CN109202951A - A kind of holding finger of antiskid, gripper jaw and clamper - Google Patents
A kind of holding finger of antiskid, gripper jaw and clamper Download PDFInfo
- Publication number
- CN109202951A CN109202951A CN201811400770.XA CN201811400770A CN109202951A CN 109202951 A CN109202951 A CN 109202951A CN 201811400770 A CN201811400770 A CN 201811400770A CN 109202951 A CN109202951 A CN 109202951A
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- CN
- China
- Prior art keywords
- voussoir
- baffle
- hole
- holding finger
- rod piece
- Prior art date
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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
- B25J15/08—Gripping heads and other end effectors having finger members
-
- 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
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/083—Gripping heads and other end effectors having finger members with means for locking the fingers in an open or closed position
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Clamps And Clips (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to rod pieces to grab folder technical field more particularly to a kind of holding finger of antiskid, gripper jaw and clamper.In the holding finger of antiskid of the present invention, voussoir is provided with through-hole, support shaft passes through through-hole and is installed in the first hole and the second hole, voussoir is rotatablely arranged between first baffle and second baffle, voussoir is rotated by rotation center of support shaft, voussoir contacts setting and wedgeable with arc panel, torsional spring provides initial contact power with the contact with arc panel of contact and voussoir of clamping rod piece for voussoir and that voussoir can be made to be formed between clamping rod piece and arc panel is self-locking, it can effectively prevent central axis sliding of the holding finger around clamping rod piece, it can guarantee holding finger and clamp the stability of rod piece, grab folder using the clamper with the holding finger, can to solve stability between clamper and clamping rod piece not strong, the problem of clamper can slide from clamping rod piece, guarantee that clamper reliably grabs folder to clamping rod piece.
Description
Technical field
The invention belongs to rod pieces to grab folder technical field more particularly to a kind of holding finger of antiskid, gripper jaw and clamping
Device.
Background technique
In recent years, it in order to improve working efficiency, ensures personal safety, the high-risk work of the industries such as agricultural, building is gradually
Robot manipulating task is introduced, such as replaces manpower climbing progress picking fruit, cable to set up using climbing robot, truss dismounting.
Climbing robot is mutually fixed using clamper and clamping rod piece, and completes climbing operation under control of the control system.But by
In holder designs Shortcomings, clamping force is limited, and clamper is in use, clamping torque can not resist the edge that robot is subject to
The torque in bar direction, the clamping failure for causing around rod to rotate, and then climbing robot is caused to be unable to complete operation.
How to improve clamper and clamp the stability between rod piece, avoids the occurrence of the sliding of clamper, at this stage should be
Field problem urgently to be resolved.
Summary of the invention
In view of this, the present invention provides a kind of holding finger of antiskid, gripper jaw and clamper, for solving clamping
The technical issues of stability is not strong between device and clamping rod piece, clamper can slide from clamping rod piece.
The specific technical solution of the present invention is as follows:
A kind of holding finger of antiskid, comprising: first baffle, second baffle, arc panel, voussoir, support shaft and torsional spring；
The first baffle is connected with the second baffle by the arc panel, the first baffle, the second gear
Plate and the arc panel form arc semi-surrounding structure；
The first baffle offers the first hole, and the second baffle is provided with the second hole, and the voussoir is provided with through-hole, described
Support shaft passes through the through-hole and is installed in first hole and second hole, the voussoir is rotatablely arranged at described
Between first baffle and the second baffle；
The face of the voussoir toward the first baffle and/or the second baffle offers third hole, and described first
Baffle and/or the second baffle are equipped with the first limited post, and the torsional spring is socketed in the support shaft, and the of the torsional spring
One arm foot is fixed in the third hole, and first limited post is used to fix the second arm foot of the torsional spring；
The voussoir contacts with the arc panel setting and wedgeable, and the torsional spring is that the voussoir connects with clamping rod piece
Touching and voussoir contact with the arc panel provide initial contact power and the voussoir can be made in clamping rod piece and the arc
It is formed between shape plate self-locking.
