CN113731868B - Pusher dog for sorting coal gangue and gangue sorting method - Google Patents
Pusher dog for sorting coal gangue and gangue sorting method Download PDFInfo
- Publication number
- CN113731868B CN113731868B CN202110987003.9A CN202110987003A CN113731868B CN 113731868 B CN113731868 B CN 113731868B CN 202110987003 A CN202110987003 A CN 202110987003A CN 113731868 B CN113731868 B CN 113731868B
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- pusher dog
- gangue
- assembly
- flange
- net
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- 239000003245 coal Substances 0.000 title claims abstract description 21
- 238000000034 method Methods 0.000 title claims abstract description 13
- 210000000078 claw Anatomy 0.000 claims description 10
- 230000003014 reinforcing effect Effects 0.000 claims description 7
- 230000000149 penetrating effect Effects 0.000 claims description 5
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 4
- 238000013459 approach Methods 0.000 claims description 3
- 239000010879 coal refuse Substances 0.000 claims 1
- 230000001788 irregular Effects 0.000 abstract description 3
- 241000282472 Canis lupus familiaris Species 0.000 description 71
- 210000003811 finger Anatomy 0.000 description 16
- 239000011435 rock Substances 0.000 description 8
- 239000002699 waste material Substances 0.000 description 8
- 239000010878 waste rock Substances 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 210000003813 thumb Anatomy 0.000 description 3
- 240000007643 Phytolacca americana Species 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000036544 posture Effects 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process 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
- 238000005728 strengthening Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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
Landscapes
- Discharge Of Articles From Conveyors (AREA)
Abstract
The invention discloses a pusher dog for sorting coal gangue and a gangue sorting method, comprising 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 air cylinder, and the rotary air 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 pocket net is connected with the other end of the first pusher dog assembly, the other end of the pocket net is connected with the other end of the second pusher dog assembly, and the second pusher dog assembly drives the pocket net to open or tighten. The rotary cylinder is utilized to drive the second pusher dog assembly to be close to or far away from the first pusher dog assembly, so that the opening degree of the pocket net is changed, the pocket net is utilized to dial the gangue, and the problem that the mechanical arm cannot grab irregular gangue and the gangue with complex positions is solved.
Description
Technical Field
The invention belongs to the technical field of pusher dogs, and particularly relates to a pusher dog for sorting coal gangue and a gangue sorting method.
Background
Coal gangue separation is an important link in the coal separation processing process. In the existing gangue sorting mode, more gripping modes are used, but the use effect is not ideal, and the main reasons are that the shapes, positions and postures of the gangue on a transmission line are all different, so that in the gripping process, the phenomenon that more mechanical claw fingers collide with stones occurs, or the situation that stones cannot be gripped due to improper gripping postures occurs.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems existing in the prior art.
Therefore, the invention provides the pusher dog for sorting the coal gangue and the gangue dialing method.
According to the embodiment of the invention, the pusher dog for sorting coal gangue comprises the following components: 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 air cylinder, and the rotary air 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 pocket net is connected with the other end of the first pusher dog assembly, the other end of the pocket net is connected with the other end of the second pusher dog assembly, and the second pusher dog assembly drives the pocket net to open or tighten.
The invention has the beneficial effects that the structure is simple, the rotary cylinder is arranged to drive the second pusher dog assembly to be close to or far from the first pusher dog assembly, so that the opening degree of the pocket net between the second pusher dog assembly and the first pusher dog assembly is changed, the pocket net is adapted to the poking of the waste rocks with different sizes, meanwhile, the pocket net is adopted to poke the waste rocks, and the problem that the mechanical arm can not grab the irregular waste rocks and the waste rocks with complex positions is solved.
According to one embodiment of the invention, the first finger assembly comprises: the mounting plate is connected with the flange at one end; the linear driving assembly is arranged below the mounting plate and is provided with a movable part, and the movable part can move close to or far away from the flange; the pulling claw is vertically arranged, the upper end of the pulling claw is connected with the movable part, the pulling claw is connected with the stomacher, and the pulling claw is driven by the linear driving assembly to move close to or far away from the flange.
According to one embodiment of the present invention, the linear driving assembly includes: the two mounting blocks are arranged below the mounting plate and are oppositely arranged; 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 the sliding blocks is connected with the screw rod in a sliding manner, and the other part of the sliding blocks is connected with the screw rod in a rotating manner; 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 ends of the pusher dog.
According to one embodiment of the invention, the linear drive assembly further comprises: and the motor is fixedly connected with the mounting plate, and the output end of the motor is directly connected with the screw rod.
According to one embodiment of the invention, the connecting plate is provided with a plurality of through holes penetrating in the thickness direction, the through holes are uniformly distributed along the axial direction of the guide rod, a 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 face of the pulling claw, 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, the lateral surface of the pusher dog is also provided with a reinforcing rib, and the reinforcing rib is arranged along the height direction.
According to one embodiment of the invention, the pocket net is a flexible iron chain net.
According to one embodiment of the invention, the second finger assembly is identical in construction to the first finger assembly.
