CN208005702U - A kind of lever subtended angle variable mechanical pawl - Google Patents
A kind of lever subtended angle variable mechanical pawl Download PDFInfo
- Publication number
- CN208005702U CN208005702U CN201820015924.2U CN201820015924U CN208005702U CN 208005702 U CN208005702 U CN 208005702U CN 201820015924 U CN201820015924 U CN 201820015924U CN 208005702 U CN208005702 U CN 208005702U
- Authority
- CN
- China
- Prior art keywords
- screw rod
- lever
- subtended angle
- rod
- fulcrum
- 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
Landscapes
- Pivots And Pivotal Connections (AREA)
Abstract
The utility model is related to a kind of grippers,In particular it is a kind of lever subtended angle variable mechanical pawl,Including lever seat,Fulcrum adjusting rod,Subtended angle adjusting screw rod,Two gripper arms,Two push-and-pull connecting rods,Sliding block and automatically controlled telescopic rod,The both ends of the fulcrum adjusting rod are slidably connected on lever seat,The left end of the subtended angle adjusting screw rod is rotatably connected on lever seat,The subtended angle adjusting screw rod is connected to the middle-end of fulcrum adjusting rod by screw-thread fit,The both ends of the fulcrum adjusting rod are separately connected the middle-end for being connected to a gripper arm,The right end of two gripper arms is hinged with a push-and-pull connecting rod respectively,Two push-and-pull connecting rods are hingedly connected on sliding block,The sliding block is slidably connected on lever seat,The fixing end of the automatically controlled telescopic rod is fixedly connected on lever seat,Sliding block is bolted in the movable end of the automatically controlled telescopic rod；The utility model can change the subtended angle size of two gripper arms, be applicable to various sizes of object gripping.
Description
Technical field
The utility model is related to a kind of grippers, are in particular a kind of lever subtended angle variable mechanical pawls.
Background technology
Traditional gripper forms lever mechanism by more connecting rods, realizes the crawl to object；But most grippers
Subtended angle adjusting can not be carried out according to the size for being crawled object, not adapt to various sizes of object gripping.Such as number of patent application
For a kind of small crane gripper of CN201510773000.X, including chassis 1, cylinder 2 and lifting cylinder 3, the chassis 1
Top is connected with cylinder 2, and 1 lower section of the chassis is connected with lifting cylinder 3,4 grippers are provided on the cylinder face of the cylinder 2
4, one end of each gripper 4 is provided with claw hook 41 by 5 connector drum 2 of rotating mechanism on the other end of each gripper 4.
The invention is hanged using the progress of whirler machinery claw, can realize the hanged of the article in multiple directions, effectively raise work
Efficiency, but the gripper can not adjust itself subtended angle, be not applied for various sizes of grasping body.
Utility model content
The purpose of this utility model is to provide a kind of lever subtended angle variable mechanical pawl, by two gripper arms, two
Connecting rod, sliding block and automatically controlled telescopic rod are pushed and pulled, realizes that the clamping of object, movement are smooth and compact-sized；It is provided with fulcrum adjusting rod
With subtended angle adjusting screw rod, the position of the fulcrum of lever construction where gripper arm can be adjusted, to two gripper arms of change
Subtended angle size is applicable to various sizes of object gripping.
The purpose of this utility model is achieved through the following technical solutions：
A kind of lever subtended angle variable mechanical pawl, including lever seat, fulcrum adjusting rod, subtended angle adjusting screw rod, two machineries
Pawl arm, two push-and-pull connecting rods, sliding block and automatically controlled telescopic rod, the both ends of the fulcrum adjusting rod are slidably connected on lever seat,
The left end of the subtended angle adjusting screw rod is rotatably connected on lever seat, and the subtended angle adjusting screw rod is connected to branch by screw-thread fit
The middle-end of point adjusting rod, the both ends of the fulcrum adjusting rod are separately connected the middle-end for being connected to a gripper arm, two machineries
The right end of pawl arm is hinged with a push-and-pull connecting rod respectively, and two push-and-pull connecting rods are hingedly connected on sliding block, the sliding block sliding
It is connected on lever seat, the fixing end of the automatically controlled telescopic rod is fixedly connected on lever seat, the activity of the automatically controlled telescopic rod
Sliding block is bolted in end.
