CN208916259U - Thumb type grabbing mechanism - Google Patents
Thumb type grabbing mechanism Download PDFInfo
- Publication number
- CN208916259U CN208916259U CN201821549425.8U CN201821549425U CN208916259U CN 208916259 U CN208916259 U CN 208916259U CN 201821549425 U CN201821549425 U CN 201821549425U CN 208916259 U CN208916259 U CN 208916259U
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- joint
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- rotation
- bevel gear
- power part
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- 210000003813 thumb Anatomy 0.000 title claims abstract description 81
- 230000007246 mechanism Effects 0.000 title claims abstract description 25
- 238000005452 bending Methods 0.000 claims abstract description 21
- 230000005540 biological transmission Effects 0.000 claims description 12
- 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 description 5
- 244000060701 Kaempferia pandurata Species 0.000 claims description 2
- 235000016390 Uvaria chamae Nutrition 0.000 claims description 2
- 230000033001 locomotion Effects 0.000 description 23
- 230000001360 synchronised effect Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 210000003811 finger Anatomy 0.000 description 2
- 230000033764 rhythmic process Effects 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000003756 stirring Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Abstract
The utility model discloses a thumb type grabbing mechanism, which comprises a base, a thumb component, a rotating power part for driving the thumb component to rotate, and a bending power part for pulling the thumb component to bend; the base is provided with a central shaft, and the rotating power part is rotatably arranged on the central shaft; the two groups of thumb components are symmetrically arranged on the rotating power part, and the rotating power part drives the two groups of thumb components to synchronously rotate; the bending power part is arranged on the central shaft and synchronously rotates along with the rotating power part; the bending power part is used for driving the thumb component to complete bending action. The utility model discloses anthropomorphic dummy's thumb action principle sets up the rotation that rotates power spare and be used for driving the thumb subassembly on the center pin, sets up crooked power spare and be used for driving the thumb subassembly crooked on the center pin to satisfy and decide the requirement that the orientation snatchs the action with rotating.
Description
Technical field
The utility model relates to a kind of thumb type grasping mechanisms, belong to frame for movement technical field.
Background technique
On automatic assembly line, some in irregular shape, biggish small parts of blank error are grabbed using specialized agency
When taking, to change conveying direction, also to make determine direction sometimes and rotate, at this moment due to the minor variations of clamped position, clamping direction,
When especially rotating after clamping, rigid clamping, which can often generate, clamps insecure situation, needs to increase clamping force and clamping point,
This results in grasping mechanism structure is complicated huge, the problem of electromechanical increased costs, is added significantly to again according to robot revolute
Cost.
Utility model content
The technical problem to be solved by the utility model is to overcoming the deficiencies of the prior art and provide a kind of thumb type crawl
Mechanism, to solve the problems, such as that clamping revolution is unstable.
In order to solve the above-mentioned technical problem, the technical solution of the utility model is: a kind of thumb type grasping mechanism, including base
Seat, thumb component and the rotational power part for driving thumb component to rotate, and for pulling thumb component to keep its curved
It is bent force piece；
Central axis is set on the pedestal, and the rotational power part is installed in rotation on the central axis；
The thumb component is provided with two groups, is symmetrically mounted on rotational power part, drives two groups of thumbs by rotational power part
Finger assembly rotates synchronously；
The bending force piece is mounted on the central axis, is rotated synchronously with rotational power part；Bending force piece is used for
Thumb component is driven to complete flexure operation.
Further, the rotational power part includes worm couple, bracket, the first center bevel gear and two planet cone teeth
Wheel, the bracket includes the rotation section being wholely set and interconnecting piece, and described two bevel planet gears are connected by respective planet axis
It connects on the interconnecting piece of the bracket, bevel planet gear can be around its planet axis rotation, the first center bevel gear and two planet cones
Gear forms differential gear train transmission system, also, first center bevel gear include the first bevel gear portion that is wholely set and
First rotation sleeved rod portion, for engaging with two bevel planet gears, the first rotation sleeved rod portion can in the first bevel gear portion
It is rotationally socketed on the central axis, the rotation section of worm gear and bracket in the worm couple is rotationally socketed
On the first rotation sleeved rod portion, and worm gear is fixedly connected with the rotation section of bracket.
Further, described two bevel planet gears are symmetrical arranged with respect to the first center bevel gear.
