CN112405574A - Multi-claw mechanical clamping device with induction function - Google Patents
Multi-claw mechanical clamping device with induction function Download PDFInfo
- Publication number
- CN112405574A CN112405574A CN202011234394.9A CN202011234394A CN112405574A CN 112405574 A CN112405574 A CN 112405574A CN 202011234394 A CN202011234394 A CN 202011234394A CN 112405574 A CN112405574 A CN 112405574A
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- Prior art keywords
- mechanical clamping
- jaw
- clamping device
- induction function
- adjusting
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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
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
- B25J15/0057—Gripping heads and other end effectors multiple gripper units or multiple end effectors mounted on a turret
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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
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/0213—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by gears
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Jigs For Machine Tools (AREA)
Abstract
The invention discloses a multi-claw mechanical clamping device with an induction function, which comprises a connecting rack and a turntable rotatably arranged on the connecting rack, wherein a plurality of mechanical clamping mechanisms are uniformly arranged on the periphery of the turntable, a plurality of bases are uniformly and fixedly arranged on the periphery of the turntable, the bases correspond to the mechanical clamping mechanisms one by one, and swing arms are hinged on the bases; the base is also hinged with an adjusting telescopic rod, and the telescopic end of the adjusting telescopic rod is hinged with the swing arm; the mechanical clamping mechanism comprises a connecting seat and two clamping jaws symmetrically arranged at the end head of the connecting seat. According to the invention, the turntable is rotatably arranged on the connecting rack, the plurality of mechanical clamping mechanisms are uniformly arranged on the periphery of the turntable, when the turntable rotates on the rack, the plurality of mechanical clamping mechanisms respectively clamp different workpieces, so that the working efficiency of the clamping device is improved, and the positions of the mechanical clamping mechanisms are adjusted by changing the positions of the connecting rack and the turntable.
Description
Technical Field
The invention relates to the field of machinery, in particular to a multi-claw mechanical clamping device with an induction function.
Background
The mechanical finger can imitate some action functions of human hand and arm, and is used for grabbing and carrying articles according to fixed program or automatic operation device of operation tool, and is mainly formed from three portions of actuating mechanism, driving mechanism and control system. It can replace the heavy labor of people to realize the mechanization and automation of production, and can be operated under harmful environment to protect the personal safety, thus being widely applied to the departments of mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and the like.
At present, the full-automatic test system of domestic production generally adopts the manipulator of robot and cylinder combination to come the centre gripping test piece, can not confirm the test piece state at the action in-process, consequently has two kinds of wrong operation hidden dangers. One is that when the test piece is clamped, the test piece is clamped empty, and the test piece has no error in clamping; another situation is that when the test piece is released, an error may occur that the test piece does not come off the release, and both of these errors cause a waste of time and may even cause a danger to the fully automated testing system and the operator.
Therefore, in view of the above situation, there is a need to develop a multi-jaw mechanical clamping device with sensing function to overcome the shortcomings in the current practical application.
Disclosure of Invention
The present invention is directed to a multi-jaw mechanical clamping device with sensing function, so as to solve the problems mentioned in the background art.
In order to achieve the purpose, the invention provides the following technical scheme:
a multi-claw mechanical clamping device with an induction function comprises a connecting rack and a rotary table rotatably mounted on the connecting rack, wherein a plurality of mechanical clamping mechanisms are uniformly arranged on the periphery of the rotary table, a plurality of bases are uniformly and fixedly mounted on the periphery of the rotary table, the bases correspond to the mechanical clamping mechanisms one by one, and swing arms are hinged to the bases; the base is also hinged with an adjusting telescopic rod, and the telescopic end of the adjusting telescopic rod is hinged with the swing arm; the mechanical clamping mechanism comprises a connecting seat and two clamping jaws symmetrically arranged at the end head of the connecting seat.
As a further scheme of the invention: the adjusting telescopic rod is an electric telescopic rod or an electric cylinder.
