CN201357413Y - Clamping manipulator - Google Patents
Clamping manipulator Download PDFInfo
- Publication number
- CN201357413Y CN201357413Y CNU2009201146787U CN200920114678U CN201357413Y CN 201357413 Y CN201357413 Y CN 201357413Y CN U2009201146787 U CNU2009201146787 U CN U2009201146787U CN 200920114678 U CN200920114678 U CN 200920114678U CN 201357413 Y CN201357413 Y CN 201357413Y
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- connecting rod
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- carriage release
- cross connecting
- release lever
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Abstract
The utility model relates to a clamping manipulator. The prior art has disadvantages of large size and high-degree control complexity. The clamping manipulator includes a stepper motor, a fixed sleeve, a cross connecting rod and four fingers. The cross connecting rod is installed in the fixed sleeve, and four ends are arranged to extend out of a guide groove; and the stepper motor is connected with the cross connecting rod by a lead screw nut kinematic pair. The four fingers are respectively connected with the four ends of the cross connecting rod. The fingers include fingertips, limit connecting rods, mobile connecting rods and a cross stay bracket. A second mobile connecting rod of the mobile connecting rods has an arc extension part, and an arc sliding chute is arranged on the extension part, a fixed pin on the cross stay bracket is matched with location of the arc sliding chute, and the arc extension part moves along the fixed pin by using the arc sliding chute. The utility model adopts single-motor drive, and the four fingers of the manipulator are symmetrical along a central axis; when a drive motor turns at an even pace, clamping or open speed of fingertips of the manipulator is uniform and translational, which facilitates that the fingertips contact with the target object and the manipulator overall grips the target object.
Description
Technical field
The utility model belongs to Machine Design and manufacturing field, relates to the rotor gripper structure design, is specifically related to a kind of clamping mechanical claw.
Background technology
Robot hand is as machine man-environment interaction's final tache and execution unit, to robot fulfil assignment task, improve level of operation extremely important influence arranged, sometimes even play a key effect.The flexibility of grasping manipulation destination object, accuracy and adaptability are to weigh an important symbol of mechanical paw design level.The terminal executing agency of universal industrial robot mostly is patterns such as the clamp-type, holding formula, absorption type of simple shape, and its power-actuated mode has air pressure driving, motor-driven, Electromagnetic Drive, hydraulic-driven etc.The operation principle of conventional robot pawl structure and grasping object has determined that its grip function is limited.Along with the expansion day by day of robot application scope, robot just develops towards intelligent, the direction that personalizes, and the manipulator of various special purposes arises at the historic moment, and wherein, has to refer to that the structure paw that personalizes of articulated structure is noticeable with hand especially more.With respect to the clamp-type structure, refer to that multiarticulate manipulator can adapt to the extracting of difformity object more more, its grasping is also more stable, but also because the paw number of degrees of freedom, increases, causes problems such as the control complexity increases greatly, paw appearance and size is huge.
Refer to that the research of multi-joint manipulator pawl just more and more is subjected to relevant expert, scholar's attention both at home and abroad, many fingers of having developed in the world multi-joint manipulator pawl is too numerous to enumerate more.The Utah/MIT hand is more representational a kind of, and it is a kind of four to refer to the manipulator of structures, has 16 frees degree, and drive system is by 32 tendon, pulley transmission systems of becoming with the air pressure driver bank of polymerization rope independently.The Stanford/JPL hand of Kenneth doctor J.Salisbury development has 3 fingers, and each finger has 3 frees degree and 4 control lines, and the drive block that whole hand is made up of 12 DC servo motors drives.In recent years, how the five fingers shape apery manipulator of domestic BJ University of Aeronautics ﹠ Astronautics (BH-3), Harbin Institute of Technology (HIT/DLR) and South China Science ﹠ Engineering University has also obtained progress aspect the research of finger multi-joint manipulator.These refer to that multi-joint manipulator often is applied as background with spatial operation more, and all there is independently driver element in each joint of each finger, and is furnished with sensing and control system.Though flexible operation exists complex structure, control loaded down with trivial details, drawback such as the very expensive and volume and weight of manufacturing price is all bigger.In some commercial Application,, the ability to work of robot will be limited directly along with the increase of end effector volume and weight.So according to special application scenario, it is very necessary to design the mechanical paw that control mode is simple, structure is ingenious, economic and practical.
