CN204507055U - The flexible hook of the variation rigidity that a kind of angle can regulate - Google Patents
The flexible hook of the variation rigidity that a kind of angle can regulate Download PDFInfo
- Publication number
- CN204507055U CN204507055U CN201520104018.6U CN201520104018U CN204507055U CN 204507055 U CN204507055 U CN 204507055U CN 201520104018 U CN201520104018 U CN 201520104018U CN 204507055 U CN204507055 U CN 204507055U
- Authority
- CN
- China
- Prior art keywords
- hook
- variation rigidity
- flexible
- regulate
- bill
- 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.)
- Expired - Fee Related
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 33
- 239000000463 material Substances 0.000 claims description 5
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 3
- 239000000741 silica gel Substances 0.000 claims description 3
- 229910002027 silica gel Inorganic materials 0.000 claims description 3
- 238000004804 winding Methods 0.000 claims description 2
- 230000033001 locomotion Effects 0.000 abstract description 12
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 12
- 230000009194 climbing Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 230000000875 corresponding effect Effects 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000001179 sorption measurement Methods 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 241001674044 Blattodea Species 0.000 description 1
- 241000254173 Coleoptera Species 0.000 description 1
- 241001662443 Phemeranthus parviflorus Species 0.000 description 1
- 241000233805 Phoenix Species 0.000 description 1
- 241000256856 Vespidae Species 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 239000011449 brick Substances 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 230000002596 correlated effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000010534 mechanism of action Effects 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
Landscapes
- Pivots And Pivotal Connections (AREA)
Abstract
The utility model discloses the flexible hook of variation rigidity that a kind of angle can regulate, comprise pipe link, support, connecting rod mechanism and at least one group of hook mechanism; Two bills are contained in Mei Zu hook mechanism, and in the middle part of bill, periphery is coaxially arranged with a neck shape cylinder; The periphery of neck shape cylinder is coaxially arranged with a variation rigidity flexible joint being toroidal, and its vertical section arcuately, and has the less arcuate end of two rigidity and the larger arc middle part of a rigidity; Support is at least provided with two manholes, the convex surface at arc middle part can match with the neck shape recess of neck shape cylinder, and the concave surface at arc middle part and the inside edge of manhole fasten.After adopting said structure, the setting of connecting rod mechanism, can adjust the angle between bill and metope local normal, and easily form mechanical self-latching, and grasp stability is good.The setting of variation rigidity flexible joint, can make bill flexible motion in all directions, can find best crawl point fast, and be beneficial to the larger grasp force of generation.
Description
Technical field
The application relates to a kind of Intelligent bionic machinery people hook, is applicable to high vacant building rough surface and climbs the flexible hook of variation rigidity that use, particularly a kind of angle can regulate.
Background technology
At present, climbing robot has been widely used in the testing of hydraulically smooth surface, but for rough concrete, square brick and rock for material and dust is more, the high-altitude wall that is in small size low-frequency vibration, not yet there is good adsorption method.In recent years, domestic high-altitude building accident is of common occurrence, and as Hunan phoenix bridge bridge collapse accident in 2007, within 2007, Changzhou road bridge caved in, the bridge fracture of sun bright stand, Harbin in 2012, Henan Yi Chang bridge cave-in accident in 2013 etc.Therefore, periodic detection carries out to high vacant building significant.But the cycle of manual detection is long, dangerous high, difficulty is large, therefore can develop special high vacant building measuring robots, to replace manual detection work, becomes inexorable trend.
Different from conventional magnetic suck, vacuum, negative-pressure adsorption mode, the suction type of the robot that this patent proposes and coarse metope is realized the grasping movement of metope by hook, the principle that its action principle climbs metope with cockroach, hornet, beetle etc. is substantially identical, and hook is equivalent to the claw of toy.The grasp force of hook and metope and stability are subject to the impact of all many factors such as apparent condition, external disturbance load of hook self structure, metope, and the mechanism of action is extremely complicated.Alcula type suction type, as the most crucial technology of high vacant building climbing robot, realizes stable, efficient, safe climbing operation to robot and has decisive role.
Climbing robot of the prior art, still exists following not enough:
1, can not realize capturing the adjustment of angle and control: climb in the process of wall robot is actual, the angle between bill and metope has decisive influence to grasp stability.Angle between bill and metope and the roughness of metope, surface material, the factors such as surface moisture degree are correlated with, and climb in process at robot, need to adjust in real time crawl angle.
