CN112372654A - Manipulator snatchs mechanism - Google Patents
Manipulator snatchs mechanism Download PDFInfo
- Publication number
- CN112372654A CN112372654A CN202011205218.2A CN202011205218A CN112372654A CN 112372654 A CN112372654 A CN 112372654A CN 202011205218 A CN202011205218 A CN 202011205218A CN 112372654 A CN112372654 A CN 112372654A
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- driving device
- assembly
- clamping plate
- grabbing
- seat
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- 230000007246 mechanism Effects 0.000 title claims abstract description 33
- 239000000758 substrate Substances 0.000 claims description 7
- 238000005452 bending Methods 0.000 claims description 6
- 239000003292 glue Substances 0.000 claims description 2
- 239000000463 material Substances 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 239000003245 coal Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000006467 substitution reaction Methods 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
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
- E21C35/20—General features of equipment for removal of chippings, e.g. for loading on conveyor
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Robotics (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a manipulator grabbing mechanism which comprises a supporting mechanism, a first driving device, a swinging assembly, a second driving device and a grabbing device, wherein the supporting mechanism comprises a supporting main body and a supporting rod, the supporting rod is vertically arranged at one end of the supporting main body, and the other end of the supporting main body is connected with the swinging assembly in a pivoting manner; the first driving device is telescopic, one end of the first driving device is pivotally connected with the supporting rod, and the other end of the first driving device is pivotally connected with the swinging assembly; the grabbing device is connected with the swinging assembly in a pivoting mode, wherein a first hinged seat is arranged on the swinging assembly, and a second hinged seat is arranged on the grabbing device; the second driving device is telescopic, one end of the second driving device is pivotally connected with the first hinged seat, and the other end of the second driving device is pivotally connected with the second hinged seat. The manipulator grabbing mechanism of the embodiment of the application has the advantages of being flexible in operation, high in degree of freedom and the like, accuracy of control can be effectively guaranteed, and use experience is improved.
Description
Technical Field
The invention relates to the technical field of manipulators, in particular to a manipulator grabbing mechanism.
Background
At present, in the coal mining process, because of the space limitation, the staff of the working face is difficult to enter, so that the mechanical arm is required to grab equipment, and the mechanical arm replaces the staff to perform some operations.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the art described above.
Therefore, one object of the present invention is to provide a manipulator grabbing mechanism, which has the characteristics of flexible operation, high degree of freedom, and the like, and can effectively ensure the accuracy of control and improve the use experience.
In order to achieve the above object, an embodiment of a first aspect of the present invention provides a manipulator grabbing mechanism, including: the device comprises a supporting mechanism, a first driving device, a swinging assembly, a second driving device and a grabbing device, wherein the supporting mechanism comprises a supporting main body and a supporting rod, the supporting rod is vertically arranged at one end of the supporting main body, and the other end of the supporting main body is connected with the swinging assembly in a pivoting manner; the first driving device is telescopic, one end of the first driving device is pivotally connected with the supporting rod, the other end of the first driving device is pivotally connected with the swinging assembly, and the first driving device is used for controlling the grabbing device to swing up and down; the grabbing device is connected with the swinging assembly in a pivoting mode, wherein a first hinged seat is arranged on the swinging assembly, and a second hinged seat is arranged on the grabbing device; the second driving device is arranged between the grabbing device and the swinging assembly, the second driving device is telescopic, one end of the second driving device is connected with the first hinged seat in a pivoting mode, the other end of the second driving device is connected with the second hinged seat in a pivoting mode, and the second driving device is used for controlling the grabbing device to swing left and right.
According to the manipulator grabbing mechanism provided by the embodiment of the invention, grabbing of objects can be realized, the manipulator grabbing mechanism has the characteristics of flexibility in operation, high degree of freedom and the like, the control accuracy can be effectively ensured, and the use experience is improved.
In addition, the robot gripping mechanism proposed according to the above embodiment of the present invention may further have the following additional technical features:
in one embodiment of the invention, the swing assembly is a bending structure, a pin shaft hole is formed in a bending area of the swing assembly, a first fixing hole is formed in one end of the swing assembly, and the first hinge seat and a second fixing hole are formed in the other end of the swing assembly.
