CN115610991A - Charging device - Google Patents
Charging device Download PDFInfo
- Publication number
- CN115610991A CN115610991A CN202211564387.4A CN202211564387A CN115610991A CN 115610991 A CN115610991 A CN 115610991A CN 202211564387 A CN202211564387 A CN 202211564387A CN 115610991 A CN115610991 A CN 115610991A
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- Prior art keywords
- material taking
- finger
- sliding
- manipulator
- wheel
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- 230000007306 turnover Effects 0.000 claims abstract description 14
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims 3
- 238000000034 method Methods 0.000 abstract description 5
- 230000000694 effects Effects 0.000 description 4
- 230000000007 visual effect Effects 0.000 description 2
- 238000004804 winding Methods 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a charging device, which comprises a material taking device; the material taking device comprises a material taking rack, a horizontal sliding mechanism for driving the material taking manipulator to move and the material taking manipulator; the horizontal sliding mechanism is arranged between the material taking rack and the material taking manipulator, the material taking manipulator is connected with the horizontal sliding mechanism, and the material taking manipulator is arranged above the material taking rack through the horizontal sliding mechanism; the material taking manipulator comprises two symmetrically arranged material taking bases, a material taking guide rod, a material taking connecting piece, a material taking clamping cylinder, two oppositely arranged material taking fingers and a turnover motor for driving the material taking manipulator to rotate; the material taking finger comprises a finger bracket, a finger sliding part, a finger rotating part, a material taking wheel and a material taking wheel motor for driving the material taking wheel; the material taking device can conveniently take the objects with regular shapes, and the materials are not easy to fall off or be damaged in the material taking process.
Description
Technical Field
The invention relates to the technical field of loading and carrying robots, in particular to a loading device.
Background
In the transfer robot in the logistics industry in the prior art, regular objects within a certain weight need to be clamped and carried at different heights, and intelligent logistics can be realized through automation, for example, full-automatic logistics can be realized in ports, logistics centers and other scenes; however, for some box-shaped objects with yaw axis offset, that is, objects rotating around the Y axis offset are also called yaw angles, when the objects have yaw axis offset, the areas of the objects on the projection surfaces of the X axis and the Y axis are increased, and the situation that the robot blocks the edge of the material is easy to occur, so that the material is taken unstably and falls down or is damaged.
Disclosure of Invention
The invention provides a charging device, which is convenient for taking objects with regular shapes by using the structure of the charging device, and the materials are not easy to fall off or be damaged in the material taking process.
In order to achieve the purpose, the technical scheme of the invention is as follows: a charging device comprising a take-out device; the material taking device comprises a material taking rack, a horizontal sliding mechanism for driving the material taking manipulator to move and the material taking manipulator; horizontal sliding mechanism installs between getting material frame and getting material manipulator, and the material taking manipulator is connected with horizontal sliding mechanism, and the material taking manipulator passes through horizontal sliding mechanism and sets up in getting material frame top.
The material taking manipulator comprises two symmetrically arranged material taking bases, a material taking guide rod, a material taking connecting piece, a material taking clamping cylinder, two oppositely arranged material taking fingers and a turnover motor for driving the material taking manipulator to rotate; the two material taking bases are respectively and fixedly arranged on one side of a sliding bottom plate of the horizontal sliding mechanism, and each material taking base is fixedly provided with a turnover motor; the material taking manipulator is driven to turn over on the material taking frame through a turning motor; the two material taking fingers are arranged on the material taking guide rod in a relatively sliding mode and are positioned between the two material taking connecting pieces; get the cylinder body of material centre gripping cylinder and get material finger fixed connection wherein, get the piston rod of material centre gripping cylinder and get material finger fixed connection with another.
The material taking finger comprises a finger bracket, a finger sliding part, a finger rotating part, a material taking wheel and a material taking wheel motor for driving the material taking wheel; the finger sliding part is arranged at one end of the finger bracket and is provided with a through hole which is arranged corresponding to the material taking guide rod in a sliding way; the finger rotates the piece and rotates the setting and rotate the piece and rotate the one end of keeping away from the finger support at the finger for the other end of finger sliding part at the finger, gets material wheel motor fixed mounting and rotate at the finger on the piece, get the output of material wheel motor and get material wheel fixed connection.