2, the mechanism of existing variation rigidity is too complicated on the one hand, processing and manufacturing difficulty; On the other hand, variation rigidity is comparatively large by a rigidity of connecting and the less spring of rigidity realizes, stiffness characteristics in different directions changes greatly, and bill is in the process finding best crawl point, the position of the slight amplitude of all directions and the adjustment of attitude are all random, this just requires that hook is basically identical at the stiffness characteristics of all directions, and obvious existing this stiffness characteristics is unfavorable for that best crawl point found by bill.
3, hook is in searching best crawl point process, only can do the plane motion (motion of three degree of freedom perpendicular to metope, be respectively along the translation of both direction in plane and one around the rotation perpendicular to place plane of movement normal), alerting ability is poor, is unfavorable for finding bestly capturing point.
Utility model content
The technical matters that the application will solve is for above-mentioned the deficiencies in the prior art, and provides a kind of angle that captures to adjust in real time as required, can flexibly, fast searching is best captures point and the angle that can the produce larger grasp force variation rigidity flexibility hook that can regulate.
For solving the problems of the technologies described above, the technical scheme that the application adopts is:
The flexible hook of the variation rigidity that a kind of angle can regulate, comprise the pipe link that can be connected with driver train and the support be fixedly connected with pipe link, it is characterized in that: described support is provided with a connecting rod mechanism, this connecting rod mechanism is at least provided with one group of hook mechanism; The hook that two are symmetricly set on connecting rod mechanism both sides is contained in Mei Zu hook mechanism; Each hook includes a bill, and in the middle part of bill, periphery is coaxially arranged with a neck shape cylinder; The periphery of neck shape cylinder is coaxially arranged with a variation rigidity flexible joint, and variation rigidity flexible joint is toroidal, and vertical section arcuately; Variation rigidity flexible joint has two arcuate end and an arc middle part, and the rigidity of arcuate end is less than the rigidity at arc middle part; Two arcuate end are all connected with the neck shape end winding support of neck shape cylinder; Described support is at least provided with two manholes, the convex surface at arc middle part can match with the neck shape recess of neck shape cylinder, and the concave surface at arc middle part fastens with the inside edge of corresponding manhole.
Described support is provided with electric cylinder, and first hinge hole on the left of the piston rod of this electric cylinder and connecting rod mechanism is hinged.
In described electric cylinder, piston rod is flexible by servocontrol.
An adapter shaft is provided with in all the other each hinge holes on described connecting rod mechanism except the first hinge hole; The intermediate sleeve of every root adapter shaft is equipped with a rocking arm, and the other end and the support of rocking arm are hinged; The two ends of every root adapter shaft are provided with one block of hook plate, and the bottom of every block hook plate is fixedly connected with a bill.
Hook plate described in every block all can vertical slippage.
The two ends of adapter shaft described in every root are provided with two catch, form first draw-in groove between two catch; Every block hook plate is provided with the vertical chute that an energy matches with the first draw-in groove.
Described support comprises several interconnective stepped plates, every block stepped plate is provided with two manholes.
Described connecting rod mechanism is a connecting rod with three hinge holes, and stepped plate has two pieces, and adapter shaft and rocking arm also respectively have two.
The material of described variation rigidity flexible joint is rubber or silica gel.
After the application adopts said structure, there is following beneficial effect:
1. the setting of aforementioned link mechanism, can adjust the angle between bill and metope local normal in real time, and easily form mechanical self-latching, grasp stability is good.
2. the setting of above-mentioned variation rigidity flexible joint, can make bill flexible motion (6 degree of freedom all can move in space in theory) in all directions, thus can find best crawl point rapidly, and is conducive to producing larger grasp force.When bill searches out best crawl point, after setting up stable crawl with metope, larger grasp force can be produced again.
