CN107825450A - Switch gate manipulator, switch gate robot and switch gate method - Google Patents
Switch gate manipulator, switch gate robot and switch gate method Download PDFInfo
- Publication number
- CN107825450A CN107825450A CN201711311316.2A CN201711311316A CN107825450A CN 107825450 A CN107825450 A CN 107825450A CN 201711311316 A CN201711311316 A CN 201711311316A CN 107825450 A CN107825450 A CN 107825450A
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- door lock
- manipulator
- door
- switch gate
- clamping jaw
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- 230000007246 mechanism Effects 0.000 claims abstract description 17
- 230000002787 reinforcement Effects 0.000 claims description 4
- 238000003825 pressing Methods 0.000 claims description 3
- 230000001360 synchronised effect Effects 0.000 claims description 3
- 238000007689 inspection Methods 0.000 abstract description 16
- 230000009471 action Effects 0.000 abstract description 5
- 238000013461 design Methods 0.000 abstract description 4
- 230000004888 barrier function Effects 0.000 abstract description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 229920006351 engineering plastic Polymers 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
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- 238000005299 abrasion Methods 0.000 description 1
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- 238000006243 chemical reaction Methods 0.000 description 1
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- 239000002360 explosive Substances 0.000 description 1
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- 238000010297 mechanical methods and process Methods 0.000 description 1
- 230000005226 mechanical processes and functions Effects 0.000 description 1
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- 239000007787 solid Substances 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0028—Gripping heads and other end effectors with movable, e.g. pivoting gripping jaw surfaces
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of switch gate manipulator, it is characterised in that：Turn tongue clamping device and door lock button touching mechanism including door lock, the door lock turns tongue clamping device and door lock button touching mechanism is installed on connecting seat, and the connecting seat is connected in fixed seat by stiffness spring.Action executing part of the switch gate machinery hand of the present invention into switch gate robot, for substituting artificial realize to be provided with the automatic switch cabinet door for turning bolt door lock hinge cabinet door, smart structural design, stable performance, it is practical, effectively solve to realize the technical barrier for how mechanically removing cabinet door that data center machine room automation inspection is faced.
Description
Technical field
The present invention relates to a kind of switch gate manipulator, use the switch gate robot and switch gate method of the manipulator.
Background technology
The continuous progress of science and technology and the development of ICT, computer room operational reliability and importance are therewith
Increase, computer room inspection work receive more attention.Data center machine room inspection is one of daily maintenance work of data center,
By the inspection and monitoring to all kinds of production equipment states, failure or potential faults can be found the very first time, and be subject in time
Maintenance and take precautions against, it is ensured that the safety of production and stably.In actual mechanical process, computer room inspection often through manual inspection side
Formula is carried out, and polling period is usually 1-3 times/day.
However, manual inspection but there is polling period it is long, exist the prolonged rest periods, exist leakage see, it is wrong see can
And can increase the inspection frequency can bring the drawbacks such as higher human cost.On the other hand, with the arrival of Internet era, number
According to explosive increase cause the number of devices of data center machine room to steeply rise, the workload of computer room inspection greatly increases, and
Various unfavorable duty factors be present in computer room, such as in the presence of substantial amounts of electromagnetic wave, so as to be damaged to personnel's body.Therefore,
Computer room inspection goes to liberate staff there is an urgent need to a kind of automation scheme.
Automation inspection for computer room, what is primarily solved is how to go to complete and the same behaviour of manpower by mechanical means
Make.But human hand is compared, mechanical hand dexterity is often relatively low, mechanically goes to substitute manually, is all in most cases
One big difficult point.As in computer room inspection, inspection and monitoring for equipment state, it is necessary to which solution is how to open rack
Door, targetedly to be supervised the electrical equipment of the inside.Human hand is switching the operation of cabinet door this respect, undoubtedly swims
Sword is had a surplus, but if going to realize by way of manipulator, degree-of-difficulty factor among these will greatly increase.
The automation inspection of data center machine room is realized, it is in the urgent need to address how mechanically to go to switch rack
This great problem of door, through fully investigation, there has been no Patents and document, refer to the specific solution of the problem.