As a further scheme of the invention: the clamping jaw is movably connected with the connecting seat through the outer connecting rod and the inner connecting rod; one end of the outer connecting rod is rotatably connected with the connecting seat through a rotating shaft, a rotating gear is fixedly mounted on the rotating shaft, the other end of the outer connecting rod is rotatably connected with the clamping jaw, and two ends of the inner connecting rod are respectively hinged with the clamping jaw of the connecting seat.
As a further scheme of the invention: two rotating gear mesh mutually, fixed mounting has driving motor on the connecting seat, and driving motor's output fixed mounting has adjusting gear, and adjusting gear meshes with one of them rotating gear.
As a further scheme of the invention: the inner side of the clamping jaw is fixedly provided with an anti-slip pad, the anti-slip pad is of a concave arc structure made of rubber, and two ends of the anti-slip pad are provided with teeth.
As a further scheme of the invention: still including the response module, the response module comprises drive unit and the detecting element who sets up on the jack catch on setting up in connecting the frame, and drive unit is including installing motor controller and the microprocessor in connecting the frame, and detecting element is the inductor of installing on the jack catch, and the inductor is photoelectric sensing ware, the inductor is connected with microprocessor's input, and microprocessor's output is connected with motor controller, motor controller and driving motor electric connection.
As a further scheme of the invention: the connecting rack comprises a transverse plate, an adjusting screw rod rotatably mounted at the bottom of the transverse plate, and a limiting frame vertically arranged on the outer side of the adjusting screw rod, and the limiting frame is fixedly connected with the adjusting screw rod; the adjusting screw is in threaded connection with a threaded sleeve, and the threaded sleeve is in sliding connection with the limiting frame.
As a further scheme of the invention: the rotary table is of a circular ring structure, the rotary table is rotatably installed on the outer side of the threaded sleeve, a gear ring is fixedly installed on the rotary table, a stepping motor is fixedly installed on the outer side of the threaded sleeve, a main gear is fixedly installed at the output end of the stepping motor, and the main gear is meshed with the gear ring.
As a further scheme of the invention: and a rotating motor for driving the adjusting screw rod to rotate is fixedly arranged on the transverse plate.
Compared with the prior art, the invention has the beneficial effects that:
1. the rotary table is rotatably arranged on the connecting rack, the periphery of the rotary table is uniformly provided with a plurality of mechanical clamping mechanisms, when the rotary table rotates on the rack, the plurality of mechanical clamping mechanisms respectively clamp different workpieces, the working efficiency of the clamping device is improved, and the positions of the mechanical clamping mechanisms are adjusted by changing the positions of the connecting rack and the rotary table;
2. the invention also comprises an induction module, wherein the induction module consists of a driving unit arranged on the connecting rack and a detection unit arranged on the clamping jaw, the driving unit comprises a motor controller and a microprocessor which are arranged on the connecting rack, the detection unit is an inductor arranged on the clamping jaw, the inductor is a photoelectric inductor, the inductor detects and determines the clamping state of the clamping jaw on an object and sends a detected signal to the microprocessor, and the microprocessor controls the driving motor to work through the motor controller so that the clamping jaw can effectively clamp the object.
Drawings
Fig. 1 is a schematic structural diagram of a multi-jaw mechanical clamping device with an induction function.
Fig. 2 is a perspective view of a mechanical clamping mechanism in a multi-jaw mechanical clamping device with an induction function.
Fig. 3 is a top view of a mechanical clamping mechanism in a multi-jaw mechanical clamping device with an inductive function.
Fig. 4 is a schematic structural diagram of the connecting frame in embodiment 2 of the multi-jaw mechanical clamping device with the sensing function.
In the figure: 1-connecting a rack, 101-rotating motor, 102-limiting frame, 103-adjusting screw rod, 104-screw sleeve, 105-gear ring, 106-main gear, 107-stepping motor, 2-turntable, 201-base, 202-swing arm, 203-adjusting telescopic rod, 3-mechanical clamping mechanism, 301-connecting seat, 302-rotating gear, 303-outer connecting rod, 304-clamping head, 305-inner connecting rod, 306-inductor and 307-non-slip mat.