Preferably, a kind of lever subtended angle variable mechanical pawl of the utility model, the lever seat include that bottom plate and screw rod turn
Seat, the screw rod swivel base are provided with rectangle sliding slot, the bottom plate by being welded to connect the left end in bottom plate, the right end of the bottom plate
Left end setting there are two fulcrum sliding slot, two fulcrum sliding slots are located at the both sides of screw rod swivel base, are set on the screw rod swivel base
It is equipped with circular through hole.
Preferably, a kind of lever subtended angle variable mechanical pawl of the utility model, the fulcrum adjusting rod include middle bar and two
A side lever, each side lever that is articulated and connected in the both ends of the middle bar, threaded hole, the outer end of two side levers are provided on the middle bar
Slide hinged in two fulcrum sliding slots by articulated shaft respectively, the middle-end of two gripper arms is hinged on by articulated shaft respectively
The outer end of two side levers.
Preferably, a kind of lever subtended angle variable mechanical pawl of the utility model, the subtended angle adjusting screw rod include screw rod, gear
The left end of piece, snap ring and knob, the screw rod is connected through a screw thread catch, and the snap ring is threadedly attached on screw rod, institute
The right end that knob is fixedly connected on screw rod is stated, the left end of the screw rod is rotatably connected in the circular through hole on screw rod swivel base, institute
It states in the threaded hole that the right end of screw rod is connected to by screw-thread fit on middle bar, the catch and snap ring are located at screw rod swivel base
Left and right ends.
Preferably, a kind of lever subtended angle variable mechanical pawl of the utility model, the sliding block include that top shoe and T shapes are slided
Block, the T-shaped slider are bolted in the lower end of top shoe, and the upper end of the top shoe is connected with two by screw-thread fit
A pitman shaft, the T-shaped slider are slidably connected in rectangle sliding slot, two pitman shafts respectively articulated connection one of the top shoe
Push and pull connecting rod.
Preferably, the left end of a kind of lever subtended angle variable mechanical pawl of the utility model, the gripper arm is arc knot
There is rubber sheet gasket in the inside of structure, the gripper arm left end by bonding connection.
A kind of lever subtended angle variable mechanical pawl of the utility model has the beneficial effect that：
A kind of lever subtended angle variable mechanical pawl of the utility model passes through two gripper arms, two push-and-pull connecting rods, sliding blocks
With automatically controlled telescopic rod, realize that the clamping of object, movement are smooth and compact-sized；It is provided with fulcrum adjusting rod and subtended angle adjusts spiral shell
Bar, the position of the fulcrum of lever construction can fit to change the subtended angle size of two gripper arms where can adjusting gripper arm
It is gripped for various sizes of object.
Description of the drawings
The utility model is described in more detail with specific implementation method below in conjunction with the accompanying drawings.
Fig. 1 is the overall structure diagram of the utility model；
Fig. 2 is the lever seat structural schematic diagram of the utility model；
Fig. 3 is the fulcrum adjusting rod structural schematic diagram of the utility model；
Fig. 4 is the subtended angle adjusting screw rod structural schematic diagram of the utility model；
Fig. 5 is the gripper arm configuration schematic diagram of the utility model；
Fig. 6 is the slide block structure schematic diagram of the utility model.
In figure：Lever seat 1；Bottom plate 1-1；Screw rod transposase 11-2；Rectangle sliding slot 1-3；Fulcrum sliding slot 1-4；Fulcrum adjusting rod 2；
Middle bar 2-1；Side lever 2-2；Subtended angle adjusting screw rod 3；Screw rod 3-1；Catch 3-2；Snap ring 3-3；Knob 3-4；Gripper arm 4；Push-and-pull
Connecting rod 5；Sliding block 6；Top shoe 6-1；T-shaped slider 6-2；Automatically controlled telescopic rod 7.
Specific implementation mode
The utility model is described in further detail below in conjunction with the accompanying drawings.
