CN112497194A - Mechanical gripper capable of self-adapting to spacing distance - Google Patents
Mechanical gripper capable of self-adapting to spacing distance Download PDFInfo
- Publication number
- CN112497194A CN112497194A CN202011373017.3A CN202011373017A CN112497194A CN 112497194 A CN112497194 A CN 112497194A CN 202011373017 A CN202011373017 A CN 202011373017A CN 112497194 A CN112497194 A CN 112497194A
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- CN
- China
- Prior art keywords
- gear
- rod
- cavity
- fixedly connected
- transmission
- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the field of manipulators, and discloses a mechanical gripper with self-adaptive spacing distance, which comprises a main box body, wherein the left end surface of the main box body is fixedly connected with an externally-connected block extending leftwards, the left end of the lower end surface of the externally-connected block is fixedly connected with an upper magnetic block, a motor cavity is arranged in the main box body, the upper end wall of the motor cavity is communicated with an advancing cavity, the lower end wall of the advancing cavity is communicated with a fixed baffle extending downwards and positioned at the rear side of the motor cavity, the movable rod is driven by the motor to move, so that the directional taking of the remote object is realized, the device not only can be adaptive to objects with different distances to grab, and then accomplish the directional displacement of the article of multiple distance, can also circulate and accomplish the displacement to the article, adjust it to the position that needs rapidly, not only save operating time, promoted work efficiency, still make lateral displacement convenient and fast more to satisfy the needs of modern industry to the function of snatching of manipulator.
Description
Technical Field
The invention relates to the field of manipulators, in particular to a mechanical gripper capable of self-adapting to a spacing distance.
Background
In industrial production, automated production has become more and more popular, more and more work has been replaced by intelligent equipment, the people only play therein and maintain, control and supplementary effect etc. have appeared in machining and mechanical equipment field, but current manipulator structure is relatively fixed, once only snatching the object to being snatched, often appear unable distance self-adaptation according to the object snatching, lead to unable object of snatching, work efficiency has been influenced, it snatchs the requirement to be difficult to satisfy the part in modern industry.
Disclosure of Invention
The invention aims to provide a mechanical gripper capable of adapting to a spacing distance, which can overcome the defects in the prior art, so that the practicability of equipment is improved.
The technical scheme adopted by the invention for solving the technical problems is as follows: the invention relates to a mechanical gripper capable of adapting to spacing distance, which comprises a main box body, wherein the left end surface of the main box body is fixedly connected with an external connection block extending leftwards, the left end of the lower end surface of the external connection block is fixedly connected with an upper magnetic block, a motor cavity is arranged in the main box body, the upper end wall of the motor cavity is communicated with a forward cavity, the lower end wall of the forward cavity is communicated with a fixed baffle plate extending downwards and positioned at the rear side of the motor cavity, the lower end wall of the forward cavity is communicated with a stop rod sliding cavity communicated with the rear end wall of the fixed baffle plate, the rear end wall of the stop rod sliding cavity is communicated with a driving rod sliding cavity which penetrates through the left and right end surfaces of the main box body, is communicated with the lower end wall of the forward cavity and is positioned at the lower side of the external connection block, the lower end wall of the driving rod sliding cavity is communicated with a backward gear cavity, the front, the utility model discloses a lifting support device for lifting support of a lifting pole, including fixed baffle, driving rod, lifting pole chamber, fixed baffle lower extreme wall intercommunication, lifting pole chamber, fixed baffle lower extreme wall intercommunication is equipped with the support chamber, driving rod slides the chamber lower extreme wall sliding fit and is connected with the driving rod that extends to the outside left and right, be equipped with the lifting in the driving rod and support the chamber, the lifting supports chamber upper end wall intercommunication and is equipped with the ascending lifting pole chamber of opening, the terminal intercommunication in lifting pole chamber lower extreme wall left side is equipped with decides the pole transmission chamber, decide pole transmission chamber lower extreme wall intercommunication and be equipped with the grade pole rotation chamber that the opening is decurrent, decide pole transmission chamber left end wall intercommunication and be equipped with and link up the fixed pole of both ends face about the driving rod slides the chamber, lifting support chamber lower extreme wall fixedly connected with lifting support.
