CN107803850A - A kind of mechanical paw, robot and the transport vehicle with robot - Google Patents
A kind of mechanical paw, robot and the transport vehicle with robot Download PDFInfo
- Publication number
- CN107803850A CN107803850A CN201711171828.3A CN201711171828A CN107803850A CN 107803850 A CN107803850 A CN 107803850A CN 201711171828 A CN201711171828 A CN 201711171828A CN 107803850 A CN107803850 A CN 107803850A
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- connecting portion
- robot
- mechanical paw
- drive division
- cylinder
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- 230000000712 assembly Effects 0.000 claims abstract description 9
- 238000000429 assembly Methods 0.000 claims abstract description 9
- 210000000707 wrist Anatomy 0.000 claims description 12
- 230000001681 protective effect Effects 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims 1
- 239000000463 material Substances 0.000 abstract description 12
- 241000271559 Dromaiidae Species 0.000 abstract description 11
- 230000002159 abnormal effect Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 3
- 210000005069 ears Anatomy 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000000284 extract Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 241000252254 Catostomidae Species 0.000 description 1
- 235000008331 Pinus X rigitaeda Nutrition 0.000 description 1
- 235000011613 Pinus brutia Nutrition 0.000 description 1
- 241000018646 Pinus brutia Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003749 cleanliness Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 239000011152 fibreglass Substances 0.000 description 1
- 210000004247 hand Anatomy 0.000 description 1
- 230000003434 inspiratory effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012536 packaging technology Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of mechanical paw, including mounting post and some finger components, some finger components located at mounting post side wall and along the circumferentially-spaced arrangement of side wall；Finger component includes：The first drive division located at the side wall of mounting post, rack, first connecting portion, the second drive division, second connecting portion and Suction cup assembly located at connecting portion with the drive connection of the first drive division；One end of first connecting portion is provided with gear, gear pivotly engages located at mounting post and with rack, the other end of first connecting portion and one end of second connecting portion are hinged, second connecting portion other end connecting sucker component, the second drive division are connected with second connecting portion to drive second connecting portion to be swung around first connecting portion.Each Suction cup assembly of the present invention can realize the motion of two frees degree, and for the material (such as EMUs shutter) of abnormal curved surface, multiple Suction cup assemblies can hold the surface of material simultaneously, so as to capture material securely.
Description
Technical field
The invention belongs to robotic technology field, and in particular to a kind of mechanical paw, robot and robotic conveyance.
Background technology
In production and erecting yard, it is necessary to often carried to material, such as when assembling EMUs, it is necessary to by motor-car
Group shutter is accurately installed on car body.EMUs shutter is also known as EMUs head kuppe, is made outside its cleanliness
Type meets aerodynamic principle, and left and right shutter is easy to hitch to connect other motor-car vehicles after opening, be EMUs head
Critical component, and EMUs opening and closing enclosure volume is big, heavier-weight, its appearance profile face belongs to abnormal curved surface, is not easy crawl force.
The automaticity of EMUs shutter packaging technology is not high at present, it is necessary to by manpower lift to move, group when installing EMUs shutter
It is attached on the car body of EMUs, when assembling shutter now, at least needs 4 people's work compounds, the alignment of two people's lift to move shutters is moved
Car group car body installation site, a people are responsible for installing fastener, and a people assists, and whole process efficiency is low, pure manpower lift to move weight
Labor intensity it is big, prolonged lift to move weight causes manpower tired, easily causes potential safety hazard.
The content of the invention
In order to solve the above problems, it is an object of the invention to provide a kind of mechanical paw, robot and fortune with robot
Defeated car, it can easily and accurately carry material instead of manpower.
To achieve the above object, the present invention is achieved by following technical scheme：
A kind of mechanical paw provided by the invention, including mounting post and some finger components, some finger components are equal
Side wall located at the mounting post and the circumferentially-spaced arrangement along side wall；The finger component includes：Located at the mounting post
First drive division of side wall, with first drive division drive connection rack, first connecting portion, located at the first connecting portion
The second drive division, second connecting portion and Suction cup assembly；One end of the first connecting portion is provided with gear, and the gear is pivotable
Ground engages located at the mounting post and with the rack, the other end of the first connecting portion and the one of the second connecting portion
End is be hinged, and the second connecting portion other end connects the Suction cup assembly, and second drive division passes with the second connecting portion
It is dynamic to connect to drive the second connecting portion to be swung around the first connecting portion.
Further, first drive division is cylinder, and the piston rod of the cylinder is fixedly connected with the rack.
