CN111496768A - Grabbing device capable of absorbing dust and using method - Google Patents
Grabbing device capable of absorbing dust and using method Download PDFInfo
- Publication number
- CN111496768A CN111496768A CN202010333669.8A CN202010333669A CN111496768A CN 111496768 A CN111496768 A CN 111496768A CN 202010333669 A CN202010333669 A CN 202010333669A CN 111496768 A CN111496768 A CN 111496768A
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- China
- Prior art keywords
- base
- pneumatic cylinder
- dust
- guide rod
- gear shaft
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- 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.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/023—Cartesian coordinate type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B15/00—Preventing escape of dirt or fumes from the area where they are produced; Collecting or removing dirt or fumes from that area
- B08B15/04—Preventing escape of dirt or fumes from the area where they are produced; Collecting or removing dirt or fumes from that area from a small area, e.g. a tool
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- 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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/0213—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by gears
-
- 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
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
-
- 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
- B25J9/144—Linear actuators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A gripping device capable of absorbing dust comprises a base, wherein a dust absorption mechanism is arranged in the base, a clamping mechanism is arranged below the base, and a driving mechanism is arranged above the base; the interior of the base is divided into an upper cavity and a lower cavity, the dust collection mechanism comprises an air pump, the air pump is arranged in an upper cavity in the base, and a cover body is arranged on the side wall of a lower cavity in the base; the clamping mechanism comprises a claw seat, the claw seat is connected with the base through a connecting pipe, a claw seat inner cavity is arranged in the claw seat, and the claw seat inner cavity is communicated with a lower cavity in the base through the connecting pipe; the base is arranged right above the feeding crawler. The pneumatic clamping device realizes parallel movement by utilizing the pneumatic device, when the clamping jaw is driven by the gear to clamp, the hollow part of the clamping jaw arm sucks fine particles such as flour into the storage chamber in the base through the air pump to be stored, and therefore dust is removed while clamping is realized. Has the characteristics of complete functions, wide application range and reliable operation.
Description
Technical Field
The invention relates to the field of material transfer equipment, in particular to a gripping device capable of absorbing dust and a using method.
Background
During the daily production and life, some dust products with tiny particles are inevitably contacted, such as: cement used in the construction industry, flour in the food industry or in the production of quartz flour, etc. Dust refers to tiny solid particles that can float in the air for a long time. "dust" in occupational health is intended to mean dust formed during the production process, also known as productive dust. If workers inhale productive dust in a production environment for a long time, systemic diseases with lung fibroplasia as the main pathological change can be generated, and the systemic diseases are called pneumoconiosis. The diseases become occupational diseases which cause the greatest harm to workers in China. Corresponding laws and regulations are made for dust problems generated in enterprise production at present so as to ensure that workers are protected correspondingly in the production process, but dust is inevitably generated for products with dust particles such as flour, cement and the like in the process of warehouse stockpiling or carrying; especially to the in-process that adopts the manual handling, will have great harm to people's health, consequently need design an intelligent grabbing device that can absorb the dust in handling to solve the production of dust granule in handling and produce harm and the problem that the environment produced the destruction to human health.
Disclosure of Invention
The invention aims to solve the technical problem of providing a grabbing device capable of absorbing dust and a using method thereof. Has the characteristics of complete functions, wide application range and reliable operation.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows: a gripping device capable of absorbing dust comprises a base, wherein a dust absorption mechanism is arranged in the base, a clamping mechanism is arranged below the base, and a driving mechanism is arranged above the base;
the interior of the base is divided into an upper cavity and a lower cavity, the dust collection mechanism comprises an air pump, the air pump is arranged in an upper cavity in the base, and a cover body is arranged on the side wall of a lower cavity in the base;
the clamping mechanism comprises a claw seat, the claw seat is connected with the base through a connecting pipe, a claw seat inner cavity is arranged in the claw seat, and the claw seat inner cavity is communicated with a lower cavity in the base through the connecting pipe;
the base is arranged right above the feeding crawler.
In a preferable scheme, the driving mechanism comprises a vertical sliding guide rod and a horizontal sliding guide rod;
one end of the vertical sliding guide rod is arranged at the top of the base, the vertical sliding guide rod penetrates through the first pneumatic cylinder, a push rod of the first pneumatic cylinder faces upwards, and the end part of the push rod and one end, far away from the base, of the vertical sliding guide rod are fixed on the same plate;
one end of the horizontal sliding guide rod is arranged on one side of the first pneumatic cylinder, the horizontal sliding guide rod penetrates through the second pneumatic cylinder, a push rod of the second pneumatic cylinder is horizontal, and the end part of the second pneumatic cylinder and one end, far away from the first pneumatic cylinder, of the horizontal sliding guide rod are fixed on the same plate;
the second pneumatic cylinder is arranged on the fixed frame.
