CN108214535A - A kind of Synchronization Control manipulator - Google Patents
A kind of Synchronization Control manipulator Download PDFInfo
- Publication number
- CN108214535A CN108214535A CN201711482088.5A CN201711482088A CN108214535A CN 108214535 A CN108214535 A CN 108214535A CN 201711482088 A CN201711482088 A CN 201711482088A CN 108214535 A CN108214535 A CN 108214535A
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- CN
- China
- Prior art keywords
- connecting rod
- rotation cam
- synchronization control
- cam
- control manipulator
- 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.)
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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
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/081—Touching devices, e.g. pressure-sensitive
- B25J13/082—Grasping-force detectors
-
- 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
- B25J15/0226—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by cams
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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—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/048—Pendulum type
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of Synchronization Control manipulators, it includes pedestal, turntable, large arm, the first forearm, the second forearm, wrist, mechanical grabbing device；Installation is fixed on the positioning on the table by four uniformly distributed bolts hole in the pedestal；The turntable is mounted on by screw on pedestal, is rotated around base center shaft；The large arm is connect by joint with turntable front end；First forearm is connect by joint with large arm front end；Second forearm is connect by joint with the first forearm front end；The wrist is connect by joint with the second forearm front end；The machinery grabbing device is fixedly installed in wrist front end by screw.The configuration of the present invention is simple, mechanical grabbing device carrys out four hand claws of Synchronization Control using the rotation cam that a motor driving is mutually perpendicular to installation, people can be replaced to realize that sacked goods box-packed article is captured, reduce the working strength of worker, greatly improve work efficiency.
Description
Technical field
The present invention relates to a kind of Industrial robot arm, more particularly to a kind of Synchronization Control manipulator.
Background technology
At present, as industrial automation, intelligent level constantly improve, enterprise uses industry to improve working efficiency
Mechanical hand replaces the manual work to be a kind of trend, compared to traditional manual work mode, Industrial robot arm automation
Degree is high, and people can be replaced to carry out some dangerous, complicated work, greatly improve work efficiency and ensure that production and processing
Safety.
Mechanical hand is widely used in industry-by-industry at present, such as automobile body welding, various workpiece handlings, production in auto manufacturing
The multiple uses such as line goods sorting.But since mechanical hand is mostly gear and cylinder driving, scantling is larger, and needs multiple
Motor or cylinder driving, motor could realize the crawl and release of hand claw by rotating, and impair motor in this way uses the longevity
Life, and hand claw hold-down mechanism does not have the pressure that pressure sensor goes to measure its application, such manipulator is in the process of work very
Easily body surface is damaged by pressure, particularly some box-packed, vacuum packing goods, so as to cause unnecessary loss.
Invention content
Technical problem solved by the invention is to provide a kind of Synchronization Control manipulator, single motor Synchronization Control four
Hand claw is driven using solving current mechanical paw as multiple motors or cylinder, leads to that scantling is big, occupied space is big, control is multiple
The problem of miscellaneous.
Realize the object of the invention technical solution be：
A kind of Synchronization Control manipulator, including pedestal, turntable, large arm, the first forearm, the second forearm, wrist, mechanical gripping
Take device；The machinery grabbing device is fixed on wrist lower end；
The machinery grabbing device includes driving mechanism, link mechanism, mechanical paw；The driving mechanism is fixed on wrist
Lower end；The driving mechanism is fixed on connecting platform upper end by supporting rack；The driving mechanism is connected with link mechanism, is used for
The swing of drive link mechanism；The upper end four direction of the connecting platform is respectively provided with a link mechanism, four link mechanisms
Form decussate texture；The link mechanism includes first connecting rod, connector, sliding block, second connecting rod, rotary shaft；Described first
Connecting rod passes through the circular hole on supporting rack；The first connecting rod is parallel with the upper plane of connecting platform；Described first connecting rod one end with
Driving mechanism is connected, and driving mechanism synchronizes four first connecting rods of driving and is parallel to connecting platform direction simultaneous retractable；Described first
The connecting rod other end is connected with connector；The connector is connected with sliding block；The upper end of the second connecting rod is equipped with sliding slot, the cunning
Block slides in sliding slot；The lower end of the second connecting rod is connected across connecting platform with rotary shaft；The axial direction of the rotary shaft is hung down
Directly in the telescopic direction of first connecting rod；The connecting platform lower end is equipped with mounting base, and the rotary shaft is arranged in mounting base；Institute
Mechanical paw is stated to be connected with rotary shaft；Four mechanical paws are arranged on the four direction of connecting platform.
