CN105058372A - Multi-dimensional rod group self-adaption robot grasping device - Google Patents
Multi-dimensional rod group self-adaption robot grasping device Download PDFInfo
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- CN105058372A CN105058372A CN201510562594.XA CN201510562594A CN105058372A CN 105058372 A CN105058372 A CN 105058372A CN 201510562594 A CN201510562594 A CN 201510562594A CN 105058372 A CN105058372 A CN 105058372A
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Abstract
The invention provides a multi-dimensional rod group self-adaption robot grasping device, and belongs to the technical field of robot grasping devices. The multi-dimensional rod group self-adaption robot grasping device comprises a rack, fluid sources, emptying fluid containers, multiple rod group assemblies, multiple electromagnetic valves, multiple guide pipes and the like; each rod group assembly comprises a base, a flexible membrane and multiple push rod assemblies arranged in an array mode. The device can comprehensively achieve the multi-directional self-adaption grasping function through the fluid sources, the flexible membranes and the multi-directionally arranged rod group assemblies and grasp objects of different shapes and sizes, and the adaption direction is adjustable; the device utilizes the fluid sources to drive the flexible membranes to expand, so that push rods can slide to the positions adapting to the shape and size of the object, and therefore active self-adaption grasping is achieved; multi-functional self-adaption grasping for the objects is achieved through the multi-functional rod group assemblies.
Description
Technical field
The invention belongs to robot gribing device technique field, particularly the structural design of a kind of multidimensional bar bunch adaptive robot gripping device.
Background technology
Robot gribing device has been widely used in robot field, and for by robot and the interim connection of object be fixed up, and can discharge in due course, the former achieves crawl, and the latter achieves relieving.General robot gribing device, in order to reduce costs, is made into the part with two relative motions, so that the most simply realize capturing and release function.Also there are some to imitate the structure of staff, are designed to there is more finger and point that there is some joints, but the complexity of sensing and control can be brought like that.Partial robotic's gripping device has certain adaptability, namely before crawl, do not know the object that will capture as which kind of shape and size, in crawl, also detection sensing is not carried out to the object captured, but but can automatic capturing, this automatic conformability for body form, size does not increase sense and control technique demand while making robot can capture different objects more widely.
PeterB.Scott is at document (PeterB.Scott, " The ' Omnigripper ': aformofrobotuniversalgripper ", Robotica, 1985, vol.3:pp153-158) in describe a kind of universal gripper Omnigripper of passive type.Many independent telescope bars of this clamper can when capturing object free-extension, when the end of robot is close to the object be placed on certain seating surface, object can extrude expansion link and slide in palm, because expansion link has many, different expansion links is different to the mobility in palm, and this degree is relevant with the shape of object.Afterwards, two groups of expansion links on the first from left right side close up and clamp object, utilize expansion link gripping objects from the side.Its deficiency is: the adaptivity that (1) this bar group obtains has limitation, because all expansion links in this clamper are all along same direction; (2) only have a direction to deacclimatize body form, lack along the adaptive performance on the direction vertical with expansion link, capture self adaptation not enough, have impact on the versatility of clamper; (3) in addition, expansion link is a kind of passive adaptation, has certain hardness requirement to object, object can be made to produce moderate finite deformation, can not capture very well for frangible object when capturing soft object; (4) object that this grasping device captures must be placed on the place of seating surface, so that object provides reaction force to slide in palm to promote expansion link in crawl process, such as, can not capture and hang skyborne object with rope.
Summary of the invention
The object of the invention is the weak point in order to overcome prior art, a kind of multidimensional bar bunch adaptive robot gripping device is provided, this device can capture the object of difformity, size, there is self-adapting grasping ability, and can realize the adaptation of multiple directions, and multiple directions can suitably regulate.
