CN202344546U - Manipulator assembly of flexible fingers - Google Patents

Manipulator assembly of flexible fingers Download PDF

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Publication number
CN202344546U
CN202344546U CN2011204709894U CN201120470989U CN202344546U CN 202344546 U CN202344546 U CN 202344546U CN 2011204709894 U CN2011204709894 U CN 2011204709894U CN 201120470989 U CN201120470989 U CN 201120470989U CN 202344546 U CN202344546 U CN 202344546U
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CN
China
Prior art keywords
finger
flexible
knuckle
dactylus
drive motors
Prior art date
Application number
CN2011204709894U
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Chinese (zh)
Inventor
李德山
罗天洪
郑讯佳
李富盈
潘雪娇
李彬
刘遵飞
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重庆交通大学
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Priority to CN2011204709894U priority Critical patent/CN202344546U/en
Application granted granted Critical
Publication of CN202344546U publication Critical patent/CN202344546U/en

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Abstract

The utility model discloses a manipulator assembly of flexible fingers. The manipulator assembly comprises a base, an arm assembly and a flexible hand, wherein the flexible hand comprises a finger pedestal connected to the arm assembly, at least two flexible mechanical fingers with a mutual clamping structure and a driving part which is used for driving the flexible mechanical fingers to grab and loose; and each flexible mechanical finger at least comprises three knuckles which are sequentially hinged to form a plane rocker mechanism. According to the manipulator assembly of the flexible fingers, the driving part drives the flexible mechanical fingers to grab and loose in a simulating mode when the fingers with the knuckles are used for clamping irregular workpieces, so that the manipulator assembly can adapt to the clamping of workpieces in different shapes and is high in universality; and at least clamping surfaces of the knuckles at fingertips are made of flexible materials, so that the surfaces of the workpieces can be protected from being damaged, the clamping area can be enlarged, the manipulator assembly can be used for clamping the workpieces which have high requirements on surface accuracy and surface quality, contributes to ensuring the quality of the workpieces and saves on-site use cost.

Description

The manipulator assembly of flexible finger
Technical field
The utility model relates to a kind of automated machine parts, particularly a kind of manipulator assembly with flexible clamp structure.
Background technology
Manipulator by broad research and application, is mainly used in automobile, boats and ships, naval vessels, aircraft, satellite, rocket, spaceship, heavy duty machine tools, large-scale production line and industries such as equipment group and Ferrous Metallurgy as comparatively main critical equipment in the important manufacturing equipment.
In the prior art, the principle that industry mechanical arm (anchor clamps) generally adopts is for accomplishing clamping through driving, and function is comparatively single; Manipulator (anchor clamps) itself particularly, in order to guarantee chucking power, clamping face hardness is higher; And, can accomplish specific clamping task for one designs.And when transporting workpiece for need and have relatively high expectations for the process of transporting, such as, the workpiece higher for precision, that surface quality needs strict guarantee then proposes higher requirement to manipulator.And the shape of most workpiece and irregular, existing mechanical hand structure is relatively poor owing to getting adaptivity for out-of-shape, makes it not have versatility.Therefore, application has significant limitation.
Therefore need a kind of manipulator with certain adaptive ability, can be adapted to the clamping of difformity workpiece, can be used in the clamping work of the workpiece of having relatively high expectations for surface accuracy and surface quality simultaneously, versatility is stronger, practices thrift on-the-spot use cost.
The utility model content
In view of this; The purpose of the utility model provides a kind of manipulator assembly of flexible finger, can be adapted to the clamping of difformity workpiece, can be used in the clamping work of the workpiece of having relatively high expectations for surface accuracy and surface quality simultaneously; Versatility is stronger, practices thrift on-the-spot use cost.