Compared with prior art, the present invention its remarkable advantage：
(1) manipulator of the present invention is greatly reduced control difficulty, is reduced by four hand claws of single motor Synchronization Control
Scantling and production cost.
(2) mechanical arm drive mechanism of the present invention uses rotary cam structure, passes through one direction of servo motor output shaft
Rotation, you can realize the crawl and release of hand claw, do not need to the rotating of motor interruption, be conducive to extension motor uses the longevity
Life, while simplify motor circuit.
(3) mechanical paw of the present invention is there are four claw composition, and crawl article is reliable and stable, article during high-speed mobile
It will not come off from both sides.
(4) manipulator of the present invention also has hold-down mechanism, is driven by its cylinder, and the end of hold-down mechanism is equipped with pressure biography
Sensor can perceive cylinder to body surface pressure applied, so as to prevent that object is caused to damage；Simultaneously as there is compacting machine
Structure, object will not be deviated during transfer, it can be achieved that being accurately positioned.
(5) the adjustable lath of the hold-down mechanism of robot section of the present invention, can by the mouth slot on nut and lath into
Row adjustment, thus it is possible to vary the compression area of body surface, to adapt to different articles.
(6) the hold-down mechanism end of robot section of the present invention uses rubber disc, has certain elasticity, and play one
Fixed anti-skidding effect.
The present invention is described in further detail below in conjunction with the accompanying drawings.
Description of the drawings
Fig. 1 is a kind of axis surveys view of Synchronization Control manipulator of the present invention
Fig. 2 is the front view of the mechanical grabbing device part of the present invention
Fig. 3 is the axis surveys view of the mechanical grabbing device part of the present invention
Fig. 4 is the mechanical grabbing device inner shaft surveys view of the present invention
Fig. 5 connects front view for shaft coupling, transmission shaft, the first rotation cam inside the mechanical grabbing device of the present invention
Fig. 6 connects front view for shaft coupling, transmission shaft, the second rotation cam inside the mechanical grabbing device of the present invention
Fig. 7 is the mechanical grabbing device key of the present invention, transmission shaft, rotation cam, idler wheel, first connecting rod connecting shaft surveys view
Fig. 8 is the mechanical grabbing device another kind connection mode of the present invention (rotation cam, gear connection) axis surveys view
Fig. 9 is the mechanical grabbing device sliding block of the present invention, second connecting rod connecting shaft surveys view
Figure 10 is the mechanical grabbing device hold-down mechanism of the present invention, cylinder, pressure sensor connecting shaft surveys view
Specific embodiment
In order to illustrate technical scheme of the present invention and technical purpose, below in conjunction with the accompanying drawings and specific embodiment is the present invention
It is further to introduce.
