CN114770577A - Dexterous robot hand - Google Patents
Dexterous robot hand Download PDFInfo
- Publication number
- CN114770577A CN114770577A CN202210575370.2A CN202210575370A CN114770577A CN 114770577 A CN114770577 A CN 114770577A CN 202210575370 A CN202210575370 A CN 202210575370A CN 114770577 A CN114770577 A CN 114770577A
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- Prior art keywords
- steering engine
- output shaft
- knuckle
- robot
- dexterous hand
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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- 238000006073 displacement reaction Methods 0.000 claims abstract description 19
- 230000001681 protective effect Effects 0.000 claims description 10
- 239000000758 substrate Substances 0.000 claims description 6
- 239000000741 silica gel Substances 0.000 claims description 3
- 229910002027 silica gel Inorganic materials 0.000 claims description 3
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 2
- 230000009471 action Effects 0.000 abstract description 4
- 230000009286 beneficial effect Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 229920001296 polysiloxane Polymers 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 229920002379 silicone rubber Polymers 0.000 description 1
- 239000004945 silicone rubber Substances 0.000 description 1
Images
Classifications
-
- 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
-
- 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
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a robot dexterous hand, which relates to the technical field of robot dexterous hands and comprises three mechanical fingers, a support base and a radial displacement assembly, wherein the radial displacement assembly comprises a driving motor, a lead screw, a nut platform and three slide blocks, the output shaft of the driving motor is connected with the lead screw, the number of the slide blocks is three, the number of the mechanical fingers is three, the mechanical fingers are connected with the slide blocks in a one-to-one correspondence manner, any slide block is connected with the support base in a radial sliding manner, the lead screw is connected with the nut platform in a threaded manner, a connecting rod is arranged between any slide block and the nut platform, the connecting rod is rotatably connected with the nut platform, and the connecting rod is rotatably connected with the slide block. The robot dexterous hand changes the operation space of the mechanical fingers to complete the grabbing action, improves the freedom degree of the robot dexterous hand and is beneficial to grabbing objects with different sizes and shapes.
Description
Technical Field
The invention relates to the technical field of robot dexterous hands, in particular to a robot dexterous hand.
Background
Compared with the traditional industrial robot, the robot dexterous hand has outstanding advantages in terms of facing complex environment and diversity of operation objects due to multiple degrees of freedom and dexterous property. The operating space of a dexterous robot hand is determined by the relative distance between its fingers. The current dexterous robot hand mainly adopts a scheme of fixing the positions of finger base joints, namely the positions of all the finger base joints are invariable.
A three-finger under-actuated dexterous hand as introduced in chinese patent CN108247656A, comprising a base palm; a fixed three knuckle finger in one orientation; two symmetrically placed rotatable three knuckle fingers; a motor for controlling the rotatable fingers and a transmission mechanism. The patent can realize the grabbing requirements of objects with different shapes and sizes, and has strong environment adaptability.
However, when the present inventors implement the above technical solution, they have found that the above technical solution has at least the following problems to be improved: the existing dexterous robot hand cannot drive the finger base joint to move radially, so that the position of the finger base joint is not changeable, the ability of the finger base joint to grab objects with different sizes and shapes can be limited, and the diversity of the robot dexterous hand facing an operation object is limited.
Disclosure of Invention
The invention aims to provide a dexterous robot hand, which changes the operation space of mechanical fingers to complete the grabbing action, improves the freedom degree of the dexterous robot hand and is beneficial to grabbing objects with different sizes and shapes.
The embodiment of the invention is realized by the following steps:
the embodiment of the application provides a dexterous hand of robot, including mechanical finger, support base and radial displacement subassembly, the radial displacement subassembly includes driving motor, the lead screw, nut platform and slider, driving motor's output shaft and screw connection, the slider is totally three, mechanical finger is connected with the slider one-to-one, arbitrary slider all with support base radial sliding connection, lead screw and nut platform threaded connection, all be equipped with the connecting rod between arbitrary slider and the nut platform, the connecting rod rotates with the nut platform to be connected, the connecting rod rotates with the slider to be connected.
In some embodiments of the invention, a swing steering engine is arranged in any sliding block, and an output shaft of the swing steering engine is fixedly connected with the mechanical finger.
In some embodiments of the invention, a cross spline is arranged between any mechanical finger and the swing steering engine, the cross spline is fixedly connected with the output end of the swing steering engine, a spline groove matched with the cross spline is arranged at the bottom end of any mechanical finger, and the cross spline is abutted to the spline groove.
