CN207522619U - Double sections of slide bar brace type end straight lines put down folder adaptive robot finger apparatus - Google Patents
Double sections of slide bar brace type end straight lines put down folder adaptive robot finger apparatus Download PDFInfo
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- CN207522619U CN207522619U CN201721580067.2U CN201721580067U CN207522619U CN 207522619 U CN207522619 U CN 207522619U CN 201721580067 U CN201721580067 U CN 201721580067U CN 207522619 U CN207522619 U CN 207522619U
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Abstract
Double sections of slide bar brace type end straight lines put down folder adaptive robot finger apparatus, belong to robot technical field, including pedestal, two segments, two joint shafts, motor, two connecting rods, sliding slot, sliding block, two auxiliary rods, two spacing block sets and two spring parts etc..The arrangement achieves the functions that robot finger's straight line puts down folder and self-adapting grasping；The device is translatable in parallel the second segment of reception step end along straight path, holds various sizes of sheet goods suitable for putting down to pinch on workbench, the coordinated without mechanical arm goes to the position of adjustment robot, reduces control difficulty.The device can the second segment of linear translation carry out straight line and put down folder, also can after the first segment captures object envelope object automatically, self-adapting grasping different size, shaped objects；Two joints are driven using single motor, it is at low cost without complicated real-time sensing and control system, suitable for robot.
Description
Technical field
The utility model belongs to robot technical field, and more particularly to a kind of double section slide bar brace type ends straight line puts down folder
The structure design of adaptive robot finger apparatus.
Background technology
Under-actuated robot hand drives multiple degree-of-freedom joints by a small number of motors, less to reach the crawl to object
Number of motors save the palm space of robot, the motor hidden into palm can select the power and volume of bigger, go out
Power is big, while underactuated manipulator is sensed without real-time electronic, is simplified the control system of robot, can be realized to object
Stablize crawl, control it is simple and convenient, it is at low cost.
A kind of existing under-actuated finger device (United States Patent (USP) US8973958B2) includes five connecting rods, spring, motors
Deng the arrangement achieves circular arcs to put down folder and self-adapting grasping pattern.At work, which first keeps end segment opposite base
Posture is constant, carries out the translation of arc track, achievees the effect that flat folder or realizes adaptive envelope crawl.Its shortcoming
It is：The device is a kind of circular arc translation end segment in the flat folder stage, linear translation end segment can not be realized, in workbench
Mechanical arm coordinated is needed during the various sizes of sheet goods of upper clamping, to adjust the position of robot, so as to increase
Difficulty is controlled, is unfavorable for high-speed flexible crawl.
Utility model content
The purpose of this utility model is to overcome the shortcomings of prior art, provide a kind of double section slide bar brace type ends
End straight line puts down folder adaptive robot finger apparatus.There are two types of grasp modes for device tool, can the second finger of straight path translation
Section end realizes that straight line puts down folder grasp mode, but can after the first segment captures object the remote joint of automatic bending, reach adaptive
Envelope holds different shape, the function of size objects, realizes self-adapting grasping pattern；It is big to capture range, control is simple, cost
It is low.
