CN207172099U - A kind of adaptive manipulator of cylinder driving - Google Patents
A kind of adaptive manipulator of cylinder driving Download PDFInfo
- Publication number
- CN207172099U CN207172099U CN201721277083.4U CN201721277083U CN207172099U CN 207172099 U CN207172099 U CN 207172099U CN 201721277083 U CN201721277083 U CN 201721277083U CN 207172099 U CN207172099 U CN 207172099U
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- connecting rod
- finger
- central shaft
- sleeve
- sucker
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Abstract
It the utility model is related to the technical field of robotic gripping device; a kind of more particularly to adaptive manipulator of cylinder driving; including central shaft; central shaft is provided with sucker; sucker is moved by sucker drive mechanism drives edge central shaft; center outer shaft sleeve is provided with sleeve; sleeve is externally provided with some movable fingers; movable finger includes connecting rod one, set square, connecting rod two, connecting rod three, connecting rod four, connecting rod five and connecting rod six, and movable finger realizes each connecting rod assembly closing up or open into movable finger by the driving of finger cylinder；Sucker drive mechanism and finger cylinder pass through line connection control system respectively.The present apparatus sets the multiple movable fingers being used cooperatively by the surrounding in sucker, different sizes, the object of complicated shape can effectively be captured, and the closure angle of each jointed connecting rod of energy adjust automatically activity finger reaches the purpose of clamping, has the advantages that compact-sized, grasp stability is high, has a wide range of application.
Description
Technical field
It the utility model is related to the technical field of robotic gripping device, more particularly to a kind of adaptive machine of cylinder driving
Tool hand.
Background technology
In the automated production field of logistic industry, it is often necessary to which industrial robot is completed the crawl of some materials, carried
Etc. process.Execution instrument of the sucker as complex materials crawl operation in industrial robot progress logistics, its accuracy captured,
Grasp force and stability have important influence to the efficiency and security of operation process.At present, for the material of regular shape,
Such as cube, cylinder, existing sucker is very convenient to complete to capture and carry.But do not advised for some shapes
Then, the poor material of surface appearance, because there is projection, pit etc. to exist on its surface, easily produced with existing vacuum cup
Gas leak phenomenon, the requirement that vacuum does not reach.In addition, in the various environment of robot manipulating task, it is desirable to which sucker applicability is wide, drives
Dynamic simple, existing sucker can not often meet to require.
Based on this, the utility model devises a kind of adaptive manipulator of cylinder driving, can effectively capture different chis
The very little and object of weight, realizes accurate multi-fingered grasp, has the advantages that compact-sized, grasp stability is high, has a wide range of application.
Utility model content
The utility model is in order to provide a kind of adaptive machine of cylinder driving the defects of overcoming above-mentioned prior art to exist
Tool hand, the object of different sizes and weight can be effectively captured, realizes accurate multi-fingered grasp, there is compact-sized, crawl surely
Qualitative high, the advantages that having a wide range of application.
The technical scheme that the utility model solves above-mentioned technical problem is as follows：
A kind of adaptive manipulator of cylinder driving, including central shaft, one end of the central shaft is provided with sucker, described
Sucker can be relatively moved by the driving of sucker drive mechanism along the axis of the central shaft, and the central shaft fixed sleeves are provided with set
Tin, the surrounding outside the sleeve is provided with movable finger, the driving realization activity finger that the movable finger passes through finger cylinder
Close up or open；
The movable finger includes set square and connecting rod six, and one end of the finger cylinder is movably connected in the central shaft
The other end on, the other end of the finger cylinder is movably connected on first angle of set square, and the activity of the connecting rod six is even
It is connected on second angle of the set square, the 3rd angle of the set square is movably connected in outside the sleeve and can be around described
Sleeve rotating, the finger cylinder can drive the set square to be rotated around the junction of itself and the sleeve so as to drive the company
Bar six close to or away from the sucker, so as to realize closing up or opening for the movable finger.
