CN208428260U - Self-adapting type software handgrip - Google Patents
Self-adapting type software handgrip Download PDFInfo
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- CN208428260U CN208428260U CN201820944961.1U CN201820944961U CN208428260U CN 208428260 U CN208428260 U CN 208428260U CN 201820944961 U CN201820944961 U CN 201820944961U CN 208428260 U CN208428260 U CN 208428260U
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Abstract
The utility model discloses a kind of self-adapting type software handgrips, the software handgrip includes slider track mount, the end cap being fixedly installed on slider track mount, the helical orbit disk being installed in slider track mount, the sliding block being installed on slider track mount, it is fixedly installed on end cap and drives the motor of helical orbit disk rotation, and the flexibility being installed below sliding block singly refers to, the helical orbit disk is equipped with vortex-like track, the slider track mount bottom end is equipped with several radially distributed sliding rails, the top of the sliding block is coupled with vortex-like track, when the rotation of motor driven helical orbit disk, sliding block drives flexibility singly to refer to and moves along sliding rail.Self-adapting type software handgrip in the utility model can change the flexible crawl position singly referred to, and structure is simple, is easily installed, dismantles and repairs.
Description
Technical field
The utility model relates to soft robot technical fields, soft more particularly to a kind of self-adapting type of moveable position
Body handgrip.
Background technique
Soft robot is emerging hot spot and the future development forward position of current robot technology, with conventional rigid robot phase
Than showing unprecedented adaptability, sensitivity and agility, and constantly expand the application field of robot, being
One of the main trend of robot future development.
The characteristics of researcher both domestic and external is according to soft material and driving devises many and is different from conventional rigid handgrip
Software handgrip.These software handgrips possess good environmental interaction and man-machine safety, and can be soft catch is many easy
Broken object, has a good application prospect.But this software handgrip by holding screws such as bolts due to being assembled at present
, all it is often that software handgrip is fixed on the rack on specific position, does not have adaptivity, for different size of object
There is difficulties for body crawl.The software handgrip of this integral type simultaneously, replacement is cumbersome, and cost is very high, is unfavorable for applying very much.
Therefore, in view of the above technical problems, it is necessary to which a kind of self-adapting type software handgrip is provided.
Utility model content
In view of this, can change flexibility the purpose of this utility model is to provide a kind of self-adapting type software handgrip
The crawl position singly referred to, and structure is simple, is easily installed, dismantles and repairs.
To achieve the goals above, the technical solution that an embodiment of the present invention provides is as follows:
A kind of self-adapting type software handgrip, the software handgrip include slider track mount, are fixedly installed in slider track
End cap on bracket, the helical orbit disk being installed in slider track mount, the sliding block being installed on slider track mount, fixation
It is installed on end cap and drive the motor of helical orbit disk rotation and the flexibility being installed below sliding block singly to refer to, the spiral
Track plate is equipped with vortex-like track, and the slider track mount bottom end is equipped with several radially distributed sliding rails, the cunning
The top of block is coupled with vortex-like track, and when the rotation of motor driven helical orbit disk, sliding block drives flexibility singly to refer to along sliding
Track movement.
Mechanical arm connection frame is fixedly installed on the end cap as a further improvement of the utility model, mechanical arm connects
The accommodating space for being provided with indent is connect, the motor is contained in the accommodating space of mechanical arm connection frame.
As a further improvement of the utility model, slider track mount bottom end setting it is multiple with circular manner in etc.
Sliding rail away from distribution, slider track mount top are equipped with the circular trough for accommodating helical orbit disk.
The two sides of the sliding block are provided with inner groovy as a further improvement of the utility model, for connecting the cunning
Block track support；The top of the sliding block is equipped with sliding slot, for matching the vortex-like track of the helical orbit disk；The sliding block
Bottom end has rectangular opening, singly refers to for connecting the flexibility.
The centre of the helical orbit disk is equipped with an installation with keyway as a further improvement of the utility model,
Hole, end cap central have circular hole, and the motor shaft of the motor passes through the mounting hole that the circular hole on end cap is fixed on helical orbit disk
It is interior.
The flexibility singly refers to buckle structure as a further improvement of the utility model, flexible singly to refer to including connection
Head, the soft finger being fixedly installed on connector are installed in connector and refer to the pneumatic joint being connected, the company of being fixedly installed in soft
Torsionspring on connector and the buckle of the connecting rod on connector and soft finger squeeze buckle are installed on by torsionspring.