Further, the thumb component includes referring to root segment, the first joint and second joint, and the rear end for referring to root segment is fixed
It is connected on the first rotation sleeved rod portion of the first center bevel gear, is driven and rotated synchronously by the first rotation sleeved rod portion；It is described
Refer to that the front end of root segment is connect with the rear end thereof in the first joint, the front end in the first joint and the rear end thereof of second joint connect.
Further, the bending force piece includes the second center bevel gear and turns for the first joint of drive, second joint
Dynamic flexible-belt component, the second center bevel gear include second bevel gear portion and the second rotation sleeved rod portion, the second bevel gear
For engaging with two bevel planet gears, the second rotation sleeved rod portion is rotatably sleeved on the central axis, described in portion
Flexible-belt component is mounted on the second rotation sleeved rod portion, and is rotated synchronously with the second rotation sleeved rod portion.
Further, the flexible-belt component includes the folding and unfolding slot being fixed on the second rotation sleeved rod portion, and can edge
The folding and unfolding slot carries out the flexible-belt of folding and unfolding, and the front end for referring to root segment is fixed with first for connecting with the first articulation
Joint shaft, the front end in first joint are fixed with the second joint axis for being rotatablely connected with second joint, and the first joint is solid
Surely a small pulley is connected, the first joint and small pulley are coaxially socketed on the first joint shaft, and it is small that second joint is also fixedly connected with one
Belt wheel, second joint and small pulley are coaxially socketed on second joint axis, and the flexible-belt covers on two small pulleys, to pass through
The folding and unfolding of flexible-belt drives this two small pulley rotations.
Further, two groups of thumb components make its bending by the driving of same flexible-belt.
Further, first joint at the position of small pulley thereon and the second joint it is close
The band locating piece for making flexible-belt be close to small pulley is equipped at the position of small pulley thereon.
Further, it is equipped with the first guiding axis and the second guiding axis in the front end for referring to root segment, for passing in and out to flexible-belt
The direction of folding and unfolding slot is oriented to.
Further, on the second joint, the front end with locating piece be equipped with third guiding axis.
After above-mentioned technical proposal, the utility model has the following beneficial effects:
1) rotational power part is arranged for driving thumb in the thumb movements principle of the utility model simulation people on center shaft
The rotation of component, setting bending force piece determines direction rotationally to meet for driving thumb component to be bent on center shaft
The requirement of grasping movement.The utility model uses two groups of thumb components, the rotation and the same stepping of grasping movement of two groups of thumb components
Row, so as to guarantee the stability grabbed when entire grasping mechanism turns round.
2) rotation of the first center bevel gear is mutually independent, and rotation is by bevel planet gear engaged transmission.Bevel planet gear
By engaged transmission drive the first center bevel gear rotation, and the rotation of the first center bevel gear promote bevel planet gear around
The rotation of planet axis.The differential gear train transmission system formed using bevel planet gear and the first center bevel gear, on the one hand can
On the other hand the power of the transmitting worm couple of aspect can be used in the rhythm adjustment of thumb component, such as returning for thumb component
Gyration and speed, angle of revolution and speed are adjustable.
3) the utility model drives the bending of thumb component by flexible-belt component, is driven by the folding and unfolding of flexible-belt two small
Belt wheel rotation.The rotation of small pulley then makes corresponding first joint, second joint carry out grasping movement and relieving movement.
Detailed description of the invention
Fig. 1 is the main view (broken section) of the thumb type grasping mechanism of the utility model；
Fig. 2 is the front sectional view of the rotational power part of the utility model；
Fig. 3 is the partial cutaway view that the finger root segment of the utility model is connect with the first joint.
Specific embodiment
In order to make the content of the utility model be easier to be clearly understood, below according to specific embodiment and combine attached
Figure, is described in further detail the utility model.
Unless not defining, the technical term or scientific term used herein is should be in the utility model fields
The ordinary meaning that personage with general technical ability is understood.Used in the utility model patent specification and claims
" first ", " second " and similar word are not offered as any sequence, quantity or importance, and are used only to distinguish different
Component part.Equally, the similar word such as "one" or " one " does not indicate that quantity limits yet, but indicates there is at least one
It is a.
As shown in Figure 1 and Figure 2, a kind of thumb type grasping mechanism, including pedestal 1, thumb component and for driving thumb component
The rotational power part of rotation, and for pulling thumb component to make its curved bending force piece.
