CN106903686A - A kind of manipulator - Google Patents
A kind of manipulator Download PDFInfo
- Publication number
- CN106903686A CN106903686A CN201710316663.8A CN201710316663A CN106903686A CN 106903686 A CN106903686 A CN 106903686A CN 201710316663 A CN201710316663 A CN 201710316663A CN 106903686 A CN106903686 A CN 106903686A
- Authority
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- China
- Prior art keywords
- fixed part
- manipulator
- drive
- movable part
- cursor
- 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.)
- Pending
Links
- 230000000712 assembly Effects 0.000 claims abstract description 26
- 238000000429 assembly Methods 0.000 claims abstract description 26
- 239000007787 solid Substances 0.000 claims 1
- 238000005516 engineering process Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000005272 metallurgy Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of manipulator, including clamping device, clamping device includes fixed part, movable part and clamp assemblies；Manipulator also includes Power Component；It is provided with fixed part for ordering about the group of drive rods that clamp assemblies are clamped or unclamped, group of drive rods includes two drive rods for being symmetricly set in the fixed part left and right sides；Clamp assemblies are located at the lower section of group of drive rods, and clamp assemblies include two grip units for being symmetricly set in the movable part left and right sides；One end of drive rod is rotated with fixed part and is connected, and the other end of drive rod is rotated with grip unit and is connected；Grip unit is corresponded with drive rod；Grip unit is rotated with movable part and is connected.The robot manipulator structure is simple, and operation is flexible, and chucking power is big.Object during high-speed mobile, does not fall out after clamped yet.
Description
Technical field
The present invention relates to mechanical device field, more particularly to a kind of manipulator.
Background technology
Manipulator is common mechanical device in modern industry.Manipulator be widely used in machine-building, metallurgy, electronics,
The fields such as light industry.
Manipulator can imitate some actions of staff and arm, be used to capture, carry the automatic pilot of object.Manipulator
The heavy labor of people can be replaced, to realize the mechanization and automation of production, and can be operated under harmful environment, protect people
Body safety.
The complex structure of existing manipulator, flexibility is low and chucking power is small.
The content of the invention
A kind of defect it is an object of the invention to overcome prior art, there is provided manipulator, is used to solve in the prior art
Problem.
To solve the above problems, the invention provides：A kind of manipulator, including clamping device, the clamping device include
Fixed part, it is arranged at fixed part lower section and the movable part that is slidably connected with the fixed part and the clamping for clamping object
Component；
The manipulator is also included for ordering about the movable part relative to the Power Component that the fixed part is slided up and down；
It is provided with the fixed part for ordering about the group of drive rods that the clamp assemblies are clamped or unclamped, the drive rod
Group includes two drive rods for being symmetricly set in the fixed part left and right sides；
The clamp assemblies are located at the lower section of the group of drive rods, and the clamp assemblies include two and are symmetricly set in institute
State the grip unit of the movable part left and right sides；
One end of the drive rod and the fixed part are rotated and are connected, the other end of the drive rod and the grip unit
Rotate connection；
The grip unit is corresponded with the drive rod；
The grip unit is rotated with the movable part and is connected.
As the further improvement of above-mentioned technical proposal, guiding polished rod is provided with the fixed part；
The movable part is provided with the connection through hole being slidably connected with the guiding polished rod.
Used as the further improvement of above-mentioned technical proposal, the guiding polished rod has 1 or many；
The connection through hole is corresponded with the guiding polished rod.
As the further improvement of above-mentioned technical proposal, linear bearing is provided with the connection through hole；
The linear bearing is flexibly connected with the guiding polished rod.
As the further improvement of above-mentioned technical proposal, the grip unit include the first cursor, the second cursor and
Holder；
One end of first cursor and second cursor rotates with the movable part and is connected；
The other end of first cursor and second cursor is fixedly connected with the holder；Wherein, institute
State to be rotated with the drive rod between the first cursor two ends and be connected.
Used as the further improvement of above-mentioned technical proposal, the holder includes multiple intermediate plates be arrangeding in parallel.