In some embodiments of the invention, any mechanical finger comprises a finger substrate, a base joint steering engine, a proximal end knuckle, a proximal end steering engine, a middle end knuckle, a middle end steering engine and a distal end knuckle, the mechanical finger is connected with an output shaft of the swing steering engine through the finger substrate, the base joint steering engine is arranged on the finger substrate, the proximal end knuckle is connected with an output shaft of the base joint steering engine, the proximal end steering engine is arranged on the proximal end knuckle, the middle end knuckle is connected with the output shaft of the proximal end steering engine, the middle end steering engine is arranged on the middle end knuckle, and the distal end knuckle is connected with the output shaft of the middle end steering engine.
In some embodiments of the invention, the distal end of the distal knuckle is provided with a soft tip of silicone.
In some embodiments of the invention, the output shaft of the base joint steering engine is perpendicular to the output shaft of the swing steering engine.
In some embodiments of the invention, the output shaft of the base joint steering engine, the output shaft of the near-end steering engine and the output shaft of the middle-end steering engine are parallel to each other.
In some embodiments of the present invention, a sliding rail is disposed between any one of the sliding blocks and the supporting base, the sliding rail is fixedly connected to the supporting base, and any one of the sliding blocks is slidably connected to the supporting base through the sliding rail.
In some embodiments of the invention, a protective housing is provided on the underside of the support base, the radial displacement assembly being located within the protective housing.
In some embodiments of the invention, the support base and the protective housing are connected by bolts.
Compared with the prior art, the embodiment of the invention has at least the following advantages or beneficial effects:
1. when the size or the shape difference of the grabbed objects is large, the axial movement of the nut platform can drive the three sliding blocks to simultaneously move in the radial direction, so that the mechanical fingers corresponding to the sliding blocks are driven to move in the radial direction, the operation space of the mechanical fingers is changed, the grabbing action is completed, the freedom degree of the dexterous robot hand is improved, and the grabbing of the objects with different sizes and shapes is facilitated.
2. The axial movement of the nut platform can drive the three sliding blocks to move radially together, the sliding blocks move uniformly, the movement of each sliding block is not required to be controlled independently, and the control difficulty of the dexterous robot hand is reduced.
3. The matching precision between the screw rod and the nut platform is high, the movement amount of the nut platform can be accurately determined by adjusting the rotation of the screw rod, and the robot is convenient to accurately control dexterous hands.
Drawings
FIG. 1 is a schematic overall structure of a robotic dexterous hand of the present invention;
FIG. 2 is a schematic view of a radial displacement assembly of a robotic dexterous hand of the present invention;
FIG. 3 is a schematic structural diagram of a cross spline and a swing steering engine of a dexterous robot hand in the invention;
FIG. 4 is a schematic structural diagram of the robot dexterous hand with a spline groove, a cross spline and a swing steering engine in cooperation;
FIG. 5 is a schematic view of the structure of the fingers of a dexterous robotic hand of the present invention;
FIG. 6 is a schematic view of the support base and the protective housing of the dexterous robot hand of the present invention.
An icon: 1-mechanical finger, 2-support base, 3-radial displacement component, 4-cross spline, 5-protective shell, 101-spline groove, 102-finger base plate, 103-base joint steering gear, 104-near end knuckle, 105-near end steering gear, 106-middle end knuckle, 107-middle end steering gear, 108-far end knuckle, 109-silica gel soft fingertip, 301-driving motor, 302-lead screw, 303-nut platform, 304-connecting rod, 305-sliding block, 306-sliding rail and 3051-swinging steering gear.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 to 6, the present embodiment provides a dexterous robot hand, which includes a mechanical finger 1, a support base 2, and a radial displacement assembly 3, where the radial displacement assembly 3 includes a driving motor 301, a lead screw 302, a nut platform 303, and sliders 305, an output shaft of the driving motor 301 is connected to the lead screw 302, there are three sliders 305, there are three mechanical fingers 1, the mechanical fingers 1 are connected to the sliders 305 in a one-to-one correspondence manner, any one of the sliders 305 is connected to the support base 2 in a radial sliding manner, the lead screw 302 is connected to the nut platform 303 in a threaded manner, a connecting rod 304 is disposed between any one of the sliders 305 and the nut platform 303, the connecting rod 304 is connected to the nut platform 303 in a rotating manner, and the connecting rod 304 is connected to the slider 305 in a rotating manner.
