CN205835334U - A kind of six axle all-purpose robots captured for material - Google Patents
A kind of six axle all-purpose robots captured for material Download PDFInfo
- Publication number
- CN205835334U CN205835334U CN201620762823.2U CN201620762823U CN205835334U CN 205835334 U CN205835334 U CN 205835334U CN 201620762823 U CN201620762823 U CN 201620762823U CN 205835334 U CN205835334 U CN 205835334U
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- China
- Prior art keywords
- forearm
- gear
- arm
- gripper shoe
- postbrachium
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Abstract
The utility model discloses a kind of six axle all-purpose robots captured for material, the waist rotation member including base body, being articulated on base body, the large arm being articulated on waist rotation member, the forearm that is arranged in large arm, waist rotation member rotates around base body, and large arm rotates around waist rotation member；The quantity of described forearm is two, the respectively first forearm and the second forearm, and two forearms are arranged in large arm by split mechanism；Article two, forearm is provided with mechanical arm assembly, and mechanical arm assembly includes arm, the swing arm being articulated in arm front end, the mechanical hand that is fixed in the rotating disk of swing arm front end；Two forearms of the present utility model both can be rotated by the relatively large arm of split mechanism, and two forearms also can make relative rotation, to adapt to various processing operating mode, the working performance of hoisting machine people under the driving of split mechanism；Cleft hand action simultaneously can be ordered about with cam combination by gear drive and motion amplitude is identical, in order to mechanical claw hand is comprehensive and firmly grasps workpiece exactly.
Description
Technical field
This utility model relates to robotics, is specifically related to a kind of six axle general-purpose machinerys captured for material
People.
Background technology
The application for a patent for invention of Application No. CN201210566463.5 discloses a kind of six axle machines for capturing material
Device people, including base body, waist rotation member, large arm, axle bed, forearm, waist rotation member rotates around base body, and large arm turns around waist rotation member
Dynamic.Light-duty six axle all-purpose robots of the prior art, it has a forearm, makes whole machine task efficiency be difficult to
To promoting.
Utility model content
This utility model is for above-mentioned technical problem, it is provided that a kind of six axle all-purpose robots captured for material.
For reaching above-mentioned purpose, a kind of six axle all-purpose robots captured for material of the present utility model, including base
Body, the waist rotation member being articulated on base body, the large arm being articulated on waist rotation member, the forearm that is arranged in large arm, waist transfer part
Part rotates around base body, and large arm rotates around waist rotation member；Large arm upper end is fixed with the first driving motor；Forearm is provided with mechanical hand
Assembly；
Described forearm includes that the first forearm and the second forearm, the first forearm and the second forearm are arranged on greatly by split mechanism
On arm；Split mechanism includes drive shaft, a pair cylinder ring, the first forearm driving means；Described first forearm includes the first forearm
With the first postbrachium；Described second forearm includes the second forearm and the second postbrachium；First postbrachium is inverted " Qian "；Second postbrachium
In inverted " Qian "；The upper surface of the first postbrachium is fixed on the rear end of the first forearm；The upper surface of the second postbrachium is fixed on second
The rear end of forearm；On the lateral surface of two support wall in order that a pair cylinder ring one end is fixed on the second postbrachium lower end, other end pivot joint
On two supporting walls of the first postbrachium lower end；Drive shaft one end is through the first postbrachium side supporting walls and is fixed on the second postbrachium
Lower end two supporting walls on, the other end and first drive that the output shaft of motor is fixing to be connected；First forearm driving means is arranged on
Between cylinder ring and the first postbrachium；
Mechanical arm assembly, the first driving that the swing arm including arm, being articulated in arm front end, driving swing arm swing is single
The second driver element that unit, the mechanical hand being fixed in the rotating disk of swing arm front end and driving rotating disk rotate；Described swing arm
Centrage during swing is mutually perpendicular to the rotation centerline of rotating disk.
Preferred as technique scheme, the first forearm driving means includes the second driving motor, the first gear and
Two gears；Second drives motor to be horizontally fixed on the medial surface of side supporting walls of the first postbrachium；First gear is fixed on
On two output shafts driving motor；Second gear is fixed on the outer circumference face of cylinder ring；Second gear and the first gear are nibbled
Close.