As the further improvement of above-mentioned technical proposal, broached-tooth design is provided with the inner side of the intermediate plate；
The end of the intermediate plate and outside corresponding with the broached-tooth design is provided with inclination angle.
Used as the further improvement of above-mentioned technical proposal, the group of drive rods has multiple, and be arranged in parallel.
Used as the further improvement of above-mentioned technical proposal, the Power Component includes drive cylinder.
As the further improvement of above-mentioned technical proposal, connecting plate is fixed with the piston of the drive cylinder；
The connecting plate is fixedly connected with the movable part.
The beneficial effects of the invention are as follows：The present invention proposes a kind of manipulator, by Power Component drive movable part relative to
Fixed part is slided, then orders about the work that clamp assemblies complete clamping object by the group of drive rods being arranged on fixed part.
The robot manipulator structure is simple, and operation is flexible, and chucking power is big.Object after clamped, during high-speed mobile,
Do not fall out yet.
Brief description of the drawings
Technical scheme in order to illustrate more clearly the embodiments of the present invention, below will be attached to what is used needed for embodiment
Figure is briefly described.It should be appreciated that the following drawings illustrate only certain embodiments of the present invention, thus be not construed as it is right
The restriction of scope, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to this
A little accompanying drawings obtain other related accompanying drawings.
Fig. 1 is a kind of structural representation of clamping device in the embodiment of the present invention；
Fig. 2 is the front view of Fig. 1；
Fig. 3 is the side view of Fig. 2；
Fig. 3 a are a kind of schematic diagram of intermediate plate in the embodiment of the present invention；
Fig. 4 is the connection diagram of a kind of manipulator and workbench in the embodiment of the present invention.
Main element symbol description：
100- clamping devices；1000- fixed parts；1100- group of drive rods；1110- drive rods；1200- is oriented to polished rod；
2000- movable parts；3000- clamp assemblies；3100- grip units；The cursors of 3110- first；The cursors of 3120- second；3130-
Holder；3131- intermediate plates；3132- broached-tooth designs；3133- inclination angles；4000- Power Components；4100- connecting plates；5000- works
Platform；5100- slide plates；5200- slide rails；5300- lift cylinders；5400- line slideways.
Specific embodiment
Hereinafter, various embodiments of the present invention will be described more fully.The present invention can have various embodiments, and
Can wherein adjust and change.It should be understood, however, that：It is limited to spy disclosed herein in the absence of by various embodiments of the present invention
Determine the intention of embodiment, but should invention is construed as covering falling into the spirit and scope of various embodiments of the present invention
All adjustment, equivalent and/or alternative.
Hereinafter, can use in various embodiments of the present invention term " including " or " may include " indicate it is disclosed
Function, operation or the presence of element, and do not limit the increase of one or more functions, operation or element.Additionally, such as existing
Used in various embodiments of the present invention, term " including ", " having " and its cognate be meant only to represent special characteristic, number
The combination of word, step, operation, element, component or foregoing item, and be understood not to exclude first it is one or more other
The presence of the combination of feature, numeral, step, operation, element, component or foregoing item or increase one or more features, numeral,
The possibility of the combination of step, operation, element, component or foregoing item.
In various embodiments of the present invention, statement "or" or " at least one of A or/and B " include what is listed file names with
Any combinations of word or all combinations.For example, statement " A or B " or " at least one of A or/and B " may include A, may include
B may include A and B both.
The statement (" first ", " second " etc.) for using in various embodiments of the present invention can be modified in various implementations
Various element in example, but corresponding element can not be limited.For example, presented above be not intended to limit the suitable of the element
Sequence and/or importance.The purpose for being only used for differentiating an element and other elements presented above.For example, first user is filled
Put and indicate different user device with second user device, although the two is all user's set.For example, of the invention each not departing from
In the case of planting the scope of embodiment, the first element is referred to alternatively as the second element, and similarly, the second element is also referred to as first
Element.
