CN207858876U - A kind of robot of tool multiplexing bit manipulation cleft hand - Google Patents
A kind of robot of tool multiplexing bit manipulation cleft hand Download PDFInfo
- Publication number
- CN207858876U CN207858876U CN201721926448.1U CN201721926448U CN207858876U CN 207858876 U CN207858876 U CN 207858876U CN 201721926448 U CN201721926448 U CN 201721926448U CN 207858876 U CN207858876 U CN 207858876U
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- claw
- assembly side
- robot
- clamping jaw
- cleft hand
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Abstract
The utility model discloses a kind of robots of tool multiplexing bit manipulation cleft hand, belong to intelligent robot technology field.The utility model includes mechanical claw hand and mechanical arm, mechanical arm lower part is provided with rotating base, the mechanical claw hand is set to the top of mechanical arm, the cleft hand fixed plate of mechanical claw hand includes clamping jaw assembly side, claw assembly side and holding claw assembly side, wherein clamping jaw assembly side is equipped with long leg clamping jaw, claw assembly side is equipped with folder shape claw, holding claw assembly side is equipped with two fingers holding claw, the lower part of rotating base is provided with support baseboard, the edge of the support baseboard is provided with bottom plate reinforcing rib, fixing threaded hole is provided on this, the side of bottom plate reinforcing rib is provided with chamfering circular arc.Multiple stations are arranged in the cleft hand of the robot of the utility model, and robot can give and capture article using different claws as needed, improve the flexibility of robot cleft hand operation.
Description
Technical field
The utility model is related to field in intelligent robotics, more specifically to a kind of machine of tool multiplexing bit manipulation cleft hand
Device people.
Background technology
The handgrip of robot is driven by motor, realizes tightening and relieving that pawl refers to, positioning point is controllable, and chucking power can
Control, by PC controls such as PLC, Industrial PC Computer, microcontroller and motion controllers, realizes the functions such as crawl, the positioning of object,
It is the flexibly direct writing terminal of mechanical equipment.
Existing routine handgrip is typically only capable to grip single workpiece, no generally according to the specification for the workpiece of being gripped and shape
Meet the nonstandard industrial automation operation of the more specifications of part or shape need；Meanwhile also requiring handgrip speed, position, chucking power
Etc. parameters it is controllable.So a robot executes multi-mode operation, the function diversification of robot can be realized, shorten operation and prepare
Time makes contributions for Multi-varieties and Small-batch Production.
Existing handgrip needs replacing different handgrips when capturing different workpieces, and generally use quick change construction is completed, machine
Artificial tool quick change mainly consists of two parts, and is referred to as master and tool shelf, and two-part design can be connected with auto lock,
It can be connected to and transmit such as electric signal, gas, water etc. medium simultaneously.Robot tool fast replacing device is automatic tool exchange
And it is connected to various media and provides great flexibility.But existing robot cleft hand is to be directed to special work task design
Specific robotic handgrip, effect it is relatively single-minded, versatility is relatively weak, can be only done single crawl work so that machine
The flexibility of device people operation is poor.It is badly in need of designing a kind of robot with multiple stations.
Through retrieval, Chinese Patent Application No. is：201310466106.6 publication date is：The patent text on January 15th, 2014
Offer, disclose a kind of planting pot robot gripper, including servo motor, motor mount, mounting plate, shaft coupling, feed screw nut,
Lead screw, slide plate, at least a linear guide, two clamping bars, two spherical plain bearing rod ends, two connecting rods, it is characterised in that：Motor
Mounting base, the linear guide, two connecting rods are separately mounted on mounting plate, and servo motor is mounted on motor mount, slide plate peace
Can slide in the linear guide and in the linear guide, feed screw nut is fixed on slide plate, servo motor by shaft coupling with
Lead screw is connected, and lead screw is fixed together with feed screw nut；One end of every connecting rod is fixed on slide plate, and the other end passes through one
Spherical plain bearing rod end is connected with a clamping bar.The robot handgrip of the program can accurately and efficiently carry out Rice Cropping basin
Crawl, transport operation.
Utility model content
1. utility model technical problems to be solved
The purpose of the utility model is to overcome in the prior art, robot cleft hand acts on relatively single-minded deficiency, provides
A kind of robot of tool multiplexing bit manipulation cleft hand, the cleft hand of robot are arranged multiple stations, can give as needed using different
Claw capture article, improve the flexibility of robot cleft hand operation.