Preferably, further includes: the second limited post；
Second limited post is set on the first baffle and/or the second baffle, for limiting the voussoir
Rotational angle.
Preferably, the voussoir and the working surface of arc panel contact are contacted with the voussoir and the clamping rod piece
Working surface be located in logatithmic spiral.
Preferably, the quantity of the voussoir is two or more, and the voussoir is in the first baffle and the second baffle
Between be circumferentially arranged.
Preferably, the torsional spring is identical with the quantity of the voussoir, and the second arm foot of the torsional spring can be by adjacent described
Support shaft is fixed.
Preferably, the number of plies of the voussoir between the first baffle and the second baffle is two layers or more；
Each layer voussoir is arranged in parallel.
Preferably, the number of plies of the voussoir between the first baffle and the second baffle is two layers, described in two layers
Voussoir is oppositely arranged.
Preferably, the group number of voussoir described in same layer is two groups, and voussoir described in two groups is symmetrical arranged.
The present invention also provides a kind of gripper jaws, including holding finger described in above-mentioned technical proposal.
The present invention also provides a kind of clampers, including gripper jaw described in above-mentioned technical proposal；
The quantity of the gripper jaw is a pair or more, and each pair of gripper jaw is symmetrical set in the clamper.
In conclusion the present invention provides a kind of holding fingers of antiskid, comprising: first baffle, second baffle, arc
Plate, voussoir, support shaft and torsional spring；The first baffle is connected with the second baffle by the arc panel, the first gear
Plate, the second baffle and the arc panel form arc semi-surrounding structure；The first baffle offers the first hole, and described
Two baffles are provided with the second hole, and the voussoir is provided with through-hole, and the support shaft passes through the through-hole and is installed on first hole and institute
It states in the second hole, the voussoir is rotatablely arranged between the first baffle and the second baffle；The voussoir court
Third hole, the first baffle and/or the second gear are offered to the face in the first baffle and/or the second baffle
Plate is equipped with the first limited post, and the torsional spring is socketed in the support shaft, and the first arm foot of the torsional spring is fixed on described
In three holes, first limited post is used to fix the second arm foot of the torsional spring；The voussoir contacts setting with the arc panel
And wedgeable, the torsional spring provide just with the contact of clamping rod piece and the voussoir with the contact of the arc panel for the voussoir
Beginning contact force and can make the voussoir clamping rod piece and the arc panel between formed it is self-locking.In the present invention, voussoir is provided with logical
Hole, support shaft pass through through-hole and are installed in the first hole and the second hole, and voussoir is rotatablely arranged at first baffle and second gear
Between plate, voussoir is rotated by rotation center of support shaft, and voussoir contacts setting and wedgeable with arc panel, and torsional spring is voussoir
Contact with the contact and voussoir of clamping rod piece with arc panel provides initial contact power and voussoir can be made in clamping rod piece and arc
Formed between plate it is self-locking, can effectively prevent holding finger around clamping rod piece central axis sliding, can guarantee holding finger with
The stability for clamping rod piece, grab folder using the clamper with the holding finger can solve between clamper and clamping rod piece
The problem of stability is not strong, clamper can slide from clamping rod piece, guarantees that clamper reliably grabs folder to clamping rod piece.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described.
Fig. 1 is a kind of structural schematic diagram of the holding finger of antiskid provided in an embodiment of the present invention；
Fig. 2 is a kind of decomposition diagram of the holding finger of antiskid provided in an embodiment of the present invention；
Fig. 3 is a kind of side view of the holding finger of antiskid provided in an embodiment of the present invention；
Fig. 4 is a kind of structural schematic diagram of gripper jaw provided in an embodiment of the present invention；
Fig. 5 is a kind of decomposition diagram of gripper jaw provided in an embodiment of the present invention；
Fig. 6 is a kind of structural schematic diagram of clamper provided in an embodiment of the present invention；
It illustrates: 1. gripper jaws；2. arc panel；3. torsional spring；4. voussoir；5. the second limited post；6. first baffle；7.