In one embodiment of the present invention, the swing assembly is pivotably connected to the other end of the support body through the pin shaft hole; the swinging assembly is connected with the other end of the first driving device in a pivoting way through the first fixing hole; the swing assembly is pivotally connected with the grabbing device through the second fixing hole.
In one embodiment of the present invention, the gripping device includes a gripper assembly, a third driving device, a fourth driving device, a first clamping plate and a second clamping plate, wherein a fixing member provided on the gripper assembly is pivotably connected to the swing assembly through the second fixing hole.
In an embodiment of the present invention, the fixture assembly is further provided with a first fixing seat, a second fixing seat and a T-shaped slot, the first clamping plate is provided with a third fixing seat, the second clamping plate is provided with a fourth fixing seat, wherein the first clamping plate and the second clamping plate are both embedded in the T-shaped slot, and the first clamping plate and the second clamping plate are respectively located at two ends of the T-shaped slot; the third driving device is telescopic, one end of the third driving device is connected with the first fixed seat, and the other end of the third driving device is connected with the third fixed seat; the fourth driving device is telescopic, one end of the fourth driving device is connected with the second fixing seat, and the other end of the fourth driving device is connected with the fourth fixing seat.
In an embodiment of the present invention, each of the first clamping plate and the second clamping plate is provided with a T-shaped buckle, and each of the first clamping plate and the second clamping plate is embedded into the T-shaped slot through the T-shaped buckle, wherein the T-shaped buckle is slidable in the T-shaped slot.
In one embodiment of the invention, the first splint and the second splint are each provided with a layer of glue on the inside.
In an embodiment of the present invention, the fixing element and the second hinge seat are disposed on one surface of a substrate in the fixture assembly, and the first fixing seat, the second fixing seat and the T-shaped slot are disposed on the other surface of the substrate in the fixture assembly.
In an embodiment of the present invention, the first driving device, the second driving device, the third driving device and the fourth driving device are all hydraulic cylinders, and the hydraulic cylinders include: a support cylinder; the oil supply device and the oil cylinder are coaxially arranged and then arranged on the outer side of the supporting oil cylinder.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic diagram of a robot gripping mechanism according to one embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a swing assembly according to one embodiment of the present invention;
FIG. 3 is a schematic diagram of a robot gripping mechanism according to another embodiment of the present invention;
FIG. 4 is a schematic diagram of a grasping device according to an embodiment of the present invention;
FIG. 5 is a schematic structural view of a clamp assembly according to one embodiment of the present invention; and
fig. 6 is a schematic view of a first splint according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
The robot gripping mechanism according to the embodiment of the present invention will be described below with reference to the drawings.
Fig. 1 is a schematic structural diagram of a robot gripping mechanism according to an embodiment of the present invention.
As shown in fig. 1, a robot gripping mechanism 1000 according to an embodiment of the present invention may include: a supporting mechanism 1 (not specifically identified in the figures), a first driving device 2, a swinging component 3, a second driving device 4 and a gripping device 5.
The support mechanism 1 may include a support body 11 and a support rod 12, wherein the support rod 12 is vertically disposed at one end of the support body 11, and the other end of the support body 11 is pivotally connected to the swing assembly 3.
The first driving device 2 is telescopic and is pivotally connected with one end of the supporting rod 12, the other end of the first driving device 2 is pivotally connected with the swinging component 3, and the first driving device 2 is used for controlling the grabbing device 5 to swing up and down. The gripping device 5 is pivotally connected to the swing assembly 3, wherein the swing assembly 3 is provided with a first hinge seat 31, and the gripping device 5 is provided with a second hinge seat 511. The second driving device 4 is arranged between the grabbing device 5 and the swinging assembly 3, wherein the second driving device 4 is telescopic and has one end pivotally connected to the first hinge seat 31, the other end of the second driving device 4 is pivotally connected to the second hinge seat 511, and the second driving device 4 is used for controlling the grabbing device 5 to swing left and right. It should be noted that the first drive means 2 and the second drive means 4 described in this embodiment may each be a hydraulic ram.
