CN208514508U - Multi-purpose machine hand - Google Patents
Multi-purpose machine hand Download PDFInfo
- Publication number
- CN208514508U CN208514508U CN201820998790.0U CN201820998790U CN208514508U CN 208514508 U CN208514508 U CN 208514508U CN 201820998790 U CN201820998790 U CN 201820998790U CN 208514508 U CN208514508 U CN 208514508U
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- Prior art keywords
- pedestal
- purpose machine
- machine hand
- grabbed
- finger
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- 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 44
- 230000003044 adaptive effect Effects 0.000 claims abstract description 34
- 230000005057 finger movement Effects 0.000 claims abstract description 4
- 239000003292 glue Substances 0.000 claims description 17
- 239000002245 particle Substances 0.000 claims description 13
- 238000005086 pumping Methods 0.000 claims description 2
- 241000252254 Catostomidae Species 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000001179 sorption measurement Methods 0.000 description 3
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 2
- 210000001145 finger joint Anatomy 0.000 description 2
- 230000000903 blocking effect Effects 0.000 description 1
- 208000002925 dental caries Diseases 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
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- Manipulator (AREA)
Abstract
The utility model provides a kind of multi-purpose machine hand, including pedestal, it is movably connected on the finger of base bottom, and the driving assembly for being used to drive finger movement on pedestal, pedestal is equipped with the outer profile for being adapted to object to be grabbed and finger is cooperated to position the form adaptive component of object to be grabbed, and one end of form adaptive component is inserted into finger and surrounds in the holding area formed.The utility model uses form adaptive component and finger cooperates, when grabbing object, it is compressed by form adaptive component and object to be grabbed, so that the bottom side outer profile of form adaptive component is adapted with the top outer profile of object to be grabbed, and then increase the contact area of form adaptive component Yu body surface to be grabbed, increase frictional force between the two, object to be grabbed can preferably be positioned on the base, to efficiently solve the technical issues of mechanical hand can not be adapted to special-shaped object, the firmness and reliability of multi-purpose machine hand crawl object are improved.
Description
Technical field
The utility model belongs to the technical field of robot, is to be related to a kind of multi-purpose machine hand more specifically.
Background technique
Mechanical hand is significant components when robot executes crawl generic task.Existing mechanical hand mainly passes through following three kinds
Mode completes crawl object task: one, by the open and close movement between finger, generating holding action, object is clamped；Two, sharp
Object is sucked with sucker；Three, cooperated using finger and sucker, certain chucking power is provided while object is sucked, improved
The firmness and reliability of crawl.But even the third mode, since the different of object, size are different,
And the finger length of mechanical hand is limited, has part abnormity object to cannot achieve reliable crawl, the crawl function of such mechanical hand
It just can largely be limited, seriously affect the usage experience effect of user.
Utility model content
The purpose of this utility model is to provide a kind of multi-purpose machine hands, and to solve in the prior art, mechanical hand can not
The technical issues of being adapted to special-shaped object.
To achieve the goals above, the technical solution adopted in the utility model is: providing a kind of multi-purpose machine hand, wraps
Pedestal is included, the finger of the base bottom is movably connected on, and is used to drive the finger movement on the pedestal
Driving assembly, the pedestal is equipped with the outer profile for being adapted to object to be grabbed and the cooperation finger positions the object to be grabbed
The form adaptive component of part, one end of the form adaptive component are inserted into the finger and surround the holding area formed
It is interior.
Further, the multi-purpose machine hand includes at least three fingers, and at least three fingers are along the pedestal
Bottom it is equally circumferentially spaced.
Further, the finger includes the first knuckle and second knuckle being driven respectively in the driving component, described
One end of first knuckle and the pedestal are hinged, and the other end of the first knuckle and the second knuckle are hinged.
Further, the form adaptive component includes the scalable multiple mandrils being arranged on the pedestal, and
It is placed in the pedestal and multiple elastic components, the mandril includes stretching out in the base correspondingly with the multiple mandril
Seat and the extension end being inserted into the holding area, and the connecting pin with elastic component socket.
Further, the multi-purpose machine hand further includes the vacuumizing assembly on the pedestal, the mandril
Inside offers the first gas passage being connected to the vacuumizing assembly, the extension end of the mandril offer with it is described
The first air entry for being used to adsorb the object to be grabbed of first gas passage connection.
