CN104858884A - Fixed-palm type bionic mechanical gripper capable of achieving passive enveloping - Google Patents
Fixed-palm type bionic mechanical gripper capable of achieving passive enveloping Download PDFInfo
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- CN104858884A CN104858884A CN201510252475.4A CN201510252475A CN104858884A CN 104858884 A CN104858884 A CN 104858884A CN 201510252475 A CN201510252475 A CN 201510252475A CN 104858884 A CN104858884 A CN 104858884A
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Abstract
The invention discloses a fixed-palm type bionic mechanical gripper capable of achieving passive enveloping. The mechanical gripper comprises a driving platform, a fixed palm, four passive fingers and four active branch chains; the four passive fingers are evenly distributed with a 90-degree included angle formed between every two adjacent passive fingers; each passive finger is composed of beam plates, outer side plates, inner side plates, springs, plate rotating pairs and spring rotating pairs; each active branch chain is composed of driving platform rotating pairs, connecting plates and finger rotating pairs; the sides of the driving platform are connected with one ends of the connecting plates through the driving platform rotating pairs, and the other ends of the connecting plates are connected with the middles of the first beam plates of the passive fingers through the finger rotating pairs. The mechanical gripper is simple in structure, only single driving is needed, application flexibility is high, and passive enveloping on articles in complicated shapes can be achieved; control and design are facilitated, and the mechanical gripper can be widely applied to the occasions, where passive flexible enveloping needs to be conducted on fragile articles in complicated shapes, of mechanical manufacturing, the light industry and medical care.
Description
Technical field
The present invention relates to a kind of mechanical paw, specifically, relate to a kind of flexible mechanical paw realizing passive envelope.
Background technology
Mechanical paw can imitate some function and the action of staff and arm, and capturing article and carrying object according to pre-set programs, is a kind of automation mechanized operation device.It can replace manual operation and carry out danger or heavy operation, ensures personal safety, and realizes production mechanization and automation, so be widely used in the fields such as machine-building, light industry, electronics, metallurgy and atomic energy.
At present, common mechanical paw is rigid structure and has comparatively complicated configuration, and when captured contoured article is comparatively fixing, appearance is harder, this type of mechanical paw can capture article by the power preset.But when the article captured are frangible, yielding or shape is not fixed, the mechanical paw of this rigid structure or configuration complexity easily causes unnecessary damage and destruction to captured article, or be difficult to adapt to complex appearance object.As, publication number is rigid body for the finger of mechanical paw described in the patent application of CN102785251A, limits adaptive ability and the kinematic dexterity of paw; Publication number is that the patent application of CN102416624A describes a kind of flexible under-driven adaptive mechanical paw, but its skeleton and finger configuration limit the ability that paw adapts to various complex appearance article.
Summary of the invention
The present invention is to solve existing machinery paw can not meet the technical problem that crawl complicated and changeable requires, provide a kind of fixing palm type flexible bionic mechanical paw realizing passive envelope, flexibility is high, to complex appearance object strong adaptability.
In order to solve the problems of the technologies described above, the present invention is achieved by following technical scheme:
Realize a fixing palm type flexible bionic mechanical paw for passive envelope, comprise and drive platform, fixing palm, four velamens to start to refer to and four active branched chain, described driving platform, described fixing palm, described passive finger connect by described active branched chain;
Described driving platform and described fixing palm are centrosymmetric slab construction, the connection straight line s between the symmetrical centre of described driving platform and the symmetrical centre of described fixing palm respectively with described driving platform and described fixing palm perpendicular; Described driving platform can do rectilinear motion along described connection straight line s under the effect of linear actuator;
Four described active branched chain identical and centered by described connection straight line s line be uniformly distributed, the angle of adjacent two described active branched chain is 90 °;
Each described active branched chain is formed by driving platform revolute pair, connecting plate, finger revolute pair; The edge of described driving platform is connected with one end of described connecting plate by described driving platform revolute pair, and the other end of described connecting plate is connected by the middle part of described finger revolute pair with the first crossbeam plate of passive finger; The pivot center of described finger revolute pair and the pivot center of described driving platform revolute pair are parallel to each other;
Four described passive fingers identical and centered by described connection straight line s line be uniformly distributed, the angle of adjacent two described passive fingers is 90 °;