On the basis of the technical scheme, the fixed rod transmission cavity rear end wall is connected with a forward extending gear rod transmission shaft in a rotating fit manner, the fixed rod transmission cavity rear end wall is connected with a forward extending transmission reverse shaft which is positioned on the left side of the gear rod transmission shaft in a rotating fit manner, the fixed rod transmission cavity rear end wall is also connected with a forward extending fixed rod transmission shaft which is positioned on the left side of the transmission reverse shaft in a rotating fit manner, the lower end wall of the fixed rod transmission cavity is fixedly connected with an upward extending gear rod limiting spring, the gear rod transmission shaft is fixedly connected with a gear rod transmission gear, the gear rod transmission gear is fixedly connected with a gear rod transmission rod which extends rightwards, is fixedly connected with the upper end of the gear rod limiting spring and can be abutted against the lifting rod, the gear rod transmission gear is also fixedly connected with a downward extending transmission rod which penetrates through the gear rod rotation cavity to, the transmission reversing shaft is fixedly connected with a transmission reversing gear meshed with the gear rod transmission gear, the fixed rod transmission shaft is fixedly connected with a fixed rod transmission gear meshed with the transmission reversing gear, the fixed rod sliding cavity is connected with a positioning rod in a sliding fit manner, the positioning rod is meshed with the fixed rod transmission gear, and the tail end of the upper side of the positioning rod is fixedly connected with a lower magnetic block which can be abutted against the upper magnetic block.
On the basis of the technical scheme, the front end wall of the motor cavity is fixedly connected with a motor, a driving shaft extending backwards is fixedly connected onto the motor, the tail end of the rear side of the driving shaft is fixedly connected with a driving gear, the lower end wall of the supporting cavity is fixedly connected with a supporting spring, the tail end of the upper side of the supporting spring is fixedly connected with a supporting baffle plate, the upper end surface of the supporting baffle plate is fixedly connected with a control baffle plate which extends upwards and penetrates through the fixing baffle plate to the advancing cavity, a backward transmission shaft which runs through the backward sliding cavity, extends forwards to the motor cavity and extends backwards to the backward gear cavity is connected to the control baffle in a rotating matching way, the tail end of the front side of the backward transmission shaft is fixedly connected with a backward transmission gear which can be meshed with the driving gear, and the tail end of the rear side of the retreating transmission shaft is fixedly connected with a retreating gear which can be meshed with the driving rod.
On the basis of the technical scheme, the control baffle is connected with an advancing transmission shaft which is positioned in the advancing cavity, extends forwards and extends backwards in a rotating matching manner, the tail end of the front side of the advancing transmission shaft is fixedly connected with an advancing transmission gear meshed with the driving gear, the tail end of the rear side of the advancing transmission shaft is fixedly connected with an advancing gear meshed with the driving rod, and the rear end face of the control baffle is fixedly connected with a transmission gear rod which extends backwards, penetrates through the gear rod sliding cavity to the driving rod sliding cavity and can be abutted to the advancing gear.
The invention has the beneficial effects that: the movable rod is driven by the motor to complete movement, so that the directional taking of articles at a distance is realized, the movable rod can be self-adapted to the articles at different distances to capture, the directional displacement of the articles at various distances is further completed, the displacement of the articles can be circularly completed, and the articles are rapidly adjusted to required positions, so that the working time is saved, the working efficiency is improved, the transverse displacement is more convenient and faster, and the requirement of modern industry on the grabbing function of a manipulator is met.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the invention, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without creative efforts.
The invention is further illustrated with reference to the following figures and examples.
Fig. 1 is a schematic diagram of the overall structure of a mechanical gripper with adaptive spacing distance according to the present invention.