It should be noted that：In the present invention, unless otherwise clearly regulation and definition, the art such as " installation ", " connection ", " fixation "
Language should be interpreted broadly, for example, it may be being fixedly connected, can also be detachably connected or be integrally connected；It can be machine
Tool is connected, or electrically connected；Can be directly connected to, also can be by intermediary and be indirectly connected to；It can be two
The connection of element internal.For the ordinary skill in the art, can as the case may be understand above-mentioned term at this
Concrete meaning in invention.
In the present invention, one of ordinary skill in the art is it is to be appreciated that indicating position or position relationship in text
Term be based on orientation shown in the drawings or position relationship, be for only for ease of description the present invention and simplify describe, without
Be indicate or imply meaning device or element must have specific orientation, with specific azimuth configuration and operation, therefore
It is not considered as limiting the invention.
The term for using in various embodiments of the present invention is only used for describing the purpose of specific embodiment and not anticipating
In limitation various embodiments of the present invention.As used herein, singulative is intended to also including plural form, unless context is clear
Chu ground is indicated otherwise.Unless otherwise defined, all terms (including the technical term and scientific terminology) tool being otherwise used herein
There is the implication identical implication being generally understood that with various embodiments of the present invention one skilled in the art.The term
(term limited such as in the dictionary for generally using) is to be interpreted as to be had and the situational meaning in correlative technology field
Identical implication and will be not construed as with Utopian implication or excessively formal implication, unless of the invention various
It is clearly defined in embodiment.
Embodiment 1
Refering to Fig. 1, Fig. 2, Fig. 3 and Fig. 4, in the present embodiment, a kind of manipulator is proposed, the manipulator includes clamping device
100 and Power Component 4000.Wherein, clamping device 100 includes fixed part 1000, movable part 2000 and clamp assemblies 3000.Its
In, movable part 2000 is arranged at the lower section of fixed part 1000 and is slidably connected with fixed part 1000；Clamp assemblies 3000 are used to clamp
Object；Power Component 4000 is slided up and down for ordering about movable part 2000 relative to fixed part 1000.
As depicted in figs. 1 and 2, group of drive rods 1100 is provided with fixed part 1000, group of drive rods 1100 is used to order about
Clamp assemblies 3000 are clamped or unclamped.In the present embodiment, group of drive rods 1100 includes two and is symmetricly set in fixed part
The drive rod 1110 of 1000 left and right sides.
As depicted in figs. 1 and 2, clamp assemblies 3000 are located at the lower section of group of drive rods 1100.In the present embodiment, clamping group
Part 3000 includes two grip units 3100 for being symmetricly set in the left and right sides of movable part 2000.Wherein, grip unit 3100
Rotated between movable part 2000 and be connected.
Drive rod 1110, rotates with fixed part 1000 and grip unit 3100 and is connected.Specifically, the one of drive rod 1110
End is rotated with fixed part 1000 and is connected, and the other end of drive rod 1110 is rotated with grip unit 3100 and is connected.In the present embodiment,
Grip unit 3100 is corresponded with drive rod 1110.
When movable part 2000 is moved downward relative to fixed part 1000, symmetrically arranged two grip units 3100 are being driven
In the presence of lever 1110, the action for clamping is completed；When movable part 2000 is moved upwards relative to fixed part 1000, symmetrically set
Two grip units 3100 put complete the action unclamped in the presence of drive rod 1110.
In the present embodiment, group of drive rods 1100 can be provided with multiple, and selection be arranged in parallel each other.Its
In, a clamp assemblies 3000 are also correspondingly arranged in each group of drive rods 1100.
To realize being slidably connected between movable part 2000 and fixed part 1000, in the present embodiment, in fixed part 1000
On be provided with guiding polished rod 1200, the connection through hole that is slidably connected of polished rod 1200 is provided with and is oriented on movable part 2000.Specifically
, it is oriented to polished rod 1200 and is arranged in connection through hole.Being oriented to polished rod 1200 has the effect being oriented to, while for constraining movable part
2000 event trace.
Being oriented to polished rod 1200 can be provided with 1 or many, wherein, connection through hole is corresponded with polished rod 1200 is oriented to,
Both quantity are identical.In the present embodiment, being oriented to polished rod 1200 can specifically be provided with 4, and accordingly, connection through hole is also provided with
There are 4.