In the preferred scheme, the claw seat in be equipped with drive gear axle and driven gear shaft that are parallel to each other, be equipped with a set of jack catch on drive gear axle and the driven gear shaft respectively, two sets of jack catches pile up the setting, the lower extreme of jack catch has the jack catch arm through round pin hub connection.
In a preferred scheme, a plurality of gears are arranged on the driving gear shaft and the driven gear shaft, and the gears on the driving gear shaft and the gears on the driven gear shaft are in one-to-one correspondence and meshed;
one end of the driving gear shaft penetrates through the side wall of the jaw seat and is connected with a stepping motor shaft arranged on the outer side wall of the jaw seat.
In a preferable scheme, a distance sensor is arranged on the lower edge of the outer side wall of the jaw seat.
In the preferred scheme, the feeding crawler belt is driven by crawler belt shafts at two ends, one of the crawler belt shafts is connected with a crawler belt motor, and a weighing platform is arranged at the output end of the crawler belt motor.
In the preferred scheme, a plurality of first through holes are formed in the side wall of the connecting pipe, and a plurality of second through holes are formed in the end wall of the inner cavity of the clamping jaw seat.
The use method based on the grabbing device comprises the following steps:
1) starting a first pneumatic cylinder to enable a vertical sliding guide rod to move relative to the first pneumatic cylinder, and detecting the distance between a clamping jaw and a material bag to be grabbed by a distance sensor;
2) when the distance between the clamping jaws and the woven bag is detected to reach a set value, the stepping motor is started, and the driving gear shaft drives the driven gear shaft to clamp the material bag;
3) the first pneumatic cylinder is started again, and the whole device returns to the initial position;
4) the second pneumatic cylinder is started and drives the whole device and the material bag to be pushed to the weighing platform;
5) after the device moves for a specified distance, the second pneumatic cylinder stops operating, the first pneumatic cylinder is started, and meanwhile, the distance sensor detects the distance between the clamping jaw and the material bag on the platform;
6) when the distance between the clamping jaws and the woven bag is detected to reach a set value, the stepping motor is started, the driving gear shaft drives the driven gear shaft to rotate, and the clamping jaws act and release the material bag;
7) starting the first pneumatic cylinder to drive the device to lift a set height, and starting the second pneumatic cylinder to drive the device to return to an initial position;
8) and (4) repeating the steps 1) -7) circularly to realize continuous material grabbing and transferring work.
In a preferable scheme, during the steps 1) to 7), the air pump is always in an operating state.
The gripping device capable of absorbing dust and the using method thereof provided by the invention have the following beneficial effects by adopting the structure:
(1) the clamping mechanism and the dust collection mechanism are combined, so that dust collection and transportation are realized at the same time, and the mechanism has the characteristics of stable transportation, clean dust collection, simple structure, safety, reliability and the like;
(2) by carrying the woven bags which are easy to have dust, the adverse effect caused by dust rising can be greatly reduced, the cost is reduced, and the woven bag carrying device is suitable for carrying various materials.
Drawings
The invention is further illustrated by the following examples in conjunction with the accompanying drawings:
fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a schematic view of the gripping mechanism of the present invention.
Fig. 3 is a schematic cross-sectional view illustrating a state in which the base and the jaw base are connected according to the present invention.
In the figure: the cover body 1, the claw arm 2, the base 3, the claw 4, the pin shaft 5, the vertical sliding guide rod 6, the horizontal sliding guide rod 7, the first pneumatic cylinder 8, the second pneumatic cylinder 9, the driving gear shaft 10, the stepping motor 11, the driven gear shaft 12, the distance sensor 13, the crawler motor 14, the crawler shaft 15, the feeding crawler 16, the material bag 17, the weighing platform 18, the air pump 19, the connecting pipe 20, the first through hole 2001, the claw seat 21, the inner cavity 2101 of the claw seat and the second through hole 2102.