Further, second drive division is cylinder, and the piston rod of the cylinder connects with the second connecting portion activity
Connect.
Further, the second connecting portion is provided with the through hole of strip；The piston rod passes through a connecting rod and described the
Two connecting portions are flexibly connected, and one end of the connecting rod is connected with the piston rod, and the other end passes through the through hole；The connecting rod is set
There are two knobs that its own position can be adjusted along the length direction of the connecting rod, two knobs are respectively arranged on the through hole
Both sides, and the external diameter of the knob described in two be more than the through hole internal diameter.
Further, the Suction cup assembly includes sucker and the air guide post provided with valve, one end of the air guide post and institute
State the cavity connection of sucker.
Further, the other end of the air guide post is threadedly coupled with the second connecting portion.
Further, the Suction cup assembly also includes protective cover, and the protective cover is on the outside of the air guide post.
Further, the mounting post includes ring flange and the cylinder provided with some sides, and the ring flange is located at described
One end of cylinder, finger component described in one group is equipped with each side of the cylinder.
The present invention a kind of robot, including mechanical paw described above are also provided, and be sequentially connected base assembly,
Big arm component, wrist assemblies, small arm component and wrist component, the mounting post of the mechanical paw are connected to the wrist group
Part.
The present invention also provides a kind of transport vehicle with robot, wraps robot described above and for described in carrying
The car body of robot, the robot are installed on the car body, are additionally provided with car body for being the car body and the robot
The battery of power, the console for manipulating the robot are provided, connected for pump air and with the Suction cup assembly
Vavuum pump.
Compared with prior art, the beneficial effects of the invention are as follows：
A kind of mechanical paw provided by the invention, it includes multiple Suction cup assemblies, and each Suction cup assembly can realize two
The motion of the free degree, for the material (such as EMUs shutter) of abnormal curved surface, multiple Suction cup assemblies can hold material simultaneously
Surface, so as to capturing material securely.Mechanical paw is installed on more arm robots, it is possible to achieve Suction cup assembly it is multiple
The motion of the free degree, so as to realize the carrying of material and assembling, save manpower, improve operating efficiency.
Brief description of the drawings
The embodiment of the present invention is described in further detail below in conjunction with the accompanying drawings, wherein：
Fig. 1 is a kind of structural representation of mechanical paw of the present invention；
Fig. 2 is the structural representation of the described finger component of the present invention；
Fig. 3 is the second connecting portion of the present invention and the assembling schematic diagram of Suction cup assembly；
Fig. 4 is a kind of structural representation of robot of the present invention；
Fig. 5 is a kind of structural representation of transport vehicle with robot of the present invention；
Fig. 6 is the assembling schematic diagram of console of the present invention, compression pump and Suction cup assembly；
Fig. 7 is the structural representation of remote control of the present invention；
Fig. 8 is a kind of use state diagram of transport vehicle with robot of the present invention.
In figure：
100- manipulators are grabbed；
1- mounting posts；11- ring flanges；12- cylinders；121- ears；
2- finger components；
The drive divisions of 21- first；The cylinders of 211- first；2111- First piston bars；The Cylinder mount brackets of 212- first；
The drive divisions of 22- second；The cylinders of 221- second；2211- second piston bars；The Cylinder mount brackets of 222- second；
23- racks；24- first connecting portions；241- gears；
25- second connecting portions；251- through holes；252 threaded rods；
26- Suction cup assemblies；261- suckers；262- air guide posts；263- valves；2621- screwed holes；
27- connecting rods；The knobs of 271- first；The knobs of 272- second；
200- robots；
3- base assemblies；The big arm components of 4-；5- wrist assemblies；The small arm components of 6-；7- wrist components；
300- car bodies；
301- batteries；302- consoles；303- vavuum pumps；
400- shutters.
Embodiment
The preferred embodiments of the present invention are illustrated below in conjunction with accompanying drawing, it will be appreciated that described herein preferred real
Apply example to be merely to illustrate and explain the present invention, be not intended to limit the present invention.
