CN211310555U - Hoisting equipment object taking device - Google Patents
Hoisting equipment object taking device Download PDFInfo
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- CN211310555U CN211310555U CN201921995944.1U CN201921995944U CN211310555U CN 211310555 U CN211310555 U CN 211310555U CN 201921995944 U CN201921995944 U CN 201921995944U CN 211310555 U CN211310555 U CN 211310555U
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Abstract
The utility model relates to a hoisting equipment load-taking device, when the load-taking device snatchs the transported object, only need to press the landing leg of support frame on the transported object, then press the load-taking device downwards, jack catch self-lock device in the tube-shape support shell moves upwards and promotes the lifting slide block to move upwards, when the lifting slide block moves upwards, through link mechanism pulling the load-taking jack catch to rotate inwards to realize the snatching action, when the snatching action is finished, the jack catch self-lock device locks and fixes the jack catch, the snatching action of this pure machinery is simple and swift and the locking to the jack catch is firm and reliable; when the conveyed object is loosened, the support frame is pressed again, the jaw self-locking device in the cylindrical support shell is automatically unlocked, the lifting slide block moves downwards to realize the loosening of the jaws, and the loosening action also adopts a purely mechanical mode, so that the grabbed object can be quickly loosened; the utility model discloses a pure mechanical structure realizes snatching and loosening of jack catch, and unreliability when having avoided using automatically controlled or hydraulic system control has guaranteed going on smoothly of snatching the transport work.
Description
Technical Field
The invention relates to the technical field of crane auxiliary devices, in particular to a hoisting equipment fetching device.
Background
The hoisting equipment is a machine for carrying heavy objects, mainly used for grabbing a carried object to move horizontally or vertically within a certain range, and is also called as a crown block, a navigation crane, a crane and the like; at present, China has become the largest crane market and the largest export country of small-tonnage crane products in the world, the total value of industrial production and sales income of crane mechanical products are continuously increased, but the quality of crane equipment is still a certain gap compared with that of foreign countries.
Along with the enlargement of production scale and the improvement of automation degree, the hoisting device used as an important equipment for material handling is more and more widely applied in the modern production process and has more and more large function, so the requirement on the hoisting equipment is higher and higher; the hoisting equipment is undergoing a huge revolution, and the hoisting machinery is in the high-speed development stage of the market, so that the hoisting machinery has great market development potential. With the modern construction process becoming faster and faster, the requirements on hoisting machinery become higher and higher, and the hoisting machinery is developing towards the trend of miniaturization, automation and specialization. However, the fetching device of the crane is diversified all the time, and different clamping devices are needed in different occasions of different cranes.
The existing fetching clamp is usually hung by manually holding a hook claw, and the manual hanging mode has low efficiency and certain safety risk; the work of the clamping device is automatically controlled through an electric control system, a hydraulic system and the like, the control mode of the electric control system or the hydraulic system is easy to break down, the reliability is not high, and the production is delayed because the short-time faults are difficult to remove, so that the fetching device with a pure mechanical structure and without the influence of system faults is urgently needed.
Disclosure of Invention
In order to solve the problems, the invention provides a hoisting equipment fetching device.