Specific implementation mode one：
Illustrate present embodiment, a kind of lever subtended angle variable mechanical pawl, including lever seat 1, fulcrum with reference to Fig. 1-6
Adjusting rod 2,4, two, the gripper arm of subtended angle adjusting screw rod 3, two push-and-pull connecting rod 5, sliding block 6 and automatically controlled telescopic rod 7, the fulcrum
The both ends of adjusting rod 2 are slidably connected on lever seat 1, and the left end of the subtended angle adjusting screw rod 3 is rotatably connected on lever seat 1
On, the subtended angle adjusting screw rod 3 is connected to the middle-end of fulcrum adjusting rod 2, the both ends of the fulcrum adjusting rod 2 by screw-thread fit
It is separately connected the middle-end for being connected to a gripper arm 4, the right end of two gripper arms 4 is hinged with a push-and-pull connecting rod 5 respectively,
Two push-and-pull connecting rods 5 are hingedly connected on sliding block 6, and the sliding block 6 is slidably connected on lever seat 1, the automatically controlled telescopic rod 7
Fixing end be fixedly connected on lever seat 1, the movable end of the automatically controlled telescopic rod 7 is bolted sliding block 6, when work,
The movable end of automatically controlled telescopic rod 7 is horizontally slipped by telescopic band movable slider 6, and two are driven by pushing and pulling connecting rod 5 when sliding block 6 slides
Gripper arm 4 is rotated around the both ends of fulcrum adjusting rod 2, and then realizes the opening and closing of two 4 left end subtended angles of gripper arm, realizes object
Gripping；By pivot point adjusting rod 2, the length of fulcrum adjusting rod 2 can be adjusted, 4 place thick stick of gripper arm is changed with this
The position of linkage central bearing point makes gripper be suitable for different sizes to change the size of two 4 left end subtended angles of gripper arm
Grasping body.
Specific implementation mode two：
Illustrate present embodiment with reference to Fig. 1-6, the lever seat 1 includes bottom plate 1-1 and screw rod transposase 11-2, described
Screw rod transposase 11-2 is provided with rectangle sliding slot 1-3, institute by being welded to connect the left end in bottom plate 1-1, the right end of the bottom plate 1-1
The left end setting for stating bottom plate 1-1 is located at the two of screw rod transposase 11-2 there are two fulcrum sliding slot 1-4, two fulcrum sliding slot 1-4
Side is provided with circular through hole on the screw rod transposase 11-2.
Specific implementation mode three：
Illustrate that present embodiment, the fulcrum adjusting rod 2 include middle bar 2-1 and two side lever 2-2 with reference to Fig. 1-6,
It is provided with threaded hole, two side lever 2-2 on each articulated connection in the both ends of the middle bar 2-1 one side lever 2-2, the middle bar 2-1
Outer end it is slide hinged in two fulcrum sliding slot 1-4 by articulated shaft respectively, the middle-end of two gripper arms 4 passes through hinge respectively
Spindle is hinged on the outer end of two side lever 2-2.
Specific implementation mode four：
Illustrate that present embodiment, the subtended angle adjusting screw rod 3 include screw rod 3-1, catch 3-2, snap ring with reference to Fig. 1-6
The left end of 3-3 and knob 3-4, the screw rod 3-1 are connected through a screw thread catch 3-2, the snap ring 3-3 and are threadedly attached in spiral shell
On bar 3-1, the knob 3-4 is fixedly connected on the right end of screw rod 3-1, and the left end of the screw rod 3-1 is rotatably connected on screw rod and turns
In circular through hole on seat 1-2, the right end of the screw rod 3-1 is connected to by screw-thread fit in the threaded hole on middle bar 2-1, institute
It states catch 3-2 and snap ring 3-3 is located at the left and right ends of screw rod transposase 11-2；Rotary screw 3-1, in can adjusting bar 2-1 with
The distance between screw rod transposase 11-2 makes the outer end of two side lever 2-2 be slided on fulcrum sliding slot 1-4 with this, and then realizes two
The length variation of fulcrum adjusting rod 2 is realized in the variation of the outer ends side lever 2-2 distance.
Specific implementation mode five：
Illustrate that present embodiment, the sliding block 6 include top shoe 6-1 and T-shaped slider 6-2, the T with reference to Fig. 1-6
Shape sliding block 6-2 is bolted in the lower end of top shoe 6-1, and the upper end of the top shoe 6-1 is connected with by screw-thread fit
Two pitman shafts, the T-shaped slider 6-2 are slidably connected in rectangle sliding slot 1-3, and two pitman shafts of the top shoe 6-1 are each
One push-and-pull connecting rod 5 of articulated connection；It is horizontally slipped in rectangle sliding slot 1-3 by sliding block 6, pushes or pull on push-and-pull connecting rod 5, lead to
It crosses push-and-pull connecting rod 5 and pushes or pull on two gripper arms 4, make outer end fulcrum rotation of two gripper arms 4 around side lever 2-2, into
And the subtended angle of two 4 left ends of gripper arm is made to increase or reduce.
