CN207915494U - a kind of mechanical industrial robot end effector - Google Patents
a kind of mechanical industrial robot end effector Download PDFInfo
- Publication number
- CN207915494U CN207915494U CN201820290786.9U CN201820290786U CN207915494U CN 207915494 U CN207915494 U CN 207915494U CN 201820290786 U CN201820290786 U CN 201820290786U CN 207915494 U CN207915494 U CN 207915494U
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- China
- Prior art keywords
- sliding pawl
- sliding
- push rod
- guide rail
- pawl set
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Abstract
The utility model discloses a kind of mechanical industrial robot end effector, when the mechanical industrial robot end effector works, guide pad opposite sliding in groove is made by the pressing at arm end and the double acting of spring；Guide groove of the guide pad being arranged outside hollow push rod in axis guide rail sleeve does the mating of linear slide；The raised line on sliding pawl set surface and the oblique cooperation of axis guide rail sleeve convex item are buckled on axis guide rail sleeve with making the lower rotatable of sliding pawl set；The sliding upper claw of pawl set and the fixture block rotation in fixing end are stuck, and fixing end inner spring gives sliding pawl and covers an opposition so that fixing end is not turned off with sliding pawl cover locking.The utility model is not required to use electrical, hydraulic pressure, compressed air control for end effector of robot, can meet industrial robot requirement mobile to target crawl under single-degree-of-freedom movement, easy to control, easy to operate, at low cost and widely used.
Description
Technical field
The utility model is related to a kind of industrial robot end effector, especially a kind of mechanical industrial robot end
Actuator.
Background technology
Industrial robot end effector is installed on robot arm end, directly acts on target, as machine
The quality of the final tache and execution unit of people and target interaction, performance largely determines entire machine
The working performance of device people.Currently, the grasping system of end effector of robot includes manipulator, robot attachment and mobile crawl
System.Clamping device is made of handle of a knife, modularization grasping system, magnetic force clamping technique, hydraulic technique etc..Either manipulator is also
It is other end effectors, is made of mostly complicated part, none is not against electrical, hydraulic pressure, compression in process of production
Air etc. could realize that such end effector structures are complicated, and production cost is high, and maintenance expense is high.
Invention content
The purpose of this utility model is to provide a kind of mechanical industrial robot end effector, to solve the prior art
In industrial robot end effector structures are complicated, production cost is high, maintenance expense is high problem.
To achieve the goals above, the technical solution of a kind of mechanical industrial robot end effector of the utility model
It is：A kind of mechanical industrial robot end effector includes actuator fixing end, sliding pawl set, axis guide rail sleeve from front to back
Cylinder, hollow push rod are fixedly connected with ring flange, and positioned at the spring being fixedly connected between ring flange and axis guide rail sleeve,
In：
The actuator fixing end covers clamping matching to realize that the actuator fixing end covers rotation lock with sliding pawl with sliding pawl
Tightly；The rear end of the sliding pawl set is provided with sliding pawl loop bar, and the peripheral surface of the sliding pawl loop bar is arranged with hollow push rod, described hollow
The peripheral surface of push rod and the sliding pawl set is arranged with axis guide rail sleeve, and the front end face of the hollow push rod is pushed up with the sliding pawl set
Cooperation is pushed away so that sliding pawl set is rotatably arranged in axis guide rail sleeve.The rear end of the hollow push rod, which is installed with, to be fixedly connected
Ring flange is arranged with spring on the peripheral surface of the hollow push rod, and the spring-compressed is arranged is fixedly connected with ring flange described
Front end face and the rear end face of axis guide rail sleeve between.The rear end face of the sliding pawl loop bar is provided with for limiting the sliding pawl
Cover the cheese head screw that travels forward.
