CN107984495B - Telescopic grabbing device and multi-axis transportation robot - Google Patents
Telescopic grabbing device and multi-axis transportation robot Download PDFInfo
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- CN107984495B CN107984495B CN201711472145.1A CN201711472145A CN107984495B CN 107984495 B CN107984495 B CN 107984495B CN 201711472145 A CN201711472145 A CN 201711472145A CN 107984495 B CN107984495 B CN 107984495B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Program-controlled manipulators
- B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a telescopic grabbing device and a multi-axis transportation robot, wherein the telescopic grabbing device comprises: a side plate is fixed on one side of the bottom plate; the plurality of sliding plates are sequentially arranged above the bottom plate in parallel from bottom to top, first racks are arranged on the outer sides between two upper and lower adjacent sliding plates, each first rack is fixed on the side plate, a second rack is fixed on one side of the lower surface of each sliding plate close to the side plate, a driving motor is fixed on the bottom plate, a driving gear meshed with the second rack on the outer side of the lower surface of the bottommost sliding plate is arranged on the driving motor, in any two upper and lower adjacent sliding plates, the upper surface of the lower sliding plate is fixed with a coaxial secondary gear, and the coaxial secondary gear comprises a pinion with the front end meshed with a first rack between the two sliding plates and a large gear with the rear end meshed with a second rack on the lower surface of the upper sliding plate; the mechanical gripper is arranged at the front end of the topmost slide plate. The invention can realize multi-dimensional and long-distance mechanical operation.
Description
Technical Field
The invention relates to the field of machine manufacturing and automation, in particular to a telescopic grabbing device and a multi-axis transportation robot.
Background
Industrial robot automated production line plants have become the mainstream and future development of automated equipment. Industrial robot automatic production lines are widely used in the foreign automobile industry, electronic and electric appliance industry, engineering machinery industry and other industries to ensure product quality, improve production efficiency and avoid a great number of industrial accidents. The use practice of industrial robots in nearly half century in many countries worldwide shows that the popularization of industrial robots is an effective means for realizing automatic production, improving social production efficiency and promoting the development of enterprises and social productivity.
However, the existing robots are generally low in load and short in stroke, and generally cannot exceed 2/3 of the length of the robot, and the stability and flexibility of the existing robots are not good.
Disclosure of Invention
The invention provides a four-axis high-load robot, which has the advantages that: 1. high-load transportation can be realized, and the highest load can reach more than 100 KG; 2. the mechanical arm at the top end can complete the extension movement at a longer distance; 3. the two-stage gears are adopted, so that the sliding speed of the upper sliding plate is higher than that of the lower sliding plate; 4. meanwhile, the structure of a gear rack, a screw rod sliding rail and the like is used for linkage, so that the stability is high; 5. the speed is high, and the servo motor can rotate at high speed; 6. the noise is small, and the whole adopts rolling friction. The specific scheme is as follows:
a retractable gripping device, comprising:
a bottom plate, wherein one side of the bottom plate is fixed with a side plate in the vertical direction;
the plurality of sliding plates are sequentially arranged above the bottom plate in parallel from bottom to top, first racks with X-axis directions and upward tooth surfaces are arranged on the outer sides between two upper and lower adjacent sliding plates, the side surfaces of the first racks are fixed on the side plates, the lower surfaces of the sliding plates are fixedly provided with second racks with X-axis directions and downward tooth surfaces, the bottom plate is fixedly provided with a driving motor with a driving shaft in Y-axis directions, the driving shaft of the driving motor is provided with a driving gear meshed with the second racks on the outer sides of the lower surfaces of the bottommost sliding plates, the X-axis directions are consistent with the sliding directions of the sliding plates, and the X-axis directions are perpendicular to the Y-axis directions,
in any two vertically adjacent sliding plates, the upper surface of the lower sliding plate is fixed with a coaxial secondary gear with a rotating shaft in the Y-axis direction, the rotating shaft of the coaxial secondary gear is fixed on the upper surface of the lower sliding plate, the coaxial secondary gear comprises a pinion with the front end meshed with the first rack between the two sliding plates, and a large gear with the rear end meshed with the second rack on the lower surface of the upper sliding plate;
and the mechanical gripper is arranged on the topmost sliding plate.