The technical scheme of the invention is as follows: the utility model provides a hoisting equipment load handling device, includes supporting the main part and gets the thing jack catch, its characterized in that: the supporting main body comprises a supporting bottom plate at the lower end and a cylindrical supporting shell vertically arranged in the middle of the upper surface of the supporting bottom plate, the upper end of the cylindrical supporting shell is provided with an opening, a sealing cover is fixed at the opening through a bolt, two symmetrical sliding long circular holes are formed in the middle of the side wall of the cylindrical supporting shell, a transverse supporting arm is arranged at the lower end of each sliding long circular hole, a hinged arm which is bent inwards extends out of the upper end of the object taking clamping jaw, and the bent part of the hinged arm is hinged with the outer end of; a round lifting slide block is sleeved in the cylindrical support shell in a position matched with the position corresponding to the long round hole, two symmetrical guide blocks are arranged on the side surface of the lifting slide block and clamped into the two long round holes to form a sliding pair, a hinge lug is fixedly connected to the end surface of the guide block corresponding to the support arm, a connecting rod with the lower end hinged to the upper end of the hinge arm is hinged to the hinge lug, and a connecting rod mechanism is formed among the hinge lug, the connecting rod and the hinge arm of the object taking clamping jaw; a spring B is fixed between the upper end of the round lifting slide block and the sealing cover above the round lifting slide block;
the center of the bottom end of the cylindrical support shell is provided with a round hole which penetrates through the support bottom plate, an annular limiting block is formed between the round hole and the inner side wall of the cylindrical support shell, four arc-shaped support tables with the lower ends connected with the annular limiting block are uniformly distributed on the inner side wall of the cylindrical support shell, a circular space is formed between the arc surfaces at the inner sides of the four support tables, a sliding groove is formed at a certain interval between the opposite side surfaces at two sides of the four support tables, two adjacent slopes are cut on the upper end surface of each support table, and a limiting tooth groove;
the cylindrical supporting shell is internally provided with a clamping jaw self-locking device which comprises a locking contact and a jacking contact which are integrally cylindrical, the jacking contact is sleeved in a circular space formed by the four supporting tables, the upper end of the jacking contact is a cylindrical jacking part of which the outer side surface is matched with the inner arc surface of the supporting table, the upper end surface of the jacking part is uniformly cut with a plurality of jacking inclined surfaces which are mutually connected, the outer side surface of the jacking part is uniformly distributed with four sliding limiting blocks which are matched and clamped in the sliding grooves, a sliding supporting part at the lower end of the jacking contact downwards penetrates through a circular hole of the supporting bottom plate, and the size of the circular hole is the same as that of the sliding supporting part; the locking contact is sleeved in the cylindrical supporting shell in a matching manner, the lower bottom surface of the locking contact is upwards provided with four long grooves, four long sliding blocks with the sizes matched with those of the sliding grooves are formed among the four long grooves, the lower end of each long sliding block is cut with a positioning tooth with the size matched with that of a limiting tooth groove on the supporting table, the width of each positioning tooth is larger than that of each slope, the part, extending out of the slope, of the inner end of each positioning tooth corresponds to the jacking inclined plane of the lower jacking contact, and the upper end surface of the locking contact is in contact with the lower end surface of the;
install press device in the through-hole that the four corners of supporting baseplate was seted up, this press device includes the support frame, the slide bar, the four corners of support frame is equipped with four landing legs that correspond with the through-hole in supporting baseplate four corners, the top in the middle of the support frame is equipped with the push-and-pull plate of being connected with four landing legs, the aforesaid is got grabbing of thing jack catch and is held the position and in the space between the landing leg of push-and-pull plate lower extreme, open in the middle of this push-and-pull plate has the connecting hole, the bottom surface fixed connection that bolt and top roof pressure contact stretched out the round hole has been inserted in the connecting hole, the upper surface of landing leg is equipped with the slide bar with one heart, four slide bars pass through slide.
Preferably, the centers of the lifting sliding block and the locking contact are both provided with vertical rod through holes, the center of the sealing cover is downwards fixed with a vertical rod, and the vertical rod penetrates through the spring B and extends into the vertical rod through holes of the lifting sliding block and the locking contact.
Preferably, the connecting rod is two-tooth fishbone shape, gets two of articulated arm external symmetry on the thing jack catch, and two articulated arm centre gripping are in the both sides of support arm and articulated rather than, and the connecting rod of connecting rod both sides is articulated with the upper end of two articulated arms respectively.
Preferably, the center of the bottom surface of the sealing cover is provided with a circular boss for preventing the spring B from being dislocated.
Preferably, one side of the supporting bottom plate and one side of the cylindrical supporting shell are provided with connecting arms externally connected with lifting devices.
Preferably, the end face of the guide block is provided with a connecting groove, a threaded hole is formed in the middle of the connecting groove, the connecting face of the hinge lug is provided with a clamping head which is clamped into the connecting groove, and the connecting groove is fixedly connected with the bolt through the threaded hole.
The beneficial technical effects of the invention are as follows:
when the object taking device grabs the object to be conveyed, only the supporting legs of the supporting frame are required to be pressed on the object to be conveyed, then the object taking device is pressed downwards, the claw self-locking device in the cylindrical supporting shell moves upwards to push the lifting slide block to move upwards, the object taking claw is pulled to rotate inwards to realize grabbing action through the connecting rod mechanism when the lifting slide block moves upwards, and the claw self-locking device locks and fixes the claw when the grabbing action is finished; the purely mechanical grabbing action is simple and rapid, and the locking of the clamping jaws is firm and reliable
When the conveyed object is loosened, the support frame is pressed again, the claw self-locking device in the cylindrical support shell is automatically unlocked, the lifting slide block moves downwards under the pressure of the spring A, the object taking claw is pulled to rotate outwards through the connecting rod mechanism to realize the loosening action, and the loosening action also adopts a purely mechanical mode, so that the grabbed object can be quickly loosened;
the invention adopts a pure mechanical structure to realize the grabbing and releasing of the clamping jaws, avoids the unreliability when using an electric control or hydraulic system for control, and ensures the smooth operation of grabbing and carrying.