Further, the inside of the pedestal offers the first accommodating cavity, and interval is set to first accommodating cavity
Bottom side and the second accommodating cavity being connected to the vacuumizing assembly, second accommodating cavity are interior filled with the particle that can be consolidated that is pressurized
Group；The elastic component is placed in first accommodating cavity and supports with the roof of first accommodating cavity, the institute of the mandril
It states connecting pin and protrudes into after second accommodating cavity in first accommodating cavity and be socketed with the elastic component.
Optionally, the form adaptive component includes the flexible glue block for being convexly equipped in the pedestal bottom side.
Further, the multi-purpose machine hand further includes the vacuumizing assembly on the pedestal, the flexible glue block
Inside offer the multiple second gas channels being connected to the vacuumizing assembly, the bottom surface of the flexible glue block offers difference
What is be connected to multiple second gas channels is used to adsorb multiple second air entries of the object to be grabbed.
Optionally, the form adaptive component includes the air bag for being convexly equipped in the pedestal bottom side.
Optionally, the second knuckle is equipped with the second sucker being connected to the vacuumizing assembly.
The beneficial effect of multi-purpose machine hand provided by the utility model is: using form adaptive component and finger
Cooperation, when grabbing object, is compressed by form adaptive component and object to be grabbed, so that outside the bottom side of form adaptive component
Profile is adapted with the top outer profile of object to be grabbed, and then increases the contact of form adaptive component with body surface to be grabbed
Area increases frictional force between the two, can preferably position object to be grabbed on the base, to efficiently solve machine
Device hand can not be adapted to the technical issues of special-shaped object, improve the firmness and reliability of multi-purpose machine hand crawl object.
Detailed description of the invention
It, below will be to embodiment or the prior art in order to illustrate more clearly of the technical scheme in the embodiment of the utility model
Attached drawing needed in description is briefly described, it should be apparent that, the accompanying drawings in the following description is only that this is practical new
Some embodiments of type for those of ordinary skill in the art without any creative labor, can be with
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is the stereoscopic schematic diagram for the multi-purpose machine hand that the utility model embodiment one provides；
Fig. 2 is the schematic front view for the multi-purpose machine hand that the utility model embodiment one provides；
Fig. 3 is the main view diagrammatic cross-section for the multi-purpose machine hand that the utility model embodiment one provides；
Fig. 4 is the main view diagrammatic cross-section for the multi-purpose machine hand that the utility model embodiment two provides；
Fig. 5 is the main view diagrammatic cross-section for the multi-purpose machine hand that the utility model embodiment three provides.
Wherein, each appended drawing reference in figure:
1-multi-purpose machine hand, 10-pedestals, 20-fingers, 30-driving assemblies, 40-form adaptive components,
50-vacuumizing assemblies, the 60-the second sucker, the 11-the first accommodating cavity, the 12-the second accommodating cavity, 21-first knuckles, 22-the
Two finger joints, 41-mandrils, 42-flexible glue blocks, 43-air bags, 120-particle swarms, 411-first gas passages, 412-the first inhale
Port, 421-second gas channels, the 422-the second air entry.
Specific embodiment
In order to which technical problem to be solved in the utility model, technical solution and beneficial effect is more clearly understood, with
Lower combination accompanying drawings and embodiments, the present invention will be further described in detail.It should be appreciated that specific reality described herein
It applies example to be only used to explain the utility model, is not used to limit the utility model.
It should be noted that it can be directly another when element is referred to as " being fixed on " or " being set to " another element
On one element or indirectly on another element.When an element is known as " being connected to " another element, it can
To be directly to another element or be indirectly connected on another element.
It is to be appreciated that term " length ", " width ", "upper", "lower", "front", "rear", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "top", "bottom" "inner", "outside" is that orientation based on the figure or position are closed
System, is merely for convenience of describing the present invention and simplifying the description, rather than the device or element of indication or suggestion meaning are necessary
It with specific orientation, is constructed and operated in a specific orientation, therefore should not be understood as limiting the present invention.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include one or more of the features.The meaning of " plurality " is two or two in the description of the present invention,
More than, unless otherwise specifically defined.
Now multi-purpose machine hand provided by the utility model is illustrated.