The present invention adopts following technical scheme:
A kind of multidimensional bar bunch adaptive robot gripping device provided by the invention, is characterized in that: comprise frame, fluid source, can emptying fluid container, K Ge Gan group part, a K inlet solenoid valve, a K outlet solenoid valve, a K entry conductor, a K delivery channel, a M motor, a M decelerator and M rotating shaft; Described frame is connected with each bar group part respectively; Each described bar group part comprises pedestal, flexible hymeniderm and N number of push-rod assembly respectively; Each described push-rod assembly comprises push rod and spring respectively; Be provided with cavity in described pedestal, pedestal is provided with the first opening and the second opening, and described first opening and the second opening communicate with cavity respectively; There is N number of through hole of array arrangement the side of described pedestal, and described through hole communicates with cavity respectively; Described flexible hymeniderm is provided with fluid intake and fluid issuing, described fluid intake to be fixed on pedestal and with the first opening in communication, described fluid issuing to be fixed on pedestal and to communicate with the second opening; Described flexible hymeniderm is arranged in cavity, and flexible hymeniderm contacts with one end of push rod; Each described push rod slides respectively and is embedded in different through holes; In described push-rod assembly, one end of described spring is connected with push rod, and the other end of spring is connected with pedestal; Described inlet solenoid valve is arranged between fluid intake and one end of entry conductor, and the other end of described entry conductor is connected with fluid source; Described outlet solenoid valve is arranged between fluid issuing and one end of delivery channel, the other end of described delivery channel with can be connected by emptying fluid container; In arbitrary bar group part, the axis of all described push rods is parallel mutually, rushes at along this axis the direction that direction that push rod stretches out pedestal is defined as bar group part; The direction that at least there is Liang Ge bar group part is different; A described M rotating shaft is set in frame respectively, and the pedestal in M described bar group part is fixed in different rotating shafts respectively; Described each motor is affixed with frame respectively, and the output shaft of each motor is connected with the power shaft of corresponding decelerator respectively, and the output shaft of each decelerator is connected with corresponding rotating shaft respectively; Described flexible hymeniderm employing pliability, material that can be emptying; Wherein, K be greater than 1 natural number, N be greater than 3 natural number, M is the natural number being less than K+1.
A kind of multidimensional bar bunch adaptive robot gripping device of the present invention, is characterized in that: the axis of the push rod of different described bar group parts is non-intersect.
A kind of multidimensional bar bunch adaptive robot gripping device of the present invention, is characterized in that: the fluid in described fluid source is gas, and described can emptying fluid container be the external environment of this device.
A kind of multidimensional bar bunch adaptive robot gripping device of the present invention, is characterized in that: the fluid in described fluid source is liquid, and described can emptying fluid container be liquid container.
A kind of multidimensional bar bunch adaptive robot gripping device of the present invention, is characterized in that: in one or more described bar groups part, the length belonging to all push rods of same bar group part is identical.
A kind of multidimensional bar bunch adaptive robot gripping device of the present invention, is characterized in that: the end of part or all of described push rod is connected with elastic component.
The present invention compared with prior art, has following outstanding feature:
Apparatus of the present invention comprehensively realize multidirectional self-adapting grasping function by the bar group part of multidirectional layout, flexible hymeniderm and fluid source etc., can capture the object of difformity, size, adapt to direction adjustable; This device utilizes the flexible hymeniderm of source drives to expand, and makes push rod skid off the position adapting to body form and size, realizes initiatively self-adapting grasping; The bar group part of multiple directions is utilized to achieve multidirectional self-adapting grasping for object.
Accompanying drawing explanation
Fig. 1 is the three-dimensional appearance figure of a kind of embodiment of multidimensional bar provided by the invention bunch adaptive robot gripping device.
Fig. 2 is perspective view embodiment illustrated in fig. 1.
Fig. 3 is top view embodiment illustrated in fig. 1.
Fig. 4 is the internal structure schematic diagram of bar group part embodiment illustrated in fig. 1.
