CN113731868A - Pusher dog for sorting gangue and gangue sorting method - Google Patents
Pusher dog for sorting gangue and gangue sorting method Download PDFInfo
- Publication number
- CN113731868A CN113731868A CN202110987003.9A CN202110987003A CN113731868A CN 113731868 A CN113731868 A CN 113731868A CN 202110987003 A CN202110987003 A CN 202110987003A CN 113731868 A CN113731868 A CN 113731868A
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- Prior art keywords
- pusher dog
- net
- gangue
- assembly
- flange
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- 238000000034 method Methods 0.000 title claims abstract description 14
- 210000000078 claw Anatomy 0.000 claims description 28
- 239000003245 coal Substances 0.000 claims description 18
- 230000003014 reinforcing effect Effects 0.000 claims description 8
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 4
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 239000010879 coal refuse Substances 0.000 claims 4
- 239000010878 waste rock Substances 0.000 abstract description 20
- 230000001788 irregular Effects 0.000 abstract description 3
- 241000282472 Canis lupus familiaris Species 0.000 description 66
- 230000033001 locomotion Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- 239000004575 stone Substances 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010030 laminating Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000005012 migration Effects 0.000 description 1
- 238000013508 migration Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000003756 stirring Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
- B07C2501/0063—Using robots
Abstract
The invention discloses a pusher dog for sorting gangue and a gangue sorting method, which comprise the following steps: the flange is detachably connected with the tail end of the manipulator; one end of the first pusher dog assembly is fixedly connected with the flange; one end of the second pusher dog assembly is rotationally connected with the flange through a rotary cylinder, and the rotary cylinder drives the second pusher dog assembly to rotate relative to the first pusher dog assembly so as to increase or reduce an included angle between the second pusher dog assembly and the first pusher dog assembly; one end of the net is connected with the other end of the first pusher dog component, the other end of the net is connected with the other end of the second pusher dog component, and the second pusher dog component drives the net to be opened or tightened. Utilize revolving cylinder drive second pusher dog subassembly to be close to or keep away from first pusher dog subassembly to change the opening degree of pocket net, with the dial selection that adapts to the waste rock of variation in size, utilize the pocket net to dial the selection to the waste rock, solved the problem that the manipulator can't snatch to irregular waste rock and the waste rock that the position is complicated.
Description
Technical Field
The invention belongs to the technical field of pusher dogs, and particularly relates to a pusher dog for sorting gangue and a gangue sorting method.
Background
The coal gangue separation is an important link in the coal separation processing process. In the current waste rock letter sorting mode, it is more to snatch the mode and use, but its result of use is unsatisfactory, and its leading cause lies in that shape, position and gesture of each waste rock on the transmission line all are all diverse, snatchs the in-process, has appeared the phenomenon that more gripper fingers and stone top hit, perhaps appears again because snatch the improper condition that leads to can't snatch the stone of gesture.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art.
Therefore, the invention provides the pusher dog for sorting the coal gangue and the gangue shifting method.
According to the embodiment of the invention, the pusher dog for sorting the coal gangue comprises: the flange is detachably connected with the tail end of the manipulator; one end of the first pusher dog assembly is fixedly connected with the flange; one end of the second pusher dog assembly is rotationally connected with the flange through a rotary cylinder, and the rotary cylinder drives the second pusher dog assembly to rotate relative to the first pusher dog assembly so as to increase or decrease an included angle between the second pusher dog assembly and the first pusher dog assembly; one end of the net is connected with the other end of the first shifting claw assembly, the other end of the net is connected with the other end of the second shifting claw assembly, and the second shifting claw assembly drives the net to be opened or tightened.
The gangue picking device has the beneficial effects that the gangue picking device is simple in structure, the second pusher dog component is driven to be close to or far away from the first pusher dog component by the rotary cylinder, so that the opening degree of the pocket net between the second pusher dog component and the first pusher dog component is changed to adapt to the picking of gangue with different sizes, and meanwhile, the pocket net is adopted to pick the gangue, so that the problem that a manipulator cannot pick irregular gangue and gangue with complex positions is solved.
