CN208305091U - A kind of mechanical arm and its grabbing device - Google Patents
A kind of mechanical arm and its grabbing device Download PDFInfo
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- CN208305091U CN208305091U CN201820735329.6U CN201820735329U CN208305091U CN 208305091 U CN208305091 U CN 208305091U CN 201820735329 U CN201820735329 U CN 201820735329U CN 208305091 U CN208305091 U CN 208305091U
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- connecting rod
- grabbing device
- connect
- bevel gear
- finger
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- 230000005540 biological transmission Effects 0.000 claims abstract description 56
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 25
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 230000006641 stabilisation Effects 0.000 abstract description 4
- 238000011105 stabilization Methods 0.000 abstract description 4
- 230000033001 locomotion Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 244000060701 Kaempferia pandurata Species 0.000 description 2
- 235000016390 Uvaria chamae Nutrition 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
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- 230000009467 reduction Effects 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
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- 238000005516 engineering process Methods 0.000 description 1
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- 238000012423 maintenance Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
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Abstract
A kind of mechanical arm and its grabbing device of the utility model, including at least two operation fingers, the operation finger includes first connecting rod, second connecting rod and third connecting rod；One end of the first connecting rod and one end of second connecting rod are connect with one end of third connecting rod, and the third connecting rod other end is free end；The drive rod and transmission nut pedestal that the other end of the first connecting rod and main motor drive are connect, and the second connecting rod is connect by connecting rod base with the Bevel Gear Transmission pair that individual motor drives.The utility model can make the weight of complex shape state grab more flexible stabilization, substantially increase grabbing device for the Grasping skill and environment self-adaption ability of complicated form object.
Description
Technical field
The invention belongs to field of mechanical technique, more particularly to a kind of mechanical arm and its grabbing device.
Background technique
Increasing with the gradually implementation of Chinese Space station strategic plan, for the various mission requirements in spacecraft module out of my cabin
Add, it, can be based on the design of modular reconfigurable the problems such as to solve the maintenance of spacecraft maintainable technology on-orbit and operational monitoring out of my cabin
Thought designs the operating function module of reconfigurable type multiple mechanical arm.End effector functional module of the grabbing device as mechanical arm needs
Flexibility with higher is wanted, is being also required to adaptive capacity to environment with higher in face of changeable environment, and current crawl
Device only uses single motor driver operation finger and draws close to center, cannot individually adjust each behaviour for complex structure
The grasping force for making finger keeps grasping body dynamics insufficient, deficient in stability.
Summary of the invention
For the above technical problems, an object of the present invention is to provide a kind of grabbing device of mechanical arm, no
But each operation finger cooperating can be driven by main motor, each operation finger can also be independently driven by individual motor
Movement makes the weight of complicated form grab more flexible stabilization.
The purpose of the present invention is achieved through the following technical solutions:
A kind of grabbing device of mechanical arm, it is characterised in that: including at least two operation fingers, the operation finger includes
First connecting rod, second connecting rod and third connecting rod；One end of the first connecting rod and one end of second connecting rod connect with the third
One end of bar is rotatablely connected, and the other end of the third connecting rod is free end；The second connecting rod is than first connecting rod close to center
Line；
The operation finger is arranged in outside the cavity surrounded by connected with outer casing and support housing；Each operation finger
The other end of first connecting rod is connect with transmission nut pedestal, and the transmission nut pedestal is arranged on drive rod, with drive rod
Ball guide screw nat is constituted, the drive rod passes through speed reducing gear pair driving, the master by main motor in the cavity is arranged
The quantity of motor is one；
The other end of second connecting rod of each operation finger and the middle part of first connecting rod pass through the one of connecting rod base simultaneously
End is fixed on the outside of support housing, and the other end of the connecting rod base is connect with Bevel Gear Transmission pair, the Bevel Gear Transmission pair by
Individual motor driving in the cavity is set, and the quantity of the individual motor is consistent with the operation quantity of finger.
