CN112171684B - Rod piece holder - Google Patents
Rod piece holder Download PDFInfo
- Publication number
- CN112171684B CN112171684B CN202010946961.7A CN202010946961A CN112171684B CN 112171684 B CN112171684 B CN 112171684B CN 202010946961 A CN202010946961 A CN 202010946961A CN 112171684 B CN112171684 B CN 112171684B
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- Prior art keywords
- connecting rod
- rod
- shell
- clamping
- hinged
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- 210000000078 claw Anatomy 0.000 claims abstract description 57
- 230000005540 biological transmission Effects 0.000 claims abstract description 39
- 239000003638 chemical reducing agent Substances 0.000 claims description 16
- 230000000712 assembly Effects 0.000 claims description 13
- 238000000429 assembly Methods 0.000 claims description 13
- 230000033001 locomotion Effects 0.000 abstract description 10
- 230000007246 mechanism Effects 0.000 description 11
- 230000009194 climbing Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000009435 building construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the field of robot tail end clamping and fixing, in particular to a rod piece clamp holder which comprises a clamping jaw for clamping a rod piece, a motor, a transmission assembly for pushing the clamping jaw to be closed and pulling the clamping jaw to be opened, a connecting rod assembly and a shell, wherein one end of the transmission assembly is connected with the output end of the motor, one end of the clamping jaw is connected with one end of the connecting rod assembly, the other end of the connecting rod assembly is hinged with the transmission assembly, and the middle part of the connecting rod assembly is hinged with the shell. According to the rod piece clamp, the motor drives the transmission assembly, the clamping force is increased through the connecting rod assembly, the movement is transmitted to the clamping claw, when the motor stops working, the opening and closing angle of the clamping claw is locked, and the clamp is ensured to reliably clamp the rod piece.
Description
Technical Field
The invention relates to the field of robot tail end clamping and fixing, in particular to a rod piece clamp.
Background
In fields such as building construction, power maintenance, there are a large amount of operations that intensity is high, the degree of difficulty is big, danger coefficient is high, for example cable erection, truss dismouting, circuit overhauls, power maintenance etc. and heavy high altitude construction is higher to the manpower requirement, wastes time and energy, and efficiency is lower, and takes place the operation accident very easily, causes casualties, and the pole system frame construction in these fields is at the same time in a large number.
In recent years, in order to improve the working efficiency and ensure personal safety, more high-risk works are gradually introduced into robot operation, such as climbing robots to replace manpower. The climbing robot is fixed with the rod piece by the clamp holder, and the climbing operation is completed under the control of the control system. However, in the prior art, the design of the clamp holder on the market is insufficient, the clamping force is limited, and the clamp holder and the rod piece slide easily during actual use, so that the robot slides, and the climbing work is affected smoothly.
Chinese patent CN201610131712.6 discloses a mechanical arm device for automatic overhaul and climbing of iron tower, which comprises two pairs of opposite claw opening and closing mechanisms with the same structure and two pairs of holding and clamping mechanisms for driving the two pairs of claw opening and closing mechanisms to hold and clamp the same structure of a tower member, wherein the two pairs of claw opening and closing mechanisms are respectively fixed on nut sliders of the two pairs of claw holding and clamping mechanisms through connecting plates, and the claw holding and clamping angle steel of the tower is enabled to be held and clamped by the claw holding and clamping mechanisms through respectively controlling the rotation direction and the rotation speed of driving motors of the claw opening and closing mechanisms and the holding and clamping mechanisms. However, in the scheme, the clamping force of the mechanical arm is insufficient, so that sliding between the clamping device and the rod piece is easy to occur.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides a rod piece clamp which increases the clamping force of the clamp and improves the stability between the clamp and the rod piece.
In order to solve the technical problems, the invention adopts the following technical scheme:
the rod piece holder comprises a holding claw for holding a rod piece, a motor, a transmission assembly for pushing the holding claw to be closed and pulling the holding claw to be opened, a connecting rod assembly and a shell, wherein one end of the transmission assembly is connected with the output end of the motor, one end of the holding claw is connected with one end of the connecting rod assembly, the other end of the connecting rod assembly is hinged with the transmission assembly, and the connecting rod assembly is hinged with the shell.