Specific implementation mode six：
Illustrate present embodiment with reference to Fig. 1-6, the left end of the gripper arm 4 is arcuate structure, the gripper
There is rubber sheet gasket in the inside of 4 left end of arm by bonding connection, is contacted with held object by rubber sheet gasket, both can be to avoid object
Body is collided with by gripper, is also prevented from object and is slid in 4 inside of gripper arm.
A kind of lever subtended angle variable mechanical pawl of the utility model, its working principle is that：When work, automatically controlled telescopic rod 7
Movable end horizontally slipped by telescopic band movable slider 6, sliding block 6 slide when by push and pull connecting rod 5 drive two gripper arms 4 around
The both ends of fulcrum adjusting rod 2 rotate, and then realize the opening and closing of two 4 left end subtended angles of gripper arm, realize the gripping of object；Pass through
Pivot point adjusting rod 2 can adjust the length of fulcrum adjusting rod 2, change 4 place lever mechanism central bearing point of gripper arm with this
Position, to change two 4 left end subtended angles of gripper arm size, make gripper be suitable for various sizes of grasping body；
It is horizontally slipped in rectangle sliding slot 1-3 by sliding block 6, pushes or pull on push-and-pull connecting rod 5, pushed or pull on by pushing and pulling connecting rod 5
Two gripper arms 4 make outer end fulcrum rotation of two gripper arms 4 around side lever 2-2, and then make two 4 left ends of gripper arm
Subtended angle increase or reduce；By pivot point adjusting rod 2, the length of fulcrum adjusting rod 2 can be adjusted, gripper is changed with this
The position of 4 place lever mechanism central bearing point of arm makes gripper be applicable in change the size of two 4 left end subtended angles of gripper arm
In various sizes of grasping body.
Certainly, above description is not limitation of the utility model, and the utility model is also not limited to the example above, this skill
The variations, modifications, additions or substitutions that the those of ordinary skill in art field is made in the essential scope of the utility model, also belong to
In the scope of protection of the utility model.
Claims (6)
1. a kind of lever subtended angle variable mechanical pawl, including lever seat (1), fulcrum adjusting rod (2), subtended angle adjusting screw rod (3), two
A gripper arm (4), two push-and-pull connecting rods (5), sliding block (6) and automatically controlled telescopic rod (7), it is characterised in that：The fulcrum is adjusted
The both ends of bar (2) are slidably connected on lever seat (1), and the left end of the subtended angle adjusting screw rod (3) is rotatably connected on lever seat
(1) on, the subtended angle adjusting screw rod (3) is connected to the middle-end of fulcrum adjusting rod (2), the fulcrum adjusting rod by screw-thread fit
(2) both ends are separately connected the middle-end for being connected to a gripper arm (4), the right ends of two gripper arms (4) respectively with one
It is hinged to push and pull connecting rod (5), two push-and-pull connecting rods (5) are hingedly connected on sliding block (6), and the sliding block (6) is slidably connected at thick stick
On pole socket (1), the fixing end of the automatically controlled telescopic rod (7) is fixedly connected on lever seat (1), the automatically controlled telescopic rod (7)
Sliding block (6) is bolted in movable end.
2. a kind of lever subtended angle variable mechanical pawl according to claim 1, it is characterised in that：Lever seat (1) packet
Bottom plate (1-1) and screw rod swivel base (1-2) are included, the screw rod swivel base (1-2) is by being welded to connect the left end in bottom plate (1-1), institute
The right end for stating bottom plate (1-1) is provided with rectangle sliding slot (1-3), and there are two fulcrum sliding slot (1- for the left end setting of the bottom plate (1-1)
4), two fulcrum sliding slots (1-4) are located at the both sides of screw rod swivel base (1-2), and circle is provided on the screw rod swivel base (1-2)
Through-hole.