With reference to Fig. 1, Fig. 2 and Fig. 9, a kind of Synchronization Control manipulator of the invention, including pedestal 1, turntable 2, large arm 3,
First forearm 4, the second forearm 5, wrist 6, mechanical grabbing device；The machinery grabbing device is fixed by screws under wrist 6
End；
The machinery grabbing device includes driving mechanism, link mechanism, mechanical paw；The driving mechanism is fixed on wrist
6 lower ends；The driving mechanism is fixed on 14 upper end of connecting platform by supporting rack 9；The driving mechanism is connected with link mechanism,
For the swing of drive link mechanism；The upper end four direction of the connecting platform 14 is respectively provided with a link mechanism, four companies
Linkage forms decussate texture；The link mechanism includes first connecting rod 10, connector 11, sliding block 12, second connecting rod 13, rotation
Shaft 35；The first connecting rod 10 passes through the circular hole on supporting rack 9；Circular hole play the guiding role to the first connecting rod direction of motion；Institute
It is parallel with the upper plane of connecting platform 14 to state first connecting rod 10；Described 10 one end of first connecting rod is connected with driving mechanism, driving machine
Structure synchronizes four first connecting rods 10 of driving and is parallel to 14 direction simultaneous retractable of connecting platform；10 other end of first connecting rod and company
Connector 11 is connected；The connector 11 is connected with sliding block 12；The upper end of the second connecting rod 13 is equipped with sliding slot, and the sliding block 12 exists
It is slided in sliding slot；The lower end of the second connecting rod 13 passes through connecting platform 14 to be connected with rotary shaft 35；The axis of the rotary shaft 35
To the telescopic direction perpendicular to first connecting rod 10；14 lower end of connecting platform is equipped with mounting base 14-1, and the rotary shaft 35 is set
It puts on mounting base 14-1；The mechanical paw is connected with rotary shaft 35；Four mechanical paws are arranged on the four of connecting platform 14
A direction, synchronous crawl article.
In some embodiments, the driving mechanism is four driving motors or four driving cylinders；Four motors or
Four cylinders respectively drive four 10 synchronization telescopes of first connecting rod, but this driving mechanism occupied space is big, four independent drivings
Increase the difficulty of synchronous drive control.
With reference to Fig. 3 to Fig. 7, further, the driving mechanism includes servo motor 7, terminal pad 8, shaft coupling 19, transmission
Axis 20, first rotates cam 22, second and rotates cam 25；The servo motor 7 is fixed on 6 lower end of wrist by terminal pad 8；Institute
7 output shaft lower end of servo motor is stated by shaft coupling 19 with transmission shaft 20 to be connected；The first rotation rotation of cam 22, second is convex
Wheel 25 is respectively positioned on 7 lower end of servo motor, and be connected with transmission shaft 20；The first rotation cam 22, second rotates cam 25
Structure is identical and is arranged in a mutually vertical manner；First cam 22 is connected with two first connecting rods 10 being mutually parallel；Described second
Rotation cam 25 is connected with two first connecting rods 10 being in addition mutually parallel.Drive can be synchronized by the rotation of single servo motor 7
It moves four first connecting rods 10 and makees stretching motion, reduce the whole occupied space of equipment；In addition pass through 7 output shaft one of servo motor
The rotation in a direction, you can realize the crawl and release of hand claw, do not need to the rotating of motor interruption, it is difficult to greatly reduce control
It spends, simplifies control circuit, the service life of extension motor, saves cost so that operate simpler convenience.
Further, the first rotation cam 22, second rotation cam 25 passes through square key 23 and 20 phase of transmission shaft
Even, installation easy to disassemble.
Preferably, support frame as described above 9 is cylindrical structure, and the first rotation cam 22, second rotates cam 25 along it
Wall coordinates so that more steady reliable during rotation cam operating.
With reference to fig. 4 to fig. 6, further, it is recessed equipped with annular that the first rotation cam 22, second rotates 25 upper end of cam
Slot, the annular groove are consistent with the shape for rotating cam；Described 10 one end of first connecting rod and annular groove coordinate, and groove is with the
One rotation cam 22 or second rotates cam 25 and rotates, and drives 10 stretching motion of first connecting rod.
With reference to Fig. 7, in some embodiments, it is equipped with idler wheel 26 in the annular groove, 26 upper end of idler wheel and the
One connecting rod 10 is connected；The annular groove drives 10 stretching motion of first connecting rod with rotation cam rotation by idler wheel 26.
With reference to Fig. 8, in other embodiment, gear 36 is equipped in the annular groove；In the annular groove
Equipped with a circle rack, gear 36 is engaged with rack；36 upper end of gear is connected with first connecting rod 10；The annular groove is with rotation
Rotating cam rotates, and 10 stretching motion of first connecting rod is driven by gear 36.
With reference to Fig. 6, further, the first rotation cam 22, second is fixedly connected between rotating cam 25, ensures two
The reliability being arranged in a mutually vertical manner of person, will not shift, and be further ensured that servo motor 7 drives four the synchronous of hand claw
It is dynamic.