In this embodiment, the mechanical finger 1, the supporting base 2, and the radial displacement assembly 3 are included, the radial displacement assembly 3 is configured to drive the mechanical finger 1 to move radially along the supporting base 2, wherein the radial displacement assembly 3 includes a driving motor 301, a lead screw 302, a nut platform 303, and a slider 305, the driving motor 301 may be a common commercially available motor, and an output shaft of the driving motor 301 is connected to the lead screw 302, so that the driving motor 301 can drive the lead screw 302 to rotate.
The number of the sliding blocks 305 is three, the number of the mechanical fingers 1 is three, and the mechanical fingers 1 are correspondingly connected with the sliding blocks 305 one by one, so that each mechanical finger 1 is installed on the corresponding sliding block 305; radial sliding grooves which are radially and uniformly distributed by taking the axis of the supporting base 2 as the center can be formed, and the sliding blocks 305 can be matched with the radial sliding grooves, so that any sliding block 305 is connected with the supporting base 2 in a radial sliding manner, and the sliding blocks 305 are prevented from deflecting in the circumferential direction.
The screw 302 is connected with the nut platform 303 in a threaded manner, a connecting rod 304 is arranged between any one of the sliding blocks 305 and the nut platform 303, the connecting rod 304 is rotatably connected with the sliding block 305, the nut platform 303 is driven to axially move along the screw 302 after the screw 302 rotates, the nut platform 303 is connected with the sliding blocks 305 through the connecting rod 304, when the size or shape difference of a grabbed object is large, the axial movement of the nut platform 303 can drive the three sliding blocks 305 to radially move simultaneously, further, the mechanical finger 1 corresponding to the sliding blocks 305 is driven to radially move, the operating space of the mechanical finger 1 is changed, the grabbing action is completed, and the degree of freedom of a dexterous hand of a robot is improved; meanwhile, the three sliding blocks 305 can be driven to radially move together by the axial movement of the nut platform 303, the movement of the sliding blocks 305 is uniform, the movement of each sliding block 305 does not need to be controlled independently, and the control difficulty of the dexterous robot hand is reduced; the matching precision between the screw 302 and the nut platform 303 is high, the moving amount of the nut platform 303 can be accurately determined by adjusting the rotation of the screw 302, and the robot is convenient to accurately control dexterous hands.
In some embodiments of this embodiment, a swing steering engine 3051 is disposed in any of the sliding blocks 305, and an output shaft of the swing steering engine 3051 is fixedly connected to the mechanical finger 1.
In the above embodiment, a swing steering gear 3051 is arranged in any one of the sliders 305, the swing steering gear 3051 can be a common product sold in the market, an output shaft of the swing steering gear 3051 is fixedly connected with the mechanical finger 1, and the swing steering gear 3051 can independently drive each mechanical finger 1 to swing, so that when a clever robot grabs a complex object, the swing angle of the mechanical finger 1 can be adjusted according to the surface of the object, the precise control of the mechanical finger 1 is realized, and the degree of freedom of the clever robot is improved.
In some embodiments of this embodiment, a cross spline 4 is provided between any mechanical finger 1 and the swing steering engine 3051, the cross spline 4 is fixedly connected to the output end of the swing steering engine 3051, a spline groove 101 matched with the cross spline 4 is provided at the bottom end of any mechanical finger 1, and the cross spline 4 abuts against the spline groove 101.
In the above embodiment, the mechanical finger 1 and the swing steering engine 3051 are connected with the spline groove 101 through the cross spline 4 in a matching manner, and the number of the side walls of the cross spline 4 is large, so that the contact area between the cross spline 4 and the spline groove 101 is increased, the cross spline 4 and the spline groove 101 are convenient to transfer rotation between the mechanical finger 1 and the swing steering engine 3051, and the reliability of matching between the mechanical finger 1 and the swing steering engine 3051 is improved.
In some embodiments of this embodiment, any mechanical finger 1 includes a finger base plate 102, a base joint steering engine 103, a proximal end knuckle 104, a proximal end steering engine 105, a middle end knuckle 106, a middle end steering engine 107, and a distal end knuckle 108, the mechanical finger 1 is connected to an output shaft of the swing steering engine 3051 through the finger base plate 102, the base joint steering engine 103 is disposed on the finger base plate 102, the proximal end knuckle 104 is connected to an output shaft of the base joint steering engine 103, the proximal end steering engine 105 is disposed on the proximal end knuckle 104, the middle end knuckle 106 is connected to an output shaft of the proximal end steering engine 105, the middle end steering engine 107 is disposed on the middle end knuckle 106, and the distal end knuckle 108 is connected to an output shaft of the middle end steering engine 107.