Preferred as technique scheme, drive shaft one end is at cylinder ring through the position of the first postbrachium, drive shaft
Diameter is less than the internal diameter of cylinder ring.
Preferred as technique scheme, the first forearm front end offers the first installing hole；Second forearm front end is offered
There is the second installing hole.
Preferred as technique scheme, mechanical hand includes housing, cleft hand drive mechanism；Cleft hand drive mechanism includes driving
Galvanic electricity machine, worm screw, worm gear, central gear, some points of gears, some cams and some cleft hands；
Housing is the cuboid that inside offers cavity；Cleft hand drive mechanism is arranged in the internal cavities of housing；Housing
Center forms horizontal parallel the first gripper shoe setting up and down and the second gripper shoe；Housing upper side wall offers and props up on several
Support hole；It is fixed with upper support bar between upper supported hole sidewall；First gripper shoe offers several lower supported holes；Lower supported hole position
Lower section in upper supported hole；
Forming a pair gripper shoe in described housing hollow lower wall, between gripper shoe, horizontal pivot is connected to worm screw；Gripper shoe
On be fixed with driving motor；Drive motor output shaft and worm screw to fix to be connected；The described second vertical pivot joint in gripper shoe center
There is the first drive shaft；First drive shaft is positioned at the top of the second gripper shoe and is fixed with central gear；First drive shaft is positioned at second
The bottom of gripper shoe is fixed with worm gear；Worm gear and worm engaging；Some it is articulated with between first gripper shoe and the second gripper shoe
Two drive shafts；Second drive shaft upper end passes the first gripper shoe；Second drive shaft be positioned at the first gripper shoe and the second gripper shoe it
Between be fixedly arranged in the middle of a point gear；Second drive shaft is positioned at the top of the second gripper shoe and is fixed with cam；Divide gear and centre tooth
Wheel engagement；
Cleft hand top is articulated in upper support bar upper and lower part by upper by upper supported hole through the upper side wall of housing, middle part
Supported hole passes the first gripper shoe；It is provided with stage clip in lower supported hole；Stage clip one end is resisted against on lower supported hole sidewall, the other end
It is resisted against on the sidewall of cleft hand bottom；Cleft hand bottom one sidewall is resisted against on cam.
Preferred as technique scheme, point gear, the second drive shaft, cam, cleft hand are arranged in pairs；Upper supported hole,
Lower supported hole, upper support bar quantity identical with cleft hand quantity.
Preferred as technique scheme, the quantity of cleft hand is set to four.
Preferred as technique scheme, described first driver element includes the 4th motor, the connection being arranged on arm
Connect the first gear unit of the 4th motor and swing arm；Described first gear unit includes being articulated on arm and is coaxially disposed
The second gear and the 3rd gear, the 4th gear being articulated on arm and being coaxially disposed and the first synchronous pulley, be articulated in hands
The 3rd axle on arm, the second synchronous pulley being fixedly mounted on the 3rd axle；It is provided with on the output shaft of described 4th motor
One gear, the first gear and the engagement of the second gear, the 3rd gear and the 4th gear engage, the first synchronous pulley by Timing Belt and
Second synchronous pulley couples, and the 3rd axle is fixing with swing arm to be connected.
Preferred as technique scheme, the inside knuckle in cleft hand 66 top.