The finger support comprises two finger support plates which are correspondingly arranged up and down, and arc-shaped limiting grooves are formed in the two finger support plates; the finger rotating part comprises two finger rotating supporting plates which are correspondingly arranged up and down, and the two finger rotating supporting plates are connected through a material taking wheel motor; a rotary guide shaft and an elastic piece are arranged between the two finger rotating support plates, two ends of the rotary guide shaft are respectively arranged by penetrating through the arc-shaped limiting grooves on the two finger support plates, and the rotary guide shaft is movably arranged in the two arc-shaped limiting grooves; one end of the elastic piece is connected with the rotating guide shaft, the other end of the elastic piece is connected with the output end of the material taking wheel motor, and the elastic piece is in a stretching state; the material taking wheel is rotatably arranged between the two finger rotating support plates and is connected with an output shaft of a material taking wheel motor; the material taking wheel motor is fixedly arranged on a finger rotating support plate.
According to the arrangement, when the material taking device clamps materials, the overturning motor is started, the output end of the overturning motor drives the material taking connecting piece to swing, the swinging of the material taking connecting piece drives the material taking guide rod to overturn, the overturning of the material taking guide rod drives the material taking finger to overturn, the free end of the material taking finger is overturned to the outer side of the material taking rack, the materials are conveniently clamped by the material taking finger, then the material taking manipulator is driven by the horizontal sliding mechanism to slide to be close to the materials, the two material taking wheels are respectively positioned on two sides of the materials, and the overturning motor stops working; then, the piston rod is driven to retract through the material taking clamping cylinder and one of the material taking hands is driven to point to the material to be close to and abut against the material, when the piston rod of the material taking clamping cylinder is obstructed by the material and cannot retract continuously, the cylinder body of the material taking clamping cylinder can drive the other material taking finger to move towards the direction of the material through reaction force, so that the two material taking fingers are driven to slide on the material taking guide rod through the material taking clamping cylinder, the distance between the two material taking fingers can be adjusted according to different materials to take the material, and the material taking of the material is more stable by the material taking mechanical arm; after the material is firmly clamped by the material taking finger, the material taking manipulator is driven to slide towards the direction of the material taking rack through the horizontal sliding mechanism, simultaneously or after the material taking manipulator is transversely slid and reset, the overturning motor is started to rotate reversely, the output end of the overturning motor drives the material taking connecting piece to reversely swing, the reverse swing of the material taking connecting piece drives the material taking guide rod to reversely overturn, the reverse overturn of the material taking guide rod drives the material taking finger to reversely overturn, the free end of the material taking finger is overturned into the material taking rack, and the material taking finger is provided with a sliding through hole on the finger sliding part corresponding to the material taking guide rod, and can stably slide on the material taking guide rod through the sliding through hole; when materials enter the material taking range of the material taking manipulator, the two material taking fingers are driven to be close to each other through the material taking clamping cylinder, so that the material taking wheels on the two material taking fingers take the materials; if the material is in an offset state on the yaw axis at the moment, under the material taking effect of the stroke cylinder, the rotating guide shaft on the finger rotating piece slides in the two arc-shaped limiting grooves to open the tension spring, so that the two material taking fingers are supported, the offset material on the yaw axis can be taken, and then the two material taking fingers are driven by the material taking clamping cylinder to approach each other, so that the stability of the material taking fingers in material taking can be improved due to the elastic effect of the tension spring; two get the material wheel of getting on the material finger and the surface butt of material, get the material wheel rotation through getting material wheel motor drive, thereby drive the material and remove to the direction that is close to getting the material guide arm, simultaneously to the material at the epaxial skew of yaw, be drawn into the in-process of material, the material can promote to point to rotate the piece and point the support and outwards rotate along arc spacing groove relatively, rotate the guiding axle this moment and slide in two arc spacing inslots, thereby strut the extension spring, and then get the material that the material wheel can press from both sides and get the material at the epaxial skew of yaw, prevent to block the edge of material, thereby the realization is got the material of getting at the epaxial different angles of yaw and is got, make the material difficult dropping or damage.