In the above embodiment, any mechanical finger 1 includes a base joint steering engine 103, a near end steering engine 105 and a middle end steering engine 107, so that independent rotation of a near end knuckle 104, a middle end knuckle 106 and a far end knuckle 108 can be realized, the flexibility of the mechanical finger 1 is improved, and a robot can grab objects with complex structures by flexible hands; the base joint steering engine 103, the near-end steering engine 105 and the middle-end steering engine 107 can work simultaneously, so that the situation that the traditional mechanical finger 1 uses one motor to drive a plurality of knuckles on one finger simultaneously is avoided, and the grabbing force of the dexterous robot hand is improved.
In some embodiments of the present embodiment, the distal end of the distal knuckle 108 is provided with a soft tip 109 of silicone rubber.
In the above embodiment, the silicone soft fingertip 109 increases the friction between the end of the distal knuckle 108 and the object to be grasped, and improves the reliability of the robot for grasping the object with a dexterous hand; meanwhile, the silica gel soft finger tip 109 can prevent the excessive force of the distal knuckle 108 from damaging the grabbed object, and the safety of the grabbed object is ensured.
In some embodiments of this embodiment, the output shaft of the base joint steering engine 103 is perpendicular to the output shaft of the swing steering engine 3051.
In the above embodiment, the output shaft of the base joint steering engine 103 is perpendicular to the output shaft of the swing steering engine 3051, so that the base joint steering engine 103 and the swing steering engine 3051 can be driven and controlled conveniently, and the swing steering engine 3051 and the base joint steering engine 103 are prevented from being inclined to each other, so that the mechanical finger 1 and the sliding block 305 are prevented from being inclined, the control difficulty of the dexterous robot hand is increased, and the operation precision of the dexterous robot hand is influenced.
In some embodiments of this embodiment, the output shaft of the base joint steering engine 103, the output shaft of the proximal end steering engine 105, and the output shaft of the middle end steering engine 107 are parallel to each other.
In the above embodiment, the output shafts of the base joint steering gear 103, the proximal end steering gear 105, and the middle end steering gear 107 are prevented from tilting, which causes the proximal knuckle 104, the middle knuckle 106, and the distal knuckle 108 to shift when rotating, and ensures the precision of the movement of the mechanical finger 1.
In some embodiments of this embodiment, a slide rail 306 is disposed between any one of the slide blocks 305 and the supporting base 2, the slide rail 306 is fixedly connected to the supporting base 2, and any one of the slide blocks 305 is slidably connected to the supporting base 2 through the slide rail 306.
In the above embodiment, the slide rail 306 is disposed between any one of the slide blocks 305 and the support base 2, the slide rail 306 is fixedly connected to the support base 2, and any one of the slide blocks 305 is slidably connected to the support base 2 through the slide rail 306, so that the slide rail 306 can provide a better guidance, which is convenient for the slide between the slide block 305 and the support base 2, and ensures the reliability of the slide between the slide block 305 and the support base 2.
In some embodiments of the present embodiment, the support base 2 is provided with a protective housing 5 on the underside, and the radial displacement assembly 3 is located within the protective housing 5.
In the above embodiment, the lower side of the supporting base 2 is provided with the protective shell 5, and the radial displacement component 3 is positioned in the protective shell 5, so that the user is prevented from accidentally contacting the radial displacement component 3, and the safety of the dexterous robot hand is ensured.
In some embodiments of the present embodiment, the support base 2 and the protective housing 5 are connected by bolts.
In the above embodiment, the supporting base 2 and the protecting shell 5 are connected by bolts, which facilitates the detachment between the supporting base 2 and the protecting shell 5 and facilitates the maintenance of the radial displacement assembly 3.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A dexterous robot hand is characterized in that: including machinery indicate, support base and radial displacement subassembly, the radial displacement subassembly includes driving motor, lead screw, nut platform and slider, driving motor's output shaft and screw connection, the slider is totally three, and machinery indicates to be connected with the slider one-to-one, arbitrary slider all with support base radial sliding connection, lead screw and nut platform threaded connection all are equipped with the connecting rod between arbitrary slider and the nut platform, and the connecting rod rotates with the nut platform to be connected, and the connecting rod rotates with the slider to be connected.
2. A robot dexterous hand according to claim 1, characterized in that: and a swinging steering engine is arranged in any sliding block, and an output shaft of the swinging steering engine is fixedly connected with the mechanical finger.