Support axis；8. the first limited post；9. second baffle；10. the first hole；11. the second hole；12. stiffening plate.
Specific embodiment
The present invention provides a kind of holding finger of antiskid, gripper jaw and clampers, for solving clamper and clamping
The technical issues of stability is not strong between rod piece, clamper can slide from clamping rod piece.
The technical scheme in the embodiments of the invention will be clearly and completely described below, it is clear that described implementation
Example is only a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, this field is common
Technical staff's every other embodiment obtained without making creative work belongs to the model that the present invention protects
It encloses.
It please refers to Fig.1 to Fig.3, a kind of structure of the holding finger of the antiskid respectively provided in the embodiment of the present invention is shown
Intention, decomposition diagram and side view.
One embodiment of the holding finger of a kind of antiskid provided in an embodiment of the present invention, comprising: first baffle 6,
Two baffles 9, arc panel 2, voussoir 4, support shaft 7 and torsional spring 3；
First baffle 6 and second baffle 9 are connected by arc panel 2, first baffle 6, second baffle 9 and the formation of arc panel 2
Arc semi-surrounding structure；
First baffle 6 offers the first hole 10, and second baffle 9 is provided with the second hole 11, and voussoir 4 is provided with through-hole, and support shaft 7 is worn
Through-hole is crossed to be installed in the first hole 10 and the second hole 11, by voussoir 4 be rotatablely arranged at first baffle 6 and second baffle 9 it
Between；
The face of voussoir 4 toward first baffle 6 and/or second baffle 9 offers third hole, first baffle 6 and/or second
Baffle 9 is equipped with the first limited post 8, and torsional spring 3 is socketed in support shaft 7, and the first arm foot of torsional spring 3 is fixed in third hole, the
One limited post 8 is used to fix the second arm foot of torsional spring 3；
Voussoir 4 contacted with arc panel 2 setting and wedgeable, torsional spring 3 be voussoir 4 with clamp rod piece contact and voussoir 4 and
The contact of arc panel 2 initial contact power is provided and can make voussoir 4 clamp formed between rod piece and arc panel 2 it is self-locking.
In the embodiment of the present invention, voussoir 4 is provided with through-hole, and support shaft 7 passes through through-hole and is installed on the first hole 10 and the second hole 11
It is interior, voussoir 4 is rotatablely arranged between first baffle 6 and second baffle 9, voussoir 4 is rotation center progress with support shaft 7
Rotation, voussoir 4 contact setting and wedgeable with arc panel 2, and torsional spring 3 is voussoir 4 and the contact and voussoir 4 that clamp rod piece and arc
The contact of plate 2 provides initial contact power, it is ensured that the contact of holding finger and clamping rod piece, also, voussoir 4 is in arc panel 2
There are self-locking effects between clamping rod piece, holding finger can be effectively prevent around the sliding of clamping rod piece central axis, to protect
Card holding finger grabs folder to the reliable of rod piece is clamped, and guarantees holding finger and clamps the stability of rod piece, using with the clamping
The clamper of finger grab folder can solve stability between clamper and clamping rod piece is strong, clamper can be from clamping rod piece
The problem of sliding, guarantees that clamper reliably grabs folder to clamping rod piece.
It is detailed to a kind of one embodiment progress of the holding finger of antiskid provided in an embodiment of the present invention above
Description will retouch below to a kind of another embodiment progress of the holding finger of antiskid provided in an embodiment of the present invention is detailed
It states.