Further, the horizontal sliding mechanism comprises a sliding cylinder, a sliding slide rail, a sliding slide block, a pulley and a sliding bottom plate; one end of a sliding cylinder is fixedly arranged on the material taking rack, a sliding slide rail is arranged on the material taking rack, and a pulley is arranged on the material taking rack in a rotating mode and is positioned at one end, close to the material taking manipulator, of the sliding slide rail; the sliding block is arranged on the bottom surface of the sliding bottom plate, a sliding groove corresponding to the sliding slide rail is arranged on the sliding block, and the sliding block is arranged on the sliding slide rail in a sliding manner; the bottom surface of the sliding bottom plate is respectively abutted with the pulleys; by driving the sliding cylinder to stretch, the sliding bottom plate slides under the matching of the sliding slide rail and the sliding slide block and the action of the pulley.
Further, the elastic part is a tension spring.
Furthermore, the output end of the turnover motor is fixedly connected with a material taking connecting piece, and two ends of the material taking guide rod are fixedly connected with the two material taking connecting pieces respectively.
Furthermore, a material taking limiting block is arranged in the middle of the material taking guide rod; get the material finger when two and get material under the drive of material centre gripping cylinder each other be close to with get when expecting the stopper butt, get material centre gripping cylinder and stop the drive, like this, can play the effect of spacing protection to getting material centre gripping cylinder.
Furthermore, a toothed friction part for increasing friction force is arranged on the material taking wheel and is made of a flexible material; the above arrangement. The tooth-shaped friction part made of the flexible material is abutted to the material, so that the stability of the material taking device in material taking is improved.
Drawings
Fig. 1 is a schematic view of a material extracting apparatus according to the present invention.
Fig. 2 is a schematic view of another angle of the material-taking device according to the present invention.
Fig. 3 is a partially enlarged schematic view of a portion a in fig. 2.
Fig. 4 is an exploded view of a take-off device of the present invention.
Fig. 5 is a schematic view of a material taking finger according to the present invention.
Fig. 6 is an exploded view of a take out finger of the present invention.
Detailed Description
The invention is described in further detail below with reference to the drawings and the detailed description.
As shown in fig. 1 to 6, a charging device comprises a material taking device 1, wherein the material taking device 1 comprises a material taking rack 11, a horizontal sliding mechanism for driving a material taking manipulator 14 to move, a visual identification module 13 and the material taking manipulator 14; the horizontal sliding mechanism is arranged between the material taking rack 11 and the material taking manipulator 14, the material taking manipulator is connected with the horizontal sliding mechanism, and the material taking manipulator is arranged above the material taking rack 11 through the horizontal sliding mechanism; the visual recognition module 13 is arranged on the horizontal sliding mechanism and is positioned on one side of the material taking manipulator 14; one end of the material taking rack 11 is fixedly connected with the second lifting side frame, and the other end of the material taking rack 11 is fixedly connected with the third lifting side frame.
The material taking manipulator 14 comprises two symmetrically arranged material taking bases 141, material taking guide rods 142, material taking limiting blocks 143, material taking connecting pieces 144, material taking clamping cylinders 145, two oppositely arranged material taking fingers 146 and a turnover motor 147 for driving the material taking manipulator 14 to rotate; the two material taking bases 141 are respectively and fixedly arranged on one side of the sliding bottom plate 125 of the horizontal sliding mechanism, and each material taking base 141 is fixedly provided with a turnover motor 147; the output end of the turnover motor 147 is fixedly connected with a material taking connecting piece 144, and the two ends of the material taking guide rod 142 are respectively and fixedly connected with the two material taking connecting pieces 144; the two material taking fingers 146 are arranged on the material taking guide rod 142 in a relatively sliding manner, and the two material taking fingers 146 are positioned between the two material taking connecting pieces 144; the material taking limiting block 143 is disposed in the middle of the material taking guide bar 142, the cylinder body of the material taking clamping cylinder 145 is fixedly connected with one of the material taking fingers 146, and the piston rod of the material taking clamping cylinder 145 is fixedly connected with the other material taking finger 146.