2. technical solution
In order to achieve the above objectives, technical solution provided by the utility model is：
A kind of robot of tool multiplexing bit manipulation cleft hand of the utility model, including mechanical claw hand and mechanical arm, the machine
Tool arm lower part is provided with rotating base, and the mechanical claw hand is set to the top of mechanical arm, the cleft hand fixed plate packet of mechanical claw hand
Clamping jaw assembly side, claw assembly side and holding claw assembly side are included, wherein clamping jaw assembly side is equipped with long leg clamping jaw, claw assembly side peace
Equipped with folder shape claw, the holding claw assembly side is equipped with two fingers holding claw.
Preferably, the lower part of the rotating base is provided with support baseboard, and the edge of the support baseboard is provided with bottom
Plate reinforcing rib is provided with fixing threaded hole on the bottom plate reinforcing rib.
Preferably, the side of the bottom plate reinforcing rib is provided with chamfering circular arc.
Preferably, the long leg clamping jaw is rotatablely equipped with clamping jaw assembly side by the first revolving part, under long leg clamping jaw
Portion is provided with claw bar clamping piece, is set as arc-shaped on the inside of the claw bar clamping piece.
Preferably, the lower part of the claw assembly side is provided with stroke sliding rail, and folder shape clawed end portions are provided with and above-mentioned row
The matched stroke slider of journey sliding rail, folder shape claw are slidably mounted on by stroke slider on stroke sliding rail.
Preferably, two fingers holding claw is rotatablely installed by the second revolving part in holding claw assembly side, and the lower part of two fingers holding claw is arranged
There are clamping jaw arm, the end of clamping jaw arm to be provided with pawl arm clamping piece.
Preferably, the lower part of first revolving part is evenly provided with 3 sliding parts, and clamping jaw is equipped on sliding part
Bar, the claw bar clamping piece are set to the one end of clamping jaw bar far from the first revolving part.
Preferably, the fixing end of folder shape claw is rotatablely installed in the shaft of stroke slider.
Preferably, described pawl arm clamping piece one end is connected with the end of clamping jaw arm, and the other end of pawl arm clamping piece is provided with
Bare terminal end is provided with clamping circular arc on the inside of the bare terminal end.
Preferably, the clamping jaw assembly side, the angle of claw assembly side and holding claw assembly side arbitrarily between the two are
120°。
3. advantageous effect
Using technical solution provided by the utility model, compared with existing known technology, there is following remarkable result：
(1) robot of a kind of tool multiplexing bit manipulation cleft hand of the utility model, including mechanical claw hand and mechanical arm, machine
There are three stations for the setting of people's cleft hand, and the cleft hand fixed plate of robot cleft hand includes clamping jaw assembly side, claw assembly side and holding claw
Assembly side, wherein clamping jaw assembly side are equipped with long leg clamping jaw, and claw assembly side is equipped with folder shape claw, and holding claw assembly side is equipped with
Multiple stations are arranged in the cleft hand of two fingers holding claw, robot, and robot can give and capture article using different claws as needed,
Improve the flexibility of robot cleft hand operation；
(2) robot of a kind of tool multiplexing bit manipulation cleft hand of the utility model, long leg clamping jaw are turned by the first revolving part
Dynamic to be equipped with clamping jaw assembly side, the lower part of long leg clamping jaw is provided with claw bar clamping piece, is set as round on the inside of the claw bar clamping piece
Arc, the long leg clamping jaw can go deep into cavity, the object in cavity be taken out, especially suitable for the cylinder clevis in cavity
It takes；
(3) robot of a kind of tool multiplexing bit manipulation cleft hand of the utility model, the lower part of claw assembly side is provided with row
Journey sliding rail, folder shape clawed end portions are provided with passes through stroke slider with the above-mentioned matched stroke slider of stroke sliding rail, folder shape claw
It is slidably mounted on stroke sliding rail, folder shape claw can be moved along the length direction of stroke sliding rail so that press from both sides the accurate of shape claw
Degree is higher, and since folder shape claw leading portion is handed over as point so that folder shape claw can stretch into smaller space and be operated；
(4) robot of a kind of tool multiplexing bit manipulation cleft hand of the utility model, the lower part of rotating base is provided with support
The edge of bottom plate, the support baseboard is provided with bottom plate reinforcing rib, is provided with fixing threaded hole on this, fixing threaded hole is set to bottom plate
On reinforcing rib.Both the stability that ensure that screw fastening, in turn ensures the intensity of support baseboard.