The technical solution of the utility model is as follows：
A kind of double section slide bar brace type ends straight line described in the utility model puts down folder adaptive robot finger apparatus, packet
Include pedestal, the first segment, the second segment, nearly joint shaft, remote joint shaft, first connecting rod, second connecting rod, first axle, the second axis,
Three axis, motor, transmission mechanism, the first spacing block set and the first spring part；The motor is fixed on pedestal, the output of the motor
Axis is connected with transmission mechanism input terminal, and the output terminal of the transmission mechanism is connected with first connecting rod；The nearly joint shaft is set in
In pedestal, first segment is socketed on nearly joint shaft, and the remote joint shaft is set in the first segment, second segment
It is socketed on remote joint shaft；The first axle is set in pedestal, and one end of the first connecting rod is socketed in first axle, and first
The other end of connecting rod is socketed on the second axis；One end of the second connecting rod is socketed on the second axis, the other end of second connecting rod
It is socketed on third axis；Second segment is socketed on third axis；The both ends of the first spring part connect first connecting rod respectively
And second connecting rod；The nearly joint shaft, remote joint shaft, first axle, the second axis and third axis are mutually parallel, if in nearly joint shaft
The heart is A, and the center of remote joint shaft is B, and the center of first axle is C, and the center of the second axis is D, and the center of third axis is E, line segment
AC is equal to line segment BE, and line segment AB is equal to line segment CE, the central axis of line segment AC and nearly joint shaft, point D in original state
In the outside of quadrangle ABEC；First spacing block set and second connecting rod are affixed, in original state the first spacing block set with
First connecting rod contacts, and the angle of the first spacing block set limitation line segment CD and line segment DE is not less than the angle of original state；Its feature
It is：Double section slide bar brace type ends straight line puts down folder adaptive robot finger apparatus and further includes sliding slot, sliding block, the first auxiliary
Bar, the 4th axis, the second auxiliary rod, the second segment face cap, the second spacing block set and the second spring part；The sliding slot is fixed in pedestal
On, the sliding block slip is embedded in sliding slot, and the glide direction of sliding block is parallel with line segment AC；One end of first auxiliary rod with
Sliding block is affixed, and the other end of the first auxiliary rod is socketed on the 4th axis；4th axis is parallel with remote joint shaft；Described second is auxiliary
One end of bar is helped to be socketed on the 4th axis, the other end of the second auxiliary rod and the second segment face cap are affixed；Second segment
Face cap slip is embedded in the second segment；Second spacing block set and the second auxiliary rod are affixed；In original state second
Spacing block set is contacted with the first auxiliary rod；If the rotation direction that the first segment is close to object is nearly joint positive direction, the first segment
The direction of motion far from object is nearly joint negative direction；If during original state the second auxiliary rod relative to the first auxiliary rod rotation
Angle be 0 degree, since initial position, the second auxiliary rod towards nearly joint positive direction rotate when rotation direction be just, second is auxiliary
The rotational angle for helping bar towards nearly joint negative direction is negative, and the rotation direction that second spacing block set limits the second auxiliary rod can only
For just；The both ends of the second spring part connect the first auxiliary rod and the second auxiliary rod respectively.
The utility model compared with prior art, has the following advantages and high-lighting effect：
The utility model device utilizes motor, multiple connecting rods, two auxiliary rods, sliding block, sliding slot, two spacing block sets and two
The synthesis such as a spring part realizes robot finger's straight line and puts down folder and self-adapting grasping；The device is in parallel the second segment of reception step
End is translatable along straight path, holds various sizes of sheet goods suitable for putting down to pinch on workbench, the collaboration without mechanical arm
The position of adjustment robot is gone in cooperation, reduces control difficulty.The device can the second segment of linear translation carry out straight line put down
Folder, also can after the first segment captures object automatic envelope object, self-adapting grasping different size, shaped objects；Using single
Motor drives two joints, at low cost without complicated real-time sensing and control system, suitable for robot.
Description of the drawings
Fig. 1 is that the slide bar auxiliary end straight line of the utility model design equals a kind of reality of folder adaptive robot finger apparatus
Apply the stereo appearance figure of example.
Fig. 2 is the front view of embodiment illustrated in fig. 1.
Fig. 3 is the side external view (right view of Fig. 2) of embodiment illustrated in fig. 1.
Fig. 4 is another side external view (left view of Fig. 2) of embodiment illustrated in fig. 1.
Fig. 5 is the A-A sectional views of Fig. 2.
Fig. 6 is the B-B sectional views of Fig. 2.
Fig. 7 is the inside three-dimensional view (being not drawn into part) from an angle of embodiment illustrated in fig. 1.
Fig. 8 is that the front appearance figure of embodiment illustrated in fig. 1 (it is left to be not drawn into the first segment foreboard, pedestal foreboard, the first segment
Side plate and the first segment right plate).
Fig. 9 is the explosive view of embodiment illustrated in fig. 1.
Figure 10 to Figure 12 is embodiment illustrated in fig. 1 in the action process schematic diagram that object is captured in a manner of parallel clamping.
Figure 13 to Figure 16 is embodiment illustrated in fig. 1 in the action process signal that object is captured in a manner of adaptive envelope
Figure.
Figure 17 to Figure 18 be embodiment illustrated in fig. 1 in the process of grasping, the first segment contact object before and after, first connect
Bar, second connecting rod, the first spacing block set and the first spring part relative position situation of change.
Figure 19 to Figure 20 be embodiment illustrated in fig. 1 in the process of grasping, the first segment contact object before and after, first auxiliary
Bar, the second auxiliary rod, the second spacing block set and the second spring part relative position situation of change.
Figure 21 is embodiment illustrated in fig. 1 in the schematic diagram of mechanism of original state (can also be other positions be original state).