Detailed Description
The technical solution of the present patent will be described in further detail with reference to the following embodiments.
Reference will now be made in detail to embodiments of the present patent, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present patent and are not to be construed as limiting the present patent.
In the description of this patent, it is to be understood that the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings for the convenience of describing the patent and for the simplicity of description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the patent.
In the description of this patent, it is noted that unless otherwise specifically stated or limited, the terms "mounted," "connected," and "disposed" are to be construed broadly and can include, for example, fixedly connected, disposed, detachably connected, disposed, or integrally connected and disposed. The specific meaning of the above terms in this patent may be understood by those of ordinary skill in the art as appropriate.
Example 1
Referring to fig. 1 to 3, in the embodiment of the present invention, a multi-jaw mechanical clamping device with an induction function includes a connecting frame 1 and a turntable 2 rotatably mounted on the connecting frame 1, a plurality of mechanical clamping mechanisms 3 are uniformly disposed on the periphery of the turntable 2, when the turntable 2 rotates on the connecting frame 1, the plurality of mechanical clamping mechanisms 3 respectively clamp different workpieces, so as to improve the working efficiency of the clamping device, and simultaneously, the positions of the mechanical clamping mechanisms 3 are adjusted by changing the positions of the connecting frame 1 and the turntable 2;
a plurality of bases 201 are uniformly and fixedly arranged on the peripheral side of the turntable 2, the bases 201 correspond to the mechanical clamping mechanisms 3 one by one, and the bases 201 are hinged with swing arms 202; the base 201 is also provided with an adjusting telescopic rod 203 in a hinged manner, the telescopic end of the adjusting telescopic rod 203 is hinged to the swinging arm 202, and the rotating angle of the swinging arm 202 is changed by controlling the length of the adjusting telescopic rod 203, so that the position of the mechanical clamping mechanism 3 is adjusted;
specifically, in this embodiment, the adjusting telescopic rod 203 is an electric telescopic rod structure, and meanwhile, the adjusting telescopic rod 203 may also be an electric cylinder;
the mechanical clamping mechanism 3 comprises a connecting seat 301 and two clamping jaws 304 symmetrically arranged at the end head of the connecting seat 301, and the clamping jaws 304 are movably connected with the connecting seat 301 through an outer connecting rod 303 and an inner connecting rod 305; one end of the outer connecting rod 303 is rotatably connected with the connecting seat 301 through a rotating shaft, a rotating gear 302 is fixedly installed on the rotating shaft, the other end of the outer connecting rod 303 is rotatably connected with a clamping jaw 304, and two ends of the inner connecting rod 305 are respectively hinged with the clamping jaw 304 of the connecting seat 301;
specifically, in this embodiment, two rotating gears 302 are engaged with each other, a driving motor is fixedly mounted on the connecting seat 301, an adjusting gear is fixedly mounted at an output end of the driving motor, and the adjusting gear is engaged with one of the rotating gears 302 and is used for driving the rotating gears 302, the rotating shaft and the outer connecting rod 303 to rotate so as to drive the jaws 304 to retract and release;
further, in this embodiment, an anti-slip pad 307 is fixedly installed on the inner side of the claw 304, the anti-slip pad 307 is a concave arc structure made of rubber, and two ends of the anti-slip pad 307 are provided with teeth to prevent the clamped object from falling off;
the mechanical clamping mechanism cannot determine the clamping state in the action process, so that two potential risks of wrong operation exist, one is that when an object is clamped to act, the object is grabbed empty, and the object has no error in clamping; another situation is that when releasing the object, it may happen that the object is not released, in this embodiment, the device also comprises an induction module, the induction module consists of a driving unit arranged on the connecting rack 1 and a detection unit arranged on the clamping jaw 304, the driving unit comprises a motor controller and a microprocessor which are arranged on the connecting rack 1, the detection unit is an inductor 306 arranged on the clamping jaw 304, the inductor 306 is a photoelectric inductor, the sensor 306 is connected with the input end of the microprocessor, the output end of the microprocessor is connected with the motor controller, the motor controller is electrically connected with the driving motor, the sensor 306 detects and determines the holding state of the clamping jaw 304 on the object, and signals obtained by detection are sent to a microprocessor, and the microprocessor controls a driving motor to work through a motor controller, so that the clamping jaws 304 effectively clamp an object.