Soft refer to includes matrix and several air cavitys on matrix, institute as a further improvement of the utility model,
Air cavity cavity size is stated to be gradually reduced along the direction far from pneumatic joint.
The connecting rod buckle and soft finger squeeze buckle are installed on the two of torsionspring as a further improvement of the utility model,
Side.
The first end of the connecting rod buckle is rotatably mounted on connector as a further improvement of the utility model,
Second end is equipped with the first sunk structure, and the connector is equipped with raised structures, and the connector is equipped with for connecting rod card
Detain several limiting sections for being limited, the raised structures on the first sunk structure and connector on connecting rod buckle cooperate with
Realize that the buckle of connecting rod buckle and connector is installed.
The soft first end for referring to squeeze buckle is rotatably mounted to connector as a further improvement of the utility model,
On, second end is equipped with the second sunk structure, and the connector is equipped with rod structure, towards connector on the soft finger squeeze buckle
One side surface is equipped with barb structure, squeezes soft finger for clamping soft finger is fixed on connector, soft the referred on squeeze buckle
Rod structure on two sunk structures and connector cooperates to be installed with the buckle for realizing soft finger squeeze buckle and connector.
The beneficial effects of the utility model are:
1, slide rail is provided on slider track mount, it can be ensured that sliding block is slided in slide rail, real
Fixed square upward sliding now；
2, four threaded holes are provided at the top of slider track mount, it is ensured that end cap and mechanical arm support are fastened on sliding block
On track support；
3, multiple sliding slots are provided in slider top, it is ensured that sliding block comes into full contact with vortex-like track on helical orbit disk, realizes
Stable sliding；
4, it is provided with rectangular opening in slider bottom, the detachable Pneumatic flexible list installed can be matched and refer to buckle knot
Structure, while facilitating the disassembly of finger；
5, it is provided with helical orbit disk, by vortex-like track on helical orbit disk, can accurately control the radial fortune of sliding block
Dynamic distance；
6, be provided with end cap so that helical orbit disk is sunken to slider track mount bottom completely, it is ensured that helical orbit disk with
Sliding block comes into full contact with, and reaches optimum efficiency；
7, it is provided with the mounting hole with keyway on helical orbit disk, guarantees that motor sufficiently connects helical orbit disk, realizes
Fine rotational of the motor to helical orbit disk；
8, four threaded holes are provided at the middle part of end cap, it is ensured that motor, which is mounted on end cap, does not occur sliding phenomenon, adds
The strong stability of structure；
9, four regular channels are provided in the boss side surfaces of mechanical arm connection frame, not only alleviate the weight of bracket, side
Just the placement of motor lines and ventilation pipe, moreover it is possible to accelerate the heat dissipation of motor；
10, using detachable pneumatic soft finger, installation, convenient disassembly are quick, low manufacture cost.
Detailed description of the invention
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is some embodiments recorded in the utility model, for those of ordinary skill in the art, is not making the creative labor
Under the premise of, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is the schematic perspective view of software handgrip in one specific embodiment of the utility model；
Fig. 2 is another schematic perspective view of software handgrip in one specific embodiment of the utility model；
Fig. 3 is the schematic perspective view of slider track mount in one specific embodiment of the utility model；
Fig. 4 is the schematic perspective view of sliding block in one specific embodiment of the utility model；
Fig. 5 is the schematic perspective view of helical orbit disk in one specific embodiment of the utility model；
Fig. 6 is the schematic perspective view of end cap in one specific embodiment of the utility model；
Fig. 7 is the schematic perspective view of motor in one specific embodiment of the utility model；
Fig. 8 is the schematic perspective view of mechanical arm connection frame in one specific embodiment of the utility model；
Fig. 9 is the flexible schematic perspective view singly referred in one specific embodiment of the utility model；
Figure 10 is the schematic perspective view of connector in one specific embodiment of the utility model；
Figure 11 a is the side structure schematic view of connector in one specific embodiment of the utility model；
Figure 11 b is the schematic diagram of the section structure in Figure 11 a at A-A；
Figure 12 is the schematic perspective view of connecting rod buckle in one specific embodiment of the utility model；
Figure 13 is the soft schematic perspective view for referring to squeeze buckle in one specific embodiment of the utility model；
Figure 14 is the schematic perspective view of pneumatic joint in one specific embodiment of the utility model.
