CN203095171U - Stacker robot with parallel bars - Google Patents

Stacker robot with parallel bars Download PDF

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Publication number
CN203095171U
CN203095171U CN 201220703391 CN201220703391U CN203095171U CN 203095171 U CN203095171 U CN 203095171U CN 201220703391 CN201220703391 CN 201220703391 CN 201220703391 U CN201220703391 U CN 201220703391U CN 203095171 U CN203095171 U CN 203095171U
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CN
China
Prior art keywords
forearm
postbrachium
adapter plate
hinged
arm
Prior art date
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.)
Expired - Fee Related
Application number
CN 201220703391
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Chinese (zh)
Inventor
刘远强
徐伟
姚志强
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
GUANGZHOU WANSHIDE PACKING MACHINERY CO Ltd
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GUANGZHOU WANSHIDE PACKING MACHINERY CO Ltd
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Publication date
Application filed by GUANGZHOU WANSHIDE PACKING MACHINERY CO Ltd filed Critical GUANGZHOU WANSHIDE PACKING MACHINERY CO Ltd
Priority to CN 201220703391 priority Critical patent/CN203095171U/en
Application granted granted Critical
Publication of CN203095171U publication Critical patent/CN203095171U/en
Expired - Fee Related legal-status Critical Current
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Abstract

A stacker robot with parallel bars comprises an arm, a front arm, a rear arm, a draw bar, a first parallel draw bar, a second parallel draw bar, a triangular plate, a front arm mounting plate, a front arm driving assembly, a rear arm mounting plate, a rear arm driving assembly, a rotary base plate and a rotation driving assembly. The front arm driving assembly drives the front arm mounting plate to move back and forth, the rear arm driving assembly drives the rear arm mounting plate to move up and down, and the rotation driving assembly drives the rotary base plate; the rear end of the arm is respectively hinged with the front end of the front arm and the front end of the rear arm, the rear end of the front arm is hinged with the front arm mounting plate, the rear end of the rear arm is hinged with the rear arm mounting plate, and the draw bar is respectively hinged with the rear end of the front arm and the rear end of the rear arm; and the arm, the front arm, the rear arm and the draw bar form a parallelogram. The front arm and the rear arm can move in a coupling-free manner by a parallel linkage principle, movement of the front arm or the rear arm can be independently controlled, and stacking operation can be implemented. The stacker robot has the advantages of operability and high speed, precision, automation degree, reliability and applicability.

Description

Parallel bar stacker robot
Technical field
The utility model relates to robot, especially because piling parallel bar robot.
Background technology
The ew line of industries such as domestic beer, beverage, daily use chemicals adopts the conventional code stack machine in a large number, also there is the manufacturing line of the little production capacity of part to adopt the all-purpose robot piling, also have a large amount of old lines still to adopt hand stowage, other industry such as water drinks, seasonings, liquor, cosmetics, health products etc. much also rest on the hand stowage in addition.Along with the development of society and the progress of science and technology; all trades and professions are all to grouping of the world economy; large-scale development; the production capacity of manufacturing line is also to big ability development at a high speed; domestic newly-increased beer beverage manufacturing line all is the production capacity more than 36000 bottles/hour; for satisfying the piling needs of at a high speed big production capacity manufacturing line; external several big robot device makers all release the robot at the piling industry; FANUC such as Japan; the Fuji ACE of Japan; the ABB of Switzerland; the KUKA of Switzerland; this maker of a few family is professional robot manufacturer; the robot of its production is widely used in auto production line, welding, spraying; electronics; the accurate manufacturing, material handling industries such as (pilings), wherein the EC serial codes stack machine robot of the FujiACE of Japan manufacturing is widely used in the piling industry with its alerting ability with aiming at customized physical construction of piling industry and control system.Along with the continuous acceleration of Chinese industrial process, the application of robot will be more and more universal, and traditional stacker will be replaced by the robot piling.
Summary of the invention
Technical problem to be solved in the utility model provides a kind of parallel bar stacker robot, has the advantage of high speed, high precision, high automation degree, high reliability, ease for operation, wide applicability, can satisfy the demand of high production capacity manufacturing line.