Figure 22 is schematic diagram of mechanism of the embodiment illustrated in fig. 1 in straight line parallel clamping grasp mode, and wherein solid line is flat gripper
Object state is taken, double dot dash line is the original state position of corresponding diagram 22.
Figure 23 is schematic diagram of mechanism of the embodiment illustrated in fig. 1 in self-adapting grasping pattern, and wherein solid line is self-adapting grasping object
Body state, double dot dash line are the straight line parallel clip position of corresponding diagram 23.
In Fig. 1 to Figure 23：
1- pedestals, 10- motors, 101- retarders, 102- worm screws,
103- worm gears, 104- transmission shafts, 105- first gears, 106- second gears,
The first segments of 21-, the second segments of 22-, 23- the second segment face caps, the nearly joint shafts of 31-,
The remote joint shafts of 32-, 41- first connecting rods, 42- second connecting rods, 51- first axles,
The second axis of 52-, 53- third axis, the 4th axis of 54-, the first spacing block sets of 61-,
The second spacing block sets of 62-, 71- the first spring parts, 72- the second spring parts, 81- sliding slots,
82- sliding blocks, the first auxiliary rods of 91-, the second auxiliary rods of 92-, 99- objects.
Specific embodiment
Be described in further detail with reference to the accompanying drawings and embodiments the concrete structure of the utility model, operation principle it is interior
Hold.
A kind of double section slide bar brace type ends straight line of the utility model design puts down folder adaptive robot finger apparatus
A kind of embodiment, as shown in Figures 1 to 9, including pedestal 1, the first segment 21, the second segment 22, nearly joint shaft 31, remote joint shaft
32nd, first connecting rod 41, second connecting rod 42, first axle 51, the second axis 52, third axis 53, motor 10, transmission mechanism, the first limiting
61 and first spring part 71 of convex block；The motor 10 is fixed on pedestal 1, output shaft and the transmission mechanism input terminal of the motor 10
It is connected, the output terminal of the transmission mechanism is connected with first connecting rod 41；The nearly joint shaft 31 is set in pedestal 1, and described
One segment 21 is socketed on nearly joint shaft 31, and the remote joint shaft 32 is set in the first segment 21,22 sets of second segment
It is connected on remote joint shaft；The first axle 51 is set in pedestal 1, and one end of the first connecting rod 41 is socketed in first axle 51
On, the other end of first connecting rod 41 is socketed on the second axis 52；One end of the second connecting rod 42 is socketed on the second axis 52, the
The other end of two connecting rods 42 is socketed on third axis 53；Second segment 22 is socketed on third axis 53；The first spring part
71 both ends are connected respectively on first connecting rod 41 and second connecting rod 42；The nearly joint shaft 31, remote joint shaft 32, first axle 51,
Second axis 52 and third axis 53 are mutually parallel, if the center of nearly joint shaft 31 is A, the center of remote joint shaft 32 is B, first axle 51
Center for C, the center of the second axis 52 is D, and the center of third axis 53 is E, and the center of the 4th axis 54 is F；Line segment AC is equal to line
Section BE, line segment AB are equal to line segment CE, the central axis of line segment AC and nearly joint shaft 31 in original state, and point D is located at four sides
The outside of shape ABEC；First spacing block set 61 and second connecting rod 42 are affixed, in original state the first spacing block set 61 with
First connecting rod 41 contacts, and the angle of the first spacing block set 61 limitation line segment CD and line segment DE is not less than the angle of original state；It should
Double sections of slide bar brace type end straight lines put down folder adaptive robot finger apparatus and further include sliding slot 81, sliding block 82, the first auxiliary rod
91st, the 4th axis 54, the second auxiliary rod 92, the second segment face cap 23, the second spacing block set 62 and the second spring part 72；The sliding slot
81 are fixed on pedestal 1, and the slip of sliding block 82 is embedded in sliding slot 81, and the glide direction of sliding block 82 is parallel with line segment AC；Institute
One end and the sliding block 82 for stating the first auxiliary rod 91 are affixed, and the other end of the first auxiliary rod 91 is socketed on the 4th axis 54；Described
Four axis 54 are parallel with remote joint shaft 32；One end of second auxiliary rod 92 is socketed on the 4th axis 54, the second auxiliary rod 92
The other end and the second segment face cap 23 are affixed；The slip of second segment face cap 23 is embedded in the second segment 22；It is described
Second spacing block set 62 and the second auxiliary rod 92 are affixed；In original state, the second spacing block set 62 connects with the first auxiliary rod 91
It touches；If the rotation direction that the first segment 21 is close to object 99 is nearly joint positive direction, the first movement of the segment 21 far from object 99
Direction is nearly joint negative direction；If the second auxiliary rod 92 is 0 degree relative to the rotation angle of the first auxiliary rod 91 during original state,
Since initial position, the second auxiliary rod 92 towards nearly joint positive direction rotate when rotation direction for just, 92 court of the second auxiliary rod
The rotational angle of nearly joint negative direction is negative, and the rotation direction that second spacing block set 62 limits the second auxiliary rod 92 is only
Just；The both ends of the second spring part 72 connect the first auxiliary rod 91 and the second auxiliary rod 92 respectively.