Every velamen starts to refer to be made up of three header boards, three outer panels, the spring of three interior plates, three connecting cross beam plates and outer panels, seven plate revolute pairs and six spring pivotal pairs; Three described header boards comprise first crossbeam plate, second cross beam plate, the 3rd header board; Three described outer panels comprise the first outer panel, the second outer panel and the 3rd outer panel; Three described interior plates comprise the first interior plate, the second interior plate and the 3rd interior plate; Three described springs comprise the first spring, the second spring and the 3rd spring; Connected by described plate revolute pair between described header board, described outer panel, described interior plate, seven described plate revolute pairs comprise the first plate revolute pair, the second plate revolute pair, the 3rd plate revolute pair, the 4th plate revolute pair, the 5th plate revolute pair, the 6th plate revolute pair and the 7th plate revolute pair; Described both ends of the spring is connected with described outer panel with described header board respectively respectively by described spring pivotal pair, and six described spring pivotal pairs comprise the first spring pivotal pair, the second spring pivotal pair, the 3rd spring pivotal pair, the 4th spring pivotal pair, the 5th spring pivotal pair and the 6th spring pivotal pair;
The axis of all described plate revolute pairs and the axis of all described spring pivotal pairs are parallel to each other, and are also parallel to each other with the pivot center of described finger revolute pair and the pivot center of described driving platform revolute pair simultaneously; The axis of described spring is positioned at the median plane of described passive finger;
One end of described first crossbeam plate is connected with the top of described first outer panel by described first plate revolute pair, and the other end of described first crossbeam plate is connected with the top of described first interior plate and the edge of described fixing palm by described second plate revolute pair simultaneously; One end of described second cross beam plate is connected with the bottom of described first outer panel and the top of described second outer panel by described 3rd plate revolute pair simultaneously, and the other end of described second cross beam plate is connected with the bottom of described first interior plate and the top of described second interior plate by described 4th plate revolute pair simultaneously; One end of described 3rd header board is connected with the bottom of described second outer panel and the top of described 3rd outer panel by described 5th plate revolute pair simultaneously, and the other end of described 3rd header board is connected with the bottom of described second interior plate and the top of described 3rd interior plate by described 6th plate revolute pair simultaneously; The bottom of described 3rd outer panel is connected by described 7th plate revolute pair with the bottom of described 3rd interior plate;
One end of described first spring is connected with described first crossbeam plate by described first spring pivotal pair, and the other end is connected with described first outer panel by described second spring pivotal pair; One end of described second spring is connected with described second cross beam plate by described 3rd spring pivotal pair, and the other end is connected with described second outer panel by described 4th spring pivotal pair; One end of described 3rd spring is connected with described 3rd header board by described 5th spring pivotal pair, and the other end is connected with described 3rd outer panel by described 6th spring pivotal pair.
Described interior plate is the flexible board that flexible material is made.
The invention has the beneficial effects as follows:
The flexible bionic mechanical paw realizing passive envelope of the present invention, its mechanism structure is simple, decreases and manufactures cost in a large number; Only need single driving, eliminate many difficult problems that complicated control algolithm is brought, be convenient to control and design; Can realize the passive flexible face envelope to complex appearance article, grasp stability is high; Application flexibility is strong, can be widely used in the occasion that machine-building, light industry, medical treatment etc. require passive flexible envelope complex contour, breakables.
Accompanying drawing explanation
Fig. 1 is the structural representation realizing the fixing palm type flexible bionic mechanical paw of passive envelope provided by the present invention;
Fig. 2 is the front view realizing the fixing palm type flexible bionic mechanical paw of passive envelope provided by the present invention;
Fig. 3 is the structural representation realizing the first passive finger in the fixing palm type flexible bionic mechanical paw of passive envelope provided by the present invention.
In figure: 1, passive finger; 2, fixing palm; 3, active branched chain; 4, platform is driven; 5, revolute pair is pointed; 6, connecting plate; 7, platform revolute pair is driven;
8, outer panel: the first outer panel A, the second outer panel B and the 3rd outer panel C;
9, spring pivotal is secondary: the first spring pivotal secondary OL, the second spring pivotal secondary OA, the 3rd spring pivotal secondary PM, the 4th spring pivotal secondary PB, the 5th spring pivotal secondary QN and the 6th spring pivotal secondary QC;
10, spring: the first spring O, the second spring P and the 3rd spring Q;
11, header board: first crossbeam plate L, second cross beam plate M, the 3rd header board N;
12, interior plate: the first interior plate a, the second interior plate b and the 3rd interior plate c;
13, plate revolute pair: the first plate revolute pair LA, the second plate revolute pair La, the 3rd plate revolute pair MB, the 4th plate revolute pair Mb, the 5th plate revolute pair NC, the 6th plate revolute pair Nc and the 7th plate revolute pair Cc.