Further, a first sliding rail is arranged on the bottom plate, a second sliding rail is arranged on the upper surface of each sliding plate except the topmost sliding plate, and a sliding block is arranged at the bottom of each sliding plate;
the sliding blocks of the bottommost sliding plate are clamped on the first sliding rail, and the sliding blocks of the sliding plates above the bottommost sliding plate are respectively clamped on the second sliding rail positioned on the upper surface of the sliding plate below the bottommost sliding plate.
Further, a stop block is arranged at the front end of the bottom plate, and when the bottommost sliding plate slides forwards to a preset distance, the stop block stops the sliding blocks at the bottoms of the bottommost sliding plates so as to stop each sliding plate from sliding forwards continuously.
Further, the mechanical gripper comprises a gripper, a clamping cylinder and a rotating cylinder, wherein the gripper is connected with the clamping cylinder, and the rotating cylinder is connected with a rotating shaft at the bottom of the gripper.
Further, a bearing seat is arranged on the upper surface of each sliding plate, and the rotating shaft of the coaxial secondary gear is fixed on the sliding plate through the bearing seat.
Further, the sliding plates are located in a protection box body, the lower surface of the protection box body is the bottom plate, and one side face of the protection box body is the side plate.
Further, the front end of the topmost slide plate is vertically provided with a fixing plate, and the mechanical gripper is fixed at the front end of the fixing plate.
The invention also provides a multi-axis transportation robot carrying the telescopic grabbing device, which comprises a first axial sliding mechanism and a second axial sliding mechanism fixed at the top of the first axial sliding mechanism;
the first axial sliding mechanism comprises a first axial base, first axial sliding rails are arranged on two sides of the upper surface of the first axial base, a transition plate is fixed on the first axial sliding rails, a first axial rack is arranged between the first axial sliding rails, a first axial driving device is arranged on the transition plate, and a driving gear of the first axial driving device is meshed with the first axial rack;
the second axial sliding mechanism comprises a second axial base, the second axial base is vertically fixed on the transition plate, the second axial base is provided with a second axial driving device and a screw nut structure, a screw rod of the screw nut structure is connected with the second axial driving device and is driven to rotate by the second axial driving device, and the side plate is fixed on a nut of the screw rod.
Further, the second axial driving device is connected with the lead screw through a coupler, and a bearing is arranged at the connecting end of the lead screw and the coupler.
Further, a second axial sliding rail is further arranged in the second axial base and positioned at two ends of the screw rod, a second axial sliding block arranged on the second axial sliding rail is further fixed on the side plate, and the second axial sliding block is fixedly connected to the side plate.
The invention has the advantages that:
1. the telescopic grabbing device can drive the multi-layer sliding plate to slide in the same direction at the same time by only adopting one driving motor, so that the mechanical arm at the front end of the sliding plate can slide in a longer stroke;
2. the coaxial secondary gear is adopted, and has two gears with different circumferences, so that the speed change function can be realized, and the sliding speed of the upper sliding plate is greater than that of the bottom sliding plate;
3. the structure is simple, the occupied volume is small, and the processing, the installation and the maintenance are convenient;
4. the structure of the gear rack, the screw rod slide rail and the like are used for linkage, so that the stability is high;
5. the whole body adopts rolling friction, a sliding rail is arranged at the sliding position, the running noise is low, the friction resistance is reduced, and the sliding efficiency is improved;
6. the robot is integrally capable of realizing motion in four directions, wide in moving range and capable of adapting to grabbing and transporting requirements in various production.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1-2 are schematic views of a telescopic gripping apparatus according to an embodiment of the present invention;
FIG. 3 is a schematic illustration of two gears of a coaxial secondary gear engaged with two racks, respectively;
FIGS. 4a and 4b are schematic diagrams of a coaxial secondary gear in an embodiment;
FIG. 5 is a schematic view of a multi-axis transport robot with a retractable gripping device according to one embodiment;
FIG. 6 is a schematic view of a first axial slide mechanism of the multi-axis transport robot in an embodiment;
FIG. 7 is a schematic view of a second axial slide mechanism of the multi-axis transport robot in an embodiment;
fig. 8 is a schematic view of a mechanical gripper of a multi-dimensional transport robot in an embodiment.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art that the invention may be practiced without one or more of these details. In other instances, well-known features have not been described in detail in order to avoid obscuring the invention.