The content of the invention
The present invention provides a kind of switch gate manipulator, and substitution manually switchs the cabinet door of rack, smart structural design, performance
Stable, practical, manipulator possesses flexibility in itself, can be to the position between manipulator center of rotation and door lock axis of rotation
Deviation compensates, and ensures reliability during robot work well, effectively avoids the damage to door lock handle.
In order to solve the above-mentioned technical problem, the invention provides a kind of switch gate manipulator, including door lock to turn tongue clamping machine
Structure and door lock button touching mechanism, the door lock turns tongue clamping device and door lock button touching mechanism is installed on connecting seat,
The connecting seat is connected in fixed seat by stiffness spring.
In a preferred embodiment of the present invention, further comprising that the door lock turns tongue clamping device being capable of folding including a pair
Clamping jaw, the bare terminal end of the clamping jaw is provided with " V " font boss.
In a preferred embodiment of the present invention, further comprise that the door lock turns tongue clamping device and also includes clamping jaw driving
Device, the clamping jaw driver are arranged on connecting seat, and the clamping jaw driver is provided with a pair of sliding blocks, and a pair of clamping jaws pass through
Clamping jaw connector is separately fixed on a pair of sliding blocks.
In a preferred embodiment of the present invention, further comprise that the clamping jaw connector is provided with reinforcement.
In a preferred embodiment of the present invention, further comprise that the clamping jaw driver is provided with line slide rail, a pair of cunnings
Block is arranged on the line slide rail.
In a preferred embodiment of the present invention, further comprise that the clamping jaw driver being capable of self-locking.
In a preferred embodiment of the present invention, further comprise that the door lock button touching mechanism includes fingertip, sliding bar
With fingertip fixed block, the fingertip fixed block is arranged on connecting seat, and axis hole, the sliding bar are provided with the fingertip fixed block
It is located in axis hole, the fingertip is connected to sliding bar and stretched out on the end that axis hole stretches out.
In a preferred embodiment of the present invention, further comprise that the sliding bar can move in axis hole interior edge axial reciprocating
It is dynamic, buffer spring is additionally provided with the axis hole, one end of the buffer spring is connected on fingertip fixed block, and its other end abuts
Sliding bar.
In order to solve the above-mentioned technical problem, present invention also offers a kind of switch gate robot, including multi freedom degree mechanical
The switch gate manipulator of arm and above structure, the switch gate manipulator are arranged on multi-degree-of-freemechanical mechanical arm by its fixed seat
On the ring flange in last joint.
In order to solve the above-mentioned technical problem, present invention also offers a kind of switch gate method for turning bolt door lock overturning hinge door,
Enabling step is：
(K1), multi-degree-of-freemechanical mechanical arm driving switch door manipulator is on close level door lock, is fixed on touching for sliding bar end
Refer to and touch and press the button on the door lock；
(K2), press the button back door lock and turn tongue automatic spring, clamping jaw driver drives a pair of clamping jaws to clamp the door
Lock turns tongue；
(K3), the last joint ring flange of multi-degree-of-freemechanical mechanical arm performs rotation, drives switch gate manipulator and is clamped
Door lock turns 90 ° of tongue synchronous rotary, opens door lock；
(K4), multi-degree-of-freemechanical mechanical arm pulls door handle, opening hinge door, and clamping jaw driver drives a pair of clamping jaw release institutes
State door lock and turn tongue；
Shutdown step is：
(G1), multi-degree-of-freemechanical mechanical arm driving switch door manipulator is moved to the position that door lock turns tongue, and door lock turns tongue position
In the centre of a pair of clamping jaws；
(G2), clamping jaw driver drives a pair of clamping jaw clamping door locks to turn tongue；
(G3), multi-degree-of-freemechanical mechanical arm driving switch door manipulator and clamped door lock turn tongue opposite direction and are rotated by 90 °；
(G4), clamping jaw driver drives a pair of clamping jaw release door locks to turn tongue, multi-degree-of-freemechanical mechanical arm driving switch door machinery
Hand departs from door lock and turns tongue；
(G5), the fingertip horizontal pressing door lock of multi-degree-of-freemechanical mechanical arm driving switch door manipulator turn tongue upper surface until
Door lock turns tongue reset, closes overturning hinge door.