To ensure the stationarity and smoothness of relative motion between movable part 2000 and fixed part 1000, in the present embodiment
In, linear bearing can be provided with connection through hole, wherein, linear bearing is flexibly connected with polished rod 1200 is oriented to.
As shown in Fig. 2 in the present embodiment, grip unit 3100 includes the first cursor 3110, the second cursor 3120
With holder 3130.Wherein, the first cursor 3110 is located at the top of the second cursor 3120.
One end of first cursor 3110 and the second cursor 3120 rotates with movable part 2000 and is connected；First cursor
3110 and second the other end of cursor 3120 be fixedly connected with holder 3130.Wherein, the two ends of the first cursor 3110 it
Between with drive rod 1110 rotate be connected.
As shown in figure 3, in the present embodiment, holder 3130 be arranged in parallel intermediate plate 3131 including multiple, specifically, can be with
It is provided with 2 intermediate plates 3131.In other specific embodiments, holder 3130 can also include the intermediate plate of three or more than three
3131。
As shown in Figure 3 a, in the present embodiment, it is provided with broached-tooth design 3132 on the inner side of intermediate plate 3131.Using sawtooth knot
Structure 3132, can more consolidate, firm clamping object, after object is clamped, during movement, will not also occur from folder
The situation for releasing and dropping between piece 3131.
The end of intermediate plate 3131 and the corresponding outside of broached-tooth design 3132 is provided with inclination angle 3133.Such setting, can
So that chucking power is bigger.In the present embodiment, the angle at inclination angle 3133 could be arranged to 20 °.
In the present embodiment, Power Component 4000 can select drive cylinder.As shown in figure 4, wherein, the work of drive cylinder
Connecting plate 4100 is fixedly installed beyond the Great Wall, and connecting plate 4100 is fixedly connected with movable part 2000.
Reference picture 4, starts drive cylinder, when the piston of drive cylinder is moved downward, in the presence of piston, and movable part
2000 move downward relative to fixed part 1000.Clamp assemblies 3000 complete the action for clamping.When the piston of drive cylinder is upward
During motion, in the presence of piston, movable part 2000 is moved upwards relative to fixed part 1000, and clamp assemblies 3000 complete to unclamp
Action.
In the present embodiment, the manipulator of proposition, including clamping device 100, clamping device 100 include fixed part 1000,
It is arranged at the movable part 2000 and the clamping group for clamping object being slidably connected below fixed part 1000 and with fixed part 1000
Part 3000.Manipulator is also included for ordering about movable part 2000 relative to the Power Component 4000 that fixed part 1000 is slided up and down.
It is provided with fixed part 1000 for ordering about the group of drive rods 1100 that clamp assemblies 3000 are clamped or unclamped, group of drive rods 1100 is wrapped
Include two drive rods 1110 for being symmetricly set in the left and right sides of fixed part 1000.Clamp assemblies 3000 are located at group of drive rods 1100
Lower section, clamp assemblies 3000 include two grip units 3100 for being symmetricly set in the left and right sides of movable part 2000.Drive
One end of bar 1110 is rotated with fixed part 1000 and is connected, and the other end of drive rod 1110 is rotated with grip unit 3100 and is connected, and is pressed from both sides
Unit 3100 is held to be corresponded with drive rod 1110.Grip unit 3100 is rotated with movable part 2000 and is connected.
The manipulator drives movable part 2000 to be slided relative to fixed part 1000 by Power Component 4000, then by being arranged at
Group of drive rods 1100 on fixed part 1000 orders about the work that clamp assemblies 3000 complete clamping object.
Robot manipulator structure is simple, and operation is flexible, and chucking power is big.Object after clamped, during high-speed mobile,
Do not fall out.Can be clamped using the manipulator, the object of the rule such as snatching cylindrical, cuboid.In the present embodiment, machine
Tool hand is driven as power source by the use of drive cylinder, meanwhile, clamp assemblies 3000 include being provided with the intermediate plate of broached-tooth design 3132
3131, this allows the manipulator can also to clamp irregular object so that the flexibility of manipulator and practicality are stronger.