Embodiment one:
It please refers to Fig.1 to Fig.3, which includes pedestal 10, finger 20 and driving assembly 30, wherein hand
Refer to 20 bottoms for being movably connected in pedestal 10, driving assembly 30 is arranged on pedestal 10, for driving finger 20 movable.Specifically
Ground is provided with form adaptive component 40 on pedestal 10, which is used to be adapted to the foreign steamer of object to be grabbed
Exterior feature, and finger 20 can be cooperated to position object to be grabbed, one end of form adaptive component 40 can protrude into finger 20 around formation
In holding area.It is to be understood that driving assembly 30 may include the components such as motor, driving cog group, connecting rod, gas may also comprise
The components such as cylinder, tracheae, air valve drive in the other embodiments of the utility model with demand as the case may be certainly
Component 30 may also include other components, not limit uniquely herein.
When needing to grab object, multi-purpose machine hand 1 is moved into the top side of object to be grabbed, and then finger 20 is in driving group
It is opened under the driving of part 30, then multi-purpose machine hand 1 is laid down, until the bottom side of form adaptive component 40 is pressed on wait grab
The top of object, and the bottom surface of form adaptive component 40 is engaged with the top surface of object to be grabbed, and then finger 20 is in driving group
It is drawn close under the driving of part 30 towards object to be grabbed, until the surface of object to be grabbed is supported in the end of finger 20, at this point, form adaptive
Object to be grabbed is clamped in component 40 and the cooperation of finger 20, and then multi-purpose machine hand 1 is raised, and completes object crawl.
Multi-purpose machine hand 1 provided by the utility model, compared with prior art, beneficial effect is: using shape
Adaptive component 40 cooperates with finger 20, when grabbing object, is compressed by form adaptive component 40 and object to be grabbed, so that
The bottom side outer profile of form adaptive component 40 is adapted with the top outer profile of object to be grabbed, and then increases form adaptive
The contact area of component 40 and body surface to be grabbed increases frictional force between the two, can preferably position object to be grabbed
On pedestal 10, to efficiently solve the technical issues of mechanical hand can not be adapted to special-shaped object, multi-purpose machine is improved
The firmness and reliability of the crawl object of hand 1.
Preferably, Fig. 1 and Fig. 2 are please referred to, in the utility model embodiment, above-mentioned multi-purpose machine hand 1 includes at least
Three fingers 20, at least three fingers 20 are equally circumferentially spaced along the bottom of said base 10, i.e., at least three fingers 20 enclose
It is equally spaced around the central axes of pedestal 10 in the bottom of pedestal 10, and the angle between each finger 20 is equal, thus
It ensure that the clamping force of all directions when grabbing object mutually balances, improve multi-purpose machine hand 1 and grab the secured of object
Degree and reliability.
Further, Fig. 1 and Fig. 2 are please referred to, in the utility model embodiment, finger 20 includes first knuckle 21 and the
Two finger joints 22, wherein first knuckle 21 and second knuckle 22 are driven respectively in above-mentioned driving assembly 30, and first knuckle 21
One end and pedestal 10 are hinged, and the other end and second knuckle 22 of first knuckle 21 are hinged.In this way, first knuckle 21 and second knuckle
22 can individually swing around respective articulated shaft under the driving of driving assembly 30, pass through first knuckle 21 and 22 phase of second knuckle
Mutually linkage, the achievable more apery body finger movements of finger 20, and the activity point of view of finger 20 is effectively increased, it is promoted
The flexibility of multi-purpose machine hand 1.
Further, it please refers to Fig.1 to Fig.3, in the utility model embodiment, above-mentioned form adaptive component 40 includes
Multiple mandrils 41 and multiple elastic components (not shown), wherein mandril 41 is telescopically threaded through in said base 10, mandril 41
Including extension end and connecting pin, which stretches out pedestal 10 and protrudes into above-mentioned holding area, the connecting pin and elastic component
Socket, elastic component are accommodated in pedestal 10 and correspond with mandril 41.Specifically, accommodating is offered in the inside of pedestal 10
Chamber offers multiple through-holes in the bottom of pedestal 10, which is connected to the accommodating cavity, and multiple elastic components are accommodated in the accommodating cavity
Interior, the extension end of multiple mandrils 41 is protruded outside pedestal 10, and the accommodating cavity is protruded into from multiple through-holes in the connecting pin of multiple mandrils 41
It is interior, and the connecting pin of mandril 41 is protruded into elastic component and abuts, is clamped or welds with elastic component；When the extension end of mandril 41 by
When squeezing wait grab object, the extension end of mandril 41 remains to treat and grabs supporting for object, i.e., under the elastic force effect of elastic component
The extension end of multiple mandrils 41 is supported with multiple positions of object surface to be grabbed, so that the end face group of the extension end of multiple mandrils 41
It closes and forms a shaped face engaged with the surface of object to be grabbed, to increase connecing for multi-purpose machine hand 1 and object to be grabbed
Contacting surface product.