The beneficial effects of the utility model are: two forearms both can be rotated by the relatively large arm of split mechanism, two
Forearm also can make relative rotation under the driving of split mechanism, to adapt to various processing operating mode, and the operation effect of hoisting machine people
Rate；Cleft hand action simultaneously can be ordered about with cam combination by gear drive and motion amplitude is identical, in order to mechanical claw hand side entirely
Position and exactly firmly grasp workpiece.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model；
Fig. 2 be forearm of the present utility model face structural representation；
Fig. 3 is the side-looking structural representation of forearm of the present utility model；
Fig. 4 is the cross-sectional view of A-A in Fig. 3 of the present utility model；
Fig. 5 is arm structure schematic diagram of the present utility model；
Fig. 6 is the structural representation of mechanical hand of the present utility model；
Fig. 7 is the structural representation of manipulator transmission mechanism of the present utility model；
Fig. 8 is the structural representation of manipulator transmission mechanism of the present utility model；
Fig. 9 is the structural representation faced of manipulator transmission mechanism of the present utility model；
Figure 10 is the structural representation of B-B in Fig. 9 of the present utility model；
Figure 11 is the structural representation of C-C in Fig. 9 of the present utility model；
Figure 12 is the structural representation of D-D in Fig. 9 of the present utility model；
In figure, 10, base body；20, large arm；21, first motor is driven；22, the first forearm；221, the first forearm；222、
First postbrachium；223, second motor is driven；2231, the first gear；23, the second forearm；231, the second forearm；232, after second
Arm；233, drive shaft；234, cylinder ring；2341, the second gear；30, waist rotation member；
50, arm；51, the 3rd gear；52, the 4th gear；54, the 6th gear；55, the first synchronous pulley；56, the 3rd
Axle；57, the second synchronous pulley；58, Timing Belt；59, swing arm；591, rotating disk；
60, mechanical hand；600, housing；601, upper support bar；602, the first gripper shoe；603, the second gripper shoe；61, snail
Bar；610, lower supported hole；611, gripper shoe；62, worm gear；621, the first drive shaft；63, central gear；64, gear is divided；641、
Second drive shaft；65, cam；66, cleft hand；6000, upper supported hole；67, motor is driven；68, stage clip.
Detailed description of the invention
As shown in Figure 1 to 4, a kind of six axle all-purpose robots captured for material, including base body 10, it is articulated in the end
Waist rotation member 30 on pedestal 10, the large arm 20 being articulated on waist rotation member 30, the forearm that is arranged in large arm 20, waist rotation member
30 rotate around base body 10, and large arm 20 rotates around waist rotation member 30；Large arm 20 upper end is fixed with the first driving motor 21；On forearm
It is provided with mechanical arm assembly；
As shown in Figure 1 to 4, described forearm includes the first forearm 22 and the second forearm 23, and the first forearm 22 and second is little
Arm 23 is arranged in large arm 20 by split mechanism；Split mechanism includes that drive shaft 233, a pair cylinder ring the 234, first forearm drive
Dynamic device；Described first forearm 22 includes the first forearm 221 and the first postbrachium 222；Described second forearm 23 includes the second forearm
231 and second postbrachium 232；First postbrachium 222 is in inverted " Qian "；Second postbrachium 232 is in inverted " Qian "；First postbrachium 222
Upper surface be fixed on the rear end of the first forearm 221；The upper surface of the second postbrachium 232 is fixed on the rear end of the second forearm 231；One
On the lateral surface of two support wall in order that cylinder ring 234 one end is fixed on the second postbrachium 232 lower end, after the other end is articulated in first
On two supporting walls of arm 222 lower end；After drive shaft 233 one end passes the first postbrachium 222 side supporting walls and is fixed on second
On lower end two supporting walls of arm 232, the other end and first drive that the output shaft of motor 21 is fixing to be connected；First forearm driving means
It is arranged between cylinder ring 234 and the first postbrachium 222；
As shown in Figure 1 to 4, mechanical arm assembly, the swing arm 59 including arm 50, being articulated in arm 50 front end, driving
The first driver element that swing arm 59 swings, the mechanical hand 60 being fixed in swing arm 59 front end rotating disk 591 and driving rotate
The second driver element that dish 591 rotates；Centrage when described swing arm 59 swings is mutual with the rotation centerline of rotating disk 591
Vertically.
As shown in Figure 3, Figure 4, the first forearm driving means includes second driving motor the 223, first gear 2231 and second
Gear 2241；On the medial surface of the side supporting walls that the second driving motor 223 is horizontally fixed on the first postbrachium 222；First gear
On 2231 output shafts being fixed on the second driving motor 223；Second gear 2241 is fixed on the outer circumference face of cylinder ring 234
On；Second gear 2241 engages with the first gear 2231.
As shown in Figure 4, drive shaft 233 one end is at cylinder ring 234 through the position of the first postbrachium 222, drive shaft 233
Diameter is less than the internal diameter of cylinder ring 234.
As it is shown on figure 3, the first forearm 221 front end offers the first installing hole；Second forearm 231 front end offers the second peace
Dress hole.
