CN107499412A - A kind of automated handling robot - Google Patents
A kind of automated handling robot Download PDFInfo
- Publication number
- CN107499412A CN107499412A CN201710792565.1A CN201710792565A CN107499412A CN 107499412 A CN107499412 A CN 107499412A CN 201710792565 A CN201710792565 A CN 201710792565A CN 107499412 A CN107499412 A CN 107499412A
- Authority
- CN
- China
- Prior art keywords
- unit
- guide pillar
- holding piece
- seat
- guide
- 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
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
- B25J5/04—Manipulators mounted on wheels or on carriages travelling along a guideway wherein the guideway is also moved, e.g. travelling crane bridge type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of automated handling robot, including walking chassis unit, grip unit, vertical guide unit and front and rear guide rails unit；The grip unit is located on front side of walking chassis unit, and is arranged on the vertical guide unit, and vertical guide unit can drive grip unit upper and lower displacement；The vertical guide unit is arranged on the front and rear guide rails unit, and the front and rear guide rails unit can drive vertical guide unit to move forward and backward；The front and rear guide rails unit is arranged on described in book on walking chassis unit；The structure of the present invention is simple, light, is grown up and down with front and rear impulse stroke, traditional gear transmission mode is instead of using the fit system of steering wheel and pull rope, makes noiseless in robot running and vibration generation, makes handling process more steady.
Description
Technical field
The invention belongs to robot field, more particularly to a kind of automated handling robot.
Background technology
Conveying robot can artificially carry out the industrial robot of automated handling operation；Earliest transfer robot appears in
The U.S. of nineteen sixty, Versatran and Unimate Liang Zhong robots are used for transport operation first.Transport operation refers to one kind
Equipment grips workpiece, refers to move on to another Working position from a Working position.Transfer robot can install different ends
Actuator significantly reduces the heavy manual labor of the mankind, now to complete the work of the workpiece handling of various different shapes and state
The transmission system of some transfer robots uses gear drive mostly, general short with clamping device impulse stroke, heavy and body
The features such as type is huge.
The content of the invention
Goal of the invention：In order to overcome the deficiencies in the prior art, the present invention provides a kind of automated handling robot,
With device stroke length is accommodated, work the features such as flexible.
Technical scheme：To achieve the above object, a kind of automated handling robot of the invention, including walking chassis list
Member, grip unit, vertical guide unit and front and rear guide rails unit；
The grip unit is located on front side of walking chassis unit, and is arranged on the vertical guide unit, vertical guide
Unit can drive grip unit upper and lower displacement；The vertical guide unit is arranged on the front and rear guide rails unit, described front and rear
Rail unit can drive vertical guide unit to move forward and backward；The front and rear guide rails unit is arranged on walking chassis unit described in book
On.
Further, the walking chassis unit includes chassis, control unit, wheat wheel, wheat turbin generator and shaft coupling；It is some
The control unit is fixedly mounted on the chassis；The four wheat turbin generators on the chassis are distinguished by the shaft coupling
It is connected with the four wheat wheel drives.
Further, the front and rear guide rails unit include movable platform, the first guide pillar, the second guide pillar, leading column base,
BB1 seat, guide pillar seat plummer, preceding rope seat, restrict afterwards seat, drawstring, drawstring driving rotating disk and the first steering wheel；
The two guide pillar seat plummers are front and rear on the chassis to be set up in parallel；Described first guide pillar and the second guide pillar or so
Parallel side-by-side is set, and the guide pillar direction of first guide pillar and the second guide pillar is parallel with chassis fore-and-aft direction；Two frong guide columns
Seat and two BB1 seats are separately positioned on the front and rear two guide pillar seat plummers；First guide pillar is movable respectively to be worn
In the guide pillar hole for entering one of them leading column base and one of BB1 seat；Second guide pillar is movable respectively to be worn into another
In the guide pillar hole of one leading column base and another BB1 seat；The front end of first guide pillar and the second guide pillar is jointly fixed to be connected
Connect the movable platform；The vertical guide unit is arranged on movable tabletop of platform；Rope seat and rear rope seat before described
One end front and rear be respectively fixedly installed on first guide pillar；The other end of rope seat and rear rope seat connects described respectively before described
Two of drawstring；The drawstring driving rotating disk is horizontally disposed with, first steering wheel and the drawstring driving rotating disk drive connection, institute
State winding in the middle part of drawstring to be set around in drawstring driving rotating disk, the drawstring outside the drawstring driving rotating disk and the drawstring
Driving rotating disk is tangent；Rotation drawstring driving rotating disk can drive first guide pillar and drive the movable platform anteroposterior position
Move.
