CN110014442A - A kind of robot with omnidirection touch sensing device - Google Patents
A kind of robot with omnidirection touch sensing device Download PDFInfo
- Publication number
- CN110014442A CN110014442A CN201910430572.6A CN201910430572A CN110014442A CN 110014442 A CN110014442 A CN 110014442A CN 201910430572 A CN201910430572 A CN 201910430572A CN 110014442 A CN110014442 A CN 110014442A
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- robot
- omnidirection
- sensing device
- touch sensing
- plate
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- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 14
- 230000006835 compression Effects 0.000 claims description 36
- 238000007906 compression Methods 0.000 claims description 36
- 238000001514 detection method Methods 0.000 claims description 19
- 230000033001 locomotion Effects 0.000 claims description 14
- 239000007787 solid Substances 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 2
- 230000035945 sensitivity Effects 0.000 abstract description 7
- 230000006698 induction Effects 0.000 abstract 1
- 230000000694 effects Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011895 specific detection Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
-
- 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
- B25J13/084—Tactile sensors
Abstract
The present invention provides a kind of robots with omnidirection touch sensing device, including, pedestal passes through fixed plate connected positioning plate on pedestal；Adjustment portion is placed in positioning plate, includes at least the first connecting plate and the second connecting plate；Wherein, the first connecting plate and the second connecting plate are oppositely arranged, and can be close to each other or separate.A kind of robot with omnidirection touch sensing device of the present invention realizes tactile sensing by the induction of pressure, optimizes the sensitivity of two pawls crawl, mention high control precision.
Description
Technical field
The invention belongs to robot fields, more particularly, to a kind of robot with omnidirection touch sensing device.
Background technique
The major function of robot is object to be grabbed by gripper, and be operable to realization to it.Therefore, to gripper
Research occupies in entire robot technology and its consequence, in general, when robot does grasping movement, since its is sensitive
It spends not high, can be divided into two pawls, three pawls, four pawls etc. according to actual use demand, as the number of claw increases,
Sensitivity increases.And the object relatively simple for practical robot crawl structure, external structure is more regular, using two pawls
Robot foot with to reduce cost.But the sensitivity of existing Liang Zhao robot is relatively poor, does not have tactilely-perceptible energy
Power, only traditional crawl and the work put down are not able to satisfy actual demand, but use with higher sensitivity multijaw robot,
It will cause waste again, cost increases.
Summary of the invention
In view of this, the present invention is directed to propose a kind of robot with omnidirection touch sensing device, grabs in two pawls
On the basis of increase the cooperation of simple structure and make it have tactile, improve the sensitivity of crawl.
In order to achieve the above objectives, the technical scheme of the present invention is realized as follows:
A kind of robot with omnidirection touch sensing device, including,
Pedestal passes through fixed plate connected positioning plate on the pedestal；
Adjustment portion is placed in the positioning plate, includes at least the first connecting plate and the second connecting plate；
Wherein, first connecting plate and second connecting plate are oppositely arranged, and can be close to each other or separate；
Gripper components, including clamping section, and the clamping section is respectively placed in first connecting plate and second connection
Plate；
Wherein, two clamping sections are oppositely arranged, and the clamping section includes fixing seat, and ball-joint is pressed from both sides in the fixing seat
Tight plate, and between the fixing seat and the clamping plate be equipped with multiple compression bars, the compression bar under external force can with it is described
Detection block contact and application pressure, the pressure signal that the detection block will test in fixing seat feed back to control unit.
Further, the fixing seat is equipped with spherical hinge, by the spherical hinge by the clamping plate ball-joint；
The spherical hinge is placed in the center of the clamping plate.
Further, the side that the clamping plate corresponds to the fixing seat is equipped with multiple springs, fixes institute on the spring
Compression bar is stated, the spring is stretched out on the compression bar head, and the compression bar cooperates with the detection block of the fixing seat respectively.