Detailed Description
Example 1:
as shown in fig. 1, a gripping device capable of absorbing dust comprises a base 3, a dust suction mechanism is arranged in the base 3, a clamping mechanism is arranged below the base 3, and a driving mechanism is arranged above the base 3;
the interior of the base 3 is divided into an upper cavity and a lower cavity, the dust collection mechanism comprises an air pump 19, the air pump 19 is arranged in the upper cavity in the base 3, and the side wall of the lower cavity in the base 3 is provided with a cover body 1;
the clamping mechanism comprises a jaw seat 21, the jaw seat 21 is connected with the base 3 through a connecting pipe 20, a jaw seat inner cavity 211 is arranged in the jaw seat 21, and the jaw seat inner cavity 211 is communicated with a lower cavity in the base 3 through the connecting pipe 20;
the base 3 is arranged right above the feeding crawler 16.
In a preferable scheme, the driving mechanism comprises a vertical sliding guide rod 6 and a horizontal sliding guide rod 7;
one end of the vertical sliding guide rod 6 is arranged at the top of the base 3, the vertical sliding guide rod 6 penetrates through the first pneumatic cylinder 8, a push rod of the first pneumatic cylinder 8 faces upwards, and the end part of the push rod and one end, far away from the base 3, of the vertical sliding guide rod 6 are fixed on the same plate;
one end of the horizontal sliding guide rod 7 is arranged on one side of the first pneumatic cylinder 8, the horizontal sliding guide rod 7 penetrates through the second pneumatic cylinder 9, a push rod of the second pneumatic cylinder 9 is horizontal, and the end part of the second pneumatic cylinder 9 and one end, far away from the first pneumatic cylinder 8, of the horizontal sliding guide rod 7 are fixed on the same plate;
the second pneumatic cylinder 9 is arranged on the fixed frame.
Example 2:
as shown in fig. 2, in addition to embodiment 1, a driving gear shaft 10 and a driven gear shaft 12 are provided in the jaw seat 21, which are parallel to each other, a set of jaws 4 are provided on the driving gear shaft 10 and the driven gear shaft 12, respectively, two sets of jaws 4 are stacked, and the lower ends of the jaws 4 are connected to jaw arms 2 through pin shafts 5.
In a preferable scheme, a plurality of gears are arranged on the driving gear shaft 10 and the driven gear shaft 12, and the gears on the driving gear shaft 10 correspond to and are meshed with the gears on the driven gear shaft 12 one by one;
one end of the driving gear shaft 10 penetrates through the side wall of the jaw seat 21 and is connected with a stepping motor 11 arranged on the outer side wall of the jaw seat 21.
In a preferable scheme, a distance sensor 13 is arranged on the lower edge of the outer side wall of the jaw seat 21.
Example 3:
as shown in fig. 1, on the basis of embodiment 1, the feeding crawler 16 is driven by crawler shafts 15 at two ends, one of the crawler shafts 15 is connected with a crawler motor 14, and a weighing platform 18 is arranged at an output end position of the crawler motor 14.
Example 4:
referring to fig. 3, in embodiment 2, a plurality of first through holes 2001 are formed in the side wall of the connection pipe 20, and a plurality of second through holes 2102 are formed in the end wall of the inner cavity 2101 of the pawl holder.
Example 5:
on the basis of the embodiment 1, the following steps are adopted to carry out grabbing and transferring operation of the bagged powder:
1) starting the first pneumatic cylinder 8 to enable the vertical sliding guide rod 6 to move relative to the first pneumatic cylinder 8, and detecting the distance between the clamping jaw 4 and a material bag 17 to be grabbed by the distance sensor 13;
2) when the distance between the clamping jaws 4 and the woven bag is detected to reach a set value, the stepping motor 11 is started, and the driving gear shaft 10 drives the driven gear shaft 12 to clamp the material taking bag 17;
3) the first pneumatic cylinder 8 is started again, and the whole device returns to the initial position;
4) the second pneumatic cylinder 9 is started and drives the whole device and the material bag 17 to push the weighing platform 18;
5) after the device moves for a specified distance, the second pneumatic cylinder 9 stops operating, the first pneumatic cylinder 8 is started, and meanwhile, the distance sensor 13 detects the distance between the clamping jaw 4 and the material bag 17 on the platform;
6) when the distance between the clamping jaw 4 and the woven bag is detected to reach a set value, the stepping motor 11 is started, the driving gear shaft 10 drives the driven gear shaft 12 to rotate, and the clamping jaw 4 moves and releases the material bag 17;
7) the first pneumatic cylinder 8 is started to drive the device to lift a set height, and meanwhile, the second pneumatic cylinder 9 is started to drive the device to return to the initial position;
8) and (4) repeating the steps 1) -7) circularly to realize continuous material grabbing and transferring work.