Accompanying drawing explanation
Fig. 1 shows the perspective view of the flexible hook of variation rigidity that a kind of angle of the application can regulate;
Fig. 2 shows the structural representation of the application's medium-height trestle;
Fig. 3 shows the structural representation of connecting rod mechanism in the application;
Fig. 4 shows the structural representation of hook in the application;
Fig. 5 shows the enlarged diagram in circle I district in Fig. 4 in the application;
Fig. 6 shows the structure principle chart of connecting rod mechanism in the application; Wherein, the arrow in this Fig. 6 represents the sense of motion of piston rod in electric cylinder, and V represents the kinematic velocity of piston rod;
Fig. 7 shows in the application after electric cylinder action, comparison diagram before and after bill angular adjustment; Wherein, in this Fig. 7, dotted line represents the schematic diagram before bill angular adjustment, and solid line represents the schematic diagram after bill angular adjustment;
Fig. 8-a show bill in variation rigidity flexible joint contact with metope before state;
Fig. 8-b shows after in variation rigidity flexible joint, bill contacts with metope, and the schematic diagram of best crawl position found by bill;
Fig. 8-c to show in variation rigidity flexible joint bill after searching out best crawl position, grasping movement schematic diagram;
Fig. 9-A represents that bill and metope local normal are compared with schematic diagram during mitre a;
Schematic diagram when Fig. 9-B represents bill and metope local normal in less angle a1;
Figure 10 shows the variation rigidity characteristic curve of bill in the application and the comparison diagram with prior art.
Wherein have: 10. pipe link; 20. supports; 21. stepped plates; 211. manhole; 30. connecting rod mechanisms; 31. hinge holes; 32. adapter shafts; 33. rocking arms; 331. first Connection Blocks; 34. connecting rods; 35. catch; 351. first draw-in grooves; 36. electric cylinders; 361. second Connection Blocks; 362. piston rod; 40. hooks; 41. hook plates; 411. vertical chutes; 42. bills; 43. neck shape cylinders; 431. neck shape ends; 432. neck shape recesses; 44. second draw-in grooves; 50. variation rigidity flexible joints; 51. arcuate end; 52. arc middle parts; 521. convex surface; 522. concave surface; 60. metopes; 61. metope local normal.
In addition, Tu10Zhong, S1 represent the stiffness curve of bill in prior art; S2 represents the variation rigidity characteristic curve of bill in the application; In addition, F represents grasp force, and Δ L represents the deflection of spring or variation rigidity flexible joint.
Detailed description of the invention
Below in conjunction with accompanying drawing and concrete better embodiment, the application is described in further detail.
As shown in Figure 1, the flexible hook of the variation rigidity that a kind of angle can regulate, comprises pipe link 10, support 20, connecting rod mechanism 30, Liang Zu hook mechanism and four variation rigidity flexible joints 50.As replacement, hook mechanism also can be one group, three groups or many groups; Meanwhile, the quantity of variation rigidity flexible joint 50 also can be two, six or multiple, all belongs to the protection domain of the application.
Above-mentioned pipe link 10 is prior art, and one end of pipe link 10 is connected with driver train, and the other end of pipe link 10 is fixedly connected with support 20.Pipe link 10 under the drive of driver train, can carry out the motions such as flexible or rotation, thus drives the hook in hook mechanism to carry out capturing or unclamping, and then makes robot realize stable, efficient, safe climbing operation.
As shown in Figure 2, above-mentioned support 20 is in stairstepping, and preferably including two pieces of stepped plates 21, also can be one piece, three pieces or polylith.Every block stepped plate 21 is provided with two manholes 211.
As shown in Figure 3 and Figure 6, the left side of aforementioned link mechanism 30 and the piston rod 362 of electric cylinder 36 are hinged, and the other end of electric cylinder 36 is hinged on support 20 by the second Connection Block 361.In electric cylinder 36, piston rod 362 is flexible preferably by servocontrol.
Aforementioned link mechanism 30 preferably has a connecting rod 34 of three hinge holes 31.Three hinge holes 31, preferably not point-blank, also can point-blank, wherein first hinge hole 31 of the leftmost side is hinged with the end of piston rod 362.As replacement, many connecting rods 34 or multiple hinge hole 31 also can be had.
Two hinge holes 31 being positioned at right side be provided with one with the adapter shaft 32 of the perpendicular setting of connecting rod 34.The intermediate sleeve of adapter shaft 32 is equipped with a rocking arm 33, and the other end of rocking arm 33 is hinged on corresponding stepped plate 21 by the first Connection Block 331.Connecting rod 34 all can rotate relative to the adapter shaft 32 corresponding with it with rocking arm 33.