Further, the first rotation cam 22, second is equipped with axle sleeve 24 between rotating cam 25, and axle sleeve 24 is arranged on
Outside transmission shaft 20；First rotation cam, 22 upper end is equipped with nut 21, and the nut 21 revolves the first rotation cam 22, second
Rotating cam 25 compresses, both ensure be fixedly connected and installation easy to disassemble.
Preferably, the mechanical paw is inside hook-shaped structure, is stepped up using the manipulator realization of other forms.
With reference to Fig. 2, Fig. 3, further, the manipulator includes hand claw arm 15, multiple hand claw forelimbs 16, fixed strip 17；
The hand claw arm 15 is symmetrically fixed on the both ends of rotary shaft 35；The hand claw forelimb 16 is fixed on the lower end of hand claw arm 15；It is described
Hand claw forelimb 16 is the rod-like structure to bend inwards；Pass through screw and lateral 17 phase of fixed strip between multiple hand claw forelimbs 16
Even；After being connected by fixed strip 17, the quantity of hand claw forelimb 16 can be adjusted, to change the size of hand claw, to be adapted to
Different articles.
Further, the mechanical paw further includes baffle 18；The baffle 18 is connected by screw in fixed strip 17,
Prevent hand claw forelimb 16 from causing impression in article surrounding.
With reference to Fig. 2 and Figure 10, further, Synchronization Control manipulator of the invention further includes hold-down mechanism, the compression
Mechanism includes cylinder 29, connecting plate 30, multiple connecting rods 32；
29 upper end of cylinder is connected with connecting platform 14；The piston rod of 29 lower end of cylinder is connected with connecting plate 30；
The fishplate bar 30 is logical to be connected with link 31；The link 31 is equipped with sliding groove, and connecting rod 32 is arranged in sliding groove, and
It is fastened by nut, the relative distance between connecting rod 32 can be adjusted by sliding groove, so as to change the compression of body surface
Area, to adapt to different articles.
Further, the connecting rod 32 connects rubber disc 33 for lower end, has certain elasticity, and play certain
Anti-skidding effect.
Further, pressure sensor 34 is equipped in the rubber disc 33, cylinder can be perceived, body surface is applied
Pressure, so as to prevent that object is caused to damage, avoid causing unnecessary loss.
The pedestal 1 of the present invention, turntable 2, large arm 3, the first forearm 4, the second forearm 5, wrist 6 are the prior art, are used
Other existing arm structures can also realize the technical purpose of the present invention, be not limited to the above embodiment of the present invention.
The course of work of the manipulator of the present invention is as follows：
1 turntable 2 on pedestal is rotated around 1 central rotating shaft of pedestal, and central shaft is by planetary reducer
Sun wheel drive, sun gear by square key with the servo motor being installed on inside pedestal 1 by being connect, while large arm 3, first
Forearm 4, the second forearm 5, the servo motor at wrist 6 drive it to be rotated around respective rotary shaft；The servo motor of 6 front end of wrist
Output shaft 20 is connected by key, shaft coupling with transmission shaft, and rotation drives be connected with transmission shaft 20 first to rotate cam 22, the
Two rotation cams 25 rotate, the first rotation rotation four 10 stretching motions of first connecting rod of drive of cam 25 of cam 22, second, four
First connecting rod 10 drives four second connecting rods 13 to swing, while second connecting rod 13 drives mechanical paw movement, realizes to article
Crawl；The air valve of cylinder 29 is opened simultaneously, and rubber disc 33 compresses body surface, and pressure sensor 34 measures cylinder 29 and applied
In the pressure of body surface, further adjustment is applied to the pressure of body surface, avoids that article surface is caused to damage.
The Synchronization Control manipulator of the present invention is mutually perpendicular to the rotation cam of installation come same by a servo motor driving
Step four mechanical paws of control, pass through the rotation in one direction of servo motor output shaft, you can realize the crawl and release of hand claw,
The rotating of motor interruption is not needed to, greatly reduces control difficulty, the use longevity for simplifying control circuit, extending motor
It orders, save cost so that operate simpler convenience；Mechanical paw of the present invention captures article there are four claw composition simultaneously
It is reliable and stable；In addition the hold-down mechanism with pressure sensor can perceive cylinder to body surface pressure applied, so as to anti-
Only object is caused to damage；Simultaneously as there is hold-down mechanism, object will not be deviated during transfer, it can be achieved that accurate fixed
Position.