Fig. 5 is the array distribution figure of array through-hole embodiment illustrated in fig. 1.
Fig. 6 is the structural representation of push-rod assembly.
Fig. 7 is flexible membrane skin structure schematic diagram.
Fig. 8, Fig. 9 and Figure 10 are the process schematic of crawl target object embodiment illustrated in fig. 1.
Figure 11 is the structural representation that the embodiment shown in Fig. 9 removes pedestal header board.
Figure 12 is the structural representation removing flexible hymeniderm embodiment illustrated in fig. 11.
Figure 13 is the structural representation removing front side the first tier pole group embodiment illustrated in fig. 12.
In Fig. 1 to Figure 11:
1-frame, 11-axle,
2-bar group part, 21-pedestal, 211-first opening, 212-second opening,
213-through hole, the flexible hymeniderm of 22-, 221-fluid intake,
222-fluid issuing, 23-push rod, 231-elastic component, 24-spring,
3-motor, 4-decelerator,
51-fluid source, 52-can emptying fluid container,
61-inlet solenoid valve, 62-outlet solenoid valve,
71-entry conductor, 72-delivery channel,
8-bearing-surface,
9-target object,
10-mechanical arm
Detailed description of the invention
Concrete structure of the present invention, operation principle and the course of work is further described below in conjunction with drawings and Examples.
A kind of embodiment of the multidimensional bar bunch adaptive robot gripping device of the present invention's design, as shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5, Fig. 6 and Fig. 7, comprise frame 1, fluid source 51, can emptying fluid container 52, Liang Ge bar group part 2, two inlet solenoid valve 61, two outlet solenoid valve 62, two entry conductors 71, two delivery channels 72, two motors 3, two decelerators 4 and two rotating shafts 11; Described frame 1 is connected with each bar group part 2 respectively; Each described bar group part 2 comprises pedestal 21, flexible hymeniderm 22 and 32 push-rod assemblies respectively; Each described push-rod assembly comprises push rod 23 and spring 24 respectively; Be provided with cavity in described pedestal 21, pedestal 21 is provided with the first opening 211 and the second opening 212, and described first opening 211 and the second opening 212 communicate with cavity respectively; There are 32 through holes 213 of array arrangement the side of described pedestal 21, and described through hole 213 communicates with cavity respectively; Described flexible hymeniderm 22 is provided with fluid intake 221 and fluid issuing 222, and described fluid intake 221 to be fixed on pedestal 21 and to be connected with the first opening 211, and described fluid issuing 222 to be fixed on pedestal 21 and to communicate with the second opening 212; Described flexible hymeniderm 22 is arranged in cavity, and flexible hymeniderm 22 contacts with one end of push rod 23; Each described push rod 23 slides respectively and is embedded in different through holes 213; In described push-rod assembly, one end of described spring 24 is connected with push rod 23, and the other end of spring 24 is connected with pedestal 21; Described inlet solenoid valve 61 is arranged between one end of fluid intake 221 and entry conductor 71, and the other end of described entry conductor 71 is connected with fluid source 51; Described outlet solenoid valve 62 is arranged between one end of fluid issuing 222 and delivery channel 72, the other end of described delivery channel 72 with can be connected by emptying fluid container 52; In arbitrary bar group part 2, the axis of all described push rods 23 is parallel mutually, rushes at along this axis the direction that direction that push rod 23 stretches out pedestal 21 is defined as bar group part 2; The direction that at least there is Liang Ge bar group part 2 is different; Described each rotating shaft 11 is set in frame respectively, and the pedestal 21 in described 2 Ge Gan group parts is fixed in different rotating shafts 11 respectively; Described each motor 3 is affixed with frame 1 respectively, and the output shaft of each motor 3 is connected with the power shaft of corresponding decelerator 4 respectively, and the output shaft of each decelerator 4 is connected with corresponding rotating shaft 11 respectively; Described flexible hymeniderm 22 adopt pliability, can be emptying material.