Drawings
FIG. 1 is a schematic perspective view of the grasping state of the fetching claw according to the present invention;
FIG. 2 is a schematic diagram of a side view of the grabbing jaw of the present invention;
FIG. 3 is a schematic sectional view showing the grasping state of the fetching claw according to the present invention;
FIG. 4 is a schematic cross-sectional view of the object-removing gripper in a released state according to the present invention;
FIG. 5 is a sectional view taken along line A-A of FIG. 4;
FIG. 6 is a sectional view taken along line B-B of FIG. 4;
FIG. 7 is a cross-sectional structural schematic view of the support body of the present invention;
FIG. 8 is a schematic perspective view of a press contact according to the present invention;
figure 9 is a schematic perspective view of a locking contact according to the present invention;
FIG. 10 is a schematic perspective view of the elevator slide of the present invention;
fig. 11 is a schematic perspective view of the support frame of the present invention.
01. The supporting device comprises a supporting main body, 11, a supporting bottom plate, 111, a circular hole, 112, an annular limiting block, 12, a cylindrical supporting shell, 121, a sliding long circular hole, 13, a sealing cover, 131, a circular boss, 14, a supporting arm, 15, an arc supporting table, 151, a sliding chute, 152, a slope, 153, a limiting tooth groove, 21, a locking contact, 211, a long sliding block, 212, a positioning tooth, 22, a pressing contact, 221, a cylindrical pressing part, 222, a pressing inclined surface, 223, a sliding limiting block, 224, a sliding supporting part, 03, a pressing device, 31, a supporting frame, 311, a supporting leg, 312, a push-pull plate, 3121, a connecting hole, 32, a sliding rod, 33, a spring A, 34, a sliding bearing,
41. The lifting device comprises a lifting sliding block, 411 guide blocks, 412 connecting grooves, 413 threaded holes, 42 hinge lugs, 43 connecting rods, 44 fetching clamping jaws, 441 hinge arms, 51 vertical rods and 61 connecting arms.
Detailed Description
In the first embodiment, referring to the attached drawings (1-11) in the specification, the lifting equipment fetching device comprises a supporting main body and fetching clamping jaws, wherein the supporting main body comprises a supporting bottom plate at the lower end and a cylindrical supporting shell vertically arranged in the middle of the upper surface of the supporting bottom plate, a sealing cover is fixed at an opening at the upper end of the cylindrical supporting shell through a bolt, two symmetrical sliding long circular holes are formed in the middle of the side wall of the cylindrical supporting shell, a transverse supporting arm is arranged at the lower end of each sliding long circular hole, an inward-bent hinged arm extends out of the upper end of each fetching clamping jaw, the bent part of each hinged arm is hinged with the outer end of each supporting arm, and each fetching clamping jaw; a round lifting slide block is sleeved in the cylindrical support shell in a position matched with the position corresponding to the long round hole, two symmetrical guide blocks are arranged on the side surface of the lifting slide block and clamped into the two long round holes to form a sliding pair, the long round hole plays a role in guiding and prevents the lifting slide block from rotating in the moving process, a hinge lug is fixedly connected to the end surface of the guide block corresponding to the support arm, a connecting rod with the lower end hinged to the upper end of the hinged arm is hinged to the hinge lug, and a connecting rod mechanism is formed among the hinged arms of the hinge lug, the connecting rod and the object taking; a spring B is fixed between the upper end of the round lifting slide block and the sealing cover above the round lifting slide block, and the spring B enables the lifting slide block to be in a pressing state all the time; the bottom center of the sealing cover is provided with a circular boss for preventing the spring B from being misplaced.