Further, the vertical guide unit include the second steering wheel, serving disk, lifting rope, fixed pulley, fixed pulley seat,
Vertical sliding block, vertical guide pillar and clamping device support；
The vertical guide pillar being set up in parallel is arranged on the movable platform, two guide holes on the vertical sliding block
It is movably set in respectively on the two vertical guide pillars；The fixed pulley seat is fixedly installed at the top of the two vertical guide pillars；It is described
Fixed pulley is arranged on the fixed pulley seat rear lateral portion；The second steering wheel on the movable platform is fixed on to drive with the serving disk
Dynamic connection, from the lifting rope that the serving disk pulls out across the fixed pulley, and lifting rope end connects on vertical sliding block and is
Rope stake；Rotate the second steering wheel and can drive lifting rope and lead and described draw vertical sliding block upper and lower displacement；The clamping device support is fixed
Draw described in being arranged on vertical sliding block, and grip unit support is arranged in clamping device support.
Further, the grip unit includes the 3rd steering wheel, active clamp port, passive clamp port；3rd steering wheel
With the active clamp port drive connection, the active clamp port and the passive clamp port are symmetrical set, and the master
Dynamic clamp port and the passive clamp port are engaged in afterbody end of engagement and connected；The active can be driven by rotating the active clamp port
The anterior bare terminal end of clamp port and the passive clamp port is clamped or opened.
Further, the active clamp port includes the first holding piece, the second holding piece, the 3rd holding piece, middle part connection
Bar and end connecting rod；First holding piece, the second holding piece and the 3rd holding piece mutually equidistantly be arranged in parallel, and first
Holding piece and the 3rd holding piece are symmetrical with both sides the second holding piece both sides；And first holding piece, the second holding piece and the 3rd
Holding piece is linked into an integrated entity by some middle part connecting rods and end connecting rod.
Further, the holding piece of first holding piece/the 3rd includes endpiece, stage casing and head section successively along the longitudinal direction；
The engaging tooth of engagement connection is provided on the profile of the endpiece, array is provided with the nip side in the stage casing along the longitudinal direction
The parallel clamping flank of tooth of one row, the head section is to the bending of clamping direction, and head section nip side is provided with a row and is engaged the flank of tooth, and it is engaged
Flank of tooth leading section is additionally provided with a cutting tooth；The leading portion and back segment of second holding piece respectively with first holding piece
Head section is identical with middle section structure；Also include rotating shaft, the 3rd steering wheel and the rotating shaft drive connection, the rotating shaft and described the
The axis hole secure fit of the endpiece of one holding piece and the 3rd holding piece.
Beneficial effect：The structure of the present invention is simple, light, is grown up and down with front and rear impulse stroke, uses steering wheel and pull rope
Fit system instead of traditional gear transmission mode, make in robot running it is noiseless and vibration generation, make to remove
Fortune process is more steady, and the holding piece of clamping device uses multi-segment structure, makes the application scenario of robot more diversified.
Brief description of the drawings
Accompanying drawing 1 is the overall first structure schematic diagram of the present invention；
Accompanying drawing 2 is overall second structural representation of the present invention；
Accompanying drawing 3 is clamping device drive system structure entity of the present invention；
Accompanying drawing 4 is active clamp port structural representation；
Accompanying drawing 5 is the holding piece structural representation of the first holding piece/the 3rd.