In the present embodiment, the axis of the push rod of two described bar group parts 2 is non-intersect.
In the present embodiment, in two described bar group parts 2, the length belonging to all push rods 22 of same bar group part is identical.
In the present embodiment, the fluid in described fluid source 51 is compressed air, and described can emptying fluid container 52 be the ambient atmos environment of this device.
In the present embodiment, the end of whole described push rod is connected with elastic component 231, and described elastic component 231 adopts rubber.
Operation principle embodiment illustrated in fig. 1 and the course of work is introduced below in conjunction with accompanying drawing.
As shown in Figure 1, now flexible hymeniderm 22 is interior without fluid, and push rod 23, under the effect of spring 24, is returned in the cavity of the pedestal 21 of bar group part 2 for the original state of the present embodiment.
When inlet solenoid valve 61 open, outlet solenoid valve 62 close time, gas enters flexible hymeniderm 22 from fluid source 51 because the pressure in flexible hymeniderm 22 is less than the pressure of fluid source 51 and is full of by flexible hymeniderm 22, flexible hymeniderm 22 pressure-ram 23, makes push rod 23 close to the target object 9 be placed on bearing-surface 8 along push rod 23 axis direction.If push rod 23 encounters target object 9 or bearing-surface 8, this push rod 23 is subject to the reaction force of target object 9 or bearing-surface 8 and makes push rod 23 can not continue to be promoted to advance by flexible hymeniderm 22; If push rod 23 does not encounter target object 9 or bearing-surface 8, this push rod 23 will advance until the top of push rod 23 is bottom motor seat 21 along push rod 23 axis direction under the thrust of flexible hymeniderm 22, thus push rod 23 is subject to the active force of pedestal 21, make push rod 23 can not continue again to be continued to promote to advance by flexible hymeniderm 22.After push rod 23 can not be continued to promote advance by flexible hymeniderm 22, the attitude of push rod 23 realizes fixing.Thus the arrangement achieves as shown in Fig. 9, Figure 11, Figure 12 and Figure 13 to the adaptation function of target object to target object 9.After this mobile mechanical arm 10, realizes the reliable crawl to target object 9, as shown in Figure 10.
When fluid issuing magnetic valve 62 open, fluid intake magnetic valve 61 close time, gas in flexible hymeniderm 22 is discharged flexible hymeniderm 22 higher than the pressure of ambient atmos environment due to pressure in flexible hymeniderm 22, flexible hymeniderm 22 becomes flat flat, the active force of push rod 23 is reduced, each push rod is returned in the cavity of pedestal 21 under the effect of corresponding spring 24, the active force of push rod 23 pairs of target objects 9 disappears, and realizes the release to target object 9.
Specifically, when multidimensional bar bunch adaptive robot gripping device captures target object 9, mechanical arm 10 moves, and until device after target object 9, motor 3 regulates position relationship between Liang Gan group part 2 to Liang Gan group part 2 to the attitude of suitable crawl.After pose adjustment, inlet solenoid valve 61 is opened, outlet solenoid valve 62 is closed, gas is charged into flexible hymeniderm 22 from fluid source 51, flexible hymeniderm 22 starts to expand under the effect of gas, push rod bunch surrounds and extrudes and waits to capture object 9 under the effect of flexible hymeniderm 22, until the restriction that each push rod 23 is subject to waiting to capture object 9, bearing-surface 8 or pedestal 21 does not readvance.Now maintain pressure in flexible hymeniderm 22 constant, make push rod bunch attitude constant, mobile mechanical arm 10, realize the reliable crawl to target object 9; When multidimensional bar bunch adaptive robot gripping device discharges object, inlet solenoid valve 61 is closed, outlet solenoid valve 62 is opened, gas is discharged to ambient atmos environment from flexible hymeniderm 22, each push rod 23 is under the effect of the spring 24 of correspondence, be returned in the cavity of pedestal 21, realize the release to target object 9.