As shown in FIG. 1 to 3, mechanical paw 100 includes mounting post 1 and some hands to a kind of mechanical paw of the present invention
Finger assembly 2, some finger components 2 are located at the side wall of mounting post 1, and along the circumferentially-spaced arrangement of side wall.Finger component 2 wraps
Include the first drive division 21, the second drive division 22, rack 23, first connecting portion 24, second connecting portion 25 and Suction cup assembly 26.First
Drive division 21 is located at the side wall of mounting post 1, and rack 23 is connected with the first drive division 21, in the driving of the first drive division 21
Under, rack 23 can move along the length direction of mounting post 1；One end of first connecting portion 24 is provided with gear 241, and gear 241 can
Mounting post 1 is pivotally located at, rack 23 engages with gear 241, and rack 23 can drive first connecting portion 24 around gear when moving
241 axis oscillating；The other end of first connecting portion 24 and one end of second connecting portion 25 are hinged, the other end of second connecting portion 25
Connecting sucker component 26, the second drive division 22 are located at first connecting portion 24, and the second drive division 22 is also driven with second connecting portion 25
Connection, under the driving of the second drive division 22, second connecting portion 25 can be swung around one end of first connecting portion 24.In use,
By controlling the first drive division 21 and the second drive division 22 to adjust the position of Suction cup assembly 26, Suction cup assembly 26 is set to inhale exactly
Firmly material, realize the transport to material.
Preferably, the first drive division 21 and the second drive division 22 are cylinder.Specifically, the first drive division 21 includes first
The Cylinder mount bracket 212 of cylinder 211 and first, length direction of first cylinder 211 along mounting post 1 set and pass through the first gas
Cylinder mounting bracket 212 is fixed on the side wall of mounting post 1, and the First piston bar 2111 of the first cylinder 211 is fixedly connected with rack 23,
First piston bar 2111 is moved by telescopic band carry-over bar 23.Second drive division 22 includes the second cylinder 221 and the second cylinder is pacified
Support 222 is filled, length direction of second cylinder 221 along first connecting portion 24 sets and pass through the second Cylinder mount bracket 222
The side wall of first connecting portion 24 is fixed on, the second piston bar 2211 of the second cylinder 221 is flexibly connected with second connecting portion 25, excellent
Selection of land, second piston bar 2211 are flexibly connected by connecting rod 27 with second connecting portion 25, and second connecting portion 25 is provided with strip
Through hole 251, one end of connecting rod 27 are connected with second piston bar 2211, and the other end passes through through hole 251, and connecting rod 27 is movably connected on logical
Hole 251, specifically, connecting rod 27 are provided with two knobs, and two knobs are respectively arranged on the both sides of through hole 251, and can be along even
The length direction of bar 27 adjusts its own position, and the external diameter of the knob of two is more than the internal diameter of through hole 251, two knobs point
Wei not the first knob 271 close to the second drive division 22 and the second knob 272 away from the second drive division 22.Second piston bar
During 2211 stretching, the first knob 271 abuts second connecting portion 25, promotes second connecting portion 25 to be swung to a direction；Second lives
When stopper rod 2211 is retracted, the second knob 272 abuts second connecting portion 25, promotes second connecting portion 25 to swing in the other direction.
Connecting rod 27 can slide along the length direction of through hole 251, prevent that connecting rod 27 is stuck during second piston bar 2211 is moved,
The length of through hole 251 can be depending on the impulse stroke of piston.Preferably, through hole 251 is located at the remote of second connecting portion 25
One end of Suction cup assembly 26, the second drive division 22 is avoided to influence the scope of activities of second connecting portion 25.
Preferably, Suction cup assembly 26 includes sucker 261 and air guide post 262, and air guide post 262 is provided with valve 263, air guide post
262 one end connects with the cavity of sucker 261, into sucker 261 supplies gas or extract out the gas in sucker 261 by valve 263
Body.The other end of air guide post 262 is provided with screwed hole 2621, and the end of second connecting portion 25 is provided with threaded rod along its length
252, air guide post 262 is connected with second connecting portion 25 by threaded rod 252 and screwed hole 2621.Preferably, Suction cup assembly 26 is gone back
Including protective cover 264, protective cover 264 is located at the outside of air guide post 262, for protecting air guide post 262 without damage.
Preferably, mounting post 1 includes ring flange 11 and cylinder 12, and ring flange 11 is located at one end of cylinder 12, and cylinder 12 is set
There are some sides, one group of finger component 2 is equipped with each side of cylinder 12.Specifically, the first drive division 21 is fixed on
The side of cylinder 12, length direction of the driving rack 23 along place side are moved, and a pair of ears 121 are equipped with each side,
The gear 241 of first connecting portion 24 is pivotably connected between Liang Ge ears 121 and with ear 121.In the present embodiment, post
Body 12 is cuboid, and it includes four sides, totally four groups of finger component 2, and every group of finger component 2 is located at corresponding side.Cylinder
The quantity of 12 side is not intended to limit the invention, and in design, the quantity of the side of cylinder 12 can be carried out as needed
Adjustment.