In the present embodiment, it is right that the pedestal 1 includes the pedestal foreboard being fixed together, pedestal back plate, pedestal left plate, pedestal
Plate and pedestal bottom plate.In the present embodiment, before first segment 22 includes the first segment connecting rod being fixed together, the first segment
Plate, the first segment left plate and the first segment right panel.
In the present embodiment, the transmission mechanism includes retarder 101, worm screw 102, worm gear 103, transmission shaft 104, the first tooth
Wheel 105 and second gear 106；The output shaft of the motor 10 is connected with the input shaft of retarder 101, and 102 sets of the worm screw is solid
On the output shaft of retarder 101, the worm gear 103 is fixed on transmission shaft 104, and the worm screw 102 and worm gear 103 engage；
The transmission shaft 104 is set in pedestal 1, and the first gear 105 is fixed on transmission shaft 104, the first gear 105 with
Second gear 106 engages, and the second gear 106 is actively socketed on nearly joint shaft 31, and the second gear 106 and first connects
Bar 41 is affixed.
If the present embodiment additionally uses the parts such as dry bearing and several screws, belong to known common technology, repeat no more.
The operation principle of the present embodiment with reference to attached drawing, is described below：
Figure 21 to Figure 23 illustrates original state, is taken from original state to flat gripper, and self-adapting grasping is got from flat gripper
The schematic diagram of mechanism of three exemplary positions.
When the present embodiment is in original state, as shown in Fig. 6, Figure 10 and Figure 21.
When capturing object 99, motor 10 rotates, and first connecting rod 41 is driven around the center line of first axle 51 by transmission mechanism
(as shown in Figure 6 is clockwise) is rotated clockwise, two different grasp modes can be entered in different situations：
1) straight line parallel clamping grasp mode
Straight line parallel clamps grasp mode, i.e. during object 99 is captured, the second segment 22 and second refers to the present embodiment
Segment table mask 23 is kept relative to 1 fixed posture of pedestal, while the second segment face cap 23 and pedestal 1 are in vertical direction
The distance remained unchanged on (vertical direction in figure 6), as shown in Figure 10 to Figure 12, schematic diagram of mechanism is as shown in figure 22.
Motor 10 rotates forward, and by the transmission of worm screw 102 and worm gear 103, first gear 105 is driven to rotate, second gear 106
Rotation, driving first connecting rod 41, (Fig. 6) rotates an angle [alpha] (as shown in figure 22) clockwise around the center line of first axle 51；To
Second axis 52 generates thrust, and driving second connecting rod 42 rotates.Due to the effect of the first spring part 71 so that on second connecting rod 42
One spacing block set 61 abuts first connecting rod 41 (as shown in figure 17), thus second connecting rod 42 does not occur to turn with respect to first connecting rod 41
Dynamic, the α angular turns of first connecting rod bring the α angular turns of line segment EC；Because line segment AB, line segment BE, line segment EC and line segment CA
Parallelogram ABEC is formed, the α angular turns of line segment EC bring the α angular turns of the first segment, and parallelogram ABEC becomes
Shape, but line segment BE keeps parallel with line segment CA's, so as to which the posture for making 22 opposite base 1 of the second segment remains unchanged.Third
Thrust on axis 53 can push the circular arc translation to the right of the second segment 22 (line segment BE has occurred the variation in height, variable quantity s,
As shown in figure 22).When the second segment 22 is translatable relative to pedestal 1, the second segment 22 drives the second segment face cap 23
Translation a distance d (as shown in figure 22) to the right drives the second auxiliary rod 92 to translate；Due to the effect of the second spring part 72 so that
The second spacing block set 62 on second auxiliary rod 92 abuts the first auxiliary rod 91 so that 92 opposite first auxiliary rod of the second auxiliary rod
91 keep initial attitude (as shown in figure 19)；Due to the second auxiliary rod 92, the first auxiliary rod 91, the 4th axis 53 and the second segment table
The connection of mask 23 so that the distance between the second segment face cap 23 and pedestal 1 are steady state value H (as shown in figure 22), due to
The slip of second segment face cap 23 is embedded in the second segment 22, therefore the second segment face cap 23 can be sliding in the second segment 22
Dynamic a distance s, the sliding distance of the second segment face cap 23 are just offset the height that remote joint shaft 32 generates in rotation and are become
Change amount；Corresponding second segment face cap 23, the second auxiliary rod 92, the 4th axis 54, the first auxiliary rod 91 and sliding block 82 are horizontal sliding
One section of identical distance d (as shown in figure 22) is moved；At this time if the second segment face cap 23 contacts object, crawl terminates,
It realizes straight line and puts down folder grasp mode, as shown in figure 22.