The center of the bottom end of the cylindrical support shell is provided with a round hole which penetrates through the support bottom plate, an annular limiting block is formed between the round hole and the inner side wall of the cylindrical support shell, four arc-shaped support tables with the lower ends connected with the annular limiting block are uniformly distributed on the inner side wall of the cylindrical support shell, a circular space is formed between the arc surfaces at the inner sides of the four support tables, a sliding groove is formed at a certain interval between the opposite side surfaces at two sides of the four support tables, two adjacent slopes are cut on the upper end surface of each support table, and a limiting tooth socket is;
the cylindrical supporting shell is internally provided with a clamping claw self-locking device which comprises a circular lifting slide block, a locking contact and a jacking contact, wherein the locking contact and the jacking contact are cylindrical as a whole, the jacking contact is sleeved in a circular space formed by the four supporting tables, the upper end of the jacking contact is a cylindrical jacking part of which the outer side surface is matched with the inner arc surface of the supporting tables, the jacking contact can slide in the cylindrical supporting shell, the upper end surface of the jacking part is uniformly cut with a plurality of jacking inclined surfaces which are connected with each other, the outer side surface of the jacking part is uniformly provided with four sliding limiting blocks which are matched and clamped in the sliding grooves, the four sliding limiting blocks can limit the jacking contact to rotate in the supporting shell so that the jacking contact can only slide up and down along the axial direction of the supporting shell, the sliding supporting part at the lower end of the jacking contact downwards passes through a circular hole of the supporting bottom, the push-pull plate in the middle can drive the jacking contact to slide up and down in the supporting shell, the size of the round hole is the same as that of the sliding supporting part, and the annular limiting block can limit the cylindrical jacking part to prevent the jacking contact from being separated from the cylindrical supporting shell;
the supporting device comprises a supporting base plate, a supporting claw and a supporting base plate, wherein the supporting base plate is provided with four supporting legs, the supporting base plate is provided with four through holes, the supporting base plate is provided with four supporting legs, the supporting base plate is provided with four through holes, the supporting base plate is provided with a through hole, the supporting base plate is provided with a sliding plate, the sliding plate is connected with the four supporting legs, the clamping part of the object taking clamping claw is positioned in the space between the supporting legs at the lower end of the sliding plate, the middle of the sliding plate is provided with a connecting hole, the upper surfaces of the supporting legs are concentrically provided with the sliding rods, the four sliding rods are connected into the four through holes in a sliding mode through sliding bearings, the supporting base plate can slide up and down along;
the locking contact is sleeved in the cylindrical support shell in a matching mode, the lower bottom surface of the locking contact is upwards provided with four long grooves, four long sliding blocks with the sizes matched with those of the sliding grooves are formed among the four long grooves, the lower end of each long sliding block is provided with a positioning tooth with the size matched with that of a limiting tooth groove on the support platform, the positioning tooth is clamped into the limiting tooth groove to position the locking contact, the width of the positioning tooth is larger than that of the slope, the part, extending out of the slope, of the inner end of the positioning tooth corresponds to a jacking inclined surface of the lower jacking contact, when the clamping jaw is in a loose state, the positioning tooth and the limiting tooth groove of the locking contact are separated, and the long sliding block at the; when the supporting legs of the supporting frame press the conveyed object to grab, the push-pull plate in the middle of the pressing plate moves upwards to push the jacking contact to move upwards, and further push the locking contact to move upwards along the sliding groove, a jacking inclined plane at the upper end of the jacking contact is in contact with an inclined plane of the positioning teeth at the lower end of the locking contact, the two inclined planes are in contact to provide self-transmission power for the locking contact, when the long sliding block of the locking contact slides out of the sliding groove, the locking contact rotates, and the positioning teeth slide into the limiting tooth grooves along the slope at the upper end of the arc-shaped supporting table; the upper end surface of the locking contact contacts with the lower end surface of the lifting slide block to form a sliding surface, the lifting slide block is pushed to move upwards in the process of moving the locking contact upwards, and the fetching card is driven by the connecting rod mechanism to rotate to hook a hoisting nose of a grabbed object;
the lifting slide block and the locking contact are respectively provided with a vertical rod through hole at the center, the vertical rod is downwards fixed at the center of the sealing cover, the vertical rod penetrates through the spring B and extends into the vertical rod through hole of the lifting slide block and the locking contact, and the vertical rod can prevent the spring B from bending and dislocation in the upward pressing process.