3. a kind of lever subtended angle variable mechanical pawl according to claim 2, it is characterised in that：The fulcrum adjusting rod
(2) include middle bar (2-1) and two side levers (2-2), one side lever (2-2) of each articulated connection in both ends of the middle bar (2-1), institute
It states and is provided with threaded hole on bar (2-1), the outer end of two side levers (2-2) is slide hinged in two fulcrums by articulated shaft respectively
In sliding slot (1-4), the middle-end of two gripper arms (4) is hinged on the outer end of two side levers (2-2) by articulated shaft respectively.
4. a kind of lever subtended angle variable mechanical pawl according to claim 3, it is characterised in that：The subtended angle adjusting screw rod
(3) include screw rod (3-1), catch (3-2), snap ring (3-3) and knob (3-4), the left end of the screw rod (3-1) is connected by screw thread
Catch (3-2) is connect, the snap ring (3-3) is threadedly attached on screw rod (3-1), and the knob (3-4) is fixedly connected on spiral shell
The left end of the right end of bar (3-1), the screw rod (3-1) is rotatably connected in the circular through hole on screw rod swivel base (1-2), the spiral shell
The right end of bar (3-1) is connected to by screw-thread fit in the threaded hole on middle bar (2-1), the catch (3-2) and snap ring (3-3)
It is located at the left and right ends of screw rod swivel base (1-2).
5. a kind of lever subtended angle variable mechanical pawl according to claim 2, it is characterised in that：The sliding block (6) includes
Top shoe (6-1) and T-shaped slider (6-2), the T-shaped slider (6-2) are bolted in the lower end of top shoe (6-1), institute
The upper end for stating top shoe (6-1) is connected by screw-thread fit there are two pitman shaft, and the T-shaped slider (6-2) is slidably connected at square
In shape sliding slot (1-3), respectively articulated connection one pushes and pulls connecting rod (5) to two pitman shafts of the top shoe (6-1).
6. a kind of lever subtended angle variable mechanical pawl according to claim 1, it is characterised in that：The gripper arm (4)
Left end be arcuate structure, there is rubber sheet gasket in the inside of gripper arm (4) left end by bonding connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820015924.2U CN208005702U (en) | 2018-01-05 | 2018-01-05 | A kind of lever subtended angle variable mechanical pawl |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820015924.2U CN208005702U (en) | 2018-01-05 | 2018-01-05 | A kind of lever subtended angle variable mechanical pawl |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208005702U true CN208005702U (en) | 2018-10-26 |
Family
ID=63881500
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820015924.2U Expired - Fee Related CN208005702U (en) | 2018-01-05 | 2018-01-05 | A kind of lever subtended angle variable mechanical pawl |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208005702U (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109516190A (en) * | 2018-11-20 | 2019-03-26 | 东台市海邦电气有限公司 | Soft section of attachment device of transfer robot pawl axis |
| CN110179395A (en) * | 2019-06-19 | 2019-08-30 | 小狗电器互联网科技（北京）股份有限公司 | The method of suction nozzle and change suction inlet size for dust catcher |
| CN110340925A (en) * | 2019-07-15 | 2019-10-18 | 金苡炫 | Mechanical grabbing device based on four pole crank sliding block principles |
| CN110683349A (en) * | 2019-12-10 | 2020-01-14 | 湖南生物机电职业技术学院 | Self-discharging manipulator |
| CN111169599A (en) * | 2020-02-12 | 2020-05-19 | 鲁东大学 | Marine garbage treatment structure and treatment method thereof |
| CN111515990A (en) * | 2020-04-23 | 2020-08-11 | 高邮市特种紧固件厂 | High-precision manipulator end movement mechanism with coupler |
| CN111571555A (en) * | 2020-04-07 | 2020-08-25 | 安徽宏源电力设计咨询有限责任公司 | Transformer substation cable releasing robot |
| CN111670689A (en) * | 2020-07-07 | 2020-09-18 | 泉州市格旭工业设计有限公司 | Straw knotter for straw packaging and recycling |
| CN112276675A (en) * | 2020-09-01 | 2021-01-29 | 襄阳奥利斯智能装备科技有限公司 | Numerical control machine tool capable of automatically detecting quality of processed product |