2) self-adapting grasping pattern：
First segment and the second segment face cap are equal i.e. during the present embodiment captures object 99 for self-adapting grasping pattern
It is contacted with 99 surface of object, reaches the crawl effect for adapting to 99 surface of object.
When the first segment 21 rotates that an angle [alpha] (as shown in figure 23) touches object 99 and stopped by object 99 cannot be again
Rotation, transmission mechanism continues to drive first connecting rod 41, and (Figure 13) rotates an angle beta (as shown in figure 23) clockwise, and at this time first
Connecting rod 41 generates first axle 51 thrust, and thrust is passed to second connecting rod 42 by first axle 51 again, forces second connecting rod 42 to the
One spring part 71 generates pulling force, and the first spring part 71 is stretched, and the angle between first connecting rod 41 and second connecting rod 42 becomes larger (such as Figure 18 institutes
Show), therefore the distance between first axle 51 and third axis 53 become larger；Cause the increasing of the distance between third axis 53 and first axle 51
Greatly, push the second segment 22 go the long way round joint shaft 32 rotate an angle, θ (as shown in figure 23).When the second segment 22 rotates, meeting
The second segment face cap 23 joint shaft 32 of going the long way round is driven to rotate same angle, θ, the second segment face cap 23 is in the second segment 22
On can slide a distance, while the second segment face cap 23 drives the second affixed auxiliary rod 92, the second spring part 72 deforms,
One auxiliary rod 92 is detached with the second spacing block set 62, and the second auxiliary rod 92 is made to be rotated (as shown in figure 20) around the 4th axis 54.Due to
Second segment face cap 23 joint shaft 32 of going the long way round rotates, and the second auxiliary rod 92 is rotated around the 4th axis 54, the second segment face cap 23
Affixed with the second auxiliary rod 92, remote joint shaft 32 and the 4th axis 54 are misaligned under normal circumstances, and remote 32 position of joint shaft is at this time
It is fixed, therefore the position of the 4th axis 54 needs to change at any time, drives the first auxiliary rod 91 and sliding block 82 sliding in sliding slot 81
Move one section of horizontal distance q (as shown in figure 23).The second segment 22 can rotate clockwise at this time, until the second segment face cap 23
Object 99 is contacted, crawl terminates.The crawl process can adapt to the object of different shape, size automatically, that is, realize adaptive
Grasp mode should be clamped, (23 process such as Figure 13 to Figure 14 institutes of the second segment of translation face cap before as shown in Figure 14 to Figure 16
Show, wherein Figure 14 is the critical condition that the adaptive stage is entered from the flat folder stage), schematic diagram of mechanism is as shown in figure 23.
Discharge the process of object 99：Motor 10 inverts, and the process of subsequent process and above-mentioned crawl object 99 is not just on the contrary,
It repeats again.
The utility model device utilizes motor, multiple connecting rods, two auxiliary rods, sliding block, sliding slot, two spacing block sets and two
The synthesis such as a spring part realizes the function that robot finger's straight line puts down folder and self-adapting grasping；The device is in parallel reception step
Two segment ends are translatable along straight path, various sizes of sheet goods are held suitable for putting down to pinch on workbench, without mechanical arm
Coordinated go adjustment robot position, reduce control difficulty.The device can the progress of the second segment of linear translation
Straight line puts down folder, also can after the first segment captures object automatic envelope object, self-adapting grasping different size, shaped objects；Profit
Two joints are driven with single motor, it is at low cost without complicated real-time sensing and control system, suitable for robot.