Cylindrical cavity is offered in the actuator fixing end, the cavity wall rear end of the cylindrical cavity is provided with fixation
Fixture block, the front end of the sliding pawl set is held to be provided with sliding pawl and cover claw, the actuator fixing end covers claw described in sliding pawl
Fixing end fixture block and sliding pawl set claw clamping matching realize the connection at arm end and fixing end, and described in the front end face pushing tow of sliding pawl set
The fixing end inner spring of cylindrical empty intracavitary setting.The front and back end of sliding pawl set is respectively arranged with cone boss and sliding pawl loop bar, cone
The rear end of shape boss is provided with the cunning pawl set claw to extend radially outwardly, the peripheral surface and actuator fixing end of sliding pawl set claw
Cavity inner wall face is adapted to, and is fixed by fixing end fixture block with pawl set claw screens is drawn, and before the cone boss of sliding pawl set front end
End face pushing tow fixing end inner spring；Sliding pawl set rod rear end is provided with the threaded hole extended forward along axis, is installed in threaded hole
Cheese head screw is slided and is additionally provided with the sliding indexable tooth post of pawl set on the peripheral surface of pawl set.The front end face of hollow push rod is provided with and sliding pawl
The toothed rim of the indexable tooth post pushing tow adaptation of set, and the axial length of hollow push rod is more than the axial length of sliding pawl loop bar, it is hollow
The axial location of push rod is provided with axially extending through-hole, and the internal face of the through-hole is adapted to the peripheral surface of sliding pawl loop bar so that
Slide pawl loop bar linear slide in the through hole；The front end peripheral surface of hollow push rod is provided with guide pad, and the peripheral surface of guide pad is not
Protrude from the peripheral surface of the sliding indexable tooth post of pawl set；The rear end of hollow push rod is provided with stepped boss；Outside hollow push rod rear end
Spring is arranged on circumferential surface；
It is also arranged axis guide rail sleeve, axis on the peripheral surface of hollow push rod front end and the peripheral surface of the sliding indexable tooth post of pawl set
The axial location of guide rail sleeve offers axially extending through-hole, and the internal face of through-hole is convexly equipped with raised line, the raised line and sliding pawl
The oblique pushing tow cooperation of the indexable tooth post of cunning pawl set on surface is covered, the internal face of raised line is provided with axially extending guide groove, by leading
Coordinate to block and guide groove so that hollow push rod can in axis guide rail sleeve linear slide.
The front end of the axis guide rail sleeve is inserted terminal, and rear end is guide rail positive stop end；Hollow push rod front end peripheral surface is set
It is equipped with guide pad, and is sleeved in axis guide rail sleeve and does the mating of linear slide along guide groove thereon；Outside inserted terminal
It forms flange and sliding pawl set surface raised line is angularly disposed, be buckled in axis guide rail sleeve with making the lower rotatable of sliding pawl set
On；The outside of hollow push rod is equipped with axis guide rail sleeve, fluted in axis guide rail sleeve, wherein hollow push rod guide pad with
Groove is corresponding, makes guide pad opposite sliding in groove by the pressing at arm end and the double acting of spring.
Above claw, sliding pawl cover indexable tooth post, the hollow push rod guide pad on hollow push rod, are fixedly connected with flange sliding pawl set
Bolt hole, equidistant array on disk are distributed with a.
The mechanical industrial robot end effector further includes being located at the arm end connection for being fixedly connected with flange back-end disk
Cap, arm end attachment cap are connect by interior hexagonal fastening bolt with ring flange is fixedly connected with.
Arm end attachment cap offers the blind hole with the arm end attachment cap coaxial line, the back-end closure of the blind hole.
Using the utility model generate advantageous effects be：Mechanical end effector of robot is dexterous and real
With, be very suitable for execute factory in repeat grasp handling workpiece action, crawl process it is simply rapid, end is greatly saved
The time of the fixed workpiece of actuator crawl improves production and processing efficiency, and is used suitable for multi-product, more occasions, holds
Row device model is simple, Purely mechanical, is not required to use electrical, hydraulic pressure, compressed air control, simple in structure, easy to control, operation letter
Just, at low cost and widely used, it can realize that reliable self-locking is connected and fixed and meets industrial robot and moved in single-degree-of-freedom
Under dynamic, such as：It pushes away, draw, press, carry, the requirement mobile to target crawl is small, structure is light, is easy for installation and maintenance.
Description of the drawings
FIG. 1 is a schematic structural view of the utility model.
Fig. 2 is the utility model internal structure schematic diagram (removing axis guide rail sleeve and arm end attachment cap).
Fig. 3 is the positive structure diagram of actuator fixing end.
Fig. 4 is the structural schematic diagram of sliding pawl set.
Fig. 5 is the structural schematic diagram of axis guide rail sleeve.
Fig. 6 is the structural schematic diagram of hollow push rod 4.