Control sucker drive mechanism to drive sucker to draw crawl thing by control system, while hand is controlled by control system
Referring to cylinder promotes set square to be rotated counterclockwise around sleeve, and drivening rod six generates the action inwardly hooked, can be by gripped object
Body is held, and realizes crawl task.
Further：The movable finger also includes connecting rod one, connecting rod two, connecting rod three, connecting rod four and connecting rod five, the connecting rod
One one end is flexibly connected the other end of the finger cylinder and junction can be by guide rod sliding equipment along the central shaft
Axis relative movement, the other end of the connecting rod one is movably connected on first angle of the set square, the connecting rod two
One end be movably connected on second angle of the set square, the other end of the connecting rod two is flexibly connected the connecting rod four
One end, the other end of the connecting rod four are flexibly connected one end of the connecting rod six, and one end of the connecting rod three is movably connected in institute
State on the 3rd angle of set square and its junction can be movably connected in institute around the sleeve rotating, the other end of the connecting rod three
State on connecting rod four and junction to be located between the both ends of the connecting rod four, the other end of the connecting rod three is also flexibly connected described
One end of connecting rod five, the other end of the connecting rod five are flexibly connected the other end of the connecting rod six.By setting connecting rod one, connecting rod
2nd, connecting rod three, connecting rod four and the connecting rod of connecting rod five coordinate set square and connecting rod six, by finger cylinder drive link six it is close or
Away from sucker, realization activity finger closes up or opened.
Further：The sucker drive mechanism includes expansion link, and one end of the expansion link is movably connected in by spring
On one end of the central shaft, the other end of the expansion link is connected to the sucker, and the central shaft is interior for one end open
The hollow straight tube in portion, the sleeve fill housing for the pipe of both ends open, and one end of the opening of the central shaft, which is fixed, to be embedded in institute
In the opening for stating sleeve one end, one end of the expansion link is arranged in the opening of the sleeve other end and can be along the sleeve
Axial movement, the central shaft, one end of expansion link and the inwall of the sleeve by seal combination into one sealing
Accommodating chamber, one end away from the sleeve is provided with the air inlet for connecting external source of the gas on the central shaft, the sleeve
Gas outlet is provided with side wall, valve is provided with the air inlet and gas outlet, the switch of the valve is connected by circuit
Then external control system, the control system adjust the tolerance in the accommodating chamber so as to drive by controlling the valve
The dynamic expansion link is close or away from the central shaft.
Further：The guide rod sliding equipment includes the collar, guide rod and sliding block, and the collar is fixed and is set in the center
Axle is outer and between the other end positioned at the central shaft and the sleeve, the guide rod be connected to the collar and the sleeve it
Between, movable sliding block is arranged with the guide rod, the other end of the finger cylinder is movably connected in one end of connecting rod one
On the sliding block.The collar is set and by guide rod branch sleeve, makes the sliding block of connection finger cylinder and connecting rod one can be on slide rail
Relative movement, complete the telescopic drive function of finger cylinder.
Further：At least three, the movable finger, it is evenly distributed on the surrounding of the sleeve.Set in the surrounding of sucker
Put at least three movable fingers, you can realize in addition to the suction force of sucker, movable hand is evenly distributed with the periphery of sucker
Refer to, it is possible to achieve different sizes, the multiple spot of different shape object are drawn, and ensure overall absorption effect.
Further：The finger cylinder passes through the external control system of connection.It can also realize by other means
The driving of finger cylinder, such as controller is set in cylinder referring to, external control system controls hand by bluetooth or WiFi
Refer to the driving of cylinder；Similarly also it is applicable to the control system of sucker drive mechanism.
Further：One end of the finger cylinder is movably connected in by hinge bracket on the other end of the central shaft,
Hinge bracket realizes the flexible connection of finger cylinder, and is easily installed maintenance.