As shown in fig. 5, the take-up finger 146 includes a finger rest, a finger slide 1462, a finger rotator 1463, a take-up wheel 1464 and a take-up wheel motor 1465 for driving the take-up wheel 1464; the finger sliding part 1462 is arranged at one end of the finger bracket, and a through hole which is arranged corresponding to the material taking guide rod 142 in a sliding manner is formed in the finger sliding part 1462; the material taking fingers 146 slide along the material taking guide rods 142 between the material taking limiting blocks 143 and the material taking connecting pieces 144 through the finger sliding parts 1462 driven by the material taking clamping cylinders 145; finger rotates piece 1463 and rotates the other end that sets up for finger sliding part 1462 at finger support, gets material wheel 1464 and rotates the one end that sets up and keep away from finger support at finger rotation piece 1463, gets material wheel motor 1465 fixed mounting and rotate piece 1463 at the finger, gets the output of material wheel motor 1465 and get material wheel 1464 fixed connection.
The material taking wheel 1464 is provided with a toothed friction part 14641 for increasing friction force, and the toothed friction part 14641 is made of a flexible material.
As shown in fig. 6, the finger rest includes two finger plates 14611 disposed correspondingly up and down, and the two finger plates 14611 are provided with arc-shaped limiting grooves 14612; the finger rotating part 1463 comprises two finger rotating support plates 14631 which are arranged up and down correspondingly, and the two finger rotating support plates 14631 are connected through a material taking wheel motor 1465; a rotary guide shaft 14636 and a tension spring 14637 are arranged between the two finger rotating support plates 14631, two ends of the rotary guide shaft 14636 are respectively arranged by penetrating through the arc-shaped limiting grooves 14612 on the two finger support plates 14611, and the rotary guide shaft 14636 is movably arranged in the two arc-shaped limiting grooves 14612; one end of a tension spring 14637 is connected with a rotating guide shaft 14636, the other end of the tension spring 14637 is connected with the output end of a material taking wheel motor 1465, and the tension spring 14637 is in a stretching state; the material taking wheel 1464 is rotatably arranged between the two finger rotating support plates 14631 and is connected with an output shaft of a material taking wheel motor 1465; the material taking wheel motor 1465 is fixedly arranged on a finger rotating support plate 14631.
With the above arrangement, when the material taking device 1 is used for clamping materials, the turnover motor 147 is started, the output end of the turnover motor 147 drives the material taking connecting piece 144 to swing, the swing of the material taking connecting piece 144 drives the material taking guide rod 142 to turn, the turning of the material taking guide rod 142 drives the material taking finger 146 to turn, the free end of the material taking finger 146 turns to the outer side of the material taking rack 11, the material taking finger 146 is used for clamping the materials, the horizontal sliding mechanism is used for driving the material taking manipulator 14 to slide close to the materials, the two material taking wheels 1464 are respectively located on two sides of the materials, and the turnover motor 147 stops working; then, the piston rod is driven to retract through the material taking clamping cylinder 145, and one of the material taking fingers 146 is driven to approach and abut against the material, when the piston rod of the material taking clamping cylinder 145 is obstructed by the material and cannot retract continuously, the cylinder body of the material taking clamping cylinder 145 can drive the other material taking finger 146 to move towards the material through a reaction force, so that the two material taking fingers 146 are driven to slide on the material taking guide rod 142 through the material taking clamping cylinder 145, the distance between the two material taking fingers 146 can be adjusted for different materials to take the materials, and the material taking mechanical arm 14 can take the materials more stably; after the material is firmly clamped by the material taking finger 146, the material taking manipulator 14 is driven to slide towards the direction of the material taking rack 11 through the horizontal sliding mechanism, meanwhile, or the overturning motor 147 is started to rotate reversely after the material taking manipulator 14 is transversely slid and reset, the output end of the overturning motor 147 drives the material taking connecting piece 144 to reversely swing, the reverse swing of the material taking connecting piece 144 drives the material taking guide rod 142 to reversely overturn, the reverse overturn of the material taking guide rod 142 drives the material taking finger 146 to reversely overturn, so that the free end of the material taking finger 146 is overturned into the material taking rack 11, and as the material taking finger 146 is provided with a sliding through hole corresponding to the material taking guide rod 142 on the finger sliding part 1462, the material taking finger 146 can stably slide on the material taking guide rod 142 through the sliding through hole; when the material enters the material taking range of the material taking manipulator 14, the two material