In order to provide a thorough understanding of the present invention, detailed steps and detailed structures will be presented in the following description in order to explain the technical solution of the present invention. Preferred embodiments of the present invention are described in detail below, however in addition to these detailed descriptions, the invention may have other embodiments as well.
The invention provides a telescopic grabbing device, comprising the following steps:
a bottom plate 27, wherein a side plate 32 in the vertical direction is fixed on one side of the bottom plate 27;
the plurality of sliding plates are sequentially arranged above the bottom plate 27 in parallel from bottom to top, first racks 22 with X-axis directions and upward tooth surfaces are arranged on the outer sides (directions close to the side plates 32) between the two upper and lower adjacent sliding plates, the side surfaces of the first racks 22 are fixed on the side plates 32, the lower surfaces of the sliding plates are fixed with second racks with the X-axis directions and downward tooth surfaces, a driving motor 23 with a Y-axis direction driving shaft is fixed on the bottom plate 27, a driving gear 24 meshed with the second racks 25 on the outer sides of the lower surfaces of the bottommost sliding plates is arranged on the driving shaft of the driving motor 23, the X-axis directions are consistent with the sliding directions of the sliding plates, and the X-axis directions are perpendicular to the Y-axis directions,
in any two vertically adjacent sliding plates, a coaxial secondary gear 19 with a Y-axis direction rotating shaft is fixed on the upper surface of the lower sliding plate 21, the rotating shaft of the coaxial secondary gear 19 is fixed on the upper surface of the lower sliding plate 21, the coaxial secondary gear 19 comprises a pinion 19a with the front end meshed with a first rack 22 between the two sliding plates, and a large gear 19b with the rear end meshed with a second rack 20 on the lower surface of the upper sliding plate 9, and the pinion 19a and the large gear 19b synchronously rotate at the same rotating speed;
the mechanical gripper is arranged at the front end of the topmost slide plate 9.
In an alternative embodiment of the invention, the first slide rail 7 is arranged on the bottom plate 27, the second slide rail 26 is arranged on the upper surface of each slide plate except the top slide plate, and the slide blocks 29 are arranged at the bottoms of the slide plates; the slide blocks 29 of the bottommost slide plate are clamped on the first slide rail 7, and the slide blocks 29 of the slide plates above the bottommost slide plate are respectively clamped on the second slide rail 26 positioned on the upper surface of the slide plate below the bottommost slide plate.
In an alternative embodiment of the present invention, the front end of the bottom plate 27 is provided with a stopper 31, and when the bottommost slide plate 21 slides forward to a preset distance, the stopper 31 blocks the slide block 29 at the bottom of the bottommost slide plate, so as to block each slide plate from sliding forward continuously, and avoid sliding beyond a controllable range.
In an alternative embodiment of the invention, the mechanical gripper comprises a gripper, a clamping cylinder 10 and a rotating cylinder 11, wherein the gripper is connected with the clamping cylinder 10, and the rotating cylinder 11 is connected with a rotating shaft at the bottom of the gripper. Clamping and loosening of the manipulator can be achieved through the switch of the clamping cylinder 10, and 90-degree rotation of the manipulator can be achieved through the switch of the rotating cylinder 11.