In figure：1- actuator fixing ends, 2- cunning pawl sets, 3- axis guide rail sleeves, 4- hollow push rods, 5- arms end attachment cap,
Hexagonal fastening bolt in 6-, 7- are fixedly connected with ring flange, 8- cheese head screws, and 9- slides pawl and covers claw, and 10- slides the indexable tooth post of pawl set,
11- cunning pawl loop bars, 12- hollow push rod guide pads, 13- springs, 14- fixing ends connection fixture block, 15- fixing end inner springs, 16- are convex
Item.
Specific implementation mode
The utility model embodiment is further described in detail below in conjunction with the accompanying drawings.
The mechanical industrial robot end effector embodiment of the utility model, as shown in Figure 1, including holding from front to back
Row device fixing end 1, axis guide rail sleeve 3, hollow push rod 4, is fixedly connected with ring flange 7, arm end attachment cap 5 at sliding pawl set 2, and
Positioned at the spring 13 being fixedly connected between ring flange 7 and axis guide rail sleeve 3.
Actuator fixing end 1 is cylinder, and internal that cylindrical cavity is arranged, the rear end of cavity inner wall is provided with radially
The fixing end fixture block 14 to extend internally, fixing end fixture block 14 have 3, and circumference uniform distribution is on cavity inner wall；In cavity inner wall front end
Portion is provided with the cylindrical protrusions to fixed fixing end inner spring 15 to extend back.In addition, the front end of actuator fixing end 1
Face is additionally provided with cylindrical boss.
The front and back end of sliding pawl set 2 is respectively arranged with cone boss and sliding pawl loop bar 11.The rear end of cone boss is provided with diameter
Claw 9 is covered to outwardly extending sliding pawl, sliding pawl set claw 9 is circumferentially equidistant to be distributed in from array on the peripheral surface of sliding pawl set 2, sliding pawl
The peripheral surface of set claw 9 is adapted to the cavity inner wall face of actuator fixing end 1, covers claw 9 with pawl is drawn by fixing end fixture block 14
Screens is fixed, and sliding pawl covers the front end face pushing tow fixing end inner spring 15 of the cone boss of 2 front ends；Sliding pawl loop bar 11 prolongs to be axial
The cylinder stretched, its rear end middle part are provided with the threaded hole extended forward along axis, cheese head screw 8 are installed in threaded hole；It is sliding
The sliding indexable tooth post 10 of pawl set, the indexable tooth post 10 equidistant array distribution of sliding pawl set, sliding pawl set are additionally provided on the peripheral surface of pawl set 2
The peripheral surface of indexable tooth post 10 is concordant with the sliding pawl set peripheral surface of claw 9.
The front end face of hollow push rod 4 is provided with the toothed rim being adapted to sliding indexable 10 pushing tow of tooth post of pawl set, and hollow pushes away
The axial length of bar 4 is more than the axial length of sliding pawl loop bar 11, and the axial location of hollow push rod 4 is provided with axially extending lead to
Hole, the internal face of the through-hole are adapted to the peripheral surface of sliding pawl loop bar 11 so that slide the linear slide in the through hole of pawl loop bar 11；It is empty
The front end peripheral surface of heart push rod 4 is provided with guide pad 12, and the peripheral surface of guide pad 12 does not protrude from sliding pawl set indexing tooth post 10
Peripheral surface；The rear end of hollow push rod 4 is provided with stepped boss；It is arranged with spring 13 on the peripheral surface of 4 rear end of hollow push rod.
It is also arranged axis guide rail sleeve 3 on the peripheral surface of 4 front end of hollow push rod and the peripheral surface of sliding pawl set indexing tooth post 10,
The axial location of axis guide rail sleeve 3 offers axially extending through-hole, and the internal face of through-hole is convexly equipped with raised line 16, the raised line with
Sliding pawl covers the cunning pawl set indexable tooth post 10 oblique pushing tow cooperation on 2 surfaces, and the internal face of raised line is provided with axially extending guide groove,
Pass through guide pad 12 and guide groove to coordinate so that hollow push rod 4 can in axis guide rail sleeve 3 linear slide.
The rear end of hollow push rod 4, which is disposed with, is fixedly connected with ring flange 7, arm end attachment cap 5, and arm end attachment cap 5 passes through
Interior hexagonal fastening bolt 6 is connect with ring flange 7 is fixedly connected with, and is fixedly connected with the rank of the endoporus and 4 rear end of hollow push rod of ring flange 7
The peripheral surface of ladder type boss is adapted to, and front end face and the shaft shoulder thrust of hollow push rod 4 coordinate, the rear end face of hollow push rod 4 with it is hollow
The rear end face of push rod 4 is concordant.It is provided with set screw hole in addition, being fixedly connected on the peripheral surface of ring flange 7, passes through holding screw
Hollow push rod 4 is fixedly connected with ring flange 7 is fixedly connected with.