A gangue dialing method of a pusher dog for gangue sorting comprises the following steps: the gangue image identified by the machine vision is used for determining the coordinates and the size of the gangue, and the manipulator drives the pusher dog to move to the side surface of the gangue according to the coordinates and the size of the gangue; step two: the motor rotates to drive the pusher dog to move to the farthest distance from the flange, and meanwhile, the second pusher dog assembly is close to the first pusher dog assembly, so that the pocket net on the pusher dog is kept in a tightening state; step three: according to the size of the gangue, the rotary cylinder rotates for a certain angle to enable the second pusher dog assembly and the first pusher dog assembly to open for a certain angle, meanwhile, the stomacher net is opened, and the opening width of the stomacher net is larger than the minimum width of the gangue; step four: the motor rotates to drive the pusher dog to approach the flange, after the net is attached to the surface of the gangue, the motor stops working, and the manipulator drives the pusher dog to horizontally move to pull the gangue out of 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 above objects, features and advantages of the present invention more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
The foregoing and/or additional aspects and advantages of the present invention will become apparent and may be readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:
FIG. 1 is a schematic perspective view of a pusher dog for sorting coal gangue according to the present invention;
FIG. 2 is another 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 gangue sorting finger according to the present invention;
reference numerals:
flange 1, first thumb assembly 2, revolving cylinder 3, second thumb assembly 4, pocket 5, mounting plate 21, mounting block 22, slider 23, guide rod 24, lead screw 25, connecting plate 26, thumb 27, pull ring 28, strengthening rib 29, motor 30.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention. Furthermore, features defining "first", "second" may include one or more such features, either explicitly or implicitly. In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
The pusher dog for sorting coal gangue and the gangue sorting method according to the embodiments of the present invention are specifically described 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 assembly 2, the second pusher dog assembly 4 and the pocket net 5 are detachably connected with the tail end of the manipulator; 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 rotationally connected with the flange 1 through a rotary air cylinder 3, and the rotary air 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 assembly 2, the other end of the pocket net 5 is connected with the other end of the second pusher dog assembly 4, and the second pusher dog assembly 4 drives the pocket net 5 to open or tighten.
The invention has simple structure, and the rotary cylinder 3 is arranged to drive the second pusher dog assembly 4 to be close to or far 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 the poking of the waste rocks with different sizes, and meanwhile, the pocket net 5 is adopted to poke the waste rocks, so that the problem that the mechanical arm can not grab the irregular waste rocks and the waste rocks with complex positions is solved.
According to one embodiment of the invention, first finger assembly 2 comprises: the mounting plate 21, the linear driving assembly and the pusher dog 27, 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 is vertically arranged, the upper end of the pusher dog 27 is connected with the movable part, the pusher dog 27 is connected with the pocket net 5, and the pusher dog 27 moves close to or far away from the flange 1 under the drive of the linear driving assembly. That is, the linear driving assembly can further expand the movement range of the pusher dog 27, thereby improving the application range and the effect of poking gangue with different shapes and sizes.
As shown in fig. 3, the linear driving 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 are arranged below the mounting plate 21, and the two mounting blocks 22 are oppositely arranged; 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 blocks 23 is connected with the screw rod 25 in a sliding manner, and the other part of the sliding blocks 23 is connected with the screw rod 25 in a rotating manner; 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 ends of the pusher dog 27. Further, the linear driving assembly further includes: the motor 30, the motor 30 is fixedly connected with the mounting plate 21, and the output end of the motor 30 is directly connected with the screw rod 25. That is, the motor 30 rotates to drive the screw rod 25 to rotate, the sliding block 23 moves along the axis of the screw rod 25, the guide rod 24 and the screw rod 25 have guiding function at the same time, so that stability of the sliding block 23 during movement is ensured, two sliding blocks 23 realize two-point positioning, the connecting plate 26 is prevented from shifting in the reciprocating movement process, and the accuracy of linear movement is improved.
According to one embodiment of the present invention, the connection plate 26 is provided with a plurality of through holes penetrating in the thickness direction, the plurality of through holes being uniformly arranged in the axial direction of the guide bar 24, a screw penetrating the through holes connects the finger 27 to the connection plate 26, and a screw penetrating the through holes connects the slider 23 to the connection plate 26. The fingers 27 can be mounted on the connection plate 26 at different positions according to actual needs, so that the furthest distance or the shortest distance between the fingers 27 and the flange 1 can be changed.
According to one embodiment of the invention, the lateral surface of the finger 27 is provided with a plurality of pull rings 28, the plurality of pull rings 28 being arranged uniformly in the height direction, the plurality of pull rings 28 being connected to the pocket 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 poking effect is improved. Further, the side surface of the finger 27 is also provided with a reinforcing rib 29, and the reinforcing rib 29 is provided in the height direction. The reinforcing ribs 29 can increase strength and increase service life.
According to one embodiment of the invention, the pocket 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 invention, second finger assembly 4 is identical in construction to first finger assembly 2. The parts and components can be shared, and the manufacturing and maintenance cost is reduced.