Fig. 2 is a schematic view of the structure a-a in fig. 1.
Fig. 3 is a schematic diagram of the structure B-B in fig. 2.
Fig. 4 is an enlarged schematic view of C in fig. 3.
Detailed Description
The invention will now be described in detail with reference to fig. 1-4, wherein for ease of description the orientations described hereinafter are now defined as follows: the up, down, left, right, and front-back directions described below correspond to the up, down, left, right, and front-back directions in the projection relationship of fig. 1 itself.
The mechanical gripper capable of adapting to the spacing distance is described by combining with the attached drawings 1-4, and comprises a main box body 10, wherein the left end face of the main box body 10 is fixedly connected with an external connection block 30 extending leftwards, the left end of the lower end face of the external connection block 30 is fixedly connected with an upper magnetic block 31, a motor cavity 11 is arranged in the main box body 10, the upper end wall of the motor cavity 11 is communicated with a forward cavity 29, the lower end wall of the forward cavity 29 is communicated with a fixed baffle 21 extending downwards and located at the rear side of the motor cavity 11, the lower end wall of the forward cavity 29 is communicated with a stop lever sliding cavity 24 communicated with the rear end wall of the fixed baffle 21, the rear end wall of the stop lever sliding cavity 24 is communicated with a driving lever sliding cavity 27 penetrating through the left and right end faces of the main box body 10 and communicated with the lower end wall of the forward cavity 29 and located at the lower side of the external connection block 30, the lower, retreat gear chamber 34 front end wall intercommunication is equipped with and extends forward and link up retaining panel 21 extremely the sliding chamber 20 that retreats of motor chamber 11, retaining panel 21 lower extreme wall intercommunication is equipped with and supports chamber 18, end wall sliding fit is connected with left and right extension to the drive rod 61 in the outside under drive rod sliding chamber 27, be equipped with lifting support chamber 59 in the drive rod 61, lifting support chamber 59 upper end wall intercommunication is equipped with ascending lifting rod chamber 36 of opening, lifting rod chamber 36 lower extreme wall left side end intercommunication is equipped with fixed rod transmission chamber 45, fixed rod transmission chamber 45 lower extreme wall intercommunication is equipped with the grade pole rotation chamber 54 that the opening is decurrent, fixed rod transmission chamber 45 left end wall intercommunication is equipped with and link up fixed rod sliding chamber 42 of both ends face about drive rod 61, lifting support chamber 59 lower extreme wall fixedly connected with lifting support spring 60, lifting support spring 60 upside end fixedly connected with upwards extends to lifting support rod 57 of lifting rod chamber 36 And the tail end of the upper side of the lifting support rod 57 is fixedly connected with a lifting rod 58.
In addition, in one embodiment, a forward extending link transmission shaft 53 is rotatably connected to the rear end wall of the fixed link transmission cavity 45, a forward extending reverse transmission shaft 46 is rotatably connected to the rear end wall of the fixed link transmission cavity 45 and is located on the left side of the link transmission shaft 53, a forward extending fixed link transmission shaft 44 is further rotatably connected to the rear end wall of the fixed link transmission cavity 45 and is located on the left side of the reverse transmission shaft 46, an upward extending link limiting spring 52 is fixedly connected to the lower end wall of the fixed link transmission cavity 45, a link transmission gear 50 is fixedly connected to the link transmission gear 53, a link transmission rod 51 is fixedly connected to the link transmission gear 50 and extends rightward, is fixedly connected to the upper end of the link limiting spring 52 and can abut against the lifting rod 58, a trigger link 35 is further fixedly connected to the link transmission gear 50 and extends downward and penetrates through the link rotation cavity 54 to the outer side, the transmission reversing shaft 46 is fixedly connected with a transmission reversing gear 55 meshed with the gear lever transmission gear 50, the fixed lever transmission shaft 44 is fixedly connected with a fixed lever transmission gear 56 meshed with the transmission reversing gear 55, the fixed lever sliding cavity 42 is connected with a positioning lever 43 meshed with the fixed lever transmission gear 56 in a sliding fit mode, and the tail end of the upper side of the positioning lever 43 is fixedly connected with a lower magnetic block 32 capable of being abutted to the upper magnetic block 31.