Detailed description of the invention
For summary of the invention of the present invention, feature and effect can be understood further, hereby exemplify following examples, and coordinate accompanying drawing to be described in detail as follows:
As depicted in figs. 1 and 2, present embodiments provide a kind of fixing palm type flexible bionic mechanical paw realizing passive envelope, mainly comprise drive platform 4, fixing palm 2, four velamen starts finger 1 and four active branched chain, 3, four active branched chain 3 by drivings platform 4, fix palm 2 and four velamens and start finger 1 and be connected.
Drive platform 4 to comprise centrosymmetric polygonal flat panel structure and cylindrical bar, this slab construction comprises the edge of at least four uniform evaginations, and cylindrical bar vertical flat plate structure is also fixed on the geometric center place at its top.Cylindrical bar connects linear actuator, and slab construction can be driven under the effect of linear actuator to carry out rectilinear motion along cylindrical bar axis aa together.
Fixing palm 2 also centered by symmetrical polygonal flat panel structure, and with drive slab construction corresponding the be arrangeding in parallel up and down of platform.Be called fixing palm 2 axis bb by the symmetrical centre of fixing palm 2 with the line of its place plane being perpendicular, fixing palm 2 axis bb overlaps with the cylindrical bar axis aa of driving platform 3.
The structure of four active branched chain 3 is identical, and is spatially uniformly distributed to drive centered by the cylindrical bar axis aa of platform 3, and the angle of adjacent two active branched chain 3 is 90 °.
Each active branched chain 3 is formed by driving platform revolute pair 7, connecting plate 6, finger revolute pair 5.For the passive finger 1 of each active branched chain 3 and correspondence thereof, drive the slab construction edge of platform 4 to be connected with one end of connecting plate 6 by driving platform revolute pair 7, the other end of connecting plate 6 is connected with the middle part of the first crossbeam plate L of passive finger 1 by finger revolute pair 5.The pivot center d of finger revolute pair 5 is parallel to each other with driving the pivot center e of platform revolute pair 7.
It is identical that four velamens start finger 1 structure, and be spatially uniformly distributed to drive centered by the cylindrical bar axis aa of platform 3, and adjacent two velamens are started the angle of finger 1 and are 90 °.Like this, four velamens start finger 1 can produce similar motion to during crawled object contact under the drive of four active branched chain 3, thus realize capturing the three dimensions of object.
The present embodiment is started finger 1 for a wherein velamen and is described in detail.As shown in Fig. 3 (a), passive finger 1 is made up of spring 10, seven plate revolute pairs 13 of three header boards, 11, three outer panels, 8, three interior plates, 12, three connecting cross beam plates 11 and outer panel 12 and six spring pivotal pairs 9.As shown in Fig. 3 (b), three header boards 11 comprise: first crossbeam plate L, second cross beam plate M, the 3rd header board N; Three outer panels 8 comprise: the first outer panel A, the second outer panel B and the 3rd outer panel C; Three interior plates 12 comprise: the first interior plate a, the second interior plate b and the 3rd interior plate c; Three connecting cross beam plates 11 comprise with the spring 10 of outer panel 12: the first spring O, the second spring P and the 3rd spring Q.Wherein three interior plates 12 are the flexible board that flexible material is made, as nylon, and ABS, PE plastics etc.
Connected by plate revolute pair 13 between header board 11, outer panel 8, interior plate 12, seven plate revolute pairs 13 comprise: the first plate revolute pair LA, the second plate revolute pair La, the 3rd plate revolute pair MB, the 4th plate revolute pair Mb, the 5th plate revolute pair NC, the 6th plate revolute pair Nc and the 7th plate revolute pair Cc.Spring 10 two ends are connected with outer panel 8 with header board 11 respectively respectively by spring pivotal pair 9, and six spring pivotal pairs 9 comprise: the first spring pivotal secondary OL, the second spring pivotal secondary OA, the 3rd spring pivotal secondary PM, the 4th spring pivotal secondary PB, the 5th spring pivotal secondary QN and the 6th spring pivotal secondary QC.
