CN107972056A - A kind of industrial operation mechanical arm - Google Patents
A kind of industrial operation mechanical arm Download PDFInfo
- Publication number
- CN107972056A CN107972056A CN201711296374.2A CN201711296374A CN107972056A CN 107972056 A CN107972056 A CN 107972056A CN 201711296374 A CN201711296374 A CN 201711296374A CN 107972056 A CN107972056 A CN 107972056A
- Authority
- CN
- China
- Prior art keywords
- manipulator
- air pump
- backboard
- arc
- extension bar
- 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.)
- Withdrawn
Links
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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
-
- 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
- B25J15/0625—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum provided with a valve
- B25J15/0633—Air-flow-actuated valves
Abstract
The invention discloses a kind of industrial operation mechanical arm, including power supply box, stent, the first air pump, manipulator, backboard, conduit, adapter, Pneumatic extension bar, bull stick, pawl arm, suction nozzle, arc-shaped pad, card slot, fixing bolt, the second air pump, motor, arc groove, connector and Pneumatic top bar.The beneficial effects of the invention are as follows：Pneumatic extension bar is installed by portion in the robot, Pneumatic extension bar is connected by the adapter at the top of it with the first air pump, manipulator is enabled to strut amplitude by pushing for Pneumatic extension bar come adjust pawl arm in running, so as to capture the object of different size.By setting arc groove in backboard bottom, several Pneumatic top bars are set in arc groove bottom outer wall, manipulator is against on object outer wall when grabbing addendum part by the ejection of Pneumatic top bar, so as to clamping object, the situation that object is blocked and can not be come off by manipulator joint when can also avoid manipulator from needing to discharge object.
Description
Technical field
The present invention relates to a kind of manipulator, is specially a kind of industrial operation mechanical arm, belongs to industrial robot field.
Background technology
With the development and progress of science and technology, industrially in terms of production, mechanical arm gradually substitutes manual operation, machine
Device human arm and the maximum difference of arm for having the mankind are that flexibility ratio and resistance to dynamics, that is, the sharpest edges of manipulator can be with
Repeat do it is same action machinery will not always feel tired under normal circumstances.So the application of mechanical arm also will be more next
It is more extensive.
But existing industrial operation still suffers from certain defect when in use with mechanical arm, although due to manipulator foot
It is enough durable, but be made of after all mechanical part, the situation of loosening often occurs when capturing object, and due to machinery
Hand has shutdown, and joint often blocks the object of crawl, causes the object when unclamping not come off, causes unnecessary fiber crops
It is tired.
The content of the invention
Although the purpose of the present invention be that it is durable enough in order to solve above-mentioned existing industrial operation mechanical arm,
It is to be made of after all mechanical part, the situation of loosening often occurs when capturing object, and since manipulator has shutdown,
Joint often blocks the object of crawl, causes the object when unclamping not come off, cause the problem of unnecessary troublesome and
A kind of industrial operation mechanical arm is provided.
The present invention is achieved through the following technical solutions above-mentioned purpose, a kind of industrial operation mechanical arm, including stent,
Manipulator and backboard, power supply box is installed in the stent side, and the stent opposite side installs the first air pump, first air pump
Backboard is installed in bottom, installation manipulator on the backboard；
Several conduits are connected at the top of the manipulator, the conduit is connected with first air pump, described in several
Adapter is installed, the adapter bottom connection Pneumatic extension bar, the Pneumatic extension bar both ends are against the machinery between conduit
The joint position on the lower side of hand, the manipulator are made of several pawl arms, and set several suction nozzles on the pawl arm madial wall,
The joint of the pawl arm, which is worn, switches through bar；
Card slot is set on the backboard, the Pneumatic extension bar is installed inside the card slot, and if wearing and connecing on the card slot
The dry bull stick, the card slot lower section set arc groove, the second air pump of the backboard dorsal part middle part installation, second air pump
Several motors are installed in both sides, and the transmission shaft of the motor is connected with the bull stick, and second air pump is pneumatically stretched with described
Contracting bar bottom jointing, the connector bottom connect arc-shaped pad, are run through between the arc-shaped pad and the backboard by one
The fixing bolt of the two is fixedly connected, and the arc-shaped pad bottom sets several Pneumatic top bars.