Summary of the invention
The purpose of this utility model is exactly at the deficiencies in the prior art, provide a kind of simple and practical, functional price to refer to the mechanical paw structure that 12 joint finger tip translations clamp than high a kind of list motor-driven four, this mechanical paw can realize that when the motor uniform rotation finger tip translation at the uniform velocity clamps.
The utility model comprises stepper motor, fixed muffle, cross connecting rod and four fingers.
The sidewall of fixed muffle has four gathering sills on same circumference, four gathering sills evenly distribute on fixed muffle sidewall circumference, cross connecting rod is arranged in the fixed muffle, the gathering sill setting is stretched out in four ends of cross connecting rod, cross connecting rod can move up and down along gathering sill, and lifting nut passes the center setting of cross connecting rod and fixedlys connected with cross connecting rod.The sleeve end cap is fixed on the bottom of fixed muffle, comprise enclosure portion and finger bracket part, wherein enclosure portion is identical with the bottom shape of fixed muffle, and four finger brackets partly are positioned on the four direction of enclosure portion side, and four end positions with cross connecting rod are corresponding respectively.
The power output shaft of stepper motor is connected with the input of harmonic speed reducer by shaft coupling, and the output shaft of harmonic speed reducer is connected with screw mandrel, and screw mandrel cooperates flexible connection with lifting nut, constitutes feed screw nut's kinematic pair.
Four fingers are connected with four ends of cross connecting rod respectively.Finger comprises finger tip, spacing connecting rod, mobile link, end wall bracket.Spacing connecting rod comprises first gag lever post and second gag lever post, one end of first gag lever post and the finger bracket of sleeve end cap part flexibly connect by hinge, one end of the other end of first gag lever post and second gag lever post flexibly connects by the gag lever post hinge, and the other end of second gag lever post and the end of finger tip flexibly connect by hinge.Mobile link comprises first carriage release lever and second carriage release lever, first carriage release lever is L shaped, the finger bracket part of flex point place and sleeve end cap flexibly connects by hinge, one end of first carriage release lever and an end of draw bar flexibly connect by hinge, one end of the other end of draw bar and adjusting rod flexibly connects by hinge, the end that the other end of adjusting rod passes cross connecting rod is provided with, and adjusting rod is provided with adjusting nut.Second carriage release lever comprises movable part and extension, the end of movable part and the end of finger tip flexibly connect by hinge, the other end of the transition position of movable part and extension and first carriage release lever flexibly connects by the carriage release lever hinge, and the bearing pin of the bearing pin of carriage release lever hinge and gag lever post hinge is arranged on the transition rod member.The extension of second carriage release lever is an arc, and arc has arc chute in the extension, and the steady pin on the end wall bracket cooperates with the arc chute position, and the arc extension utilizes arc chute to move along steady pin.
Mechanical paw of the present utility model is when the positive and negative rotation of stepper motor, the rotation of drive screw mandrel, transfer the motion to lifting nut by feed screw nut's transmission, driving cross connecting rod moves along four gathering sills of fixed muffle are upper and lower, cross connecting rod drives four draw bars by adjusting rod and follows the upper and lower motion of cross connecting rod, and four draw bars respectively draw four fingers.Draw bar drives carriage release lever and turns round around the hinges that it is arranged on the finger bracket, the first carriage release lever other end promotes the second carriage release lever arc extension along the steady pin slippage on the end wall bracket, cause second carriage release lever to do equidirectional motion, drive the finger tip that links to each other with second carriage release lever thus and finish clamping and open action.
Between first carriage release lever and first gag lever post, respectively be arranged on hinges on the finger bracket, carriage release lever hinge pin and gag lever post hinge pin on the transition rod member constitutes parallelogram linkage; Between second carriage release lever and second gag lever post, respectively be arranged on hinges on the finger tip, carriage release lever hinge pin and gag lever post hinge pin on the transition rod member constitutes parallelogram linkage, plays the effect that the motion that is passed to finger tip is translation.The position of steady pin fulcrum in the second carriage release lever arc chute changes with paw opening and closing campaign on the end wall bracket, arm of force during work between the second carriage release lever stress point and fulcrum changes, so, the parameter of arc chute curve has been determined this variation of the arm of force, when selecting suitable parameter of curve can realize the stepper motor uniform rotation, the opening and closing of finger tip also are at the uniform velocity.