Central axis 9 is set on the pedestal 1, and the rotational power part is installed in rotation on the central axis 9.Rotation
The rotation of force piece drives the rotation of thumb component synchronization, to complete the rotation of grasping mechanism.
The thumb component is provided with two groups, is symmetrically mounted on rotational power part, drives two groups of thumbs by rotational power part
Finger assembly rotates synchronously.In grabbing workpiece, two thumb components, which cooperate, completes grasping movement.An independent thumb component
It only can be carried out and stir movement, or cooperate with other mechanisms and complete grasping movement.
The bending force piece is mounted on the central axis 9, and is rotated synchronously with rotational power part；Force piece is bent to use
Flexure operation is completed in drive thumb component.
The utility model simulates the thumb movements principle of people, and rotational power part is arranged on center shaft for driving thumb group
The rotation of part, setting bending force piece is rotationally grabbed for driving thumb component to be bent to meet and determine direction on center shaft
Take the requirement of movement.The utility model uses two groups of thumb components, and the rotation of two groups of thumb components is synchronous with grasping movement to be carried out,
So as to guarantee the stability grabbed when entire grasping mechanism turns round.
This gives the specific structures of rotational power part.Fig. 2 shows the specific structures of rotational power part.It is described
Rotational power part includes worm couple, bracket 5, the first center bevel gear 6 and two bevel planet gears 3.The bracket 5 includes
The rotation section 5-1 and interconnecting piece 5-2 being wholely set, interconnecting piece 5-2 are for installing two bevel planet gears 3.Bevel planet gear 3 has
There is planet axis 4, bevel planet gear 3 can be connected to around its 4 rotation of planet axis, two bevel planet gears 3 by respective planet axis 4
On the interconnecting piece 5-2 of the bracket 5.First center bevel gear 6 and two bevel planet gears 3 form differential gear train transmission system,
Also, first center bevel gear 6 includes the rotation of the first bevel gear portion 6-1 being wholely set and first sleeved rod portion 6-2, described
For engaging with two bevel planet gears 3, the first rotation sleeved rod portion 6-2 is rotatably sleeved in first bevel gear portion 6-1
On the central axis 9, the rotation section 5-1 of worm gear 7 and bracket 5 in the worm couple is rotatably sleeved in institute
It states on the first rotation sleeved rod portion 6-2, and worm gear 7 is fixedly connected with the rotation section 5-1 of bracket 5 by screw, worm couple
As the importation of rotational power part, keeps bracket 5 synchronous with worm gear 7 and rotated around central axis 9, be mounted on the interconnecting piece 5- of bracket
Two 3 one side of bevel planet gear on 2 rotate, on the other hand, this two bevel planet gears 3 and the first center around central axis 9
Bevel gear 6 constitutes differential gear train transmission system, due to the first bevel gear of two bevel planet gears 3 and the first center bevel gear 6
Portion 6-1 engagement, while bevel planet gear 3 drives the first center bevel gear 6 to rotate around central axis 9, bevel planet gear 3 is also around it
4 rotation of planet axis.Two bevel planet gears 3 are preferably symmetrical arranged with respect to the first center bevel gear 6, so that two planets bore tooth
The uniform force application when driving the rotation of the first center bevel gear 6 of wheel 3 reduces abrasion of the bevel gear in transmission.
Worm gear 7 and bracket 5 are connected, and the two rotation is socketed on the first rotation sleeved rod portion 6-2 of the first center bevel gear 6,
Worm gear 7 and bracket 5 do not drive the rotation of the first center bevel gear 6, the rotation of worm gear 7 and bracket 5 and the first center cone tooth directly
The rotation of wheel 6 is independent of each other.Importation (worm screw 8 can be driven by a motor rotation) of the worm couple as rotational power part,
And then mutually ground is independent for the rotation of the first center bevel gear 6, rotation is by 3 engaged transmission of bevel planet gear.Bevel planet gear 3 passes through
Engaged transmission drive the first center bevel gear 6 rotation, and the rotation of the first center bevel gear 6 promote bevel planet gear 3 around
The rotation of planet axis 4.The differential gear train transmission system formed using bevel planet gear 3 and the first center bevel gear 6, one side energy
The power of the transmitting worm couple of enough aspects, on the other hand can be used in the rhythm matching of thumb component revolution and clamping, adopts
With the engagement of the different numbers of teeth, angle of revolution and speed to thumb component are designed adjusting.