In an alternative embodiment of the invention, the upper surface of each slide is provided with a bearing seat 18, and the rotating shaft of the coaxial secondary gear 19 is fixed on the upper surface of the slide through the bearing seat 18. The pinion 19a and the bull gear 19b of the coaxial secondary gear 19 are integrated with the rotation shaft, and the two gears rotate synchronously and have the same rotation speed. In addition, the coaxial secondary gear 19 is reinforced by two vertical fixing plates 19c, and the rotation shaft of the coaxial secondary gear 19 passes through the through holes of the fixing plates.
In an alternative embodiment of the invention, a plurality of slides are positioned in a protective case 8, the lower surface of which is a bottom plate 27, and one side of which is a side plate 32, to provide a telescopic slide structure in the protective case.
In an alternative embodiment of the present invention, the front end of the topmost slide plate is vertically provided with a fixing plate 30, and the mechanical gripper is fixed at the front end of the fixing plate 30. When the slide plate is completely retracted, the front end of the fixed plate 30 can be sealed, the function of protecting the telescopic slide plate structure in the box body is achieved, and the rear end of the protection box body 8 can be sealed for further improving the precision of the system.
Further, the invention also provides a multi-axis transportation robot carrying the telescopic grabbing device, which comprises a first axial sliding mechanism and a second axial sliding mechanism fixed on the top of the first axial sliding mechanism, and is shown by referring to fig. 5-7;
the first axial sliding mechanism comprises a first axial base 1, first axial sliding rails 3 are arranged on two sides of the upper surface of the first axial base 1, a transition plate 4 is fixed on the first axial sliding rails 3, first axial racks 2 are arranged between the first axial sliding rails 3, a first axial driving device 5 is arranged on the transition plate 4, and a driving gear on a driving shaft of the first axial driving device 5 is meshed with the first axial racks 2;
the second axial sliding mechanism comprises a second axial base 6, the second axial base 6 is vertically fixed on the transition plate 4, the second axial base 6 is provided with a second axial driving device 16 and a screw nut structure, a screw rod 14 of the screw nut structure is connected with the second axial driving device 16 and driven to rotate by the second axial driving device 16, and a side plate 32 is fixed on a nut 34 of the screw rod.
In an alternative embodiment of the invention, the second axial drive 16 is connected to the screw 14 via a coupling 15, and the connection end of the screw 14 to the coupling 15 is provided with a bearing 17.
In an alternative embodiment of the present invention, the second axial base 6 is further provided with second axial sliding rails 13 at two ends of the screw rod 14, the side plates 32 are further fixed with second axial sliding blocks 36 configured on the second axial sliding rails 13, and the second axial sliding blocks 36 are fixedly connected to the side plates 32.
The first axial base 1 and the second axial base 6 are formed by welding channel steel and then machining, and the bottom plate 27 is formed by embedding and combining aluminum alloy. The driving motor 23, the first axial driving device 5, and the second axial driving device 16 are all servo motors.
Referring to fig. 5, the present invention may be generally divided into three parts, a first axial sliding mechanism, a second axial sliding mechanism, and a telescopic grasping device, wherein a manipulator is provided at a front end of the telescopic grasping device, the manipulator mainly functions to grasp a target object and can realize 90-degree rotation, the first axial sliding mechanism functions to slide the target object in an M-axis direction, the second axial sliding mechanism functions to slide the target object in an N-axis direction, and the Z-axis mechanism functions to slide the target object in an X-axis direction.
The working process of the invention is as follows:
the first axial sliding mechanism moves: the numerical control circuit controls the first axial driving device 5 to rotate positively and reversely, and a gear of the first axial driving device 5 drives the transition plate 4 to move along the M-axis direction through rack transmission.
Second axial sliding mechanism movement: the numerical control circuit controls the second axial driving device 16 to rotate positively and negatively, and the second axial driving device 16 drives the screw rod to rotate positively and negatively, and the screw rod rotates positively and negatively to drive the side plate 32 to move along the N-axis direction under the mechanism of the screw rod screw pair.