Further, referring to Fig. 3, in the utility model embodiment, above-mentioned multi-purpose machine hand 1 further includes vacuumizing
Component 50, the vacuumizing assembly 50 are arranged on pedestal 10, meanwhile, the inside of above-mentioned mandril 41 offers first gas passage
411, which is connected to vacuumizing assembly 50, and the extension end of mandril 41 offers the first air entry
412, which is connected to first gas passage 411, for adsorbing object to be grabbed.Specifically, vacuumizing assembly 50
Including vacuum pump and tracheae, which is connected to by tracheae with first gas passage 411, when the vacuum pump operation, the
The outside of one air entry 412 will form negative pressure, when wait grab object block the first air entry 412 when, under the action of the negative pressure to
It grabs object to be firmly adsorbed on the extension end of mandril 41, to improve the firmness that multi-purpose machine hand 1 grabs object
And reliability.
Further, referring to Fig. 3, in the utility model embodiment, first is offered in the inside of said base 10
Accommodating cavity 11 and the second accommodating cavity 12, wherein the second accommodating cavity 12 is arranged at intervals on the bottom side of the first accommodating cavity 11, and second
Accommodating cavity 12 is connected to above-mentioned vacuumizing assembly 50, filled with the particle swarm 120 that can be consolidated that is pressurized in the second accommodating cavity 12；This
Place, above-mentioned elastic component is accommodated in the first accommodating cavity 11, and the roof of elastic component and the first accommodating cavity 11 is supported, above-mentioned mandril
41 connecting pin is protruded into the first accommodating cavity 11 after passing through the second accommodating cavity 12 and elastic component socket.Specifically, the first accommodating cavity
11 and second accommodating cavity 12 be two sealings cavitys, i.e., external air can not pass through the chamber of mandril 41 and the first accommodating cavity 11
The joint of the cavity wall of wall and the second accommodating cavity 12 enters in the first accommodating cavity 11 and the second accommodating cavity 12, and each mandril 41 is accommodated in
There is gap, which is filled up completely by particle swarm 120, and particle swarm 120 is by many between part in second accommodating cavity 12
Tiny particle composition, the particle can be the sand grains after removal dust.In normal state, particle swarm 120 is in fluffy
State, mandril 41 can be move freely in particle swarm 120, when vacuumizing assembly 50 carries out vacuum pumping to the second accommodating cavity 12
When, particle swarm 120 tightly cradles mandril 41 under the action of vacuum adsorption force, at this point, mandril 41 and particle swarm 120 it
Between the frictional force that generates mandril 41 can be positioned, i.e. limitation mandril 41 it is mobile with keep its extension end stretch out 10 bottom surface of pedestal away from
From, when needing to grab object in this way, even if finger 20 does not close up and under the open configuration, by with vacuumizing assembly 50 and
Particle swarm 120 cooperates, and mandril 41 had both been able to maintain and the maximum contact area of object to be grabbed, and object to be grabbed can also be adsorbed on pedestal
On 10, in this way, multi-purpose machine hand 1 can also be completed to grab even if the size of object to be grabbed has exceeded size reached by finger 20
The task of object is taken, the scope of application of multi-purpose machine hand 1 is greatly extended.
Preferably, in the utility model embodiment, the extension end of above-mentioned mandril 41 is provided with the first sucker (not shown),
First sucker is connected to above-mentioned first air entry 412, and then can increase 412 outside of the first air entry by first sucker
Negative pressure region formation area, improve mandril 41 and treat the adsorption for grabbing object.