In addition, in one embodiment, the front end wall of the motor cavity 11 is fixedly connected with a motor 13, a driving shaft 12 extending backwards is fixedly connected to the motor 13, a driving gear 14 is fixedly connected to the rear end of the driving shaft 12, a supporting spring 17 is fixedly connected with the lower end wall of the supporting cavity 18, a supporting baffle plate 19 is fixedly connected with the tail end of the upper side of the supporting spring 17, a control baffle 25 which extends upwards and penetrates through the fixed baffle 21 to the advancing cavity 29 is fixedly connected to the upper end surface of the supporting baffle 19, a backward transmission shaft 15 which penetrates through the backward sliding cavity 20, extends forwards to the motor cavity 11 and backwards to the backward gear cavity 34 is connected to the control baffle 25 in a rotating fit manner, a backward transmission gear 16 capable of being meshed with the driving gear 14 is fixedly connected at the tail end of the front side of the backward transmission shaft 15, the rear end of the backward transmission shaft 15 is fixedly connected with a backward gear 33 which can be meshed with the driving rod 61.
In addition, in one embodiment, an advancing transmission shaft 23 located in the advancing cavity 29 and extending forward and extending backward is connected to the control baffle 25 in a rotating fit manner, an advancing transmission gear 26 engaged with the driving gear 14 is fixedly connected to a front end of the advancing transmission shaft 23, an advancing gear 28 engaged with the driving rod 61 is fixedly connected to a rear end of the advancing transmission shaft 23, and a transmission gear lever 22 extending backward and penetrating through the gear lever sliding cavity 24 to the driving rod sliding cavity 27 and capable of abutting against the advancing gear 28 is fixedly connected to a rear end surface of the control baffle 25.
The fixing and connecting method in this embodiment includes, but is not limited to, bolting, welding, and the like.
As shown in fig. 1-4, when the device of the present invention is in an initial state, the supporting spring 17, the stopper rod limiting spring 52, and the lifting supporting spring 60 are all in a relaxed state, the driving rod 61 is at the rightmost side, and the left side of the driving rod 61 is aligned with the object to be moved, and the horizontal position of the lowest point of the positioning rod 43 is higher than the highest point of the object to be moved, and the upper magnetic block 31 and the lower magnetic block 32 are in a magnetic attraction state;
sequence of mechanical actions of the whole device:
when the work is started, the motor 13 drives the driving shaft 12 to rotate, the driving shaft 12 drives the driving gear 14 to rotate, the driving gear 14 drives the forward transmission gear 26 to rotate, the forward transmission gear 26 rotates to drive the forward transmission shaft 23 to rotate, the forward transmission shaft 23 rotates to drive the forward gear 28 to rotate, the forward gear 28 rotates to drive the driving rod 61 to move leftwards, the driving rod 61 moves leftwards to drive the trigger gear lever 35 to move leftwards, the trigger gear lever 35 pushes the trigger gear lever 35 rightwards to drive the gear lever transmission gear 50 to rotate by taking the gear lever transmission shaft 53 as a circle center, the gear lever transmission gear 50 rotates to drive the transmission reverse gear 55 to rotate, the transmission reverse gear 55 rotates to drive the fixed lever transmission gear 56 to rotate, the fixed lever transmission gear 56 rotates to drive the positioning rod 43 to move downwards, the positioning rod 43 moves downward to the right end face to abut against the left end face of the object to be moved, and the object to be moved is locked.