Further, the compression bar is at least arranged in the four corners of the clamping plate and the two sides of the spherical hinge, with
It arranges around the spherical hinge；
The compression bar head is spherical, and when multiple told compression bar compression degree differences, the spherical can be connect
Contact is contacted with the detection block, to form the pressure signal.
Further, the control unit is placed in the pedestal, and the control unit, will be described for collecting the pressure signal
Pressure letter feeds back to the control system of robot, and the work of the adjustment portion is controlled according to the order that the control system issues
Make.
Further, two positioning plates are oppositely arranged, and the adjustment portion further includes the first lead screw and the second lead screw, institute
It states the first lead screw and second lead screw is placed between two positioning plates；
Be slidably connected the first nut and second nut respectively on first lead screw and second lead screw, and described
One nut and second nut pass through first connecting rod respectively and connect first connecting plate and described with second day connecting rod
The direction of motion of second connecting plate, first nut and second nut is opposite.
Further, first lead screw is driven by first motor, and second lead screw passes through the second motor driven, institute
The rotation direction of the first lead screw described in first motor and second motor control and second lead screw is stated on the contrary, to control
The first nut and the second nut counter motion are stated, the first motor and second motor pass through the control unit control
System.
Further, it is additionally provided with the first sliding rail and the second sliding rail between two positioning plates, be slidably connected respectively thereon
First sliding block and the second sliding block, first sliding block and second sliding block are separately connected first nut and second spiral shell
Mother, the glide direction of the sliding block are parallel with the direction of motion of the nut.
Further, it is additionally provided with adjusting rod between two positioning plates, be slidably connected the first adjusting on the adjusting rod
Block and the second adjusting block, first adjusting block are placed in first connecting plate, and second adjusting block is placed in described second and connects
Fishplate bar, the glide direction of the adjusting block are parallel with the glide direction of the sliding block.
Further, the pedestal is detachably connected the mechanical arm of robot by the ring flange connected.
Compared with the existing technology, a kind of robot with omnidirection touch sensing device of the present invention has following
Advantage:
(1) a kind of robot with omnidirection touch sensing device of the present invention, on the basis of the crawl of two pawls
Increase simple structure cooperation and make it have tactile, improves the sensitivity of crawl.
(2) a kind of robot with omnidirection touch sensing device of the present invention, is matched by way of ball-joint
It closes with the pressure detecting of compression bar, in two clamping plate grip objects, if the position clamped is not right, two clamping plates and solid
Reservation is not at parallel state, compression bar is received different force feedbacks to control unit, control unit is sent to control
System, the maximum pressure detected and when most pressure difference value being descended to look into preset value, crawl article is unstable, abandons this time grabbing and appoint
Business, to improve the effect of two pawls crawl.
(3) a kind of robot with omnidirection touch sensing device of the present invention, two clamping plates move steady
It is qualitative preferable, it can conveniently realize the crawl to regular article.
Detailed description of the invention
The attached drawing for constituting a part of the invention is used to provide further understanding of the present invention, schematic reality of the invention
It applies example and its explanation is used to explain the present invention, do not constitute improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is that a kind of robot first direction with omnidirection touch sensing device described in the embodiment of the present invention is whole
Structural schematic diagram；
Fig. 2 is that a kind of robot second direction with omnidirection touch sensing device described in the embodiment of the present invention is whole
Structural schematic diagram；
Fig. 3 is clamping section partial enlarged view in Fig. 2；
Fig. 4 is that compression bar fit structure illustrates enlarged drawing in Fig. 3.
Description of symbols:
1- ring flange；2- pedestal；3- fixed plate；4- positioning plate；The first sliding rail of 5-；The second sliding rail of 6-；The first sliding block of 7-；8-
Second sliding block；The first lead screw of 9-；The second lead screw of 10-；The first nut of 11-；The second nut of 12-；13- first connecting rod；14- second
Connecting rod；15- adjusting rod；The first adjusting block of 16-；The second adjusting block of 17-；The first connecting plate of 18-；The second connecting plate of 19-；20-
First motor；The second motor of 21-；22- fixing seat；23- clamping plate；24- spherical hinge；25- spring；26- detection block；27- compression bar.