Further, it please refers to Fig.1 to Fig.3, in the utility model embodiment, is provided on above-mentioned second knuckle 22
Two suckers 60, which is connected to above-mentioned vacuumizing assembly 50, for adsorbing object to be grabbed.Specifically, refer to second
Be provided with multiple second suckers 60 on any side wall of section 22 or end, multiple second suckers 60 in being equally spaced, in this way,
When needing to grab the object of small volume, multi-purpose machine hand 1 does not need finger 20 and matches with above-mentioned form adaptive component 40
It closes, the task of crawl object can be completed by one or two fingers 20, to extend the applicable model of multi-purpose machine hand 1
It encloses.
Embodiment two:
Referring to Fig. 4, almost the same, the difference of multi-purpose machine hand provided by the embodiment of the utility model and embodiment one
Place is: above-mentioned form adaptive component 40 includes flexible glue block 42, and 42 projection of flexible glue block is in the bottom side of said base 10.Tool
Body, flexible glue block 42 has elasticity and plastic deformation, when flexible glue block 42 wait grab object by squeezing, the outer profile of bottom
Can be deformed into it is consistent with the outer profile of object tops to be grabbed so that top of the bottom surface of flexible glue block 42 preferably with object to be grabbed
Face is meshed, to increase the contact area of multi-purpose machine hand 1 Yu object to be grabbed.
Further, referring to Fig. 4, in the utility model embodiment, the inside of above-mentioned flexible glue block 42 offers multiple
Second gas channel 421, which is connected to above-mentioned vacuumizing assembly 50, and the bottom surface of flexible glue block 42 is opened
Equipped with multiple second air entries 422, multiple second air entries 422 are connected to multiple second gas channels 421 respectively, i.e., second inhales
Port 422 and second gas channel 421 correspond.In this way, when vacuumizing assembly 50 is run, in the second air entry 422
Outside will form negative pressure, and when blocking the second air entry 422 wait grab object, object to be grabbed is by firmly under the action of the negative pressure
It is adsorbed on the bottom surface of flexible glue block 42, to improve firmness and reliability that multi-purpose machine hand 1 grabs object.
Preferably, in the utility model embodiment, above-mentioned multiple second air entries 422 are evenly distributed, i.e., and multiple
Two air entries 422 are evenly distributed on the bottom surface of above-mentioned flexible glue block 42, so that flexible glue block 42, which is treated, grabs the adsorption capacity of object more
It is balanced.
Embodiment three:
Referring to Fig. 5, almost the same, the difference of multi-purpose machine hand provided by the embodiment of the utility model and embodiment one
Place is: above-mentioned form adaptive component 40 includes air bag 43, and 43 projection of air bag is in the bottom side of said base 10.Specifically
Ground, air bag 43 have elasticity and plastic deformation, and when air bag 43 wait grab object by squeezing, the outer profile of bottom can be deformed
It is extremely consistent with the outer profile of object tops to be grabbed, so that the bottom surface of air bag 43 is preferably mutually nibbled with the top surface of object to be grabbed
It closes, to increase the contact area of multi-purpose machine hand 1 Yu object.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
Made any modifications, equivalent replacements, and improvements etc., should be included in the utility model within the spirit and principle of utility model
Protection scope within.
Claims (10)
1. multi-purpose machine hand, including pedestal are movably connected on the finger of the base bottom, and on the pedestal
For driving the driving assembly of the finger movement, which is characterized in that the pedestal is equipped with for being adapted to the outer of object to be grabbed
Profile and the cooperation finger position the form adaptive component of the object to be grabbed, and one end of the form adaptive component is stretched
Enter the finger to surround in the holding area formed.
2. multi-purpose machine hand as described in claim 1, which is characterized in that the multi-purpose machine hand includes at least described in three
Finger, at least three fingers are equally circumferentially spaced along the bottom of the pedestal.
3. multi-purpose machine hand as claimed in claim 1 or 2, which is characterized in that the finger includes being driven respectively in described
The first knuckle and second knuckle of driving assembly, one end of the first knuckle and the pedestal are hinged, the first knuckle
The other end and the second knuckle are hinged.
4. multi-purpose machine hand as claimed in claim 3, which is characterized in that the form adaptive component includes scalable wears
Multiple mandrils on the pedestal, and be placed in the pedestal and with the multiple mandril multiple bullets correspondingly
Property part, the mandril includes the extension end for stretching out in the pedestal and being inserted into the holding area, and with the elasticity
The connecting pin of part socket.