Description of the drawings
Fig. 1 is the structural schematic diagram (visual angle 1) of the mechanical claw hand of the utility model；
Fig. 2 is the structural schematic diagram (visual angle 2) of the mechanical claw hand of the utility model；
Fig. 3 is a kind of overall structure diagram of the robot of tool multiplexing bit manipulation cleft hand of the utility model.
Label declaration in schematic diagram：
201, mechanical claw hand；202, mechanical arm；203, rotating base；204, support baseboard；205, bottom plate reinforcing rib；206、
Fixing threaded hole；
210, long leg clamping jaw；211, clamping jaw bar；212, claw bar clamping piece；213, the first revolving part；214, sliding part；
220, shape claw is pressed from both sides；221, end V-shaped groove；222, middle part empty slot；223, arc-shaped slot；224, stroke slider；
230, two fingers holding claw；231, pawl arm clamping piece；232, bare terminal end；233, circular arc is clamped；234, clamping jaw arm；235,
Two revolving parts；236, boss is clamped；
240, cleft hand fixed plate；241, clamping jaw assembly side；242, claw assembly side；243, holding claw assembly side；244, stroke
Sliding rail；245, position sensor；
250, cleft hand revolving part.
Specific implementation mode
Hereafter to the detailed description of the exemplary embodiment of the utility model with reference to attached drawing, which forms the one of description
Part has been shown as example the enforceable exemplary embodiment of the utility model in the figure.Although these exemplary realities
Example is applied to be described in sufficient detail so that those skilled in the art can implement the utility model, it is to be understood that it can be realized
His embodiment and can various changes can be made to the utility model in the case where not departing from the spirit and scope of the utility model.Hereafter
Required the scope of the utility model is not limited to the more detailed description of the embodiments of the present invention, and only
The description of the characteristics of in order to be illustrated and not limit to the utility model and feature, to propose to execute the utility model
Best mode, and it is sufficient to make those skilled in the art that can implement the utility model.Therefore, the scope of the utility model only by
Appended claims limit.
Hereafter the detailed description of the utility model and example embodiment are more fully understood in combination with attached drawing, wherein this reality
It is identified by reference numeral with novel element and feature.
Embodiment 1
In conjunction with Fig. 1-Fig. 3, a kind of robot of tool multiplexing bit manipulation cleft hand of the utility model, including mechanical claw hand 201
With mechanical arm 202, mechanical claw hand 201 is installed on mechanical arm 202, and mechanical arm 202 drives the crawl of mechanical claw hand 201, movement to be measured
Article；202 lower part of mechanical arm is provided with rotating base 203, and the lower part of rotating base 203 is provided with support baseboard 204, the support
The edge of bottom plate 204 is provided with bottom plate reinforcing rib 205, and fixing threaded hole 206, fixed spiral shell are provided on the bottom plate reinforcing rib 205
Hole 206 is set on bottom plate reinforcing rib 205, and support baseboard 204 is fixed on certain bits by fixing screws by fixing threaded hole 206
It sets, both ensure that the stability of screw fastening, in turn ensured the intensity of support baseboard 204, prevent the fixation on support baseboard 204
206 stress of screw hole and damage, the side of bottom plate reinforcing rib 205 is provided with chamfering circular arc 207 (as shown in Figure 3).
The mechanical claw hand 201 of the robot of the present embodiment includes long leg clamping jaw 210, cleft hand fixed plate 240 and cleft hand rotation
Part 250, cleft hand revolving part 250 are rotatablely installed in the top of cleft hand fixed plate 240, and main mechanical cleft hand 101 passes through cleft hand revolving part
250 are rotatablely connected with mechanical arm 202, and cleft hand fixed plate 240 is installed on cleft hand revolving part 250, and long leg clamping jaw 210 is installed on pawl
In hand fixed plate 240.
Mechanical claw hand 201 is set to the top of mechanical arm 202, and the cleft hand fixed plate 240 of mechanical claw hand 201 is filled including clamping jaw
Long leg clamping jaw 210, claw are installed with end 241, claw assembly side 242 and holding claw assembly side 243, wherein clamping jaw assembly side 241
Assembly side 242 is equipped with folder shape claw 220, and holding claw assembly side 243 is equipped with two fingers holding claw 230.The side of bottom plate reinforcing rib 205
It is provided with chamfering circular arc 207.The arbitrary folder between the two of clamping jaw assembly side 241, claw assembly side 242 and holding claw assembly side 243
Angle is 120 °.