According to the rod piece clamp holder, one end of the transmission component is connected with the output end of the motor, the motor is used for driving the transmission component, one end of the connecting rod component is hinged with the transmission component, the transmission component transmits motion to the connecting rod component, one end of the clamping claw is connected with one end of the connecting rod component, the other end of the connecting rod component is hinged with the shell, so that the clamping claw can rotate in a certain direction, namely the clamping claw is driven to open and close, and when the motor stops working, the opening and closing angle of the clamping claw is locked, so that the clamp holder can reliably clamp a rod piece.
Further, the shell includes shell main part, shell apron and cylindric shell base, shell main part and shell apron are connected, and the shell base sets up in shell main part lower extreme, the motor is fixed in inside the shell base lower extreme, and shell base circumference is equipped with the through-hole of being connected with the robot, and drive assembly is located the cavity between shell main part and the shell apron.
Further, the motor further comprises a harmonic reducer, the harmonic reducer is fixed between the shell main body and the shell base, the harmonic reducer is connected with the motor output shaft, and the harmonic reducer is connected with the transmission assembly through a key.
Further, the connecting rod assembly comprises an output rod, a first connecting rod and a second connecting rod, one end of the output rod is hinged to the shell, one end of the output rod is further connected with one end of the clamping claw, one end of the first connecting rod is hinged to one end of the second connecting rod, the other end of the first connecting rod is connected with the output rod, and the other end of the second connecting rod is connected with the transmission assembly.
Further, the connecting rod assembly further comprises a third connecting rod, one end of the first connecting rod is hinged with one end of the third connecting rod, the other end of the third connecting rod is hinged with the shell, and the third connecting rod plays a role in limiting the movement range of the connecting rod assembly.
Further, the transmission assembly comprises a nut, a screw rod and a bearing, the screw rod is connected with the nut through threaded fit, two ends of the screw rod are fixed with the shell through the bearing in a fit mode, one end of the screw rod is connected with the output end of the motor, the other end of the second connecting rod is hinged to the nut, the bearing is used for supporting the screw rod to rotate, and the friction coefficient between the screw rod and the shell in the rotating process is reduced.
Further, the hinge part of the output rod and the shell, the hinge part of the first connecting rod and the second connecting rod, the hinge part of the first connecting rod and the third connecting rod, the hinge part of the first connecting rod and the output rod, the hinge part of the third connecting rod and the shell, and the hinge part of the second connecting rod and the nut are all fixed with the snap ring through pin shafts, and it is noted that other connecting pieces and components thereof capable of achieving the effect of the invention are suitable for the invention.
Further, the connecting rod assemblies are provided with a plurality of groups, each clamping claw is connected with one group of connecting rod assemblies respectively, the clamping claws are arranged in two rows, each clamping claw is of a semicircular layered structure, the outer ring of each clamping claw is a rigid support, the inner ring of each clamping claw is rubber, the supports are fixedly connected with the rubber, each clamping claw is of a semicircular structure, the clamping claws are easy to be fully attached to the surface of the rod piece, clamping force is transmitted to the rubber through the rigid support, and friction force between the clamping claw and the rod piece can be increased.
Further, the connecting rod assembly is provided with two groups of symmetrically distributed clamping claws, the two clamping claws are respectively connected with the two groups of connecting rod assemblies, and each group of connecting rod assemblies drives the clamping claws connected with the connecting rod assemblies to open or close.
Further, the support is fixedly connected with the rubber through a fastener, the fastener is a pin, and it is noted that rivets, bolts and components thereof are applicable to the invention.
Compared with the prior art, the rod piece clamp holder has the beneficial effects that:
the motor drives the transmission assembly, the clamping force is increased through the connecting rod assembly, the connecting rod assembly is utilized to drive the clamping claws to open and close, and when the motor stops working, the clamping claws are locked, so that the clamping device can reliably clamp the rod piece.