In order to realize the bending of thumb component to complete grasping movement, the thumb component includes referring to that root segment 10, first closes
Section 12 and second joint 13, the rear end for referring to root segment 10 are welded to connect first turning set in the first center bevel gear 6
On bar portion 6-2, is driven and rotated synchronously by the first rotation sleeved rod portion 6-2；Behind the front end and the first joint 12 for referring to root segment 10
End rotation connection, the front end in the first joint 12 is connect with the rear end thereof of second joint 13.When the first joint 12 refers to root segment relatively
10 rotate to central axis direction, then can be real when second joint 13 is rotated relative to the first joint 12 to central axis direction
Now grab.
The bending force piece includes the second center bevel gear 2 and rotates for the first joint 12 of drive, second joint 13
Flexible-belt component, the second center bevel gear 2 include second bevel gear portion 2-1 and second rotation sleeved rod portion 2-2, it is described second cone
For engaging with two bevel planet gears 3, the second rotation sleeved rod portion 2-2 is rotatably sleeved in described gear part 2-1
In mandrel 9, bevel planet gear 3 around its planet axis 4 rotation, by making the second center cone with engaging for second bevel gear portion 2-1
Gear 2 is rotated around central axis 9.The flexible-belt component is mounted on the second rotation sleeved rod portion 2-2, and with the second rotation
Sleeved rod portion 2-2 is rotated synchronously.Flexible-belt component is used to drive the rotation in the first joint 12 and second joint 13.The utility model
In, the second center bevel gear 2 is opposite with the rotation direction of the first center bevel gear 6.
The flexible-belt component includes the folding and unfolding slot 17 being fixed on the second rotation sleeved rod portion 2-2, and can be along institute
The flexible-belt 15 that folding and unfolding slot 17 carries out folding and unfolding is stated, the front end for referring to root segment 10 is equipped with for being rotatablely connected with the first joint 12
First joint shaft 12-1, the front end in first joint 12 is fixed with the second joint axis for being rotatablely connected with second joint 13
13-1, the first joint 12 are fixedly connected with a small pulley 18, and preferably small pulley 18 is wholely set with the first joint 12.First joint 12
With small pulley 18 is coaxial is socketed on the first joint shaft 12-1.Fig. 3 shows the connection knot for referring to root segment 10 and the first joint 12
Structure.Second joint 13 is also fixedly connected with a small pulley 18, and preferably small pulley 18 is wholely set with second joint 13, second joint 13
It is coaxially socketed on second joint axis 13-1 with small pulley 18.15 sets of the flexible-belt on two small pulleys 18, pass through flexibility
Folding and unfolding with 15 drives this two small pulleys 18 to rotate.The rotation of small pulley 18 then makes corresponding first joint 12, second joint
13 carry out grasping movement and relieving movement.
Two groups of thumb components can be driven by same flexible-belt 15 makes its bending, to ensure the consistent of two groups of thumb component movements
Property.Two groups of thumb components can also be driven by respective flexible-belt 15 makes its bending, so that two groups of thumb components can be respectively completed not
Same movement.
First joint 12 at the position of small pulley 18 thereon and the second joint 13 close to it
On small pulley 18 position at be equipped with for make flexible-belt be close to small pulley band locating piece 14.
It is equipped with the first guiding axis 11-1 and the second guiding axis 11-2 in the front end for referring to root segment 10, for flexible-belt 15
The direction of disengaging folding and unfolding slot 17 is oriented to.Flexible-belt 15 is stretched out through folding and unfolding slot 17, is successively wound on the first guiding axis 11-1, first
The upside of small pulley 18 on joint 12, the upside of small pulley 18 on second joint 13, on third guiding axis 11-3 after, then
The secondary downside through the small pulley 18 on second joint 13, the downside of the small pulley 18 on the first joint 12, the second guiding axis 11-2
After return in folding and unfolding slot 17, form a circuit.Fig. 1 shows the solderless wrapped connection relationship of flexible-belt 15 Yu thumb component.Work as flexible-belt
15 relative to thumb component direction shown in arrow rotates along Fig. 1 when, flexible-belt drives two small pulleys 18 to rotate clockwise, and makes the
One joint 12, second joint 13 are rotated relative to 9 direction of central axis, complete grasping movement.It, will be soft when needing to open thumb component
Property band 15 relative to thumb component along Fig. 1 opposite direction shown in arrow rotate, drive two small pulleys to rotate counterclockwise, make first
Joint 12, second joint 13 reset.