Embodiment
The present invention is further described below in conjunction with the accompanying drawings；
As shown in accompanying drawing 1 to 5, a kind of automated handling robot, including it is walking chassis unit 26, grip unit 33, perpendicular
Guide rail unit 34 and front and rear guide rails unit 35；
The grip unit 33 is located at the front side of walking chassis unit 26, and is arranged on the vertical guide unit 34, erects
Guide rail unit 34 can drive the upper and lower displacement of grip unit 33；The vertical guide unit 34 is arranged on the front and rear guide rails unit
On 35, the front and rear guide rails unit 35 can drive vertical guide unit 34 to move forward and backward；The front and rear guide rails unit 35 is arranged on
Described in book on walking chassis unit 26.
The walking chassis unit 26 includes chassis 60, control unit 40, wheat wheel 7, wheat turbin generator 43 and shaft coupling 42；If
The control unit 40 is done to be fixedly mounted on the chassis 6；The four wheat turbin generators 43 on the chassis 60 are by described
Shaft coupling 42 takes turns 7 drive connections with four wheats respectively, and each wheat wheel 7 has individual motor control, enables the steering of robot
Power is more flexible, while increases whole Transporting motive force.
The front and rear guide rails unit 35 include movable platform 16, the first guide pillar 1, the second guide pillar 18, leading column base 17,
BB1 seat 19, guide pillar seat plummer 21, preceding rope seat 5, rear rope seat 2, drawstring 4, the steering wheel 67 of drawstring driving rotating disk 3 and first；
The two guide pillar seat plummers 21 are front and rear on the chassis 60 to be set up in parallel；First guide pillar 1 and second is led
The parallel side-by-side of post 18 or so is set, and the guide pillar direction of the guide pillar 18 of the first guide pillar 1 and second is parallel with the fore-and-aft direction of chassis 61；
The two leading column bases 17 and two BB1 seats 19 are separately positioned on the front and rear two guide pillar seat plummers 21；Described first
Guide pillar 1 is respectively in the movable guide pillar hole for wearing one of them leading column base 17 and one of BB1 seat 19；Described
Two guide pillars 18 are respectively in the movable guide pillar hole for wearing another leading column base 17 and another BB1 seat 19；Described first
Guide pillar 1 is fixedly connected with the movable platform 16 jointly with the front end of the second guide pillar 18；The vertical guide unit 34 is installed
In the movable table top of platform 16；One end of rope seat 5 and rear rope seat 2 is front and rear respectively before described is fixedly installed on first guide pillar
On 1；The other end of rope seat 5 and rear rope seat 2 connects two of the drawstring 4 respectively before described；The drawstring driving rotating disk 3 is horizontal
Set, first steering wheel 67 and the drive connection of drawstring driving rotating disk 3, the middle part winding of drawstring 4 are set around drawstring drive
On turn disk 3, the drawstring 4 and the drawstring driving rotating disk 3 outside the drawstring driving rotating disk 3 are tangent；Rotate drawstring
Driving rotating disk 3 can drive first guide pillar 1 and drive the movable platform 16 to move forward and backward.
The vertical guide unit 34 include the second steering wheel 6, serving disk 15, lifting rope 8, fixed pulley 10, fixed pulley seat 11,
Vertical sliding block 13, vertical guide pillar 14 and clamping device support 20；
The vertical guide pillar 14 being set up in parallel is arranged on the movable platform 16, on the vertical sliding block 13
Two guide holes are movably set on the two vertical guide pillars 14 respectively；The fixed pulley seat 11 is fixedly installed on the two vertical guide pillars
14 tops；The fixed pulley 10 is arranged on the rear lateral portion of fixed pulley seat 11；It is fixed on second on the movable platform 16
Steering wheel 6 and the drive connection of serving disk 15, the lifting rope 8 pulled out from the serving disk 15 rise across the fixed pulley 10
The end of lifting rope 8 connects the bollard 9 on vertical sliding block 13；Rotate the second steering wheel 6 and can drive lifting rope 8 and lead and described draw vertical cunning
The upper and lower displacement of block 13；The clamping device support 20 is drawn on vertical sliding block 13 described in being fixedly installed on, and the grip unit 33
Support is arranged in clamping device support 20.
