CN108582143A - A kind of adaptive portable sorting mechanical arm - Google Patents
A kind of adaptive portable sorting mechanical arm Download PDFInfo
- Publication number
- CN108582143A CN108582143A CN201810680524.8A CN201810680524A CN108582143A CN 108582143 A CN108582143 A CN 108582143A CN 201810680524 A CN201810680524 A CN 201810680524A CN 108582143 A CN108582143 A CN 108582143A
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- China
- Prior art keywords
- arm
- subjoint
- main joint
- joint arm
- mechanical arm
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- 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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of adaptive portable sorting mechanical arms comprising：Executing agency, including main joint arm, subjoint arm and sticking gripper, main joint arm and subjoint arm are symmetrical at horizontal centre, are connected by bolt between unilateral major and minor joint arm, two sticking grippers are connected with two subjoint arms respectively；Transmission mechanism, including ball screw, gear, belt wheel, unilateral subjoint arm use toothed belt transmission, main joint arm to use gear drive, wherein ball screw is matched with main joint arm center, and is equipped with elevating mechanism；Driving mechanism, including stepper motor, steering engine, stepper motor drives main joint arm and subjoint arm, executing agency's sticking gripper is by servo driving, the present invention considers the demand of two aspects of bearing and operation, is optimized to mechanical arm, not only possesses sufficiently large rotation angle, and stability is good when half arm crawl object, while the transmission of mechanical arm controls simpler convenience.
Description
Technical field
The present invention relates to a kind of mechanical arm, more particularly to a kind of adaptive portable sorting mechanical arm.
Background technology
Along with the growth of science and technology, the mankind realize intelligent and automation gradually in life, production.Recent years
Come, logistlcs technology development is swift and violent, and miscellaneous robot and sorting mechanical arm progress into the production of loglstics enterprise.I
Logistics level also because sorting mechanical arm addition become effectively.Sort mechanical arm as logistic industry can not or
A scarce part has become work important in a life and production due to its flexible motility and efficient operational forces
Tool.
Current most sorting mechanical arm working range is small, movement angle is extremely limited, and does not have single armed crawl
When object the advantages of good stability, therefore existing sorting mechanical arm increasingly cannot be satisfied the demand of modernized society.
Therefore there is an urgent need for it is a kind of it is reliable, stability is high, portable sorting mechanical arm.
Herein for existing sorting mechanical arm working efficiency is not high, working range is small and locomitivity is limited in production etc.
The deficiency of aspect will carry out excellent to solve the problems, such as above-mentioned both sides from mechanical arm support structure, software control two broad aspect of framework
Change design, further improve entire housing construction, preferably to increase the motion range of mechanical arm and improve working efficiency.
Invention content
In order to overcome tradition sorting mechanical arm flexibility is poor, bad adaptability, the small disadvantage of working range, mesh of the invention
Be reasonable design is provided, intelligentized control method, a kind of safe to use and portable adaptive portable sorting mechanical arm.
In order to solve above-mentioned problem, the technical solution adopted by the present invention is as follows：
It includes：Executing agency, including main joint arm, subjoint arm and sticking gripper, the main joint arm and secondary pass
Joint arm is symmetrical at horizontal centre, is connected by bolt between unilateral major and minor joint arm, described two sticking gripper difference
It is connected with described two subjoint arms, the main joint arm is equipped with principal arm bearing, and subjoint arm is equipped with auxiliary bearing；
Transmission mechanism, including ball screw, gear, synchronous pulley, the unilateral side subjoint arm use toothed belt transmission, institute
It states main joint arm and uses gear drive, wherein the ball screw is mounted on the center of the main joint arm, and is equipped with spiral shell
Elevating mechanism is revolved, the main joint arm is connected with the ball screw by stage support, taper roll bearing；
Driving mechanism, including stepper motor, steering engine, the stepper motor drive the main joint arm and subjoint arm to carry out
Rotary motion, executing agency's sticking gripper put action to control it by the steering engine to the suction for sorting object.
Further, the main joint arm contains principal arm upper plate and principal arm lower plate, and the subjoint arm contains
Auxiliary upper plate and auxiliary lower plate, the subjoint arm are mounted between the upper and lower bottom plate of the main joint arm, the main pass
The auxiliary upper plate of the principal arm upper plate of joint arm and the subjoint arm is fixed, the principal arm lower plate of the main joint arm and described
The auxiliary lower plate of subjoint arm is fixed.
Further, respectively there are one synchronous pulley, institutes for installation with described two subjoint arms junction for the main joint arm
It states synchronous pulley by synchronous belt to be connected with No.1 stepper motor output shaft, the No.1 stepper motor is mounted on the main pass
The upper plate of joint arm, output shaft end are downward.