Example 2
Referring to fig. 1 to 3, in the embodiment of the present invention, a multi-jaw mechanical clamping device with an induction function includes a connecting frame 1 and a turntable 2 rotatably mounted on the connecting frame 1, a plurality of mechanical clamping mechanisms 3 are uniformly disposed on the periphery of the turntable 2, when the turntable 2 rotates on the connecting frame 1, the plurality of mechanical clamping mechanisms 3 respectively clamp different workpieces, so as to improve the working efficiency of the clamping device, and simultaneously, the positions of the mechanical clamping mechanisms 3 are adjusted by changing the positions of the connecting frame 1 and the turntable 2;
a plurality of bases 201 are uniformly and fixedly arranged on the peripheral side of the turntable 2, the bases 201 correspond to the mechanical clamping mechanisms 3 one by one, and the bases 201 are hinged with swing arms 202; the base 201 is also provided with an adjusting telescopic rod 203 in a hinged manner, the telescopic end of the adjusting telescopic rod 203 is hinged to the swinging arm 202, and the rotating angle of the swinging arm 202 is changed by controlling the length of the adjusting telescopic rod 203, so that the position of the mechanical clamping mechanism 3 is adjusted;
specifically, in this embodiment, the adjusting telescopic rod 203 is an electric telescopic rod structure, and meanwhile, the adjusting telescopic rod 203 may also be an electric cylinder;
the mechanical clamping mechanism 3 comprises a connecting seat 301 and two clamping jaws 304 symmetrically arranged at the end head of the connecting seat 301, and the clamping jaws 304 are movably connected with the connecting seat 301 through an outer connecting rod 303 and an inner connecting rod 305; one end of the outer connecting rod 303 is rotatably connected with the connecting seat 301 through a rotating shaft, a rotating gear 302 is fixedly installed on the rotating shaft, the other end of the outer connecting rod 303 is rotatably connected with a clamping jaw 304, and two ends of the inner connecting rod 305 are respectively hinged with the clamping jaw 304 of the connecting seat 301;
specifically, in this embodiment, two rotating gears 302 are engaged with each other, a driving motor is fixedly mounted on the connecting seat 301, an adjusting gear is fixedly mounted at an output end of the driving motor, and the adjusting gear is engaged with one of the rotating gears 302 and is used for driving the rotating gears 302, the rotating shaft and the outer connecting rod 303 to rotate so as to drive the jaws 304 to retract and release;
further, in this embodiment, an anti-slip pad 307 is fixedly installed on the inner side of the claw 304, the anti-slip pad 307 is a concave arc structure made of rubber, and two ends of the anti-slip pad 307 are provided with teeth to prevent the clamped object from falling off;
the mechanical clamping mechanism cannot determine the clamping state in the action process, so that two potential risks of wrong operation exist, one is that when an object is clamped to act, the object is grabbed empty, and the object has no error in clamping; another situation is that when releasing the object, it may happen that the object is not released, in this embodiment, the device also comprises an induction module, the induction module consists of a driving unit arranged on the connecting rack 1 and a detection unit arranged on the clamping jaw 304, the driving unit comprises a motor controller and a microprocessor which are arranged on the connecting rack 1, the detection unit is an inductor 306 arranged on the clamping jaw 304, the inductor 306 is a photoelectric inductor, the sensor 306 is connected with the input end of the microprocessor, the output end of the microprocessor is connected with the motor controller, the motor controller is electrically connected with the driving motor, the sensor 306 detects and determines the holding state of the clamping jaw 304 on the object, and signals obtained by detection are sent to a microprocessor, and the microprocessor controls a driving motor to work through a motor controller, so that the clamping jaws 304 effectively clamp an object.