In the embodiment of the present invention, the end of the first driving device 2 pivotally connected to the swing assembly 3 may be a telescopic end, and the end of the first driving device 2 pivotally connected to the support rod 12 may be a non-telescopic end. The end of the second driving device 4 pivotally connected to the first hinge base 31 may be a retractable end, and the end of the second driving device 4 pivotally connected to the second hinge base 511 may be a non-retractable end.
For clarity of the above embodiment, in an embodiment of the present application, as shown in fig. 2, the swing assembly 3 may be a bending structure, the bending region of the swing assembly 3 is provided with a pin shaft hole 32, one end of the swing assembly 3 is provided with a first fixing hole 33, and the other end of the swing assembly is provided with a first hinge seat 31 and a second fixing hole 34.
Wherein, the swing component 3 is pivotally connected with the other end of the supporting body 11 through the pin shaft hole 32, the swing component 3 is pivotally connected with the other end of the first driving device 2 through the first fixing hole 33, and the swing component 3 is pivotally connected with the grabbing device 5 through the second fixing hole 33. Wherein the swing assembly 3 and the other end of the support body 11 can be pivotally connected together by passing a swing pin shaft through the pin shaft hole 32.
For clarity of the above embodiment, in one embodiment of the present application, as shown in fig. 3, 4, 5 and 6, the grasping apparatus 5 may include a clamp assembly 51, a third driving apparatus 52, a fourth driving apparatus 53, a first clamping plate 54 and a second clamping plate 55, wherein a fixing member 512 provided on the clamp assembly 51 is pivotably connected to the swing assembly 3 through a second fixing hole 33.
Specifically, the clamp assembly 51 may further include a first fixing seat 513, a second fixing seat 514, and a T-shaped slot 515, the first clamping plate 54 is provided with a third fixing seat 541, and the second clamping plate 55 is provided with a fourth fixing seat 551, wherein the first clamping plate 54 and the second clamping plate 55 may be embedded into the T-shaped slot 515, and the first clamping plate 54 and the second clamping plate 55 may be located at two ends of the T-shaped slot respectively. The third driving device 52 is retractable and has one end connected to the first fixing base 513, the other end of the third driving device 52 is connected to the third fixing base 541, the fourth driving device 53 is retractable and has one end connected to the second fixing base 514, and the other end of the fourth driving device 53 is connected to the fourth fixing base 551. The fixing element 512 and the second hinge base 511 are disposed on one side of the substrate 516 in the fixture assembly 51, the first fixing base 513, the second fixing base 514 and the T-shaped slot 515 are disposed on the other side of the substrate 516 in the fixture assembly 51, and the number of the T-shaped slots 515 may be two and are disposed on two corresponding sides of the substrate 516 respectively.
Further, as shown in fig. 4 and 6, the first clamping plate 54 and the second clamping plate 55 may be provided with a T-shaped buckle 101, and the first clamping plate 54 and the second clamping plate 55 may be inserted into the T-shaped clamping groove 515 through the T-shaped buckle 101, wherein the T-shaped buckle 101 is slidable in the T-shaped clamping groove 515.
It can be understood that the third driving device 52 can be used to control the first clamping plate 54 to move in the T-shaped clamping groove 515, and the fourth driving device 53 can control the second clamping plate 55 to move in the T-shaped clamping groove 515, so as to achieve the opening and closing of the first clamping plate 54 and the second clamping plate 55, and in addition, the T-shaped clamping groove 515 has a good guiding effect, which can effectively ensure the accuracy of control.
In an embodiment of the present invention, an end of the third driving device 52 pivotally connected to the first fixing base 513 may be a non-retractable end, and an end of the third driving device 52 pivotally connected to the third fixing base 541 may be a retractable end. The end of the fourth driving device 53 pivotally connected to the second fixing base 514 may be a non-telescopic end, and the end of the fourth driving device 53 pivotally connected to the fourth fixing base 551 may be a telescopic end.
It should be noted that in the above embodiments, the pivotable connection point can be fixed by a fastener, wherein the fastener can be a bolt, a screw, or the like.