Further, a stage support is installed, outside the stage support between the main joint arm and the ball screw
A taper roll bearing is installed in portion, and taper roll bearing, the platform branch are equipped between the main joint arm and stage support
The centre bore of seat is equipped with linear bearing, and the ball screw is connect by centre bore with stage support, at stage support center
Hole side is provided with round hole, and circular hole is interior inserted with a smooth guide rail.
Further, gear wheel is installed below the principal arm lower plate of the main joint arm, the gear wheel is mounted on
On taper roll bearing outside the stage support, motor support base is installed below gear wheel, is equipped on the motor support base
No. two stepper motors, No. two stepper motor output shafts are equipped with pinion gear upwards, and transmission mechanism is formed with the gear wheel.
Further, the sticking gripper is divided into two, and each sticking gripper includes four suction columns, each to inhale column bottom
Portion is provided with gas passage, and each gas passage mouth is connected with the suction pipe of external vacuum compression pump, above each suction column
Transparent sucker is installed equipped with damping, including spring and micro hydraulic piston cylinder, bottom.
Further, principal arm bearing is installed between the principal arm upper plate and principal arm lower plate of the main joint arm, it is described
Principal arm bearing is mounted on the outside of the taper roll bearing.
The beneficial effects of the present invention are：The major-minor joint arm of mechanical arm is designed using horizontal symmetrical formula, relative to tradition
The arrangement framework of multi-joint mechanical arm, horizontal symmetrical makes the center of gravity of the entire mechanical arm in position be overlapped with geometric center so that system is rigid
Degree is greatly improved with stability, and two side arms work at the same time, and realizes " left and right goes into operation ", improves work efficiency, main pass
360 ° of rotary systems of joint arm, solve the problems, such as that mechanical arm volume interferes this so that mechanical arm working range and kinematic dexterity
It greatly improves, the upper and lower displacement of mechanical arm entirety is realized using ball screw, work can be adjusted in real time according to need of work
Highly, mechanical arm is made to realize multi-angle, multi-faceted efficiently and conveniently work.
Description of the drawings
In order to which the embodiment of the present invention or technical solution in the prior art is described in more detail, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
Obtain other attached drawings according to these attached drawings.
Fig. 1 is the front view of the adaptive portable sorting mechanical arm of the present invention；
Fig. 2 is the vertical view of the adaptive portable sorting mechanical arm of the present invention；
Fig. 3 is the central part sectional view of the adaptive portable sorting mechanical arm of the present invention；
Fig. 4 is the oblique view of the adaptive portable sorting mechanical arm of the present invention；
Fig. 5 is the stage support schematic diagram of the adaptive portable sorting mechanical arm of the present invention；
Fig. 6 is the oblique second-class mapping of the adaptive portable sorting mechanical arm of the present invention；
Fig. 7 is the major and minor arm rotation angle schematic diagram of the adaptive portable sorting mechanical arm of the present invention；
Fig. 8 is the transmission mechanism schematic diagram of the adaptive portable sorting mechanical arm of the present invention；
Fig. 9 is the central part exploded perspective view of the adaptive portable sorting mechanical arm of the present invention；
Specific implementation mode
The preferred embodiment of the present invention is described in detail below in conjunction with the accompanying drawings, so that advantages and features of the invention energy
It is easier to be readily appreciated by one skilled in the art, so as to make a clearer definition of the protection scope of the present invention.
Refering to fig. 1 shown in -3, adaptive portable sorting mechanical arm of the invention comprising：
Executing agency, including subjoint arm 11, main joint arm, main joint arm include principal arm upper plate 6 and principal arm lower plate
7, sticking gripper includes sucker frame 17, transparent sucker 18 and sucker axis 19, wherein subjoint arm 11 about main joint arm 6,
7 are distributed at horizontal symmetrical, and the sucker frame 17 of sticking gripper is connected with subjoint arm 11, the upper plate of subjoint arm 11 with
The upper plate 6 of main joint arm is connected, and the lower plate of subjoint arm is connected with the lower plate 7 of main joint arm, main joint arm 6,7
Synchronous pulley 10 is installed with the junction of subjoint arm 11, is connected by subjoint arm axle 16 between two-arm；
Transmission mechanism, including ball screw 1, gear wheel 8 and pinion gear 9, synchronous pulley 10, synchronous pulley 10 are mounted on master
Subjoint arm junction, ball screw 1 are mounted at main joint arm center hole, and gear wheel 8 is mounted under the principal arm of main joint arm
The lower end of bottom plate 7, wherein fixation, the outside of ball screw 1 are attached by bolt between gear wheel 8 and principal arm lower plate 7
First connect, then connect with stage support 3 with linear bearing, and then connect with taper roll bearing 5, finally again with principal arm upper plate
6 and principal arm lower plate 7 connect；
Driving mechanism, including No.1 stepper motor 4, No. two stepper motors 21 and steering engines, wherein No.1 stepper motor 4 is solid
It is scheduled on the principal arm upper plate 6 of main joint arm, output shaft is connect with the synchronous pulley 10 of subjoint arm 11, for driving secondary pass
The rotation of joint arm 11, No. two stepper motors 21 are fixed on the principal arm lower plate 7 of main joint arm, and output shaft is equipped with pinion gear 9,
Main joint arm passing power is given by the engagement of pinion gear 9 and gear wheel 8；
The present invention passes through the engagement band of pinion gear 9 and gear wheel 8 by No. two 21 driving pinions 9 of stepper motor
Dynamic gear wheel 8 is rotated, and follows gear wheel 8 to rotate together to the principal arm lower plate 7 of main joint arm, and then drive main joint
Arm rotates 360 °, and No.1 stepper motor 4 drives subjoint arm 11 to carry out 290 ° of works by the synchronous pulley 10 of output shaft
Make the rotation of range, 22 external vacuum compression of the gas passage mouth pump of the sticking gripper of end, by the suction for controlling vacuum pump
Stop putting action to control the suction of sucker 18, each sucker 18 can pick up the object of 5Kg, and four suckers can pick up about 20Kg's
Object can greatly increase working efficiency and workload as the grasping mechanism of sorting mechanical arm.
Specifically, No. two stepper motors 21 are mounted on the motor support base 20 of main joint arm, and output shaft is upward, output shaft
On pinion gear 9 is installed, pinion gear 9 drives gear wheel 8 to be rotated, and gear wheel 8 and principal arm lower plate 7 are bolted one
It rising, gear wheel 8 and taper roll bearing 5 connect, and taper roll bearing 5 has to be connect with stage support 3, therefore, main joint arm meeting
It under the drive of gear wheel 8, is rotated around ball screw 1, in the present invention, due to consideration that No.1 stepper motor 4 and pair
Farther out, in order to reduce the weight and volume of mechanical arm entirety, auxiliary 11 uses toothed belt transmission, No.1 stepping electricity to the distance of arm 11
Machine 4 is mounted on principal arm upper plate 6, and output shaft installs a synchronous pulley 10 straight down, on output shaft, passes through synchronous belt and pair
The synchronous pulley of arm 11 connects, to drive auxiliary 11 to rotate.
Specifically, all include a micro hydraulic piston cylinder, each micro hydraulic inside four suction columns of sticking gripper
Piston cylinder can control the elevating movement for inhaling column, and each column of inhaling can extend different length according to the shape difference of captured object
Degree.
Refering to shown in Fig. 4-6, adaptive portable sorting mechanical arm of the invention is used in the transmission mechanism of vertical direction
Ball screw 1 and feed screw nut 2, wherein feed screw nut 2 are mounted on the inside of stage support 3, and the outside of stage support 3 is equipped with
Taper roll bearing 5, the portion of external between the principal arm upper plate 6 and principal arm lower plate 7 of main joint arm are equipped with principal arm
Bearing 14 plays good protective action for supporting principal arm upper plate 6 and principal arm lower plate 7, keeps overall structure relatively reliable
Securely；
Specifically, the present invention connects ball screw 1 by stage support 3, wherein the centre bore 32 of stage support 3 is used
Ball screw 1 is installed, bolt hole 33 to connect with principal arm lower plate 7, gear wheel 8 for installation bolt, 32 side of centre bore
It is provided with round hole 33, for connecting smooth guide rail 23, smooth guide rail 23 is continuously connected to motor support base 20, is rotated in main joint arm
When, due to being that the output shaft of No. two stepper motors 21 drives pinion gear 9, and then gear wheel 8 is driven to be rotated, the present invention considers
To during main joint arm rotates, motor support base 20 also will produce relative rotation, and then No. two stepper motors 21 are together with small
Gear 9 also will produce circumferentially rotating relative to ball screw 1, and transmission mechanism is caused to lead to the problem of, make transmission efficiency reduce and
There is transmission unstability, therefore smooth guide rail 23 is added, since smooth guide rail 23 is stage support 3, principal arm upper plate 6, principal arm
Lower plate 7 and motor support base 20 link together, and No. two stepper motors 21 would not be generated in transmission relative to ball wire
The rotation of bar 1 ensure that the kinetic stability of sorting mechanical arm.
Preferably, the present invention uses more base installation methods, using horizontal plane joint and two kinds of vertical guide joint mounting means.
Under horizontal plane mounting means:In X-Y plane, main joint arm and subjoint arm 11 have biddability, therefore can be in horizontal plane
Interior carry out high speed rotation, under vertical plane mounting means：In Y-Z plane, mechanical arm is driven using ball screw 1, realizes master
Joint arm and subjoint arm 11 are in vertical in-plane moving.
Refering to shown in Fig. 7-8, in the present invention, in order to enhance the reliability and fastness of sorting mechanical arm, principal arm upper plate
6, principal arm lower plate 7, stage support 3, taper roll bearing 5 and principal arm bearing 14, their mounting structure closely, reduce
The overall volume of sorting mechanical arm so that sorting mechanical arm easily facilitates carrying.
The operation principle of the present invention is that：
Sorting mechanical arm is put on sorting work line, by serial communication come the movement of control machinery arm, sends instruction
Afterwards, No. two stepper motors 21 are started to work, and drive the pinion gear 9 on motor output shaft to rotate, pinion gear 9 passes through engagement band
Dynamic gear wheel 8 rotates, since gear wheel 8 and principal arm lower plate 7 are fixed together, under the action of taper roll bearing 5, and main pass
Joint arm generates the rotation around ball screw 1,360 ° of rotation may be implemented, at this point, main joint arm can be revolved according to job requirement
Turn corresponding angle to stop, and then, No.1 stepper motor 4 is started to work, and the synchronous pulley 10 on motor output shaft is driven to open
Begin to rotate, the synchronous pulley 10 on output shaft is connect by synchronous belt with the synchronous pulley on subjoint arm 11, and then is driven secondary
Joint arm 11 rotates, and maximum rotation angle can reach 290 °, and subjoint arm 11 equally can further be rotated according to job requirement
Corresponding angle removes crawl object, and when sorting mechanical arm needs upper and lower displacement, ball screw 1 starts to rotate, in feed screw nut 2
Mating reaction under, mechanical arm moves up or down corresponding displacement, when the required operating angle adjustment of sorting mechanical arm
After the completion, the sticking gripper of end effector mechanism is started to work, and vacuum compression pump starts to start, and so that sucker 18 is generated powerful
Attraction, and then object sticking is lived, place an object into corresponding position.
More than, specific implementation mode only of the invention, but scope of protection of the present invention is not limited thereto, it is any without
The change or replacement that creative work is expected are crossed, should be covered by the protection scope of the present invention.Therefore, protection of the invention
Range should be determined by the scope of protection defined in the claims.
Claims (7)
1. a kind of adaptive portable sorting mechanical arm, which is characterized in that including：
Executing agency, including main joint arm, subjoint arm and sticking gripper, main joint arm and subjoint arm are at horizontal centre pair
Claim distribution, is connected by bolt between unilateral major and minor joint arm, two sticking grippers are connected with two subjoint arms respectively
It connects, subjoint arm is mounted at left and right sides of main joint arm, wherein a main subjoint arm is installed using more bases, main joint arm and pair
Relative motion can be generated between joint arm, carry out the rotation of wide-angle；
Transmission mechanism, including ball screw, gear, belt wheel, unilateral subjoint arm use toothed belt transmission, main joint arm to use tooth
Wheel transmission, wherein ball screw is matched with main joint arm center, and is equipped with elevating mechanism, main joint arm and ball screw it
Between can move up and down by elevating mechanism；
Driving mechanism, including stepper motor, steering engine, stepper motor drive main joint arm and subjoint arm, executing agency's sticking machine
Machinery claw is by servo driving, wherein stepper motor bottom end is connected with main joint arm, motor output shaft respectively with gear and synchronous belt
Wheel cooperation, steering engine are mounted on the junction of sticking gripper and auxiliary.
2. a kind of adaptive portable sorting mechanical arm according to claim 1, it is characterised in that：Executing agency is using master
The design of joint arm and subjoint arm, and symmetrical about horizontal centre between unilateral major and minor joint arm, unilateral major and minor pass
Joint arm is two bar components, and bar length is equal, corresponding with the large arm of people, forearm.
3. a kind of adaptive portable sorting mechanical arm according to claim 1 and 2, it is characterised in that：Single subjoint
290 ° of rotation may be implemented in arm, increases working region range, 360 ° of rotations may be implemented in main joint arm, and may be implemented
Lower elevating function.
4. a kind of adaptive portable sorting mechanical arm according to claim 2 and 3, it is characterised in that：360 ° of rotation systems
System includes mainly machinery rotation part, solves the problems, such as that mechanical arm volume interferes this respectively.Due to main joint revolution of arm mechanism with
Load torque is different from installation environment suffered by subjoint revolution of arm mechanism, and the mechanism that driving main joint arm is rotated includes
Stepper motor and gear reduction unit.
5. a kind of adaptive portable sorting mechanical arm according to claim 2 and 3, it is characterised in that：Mechanical arm uses
More base installations, in order to adapt to different working environments and installation portability, using two kinds of horizontal plane joint and vertical guide joint
Mounting means.Under horizontal plane mounting means:In X-Y plane, a main subjoint arm has biddability, therefore can be in horizontal plane
Interior carry out high-speed displacement.
6. a kind of adaptive portable sorting mechanical arm according to claim 1 and 4, it is characterised in that：Drive subjoint
The mechanism that arm is rotated includes stepper motor and synchronous belt, avoids using gear, causes mechanical arm single unit system volume
It is excessive with quality.
7. a kind of adaptive portable sorting mechanical arm according to claim 1 and 5, it is characterised in that：Sticking gripper
With adaptation function, it includes micro hydraulic piston cylinder to inhale inside column, and four suction columns can be different according to the shape of crawl object
And stretch out different length.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810680524.8A CN108582143A (en) | 2018-06-27 | 2018-06-27 | A kind of adaptive portable sorting mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810680524.8A CN108582143A (en) | 2018-06-27 | 2018-06-27 | A kind of adaptive portable sorting mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108582143A true CN108582143A (en) | 2018-09-28 |
Family
ID=63634154
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810680524.8A Pending CN108582143A (en) | 2018-06-27 | 2018-06-27 | A kind of adaptive portable sorting mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108582143A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109968384A (en) * | 2019-04-12 | 2019-07-05 | 深圳清华大学研究院 | A kind of automatic sorting machine people and control method |
| CN112405574A (en) * | 2020-11-07 | 2021-02-26 | 常德市金晟科技有限公司 | Multi-claw mechanical clamping device with induction function |
| CN116141362A (en) * | 2023-04-19 | 2023-05-23 | 广州顺天装备制造有限公司 | Manipulator based on vacuum electrostatic composite sucker, robot and holding and transferring method thereof |
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| JPH08281580A (en) * | 1995-04-13 | 1996-10-29 | Fanuc Ltd | Robot arm of industrial horizontal multi-revolute-joint type robot |
| CN201931466U (en) * | 2010-12-31 | 2011-08-17 | 东莞理工学院 | Manipulator structure with machine vision navigating function |
| CN202219840U (en) * | 2011-04-28 | 2012-05-16 | 西北工业大学 | Cycloidal propeller control mechanism |
| CN206663233U (en) * | 2017-03-20 | 2017-11-24 | 东莞市捷大机械科技有限公司 | A kind of jack catchs type multiple degrees of freedom part machining robot manipulator |
| CN207172061U (en) * | 2017-08-24 | 2018-04-03 | 冯若琦 | A kind of flapping articulation handling machinery arm |
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2018
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08281580A (en) * | 1995-04-13 | 1996-10-29 | Fanuc Ltd | Robot arm of industrial horizontal multi-revolute-joint type robot |
| CN201931466U (en) * | 2010-12-31 | 2011-08-17 | 东莞理工学院 | Manipulator structure with machine vision navigating function |
| CN202219840U (en) * | 2011-04-28 | 2012-05-16 | 西北工业大学 | Cycloidal propeller control mechanism |
| CN206663233U (en) * | 2017-03-20 | 2017-11-24 | 东莞市捷大机械科技有限公司 | A kind of jack catchs type multiple degrees of freedom part machining robot manipulator |
| CN207172061U (en) * | 2017-08-24 | 2018-04-03 | 冯若琦 | A kind of flapping articulation handling machinery arm |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109968384A (en) * | 2019-04-12 | 2019-07-05 | 深圳清华大学研究院 | A kind of automatic sorting machine people and control method |
| CN112405574A (en) * | 2020-11-07 | 2021-02-26 | 常德市金晟科技有限公司 | Multi-claw mechanical clamping device with induction function |
| CN116141362A (en) * | 2023-04-19 | 2023-05-23 | 广州顺天装备制造有限公司 | Manipulator based on vacuum electrostatic composite sucker, robot and holding and transferring method thereof |
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Application publication date: 20180928 |