The utility model adopts single motor-driven, four fingers of paw are along the central shaft symmetry, and when the drive motors uniform rotation, the clamping of paw finger tip or the speed of opening are uniform, to take exercises be translation in institute, help finger tip and target object contact and paw to the overall grip of target object.
Description of drawings
Fig. 1 is a structural representation of the present utility model.
The specific embodiment
As shown in Figure 1, a kind of clamping mechanical claw comprises stepper motor 1, fixed muffle 8, cross connecting rod 6 and four fingers.
The sidewall of fixed muffle 8 has four gathering sills 7 on same circumference, four gathering sills 7 evenly distribute on fixed muffle 8 sidewall circumference, cross connecting rod 6 is arranged in the fixed muffle, four ends of cross connecting rod 6 are stretched out gathering sill 7 and are provided with, cross connecting rod 6 can move up and down along gathering sill 7, the center that lifting nut 5 passes cross connecting rod 6 is provided with, and fixedlys connected with cross connecting rod 6.The sleeve end cap is fixed on the bottom of fixed muffle 8, comprise enclosure portion 9 and finger bracket part 10, wherein enclosure portion 9 is identical with the bottom shape of fixed muffle 8, four finger bracket parts 10 are positioned on the four direction of enclosure portion 9 sides, and four end positions with cross connecting rod 6 are corresponding respectively.
The power output shaft of stepper motor 1 is connected with the input of harmonic speed reducer 3 by shaft coupling 2, and the output shaft of harmonic speed reducer 3 is connected with screw mandrel 4, and screw mandrel 4 cooperates flexible connection with lifting nut 5, constitutes feed screw nut's kinematic pair.
Four fingers are connected with four ends of cross connecting rod 6 respectively.Finger comprises finger tip 15, spacing connecting rod, mobile link, end wall bracket 21.Spacing connecting rod comprises first gag lever post 11 and second gag lever post 14, one end of first gag lever post 11 and the finger bracket part 10 of sleeve end cap flexibly connect by hinge, one end of the other end of first gag lever post 11 and second gag lever post 14 flexibly connects by the gag lever post hinge, and the end of the other end of second gag lever post 14 and finger tip 15 flexibly connects by hinge.Mobile link comprises first carriage release lever 22 and second carriage release lever, first carriage release lever 22 is L shaped, the finger bracket part 10 of flex point place and sleeve end cap flexibly connects by hinge, one end of first carriage release lever 22 and an end of draw bar 23 flexibly connect by hinge, one end of the other end of draw bar 23 and adjusting rod 24 flexibly connects by hinge, the end that the other end of adjusting rod 24 passes cross connecting rod 6 is provided with, and adjusting rod 24 is provided with adjusting nut 25.Second carriage release lever comprises movable part 16 and extension 19, the end of the end of movable part 16 and finger tip 15 flexibly connects by hinge, movable part 16 flexibly connects by the carriage release lever hinge with the transition position of extension 19 and the other end of first carriage release lever 22, and the bearing pin 12 of carriage release lever hinge and the bearing pin 13 of gag lever post hinge are arranged on the transition rod member 17.The extension 19 of second carriage release lever is an arc, has arc chute 18 in the arc extension, and the steady pin 20 on the end wall bracket 21 cooperates with arc chute 18 positions, and the arc extension utilizes arc chute 18 to move along steady pin 20.
For guaranteeing to refer to multiarticulate translational clamping mechanical claw with uniform speed precision, in manufacturing process, manufacturing and assembly technology there is strict requirement more.At first, carriage release lever, the gag lever post length of each finger, the pin hole between the connecting rod is apart from the required precision that strictness is arranged, otherwise paw will be stuck.For this reason, be to add to need the design specialized anchor clamps man-hour to each finger hole, to satisfy above-mentioned requirements; Secondly, arc chute of the second carriage release lever extension (sealing cam) and groove width must be joined work with the steady pin on the end wall bracket, to guarantee between arc chute and the steady pin good cooperating and kinematic accuracy being arranged, the pin shaft hole in two hinges joints is as the location datum hole on processing can be by second carriage release lever during arc chute, guarantee the uniformity and the precision of arc chute by digital control processing, otherwise four refer to be difficult to when closing up to guarantee action symmetrically; At last, when assembling, need to adjust 4 end wall brackets, the axial symmetry of cross connecting rod and the extension elongations of adjusting rod etc., adjust after the extension elongation of adjusting rod and the nut of adjusting rod both sides and tight should be adjusted above-mentioned each influence factor and can guarantee four fingers of mechanical paw symmetrically.In addition,, guaranteeing under the strength and stiffness prerequisite of design objective, all will be optimized selection, heat treatment and the structural design of rod member for alleviating the mechanical paw own wt.