Drawings
FIG. 1 is an exploded view of a rod holder according to an embodiment of the present invention;
FIG. 2 is a perspective view of a gripper jaw according to an embodiment of the present invention;
FIG. 3 is a schematic view of a rod holder according to an embodiment of the present invention;
FIG. 4 is a schematic view of a rod clamping device for clamping a rod according to an embodiment of the present invention;
in the accompanying drawings: 1-a housing; 11-a housing body; 12-a housing cover plate; 13-a housing base; 2-clamping claws; 21-a bracket; 22-rubber; 3-a connecting rod assembly; 31-an output rod; 32-a first link; 33-a second link; 34-a third link; 35-pin shafts; 36-snap ring; 4-a transmission assembly; 41-screw rod; 42-nuts; 43-bearing; 5-harmonic reducer; 6-motor.
Detailed Description
The invention is further described below in connection with the following detailed description. Wherein the drawings are for illustrative purposes only and are shown in schematic, non-physical, and not intended to be limiting of the present patent; for the purpose of better illustrating embodiments of the invention, certain elements of the drawings may be omitted, enlarged or reduced and do not represent the size of the actual product; it will be appreciated by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
The same or similar reference numbers in the drawings of embodiments of the invention correspond to the same or similar components; in the description of the present invention, it should be understood that, if there is an azimuth or positional relationship indicated by terms such as "upper", "lower", "left", "right", etc., based on the azimuth or positional relationship shown in the drawings, it is only for convenience of describing the present invention and simplifying the description, but it is not indicated or implied that the apparatus or element referred to must have a specific azimuth, be constructed and operated in a specific azimuth, and thus terms describing the positional relationship in the drawings are merely illustrative and should not be construed as limitations of the present patent, and specific meanings of the terms described above may be understood by those skilled in the art according to specific circumstances.
The rod piece holder comprises a holding claw 2 for holding a rod piece, a motor 6, a transmission assembly 4 for pushing the holding claw 2 to be closed and pulling the holding claw 2 to be opened, a connecting rod assembly 3 and a shell 1, wherein one end of the transmission assembly 4 is connected with the output end of the motor 6, one end of the holding claw 2 is connected with one end of the connecting rod assembly 3, the other end of the connecting rod assembly 3 is hinged with the transmission assembly 4, and the other end of the connecting rod assembly 3 is hinged with the shell 1.
According to the rod piece clamp holder, as shown in fig. 1 and 4, one end of the transmission component 4 is connected with the output end of the motor 6, the motor 6 is used for driving the transmission component 4, one end of the connecting rod component 3 is hinged with the transmission component 4, the motion is transmitted to the connecting rod component 3, one end of the clamping claw 2 is connected with one end of the connecting rod component 3, the other end of the connecting rod component 3 is hinged with the shell 1, so that the clamping claw 2 can rotate in a certain direction, namely, the clamping claw 2 is driven to open and close, and when the motor 6 stops working, the opening and closing angle of the clamping claw 2 is locked, so that the clamp holder can reliably grasp a rod piece.
In one embodiment, the shell 1 comprises a shell main body 11, a shell cover plate 12 and a cylindrical shell base 13, the shell main body 11 is connected with the shell cover plate 12, the shell base 13 is arranged at the lower end of the shell main body 11, the motor 6 is fixed inside the lower end of the shell base 13, through holes connected with the robot are formed in the circumferential surface of the shell base 13, the transmission assembly 4 is located in a cavity between the shell main body 11 and the shell cover plate 12, and the motion of the transmission assembly 4 is prevented from being disturbed.
In one embodiment, the motor further comprises a harmonic reducer 5, the harmonic reducer 5 is fixed between the housing main body 11 and the housing base 13, the harmonic reducer 5 is connected with an output shaft of the motor 6, the harmonic reducer 5 is connected with the transmission assembly 4 through a key, and when the motor 6 is in implementation, the motor drives the transmission assembly 4 through the speed reduction of the harmonic reducer 5.
In one embodiment, the link assembly 3 includes an output rod 31, a first link 32 and a second link 33, one end of the output rod 31 is connected with the housing 1, one end of the output rod 31 is further connected with one end of the clamping jaw 2, one end of the first link 32 is hinged with one end of the second link 33, the other end of the first link 32 is connected with the output rod 31, the other end of the second link 33 is connected with the transmission assembly 4, and when in implementation, the transmission assembly 4 drives the second link 33 to move up and down, one end of the first link 32 is hinged with one end of the second link 33, so that the first link 32 pushes the output rod 31 to rotate around the hinge point of the output rod and the housing 1, and the clamping jaw 2 is opened and closed.