After the locking is completed, the gear lever transmission gear 50 rotates to overcome the elasticity of the gear lever limiting spring 52 to drive the gear lever transmission rod 51 to rotate, the gear lever transmission rod 51 rotates to abut against the lifting rod 58, the gear lever transmission rod 51 pushes the lifting rod 58 to move upwards, the lifting rod 58 moves upwards to overcome the lifting support spring 60 through the lifting support rod 57 to push the transmission gear lever 22 to move upwards, the transmission gear lever 22 moves upwards to drive the control baffle 25 to move upwards, the control baffle 25 moves upwards to overcome the elasticity of the support spring 17 to drive the support baffle 19 to move upwards, the control baffle 25 moves upwards to drive the forward transmission shaft 23 to move upwards, the forward transmission shaft 23 moves upwards to drive the forward transmission gear 26 and the forward gear 28 to move upwards, the forward transmission gear 26 moves upwards to be separated from the driving gear 14, the forward gear 28 moves upwards to be separated from the driving rod 61, and the control baffle 25 moves upwards to drive the backward, the backward transmission shaft 15 moves upwards to drive the backward transmission gear 16 and the backward gear 33 to move upwards, the backward transmission gear 16 moves upwards to be meshed with the driving gear 14, the backward gear 33 moves upwards to be meshed with the driving rod 61, the driving gear 14 rotates to drive the backward transmission shaft 15 to rotate through the backward transmission gear 16, the backward transmission shaft 15 rotates to drive the driving rod 61 to move rightwards through the backward gear 33, the driving rod 61 drives the object to be moved to move rightwards through the positioning rod 43, when the driving rod 61 drives the positioning rod 43 to move to correspond to the position of the upper magnetic block 31, the upper magnetic block 31 pulls the lower magnetic block 32 to move upwards through magnetic force, the lower magnetic block 32 moves upwards to drive the trigger gear rod 35 to rotate, unlocking of the object is completed, and resetting can be completed through.
The invention has the beneficial effects that: the movable rod is driven by the motor to complete movement, so that the directional taking of articles at a distance is realized, the movable rod can be self-adapted to the articles at different distances to capture, the directional displacement of the articles at various distances is further completed, the displacement of the articles can be circularly completed, and the articles are rapidly adjusted to required positions, so that the working time is saved, the working efficiency is improved, the transverse displacement is more convenient and faster, and the requirement of modern industry on the grabbing function of a manipulator is met.
The above embodiments are merely illustrative of the technical ideas and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the protection scope of the present invention. All equivalent changes and modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.
Claims (4)
1. The utility model provides a mechanical tongs of self-adaptation interval distance, includes the main tank body, its characterized in that: the left end face of the main box body is fixedly connected with an external connection block extending leftwards, the left end of the lower end face of the external connection block is fixedly connected with an upper magnetic block, a motor cavity is arranged in the main box body, the upper end wall of the motor cavity is communicated with an advancing cavity, the lower end wall of the advancing cavity is communicated with a fixed baffle plate extending downwards and located on the rear side of the motor cavity, the lower end wall of the advancing cavity is communicated with a stop rod sliding cavity communicated with the rear end wall of the fixed baffle plate, the rear end wall of the stop rod sliding cavity is communicated with an active rod sliding cavity which penetrates through the left and right end faces of the main box body, is communicated with the lower end wall of the advancing cavity and is located on the lower side of the external connection block, the lower end wall of the active rod sliding cavity is communicated with a retreating gear cavity, the front end wall of the retreating gear cavity is communicated with a retreating, the lifting support device is characterized in that the lower end wall of the driving rod sliding cavity is connected with a driving rod which extends to the outer side leftwards and rightwards in a sliding fit mode, a lifting support cavity is arranged in the driving rod, the upper end wall of the lifting support cavity is communicated with a lifting rod cavity with an upward opening, the lower end wall of the lifting rod cavity is communicated with a fixed rod transmission cavity, the lower end wall of the fixed rod transmission cavity is communicated with a stop rod rotating cavity with a downward opening, the left end wall of the fixed rod transmission cavity is communicated with a fixed rod sliding cavity which is communicated with the upper end surface and the lower end surface of the driving rod, the lower end wall of the lifting support cavity is fixedly connected with a lifting support spring, the upper end of the lifting support spring is fixedly connected with a lifting support rod which extends upwards to the lifting rod cavity.