The two ends of every root adapter shaft 32 are provided with between two washers, 35, two washers 35 and form the first draw-in groove 351.First draw-in groove 351 of every root adapter shaft 32 both sides is symmetrically set.
As shown in Figure 4, the hook 40 that two are symmetricly set on adapter shaft 32 both sides is contained in Mei Zu hook mechanism.Each hook 40 comprises a hook plate 41 and a bill 42 be fixedly installed on bottom hook plate 41.Each hook plate 41 is provided with the vertical chute 411 that an energy matches with the first draw-in groove 351, every block hook plate 41 all vertically can carry out slippage, form sheave matching mechanism, thus drive bill 42 to move, the motion of bill 42 is the rotations around flexible variation rigidity joint 50.Be positioned at two washers 35 of each first draw-in groove 351 both sides, can carry out spacing to the vertical slippage of hook plate 41.
As shown in Figure 5, the periphery, middle part of every root bill 42 is coaxially arranged with a neck shape cylinder 43, neck shape cylinder 43 preferably and bill 42 be wholely set.Neck shape cylinder 43 has two neck shape ends 431 and a neck shape recess 432, and each neck shape end 431 is provided with the second draw-in groove 44 of a ring-type.
The periphery of above-mentioned neck shape cylinder 43 is coaxially arranged with a variation rigidity flexible joint 50, and the material of variation rigidity flexible joint 50 is preferably rubber or silica gel, can provide the deflection suitable with spring.
Variation rigidity flexible joint 50 is toroidal, and its vertical section arcuately.Variation rigidity flexible joint 50 has two arcuate end 51 and an arc middle part 52.
The rigidity of two arcuate end 51 is all less than the rigidity at arc middle part 52.The rigidity of two arcuate end 51 is very weak, is conducive to bill 42 and gently searches out most suitable crawl position.The rigidity at arc middle part 52 is comparatively large, is conducive to producing larger grasp force.
Two arcuate end 51 of variation rigidity flexible joint 50 are all fastened in above-mentioned second draw-in groove 44, and also namely two arcuate end 51 are fixedly connected with the neck shape end 431 of neck shape cylinder 43.
The convex surface 521 at arc middle part 52 can match with the neck shape recess 432 of neck shape cylinder 43, and the concave surface 522 at arc middle part 52 fastens with the inside edge of corresponding manhole 311.
Principle of work: when bill 42 contacts with hackly metope 60, electric cylinder 36, by servocontrol, makes it stretch to different length, thus can realize the control of angle between bill 42 and metope 60.As shown in Figure 7, wherein, in figure, dotted portion represents the schematic diagram before the adjustment of bill angle, and in figure, bold portion represents the schematic diagram after bill angular adjustment.
When bill 42 and metope local normal 61 are in comparatively mitre a, as shown in Fig. 9-A, easily depart from, capture unstable.When bill 42 is less angle a1 with metope local normal 61, as shown in Fig. 9-B, easily form mechanical self-latching, grasp stability significantly promotes.
At initial position, when not by any external force, the state of bill 42 before not contacting with metope 60, as shown in fig 8-a.When bill 42 gradually near and when contacting with metope 60, now state is as shown in Fig. 8-b, at this moment, the self adaptation that needs bill 42 finds a best crawl position, what now work is two arcuate end 51, because the rigidity of two arcuate end 51 is very weak, therefore bill 42 can be soft, searches out best crawl position neatly.After bill 42 finds best crawl point, as shown in Fig. 8-c, along with the continuation of grasping movement, bill 42 contacts with arc middle part 52 gradually, and arc middle part 52 is extruded, rigidity now due to arc middle part 52 is comparatively large, carries out the arc middle part of little compressive deformation 52 and just can produce larger grasp force.
The setting of above-mentioned variation rigidity flexible joint 50, can make bill 42 flexible motion (6 degree of freedom all can move in space in theory) in all directions, thus can find best crawl point rapidly, and is conducive to producing larger grasp force.
