CN106737796A - Quick change mechanism for multifunctional mechanical wrist part - Google Patents
Quick change mechanism for multifunctional mechanical wrist part Download PDFInfo
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- CN106737796A CN106737796A CN201611246893.3A CN201611246893A CN106737796A CN 106737796 A CN106737796 A CN 106737796A CN 201611246893 A CN201611246893 A CN 201611246893A CN 106737796 A CN106737796 A CN 106737796A
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- support tube
- quick
- shaft
- locking
- mechanical wrist
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- 230000007246 mechanism Effects 0.000 title claims abstract description 53
- 210000000707 wrist Anatomy 0.000 title claims abstract description 34
- 230000008859 change Effects 0.000 title description 4
- 239000012530 fluid Substances 0.000 claims abstract description 17
- 239000012636 effector Substances 0.000 claims abstract description 12
- 230000005540 biological transmission Effects 0.000 claims abstract description 11
- 238000005192 partition Methods 0.000 claims description 9
- 239000012528 membrane Substances 0.000 claims description 8
- 238000001514 detection method Methods 0.000 claims description 5
- 239000007787 solid Substances 0.000 claims 2
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 230000009347 mechanical transmission Effects 0.000 abstract 1
- 238000005516 engineering process Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 238000003780 insertion Methods 0.000 description 5
- 230000037431 insertion Effects 0.000 description 5
- 230000006872 improvement Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 230000007704 transition Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000002045 lasting effect Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 230000002085 persistent effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
- B25J15/0408—Connections means
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a quick-change mechanism for a multifunctional mechanical wrist part, which solves the technical problems that: the quick-change mechanism aims at the problems that the existing quick-change mechanism for the wrist part of the mechanical hand in the background art is not large in transmission torque, not high in quick-change reliability and the like. The technical scheme is that the quick-change mechanism for the wrist of the multifunctional manipulator comprises an inserting mechanism fixedly connected with the wrist of the multifunctional manipulator and an inserted mechanism fixedly connected with an end effector, and the inserting mechanism is quickly inserted into the inserted mechanism. The invention has the beneficial effects that: the quick-change mechanism for the multifunctional manipulator wrist part adopts equidistant profile connection, can transmit large torque, is simple to operate and good in reliability, can realize quick change-over of the end effector of the multifunctional manipulator through the cooperative design of fluid transmission and mechanical transmission, and has good application prospect.
Description
Technical field
The invention discloses a kind of quick-changing mechanism, more particularly to a kind of quick-changing mechanism for multi-functional mechanical wrist portion.
Background technology
With the lasting propulsion of CHINESE INDUSTRIES transition and upgrade, manipulator is widely used in automobile making, machining, green
The fields such as packaging, 3C assemblings.Further to improve the work capacity and operating efficiency of manipulator, common people adapt to energy in Persisting exploitation
While the new end effector that power is strong, versatility is good and flexibility ratio is high, it more desirable to by the different types of end of automatic changing-over
Hold actuator to build multi-function robot work station, realize that an industrial robot can complete several work task.Industrial machine
The automatic changing-over technology of device people's wrist, becomes a key technology of robot manipulating task system kind.
A kind of wrist quick-changing mechanism disclosed in the clear 58-137593 of Japan Patent, it is by connection end effector of pulling pin
With the non-circular shaft of robot wrist, cam surface when changing end effector by being located on tool storage room extracts pin, by overcoat
On spring press-in pull pin to realize, this kind of mechanism's changing-over coupling stiffness is poor.A kind of work disclosed in Chinese patent CN105537758
Industry robot wrist quick-changing mechanism, it is to drive worm and worm wheel by motor, drives contraction set to clamp or unclamp stem；The dress
Put reliability not high.A kind of wrist quick-changing mechanism based on multisensor of Harbin Engineering University's exploitation, it is regarded using machine
Feel that guiding coarse positioning, optical guidance are accurately positioned and passively mix Shared control strategy with pose adjustment and master, perform end
Device can meet the geometry constraint conditions and mechanics constraints of normal docking needs in Renewal process；The quick-changing mechanism perceives energy
Power and strong environmental adaptability, change rapid, reliable, but system composition is complex, need to merge multi-door subject technology, such as machine
Vision, sensing technology etc..Therefore, the automatic changing-over mechanism of new wrist that transmitting torque is big, quick change reliability is high is developed, to lifting
China's industry mechanical arm application level, the transition and upgrade of medium-sized and small enterprises of power-assisted China has important practical significance.