Optionally, the first connecting rod can be rotated by connecting rod a, connecting rod b, connecting rod c, connecting rod d, connecting rod e by sequentially head and the tail
It connects and constitutes, the connecting rod a is rotatably connected with the third connecting rod other end；The one end and company of the second connecting rod by connecting rod f
One end of bar g is constituted and being rotatably connected, and the other end of connecting rod f and the other end of third connecting rod connect；One end of connecting rod h
It is rotatably connected with connecting rod f with the one end connecting connecting rod g, the other end of connecting rod h can turn with connecting rod b with one end that connecting rod c is connect
Dynamic connection；The other end of the connecting rod e of each operation finger is connect with transmission nut pedestal, each operation finger
One end that the other end of connecting rod g and the middle part of connecting rod d pass through connecting rod base simultaneously is fixed on the outside of support housing.
Optionally, at least two operation fingers are evenly arranged around center line in 360 degree, and the drive rod is arranged in institute
It states on center line.
Optionally, the main motor is arranged on the medial surface of connected with outer casing, and main motor shaft is by being arranged in connected with outer casing
Main motor is installed on connected with outer casing by the first bearing on medial surface in inner hole, and the main motor shaft is equipped with the first straight-tooth
Wheel.
Optionally, one end of the drive rod passes through the second bearing being arranged in connected with outer casing inner hole drive rod is fixed
On connected with outer casing medial surface, the other end of drive rod is equipped with transmission nut pedestal；The drive rod is equipped with the second spur gear,
First spur gear and second spur gear constitute speed reducing gear pair.
Optionally, each connecting rod e passes through the through-hole being arranged in support housing and the transmission nut pedestal connects
It connects.
Optionally, the outer surface of the connected with outer casing is equipped with the end cap of covering first bearing and second bearing, the end
Lid is fixed by screws on connected with outer casing.
Optionally, each individual motor is arranged on support housing medial surface, the finger transmission shaft of individual motor
Across support housing, and individual motor is installed in support housing by the 3rd bearing by being arranged in support housing inner hole,
The rotation of the Bevel Gear Transmission pair on the outside of support housing is arranged in the driving of finger transmission shaft.
Optionally, the connecting rod base is made of annular foundation and two support plates, and two support plates are vertically installed in annular
It on foundation and is axially symmetric structure, one end that each support plate is not connect with annular foundation is equipped with through-hole, and the connecting rod g's is another
End and the middle part of connecting rod d are connect by the through-hole with connecting rod base；The connecting rod base passes through annular foundation and support housing is affixed.
Optionally, the finger transmission shaft passes through the annular foundation of the connecting rod base, and passes through shaft coupling and the cone tooth
The active axis connection of transmission is taken turns, the drive bevel gear of the Bevel Gear Transmission pair is arranged on the driving shaft, by mantle tooth
Wheel is arranged on the driven axle between two support plate through-holes, is connected to two in the middle part of the other end and connecting rod d of the connecting rod g
On the driven axle of a through-hole, drive bevel gear is engaged with dynamic bevel gear constitutes Bevel Gear Transmission pair.
It is a further object to provide a kind of mechanical arms, are equipped with machine as described above in the end of the mechanical arm
Tool arm grabbing device, the mechanical arm is equipped with universal connection part, for connecting with the connected with outer casing of the grabbing device.
The invention has the benefit that
Mechanical arm grabbing device of the invention considers changeable environment and the crawl task for complex structure,
Operation finger can drive cooperating by the main motor being mounted on connected with outer casing, can also be by being mounted on the inside of support housing
Individual motor is operated alone, and the weight of complex shape state can be made to grab more flexible stabilization, substantially increase grabbing device for
The Grasping skill and environment self-adaption ability of complicated form object.
Detailed description of the invention
Fig. 1 is the external structure schematic diagram of mechanical arm grabbing device provided in an embodiment of the present invention；
Fig. 2 is the schematic diagram of internal structure of mechanical arm grabbing device provided in an embodiment of the present invention；
Fig. 3 is the connecting rod base structural schematic diagram of mechanical arm grabbing device provided in an embodiment of the present invention.
In figure:
101. 102. support housing 103. of connected with outer casing operates finger
201. third connecting rod, 202. connecting rod a, 203. connecting rod b, 204. connecting rod f, 205. connecting rod h
206. connecting rod c, 207. connecting rod g, 208. connecting rod d, 209. connecting rod e, 210. end cap
211. screw, 212 drive rod, 213. first bearing, 214. second bearing
215. speed reducing gear pair, 216. transmission nut pedestal, 217. 3rd bearing, 218. finger transmission shaft
219. Bevel Gear Transmissions pair 220. connecting rod base, 221. pin shaft, 2001. individual motor, 2002. main motor 2201.