Applicant is by the hook of the application and variation rigidity hook of the prior art, and through multiple comparison test checking, draw comparison diagram as shown in Figure 10, in this Figure 10, S1 represents the stiffness curve of bill in prior art; S2 represents the variation rigidity characteristic curve of bill in the application.In figure, F represents grasp force, and Δ L represents the deflection of spring or variation rigidity flexible joint.The first half section of S2 curve, the rigidity of hook is very weak, and mainly two arcuate end 51 work, and is conducive to pawl point and finds best crawl point flexibly, rapidly; The second half section of S2 curve, the rigidity of hook is comparatively large, and now mainly work in arc middle part 52, is conducive to producing larger grasp force.As can be seen here, the variation rigidity hook of the application can be taken into account flexibly, fast searching captures point and the requirement of the larger grasp force these two aspects of generation.
More than describe the preferred implementation of the application in detail; but the application is not limited to the detail in above-mentioned embodiment, within the scope of the technical conceive of the application; can carry out multiple equivalents to the technical scheme of the application, these equivalents all belong to the protection domain of the application.
Claims (9)
1. an angle flexible hook of variation rigidity that can regulate, comprise the pipe link that can be connected with driver train and the support be fixedly connected with pipe link, it is characterized in that: described support is provided with a connecting rod mechanism, this connecting rod mechanism is at least provided with one group of hook mechanism; The hook that two are symmetricly set on connecting rod mechanism both sides is contained in Mei Zu hook mechanism; Each hook includes a bill, and in the middle part of bill, periphery is coaxially arranged with a neck shape cylinder; The periphery of neck shape cylinder is coaxially arranged with a variation rigidity flexible joint, and variation rigidity flexible joint is toroidal, and vertical section arcuately; Variation rigidity flexible joint has two arcuate end and an arc middle part, and the rigidity of arcuate end is less than the rigidity at arc middle part; Two arcuate end are all connected with the neck shape end winding support of neck shape cylinder; Described support is at least provided with two manholes, the convex surface at arc middle part can match with the neck shape recess of neck shape cylinder, and the concave surface at arc middle part fastens with the inside edge of corresponding manhole.
2. the flexible hook of the angle according to claim 1 variation rigidity that can regulate, is characterized in that: described support is provided with electric cylinder, and first hinge hole on the left of the piston rod of this electric cylinder and connecting rod mechanism is hinged.
3. the flexible hook of the angle according to claim 2 variation rigidity that can regulate, is characterized in that: in described electric cylinder, piston rod is flexible by Serve Motor Control.
4. the flexible hook of the variation rigidity that the angle according to Claims 2 or 3 can regulate, is characterized in that: be provided with an adapter shaft in all the other each hinge holes on described connecting rod mechanism except first hinge hole; The intermediate sleeve of every root adapter shaft is equipped with a rocking arm, and the other end and the support of rocking arm are hinged; The two ends of every root adapter shaft are provided with one block of hook plate, and the bottom of every block hook plate is fixedly connected with a bill.
5. the flexible hook of the angle according to claim 4 variation rigidity that can regulate, is characterized in that: hook plate described in every block all can vertical slippage.
6. the flexible hook of the angle according to claim 5 variation rigidity that can regulate, is characterized in that: described in every root, the two ends of adapter shaft are provided with two catch, form first draw-in groove between two catch; Every block hook plate is provided with the vertical chute that an energy matches with the first draw-in groove.
7. the flexible hook of the angle according to claim 6 variation rigidity that can regulate, is characterized in that: described support comprises several interconnective stepped plates, every block stepped plate is provided with two manholes.
8. the flexible hook of the angle according to claim 7 variation rigidity that can regulate, is characterized in that: described connecting rod mechanism is a connecting rod with three hinge holes, and stepped plate has two pieces, and adapter shaft and rocking arm also respectively have two.