The content of the invention
The technical problems to be solved by the invention are changed planes soon for the existing mechanical wrist part referred in background technology
Structure there are problems that transmitting torque less, quick change reliability not.
To solve the above problems, the technical solution used in the present invention is：It is a kind of for the fast of multi-functional mechanical wrist portion
Converting mechanism, including the interposer affixed with multi-functional mechanical wrist portion and affixed with end effector by slotting mechanism, insertion
Mechanism's fast inserted is in by slotting mechanism；
Interposer includes the first support tube, drive device, locks wobble-plate, the disk that is locked, equidistant profile locating shaft
And at least two locking sliding shoe,
The top connection multi-functional mechanical wrist portion of the first support tube, evagination sets annular connecting portion on bottom, in ring
The open slot of at least two of circumferentially arranged decile on shape connecting portion, toroidal membrane is set in the endoporus of the first support tube,
Drive device is inserted in the endoporus of the first support tube, connects power transmission shaft in the output end of drive device and power transmission shaft penetrates annular
Dividing plate connection locking wobble-plate；
Locking wobble-plate is horizontally set in the endoporus of the first support tube and positioned at the bottom of toroidal membrane, while locking pendulum
Moving plate connects the disk that is locked；Circumferentially decile sets at least two waist type chutes on locking wobble-plate, in the disk that is locked
On radially decile set with the one-to-one T-shape groove of waist type chute；
All of locking sliding shoe is installed between locking wobble-plate and the disk that is locked, and locking sliding shoe includes sliding block
Body, is provided with the sliding block matched with T-shape groove on symmetrical two sides on slider body, sliding block insertion T-shape leads to
Both slips are realized in groove；The support shaft being engaged with waist type chute is set in the top surface of slider body, is covered in support shaft
Fill roller and roller is slided in waist type chute；Evagination sets bulb positioning pin, bulb positioning on the side of slider body
Pin is in three-dimensional 90 ° of vertical designs with support shaft, and bulb positioning pin passes the first support tube upper shed groove and reaches to be inserted
In mechanism；
Equidistant profile locating shaft is T-shaped, is set on the butt end end face of equidistant profile locating shaft and is seated detection mouth, releases
Inflatable mouth and at least one first fluid passage are put, shaft with equal profile is set in taper end；Equidistant profile locating shaft level sets
Put the outside in the end of the annular connecting portion of the first support tube and shaft with equal profile the first support tube of direction；
Second support tube and the second partition being horizontally set in the second support tube endoporus, the first support are included by slotting mechanism
Annular connecting portion on cylinder is inserted into the endoporus of the second support tube, and it is fixed with bulb to be provided with the inner hole wall of the second support tube
Position pin matches corresponding annular positioning groove, be provided with second partition with first fluid passage relative to second fluid
Passage.
Improvement to technical solution of the present invention, the center of the shaft with equal profile on equidistant profile locating shaft is set electrically inserts
Head.
Further improvement to above-mentioned technical proposal, indent is provided with and positioning is engaged with shaft with equal profile on second partition
Equidistant profile counterbore.
Above-mentioned technical proposal is further improved, the electricity being engaged with electrical plug is provided with equidistant profile counterbore
Property socket.
Improvement to technical solution of the present invention, circular orientation slot cross-section in semi-circular, the circular diameter of annular positioning groove half and ball
Head positioning pin bulb equal diameters.
Improvement to technical solution of the present invention, drive device can use swing type cylinder, or spiral swing hydranlic pressure jar, motor
The beneficial effects of the invention are as follows：
1st, this is used for the quick-changing mechanism of multi-functional mechanical wrist portion, is connected using equidistant profile, can transmitting large torque, operation
Simply, good reliability, by Fluid-transmission and mechanically operated collaborative design, can realize quick changing-over multifunction manipulator
End effector, with preferable application prospect.
2nd, this is used for the quick-changing mechanism of multi-functional mechanical wrist portion, and interposer is connected with by slotting mechanism using equidistant profile
Connect, can transmitting large torque, operation positioning it is simple.