The assembling process of above-described embodiment is as follows：
Hollow push rod 4 is fitted into the cavity of axis guide rail sleeve 3, and makes leading for hollow push rod 4 by the first step from front to back
It is aligned the guide groove in 3 cavity of axis guide rail sleeve to block 12 so that hollow push rod 4 can be in axis guide rail sleeve 3 along it
On guide groove do the mating of linear slide.Since rear end face of the rear end face apart from axis guide rail sleeve 3 of guide groove has
Certain distance, the rear end face of guide groove coordinates with the rear end face block of guide pad 12, so as to moving back to hollow push rod 4
It is dynamic to be limited.
Sliding pawl is covered 2 and is fitted into from front to back in the cavity of hollow push rod 4 by second step, and keeps the sliding indexable tooth post 10 of pawl set right
Quasi- guide groove so that the rear end face of sliding pawl set indexing tooth post 10 is contacted with the front end face of the toothed rim of 4 front end of hollow push rod, is made
It is buckled on axis guide rail sleeve 3 to the lower rotatable of sliding pawl set 2.
Third walks, and spring is extremely before set on the peripheral surface of hollow push rod 4 by rear, and the rear end of spring is resisted against axis
The rear end face of guide rail sleeve 3.
4th step will be fixedly connected with ring flange 7 and be extremely before set on the multi-diameter shaft of 4 rear end of hollow push rod by rear, and makes solid
Determine the front end face of mounting flange 7 with shaft shoulder block to coordinate, then the mounting flange 7 that is tightened peripheral surface setting clamp screw
Nail, will be fixedly connected with ring flange 7 and is fixed on hollow push rod 4, and spring is limited in the front end face for being fixedly connected with ring flange 7 in
Between the rear end face of axis rail sleeve 3.
Cheese head screw 8 is angled into the threaded hole of sliding 11 rear end of pawl loop bar by the 5th step.It is transversal due to cheese head screw 8
Face is more than the cross section of sliding pawl loop bar 11, and less than the cross section of hollow push rod 4 so that the back-and-forth motion distance of hollow push rod 4
It is limited between the front end face of cheese head screw 8 and the rear end face of sliding pawl set indexing tooth post 10.
Arm end attachment cap 5 is fixedly connected by rear to preceding be mounted on the rear end face of ring flange 7, passes through interior six by the 6th step
The two is fixed together by angle fastening bolt 6.Since the axial location of arm end attachment cap 5 is provided with the blind hole of back-end closure, with
Accommodate cheese head screw 8.
Actuator fixing end 1 is fixed with stroke pawl set 9 screens of claw, completes mechanical industrial machine by the 7th step from front to back
The assembly of device people's end effector.
The action process of above-described embodiment is as follows：Actuator fixing end 1 is fixed with pawl set 9 screens of claw is drawn；Wherein sliding pawl
Set 2 is rotatably arranged in the cavity of axis guide rail sleeve 3, and sliding pawl covers 2 upper ends and is attached fixation with cheese head screw 8；In
Axis rail sleeve 3 divides for two parts, and a part is guide rail positive stop end, and another part is inserted terminal；4 outside of hollow push rod is provided with
Guide pad 12, and be sleeved in axis guide rail sleeve 3 and do the mating of linear slide along guide groove thereon；Outside inserted terminal at
Type has toothed rim and 2 surface raised lines of sliding pawl set angularly disposed, is buckled in axis guide rail sleeve with making the lower rotatable of sliding pawl set 2
On cylinder 3, the outside of hollow push rod 4 is equipped with axis guide rail sleeve 3, and fluted in axis guide rail sleeve 3, wherein hollow push rod is led
It is corresponding with groove to block 12, the opposite sliding in groove of guide pad 12 is made by the pressing at arm end and the double acting of spring, it is sliding
Claw 9 on pawl set 2 rotates stuck with the fixture block 14 in fixing end, and fixing end inner spring gives sliding pawl one acting in opposition of set
Power so that fixing end is not turned off with sliding pawl cover locking.
4 outside of hollow push rod is provided with guide pad 12, and inserting for linear slide can be done along the guide groove in axis guide rail sleeve 3
Connect cooperation；Sliding pawl covers raised line and the oblique cooperation of axis guide rail sleeve convex item on 2 surfaces, blocks with making the lower rotatable of sliding pawl set
It is buckled on axis guide rail sleeve.