Specific embodiment
In order to make those skilled in the art more fully understand the technical solution in the utility model, below in conjunction with this reality
With the attached drawing in new embodiment, the technical scheme in the utility model embodiment is clearly and completely described, it is clear that
The described embodiments are only a part of the embodiments of the utility model, instead of all the embodiments.Based on the utility model
In embodiment, every other implementation obtained by those of ordinary skill in the art without making creative efforts
The range of the utility model protection all should belong in example.
It is in the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", " perpendicular
Directly ", the orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, and is only
For ease of description the utility model and simplify description, rather than the device or element of indication or suggestion meaning must have it is specific
Orientation, be constructed and operated in a specific orientation, therefore should not be understood as limiting the present invention.In addition, term " the
One ", " second " is used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " is pacified
Dress ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally
Connection；It can be mechanical connection, be also possible to be electrically connected；Can be directly connected, can also indirectly connected through an intermediary,
It can be the connection inside two elements.For the ordinary skill in the art, above-mentioned art can be understood with concrete condition
The concrete meaning of language in the present invention.
Join shown in Fig. 1 to Fig. 8, the self-adapting type software handgrip in one specific embodiment of the utility model, including sliding block
Track support 20, the end cap 30 being fixedly installed on slider track mount, the helical orbit disk being installed in slider track mount
40, the sliding block 50 that is installed on slider track mount, the motor 60 for being fixedly installed on end cap and helical orbit disk being driven to rotate,
And the flexibility being installed below sliding block singly refers to 10.
In addition, being fixedly installed with mechanical arm connection frame 70 on end cap 30, mechanical arm connection frame is equipped with the accommodating space of indent
71, motor 60 is contained in the accommodating space 71 of mechanical arm connection frame.
Helical orbit disk 40 is equipped with vortex-like track 41 in the utility model, and 20 bottom end of slider track mount is equipped with several edges
Radially-arranged sliding rail 21, the top of sliding block 50 are coupled with vortex-like track 41, when motor 60 drives helical orbit disk
When 40 rotation, sliding block 50 drives flexibility singly to refer to that 10 move along sliding rail 21.
Join shown in Fig. 2, it is in be equally spaced that 20 bottom end of slider track mount, which is arranged three with circular manner, in present embodiment
Sliding rail 21, can so make flexible uniform force when singly referring to crawl object.20 top of slider track mount, which is equipped with, to be used
In the circular trough 22 of receiving helical orbit disk, circular trough 22 limits helical orbit disk 40 for placing helical orbit disk 40
Movement.
Join shown in Fig. 4, the two sides of sliding block 50 are provided with inner groovy 51, are used for connection sliding block track support 20；Sliding block 50
Top is equipped with sliding slot 52, for matching the vortex-like track 41 of helical orbit disk 40；The bottom end of sliding block 50 has rectangular opening 53, is used for
Connection flexibility singly refers to 10.
Join shown in Fig. 4, Fig. 5, helical orbit disk 40 has multiple tracks helical orbit 41, the top of sliding block 50 in present embodiment
Equipped with multiple sliding slots 52, the setting corresponding with sliding slot 52 of helical orbit 41, sliding block is slided therewith while helical orbit disk rotates
Dynamic, at the same time, sliding block can be slided along slider track mount, since the limitation sliding block of sliding rail drives flexibility singly to refer to
It is radially slided.
Join shown in Fig. 5, Fig. 6, Fig. 7, the centre of helical orbit disk 40 is equipped with a mounting hole 42 with keyway, in end cap 30
The heart has circular hole 31, and the motor shaft 61 of motor 60 is equipped with projective structure 62, and motor shaft 61 passes through the circular hole on end cap, and motor
Axis 61 and projective structure 62 thereon are fixed in the mounting hole 42 of helical orbit disk 40.
In addition, being set in the middle part of end cap 30 there are four threaded hole shown in ginseng Fig. 6, being connected by screw to motor, be fixed on motor
On end cap.
Join shown in Fig. 8, there are four regular holes for 70 side of mechanical arm connection frame tool, for facilitating the company of heat dissipation and motor lines
It connects.
Slider track mount 20, end cap 30 and mechanical arm connection frame 70 have the spiral shell of same position size in present embodiment
Pit, for being matched, being connected and fixed by screw.
Join shown in Fig. 9, the flexibility in present embodiment singly refers to that 10 refer to for detachable Pneumatic flexible list, and has buckle knot
Structure, flexibility singly refer to 10 to include connector 12, the soft finger 11 being fixedly installed on connector, be installed in connector and with soft finger phase
It pneumatic joint 14 even, the torsionspring 16 that is fixedly installed on connector and is installed on connector by torsionspring
Connecting rod buckle 13 and soft finger squeeze buckle 15.
