CN116214569A - Flexible clamping jaw and use method - Google Patents
Flexible clamping jaw and use method Download PDFInfo
- Publication number
- CN116214569A CN116214569A CN202310184864.2A CN202310184864A CN116214569A CN 116214569 A CN116214569 A CN 116214569A CN 202310184864 A CN202310184864 A CN 202310184864A CN 116214569 A CN116214569 A CN 116214569A
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- Prior art keywords
- knuckle
- clamping
- flexible
- finger
- jaw
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- 238000000034 method Methods 0.000 title claims abstract description 13
- 230000007246 mechanism Effects 0.000 claims abstract description 26
- 238000007789 sealing Methods 0.000 claims description 13
- 238000003825 pressing Methods 0.000 claims description 11
- 238000003780 insertion Methods 0.000 claims description 10
- 230000008602 contraction Effects 0.000 claims description 6
- 230000037431 insertion Effects 0.000 claims description 5
- 230000008901 benefit Effects 0.000 abstract description 2
- 230000008569 process Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000000605 extraction Methods 0.000 description 2
- 210000003437 trachea Anatomy 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
-
- 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
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
-
- 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
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated 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
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a flexible clamping jaw and a use method thereof, wherein the flexible clamping jaw comprises a clamping finger driving mechanism and a plurality of flexible double-knuckle clamping fingers, each flexible double-knuckle clamping finger comprises a first knuckle, a second knuckle and a second knuckle driving device, one end of the first knuckle is connected with the clamping finger driving mechanism, the other end of the first knuckle is provided with the second knuckle driving device, and the output end of the second knuckle driving device is provided with the second knuckle; the finger clamping driving mechanism drives the plurality of second knuckles to move close to or away from each other along with the corresponding first knuckles, and the second knuckle driving device drives the second knuckles to rotate. The clamping jaw has the advantages that through ingenious matching of the components, the adaptability and the application range of the clamping jaw are improved.
Description
Technical Field
The invention relates to a flexible clamping jaw and a using method thereof, and belongs to the technical field of robot clamping jaws.
Background
The mechanical clamping jaw is a common mechanical grabbing device, and can realize automatic grabbing through being matched with the mechanical arm, so that the mechanical clamping jaw is widely applied to industrial production.
In the prior art products, the clamping jaw is basically made of rigid materials, so that the clamping jaw is too rigid and is easy to damage an object; the flexible clamping jaw can be attached to the surface of an object to be grabbed, but the clamping jaw is made of flexible materials, so that the weight of the object to be grabbed is small, and the stability of the object in the movement process of the mechanical arm is insufficient after the object is grabbed.
Disclosure of Invention
The invention provides a flexible clamping jaw and a use method thereof, wherein the flexible clamping jaw is used for controlling double knuckles in a mode of single drive and independent drive together, so as to realize self-adaptive clamping of an object.
The technical scheme of the invention is as follows: the flexible clamping jaw comprises a clamping finger driving mechanism and a plurality of flexible double-knuckle clamping fingers 1, wherein each flexible double-knuckle clamping finger 1 comprises a first knuckle 19, a second knuckle 16 and a second knuckle driving device 17, one end of the first knuckle 19 is connected with the clamping finger driving mechanism, the other end of the first knuckle 19 is provided with the second knuckle driving device 17, and the output end of the second knuckle driving device 17 is provided with the second knuckle 16; the second knuckle 16 is driven to move towards and away from each other by the finger clamping driving mechanism, and the second knuckle driving device 17 drives the second knuckle 16 to rotate.
The device also comprises an air pipe quick-inserting device 5, and the air pipe quick-inserting device 5 is fixedly connected with the clamping finger driving mechanism.