As shown in Fig. 1～Fig. 8, mechanical hand 60 includes housing 600, cleft hand drive mechanism；Cleft hand drive mechanism includes driving
Motor 67, worm screw 61, worm gear 62, central gear 63, some points of gears 64, some cams 65 and some cleft hands 66；
As shown in Fig. 6～Figure 12, housing 600 is the internal cuboid offering cavity；Cleft hand drive mechanism is arranged on shell
In the internal cavities of body 600；The first gripper shoe 602 and second that housing 600 center forms horizontal parallel setting up and down supports
Plate 603；Housing 600 upper side wall offers supported hole 6000 on several；It is fixed with support between upper supported hole 6000 sidewall
Bar 601；First gripper shoe 602 offers several lower supported holes 610；Lower supported hole 610 is positioned at the lower section of supported hole 6000；
As shown in Fig. 6～Figure 12, described housing 600 cavity lower wall forms a pair gripper shoe 611, gripper shoe 611
Between horizontal pivot be connected to worm screw 61；Driving motor 67 it is fixed with in gripper shoe 611；Motor 67 output shaft is driven to fix with worm screw 61
Connect；Described second gripper shoe 603 center is vertically articulated with the first drive shaft 621；First drive shaft 621 is positioned at second
The top of fagging 603 is fixed with central gear 63；First drive shaft 621 is positioned at the bottom of the second gripper shoe 603 and is fixed with worm gear
62；Worm gear 62 engages with worm screw 61；It is articulated with some second drive shafts between first gripper shoe 602 and the second gripper shoe 603
641；Second drive shaft 641 upper end passes the first gripper shoe 602；Second drive shaft 641 is positioned at the first gripper shoe 602 and second
It is fixedly arranged in the middle of point gear 64 between fagging 603；Second drive shaft 641 is positioned at the top of the second gripper shoe 603 and is fixed with convex
Wheel 65；Gear 64 is divided to engage with central gear 63；
As shown in Fig. 6～Figure 12, cleft hand 66 top passes the upper side wall of housing 600, middle part pivot by upper supported hole 6000
It is connected on upper support bar 601 upper and lower part by upper supported hole 6000 through the first gripper shoe 602；It is provided with pressure in lower supported hole 610
Spring 68；Stage clip 68 one end is resisted against on lower supported hole 610 sidewall, the other end is resisted against on the sidewall of cleft hand 66 bottom；Cleft hand 66
Bottom one sidewall is resisted against on cam 65.
As shown in figs. 6-9, gear the 64, second drive shaft 641, cam 65, cleft hand 66 is divided all to be arranged in pairs；Upper support
Hole 6000, lower supported hole 610, upper support bar 601 quantity identical with the quantity of cleft hand 66.
As shown in figs. 6-9, the quantity of cleft hand 66 is set to four.
As it is shown in figure 5, described first driver element include being arranged on arm 50 the 4th motor, couple the 4th motor with
First gear unit of swing arm 59；Described first gear unit includes the second gear being articulated on arm 50 and being coaxially disposed
52 and the 3rd gear, the 4th gear 54 and the first synchronous pulley 55 that are articulated on arm 50 and are coaxially disposed, be articulated in arm
The 3rd axle 56 on 50, the second synchronous pulley 57 being fixedly mounted on the 3rd axle 56；Pacify on the output shaft of described 4th motor
Equipped with the first gear 51, the first gear 51 engages with the second gear 52, and the 3rd gear and the 4th gear 54 engage, the first Timing Belt
Wheel 55 is coupled with the second synchronous pulley 57 by Timing Belt 58, and the 3rd axle 56 is fixing with swing arm 59 to be connected.Such as Fig. 6～Fig. 9 institute
Show, the inside knuckle in cleft hand 66 top.
Concrete operations are as follows: when needing forearm unitary rotation, only need to start the first driving motor 21, and first drives motor 21 to carry
Dynamic drive shaft 233 rotates, and drive shaft 233 drives the second forearm 23 to rotate, owing to second drives motor the 223, first gear 2231
With the existence of the second gear 2341, the first forearm 22 rotates with the second forearm 23 the most together；
When the first forearm 22 and the second forearm 23 do relative motion, start the second driving motor 223 by the first gear
2231 and second gear 2241 make the first forearm 22 around cylinder ring 234 (the i.e. second forearm 23) rotate；
Mechanical hand 60 operates as follows: driving motor 67 to drive worm gear 62 to rotate by worm screw 61, worm gear 62 drives by first
Moving axis 621 drives central gear 63, central gear 63 to drive four points of gears 64 to rotate, and four points of gears 64 are respectively by each
The second drive shaft 641 band moving cam 65 rotate, drive cleft hand 66 bottom outside, cleft hand 66 top is inside around upper support bar 601
Motion, such four cleft hands 66 move the most simultaneously and amplitude is identical；
Under the cooperating of the first driver element, the second driver element, gear transmission structure and cleft hand 66, mechanical hand 60
Workpiece can be firmly grasped comprehensive and exactly.