3rd, this is used for the quick-changing mechanism of multi-functional mechanical wrist portion, and using locking wobble-plate, be locked disk and locking cunning
Motion block, it is possible to achieve interposer and be reliably accurately positioned and clamping between slotting mechanism.
Brief description of the drawings
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is overall structure sectional view of the invention；
Fig. 3 is the structural representation of stop sleeve of the invention；
Fig. 4 is locking sliding shoe structural representation of the invention；
Fig. 5 is locking wobble-plate structural representation of the invention；
Fig. 6 is the dish structure schematic diagram that is locked of the invention；
Fig. 7 is equidistant profile positioning axis structure schematic diagram of the invention；
Fig. 8 is the structural representation of dividing plate of the invention two；
Fig. 9 is that bulb alignment pin of the invention holds out against connection diagram with annular positioning groove；
Figure 10 is that bulb alignment pin of the invention discharges connection diagram with annular positioning groove.
Wherein：1000th, interposer, the 1001, first support tube, 1001-1, open slot, 1002, drive device, 1003,
Locking wobble-plate, 1003-1, waist type chute, 1004, be locked disk, 1004-1, T-shape groove, 1005, locking sliding shoe,
1005-1, slider body, 1005-2, support shaft, 1005-3, roller, 1005-4, bulb positioning pin, 1005-5, sliding block,
1006th, equidistant profile locating shaft, 1006-1, first fluid passage, are seated detection mouth at 1006-2,1006-3, release inflatable mouth,
1006-4, shaft with equal profile, 1007, toroidal membrane, 1008, power transmission shaft, 1009, bearing, 1010, electrical plug, 2000, inserted
Mechanism, the 2001, second support tube, 2001-1, annular positioning groove, 2002, second partition, 2002-1, annular positioning groove, 2002-
2nd, equidistant profile counterbore, 2003, electrical socket.
Specific embodiment
Technical solution of the present invention is described in detail below, but protection scope of the present invention is not limited to the implementation
Example.
To make present disclosure more obvious understandable, done further below in conjunction with accompanying drawing 1- Figure 10 and specific embodiment
Description.
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that specific embodiment described herein is only used to explain the present invention, not
For limiting the present invention.
As shown in figure 1, in the present embodiment be used for multi-functional mechanical wrist portion quick-changing mechanism, including with multifunction manipulator
The affixed interposer 1000 of wrist and affixed with end effector by slotting mechanism 2000, the fast inserted of interposer 1000 exists
By in slotting mechanism 2000.
As shown in Fig. 2,3,4,5,6 and 7, interposer 1000 includes the first support tube 1001, drive device 1002, locking
Wobble-plate 1003, the disk 1004 that is locked, the locking sliding shoe 1005 of equidistant profile locating shaft 1006 and at least two.Locking
The quantity of sliding shoe 1005 can determine according to the weight of arm end effector.Drive device 1002 can use swing type gas
Cylinder, or spiral swing hydranlic pressure jar, motor.
As shown in figure 3, the top connection multi-functional mechanical wrist portion of the first support tube 1001, evagination sets ring on bottom
Shape connecting portion, the open slot 1001-1 of at least two of circumferentially arranged decile on annular connecting portion, in the first support tube
Toroidal membrane 1007 is set in 1001 endoporus, and drive device 1002 is inserted in the endoporus of the first support tube 1001, is filled driving
The output end connection power transmission shaft 1008 and power transmission shaft 1008 for putting 1002 penetrate the connection locking wobble-plate 1003 of toroidal membrane 1007.
As shown in figure 5, locking wobble-plate 1003 be horizontally set in the endoporus of the first support tube 1001 and positioned at annular every
The bottom of plate 1007, while locking wobble-plate 1003 connects the disk 1004 that is locked；On locking wobble-plate 1003 circumferentially etc.
Set up separately and put at least two waist type chute 1003-1, radially decile is set and waist type chute 1003-1 being locked on disk 1004
One-to-one T-shape groove 1004-1, as shown in Figure 6.