Referring to fig. 4, the difference between the present embodiment and embodiment 1 is:
the connecting rack 1 comprises a transverse plate, an adjusting screw 103 rotatably mounted at the bottom of the transverse plate, and a limiting frame 102 vertically arranged at the outer side of the adjusting screw 103, wherein the limiting frame 102 is fixedly connected with the adjusting screw 103; the adjusting screw 103 is in threaded connection with a threaded sleeve 104, the threaded sleeve 104 is in sliding connection with the limiting frame 102, and the adjusting screw 103 is rotated to drive the threaded sleeve 104 to move up and down along the limiting frame 102;
the rotary table 2 is of a circular ring structure, the rotary table 2 is rotatably mounted on the outer side of the threaded sleeve 104, a gear ring 105 is fixedly mounted on the rotary table 2, a stepping motor 107 is fixedly mounted on the outer side of the threaded sleeve 104, a main gear 106 is fixedly mounted at the output end of the stepping motor 107, and the main gear 106 is meshed with the gear ring 105 and is used for driving the gear ring 105 and the rotary table 2 to rotate;
specifically, in this embodiment, the horizontal plate is fixedly provided with a rotating motor 101 for driving the adjusting screw 103 to rotate.
The above is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, it is possible to make several variations and modifications without departing from the concept of the present invention, and these should be considered as the protection scope of the present invention, which will not affect the effect of the implementation of the present invention and the utility of the patent.
Claims (9)
1. The multi-claw mechanical clamping device with the induction function is characterized by comprising a connecting rack (1) and a rotary table (2) rotatably mounted on the connecting rack (1), wherein a plurality of mechanical clamping mechanisms (3) are uniformly arranged on the periphery of the rotary table (2), a plurality of bases (201) are uniformly and fixedly mounted on the periphery of the rotary table (2), the bases (201) correspond to the mechanical clamping mechanisms (3) one by one, and a swing arm (202) is hinged to the bases (201); the base (201) is also provided with an adjusting telescopic rod (203) in a hinged mode, and the telescopic end of the adjusting telescopic rod (203) is hinged to the swing arm (202); the mechanical clamping mechanism (3) comprises a connecting seat (301) and two clamping jaws (304) symmetrically arranged at the end head of the connecting seat (301).
2. The multi-jaw mechanical clamping device with induction function as claimed in claim 1, characterized in that said adjusting telescopic rod (203) is an electric telescopic rod or an electric cylinder.
3. The multi-jaw mechanical clamping device with induction function as claimed in claim 1, wherein the clamping jaw (304) is movably connected with the connecting seat (301) through an outer connecting rod (303) and an inner connecting rod (305); one end of the outer connecting rod (303) is rotatably connected with the connecting seat (301) through a rotating shaft, a rotating gear (302) is fixedly mounted on the rotating shaft, the other end of the outer connecting rod (303) is rotatably connected with the clamping jaw (304), and two ends of the inner connecting rod (305) are hinged to the clamping jaw (304) of the connecting seat (301) respectively.
4. The multi-jaw mechanical clamping device with the induction function according to claim 3, wherein two rotating gears (302) are engaged, a driving motor is fixedly installed on the connecting base (301), an adjusting gear is fixedly installed at an output end of the driving motor, and the adjusting gear is engaged with one of the rotating gears (302).
5. The multi-jaw mechanical clamping device with induction function according to claim 1, characterized in that a non-slip pad (307) is fixedly installed on the inner side of the clamping jaw (304), the non-slip pad (307) is a concave arc structure made of rubber, and two ends of the non-slip pad (307) are provided with teeth.
6. The multi-jaw mechanical clamping device with the sensing function according to any one of claims 1 to 5, further comprising a sensing module, wherein the sensing module is composed of a driving unit arranged on the connecting rack (1) and a detecting unit arranged on the jaw (304), the driving unit comprises a motor controller and a microprocessor which are arranged on the connecting rack (1), the detecting unit is an inductor (306) arranged on the jaw (304), the inductor (306) is a photoelectric inductor, the inductor (306) is connected with an input end of the microprocessor, an output end of the microprocessor is connected with the motor controller, and the motor controller is electrically connected with the driving motor.