Above content is only better embodiment of the present utility model, for those of ordinary skill in the art, according to this
The thought of utility model, the most all will change, and this specification content should not be understood
For to restriction of the present utility model.
Claims (9)
1. the six axle all-purpose robots captured for material, including base body (10), the waist that is articulated on base body (10)
Rotation member (30), the large arm (20) being articulated on waist rotation member (30), the forearm that is arranged in large arm (20), waist rotation member (30)
Rotating around base body (10), large arm (20) rotates around waist rotation member (30)；Large arm (20) upper end is fixed with the first driving motor
(21)；Forearm is provided with mechanical arm assembly；
It is characterized in that: described forearm includes the first forearm (22) and the second forearm (23), the first forearm (22) and the second forearm
(23) it is arranged in large arm (20) by split mechanism；Split mechanism include drive shaft (233), a pair cylinder ring (234), first
Forearm driving means；Described first forearm (22) includes the first forearm (221) and the first postbrachium (222)；Described second forearm
(23) the second forearm (231) and the second postbrachium (232) are included；First postbrachium (222) is in inverted " Qian "；Second postbrachium (232)
In inverted " Qian "；The upper surface of the first postbrachium (222) is fixed on the rear end of the first forearm (221)；Second postbrachium (232) upper
End face is fixed on the rear end of the second forearm (231)；A pair cylinder ring (234) one end is fixed on the two of the second postbrachium (232) lower end
On the lateral surface of support wall in order, the other end is articulated on two supporting walls of the first postbrachium (222) lower end；Drive shaft (233) one end
Through the first postbrachium (222) side supporting walls and be fixed on lower end two supporting walls of the second postbrachium (232), the other end and
The one fixing connection of output shaft driving motor (21)；First forearm driving means is arranged on cylinder ring (234) and the first postbrachium
(222) between；
Mechanical arm assembly, the swing arm (59) including arm (50), being articulated in arm (50) front end, driving swing arm (59) swing
The first driver element, the mechanical hand (60) being fixed on swing arm (59) front end rotating disk (591) and drive rotating disk (591)
The second driver element rotated；Centrage when described swing arm (59) swings is mutual with the rotation centerline of rotating disk (591)
Vertically.
A kind of six axle all-purpose robots captured for material the most according to claim 1, it is characterised in that: the first forearm
Driving means includes the second driving motor (223), the first gear (2231) and the second gear (2241)；Second drives motor
(223) on the medial surface of the side supporting walls being horizontally fixed on the first postbrachium (222)；First gear (2231) is fixed on second and drives
On the output shaft of galvanic electricity machine (223)；Second gear (2241) is fixed on the outer circumference face of cylinder ring (234)；Second gear
(2241) engage with the first gear (2231).
A kind of six axle all-purpose robots captured for material the most according to claim 1, it is characterised in that: drive shaft
(233) one end is cylinder ring (234) place through the position of the first postbrachium (222), and drive shaft (233) diameter is less than cylinder ring
(234) internal diameter.
A kind of six axle all-purpose robots captured for material the most according to claim 1, it is characterised in that: the first forearm
(221) front end offers the first installing hole；Second forearm (231) front end offers the second installing hole.