The telescopic grabbing device moves: the numerical control circuit controls the driving motor 23 to rotate positively and negatively, the driving gear 24 on the driving motor 23 drives the first layer sliding plate 21 to move along the X-axis direction through the transmission of the driving gear 24 and the second rack 25, meanwhile, the first rack 22 is fixed on the side plate 22 and keeps motionless, and in the sliding process of the first layer sliding plate 21, the coaxial secondary gear 19 on the first layer sliding plate 21 is driven to rotate, and the second rack 20 fixed below the second layer sliding plate 9 is meshed with the coaxial secondary gear 19, so that the whole second layer sliding plate 9 continuously moves in the same direction relative to the first layer sliding plate 21 along with the sliding of the first layer sliding plate 21, and the uppermost sliding plate is continuously moved in the same direction along the axis direction. Further, since the coaxial secondary gear 19 has the pinion 19a at the front end and the large gear 19b at the rear end, the pinion 19a is engaged with the first rack 22, the large gear 19b is engaged with the second rack 20, and since the circumference of the large gear 19b is larger than that of the pinion 19a, and the pinion 19a and the large gear 19b are rotated in synchronization, the second rack 20 engaged with the large gear 19b is slid farther than the first rack 22 engaged with the pinion 19 a. In practical applications, the coaxial secondary gear 19 composed of the large gear 19b and the small gear 19a with the optimal circumference ratio can be selected according to the transportation requirement, so as to control the sliding distance of each sliding plate. To avoid the slide plate sliding out a safe distance, a stop protruding downwards may be provided at the end of the second rack 20 to avoid the large gear 19b from disengaging from the second rack 20.
Manipulator movement: the numerical control circuit controls the gas on-off of the clamping cylinder 10 and the rotating cylinder 11, so that the manipulator can clamp, relax, rotate and the like. The numerical control circuit comprises a transformer, a driver and a PLC, and each servo motor is connected with the PLC through the driver and the cylinder.
The preferred embodiments of the present invention have been described above. It is to be understood that the invention is not limited to the specific embodiments described above, wherein devices and structures not described in detail are to be understood as being implemented in a manner common in the art; any person skilled in the art can make many possible variations and modifications to the technical solution of the present invention or modifications to equivalent embodiments without departing from the scope of the technical solution of the present invention, using the methods and technical contents disclosed above, without affecting the essential content of the present invention. Therefore, any simple modification, equivalent variation and modification of the above embodiments according to the technical substance of the present invention still fall within the scope of the technical solution of the present invention.
Claims (7)
1. A retractable gripping apparatus, comprising:
a bottom plate, wherein one side of the bottom plate is fixed with a side plate in the vertical direction;
the plurality of sliding plates are sequentially arranged above the bottom plate in parallel from bottom to top, first racks with X-axis directions and upward tooth surfaces are arranged on the outer sides between two upper and lower adjacent sliding plates, the side surfaces of the first racks are fixed on the side plates, the lower surfaces of the sliding plates are fixedly provided with second racks with X-axis directions and downward tooth surfaces, the bottom plate is fixedly provided with a driving motor with a driving shaft in Y-axis directions, the driving shaft of the driving motor is provided with a driving gear meshed with the second racks on the outer sides of the lower surfaces of the bottommost sliding plates, the X-axis directions are consistent with the sliding directions of the sliding plates, and the X-axis directions are perpendicular to the Y-axis directions,
in any two vertically adjacent sliding plates, the upper surface of the lower sliding plate is fixed with a coaxial secondary gear with a rotating shaft in the Y-axis direction, the rotating shaft of the coaxial secondary gear is fixed on the upper surface of the lower sliding plate, the coaxial secondary gear comprises a pinion with the front end meshed with the first rack between the two sliding plates, and a large gear with the rear end meshed with the second rack on the lower surface of the upper sliding plate;
the mechanical gripper is arranged on the sliding plate at the top and comprises a gripper, a clamping cylinder and a rotating cylinder, wherein the gripper is connected with the clamping cylinder, and the rotating cylinder is connected with a rotating shaft at the bottom of the gripper;
the bottom plate is provided with a first sliding rail, the upper surface of each sliding plate except the topmost sliding plate is provided with a second sliding rail, and the bottom of each sliding plate is provided with a sliding block; the sliding blocks of the bottommost sliding plate are clamped on the first sliding rail, and the sliding blocks of all the sliding plates above the bottommost sliding plate are respectively clamped on the second sliding rail positioned on the upper surface of the sliding plate below the bottommost sliding plate; the front end of the bottom plate is provided with a stop block, and when the bottommost slide plate slides forwards to a preset distance, the stop block stops the slide block at the bottom of the bottommost slide plate.