Claims (1)
1, a kind of clamping mechanical claw comprises stepper motor, fixed muffle, cross connecting rod and four fingers, it is characterized in that:
The sidewall of fixed muffle has four gathering sills on same circumference, four gathering sills evenly distribute on fixed muffle sidewall circumference, cross connecting rod is arranged in the fixed muffle, the gathering sill setting is stretched out in four ends of cross connecting rod, cross connecting rod can move up and down along gathering sill, and lifting nut passes the center setting of cross connecting rod and fixedlys connected with cross connecting rod; The sleeve end cap is fixed on the bottom of fixed muffle, comprise enclosure portion and finger bracket part, wherein enclosure portion is identical with the bottom shape of fixed muffle, and four finger brackets partly are positioned on the four direction of enclosure portion side, and four end positions with cross connecting rod are corresponding respectively;
The power output shaft of stepper motor is connected with the input of harmonic speed reducer by shaft coupling, and the output shaft of harmonic speed reducer is connected with screw mandrel, and screw mandrel cooperates flexible connection with lifting nut, constitutes feed screw nut's kinematic pair;
Four fingers are connected with four ends of cross connecting rod respectively, and described finger comprises finger tip, spacing connecting rod, mobile link, end wall bracket; Spacing connecting rod comprises first gag lever post and second gag lever post, one end of first gag lever post and the finger bracket of sleeve end cap part flexibly connect by hinge, one end of the other end of first gag lever post and second gag lever post flexibly connects by the gag lever post hinge, and the other end of second gag lever post and the end of finger tip flexibly connect by hinge; Mobile link comprises first carriage release lever and second carriage release lever, first carriage release lever is L shaped, the finger bracket part of flex point place and sleeve end cap flexibly connects by hinge, one end of first carriage release lever and an end of draw bar flexibly connect by hinge, one end of the other end of draw bar and adjusting rod flexibly connects by hinge, the end that the other end of adjusting rod passes cross connecting rod is provided with, and adjusting rod is provided with adjusting nut; Second carriage release lever comprises movable part and extension, the end of movable part and the end of finger tip flexibly connect by hinge, the other end of the transition position of movable part and extension and first carriage release lever flexibly connects by the carriage release lever hinge, and the bearing pin of the bearing pin of carriage release lever hinge and gag lever post hinge is arranged on the transition rod member; The extension of second carriage release lever is an arc, and arc has arc chute in the extension, and the steady pin on the end wall bracket cooperates with the arc chute position, and the arc extension utilizes arc chute to move along steady pin.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2009201146787U CN201357413Y (en) | 2009-03-02 | 2009-03-02 | Clamping manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2009201146787U CN201357413Y (en) | 2009-03-02 | 2009-03-02 | Clamping manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201357413Y true CN201357413Y (en) | 2009-12-09 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2009201146787U Expired - Fee Related CN201357413Y (en) | 2009-03-02 | 2009-03-02 | Clamping manipulator |