The switch gate manipulator of one, the present invention, for substitute it is artificial realize be provided with turn bolt door lock hinge cabinet door from
Dynamic cabinet door, smart structural design, stable performance is practical, effectively solves to realize that data center machine room automates inspection
How what is faced mechanically removes the technical barrier of cabinet door.
Secondly, manipulator possess flexibility in itself, can be to the position between manipulator center of rotation and door lock axis of rotation
Deviation compensates, and ensures reliability during robot work well, effectively avoids the damage to door lock handle.
Brief description of the drawings
Fig. 1 is the dimensional structure diagram of manipulator in the preferred embodiment of the present invention；
Fig. 2 is the configuration schematic diagram of manipulator in the preferred embodiment of the present invention；
Fig. 3 is the structural representation of door lock button touching mechanism in the preferred embodiment of the present invention；
Fig. 4 is the structural representation of clamping jaw connector in Fig. 1；
Fig. 5 is the structural representation of clamping jaw in Fig. 1；
Fig. 6 is the structural representation of connecting seat in Fig. 1；
Fig. 7 is the structural representation of robot in second embodiment of the invention；
Fig. 8 is the process schematic that switch gate robot opens door lock.
Wherein：100- door locks turn tongue, 101- buttons；
2- door locks turn tongue clamping device, 21- clamping jaws, 22- boss, 23- clamping jaw drivers, 24- sliding blocks, 25- reinforcements,
26- line slide rails, 27- clamping jaw connectors；
4- door locks button touches mechanism, 41- fingertips, 42- sliding bars, 43- fingertip fixed blocks, 44- buffer springs；
6- connecting seats, 7- fixed seats, 8- stiffness springs, 9- multi-degree-of-freemechanical mechanical arms, 10- ring flanges；20- switch gates machinery
Hand.
Embodiment
The invention will be further described with specific embodiment below in conjunction with the accompanying drawings, so that those skilled in the art can be with
More fully understand the present invention and can be practiced, but illustrated embodiment is not as a limitation of the invention.
Embodiment one
As shown in figures 1 to 6, present embodiment discloses a kind of switch gate manipulator, including door lock to turn tongue clamping device 2 and door
Button touching mechanism 4 is locked, door lock turns tongue clamping device 2 and turns tongue for clamping door lock, and door lock button touching mechanism 4 is used to contact simultaneously
Press door lock button.It is existing to turn bolt door lock and be pressed back door lock in door lock button to turn tongue automatic spring, after door lock turns tongue ejection
Turn tongue clamping device 2 by door lock and clamp door lock to turn tongue, door lock turn tongue it is clamped after rotation can open door lock.The present embodiment technology
Above-mentioned door lock turns tongue clamping device 2 in scheme and door lock button touching mechanism 4 is installed on connecting seat 6, and above-mentioned connecting seat 6 is logical
Cross stiffness spring 8 to be connected in fixed seat 7, when switch gate manipulator is installed and used, switch gate manipulator is entirely through fixed seat 7
It is attached on mechanical arm.The one side of stiffness spring 8 has enough rigidity, can ensure that switch gate manipulator is being not carried out moving
Horizontality is in when making, it is in hang to avoid the occurrence of robot relative to mechanical arm, in turn results in manipulator behavior precision
Substantially reduce；On the other hand, stiffness spring 8 is not absolute rigidity part, can make to be fixed on being used for for stiffness spring one end
The execution unit of switch gate can produce certain amplitude of oscillation under external force so that manipulator possess in itself it is appropriate soft
Property, when performing switch gate action, the flexibility of manipulator possessed can make it show significant advantage：In cooperative mechanical arm
When rotation door lock turns tongue with opening hinge door, the center of rotation of manipulator and the axis of rotation for turning bolt door lock can exist necessarily unavoidably
Position deviation, and then door lock is turned tongue and receive the extra additional force applied by manipulator.Because manipulator has flexibility,
The position of the swing of its execution unit generation by a small margin, the center of rotation that compensate for manipulator and the axis of rotation for turning bolt door lock will be made
Deviation is put, substantially reduces the effect that additional force turns tongue to door lock, protection door lock is against damages.
As shown in fig. 6, connecting seat 6 preferably uses adpting flange in the present embodiment technical scheme, door lock turns tongue clamping device 2
The upper and lower ends of adpting flange are separately fixed at door lock button touching mechanism.And fixed seat 7 preferably uses and joint of mechanical arm
The mounting flange that ring flange coordinates.