Meanwhile, the operation of manipulator is completed under the driving of drive cylinder, and this allows that clamp assemblies 3000 are quick
Ground completes gripping or the action unclamped.
The holding action of manipulator can be controlled by PLC (programmable controller), specifically, using PLC pairs
Drive cylinder is controlled.
PLC reliabilities are high, strong antijamming capability.Wherein, reliability is the key performance and index in electrical equipment.Together
When, during being related to and manufacture of PLC, as a result of large scale integrated circuit technology and strict production technology to it
Internal circuit is made, and this causes that PLC has excellent antijamming capability.
As shown in figure 4, to allow manipulator to carry or capture the object of diverse location, specifically, can be by manipulator
It is installed on workbench 5000.In the present embodiment, workbench 5000 includes slide plate 5100, slide rail 5200 and lift cylinder 5300.
Wherein, slide plate 5100 is slidably connected with slide rail 5200, and lift cylinder 5300 is installed on slide rail 5200, the work of lift cylinder 5300
Plug is fixedly connected with slide plate 5100.To allow that manipulator is moved up and down, fixed part 1000 and slide plate 5100 on manipulator
It is fixedly connected.By starting lift cylinder 5300, the lifting action of manipulator can be completed.
Meanwhile, manipulator should also be moved horizontally.Therefore, workbench 5000 can be installed on into horizontally disposed straight line
Guide rail 5400.Moved on line slideway 5400 by ordering about workbench 5000, manipulator can be made to be moved to horizontal direction pair
The position answered.
It will be appreciated by those skilled in the art that accompanying drawing is a schematic diagram for being preferable to carry out scene, module in accompanying drawing or
Flow is not necessarily implemented necessary to the present invention.
It will be appreciated by those skilled in the art that module in device in implement scene can according to implement scene describe into
Row is distributed in the device of implement scene, it is also possible to carry out one or more dresses that respective change is disposed other than this implement scene
In putting.The module of above-mentioned implement scene can merge into a module, it is also possible to be further split into multiple submodule.
The invention described above sequence number is for illustration only, and the quality of implement scene is not represented.
Disclosed above is only several specific implementation scenes of the invention, but, the present invention is not limited to this, Ren Heben
What the technical staff in field can think change should all fall into protection scope of the present invention.
Claims (10)
1. a kind of manipulator, it is characterised in that including clamping device, the clamping device include fixed part, be arranged at it is described solid
Determine portion lower section and the movable part that is slidably connected with the fixed part and the clamp assemblies for clamping object；
The manipulator is also included for ordering about the movable part relative to the Power Component that the fixed part is slided up and down；
It is provided with the fixed part for ordering about the group of drive rods that the clamp assemblies are clamped or unclamped, the group of drive rods bag
Include two drive rods for being symmetricly set in the fixed part left and right sides；
The clamp assemblies are located at the lower section of the group of drive rods, and the clamp assemblies include two and are symmetricly set in the work
The grip unit of the dynamic portion left and right sides；
One end of the drive rod is rotated with the fixed part and is connected, and the other end of the drive rod is rotated with the grip unit
Connection；
The grip unit is corresponded with the drive rod；
The grip unit is rotated with the movable part and is connected.
2. manipulator according to claim 1, it is characterised in that guiding polished rod is provided with the fixed part；
The movable part is provided with the connection through hole being slidably connected with the guiding polished rod.
3. manipulator according to claim 2, it is characterised in that the guiding polished rod has 1 or many；
The connection through hole is corresponded with the guiding polished rod.
4. manipulator according to claim 3, it is characterised in that be provided with linear bearing in the connection through hole；
The linear bearing is flexibly connected with the guiding polished rod.
5. manipulator according to claim 1, it is characterised in that the grip unit include the first cursor, second turn
Swing arm and holder；
One end of first cursor and second cursor rotates with the movable part and is connected；
The other end of first cursor and second cursor is fixedly connected with the holder；Wherein, described
Rotated with the drive rod between one cursor two ends and be connected.