On the second joint 13, the front end with locating piece 14 be equipped with third guiding axis 11-3.
The working principle of the utility model is as follows:
Worm couple driving arm 5 as energy input rotates, and drives two bevel planet gears 3 mounted thereto
It rotates synchronously, bevel planet gear 3 is engaged with the first center bevel gear 6 of two sides, the second center bevel gear 2, and two planets bore tooth
Wheel 3 and the first center bevel gear 6, the second center bevel gear 2 form differential gear train transmission system, and bevel planet gear 3 is around center
When axis 9 rotates, is engaged by between cog and drive the first center bevel gear 6, the second center bevel gear 2, bevel planet gear 3 is to two sides
The first center bevel gear 6, during the second center cone tooth 2 wheel passing movement, bevel planet gear 3 is around 4 rotation of planet axis, the
One center bevel gear 6, the second center bevel gear 2 are rotated around central axis 9, enable thumb component is synchronous with flexible-belt component to turn
It is dynamic, realize the rotation of entire thumb type grasping mechanism.
When needing to carry out grasping movement, for flexible-belt 15 along Fig. 1 when the rotation of direction shown in arrow, flexible-belt 15 drives two
A small pulley 18 rotates clockwise, and rotates the first joint 12, second joint 13 relative to 9 direction of central axis, completes grasping movement.
The utility model simulates thumb movements using thumb component, can improve reliability well along workpiece is closed；Using difference
Driving wheel system solves the problems, such as that mechanism minimizes, with the rotary motion of substitute machine people, cost can be greatly reduced.
Particular embodiments described above, to the utility model solve the technical issues of, technical scheme and beneficial effects into
It has gone further description, it should be understood that the foregoing is merely specific embodiment of the utility model, and has not had to
In limitation the utility model, within the spirit and principle of the utility model, any modification, equivalent substitution and improvement done
Deng should be included within the scope of protection of this utility model.
Claims (10)
1. a kind of thumb type grasping mechanism, it is characterised in that: including pedestal (1), thumb component and for driving thumb component to turn
Dynamic rotational power part, and for pulling thumb component to make its curved bending force piece；
Central axis (9) are set on the pedestal (1), the rotational power part is installed in rotation on the central axis (9)；
The thumb component is provided with two groups, is symmetrically mounted on rotational power part, drives two groups of thumb groups by rotational power part
Part rotates synchronously；
The bending force piece is mounted on the central axis (9), is rotated synchronously with rotational power part；It is bent force piece and is used for band
Dynamic thumb component completes flexure operation.
2. thumb type grasping mechanism according to claim 1, it is characterised in that: the rotational power part includes worm and gear
Pair, bracket (5), the first center bevel gear (6) and two bevel planet gears (3), the bracket (5) includes the rotation being wholely set
Portion (5-1) and interconnecting piece (5-2), described two bevel planet gears (3) are connected to the bracket by respective planet axis (4)
(5) on interconnecting piece (5-2), bevel planet gear (3) can be around its planet axis (4) rotation, the first center bevel gear (6) and two rows
Star bevel gear (3) forms differential gear train transmission system, also, first center bevel gear (6) includes first be wholely set
Bevel gear portion (6-1) and the first rotation sleeved rod portion (6-2), the first bevel gear portion (6-1) are used for and two bevel planet gears
(3) it engages, first rotation sleeved rod portion (6-2) is rotatably sleeved on the central axis (9), in the worm couple
Worm gear (7) and bracket (5) rotation section (5-1) be rotatably sleeved in it is described first rotation sleeved rod portion (6-2) on, and
And worm gear (7) is fixedly connected with the rotation section (5-1) of bracket (5).
3. thumb type grasping mechanism according to claim 2, it is characterised in that: described two bevel planet gears (3) are opposite
First center bevel gear (6) is symmetrical arranged.