As shown in Fig. 1-2,4-5, above-mentioned door lock turns tongue clamping machine, and 2 include a pair of clamping jaws 21 for being capable of folding, a pair of clamping jaws
21 under the driving of clamping jaw driver 23 clamp or discharge door lock turn tongue.Connect specifically, above-mentioned clamping jaw driver 23 is arranged on
On joint chair 6, above-mentioned clamping jaw driver 23 is provided with a pair of sliding blocks 24, and a pair of above-mentioned clamping jaws 21 are solid respectively by clamping jaw connector 27
It is scheduled on a pair of sliding blocks 24.Above-mentioned clamping jaw driver 23 can self-locking, can ensure that manipulator can be pressed from both sides reliably at work
Tight door lock turns tongue.In the present embodiment technical scheme, above-mentioned clamping jaw driver preferably uses YE, and YE is by electricity
Machine drives, and when being powered to YE and giving appropriate control time, two sliding blocks 24 produce relative motion, realize folder
The opening and closing movement of pawl 21, and then clamp or discharge door lock and turn tongue.It can reliably be clamped, avoid to ensure that door lock turns tongue
The occurrence of releasing, the bare terminal end of above-mentioned clamping jaw 21 are provided with " V " font boss；In addition, when the clamping door lock of clamping jaw 21 turns tongue,
Clamping jaw 21 directly contacts with turning tongue, turns tongue to prevent from wearing door lock, clamping jaw 21 is preferably made of high-strength engineering plastic.
As described in Figure 4, the above-mentioned profile of clamping jaw connector 27 is " L " font, which is provided with reinforcement 25 to improve its connection
Rigidity.
Above-mentioned clamping jaw driver 23 is provided with line slide rail 26, and a pair of sliding blocks 24 are arranged on above-mentioned line slide rail 26.
Line slide rail 26 constrains sliding block 24 linear slide, and the clamping stability of clamping jaw 21 and clamp precision are improved with this.
As Figure 1-3, it is gentle to include fingertip 41, sliding bar 42, fingertip fixed block 43 for above-mentioned door lock button touching mechanism 4
Spring 44 is rushed, above-mentioned fingertip fixed block 43 is arranged on connecting seat 6, and axis hole, above-mentioned slip are provided with above-mentioned fingertip fixed block 43
Bar 42 is located in axis hole and can moved in axis hole interior edge axial reciprocating, and above-mentioned fingertip 41 is connected to the projecting shaft of sliding bar 42
On the end that hole stretches out, one end of above-mentioned buffer spring 44 is connected on fingertip fixed block 43, and its other end, which abuts, to be slided
Bar 42.Above-mentioned 41 tapered profile of fingertip, the one end stretched out with sliding bar are fixedly connected, in order to avoid fingertip performs in manipulator
When switch gate acts, with the button on door lock and turning tongue and directly contacting the abrasion being likely to result in, the material of fingertip 41 preferably makes
With the engineering plastics with high-wearing feature and high intensity.Above-mentioned fingertip 41, sliding bar 42, fingertip fixed seat 43 and buffer spring 44
Having collectively constituted one has flexible contact mechanism, and manipulator is performed in switch gate action process, when on fingertip and door lock
Button and when turning tongue instantaneous touch, it will produce larger impact force at contact, due to the flexibility of contact mechanism, impact force at contact will
So that above-mentioned sliding bar 42 bounces back, and then compresses buffer spring, final contact impact energy would be buffered spring 44 and absorb, so as to
The damage of door lock may be caused by avoiding the direct rigid contact of fingertip and door lock.
Embodiment two
To be tied as shown in fig. 7, present embodiment discloses a kind of switch gate robot, including multi-degree-of-freemechanical mechanical arm 9 with more than
The switch gate manipulator of structure, above-mentioned switch gate manipulator are arranged on the last joint of multi-degree-of-freemechanical mechanical arm 9 by its fixed seat 7
On ring flange 10.The manipulator of above structure forms the action executing part of multi-degree-of-freemechanical mechanical arm 9, in multi-degree-of-freemechanical mechanical arm
The automatic opening and closing door of overturning hinge door is completed under 9 driving.