A gangue dialing method of a pusher dog for gangue sorting comprises the following steps: the gangue image identified by the machine vision is used for determining the coordinates and the size of the gangue, and the manipulator drives the pusher dog 27 to move to the side surface of the gangue according to the coordinates and the size of the gangue; step two: the motor 30 rotates to drive the pusher dog 27 to move to the farthest distance from the flange 1, and meanwhile, the second pusher dog assembly 4 is close to the first pusher dog assembly 2, so that the pocket 5 on the pusher dog 27 is kept in a tightened state; step three: according to the size of the gangue, the rotary cylinder 3 rotates for a certain angle to enable the second pusher dog assembly 4 and the first pusher dog assembly 2 to open 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 pusher dog 27 to approach the flange 1, and after the net 5 is attached to the surface of the gangue, the motor 30 stops working, and the manipulator drives the pusher dog 27 to horizontally move so as to pull the gangue out of the coal.
That is, before starting the dial, the two fingers 27 are close together, so that even if there is other coal around the gangue, the two fingers 27 can enter in a gap in the edge of the gangue, which is not possible with ordinary mechanical jaws; simultaneously, when dialling and selecting, two pusher dogs 27 open, make the pocket net 5 open, and pocket net 5 is 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, and part of waste rock has just been wrapped up like this, is difficult for breaking away from when dialling, and the manipulator drives pusher dog 27 to move towards the direction of keeping away from pocket net 5 to dial the waste rock from coal, so the operation has greatly reduced the waste rock and has dialled the condition emergence of breaking away from pusher dog 27 in the selection process.
In the description of the present specification, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., means 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, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. 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 present invention have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the invention, the scope of which is defined by the claims and their equivalents.
Claims (6)
1. A pusher dog for gangue sorting, comprising:
the flange (1) is detachably connected with the tail end of the manipulator;
the flange comprises a first pusher dog assembly (2), wherein 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 rotationally connected with the flange (1) through a rotary air cylinder (3), and the rotary air 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 stomping net (5) is connected with the other end of the first poking claw assembly (2), the other end of the stomping net (5) is connected with the other end of the second poking claw assembly (4), and the second poking claw assembly (4) drives the stomping net (5) to open or tighten;
the first finger assembly (2) comprises:
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 far away from the flange (1);
the pusher dog (27) is vertically arranged, the upper end of the pusher dog (27) is connected with the movable part, the pusher dog (27) is connected with the pocket net (5), and the pusher dog (27) moves close to or far away from the flange (1) under the drive of the linear driving assembly;
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 oppositely arranged;
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 rotatably connected with one mounting block (22), and the other end of the screw rod (25) is rotatably connected with the other mounting block (22);
the two sliding blocks (23), the two sliding blocks (23) are positioned between the two mounting blocks (22), one part of the sliding blocks (23) is connected with the screw rod (25) in a sliding manner, and the other part of the sliding blocks (23) is connected with the screw rod (25) in a rotating manner;
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);
the side surface of the pulling claw (27) is provided with a plurality of pulling rings (28), the pulling rings (28) are uniformly arranged along the height direction, and the pulling rings (28) are connected with the pocket net (5);
the second pusher dog assembly (4) has the same structure as the first pusher dog assembly (2).
2. The coal refuse sorting finger according to claim 1, characterized in that the linear drive assembly further comprises:
the motor (30), motor (30) with mounting panel (21) fixed link to each other, the output of motor (30) with lead screw (25) are directly linked.
3. The pusher dog for sorting coal gangue as claimed in claim 1, wherein a plurality of through holes penetrating in a thickness direction are formed in the connecting plate (26), the plurality of through holes are uniformly arranged in an axial direction of the guide bar (24), a screw penetrates through the through holes to connect the pusher dog (27) to the connecting plate (26), and a screw penetrates through the through holes to connect the slider (23) to the connecting plate (26).
4. The coal gangue sorting finger as claimed in claim 1, wherein the finger (27) is further provided with a reinforcing rib (29) on a side surface thereof, the reinforcing rib (29) being disposed in a height direction.
5. The coal gangue sorting finger according to claim 1, wherein the pocket net (5) is a flexible iron chain net.
6. A gangue dialing method of a pusher dog for sorting coal gangue, as claimed in claim 1, comprises the following steps,
step one: the gangue image identified by the machine vision is used for determining the coordinates and the size of the gangue, and the manipulator drives the pusher dog (27) to move to the side surface of the gangue according to the coordinates and the size of the gangue;
step two: the motor (30) rotates to drive the pusher dog (27) to move to the farthest distance from the flange (1), and meanwhile the second pusher dog assembly (4) is close to the first pusher dog assembly (2), so that the pocket net (5) on the pusher dog (27) is kept in a tightening state;
step three: according to the size of the gangue, the rotary cylinder (3) rotates for a certain angle to enable the second pusher dog assembly (4) and the first pusher dog assembly (2) to be 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 pusher dog (27) to approach the flange (1), and after the net (5) is attached to the surface of the gangue, the motor (30) stops working, and the manipulator drives the pusher dog (27) to move horizontally to pull the gangue out of the 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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| 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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| Publication Number | Publication Date |
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| CN113731868A CN113731868A (en) | 2021-12-03 |
| CN113731868B true CN113731868B (en) | 2023-10-24 |
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| 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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