Claims (10)
1. a kind of Synchronization Control manipulator, including pedestal (1), turntable (2), large arm (3), the first forearm (4), the second forearm
(5), wrist (6), mechanical grabbing device；The machinery grabbing device is fixed on wrist (6) lower end；It is characterized in that：
The machinery grabbing device includes driving mechanism, link mechanism, mechanical paw；The driving mechanism is fixed on wrist (6)
Lower end；The driving mechanism is fixed on connecting platform (14) upper end by supporting rack (9)；The driving mechanism and link mechanism phase
Even, for the swing of drive link mechanism；The upper end four direction of the connecting platform (14) is respectively provided with a link mechanism, and four
A link mechanism forms decussate texture；The link mechanism includes first connecting rod (10), connector (11), sliding block (12), the
Two connecting rods (13), rotary shaft (35)；The first connecting rod (10) is across the circular hole on supporting rack (9)；The first connecting rod (10)
It is parallel with the upper plane of connecting platform (14)；Described first connecting rod (10) one end is connected with driving mechanism, and driving mechanism, which synchronizes, drives
It moves four first connecting rods (10) and is parallel to connecting platform (14) direction simultaneous retractable；First connecting rod (10) other end is with connecting
Head (11) is connected；The connector (11) is connected with sliding block (12)；The upper end of the second connecting rod (13) is equipped with sliding slot, the cunning
Block (12) slides in sliding slot；The lower end of the second connecting rod (13) passes through connecting platform (14) to be connected with rotary shaft (35)；Institute
State the telescopic direction for being axially perpendicular to first connecting rod (10) of rotary shaft (35)；Connecting platform (14) lower end is equipped with mounting base
(14-1), the rotary shaft (35) are arranged in mounting base (14-1)；The mechanical paw is connected with rotary shaft (35)；Four machines
Tool hand claw is arranged on the four direction of connecting platform (14).
2. a kind of Synchronization Control manipulator according to claim 1, which is characterized in that the driving mechanism is four drivings
Motor or four driving cylinders, four motors or four cylinders respectively drive four first connecting rod (10) synchronization telescopes.
3. a kind of Synchronization Control manipulator according to claim 1, which is characterized in that the driving mechanism includes servo electricity
Machine (7), terminal pad (8), shaft coupling (19), transmission shaft (20), the first rotation cam (22), the second rotation cam (25)；It is described
Servo motor (7) is fixed on wrist (6) lower end by terminal pad 8；Servo motor (7) the output shaft lower end and transmission shaft (20)
It is connected；The first rotation cam (22), the second rotation cam (25) are respectively positioned on servo motor (7) lower end, and and transmission shaft
(20) it is connected；The first rotation cam (22), second rotation cam (25) structure is identical and is arranged in a mutually vertical manner；Described first
Cam (22) is connected with two first connecting rods (10) being mutually parallel；It the second rotation cam (25) and is in addition mutually parallel
Two first connecting rods (10) are connected.
4. a kind of Synchronization Control manipulator according to claim 3, which is characterized in that support frame as described above (9) is cylinder knot
Structure, the first rotation cam (22), the second rotation cam (25) coordinate along its inner wall.
5. a kind of Synchronization Control manipulator according to claim 3 rises and is characterized in that, support frame as described above (9) is cylinder knot
Structure, the first rotation cam (22), second rotation cam (25) upper end are equipped with annular groove, and the annular groove is convex with rotating
The shape of wheel is consistent；Described first connecting rod (10) one end coordinates with annular groove, and groove is with the first rotation cam (22) or second
It rotates cam (25) to rotate, drives first connecting rod (10) stretching motion.