The annular foundation of support plate 2202.
Specific embodiment
In order to make those skilled in the art more fully understand application scheme, below in conjunction in the embodiment of the present application
Attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is only this
Apply for a part of the embodiment, instead of all the embodiments.Based on the embodiment in the application, those of ordinary skill in the art exist
Every other embodiment obtained under the premise of creative work is not made, shall fall in the protection scope of this application.It ties below
Drawings and examples are closed the application is described in detail.
Fig. 1 is a kind of external structure schematic diagram of mechanical arm grabbing device shown according to an exemplary embodiment.Such as Fig. 1
It is shown, the mechanical arm grabbing device of the present embodiment, including at least two operation fingers, the operation finger include first connecting rod,
Second connecting rod and third connecting rod 201；One end of the first connecting rod and one end of second connecting rod with the third connecting rod 201
One end rotation connection, the other end of the third connecting rod are free end；The second connecting rod is than first connecting rod close to center line；Institute
State center line, i.e., the central axis of entire grabbing device.
Fig. 2 is a kind of schematic diagram of internal structure of mechanical arm grabbing device shown according to an exemplary embodiment.Such as Fig. 2
Shown, the operation finger is arranged in outside the cavity surrounded by connected with outer casing 101 and support housing 102；Each manipulator
The other end of the first connecting rod of finger is connect with transmission nut pedestal 216, and the transmission nut pedestal 216 is arranged in drive rod
On 212, ball guide screw nat is constituted with drive rod 212, the drive rod 212 is led to by the main motor 2002 for being arranged in the cavity
The driving of speed reducing gear pair 215 is crossed, the quantity of the main motor 2002 is one；It is each it is described operation finger second connecting rod it is another
One end that one end and the middle part of first connecting rod pass through connecting rod base 220 simultaneously is fixed on 102 outside of support housing, the connecting rod base
220 other end is connect with Bevel Gear Transmission pair 219, and the Bevel Gear Transmission pair 219 is by being arranged independence in the cavity
Motor 2001 drives, and the quantity of the individual motor 2001 is consistent with the operation quantity of finger.
Specifically, as shown in Figure 1, the first connecting rod is by connecting rod a202, connecting rod b203, connecting rod c206, connecting rod d208, company
Bar e209 is constituted and being sequentially rotatably connected from beginning to end, and the connecting rod a202 is rotatably connected with 201 other end of third connecting rod；
The second connecting rod is made of and being rotatably connected one end of connecting rod f204 and one end of connecting rod g207, and connecting rod f204's is another
One end is connect with the other end of third connecting rod 201；It one end of connecting rod h205 can with the one end connecting connecting rod g207 with connecting rod f204
Rotation connection, the other end of connecting rod h205 are rotatably connected with connecting rod b203 with the one end connecting connecting rod c206；Between each connecting rod
It can be realized and be rotatably connected by pin shaft 221；The other end of connecting rod e209 in the first connecting rod of each operation finger
It is connect with transmission nut pedestal 216, for example, connecting rod e209 passes through the through-hole being arranged in support housing 102 and the transmission
Nut pedestal 216 connects；In the other end and first connecting rod of connecting rod g207 in the second connecting rod of each operation finger
One end that the middle part of connecting rod d208 passes through connecting rod base 220 simultaneously is fixed on 102 outside of support housing.
In a specific embodiment, as shown in Fig. 2, the main motor 2002 can be set in connected with outer casing 101
On medial surface, 2002 axis of main motor is by being arranged in the first bearing 213 on 101 medial surface of connected with outer casing in inner hole for main motor
2002 are installed on connected with outer casing 101, and the main motor shaft is equipped with the first spur gear；
Further, one end of the drive rod 212 passes through the second bearing 214 being arranged in 101 inner hole of connected with outer casing
Drive rod 212 is installed on 101 medial surface of connected with outer casing, the other end of drive rod 212 is equipped with transmission nut pedestal 216；Institute
It states drive rod 212 and constitutes speed reducing gear pair 215 equipped with the second spur gear, first spur gear and second spur gear.