The trachea quick-insertion device 5 comprises a snap fastener 10, a snap fastener pad 11, a spring collar 12, a retainer ring 13, a sealing ring 14 and a shell 15, wherein the snap fastener 10, the spring collar 12, the retainer ring 13 and the sealing ring 14 form a first channel; the sealing ring 14 is fixed in the shell 15, the retainer ring 13 is fixed on the upper part of the sealing ring 14, the snap fastener pad 11 is fixed on the upper part of the retainer ring 13, the spring collar 12 is fixed through a clamping groove on the snap fastener pad 11, and the snap fastener 10 is fixed between the snap fastener pad 11 and the spring collar 12 through a buckle.
The clamping finger driving mechanism comprises a lower connecting disc 2, a connecting rod 3, an upper connecting disc 4 and a telescopic airbag 7, wherein the telescopic airbag 7 arranged between the upper connecting disc 4 and the lower connecting disc 2 is communicated with a first channel of the quick tracheal insertion device; one end of the connecting rod 3 is rotationally connected with the upper connecting disc 4, and the other end of the lower connecting disc 2 and the connecting rod 3 are rotationally connected with the first knuckle 19.
The device also comprises an object pressing device 22, one end of the object pressing device 22 is fixed with the lower connecting disc 2, and the other end of the object pressing device 22 is a free end.
The inner gripping surface of the first knuckle 19 is provided with a gripping balloon 20.
The flexible double knuckle clamp finger 1 further comprises an air pipe 8 and an electromagnetic valve 9, wherein the electromagnetic valve 9 is arranged on the air pipe 8 for conducting the telescopic air bag 7 and the clamping air bag 20.
A pressure sensor 18 is also included for detecting the pressure in the clamp bladder 20.
The inner gripping surface of the second knuckle 16 is provided with a flexible material 21.
According to another aspect of the invention, there is provided a method of using a flexible jaw, either in a first clamping mode or a second clamping mode;
the first clamping mode comprises:
close to each other, primary clamping: the lower connecting disc 2 is pushed to move along the extending direction through the extending movement of the telescopic air bag 7 in the finger clamping driving mechanism, so that the first knuckle 19 connected with the connecting rod 3 is driven to perform closing movement close to each other; the second knuckle 16 follows the movement of the first knuckle 19;
secondary clamping close to each other: the clamping air bag 20 is inflated with air, so that the clamping air bag 20 is attached to the surface of an object to be clamped; the second knuckle driving device 17 drives the second knuckle 16 to rotate so as to realize the fit between the flexible material 21 and the surface of the object to be clamped;
a second clamping means comprising:
primary clamping away from each other: the lower connecting disc 2 is pulled to move along the contraction direction through the contraction movement of the telescopic air bag 7 in the clamping finger driving mechanism, so that the first knuckle 19 connected with the connecting rod 3 is driven to perform the opening movement far away from each other; the second knuckle 16 follows the movement of the first knuckle 19;
secondary clamping away from each other: the second knuckle driving device 17 drives the second knuckle 16 to rotate, so that the second knuckle 16 is attached to the surface of the object to be clamped.
The beneficial effects of the invention are as follows:
the invention provides a flexible clamping jaw of a mechanical arm with adjustable clamping force, which solves the problems of high energy consumption and complex structure of the traditional clamping jaw transmission mode by adopting an inflatable air bag transmission mode and reduces the use of a power source; the air pump can be used for inflating, so that the preliminary grabbing and clamping functions of the clamping fingers are realized, and then the second knuckle and the flexible material are matched for realizing multi-point clamping of the object, so that the object is more stable in the grabbing movement process; and the pressure sensor can be used for monitoring the pressure in the clamping air bag, the air pump can be stopped to be inflated in time after the pressure reaches a preset value, and the preset value can be changed, so that the adjustment of the clamping force is realized, and the application range of the clamping jaw is increased. And further, through air pump extraction and steering wheel reverse rotation, can realize the clamping jaw and outwards expand, and then carry out reverse centre gripping to partial hollow object. In summary, the clamping jaw has the advantage that the adaptability and the application range of the clamping jaw are enhanced through ingenious matching of the components.