It is as follows that it completes the step of hinge door switch：
(1), as shown in figure 8, enabling step is：
(K1), the driving switch door manipulator of multi-degree-of-freemechanical mechanical arm 9 is on close level door lock, is fixed on the end of sliding bar 42
Fingertip 41 is touched and presses the button 101 on above-mentioned door lock；
(K2), press the above-mentioned back door lock of button 101 and turn the automatic spring of tongue 100, clamping jaw driver drives a pair of clamping jaws 21 to press from both sides
Hold above-mentioned door lock and turn tongue 100；
(K3), the last joint ring flange 10 of multi-degree-of-freemechanical mechanical arm 9 performs rotation, drives switch gate manipulator and is clamped
Door lock turn 90 ° of 100 synchronous rotary of tongue, open door lock；
(K4), multi-degree-of-freemechanical mechanical arm 9 pulls door handle, opening hinge door, and clamping jaw driver drives a pair of clamping jaw release
Above-mentioned door lock turns tongue 100；
(2), shutdown step is：
(G1), the driving switch door manipulator of multi-degree-of-freemechanical mechanical arm 9 is moved to the position that door lock turns tongue 100, and door lock turns
Tongue 100 is positioned at the centre of a pair of clamping jaws 21；
(G2), clamping jaw driver drives a pair of clamping door locks of clamping jaws 21 to turn tongue 100；
(G3), the driving switch door manipulator of multi-degree-of-freemechanical mechanical arm 9 and clamped door lock turn the rotation of the opposite direction of tongue 100
90°；
(G4), clamping jaw driver drives a pair of clamping jaw release door locks to turn tongue, the driving switch door of multi-degree-of-freemechanical mechanical arm 9 machinery
Hand departs from door lock and turns tongue 100；
(G5), the horizontal pressing door lock of fingertip 21 of the driving switch door manipulator of multi-degree-of-freemechanical mechanical arm 9 turns the upper surface of tongue
Until door lock turns tongue reset, overturning hinge door is closed.
More than, switch gate machinery hand manually realizes installation into the action executing part of switch gate robot for substituting
There is the automatic switch cabinet door for turning bolt door lock hinge cabinet door, smart structural design, stable performance is practical, effectively solves to realize
The technical barrier for how mechanically removing cabinet door that data center machine room automation inspection is faced.
Embodiment described above is only to absolutely prove preferred embodiment that is of the invention and being lifted, protection model of the invention
Enclose not limited to this.The equivalent substitute or conversion that those skilled in the art are made on the basis of the present invention, in the present invention
Protection domain within.Protection scope of the present invention is defined by claims.
Claims (10)
- A kind of 1. switch gate manipulator, it is characterised in that：Turn tongue clamping device and door lock button touching mechanism including door lock, it is described Door lock turns tongue clamping device and door lock button touching mechanism is installed on connecting seat, and the connecting seat is connected by stiffness spring In fixed seat.
- 2. switch gate manipulator as claimed in claim 1, it is characterised in that：The door lock, which turns tongue clamping device, includes a pair of energy The clamping jaw of enough foldings, the bare terminal end of the clamping jaw are provided with " V " font boss.
- 3. switch gate manipulator as claimed in claim 2, it is characterised in that：The door lock, which turns tongue clamping device, also includes clamping jaw Driver, the clamping jaw driver are arranged on connecting seat, and the clamping jaw driver is provided with a pair of sliding blocks, a pair of clamping jaws It is separately fixed at by clamping jaw connector on a pair of sliding blocks.
- 4. switch gate manipulator as claimed in claim 3, it is characterised in that：The clamping jaw connector is provided with reinforcement.
- 5. switch gate manipulator as claimed in claim 3, it is characterised in that：The clamping jaw driver is provided with line slide rail, A pair of sliding blocks are arranged on the line slide rail.
- 6. switch gate manipulator as claimed in claim 3, it is characterised in that：The clamping jaw driver being capable of self-locking.
- 7. switch gate manipulator as claimed in claim 1, it is characterised in that：Door lock button touching mechanism include fingertip, Sliding bar and fingertip fixed block, the fingertip fixed block are arranged on connecting seat, and axis hole is provided with the fingertip fixed block, described Sliding bar is located in axis hole, and the fingertip is connected to sliding bar and stretched out on the end that axis hole stretches out.