Certainly, other positions can also be arranged in main motor, such as on the medial surface of support housing, as long as can complete
Speed reducing gear pair is directly driven, is transmitted motion on the drive rod at middle part, since drive rod and transmission nut pedestal are constituted and rolled
Screw nut pair, thus make the cooperating of the connecting rod e completion finger of transmission nut pedestal upper end attended operation finger,
The application is not specifically limited.
In another embodiment specific implementation mode, as shown in Fig. 2, each individual motor 2001 can be set and support
On 102 medial surface of shell, the finger transmission shaft 218 of individual motor 2001 passes through support housing 102, and outer in support by setting
Individual motor 2001 is installed in support housing 102 by the 3rd bearing 217 in 102 inner hole of shell, and the driving of finger transmission shaft 218 is set
The Bevel Gear Transmission pair 219 in 102 outside of support housing is set to rotate.
Certainly, other positions can also be arranged in individual motor, such as on the medial surface of connected with outer casing, as long as each only
The finger transmission shaft of vertical motor can be realized by the through-hole of support housing, driving bevel gear transmission to each operation finger
Motion control, the application is not specifically limited.
Optionally, as shown in figure 3, the connecting rod base 220 is made of annular foundation 2202 and two support plates 2201, two
Support plate 2201 is vertically installed on annular foundation 2202 and for axially symmetric structure, each support plate 2201 not with annular foundation
One end of 2202 connections is equipped with through-hole, and the other end of the connecting rod g207 and the middle part of connecting rod d208 pass through the through-hole and connecting rod
Seat 220 connects；The connecting rod base 220 passes through annular foundation 2202 and support housing 102 is affixed.
Specifically, the finger transmission shaft 218 passes through the annular foundation 2202 of the connecting rod base 220, and pass through shaft coupling
It can be set with the drive bevel gear of the active axis connection of the Bevel Gear Transmission pair 219, the Bevel Gear Transmission pair 219 in institute
It states on driving shaft, dynamic bevel gear is arranged on the driven axle between two 2201 through-holes of support plate, and the connecting rod g207's is another
It is connected on the driven axle of two through-holes in the middle part of end and connecting rod d208, drive bevel gear engages composition with dynamic bevel gear
Bevel Gear Transmission pair 219.
As shown in Fig. 2, for the sealing and dustproof of first bearing 213 and second bearing 214, optionally, outside the connection
The end cap 210 of covering first bearing 213 and second bearing 214 is also provided on the outer surface of shell 101, the end cap 210 is logical
Screw is crossed to be fixed on connected with outer casing 101.
Optionally, at least two operation fingers are evenly arranged around center line in 360 degree, for example, having three operation fingers, often
Angle between two operation fingers is 120 degree；The drive rod 212 can be set on the center line, all manipulators
Refer to and drawn close to the centerline direction when doing crawl movement, so that grasping force is uniform.
The end that the mechanical arm grabbing device of the application, substantially reconstruct formula mechanical arm are used to grab, move, placing part
Execution module.The device can be realized positioning crawl, and two movements are placed in adjustment.Mainly there are three steps for positioning crawl.First
Step drives reduction gearing secondary motion by motor shaft, transmits motion on intermediate drive rod, transmission nut pedestal and drive rod
Ball guide screw nat is constituted, moves in a straight line transmission nut pedestal along drive rod, makes to be connected to the connecting rod e on pedestal and drives
Other connecting rods of operation finger are unfolded outward, control the angle of finger root opening by controlling the revolution of main motor, complete
The expansion campaign of finger；Second step adjusts mechanical arm pose, selects side appropriate according to the difference of the position of part and shape
To making the close part of grabbing device, until all operation fingers encase part completely, or operation finger tips first connect
Bar touches the surface of part；Third step, all individual motor rotations operated below fingers, drives and is used to change rotation axis side
To Bevel Gear Transmission pair, gather the connecting rod d of root by the state being unfolded around the driven axle, while Bevel Gear Transmission
Individual motor in pair rotates backward, and collapses transmission nut pedestal slowly along drive rod, pushes the company for being connected in the end connecting rod e
Bar c and connecting rod g rotates connecting rod f around the end of connecting rod h, the connecting rod a that is connected with connecting rod c and connecting rod b also push third connecting rod with
The rotation of connecting rod f slowly gather to centre.During adjusting placement, first part promptly, driven in mechanical arm
It is moved to the top of target position, after part is placed on target position, first controls the individual motor of an operation finger root
It rotates backward, the expansion of the connecting rod of each finger slowly, after the joint for determining end is deployed into maximum angle, reduction gearing
Main motor in pair starts turning, and mobile chassis rises along ball-screw, while root joint is unfolded, plays extrapolation
Effect, it is ensured that part completely disengages the constraint of operation finger.