All of locking sliding shoe 1005 is installed between locking wobble-plate 1003 and the disk 1004 that is locked.Such as Fig. 4
Shown, locking sliding shoe 1005 includes slider body 1005-1, is provided with symmetrical two sides on slider body 1005-1
Both cunnings are realized in the logical 1004-1 of the sliding block 1005-5 matched with T-shape groove 1004-1, sliding block 1005-5 insertion T-shape
It is dynamic；The support shaft 1005-2 being engaged with waist type chute 1003-1 is set in the top surface of slider body 1005-1, in support shaft
Roller 1005-3 is set with 1005-2 and roller 1005-3 is slided in waist type chute 1003-1；In the side of slider body 1005-1
Evagination sets bulb positioning pin 1005-4 on face, and it is vertical in three-dimensional 90 ° with support shaft 1005-2 that bulb positions pin 1005-4
Design, bulb positioning pin 1005-4 passes the upper shed groove 1001-1 of the first support tube 1001 and reaches by slotting mechanism 2000
It is interior.
Lock and slide along the distance of the locking radial direction of wobble-plate 1003 in waist type chute 1003-1 two ends in the present embodiment
The critical distance of the movement of block 1005 is equal with bulb positioning pin 1005-5 Probe-radius.
As shown in fig. 7, equidistant profile locating shaft 1006 is T-shaped, in the butt end end face of equidistant profile locating shaft 1006
Upper setting is seated detection mouth 1006-2, the first fluid passage 1006-1 of release inflatable mouth 1006-3 and at least one, in taper end
Upper setting shaft with equal profile 1006-4；Equidistant profile locating shaft 1006 is horizontally set on the annular connecting portion of the first support tube 1001
End and shaft with equal profile 1006-4 towards the first support tube 1001 outside.Isometric type on equidistant profile locating shaft 1006
The center of face axle 1006-4 sets electrical plug 1010.
As shown in Figures 2 and 8, the second support tube 2001 is included by slotting mechanism 2000 and is horizontally set on the second support tube 2001
Second partition 2002 in endoporus, the annular connecting portion on the first support tube 1001 is inserted into the endoporus of the second support tube 2001
In, it is provided with the inner hole wall of the second support tube 2001 and is matched corresponding annular positioning groove with bulb positioning pin 1005-4
2001-1, be provided with second partition 2002 with first fluid passage 1006-1 relative to second fluid passage 2002-1.
Annular positioning groove 2001-1 sections are in semi-circular, and the circular diameter of annular positioning groove half and bulb position pin 1005-5 bulb diameter phases
Deng.Indent is provided with the equidistant profile counterbore 2002- that positioning is engaged with shaft with equal profile 1006-4 on second partition 2002
2.The electrical socket 2003 being engaged with electrical plug 1010 is provided with equidistant profile counterbore 2002-2.The electrical He of plug 1010
Electrical socket 2003 is routine techniques product of the prior art.
The quick-changing mechanism for multi-functional mechanical wrist portion of the present embodiment is as follows in operation principle：
When interposer 1000 by slotting mechanism 2000 with being seated, power transmission shaft is driven by by drive device 1002 first
1008 swing with locking wobble-plate 1003, and locking sliding shoe 1005 is in locking wobble-plate 1003 and the disk 1004 that is locked
Under common constraint, the radial direction along the first stop sleeve 1001 is protruding, the ball head of bulb positioning pin 1005-4
Position insertion annular positioning groove 2001-1, electrical plug 1010 inserts electrical socket 2003, as shown in Figure 9；Secondly detection is seated inspection
The supply gas pressure of mouth 1006-2 is surveyed, control interposer 1000 is seated with by the reliability of slotting mechanism 2000；Finally, first fluid passage
1006-1 and second fluid passage 2002-1, end-effector discharge pressure fluid；Or by electrical plug 1010 and electrically
The end-effector of socket 2003 transmits electric power；
When interposer 1000 by slotting mechanism 2000 with being separated, first, cut through first fluid passage 1006-1 and
The pressure fluid of second fluid passage 2002-1, cuts through the electric power of electrical plug 1010 and the conveying of electrical socket 2003；Its
Secondary drive device 1002 drives power transmission shaft 1008 and locking wobble-plate 1003 that backswing occurs, and locking sliding shoe 1005 is in locking
Wobble-plate 1003 and it is locked under the common constraint of disk 1004, along the radial direction of stop sleeve 1 to contract,
Annular positioning groove 2001-1 is exited at the bulb position of bulb positioning pin 1005-4；Most backward release inflatable mouth 1006-3 provides pressure
Strength body, facilitates insertion into mechanism 1000 and is separated with by slotting mechanism 2000, as shown in Figure 10.