The connecting rod is two tooth fishbone shapes, gets two of the articulated arm external symmetry on the thing jack catch, and two articulated arm centre gripping are in the both sides of support arm and rather than articulated, and the connecting rod of connecting rod both sides is articulated with the upper end of two articulated arms respectively, and the structure of this connecting rod and articulated arm is firm more reliable.
One side of the supporting bottom plate and one side of the cylindrical supporting shell are provided with connecting arms which are externally connected with hoisting devices; the end face of the guide block is provided with a connecting groove, a threaded hole is formed in the middle of the connecting groove, a clamping head is arranged on the connecting face of the hinge lug and clamped into the connecting groove, the connecting groove is fixedly connected with the threaded hole through a bolt, and the hinge lug is convenient to replace due to the structure.
The working process of the invention is as follows:
when the clamping jaw of the device is in a released state, the long slide block at the lower end of the locking contact falls into the chute in the supporting shell, and the jacking contact is positioned at the lower end of the locking contact;
when the device grabs the transported object
a. The supporting legs of the supporting frame are pressed on the upper end face of the conveyed object and pressed downwards by moving the device, the supporting frame moves upwards relative to the supporting bottom plate, the push-pull plate in the middle of the pressing plate moves upwards to push the jacking contact to slide upwards, the locking contact is further pushed to move upwards along the sliding groove, the jacking inclined plane at the upper end of the jacking contact is contacted with the inclined plane of the positioning tooth at the lower end of the locking contact, and the two inclined planes are contacted to provide self-transmission power for the locking contact;
b. when the long sliding block of the locking contact slides out of the sliding chute upwards, the locking contact rotates, the positioning teeth slide into the slope slide at the upper end of the arc-shaped supporting table and slide into the limiting tooth grooves along the slope, the lifting sliding block is pushed to move upwards in the upward moving process of the locking contact, the spring B provides downward pressure for the locking contact, the lifting sliding block drives the connecting rod mechanism to be linked downwards when moving upwards, and the object taking clamping jaws rotate inwards to hook the hoisting nose of the transported object for transporting;
when the device loosens the conveyed object
c. And (b) pressing the device downwards again, pressing the supporting legs of the supporting frame on the upper end face of the transported object downwards, referring to the step a, enabling the locking contact to be jacked and rotated to be separated from the limiting tooth grooves at the upper end of the arc-shaped supporting table and slide into the sliding groove along the slope, enabling the spring B to stretch and press down the lifting slide block when the locking contact slides downwards, driving the connecting rod mechanism to be linked upwards when the lifting slide block moves downwards, enabling the fetching clamping jaws to rotate outwards to loosen the hoisting nose of the transported object, and completing transportation.
Claims (6)
1. The utility model provides a hoisting equipment load handling device, includes supporting the main part and gets the thing jack catch, its characterized in that: the supporting main body comprises a supporting bottom plate at the lower end and a cylindrical supporting shell vertically arranged in the middle of the upper surface of the supporting bottom plate, the upper end of the cylindrical supporting shell is provided with an opening, a sealing cover is fixed at the opening through a bolt, two symmetrical sliding long circular holes are formed in the middle of the side wall of the cylindrical supporting shell, a transverse supporting arm is arranged at the lower end of each sliding long circular hole, a hinged arm which is bent inwards extends out of the upper end of the object taking clamping jaw, and the bent part of the hinged arm is hinged with the outer end of; a round lifting slide block is sleeved in the cylindrical support shell in a position matched with the position corresponding to the long round hole, two symmetrical guide blocks are arranged on the side surface of the lifting slide block and clamped into the two long round holes to form a sliding pair, a hinge lug is fixedly connected to the end surface of the guide block corresponding to the support arm, a connecting rod with the lower end hinged to the upper end of the hinge arm is hinged to the hinge lug, and a connecting rod mechanism is formed among the hinge lug, the connecting rod and the hinge arm of the object taking clamping jaw; a spring B is fixed between the upper end of the round lifting slide block and the sealing cover above the round lifting slide block;
the center of the bottom end of the cylindrical support shell is provided with a round hole which penetrates through the support bottom plate, an annular limiting block is formed between the round hole and the inner side wall of the cylindrical support shell, four arc-shaped support tables with the lower ends connected with the annular limiting block are uniformly distributed on the inner side wall of the cylindrical support shell, a circular space is formed between the arc surfaces at the inner sides of the four support tables, a sliding groove is formed at a certain interval between the opposite side surfaces at two sides of the four support tables, two adjacent slopes are cut on the upper end surface of each support table, and a limiting tooth groove;