2. The adaptive spacing distance mechanical gripper of claim 1, wherein: the fixed rod transmission cavity rear end wall is connected with a forward extending gear rod transmission shaft in a rotating fit manner, the fixed rod transmission cavity rear end wall is connected with a forward extending transmission reverse shaft positioned on the left side of the gear rod transmission shaft in a rotating fit manner, the fixed rod transmission cavity rear end wall is connected with a forward extending fixed rod transmission shaft positioned on the left side of the transmission reverse shaft in a rotating fit manner, the lower end wall of the fixed rod transmission cavity is fixedly connected with an upward extending gear rod limiting spring, the gear rod transmission shaft is fixedly connected with a gear rod transmission gear, the gear rod transmission gear is fixedly connected with a right extending gear rod, is fixedly connected with the upper end of the gear rod limiting spring and can be abutted against the lifting rod, the gear rod transmission gear is further fixedly connected with a downward extending gear rod and penetrates through the gear rod rotation cavity to the outside to trigger gear rod, and the transmission reverse shaft is fixedly connected with a transmission reverse gear meshed with the gear rod transmission gear, the fixed rod transmission shaft is fixedly connected with a fixed rod transmission gear meshed with the transmission reverse gear, the fixed rod sliding cavity is connected with a positioning rod in a sliding fit manner, the positioning rod is meshed with the fixed rod transmission gear, and the tail end of the upper side of the positioning rod is fixedly connected with a lower magnetic block capable of being abutted to the upper magnetic block.
3. The adaptive spacing distance mechanical gripper of claim 1, wherein: the utility model discloses a gear-type back-moving mechanism, including motor chamber, supporting baffle, motor chamber, end wall fixedly connected with motor, fixedly connected with backward extension's driving shaft on the motor, the terminal fixedly connected with driving gear of driving shaft rear side, end wall fixedly connected with supporting spring under the supporting chamber, the terminal fixedly connected with supporting baffle of supporting spring upside, supporting baffle up end fixedly connected with upwards extends and runs through fixed baffle extremely the control baffle in chamber advances, the cooperation of rotating on the control baffle is connected with and link up retreat the slip chamber and extend forward to the motor chamber and extend backward to retreat the transmission shaft that retreats in gear chamber, retreat transmission shaft front side end fixedly connected with can with the driving gear meshed retreat gear, retreat transmission shaft rear side end fixedly connected with can with the driving lever meshed retreat gear.
4. A self-adaptive spacing distance mechanical gripper according to claim 3, characterized in that: the control baffle is connected with an advancing transmission shaft which is positioned in the advancing cavity, extends forwards and extends backwards in a rotating matching mode, the tail end of the front side of the advancing transmission shaft is fixedly connected with an advancing transmission gear meshed with the driving gear, the tail end of the rear side of the advancing transmission shaft is fixedly connected with an advancing gear meshed with the driving rod, and the rear end face of the control baffle is fixedly connected with a transmission gear rod which extends backwards, penetrates through the gear rod sliding cavity to the driving rod sliding cavity and can be abutted to the advancing gear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011373017.3A CN112497194A (en) | 2020-11-30 | 2020-11-30 | Mechanical gripper capable of self-adapting to spacing distance |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011373017.3A CN112497194A (en) | 2020-11-30 | 2020-11-30 | Mechanical gripper capable of self-adapting to spacing distance |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112497194A true CN112497194A (en) | 2021-03-16 |
Family
ID=74968673
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011373017.3A Withdrawn CN112497194A (en) | 2020-11-30 | 2020-11-30 | Mechanical gripper capable of self-adapting to spacing distance |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112497194A (en) |
-
2020
- 2020-11-30 CN CN202011373017.3A patent/CN112497194A/en not_active Withdrawn
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20210316 |