It please refers to Fig.1 to Fig.3, a kind of another embodiment of the holding finger of antiskid provided in an embodiment of the present invention,
It include: first baffle 6, second baffle 9, arc panel 2, voussoir 4, support shaft 7 and torsional spring 3；
First baffle 6 and second baffle 9 are connected by arc panel 2, first baffle 6, second baffle 9 and the formation of arc panel 2
Arc semi-surrounding structure；
First baffle 6 offers the first hole 10, and second baffle 9 is provided with the second hole 11, and voussoir 4 is provided with through-hole, and support shaft 7 is worn
Through-hole is crossed to be installed in the first hole 10 and the second hole 11, by voussoir 4 be rotatablely arranged at first baffle 6 and second baffle 9 it
Between；
The face of voussoir 4 toward first baffle 6 and/or second baffle 9 offers third hole, first baffle 6 and/or second
Baffle 9 is equipped with the first limited post 8, and torsional spring 3 is socketed in support shaft 7, and the first arm foot of torsional spring 3 is fixed in third hole, the
One limited post 8 is used to fix the second arm foot of torsional spring 3；
Voussoir 4 contacted with arc panel 2 setting and wedgeable, torsional spring 3 be voussoir 4 with clamp rod piece contact and voussoir 4 and
The contact of arc panel 2 initial contact power is provided and can make voussoir 4 clamp formed between rod piece and arc panel 2 it is self-locking.
In the embodiment of the present invention, voussoir 4 is provided with through-hole, and support shaft 7 passes through through-hole and is installed on the first hole 10 and the second hole 11
It is interior, voussoir 4 is rotatablely arranged between first baffle 6 and second baffle 9, voussoir 4 is rotation center progress with support shaft 7
Rotation, voussoir 4 contact setting and wedgeable with arc panel 2, and torsional spring 3 is voussoir 4 and the contact and voussoir 4 that clamp rod piece and arc
The contact of plate 2 provides initial contact power and voussoir 4 can be made to be formed self-locking between rod piece and arc panel 2 clamping, and can effectively prevent
Holding finger can guarantee holding finger and clamp the stability of rod piece, using having around the central axis sliding of clamping rod piece
The clamper of the holding finger grab folder can solve stability between clamper and clamping rod piece is strong, clamper can be from clamping
The problem of sliding on rod piece guarantees that clamper reliably grabs folder to clamping rod piece.
In the embodiment of the present invention, at being symmetrical arranged, the second hole 10 and third hole are blind hole for first baffle 6 and second baffle 9,
Second hole 11 is the second through-hole.Voussoir 4 is symmetrical structure, and third hole is two in the quantity of the same face, is being clamped convenient for voussoir 4
Installation on finger.
In the embodiment of the present invention, in the third hole that insertion voussoir 4 opens up after the first arm foot bending of torsional spring 3.First limit
Column 8 is preferably external screw thread pin, and external screw thread pin is fixedly connected by screw thread with first baffle 6 and/or second baffle 9, for fixing
Second arm foot of torsional spring 3.
First baffle 6 and arc panel 2 are an integral molding structure, and second baffle 9 is fixed with 2 bolt of arc panel.
In the embodiment of the present invention, arc panel 2 is embedded with stiffening plate 12, and stiffening plate 12 contacts setting with voussoir 4, and voussoir 4 is pressing from both sides
Hold formed between rod piece and stiffening plate 12 it is self-locking, stiffening plate 12 be wear-resistant material, arc panel 2 can be increased and the contact of voussoir 4 is tired
Labor intensity improves the service life of holding finger.Stiffening plate 12 can be fixed in arc panel 2 by gluing or bolt.
It should be noted that the material of the contact surface of arc panel 2 and voussoir 4 is wear-resistant material, can also increase arc panel 2 with
The contact fatigue strength of voussoir 4 improves the service life of holding finger.
Further, further includes: the second limited post 5；
Second limited post 5 is set on first baffle 6 and/or second baffle 9, for limiting the rotational angle of voussoir 4, into
One step improves clamper and clamps the stability between rod piece, and guarantees the normal work of torsional spring 3, reduces the damage of torsional spring 3.The
Two limited posts 5 are fixedly connected by screw thread with first baffle 6 and/or second baffle 9.
In the embodiment of the present invention, voussoir 4 and clamping rod piece can contact wedging.
In the embodiment of the present invention, working surface that voussoir 4 and arc panel 2 contact and voussoir 4 and the work that rod piece contacts is clamped
Make type face to be located in logatithmic spiral.The embodiment of the present invention contacts the contact angle of wedge, the wedge of wedging by adjusting voussoir 4 and arc panel 2
The contact angle of wedge of block 4 and clamping rod piece contact wedging, sets up condition of self-locking, further prevents holding finger and clamping rod piece sliding
Failure is moved, prevents from sliding between holding finger and clamping rod piece, prevents clamper to clamp the center line of rod piece as axis
Rotation.