Drawings
FIG. 1 is a schematic diagram of the main structure of the present invention;
FIG. 2 is a schematic view of the use of the present invention;
FIG. 3 is a schematic view of the structure of the quick tracheal insertion device of the invention;
FIG. 4 is a schematic view of the structure of the finger driving mechanism of the present invention;
FIG. 5 is a schematic view of a flexible double knuckle clip finger structure of the present invention;
FIG. 6 is a schematic view of the lower interface disc structure of the present invention;
FIG. 7 is a schematic diagram of a thrust ball bearing installation;
FIG. 8 is a schematic diagram of a jaw clamping process of the present invention;
the reference numerals in the figures are: 1-flexible double-knuckle clamping finger, 2-lower connecting disc, 3-connecting rod, 4-upper connecting disc, 5-trachea quick-inserting device, 6-thrust ball bearing, 7-telescopic air bag, 8-trachea, 9-electromagnetic valve, 10-snap fastener, 11-snap fastener pad, 12-spring collar, 13-retainer ring, 14-sealing ring, 15-shell, 16-knuckle II, 17-steering engine, 18-pressure sensor, 19-knuckle I, 20-clamping air bag, 21-flexible material, 22-object compressing device, 23-bolt I, 24-bolt II, 25-bolt III and 26-bolt IV.
Detailed Description
The invention will be further described with reference to the drawings and examples, but the invention is not limited to the scope.
Example 1: as shown in fig. 1-8, according to an aspect of the embodiment of the present invention, there is provided a flexible clamping jaw, including a clamping finger driving mechanism and a plurality of flexible double-knuckle clamping fingers 1, each of the flexible double-knuckle clamping fingers 1 includes a first knuckle 19, a second knuckle 16, and a second knuckle driving device 17, one end of the first knuckle 19 is connected with the clamping finger driving mechanism, the other end of the first knuckle 19 is provided with the second knuckle driving device 17, and an output end of the second knuckle driving device 17 is provided with the second knuckle 16; the second knuckle 16 is driven to move towards and away from each other by the finger clamping driving mechanism, and the second knuckle driving device 17 drives the second knuckle 16 to rotate. Optionally, the second knuckle driving device may adopt a dual-shaft output steering engine, which is fixed at one end of the first knuckle 19 away from the finger clamping driving mechanism through a bolt IV26, and the steering engine output shaft is fixed with the second knuckle 16 by adopting interference fit, so that the steering engine output shaft drives the second knuckle 16 to rotate; the second knuckle is independently controlled, and then can be independently opened and closed, so that adjustment of different opening degrees is realized.
Further, the device can be provided with an air pipe quick-inserting device 5, and the air pipe quick-inserting device 5 is fixedly connected with the clamping finger driving mechanism through threads.
Further, as shown in fig. 3, the tracheal rapid insertion device 5 may be provided to include a snap fastener 10, a snap fastener pad 11, a spring collar 12, a retainer ring 13, a sealing ring 14, and a housing 15, where the snap fastener 10, the spring collar 12, the retainer ring 13, and the sealing ring 14 form a first channel; the sealing ring 14 is fixed in the shell 15 through the draw-in groove, and the retaining ring 13 is fixed in sealing ring 14 upper portion through the draw-in groove, and snap fastener pad 11 is fixed in retaining ring 13 upper portion through interference fit, and spring collar 12 is fixed through the draw-in groove on the snap fastener pad 11, and snap fastener 10 is fixed in between snap fastener pad 11 and the spring collar 12 through the buckle.
The application of the above technical solution is described with reference to the view angle shown in fig. 3: on the one hand, the spring collar 12 is designed to facilitate locking after insertion of the trachea; on the other hand, when the snap fastener 10 is pressed downwards, the snap fastener 10 moves towards the spring collar 12, so that the air pipe is convenient to insert and withdraw; based on the design, the clamping jaw can be used in a scene-changing mode, and has high applicability.