taking fingers 146 are driven to approach each other through the material taking clamping cylinder 145, so that the material taking wheels 1464 on the two material taking fingers 146 take the material; if the material is in an offset state on the yaw axis at this time, under the material taking effect of the material taking clamping cylinder, the rotating guide shaft 14636 on the finger rotating member 1463 slides in the two arc-shaped limiting grooves 14612 to open the tension spring 14637, so that the two material taking fingers 146 are supported, the offset material on the yaw axis can be taken, and then under the driving of the material taking clamping cylinder 145, in the process that the two material taking fingers 146 approach each other, due to the elastic action of the tension spring 14637, the stability of the material taking fingers 146 in material taking can be improved; the material taking wheel 1464 on the two material taking fingers 146 is abutted to the surface of the material, the material taking wheel is driven to rotate by the material taking wheel motor 1465, so that the material is driven to move towards the direction close to the material taking guide rod 142, meanwhile, for the material offset on the raw shaft, in the process of winding the material, the material can push the finger rotating part 1463 to rotate outwards along the arc-shaped limiting groove 14612 relative to the finger bracket, at the moment, the rotating guide shaft 14636 slides in the two arc-shaped limiting grooves 14612, so that the tension spring 14637 is opened, the material offset on the raw shaft can be clamped by the material taking wheel 1464, the edge of the material is prevented from being clamped, the material at different angles on the raw shaft is clamped, and the material is not easy to drop or damage.
Claims (6)
1. A charging device, characterized in that: comprises a material taking device; the material taking device comprises a material taking rack, a horizontal sliding mechanism for driving the material taking manipulator to move and the material taking manipulator; the horizontal sliding mechanism is arranged between the material taking rack and the material taking manipulator, the material taking manipulator is connected with the horizontal sliding mechanism, and the material taking manipulator is arranged above the material taking rack through the horizontal sliding mechanism;
the material taking manipulator comprises two symmetrically arranged material taking bases, a material taking guide rod, a material taking connecting piece, a material taking clamping cylinder, two oppositely arranged material taking fingers and a turnover motor for driving the material taking manipulator to rotate; the two material taking bases are respectively and fixedly arranged on one side of a sliding bottom plate of the horizontal sliding mechanism, and each material taking base is fixedly provided with a turnover motor; the material taking manipulator is driven to turn over on the material taking frame through a turning motor; the two material taking fingers are arranged on the material taking guide rod in a relatively sliding mode and are positioned between the two material taking connecting pieces; the cylinder body of the material taking clamping cylinder is fixedly connected with one material taking finger, and the piston rod of the material taking clamping cylinder is fixedly connected with the other material taking finger;
the material taking finger comprises a finger bracket, a finger sliding part, a finger rotating part, a material taking wheel and a material taking wheel motor for driving the material taking wheel; the finger sliding part is arranged at one end of the finger bracket and is provided with a through hole which is arranged corresponding to the material taking guide rod in a sliding way; the finger rotating part is rotatably arranged at the other end of the finger support relative to the finger sliding part, the material taking wheel is rotatably arranged at one end of the finger rotating part far away from the finger support, the material taking wheel motor is fixedly arranged on the finger rotating part, and the output end of the material taking wheel motor is fixedly connected with the material taking wheel;
the finger support comprises two finger support plates which are correspondingly arranged up and down, and arc-shaped limiting grooves are formed in the two finger support plates; the finger rotating part comprises two finger rotating supporting plates which are correspondingly arranged up and down, and the two finger rotating supporting plates are connected through a material taking wheel motor; a rotary guide shaft and an elastic piece are arranged between the two finger rotating support plates, two ends of the rotary guide shaft are respectively arranged by penetrating through the arc-shaped limiting grooves on the two finger support plates, and the rotary guide shaft is movably arranged in the two arc-shaped limiting grooves; one end of the elastic piece is connected with the rotating guide shaft, the other end of the elastic piece is connected with the output end of the material taking wheel motor, and the elastic piece is in a stretching state; the material taking wheel is rotatably arranged between the two finger rotating support plates and is connected with an output shaft of a material taking wheel motor; the material taking wheel motor is fixedly arranged on a finger rotating support plate.