6. manipulator according to claim 5, it is characterised in that the holder includes multiple intermediate plates be arrangeding in parallel.
7. manipulator according to claim 6, it is characterised in that be provided with broached-tooth design on the inner side of the intermediate plate；
The end of the intermediate plate and outside corresponding with the broached-tooth design is provided with inclination angle.
8. manipulator according to claim 1, it is characterised in that the group of drive rods has multiple, and be arranged in parallel.
9. manipulator according to claim 1, it is characterised in that the Power Component includes drive cylinder.
10. manipulator according to claim 9, it is characterised in that be fixed with connecting plate on the piston of the drive cylinder；
The connecting plate is fixedly connected with the movable part.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710316663.8A CN106903686A (en) | 2017-05-08 | 2017-05-08 | A kind of manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710316663.8A CN106903686A (en) | 2017-05-08 | 2017-05-08 | A kind of manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106903686A true CN106903686A (en) | 2017-06-30 |
Family
ID=59210920
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710316663.8A Pending CN106903686A (en) | 2017-05-08 | 2017-05-08 | A kind of manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106903686A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107553523A (en) * | 2017-09-30 | 2018-01-09 | 佛山科学技术学院 | A kind of flexible holding device |
| CN108190383A (en) * | 2017-12-29 | 2018-06-22 | 上海君屹工业自动化股份有限公司 | A kind of cylinder clamping guiding mechanism |
| CN111761597A (en) * | 2020-07-03 | 2020-10-13 | 中信机电制造公司科研设计院 | Tiger mouth type manipulator |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB905167A (en) * | 1959-11-03 | 1962-09-05 | Dorstener Maschf Ag | Gripping device for blocks to be lifted from the table of a press |
| CN201800035U (en) * | 2010-08-20 | 2011-04-20 | 上海电机学院 | Multiple-degree-of-freedom robot |
| CN103465270A (en) * | 2013-09-09 | 2013-12-25 | 三峡大学 | Clamping device with self-locking mechanism |
| CN104760053A (en) * | 2015-04-10 | 2015-07-08 | 聊城大学 | Four claw clamping manipulator mechanism |
| CN106475991A (en) * | 2016-12-30 | 2017-03-08 | 安徽清水岩生态科技有限公司 | A kind of walking mechanism with holding function |
| CN206733006U (en) * | 2017-05-08 | 2017-12-12 | 深圳市时维智能装备有限公司 | A kind of manipulator |
-
2017
- 2017-05-08 CN CN201710316663.8A patent/CN106903686A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB905167A (en) * | 1959-11-03 | 1962-09-05 | Dorstener Maschf Ag | Gripping device for blocks to be lifted from the table of a press |
| CN201800035U (en) * | 2010-08-20 | 2011-04-20 | 上海电机学院 | Multiple-degree-of-freedom robot |
| CN103465270A (en) * | 2013-09-09 | 2013-12-25 | 三峡大学 | Clamping device with self-locking mechanism |
| CN104760053A (en) * | 2015-04-10 | 2015-07-08 | 聊城大学 | Four claw clamping manipulator mechanism |
| CN106475991A (en) * | 2016-12-30 | 2017-03-08 | 安徽清水岩生态科技有限公司 | A kind of walking mechanism with holding function |
| CN206733006U (en) * | 2017-05-08 | 2017-12-12 | 深圳市时维智能装备有限公司 | A kind of manipulator |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107553523A (en) * | 2017-09-30 | 2018-01-09 | 佛山科学技术学院 | A kind of flexible holding device |
| CN107553523B (en) * | 2017-09-30 | 2024-02-06 | 佛山科学技术学院 | Flexible clamping device |
| CN108190383A (en) * | 2017-12-29 | 2018-06-22 | 上海君屹工业自动化股份有限公司 | A kind of cylinder clamping guiding mechanism |
| CN111761597A (en) * | 2020-07-03 | 2020-10-13 | 中信机电制造公司科研设计院 | Tiger mouth type manipulator |
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Application publication date: 20170630 |
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