In the embodiment of the present invention, the contact angle of wedge of voussoir 4 and the contact wedging of arc panel 2 is 3.95 °, voussoir 4 and supporting rod
The contact angle of wedge that part contacts wedging is 5.05 °, clamps rod piece and voussoir 4 contacts wedging, since the contact angle of wedge is full less than angle of friction
Sufficient condition of self-locking can effectively prevent holding finger and clamp the sliding failure between rod piece.
It should be noted that the work that the working surface that voussoir 4 and arc panel 2 contact is contacted with voussoir 4 and clamping rod piece
Type face is not limited to be located in logatithmic spiral.
In the embodiment of the present invention, the quantity of voussoir 4 is two or more, and voussoir 4 is between first baffle 6 and second baffle 9
Circumferentially it is arranged.
In the embodiment of the present invention, torsional spring 3 is identical with the quantity of voussoir 4, and the second arm foot of torsional spring 3 can also pass through adjacent supports
Axis 7 is fixed.Single voussoir 4 is matched with single torsional spring 3 to be set in support shaft 7.
Multiple blind holes pair that multiple second through-holes and second baffle 9 that multiple support shafts 7 are opened up with first baffle 6 open up
It answers.
In the embodiment of the present invention, the number of plies of the voussoir 4 between first baffle 6 and second baffle 9 is two layers or more；
Each layer voussoir 4 is arranged in parallel.
Two layers or more voussoir 4 can form the recess of package to clamping rod piece.
In the embodiment of the present invention, the number of plies of the voussoir 4 between first baffle 6 and second baffle 9 is two layers, two layers of voussoir 4
It is oppositely arranged.
In the embodiment of the present invention, the group number of same layer voussoir 4 is two groups, and two groups of voussoirs 4 are symmetrical arranged.
In the embodiment of the present invention, single voussoir 4 is circumferentially arranged symmetrically, and the quantity of every group of voussoir 4 is 3, single voussoir 4
Quantity be 6.Left and right two groups of voussoir arranged directions on the contrary, be respectively used to prevent clamper around clamping rod piece circumference clockwise and
It is anticlockwise to trackslip.
It is detailed to a kind of another embodiment progress of the holding finger of antiskid provided in an embodiment of the present invention above
Description, a kind of one embodiment of gripper jaw provided in an embodiment of the present invention will be described in detail below.
Fig. 4 and Fig. 5 are please referred to, a kind of structural schematic diagram of gripper jaw respectively provided in an embodiment of the present invention and decomposition are shown
It is intended to.
A kind of gripper jaw provided in an embodiment of the present invention, including above-mentioned technical proposal holding finger.
In the embodiment of the present invention, the quantity of holding finger is two or more.
It is that a kind of one embodiment of gripper jaw provided in an embodiment of the present invention is described in detail above, below will
A kind of one embodiment of clamper provided in an embodiment of the present invention is described in detail.
Referring to Fig. 6, being a kind of structural schematic diagram of clamper provided in an embodiment of the present invention.
A kind of clamper provided in an embodiment of the present invention, including above-mentioned technical proposal gripper jaw 1；
The quantity of gripper jaw 1 is a pair or more, and each pair of gripper jaw 1 is symmetrical set in clamper.
In the embodiment of the present invention, clamper can be applied to robot, to guarantee between climbing robot and clamping rod piece
Soundness.
Further, further include transmission mechanism, driving mechanism and pedestal, gripper jaw 1 is set on pedestal, gripper jaw 1 with
Clamping rod piece is placed in symmetrical one when clamping to clamping rod piece by transmission mechanism, driving mechanism and pedestal connection
To between gripper jaw 1, shorten the distance between left gripper jaw and right gripper jaw by driving device, until rod piece folder will be clamped
It fastens.