The manipulator assembly of the flexible finger of the utility model comprises pedestal, arm assembly and flexible hand; Said flexible hand comprises the finger block and at least two flexible mechanical fingers that are mutually clamp structure and the drive part that is used for drive flexible mechanical finger pick-and-place that is connected in the arm assembly; Said flexible mechanical finger comprises three dactylus of hinged successively formation plane endplay device at least; Wherein first knuckle is fixed in finger block; Second knuckle is articulated in that the first knuckle outer end forms first hinged place and is driven around first hinged place by drive part and rotates, and third knuckle is articulated in that the second knuckle outer end forms second hinged place and through being connected in first knuckle with first hinged place to the connecting rod I that the second hinged place line intersects; Said connecting rod I and each dactylus place plane parallel and all be articulated and connected to form with first knuckle and third knuckle and owe driving.
Further, the clamping face that is positioned at least that forms the dactylus of flexible mechanical finger finger tip at least is provided with elastic construction, and said elastic construction is air bag or solid elastomeric;
Further; Said flexible mechanical finger also comprises the 4th dactylus; Said the 4th knucklejoint forms the 3rd hinged place and is connected in second knuckle through the connecting rod II that intersects with second hinged place to the, three hinged place lines in the third knuckle outer end, said connecting rod II and each dactylus place plane parallel and all be articulated and connected to form with second knuckle and the 4th dactylus and owe to drive;
Further, said drive part comprises and drive motors I, feed screw nut pair I and the pull bar of the corresponding one by one setting of each flexible mechanical finger that said drive motors I is fixedly connected on finger block; The screw mandrel of said feed screw nut pair I is by drive motors I driven rotary, and the nut of feed screw nut pair I forms slider-rocker mechanism through the second knuckle that pull bar is connected in the respective flexible mechanical finger;
Further, said first knuckle is connected in finger block through bolted;
Further, said pedestal comprises driving box and attic base, and said driving box comprises casing and the drive motors II and the speed reducing gear pair that are arranged in the casing; Said attic base is arranged at the driven gear shaft that the driving box upper fixed is connected in speed reducing gear pair, and the driving tooth of speed reducing gear pair is driven by drive motors II and rotates;
Further, said arm assembly comprises arm assembly and last arm assembly down; Said arm assembly down comprises preceding lift arm, back lift arm and Connection Block I; Lift arm is formed by drive motors III and feed screw nut pair II with the back lift arm before said; Two drive motors III vertical fixing are to distribute before and after the mid point in the attic base end face and with the driven gear shaft; The screw mandrel of two feed screw nut pair II is coaxial fixing with the output shaft of respective drive motor II I, and the nut of two secondary II of stem nut is articulated in Connection Block I through a swinging block respectively;
The said arm assembly of going up comprises Connection Block II, feed screw nut pair III, arm platform, drive motors IV and decelerator; Said Connection Block II is along being slidingly connected to Connection Block I perpendicular to preceding lift arm and plane, lift arm place, back single-degree-of-freedom, and the screw mandrel of said feed screw nut pair III is parallel to Connection Block II and is rotationally connected with Connection Block II single-degree-of-freedom; Said arm platform is slidingly connected to the nut that Connection Block II also is connected in feed screw nut pair III synchronously along the screw mandrel axis of feed screw nut pair III; Said drive motors IV and decelerator are fixed in arm platform end face; Decelerator is positioned at same perpendicular and parallel setting with its output shaft and the screw mandrel of feed screw nut pair III; The output axle key of drive motors IV is connected in input shaft of speed reducer, and the output axle key of decelerator is connected in finger block;
Further, said finger block is the regular polygon case structure, and the limit number of regular polygon structure is corresponding with the flexible manipulator exponential quantity;
Further, also comprise automatic control system, said automatic control system comprises:
Pressure sensor, the clamping face inside that is arranged at each dactylus of flexible mechanical finger is used to detect the clamp pressure of each dactylus;
Central controller is used to receive the pressure signal of pressure sensor and sends command signal to the control system of the drive motors of each finger;
Further, each dactylus is rigid structure.
The beneficial effect of the utility model: the manipulator assembly of the flexible finger of the utility model, adopt the finger with dactylus, during the irregular workpiece of clamping; Drive part drive flexible mechanical finger bio-imitability pick-and-place can be adapted to the clamping of difformity workpiece, and versatility is stronger; And the clamping face at least of finger tip place dactylus is provided with flexible material at least; Can protect surface of the work injury-free, also can increase the clamping area, can be used in the clamping work of the workpiece of having relatively high expectations for surface accuracy and surface quality; Be beneficial to the assurance workpiece quality, practice thrift on-the-spot use cost.