4. thumb type grasping mechanism according to claim 2, it is characterised in that: the thumb component includes referring to root segment
(10), the first joint (12) and second joint (13), the rear end for referring to root segment (10) are fixedly connected on the first center bevel gear
(6) it in first rotation sleeved rod portion (6-2), is driven and is rotated synchronously by the first rotation sleeved rod portion (6-2)；The finger root segment
(10) front end is connect with the rear end thereof of the first joint (12), the front end of the first joint (12) and the rear end of second joint (13)
Rotation connection.
5. thumb type grasping mechanism according to claim 4, it is characterised in that: the bending force piece includes the second center
Bevel gear (2) and the flexible-belt component for being used to drive the first joint (12), second joint (13) rotation, the second center bevel gear
It (2) include second bevel gear portion (2-1) and the second rotation sleeved rod portion (2-2), the second bevel gear portion (2-1) is used for and two
Bevel planet gear (3) engagement, second rotation sleeved rod portion (2-2) is rotatably sleeved on the central axis (9), described soft
Property band component be mounted on it is described second rotation sleeved rod portion (2-2) on, and with second rotation sleeved rod portion (2-2) rotate synchronously.
6. thumb type grasping mechanism according to claim 5, it is characterised in that: the flexible-belt component includes being fixed on institute
The folding and unfolding slot (17) on the second rotation sleeved rod portion (2-2) is stated, and the flexible-belt of folding and unfolding can be carried out along the folding and unfolding slot (17)
(15), the front end for referring to root segment (10) is fixed with the first joint shaft (12-1) for being rotatablely connected with the first joint (12),
The front end of first joint (12) is fixed with the second joint axis (13-1) for being rotatablely connected with second joint (13), and first
Joint (12) is fixedly connected a small pulley (18), the first joint (12) with small pulley (18) is coaxial is socketed in the first joint shaft (12-
1) on, second joint (13) is also fixedly connected a small pulley (18), and second joint (13) and small pulley (18) are coaxially socketed in the
On two joint shafts (13-1), the flexible-belt (15) covers on two small pulleys (18), to be driven by the folding and unfolding of flexible-belt (15)
Move this two small pulley (18) rotations.
7. thumb type grasping mechanism according to claim 6, it is characterised in that: two groups of thumb components are by same flexible-belt
(15) driving makes its bending.
8. thumb type grasping mechanism according to claim 7, it is characterised in that: first joint (12) close to thereon
Small pulley (18) position at and the second joint (13) be equipped at the position of small pulley (18) thereon
For making flexible-belt be close to band locating piece (14) of small pulley.
9. thumb type grasping mechanism according to claim 8, it is characterised in that: be equipped in the front end for referring to root segment (10)
First guiding axis (11-1) and the second guiding axis (11-2), for being led to the direction of flexible-belt (15) disengaging folding and unfolding slot (17)
To.
10. thumb type grasping mechanism according to claim 9, it is characterised in that: on the second joint (13), with fixed
The front end of position block (14) is equipped with third guiding axis (11-3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821549425.8U CN208916259U (en) | 2018-09-21 | 2018-09-21 | Thumb type grabbing mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821549425.8U CN208916259U (en) | 2018-09-21 | 2018-09-21 | Thumb type grabbing mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208916259U true CN208916259U (en) | 2019-05-31 |
Family
ID=66706658
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821549425.8U Active CN208916259U (en) | 2018-09-21 | 2018-09-21 | Thumb type grabbing mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208916259U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109178914A (en) * | 2018-09-21 | 2019-01-11 | 常州机电职业技术学院 | Thumb type grabbing mechanism |
| CN113579964A (en) * | 2021-08-05 | 2021-11-02 | 青岛理工大学 | Grinding wheel polishing control device and closed-loop control system comprising same |
-
2018
- 2018-09-21 CN CN201821549425.8U patent/CN208916259U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109178914A (en) * | 2018-09-21 | 2019-01-11 | 常州机电职业技术学院 | Thumb type grabbing mechanism |
| CN109178914B (en) * | 2018-09-21 | 2024-08-06 | 常州机电职业技术学院 | Thumb type grabbing mechanism |
| CN113579964A (en) * | 2021-08-05 | 2021-11-02 | 青岛理工大学 | Grinding wheel polishing control device and closed-loop control system comprising same |
| CN113579964B (en) * | 2021-08-05 | 2022-09-16 | 青岛理工大学 | Grinding wheel polishing control device and closed-loop control system comprising same |
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