Specific embodiment
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", "upper", "lower",
The orientation or positional relationship of the instructions such as "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description of the present invention and simplification of the description, rather than instruction or dark
Show that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as pair
Limitation of the invention.In addition, term " first ", " second " etc. are used for description purposes only, it is not understood to indicate or imply phase
To importance or implicitly indicate the quantity of indicated technical characteristic.The feature for defining " first ", " second " etc. as a result, can
To explicitly or implicitly include one or more of the features.In the description of the present invention, unless otherwise indicated, " multiple "
It is meant that two or more.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood by concrete condition
Concrete meaning in the present invention.
The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
A kind of robot with omnidirection touch sensing device shown in as shown in Figure 1, Figure 3 and Figure 4, including, pedestal 2, pedestal 2
It is upper to pass through 3 connected positioning plate 4 of fixed plate；Adjustment portion is placed in positioning plate 4, includes at least the first connecting plate 18 and the second connecting plate
19；Wherein, the first connecting plate 18 and the second connecting plate 19 are oppositely arranged, and can be close to each other or separate；Gripper components, including
Clamping section, and clamping section is respectively placed in the first connecting plate 18 and the second connecting plate 19；Wherein, two clamping sections are oppositely arranged, folder
Tight portion includes fixing seat 22, ball-joint clamping plate 23 in fixing seat 22, and multiple pressures are equipped between fixing seat 22 and clamping plate 23
Bar 27, compression bar 27 can contact and apply under external force pressure with the detection block 26 in fixing seat 22, and detection block 26 will be examined
The pressure signal measured feeds back to control unit.Increase simple structure cooperation on the basis of the crawl of two pawls and make it have tactile,
Improve the sensitivity of crawl.
Wherein, fixing seat 22 is equipped with spherical hinge 24, by spherical hinge 24 by 23 ball-joint of clamping plate；Spherical hinge 24 is placed in
The center of clamping plate 23.Control unit is placed in pedestal 2, and pressure letter is fed back to robot for collecting pressure signal by control unit
Control system, and the work in the order control and regulation portion issued according to control system.Cooperation is by way of ball-joint with compression bar
27 pressure detecting, in two 23 grip objects of clamping plate, if the position clamped is not right, two clamping plates 23 and fixation
Seat 22 is not at parallel state, compression bar 27 is received different force feedbacks to control unit, control unit is sent to control
When system processed, the maximum pressure detected and minimum pressure difference looked into preset value, crawl article is unstable, abandons this time grabbing
Task, to improve the effect of two pawls crawl.The stability of two clamping plates 23 movement is preferable, can conveniently realize to rule
The then crawl of article.
Specifically, the side of the corresponding fixing seat 22 of clamping plate 23 is equipped with multiple springs 25, compression column with fixed 27 on spring 25, pressure
Spring is stretched out on 27 head of bar, and compression bar 27 cooperates with the detection block 26 of fixing seat 22 respectively.Compression bar 27 is at least arranged in clamping plate 23
Four corners and spherical hinge 24 two sides, with around spherical hinge 24 arrange；27 head of compression bar is spherical, multiple compression bars 27
When compression degree difference, spherical can have point of contact to be contacted with detection block 26, to form pressure signal.In object to be extracted
When product are placed between two clamping plates 23, control that two clamping plates 23 are close to each other, which is the shape of rule, so pressing from both sides
When tight, in optimal situation, two clamping plates 23 respectively with article plane contact and be pressurized, under such pressure, folder
Tight plate 23 is parallel with fixing seat 22 always.But it is actual in use, concrete condition difference, how much understand some deviations, so
In the case where ball-joint, do not had to according to the degree of deviation, each compression bar 27 by pressure difference, will lead to clamping plate 23 to not
Same direction inclination.The maximum difference being able to bear between two compression bars 27 is set in the controls, can guarantee article
The limit point of crawl can not be completed to grab, can be caused danger during transport more than this limit.As long as so guaranteeing detection
The maximum difference for the two of them compression bar 27 that block 26 detects is not more than preset value, can either complete to grab, if it does, representing
There are risk, control control, which issues, abandons the order that crawl resets for this time crawl.
As a kind of specific embodiment of the application, as shown in Fig. 2, two positioning plates 4 are oppositely arranged, adjustment portion is also wrapped
The first lead screw 9 and the second lead screw 10 are included, the first lead screw 9 and the second lead screw 10 are placed between two positioning plates 4；First lead screw, 9 He
Be slidably connected the first nut 11 and the second nut 12 respectively on second lead screw 10, and the first nut 11 and the second nut 12 pass through respectively
First connecting rod 13 and the second connecting rod 14 connect the first connecting plate 18 and the second connecting plate 19, the first nut 11 and the second nut
12 direction of motion is opposite.First lead screw 9 is driven by first motor 20, and the second lead screw 10 is driven by the second motor 21, the
One motor 20 and the second motor 21 control the rotation direction of the first lead screw 9 and the second lead screw 10 on the contrary, to control the first nut 11
With 12 counter motion of the second nut, first motor 20 and the second motor 21 are controlled by control unit.Pass through feed screw nut pair
Form realizes the opposite or reverse motions of two clamping plates 23, and stability is preferable, and control precision is higher, convenient for manipulation.
Wherein, it is additionally provided with the first sliding rail 5 and the second sliding rail 6 between two positioning plates 4, be slidably connected the first cunning respectively thereon
Block 7 and the second sliding block 8, the first sliding block 7 and the second sliding block 8 are separately connected the first nut 11 and the second nut 12, the sliding of sliding block
Direction is parallel with the direction of motion of nut.By the fit form of sliding rail and sliding block, the precision of the direction of motion is improved, guarantees fortune
Dynamic stability.
In addition, being additionally provided with adjusting rod 15 between two positioning plates 4, be slidably connected the first adjusting block 16 and on adjusting rod 15
Two adjusting blocks 17, the first adjusting block 16 are placed in the first connecting plate 18, and the second adjusting block 17 is placed in the second connecting plate 19, adjusting block
Glide direction it is parallel with the glide direction of sliding block.By the setting of adjusting rod 15 and connecting plate, the movement of clamping plate 23 is increased
Precision, also, since two clamping plates 23 move on different lead screws, in order to guarantee that two clamping plates 23 are opposite,
It is placed in the weakness of two connecting plates, and two clamping plates 23 bear biggish power again and remove clamping article, are easy to cause two
Clamping plate 23 is impaired.Therefore the cooperation for passing through adjusting rod 15 and adjusting block, further increases its corresponding stability, avoids connecting
Plate damages under larger pressure.
Preferably, pedestal 2 is detachably connected the mechanical arm of robot by the ring flange 1 of connection.In order to staff
Installation and debugging.
The working principle of the invention: a kind of robot with omnidirection touch sensing device as shown in Figure 1 passes through flange
Disk 1 is detachably connected on the mechanical arm of robot, is grabbed for realizing to article.In the standby state, two clampings
Plate 23 is in the state that is located remotely from each other, compression bar 27 and detection block 26 not in contact with not generating detection signal.When work, pass through machinery
Arm is turned to the top of respective articles, and driving makes two clamping plates 23 be placed in the two sides of article, and robot passes through at this time
System detection goes out in two clamping plates 23 that (specific detection can detect for vision-based detection or far infrared, be known there are the article
Technology does not illustrate herein), control system is issued to control unit and is ordered, and control unit controls first motor 20 and the second electricity
Machine 21 works, and drives the first lead screw 9 and the rotation of the second lead screw 10, two clamping plates 23 are close to each other, until 23 holdfast of clamping plate
Product, under normal circumstances, the 23 clamped under pressure article of clamping plate of ball-joint mainly guarantees to clamp effect by applying pressure at center
Fruit.Due to the form of the ball-joint of use, there can be the case where clamping plate 23 tilts in one direction after clamping, but at this time
The compression bar 27 for having respective direction is contacted with detection block 26, while playing a supporting role that the power formation pressure signal of compression is anti-
It is fed to control unit.Control unit makes specific judgement (if control and if analysis according to the pressure signal of different location point
Judgement belongs to the common knowledge of those skilled in the art, and and be not belonging to the improvement of this programme, be not described in detail herein), when
When the difference of pressure signal is greater than preset value, the crawl article that control system controls this time resets, and abandons grabbing, readjustment is grabbed
Fetch bit is set, if within a preset range, it can be to crawl article transhipment.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Within mind and principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of robot with omnidirection touch sensing device, it is characterised in that: including,
Pedestal passes through fixed plate connected positioning plate on the pedestal；
Adjustment portion is placed in the positioning plate, includes at least the first connecting plate and the second connecting plate；
Wherein, first connecting plate and second connecting plate are oppositely arranged, and can be close to each other or separate；
Gripper components, including clamping section, and the clamping section is respectively placed in first connecting plate and second connecting plate；
Wherein, two clamping sections are oppositely arranged, and the clamping section includes fixing seat, and ball-joint clamps in the fixing seat
Plate, and between the fixing seat and the clamping plate be equipped with multiple compression bars, the compression bar under external force can with it is described solid
Detection block contact and application pressure, the pressure signal that the detection block will test in reservation feed back to control unit.
2. a kind of robot with omnidirection touch sensing device according to claim 1, it is characterised in that: described solid
Reservation is equipped with spherical hinge, by the spherical hinge by the clamping plate ball-joint；
The spherical hinge is placed in the center of the clamping plate.
3. a kind of robot with omnidirection touch sensing device according to claim 2, it is characterised in that: the folder
The side that tight plate corresponds to the fixing seat is equipped with multiple springs, and the compression bar is fixed on the spring, and the compression bar head is stretched out
The spring, the compression bar cooperate with the detection block of the fixing seat respectively.
4. a kind of robot with omnidirection touch sensing device according to claim 3, it is characterised in that: the pressure
Bar is at least arranged in the four corners of the clamping plate and the two sides of the spherical hinge, to arrange around the spherical hinge；
The compression bar head is spherical, and when multiple told compression bar compression degree differences, the spherical can have point of contact
It is contacted with the detection block, to form the pressure signal.
5. a kind of robot with omnidirection touch sensing device according to claim 4, it is characterised in that: the control
Portion processed is placed in the pedestal, and the pressure letter is fed back to the control of robot for collecting the pressure signal by the control unit
System processed, and the work of the order control adjustment portion issued according to the control system.
6. a kind of robot with omnidirection touch sensing device according to claim 1, it is characterised in that: two institutes
It states positioning plate to be oppositely arranged, the adjustment portion further includes the first lead screw and the second lead screw, first lead screw and second described
Thick stick is placed between two positioning plates；
Be slidably connected the first nut and second nut respectively on first lead screw and second lead screw, first spiral shell
It is female to pass through first connecting rod with second nut respectively and the second connecting rod connects first connecting plate and described second and connects
The direction of motion of fishplate bar, first nut and second nut is opposite.
7. a kind of robot with omnidirection touch sensing device according to claim 6, it is characterised in that: described
One lead screw is driven by first motor, and second lead screw passes through the second motor driven, the first motor and second electricity
Machine controls the rotation direction of first lead screw and second lead screw on the contrary, to control first nut and second spiral shell
Female counter motion, the first motor and second motor pass through the control unit and control.
8. a kind of robot with omnidirection touch sensing device according to claim 7, it is characterised in that: two institutes
It states and is additionally provided with the first sliding rail and the second sliding rail between positioning plate, be slidably connected the first sliding block and the second sliding block respectively thereon, described
First sliding block and second sliding block are separately connected first nut and second nut, the glide direction of the sliding block with
The direction of motion of the nut is parallel.
9. a kind of robot with omnidirection touch sensing device according to claim 8, it is characterised in that: two institutes
It states and is additionally provided with adjusting rod between positioning plate, be slidably connected the first adjusting block and the second adjusting block on the adjusting rod, and described first
Adjusting block is placed in first connecting plate, and second adjusting block is placed in second connecting plate, the sliding side of the adjusting block
To parallel with the glide direction of the sliding block.
10. a kind of robot with omnidirection touch sensing device according to claim 1, it is characterised in that: described
Pedestal is detachably connected the mechanical arm of robot by the ring flange connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910430572.6A CN110014442B (en) | 2019-05-22 | 2019-05-22 | Robot with omnidirectional touch sensing device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910430572.6A CN110014442B (en) | 2019-05-22 | 2019-05-22 | Robot with omnidirectional touch sensing device |
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| CN110014442A true CN110014442A (en) | 2019-07-16 |
| CN110014442B CN110014442B (en) | 2023-07-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN110883828A (en) * | 2019-11-21 | 2020-03-17 | 浙江中茂科技有限公司 | PCB clamping mechanism for board separating machine |
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| CN110883828A (en) * | 2019-11-21 | 2020-03-17 | 浙江中茂科技有限公司 | PCB clamping mechanism for board separating machine |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110014442B (en) | 2023-07-14 |
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Application publication date: 20190716 Assignee: TIANJIN HUANYU RUBBER & PLASTIC CO.,LTD. Assignor: BINHAI INDUSTRIAL TECHNOLOGY RESEARCH INSTITUTE OF ZHEJIANG University Contract record no.: X2024980003987 Denomination of invention: A robot with omnidirectional tactile sensing device Granted publication date: 20230714 License type: Common License Record date: 20240408 |
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Application publication date: 20190716 Assignee: TIANJIN ZHUJIN TECHNOLOGY DEVELOPMENT Corp. Assignor: BINHAI INDUSTRIAL TECHNOLOGY RESEARCH INSTITUTE OF ZHEJIANG University Contract record no.: X2024980004303 Denomination of invention: A robot with omnidirectional tactile sensing device Granted publication date: 20230714 License type: Common License Record date: 20240412 Application publication date: 20190716 Assignee: TSINGHUA TONGCHUANG ROBOT Co.,Ltd. Assignor: BINHAI INDUSTRIAL TECHNOLOGY RESEARCH INSTITUTE OF ZHEJIANG University Contract record no.: X2024980004302 Denomination of invention: A robot with omnidirectional tactile sensing device Granted publication date: 20230714 License type: Common License Record date: 20240412 Application publication date: 20190716 Assignee: BOYI (TIANJIN) PNEUMATIC TECHNOLOGY INSTITUTE Co.,Ltd. Assignor: BINHAI INDUSTRIAL TECHNOLOGY RESEARCH INSTITUTE OF ZHEJIANG University Contract record no.: X2024980004275 Denomination of invention: A robot with omnidirectional tactile sensing device Granted publication date: 20230714 License type: Common License Record date: 20240412 Application publication date: 20190716 Assignee: Master Lightweight Technology (Tianjin) Co.,Ltd. Assignor: BINHAI INDUSTRIAL TECHNOLOGY RESEARCH INSTITUTE OF ZHEJIANG University Contract record no.: X2024980004231 Denomination of invention: A robot with omnidirectional tactile sensing device Granted publication date: 20230714 License type: Common License Record date: 20240412 |