Further, as shown in fig. 4, the finger driving mechanism may be provided to include a lower connection pad 2, a connection rod 3, an upper connection pad 4, and a telescopic airbag 7, wherein the upper connection pad 4 is connected with an external mechanical arm, and the telescopic airbag 7 installed between the upper connection pad 4 and the lower connection pad 2 is communicated with a first channel of the tracheal quick-insertion device (the telescopic airbag 7 is adhered to the upper connection pad 4 and the lower connection pad 2); one end of the connecting rod 3 is rotationally connected with the upper connecting disc 4, and the other end of the lower connecting disc 2 and the connecting rod 3 are rotationally connected with the first knuckle 19.
Further, as shown in fig. 6, an object pressing device 22 may be further provided, wherein one end of the object pressing device 22 is fixed to the lower connecting disc 2, and the other end of the object pressing device 22 is a free end. The object pressing device 22 may be made of a flexible material and is fixed under the lower connection disc 2 by adhesion.
Further, as shown in fig. 5, the clamping surface of the first knuckle 19 may be provided with a clamping bladder 20.
Further, the flexible double knuckle clamping finger 1 can also comprise an air pipe 8 and an electromagnetic valve 9, wherein the electromagnetic valve 9 is arranged on the air pipe 8 for conducting the telescopic air bag 7 and the clamping air bag 20.
Further, a pressure sensor 18 may be provided for detecting the pressure in the clamp bladder 20.
Further, the gripping surface of the second knuckle 16 may be provided with a flexible material 21.
Further, as shown in fig. 7, a thrust ball bearing 6 may be installed between the connecting rod 3 and the upper connection disc 4 to reduce friction force during rotation, and the connecting rod 3, the upper connection disc 4, and the thrust ball bearing 6 may be fixed using a bolt I23; a thrust ball bearing 6 is arranged between the first knuckle 19 and the lower connecting disc 2 to reduce friction force and is fixed by a bolt II 24; a thrust ball bearing 6 is also mounted between the first knuckle 19 and the connecting rod 3 to reduce friction and is secured using a bolt III 25.
According to another aspect of the embodiment of the present invention, there is also provided a method for using a flexible clamping jaw to draw a clamping object inward, including: close to each other, primary clamping: the lower connecting disc 2 is pushed to move along the extending direction through the extending movement of the telescopic air bag 7 in the finger clamping driving mechanism, so that the first knuckle 19 connected with the connecting rod 3 is driven to perform closing movement close to each other; the second knuckle 16 follows the movement of the first knuckle 19; and (3) secondary clamping: the clamping air bag 20 is inflated with air, so that the clamping air bag 20 is attached to the surface of an object to be clamped; the second knuckle driving device 17 drives the second knuckle 16 to rotate, so that the flexible material 21 is attached to the surface of the object to be clamped.
According to another aspect of the embodiment of the present invention, there is also provided a method for using a flexible clamping jaw to hold an object in an outward opening manner, including: primary clamping away from each other: the lower connecting disc 2 is pulled to move along the contraction direction through the contraction movement of the telescopic air bag 7 in the clamping finger driving mechanism, so that the first knuckle 19 connected with the connecting rod 3 is driven to perform the opening movement far away from each other; the second knuckle 16 follows the movement of the first knuckle 19; and (3) secondary clamping: the second knuckle driving device 17 drives the second knuckle 16 to rotate, so that the second knuckle 16 is attached to the surface of the object to be clamped.