3. A robot dexterous hand according to claim 2, characterized in that: all be equipped with the cross spline between arbitrary mechanical finger and the swing steering wheel, the output fixed connection of cross spline and swing steering wheel, the bottom of arbitrary mechanical finger all be equipped with cross spline complex spline groove, cross spline and spline groove butt.
4. A robotic dexterous hand according to claim 2, wherein: any mechanical finger comprises a finger substrate, a base joint steering engine, a near-end knuckle, a near-end steering engine, a middle-end knuckle, a middle-end steering engine and a far-end knuckle, the mechanical finger is connected with an output shaft of the swing steering engine through the finger substrate, the base joint steering engine is arranged on the finger substrate, the near-end knuckle is connected with an output shaft of the base joint steering engine, the near-end steering engine is arranged on the near-end knuckle, the middle-end knuckle is connected with an output shaft of the near-end steering engine, the middle-end steering engine is arranged on the middle-end knuckle, and the far-end knuckle is connected with an output shaft of the middle-end steering engine.
5. A robotic dexterous hand according to claim 4, wherein: the tail end of the far-end knuckle is provided with a silica gel soft fingertip.
6. A robotic dexterous hand according to claim 4, characterized in that: the output shaft of the base joint steering engine is perpendicular to the output shaft of the swinging steering engine.
7. A robotic dexterous hand according to claim 4, characterized in that: the output shaft of the base joint steering engine, the output shaft of the near-end steering engine and the output shaft of the middle-end steering engine are parallel to each other.
8. A robot dexterous hand according to claim 1, characterized in that: slide rails are arranged between any slide block and the supporting base, the slide rails are fixedly connected with the supporting base, and any slide block is connected with the supporting base in a sliding mode through the slide rails.
9. A robot dexterous hand according to claim 1, characterized in that: the supporting base downside is equipped with protecting sheathing, and radial displacement subassembly is located protecting sheathing.
10. A robotic dexterous hand according to claim 9, characterized in that: the supporting base is connected with the protective shell through bolts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210575370.2A CN114770577A (en) | 2022-05-25 | 2022-05-25 | Dexterous robot hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210575370.2A CN114770577A (en) | 2022-05-25 | 2022-05-25 | Dexterous robot hand |
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| Publication Number | Publication Date |
|---|---|
| CN114770577A true CN114770577A (en) | 2022-07-22 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210575370.2A Pending CN114770577A (en) | 2022-05-25 | 2022-05-25 | Dexterous robot hand |
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| Country | Link |
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| CN (1) | CN114770577A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116038745A (en) * | 2022-12-29 | 2023-05-02 | 睿尔曼智能科技（北京）有限公司 | Multifunctional smart mechanical claw |
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| CN210397601U (en) * | 2019-01-28 | 2020-04-24 | 韩革新 | Transmission device for household electrical appliance |
| CN210702150U (en) * | 2019-09-25 | 2020-06-09 | 中国石油大学(华东) | Pipeline flaring device |
| CN111923088A (en) * | 2020-07-31 | 2020-11-13 | 广州富港万嘉智能科技有限公司 | Internal wiring manipulator |
| CN112720558A (en) * | 2020-12-25 | 2021-04-30 | 浙江工业大学 | Flexible finger-tip robot hand directly driven by motor |
-
2022
- 2022-05-25 CN CN202210575370.2A patent/CN114770577A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20120286536A1 (en) * | 2011-05-13 | 2012-11-15 | Seiko Epson Corporation | Robot hand and robot |
| CN203896769U (en) * | 2014-06-20 | 2014-10-29 | 沈阳工业大学 | Self-adaptation flexible end effector for fruit and vegetable picking |
| CN104686073A (en) * | 2015-03-31 | 2015-06-10 | 湖北工业大学 | Passive fruit gripping end executor |
| CN108031931A (en) * | 2017-11-20 | 2018-05-15 | 哈尔滨理工大学 | A kind of steep-pitch thread part turnning and milling set composite |
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| CN111923088A (en) * | 2020-07-31 | 2020-11-13 | 广州富港万嘉智能科技有限公司 | Internal wiring manipulator |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116038745A (en) * | 2022-12-29 | 2023-05-02 | 睿尔曼智能科技（北京）有限公司 | Multifunctional smart mechanical claw |
| CN116038745B (en) * | 2022-12-29 | 2023-10-17 | 睿尔曼智能科技（北京）有限公司 | Multifunctional smart mechanical claw |
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