According to one embodiment of the invention, the first finger assembly comprises: one end of the mounting plate is connected with the flange; the linear driving assembly is arranged below the mounting plate, a movable part is arranged on the linear driving assembly, and the movable part can move close to or far away from the flange; the shifting claw is vertically arranged, the upper end of the shifting claw is connected with the movable part, the shifting claw is connected with the pocket net, and the shifting claw is driven by the linear driving assembly to move close to or far away from the flange.
According to one embodiment of the invention, the linear drive assembly comprises: the two mounting blocks are arranged below the mounting plate and are arranged oppositely; one end of the guide rod is connected with one mounting block, and the other end of the guide rod is connected with the other mounting block; the screw rod is parallel to the guide rod, one end of the screw rod is rotatably connected with one mounting block, and the other end of the screw rod is rotatably connected with the other mounting block; the two sliding blocks are positioned between the two mounting blocks, one part of each sliding block is connected with the corresponding screw rod in a sliding mode, and the other part of each sliding block is connected with the corresponding screw rod in a rotating mode; the upper surface of the connecting plate is connected with the two sliding blocks, and the lower surface of the connecting plate is connected with the upper end of the pusher dog.
According to an embodiment of the present invention, the linear drive assembly further comprises: the motor, the motor with the mounting panel is fixed continuous, the output of motor with the lead screw is directly allied oneself with.
According to one embodiment of the invention, the connecting plate is provided with a plurality of through holes penetrating along the thickness direction, the through holes are uniformly arranged along the axial direction of the guide rod, the screw penetrates through the through holes to connect the pusher dog to the connecting plate, and the screw penetrates through the through holes to connect the sliding block to the connecting plate.
According to one embodiment of the invention, a plurality of pull rings are arranged on the side surface of the pusher dog, the pull rings are uniformly arranged along the height direction, and the pull rings are connected with the pocket net.
According to one embodiment of the invention, a reinforcing rib is further arranged on the side surface of the pusher dog, and the reinforcing rib is arranged along the height direction.
According to one embodiment of the invention, the net is a flexible iron chain net.
According to one embodiment of the present invention, the second finger assembly is identical in structure to the first finger assembly.
A gangue shifting method of a shifting claw for sorting gangue comprises the following steps: the machine visually recognizes the image of the waste rock, determines the coordinate and the size of the waste rock, and drives the pusher dog to move to the side face of the waste rock according to the coordinate and the size of the waste rock; step two: the motor rotates to drive the shifting claw to move to the position farthest away from the flange, and meanwhile, the second shifting claw assembly is close to the first shifting claw assembly, so that the net pockets on the shifting claw are kept in a tightened state; step three: according to the size of the gangue, the rotary cylinder rotates for a certain angle, so that the second pusher dog assembly and the first pusher dog assembly are expanded for a certain angle, and meanwhile, the pocket net is expanded, and the expanded width of the pocket net is larger than the minimum width of the gangue; step four: the motor rotates, and the drive pusher dog is close to the flange, treats pocket net and waste rock surface laminating back, and the motor stop work, manipulator drive pusher dog horizontal migration is dialled the waste rock from the coal.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic perspective view of a pusher dog for sorting coal gangue, according to the invention;
FIG. 2 is another schematic perspective view of a pusher dog for sorting coal gangue according to the present invention;
FIG. 3 is a schematic perspective view of a first finger assembly of the finger for sorting coal gangue according to the present invention;
reference numerals:
the device comprises a flange 1, a first pusher dog assembly 2, a rotary cylinder 3, a second pusher dog assembly 4, a pocket net 5, a mounting plate 21, a mounting block 22, a sliding block 23, a guide rod 24, a screw rod 25, a connecting plate 26, a pusher dog 27, a pull ring 28, a reinforcing rib 29 and a motor 30.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, 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 accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention. Furthermore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The pusher dog for coal gangue sorting and the method for gangue sorting according to the embodiment of the invention are described in detail below with reference to the accompanying drawings.
As shown in fig. 1 to 3, a pusher dog for sorting coal gangue according to an embodiment of the present invention includes: the flange 1, the first pusher dog component 2, the second pusher dog component 4 and the net pocket 5 are detachably connected with the tail end of the manipulator; one end of the first pusher dog component 2 is fixedly connected with the flange 1; one end of the second pusher dog assembly 4 is rotatably connected with the flange 1 through a rotary cylinder 3, and the rotary cylinder 3 drives the second pusher dog assembly 4 to rotate relative to the first pusher dog assembly 2 so as to increase or decrease an included angle between the second pusher dog assembly 4 and the first pusher dog assembly 2; one end of the pocket net 5 is connected with the other end of the first pusher dog component 2, the other end of the pocket net 5 is connected with the other end of the second pusher dog component 4, and the second pusher dog component 4 drives the pocket net 5 to open or tighten.