The working process of the invention is as follows:
as shown in fig. 8, a state in which the holding object is drawn inward is schematically: an external air pump is connected with the air pipe quick inserting device through an air pipe, the telescopic air bag 7 is inflated through the air pump to extend downwards, the connecting rod 3 is driven to fold inwards, the lower connecting disc 2 is driven to move downwards, the flexible double-knuckle clamping finger 1 is driven to fold to grab an object, the object pressing device 22 below the upper connecting disc 2 presses down the object to generate a fixing effect, and the clamping air bag 20 is flexible and deforms along the surface of the object to be attached to the surface of the object, so that the object is primarily clamped, as shown in fig. 8 (b); because the clamping fingers initially clamp the object at this time, the pressure in the telescopic air bag 7 is increased when the pressure reaches a threshold value, the electromagnetic valve 9 is opened, so that gas is continuously filled into the clamping air bag 20 to increase the clamping force, the outer surface of the clamping air bag is perfectly attached to the outer surface of the object, and when the clamping air bag 20 is inflated, the steering engine 17 is controlled to rotate, so that the second knuckle 16 is driven to be folded, the flexible material 21 is attached to the surface of the object, and the clamping of the middle and lower parts of the object is realized, as shown in fig. 8 (c); when the pressure sensor 18 reaches a preset value, the air pump is controlled to stop inflating so as to control the clamping force, and when the work is completed, the air pump is controlled to pump air and the steering engine 17 is controlled to rotate, so that the clamping jaw can be restored to the original position.
For splaying the gripping object: the clamping jaw can extend into the hollow object, the telescopic air bag 7 is retracted upwards by air pumping of the air pump, the connecting rod 3 is driven to expand outwards, the lower connecting disc 2 is driven to move upwards, the flexible double-knuckle clamping finger 1 is driven to expand outwards, the steering engine 17 rotates reversely, the second knuckle 16 is driven to expand, and therefore the clamping effect on the hollow object is achieved, and the reverse clamping effect on part of the hollow object is achieved.
Taking the structure shown in fig. 1 and 2 as an example, when the technology is applied to inwards draw close and clamp an object, the invention can use one air pump to control two actions of the clamping jaw to clamp seven points of the object, so that the clamping is more stable, the clamping force can be adjusted by controlling the inflation amount, and the clamping air bag has flexibility, can be better attached to the outer surface of the object, and has strong adaptability. In addition, through air pump extraction and steering wheel reverse rotation, can also realize the clamping jaw and outwards expand, and then realize the reverse centre gripping to partial hollow object.
While the present invention has been described in detail with reference to the drawings, the present invention is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present invention within the knowledge of those skilled in the art.
Claims (10)
1. The flexible clamping jaw is characterized by comprising a clamping finger driving mechanism and a plurality of flexible double-knuckle clamping fingers (1), wherein each flexible double-knuckle clamping finger (1) comprises a first knuckle (19), a second knuckle (16) and a second knuckle driving device (17), one end of the first knuckle (19) is connected with the clamping finger driving mechanism, the other end of the first knuckle (19) is provided with the second knuckle driving device (17), and the output end of the second knuckle driving device (17) is provided with the second knuckle (16); the finger clamping driving mechanism drives the plurality of second knuckles (16) to move close to or away from each other along with the corresponding first knuckles (19), and the second knuckle driving device (17) drives the second knuckles (16) to rotate.
2. A flexible jaw as claimed in claim 1, further comprising a tracheal tube quick-insertion device (5), the tracheal tube quick-insertion device (5) being fixedly connected to the finger drive mechanism.
3. The flexible jaw as claimed in claim 2, wherein the tracheal quick-insertion device (5) comprises a snap button (10), a snap button pad (11), a spring collar (12), a retainer ring (13), a sealing ring (14), a housing (15), wherein the snap button (10), the spring collar (12), the retainer ring (13), the sealing ring (14) form a first channel; the sealing ring (14) is fixed inside the shell (15), the retainer ring (13) is fixed on the upper portion of the sealing ring (14), the snap fastener pad (11) is fixed on the upper portion of the retainer ring (13), the spring collar (12) is fixed through a clamping groove on the snap fastener pad (11), and the snap fastener (10) is fixed between the snap fastener pad (11) and the spring collar (12) through a buckle.