2. Charging installation according to claim 1, characterised in that: the horizontal sliding mechanism comprises a sliding cylinder, a sliding slide rail, a sliding slide block, a pulley and a sliding bottom plate; one end of a sliding cylinder is fixedly arranged on the material taking rack, a sliding slide rail is arranged on the material taking rack, and a pulley is arranged on the material taking rack in a rotating mode and is positioned at one end, close to the material taking manipulator, of the sliding slide rail; the sliding block is arranged on the bottom surface of the sliding bottom plate, a sliding groove corresponding to the sliding slide rail is arranged on the sliding block, and the sliding block is arranged on the sliding slide rail in a sliding manner; the bottom surface of the sliding bottom plate is respectively abutted with the pulleys; by driving the sliding cylinder to stretch, the sliding bottom plate slides under the matching of the sliding slide rail and the sliding slide block and the action of the pulley.
3. A charging device according to claim 1, characterised in that: the elastic piece is a tension spring.
4. A charging device according to claim 1, characterised in that: the output fixedly connected with of upset motor gets material connecting piece, gets the both ends of material guide arm respectively with two material connecting piece fixed connection of getting.
5. Charging installation according to claim 1, characterised in that: the middle position of the material taking guide rod is provided with a material taking limiting block.
6. Charging installation according to claim 1, characterised in that: the material taking wheel is provided with a toothed friction part for increasing friction force, and the toothed friction part is made of flexible materials.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211564387.4A CN115610991B (en) | 2022-12-07 | 2022-12-07 | Charging device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211564387.4A CN115610991B (en) | 2022-12-07 | 2022-12-07 | Charging device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115610991A true CN115610991A (en) | 2023-01-17 |
| CN115610991B CN115610991B (en) | 2024-06-18 |
Family
ID=84879768
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211564387.4A Active CN115610991B (en) | 2022-12-07 | 2022-12-07 | Charging device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115610991B (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5513947A (en) * | 1992-01-13 | 1996-05-07 | Storage Technology Corporation | Tractor mechanism for robotic magnetic tape cartridge handling system |
| CN203357444U (en) * | 2013-07-26 | 2013-12-25 | 莱恩精机(深圳)有限公司 | Deflection type bidirectional sliding device for manipulator |
| CN210414577U (en) * | 2019-07-06 | 2020-04-28 | 无锡华源晶电科技有限公司 | Novel manipulator take and put palm mechanism |
| CN112499248A (en) * | 2020-12-18 | 2021-03-16 | 华南理工大学广州学院 | Convertible centre gripping manipulator |
-
2022
- 2022-12-07 CN CN202211564387.4A patent/CN115610991B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5513947A (en) * | 1992-01-13 | 1996-05-07 | Storage Technology Corporation | Tractor mechanism for robotic magnetic tape cartridge handling system |
| CN203357444U (en) * | 2013-07-26 | 2013-12-25 | 莱恩精机(深圳)有限公司 | Deflection type bidirectional sliding device for manipulator |
| CN210414577U (en) * | 2019-07-06 | 2020-04-28 | 无锡华源晶电科技有限公司 | Novel manipulator take and put palm mechanism |
| CN112499248A (en) * | 2020-12-18 | 2021-03-16 | 华南理工大学广州学院 | Convertible centre gripping manipulator |
Non-Patent Citations (1)
| Title |
|---|
| 闫敬民;柳靓南;李荣;王雪;何盛斌;: "物料抓取机械手设计及运动仿真", 中国管理信息化, no. 19, 29 September 2018 (2018-09-29) * |
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| Publication number | Publication date |
|---|---|
| CN115610991B (en) | 2024-06-18 |
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