In one embodiment, the link assembly 3 further includes a third link 34, one end of the first link 32 is hinged to one end of the third link 34, and the other end of the third link 34 is hinged to the housing 1, when the link assembly is implemented, the second link 33 moves up and down to push the third link 34 to rotate around the hinge point of the third link with the housing 1, so that the first link 32 pushes the output rod 31 to rotate around the hinge point of the output rod with the housing 1, and further the gripper jaw 2 is opened and closed, and the third link 34 plays a role of limiting the movement range of the link assembly 3.
In one embodiment, the transmission assembly 4 comprises a nut 42, a screw rod 41 and a bearing 43, the screw rod 41 is connected with the nut 42 through screw threads, the screw rod 41 is arranged in a cavity between the shell main body 11 and the shell base 13, the movement of the screw rod 41 is prevented from being disturbed, two ends of the screw rod 41 are fixed with the shell 1 through the bearing 43, one end of the screw rod 41 is connected with the output end of the motor 6, the other end of the second connecting rod 33 is hinged with the nut 42, the motor 6 drives the screw rod 41 to rotate through a harmonic reducer 5, the nut 42 in threaded connection with the screw rod 41 moves up and down, the second connecting rod 33 moves up and down along with the nut 42, the third connecting rod 34 is pushed to rotate around the hinge point of the third connecting rod 34 and the shell 1, so that the first connecting rod 32 pushes the output rod 31 to rotate around the hinge point of the output rod and the shell 1, and thus the clamping jaws 2 are stretched, when the nut 42 moves down, when the nut 42 moves up, the clamping jaws 2 are closed, the screw rod 42 is enabled due to the self-locking characteristic of screw thread transmission of the nut 42, when the movement is stopped, the clamping jaws can be reliably ensured, and clamping jaws are reliably clamped.
In one embodiment, the transmission assembly 4 includes a crank-link mechanism, the crankshaft rotates to drive the link rod to move up and down, the second link rod 33 moves up and down along with the link rod to push the third link rod 34 to rotate around the hinge point of the third link rod and the housing 1, so that the first link rod 32 pushes the output rod 31 to rotate around the hinge point of the output rod and the housing 1, and further the gripper jaw 2 is opened and closed, when the motor 6 stops working, the gripper jaw 2 maintains an opening and closing angle, and it should be noted that other structures capable of converting the rotational motion output by the motor 6 into the linear motion of the end of the link rod mechanism 3 hinged with the transmission mechanism 4 are suitable for the invention.
In one embodiment, the hinge portion of the output rod 31 and the housing 1, the hinge portion of the first connecting rod 32 and the second connecting rod 33, the hinge portion of the first connecting rod 32 and the third connecting rod 34, the hinge portion of the first connecting rod 32 and the output rod 31, the hinge portion of the third connecting rod 34 and the housing 1, and the hinge portion of the second connecting rod 33 and the nut 42 are all fixed with the snap ring 36 through the pin shaft 35, and it should be noted that other connectors and components thereof capable of achieving the effects of the present invention are suitable for the present invention.
In one embodiment, the connecting rod assemblies 3 are provided with a plurality of groups, each clamping claw 2 is respectively connected with one group of connecting rod assemblies 3, the clamping claws 2 are arranged in two rows, the clamping claws 2 are of a semicircular layered structure, the outer ring of each clamping claw 2 is a rigid support 21, the inner ring of each clamping claw is rubber 22, the supports 21 are fixedly connected with the rubber 22, the clamping claws 2 are of a semicircular structure and are easy to fully attach to the surface of a rod piece, clamping force is transmitted to the rubber 22 through the rigid support 21, and friction force between the clamping claws 2 and the rod piece can be increased.
In one embodiment, as shown in fig. 1 and 3, the connecting rod assemblies 3 have two groups symmetrically distributed, the clamping claws 2 have two symmetrically distributed clamping claws 2, and the two clamping claws 2 are respectively connected with the two groups of connecting rod assemblies 3, and when the embodiment is implemented, each group of connecting rod assemblies 3 drives the clamping claws 2 connected with the connecting rod assemblies to open or close.
In one embodiment, the bracket 21 is fixedly connected with the rubber 22 through a fastener, and the fastener is a pin, and it should be noted that rivets, bolts and components thereof are suitable for the present invention.