The grip unit 33 includes the 3rd steering wheel 12, active clamp port 38, passive clamp port 37；3rd steering wheel 12
With the drive connection of active clamp port 38, the active clamp port 38 and the passive clamp port 37 are symmetrical set, and
The active clamp port 38 and the passive clamp port 37 are engaged in afterbody end of engagement 72 and connected；Rotate the active clamp port 38
The active clamp port 38 and the anterior bare terminal end 71 of the passive clamp port 37 can be driven to clamp or open.
The active clamp port 38 includes the first holding piece 44, the second holding piece 45, the 3rd holding piece 46, middle part connecting rod
47 and end connecting rod 50；First holding piece 44, the second holding piece 45 and the 3rd holding piece 46 are mutually equidistantly parallel to be set
Put, and the first holding piece 44 and the 3rd holding piece 46 are symmetrical with the both sides of the second holding piece of both sides 45；And first holding piece 44,
Second holding piece 45 and the 3rd holding piece 46 are linked into an integrated entity by some middle part connecting rods 47 and end connecting rod 50, increase it
Clamping surface product and stationarity, improve bearing capacity and reduce the damage to gripped object.
The holding piece 46 of first holding piece 44/ the 3rd includes endpiece 23, stage casing 25 and head section 28 successively along the longitudinal direction；
It is provided for the engaging tooth 31 of engagement connection on the profile of the endpiece 23, the nip side in the stage casing 25 array along the longitudinal direction
The parallel clamping flank of tooth 32 of a row is provided with, the head section 28 can effectively prevent the folder clamped at stage casing 25 to the bending of clamping direction
Hold thing to skid off from front end, while the clamping flank of tooth 32 in stage casing 25 is effectively protected the clamped of stage casing from being fully engaged against
Thing, and the nip side of head section 28 is provided with a row and is engaged the flank of tooth 30, for clamping than relatively thin gripped object, is easy to clamp, it is stung
Close the leading section of the flank of tooth 30 and be additionally provided with a cutting tooth 29, for cutting the twisters such as rope, multisection type holding piece improves this
The application scenario of robot；The leading portion 49 and back segment 48 of second holding piece 45 head section with first holding piece 44 respectively
28 is identical with the structure of stage casing 25；Also include rotating shaft 51, the 3rd steering wheel 12 and the drive connection of rotating shaft 51, the rotating shaft 51
With the secure fit of axis hole 22 of the endpiece 23 of the holding piece 46 of the first holding piece 44 and the 3rd.
Described above is only the preferred embodiment of the present invention, it should be pointed out that：For the ordinary skill people of the art
For member, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (7)
- A kind of 1. automated handling robot, it is characterised in that：Including walking chassis unit (26), grip unit (33), vertical Rail unit (34) and front and rear guide rails unit (35)；The grip unit (33) is located on front side of walking chassis unit (26), and is arranged on the vertical guide unit (34), Vertical guide unit (34) can drive grip unit (33) upper and lower displacement；The vertical guide unit (34) is arranged on described front and rear On rail unit (35), the front and rear guide rails unit (35) can drive vertical guide unit (34) to move forward and backward；Led before and after described Rail unit (35) is arranged on described in book on walking chassis unit (26).
- A kind of 2. automated handling robot according to claim 1, it is characterised in that：The walking chassis unit (26) Including chassis (60), control unit (40), wheat wheel (7), wheat turbin generator (43) and shaft coupling (42)；Some control units (40) it is fixedly mounted on the chassis (6)；The four wheat turbin generators (43) on the chassis (60) pass through the shaft coupling (42) (7) drive connections are taken turns with four wheats respectively.