For solving the problems of the technologies described above, the technical solution of the utility model is: a kind of parallel bar stacker robot comprises arm, forearm, postbrachium, pull bar, first parallel draw bar, second parallel draw bar, set square, forearm adapter plate, drives forearm driven unit, the postbrachium adapter plate that described forearm adapter plate seesaws, the revolution driven unit that drives postbrachium driven unit, swivel base and the described swivel base of driving of described postbrachium adapter plate up-and-down movement; Described arm front end and motor mount are hinged, and hinge-point is A, and described motor mount is provided with the handgrip servomotor, and described handgrip servomotor is connected with handgrip by the anchor clamps flange; Described forearm is positioned at postbrachium the place ahead, and described arm rear end is hinged with the front end of the front end of described forearm and postbrachium respectively, with the hinge-point of forearm be B, with the hinge-point of postbrachium be C; The rear end of described forearm and described forearm mount pad are hinged, and hinge-point is D, and the rear end of described postbrachium and described postbrachium mount pad are hinged, and hinge-point is F; Described pull bar one end is hinged on the forearm adapter plate, and hinge-point is D, and the pull bar other end is hinged on the rear end of described postbrachium, and hinge-point is E, and described hinge-point E is between hinge-point C and hinge-point F; Described forearm adapter plate, forearm driven unit, postbrachium adapter plate and postbrachium driven unit are fixed on the described swivel base; Described set square is hinged on the front end of described forearm, hinge-point is B, and described first parallel draw bar, one end is hinged on the described forearm adapter plate, and the other end is hinged on the described set square, one end of described second parallel draw bar is hinged on the described set square, and the other end and described motor mount are hinged; Described hinge-point B, C, D, E form four summits of parallelogram.
The parallel bar robot palletizer is different from a physical construction that principal character is its parallelogram of articulated robot.The robot palletizer main body is fixed on the bottom rotation adapter plate, by revolution driven unit driven in rotation adapter plate, makes the main body rotation of robot, finishes the gyroscopic movement of arm in 330 ° of circumference range.The forearm of robot, postbrachium and arm are finished palletizing operation, forearm is the cooperation by forearm driven unit and forearm adapter plate, front arm tip is moved inward in horizontal front and back, and this process is the horizontal rectilinear motion that the gyroscopic movement of forearm driven unit is converted to the forearm bottom.Postbrachium is by cooperating between postbrachium driven unit and the postbrachium adapter plate, and the postbrachium end is being moved in the direction vertically, and this process is the straight-line motion up and down that the gyroscopic movement of postbrachium driven unit is converted to the postbrachium bottom.The parallel linkage that is made of them that moves through jointly of forearm and postbrachium is delivered to the arm rear end, and arm can be moved in a plane domain, finishes the extracting of palletizing operation and the process of unclamping.The arm front end also has rotatablely moving of an anchor clamps servomotor control handgrip, and the anchor clamps servomotor is by a planetary reducer, the rotation of direct drive end clamp flange.Servomotor is all adopted in all power drivens, the rotation that integral body can realization body, postbrachium move up and down moving forward and backward of forearm and rotatablely moving of handgrip.Because the articulated position between arm, forearm, postbrachium and the pull bar is provided with rationally, adds the effect of parallel draw bar, no matter any position of robot motion can both guarantee the anchor clamps flange maintenance level of arm end.
As improvement, described forearm driven unit comprises two horizontal support plates being fixed on the described forearm adapter plate, be located at forearm rotating shaft, the horizontal ball screw between the described horizontal support plate and drive the forearm servomotor of described horizontal ball screw; Described forearm rear end is enclosed within the described forearm rotating shaft, forms hinged by described forearm rotating shaft and forearm adapter plate; Described forearm adapter plate bottom is provided with adapter plate, and described horizontal ball screw is threaded with described adapter plate, and described forearm servomotor drives the forearm adapter plate by described horizontal ball screw and seesaws.
As improvement, described forearm adapter plate is installed on the described swivel base by level frame, described forearm adapter plate two bottom sides is provided with the line slideway slide block, and corresponding described line slideway slide block place is provided with guide rail on the described level frame, and described line slideway slide block cooperates with described guide rail.The line slideway slide block with make the forearm adapter plate more steady when the front and back straight line moves cooperating of guide rail.