Preferably, the power supply box between conducting wire and the first air pump, the second air pump, motor by electrically connecting.
Preferably, the pawl arm of the manipulator is connected by conduit with the first air pump, and is hollow structure inside pawl arm,
The Pneumatic extension bar is connected by the tracheae through backboard with the second air pump.
Preferably, the Pneumatic extension bar is by fixed between adapter and stent, backboard, and the Pneumatic extension bar and card
Groove specification is adapted.
Preferably, the bull stick is located at the joint of mechanical paw arm, and the bull stick is on backboard and backboard dorsal part
Motor transmission shaft be connected.
Preferably, the joint of each pawl arm of the manipulator, which is worn, connects a bull stick, and pawl arm is led to by pawl arm
Cross between bull stick and backboard outer wall and be movably connected.
Preferably, it is hollow structure inside the arc-shaped pad, and the Pneumatic top bar of the arc-shaped pad bottom is by being connected to
Connector at the top of arc-shaped pad is connected with the second air pump.
Preferably, the arc-shaped pad is arcuate structure, and the specification of arc-shaped pad is adapted with arc groove, arc-shaped pad and pawl arm
Between leave spacing.
Compared with prior art, the beneficial effects of the invention are as follows：
1st, Pneumatic extension bar is installed by portion in the robot, and Pneumatic extension bar both ends extend to the joint of manipulator
Position on the lower side, Pneumatic extension bar are connected by the adapter at the top of it with the first air pump so that manipulator can lead in running
Cross Pneumatic extension bar push to adjust pawl arm strut amplitude, so as to capture the object of different size.By in backboard
Bottom sets arc groove, sets several Pneumatic top bars in arc groove bottom outer wall so that manipulator can when grabbing addendum part
It is against by the ejection of Pneumatic top bar on object outer wall, so that clamping object, can also avoid manipulator from needing to discharge object
When the object situation being blocked and can not be come off by manipulator joint.
2nd, by installing several conduits at the top of manipulator, conduit is connected with the first air pump, in manipulator bottom
Several suction nozzles are set on pawl arm madial wall, and suction nozzle is connected by the pawl arm of hollow structure with the first air pump so that manipulator
When capturing object, object can firmly be adsorbed by the suction nozzle on pawl arm, prevent object from coming off.By setting card on backboard
Groove, card slot specifications are adapted with Pneumatic extension bar gauge lattice, for being clamped Pneumatic extension bar, and are worn on card slot and connect several turns
Bar, bull stick are connected with the motor transmission shaft of backboard dorsal part, and by motor-driven rotation, and bull stick wears the joint for being connected on manipulator
Position, the rotation of bull stick can be rotated with pawl arm, and so as to fulfill clamping, release object, each pawl arm is provided with single electricity
Machine so that manipulator more firm stabilization in crawl.
Brief description of the drawings
Fig. 1 is overall structure diagram of the present invention.
Fig. 2 is robot manipulator structure schematic diagram of the present invention.
Fig. 3 is back board structure schematic diagram of the present invention.
Fig. 4 is backboard structure schematic diagram of the present invention.
Fig. 5 is arc-shaped pad structure diagram of the present invention.
In figure：1st, power supply box, 2, stent, the 3, first air pump, 4, manipulator, 5, backboard, 6, conduit, 7, adapter, 8, pneumatic
Telescopic rod, 9, bull stick, 10, pawl arm, 11, suction nozzle, 12, arc-shaped pad, 13, card slot, 14, fixing bolt, the 15, second air pump, 16, electricity
Machine, 17, arc groove, 18, connector, 19, Pneumatic top bar.
Embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without making creative work
Embodiment, belongs to the scope of protection of the invention.