The axis g of all plate revolute pairs 13 and axis f of all spring pivotal pairs 9 is parallel to each other, and is also parallel to each other with the pivot center d of finger revolute pair 5 with driving the pivot center e of platform revolute pair 7 simultaneously.The axis h of spring 10 is positioned at the median plane β of passive finger 1.
One end of first crossbeam plate L is connected with the top of the first outer panel A by the first plate revolute pair LA, and the other end of first crossbeam plate L is connected with the top of the first interior plate a and the edge of fixing palm 2 by the second plate revolute pair La simultaneously.One end of second cross beam plate M is connected with the bottom of the first outer panel A and the top of the second outer panel B by the 3rd plate revolute pair MB simultaneously, and the other end of second cross beam plate M is connected with the bottom of the first interior plate a and the top of the second interior plate b by the 4th plate revolute pair Mb simultaneously.One end of 3rd header board N is connected with the bottom of the second outer panel B and the top of the 3rd outer panel C by the 5th plate revolute pair NC simultaneously, and the other end of the 3rd header board N is connected with the bottom of the second interior plate b and the top of the 3rd interior plate c by the 6th plate revolute pair Nc simultaneously.The bottom of the 3rd outer panel C is connected by the 7th plate revolute pair Cc with the bottom of the 3rd interior plate c.
One end of first spring O is connected with the middle part of first crossbeam plate L by the first spring pivotal secondary OL, and the other end is connected with the middle part of the first outer panel A by the second spring pivotal secondary OA.One end of second spring P is connected with the middle part of second cross beam plate M by the 3rd spring pivotal secondary PM, and the other end is connected with the middle part of the second outer panel B by the 4th spring pivotal secondary PB.One end of 3rd spring Q is connected with the middle part of the 3rd header board N by the 5th spring pivotal secondary QN, and the other end is connected with the middle part of the 3rd outer panel C by the 6th spring pivotal secondary QC.Spring 10 can carry out proper restraint to the passive joint (plate revolute pair 13) of passive finger 1 before grasping operation, thus ensures that mechanism has the motion determined.
The motion realizing the fixing palm type flexible bionic mechanical paw of passive envelope of the present embodiment can be divided into two parts: integrated model motion and passive finger 1 move.
Integrated model forms of motion is equivalent to the slider-crank mechanism of slide block as input queued switches, four active branched chain 3 can make four velamens start finger 1 near or away from object.Drive platform 4 to be equivalent to slide block, connecting plate 6 is equivalent to connecting rod, and passive finger 1 is equivalent to crank, and fixing palm 2 is equivalent to frame; With the motion class of slider-crank mechanism seemingly, linear actuator acts on and drives platform 4, it is made to move along driving the cylindrical bar axis aa of platform 4, connecting plate 6 rotates around driving platform revolute pair 7, and connecting plate 6 is connected with passive finger 1 by finger revolute pair 5, fixing palm 2 maintains static, therefore passive finger 1 rotates around the second plate revolute pair La under the effect of connecting plate 6, and then makes passive finger 1 close or away from object.
Passive finger 1 motion makes bionic mechanical paw of the present invention realize the passive envelope of the flexibility of object, start the motion of finger 1 for a wherein velamen to be described: when passive finger 1 is with object contact, body surface will apply active force to interior plate 12, and under the impact of this active force, interior plate 12 will be out of shape along body surface; And interior plate 12 and outer panel 8 are connected by header board 11, header board 11 can rotate around the plate revolute pair 13 at its two ends, outer panel 8 is connected with spring 10 by spring pivotal secondary 9 with header board 11, therefore outer panel 8 produces the movement tendency similar to interior plate 12, then passive finger 1 can realize the envelope to object.
A kind of fixing palm type flexible bionic mechanical paw realizing passive envelope of the present invention by driving platform 4, fixing palm 2, four velamen starts finger 1 and four active branched chain 3 form.Active branched chain 3 under the effect of linear actuator can near or away from object, four velamens are started the combination of finger 1 and can be imitated the envelope that staff realizes complex appearance object, and this envelope belongs to flexible passive envelope, can according to object profile adjustment envelope attitude, high to the fitness of complex appearance object, destructive little.And mechanical paw of the present invention only needs single linear drives, there is greatly application flexibility.
Although be described the preferred embodiments of the present invention by reference to the accompanying drawings above; but the present invention is not limited to above-mentioned detailed description of the invention; above-mentioned detailed description of the invention is only schematic; be not restrictive; those of ordinary skill in the art is under enlightenment of the present invention; do not departing under the ambit that present inventive concept and claim protect, can also make the concrete conversion of a lot of form, these all belong within protection scope of the present invention.