7. The multi-claw mechanical clamping device with the induction function according to claim 1, wherein the connecting frame (1) comprises a transverse plate, an adjusting screw rod (103) rotatably mounted at the bottom of the transverse plate, and a limiting frame (102) vertically arranged at the outer side of the adjusting screw rod (103), wherein the limiting frame (102) is fixedly connected with the adjusting screw rod (103); the adjusting screw rod (103) is in threaded connection with a threaded sleeve (104), and the threaded sleeve (104) is in sliding connection with the limiting frame (102).
8. The multi-jaw mechanical clamping device with the induction function according to claim 7, wherein the rotating disc (2) is a circular ring structure, the rotating disc (2) is rotatably installed on the outer side of the threaded sleeve (104), a gear ring (105) is fixedly installed on the rotating disc (2), a stepping motor (107) is fixedly installed on the outer side of the threaded sleeve (104), a main gear (106) is fixedly installed at the output end of the stepping motor (107), and the main gear (106) is meshed with the gear ring (105).
9. The multi-jaw mechanical clamping device with the induction function as claimed in claim 8, wherein a rotating motor (101) for driving the adjusting screw rod (103) to rotate is fixedly installed on the cross plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011234394.9A CN112405574A (en) | 2020-11-07 | 2020-11-07 | Multi-claw mechanical clamping device with induction function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011234394.9A CN112405574A (en) | 2020-11-07 | 2020-11-07 | Multi-claw mechanical clamping device with induction function |
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| Publication Number | Publication Date |
|---|---|
| CN112405574A true CN112405574A (en) | 2021-02-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011234394.9A Pending CN112405574A (en) | 2020-11-07 | 2020-11-07 | Multi-claw mechanical clamping device with induction function |
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| CN (1) | CN112405574A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113736637A (en) * | 2021-10-14 | 2021-12-03 | 华中科技大学同济医学院附属协和医院 | High-efficient cell orifice plate albumen is scraped out ware |
| CN115256356A (en) * | 2022-09-27 | 2022-11-01 | 深圳市恒润鑫五金有限公司 | Special sampling manipulator of industrial robot |
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| CN209793725U (en) * | 2019-04-30 | 2019-12-17 | 上海剑平动平衡机制造有限公司 | Manipulator mechanism of full-automatic balance correction equipment |
| CN110625603A (en) * | 2019-09-17 | 2019-12-31 | 厦门大学 | Rotary industrial robot equipment |
| CN111717655A (en) * | 2020-06-24 | 2020-09-29 | 蔡豪杰 | Goods grabbing device is used in electronic product sale |
| CN211639955U (en) * | 2019-12-30 | 2020-10-09 | 常州工学院 | Flexible manipulator |
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2020
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108582143A (en) * | 2018-06-27 | 2018-09-28 | 上海海洋大学 | A kind of adaptive portable sorting mechanical arm |
| CN209793725U (en) * | 2019-04-30 | 2019-12-17 | 上海剑平动平衡机制造有限公司 | Manipulator mechanism of full-automatic balance correction equipment |
| CN110625603A (en) * | 2019-09-17 | 2019-12-31 | 厦门大学 | Rotary industrial robot equipment |
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| CN111717655A (en) * | 2020-06-24 | 2020-09-29 | 蔡豪杰 | Goods grabbing device is used in electronic product sale |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113736637A (en) * | 2021-10-14 | 2021-12-03 | 华中科技大学同济医学院附属协和医院 | High-efficient cell orifice plate albumen is scraped out ware |
| CN113736637B (en) * | 2021-10-14 | 2023-08-04 | 华中科技大学同济医学院附属协和医院 | High-efficient cell orifice plate albumen scrapes out ware |
| CN115256356A (en) * | 2022-09-27 | 2022-11-01 | 深圳市恒润鑫五金有限公司 | Special sampling manipulator of industrial robot |
| CN115256356B (en) * | 2022-09-27 | 2023-01-17 | 深圳市恒润鑫五金有限公司 | Special sampling manipulator of industrial robot |
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Application publication date: 20210226 |
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