Embodiment 1
Please refer to Fig.1 shown in -5, a kind of industrial operation mechanical arm, including stent 2, manipulator 4 and backboard 5, stent 2
Power supply box 1 is installed in side, and 2 opposite side of stent installs the first air pump 3, and 3 bottom of the first air pump is installed backboard 5, installed on backboard 5
Manipulator 4,1 and first air pump 3 of power supply box is consolidated using stent 2, and provides required power when device is run by power supply box 1；
The top of manipulator 4 connects several conduits 6, and conduit 6 is connected with the first air pump 3, and adapter 7 is installed between several conduits 6, is connect
7 bottom of pipe connection Pneumatic extension bar 8,8 both ends of Pneumatic extension bar are against the joint position on the lower side of manipulator 4, if manipulator 4 has
Dry pawl arm 10 forms, and several suction nozzles 11 are set on 10 madial wall of pawl arm, and the joint of pawl arm 10, which is worn, switches through bar 9, in machine
The middle part of tool hand 4 installation Pneumatic extension bar 8, and 8 both ends of Pneumatic extension bar extend to the joint position on the lower side of manipulator 4, pneumatically
Telescopic rod 8 is connected by the adapter 7 at the top of it with the first air pump 3 so that manipulator 4 can pass through Pneumatic extension in running
Bar 8 push to adjust pawl arm 10 strut amplitude, so as to capture the object of different size.By being set in 5 bottom of backboard
Arc groove 17 is put, several Pneumatic top bars 19 are set in 17 bottom outer wall of arc groove so that manipulator 4 can when grabbing addendum part
It is against by the ejection of Pneumatic top bar 19 on object outer wall, so that clamping object, also can avoid manipulator 4 from needing releaser
The situation that object is blocked and can not come off by 4 joint of manipulator during part.By installing several conduits 6 at the top of manipulator 4, lead
Pipe 6 is connected with the first air pump 3, sets several suction nozzles 11 on 10 madial wall of pawl arm of 4 bottom of manipulator, suction nozzle 11 passes through
The pawl arm 10 of hollow structure is connected with the first air pump 3 so that manipulator 4, can be by pawl arm 10 when capturing object
Suction nozzle 11 firmly adsorbs object, prevents object from coming off；
Card slot 13, the inside of card slot 13 installation Pneumatic extension bar 8 are set on backboard 5, and is worn on card slot 13 and connects several bull sticks
9, the lower section of card slot 13 sets arc groove 17, installs the second air pump 15 in the middle part of 5 dorsal part of backboard, several are installed in 15 both sides of the second air pump
Motor 16, the transmission shaft of motor 16 are connected with bull stick 9, the second air pump 15 and 8 bottom jointing 18 of Pneumatic extension bar, connector
18 bottoms connect arc-shaped pad 12, are fixedly connected between arc-shaped pad 12 and backboard 5 by one through the fixing bolt 14 of the two, arc
Shape pads 12 bottoms and sets several Pneumatic top bars 19, and when capturing object, the transmission shaft of motor 16 rotates forward, and drives bull stick 9
Rotate forward, so as to be rotated forward with pawl arm 10, so as to fulfill clamping, release object, each pawl arm 10 is provided with individually
Motor 16 so that the more firm stabilization in crawl of manipulator 4, when needing to discharge object, the first air pump 3 stops, the second gas
Pump 15 starts, and the transmission shaft of motor 16 rotates backward at this time, and band pawl arm 10 rotates backward release, and Pneumatic top bar 19 ejects, will
Object is ejected from the inside of manipulator 4.
