding seat (71), the end part of one end of the input lever (74) is hinged to the bottom of the outer sliding block (76), the end part of the other end of the input lever (74) is hinged to the transmission nut (6) through an oval through hole, the transmission piece (75) is rotatably connected to the sliding seat (71), one end of the transmission piece (75) is hinged to the other end of the input lever (74), and the other end of the transmission piece (75) is hinged to the bottom of the inner sliding block (77).
2. The adaptive round tubular thin-walled part clamping jaw according to claim 1, characterized in that an actuating block (78) is fixed to the outer end of the outer sliding block (76), an actuating spring (79) is fixedly connected to the actuating block (78), and the other end of the actuating spring (79) is fixedly connected to the outer sliding block (76).
3. An adaptive round tubular thin-walled member clamping jaw according to claim 1, characterized in that the transmission member (75) comprises a connecting rod (751), an intermediate lever (752) and a swing link (753), one end of the connecting rod (751) is hinged on the other end of the input lever (74), the intermediate lever (752) is rotatably connected on the sliding seat (71), one end of the intermediate lever (752) is hinged on the other end of the connecting rod (751), one end of the swing link (753) is hinged on the other end of the intermediate lever (752), and the other end of the swing link (753) is hinged on the bottom of the inner slide block (77).
4. The adaptive circular-tube-shaped thin-wall part clamping jaw according to claim 1, wherein the outer jaw (72) comprises a U-shaped outer base (721) and two outer rollers (722), one end of the outer base (721) is fixed on the outer sliding block (76), and two ends of the two outer rollers (722) are respectively and correspondingly rotatably connected to two ends of the outer base (721).
5. The adaptive circular tubular thin-walled member clamping jaw as claimed in claim 1, wherein the inner jaw (73) comprises a U-shaped inner base (731) and an inner roller (732), one end of the inner base (731) is correspondingly fixed on the inner sliding block (77), and two ends of the inner roller (732) are respectively and correspondingly connected to two ends of the inner base (731) in a rotating manner.
6. The adaptive circular tubular thin-walled member clamping jaw as claimed in claim 1, wherein the inner jaw (73) comprises a U-shaped inner base (731) and an inner roller (732), one end of the inner base (731) is correspondingly fixed on the inner sliding block (77), and two ends of the inner roller (732) are respectively and correspondingly connected to two ends of the inner base (731) in a rotating manner.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911104016.6A CN110842958A (en) | 2019-11-13 | 2019-11-13 | Self-adaptive tubular thin-walled part clamping jaw |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911104016.6A CN110842958A (en) | 2019-11-13 | 2019-11-13 | Self-adaptive tubular thin-walled part clamping jaw |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110842958A true CN110842958A (en) | 2020-02-28 |
Family
ID=69600358
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911104016.6A Withdrawn CN110842958A (en) | 2019-11-13 | 2019-11-13 | Self-adaptive tubular thin-walled part clamping jaw |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110842958A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111940772A (en) * | 2020-07-01 | 2020-11-17 | 中国第一汽车股份有限公司 | Clamping device for thin-wall part machining |
| CN112318536A (en) * | 2020-11-02 | 2021-02-05 | 江南大学 | Three-finger smart end effector with three motors driving series mechanism palms |
| CN113560845A (en) * | 2021-09-23 | 2021-10-29 | 邳州众鑫机械有限公司 | Bearing ring mechanical arm feeding and discharging mechanism |
| CN115519569A (en) * | 2022-07-29 | 2022-12-27 | 南通遂佳机器人科技有限公司 | A industrial robot for having enough to meet need case goes up unloading |
-
2019
- 2019-11-13 CN CN201911104016.6A patent/CN110842958A/en not_active Withdrawn
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111940772A (en) * | 2020-07-01 | 2020-11-17 | 中国第一汽车股份有限公司 | Clamping device for thin-wall part machining |
| CN112318536A (en) * | 2020-11-02 | 2021-02-05 | 江南大学 | Three-finger smart end effector with three motors driving series mechanism palms |
| CN112318536B (en) * | 2020-11-02 | 2021-10-29 | 江南大学 | Three-finger smart end effector with three motors driving series mechanism palms |
| CN113560845A (en) * | 2021-09-23 | 2021-10-29 | 邳州众鑫机械有限公司 | Bearing ring mechanical arm feeding and discharging mechanism |
| CN113560845B (en) * | 2021-09-23 | 2021-12-17 | 邳州众鑫机械有限公司 | Bearing ring mechanical arm feeding and discharging mechanism |
| CN115519569A (en) * | 2022-07-29 | 2022-12-27 | 南通遂佳机器人科技有限公司 | A industrial robot for having enough to meet need case goes up unloading |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110842958A (en) | Self-adaptive tubular thin-walled part clamping jaw | |
| CN108214535B (en) | Synchronous control manipulator | |
| CN107053220B (en) | Indirect self-adaptive robot finger device with linear flat clamping of connecting rod and rack | |
| CN106564065B (en) | The flat adaptive finger apparatus of folder of herringbone connecting rod rack sliding block straight line | |
| CN108687790B (en) | Gear rack driving type grabbing manipulator | |
| CN108994864A (en) | Double tendon rope tandem coupling adaptive finger apparatus | |
| CN106426230B (en) | Bicyclic rotation refers to the flat adaptive under-actuated robot hand apparatus of folder more | |
| US20140349824A1 (en) | Tool change device | |
| CN210148088U (en) | Double-station manipulator | |
| CN108748230B (en) | Separation driving cam type height self-adjusting flat clamp self-adaptive finger device | |
| CN106182051B (en) | The flat folder adaptive robot finger apparatus of idle running kinematic link straight line | |
| CN206663272U (en) | A kind of gripper | |
| CN106564066A (en) | Double-toggle-joint, connecting rod, linear and parallel clamping and self-adapting type finger device of robot hand | |
| CN106272495B (en) | Short range train is driven the flat adaptive finger apparatus of folder of guide sleeve oscillating rod linear | |
| CN106272491B (en) | The long-range flat folder adaptive robot finger apparatus of transmission guide sleeve link linear | |
| CN110842957A (en) | Mechanical arm and clamping method for self-adaptive tubular thin-walled part | |
| CN106272501A (en) | Toggle slide bar adaptive robot finger apparatus | |
| CN110549367A (en) | Multi-stage electric cylinder for robot | |
| CN208629464U (en) | A kind of gear-rack drive formula catching robot | |
| CN108656086B (en) | Variable working space redundancy drive 4UPU-R parallel mechanism | |
| CN109531607A (en) | Connecting rod idle running is driven the flat folder adaptive robot finger apparatus of swing rod sliding slot straight line | |
| CN105313121A (en) | Self-adaptive clamping manipulator for disc parts | |
| CN103522295A (en) | Grasping mechanical hand capable of changing according to shape of object | |
| CN109227583A (en) | Gear idle running is driven the flat folder adaptive robot finger apparatus of swing rod sliding slot straight line | |
| CN107243915B (en) | Parallel-clamping coupling switching self-adaptive robot finger device with duplex racks |
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 | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20200228 |