In a preferable scheme, in the processes of step 1) to step 7), the air pump 19 is always in a running state, dust generated during the transportation of the bagged powder enters the base 3 through the first through hole 2001 and the second through hole 2102 and is stored in the lower cavity of the base 3, after the transportation operation is performed for a period of time, the collected dust can be collected and cleaned by opening the cover body 1, and the collected dust can be directly shipped and processed to be output as a finished product.
Example 6:
on the basis of the embodiment 2, the distance sensor 13 adopts a proximity switch with the model number of L J10A3-2-Z/EX, the distance sensor 13 is connected to a controller, and the controller is connected with the first pneumatic cylinder 8, the second pneumatic cylinder 9 and the stepping motor 11.
Claims (9)
1. A gripping device capable of absorbing dust comprises a base (3), and is characterized in that: a dust suction mechanism is arranged in the base (3), a clamping mechanism is arranged below the base (3), and a driving mechanism is arranged above the base (3);
the interior of the base (3) is divided into an upper cavity and a lower cavity, the dust collection mechanism comprises an air pump (19), the air pump (19) is arranged in the upper cavity in the base (3), and the side wall of the lower cavity in the base (3) is provided with a cover body (1);
the clamping mechanism comprises a jaw seat (21), the jaw seat (21) is connected with the base (3) through a connecting pipe (20), a jaw seat inner cavity (211) is arranged in the jaw seat (21), and the jaw seat inner cavity (211) is communicated with a lower cavity in the base (3) through the connecting pipe (20);
the base (3) is arranged right above the feeding crawler belt (16).
2. A dust-absorbing gripping device according to claim 1, wherein: the driving mechanism comprises a vertical sliding guide rod (6) and a horizontal sliding guide rod (7);
one end of the vertical sliding guide rod (6) is arranged at the top of the base (3), the vertical sliding guide rod (6) penetrates through the first pneumatic cylinder (8) to be arranged, a push rod of the first pneumatic cylinder (8) faces upwards, and the end part of the push rod and one end, far away from the base (3), of the vertical sliding guide rod (6) are fixed on the same plate;
one end of the horizontal sliding guide rod (7) is arranged on one side of the first pneumatic cylinder (8), the horizontal sliding guide rod (7) penetrates through the second pneumatic cylinder (9), a push rod of the second pneumatic cylinder (9) is horizontal, and the end part of the second pneumatic cylinder (9) and one end, far away from the first pneumatic cylinder (8), of the horizontal sliding guide rod (7) are fixed on the same plate;
the second pneumatic cylinder (9) is arranged on the fixed frame.
3. A dust-absorbing gripping device according to claim 1, wherein: the claw seat (21) in be equipped with drive gear axle (10) and driven gear axle (12) that are parallel to each other, be equipped with a set of jack catch (4) on drive gear axle (10) and driven gear axle (12) respectively, two sets of jack catch (4) pile up and set up, the lower extreme of jack catch (4) is connected with claw arm (2) through round pin axle (5).
4. A dust-absorbing gripping device according to claim 3, wherein: a plurality of gears are arranged on the driving gear shaft (10) and the driven gear shaft (12), and the gears on the driving gear shaft (10) correspond to and are meshed with the gears on the driven gear shaft (12) one by one;
one end of the driving gear shaft (10) penetrates through the side wall of the jaw seat (21) and is connected with a stepping motor (11) arranged on the outer side wall of the jaw seat (21) in a shaft mode.
5. A dust-absorbing gripping device according to claim 4, wherein: and a distance sensor (13) is arranged on the lower edge of the outer side wall of the jaw seat (21).
6. A dust-absorbing gripping device according to claim 1, wherein: the feeding crawler belt (16) is driven by crawler belt shafts (15) at two ends, one crawler belt shaft (15) is connected with a crawler belt motor (14) in a shaft mode, and a weighing platform (18) is arranged at the output end position of the crawler belt motor (14).
7. A dust-absorbing gripping device according to claim 1, wherein: the side wall of the connecting pipe (20) is provided with a plurality of first through holes (2001), and the end wall of the inner cavity (2101) of the clamping jaw seat is provided with a plurality of second through holes (2102).