Embodiment 2
Please continue to refer to shown in Fig. 1-5, difference lies in power supply box 1 passes through conducting wire and the first air pump with above-described embodiment
3rd, electrically connected between the second air pump 15, motor 16 so that various components are to have enough electric power in operation inside device
Source.The pawl arm 10 of manipulator 4 is connected by conduit 6 with the first air pump 3, and the inside of pawl arm 10 is hollow structure, is pneumatically stretched
Contracting bar 8 is connected by the tracheae through backboard 5 with the second air pump 15 so that upper on 10 madial wall of pawl arm of manipulator 4
Suction nozzle 11 operationally has enough power resources, and ejection, the contraction of Pneumatic extension bar 9 have enough power resources.Pneumatically stretch
Contracting bar 8 is by fixed between adapter 7 and stent 2, backboard 5, and Pneumatic extension bar 8 is adapted with 13 specification of card slot so that pneumatic
The stability of telescopic rod 8 is guaranteed.Bull stick 9 is located at the joint of 4 pawl arm 10 of manipulator, and bull stick 9 runs through backboard 5 and backboard
16 transmission shaft of motor on 5 dorsal parts is connected, and the joint of each pawl arm 10 of manipulator 4, which is worn, connects a bull stick 9, and pawl
Arm 10 by pawl arm 10 by being movably connected between 5 outer wall of bull stick 9 and backboard, so that bull stick 9 is in the activity of driving claw arm 10
There are enough power resources.The inside of arc-shaped pad 12 is hollow structure, and the Pneumatic top bar 19 of 12 bottom of arc-shaped pad is by being connected to
The connector 18 at the top of arc-shaped pad 12 is connected with the second air pump 15.Arc-shaped pad 12 is arcuate structure, and the specification of arc-shaped pad 12 with
Arc groove 17 is adapted, and spacing is left between arc-shaped pad 12 and pawl arm 10 so that arc-shaped pad 12 does not interfere with pawl arm 10 not only
Crawl, and Pneumatic top bar 19 can be utilized to push against object, directly material can be ejected when unclamping material, avoid material quilt
Block in the joint of manipulator 4.
In the use of the present invention, in the middle part of manipulator 4 installation Pneumatic extension bar 8, and 8 both ends of Pneumatic extension bar extend to
The joint position on the lower side of manipulator 4, Pneumatic extension bar 8 are connected by the adapter 7 at the top of it with the first air pump 3 so that machinery
Hand 4 can strut amplitude by pushing for Pneumatic extension bar 8 in running come adjust pawl arm 10, so as to capture different rule
The object of lattice.By setting arc groove 17 in 5 bottom of backboard, several Pneumatic top bars 19 are set in 17 bottom outer wall of arc groove,
Manipulator 4 is against on object outer wall when grabbing addendum part by the ejection of Pneumatic top bar 19, so that clamping object,
Also manipulator 4 can be avoided to need the situation that object is blocked and can not come off by 4 joint of manipulator during release object.By in machine
Several conduits 6 are installed at the top of tool hand 4, and conduit 6 is connected with the first air pump 3, on 10 madial wall of pawl arm of 4 bottom of manipulator
Several suction nozzles 11 are set, and suction nozzle 11 is connected by the pawl arm 10 of hollow structure with the first air pump 3 so that manipulator 4 is being grabbed
When taking object, object can firmly be adsorbed by the suction nozzle 11 on pawl arm 10, prevent object from coming off.By being set on backboard 5
Card slot 13,13 specification of card slot are adapted with 8 specification of Pneumatic extension bar, for being clamped Pneumatic extension bar 8, and are worn and are connect on card slot 13
Several bull sticks 9, bull stick 9 are connected with 16 transmission shaft of motor of 5 dorsal part of backboard, drive rotation by motor 16, and bull stick 9 is worn
The joint part of manipulator 4 is connected on, when capturing object, the transmission shaft of motor 16 rotates forward, and drives bull stick 9 to rotate forward,
So as to be rotated forward with pawl arm 10, so as to fulfill clamping, release object, each pawl arm 10 is provided with single motor 16, makes
The more firm stabilization in crawl of manipulator 4 is obtained, when needing to discharge object, the first air pump 3 stops, and the second air pump 15 starts,
The transmission shaft of motor 16 rotates backward at this time, and band pawl arm 10 rotates backward release, and Pneumatic top bar 19 ejects, by object from machinery
The ejection of the inside of hand 4.
It is obvious to a person skilled in the art that the invention is not restricted to the details of above-mentioned one exemplary embodiment, Er Qie
In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Profit requires rather than described above limits, it is intended that all in the implication and scope of the equivalency of claim by falling
Change is included in the present invention.Any reference numeral in claim should not be considered as to the involved claim of limitation.