Further：The connecting rod three is coated with finger pulp close to the side of the central shaft, and the connecting rod six is close to described
The side of central shaft is coated with finger tip, and the finger pulp and the material of the finger tip are polyurethane material.Connect in movable finger
The contact surface of bar and thing to be captured sets soft finger pulp and finger tip, prevents from wearing thing surface to be captured during crawl；Poly- ammonia
Ester resin is a kind of high polymer material with the characteristic such as high intensity, tear-proof, wear-resisting, and polyurethane flexible foam can be used as connecting rod
Pad, because its wear-resisting and soft speciality is coated on the inner side that connecting rod four and connecting rod six contact with thing volume to be captured, prevent from grabbing
Thing surface to be captured is worn when taking.
Further：The sucker is vacuum cup, and the material of the sucker is PVC material.It is this kind of soft using PVC material
The suction force of sucker combination vacuum generator is manufactured, realizes and draws function, avoid damage to the surface of thing to be captured, reduce and wait to inhale
The absorption of thing is taken to be lost.
Further：The other end end set of the central shaft has mounting flange, allows adaptive manipulator and machine
Tool arm or other end effectors are seamlessly connected, and are easy to the matching of manipulator to use and install maintenance.
Based on above-mentioned technical proposal, the beneficial effects of the utility model are：It the utility model is related to robotic gripping device
Technical field, more particularly to a kind of cylinder driving adaptive manipulator, by sucker surrounding set it is multiple cooperation make
Movable finger realizes the accurate crawl to irregularity, directly using portions such as each connecting rods of finger cylinder driving activity finger
Part, each connecting rod assembly is formed activity finger grips or relieving, precisely function is grabbed so as to realization activity finger, can be effective
Different sizes, the object of complicated shape are captured, and the closure angle of each jointed connecting rod of energy adjust automatically activity finger reaches folder
Tight purpose, have the advantages that compact-sized, grasp stability is high, have a wide range of application.
Brief description of the drawings
Fig. 1 is a kind of structural representation of the adaptive manipulator of cylinder driving of the utility model；
Fig. 2 is the structural representation of movable finger in a kind of adaptive manipulator of cylinder driving of the utility model；
In accompanying drawing, the list of parts representated by each label is as follows：
1st, central shaft, 2, sucker, 3, sucker drive mechanism, 31, air inlet, 32, gas outlet, 33, expansion link, 4, sleeve,
5th, movable finger, 51, connecting rod one, 52, set square, 53, connecting rod two, 54, connecting rod three, 55, connecting rod four, 56, connecting rod five, 57, even
Bar six, 58, finger pulp, 59, finger tip, 6, finger cylinder, 7, the collar, 8, guide rod, 9, sliding block, 10, hinge bracket, 11, ring flange.
Embodiment
Principle of the present utility model and feature are described below in conjunction with accompanying drawing, example is served only for explaining this practicality
It is new, it is not intended to limit the scope of the utility model.
As shown in Figures 1 and 2, a kind of adaptive manipulator of cylinder driving, including central shaft 1, the one of the central shaft 1
End is provided with sucker 2, and the sucker 2 can be relatively moved by the driving of sucker drive mechanism 3 along the axis of the central shaft 1, institute
State the fixed sleeves of central shaft 1 and be provided with sleeve 4, the surrounding outside the sleeve 4 is provided with movable finger 5, and the movable finger 5 passes through
The driving realization activity finger 5 of finger cylinder 6 closes up or opened；
The movable finger 5 includes set square 52 and connecting rod 6 57, and one end of the finger cylinder 6 is movably connected in described
On the other end of central shaft 1, the other end of the finger cylinder 6 is movably connected on first angle of set square 52, the company
Bar six is movably connected on second angle of the set square 52, and the 3rd angle of the set square 52 is movably connected in the set
And can be around the sleeve rotating outside cylinder 4, the finger cylinder 6 can drive the set square 52 around its connection with the sleeve 4
Place's rotation so as to drive the connecting rod 6 57 close to or away from the sucker 2, so as to realize the movable finger 5 close up or
Person opens.