- A kind of 3. automated handling robot according to claim 1, it is characterised in that：The front and rear guide rails unit (35) Including movable platform (16), the first guide pillar (1), the second guide pillar (18), leading column base (17), BB1 seat (19), guide pillar Seat plummer (21), preceding rope seat (5), restrict afterwards seat (2), drawstring (4), drawstring driving rotating disk (3) and the first steering wheel (67)；The two guide pillar seat plummers (21) are front and rear on the chassis (60) to be set up in parallel；First guide pillar (1) and second Guide pillar (18) left and right parallel side-by-side is set, before the guide pillar direction and chassis (61) of first guide pillar (1) and the second guide pillar (18) Rear is to parallel；The two leading column bases (17) and two BB1 seats (19) are separately positioned on the front and rear two guide pillar seat carryings On platform (21)；First guide pillar (1) is movable respectively to be worn into one of them leading column base (17) and one of BB1 In the guide pillar hole of seat (19)；Second guide pillar (18) respectively it is movable wear another leading column base (17) and another after In the guide pillar hole of guide pillar seat (19)；First guide pillar (1) is fixedly connected described front and rear jointly with the front end of the second guide pillar (18) Mobile platform (16)；The vertical guide unit (34) is arranged on movable platform (16) table top；It is described before rope seat (5) and after One end of rope seat (2) is front and rear respectively to be fixedly installed on first guide pillar (1)；Rope seat (5) and rear the another of seat (2) of restricting before described One end connects two of the drawstring (4) respectively；The drawstring driving rotating disk (3) is horizontally disposed, first steering wheel (67) with Drawstring driving rotating disk (3) drive connection, drawstring (4) the middle part winding is set around in drawstring driving rotating disk (3), described The outside drawstring (4) of drawstring driving rotating disk (3) and the drawstring driving rotating disk (3) are tangent；Rotate drawstring driving rotating disk (3) First guide pillar (1) can be driven and drive the movable platform (16) to move forward and backward.
- A kind of 4. automated handling robot according to claim 1 or 2, it is characterised in that：The vertical guide unit (34) the second steering wheel (6), serving disk (15), lifting rope (8), fixed pulley (10), fixed pulley seat (11), vertical sliding block are included (13), vertical guide pillar (14) and clamping device support (20)；The vertical guide pillar (14) being set up in parallel is arranged on the movable platform (16), on the vertical sliding block (13) Two guide holes be movably set in respectively on the two vertical guide pillars (14)；It is described perpendicular that the fixed pulley seat (11) is fixedly installed on two At the top of to guide pillar (14)；The fixed pulley (10) is arranged on fixed pulley seat (11) rear lateral portion；It is fixed on described movable Second steering wheel (6) and the serving disk (15) drive connection on platform (16), the lifting rope (8) pulled out from the serving disk (15) Across the fixed pulley (10), and lifting rope (8) end connects the bollard (9) on vertical sliding block (13)；Rotate the second steering wheel (6) lifting rope (8) can be driven and led and described draw vertical sliding block (13) upper and lower displacement；Clamping device support (20) fixed setting Draw described on vertical sliding block (13), and the grip unit (33) support is arranged in clamping device support (20).
- A kind of 5. automated handling robot according to claim 4, it is characterised in that：The grip unit (33) includes 3rd steering wheel (12), active clamp port (38), passive clamp port (37)；3rd steering wheel (12) and the active clamp port (38) drive connection, the active clamp port (38) and the passive clamp port (37) are symmetrical set, and the active is pressed from both sides Hold mouth (38) and the passive clamp port (37) is engaged in afterbody end of engagement (72) and connected；Rotating the active clamp port (38) can The active clamp port (38) and the anterior bare terminal end (71) of the passive clamp port (37) is driven to clamp or open.
- A kind of 6. automated handling robot according to claim 5, it is characterised in that：Active clamp port (38) bag Include the first holding piece (44), the second holding piece (45), the 3rd holding piece (46), middle part connecting rod (47) and end connecting rod (50)；First holding piece (44), the second holding piece (45) and the 3rd holding piece (46) mutually equidistantly be arranged in parallel, and the One holding piece (44) and the 3rd holding piece (46) are symmetrical with both sides second holding piece (45) both sides；And first holding piece (44), the second holding piece (45) and the 3rd holding piece (46) are connected by some middle part connecting rods (47) and end connecting rod (50) Integrally.