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| Country | Link |
|---|---|
| CN (1) | CN201357413Y (en) |
Cited By (25)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102632507A (en) * | 2011-02-14 | 2012-08-15 | 精工爱普生株式会社 | Robot hand and robot apparatus |
| CN103029077A (en) * | 2012-12-27 | 2013-04-10 | 上海宏曲电子科技有限公司 | X-shaped transmission electric fixture |
| CN103386678A (en) * | 2013-07-04 | 2013-11-13 | 北京航空航天大学 | Small-scale underwater electric manipulator |
| CN103448070A (en) * | 2013-08-30 | 2013-12-18 | 华南理工大学 | Tail end structure of multipurpose manipulator |
| CN103692182A (en) * | 2013-12-17 | 2014-04-02 | 苏州博众精工科技有限公司 | Pressure meter clamping mechanism |
| CN103991071A (en) * | 2014-04-09 | 2014-08-20 | 上海工程技术大学 | Guide disc friction mechanical paw |
| CN104589341A (en) * | 2014-11-21 | 2015-05-06 | 海发（宁波）办公设备有限公司 | Work platform |
| CN104669289A (en) * | 2014-08-29 | 2015-06-03 | 北京精密机电控制设备研究所 | Space manipulator end executor with visual sensor |
| CN104785700A (en) * | 2015-03-26 | 2015-07-22 | 上海大学 | Manipulator device of multistage cold former |
| CN105075953A (en) * | 2015-09-15 | 2015-11-25 | 于锡汉 | Choice rare sea food seedling arranging robot |
| CN105966899A (en) * | 2015-10-14 | 2016-09-28 | 北京航天斯达科技有限公司 | Multi-station movable robot clamp |
| CN106041972A (en) * | 2016-06-25 | 2016-10-26 | 北京工业大学 | Mechanical arm used for grabbing steel tubes |
| CN107379000A (en) * | 2017-09-13 | 2017-11-24 | 倪亮 | A kind of manipulator for being used to pick up irregularly shaped object |
| CN108381524A (en) * | 2018-04-03 | 2018-08-10 | 安徽海思达机器人有限公司 | A kind of intelligence magic cube-solving robot training platform |
| CN108406826A (en) * | 2018-05-17 | 2018-08-17 | 沈阳建筑大学 | A kind of mechanical arm and its grabbing device |
| CN108637950A (en) * | 2018-05-18 | 2018-10-12 | 芜湖优能自动化设备有限公司 | A kind of pump chamber copper sheathing pressure-mounting fixture |
| CN108778639A (en) * | 2016-01-15 | 2018-11-09 | 库卡德国有限公司 | With at least one adaptive gripping apparatus for grabbing finger |
| CN109421074A (en) * | 2017-08-23 | 2019-03-05 | 宁波协泰智能科技有限公司 | A kind of bicycle parking garage mechanical gripper |
| CN109605414A (en) * | 2018-11-27 | 2019-04-12 | 安徽工业大学 | Belt wheel rotates the flat folder adaptive robot finger apparatus of idle running straight line |
| CN109849041A (en) * | 2019-03-28 | 2019-06-07 | 杭州宇控机电工程有限公司 | A kind of wrist for hydraulic efficiency manipulator turns clamp structure |
| CN110625641A (en) * | 2019-10-08 | 2019-12-31 | 何泽梁 | Pneumatic control equipment of flexible hand claw of multi-sensing robot |
| CN110653998A (en) * | 2019-11-12 | 2020-01-07 | 浙江建设职业技术学院 | Conveying equipment for injection molding parts |
| CN111000635A (en) * | 2019-12-06 | 2020-04-14 | 河南省肿瘤医院 | Mechanical arm mechanism for tumor resection |
| CN114751152A (en) * | 2022-04-19 | 2022-07-15 | 西南交通大学 | Conveying and grabbing mechanism for detecting bearing saddle |
| CN108406826B (en) * | 2018-05-17 | 2024-06-07 | 沈阳建筑大学 | Mechanical arm and grabbing device thereof |
-
2009
- 2009-03-02 CN CNU2009201146787U patent/CN201357413Y/en not_active Expired - Fee Related
Cited By (35)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102632507A (en) * | 2011-02-14 | 2012-08-15 | 精工爱普生株式会社 | Robot hand and robot apparatus |
| CN102632507B (en) * | 2011-02-14 | 2016-09-07 | 精工爱普生株式会社 | Mechanical hand and robot device |
| CN103029077A (en) * | 2012-12-27 | 2013-04-10 | 上海宏曲电子科技有限公司 | X-shaped transmission electric fixture |
| CN103386678A (en) * | 2013-07-04 | 2013-11-13 | 北京航空航天大学 | Small-scale underwater electric manipulator |