Further：The movable finger 5 also includes connecting rod 1, connecting rod 2 53, connecting rod 3 54, connecting rod 4 55 and connecting rod five
56, one end of the connecting rod 1 is flexibly connected the other end of the finger cylinder 6 and junction can be by guide rod skate machine
Axis relative movement of the structure along the central shaft 1, the other end of the connecting rod 1 are movably connected in the of the set square 52
On one angle, one end of the connecting rod 2 53 is movably connected on second angle of the set square 52, the connecting rod 2 53
The other end is flexibly connected one end of the connecting rod 4 55, and the other end of the connecting rod 4 55 is flexibly connected the one of the connecting rod 6 57
End, one end of the connecting rod 3 54 is movably connected on the 3rd angle of the set square 52 and its junction can be around the sleeve
4 rotations, the other end of the connecting rod 3 54 is movably connected on the connecting rod 4 55 and junction is located at the connecting rod 4 55
Both ends between, the other end of the connecting rod 3 54 is also flexibly connected one end of the connecting rod 5 56, the connecting rod 5 56 it is another
One end is flexibly connected the other end of the connecting rod 6 57.
Further：The sucker drive mechanism 3 includes expansion link 33, and one end of the expansion link 33 is connected by spring activity
It is connected on one end of the central shaft 1, the other end of the expansion link 33 is connected to the sucker 2, and the central shaft 1 is one end
The straight tube of the inner hollow of opening, the sleeve 4 fill housing for the pipe of both ends open, and one end of the opening of the central shaft 1 is consolidated
Surely it is embedded in the opening of described one end of sleeve 4, one end of the expansion link 33 is arranged in the opening of the other end of sleeve 4
And sealing can be passed through along the axial movement of the sleeve 4, the inwall of the central shaft 1, one end of expansion link 33 and the sleeve 4
Part is combined into the accommodating chamber of a sealing, and one end away from the sleeve 4 is provided with the external source of the gas of connection on the central shaft 1
Air inlet 31, be provided with gas outlet 32 in the side wall of the sleeve 4, valve be provided with the air inlet 31 and gas outlet 32
Door, the switch of the valve external control system by connection, the control system by control the valve come
Adjust the tolerance in the accommodating chamber so as to drive the expansion link 33 close to or away from the central shaft 1.
Further：The guide rod sliding equipment includes the collar 7, guide rod 8 and sliding block 9, and the fixation of the collar 7 is set in described
Central shaft 1 is outer and is located between the other end and the sleeve 4 of the central shaft 1, and the guide rod 8 is connected to the He of the collar 7
Between the sleeve 4, the sliding block 9 of activity, the other end and the connecting rod 1 of the finger cylinder 6 are arranged with the guide rod 8
One end is movably connected on the sliding block 9.
Further：At least three, the movable finger 5, it is evenly distributed on the surrounding of the sleeve 4.In the present embodiment
In, three movable fingers 5 are set, are evenly distributed on the surrounding of sleeve 4.
Further:The finger cylinder 6 passes through the external control system of connection.It can also realize by other means
The driving of finger cylinder, such as controller is set in cylinder referring to, external control system controls hand by bluetooth or WiFi
Refer to the driving of cylinder；Similarly also it is applicable to the control system of sucker drive mechanism.
Further：One end of the finger cylinder 6 is movably connected in the other end of the central shaft 1 by hinge bracket 10
On.
Further：The connecting rod 3 54 is coated with finger pulp 58 close to the side of the central shaft 1, and the connecting rod 6 57 leans on
The side of the nearly central shaft 1 is coated with finger tip 59, and the material of the finger pulp 58 and the finger tip 59 is flexible foam class
Polyurethane material.
Further：The sucker 2 is vacuum cup, and the material of the sucker 2 is PVC material.