Apparatus of the present invention comprehensively realize multidirectional self-adapting grasping function by the bar group part of multidirectional layout, flexible hymeniderm and fluid source etc., can capture the object of difformity, size, adapt to direction adjustable; This device utilizes the flexible hymeniderm of source drives to expand, and makes push rod skid off the position adapting to body form and size, realizes initiatively self-adapting grasping; The bar group part of multiple directions is utilized to achieve multidirectional self-adapting grasping for object.
Claims (6)
1. a multidimensional bar bunch adaptive robot gripping device, is characterized in that: comprise frame (1), fluid source (51), can emptying fluid container (52), K Ge Gan group part (2), a K inlet solenoid valve (61), a K outlet solenoid valve (62), a K entry conductor (71), a K delivery channel (72), a M motor (3), a M decelerator (4) and M rotating shaft (11); Described frame (1) is connected with each bar group part (2) respectively; Each described bar group part (2) comprises pedestal (21), flexible hymeniderm (22) and N number of push-rod assembly respectively; Each described push-rod assembly comprises push rod (23) and spring (24) respectively; Described pedestal is provided with cavity in (21), pedestal (21) is provided with the first opening (211) and the second opening (212), and described first opening (211) and the second opening (212) communicate with cavity respectively; There is N number of through hole (213) of array arrangement the side of described pedestal (21), and described through hole (213) communicates with cavity respectively; Described flexible hymeniderm (22) is provided with fluid intake (221) and fluid issuing (222), described fluid intake (221) is fixed in pedestal (21) and goes up and be connected with the first opening (211), and described fluid issuing (222) is fixed in pedestal (21) and goes up and communicate with the second opening (212); Described flexible hymeniderm (22) is arranged in cavity, and flexible hymeniderm (22) contacts with one end of push rod (23); Each described push rod (23) is slided respectively and is embedded in different through holes (213); In described push-rod assembly, one end of described spring (24) is connected with push rod (23), and the other end of spring (24) is connected with pedestal (21); Described inlet solenoid valve (61) is arranged between one end of fluid intake (221) and entry conductor (71), and the other end of described entry conductor (71) is connected with fluid source (51); Described outlet solenoid valve (62) is arranged between one end of fluid issuing (222) and delivery channel (72), the other end of described delivery channel (72) with can be connected by emptying fluid container (52); In arbitrary bar group part (2), the axis of all described push rods (23) is parallel mutually, rushes at along this axis the direction that direction that push rod stretches out pedestal is defined as bar group part (2); The direction that at least there is Liang Ge bar group part (2) is different; Described each rotating shaft (11) is set in (1) in frame respectively, and the pedestal (21) in M described bar group part (2) is fixed in different rotating shafts (11) respectively; Described each motor (3) is affixed with frame (1) respectively, the output shaft of each motor (3) is connected with the power shaft of corresponding decelerator (4) respectively, and the output shaft of each decelerator (4) is connected with corresponding rotating shaft (11) respectively; Described flexible hymeniderm (22) employing pliability, material that can be emptying; Wherein, K be greater than 1 natural number, N be greater than 3 natural number, M is the natural number being less than K+1.
2. multidimensional bar bunch adaptive robot gripping device as claimed in claim 1, is characterized in that: the axis of the push rod (23) of different described bar groups part (2) is non-intersect.
3. multidimensional bar bunch adaptive robot gripping device as claimed in claim 1 or 2, is characterized in that: in one or more described bar group part (2), the length belonging to all push rods (23) of same bar group part is identical.
4. multidimensional bar bunch adaptive robot gripping device as claimed in claim 1 or 2, it is characterized in that: the fluid in described fluid source (51) is gas, described can emptying receptacles be the external environment of this device.
5. multidimensional bar bunch adaptive robot gripping device as claimed in claim 1 or 2, it is characterized in that: the fluid in described fluid source (51) is liquid, described can emptying receptacles be liquid container.