Claims (2)
1. one kind can realize the fixing palm type flexible bionic mechanical paw of passive envelope, it is characterized in that, comprise and drive platform, fixing palm, four velamens to start to refer to and four active branched chain, described driving platform, described fixing palm, described passive finger connect by described active branched chain;
Described driving platform and described fixing palm are centrosymmetric slab construction, the connection straight line s between the symmetrical centre of described driving platform and the symmetrical centre of described fixing palm respectively with described driving platform and described fixing palm perpendicular; Described driving platform can do rectilinear motion along described connection straight line s under the effect of linear actuator;
Four described active branched chain identical and centered by described connection straight line s line be uniformly distributed, the angle of adjacent two described active branched chain is 90 °;
Each described active branched chain is formed by driving platform revolute pair, connecting plate, finger revolute pair; The edge of described driving platform is connected with one end of described connecting plate by described driving platform revolute pair, and the other end of described connecting plate is connected by the middle part of described finger revolute pair with the first crossbeam plate of passive finger; The pivot center of described finger revolute pair and the pivot center of described driving platform revolute pair are parallel to each other;
Four described passive fingers identical and centered by described connection straight line s line be uniformly distributed, the angle of adjacent two described passive fingers is 90 °;
Every velamen starts to refer to be made up of three header boards, three outer panels, the spring of three interior plates, three connecting cross beam plates and outer panels, seven plate revolute pairs and six spring pivotal pairs; Three described header boards comprise first crossbeam plate, second cross beam plate, the 3rd header board; Three described outer panels comprise the first outer panel, the second outer panel and the 3rd outer panel; Three described interior plates comprise the first interior plate, the second interior plate and the 3rd interior plate; Three described springs comprise the first spring, the second spring and the 3rd spring; Connected by described plate revolute pair between described header board, described outer panel, described interior plate, seven described plate revolute pairs comprise the first plate revolute pair, the second plate revolute pair, the 3rd plate revolute pair, the 4th plate revolute pair, the 5th plate revolute pair, the 6th plate revolute pair and the 7th plate revolute pair; Described both ends of the spring is connected with described outer panel with described header board respectively respectively by described spring pivotal pair, and six described spring pivotal pairs comprise the first spring pivotal pair, the second spring pivotal pair, the 3rd spring pivotal pair, the 4th spring pivotal pair, the 5th spring pivotal pair and the 6th spring pivotal pair;
The axis of all described plate revolute pairs and the axis of all described spring pivotal pairs are parallel to each other, and are also parallel to each other with the pivot center of described finger revolute pair and the pivot center of described driving platform revolute pair simultaneously; The axis of described spring is positioned at the median plane of described passive finger;
One end of described first crossbeam plate is connected with the top of described first outer panel by described first plate revolute pair, and the other end of described first crossbeam plate is connected with the top of described first interior plate and the edge of described fixing palm by described second plate revolute pair simultaneously; One end of described second cross beam plate is connected with the bottom of described first outer panel and the top of described second outer panel by described 3rd plate revolute pair simultaneously, and the other end of described second cross beam plate is connected with the bottom of described first interior plate and the top of described second interior plate by described 4th plate revolute pair simultaneously; One end of described 3rd header board is connected with the bottom of described second outer panel and the top of described 3rd outer panel by described 5th plate revolute pair simultaneously, and the other end of described 3rd header board is connected with the bottom of described second interior plate and the top of described 3rd interior plate by described 6th plate revolute pair simultaneously; The bottom of described 3rd outer panel is connected by described 7th plate revolute pair with the bottom of described 3rd interior plate;
One end of described first spring is connected with described first crossbeam plate by described first spring pivotal pair, and the other end is connected with described first outer panel by described second spring pivotal pair; One end of described second spring is connected with described second cross beam plate by described 3rd spring pivotal pair, and the other end is connected with described second outer panel by described 4th spring pivotal pair; One end of described 3rd spring is connected with described 3rd header board by described 5th spring pivotal pair, and the other end is connected with described 3rd outer panel by described 6th spring pivotal pair.
2. a kind of fixing palm type flexible bionic mechanical paw realizing passive envelope according to claim 1, it is characterized in that, described interior plate is the flexible board that flexible material is made.