Further：The other end end set of the central shaft 1 has mounting flange 11, can be by ring flange 11 by cylinder
The adaptive manipulator of driving is seamlessly connected in mechanical arm or other end effectors.
The operation principle of the present apparatus：As shown in Figures 1 and 2, controlled by external control system in sucker drive mechanism 3
Air inlet 31 and the valve of gas outlet 32 are formed in the accommodating chamber of a sealing to the combination of sleeve 4, central shaft 1 and expansion link 33
Aeration quantity, realize that releasing expansion link 33 and sucker 2 draws after thing is captured, expansion link 33 moves up, and completes the absorption of sucker 2
Task, while control finger cylinder 6 to promote sliding block 9 to be moved on guide rod 8 to the direction of sucker 2 by external control system,
Advance downwardly so as to drivening rod 1, so that the connection end of connecting rod 51 and set square 52 is close to sucker 2, while drive triangle
Plate 52 rotates counterclockwise, and so as to cause the direction of connecting rod 2 53 and the upward and remote sucker 2 in connection end of set square 52 to move, enters
And promote the connection end of connecting rod 3 54 and connecting rod 4 55 to move up, connecting rod 5 56 is rotated towards the direction of sucker 2, pass through
The cooperation rotation of connecting rod 4 55 and connecting rod 6 57, do the direction of direction movement and finger tip 59 to sucker 2 of the finger pulp 58 to sucker 2
Go out the action for hooking and taking to inner side, capture and clip thing to be captured, complete the crawl work of thing to be captured, when adaptive manipulator will
Crawl thing is transferred to specified location, shrinks finger cylinder 6, is unclamped so as to drive each connecting rod to capture thing, that is, completes once to capture
Task.
Preferred embodiment of the present utility model is the foregoing is only, it is all in this practicality not to limit the utility model
Within new spirit and principle, any modification, equivalent substitution and improvements made etc., guarantor of the present utility model should be included in
Within the scope of shield.
Claims (10)
1. a kind of adaptive manipulator of cylinder driving, including central shaft (1), it is characterised in that：One end of the central shaft (1)
Sucker (2) is provided with, the sucker (2) can be along the relative shifting of axis of the central shaft (1) by sucker drive mechanism (3) driving
Dynamic, central shaft (1) fixed sleeves are provided with sleeve (4), and the surrounding of the sleeve (4) outside is provided with movable finger (5), described
The driving realization activity finger (5) that movable finger (5) passes through finger cylinder (6) closes up or opened；
The movable finger (5) includes set square (52) and connecting rod six (57), and one end of the finger cylinder (6) is movably connected in
On the other end of the central shaft (1), the other end of the finger cylinder (6) is movably connected in the first of the set square (52)
On individual angle, the connecting rod six (57) is movably connected on second angle of the set square (52), and the of the set square (52)
Three angles are movably connected in the sleeve (4) outside and can rotated around the sleeve (4), and the finger cylinder (6) can drive described
Set square (52) is rotated around the junction of itself and the sleeve (4) so as to drive the connecting rod six (57) close to or away from described
Sucker (2) is so as to realizing closing up or opening for the movable finger (5).
A kind of 2. adaptive manipulator of cylinder driving according to claim 1, it is characterised in that：The movable finger
(5) connecting rod one (51), connecting rod two (53), connecting rod three (54), connecting rod four (55) and connecting rod five (56), the connecting rod one are also included
(51) one end is flexibly connected the other end of the finger cylinder (6) and junction can be by guide rod sliding equipment along in described
The axis relative movement of mandrel (1), the other end of the connecting rod one (51) are movably connected in first of the set square (52)
On angle, one end of the connecting rod two (53) is movably connected on second angle of the set square (52), the connecting rod two (53)
The other end be flexibly connected one end of the connecting rod four (55), the other end of the connecting rod four (55) is flexibly connected the connecting rod six
(57) one end, one end of the connecting rod three (54) is movably connected on the 3rd angle of the set square (52) and its junction
It can be rotated around the sleeve (4), the other end of the connecting rod three (54) is movably connected on the connecting rod four (55) and connected
Between the both ends of the connecting rod four (55), the other end of the connecting rod three (54) is also flexibly connected the connecting rod five (56) at place
One end, the other end of the connecting rod five (56) is flexibly connected the other end of the connecting rod six (57).