Soft finger 11 and connector 12 are connected to form a flexibility and singly refer to that pneumatic joint 14 is mounted on connector 12, soft finger
Squeeze buckle 15 is connected on connector 12 by torsionspring 16, and connecting rod buckle 13 is connected to connector 12 by torsionspring 16
On.On connector 12 in present embodiment be provided with two kinds of buckle structures, realize soft finger it is quick connection and entirely it is soft
The Fast Installation that property list refers to.
Join Fig. 9 and combines shown in Figure 11 a, it is soft to refer to that 11 include matrix 111 and several air cavitys 112 on matrix, this reality
It applies and is equipped with 8 air cavitys in mode, and 112 cavity size of air cavity is gradually reduced along the direction far from pneumatic joint, can so be made
Bigger bending deformation can be occurred by obtaining when soft finger is inflated or is evacuated under certain air pressure.
In addition, being equipped with the substrate 113 of several protrusion settings below matrix 111,113 surface of substrate is equipped with dentalation
114.Thickness at substrate 113 is greater than the thickness of remaining position matrix 111, when dentalation 114 contacts soft finger with object
There is higher frictional force, enhances the grasping body ability of soft finger.
In conjunction with shown in Figure 11 b, soft refer to is equipped with several channels 115 for inflating or being evacuated in 11.Preferably, this embodiment party
Soft in formula to refer to that 11 inside is equipped with three identical channels 115 for inflating or being evacuated, guaranteeing soft finger, posture is flat at work
Stability simultaneously, enhances the amount of bow of soft finger.
Join Fig. 9, Figure 11 a, shown in Figure 14, it is soft to refer to that 11 end is equipped with the tracheae 116 being connected with channel, pneumatic joint 14
It is fixedly connected with tracheae 116.Tracheae 116 can allow soft finger to be quickly fixed on connector, and ensure soft finger
Air-tightness.
Further, connector 12 is set as trench structure in present embodiment, and such pneumatic joint will not be connected by outside
Bar squeezes, while what outer link can be stable is stuck on connector.Pneumatic joint 14 is directly mounted in connector 12, pneumatically
There are enough compression distances between connector 14 and connector 12, such pneumatic joint can be easily adjusted.
Connecting rod buckle 13 and the soft two sides for referring to squeeze buckle 15 and being installed on torsionspring 16 in present embodiment, below to even
Bar buckle 13 and soft finger squeeze buckle 15 and the mounting means of torsionspring 16 are described in detail.
Join shown in Fig. 9, Figure 10, Figure 12, the first end 131 of connecting rod buckle 13 is rotatably mounted on connector, second end
132 are equipped with the first sunk structure 1301, and connector 12 is equipped with raised structures 121, the first sunk structure on connecting rod buckle 13
1301 and connector 12 on raised structures 121 cooperate with realize connecting rod buckle 13 and connector 12 buckle installation.?
While buckle structure formation, connecting rod snaps fit attachment head, and entire flexibility is singly referred to and is fixed on connector.
Further, connector 12 is equipped with for buckling several limiting sections 122 limited to connecting rod.
To join shown in Fig. 9, Figure 10, Figure 13, the soft first end 151 for referring to squeeze buckle 15 is rotatably mounted on connector 12, the
Two ends 152 are equipped with the second sunk structure 1501, and connector 12 is equipped with rod structure 123, and second on soft finger squeeze buckle 15 is recessed
The rod structure 123 fallen into structure 1501 and connector 12 cooperates to realize the soft buckle for referring to squeeze buckle 15 and connector 12
Installation.In addition, on soft finger squeeze buckle 15 towards one side surface of connector be equipped with barb structure 1502, for clamping squeeze it is soft finger with
Soft finger is fixed on connector.While buckle structure formation, the soft barb structure 1502 for referring to squeeze buckle 15 starts to squeeze
Soft finger is fixed on connector by soft finger.