6. a kind of Synchronization Control manipulator according to claim 5, which is characterized in that idler wheel is equipped in the annular groove
(26), idler wheel (26) upper end is connected with first connecting rod (10)；The annular groove passes through idler wheel with rotation cam rotation
(26) first connecting rod (10) stretching motion is driven.
7. a kind of Synchronization Control manipulator according to claim 5 rises and is characterized in that, gear is equipped in the annular groove
(36)；A circle rack is equipped in the annular groove, gear (36) is engaged with rack；Gear (36) upper end and first connecting rod
(10) it is connected；The annular groove drives first connecting rod (10) stretching motion with rotation cam rotation by gear (36).
8. a kind of Synchronization Control manipulator according to claim 3, which is characterized in that the first rotation cam (22),
It is fixedly connected between second rotation cam (25).
9. a kind of Synchronization Control manipulator according to claim 1 rises and is characterized in that, the mechanical paw is inside hook
Shape structure, including hand claw arm (15), multiple hand claw forelimbs (16), fixed strip (17)；The hand claw arm (15) is symmetrically fixed on rotation
The both ends of shaft (35)；The hand claw forelimb (16) is fixed on the lower end of hand claw arm (15)；The hand claw forelimb (16) is inside
The rod-like structure of bending；It is connected between multiple hand claw forelimbs (16) with lateral fixed strip (17).
10. a kind of Synchronization Control manipulator according to claim 9, which is characterized in that further include hold-down mechanism, the pressure
Tight mechanism includes cylinder (29), connecting plate (30), multiple connecting rods (32)；
Cylinder (29) upper end is connected with connecting platform (14)；The piston rod of cylinder (29) lower end and connecting plate (30) phase
Even；The fishplate bar (30) is logical to be connected with link (31)；The link (31) is equipped with sliding groove, and connecting rod (32) is arranged on
In sliding groove, and fastened by nut.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711482088.5A CN108214535B (en) | 2017-12-29 | 2017-12-29 | Synchronous control manipulator |
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| CN201711482088.5A CN108214535B (en) | 2017-12-29 | 2017-12-29 | Synchronous control manipulator |
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| CN108687790A (en) * | 2018-08-14 | 2018-10-23 | 安徽工业大学 | A kind of gear-rack drive formula catching robot |
| CN108868681A (en) * | 2018-07-03 | 2018-11-23 | 冯瑞新 | A kind of bridge construction drill bit salvaging machine |
| CN109048844A (en) * | 2018-09-14 | 2018-12-21 | 昆明理工大学 | It is a kind of machinery arm configuration and its building ball picking robot |
| CN109108951A (en) * | 2018-10-23 | 2019-01-01 | 嘉兴新维液压缸有限公司 | A kind of self-feeding mechanical arm device |
| CN109785981A (en) * | 2019-03-26 | 2019-05-21 | 四川华都核设备制造有限公司 | Handgrip transmission chain for safe rod drive mechanism |
| CN109877866A (en) * | 2019-04-14 | 2019-06-14 | 广州益图机电科技有限公司 | A kind of gripper and Multi-station working bench |
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| CN110878448A (en) * | 2019-12-10 | 2020-03-13 | 北京华美丽服饰有限公司 | Gripping device for sewing equipment |
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| CN112720432A (en) * | 2021-01-18 | 2021-04-30 | 石家庄铁道大学 | Logistics robot and grabbing method thereof |
| CN112809715A (en) * | 2021-01-21 | 2021-05-18 | 武汉轻工大学 | Manipulator and mechanical arm |
| CN113165059A (en) * | 2019-03-04 | 2021-07-23 | 黑崎播磨株式会社 | Plate holding device, plate detaching device, plate attaching device, and plate attaching/detaching device |
| CN113752231A (en) * | 2021-04-12 | 2021-12-07 | 宁波市健洋机器人有限公司 | Industrial production robot grabbing device |
| CN116000964A (en) * | 2022-12-07 | 2023-04-25 | 北京思灵机器人科技有限责任公司 | Electric clamping jaw |
| CN116141296A (en) * | 2023-04-20 | 2023-05-23 | 北京智能智造科技有限公司 | Industrial robot's forearm and industrial robot |
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