The gangue picking device is simple in structure, the rotary cylinder 3 is arranged to drive the second pusher dog assembly 4 to be close to or far away from the first pusher dog assembly 2, so that the opening degree of the pocket net 5 between the second pusher dog assembly 4 and the first pusher dog assembly 2 is changed to adapt to picking of gangue with different sizes, and meanwhile, the pocket net 5 is adopted to pick the gangue, so that the problem that a manipulator cannot pick irregular gangue and gangue with complex positions is solved.
According to one embodiment of the invention, the first finger assembly 2 comprises: the mounting plate 21, the linear driving assembly and the pusher dog 27, wherein one end of the mounting plate 21 is connected with the flange 1; the linear driving assembly is arranged below the mounting plate 21, and is provided with a movable part which can move close to or far away from the flange 1; the pusher dog 27 sets up vertically, and the upper end of pusher dog 27 links to each other with the movable part, and pusher dog 27 links to each other with pocket net 5, and pusher dog 27 is close to or is kept away from flange 1 motion under the drive of straight line drive assembly. That is to say, the linear driving assembly can further expand the motion range of the pusher dog 27, so that the application range is improved, and the gangue picking effect of different shapes and sizes is improved.
As shown in fig. 3, the linear drive assembly includes: the two mounting blocks 22, the guide rod 24, the screw rod 25, the two sliding blocks 23 and the connecting plate 26, wherein the two mounting blocks 22 are arranged below the mounting plate 21, and the two mounting blocks 22 are arranged oppositely; one end of the guide rod 24 is connected with one mounting block 22, and the other end of the guide rod 24 is connected with the other mounting block 22; the screw rod 25 is parallel to the guide rod 24, one end of the screw rod 25 is rotationally connected with one mounting block 22, and the other end of the screw rod 25 is rotationally connected with the other mounting block 22; the two sliding blocks 23 are positioned between the two mounting blocks 22, one part of the sliding block 23 is connected with the screw rod 25 in a sliding way, and the other part of the sliding block 23 is connected with the screw rod 25 in a rotating way; the upper surface of the connecting plate 26 is connected to the two sliders 23, and the lower surface of the connecting plate 26 is connected to the upper end of the pusher dog 27. Further, the linear drive assembly further comprises: and the motor 30, the motor 30 and the mounting plate 21 are fixedly connected, and the output end of the motor 30 is directly connected with the screw rod 25. That is to say, the motor 30 rotates to drive the screw rod 25 to rotate, the slide block 23 moves along the axis of the screw rod 25, the guide rod 24 and the screw rod 25 have a guiding function at the same time, so that the slide block 23 is kept stable during movement, two-point positioning is realized by the two slide blocks 23, the connecting plate 26 is prevented from deviating in the reciprocating movement process, and the precision of linear movement is improved.
According to an embodiment of the present invention, the connecting plate 26 is provided with a plurality of through holes penetrating in the thickness direction, the plurality of through holes are uniformly arranged along the axial direction of the guide rod 24, the screw penetrates through the through hole to connect the pusher dog 27 to the connecting plate 26, and the screw penetrates through the through hole to connect the slider 23 to the connecting plate 26. The fingers 27 may be mounted at different positions on the connecting plate 26 as required to vary the maximum or minimum distance of the fingers 27 from the flange 1.
According to an embodiment of the present invention, a plurality of pull rings 28 are provided on a side surface of the finger 27, the plurality of pull rings 28 are uniformly arranged in a height direction, and the plurality of pull rings 28 are connected to the net 5. The pull ring 28 can fix the pocket net 5, so that the pocket net 5 can keep a plane state after being opened, and the gangue dialing effect is improved. Furthermore, a reinforcing rib 29 is arranged on the side surface of the pusher dog 27, and the reinforcing rib 29 is arranged along the height direction. The reinforcing ribs 29 can increase the strength and prolong the service life.