A kind of 3. adaptive manipulator of cylinder driving according to claim 2, it is characterised in that：The sucker driving machine
Structure (3) includes expansion link (33), and one end of the expansion link (33) is connected by spring on one end of the central shaft (1), institute
The other end for stating expansion link (33) is connected to the sucker (2), and the central shaft (1) is straight for the inner hollow of one end open
Pipe, the sleeve (4) fill housing for the pipe of both ends open, and one end of the opening of the central shaft (1), which is fixed, to be embedded in the set
In the opening of cylinder (4) one end, one end of the expansion link (33) is arranged in the opening of the sleeve (4) other end and can be along institute
The axial movement of sleeve (4) is stated, the inwall of the central shaft (1), one end of expansion link (33) and the sleeve (4) passes through sealing
Part is combined into the accommodating chamber of a sealing, and it is external to be provided with connection for one end away from the sleeve (4) on the central shaft (1)
The air inlet (31) of source of the gas, gas outlet (32), the air inlet (31) and gas outlet are provided with the side wall of the sleeve (4)
(32) place is provided with valve, and the switch of the valve external control system by connection, and the control system is led to
Cross and control the valve to adjust the tolerance in the accommodating chamber so as to drive the expansion link (33) close to or away from described
Central shaft (1).
A kind of 4. adaptive manipulator of cylinder driving according to claim 3, it is characterised in that：The guide rod skate machine
Structure includes the collar (7), guide rod (8) and sliding block (9), and the collar (7) is fixed to be set in the central shaft (1) outside and positioned at described
Between the other end and the sleeve (4) of central shaft (1), the guide rod (8) is connected to the collar (7) and the sleeve (4)
Between, movable sliding block (9), the other end of the finger cylinder (6) and the one of connecting rod one (51) are arranged with the guide rod (8)
End is movably connected on the sliding block (9).
A kind of 5. adaptive manipulator of cylinder driving according to claim 1, it is characterised in that：The movable finger
(5) at least three, it is evenly distributed on the surrounding of the sleeve (4).
A kind of 6. adaptive manipulator of cylinder driving according to claim 1, it is characterised in that：The finger cylinder
(6) the external control system of connection is passed through.
A kind of 7. adaptive manipulator of cylinder driving according to claim 1, it is characterised in that：The finger cylinder
(6) one end is movably connected on the other end of the central shaft (1) by hinge bracket (10).
A kind of 8. adaptive manipulator of cylinder driving according to claim 2, it is characterised in that：The connecting rod three (54)
Finger pulp (58) is coated with close to the side of the central shaft (1), the connecting rod six (57) is close to the side of the central shaft (1)
Finger tip (59) is coated with, the finger pulp (58) and the material of the finger tip (59) are polyurethane material.
A kind of 9. adaptive manipulator of cylinder driving according to claim 1, it is characterised in that：The sucker (2) is
Vacuum cup, the material of the sucker (2) is PVC material.