As shown in figure 4, the present invention a kind of robot is also provided, the robot 200 include be sequentially connected base assembly 3,
Big arm component 4, wrist assemblies 5, small arm component 6 and wrist component 7, and mechanical paw 100 above, mechanical paw 100
Mounting post 1 is connected to wrist component 7.Specifically, the ring flange 11 of mounting post 1 is arranged on the end face of wrist component 7 by screw.
The robot 200 can realize the motion of more than the 100 individual free degree of mechanical paw.
Shown in Fig. 5~Fig. 6, the present invention also provides a kind of transport vehicle with robot, including robot 200 above,
For carrying the car body 300 of robot 200, robot 200 is installed on car body 300, and battery 301, control are additionally provided with car body 300
Platform 302 and vavuum pump 303 processed.Battery 301 is used to provide power, console 302 and machine for car body 300 and robot 200
People 200 electrically connects to be connected for pump air for Manipulation of the machine people 200, vavuum pump 303 with Suction cup assembly 26.Specifically, very
Empty pump 303 electrically connects with console 302, the manipulation that its start and stop and inspiratory capacity etc. are controlled 302, the stomata of vavuum pump 303
Connected by air guide post 262 with sucker 261.Display and keyboard are housed on console 302, there is provided friendly man-machine communication interface,
Staff sends instruction by keyboard to robot 200 or vavuum pump 303, and control machine people 200 or vavuum pump 303 act.
As shown in figure 8, the present invention can be used for the shutter 400 for carrying EMUs, using carry the process of shutter 400 as
Example, the course of work for the transport vehicle that should carry robot are as follows：
(1) robot 200 is transported to working site by staff using transport vehicle；
(2) acted by the Manipulation of the machine people 200 of console 302, sucker 261 is fitted in the surface of shutter 400；
(3) acted by the operated vacuum pumps 303 of console 302, vavuum pump 303 extracts air in sucker 261 out, in sucker
Vacuum is formed in 261, sucker 261 is sucked shutter 400；
(4) acted by the Manipulation of the machine people 200 of console 302, shutter 400 is carried or is installed to the position specified；
(5) acted by the operated vacuum pumps 303 of console 302, vavuum pump 303 is inflated into sucker 261, the pine of sucker 261
Open shutter 400.
Because the material of shutter 400 is fiberglass, its appearance profile face is also easy to produce deformation, when shutter 400 is installed
It cannot be guaranteed that disposably assemble it is qualified, when the installation position of shutter 400 and vehicle is equipped with interference or fit clearance is uneven,
Shutter 400 must be disassembled, interference position is polished, the position big to gap is filled up using atomized ash, therefore often
Need repeatedly to test and match somebody with somebody, carry out action of the repeatedly assembling with removing shutter 400.And the console 302 of the present invention can record the
All instructions and path during one assembling shutter 400, when being assembled next time, as long as shutter 400 is put back to for the first time
Position during assembling, on the premise of not being moved in the position of car body 300 and robot 200, as long as passing through console 302
Order parameter during installation shutter 400 for the first time is called, robot 200 is automatic with regard to energy and quickly installs shutter 400
Onto car body 300.
Shown in Fig. 5~Fig. 7, a kind of transport vehicle with robot of the present invention can also include remote control 304, distant
Control device 304 and send instruction, acted through the Manipulation of the machine people 200 of console 302 and vavuum pump 303.Specifically, set on remote control 304
There are control button 3041 and action bars 3042, action bars 3042 can swing to any angle, can also be rotated around axle center, to realize
Control to robot 200, is equipped with display screen 3043 on remote control 304, the various prompt messages of the display operation of display screen 3043,
Realize human-computer dialogue；Remote control 304 carries blue-tooth device (not shown), and blue-tooth device can be set with the bluetooth of console 302
Standby (not shown) couples, and the command information that remote control 304 is sent passes to console 302 by blue-tooth device, by controlling
Platform 302 communicates instructions to robot 200 and vavuum pump 303, the various tasks at the scene of completing.
The above described is only a preferred embodiment of the present invention, any formal limitation not is made to the present invention, therefore
Every any modification that without departing from technical solution of the present invention content, the technical spirit according to the present invention is made to above example,
Equivalent variations and modification, in the range of still falling within technical solution of the present invention.