4. The flexible clamping jaw according to claim 1, wherein the clamping finger driving mechanism comprises a lower connecting disc (2), a connecting rod (3), an upper connecting disc (4) and a telescopic airbag (7), wherein the telescopic airbag (7) arranged between the upper connecting disc (4) and the lower connecting disc (2) is communicated with the first channel of the tracheal rapid insertion device; one end of the connecting rod (3) is rotationally connected with the upper connecting disc (4), and the lower connecting disc (2) and the other end of the connecting rod (3) are rotationally connected with the first knuckle (19).
5. The flexible clamping jaw as claimed in claim 4, further comprising an object pressing device (22), wherein one end of the object pressing device (22) is fixed to the lower connecting disc (2), and the other end of the object pressing device (22) is a free end.
6. A flexible jaw as claimed in claim 1, characterized in that the inner gripping surface of said first knuckle (19) is provided with a gripping balloon (20).
7. The flexible clamping jaw according to claim 6, characterized in that the flexible double knuckle clamping finger (1) further comprises an air pipe (8) and an electromagnetic valve (9), and the electromagnetic valve (9) is arranged on the air pipe (8) for conducting the telescopic air bag (7) and the clamping air bag (20).
8. A flexible jaw as claimed in claim 6, further comprising a pressure sensor (18) for detecting the pressure in the clamping bladder (20).
9. A flexible jaw as claimed in claim 1, characterized in that the inner gripping surface of the second knuckle (16) is provided with a flexible material (21).
10. The application method of the flexible clamping jaw is characterized in that a first clamping mode or a second clamping mode is adopted;
the first clamping mode comprises:
close to each other, primary clamping: the lower connecting disc (2) is pushed to move along the extending direction through the extending movement of the telescopic air bag (7) in the finger clamping driving mechanism, so that the first knuckle (19) connected with the connecting rod (3) is driven to perform closing movement close to each other; the second knuckle (16) follows the first knuckle (19);
secondary clamping close to each other: the clamping air bag (20) is inflated with air, so that the clamping air bag (20) is attached to the surface of an object to be clamped; the second knuckle driving device (17) drives the second knuckle (16) to rotate, so that the flexible material (21) is attached to the surface of the object to be clamped;
a second clamping means comprising:
primary clamping away from each other: the lower connecting disc (2) is pulled to move along the contraction direction through the contraction movement of the telescopic air bag (7) in the clamping finger driving mechanism, so that the first knuckle (19) connected with the connecting rod (3) is driven to perform the opening movement far away from each other; the second knuckle (16) follows the first knuckle (19);
secondary clamping away from each other: the second knuckle driving device (17) drives the second knuckle (16) to rotate, so that the second knuckle (16) is attached to the surface of the object to be clamped.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310184864.2A CN116214569A (en) | 2023-03-01 | 2023-03-01 | Flexible clamping jaw and use method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310184864.2A CN116214569A (en) | 2023-03-01 | 2023-03-01 | Flexible clamping jaw and use method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116214569A true CN116214569A (en) | 2023-06-06 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310184864.2A Pending CN116214569A (en) | 2023-03-01 | 2023-03-01 | Flexible clamping jaw and use method |
Country Status (1)
| Country | Link |
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| CN (1) | CN116214569A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117260794A (en) * | 2023-11-21 | 2023-12-22 | 北京软体机器人科技股份有限公司 | Flexible clamping jaw and clamping mechanism |
| CN117565098A (en) * | 2023-12-01 | 2024-02-20 | 睿尔曼智能科技（北京）有限公司 | Electric clamping jaw and mechanical arm |
-
2023
- 2023-03-01 CN CN202310184864.2A patent/CN116214569A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117260794A (en) * | 2023-11-21 | 2023-12-22 | 北京软体机器人科技股份有限公司 | Flexible clamping jaw and clamping mechanism |
| CN117565098A (en) * | 2023-12-01 | 2024-02-20 | 睿尔曼智能科技（北京）有限公司 | Electric clamping jaw and mechanical arm |
| CN117565098B (en) * | 2023-12-01 | 2024-05-10 | 睿尔曼智能科技（北京）有限公司 | Electric clamping jaw and mechanical arm |
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