A kind of 10. adaptive manipulator of cylinder driving according to claim 1-9 any one, it is characterised in that：Institute
Stating the other end end set of central shaft (1) has mounting flange (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721277083.4U CN207172099U (en) | 2017-09-30 | 2017-09-30 | A kind of adaptive manipulator of cylinder driving |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721277083.4U CN207172099U (en) | 2017-09-30 | 2017-09-30 | A kind of adaptive manipulator of cylinder driving |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207172099U true CN207172099U (en) | 2018-04-03 |
Family
ID=61749854
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721277083.4U Active CN207172099U (en) | 2017-09-30 | 2017-09-30 | A kind of adaptive manipulator of cylinder driving |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207172099U (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108598515A (en) * | 2018-05-02 | 2018-09-28 | 王柏彰 | A kind of button cell equipment |
| CN108686881A (en) * | 2018-07-12 | 2018-10-23 | 安徽贵达汽车部件有限公司 | A kind of brake shoes automatic double surface gluer |
| CN108974742A (en) * | 2018-08-01 | 2018-12-11 | 广州力生智能科技有限公司 | Novel anchor clamps that storage order letter sorting device used |
| CN109176492A (en) * | 2018-11-08 | 2019-01-11 | 山东大学 | A kind of manipulator based on restructural parallel institution |
| CN109623858A (en) * | 2019-01-31 | 2019-04-16 | 浙江湾区机器人技术有限公司 | A kind of robot gripper clamping magnetic shoe |
| CN110103250A (en) * | 2019-05-31 | 2019-08-09 | 广西大学 | A kind of adaptive more finger joint unit manipulators |
| CN110626882A (en) * | 2019-09-10 | 2019-12-31 | 苏州江锦自动化科技有限公司 | Wire spool clamping jaw and using method thereof |
| WO2020248427A1 (en) * | 2019-06-12 | 2020-12-17 | 施镇乾 | Valve manipulator |
| CN113561215A (en) * | 2021-09-26 | 2021-10-29 | 西南科技大学 | Posture-changing articulated dexterous hand |
| CN116160435A (en) * | 2023-04-24 | 2023-05-26 | 海南坤联科技有限公司 | Somatosensory-control bionic mechanical arm mounted on submarine |
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2017
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108598515A (en) * | 2018-05-02 | 2018-09-28 | 王柏彰 | A kind of button cell equipment |
| CN108598515B (en) * | 2018-05-02 | 2020-09-01 | 南京溧水高新创业投资管理有限公司 | Button cell equipment |
| CN108686881A (en) * | 2018-07-12 | 2018-10-23 | 安徽贵达汽车部件有限公司 | A kind of brake shoes automatic double surface gluer |
| CN108974742A (en) * | 2018-08-01 | 2018-12-11 | 广州力生智能科技有限公司 | Novel anchor clamps that storage order letter sorting device used |
| CN109176492A (en) * | 2018-11-08 | 2019-01-11 | 山东大学 | A kind of manipulator based on restructural parallel institution |
| CN109623858B (en) * | 2019-01-31 | 2022-04-15 | 浙江湾区机器人技术有限公司 | Robot gripper for clamping magnetic shoes |
| CN109623858A (en) * | 2019-01-31 | 2019-04-16 | 浙江湾区机器人技术有限公司 | A kind of robot gripper clamping magnetic shoe |
| CN110103250A (en) * | 2019-05-31 | 2019-08-09 | 广西大学 | A kind of adaptive more finger joint unit manipulators |
| WO2020248427A1 (en) * | 2019-06-12 | 2020-12-17 | 施镇乾 | Valve manipulator |
| CN110626882A (en) * | 2019-09-10 | 2019-12-31 | 苏州江锦自动化科技有限公司 | Wire spool clamping jaw and using method thereof |
| CN110626882B (en) * | 2019-09-10 | 2023-09-15 | 苏州江锦自动化科技有限公司 | Wire spool clamping jaw and using method thereof |
| CN113561215B (en) * | 2021-09-26 | 2021-12-07 | 西南科技大学 | Posture-changing articulated dexterous hand |
| CN113561215A (en) * | 2021-09-26 | 2021-10-29 | 西南科技大学 | Posture-changing articulated dexterous hand |
| CN116160435A (en) * | 2023-04-24 | 2023-05-26 | 海南坤联科技有限公司 | Somatosensory-control bionic mechanical arm mounted on submarine |
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