8. Use of a dust-absorbing gripping device according to any of claims 1-7, characterized by the following steps:
1) starting a first pneumatic cylinder (8) to enable a vertical sliding guide rod (6) to move relative to the first pneumatic cylinder (8), and detecting the distance between a clamping jaw (4) and a material bag (17) to be grabbed by a distance sensor (13);
2) when the distance between the clamping jaw (4) and the woven bag is detected to reach a set value, the stepping motor (11) is started, and the gear shaft (10) is driven to drive the driven gear shaft (12) to clamp the material taking bag (17);
3) the first pneumatic cylinder (8) is started again, and the whole device returns to the initial position;
4) the second pneumatic cylinder (9) is started and drives the whole device and the material bag (17) to push to the weighing platform (18);
5) after the device moves for a specified distance, the second pneumatic cylinder (9) stops operating, the first pneumatic cylinder (8) is started, and meanwhile, the distance sensor (13) detects the distance between the clamping jaw (4) and the material bag (17) on the platform;
6) when the distance between the clamping jaw (4) and the woven bag is detected to reach a set value, the stepping motor (11) is started, the gear shaft (10) is driven to drive the driven gear shaft (12) to rotate, and the clamping jaw (4) acts and releases the material bag (17);
7) the first pneumatic cylinder (8) is started to drive the device to lift a set height, and meanwhile, the second pneumatic cylinder (9) is started to drive the device to return to an initial position;
8) and (4) repeating the steps 1) -7) circularly to realize continuous material grabbing and transferring work.
9. The use method of a dust-absorbing gripping device according to claim 8, wherein: in the processes from the step 1) to the step 7), the air pump (19) is always in a running state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010333669.8A CN111496768A (en) | 2020-04-24 | 2020-04-24 | Grabbing device capable of absorbing dust and using method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010333669.8A CN111496768A (en) | 2020-04-24 | 2020-04-24 | Grabbing device capable of absorbing dust and using method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111496768A true CN111496768A (en) | 2020-08-07 |
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ID=71866255
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010333669.8A Pending CN111496768A (en) | 2020-04-24 | 2020-04-24 | Grabbing device capable of absorbing dust and using method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111496768A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113733077A (en) * | 2021-09-23 | 2021-12-03 | 扬州市聚鑫机械有限公司 | Manipulator for cement machinery carrying |
| CN114102635A (en) * | 2021-12-17 | 2022-03-01 | 西南交通大学 | Third rail automatic cleaning manipulator and cleaning method thereof |
| CN116985100A (en) * | 2023-09-26 | 2023-11-03 | 方也智能装备(南通)有限公司 | Intelligent manufacturing industry's pile up neatly machine people equipment |
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| JPH0645426A (en) * | 1990-12-10 | 1994-02-18 | Toshiba Corp | Semiconductor element pickup apparatus |
| CN1886068A (en) * | 2003-11-25 | 2006-12-27 | 豪尼制丝设备责任有限公司 | Handling device for a container used in the tobacco industry |
| CN101515381A (en) * | 2009-03-26 | 2009-08-26 | 北京兆维科技股份有限公司 | Device for carrying and testing bill |
| CN101835570A (en) * | 2007-09-28 | 2010-09-15 | 西德尔公司 | Handling robot for palletizer |
| CN104493828A (en) * | 2014-12-19 | 2015-04-08 | 苏州洛伊斯自动化科技有限公司 | Airtightness detection manipulator unit |
| CN209599245U (en) * | 2018-10-26 | 2019-11-08 | 奔龙自动化科技有限公司 | A kind of mechanical gripper |
-
2020
- 2020-04-24 CN CN202010333669.8A patent/CN111496768A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0645426A (en) * | 1990-12-10 | 1994-02-18 | Toshiba Corp | Semiconductor element pickup apparatus |
| CN1886068A (en) * | 2003-11-25 | 2006-12-27 | 豪尼制丝设备责任有限公司 | Handling device for a container used in the tobacco industry |
| CN101835570A (en) * | 2007-09-28 | 2010-09-15 | 西德尔公司 | Handling robot for palletizer |
| CN101515381A (en) * | 2009-03-26 | 2009-08-26 | 北京兆维科技股份有限公司 | Device for carrying and testing bill |
| CN104493828A (en) * | 2014-12-19 | 2015-04-08 | 苏州洛伊斯自动化科技有限公司 | Airtightness detection manipulator unit |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113733077A (en) * | 2021-09-23 | 2021-12-03 | 扬州市聚鑫机械有限公司 | Manipulator for cement machinery carrying |
| CN114102635A (en) * | 2021-12-17 | 2022-03-01 | 西南交通大学 | Third rail automatic cleaning manipulator and cleaning method thereof |
| CN116985100A (en) * | 2023-09-26 | 2023-11-03 | 方也智能装备(南通)有限公司 | Intelligent manufacturing industry's pile up neatly machine people equipment |
| CN116985100B (en) * | 2023-09-26 | 2023-12-12 | 方也智能装备(南通)有限公司 | Intelligent manufacturing industry's pile up neatly machine people equipment |
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