6. multidimensional bar bunch adaptive robot gripping device as claimed in claim 1 or 2, is characterized in that: the end of part or all of described push rod (23) is connected with elastic component (231).
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| CN201510562594.XA CN105058372B (en) | 2015-09-08 | 2015-09-08 | Multi-dimensional rod cluster self-adaptive robot grasping device |
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| CN201510562594.XA CN105058372B (en) | 2015-09-08 | 2015-09-08 | Multi-dimensional rod cluster self-adaptive robot grasping device |
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| CN105058372B CN105058372B (en) | 2020-12-01 |
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| CN105583831A (en) * | 2016-03-17 | 2016-05-18 | 清华大学 | Self-adaptive robot hand device with flexible rod clusters driven by fluid |
| CN105583850A (en) * | 2016-03-17 | 2016-05-18 | 清华大学 | Self-adaptive robot hand device with elastic deflection rod clusters wound by flexible pieces |
| CN105619441A (en) * | 2016-03-17 | 2016-06-01 | 清华大学 | Multi-finger hooping and elastic shifting rod cluster adaptive robot hand device |
| CN105619427A (en) * | 2016-03-17 | 2016-06-01 | 清华大学 | Active locking fluid type flexible rod cluster adaptive robot hand device |
| CN105856269A (en) * | 2016-05-27 | 2016-08-17 | 清华大学 | Negative-pressure auxiliary rod cluster-provided self-adaptive robot hand device |
| CN106113068A (en) * | 2016-05-31 | 2016-11-16 | 清华大学 | Magnetic flow liquid bar bunch self adaptation arm device |
| CN107598953A (en) * | 2017-11-06 | 2018-01-19 | 重庆大学 | A kind of discrete type clamping device of adaptivity |
| CN108214522A (en) * | 2017-12-26 | 2018-06-29 | 清华大学 | Orthogonal swing slip pipe array adaptive robot arm device |
| CN108942886A (en) * | 2018-07-24 | 2018-12-07 | 哈尔滨工程大学 | A kind of underwater robot flexible grabbing device and its method |
| CN109397278A (en) * | 2018-12-07 | 2019-03-01 | 苑航 | Imitative hedgehog magnetic drives bar ball adaptive robot arm device |
| CN111318988A (en) * | 2020-03-25 | 2020-06-23 | 东风延锋汽车饰件系统有限公司 | Novel general flexible car door plant assembly child membrane |
| CN112454401A (en) * | 2020-12-17 | 2021-03-09 | 王文豪 | Mechanical arm convenient for quick positioning and used for machining mechanical parts |
| CN113043313A (en) * | 2021-03-18 | 2021-06-29 | 清华大学深圳国际研究生院 | Parallel two-finger mechanical gripper and method for identifying type of gripped object by same |
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| CN114379445A (en) * | 2022-03-25 | 2022-04-22 | 徐州中顺尚奕机械制造有限公司 | Intervention type self-adaptive positioning type steel pipe lossless transportation equipment |
| CN114474148A (en) * | 2021-09-07 | 2022-05-13 | 江苏通强电气设备有限公司 | Unloader on laser automation robot convenient to multiple material of centre gripping |
| CN114670227A (en) * | 2022-04-12 | 2022-06-28 | 刘少林 | Integrated vision robot clamping jaw and using method thereof |
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| CN117428745A (en) * | 2023-12-21 | 2024-01-23 | 深圳拓普龙科技有限公司 | Transfer manipulator for processing chassis |
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| CN105583831A (en) * | 2016-03-17 | 2016-05-18 | 清华大学 | Self-adaptive robot hand device with flexible rod clusters driven by fluid |