- 8. switch gate manipulator as claimed in claim 6, it is characterised in that：The sliding bar can be past vertically in axis hole It is multiple mobile, buffer spring is additionally provided with the axis hole, one end of the buffer spring is connected on fingertip fixed block, its other end Abut sliding bar.
- A kind of 9. switch gate robot, it is characterised in that：Including multi-degree-of-freemechanical mechanical arm and as described in claim any one of 1-8 Switch gate manipulator, the switch gate manipulator by its fixed seat be arranged on multi-degree-of-freemechanical mechanical arm last joint flange On disk.
- A kind of 10. switch gate method for turning bolt door lock overturning hinge door, it is characterised in that：Enabling step is：(K1), multi-degree-of-freemechanical mechanical arm driving switch door manipulator is on close level door lock, and the fingertip for being fixed on sliding bar end touches Touch and press the button on the door lock；(K2), press the button back door lock and turn tongue automatic spring, clamping jaw driver drives a pair of clamping jaws to clamp the door lock turn Tongue；(K3), the last joint ring flange of multi-degree-of-freemechanical mechanical arm performs rotation, drives switch gate manipulator and clamped door lock Turn 90 ° of tongue synchronous rotary, open door lock；(K4), multi-degree-of-freemechanical mechanical arm pulls door handle, opening hinge door, and clamping jaw driver drives a pair of clamping jaws to discharge the door Lock turns tongue；Shutdown step is：(G1), multi-degree-of-freemechanical mechanical arm driving switch door manipulator is moved to the position that door lock turns tongue, and door lock turns tongue positioned at one To the centre of clamping jaw；(G2), clamping jaw driver drives a pair of clamping jaw clamping door locks to turn tongue；(G3), multi-degree-of-freemechanical mechanical arm driving switch door manipulator and clamped door lock turn tongue opposite direction and are rotated by 90 °；(G4), clamping jaw driver drives a pair of clamping jaw release door locks to turn tongue, and multi-degree-of-freemechanical mechanical arm driving switch door manipulator takes off Turn tongue from door lock；(G5), the fingertip horizontal pressing door lock of multi-degree-of-freemechanical mechanical arm driving switch door manipulator turns the upper surface of tongue until door lock Turn tongue reset, close overturning hinge door.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711311316.2A CN107825450B (en) | 2017-12-11 | 2017-12-11 | Door opening and closing mechanical arm, door opening and closing robot and door opening and closing method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711311316.2A CN107825450B (en) | 2017-12-11 | 2017-12-11 | Door opening and closing mechanical arm, door opening and closing robot and door opening and closing method |
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| Publication Number | Publication Date |
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| CN107825450A true CN107825450A (en) | 2018-03-23 |
| CN107825450B CN107825450B (en) | 2024-04-05 |
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| CN201711311316.2A Active CN107825450B (en) | 2017-12-11 | 2017-12-11 | Door opening and closing mechanical arm, door opening and closing robot and door opening and closing method |
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Cited By (7)
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|---|---|---|---|---|
| CN110842890A (en) * | 2018-08-21 | 2020-02-28 | 广州弘度信息科技有限公司 | Robot and control method thereof |
| CN111602182A (en) * | 2018-05-22 | 2020-08-28 | 日本金钱机械株式会社 | Automatic paper money processing system |
| CN112123368A (en) * | 2020-09-04 | 2020-12-25 | 国网宁夏电力有限公司检修公司 | Mechanical arm structure and detection robot |
| CN114248275A (en) * | 2021-12-01 | 2022-03-29 | 广东恒鑫智能装备股份有限公司 | Door opening mechanism of dish washing machine |
| US11339606B2 (en) | 2018-05-22 | 2022-05-24 | Japan Cash Machine Co., Ltd. | Banknote handling system for automated casino accounting |
| WO2022262250A1 (en) * | 2021-06-17 | 2022-12-22 | 达闼机器人股份有限公司 | Method and apparatus for opening door by robot, storage medium, and electronic device |
| CN116476104A (en) * | 2023-04-04 | 2023-07-25 | 深圳昱拓智能有限公司 | Terminal operation module of switch cabinet operation robot and switch cabinet operation robot |
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