Claims (1)
1. a kind of double section slide bar brace type ends straight line puts down folder adaptive robot finger apparatus, including pedestal, the first segment, the
Two segments, nearly joint shaft, remote joint shaft, first connecting rod, second connecting rod, first axle, the second axis, third axis, motor, driver
Structure, the first spacing block set and the first spring part；The motor is fixed on pedestal, and output shaft and the transmission mechanism of the motor input
End is connected, and the output terminal of the transmission mechanism is connected with first connecting rod；The nearly joint shaft is set in pedestal, and described first refers to
Section is socketed on nearly joint shaft, and the remote joint shaft is set in the first segment, and second segment is socketed on remote joint shaft；
The first axle is set in pedestal, and one end of the first connecting rod is socketed in first axle, the other end socket of first connecting rod
On the second axis；One end of the second connecting rod is socketed on the second axis, and the other end of second connecting rod is socketed on third axis；Institute
The second segment is stated to be socketed on third axis；The both ends of the first spring part connect first connecting rod and second connecting rod respectively；It is described near
Joint shaft, remote joint shaft, first axle, the second axis and third axis are mutually parallel, if the center of nearly joint shaft is A, remote joint shaft
Center is B, and the center of first axle is C, and the center of the second axis is D, and the center of third axis is E, and line segment AC is equal to line segment BE, line segment
AB is equal to line segment CE, the central axis of line segment AC and nearly joint shaft in original state, and point D is located at the outer of quadrangle ABEC
Side；First spacing block set and second connecting rod are affixed, and in original state, the first spacing block set is contacted with first connecting rod, and first
Spacing block set limits angle of the angle not less than original state of line segment CD and line segment DE；It is characterized in that：Double section slide bar branch
Support formula end straight line puts down folder adaptive robot finger apparatus and further includes sliding slot, sliding block, the first auxiliary rod, the 4th axis, second auxiliary
Help bar, the second segment face cap, the second spacing block set and the second spring part；The sliding slot is fixed on pedestal, and the sliding block slides
It is embedded in sliding slot, the glide direction of sliding block is parallel with line segment AC；One end of first auxiliary rod and sliding block are affixed, and first is auxiliary
The other end of bar is helped to be socketed on the 4th axis；4th axis is parallel with remote joint shaft；One end socket of second auxiliary rod
On the 4th axis, the other end of the second auxiliary rod and the second segment face cap are affixed；The second segment face cap slip is inlayed
In the second segment；Second spacing block set and the second auxiliary rod are affixed；The second spacing block set and first in original state
Auxiliary rod contacts；If the rotation direction that the first segment is close to object is nearly joint positive direction, movement of first segment far from object
Direction is nearly joint negative direction；If during original state the second auxiliary rod relative to the rotation angle of the first auxiliary rod for 0 degree, from first
Beginning position starts, the second auxiliary rod towards nearly joint positive direction rotate when rotation direction for just, the second auxiliary rod is anti-towards nearly joint
The rotational angle in direction is negative, and the rotation direction that second spacing block set limits the second auxiliary rod is only just；Described second
The both ends of spring part connect the first auxiliary rod and the second auxiliary rod respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721580067.2U CN207522619U (en) | 2017-11-22 | 2017-11-22 | Double sections of slide bar brace type end straight lines put down folder adaptive robot finger apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721580067.2U CN207522619U (en) | 2017-11-22 | 2017-11-22 | Double sections of slide bar brace type end straight lines put down folder adaptive robot finger apparatus |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207522619U true CN207522619U (en) | 2018-06-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721580067.2U Expired - Fee Related CN207522619U (en) | 2017-11-22 | 2017-11-22 | Double sections of slide bar brace type end straight lines put down folder adaptive robot finger apparatus |
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| CN (1) | CN207522619U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107962581A (en) * | 2017-11-22 | 2018-04-27 | 清华大学 | Double sections of slide bar brace type end straight lines put down folder adaptive robot finger apparatus |
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2017
- 2017-11-22 CN CN201721580067.2U patent/CN207522619U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107962581A (en) * | 2017-11-22 | 2018-04-27 | 清华大学 | Double sections of slide bar brace type end straight lines put down folder adaptive robot finger apparatus |
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