In one embodiment, the bracket 21 is glued to the rubber 22, and the process is simple and requires no complicated process equipment.
In one embodiment, as shown in fig. 3 and 4, the motor 6 is a disc motor, the disc motor drives the screw 41 through the speed reduction of the harmonic reducer 5, so that the screw 41 rotates, the nut 42 in threaded connection with the screw 41 moves upwards, for the left connecting rod assembly 3, the third connecting rod 34 is pushed to rotate anticlockwise around the hinge point of the third connecting rod 34 and the shell 1, so that the first connecting rod 32 pushes the output rod 31 to rotate clockwise around the hinge point of the third connecting rod 34 and the shell 1, for the right connecting rod assembly 3, the first connecting rod 32 pushes the output rod 31 to rotate anticlockwise around the hinge point of the third connecting rod 34 and the shell 1, so that the two clamping jaws 2 clamp the rod and close, the rigid support 21 of the clamping jaws 2 generates pressure on the rubber 22, so that the rubber 22 compresses the rod, friction force between the clamping jaws 2 and the rod is increased, the rod is prevented from rotating around the axis of the rod after the clamping, when the motor 6 stops working, the screw 41 stops rotating, the screw 41 stops moving along with the nut 42 in threaded connection with the screw 41, so that the self-locking jaws 2 keep the clamping jaws in a reliable clamping state.
In the specific content of the above embodiment, any combination of the technical features may be performed without contradiction, and for brevity of description, all possible combinations of the technical features are not described, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
It is to be understood that the above examples of the present invention are provided by way of illustration only and not by way of limitation of the embodiments of the present invention. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the invention are desired to be protected by the following claims.
Claims (6)
1. The rod piece clamp holder comprises a clamping jaw (2) for clamping a rod piece, a motor (6) and a transmission assembly (4) for pushing the clamping jaw (2) to be closed and pulling the clamping jaw (2) to be opened, wherein one end of the transmission assembly (4) is connected with the output end of the motor (6), and the rod piece clamp holder is characterized by also comprising a connecting rod assembly (3) and a shell (1), one end of the clamping jaw (2) is connected with one end of the connecting rod assembly (3), the other end of the connecting rod assembly (3) is hinged with the transmission assembly (4), and the middle part of the connecting rod assembly (3) is hinged with the shell (1);
the shell (1) comprises a shell main body (11), a shell cover plate (12) and a cylindrical shell base (13), wherein the shell main body (11) is connected with the shell cover plate (12), the shell base (13) is arranged at the lower end of the shell main body (11), the motor (6) is fixed inside the lower end of the shell base (13), through holes connected with the robot are formed in the circumferential surface of the shell base (13), and the transmission assembly (4) is positioned in a cavity between the shell main body (11) and the shell cover plate (12);
the novel electric motor also comprises a harmonic reducer (5), wherein the harmonic reducer (5) is fixed between the shell main body (11) and the shell base (13), the harmonic reducer (5) is connected with an output shaft of the motor (6), and the harmonic reducer (5) is connected with the transmission assembly (4) through a key;
the connecting rod assembly (3) comprises an output rod (31), a first connecting rod (32) and a second connecting rod (33), one end of the output rod (31) is hinged with the shell (1), one end of the output rod (31) is also connected with one end of the clamping claw (2), one end of the first connecting rod (32) is hinged with one end of the second connecting rod (33), the other end of the first connecting rod (32) is connected with the output rod (31), and the other end of the second connecting rod (33) is connected with the transmission assembly (4);
the connecting rod assembly (3) is provided with a plurality of groups, each clamping claw (2) is respectively connected with one group of connecting rod assemblies (3), the clamping claws (2) are arranged in two rows, each clamping claw (2) is of a semicircular annular layered structure, the outer ring of each clamping claw (2) is a rigid support (21), the inner ring of each clamping claw is rubber (22), and the supports (21) are fixedly connected with the rubber (22).
2. Rod holder according to claim 1, characterized in that the link assembly (3) further comprises a third link (34), the first link (32) being hinged at one end to the third link (34) and at the other end to the housing (1).