Specifically, when the material needs to be grabbed, the grabbing device 5 can be moved to a specified position by adjusting (controlling) the first driving device 2 and the second driving device 4, then the first clamping plate 54 and the second clamping plate 55 are opened by adjusting (controlling) the third driving device 52 and the fourth driving device 53 in the grabbing device 5, the third driving device 52 and the fourth driving device 53 are adjusted (controlled) after the material is clamped, the first clamping plate 54 and the second clamping plate 55 clamp the material, and then the material is placed at the specified position by adjusting (controlling) the first driving device 2 and the second driving device 4.
Further, in one embodiment of the present invention, as shown in fig. 6, the first clamping plate 54 and the second clamping plate 55 are provided with a rubber layer 102 on the inner side thereof to increase friction force and prevent damage to the material.
Alternatively, in an embodiment of the present invention, the first driving device 2, the second driving device 4, the third driving device 52 and the fourth driving device 53 may be all hydraulic cylinders, and the hydraulic cylinders may include a support cylinder, an oil supply device and a cylinder.
Wherein, the oil supply device and the oil cylinder are coaxially arranged and then arranged at the outer side of the supporting oil cylinder.
Specifically, in the actual implementation process, separate oil supply devices may be disposed outside the first driving device 2, the second driving device 4, the third driving device 52, and the fourth driving device 53, for example, a high-speed motor drives an oil pump to implement vertical column lifting oil supply, so that not only is the space occupation ratio of the oil supply device reduced, but also the oil supply device is designed to be coaxially sleeved outside the supporting oil cylinder, and thus, no specific limitation is made herein, and while ensuring sufficient supporting strength, the functional requirements of the support are effectively met.
In conclusion, the manipulator grabbing mechanism provided by the embodiment of the invention can grab objects, has the characteristics of flexibility in operation, simple structure, high degree of freedom and the like, can effectively ensure the control accuracy and improves the use experience.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (9)
1. A manipulator grabbing mechanism is characterized by comprising a supporting mechanism, a first driving device, a swinging assembly, a second driving device and a grabbing device, wherein,
the supporting mechanism comprises a supporting main body and a supporting rod, wherein the supporting rod is vertically arranged at one end of the supporting main body, and the other end of the supporting main body is pivotally connected with the swinging assembly;
the first driving device is telescopic, one end of the first driving device is pivotally connected with the supporting rod, the other end of the first driving device is pivotally connected with the swinging assembly, and the first driving device is used for controlling the grabbing device to swing up and down;
the grabbing device is connected with the swinging assembly in a pivoting mode, wherein a first hinged seat is arranged on the swinging assembly, and a second hinged seat is arranged on the grabbing device;
the second driving device is arranged between the grabbing device and the swinging assembly, the second driving device is telescopic, one end of the second driving device is connected with the first hinged seat in a pivoting mode, the other end of the second driving device is connected with the second hinged seat in a pivoting mode, and the second driving device is used for controlling the grabbing device to swing left and right.
2. The manipulator grabbing mechanism according to claim 1, wherein the swing assembly is a bending structure, a pin shaft hole is formed in a bending region of the swing assembly, a first fixing hole is formed in one end of the swing assembly, and the first hinge seat and a second fixing hole are formed in the other end of the swing assembly.
3. The robotic grasping mechanism according to claim 2, wherein the swinging member is pivotally connected to the other end of the support body through the pin shaft hole;
the swinging assembly is connected with the other end of the first driving device in a pivoting way through the first fixing hole;
the swing assembly is pivotally connected with the grabbing device through the second fixing hole.
4. The robotic gripper mechanism of claim 2, wherein the gripper device comprises a gripper assembly, a third drive device, a fourth drive device, a first gripper plate, and a second gripper plate, wherein,
and the fixing piece arranged on the clamp assembly is pivotally connected with the swinging assembly through the second fixing hole.
5. The manipulator grabbing mechanism of claim 4, wherein the clamp assembly is further provided with a first fixing seat, a second fixing seat and a T-shaped clamping groove, the first clamping plate is provided with a third fixing seat, the second clamping plate is provided with a fourth fixing seat, wherein,
the first clamping plate and the second clamping plate are embedded into the T-shaped clamping groove, and the first clamping plate and the second clamping plate are respectively positioned at two ends of the T-shaped clamping groove;
the third driving device is telescopic, one end of the third driving device is connected with the first fixed seat, and the other end of the third driving device is connected with the third fixed seat;
the fourth driving device is telescopic, one end of the fourth driving device is connected with the second fixing seat, and the other end of the fourth driving device is connected with the fourth fixing seat.