| CN103448070B (en) * | 2013-08-30 | 2015-10-28 | 华南理工大学 | A kind of end structure of multipurpose manipulator |
| CN103448070A (en) * | 2013-08-30 | 2013-12-18 | 华南理工大学 | Tail end structure of multipurpose manipulator |
| CN103692182A (en) * | 2013-12-17 | 2014-04-02 | 苏州博众精工科技有限公司 | Pressure meter clamping mechanism |
| CN103692182B (en) * | 2013-12-17 | 2016-04-06 | 苏州博众精工科技有限公司 | A kind of Pressure gauge clamping device |
| CN103991071A (en) * | 2014-04-09 | 2014-08-20 | 上海工程技术大学 | Guide disc friction mechanical paw |
| CN103991071B (en) * | 2014-04-09 | 2016-05-25 | 上海工程技术大学 | A kind of positioning disk friction mechanism paw |
| CN104669289A (en) * | 2014-08-29 | 2015-06-03 | 北京精密机电控制设备研究所 | Space manipulator end executor with visual sensor |
| CN104589341A (en) * | 2014-11-21 | 2015-05-06 | 海发（宁波）办公设备有限公司 | Work platform |
| CN104589341B (en) * | 2014-11-21 | 2017-01-25 | 海发（宁波）办公设备有限公司 | Work platform |
| CN104785700A (en) * | 2015-03-26 | 2015-07-22 | 上海大学 | Manipulator device of multistage cold former |
| CN105075953A (en) * | 2015-09-15 | 2015-11-25 | 于锡汉 | Choice rare sea food seedling arranging robot |
| CN105966899B (en) * | 2015-10-14 | 2018-06-15 | 北京航天斯达科技有限公司 | Robot clamp can be shifted in a kind of multistation |
| CN105966899A (en) * | 2015-10-14 | 2016-09-28 | 北京航天斯达科技有限公司 | Multi-station movable robot clamp |
| CN108778639B (en) * | 2016-01-15 | 2021-12-14 | 库卡德国有限公司 | Gripper with at least one adaptive gripper finger |
| CN108778639A (en) * | 2016-01-15 | 2018-11-09 | 库卡德国有限公司 | With at least one adaptive gripping apparatus for grabbing finger |
| CN106041972A (en) * | 2016-06-25 | 2016-10-26 | 北京工业大学 | Mechanical arm used for grabbing steel tubes |
| CN109421074A (en) * | 2017-08-23 | 2019-03-05 | 宁波协泰智能科技有限公司 | A kind of bicycle parking garage mechanical gripper |
| CN107379000A (en) * | 2017-09-13 | 2017-11-24 | 倪亮 | A kind of manipulator for being used to pick up irregularly shaped object |
| CN108381524A (en) * | 2018-04-03 | 2018-08-10 | 安徽海思达机器人有限公司 | A kind of intelligence magic cube-solving robot training platform |
| CN108406826A (en) * | 2018-05-17 | 2018-08-17 | 沈阳建筑大学 | A kind of mechanical arm and its grabbing device |
| CN108406826B (en) * | 2018-05-17 | 2024-06-07 | 沈阳建筑大学 | Mechanical arm and grabbing device thereof |
| CN108637950A (en) * | 2018-05-18 | 2018-10-12 | 芜湖优能自动化设备有限公司 | A kind of pump chamber copper sheathing pressure-mounting fixture |
| CN109605414A (en) * | 2018-11-27 | 2019-04-12 | 安徽工业大学 | Belt wheel rotates the flat folder adaptive robot finger apparatus of idle running straight line |
| CN109605414B (en) * | 2018-11-27 | 2021-07-06 | 安徽工业大学 | Belt wheel rotation idle stroke linear parallel clamping self-adaptive robot finger device |
| CN109849041A (en) * | 2019-03-28 | 2019-06-07 | 杭州宇控机电工程有限公司 | A kind of wrist for hydraulic efficiency manipulator turns clamp structure |
| CN110625641A (en) * | 2019-10-08 | 2019-12-31 | 何泽梁 | Pneumatic control equipment of flexible hand claw of multi-sensing robot |
| CN110653998A (en) * | 2019-11-12 | 2020-01-07 | 浙江建设职业技术学院 | Conveying equipment for injection molding parts |
| CN111000635A (en) * | 2019-12-06 | 2020-04-14 | 河南省肿瘤医院 | Mechanical arm mechanism for tumor resection |
| CN111000635B (en) * | 2019-12-06 | 2020-09-18 | 河南省肿瘤医院 | Mechanical arm mechanism for tumor resection |
| CN114751152A (en) * | 2022-04-19 | 2022-07-15 | 西南交通大学 | Conveying and grabbing mechanism for detecting bearing saddle |
| CN114751152B (en) * | 2022-04-19 | 2023-08-25 | 西南交通大学 | Conveying and grabbing mechanism for bearing saddle detection |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20091209 Termination date: 20120302 |