Wherein, long leg clamping jaw 210 is rotatablely equipped with clamping jaw assembly side 241, long leg clamping jaw 210 by the first revolving part 213
Lower part be provided with claw bar clamping piece 212, the inside of the claw bar clamping piece 212 is set as arc-shaped, under the first revolving part 213
Portion is evenly provided with 3 sliding parts 214, and clamping jaw bar 211 is equipped on sliding part 214, and claw bar clamping piece 212 is set to clamping jaw
The one end of bar 211 far from the first revolving part 213.
When mechanical claw hand 201 needs to capture the object in tank body, the driving folder shape of mechanical claw hand 201 claw 220 grips sealing
Cover board, and seal cover board is removed, mechanical claw hand 201 drives long leg clamping jaw 210 to stretch into accommodating chamber, and long leg clamping jaw 210 will be close
Sealed cans are gripped to designated position, are then pressed from both sides shape claw 220 and are again covered seal cover board in accommodating chamber.And due to claw bar clamping piece
212 inside is set as arc-shaped so that and claw bar clamping piece 212 can be very good to be coordinated with cylindrical structure, to
By the cylindrical articles removal in tank body.And, it should be noted that the transverse width of claw bar clamping piece 212 is more than long leg clamping jaw
210 width, to increase the contact area of long leg clamping jaw 210 and article during clamping so that in clamping process
More stablize, prevents to deflect, improve the stability of clamping.
The lower part of above-mentioned claw assembly side 242 is provided with stroke sliding rail 244,220 end set of folder shape claw have with it is upper
244 matched stroke slider 224 of stroke sliding rail is stated, folder shape claw 220 is slidably mounted on stroke sliding rail by stroke slider 224
On 244.The fixing end for pressing from both sides shape claw 220 is rotatablely installed in the shaft of stroke slider 224.Press from both sides the end set of shape claw 220
Have an end V-shaped groove 221, the middle part of folder shape claw 220 is provided with arc-shaped slot 223, folder shape claw 220 be provided with one group it is corresponding
Arc-shaped slot 223, corresponding arc-shaped slot 223 may be constructed a complete circular trough, and circular trough can use clamping cylindrical
Object.Middle part empty slot 222 is provided between end V-shaped groove 221 and arc-shaped slot 223, end V-shaped groove 221 is in clamping article
When, the riser of article can be contained in the empty slot 222 of middle part, to the more fastening that article is clamped.End V-shaped groove 221
Bottom setting is fluted, and when cylindrical objects are clamped, groove can further be clamped cylinder end V-shaped groove 221,
Cylindrical objects sliding in end V-shaped groove 221 is avoided, to improve the stability of clamping.
In addition, two fingers holding claw 230 is rotatablely installed by the second revolving part 235 in holding claw assembly side 243, two fingers holding claw 230
Lower part be provided with clamping jaw arm 234, the end of clamping jaw arm 234 is provided with pawl arm clamping piece 231.231 one end of pawl arm clamping piece with
The end of clamping jaw arm 234 is connected, and the other end of pawl arm clamping piece 231 is provided with bare terminal end 232, and the width of bare terminal end 232 is more than
The inside of the width of pawl arm clamping piece 231, bare terminal end 232 is provided with clamping circular arc 233, the clamping circular arc 233 of bare terminal end 232
A complete circular arc is surrounded, convenient for clamping article.
In addition, being provided with clamping boss 236 on clamping circular arc 233, which protrudes from clamping circular arc 233
Surface, clamping boss 236 can increase the clamping effect of two fingers holding claw 230, further it should be noted that two fingers holding claw 230 can
Article is gripped in cavity to stretch into deep cylinder.Position sensor 245, the position sensor 245 are set in cleft hand fixed plate 240
It is correspondingly arranged with two fingers holding claw 230, when using two fingers holding claw 230, can determine two fingers holding claw by position sensor 245
230 with the position of clamped article so that the clamping of two fingers holding claw 230 is more accurate.