3. Rod holder according to claim 2, characterized in that the transmission assembly (4) comprises a nut (42), a screw rod (41) and a bearing (43), the screw rod (41) is connected with the nut (42) through a threaded fit, two ends of the screw rod (41) are fixed with the housing (1) through the bearing (43) in a fit, one end of the screw rod (41) is connected with the output end of the motor (6), and the other end of the second connecting rod (33) is hinged with the nut (42).
4. A rod holder according to claim 3, characterized in that the output rod (31) is hinged to the housing (1), the first link (32) is hinged to the second link (33), the first link (32) is hinged to the third link (34), the first link (32) is hinged to the output rod (31), the third link (34) is hinged to the housing (1) and the second link (33) is hinged to the nut (42) is fixed to the snap ring (36) by means of a pin (35).
5. Rod holder according to claim 1, characterized in that the connecting rod assembly (3) has two groups of symmetrically distributed, the clamping jaw (2) has two symmetrically distributed clamping jaws, and the two clamping jaws (2) are respectively connected with the two groups of connecting rod assemblies (3).
6. Rod holder according to claim 1, characterized in that the bracket (21) is fixedly connected to the rubber (22) by means of a fastener, which is a pin.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010946961.7A CN112171684B (en) | 2020-09-10 | 2020-09-10 | Rod piece holder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010946961.7A CN112171684B (en) | 2020-09-10 | 2020-09-10 | Rod piece holder |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112171684A CN112171684A (en) | 2021-01-05 |
| CN112171684B true CN112171684B (en) | 2024-04-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010946961.7A Active CN112171684B (en) | 2020-09-10 | 2020-09-10 | Rod piece holder |
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| Country | Link |
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| CN (1) | CN112171684B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114001589B (en) * | 2021-10-29 | 2023-11-28 | 北京航天发射技术研究所 | a locking device |
| CN114921924B (en) * | 2022-06-10 | 2023-07-04 | 河源职业技术学院 | Cloth clamping and fixing device |
| CN115477025B (en) * | 2022-10-31 | 2023-05-26 | 哈尔滨工业大学 | Passive modularized interface clamping device for realizing auxiliary unfolding of satellite fault sailboard |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02145230A (en) * | 1988-11-24 | 1990-06-04 | Mitsubishi Automob Eng Co Ltd | Automatic assembly device for bearing caps |
| CN101693372A (en) * | 2009-07-06 | 2010-04-14 | 清华大学 | Connecting rod slider-type under-actuated robot finger device with changeable grasping force |
| CN102285388A (en) * | 2010-06-17 | 2011-12-21 | 深圳市先进智能技术研究所 | walking robot |
| CN103786160A (en) * | 2014-01-27 | 2014-05-14 | 武汉大学 | A robot clamping module |
| CN105817917A (en) * | 2016-03-28 | 2016-08-03 | 候松谊 | Electric clamping device capable of stably clamping sheet-like workpieces and using method thereof |
| CN109250006A (en) * | 2018-09-05 | 2019-01-22 | 浙江工业大学 | A kind of link-type climbing level robot |
| CN212553871U (en) * | 2020-09-10 | 2021-02-19 | 广东工业大学 | A rod holder |
-
2020
- 2020-09-10 CN CN202010946961.7A patent/CN112171684B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02145230A (en) * | 1988-11-24 | 1990-06-04 | Mitsubishi Automob Eng Co Ltd | Automatic assembly device for bearing caps |
| CN101693372A (en) * | 2009-07-06 | 2010-04-14 | 清华大学 | Connecting rod slider-type under-actuated robot finger device with changeable grasping force |
| CN102285388A (en) * | 2010-06-17 | 2011-12-21 | 深圳市先进智能技术研究所 | walking robot |
| CN103786160A (en) * | 2014-01-27 | 2014-05-14 | 武汉大学 | A robot clamping module |
| CN105817917A (en) * | 2016-03-28 | 2016-08-03 | 候松谊 | Electric clamping device capable of stably clamping sheet-like workpieces and using method thereof |
| CN109250006A (en) * | 2018-09-05 | 2019-01-22 | 浙江工业大学 | A kind of link-type climbing level robot |
| CN212553871U (en) * | 2020-09-10 | 2021-02-19 | 广东工业大学 | A rod holder |
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| CN112171684A (en) | 2021-01-05 |
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