As improvement, be provided with position plate between described first parallel draw bar and the forearm adapter plate, described position plate is hinged in the described forearm rotating shaft, and described first parallel draw bar, one end is hinged on the described position plate.
As improvement, described postbrachium driven unit comprises two vertical support plates being fixed on the described postbrachium drive plate, is located at the postbrachium rotating shaft between the described vertical support plate, vertical ball screw and the postbrachium servomotor that drives described vertical ball screw; Described postbrachium rear end is enclosed within the described postbrachium rotating shaft, forms hinged by described postbrachium rotating shaft and postbrachium adapter plate; Described postbrachium adapter plate is provided with vertical ball screw nut, and described vertical ball screw is threaded with vertical ball screw nut, and described postbrachium servomotor drives postbrachium adapter plate up-and-down movement by described vertical ball screw.
As improvement, described postbrachium adapter plate is installed on the described swivel base by vertical rack, a side is provided with the line slideway slide block at the bottom of the described postbrachium adapter plate, and corresponding described line slideway slide block place is provided with guide rail on the described vertical rack, and described line slideway slide block cooperates with described guide rail.The line slideway slide block with make the postbrachium adapter plate more steady when up and down straight line moves cooperating of guide rail.
As improvement, the rotating servo motor that described revolution driven unit comprises base, is located at the pivoting support on the described base, the reductor that cooperates with described pivoting support and drives described reductor.
As improvement, described handgrip servomotor motor by retarder and described anchor clamps flange in succession.
The beneficial effect that the utility model is compared with prior art brought is:
(1) uses the parallel rod principle, make forearm and postbrachium realize no coupled motions, can independently control the motion of forearm or postbrachium, realize palletizing operation, simplify the control program algorithm;
(2) stacker robot arm end and pivoting part adopt planetary reducer and cycloid speed reducer respectively, and these two kinds of reductors all have the characteristics in high rigidity and low backhaul gap, are specially adapted to high precision, under the operating mode of big load;
(3) forearm of robot palletizer and postbrachium type of drive all adopt the mode of ball screw, and actv. is converted to straight-line motion with rotation, more are adapted to the piling mode of stacker.
Description of drawings
Fig. 1 is the utility model structural representation.
Fig. 2 is the utility model inner structure scheme drawing.
Fig. 3 is the mechanical arm structural representation.
Fig. 4 is the utility model drive part structural representation.
Fig. 5 is a postbrachium mounting plates structure scheme drawing.
Fig. 6 is a forearm mounting plates structure scheme drawing.
Fig. 7 is revolution driven unit structural representation.
Fig. 8 is arm, forearm, postbrachium annexation figure.
The specific embodiment
The utility model is described in further detail below in conjunction with Figure of description.
As shown in Figure 1, a kind of parallel bar stacker robot comprises arm 2, forearm 3, postbrachium 4, pull bar 20, first parallel draw bar 19, second parallel draw bar 7, set square 18, forearm adapter plate 8, drives forearm driven unit, postbrachium adapter plate 15 that described forearm adapter plate 8 seesaws, drives postbrachium driven unit, the swivel base 35 of described postbrachium adapter plate 15 up-and-down movements and drives the revolution driven unit of described swivel base 35.
Shown in Fig. 2,3, described arm 2 front ends and motor mount 1 are hinged, and hinge-point is A, and described motor mount 1 is provided with handgrip servomotor 6, described handgrip servomotor 6 is connected with anchor clamps flange 5 by reductor, and described anchor clamps flange 5 is connected with handgrip (not indicating); Stacker robot arm 2 front ends and pivoting part adopt planetary reducer and cycloid speed reducer respectively, and these two kinds of reductors all have the characteristics in high rigidity and low backhaul gap, are specially adapted to high precision, under the operating mode of big load.Described forearm 3 is positioned at postbrachium 4 the place aheads, and described arm 2 rear ends are hinged with the front end of the front end of described forearm 3 and postbrachium 4 respectively, with the hinge-point of forearm 3 be B, with the hinge-point of postbrachium 4 be C.