The utility model is described in detail above in conjunction with specific exemplary embodiment.It is understood, however, that can be
It is carry out various modifications in the case of not departing from the scope of the utility model being defined by the following claims and modification.It is detailed to retouch
State should be to be considered only as with attached drawing it is illustrative and not restrictive, if there is any such modifications and variations, then
They fall in the scope of the utility model described here.In addition, background technology is intended to grinding in order to illustrate this technology
It was found that shape and meaning, it is no intended to limit the utility model or the application and the application field of the utility model.
More specifically, although the exemplary embodiment of the utility model has been described herein, the utility model is simultaneously
These embodiments are not limited to, but include that those skilled in the art repair according to the process that the detailed description of front can be appreciated that
Change, omit, any and whole embodiments of the combination between for example each embodiment, adaptive change and/or replacement.Right is wanted
The restriction asked can widely be explained according to the language used in claim, and be not limited in foregoing detailed description
Or the example described during implementing this application, these examples should be considered as nonexcludability.It is in office where method or process power
Any step that profit is enumerated in requiring can execute and be not limited to the sequence proposed in claim in any order.Therefore,
The scope of the utility model should determine only by appended claims and its legal equivalents, rather than by theory given above
Bright and example determines.
Claims (13)
1. a kind of robot of tool multiplexing bit manipulation cleft hand, it is characterised in that：Including mechanical claw hand (201) and mechanical arm (202),
Mechanical arm (202) lower part is provided with rotating base (203), and the mechanical claw hand (201) is set to the top of mechanical arm (202)
The cleft hand fixed plate (240) in portion, mechanical claw hand (201) includes clamping jaw assembly side (241), claw assembly side (242) and holding claw dress
With end (243), wherein clamping jaw assembly side (241) is equipped with long leg clamping jaw (210), and claw assembly side (242) is equipped with folder shape card
Pawl (220), the holding claw assembly side (243) are equipped with two fingers holding claw (230).
2. a kind of robot of tool multiplexing bit manipulation cleft hand according to claim 1, it is characterised in that：The rotation bottom
The lower part of seat (203) is provided with support baseboard (204), and the edge of the support baseboard (204) is provided with bottom plate reinforcing rib
(205), it is provided with fixing threaded hole (206) on the bottom plate reinforcing rib (205).
3. a kind of robot of tool multiplexing bit manipulation cleft hand according to claim 2, it is characterised in that：The bottom plate is reinforced
The side of muscle (205) is provided with chamfering circular arc (207).
4. according to a kind of robot of tool multiplexing bit manipulation cleft hand of claim 1-3 any one of them, it is characterised in that：It is described
Long leg clamping jaw (210) clamping jaw assembly side (241) is rotatablely equipped with by the first revolving part (213), under long leg clamping jaw (210)
Portion is provided with claw bar clamping piece (212), is set as arc-shaped on the inside of the claw bar clamping piece (212).
5. according to a kind of robot of tool multiplexing bit manipulation cleft hand of claim 1-3 any one of them, it is characterised in that：It is described
The lower part of claw assembly side (242) is provided with stroke sliding rail (244), and folder shape claw (220) end set has to be slided with above-mentioned stroke
Rail (244) matched stroke slider (224), folder shape claw (220) are slidably mounted on stroke sliding rail by stroke slider (224)
(244) on.
6. according to a kind of robot of tool multiplexing bit manipulation cleft hand of claim 1-3 any one of them, it is characterised in that：Two fingers
Holding claw (230) is rotatablely installed by the second revolving part (235) in holding claw assembly side (243), and the lower part of two fingers holding claw (230) is arranged
There are clamping jaw arm (234), the end of clamping jaw arm (234) to be provided with pawl arm clamping piece (231).
7. a kind of robot of tool multiplexing bit manipulation cleft hand according to claim 4, it is characterised in that：First rotation
The lower part of part (213) is evenly provided with 3 sliding parts (214), and clamping jaw bar (211), the pawl are equipped on sliding part (214)
Bar cramp gripping member (212) is set to the one end of clamping jaw bar (211) far from the first revolving part (213).
8. a kind of robot of tool multiplexing bit manipulation cleft hand according to claim 5, it is characterised in that：Press from both sides shape claw
(220) fixing end is rotatablely installed in the shaft of stroke slider (224).