| CN113375014A (en) * | 2020-06-19 | 2021-09-10 | 深圳市白狐工业设计有限公司 | Locking device and telescopic bracket |
| CN116038670A (en) * | 2023-01-28 | 2023-05-02 | 航天晨光股份有限公司 | Manipulator based on visual recognition |
-
2018
- 2018-01-05 CN CN201820015924.2U patent/CN208005702U/en not_active Expired - Fee Related
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109516190A (en) * | 2018-11-20 | 2019-03-26 | 东台市海邦电气有限公司 | Soft section of attachment device of transfer robot pawl axis |
| CN110179395A (en) * | 2019-06-19 | 2019-08-30 | 小狗电器互联网科技（北京）股份有限公司 | The method of suction nozzle and change suction inlet size for dust catcher |
| CN110179395B (en) * | 2019-06-19 | 2023-11-28 | 小狗电器互联网科技（北京）股份有限公司 | Suction head for dust collector and method for changing size of suction inlet |
| CN110340925A (en) * | 2019-07-15 | 2019-10-18 | 金苡炫 | Mechanical grabbing device based on four pole crank sliding block principles |
| CN110683349A (en) * | 2019-12-10 | 2020-01-14 | 湖南生物机电职业技术学院 | Self-discharging manipulator |
| CN111169599A (en) * | 2020-02-12 | 2020-05-19 | 鲁东大学 | Marine garbage treatment structure and treatment method thereof |
| CN111571555A (en) * | 2020-04-07 | 2020-08-25 | 安徽宏源电力设计咨询有限责任公司 | Transformer substation cable releasing robot |
| CN111515990A (en) * | 2020-04-23 | 2020-08-11 | 高邮市特种紧固件厂 | High-precision manipulator end movement mechanism with coupler |
| CN113375014A (en) * | 2020-06-19 | 2021-09-10 | 深圳市白狐工业设计有限公司 | Locking device and telescopic bracket |
| CN111670689A (en) * | 2020-07-07 | 2020-09-18 | 泉州市格旭工业设计有限公司 | Straw knotter for straw packaging and recycling |
| CN112276675A (en) * | 2020-09-01 | 2021-01-29 | 襄阳奥利斯智能装备科技有限公司 | Numerical control machine tool capable of automatically detecting quality of processed product |
| CN116038670A (en) * | 2023-01-28 | 2023-05-02 | 航天晨光股份有限公司 | Manipulator based on visual recognition |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN208005702U (en) | A kind of lever subtended angle variable mechanical pawl | |
| WO2011079631A1 (en) | Guyed serial manipulator | |
| CN105619437B (en) | A kind of modularization two-freedom hand is grabbed | |
| CN108908382A (en) | The coupling adaptive three of tendon rope drive refers to differential mechanism manpower jaw arrangement | |
| CN110315522B (en) | Industrial robot arm mechanism of buckling | |
| CN207682404U (en) | Gripper | |
| CN206306127U (en) | New car wheel shape basket-playing machine device people | |
| CN202763762U (en) | Disassembling tool | |
| CN103284821A (en) | Thumb structure of prosthetic hand | |
| CN109465839A (en) | A kind of feeding clamping jaw | |
| CN113021388B (en) | Multifunctional flexible clamping jaw mechanical arm with gas-magnetic switching function | |
| CN105666508A (en) | Rod-wheel combined type coupling self-adapting under-actuated robot finger device | |
| CN204893973U (en) | People's mechanical finger is imitated to single degree of freedom coupled mode | |
| CN205166918U (en) | Portable pneumatic manipulator | |
| CN207888682U (en) | A kind of robot manipulator structure of robot | |
| CN208614783U (en) | A kind of multi-functional carrying robot device | |
| CN108811744A (en) | A kind of bionical picking mechanical arm device of indirect labor's fruit | |
| CN107471238B (en) | Multi-finger robot end effector with variable grabbing range and method | |
| CN107877506A (en) | A kind of single line drawing-type mechanical gripper and its application method | |
| CN105773583B (en) | A kind of four station manipulators | |
| CN208708181U (en) | It is a kind of to be pre-positioned autonomous clipping picking mechanism and picking collection device | |
| CN206066478U (en) | A kind of metal bar gripping manipulator | |
| CN203542606U (en) | Plane joint type mechanical hand | |
| CN207432239U (en) | A kind of robot grabbing arm with autobalance calibration function | |
| CN112119711A (en) | Flower transplanting paw with leaf gathering function |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181026 Termination date: 20190105 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |