CN111300464A - Synchronous clamping mechanism based on connecting rod and operation method - Google Patents
Synchronous clamping mechanism based on connecting rod and operation method Download PDFInfo
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- CN111300464A CN111300464A CN202010177920.6A CN202010177920A CN111300464A CN 111300464 A CN111300464 A CN 111300464A CN 202010177920 A CN202010177920 A CN 202010177920A CN 111300464 A CN111300464 A CN 111300464A
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- clamping jaw
- plate
- crank arm
- driving
- clamping
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- 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
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
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- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Jigs For Machine Tools (AREA)
Abstract
The invention provides a synchronous clamping mechanism based on a connecting rod and an operation method, the synchronous clamping mechanism comprises a fixed upright post, the top of the fixed upright post is fixedly provided with a vertical plate through an angle plate, the top end of the vertical plate is fixedly provided with a track fixing plate, the top of the track fixing plate is fixedly provided with a track, and the top of the track is symmetrically provided with a first clamping jaw mechanism and a second clamping jaw mechanism through sliding fit; the first clamping jaw mechanism and the second clamping jaw mechanism are hinged through a synchronous connecting rod mechanism, and the synchronous connecting rod mechanism is connected with a clamping power mechanism which is used for driving the synchronous connecting rod mechanism to rotate and realize clamping. The synchronous clamping mechanism can realize synchronous action of the two clamping ends, adopts the connecting rod mechanism to replace the traditional gear synchronous mechanism, has a simple structure, is convenient to manufacture, and is suitable for batch production requirements.
Description
Technical Field
The invention belongs to the field of clamping devices, and particularly relates to a synchronous clamping mechanism based on a connecting rod and an operation method.
Background
Clamping mechanism need be used in automation equipment development design process, and in order to satisfy the demand of using, need guarantee two clamping section synchronization actions of manipulator, when realizing pressing from both sides tightly, realize the demand of centering, current clamping mechanism is tight in order to realize synchronous centering clamp, adopts intermeshing's gear to realize usually, but adopts its structure of foretell mechanism relatively complicated, and manufacturing cost is higher moreover, can't satisfy large batch industrialization production requirement.
Disclosure of Invention
In order to solve the technical problems, the invention provides a synchronous clamping mechanism based on a connecting rod and an operation method, the synchronous clamping mechanism can realize synchronous action of two clamping ends, and the connecting rod mechanism is adopted to replace the traditional gear synchronous mechanism, so that the synchronous clamping mechanism is simple in structure, convenient to manufacture and suitable for the requirement of batch production.
In order to achieve the technical features, the invention is realized as follows: the synchronous clamping mechanism based on the connecting rod comprises a fixed stand column, wherein the top of the fixed stand column is fixedly provided with a vertical plate through an angle plate, the top end of the vertical plate is fixedly provided with a track fixing plate, the top of the track fixing plate is fixedly provided with a track, and the top of the track is symmetrically provided with a first clamping jaw mechanism and a second clamping jaw mechanism through sliding fit; the first clamping jaw mechanism and the second clamping jaw mechanism are hinged through a synchronous connecting rod mechanism, and the synchronous connecting rod mechanism is connected with a clamping power mechanism which is used for driving the synchronous connecting rod mechanism to rotate and realize clamping.
The first clamping jaw mechanism comprises a first sliding block which is in sliding fit with the rail, a first bottom plate is fixedly mounted at the top of the first sliding block, a first clamping jaw vertical plate is fixedly mounted at the top of the first bottom plate, a first clamping jaw is fixed on the inner side wall of the first clamping jaw vertical plate, and a first driving plate used for being connected with the synchronous connecting rod mechanism is fixed on the outer side wall of the first bottom plate.
The second clamping jaw mechanism comprises a second sliding block which is in sliding fit with the rail, a second bottom plate is fixedly mounted at the top of the second sliding block, a second clamping jaw vertical plate is fixedly mounted at the top of the second bottom plate, a second clamping jaw is fixed on the inner side wall of the second clamping jaw vertical plate, and a second driving plate used for being connected with the synchronous connecting rod mechanism is fixed on the outer side wall of the second bottom plate.
Oblique reinforcing plates are respectively arranged between the first clamping jaw vertical plate and the first bottom plate of the first clamping jaw mechanism and between the second clamping jaw vertical plate and the second bottom plate of the second clamping jaw mechanism.
The synchronous connecting rod mechanism comprises a main rotating arm which is arranged on the vertical plate through a rotating shaft, one end of the main rotating arm is hinged with a first crank arm through a first pin shaft, and the other end of the first crank arm is hinged to the bottom of a first driving plate of the first clamping jaw mechanism through a second pin shaft;
the other end of the main rotating arm is hinged with a second crank arm through a third pin shaft, and the other end of the second crank arm is hinged to the bottom of a second driving plate of the second clamping jaw mechanism through a fourth pin shaft.
The clamping power mechanism comprises a driving crank arm arranged on a rotating shaft of the synchronous connecting rod mechanism, the other end of the driving crank arm is hinged with a connecting block through a fifth pin shaft, the connecting block is arranged at the tail end of a piston rod of the driving cylinder, and a cylinder body base of the driving cylinder is arranged on the side wall of the fixed upright post through a cylinder body mounting structure.
The cylinder body mounting structure is including installing the connecting plate on the fixed column lateral wall, be fixed with the articulated otic placode on the lateral wall of connecting plate, the articulated otic placode links to each other with the base of driving cylinder is articulated through sixth round pin axle.
The first crank arm and the second crank arm are arranged at two ends of the main rotating arm in a reverse symmetrical mode.
The driving cylinder adopts an oil cylinder or an air cylinder; the driving crank arm is matched with the rotating shaft by adopting a flat key and drives the rotating shaft to synchronously rotate; and the other end of the rotating shaft is matched with the main rotating arm by adopting a flat key.
Any one of the operation methods of the synchronous connecting rod-based clamping mechanism is characterized by comprising the following steps:
step 1: starting a clamping power mechanism, driving a piston rod through a driving cylinder, driving a connecting block through the piston rod, and driving a driving crank arm through the connecting block;
step 2: the rotating shaft is synchronously driven through the crank arm, and the main rotating arm is synchronously driven to rotate through the rotating shaft;
and step 3: the first crank arm and the second crank arm at two ends of the main rotating arm are synchronously driven to synchronously rotate through the main rotating arm;
and 4, step 4: a first driving plate and a second driving plate which are respectively connected with the first crank arm and the second crank arm are synchronously driven through the first crank arm and the second crank arm;
and 5: the first driving plate and the second driving plate respectively drive the first slider and the second slider to slide along the track;
step 6: the first clamping jaw and the second clamping jaw are driven to move oppositely through the first sliding block and the second sliding block synchronously, and then clamping action is achieved.
The invention has the following beneficial effects:
1. the synchronous clamping mechanism can realize synchronous action of the two clamping ends, adopts the connecting rod mechanism to replace the traditional gear synchronous mechanism, has a simple structure, is convenient to manufacture, and is suitable for batch production requirements.
2. The first jaw mechanism can slide along the rail.
3. The second jaw mechanism can slide along the rail.
4. Through foretell oblique reinforcing plate can strengthen the structural stability of first clamping jaw riser and second clamping jaw riser.
5. The first clamping jaw mechanism and the second clamping jaw mechanism can be driven synchronously by adopting the synchronous connecting rod mechanism, so that the synchronous action of the first clamping jaw mechanism and the second clamping jaw mechanism in the clamping action process is ensured, and the aim of centering is finally fulfilled.
6. Through foretell tight power unit of clamp can be used for providing and press from both sides tight power, at the course of the work, through actuating cylinder drive piston rod, through piston rod drive connecting block, and then drive the drive crank arm through the connecting block, finally rotate through drive crank arm drive pivot.
7. Through the reverse symmetrical arrangement, synchronous clamping and loosening actions can be guaranteed.
Drawings
The invention is further illustrated by the following figures and examples.
FIG. 1 is a first perspective three-dimensional view of the present invention.
FIG. 2 is a second perspective three-dimensional view of the present invention.
FIG. 3 is a third perspective three-dimensional view of the present invention.
Fig. 4 is a first state diagram of the present invention during clamping.
Fig. 5 is a second state diagram of the present invention during clamping.
Fig. 6 is a third state diagram of the present invention during clamping.
In the figure: the device comprises a fixed upright post 1, a connecting plate 2, a hinged lug plate 3, a sixth pin shaft 4, a driving cylinder 5, a piston rod 6, a connecting block 7, a fifth pin shaft 8, a driving crank arm 9, a rotating shaft 10, a second pin shaft 11, a first driving plate 12, a first crank arm 13, a first pin shaft 14, a main rotating arm 15, a first sliding block 16, a first bottom plate 17, a first clamping jaw vertical plate 18, a first clamping jaw 19, a second clamping jaw 20, a second clamping jaw vertical plate 21, an inclined reinforcing plate 22, a second bottom plate 23, a second sliding block 24, a track 25, a track fixing plate 26, a second driving plate 27, a fourth pin shaft 28, a second crank arm 29, a vertical plate 30 and an angle plate 31.
Detailed Description
Embodiments of the present invention will be further described with reference to the accompanying drawings.
Referring to fig. 1-3, the synchronous clamping mechanism based on the connecting rod comprises a fixed upright 1, wherein the top of the fixed upright 1 is fixedly provided with a vertical plate 30 through an angle plate 31, the top end of the vertical plate 30 is fixedly provided with a rail fixing plate 26, the top of the rail fixing plate 26 is fixedly provided with a rail 25, and the top of the rail 25 is symmetrically provided with a first clamping jaw mechanism and a second clamping jaw mechanism through sliding fit; the first clamping jaw mechanism and the second clamping jaw mechanism are hinged through a synchronous connecting rod mechanism, and the synchronous connecting rod mechanism is connected with a clamping power mechanism which is used for driving the synchronous connecting rod mechanism to rotate and realize clamping. The synchronous clamping mechanism can realize synchronous action of the two clamping ends, adopts the connecting rod mechanism to replace the traditional gear synchronous mechanism, has a simple structure, is convenient to manufacture, and is suitable for batch production requirements. In a specific use process, the clamping power mechanism drives the synchronous connecting rod mechanism, the synchronous connecting rod mechanism further drives the first clamping jaw mechanism and the second clamping jaw mechanism synchronously, and finally, synchronous centering and clamping actions are realized through the first clamping jaw mechanism and the second clamping jaw mechanism.
Further, the first clamping jaw mechanism comprises a first sliding block 16 which is in sliding fit with the track 25, a first bottom plate 17 is fixedly mounted at the top of the first sliding block 16, a first clamping jaw vertical plate 18 is fixedly mounted at the top of the first bottom plate 17, a first clamping jaw 19 is fixed on the inner side wall of the first clamping jaw vertical plate 18, and a first driving plate 12 used for being connected with the synchronous connecting rod mechanism is fixed on the outer side wall of the first bottom plate 17. The first jaw mechanism described above can slide along the rail 25.
Further, the second clamping jaw mechanism comprises a second sliding block 24 which is in sliding fit with the track 25, a second bottom plate 23 is fixedly mounted at the top of the second sliding block 24, a second clamping jaw vertical plate 21 is fixedly mounted at the top of the second bottom plate 23, a second clamping jaw 20 is fixed on the inner side wall of the second clamping jaw vertical plate 21, and a second driving plate 27 used for being connected with the synchronous connecting rod mechanism is fixed on the outer side wall of the second bottom plate 20. The second jaw mechanism described above can slide along the rail 25.
Furthermore, inclined reinforcing plates 22 are respectively arranged between the first clamping jaw vertical plate 18 and the first bottom plate 17 of the first clamping jaw mechanism and between the second clamping jaw vertical plate 21 and the second bottom plate 23 of the second clamping jaw mechanism. The structural stability of the first jaw upright plate 18 and the second jaw upright plate 21 can be enhanced by the inclined reinforcing plate 22 described above.
Further, the synchronous link mechanism comprises a main rotating arm 15 which is arranged on the vertical plate 30 through a rotating shaft 10, one end of the main rotating arm 15 is hinged with a first crank arm 13 through a first pin shaft 14, and the other end of the first crank arm 13 is hinged to the bottom of a first driving plate 12 of the first clamping jaw mechanism through a second pin shaft 11; the other end of the main rotating arm 15 is hinged with a second crank arm 29 through a third pin shaft 32, and the other end of the second crank arm 29 is hinged at the bottom of a second driving plate 27 of the second clamping jaw mechanism through a fourth pin shaft 28. The first clamping jaw mechanism and the second clamping jaw mechanism can be driven synchronously by adopting the synchronous connecting rod mechanism, so that the synchronous action of the first clamping jaw mechanism and the second clamping jaw mechanism in the clamping action process is ensured, and the aim of centering is finally fulfilled.
Furthermore, the clamping power mechanism comprises a driving crank arm 9 arranged on a rotating shaft 10 of the synchronous connecting rod mechanism, the other end of the driving crank arm 9 is hinged with a connecting block 7 through a fifth pin shaft 8, the connecting block 7 is arranged at the tail end of a piston rod 6 of the driving cylinder 5, and a cylinder body base of the driving cylinder 5 is arranged on the side wall of the fixed upright post 1 through a cylinder body mounting structure. Through foretell tight power unit of clamp can be used for providing and press from both sides tight power, at the course of the work, through drive cylinder 5 drive piston rod 6, through piston rod 6 drive connecting block 7, and then drive through connecting block 7 and drive crank arm 9, finally rotate through drive crank arm 9 drive pivot 10.
Further, cylinder body mounting structure is including installing connecting plate 2 on fixed column 1 lateral wall, be fixed with articulated otic placode 3 on the lateral wall of connecting plate 2, articulated otic placode 3 links to each other through the base of sixth round pin axle 4 with driving cylinder 5 is articulated. The cylinder mounting structure described above can be used to fix and mount the drive cylinder 5.
Further, the first crank arm 13 and the second crank arm 29 are arranged symmetrically at opposite ends of the main rotating arm 15. Through the reverse symmetrical arrangement, synchronous clamping and loosening actions can be guaranteed.
Further, the driving cylinder 5 adopts an oil cylinder or an air cylinder; the driving crank arm 9 is matched with the rotating shaft 10 by adopting a flat key and drives the same to synchronously rotate; the other end of the rotating shaft 10 is matched with the main rotating arm 15 through a flat key. The matching mode ensures that power can be smoothly transmitted to the driving crank arm 9, and then the driving crank arm 9 drives the corresponding synchronous link mechanism.
Example 2:
4-6, the method for operating the synchronous link-based clamping mechanism is characterized by comprising the following steps:
step 1: starting a clamping power mechanism, driving a piston rod 6 through a driving cylinder 5, driving a connecting block 7 through the piston rod 6, and driving a driving crank arm 9 through the connecting block 7;
step 2: the rotating shaft 10 is synchronously driven through the crank arm 9, and the main rotating arm 15 is synchronously driven to rotate through the rotating shaft 10;
and step 3: the main rotating arm 15 synchronously drives the first crank arm 13 and the second crank arm 29 at the two ends to synchronously rotate;
and 4, step 4: the first driving plate 12 and the second driving plate 27 which are respectively connected with the first crank arm 13 and the second crank arm 29 are synchronously driven through the first crank arm 13 and the second crank arm 29;
and 5: the first slider 16 and the second slider 24 are respectively driven to slide along the track 25 by the first driving plate 12 and the second driving plate 27;
step 6: the first slide block 16 and the second slide block 24 synchronously drive the first clamping jaw 19 and the second clamping jaw 20 to move towards each other, so that the clamping action is realized.
Claims (10)
1. Synchronous fixture based on connecting rod, its characterized in that: the clamping device comprises a fixed upright post (1), wherein the top of the fixed upright post (1) is fixedly provided with a vertical plate (30) through an angle plate (31), the top end of the vertical plate (30) is fixedly provided with a track fixing plate (26), the top of the track fixing plate (26) is fixedly provided with a track (25), and the top of the track (25) is symmetrically provided with a first clamping jaw mechanism and a second clamping jaw mechanism through sliding fit; the first clamping jaw mechanism and the second clamping jaw mechanism are hinged through a synchronous connecting rod mechanism, and the synchronous connecting rod mechanism is connected with a clamping power mechanism which is used for driving the synchronous connecting rod mechanism to rotate and realize clamping.
2. The link-based synchronized gripping mechanism of claim 1, wherein: first clamping jaw mechanism includes first slider (16) of sliding fit on track (25), the top fixed mounting of first slider (16) has first bottom plate (17), the top fixed mounting of first bottom plate (17) has first clamping jaw riser (18), be fixed with first clamping jaw (19) on the inside wall of first clamping jaw riser (18), be fixed with on the lateral wall of first bottom plate (17) and be used for the first drive plate (12) that link to each other with synchronous link mechanism.
3. The link-based synchronized gripping mechanism of claim 1, wherein: the second clamping jaw mechanism comprises a second sliding block (24) which is in sliding fit with the track (25), a second bottom plate (23) is fixedly mounted at the top of the second sliding block (24), a second clamping jaw vertical plate (21) is fixedly mounted at the top of the second bottom plate (23), a second clamping jaw (20) is fixed on the inner side wall of the second clamping jaw vertical plate (21), and a second driving plate (27) which is used for being connected with the synchronous connecting rod mechanism is fixed on the outer side wall of the second bottom plate (20).
4. The link-based synchronized gripping mechanism of claim 1, wherein: inclined reinforcing plates (22) are respectively arranged between a first clamping jaw vertical plate (18) and a first bottom plate (17) of the first clamping jaw mechanism and between a second clamping jaw vertical plate (21) and a second bottom plate (23) of the second clamping jaw mechanism.
5. The link-based synchronized gripping mechanism of claim 1, wherein: the synchronous connecting rod mechanism comprises a main rotating arm (15) which is arranged on a vertical plate (30) through a rotating shaft (10), one end of the main rotating arm (15) is hinged with a first crank arm (13) through a first pin shaft (14), and the other end of the first crank arm (13) is hinged to the bottom of a first driving plate (12) of the first clamping jaw mechanism through a second pin shaft (11);
the other end of the main rotating arm (15) is hinged with a second crank arm (29) through a third pin shaft (32), and the other end of the second crank arm (29) is hinged to the bottom of a second driving plate (27) of the second clamping jaw mechanism through a fourth pin shaft (28).
6. The link-based synchronized gripping mechanism of claim 1, wherein: the clamping power mechanism comprises a driving crank arm (9) installed on a rotating shaft (10) of the synchronous connecting rod mechanism, the other end of the driving crank arm (9) is hinged to a connecting block (7) through a fifth pin shaft (8), the connecting block (7) is installed at the tail end of a piston rod (6) of the driving cylinder (5), and a cylinder body base of the driving cylinder (5) is installed on the side wall of the fixed upright post (1) through a cylinder body installation structure.
7. The link-based synchronized gripping mechanism of claim 6, wherein: the cylinder body mounting structure is including installing connecting plate (2) on fixed column (1) lateral wall, be fixed with hinge otic placode (3) on the lateral wall of connecting plate (2), hinge otic placode (3) are articulated continuous with the base of driving cylinder (5) through sixth round pin axle (4).
8. The link-based synchronized gripping mechanism of claim 5, wherein: the first crank arm (13) and the second crank arm (29) are arranged at two ends of the main rotating arm (15) in a reverse symmetrical mode.
9. The link-based synchronized gripping mechanism of claim 6, wherein: the driving cylinder (5) adopts an oil cylinder or an air cylinder; the driving crank arm (9) is matched with the rotating shaft (10) by adopting a flat key and drives the driving crank arm to synchronously rotate; the other end of the rotating shaft (10) is matched with the main rotating arm (15) through a flat key.
10. The method of operating the link-based synchronized gripping mechanism of any one of claims 1-9, comprising the steps of:
step 1: a clamping power mechanism is started, a piston rod (6) is driven through a driving cylinder (5), a connecting block (7) is driven through the piston rod (6), and a driving crank arm (9) is driven through the connecting block (7);
step 2: the rotating shaft (10) is synchronously driven through the crank arm (9), and the main rotating arm (15) is synchronously driven to rotate through the rotating shaft (10);
and step 3: the main rotating arm (15) synchronously drives the first crank arm (13) and the second crank arm (29) at two ends to synchronously rotate;
and 4, step 4: a first crank arm (13) and a second crank arm (29) synchronously drive a first driving plate (12) and a second driving plate (27) which are respectively connected with the first crank arm and the second crank arm;
and 5: a first slider (16) and a second slider (24) are respectively driven to slide along a track (25) by a first driving plate (12) and a second driving plate (27);
step 6: the first clamping jaw (19) and the second clamping jaw (20) are synchronously driven to move oppositely through the first sliding block (16) and the second sliding block (24), and then the clamping action is realized.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010177920.6A CN111300464A (en) | 2020-03-13 | 2020-03-13 | Synchronous clamping mechanism based on connecting rod and operation method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010177920.6A CN111300464A (en) | 2020-03-13 | 2020-03-13 | Synchronous clamping mechanism based on connecting rod and operation method |
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| Publication Number | Publication Date |
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| CN111300464A true CN111300464A (en) | 2020-06-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010177920.6A Pending CN111300464A (en) | 2020-03-13 | 2020-03-13 | Synchronous clamping mechanism based on connecting rod and operation method |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111872769A (en) * | 2020-07-15 | 2020-11-03 | 胡建 | Multi-functional polishing robot with adjustable angle |
| CN112173736A (en) * | 2020-09-24 | 2021-01-05 | 泉州市微柏工业机器人研究院有限公司 | Stacking manipulator capable of shaping stack body and orderly stacking method |
| CN112249721A (en) * | 2020-09-24 | 2021-01-22 | 泉州市微柏工业机器人研究院有限公司 | Metal ingot stacking clamping jaw and ingot clamping stacking method |
| CN112847421A (en) * | 2021-01-08 | 2021-05-28 | 哈尔滨工程大学 | Clamping device for lifting large-diameter cylindrical material |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4696503A (en) * | 1986-10-27 | 1987-09-29 | The Singer Company | Pneumatic actuated cam driven parallel gripper |
| CN205415659U (en) * | 2016-02-02 | 2016-08-03 | 深圳市越疆科技有限公司 | Snatch mechanism, grabbing device and robot |
| CN206568202U (en) * | 2017-02-17 | 2017-10-20 | 广元绿岛农业开发有限公司 | A kind of eggplant end automatic-shearing device |
| CN109986585A (en) * | 2019-05-19 | 2019-07-09 | 石河子大学 | A kind of seedling taking manipulator of servo motor driving |
| CN210017341U (en) * | 2019-04-18 | 2020-02-07 | 华中农业大学 | Potato tissue culture tuber propagation end effector |
-
2020
- 2020-03-13 CN CN202010177920.6A patent/CN111300464A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4696503A (en) * | 1986-10-27 | 1987-09-29 | The Singer Company | Pneumatic actuated cam driven parallel gripper |
| CN205415659U (en) * | 2016-02-02 | 2016-08-03 | 深圳市越疆科技有限公司 | Snatch mechanism, grabbing device and robot |
| CN206568202U (en) * | 2017-02-17 | 2017-10-20 | 广元绿岛农业开发有限公司 | A kind of eggplant end automatic-shearing device |
| CN210017341U (en) * | 2019-04-18 | 2020-02-07 | 华中农业大学 | Potato tissue culture tuber propagation end effector |
| CN109986585A (en) * | 2019-05-19 | 2019-07-09 | 石河子大学 | A kind of seedling taking manipulator of servo motor driving |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111872769A (en) * | 2020-07-15 | 2020-11-03 | 胡建 | Multi-functional polishing robot with adjustable angle |
| CN112173736A (en) * | 2020-09-24 | 2021-01-05 | 泉州市微柏工业机器人研究院有限公司 | Stacking manipulator capable of shaping stack body and orderly stacking method |
| CN112249721A (en) * | 2020-09-24 | 2021-01-22 | 泉州市微柏工业机器人研究院有限公司 | Metal ingot stacking clamping jaw and ingot clamping stacking method |
| CN112847421A (en) * | 2021-01-08 | 2021-05-28 | 哈尔滨工程大学 | Clamping device for lifting large-diameter cylindrical material |
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Application publication date: 20200619 |