The foregoing is only the quick-changing mechanism for multi-functional mechanical wrist portion of the present invention one preferably implements
Case, but practical range of the invention is not limited thereto example.
Do not refer to that parts are routine techniques of the prior art in the present invention.
What is be not specifically noted in all description of the invention is prior art or can be realized by existing technology,
It should be appreciated that for those of ordinary skills, can according to the above description be improved or be converted, and it is all this
A little modifications and variations should all belong to the protection domain of appended claims of the present invention.
Claims (6)
1. a kind of quick-changing mechanism for multi-functional mechanical wrist portion, it is characterised in that：Including solid with multi-functional mechanical wrist portion
The interposer (1000) that connects and affixed with end effector by slotting mechanism (2000), interposer (1000) fast inserted exists
By in slotting mechanism (2000)；
Interposer (1000) is solid including the first support tube (1001), drive device (1002), locking wobble-plate (1003), locking
Price fixing (1004), equidistant profile locating shaft (1006) and at least two locking sliding shoe (1005),
The top connection multi-functional mechanical wrist portion of the first support tube (1001), evagination sets annular connecting portion on bottom,
The open slot (1001-1) of at least two of circumferentially arranged decile on annular connecting portion, in the endoporus of the first support tube (1001)
In set toroidal membrane (1007), drive device (1002) insert the first support tube (1001) endoporus in, in drive device
(1002) output end connects power transmission shaft (1008) and power transmission shaft (1008) penetrates toroidal membrane (1007) connection locking and swings
Disk (1003)；
Locking wobble-plate (1003) is horizontally set in the endoporus of the first support tube (1001) and positioned at toroidal membrane (1007)
Bottom, while locking wobble-plate (1003) connects the disk (1004) that is locked；The circumferentially decile in locking wobble-plate (1003)
At least two waist types chute (1003-1) are set, and radially decile is set and waist type chute on the disk that is locked (1004)
(1003-1) one-to-one T-shape groove (1004-1)；
All of locking sliding shoe (1005) is installed between locking wobble-plate (1003) and the disk that is locked (1004), locking
Sliding shoe (1005) includes slider body (1005-1), be provided with symmetrical two sides on slider body (1005-1) with
The sliding block (1005-5) that T-shape groove (1004-1) matches, sliding block (1005-5) is inserted in T-shape groove (1004-1) and realized
Both slips；Support shaft (the 1005- being engaged with waist type chute (1003-1) is set in the top surface of slider body (1005-1)
2), it is set with roller (1005-3) in support shaft (1005-2) and roller (1005-3) is slided in waist type chute (1003-1)；
On the side of slider body (1005-1) evagination set bulb position pin (1005-4), bulb position pin (1005-4) with
Support shaft (1005-2) is in three-dimensional 90 ° of vertical designs, and bulb positioning pin (1005-4) is passed to be opened on the first support tube (1001)
Mouth groove (1001-1) is simultaneously reached by slotting mechanism (2000)；
Equidistant profile locating shaft (1006) is T-shaped, is set on the butt end end face of equidistant profile locating shaft (1006) and is seated
Detection mouth (1006-2), release inflatable mouth (1006-3) and at least one first fluid passage (1006-1), set in taper end
Put shaft with equal profile (1006-4)；Equidistant profile locating shaft (1006) is horizontally set on the annular connection of the first support tube (1001)
The end in portion and the outside of shaft with equal profile (1006-4) the first support tube of direction (1001)；
By slotting mechanism (2000) including the second support tube (2001) and be horizontally set in the second support tube (2001) endoporus
Two dividing plates (2002), the annular connecting portion on the first support tube (1001) is inserted into the endoporus of the second support tube (2001),
It is provided with the inner hole wall of the second support tube (2001) and positions pin (1005-4) with bulb and match corresponding annular positioning groove
(2001-1), be provided with second partition (2002) with first fluid passage (1006-1) relative to second fluid passage
(2002-1)。
2. using the quick-changing mechanism for multi-functional mechanical wrist portion described in claim 1, it is characterised in that equidistant profile is fixed
The center of the shaft with equal profile (1006-4) on position axle (1006) sets electrical plug (1010).
3. using the quick-changing mechanism for multi-functional mechanical wrist portion described in claim 2, it is characterised in that second partition
(2002) indent is provided with the equidistant profile counterbore (2002-2) that positioning is engaged with shaft with equal profile (1006-4) on.