Flexibility in the present embodiment, which singly refers to, to be had the following characteristics that
1, two kinds of buckle structures are provided on connector, what the quick connection and entire flexibility for realizing soft finger singly referred to
Fast Installation；
2, in soft finger squeeze buckle and connecting rod buckle and connector junction, it is provided with torsionspring, soft refer to is enhanced and squeezes
The buckle ability of clinching and connecting rod buckle；
3, it is provided with trench structure on connector, both ensure that the safety that pneumatic joint is not squeezed by outer link,
Also ensure that outer link can be stable is stuck on connector；
4, pneumatic joint is provided on connector, it is ensured that the air-tightness of junction between external air source and soft finger, together
When realize quickly connection gas source ability；
5, it is provided with connecting rod to buckle, so that flexible singly refer to and can quickly be mounted on the hard connecting rod of soft hand, realize
The Fast Installation that flexibility singly refers to；
6, it is provided with soft finger squeeze buckle, soft finger is quickly fixed on connector, realizes what flexibility singly referred to
Quickly assembling function, while also facilitating disassembling and maintaining for soft finger；
7, it is provided with three air cavity channels inside soft finger, guarantees that posture stationarity simultaneously, enhances soft finger at work
The amount of bow of soft finger；
8, multiple airbag structures successively shortened from top to bottom are provided in soft finger side, so that soft finger is under certain air pressure
Bigger bending deformation can occur when inflation or pumping；
9, the substrate of three sections of dentalations is provided in the other side of soft finger so that soft finger have when being contacted with object it is higher
Frictional force enhances the grasping body ability of soft finger；
10, it is provided with connection tracheae in the upper end of soft finger, soft finger is quickly fixed on connector, and ensure
The air-tightness of soft finger.
As can be seen from the above technical solutions, the utility model has the following beneficial effects:
1, slide rail is provided on slider track mount, it can be ensured that sliding block is slided in slide rail, real
Fixed square upward sliding now；
2, four threaded holes are provided at the top of slider track mount, it is ensured that end cap and mechanical arm support are fastened on sliding block
On track support；
3, multiple sliding slots are provided in slider top, it is ensured that sliding block comes into full contact with vortex-like track on helical orbit disk, realizes
Stable sliding；
4, it is provided with rectangular opening in slider bottom, the detachable Pneumatic flexible list installed can be matched and refer to buckle knot
Structure, while facilitating the disassembly of finger；
5, it is provided with helical orbit disk, by vortex-like track on helical orbit disk, can accurately control the radial fortune of sliding block
Dynamic distance:
6, be provided with end cap so that helical orbit disk is sunken to slider track mount bottom completely, it is ensured that helical orbit disk with
Sliding block comes into full contact with, and reaches optimum efficiency；
7, it is provided with the mounting hole with keyway on helical orbit disk, guarantees that motor sufficiently connects helical orbit disk, realizes
Fine rotational of the motor to helical orbit disk；
8, four threaded holes are provided at the middle part of end cap, it is ensured that motor, which is mounted on end cap, does not occur sliding phenomenon, adds
The strong stability of structure；
9, four regular channels are provided in the boss side surfaces of mechanical arm connection frame, not only alleviate the weight of bracket, side
Just the placement of motor lines and ventilation pipe, moreover it is possible to accelerate the heat dissipation of motor；
10, using detachable pneumatic soft finger, installation, convenient disassembly are quick, low manufacture cost.
It is obvious to a person skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and
And without departing substantially from the spirit or essential attributes of the utility model, it can realize that this is practical new in other specific forms
Type.Therefore, in all respects, the present embodiments are to be considered as illustrative and not restrictive, this is practical new
The range of type is indicated by the appended claims rather than the foregoing description, it is intended that containing for the equivalent requirements of the claims will be fallen in
All changes in justice and range are embraced therein.It should not treat any reference in the claims as limiting
Related claim.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiments being understood that.
Claims (10)
1. a kind of self-adapting type software handgrip, which is characterized in that the software handgrip includes slider track mount, is fixedly installed in
End cap on slider track mount, is installed on slider track mount the helical orbit disk being installed in slider track mount
Sliding block, be fixedly installed on end cap and drive helical orbit disk rotate motor and be installed below sliding block flexibility singly refer to,
The helical orbit disk is equipped with vortex-like track, and the slider track mount bottom end is equipped with several radially distributed sliding rails
Road, the top of the sliding block are coupled with vortex-like track, and when the rotation of motor driven helical orbit disk, sliding block drives flexible single
Finger is moved along sliding rail.
2. self-adapting type software handgrip according to claim 1, which is characterized in that be fixedly installed with machinery on the end cap
Arm connection frame, mechanical arm connection frame are equipped with the accommodating space of indent, and the motor is contained in the accommodating space of mechanical arm connection frame
It is interior.