Moreover, it will be appreciated that although the present specification is described in terms of embodiments, not each embodiment is only wrapped
Containing an independent technical solution, this narrating mode of specification is only that those skilled in the art should for clarity
Using specification as an entirety, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
It is appreciated that other embodiment.
Claims (8)
1. a kind of industrial operation mechanical arm, including stent (2), manipulator (4) and backboard (5), it is characterised in that：The branch
Frame (2) side installation power supply box (1), and the stent (2) opposite side installs the first air pump (3), the first air pump (3) bottom
Backboard (5) is installed, installation manipulator (4) on the backboard (5)；
Several conduits (6) are connected at the top of the manipulator (4), the conduit (6) is connected with first air pump (3), if
Installation adapter (7) between the dry conduit (6), adapter (7) bottom connection Pneumatic extension bar (8), the Pneumatic extension
Bar (8) both ends are against the joint position on the lower side of the manipulator (4), and the manipulator (4) is made of several pawl arms (10),
And several suction nozzles (11) are set on pawl arm (10) madial wall, the joint of the pawl arm (10), which is worn, switches through bar (9)；
Card slot (13) is set on the backboard (5), the Pneumatic extension bar (8), and the card are installed inside the card slot (13)
Worn on groove (13) and connect several bull sticks (9), arc groove (17), backboard (5) dorsal part are set below the card slot (13)
The second air pump (15) is installed at middle part, several motors (16), the biography of the motor (16) are installed in the second air pump (15) both sides
Moving axis is connected with the bull stick (9), second air pump (15) and Pneumatic extension bar (8) the bottom jointing (18),
Connector (18) the bottom connection arc-shaped pad (12), runs through two between the arc-shaped pad (12) and the backboard (5) by one
The fixing bolt (14) of person is fixedly connected, and arc-shaped pad (12) bottom sets several Pneumatic top bars (19).
A kind of 2. industrial operation mechanical arm according to claim 1, it is characterised in that：The power supply box (1) passes through
Electrically it is connected between conducting wire and the first air pump (3), the second air pump (15), motor (16).
A kind of 3. industrial operation mechanical arm according to claim 1, it is characterised in that：The pawl of the manipulator (4)
Arm (10) is connected by conduit (6) with the first air pump (3), and is hollow structure inside pawl arm (10), the Pneumatic extension bar
(8) it is connected by the tracheae through backboard (5) with the second air pump (15).
A kind of 4. industrial operation mechanical arm according to claim 1, it is characterised in that：The Pneumatic extension bar (8)
It is fixed between (7) and stent (2), backboard (5) by taking over, and the Pneumatic extension bar (8) is adapted with card slot (13) specification.
A kind of 5. industrial operation mechanical arm according to claim 1, it is characterised in that：The bull stick (9) is located at machine
The joint of tool hand (4) pawl arm (10), and the bull stick (9) is driven through backboard (5) and the motor (16) on backboard (5) dorsal part
Axis is connected.
A kind of 6. industrial operation mechanical arm according to claim 1, it is characterised in that：The manipulator (4) it is every
The joint of one pawl arm (10), which is worn, connects a bull stick (9), and pawl arm (10) passes through bull stick (9) and backboard by pawl arm (10)
(5) it is movably connected between outer wall.
A kind of 7. industrial operation mechanical arm according to claim 1, it is characterised in that：The arc-shaped pad (12) is internal
For hollow structure, and the Pneumatic top bar (19) of the arc-shaped pad (12) bottom passes through the connector that is connected at the top of arc-shaped pad (12)
(18) it is connected with the second air pump (15).