2. The retractable gripping device of claim 1, wherein a bearing housing is mounted to an upper surface of each of said slides, and wherein a rotational shaft of said coaxial secondary gear is secured to said slide via said bearing housing.
3. The retractable gripping apparatus of claim 1, wherein the plurality of sliding plates are positioned in a protective case, the bottom surface of the protective case being the bottom plate, and one side of the protective case being the side plate.
4. The retractable gripping device of claim 1, wherein the topmost slide front end is vertically provided with a fixed plate, and the mechanical gripper is fixed at the fixed plate front end.
5. A multi-axis transportation robot carrying the telescopic gripping apparatus according to any one of claims 1 to 4, comprising a first axial sliding mechanism and a second axial sliding mechanism fixed on top of the first axial sliding mechanism;
the first axial sliding mechanism comprises a first axial base, first axial sliding rails are arranged on two sides of the upper surface of the first axial base, a transition plate is fixed on the first axial sliding rails, a first axial rack is arranged between the first axial sliding rails, a first axial driving device is arranged on the transition plate, and a driving gear of the first axial driving device is meshed with the first axial rack;
the second axial sliding mechanism comprises a second axial base, the second axial base is vertically fixed on the transition plate, the second axial base is provided with a second axial driving device and a screw nut structure, a screw rod of the screw nut structure is connected with the second axial driving device and is driven to rotate by the second axial driving device, and the side plate is fixed on a nut of the screw rod.
6. The multi-axis transportation robot of claim 5, wherein the second axial driving device is connected with the screw through a coupling, and a connection end of the screw with the coupling is provided with a bearing.
7. The multi-axis transportation robot of claim 5, wherein a second axial slide rail is further disposed in the second axial base and at two ends of the screw rod, a second axial slide block disposed on the second axial slide rail is further fixed on the side plate, and the second axial slide block is fixedly connected to the side plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711472145.1A CN107984495B (en) | 2017-12-29 | 2017-12-29 | Telescopic grabbing device and multi-axis transportation robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711472145.1A CN107984495B (en) | 2017-12-29 | 2017-12-29 | Telescopic grabbing device and multi-axis transportation robot |
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| CN107984495A CN107984495A (en) | 2018-05-04 |
| CN107984495B true CN107984495B (en) | 2024-04-02 |
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| KR20150008297A (en) * | 2013-07-12 | 2015-01-22 | 현대중공업 주식회사 | Going up and down apparatus and apparatus for transferring substrate |
| CN105805265A (en) * | 2014-12-30 | 2016-07-27 | 中核武汉核电运行技术股份有限公司 | Multistage precise transmission telescopic mechanism |
| CN105092226A (en) * | 2015-08-13 | 2015-11-25 | 重庆长安汽车股份有限公司 | Universal loading device for cantilever |
| CN105081637A (en) * | 2015-09-01 | 2015-11-25 | 安徽工业大学 | Crane box girder three-degree-of-freedom movable welding robot |
| CN204867888U (en) * | 2015-09-01 | 2015-12-16 | 安徽工业大学 | Three degree of freedom mobile welding robot of hoist box girder |
| CN105361951A (en) * | 2015-12-14 | 2016-03-02 | 山东科技大学 | Endoscope-holding robot for minimally invasive abdominal operation |
| CN207696557U (en) * | 2017-12-29 | 2018-08-07 | 上海智能制造系统创新中心有限公司 | Scalable grabbing device and multiaxis transportation robot |
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| CN107984495A (en) | 2018-05-04 |
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