Description of drawings
Below in conjunction with accompanying drawing and embodiment the utility model is further described:
Fig. 1 is the structural representation of the utility model;
Fig. 2 is the utility model flexible mechanical finger schematic diagram;
Fig. 3 is the utility model flexible manipulator Automatic Control Theory block diagram.
The specific embodiment
Fig. 1 is the structural representation of the utility model; Fig. 2 is the utility model flexible mechanical finger schematic diagram; Fig. 3 is the utility model flexible manipulator Automatic Control Theory block diagram, and is as shown in the figure: the manipulator assembly of the flexible finger of present embodiment comprises pedestal, arm assembly and flexible hand; Said flexible hand comprises the finger block 16 and at least two flexible mechanical fingers that are mutually clamp structure and the drive part that is used for drive flexible mechanical finger pick-and-place that is connected in the arm assembly; Said flexible mechanical finger comprises three dactylus of hinged successively formation plane endplay device at least; Wherein first knuckle 19 is fixed in finger block 16; Second knuckle 20 is articulated in that first knuckle 19 outer ends form first hinged place and is driven around first hinged place by drive part and rotates, and third knuckle 21 is articulated in that second knuckle 20 outer ends form second hinged place and through being connected in first knuckle 19 with first hinged place to the connecting rod I25 that the second hinged place line intersects; Said connecting rod I25 and each dactylus place plane parallel and all be articulated and connected to form with first knuckle 19 and third knuckle 21 and owe to drive; The manipulator assembly of the flexible finger of the utility model; Employing has the finger of dactylus, during the irregular workpiece of clamping, and drive part drive flexible mechanical finger bio-imitability pick-and-place; Can be adapted to the clamping of difformity workpiece, versatility is stronger.
In the present embodiment; At least the clamping face that is positioned at least that forms the dactylus of flexible mechanical finger finger tip is provided with elastic construction 23, and said elastic construction 23 is air bag or solid elastomeric, can protect surface of the work injury-free; Also can increase the clamping area; Can be used in the clamping work of the workpiece of having relatively high expectations, be beneficial to the assurance workpiece quality, practice thrift on-the-spot use cost for surface accuracy and surface quality.
In the present embodiment; Said flexible mechanical finger also comprises the 4th dactylus 22; Said the 4th dactylus 22 is articulated in third knuckle 21 outer ends and forms the 3rd hinged place and be connected in second knuckle 20 through the connecting rod II24 that intersects with second hinged place to the, three hinged place lines; Said connecting rod II24 and each dactylus place plane parallel and all be articulated and connected to form with second knuckle 20 and the 4th dactylus 22 and owe driving can increase the extracting scope of flexible hand.
In the present embodiment, said drive part comprises and drive motors I17, feed screw nut pair I18 and the pull bar 26 of the corresponding one by one setting of each flexible mechanical finger that said drive motors I17 is fixedly connected on finger block 16; The screw mandrel of said feed screw nut pair I18 is by drive motors I17 driven rotary; The nut of feed screw nut pair I18 forms slider-rocker mechanism through the second knuckle 20 that pull bar 26 is connected in the respective flexible mechanical finger; Make each flexible mechanical finger realize control separately, serviceability is good.
In the present embodiment, said first knuckle 19 is connected in finger block 16 through bolted, and installing/dismounting is easy.
In the present embodiment, said pedestal comprises driving box and attic base 6, and said driving box comprises casing 1 and the drive motors II2 and the speed reducing gear pair 4 that are arranged in the casing 1; Said attic base 6 is arranged at the driven gear shaft 5 that the driving box upper fixed is connected in speed reducing gear pair 4, and the driving tooth 3 of speed reducing gear pair 4 is driven by drive motors II2 and rotates, compact conformation, and floor space is little.