5. multi-purpose machine hand as claimed in claim 4, which is characterized in that the multi-purpose machine hand further includes set on described
Vacuumizing assembly on pedestal, the inside of the mandril offer the first gas passage being connected to the vacuumizing assembly, institute
The extension end for stating mandril offers first for adsorbing the object to be grabbed being connected to the first gas passage and inhales
Port.
6. multi-purpose machine hand as claimed in claim 5, which is characterized in that the inside of the pedestal offers the first accommodating
Chamber, and interval are set to the bottom side of first accommodating cavity and the second accommodating cavity for being connected to the vacuumizing assembly, and described the
Filled with the particle swarm that can be consolidated that is pressurized in two accommodating cavities；The elastic component is placed in first accommodating cavity and with described the
The roof of one accommodating cavity is supported, and first accommodating cavity is protruded into after passing through second accommodating cavity in the connecting pin of the mandril
It is interior to be socketed with the elastic component.
7. multi-purpose machine hand as claimed in claim 3, which is characterized in that the form adaptive component includes being convexly equipped in institute
State the flexible glue block of pedestal bottom side.
8. multi-purpose machine hand as claimed in claim 7, which is characterized in that the multi-purpose machine hand further includes set on described
Vacuumizing assembly on pedestal, it is logical that the inside of the flexible glue block offers the multiple second gas being connected to the vacuumizing assembly
Road, the bottom surface of the flexible glue block offer be connected to respectively with multiple second gas channels for adsorbing the object to be grabbed
Multiple second air entries.
9. multi-purpose machine hand as claimed in claim 3, which is characterized in that the form adaptive component includes being convexly equipped in institute
State the air bag of pedestal bottom side.
10. the multi-purpose machine hand as described in claim 5 or 8, which is characterized in that the second knuckle is equipped with and the pumping
Second sucker of vacuum subassembly connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820998790.0U CN208514508U (en) | 2018-06-27 | 2018-06-27 | Multi-purpose machine hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820998790.0U CN208514508U (en) | 2018-06-27 | 2018-06-27 | Multi-purpose machine hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208514508U true CN208514508U (en) | 2019-02-19 |
Family
ID=65337652
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820998790.0U Expired - Fee Related CN208514508U (en) | 2018-06-27 | 2018-06-27 | Multi-purpose machine hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208514508U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110091154A (en) * | 2019-05-22 | 2019-08-06 | 安徽博诚汽车部件有限公司 | Air braking system nylon quick connector assembles device |
| CN110640770A (en) * | 2018-06-27 | 2020-01-03 | 深圳市乾行达科技有限公司 | Multifunctional robot hand |
| CN110774311A (en) * | 2019-11-13 | 2020-02-11 | 苏州谦合诚智能科技有限公司 | Mechanical arm clamping mechanism of robot |
| CN112605978A (en) * | 2019-07-27 | 2021-04-06 | 南京昱晟机器人科技有限公司 | Grabbing method based on industrial software grabbing robot |
| CN110640770B (en) * | 2018-06-27 | 2024-06-28 | 深圳市乾行达科技有限公司 | Multifunctional robot arm |
-
2018
- 2018-06-27 CN CN201820998790.0U patent/CN208514508U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110640770A (en) * | 2018-06-27 | 2020-01-03 | 深圳市乾行达科技有限公司 | Multifunctional robot hand |
| CN110640770B (en) * | 2018-06-27 | 2024-06-28 | 深圳市乾行达科技有限公司 | Multifunctional robot arm |
| CN110091154A (en) * | 2019-05-22 | 2019-08-06 | 安徽博诚汽车部件有限公司 | Air braking system nylon quick connector assembles device |
| CN112605978A (en) * | 2019-07-27 | 2021-04-06 | 南京昱晟机器人科技有限公司 | Grabbing method based on industrial software grabbing robot |
| CN112605978B (en) * | 2019-07-27 | 2022-02-01 | 南京昱晟机器人科技有限公司 | Grabbing method based on industrial software grabbing robot |
| CN110774311A (en) * | 2019-11-13 | 2020-02-11 | 苏州谦合诚智能科技有限公司 | Mechanical arm clamping mechanism of robot |
| CN110774311B (en) * | 2019-11-13 | 2021-07-09 | 济南大学泉城学院 | Mechanical arm clamping mechanism of robot |
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