Shown in Fig. 2,4,6, described forearm driven unit comprises two horizontal support plates 30 being fixed on the described forearm adapter plate 8, be located at forearm rotating shaft 31, the horizontal ball screw 10 between the described horizontal support plate 30 and drive the forearm servomotor 9 of described horizontal ball screw 10; Described forearm 3 rear ends are enclosed within the described forearm rotating shaft 31, and hinged with 8 formation of forearm adapter plate by described forearm rotating shaft 31, hinge-point is D; Described forearm adapter plate 8 bottoms are provided with adapter plate 28, be provided with horizontal ball screw nut 29 in the described adapter plate 28, described horizontal ball screw 10 is threaded with described horizontal ball screw nut 29, described forearm servomotor 9 is by described horizontal ball screw 10 rotations of band driving synchronously, and horizontal ball screw 10 drives forearm adapter plate 8 front and back straight-line motions; Described forearm adapter plate 8 is installed on the described swivel base 35 by level frame 13, described forearm adapter plate 8 two bottom sides are provided with line slideway slide block 12, corresponding described line slideway slide block 12 places are provided with guide rail 11 on the described level frame 13, described line slideway slide block 12 cooperates with described guide rail 11, makes forearm adapter plate 8 more steady when the front and back straight line moves.
Shown in Fig. 2,4,5, described postbrachium driven unit comprises two vertical support plates 25 being fixed on the described postbrachium drive plate, is located at the postbrachium rotating shaft 26 between the described vertical support plate 25, vertical ball screw 23 and the postbrachium servomotor 21 that drives described vertical ball screw 23; Described postbrachium 4 rear ends are enclosed within the described postbrachium rotating shaft 26, and hinged with 15 formation of postbrachium adapter plate by described postbrachium rotating shaft 26, hinge-point is F; Described postbrachium adapter plate 15 is provided with vertical ball screw nut 24, and described vertical ball screw 23 is threaded with vertical ball screw nut 24, and described postbrachium servomotor 21 drives postbrachium adapter plate 15 up-and-down movements by described vertical ball screw 23; Described postbrachium adapter plate 15 is installed on the described swivel base 35 by vertical rack 14, described postbrachium adapter plate 15 end one side is provided with line slideway slide block 27, corresponding described line slideway slide block 27 places are provided with guide rail 36 on the described vertical rack 14, described line slideway slide block 27 cooperates with described guide rail 36, makes postbrachium adapter plate 15 more steady when straight line moves up and down.
As shown in Figure 8, described pull bar 20 1 ends are hinged in the forearm rotating shaft 31 of forearm adapter plate 8, and hinge-point is D, and pull bar 20 other ends are hinged on the rear end of described postbrachium 4, and hinge-point is E, and described hinge-point E is between hinge-point C and hinge-point F; Described hinge-point B, C, D, E form four summits of parallelogram; Length L 1 between described hinge-point A and the hinge-point B is 1300 ~ 1310mm, and present embodiment is 1305mm; Length L 2 between described hinge-point B and the hinge-point C is 255 ~ 265mm, and present embodiment is 261mm; Length L 3 between described hinge-point C and the hinge-point E is 1120 ~ 1130mm, and present embodiment is 1125mm; Length L 4 between described hinge-point E and the hinge-point F is 220 ~ 230mm, and present embodiment is 223mm.
As shown in Figure 7, described revolution driven unit comprises base 32, is located at the pivoting support 33 on the described base 32, the reductor 34 that cooperates with described pivoting support 33 and the rotating servo motor 22 that drives described reductor 34, and pivoting support 33 is connected with swivel base 35; The main body that described forearm adapter plate 8, forearm driven unit, postbrachium adapter plate 15 and postbrachium driven unit are formed is fixed on the described swivel base 35.
As shown in Figure 3, described set square 18 is hinged on the front end of described forearm 3, and hinge-point is B; Be provided with position plate between described first parallel draw bar 19 and the forearm adapter plate 8, described position plate is hinged in the described forearm rotating shaft 31, and described first parallel draw bar, 19 1 ends are hinged on the described position plate, and the other end is hinged on the described set square 18; One end of described second parallel draw bar 7 is hinged on the described set square 18, and the other end is connected with being connected and fixed, and described attaching parts and described motor mount 1 are hinged.