- A kind of 7. automated handling robot according to claim 6, it is characterised in that：First holding piece (44)/ 3rd holding piece (46) includes endpiece (23), stage casing (25) and head section (28) successively along the longitudinal direction；The wheel of the endpiece (23) The engaging tooth (31) of engagement connection is provided on exterior feature, array is provided with a row to the nip side of the stage casing (25) along the longitudinal direction The parallel clamping flank of tooth (32), the head section (28) is to the bending of clamping direction, and head section (28) nip side is provided with row's tooth engaged Face (30), it is engaged the flank of tooth (30) leading section and is additionally provided with a cutting tooth (29)；The leading portion of second holding piece (45) (49) and back segment (48) is identical with the head section (28) and stage casing (25) structure of first holding piece (44) respectively；Also include rotating shaft (51), the 3rd steering wheel (12) and the rotating shaft (51) drive connection, the rotating shaft (51) and first holding piece (44) With axis hole (22) secure fit of the endpiece (23) of the 3rd holding piece (46).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710792565.1A CN107499412A (en) | 2017-09-05 | 2017-09-05 | A kind of automated handling robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710792565.1A CN107499412A (en) | 2017-09-05 | 2017-09-05 | A kind of automated handling robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107499412A true CN107499412A (en) | 2017-12-22 |
Family
ID=60695621
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710792565.1A Pending CN107499412A (en) | 2017-09-05 | 2017-09-05 | A kind of automated handling robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107499412A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108436894A (en) * | 2018-06-11 | 2018-08-24 | 暨南大学 | A kind of Kun Zhuan article carryings robot |
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| JP2005230999A (en) * | 2004-02-20 | 2005-09-02 | Japan Servo Co Ltd | Grip device |
| CN101644123A (en) * | 2009-08-19 | 2010-02-10 | 瞿德阳 | Rope traction mechanism and push-pull window with same |
| CN105500333A (en) * | 2016-01-15 | 2016-04-20 | 山东建筑大学 | Transfer robot based on mobile mechanical arm |
| CN105565211A (en) * | 2015-12-23 | 2016-05-11 | 南京航空航天大学 | Smart carrying trolley capable of automatically identifying cargos |
| CN106257096A (en) * | 2015-06-18 | 2016-12-28 | 东友科技股份有限公司 | The steel rope gearing system of three-dimensional printer and adjusting apparatus thereof |
| CN205889143U (en) * | 2016-07-28 | 2017-01-18 | 浙江捷众科技股份有限公司 | Carrying robot |
| CN106393148A (en) * | 2016-11-18 | 2017-02-15 | 北京理工大学 | Bottle body grabbing manipulator end effector |
| CN206126770U (en) * | 2016-09-28 | 2017-04-26 | 北京石油化工学院 | Handling device with protection mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2058367U (en) * | 1989-08-05 | 1990-06-20 | 周爱国 | Tooth shape cutting edge flat tongs |
| US6217094B1 (en) * | 1999-05-24 | 2001-04-17 | Japan Servo Co., Ltd. | Object holding device |
| CN2397242Y (en) * | 1999-09-28 | 2000-09-20 | 张汉生 | Electric push-and-pull casement window |
| JP2005230999A (en) * | 2004-02-20 | 2005-09-02 | Japan Servo Co Ltd | Grip device |
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| CN105565211A (en) * | 2015-12-23 | 2016-05-11 | 南京航空航天大学 | Smart carrying trolley capable of automatically identifying cargos |
| CN105500333A (en) * | 2016-01-15 | 2016-04-20 | 山东建筑大学 | Transfer robot based on mobile mechanical arm |
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| CN206126770U (en) * | 2016-09-28 | 2017-04-26 | 北京石油化工学院 | Handling device with protection mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108436894A (en) * | 2018-06-11 | 2018-08-24 | 暨南大学 | A kind of Kun Zhuan article carryings robot |
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