A kind of six axle all-purpose robots captured for material the most according to claim 1, it is characterised in that: mechanical hand
(60) housing (600), cleft hand drive mechanism are included；Cleft hand drive mechanism includes driving motor (67), worm screw (61), worm gear
(62), central gear (63), some points of gears (64), some cams (65) and some cleft hands (66)；
Housing (600) is the internal cuboid offering cavity；Cleft hand drive mechanism is arranged on the internal cavities of housing (600)
In；Housing (600) center forms horizontal parallel the first gripper shoe (602) setting up and down and the second gripper shoe (603)；Housing
(600) upper side wall offers supported hole on several (6000)；It is fixed with upper support bar between upper supported hole (6000) sidewall
(601)；First gripper shoe (602) offers several lower supported holes (610)；Lower supported hole (610) is positioned at supported hole
(6000) lower section；
Forming a pair gripper shoe (611) in described housing (600) cavity lower wall, between gripper shoe (611), horizontal pivot is connected to
Worm screw (61)；Driving motor (67) it is fixed with in gripper shoe (611)；Drive motor (67) output shaft and worm screw (61) fixing even
Connect；Described second gripper shoe (603) center is vertically articulated with the first drive shaft (621)；First drive shaft (621) is positioned at
The top of two gripper shoes (603) is fixed with central gear (63)；First drive shaft (621) is positioned under the second gripper shoe (603)
Portion is fixed with worm gear (62)；Worm gear (62) engages with worm screw (61)；Between first gripper shoe (602) and the second gripper shoe (603)
It is articulated with some second drive shafts (641)；Second drive shaft (641) upper end passes the first gripper shoe (602)；Second drive shaft
(641) be positioned between the first gripper shoe (602) and the second gripper shoe (603) is fixedly arranged in the middle of a point gear (64)；Second drives
Axle (641) is positioned at the top of the second gripper shoe (603) and is fixed with cam (65)；Gear (64) is divided to engage with central gear (63)；
Cleft hand (66) top is articulated in upper support bar by upper supported hole (6000) through the upper side wall of housing (600), middle part
(601) upper and lower part passes the first gripper shoe (602) by upper supported hole (6000)；It is provided with stage clip in lower supported hole (610)
(68)；Stage clip (68) one end is resisted against on lower supported hole (610) sidewall, the other end is resisted against on the sidewall of cleft hand (66) bottom；
Cleft hand (66) bottom one sidewall is resisted against on cam (65).
A kind of six axle all-purpose robots captured for material the most according to claim 5, it is characterised in that: point gear
(64), the second drive shaft (641), cam (65), cleft hand (66) are arranged in pairs；Upper supported hole (6000), lower supported hole (610),
The quantity of upper support bar (601) is identical with cleft hand (66) quantity.
A kind of six axle all-purpose robots captured for material the most according to claim 6, it is characterised in that: cleft hand (66)
Quantity be set to four.
A kind of six axle all-purpose robots captured for material the most according to claim 5, it is characterised in that: described first
Driver element includes the 4th motor being arranged on arm (50), couples the 4th motor the first transmission list with swing arm (59)
Unit；Described first gear unit includes the second gear (52) and the 3rd gear, the pivot being articulated on arm (50) and being coaxially disposed
Be connected on that arm (50) is upper and the 4th gear (54) that is coaxially disposed and the first synchronous pulley (55), be articulated on arm (50) the
Three axles (56), the second synchronous pulley (57) being fixedly mounted on the 3rd axle (56)；Install on the output shaft of described 4th motor
The first gear (51), the first gear (51) is had to engage with the second gear (52), the 3rd gear and the engagement of the 4th gear (54), first
Synchronous pulley (55) is coupled with the second synchronous pulley (57) by Timing Belt (58), and the 3rd axle (56) is fixing with swing arm (59) even
Connect.
A kind of six axle all-purpose robots captured for material the most according to claim 5, it is characterised in that: cleft hand (66)
The inside knuckle in top.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620762823.2U CN205835334U (en) | 2016-07-18 | 2016-07-18 | A kind of six axle all-purpose robots captured for material |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620762823.2U CN205835334U (en) | 2016-07-18 | 2016-07-18 | A kind of six axle all-purpose robots captured for material |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205835334U true CN205835334U (en) | 2016-12-28 |
Family
ID=57625324
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620762823.2U Expired - Fee Related CN205835334U (en) | 2016-07-18 | 2016-07-18 | A kind of six axle all-purpose robots captured for material |
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| CN (1) | CN205835334U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108544483A (en) * | 2018-07-01 | 2018-09-18 | 陈红梅 | A kind of safety switchover mechanical hand with regulatory function |
-
2016
- 2016-07-18 CN CN201620762823.2U patent/CN205835334U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108544483A (en) * | 2018-07-01 | 2018-09-18 | 陈红梅 | A kind of safety switchover mechanical hand with regulatory function |
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| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
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