The mechanical arm grabbing device of the application, operation finger can be assisted by the main motor driving being mounted on connected with outer casing
Biconditional operation can also be operated alone by being mounted on the individual motor on the inside of support housing, and the weight of complex shape state can be made to grab more
Add flexible stabilization.
Present invention also provides a kind of mechanical arms, are equipped with mechanical arm grabbing device as described above in the end of mechanical arm.
The mechanical arm is equipped with universal connection part, for connecting with the connected with outer casing of the grabbing device, thus by the grabbing device
Spacefarer is assisted to complete weight by controlling joint and the end-effector of mechanical arm as the end execution module of the mechanical arm
The space tasks of crawl and the movement of object.
The above is only the application preferred embodiment, not makes any form of restriction to the application.Although
The application has been disclosed in a preferred embodiment above, however is not limited to the application.Anyone skilled in the art,
In the case where not departing from technical scheme ambit, all using the methods and technical content of the disclosure above to present techniques
Scheme makes many possible changes and modifications or equivalent example modified to equivalent change.Therefore, all without departing from this Shen
Please technical solution content, according to technical spirit any simple modification made to the above embodiment of the application, equivalent variations
And modification, still fall within technical scheme protection in the range of.
Claims (10)
1. a kind of grabbing device of mechanical arm, it is characterised in that: including at least two operation fingers, the operation finger includes the
One connecting rod, second connecting rod and third connecting rod (201)；One end of the first connecting rod and one end of second connecting rod with the third
One end of connecting rod (201) is rotatablely connected, and the other end of the third connecting rod is free end；The second connecting rod is leaned on than first connecting rod
Nearly center line；
The operation finger is arranged outside the cavity surrounded by connected with outer casing (101) and support housing (102)；Each operation
The other end of the first connecting rod of finger is connect with transmission nut pedestal (216), and transmission nut pedestal (216) setting is passing
In lever (212), ball guide screw nat is constituted with drive rod (212), the drive rod (212) is by being arranged master in the cavity
Motor (2002) is driven by speed reducing gear pair (215), and the quantity of the main motor (2002) is one；
The other end of second connecting rod of each operation finger and the middle part of first connecting rod pass through the one of connecting rod base (220) simultaneously
End is fixed on the outside of support housing (102), and the other end of the connecting rod base (220) is connect with Bevel Gear Transmission secondary (219), described
Bevel Gear Transmission pair (219) is driven by individual motor (2001) in the cavity is arranged, the individual motor (2001)
Quantity is consistent with the operation quantity of finger.
2. grabbing device according to claim 1, it is characterised in that: the first connecting rod is by connecting rod a(202), connecting rod b
(203), connecting rod c(206), connecting rod d(208), connecting rod e(209) constituted and being sequentially rotatably connected from beginning to end, the connecting rod a
(202) it is rotatably connected with third connecting rod (201) other end；The one end and connecting rod g of the second connecting rod by connecting rod f(204)
(207) one end is constituted and being rotatably connected, connecting rod f(204) the other end and third connecting rod (201) the other end connect
It connects；Connecting rod h(205) one end be rotatably connected with connecting rod f(204) with one end that connecting rod g(207) is connect, connecting rod h(205)
The other end is rotatably connected with connecting rod b(203) with one end that connecting rod c(206) is connect；The connecting rod e of each operation finger
(209) the other end is connect with transmission nut pedestal (216), it is each it is described operation finger connecting rod g(207) the other end and
Connecting rod d(208) middle part pass through one end of connecting rod base (220) simultaneously and be fixed on the outside of support housing (102).