According to one embodiment of the invention, the net 5 is a flexible iron chain net. The flexible iron chain net has certain strength, is not easy to wear and has long service life.
According to one embodiment of the present invention, second finger assembly 4 is identical in construction to first finger assembly 2. Spare and accessory parts can be shared, and manufacturing and maintenance cost is reduced.
A gangue shifting method of a shifting claw for sorting gangue comprises the following steps: the machine visually recognizes the image of the waste rock, determines the coordinate and the size of the waste rock, and drives the pusher dog 27 to move to the side face of the waste rock according to the coordinate and the size of the waste rock; step two: the motor 30 rotates to drive the pusher dog 27 to move to the position farthest away from the flange 1, and meanwhile, the second pusher dog assembly 4 is close to the first pusher dog assembly 2, so that the net pockets 5 on the pusher dog 27 are kept in a tightened state; step three: according to the size of the gangue, the rotary cylinder 3 rotates for a certain angle, so that the second pusher dog assembly 4 and the first pusher dog assembly 2 are opened for a certain angle, meanwhile, the pocket net 5 is opened, and the opening width of the pocket net 5 is larger than the minimum width of the gangue; step four: the motor 30 rotates to drive the shifting claw 27 to be close to the flange 1, after the pocket net 5 is attached to the surface of the gangue, the motor 30 stops working, and the manipulator drives the shifting claw 27 to horizontally move to dial the gangue out of the coal.
That is, before the start of the shifting, the two shifting claws 27 are close together, so that even if other coal exists around the gangue, the two shifting claws 27 can enter into a gap at the edge of the gangue, which cannot be realized by a common mechanical clamping jaw; simultaneously, during the dial, two pusher dogs 27 are opened, make pocket net 5 open, pocket net 5 is the plane state this moment, then two pusher dogs 27 are close to flange 1, make pocket net 5 whole paste in the waste rock side, the partly quilt of waste rock has just so been wrapped up, is difficult for breaking away from when stirring, and the manipulator drives pusher dog 27 and moves towards the direction of keeping away from pocket net 5 to dial the waste rock from the coal and select, the operation has greatly reduced the circumstances emergence that the waste rock dial in-process breaks away from pusher dog 27 like this.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (10)
1. The utility model provides a pusher dog is used in gangue letter sorting which characterized in that includes:
the flange (1), the said flange (1) is connected with end of the mechanical arm removably;
one end of the first pusher dog assembly (2) is fixedly connected with the flange (1);
one end of the second pusher dog assembly (4) is rotatably connected with the flange (1) through a rotary cylinder (3), and the rotary cylinder (3) drives the second pusher dog assembly (4) to rotate relative to the first pusher dog assembly (2) so as to increase or decrease an included angle between the second pusher dog assembly (4) and the first pusher dog assembly (2);
the net-holding device comprises a net-holding net (5), one end of the net-holding net (5) is connected with the other end of the first pusher dog component (2), the other end of the net-holding net (5) is connected with the other end of the second pusher dog component (4), and the second pusher dog component (4) drives the net-holding net (5) to be opened or tightened.
2. The coal refuse sorting finger of claim 1, wherein the first finger assembly (2) includes:
the mounting plate (21), one end of the mounting plate (21) is connected with the flange (1);
the linear driving assembly is arranged below the mounting plate (21), and is provided with a movable part which can move close to or away from the flange (1);
the shifting claw (27) is vertically arranged, the upper end of the shifting claw (27) is connected with the movable part, the shifting claw (27) is connected with the net pocket (5), and the shifting claw (27) is driven by the linear driving assembly to be close to or far away from the flange (1) to move.
3. The coal refuse sorting finger of claim 2, wherein the linear drive assembly includes:
the two mounting blocks (22), the two mounting blocks (22) are arranged below the mounting plate (21), and the two mounting blocks (22) are arranged oppositely;
one end of the guide rod (24) is connected with one mounting block (22), and the other end of the guide rod (24) is connected with the other mounting block (22);
the screw rod (25), the said screw rod (25) is parallel to said guide arm (24), one end of the said screw rod (25) rotates and links with a said mounting block (22), another end of the said screw rod (25) rotates and links with another said mounting block (22);
the two sliding blocks (23) are positioned between the two mounting blocks (22), one part of each sliding block (23) is connected with the corresponding screw rod (25) in a sliding mode, and the other part of each sliding block (23) is connected with the corresponding screw rod (25) in a rotating mode;
the upper surface of the connecting plate (26) is connected with the two sliding blocks (23), and the lower surface of the connecting plate (26) is connected with the upper end of the pusher dog (27).