In the present embodiment, said arm assembly comprises arm assembly and last arm assembly down; Said arm assembly down comprises preceding lift arm, back lift arm and Connection Block I; Lift arm is formed by drive motors III7 and four secondary II8 of stem nut with the back lift arm before said; Two drive motors III7 vertical fixing are to distribute before and after the mid point in attic base 6 end faces and with driven gear shaft 5; The screw mandrel of two 4 secondary II8 of stem nut is coaxial fixing with the output shaft of respective drive motor II I7, and the nut of two secondary II of stem nut is articulated in Connection Block I10 through a swinging block 9 respectively;
The said arm assembly of going up comprises Connection Block II11, feed screw nut pair III12, arm platform 13, drive motors IV14 and decelerator 15; Said Connection Block II11 is along being slidingly connected to Connection Block I10 perpendicular to preceding lift arm and plane, lift arm place, back single-degree-of-freedom, and the screw mandrel of said feed screw nut pair III12 is parallel to Connection Block II11 and is rotationally connected with Connection Block II11 single-degree-of-freedom; Said arm platform 13 is slidingly connected to the nut that Connection Block II11 also is connected in feed screw nut pair III12 synchronously along the screw mandrel axis of feed screw nut pair III12; Said drive motors IV14 and decelerator 15 are fixed in arm platform 13 end faces; Decelerator 15 is positioned at same perpendicular and parallel setting with its output shaft and the screw mandrel of feed screw nut pair III12; The output axle key of drive motors IV14 is connected in the power shaft of decelerator 15; The output axle key of decelerator 15 is connected in finger block 16, and the arm assembly of present embodiment can be controlled the multi-faceted pick-and-place of flexible hand, and is easy to use, flexible.
In the present embodiment, said finger block 16 is the regular polygon case structure, and the limit number of regular polygon structure is corresponding with the flexible manipulator exponential quantity; Reasonable utilization of materials, structure is more attractive in appearance, and present embodiment is provided with the flexible mechanical finger and is four along square profile; Grasp more stablely, reliability is high.
In the present embodiment, also comprise automatic control system, said automatic control system comprises:
Pressure sensor 27, the clamping face inside that is arranged at each dactylus of flexible mechanical finger is used to detect the clamp pressure of each dactylus;
Central controller 28; Be used to receive the pressure signal of pressure sensor and send command signals, control, be beneficial to and guarantee that each dactylus acts on the pressure of workpiece through automatic control system to the control system 29 of the drive motors of each finger; Guarantee the uniformity of pressure; Thereby make chucking power can stepless action in workpiece, not only be beneficial to improve and bear a heavy burden, also help the surface quality that keeps workpiece.
In the present embodiment, each dactylus is rigid structure, is beneficial to driving and keeps bigger chucking power.
Explanation is at last; Above embodiment is only unrestricted in order to the technical scheme of explanation the utility model; Although with reference to preferred embodiment the utility model is specified, those of ordinary skill in the art should be appreciated that and can make amendment or be equal to replacement the technical scheme of the utility model; And not breaking away from the aim and the scope of the utility model technical scheme, it all should be encompassed in the middle of the claim scope of the utility model.

Claims (10)

1. the manipulator assembly of a flexible finger is characterized in that: comprise pedestal, arm assembly and flexible hand; Said flexible hand comprises the finger block and at least two flexible mechanical fingers that are mutually clamp structure and the drive part that is used for drive flexible mechanical finger pick-and-place that is connected in the arm assembly; Said flexible mechanical finger comprises three dactylus of hinged successively formation plane endplay device at least; Wherein first knuckle is fixed in finger block; Second knuckle is articulated in that the first knuckle outer end forms first hinged place and is driven around first hinged place by drive part and rotates, and third knuckle is articulated in that the second knuckle outer end forms second hinged place and through being connected in first knuckle with first hinged place to the connecting rod I that the second hinged place line intersects; Said connecting rod I and each dactylus place plane parallel and all be articulated and connected to form with first knuckle and third knuckle and owe driving.
2. the manipulator assembly of flexible finger according to claim 1 is characterized in that: the clamping face that is positioned at least that forms the dactylus of flexible mechanical finger finger tip at least is provided with elastic construction, and said elastic construction is air bag or solid elastomeric.