| CN105583850A (en) * | 2016-03-17 | 2016-05-18 | 清华大学 | Self-adaptive robot hand device with elastic deflection rod clusters wound by flexible pieces |
| CN105619441A (en) * | 2016-03-17 | 2016-06-01 | 清华大学 | Multi-finger hooping and elastic shifting rod cluster adaptive robot hand device |
| CN105619427A (en) * | 2016-03-17 | 2016-06-01 | 清华大学 | Active locking fluid type flexible rod cluster adaptive robot hand device |
| CN105583831B (en) * | 2016-03-17 | 2017-12-29 | 清华大学 | Fluid drives flexible link cluster adaptive robot arm device |
| CN105856269A (en) * | 2016-05-27 | 2016-08-17 | 清华大学 | Negative-pressure auxiliary rod cluster-provided self-adaptive robot hand device |
| CN106113068A (en) * | 2016-05-31 | 2016-11-16 | 清华大学 | Magnetic flow liquid bar bunch self adaptation arm device |
| CN107598953A (en) * | 2017-11-06 | 2018-01-19 | 重庆大学 | A kind of discrete type clamping device of adaptivity |
| CN108214522B (en) * | 2017-12-26 | 2020-12-01 | 清华大学 | Orthogonal swinging sliding tube array self-adaptive robot hand device |
| CN108214522A (en) * | 2017-12-26 | 2018-06-29 | 清华大学 | Orthogonal swing slip pipe array adaptive robot arm device |
| CN108942886A (en) * | 2018-07-24 | 2018-12-07 | 哈尔滨工程大学 | A kind of underwater robot flexible grabbing device and its method |
| CN108942886B (en) * | 2018-07-24 | 2024-02-27 | 哈尔滨工程大学 | Flexible grabbing device and method for underwater robot |
| CN109397278B (en) * | 2018-12-07 | 2023-09-12 | 苑航 | Hedgehog-like magnetic driving rod ball self-adaptive robot hand device |
| CN109397278A (en) * | 2018-12-07 | 2019-03-01 | 苑航 | Imitative hedgehog magnetic drives bar ball adaptive robot arm device |
| CN111318988A (en) * | 2020-03-25 | 2020-06-23 | 东风延锋汽车饰件系统有限公司 | Novel general flexible car door plant assembly child membrane |
| CN112454401A (en) * | 2020-12-17 | 2021-03-09 | 王文豪 | Mechanical arm convenient for quick positioning and used for machining mechanical parts |
| CN113043313A (en) * | 2021-03-18 | 2021-06-29 | 清华大学深圳国际研究生院 | Parallel two-finger mechanical gripper and method for identifying type of gripped object by same |
| CN113319489A (en) * | 2021-06-22 | 2021-08-31 | 芜湖常瑞汽车部件有限公司 | Manipulator welding connection device for automobile welding |
| CN114474148A (en) * | 2021-09-07 | 2022-05-13 | 江苏通强电气设备有限公司 | Unloader on laser automation robot convenient to multiple material of centre gripping |
| CN114474148B (en) * | 2021-09-07 | 2023-06-20 | 江苏通强电气设备有限公司 | Laser automatic robot feeding and discharging device convenient for clamping various materials |
| CN114379445A (en) * | 2022-03-25 | 2022-04-22 | 徐州中顺尚奕机械制造有限公司 | Intervention type self-adaptive positioning type steel pipe lossless transportation equipment |
| CN114670227A (en) * | 2022-04-12 | 2022-06-28 | 刘少林 | Integrated vision robot clamping jaw and using method thereof |
| CN115055993A (en) * | 2022-06-21 | 2022-09-16 | 艾贝斯(徐州)工程机械有限公司 | Irregular arc machine parts processing equipment |
| CN117428745A (en) * | 2023-12-21 | 2024-01-23 | 深圳拓普龙科技有限公司 | Transfer manipulator for processing chassis |
| CN117428745B (en) * | 2023-12-21 | 2024-03-19 | 深圳拓普龙科技有限公司 | Transfer manipulator for processing chassis |
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