9. a kind of robot of tool multiplexing bit manipulation cleft hand according to claim 6, it is characterised in that：The pawl arm clamping
Part (231) one end is connected with the end of clamping jaw arm (234), and the other end of pawl arm clamping piece (231) is provided with bare terminal end (232),
Clamping circular arc (233) is provided on the inside of the bare terminal end (232).
10. according to a kind of robot of tool multiplexing bit manipulation cleft hand of claim 1-3 or 7-9 any one of them, feature exists
In：The arbitrary angle between the two of the clamping jaw assembly side (241), claw assembly side (242) and holding claw assembly side (243) is
120°。
11. a kind of robot of tool multiplexing bit manipulation cleft hand according to claim 4, it is characterised in that：The clamping jaw
The arbitrary angle between the two of assembly side (241), claw assembly side (242) and holding claw assembly side (243) is 120 °.
12. a kind of robot of tool multiplexing bit manipulation cleft hand according to claim 5, it is characterised in that：The clamping jaw
The arbitrary angle between the two of assembly side (241), claw assembly side (242) and holding claw assembly side (243) is 120 °.
13. a kind of robot of tool multiplexing bit manipulation cleft hand according to claim 6, it is characterised in that：The clamping jaw
The arbitrary angle between the two of assembly side (241), claw assembly side (242) and holding claw assembly side (243) is 120 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721926448.1U CN207858876U (en) | 2017-12-29 | 2017-12-29 | A kind of robot of tool multiplexing bit manipulation cleft hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721926448.1U CN207858876U (en) | 2017-12-29 | 2017-12-29 | A kind of robot of tool multiplexing bit manipulation cleft hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207858876U true CN207858876U (en) | 2018-09-14 |
Family
ID=63464171
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721926448.1U Expired - Fee Related CN207858876U (en) | 2017-12-29 | 2017-12-29 | A kind of robot of tool multiplexing bit manipulation cleft hand |
Country Status (1)
| Country | Link |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109082645A (en) * | 2018-10-22 | 2018-12-25 | 广东拓斯达科技股份有限公司 | A kind of Material moving device and PVD filming equipment |
| CN110202601A (en) * | 2019-05-23 | 2019-09-06 | 江苏精正自动化科技有限公司 | The novel mini multi-functional electronic claw of version |
| CN111958628A (en) * | 2020-08-12 | 2020-11-20 | 武汉城市职业学院 | Component for workpiece station conversion |
| CN112828871A (en) * | 2021-01-18 | 2021-05-25 | 玉林师范学院 | Multi-station logistics manipulator device |
| CN112938475A (en) * | 2021-03-18 | 2021-06-11 | 泉芯集成电路制造(济南)有限公司 | Photomask box conveying system and production line |
| CN115122387A (en) * | 2022-08-29 | 2022-09-30 | 沈阳工业大学 | Soft gripper system capable of automatically switching and grabbing soft and fragile objects |
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2017
- 2017-12-29 CN CN201721926448.1U patent/CN207858876U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109082645A (en) * | 2018-10-22 | 2018-12-25 | 广东拓斯达科技股份有限公司 | A kind of Material moving device and PVD filming equipment |
| CN109082645B (en) * | 2018-10-22 | 2024-02-06 | 广东拓斯达科技股份有限公司 | Material moving mechanism and PVD coating equipment |
| CN110202601A (en) * | 2019-05-23 | 2019-09-06 | 江苏精正自动化科技有限公司 | The novel mini multi-functional electronic claw of version |
| CN111958628A (en) * | 2020-08-12 | 2020-11-20 | 武汉城市职业学院 | Component for workpiece station conversion |
| CN112828871A (en) * | 2021-01-18 | 2021-05-25 | 玉林师范学院 | Multi-station logistics manipulator device |
| CN112938475A (en) * | 2021-03-18 | 2021-06-11 | 泉芯集成电路制造(济南)有限公司 | Photomask box conveying system and production line |
| CN112938475B (en) * | 2021-03-18 | 2022-09-30 | 泉意光罩光电科技(济南)有限公司 | Photomask box conveying system and production line |
| CN115122387A (en) * | 2022-08-29 | 2022-09-30 | 沈阳工业大学 | Soft gripper system capable of automatically switching and grabbing soft and fragile objects |
| CN115122387B (en) * | 2022-08-29 | 2022-11-29 | 沈阳工业大学 | Soft gripper system capable of automatically switching and grabbing soft and fragile objects |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180914 Termination date: 20201229 |