3. the manipulator assembly of flexible finger according to claim 2; It is characterized in that: said flexible mechanical finger also comprises the 4th dactylus; Said the 4th knucklejoint forms the 3rd hinged place and is connected in second knuckle through the connecting rod II that intersects with second hinged place to the, three hinged place lines in the third knuckle outer end, said connecting rod II and each dactylus place plane parallel and all be articulated and connected to form with second knuckle and the 4th dactylus and owe to drive.
4. the manipulator assembly of flexible finger according to claim 3; It is characterized in that: said drive part comprises and drive motors I, feed screw nut pair I and the pull bar of the corresponding one by one setting of each flexible mechanical finger that said drive motors I is fixedly connected on finger block; The screw mandrel of said feed screw nut pair I is by drive motors I driven rotary, and the nut of feed screw nut pair I forms slider-rocker mechanism through the second knuckle that pull bar is connected in the respective flexible mechanical finger.
5. the manipulator assembly of flexible finger according to claim 4, it is characterized in that: said first knuckle is connected in finger block through bolted.
6. the manipulator assembly of flexible finger according to claim 5, it is characterized in that: said pedestal comprises driving box and attic base, said driving box comprises casing and the drive motors II and the speed reducing gear pair that are arranged in the casing; Said attic base is arranged at the driven gear shaft that the driving box upper fixed is connected in speed reducing gear pair, and the driving tooth of speed reducing gear pair is driven by drive motors II and rotates.
7. the manipulator assembly of flexible finger according to claim 6 is characterized in that: arm assembly and last arm assembly under said arm assembly comprises; Said arm assembly down comprises preceding lift arm, back lift arm and Connection Block I; Lift arm is formed by drive motors III and feed screw nut pair II with the back lift arm before said; Two drive motors III vertical fixing are to distribute before and after the mid point in the attic base end face and with the driven gear shaft; The screw mandrel of two feed screw nut pair II is coaxial fixing with the output shaft of respective drive motor II I, and the nut of two secondary II of stem nut is articulated in Connection Block I through a swinging block respectively;
The said arm assembly of going up comprises Connection Block II, feed screw nut pair III, arm platform, drive motors IV and decelerator; Said Connection Block II is along being slidingly connected to Connection Block I perpendicular to preceding lift arm and plane, lift arm place, back single-degree-of-freedom, and the screw mandrel of said feed screw nut pair III is parallel to Connection Block II and is rotationally connected with Connection Block II single-degree-of-freedom; Said arm platform is slidingly connected to the nut that Connection Block II also is connected in feed screw nut pair III synchronously along the screw mandrel axis of feed screw nut pair III; Said drive motors IV and decelerator are fixed in arm platform end face; Decelerator is positioned at same perpendicular and parallel setting with its output shaft and the screw mandrel of feed screw nut pair III; The output axle key of drive motors IV is connected in input shaft of speed reducer, and the output axle key of decelerator is connected in finger block.
8. the manipulator assembly of flexible finger according to claim 7, it is characterized in that: said finger block is the regular polygon case structure, the limit number of regular polygon structure is corresponding with the flexible manipulator exponential quantity.
9. the manipulator assembly of flexible finger according to claim 1, it is characterized in that: also comprise automatic control system, said automatic control system comprises:
Pressure sensor, the clamping face inside that is arranged at each dactylus of flexible mechanical finger is used to detect the clamp pressure of each dactylus;
Central controller is used to receive the pressure signal of pressure sensor and sends command signal to the control system of the drive motors of each finger.
10. according to the manipulator assembly of the described flexible finger of the arbitrary claim of claim 1 to 9, it is characterized in that: each dactylus is rigid structure.