Claims (10)
1. a kind of mechanical paw, it is characterised in that including mounting post and some finger components, some finger components are located at
The side wall of the mounting post and along the circumferentially-spaced arrangement of side wall；The finger component includes：Located at the side wall of the mounting post
The first drive division, with the rack of first drive division drive connection, first connecting portion, the located at the first connecting portion
Two drive divisions, second connecting portion and Suction cup assembly；One end of the first connecting portion is provided with gear, and the gear is pivotly set
Engaged in the mounting post and with the rack, the other end of the first connecting portion and one end of the second connecting portion are cut with scissors
Connect, the second connecting portion other end connects the Suction cup assembly, and second drive division connects with second connecting portion transmission
Connect to drive the second connecting portion to be swung around the first connecting portion.
2. a kind of mechanical paw according to claim 1, it is characterised in that first drive division includes cylinder, described
The piston rod of cylinder is fixedly connected with the rack.
3. a kind of mechanical paw according to claim 1, it is characterised in that second drive division includes cylinder, described
The piston rod of cylinder is flexibly connected with the second connecting portion.
4. a kind of mechanical paw according to claim 3, it is characterised in that the second connecting portion is provided with the logical of strip
Hole；The piston rod is flexibly connected by a connecting rod with the second connecting portion, and one end of the connecting rod connects with the piston rod
Connect, the other end passes through the through hole；The connecting rod, which is provided with two, to adjust its own position along the length direction of the connecting rod
Knob, two knobs are respectively arranged on the both sides of the through hole, and the external diameter of the knob described in two is more than the through hole
Internal diameter.
5. a kind of mechanical paw according to claim 1, it is characterised in that the Suction cup assembly includes sucker and provided with gas
The air guide post of mouth, one end of the air guide post connect with the cavity of the sucker.
A kind of 6. mechanical paw according to claim 5, it is characterised in that the other end of the air guide post with it is described
Second connecting portion is threadedly coupled.
7. a kind of mechanical paw according to claim 5, it is characterised in that the Suction cup assembly also includes protective cover, institute
Protective cover is stated on the outside of the air guide post.
8. according to a kind of mechanical paw described in claim any one of 1-7, it is characterised in that the mounting post includes ring flange
With the cylinder provided with some sides, the ring flange is located at one end of the cylinder, is all provided with each side of the cylinder
There is finger component described in one group.
9. a kind of robot, it is characterised in that including the mechanical paw described in claim any one of 1-8, and be sequentially connected
Base assembly, big arm component, wrist assemblies, small arm component and wrist component, the mechanical paw the mounting post connection
In the wrist component.
10. a kind of transport vehicle with robot, it is characterised in that including the robot described in claim 9 and for holding
The car body of the robot is carried, the robot is installed on the car body, is additionally provided with car body for for the car body and described
Robot provides the battery of power, the console for manipulating the robot, for pump air and with the sucker group
The vavuum pump of part connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711171828.3A CN107803850A (en) | 2017-11-22 | 2017-11-22 | A kind of mechanical paw, robot and the transport vehicle with robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711171828.3A CN107803850A (en) | 2017-11-22 | 2017-11-22 | A kind of mechanical paw, robot and the transport vehicle with robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107803850A true CN107803850A (en) | 2018-03-16 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711171828.3A Pending CN107803850A (en) | 2017-11-22 | 2017-11-22 | A kind of mechanical paw, robot and the transport vehicle with robot |
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| Country | Link |
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| CN (1) | CN107803850A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108649171A (en) * | 2018-05-15 | 2018-10-12 | 中航锂电（江苏）有限公司 | A kind of lithium battery septation extractor special |
| CN109048974A (en) * | 2018-09-30 | 2018-12-21 | 芜湖顺威精密塑料有限公司 | A kind of flabellum clamping tooling |
| CN109175996A (en) * | 2018-09-11 | 2019-01-11 | 中车广东轨道交通车辆有限公司 | A kind of intelligence equipment for motor-car assembling |
| CN109778639A (en) * | 2019-03-09 | 2019-05-21 | 边兵兵 | A kind of road roller |
| CN112744395A (en) * | 2021-01-27 | 2021-05-04 | 温州职业技术学院 | Flexible spider hand for blister package medicine board |
| CN113335923A (en) * | 2021-05-27 | 2021-09-03 | 张祥妹 | Novel sucker clamp |
| CN113955489A (en) * | 2021-11-04 | 2022-01-21 | 苏州像素点显示科技有限公司 | Adsorption operation mechanism for processing special-shaped display screen and working method thereof |
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Application publication date: 20180316 |