As shown in Figure 2, the parallel bar robot palletizer is different from a physical construction that principal character is its parallelogram of articulated robot.The robot palletizer main body is fixed on the bottom rotation adapter plate, by revolution driven unit driven in rotation adapter plate, makes the main body rotation of robot, finishes the gyroscopic movement of arm 2 in 330 ° of circumference range.The forearm 3 of robot, postbrachium 4 and arm 2 are finished palletizing operation, forearm 3 is the cooperations by forearm driven unit and forearm adapter plate 8, forearm 3 ends are moved inward in horizontal front and back, and this process is the horizontal rectilinear motion that the gyroscopic movement of forearm driven unit is converted to forearm 3 bottoms.Postbrachium 4 is by cooperating between postbrachium driven unit and the postbrachium adapter plate 15, and postbrachium 4 ends are being moved in the direction vertically, and this process is the straight-line motion up and down that the gyroscopic movement of postbrachium driven unit is converted to postbrachium 4 bottoms.The parallel linkage that is made of them that moves through jointly of forearm 3 and postbrachium 4 is delivered to arm 2 rear ends, and arm 2 can be moved in a plane domain, finishes the extracting of palletizing operation and the process of unclamping.Arm 2 front ends also have rotatablely moving of an anchor clamps servomotor control handgrip, and the anchor clamps servomotor is by a planetary reducer, the rotation of direct drive end clamp flange 5.Servomotor is all adopted in all power drivens, the rotation that integral body can realization body, postbrachium 4 move up and down moving forward and backward of forearm 3 and rotatablely moving of handgrip.Because the articulated position between arm 2, forearm 3, postbrachium 4 and the pull bar 20 is provided with rationally, adds the effect of parallel draw bar, no matter any position of robot motion can both guarantee the anchor clamps flange 5 maintenance levels of arm 2 ends.
The utility model servocontrol principle: a fixing system of axes XOY is set, and it rotates with pedestal, and when robot body was in position shown in the dotted line, the F0 of parallel four-bar linkage point was the initial point of system of axes XOY, and X-axis is parallel with A0C0; When horizontal motor-driven slide block positive dirction moves x, when the motor vertical driving sliding block moves y, the characteristics of motion of the end-effector of parallel bar robot palletizer is the linear function of cooresponding x and y, from kinematics analysis as can be seen, this robot construction makes robot omit and complicated synthetic calculating, the terminal motion of carrying out actr can directly realize non-coupling single shaft motion, independent drive each.By driven by servomotor, can directly form the rotation of right angle or angle.
In the utility model, use the parallel rod principle, make forearm 3 and postbrachium 4 realize no coupled motions, can independently control the motion of forearm 3 or postbrachium 4, realize palletizing operation, simplify the control program algorithm; Stacker robot arm 2 ends and pivoting part adopt planetary reducer and cycloid speed reducer respectively, and these two kinds of reductors all have the characteristics in high rigidity and low backhaul gap, are specially adapted to high precision, under the operating mode of big load; The forearm 3 of robot palletizer and postbrachium 4 type of drive all adopt the mode of ball screw, and actv. is converted to straight-line motion with rotation, more are adapted to the piling mode of stacker.

Claims (8)

1. parallel bar stacker robot is characterized in that: comprise arm, forearm, postbrachium, pull bar, first parallel draw bar, second parallel draw bar, set square, forearm adapter plate, drive forearm driven unit, the postbrachium adapter plate that described forearm adapter plate seesaws, the revolution driven unit that drives postbrachium driven unit, swivel base and the described swivel base of driving of described postbrachium adapter plate up-and-down movement; Described arm front end and motor mount are hinged, and hinge-point is A, and described motor mount is provided with the handgrip servomotor, and described handgrip servomotor is connected with handgrip by the anchor clamps flange; Described forearm is positioned at postbrachium the place ahead, and described arm rear end is hinged with the front end of the front end of described forearm and postbrachium respectively, with the hinge-point of forearm be B, with the hinge-point of postbrachium be C; The rear end of described forearm and described forearm mount pad are hinged, and hinge-point is D, and the rear end of described postbrachium and described postbrachium mount pad are hinged, and hinge-point is F; Described pull bar one end is hinged on the forearm adapter plate, and hinge-point is D, and the pull bar other end is hinged on the rear end of described postbrachium, and hinge-point is E, and described hinge-point E is between hinge-point C and hinge-point F; Described forearm adapter plate, forearm driven unit, postbrachium adapter plate and postbrachium driven unit are fixed on the described swivel base; Described set square is hinged on the front end of described forearm, hinge-point is B, and described first parallel draw bar, one end is hinged on the described forearm adapter plate, and the other end is hinged on the described set square, one end of described second parallel draw bar is hinged on the described set square, and the other end and described motor mount are hinged; Described hinge-point B, C, D, E form four summits of parallelogram.