4. The coal refuse sorting finger of claim 3, wherein the linear drive assembly further comprises:
the motor (30), the motor (30) with the mounting panel (21) is fixed continuous, the output of motor (30) with lead screw (25) link directly.
5. The pusher dog for sorting coal gangues according to claim 3, wherein the connecting plate (26) is provided with a plurality of through holes penetrating along the thickness direction, the through holes are uniformly arranged along the axial direction of the guide rod (24), screws penetrate through the through holes to connect the pusher dog (27) to the connecting plate (26), and screws penetrate through the through holes to connect the sliding block (23) to the connecting plate (26).
6. The pusher dog for sorting coal gangue according to claim 2, characterized in that a plurality of pull rings (28) are provided on a side surface of the pusher dog (27), the plurality of pull rings (28) are uniformly provided in a height direction, and the plurality of pull rings (28) are connected to the tuck net (5).
7. The pusher dog for sorting coal gangues according to claim 6, characterized in that a reinforcing rib (29) is further arranged on the side surface of the pusher dog (27), and the reinforcing rib (29) is arranged along the height direction.
8. The pusher dog for sorting coal gangues according to claim 1, wherein the pocket net (5) is a flexible iron chain net.
9. The coal refuse sorting finger according to any one of claims 1-7, characterized in that the second finger assembly (4) is identical in structure to the first finger assembly (2).
10. The gangue dumping method of the gangue dumping claw for sorting gangue, which is characterized by comprising the following steps,
the method comprises the following steps: the machine visually recognizes the gangue image, determines the coordinates and the size of the gangue, and drives the pusher dog (27) to move to the side face of the gangue according to the coordinates and the size of the gangue;
step two: the motor (30) rotates to drive the shifting claw (27) to move to the position farthest away from the flange (1), and meanwhile, the second shifting claw assembly (4) is close to the first shifting claw assembly (2), so that the net pockets (5) on the shifting claw (27) are kept in a tightened state;
step three: according to the size of the gangue, the rotary cylinder (3) rotates for a certain angle, so that the second pusher dog assembly (4) and the first pusher dog assembly (2) are opened for a certain angle, meanwhile, the pocket net (5) is opened, and the opening width of the pocket net (5) is greater than the minimum width of the gangue;
step four: the motor (30) rotates, the driving shifting claw (27) is close to the flange (1), after the pocket net (5) is attached to the surface of the gangue, the motor (30) stops working, and the manipulator drives the shifting claw (27) to horizontally move, so that the gangue is selected from coal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110987003.9A CN113731868B (en) | 2021-08-26 | 2021-08-26 | Pusher dog for sorting coal gangue and gangue sorting method |
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| CN202110987003.9A CN113731868B (en) | 2021-08-26 | 2021-08-26 | Pusher dog for sorting coal gangue and gangue sorting method |
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| CN113731868B CN113731868B (en) | 2023-10-24 |
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| US20210237262A1 (en) * | 2018-04-22 | 2021-08-05 | Zenrobotics Oy | Waste sorting gantry robot |
| CN109176568A (en) * | 2018-09-28 | 2019-01-11 | 北京邮电大学 | A kind of rigid soft coupling multi-finger clever hand of tendon rope-electromagnetic force joint driving |
| CN109366509A (en) * | 2018-12-04 | 2019-02-22 | 北京勤牛创智科技有限公司 | A kind of heavy load manipulator and sorting system |
| CN110340876A (en) * | 2019-08-13 | 2019-10-18 | 唐山市德丰机械设备有限公司 | A kind of coal gangues automation selection parallel flexible Three Degree Of Freedom robot |
| CN110961373A (en) * | 2019-12-17 | 2020-04-07 | 平顶山天安煤业股份有限公司 | Gangue sorting device |
| JP2021104491A (en) * | 2019-12-26 | 2021-07-26 | 株式会社安川電機 | Work-piece processing system |
| CN111113463A (en) * | 2020-01-20 | 2020-05-08 | 深圳市时维智能装备有限公司 | Mechanical hand and robot |
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