The utility model is used for end effector of robot, when work, is made by the pressing at arm end and the double acting of spring
The opposite sliding in groove of guide pad 12；Guide groove of the guide pad 12 that 4 outside of hollow push rod is arranged in axis guide rail sleeve 3
Do the mating of linear slide；The raised line and the oblique cooperation of raised line in axis guide rail sleeve 3 that sliding pawl covers 2 surfaces, make sliding pawl set 2
Lower rotatable be buckled on axis guide rail sleeve 3；Claw 9 on sliding pawl set 2 and 14 revotating card of fixture block in fixing end 1
Extremely, fixing end inner spring 13 gives sliding pawl and covers 2 one oppositions so that fixing end 1 is not turned off with sliding 2 locking of pawl set.
The utility model is not required to use electrical, hydraulic pressure, compressed air control, controlling party for end effector of robot
Just, easy to operate, it is at low cost and widely used.
Claims (6)
1. a kind of mechanical industrial robot end effector, it is characterised in that：From front to back include actuator fixing end (1),
Sliding pawl set (2), hollow push rod (4), is fixedly connected with ring flange (7) at axis guide rail sleeve (3), and positioned at being fixedly connected with flange
Spring (13) between disk (7) and axis guide rail sleeve (3), wherein：
The actuator fixing end (1) is with sliding pawl set (2) clamping matching to realize the actuator fixing end (1) and sliding pawl set
(2) rotation lock；
The rear end of the sliding pawl set (2) is provided with sliding pawl loop bar (11), and the peripheral surface of the sliding pawl loop bar (11) is arranged with hollow
The peripheral surface of push rod (4), the hollow push rod (4) and the sliding pawl set (2) is arranged with axis guide rail sleeve (3), described hollow
The front end face of push rod (4) is with sliding pawl set (2) the pushing tow cooperation so that sliding pawl set (2) is rotatably arranged at axis guide rail sleeve
(3) in；
The rear end of the hollow push rod (4), which is installed with, is fixedly connected with ring flange (7), is covered on the peripheral surface of the hollow push rod (4)
Equipped with spring (13), spring (13) compression is arranged in the front end face for being fixedly connected with ring flange (7) and axis guide rail sleeve
Between the rear end face of cylinder (3)；
The rear end face of the sliding pawl loop bar (11) is provided with to travel forward cheese head screw (8) for limiting the sliding pawl set (2).
2. mechanical industrial robot end effector according to claim 1, it is characterised in that：The actuator is fixed
Cylindrical cavity is offered in end (1), the cavity wall rear end of the cylindrical cavity is provided with fixing end fixture block (14), the sliding pawl
The front end of set (2) is provided with sliding pawl set claw (9), and the actuator fixing end (1) covers claw (9) with sliding pawl and passes through the fixation
Fixture block (14) and sliding pawl set claw (9) clamping matching is held to realize the connection at arm end and fixing end, and the front end face top of sliding pawl set (2)
Push away the fixing end inner spring (15) of the cylindrical empty intracavitary setting；
The front and back end of sliding pawl set (2) is respectively arranged with cone boss and sliding pawl loop bar (11), and the rear end of cone boss is provided with diameter
To outwardly extending sliding pawl set claw (9), the peripheral surface of sliding pawl set claw (9) and the cavity inner wall face of actuator fixing end are suitable
Match, is fixed by fixing end fixture block (14) with pawl set claw (9) screens is drawn, and the front end of the cone boss of sliding pawl set (2) front end
Face pushing tow fixing end inner spring (15)；Sliding pawl loop bar (11) rear end is provided with the threaded hole extended forward along axis, in threaded hole
It is installed with cheese head screw (8), the sliding indexable tooth post (10) of pawl set is additionally provided on the peripheral surface of sliding pawl set (2)；
The front end face of hollow push rod (4) is provided with the toothed rim being adapted to sliding indexable tooth post (10) pushing tow of pawl set, and hollow pushes away
The axial length of bar (4) is more than the axial length of sliding pawl loop bar (11), and the axial location of hollow push rod (4) is provided with axially extending
Through-hole, the internal face of the through-hole be adapted to the peripheral surface of sliding pawl loop bar (11) so that sliding pawl loop bar (11) is in the through hole directly
Line slides；The front end peripheral surface of hollow push rod (4) is provided with guide pad (12), and the peripheral surface of guide pad (12) does not protrude from sliding pawl
The peripheral surface of the indexable tooth post (10) of set；The rear end of hollow push rod (4) is provided with stepped boss；Outside hollow push rod (4) rear end
Spring (13) is arranged on circumferential surface；
It is also arranged axis guide rail sleeve (3) on the peripheral surface of 4 front end of hollow push rod and the peripheral surface of the sliding indexable tooth post (10) of pawl set,
The axial location of axis guide rail sleeve (3) offers axially extending through-hole, and the internal face of through-hole is convexly equipped with raised line, the raised line
Coordinate with the indexable oblique pushing tow of tooth post (10) of cunning pawl set on sliding pawl set (2) surface, the internal face of raised line is provided with axially extending
Guide groove is coordinated so that hollow push rod (4) can be in axis guide rail sleeve (3) interior straight line by guide pad (12) and guide groove
Sliding.