3. self-adapting type software handgrip according to claim 1, which is characterized in that the slider track mount bottom end setting
Multiple with circular manner is in the sliding rail that is equally spaced, and slider track mount top is equipped with the circle for accommodating helical orbit disk
Shape slot.
4. self-adapting type software handgrip according to claim 1, which is characterized in that the two sides of the sliding block are provided with indent
Slot, for connecting the slider track mount；The top of the sliding block is equipped with sliding slot, for matching the whirlpool of the helical orbit disk
Shape track；The bottom end of the sliding block has rectangular opening, singly refers to for connecting the flexibility.
5. self-adapting type software handgrip according to claim 1, which is characterized in that the centre of the helical orbit disk is equipped with
One mounting hole with keyway, end cap central have circular hole, and the circular hole that the motor shaft of the motor passes through on end cap is fixed on spiral shell
In the mounting hole for revolving track plate.
6. self-adapting type software handgrip according to claim 1, which is characterized in that the flexibility, which singly refers to, has buckle knot
Structure, flexibility singly refer to including connector, the soft finger being fixedly installed on connector, are installed in connector and refer to the gas being connected with soft
Dynamic connector, the torsionspring being fixedly installed on connector and the connecting rod buckle being installed on by torsionspring on connector
With soft finger squeeze buckle.
7. self-adapting type software handgrip according to claim 6, which is characterized in that the soft finger is including matrix and is set to base
Several air cavitys on body, the air cavity cavity size are gradually reduced along the direction far from pneumatic joint.
8. self-adapting type software handgrip according to claim 6, which is characterized in that the connecting rod buckle and soft finger squeeze buckle
It is installed on the two sides of torsionspring.
9. the self-adapting type software handgrip according to claim 6 or 8, which is characterized in that the first end of the connecting rod buckle
It is rotatably mounted on connector, second end is equipped with the first sunk structure, and the connector is equipped with raised structures, the connection
Head is equipped with several limiting sections for being limited to connecting rod buckle, on the first sunk structure and connector that connecting rod buckles
Raised structures cooperate with realize connecting rod buckle and connector buckle install.
10. the self-adapting type software handgrip according to claim 6 or 8, which is characterized in that the first of the soft finger squeeze buckle
End is rotatably mounted on connector, and second end is equipped with the second sunk structure, and the connector is equipped with rod structure, described soft
Refer to and be equipped with barb structure towards one side surface of connector on squeeze buckle, squeezes soft finger for clamping soft finger is fixed on connector
On, the soft rod structure referred on the second sunk structure and connector on squeeze buckle cooperates to realize soft finger squeeze buckle and company
The buckle of connector is installed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820944961.1U CN208428260U (en) | 2018-06-19 | 2018-06-19 | Self-adapting type software handgrip |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820944961.1U CN208428260U (en) | 2018-06-19 | 2018-06-19 | Self-adapting type software handgrip |
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| Publication Number | Publication Date |
|---|---|
| CN208428260U true CN208428260U (en) | 2019-01-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201820944961.1U Active CN208428260U (en) | 2018-06-19 | 2018-06-19 | Self-adapting type software handgrip |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108555958A (en) * | 2018-06-19 | 2018-09-21 | 苏州大学 | Self-adapting type software handgrip |
| CN110090753A (en) * | 2019-04-01 | 2019-08-06 | 三峡大学 | Skid is used in a kind of conveying of vehicle production roller bed |
| CN114194767A (en) * | 2021-11-01 | 2022-03-18 | 苏州研鹏亮智能设备有限公司 | Carton turnover mechanism |
-
2018
- 2018-06-19 CN CN201820944961.1U patent/CN208428260U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108555958A (en) * | 2018-06-19 | 2018-09-21 | 苏州大学 | Self-adapting type software handgrip |
| CN108555958B (en) * | 2018-06-19 | 2023-07-18 | 苏州大学 | Self-adaptive soft gripper |
| CN110090753A (en) * | 2019-04-01 | 2019-08-06 | 三峡大学 | Skid is used in a kind of conveying of vehicle production roller bed |
| CN110090753B (en) * | 2019-04-01 | 2020-11-06 | 三峡大学 | Skid for conveying vehicle production roller bed |
| CN114194767A (en) * | 2021-11-01 | 2022-03-18 | 苏州研鹏亮智能设备有限公司 | Carton turnover mechanism |
| CN114194767B (en) * | 2021-11-01 | 2023-11-21 | 苏州研鹏亮智能设备有限公司 | Carton tilting mechanism |
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