A kind of 8. industrial operation mechanical arm according to claim 1, it is characterised in that：The arc-shaped pad (12) is arc
Shape structure, and the specification of arc-shaped pad (12) is adapted with arc groove (17), and spacing is left between arc-shaped pad (12) and pawl arm (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711296374.2A CN107972056A (en) | 2017-12-08 | 2017-12-08 | A kind of industrial operation mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711296374.2A CN107972056A (en) | 2017-12-08 | 2017-12-08 | A kind of industrial operation mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107972056A true CN107972056A (en) | 2018-05-01 |
Family
ID=62009496
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711296374.2A Withdrawn CN107972056A (en) | 2017-12-08 | 2017-12-08 | A kind of industrial operation mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107972056A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109771288A (en) * | 2018-12-29 | 2019-05-21 | 浙江厚达智能科技股份有限公司 | A kind of rotary type, which is boiled medicine, changes liquid method |
| CN111086020A (en) * | 2019-12-30 | 2020-05-01 | 郑祥模 | Multifunctional clamp device for manipulator |
| CN113060307A (en) * | 2021-03-11 | 2021-07-02 | 哈尔滨工业大学 | Multi-finger self-adaptive flexible grabbing mechanism for fixing star catalogue and grabbing method thereof |
| CN114161130A (en) * | 2021-12-10 | 2022-03-11 | 成都工投装备有限公司 | Automatic installation and fastening system for segment bolts of shield tunneling machine |
| CN116214476A (en) * | 2023-05-09 | 2023-06-06 | 盐城漫澜信息科技服务有限公司 | Artificial intelligence scientific and technological information acquisition robot and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0253388U (en) * | 1988-10-11 | 1990-04-17 | ||
| JPH02135192U (en) * | 1989-04-13 | 1990-11-09 | ||
| CN205021604U (en) * | 2015-09-12 | 2016-02-10 | 杨四周 | Pneumatic manipulator claw with pressure sensor device |
| CN105397827A (en) * | 2015-11-11 | 2016-03-16 | 太仓市伦文机械有限公司 | Glass product clamping device |
| CN107322624A (en) * | 2017-08-24 | 2017-11-07 | 佛山伊贝尔科技有限公司 | A kind of sucking disc type mechanical hand |
-
2017
- 2017-12-08 CN CN201711296374.2A patent/CN107972056A/en not_active Withdrawn
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0253388U (en) * | 1988-10-11 | 1990-04-17 | ||
| JPH02135192U (en) * | 1989-04-13 | 1990-11-09 | ||
| CN205021604U (en) * | 2015-09-12 | 2016-02-10 | 杨四周 | Pneumatic manipulator claw with pressure sensor device |
| CN105397827A (en) * | 2015-11-11 | 2016-03-16 | 太仓市伦文机械有限公司 | Glass product clamping device |
| CN107322624A (en) * | 2017-08-24 | 2017-11-07 | 佛山伊贝尔科技有限公司 | A kind of sucking disc type mechanical hand |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109771288A (en) * | 2018-12-29 | 2019-05-21 | 浙江厚达智能科技股份有限公司 | A kind of rotary type, which is boiled medicine, changes liquid method |
| CN109771288B (en) * | 2018-12-29 | 2021-07-02 | 浙江厚达智能科技股份有限公司 | Rotary type medicine decocting and liquid changing method |
| CN111086020A (en) * | 2019-12-30 | 2020-05-01 | 郑祥模 | Multifunctional clamp device for manipulator |
| CN113060307A (en) * | 2021-03-11 | 2021-07-02 | 哈尔滨工业大学 | Multi-finger self-adaptive flexible grabbing mechanism for fixing star catalogue and grabbing method thereof |
| CN113060307B (en) * | 2021-03-11 | 2022-12-06 | 哈尔滨工业大学 | Multi-finger self-adaptive flexible grabbing mechanism for fixing star catalogue and grabbing method thereof |
| CN114161130A (en) * | 2021-12-10 | 2022-03-11 | 成都工投装备有限公司 | Automatic installation and fastening system for segment bolts of shield tunneling machine |
| CN116214476A (en) * | 2023-05-09 | 2023-06-06 | 盐城漫澜信息科技服务有限公司 | Artificial intelligence scientific and technological information acquisition robot and method |
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Application publication date: 20180501 |