the cylindrical supporting shell is internally provided with a clamping jaw self-locking device which comprises a locking contact and a jacking contact which are integrally cylindrical, the jacking contact is sleeved in a circular space formed by the four supporting tables, the upper end of the jacking contact is a cylindrical jacking part of which the outer side surface is matched with the inner arc surface of the supporting table, the upper end surface of the jacking part is uniformly cut with a plurality of jacking inclined surfaces which are mutually connected, the outer side surface of the jacking part is uniformly distributed with four sliding limiting blocks which are matched and clamped in the sliding grooves, a sliding supporting part at the lower end of the jacking contact downwards penetrates through a circular hole of the supporting bottom plate, and the size of the circular hole is the same as that of the sliding supporting part; the locking contact is sleeved in the cylindrical supporting shell in a matching manner, the lower bottom surface of the locking contact is upwards provided with four long grooves, four long sliding blocks with the sizes matched with those of the sliding grooves are formed among the four long grooves, the lower end of each long sliding block is cut with a positioning tooth with the size matched with that of a limiting tooth groove on the supporting table, the width of each positioning tooth is larger than that of each slope, the part, extending out of the slope, of the inner end of each positioning tooth corresponds to the jacking inclined plane of the lower jacking contact, and the upper end surface of the locking contact is in contact with the lower end surface of the;
the supporting base plate is characterized in that pressing devices are installed in through holes formed in the four corners of the supporting base plate, each pressing device comprises a supporting frame and a sliding rod, four supporting legs corresponding to the through holes in the four corners of the supporting base plate are arranged at the four corners of the supporting frame, a push-pull plate connected with the four supporting legs is arranged above the middle of the supporting frame, the grabbing parts of the object fetching clamping claws are located in a space between the supporting legs at the lower end of the push-pull plate, a connecting hole is formed in the middle of the push-pull plate, a bolt is inserted into the connecting hole and fixedly connected with the bottom surface of a top pressing contact extending out of a round hole, the sliding rods are concentrically arranged on the upper surfaces of the supporting legs, the four sliding rods are.
2. The hoisting device taking device according to claim 1, wherein: vertical rod through holes are formed in the centers of the lifting sliding block and the locking contact, a vertical rod is fixed downwards in the center of the sealing cover, and the vertical rod penetrates through the spring B and extends into the vertical rod through holes of the lifting sliding block and the locking contact.
3. The hoisting device taking device according to claim 1, wherein: the connecting rod is two tooth fishbone shapes, gets two of articulated arm external symmetry on the thing jack catch, and two articulated arm centre gripping are in the both sides of support arm and rather than articulated, and the connecting rod of connecting rod both sides is articulated with the upper end of two articulated arms respectively.
4. The hoisting device taking device according to claim 1, wherein: the bottom center of the sealing cover is provided with a circular boss for preventing the spring B from being misplaced.
5. The hoisting device taking device according to claim 1, wherein: and one side of the supporting bottom plate and one side of the cylindrical supporting shell are provided with connecting arms externally connected with hoisting equipment.
6. The hoisting device taking device according to claim 1, wherein: the end face of the guide block is provided with a connecting groove, a threaded hole is formed in the middle of the connecting groove, the connecting face of the hinge lug is provided with a clamping head which is clamped into the connecting groove, and the connecting groove is fixedly connected with the bolt through the threaded hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921995944.1U CN211310555U (en) | 2019-11-19 | 2019-11-19 | Hoisting equipment object taking device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921995944.1U CN211310555U (en) | 2019-11-19 | 2019-11-19 | Hoisting equipment object taking device |
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| CN211310555U true CN211310555U (en) | 2020-08-21 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113060636A (en) * | 2021-03-17 | 2021-07-02 | 广东博智林机器人有限公司 | Grabbing device and lifting appliance |
| CN113567030A (en) * | 2021-07-28 | 2021-10-29 | 华北水利水电大学 | Plane series non-coupling six-dimensional wrist force sensor |
-
2019
- 2019-11-19 CN CN201921995944.1U patent/CN211310555U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113060636A (en) * | 2021-03-17 | 2021-07-02 | 广东博智林机器人有限公司 | Grabbing device and lifting appliance |
| CN113567030A (en) * | 2021-07-28 | 2021-10-29 | 华北水利水电大学 | Plane series non-coupling six-dimensional wrist force sensor |
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