2. a kind of parallel bar stacker robot according to claim 1 is characterized in that: described forearm driven unit comprises two horizontal support plates being fixed on the described forearm adapter plate, be located at forearm rotating shaft, the horizontal ball screw between the described horizontal support plate and drive the forearm servomotor of described horizontal ball screw; Described forearm rear end is enclosed within the described forearm rotating shaft, forms hinged by described forearm rotating shaft and forearm adapter plate; Described forearm adapter plate bottom is provided with adapter plate, and described horizontal ball screw is threaded with described adapter plate, and described forearm servomotor drives the forearm adapter plate by described horizontal ball screw and seesaws.
3. a kind of parallel bar stacker robot according to claim 1, it is characterized in that: described forearm adapter plate is installed on the described swivel base by level frame, described forearm adapter plate two bottom sides is provided with the line slideway slide block, corresponding described line slideway slide block place is provided with guide rail on the described level frame, and described line slideway slide block cooperates with described guide rail.
4. a kind of parallel bar stacker robot according to claim 2, it is characterized in that: be provided with position plate between described first parallel draw bar and the forearm adapter plate, described position plate is hinged in the described forearm rotating shaft, and described first parallel draw bar, one end is hinged on the described position plate.
5. a kind of parallel bar stacker robot according to claim 1 is characterized in that: described postbrachium driven unit comprises two vertical support plates being fixed on the described postbrachium drive plate, is located at the postbrachium rotating shaft between the described vertical support plate, vertical ball screw and the postbrachium servomotor that drives described vertical ball screw; Described postbrachium rear end is enclosed within the described postbrachium rotating shaft, forms hinged by described postbrachium rotating shaft and postbrachium adapter plate; Described postbrachium adapter plate is provided with vertical ball screw nut, and described vertical ball screw is threaded with vertical ball screw nut, and described postbrachium servomotor drives postbrachium adapter plate up-and-down movement by described vertical ball screw.
6. a kind of parallel bar stacker robot according to claim 1, it is characterized in that: described postbrachium adapter plate is installed on the described swivel base by vertical rack, a side is provided with the line slideway slide block at the bottom of the described postbrachium adapter plate, corresponding described line slideway slide block place is provided with guide rail on the described vertical rack, and described line slideway slide block cooperates with described guide rail.
7. a kind of parallel bar stacker robot according to claim 1 is characterized in that: the rotating servo motor that described revolution driven unit comprises base, is located at the pivoting support on the described base, the reductor that cooperates with described pivoting support and drives described reductor.
8. a kind of parallel bar stacker robot according to claim 1 is characterized in that: described handgrip servomotor motor by retarder and described anchor clamps flange in succession.
CN 201220703391 2012-12-19 2012-12-19 Stacker robot with parallel bars Expired - Fee Related CN203095171U (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106113025A (en) * 2016-07-27 2016-11-16 东南大学 A kind of based on steering wheel transmission three refer to gripping manipulator
CN111169358A (en) * 2020-01-20 2020-05-19 浙江大工新能源有限公司 Loading robot for logistics distribution
CN113305874A (en) * 2021-05-27 2021-08-27 北京交通大学 Three-finger multi-degree-of-freedom dexterous hand mechanism

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106113025A (en) * 2016-07-27 2016-11-16 东南大学 A kind of based on steering wheel transmission three refer to gripping manipulator
CN106113025B (en) * 2016-07-27 2018-07-20 东南大学 A kind of three finger gripping manipulators based on steering engine transmission
CN111169358A (en) * 2020-01-20 2020-05-19 浙江大工新能源有限公司 Loading robot for logistics distribution
CN113305874A (en) * 2021-05-27 2021-08-27 北京交通大学 Three-finger multi-degree-of-freedom dexterous hand mechanism

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Granted publication date: 20130731

Termination date: 20161219