3. grabbing device according to claim 2, it is characterised in that: the main motor (2002) is arranged in connected with outer casing
(101) on medial surface, main motor (2002) axis is by being arranged the first bearing on connected with outer casing (101) medial surface in inner hole
(213) main motor (2002) is installed on connected with outer casing (101), the main motor shaft is equipped with the first spur gear.
4. grabbing device according to claim 3, it is characterised in that: one end of the drive rod (212) is existed by setting
Drive rod (212) is installed on connected with outer casing (101) medial surface by the second bearing (214) in connected with outer casing (101) inner hole, is passed
The other end of lever (212) is equipped with transmission nut pedestal (216)；The drive rod (212) is equipped with the second spur gear, and described the
One spur gear and second spur gear constitute speed reducing gear pair (215).
5. grabbing device according to claim 4, it is characterised in that: each connecting rod e(209) propped up by setting
Through-hole in support shell (102) is connect with the transmission nut pedestal (216).
6. grabbing device according to claim 1 or 2, it is characterised in that: set on the outer surface of the connected with outer casing (101)
There is the end cap (210) of covering first bearing (213) and second bearing (214), the end cap (210) is fixed by screws in connection
On shell (101).
7. grabbing device according to claim 2, it is characterised in that: each individual motor (2001) is arranged at branch
It supports on shell (102) medial surface, the finger transmission shaft (218) of individual motor (2001) passes through support housing (102), and by setting
Individual motor (2001) is installed on support housing (102) by the 3rd bearing (217) set in support housing (102) inner hole,
Bevel Gear Transmission secondary (219) rotation that finger transmission shaft (218) driving is arranged on the outside of support housing (102).
8. grabbing device according to claim 7, it is characterised in that: the connecting rod base (220) is by annular foundation (2202)
And two support plates (2201) are constituted, two support plates (2201) are vertically installed on annular foundation (2202) and are axial symmetry knot
Structure, one end that each support plate (2201) does not connect with annular foundation (2202) be equipped with through-hole, the connecting rod g(207) it is another
End and connecting rod d(208) middle part connect with connecting rod base (220) by the through-hole；The connecting rod base (220) passes through annular foundation
(2202) affixed with support housing (102).
9. grabbing device according to claim 8, it is characterised in that: the finger transmission shaft (218) passes through the connecting rod
The annular foundation (2202) of seat (220), and by the active axis connection of shaft coupling and the Bevel Gear Transmission secondary (219), it is described
The drive bevel gear of Bevel Gear Transmission pair (219) is arranged on the driving shaft, and dynamic bevel gear is arranged in two support plates
(2201) on the driven axle between through-hole, the connecting rod g(207) the other end and connecting rod d(208) in the middle part of be connected to two
On the driven axle of through-hole, drive bevel gear is engaged with dynamic bevel gear constitutes Bevel Gear Transmission pair (219).
10. a kind of mechanical arm, it is characterised in that: be equipped with the described in any item mechanical arms of claim 1-9 in the end of mechanical arm
Grabbing device；The mechanical arm is equipped with universal connection part, connect for the connected with outer casing (101) with the grabbing device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820735329.6U CN208305091U (en) | 2018-05-17 | 2018-05-17 | A kind of mechanical arm and its grabbing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820735329.6U CN208305091U (en) | 2018-05-17 | 2018-05-17 | A kind of mechanical arm and its grabbing device |
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| Publication Number | Publication Date |
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| CN208305091U true CN208305091U (en) | 2019-01-01 |
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ID=64712599
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820735329.6U Expired - Fee Related CN208305091U (en) | 2018-05-17 | 2018-05-17 | A kind of mechanical arm and its grabbing device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108406826A (en) * | 2018-05-17 | 2018-08-17 | 沈阳建筑大学 | A kind of mechanical arm and its grabbing device |
| CN108406826B (en) * | 2018-05-17 | 2024-06-07 | 沈阳建筑大学 | Mechanical arm and grabbing device thereof |
-
2018
- 2018-05-17 CN CN201820735329.6U patent/CN208305091U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108406826A (en) * | 2018-05-17 | 2018-08-17 | 沈阳建筑大学 | A kind of mechanical arm and its grabbing device |
| CN108406826B (en) * | 2018-05-17 | 2024-06-07 | 沈阳建筑大学 | Mechanical arm and grabbing device thereof |
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Granted publication date: 20190101 |