4. using the quick-changing mechanism for multi-functional mechanical wrist portion described in claim 3, it is characterised in that equidistant profile sinks
The electrical socket (2003) being engaged with electrical plug (1010) is provided with hole (2002-2).
5. using the quick-changing mechanism for multi-functional mechanical wrist portion described in claim 1, it is characterised in that annular positioning groove
(2001-1) section is in semi-circular, and the circular diameter of annular positioning groove half positions pin (1005-5) bulb equal diameters with bulb.
6. using the quick-changing mechanism for multi-functional mechanical wrist portion described in claim 1, it is characterised in that drive device
(1002) swing type cylinder, or spiral swing hydranlic pressure jar, motor can be used.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611246893.3A CN106737796B (en) | 2016-12-29 | 2016-12-29 | Quick-change mechanism for multifunctional mechanical arm part |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611246893.3A CN106737796B (en) | 2016-12-29 | 2016-12-29 | Quick-change mechanism for multifunctional mechanical arm part |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106737796A true CN106737796A (en) | 2017-05-31 |
| CN106737796B CN106737796B (en) | 2023-06-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611246893.3A Active CN106737796B (en) | 2016-12-29 | 2016-12-29 | Quick-change mechanism for multifunctional mechanical arm part |
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| Country | Link |
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| CN (1) | CN106737796B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107398923A (en) * | 2017-09-11 | 2017-11-28 | 清华大学深圳研究生院 | A kind of joint connector of mechanical arm |
| CN110802624A (en) * | 2019-11-22 | 2020-02-18 | 合肥常青机械股份有限公司 | Gripper-replaceable robot arm |
| WO2021032085A1 (en) * | 2019-08-19 | 2021-02-25 | 北京海益同展信息科技有限公司 | Interlocking mechanism and bionic hand employing same |
| CN112536810A (en) * | 2020-12-16 | 2021-03-23 | 黑龙江职业学院(黑龙江省经济管理干部学院) | Robot quick connector containing multiple process free-set joint freedom degrees |
| CN114347083A (en) * | 2022-02-23 | 2022-04-15 | 刘振宇 | Quick locking device of intelligent mechanical welding hand |
| CN114704579A (en) * | 2022-04-13 | 2022-07-05 | 邵阳市通达汽车零部件制造有限公司 | Nitrogen spring with quick change mechanism |
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| CN206536495U (en) * | 2016-12-29 | 2017-10-03 | 南京信息职业技术学院 | Quick change mechanism for multifunctional mechanical wrist part |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107398923A (en) * | 2017-09-11 | 2017-11-28 | 清华大学深圳研究生院 | A kind of joint connector of mechanical arm |
| CN107398923B (en) * | 2017-09-11 | 2023-08-18 | 清华大学深圳研究生院 | Joint connection device of mechanical arm based on shaft pin |
| WO2021032085A1 (en) * | 2019-08-19 | 2021-02-25 | 北京海益同展信息科技有限公司 | Interlocking mechanism and bionic hand employing same |
| CN110802624A (en) * | 2019-11-22 | 2020-02-18 | 合肥常青机械股份有限公司 | Gripper-replaceable robot arm |
| CN110802624B (en) * | 2019-11-22 | 2020-11-13 | 合肥常青机械股份有限公司 | Gripper-replaceable robot arm |
| CN112536810A (en) * | 2020-12-16 | 2021-03-23 | 黑龙江职业学院(黑龙江省经济管理干部学院) | Robot quick connector containing multiple process free-set joint freedom degrees |
| CN112536810B (en) * | 2020-12-16 | 2021-09-24 | 黑龙江职业学院(黑龙江省经济管理干部学院) | Robot quick connector containing multiple process free-set joint freedom degrees |
| CN114347083A (en) * | 2022-02-23 | 2022-04-15 | 刘振宇 | Quick locking device of intelligent mechanical welding hand |
| CN114704579A (en) * | 2022-04-13 | 2022-07-05 | 邵阳市通达汽车零部件制造有限公司 | Nitrogen spring with quick change mechanism |
| CN114704579B (en) * | 2022-04-13 | 2022-10-25 | 邵阳市通达汽车零部件制造有限公司 | Nitrogen spring with quick change mechanism |
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