9. the flexible hook of the angle according to claim 1 variation rigidity that can regulate, is characterized in that: the material of described variation rigidity flexible joint is rubber or silica gel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520104018.6U CN204507055U (en) | 2015-02-12 | 2015-02-12 | The flexible hook of the variation rigidity that a kind of angle can regulate |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520104018.6U CN204507055U (en) | 2015-02-12 | 2015-02-12 | The flexible hook of the variation rigidity that a kind of angle can regulate |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204507055U true CN204507055U (en) | 2015-07-29 |
Family
ID=53705050
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520104018.6U Expired - Fee Related CN204507055U (en) | 2015-02-12 | 2015-02-12 | The flexible hook of the variation rigidity that a kind of angle can regulate |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204507055U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104670357A (en) * | 2015-02-12 | 2015-06-03 | 南京邮电大学 | Variable-rigidity flexible knuckle capable of adjusting angle |
| CN110842977A (en) * | 2019-12-04 | 2020-02-28 | 南昌航空大学 | Large-range variable-rigidity wrist for assembling and clamping |
-
2015
- 2015-02-12 CN CN201520104018.6U patent/CN204507055U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104670357A (en) * | 2015-02-12 | 2015-06-03 | 南京邮电大学 | Variable-rigidity flexible knuckle capable of adjusting angle |
| CN104670357B (en) * | 2015-02-12 | 2017-01-18 | 南京邮电大学 | Variable-rigidity flexible knuckle capable of adjusting angle |
| CN110842977A (en) * | 2019-12-04 | 2020-02-28 | 南昌航空大学 | Large-range variable-rigidity wrist for assembling and clamping |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107314220A (en) | A kind of oblique pull connector of Antiseismic building support | |
| CN104354780A (en) | Grasping claw mechanism of rough wall climbing robot | |
| CN204507055U (en) | The flexible hook of the variation rigidity that a kind of angle can regulate | |
| CN204184485U (en) | The graping chaw mechanism of hydraulically rough surface climbing robot | |
| CN111993388A (en) | Lithium battery tray fixing combined clamp and clamping method | |
| CN109366155A (en) | A kind of disassembly of rail vehicle truck spring equipment and spring method for dismounting | |
| CN104670357A (en) | Variable-rigidity flexible knuckle capable of adjusting angle | |
| CN209082697U (en) | A kind of large-scale disjunctor steel construction that shock resistance is strong | |
| CN104354781B (en) | Stiffness variable bionical hook mechanism and hook assembly thereof | |
| CN202966473U (en) | Falcula grab type vibration wall surface climbing robot | |
| CN109629816A (en) | A kind of Glass Curtain Wall Construction cape for Green Architecture System | |
| CN204124228U (en) | Spring steel chip variation rigidity hook assembly and hook mechanism thereof | |
| CN219135678U (en) | Synchronous telescoping device for brick clamping machine | |
| CN206918561U (en) | A kind of mechanical and electric equipment installation frame of convenient installation | |
| CN209239410U (en) | A kind of bogie disassembly manipulator equipment | |
| CN211690861U (en) | Novel steel construction that has antidetonation function | |
| CN207128161U (en) | A kind of rubber gloves pickoff | |
| CN208992725U (en) | A kind of connecting rod clamping device | |
| CN104670358A (en) | Hook claw with controllable force and angle based on pneumatic artificial muscle | |
| CN204309921U (en) | The bionical hook mechanism of stiffness variable and hook assembly thereof | |
| CN207700702U (en) | One kind, which subtracts, rushes formula automatic pouring machine | |
| CN110409677A (en) | A kind of curtain wall built-in fixed device | |
| CN209407858U (en) | Equipment is used in a kind of dismantling of bogie | |
| CN210422438U (en) | Flexible anti-drop device for factory building gate | |
| CN204997590U (en) | Pneumatic torque spanner swing arm device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: Jiangsu Nanyou IOT Technology Park Ltd. Assignor: NANJING University OF POSTS AND TELECOMMUNICATIONS Contract record no.: 2016320000216 Denomination of utility model: Variable-rigidity flexible knuckle capable of adjusting angle Granted publication date: 20150729 License type: Common License Record date: 20161117 |
|
| LICC | Enforcement, change and cancellation of record of contracts on the licence for exploitation of a patent or utility model | ||
| EC01 | Cancellation of recordation of patent licensing contract |
Assignee: Jiangsu Nanyou IOT Technology Park Ltd. Assignor: NANJING University OF POSTS AND TELECOMMUNICATIONS Contract record no.: 2016320000216 Date of cancellation: 20180116 |
|
| EC01 | Cancellation of recordation of patent licensing contract | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: Zhangjiagang Institute of Zhangjiagang Assignor: NANJING University OF POSTS AND TELECOMMUNICATIONS Contract record no.: X2020980007094 Denomination of utility model: A flexible hook claw with adjustable angle and variable stiffness Granted publication date: 20150729 License type: Common License Record date: 20201026 |
|
| EE01 | Entry into force of recordation of patent licensing contract | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150729 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |