CN107712010A - The net thorax arm end effector of butchering fowl - Google Patents
The net thorax arm end effector of butchering fowl Download PDFInfo
- Publication number
- CN107712010A CN107712010A CN201710750272.7A CN201710750272A CN107712010A CN 107712010 A CN107712010 A CN 107712010A CN 201710750272 A CN201710750272 A CN 201710750272A CN 107712010 A CN107712010 A CN 107712010A
- Authority
- CN
- China
- Prior art keywords
- finger
- finger joint
- net thorax
- pedestal
- thorax
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- A—HUMAN NECESSITIES
- A22—BUTCHERING; MEAT TREATMENT; PROCESSING POULTRY OR FISH
- A22C—PROCESSING MEAT, POULTRY, OR FISH
- A22C21/00—Processing poultry
- A22C21/06—Eviscerating devices for poultry
-
- 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
-
- 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
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Food Science & Technology (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of butchering fowl equipment, more particularly, to a kind of net thorax arm end effector of butchering fowl.The net thorax manipulator, including net thorax mechanical finger body, fixing device, bending mechanism and separating/closing mechanism, net thorax mechanical finger body include some fingers, and every finger includes remote finger joint, middle finger joint, nearly finger joint and the pedestal set gradually.By the way that net thorax mechanical finger body design is referred into formula into three, and driven by tendon rope and gear, simple in construction, motion is flexible；The motion that bends will be moved by tendon rope band by be hinged axis connection, each finger joint between the finger joint of every finger, complete the grasping movement of finger, torsion spring is equipped with every jointed shaft, ensure that finger keeps its original state in the case where being acted on without external force；Separating/closing mechanism uses gear transmission mode, controlled by servo driving gear net thorax mechanical finger body three fingers it is circumferentially distributed, realize the regulation of three finger relative positions, ensure that finger can be captured in diverse location.
Description
Technical field
The present invention relates to a kind of butchering fowl equipment, is performed more particularly, to a kind of net thorax arm end of butchering fowl
Device.
Background technology
Poultry meat is one of main source of people's meat product, and it provides abundant good protein for people.By
In the individual small of poultry, required less investment, it is easy to cultivate, and home poultry raising is highly intensive, so, family at this stage
Fowl industry has become one of industry with fastest developing speed in animal husbandry.At present, the butchering fowl automated arm in China develops more
Fall behind, technology content is not also high.With the fast development of poultry meat processing industry, butchering fowl automated arm demand increases
Greatly, there is great market potential.
In the technological process of butchering fowl processing, it is a wherein very important link that organ removing, which takes poultry viscera,.Mesh
Before, the organ removing operation of butchering fowl processing mainly has two ways, and one kind is full automatic combine operation, and another is artificial
Aid in pipelining.In western developed country, large-scale butchering fowl processing enterprise generally all uses full-automatic slaughter device,
And domestic most enterprises still use human assistance pipelining, technology content is relatively low.The butchering fowl automation in China
Equipment Requirement amount is big, and a large amount of introduction import equipments are expensive, and cost is higher.In addition, eating habit both domestic and external have it is very big
Difference, what external poultry viscera was not eaten typically, it is no too big to the integrality of internal organ when net thorax equipment takes internal organ
It is required that；And domestic poultry viscera can be processed into various food, this just proposes higher want to net thorax equipment
Ask.Therefore, the independent research of poultry net thorax equipment automatically has wide market prospects.
The poultry that net thorax manipulator is intelligently butchered using poultry as core automates killing machinery, can be to a certain extent
The production efficiency of poultry meat processing is improved, reduces the processing cost of enterprise.The net thorax manipulator of the present invention, on the one hand can be improved
The level of domestic processing of poultry equipment, on the other hand also brings economic benefit for enterprise, is that the poultry for being adapted to China's national situation is slaughtered
Equipment is killed, tool is of great significance.
The content of the invention
To solve problem above, a kind of compact-sized, crawl of present invention offer is flexibly intelligently butchered net for poultry
Thorax manipulator, the manipulator production efficiency is high, can effectively reduce the processing cost of enterprise, realize net thorax during butchering fowl
Function, and can guarantee that the integrality of internal organ after net thorax.
The technical solution adopted by the present invention is：A kind of net thorax arm end effector of butchering fowl, it is characterised in that：
Including net thorax mechanical finger body, the fixing device for fixed net thorax mechanical finger body, the net thorax mechanical finger body of driving
The bending mechanism of Fingers bent-segment and the separating/closing mechanism for driving net thorax mechanical finger body folding, the net thorax mechanical finger
Body includes some fingers, and the every finger includes remote finger joint, middle finger joint, nearly finger joint and the pedestal set gradually,
Described remote finger joint one end and middle finger joint one end are hinged by jointed shaft, the middle finger joint other end and nearly finger joint one end
Hinged by jointed shaft, the nearly finger joint other end and pedestal one end are hinged by jointed shaft, the pedestal
The other end be connected with separating/closing mechanism, be equipped with torsion spring on the jointed shaft；The separating/closing mechanism is installed on the securing means,
The separating/closing mechanism motion drives finger to rotate；Bending mechanism motion drive remote finger joint, middle finger joint and nearly finger joint around
Corresponding jointed shaft rotation bending.
Preferably, the bending mechanism include provide power stepper motor, be connected with stepper motor output shaft around
Line wheel and the tendon rope being wrapped on reel, on reel, the other end is fixed with remote finger joint to be connected the tendon rope one ends wound
Connect.
Preferably, the fixing device includes upper mounted plate and the bottom plate that is be arranged in parallel with upper fixation, described point
The driven shaft that mechanism includes providing the steering wheel of power, the driving shaft of axis connection being exported with steering wheel and with driving shaft is coordinated is closed, it is described
Driving shaft and driven shaft both pass through upper mounted plate and bottom plate, and are arranged on upper mounted plate and bottom plate by bearing
On, the driving shaft is provided with driving gear, and the driven shaft is provided with the driven gear coordinated with driving gear, the master
Moving gear and driven gear are arranged between upper mounted plate and bottom plate, be equipped with the driving shaft and driven shaft with it is right
The upper fixed block and lower fixed block that pedestal connects are answered, fixed piece is arranged on the outside of upper mounted plate, and the lower fixed block is set
Put on the outside of bottom plate；The bottom plate outside vertical is provided with the mechanical arm being connected with net thorax equipment, and the steering wheel passes through
Steering wheel support is fixed on the robotic arm.
Preferably, the net thorax mechanical finger body includes three fingers, the pedestal of piece finger in centre with it is upper
Fixed plate is fixedly connected with bottom plate, upper fixed block and lower fixation on the pedestal and driving shaft of piece finger in side
Block is fixedly connected, and the pedestal of a piece finger of opposite side is fixedly connected with the upper fixed block on driven shaft and lower fixed block.
Preferably, remote be equipped between finger joint, middle finger joint, nearly finger joint and pedestal adjacent connection surfaces caves inward
V-type groove.
Preferably, spool is arranged with outside the tendon rope, during the spool is fixed on through upper fixed block and lower fixed block
On finger joint, nearly finger joint and pedestal.
Preferably, being equipped with protective cover outside the steering wheel and stepper motor, the protective cover is fixed on steering wheel support
On, for protecting steering wheel and stepper motor.
The beneficial effect that the present invention obtains is：By the way that net thorax mechanical finger body design is referred into formula into three, and pass through tendon rope
Driven with gear, simple in construction, motion is flexible；By, by being hinged axis connection, each finger joint is led between the finger joint of every finger
The dynamic motion that bends of tendon rope band is crossed, the grasping movement of finger is completed, is equipped with torsion spring on every jointed shaft, ensures that finger exists
Its original state is kept under being acted on without external force；Separating/closing mechanism uses gear transmission mode, and net thorax is controlled by servo driving gear
Two, the both sides finger of mechanical finger body it is circumferentially distributed, middle finger remains stationary as, and realizes three finger relative positions
Regulation, ensure that finger can open anus thorax mouth from poultry with less space under closed configuration and stretch into drawn poultry, in separated shape
Each joint of finger is bent under state, with larger space parcel poultry viscera and realizes grasping movement, the present invention is simple in construction, moves
Make flexible, reliable, manufacturing cost is low, it is easy to maintenance the characteristics of.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention；
Fig. 2 is that Fig. 1 removes the side view after protective cover；
Fig. 3 is the partial enlarged drawing at A in Fig. 2；
Fig. 4 is the structural representation of single finger；
Fig. 5 is the attachment structure schematic diagram of net thorax mechanical finger body and bending mechanism；
Fig. 6 is separating/closing mechanism structural representation；
Fig. 7 is structural representation when net thorax mechanical finger body does not open bending；
Fig. 8 is structural representation when net thorax mechanical finger body captures.
Embodiment
The present invention is further described with specific embodiment below in conjunction with the accompanying drawings.
As shown in Figure 1-2, the net thorax arm end effector of a kind of butchering fowl of the invention, including net thorax manipulator
Refer to body 1, fixing device 2, bending mechanism 4 and separating/closing mechanism 3, the finger 11 of net thorax mechanical finger body 1 and extend into poultry
It is used to win or take internal organ in inner chamber, fixing device 2 is connected by mechanical arm 5 with net thorax equipment, and fixing device 2 is as net
The support of thorax mechanical finger body 1, net thorax mechanical finger body 1 is linked together with separating/closing mechanism 3, separating/closing mechanism 3 passes through
It is bolted on mechanical arm 5, for driving net thorax mechanical finger body 1 (both sides finger 11) to make axial rotation motion, and then
The division of the net finger 11 of thorax mechanical finger body 1 is realized, bending mechanism 4 is used to drive the net finger 11 of thorax mechanical finger body 1
Finger joint is bent.
As shown in Figure 3-4, net thorax mechanical finger body 1 includes some fingers 11, and every finger 11 includes remote finger joint
114th, middle finger joint 113, nearly finger joint 112 and pedestal 111, remote finger joint 114, middle finger joint 113, nearly finger joint 112 and pedestal 111 are adopted
It is made with link rod structure, there is certain intensity during internal organ are taken after ensureing the bending of the finger joint of finger 11, far
One end for being inserted into poultry inner chamber of finger joint 114 is designed as sharp arc-shaped curved surface, facilitates insertion into poultry inner chamber, the other end leads to
Cross that one end of jointed shaft 117 and middle finger joint 113 is hinged, the other end of middle finger joint 113 passes through jointed shaft 117 and closely finger
One end of section 112 is hinged, and the other end of nearly finger joint 112 is hinged on one by one end of jointed shaft 117 and pedestal 111
Rise, the other end of pedestal 111 is connected with separating/closing mechanism 3, and torsion spring 116 is equipped with every jointed shaft 117, and torsion spring 116 ensures
Each finger joint of finger 11 keeps its original state (straight configuration) in the case where being acted on without external force.With reference to shown in Fig. 3, remote finger joint
114th, it is equipped with the V-type groove 115, V to cave inward between middle finger joint 113, nearly finger joint 112 and the adjacent connection surfaces of pedestal 111
Type groove 115 is made up of two inclined-planes being arranged in different finger joints, and the length on inclined-plane and inclination determine that finger joint is mutual
The angle (i.e. finger joint bending amplitude) rotated around jointed shaft 117, bending amplitude are also relevant with the length of each finger joint itself.
As shown in figure 5, bending mechanism 4 includes stepper motor 41, reel 42, tendon rope 43 and spool 44, stepper motor 41
It is fixed on mechanical arm 5, the output shaft of stepper motor 41 is connected with reel 42, drives reel 42 to rotate, on reel 42
Tendon rope 43 is wound with, the free end of tendon rope 43 is fixedly connected with remote finger joint 114, and stepper motor 41 rotates, and drives reel 42
Rotate, the tendon rope 43 on reel 42 pulls remote finger joint 114 to be rotated around jointed shaft 117, and remote finger joint 114 curves inwardly, when remote
When finger joint 114 turns to the contact of incline plane with the V-type groove 115 of the joint face of middle finger joint 113, middle finger joint 113 starts to bend, and presses
This mode corresponds to finger joint and bent successively, so as to realize the bending motion of whole finger 11.Spool 44, tendon are arranged with outside tendon rope 43
Rope 43 can arbitrarily pull in spool 44, and the path of spool 44 has no effect on the motion of tendon rope 43, and spool 44 passes through upper fixation
Block 36 and lower fixed block 37 are fixed on middle finger joint 113, nearly finger joint 112 and pedestal 111 by band or thin wire.
As shown in fig. 6, fixing device 2 includes upper mounted plate 21 and bottom plate 22, upper mounted plate 21 and bottom plate 22
It is arranged in parallel, vertical with pedestal 111, the outside of bottom plate 22 is vertical with the net thorax equipment mechanical arm 5 being connected solid by bolt
It is fixed.Separating/closing mechanism 3 includes steering wheel 31, driving shaft 32 and driven shaft 33, and steering wheel 31 is fixedly mounted on machine by steering wheel support 39
On tool arm 5, the output shaft of steering wheel 31 is connected with driving shaft 32, and driving driving shaft 32 rotates, and driving shaft 32 and driven shaft 33 are logical
Bearing 38 is crossed on upper mounted plate 21 and bottom plate 22, can freely be rotated, both ends are axially altered by bearing holder (housing, cover) limitation
It is dynamic；Driving shaft 32 is provided with driving gear 34, and driven shaft 33 is provided with driven gear 35, driving gear 34 and driven gear 35
It is meshed, driving shaft 32 drives driven shaft 33 to rotate, and driving gear 34 and driven gear 35 are respectively positioned on upper mounted plate 21 and lower solid
Between fixed board 22, fixed block 36 and lower fixed block 37 are equipped with driving shaft 32 and driven shaft 33, upper fixed block 36 is located at
The outside of upper mounted plate 21, lower fixed block 37 are located at the outside of bottom plate 22, and driving shaft 32 and driven shaft 33 pass through upper fixed block 36
It is fixedly connected with lower fixed block 37 with the pedestal 111 of corresponding finger 11, driving shaft 32 and driven shaft 33 rotate hand corresponding to drive
Refer to it is 11 circumferentially rotated, so as to realize the mutual division between the finger 11 of net thorax mechanical finger body 1.
As shown in fig. 7, the net thorax mechanical finger body 1 of the present embodiment includes three fingers 11, the pedestal of middle finger 11
111 are fixedly connected with upper mounted plate 21 and bottom plate 22, on the pedestal 111 and driving shaft 32 of a finger 11 of side
Upper fixed block 36 is fixedly connected with lower fixed block 37, the pedestal 111 of a finger 11 of opposite side with it is upper on driven shaft 33
Fixed block 36 is fixedly connected with lower fixed block 37.Steering wheel 31 rotates, and driving shaft 32 drives the He of upper fixed block 36 on driving shaft 32
Lower fixed block 37 rotates, and then drives a finger 11 of the side being connected with driving shaft 32 to make axial-rotation；Driving shaft simultaneously
32 drive driven shaft 33 to rotate by driving gear 34 and driven gear 35, and driven shaft 33 drives the upper fixation on driven shaft 33
Block 36 and lower fixed block 37 rotate, so drive the finger 11 of opposite side being connected with driven shaft 33 make axial-rotation (with
The finger rotation direction of active axis connection is opposite), a middle finger 11 is due to solid with upper mounted plate 21 and bottom plate 22
It is fixed, do not rotate, so as to realize the opening between three fingers 11 with closing up, opening angle is determined by the rotational angle of steering wheel 31
It is fixed, ensure that three fingers 11 can rotate in the range of designated area, regulation finger in operation plane last week to position, therefore
The grasping movement that net thorax mechanical finger body 1 can be formed under different postures, different poultry objects can be directed to and carried out rationally
Effective crawl.
In order to prevent in net thorax robot work, watery blood or other pollutants are dropped on steering wheel 31 and stepper motor 41,
Protective cover 6 is equipped with outside steering wheel 31 and stepper motor 41, protective cover 6 is fixed on steering wheel support 39, for protecting steering wheel 31
With stepper motor 41 from pollution, increase the service life.
The net thorax arm end effector of butchering fowl of the present invention is used cooperatively with net thorax equipment, first poultry tail
The anus in portion cuts a part, is then attached in net thorax equipment (net thorax equipment fixes drawn poultry), net thorax mechanical finger
The thorax intracavitary that body 1 extend into poultry along the part of incision (opens anus thorax mouth with less space under closed configuration from poultry
Stretch into drawn poultry), steering wheel 31 drives the finger 11 on net thorax mechanical finger body 1 to open up into designated modality, stepper motor
The finger 11 of the 41 net thorax mechanical finger bodies 1 of driving is bent (bends each joint of finger, with larger space under separated position
Parcel poultry viscera simultaneously realizes grasping movement), so as to realize net thorax action.
Claims (7)
- A kind of 1. net thorax arm end effector of butchering fowl, it is characterised in that：Including net thorax mechanical finger body (1), use Fixing device (2) in fixed net thorax mechanical finger body (1), driving net thorax mechanical finger body (1) Fingers bent-segment The separating/closing mechanism (3) of bending mechanism (4) and net thorax mechanical finger body (1) fingers opening-closing of driving, the net thorax mechanical finger sheet Body (1) includes some fingers (11), and the every finger (11) includes remote finger joint (114), the middle finger joint set gradually (113), nearly finger joint (112) and pedestal (111), described remote finger joint (114) one end and middle finger joint (113) one end pass through jointed shaft (117) hinged, middle finger joint (113) other end and nearly finger joint (112) one end are hinged on one by jointed shaft (117) Rise, nearly finger joint (112) other end and pedestal (111) one end are hinged by jointed shaft (117), the pedestal (111) the other end is connected with separating/closing mechanism (3), and torsion spring (116) is equipped with the jointed shaft (117)；The separating/closing mechanism (3) it is arranged in fixing device (2), separating/closing mechanism (3) motion drives finger (11) to rotate；Bending mechanism (4) fortune It is dynamic to drive remote finger joint (114), middle finger joint (113) and nearly finger joint (112) around corresponding jointed shaft (117) rotation bending.
- 2. the net thorax arm end effector of butchering fowl according to claim 1, it is characterised in that：The bending mechanism (4) include provide power stepper motor (41), with stepper motor (41) output axis connection reel (42) and be wrapped in around Tendon rope (43) in line wheel (42), for tendon rope (43) one ends wound on reel (42), the other end is solid with remote finger joint (114) Fixed connection.
- 3. the net thorax arm end effector of butchering fowl according to claim 1 or 2, it is characterised in that：The fixation Device (2) includes upper mounted plate (21) and the bottom plate (22) being be arranged in parallel with upper mounted plate (21), the separating/closing mechanism (3) Including provide power steering wheel (31), with steering wheel (31) output axis connection driving shaft (32) and with driving shaft (32) coordinate from Moving axis (33), the driving shaft (32) and driven shaft (33) both pass through upper mounted plate (21) and bottom plate (22), and pass through Bearing (38) is arranged on upper mounted plate (21) and bottom plate (22), and the driving shaft (32) is provided with driving gear (34), The driven shaft (33) is provided with the driven gear (35) coordinated with driving gear (34), the driving gear (34) and driven tooth Wheel (35) is arranged between upper mounted plate (21) and bottom plate (22), is equipped with the driving shaft (32) and driven shaft (33) With the upper fixed block (36) and lower fixed block (37) of corresponding pedestal (111) connection, fixed piece (36) are arranged on fixation On the outside of plate (21), the lower fixed block (37) is arranged on the outside of bottom plate (22)；Bottom plate (22) outside vertical is set There is the mechanical arm (5) being connected with net thorax equipment, the steering wheel (31) is fixed on mechanical arm (5) by steering wheel support (39).
- 4. the net thorax arm end effector of butchering fowl according to claim 3, it is characterised in that：The net thorax machinery Finger body (1) includes three fingers (11), the pedestal (111) of described piece finger (11) in centre and upper mounted plate (21) and under Fixed plate (22) is fixedly connected, pedestal (111) and the upper fixed block on driving shaft (32) of the finger (11) of side one (36) it is fixedly connected with lower fixed block (37), on the pedestal (111) and driven shaft (33) of the finger (11) of opposite side one Upper fixed block (36) is fixedly connected with lower fixed block (37).
- 5. the net thorax arm end effector of butchering fowl according to claim 3, it is characterised in that：The remote finger joint (114), it is equipped with the V-type groove to cave inward between middle finger joint (113), nearly finger joint (112) and pedestal (111) adjacent connection surfaces (115)。
- 6. the net thorax arm end effector of butchering fowl according to claim 2, it is characterised in that：The tendon rope (43) It is outer to be arranged with spool (44), the spool (44) through upper fixed block (36) and lower fixed block (37) be fixed on middle finger joint (113), In nearly finger joint (112) and pedestal (111).
- 7. the net thorax arm end effector of butchering fowl according to claim 3, it is characterised in that：The steering wheel (31) Protective cover (6) is equipped with outside with stepper motor (41), the protective cover (6) is fixed on steering wheel support (39), for protecting rudder Machine (31) and stepper motor (41).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710750272.7A CN107712010A (en) | 2017-08-28 | 2017-08-28 | The net thorax arm end effector of butchering fowl |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710750272.7A CN107712010A (en) | 2017-08-28 | 2017-08-28 | The net thorax arm end effector of butchering fowl |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107712010A true CN107712010A (en) | 2018-02-23 |
Family
ID=61205454
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710750272.7A Pending CN107712010A (en) | 2017-08-28 | 2017-08-28 | The net thorax arm end effector of butchering fowl |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107712010A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117546900A (en) * | 2024-01-11 | 2024-02-13 | 河南科技学院 | Nondestructive grabbing and separating device and method for pig heart |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2011255467A (en) * | 2010-06-10 | 2011-12-22 | Seiko Epson Corp | Electric actuator |
| CN103722557A (en) * | 2012-10-11 | 2014-04-16 | 精工爱普生株式会社 | Robot hand, robot device and method of manufacturing robot hand |
| CN204414128U (en) * | 2015-01-22 | 2015-06-24 | 西安蒜泥电子科技有限责任公司 | A kind of manipulator finger articulation structure |
| CN104999470A (en) * | 2015-03-13 | 2015-10-28 | 山东科技大学 | All-driving three-finger ingenious mechanical arm |
| CN105150235A (en) * | 2015-09-18 | 2015-12-16 | 山东科技大学 | Novel cable-driven three-fingered dexterous hand |
| CN205009250U (en) * | 2015-09-11 | 2016-02-03 | 山东科技大学 | Indicate dexterous hand more based on link mechanism |
| WO2017111582A1 (en) * | 2015-12-21 | 2017-06-29 | Technische Universiteit Delft | Prosthetic hand |
-
2017
- 2017-08-28 CN CN201710750272.7A patent/CN107712010A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2011255467A (en) * | 2010-06-10 | 2011-12-22 | Seiko Epson Corp | Electric actuator |
| CN103722557A (en) * | 2012-10-11 | 2014-04-16 | 精工爱普生株式会社 | Robot hand, robot device and method of manufacturing robot hand |
| CN204414128U (en) * | 2015-01-22 | 2015-06-24 | 西安蒜泥电子科技有限责任公司 | A kind of manipulator finger articulation structure |
| CN104999470A (en) * | 2015-03-13 | 2015-10-28 | 山东科技大学 | All-driving three-finger ingenious mechanical arm |
| CN205009250U (en) * | 2015-09-11 | 2016-02-03 | 山东科技大学 | Indicate dexterous hand more based on link mechanism |
| CN105150235A (en) * | 2015-09-18 | 2015-12-16 | 山东科技大学 | Novel cable-driven three-fingered dexterous hand |
| WO2017111582A1 (en) * | 2015-12-21 | 2017-06-29 | Technische Universiteit Delft | Prosthetic hand |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117546900A (en) * | 2024-01-11 | 2024-02-13 | 河南科技学院 | Nondestructive grabbing and separating device and method for pig heart |
| CN117546900B (en) * | 2024-01-11 | 2024-03-22 | 河南科技学院 | Nondestructive grabbing and separating device and method for pig heart |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107668161B (en) | The net thorax robot system of poultry based on machine vision | |
| CN106041995B (en) | A kind of Apery manipulator | |
| CN106725855B (en) | A kind of mixed connection six degree of freedom minimally invasive surgical operation robot | |
| CN209572798U (en) | A kind of livestock-raising cleaning device | |
| CN212065336U (en) | Egg collection device | |
| CN107712010A (en) | The net thorax arm end effector of butchering fowl | |
| CN109006524A (en) | A kind of safe and healthy livestock-raising working method for feeding crib | |
| WO2022013978A1 (en) | End effector | |
| CN109526399A (en) | A kind of intelligent robot with picking and cleaning function based on Internet of Things | |
| US3813860A (en) | Machine for the mechanical picking of olives from the tree | |
| CN116022311A (en) | Closed-loop underwater living body sample capturing robot | |
| CN208571196U (en) | A kind of multi-thread double end cuts stripping pressure side machine | |
| CN206674545U (en) | A kind of end effector mechanism of seed ball picking robot | |
| CN212976196U (en) | Water storage tank inner wall belt cleaning device for animal husbandry | |
| CN107008711A (en) | A kind of rabbit raises tableware cleaning equipment | |
| CN108575787A (en) | A kind of livestock feeding groove with automatic clearing function | |
| CN114769197A (en) | Poultry animal doctor uses instrument belt cleaning device that cleaning performance is good | |
| CN209546542U (en) | A kind of multi-functional environment-protection cultivating system | |
| CN110332777B (en) | Drying device for pasture in animal husbandry | |
| CN206954341U (en) | Limb motion biomimetic features and the bionic machine mouse including limb motion biomimetic features | |
| CN208798513U (en) | A kind of novel livestock nursing feeding device | |
| CN207544005U (en) | A kind of livestock-raising slot convenient for adjusting | |
| CN208373770U (en) | A kind of livestock-raising container washing apparatus | |
| CN208911914U (en) | A kind of livestock-raising Blendling-device of feedstuffs for effectivelying prevent discharge port to block | |
| CN112715409B (en) | Henhouse for raising laying hens |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180223 |