6. The manipulator grabbing mechanism according to claim 5, wherein each of the first clamping plate and the second clamping plate is provided with a T-shaped buckle, and each of the first clamping plate and the second clamping plate is embedded into the T-shaped clamping groove through the T-shaped buckle, wherein the T-shaped buckle is slidable in the T-shaped clamping groove.
7. The robotic gripper mechanism of claim 5, wherein the first jaw and the second jaw are each provided with a layer of glue on an inner side thereof.
8. The manipulator grabbing mechanism of claim 5, wherein the fixing member and the second hinge seat are disposed on one surface of a substrate in the fixture assembly, and the first fixing seat, the second fixing seat and the T-shaped slot are disposed on the other surface of the substrate in the fixture assembly.
9. The manipulator grabbing mechanism according to any one of claims 1 to 8, wherein the first driving device, the second driving device, the third driving device and the fourth driving device are all hydraulic cylinders, and each hydraulic cylinder comprises:
a support cylinder;
the oil supply device and the oil cylinder are coaxially arranged and then arranged on the outer side of the supporting oil cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011205218.2A CN112372654A (en) | 2020-11-02 | 2020-11-02 | Manipulator snatchs mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011205218.2A CN112372654A (en) | 2020-11-02 | 2020-11-02 | Manipulator snatchs mechanism |
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| Publication Number | Publication Date |
|---|---|
| CN112372654A true CN112372654A (en) | 2021-02-19 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011205218.2A Pending CN112372654A (en) | 2020-11-02 | 2020-11-02 | Manipulator snatchs mechanism |
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| CN (1) | CN112372654A (en) |
Citations (7)
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|---|---|---|---|---|
| DE102015103148B3 (en) * | 2015-03-04 | 2016-04-28 | Sartorius Stedim Biotech Gmbh | Multi-finger gripper |
| CN105538303A (en) * | 2016-02-22 | 2016-05-04 | 河北工业大学 | Three-degree-of-freedom high-altitude mounting manipulator for large plates |
| CN205588309U (en) * | 2015-12-16 | 2016-09-21 | 宏光空降装备有限公司 | Tube -shape part clamping rotating mechanism |
| CN105965502A (en) * | 2016-06-13 | 2016-09-28 | 新乡学院 | Multifunctional manipulator |
| CN206677964U (en) * | 2017-03-31 | 2017-11-28 | 大连大学 | A kind of full Pneumatic multi-station manipulator |
| CN109015732A (en) * | 2018-08-07 | 2018-12-18 | 镇江成泰自动化技术有限公司 | A kind of dynamic lithium battery material catching robot |
| CN210176029U (en) * | 2019-05-16 | 2020-03-24 | 苏州东大贝普包装技术有限公司 | Hand grasping mechanism of intelligent manipulator stacker crane |
-
2020
- 2020-11-02 CN CN202011205218.2A patent/CN112372654A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102015103148B3 (en) * | 2015-03-04 | 2016-04-28 | Sartorius Stedim Biotech Gmbh | Multi-finger gripper |
| CN205588309U (en) * | 2015-12-16 | 2016-09-21 | 宏光空降装备有限公司 | Tube -shape part clamping rotating mechanism |
| CN105538303A (en) * | 2016-02-22 | 2016-05-04 | 河北工业大学 | Three-degree-of-freedom high-altitude mounting manipulator for large plates |
| CN105965502A (en) * | 2016-06-13 | 2016-09-28 | 新乡学院 | Multifunctional manipulator |
| CN206677964U (en) * | 2017-03-31 | 2017-11-28 | 大连大学 | A kind of full Pneumatic multi-station manipulator |
| CN109015732A (en) * | 2018-08-07 | 2018-12-18 | 镇江成泰自动化技术有限公司 | A kind of dynamic lithium battery material catching robot |
| CN210176029U (en) * | 2019-05-16 | 2020-03-24 | 苏州东大贝普包装技术有限公司 | Hand grasping mechanism of intelligent manipulator stacker crane |
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Application publication date: 20210219 |