3. mechanical industrial robot end effector according to claim 2, it is characterised in that：The axis guide rail sleeve
The front end of cylinder (3) is inserted terminal, and rear end is guide rail positive stop end；Hollow push rod (4) front end peripheral surface is provided with guide pad (12), and
It is sleeved in axis guide rail sleeve (3) and does the mating of linear slide along guide groove thereon；Flange is formed outside inserted terminal
It is angularly disposed with sliding pawl set (2) surface raised line, it is buckled on axis guide rail sleeve (3) with making the lower rotatable of sliding pawl set (2)；
The outside of hollow push rod (4) is equipped with axis guide rail sleeve (3), and fluted in axis guide rail sleeve (3), wherein hollow push rod is led
It is corresponding with groove to block (12), guide pad opposite sliding in groove is made by the pressing at arm end and the double acting of spring.
4. mechanical industrial robot end effector according to claim 3, it is characterised in that：On sliding pawl set (2)
Claw (9), the hollow push rod guide pad (12) on hollow push rod (4), is fixedly connected with ring flange at the indexable tooth post (10) of sliding pawl set
(7) bolt hole, equidistant array on are distributed with 3.
5. mechanical industrial robot end effector according to claim 4, it is characterised in that：The mechanical industry
End effector of robot further includes being located at the arm end attachment cap (5) for being fixedly connected with ring flange (7) rear end, arm end attachment cap
(5) it is connect by interior hexagonal fastening bolt with ring flange (7) is fixedly connected with.
6. mechanical industrial robot end effector according to claim 5, it is characterised in that：Arm end attachment cap
(5) blind hole with the arm end attachment cap coaxial line, the back-end closure of the blind hole are offered.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820290786.9U CN207915494U (en) | 2018-02-09 | 2018-02-09 | a kind of mechanical industrial robot end effector |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820290786.9U CN207915494U (en) | 2018-02-09 | 2018-02-09 | a kind of mechanical industrial robot end effector |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207915494U true CN207915494U (en) | 2018-09-28 |
Family
ID=63600679
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820290786.9U Expired - Fee Related CN207915494U (en) | 2018-02-09 | 2018-02-09 | a kind of mechanical industrial robot end effector |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207915494U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110039293A (en) * | 2019-05-28 | 2019-07-23 | 江南大学 | A kind of steel drum major thread lid puts together machines the dedicated end effector of people |
| CN110125957A (en) * | 2018-02-09 | 2019-08-16 | 华北水利水电大学 | A kind of mechanical industrial robot end effector |
| CN113479162A (en) * | 2021-07-13 | 2021-10-08 | 一汽奔腾轿车有限公司 | Automobile adult safety belt adaptation method and device for children |
-
2018
- 2018-02-09 CN CN201820290786.9U patent/CN207915494U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110125957A (en) * | 2018-02-09 | 2019-08-16 | 华北水利水电大学 | A kind of mechanical industrial robot end effector |
| CN110125957B (en) * | 2018-02-09 | 2024-04-16 | 华北水利水电大学 | Mechanical type industrial robot end effector |
| CN110039293A (en) * | 2019-05-28 | 2019-07-23 | 江南大学 | A kind of steel drum major thread lid puts together machines the dedicated end effector of people |
| CN113479162A (en) * | 2021-07-13 | 2021-10-08 | 一汽奔腾轿车有限公司 | Automobile adult safety belt adaptation method and device for children |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180928 Termination date: 20200209 |