CN2011204709894U 2011-11-23 2011-11-23 Manipulator assembly of flexible fingers CN202344546U (en)

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CN103878778A (en) * 2014-04-15 2014-06-25 王光树 Bending joint mechanical arm
CN103895018A (en) * 2014-04-15 2014-07-02 王光树 Free power failure device of manipulator
CN103921278A (en) * 2014-04-15 2014-07-16 王光树 Intelligent manipulator
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CN105196274A (en) * 2015-09-16 2015-12-30 中国科学院国家天文台南京天文光学技术研究所 Sub-mirror assembling and disassembling device for segmented mirror of large astronomical telescope
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CN105364939A (en) * 2015-12-18 2016-03-02 上海理工大学 Air bag type flexible finger and flexible hand
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CN102950600B (en) * 2012-11-20 2015-02-25 内蒙古伊利实业集团股份有限公司 Manipulator
CN102950600A (en) * 2012-11-20 2013-03-06 内蒙古伊利实业集团股份有限公司 Manipulator
CN103921282A (en) * 2014-04-08 2014-07-16 济南大学 Manipulator
CN103895018A (en) * 2014-04-15 2014-07-02 王光树 Free power failure device of manipulator
CN103878780A (en) * 2014-04-15 2014-06-25 王光树 Connecting gripper
CN103878778A (en) * 2014-04-15 2014-06-25 王光树 Bending joint mechanical arm
CN103921278A (en) * 2014-04-15 2014-07-16 王光树 Intelligent manipulator
CN103875364A (en) * 2014-04-15 2014-06-25 王光树 Fruit picking mechanical arm
CN103883601A (en) * 2014-04-15 2014-06-25 王光树 Nail clasp
CN104354165A (en) * 2014-09-19 2015-02-18 重庆交通大学 Electromechanical-hydraulic integrated three degree-of-freedom integrated joint
CN104354165B (en) * 2014-09-19 2016-04-13 重庆交通大学 The integrated joint of mechanical-electrical-hydraulic integration Three Degree Of Freedom
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CN105318996A (en) * 2015-04-23 2016-02-10 中国矿业大学 Bionics finger capable of synchronization test of frictional contact area
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CN104889980A (en) * 2015-05-18 2015-09-09 天津大学 Flexible mechanical hand claw capable of achieving passive enveloping
CN104889980B (en) * 2015-05-18 2016-07-06 天津大学 A kind of flexible mechanical paw realizing passive envelope
CN105196274A (en) * 2015-09-16 2015-12-30 中国科学院国家天文台南京天文光学技术研究所 Sub-mirror assembling and disassembling device for segmented mirror of large astronomical telescope
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CN107081784A (en) * 2017-03-16 2017-08-22 杭州若比邻机器人科技有限公司 Bilayer turns back the multi-stage rotary mechanism of driving
CN107081776A (en) * 2017-03-16 2017-08-22 杭州若比邻机器人科技有限公司 Bilayer turn back driving two-stage revolution finger mechanism
CN107053221A (en) * 2017-03-16 2017-08-18 杭州若比邻机器人科技有限公司 Manipulator
CN107160414A (en) * 2017-03-16 2017-09-15 杭州若比邻机器人科技有限公司 Manipulator
CN107160415A (en) * 2017-03-16 2017-09-15 杭州若比邻机器人科技有限公司 Bilayer turn back driving three-level revolution finger mechanism
CN107186739A (en) * 2017-03-16 2017-09-22 杭州若比邻机器人科技有限公司 Bilayer turn back driving two-stage revolution finger mechanism
CN107253208A (en) * 2017-03-16 2017-10-17 杭州若比邻机器人科技有限公司 Bilayer turn back driving two-stage revolution finger mechanism
CN107263459A (en) * 2017-03-16 2017-10-20 杭州若比邻机器人科技有限公司 Bilayer turns back the two-stage slew gear of driving
CN107297750A (en) * 2017-03-16 2017-10-27 杭州若比邻机器人科技有限公司 Bilayer turn back driving three-level revolution finger mechanism
CN107297751A (en) * 2017-03-16 2017-10-27 杭州若比邻机器人科技有限公司 Bilayer turn back driving two-stage revolution finger mechanism
CN107053223A (en) * 2017-03-16 2017-08-18 杭州若比邻机器人科技有限公司 Bilayer turns back the two-stage slew gear of driving
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CN107901058A (en) * 2017-10-13 2018-04-13 杭州若比邻机器人科技有限公司 Manipulator
CN108526504A (en) * 2018-05-24 2018-09-14 昆明理工大学 A kind of flexible chuck for not hindering surface
CN108848934A (en) * 2018-07-02 2018-11-23 东南大学 A kind of strawberry picking mechanical arm device
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