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| CN201510252475.4A CN104858884B (en) | 2015-05-18 | 2015-05-18 | A kind of fixing palm type flexible bionic mechanical paw realizing passive envelope |
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| CN201510252475.4A CN104858884B (en) | 2015-05-18 | 2015-05-18 | A kind of fixing palm type flexible bionic mechanical paw realizing passive envelope |
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| CN104858884B CN104858884B (en) | 2016-07-06 |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105345826A (en) * | 2015-12-10 | 2016-02-24 | 先驱智能机械（深圳）有限公司 | Mechanical hand, mechanical arm and robot |
| CN105479476A (en) * | 2015-12-30 | 2016-04-13 | 苏州林信源自动化科技有限公司 | Mechanical hand structure |
| CN107053242A (en) * | 2016-03-07 | 2017-08-18 | 温州市科泓机器人科技有限公司 | robot bionic paw |
| CN108942994A (en) * | 2018-07-09 | 2018-12-07 | 上海交通大学 | Flexible bionic handgrip |
| CN109048844A (en) * | 2018-09-14 | 2018-12-21 | 昆明理工大学 | It is a kind of machinery arm configuration and its building ball picking robot |
| CN111015716A (en) * | 2019-12-25 | 2020-04-17 | 中国科学院沈阳自动化研究所 | Soft manipulator opening and closing control driver |
| CN112025751A (en) * | 2020-09-03 | 2020-12-04 | 吉林大学 | Multi-freedom-degree enveloping type novel mechanical claw |
| CN113524236A (en) * | 2020-04-20 | 2021-10-22 | C.R.F.阿西安尼顾问公司 | Gripping device for handling articles or parts of different shapes and sizes |
| CN114211515A (en) * | 2021-12-31 | 2022-03-22 | 重庆电子工程职业学院 | Bionic manipulator grabbing equipment of industrial intelligent robot |
| CN116587311A (en) * | 2023-05-17 | 2023-08-15 | 乐孜芯创半导体设备(上海)有限公司 | Connecting rod type single-arm double-finger vacuum mechanical arm and vacuum chamber |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105345826A (en) * | 2015-12-10 | 2016-02-24 | 先驱智能机械（深圳）有限公司 | Mechanical hand, mechanical arm and robot |
| CN105479476A (en) * | 2015-12-30 | 2016-04-13 | 苏州林信源自动化科技有限公司 | Mechanical hand structure |
| CN107053242A (en) * | 2016-03-07 | 2017-08-18 | 温州市科泓机器人科技有限公司 | robot bionic paw |
| CN107053242B (en) * | 2016-03-07 | 2019-08-13 | 温州市科泓机器人科技有限公司 | Robot bionic gripper |
| CN108942994A (en) * | 2018-07-09 | 2018-12-07 | 上海交通大学 | Flexible bionic handgrip |
| CN109048844B (en) * | 2018-09-14 | 2024-03-29 | 昆明理工大学 | Mechanical arm structure and ball picking robot constructed by same |
| CN109048844A (en) * | 2018-09-14 | 2018-12-21 | 昆明理工大学 | It is a kind of machinery arm configuration and its building ball picking robot |
| CN111015716A (en) * | 2019-12-25 | 2020-04-17 | 中国科学院沈阳自动化研究所 | Soft manipulator opening and closing control driver |
| CN111015716B (en) * | 2019-12-25 | 2022-11-22 | 中国科学院沈阳自动化研究所 | Soft manipulator opening and closing control driver |
| CN113524236A (en) * | 2020-04-20 | 2021-10-22 | C.R.F.阿西安尼顾问公司 | Gripping device for handling articles or parts of different shapes and sizes |
| CN112025751A (en) * | 2020-09-03 | 2020-12-04 | 吉林大学 | Multi-freedom-degree enveloping type novel mechanical claw |
| CN114211515A (en) * | 2021-12-31 | 2022-03-22 | 重庆电子工程职业学院 | Bionic manipulator grabbing equipment of industrial intelligent robot |
| CN114211515B (en) * | 2021-12-31 | 2023-03-10 | 重庆电子工程职业学院 | Bionic manipulator grabbing equipment of industrial intelligent robot |
| CN116587311A (en) * | 2023-05-17 | 2023-08-15 | 乐孜芯创半导体设备(上海)有限公司 | Connecting rod type single-arm double-finger vacuum mechanical arm and vacuum chamber |
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| CN104858884B (en) | 2016-07-06 |
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