In the embodiment of the present invention, the end of clamper and the mating connection of transmission mechanism.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (10)
1. a kind of holding finger of antiskid characterized by comprising first baffle, second baffle, arc panel, voussoir, support
Axis and torsional spring；
The first baffle is connected with the second baffle by the arc panel, the first baffle, the second baffle and
The arc panel forms arc semi-surrounding structure；
The first baffle offers the first hole, and the second baffle is provided with the second hole, and the voussoir is provided with through-hole, the support
Axis passes through the through-hole and is installed in first hole and second hole, and the voussoir is rotatablely arranged at described first
Between baffle and the second baffle；
The face of the voussoir toward the first baffle and/or the second baffle offers third hole, the first baffle
And/or the second baffle is equipped with the first limited post, the torsional spring is socketed in the support shaft, the first arm of the torsional spring
Foot is fixed in the third hole, and first limited post is used to fix the second arm foot of the torsional spring；
The voussoir contacted with the arc panel setting and wedgeable, the torsional spring be the voussoir with clamping rod piece contact and
Voussoir contact with the arc panel provides initial contact power and the voussoir can be made in clamping rod piece and the arc panel
Between formed it is self-locking.
2. holding finger according to claim 1, which is characterized in that further include: the second limited post；
Second limited post is set on the first baffle and/or the second baffle, for limiting turning for the voussoir
Dynamic angle.
3. holding finger according to claim 1, which is characterized in that the work type of the voussoir and arc panel contact
The working surface that face is contacted with the voussoir and the clamping rod piece is located in logatithmic spiral.
4. holding finger according to claim 1, which is characterized in that the quantity of the voussoir is two or more, the wedge
Block is circumferentially arranged between the first baffle and the second baffle.
5. holding finger according to claim 4, which is characterized in that the torsional spring is identical with the quantity of the voussoir, institute
The the second arm foot for stating torsional spring can be fixed by the adjacent support shaft.
6. holding finger according to claim 4, which is characterized in that the voussoir is in the first baffle and described second
The number of plies between baffle is two layers or more；
Each layer voussoir is arranged in parallel.
7. holding finger according to claim 6, which is characterized in that the voussoir is in the first baffle and described second
The number of plies between baffle is two layers, and two layers of voussoir is oppositely arranged.
8. holding finger according to claim 6, which is characterized in that the group number of voussoir described in same layer is two groups, two groups of institutes
Voussoir is stated to be symmetrical arranged.
9. a kind of gripper jaw, which is characterized in that including holding finger described in claim 1 to 8 any one.
10. a kind of clamper, which is characterized in that including gripper jaw described in claim 9；
The quantity of the gripper jaw is a pair or more, and each pair of gripper jaw is symmetrical set in the clamper.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811400770.XA CN109202951B (en) | 2018-11-22 | 2018-11-22 | Anti-slip clamping finger, clamping claw and clamping device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811400770.XA CN109202951B (en) | 2018-11-22 | 2018-11-22 | Anti-slip clamping finger, clamping claw and clamping device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109202951A true CN109202951A (en) | 2019-01-15 |
| CN109202951B CN109202951B (en) | 2023-09-12 |
Family
ID=64993681
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811400770.XA Active CN109202951B (en) | 2018-11-22 | 2018-11-22 | Anti-slip clamping finger, clamping claw and clamping device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109202951B (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110549356A (en) * | 2019-09-05 | 2019-12-10 | 湖南万征机械科技有限公司 | Clamp structure for grabbing mechanical equipment |
| CN114474131A (en) * | 2022-01-28 | 2022-05-13 | 五邑大学 | Clamping gripper |
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| CN110549356B (en) * | 2019-09-05 | 2022-09-27 | 湖南万征机械科技有限公司 | Clamp structure for grabbing mechanical equipment |
| CN114474131A (en) * | 2022-01-28 | 2022-05-13 | 五邑大学 | Clamping gripper |
| CN114474131B (en) * | 2022-01-28 | 2024-05-07 | 五邑大学 | Clamping gripper |
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| CN109202951B (en) | 2023-09-12 |
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