CN104260103A - Two-degree-of-freedom two-finger clamping device - Google Patents
Two-degree-of-freedom two-finger clamping device Download PDFInfo
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- CN104260103A CN104260103A CN201410559510.2A CN201410559510A CN104260103A CN 104260103 A CN104260103 A CN 104260103A CN 201410559510 A CN201410559510 A CN 201410559510A CN 104260103 A CN104260103 A CN 104260103A
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Abstract
The invention provides a two-degree-of-freedom two-finger clamping device which can be automatically controlled and does not change a target initial position. The two-degree-of-freedom two-finger clamping device comprises a flange, a connector, a housing part, a steering engine, a gear, a threaded shaft, two fingers, a strain gage, a photo-electronic switch, a limiting sensor and a circuit module. The housing part is used for fixing the steering engine, the gear and the threaded shaft, a detection module is used for detecting distances from the fingers to a target, clamping force of a clamped object and the maximum position and minimum position of limited clamping, all detection devices are connected with the circuit module, the circuit module is fixed in the connector, and a main program is downloaded in the circuit module to achieve automatic control. The two-degree-of-freedom two-finger clamping device can achieve clamping by controlling movements of the two fingers on the premise that the clamped object and the initial position at the tail end of the clamping device are not changed and can set the clamping force, control programs are packaged in a control circuit board inside the clamping device, and the clamping device body can be automatically controlled only by an external power line and a data line.
Description
Technical field
The present invention relates to the technical field of the clamping device that can automatically control, especially a kind of two degrees of freedom two refers to clamper, and it is the clamper avoiding changing target initial position.
Background technology
At present, known clamper structure is made up of power source, transmission mechanism, finger.Power source is by transmission mechanism for clamping device provides power, and traditional clamper is driven by single motor, finger synchronization parallel motion gripping objects.According to traditional approach, if held object is not or not clamper centre position, the initial position of held object in the process of clamping, can be changed, the accuracy of position cannot be ensured.
Summary of the invention
In order to overcome above-mentioned defect, the invention provides a kind of two degrees of freedom two and refer to clamper, this clamper can realize not changing the home position of held object and the position not changing clamper realizes holding function by controlling two motions referred to respectively, automatically controls crawl process and only needs circumscripted power line and data wire.
The technical solution adopted for the present invention to solve the technical problems is: a kind of two degrees of freedom two refers to clamper, comprises flange, connector, case member, steering wheel, gear wheel, free gear, pinion, thread spindle, first limit sensors, second limit sensors, optoelectronic switch, two refer to, foil gauge, single-chip microcomputer, steering wheel supply module, single-chip microcomputer supply module, RS232 communication module, limit sensors detection module, strain measurement module and optoelectronic switch detection module, flange is as this two coupling part referring to clamper and mechanical arm, flange one end can junctor mechanical arm, flange one end can connect connector, connector is a semiclosed cuboid hollow frame and the inside fixing circuit board, connector connected with outer casing parts, case member is for carrying steering wheel, gear wheel, free gear, pinion, thread spindle, first limit sensors, second limit sensors, optoelectronic switch, two refer to and foil gauge, inside handle end face is fixed with the ultimate range that limit sensors opens for limiting clamper, external handle place is fixed with foil gauge, steering wheel is fixed on the inside bottom of case member, the steering wheel of steering wheel and gear wheel concentric are connected and form a fixed shaft gear train by free gear and pinion, pinion and thread spindle concentric are connected, and when steering wheel rotates, power is by gear gear wheel, free gear, pinion is delivered to thread spindle, thread spindle rotating band starts to refer to along thread spindle axially-movable, thus clamp or unclamp object, wherein two refer to that screwed hole through hole is arranged at bottom, screwed hole is used for and threaded shaft fits, another thread spindle can pass from through hole, thus the different course changing control two of steering wheel refers to the different direction of motion, two refer to that inboard groove internal fixtion has optoelectronic switch, optoelectronic switch is connected with optoelectronic switch detection module, optoelectronic switch detection module is connected with single-chip microcomputer, optoelectronic switch is referred to by detection two and whether is reached default distance by the distance of grabbing object, if the distance optoelectronic switch detection module reaching setting produces switching value and is sent to single-chip microcomputer, foil gauge and strain measurement model calling, strain measurement module is connected with single-chip microcomputer and the digital quantity detected is sent to single-chip microcomputer, first limit sensors, second limit sensors is connected with limit sensors detection module, limit sensors detection module is connected with single-chip microcomputer and the switching value detected is sent to single-chip microcomputer, steering wheel is connected with steering wheel supply module, steering wheel supply module is connected with single-chip microcomputer, single-chip microcomputer sends signal and controls steering wheel motion, and RS232 communication module is connected with single-chip microcomputer.
Further, steering wheel and gear and case member are fixed, steering wheel controls thread spindle by gear drive, thread spindle and finger pass through threaded engagement, form the system of single servos control one finger, in like manner opposite side steering wheel controls the movement of another finger by gear drive and screw-driven, forms the grasping systems that two steering wheel control two fingers respectively like this, controls respectively to point to move and the initial position that do not change clamp body realizes gripping objects by two steering wheels.
Further, connector is a semi-enclosed cuboid framework, circuit module is fixed on lower portion, wherein there are optoelectronic switch detection module, limit sensors detection module, strain measurement module and single-chip microcomputer, described two degrees of freedom two refers to that clamper can realize automatically controlling according to the signal of main program in single-chip microcomputer and each detecting unit feedback, outsidely only need connect the Based Intelligent Control that power line and data wire can realize clamper.
Further, optoelectronic switch is fixed on to be pointed in inboard groove and is connected with the optoelectronic switch detection module in circuit module, optoelectronic switch can trigger and transmit a signal to single-chip microcomputer when finger distance object to be detected certain distance being detected, and single-chip microcomputer performs next step operation according to the setting of main program.
Further, foil gauge be fixed on finger external handle place and with the strain measurement model calling in circuit module, strain measurement is to triggering during corresponding deformation and transmitting a signal to single-chip microcomputer, and single-chip microcomputer performs next step operation according to the setting of main program.
Further, limit sensors is fixed on finger inside handle place and is connected with the limit sensors detection module in circuit module with case member inner surface, can trigger when limit sensors detects and touches and transmit a signal to single-chip microcomputer, single-chip microcomputer performs next step operation according to the setting of main program.
Principle of the present invention is:
A kind of binary clamper, mainly comprises base, connector, case member, steering wheel, gear, thread spindle, finger, foil gauge, optoelectronic switch, limit sensors and circuit module.Steering wheel controls thread spindle by gear drive and rotates along axle center, circular motion is converted into rectilinear motion by threaded engagement thus controls to point movement by thread spindle and finger, another steering wheel in like manner controls thread spindle by gear drive and to rotate along axle center thus to control finger mobile, point move toward one another thus reach the object of clamping for two, opposing motion i.e. two fingers open.Optoelectronic switch is positioned at finger inner side concave groove, and the surface of sensor is concordant with the inner surface of finger for detecting the distance pointed between inner surface and held object outer surface.Foil gauge is positioned at the outside at the handle place of finger, near pointing with the coupling part of thread spindle for detecting the size of clamping force.Limit sensors is distributed in the finger surface at inside handle place and the inner side of case member and is used for limiting that minimum grip Distance geometry is maximum opens distance thus ensure the security of clamper.Clamping device by pointing, running part, power source and case member etc. form, finger and thread spindle are threaded connection, wherein there are two parallel holes at finger handle place, a screwed hole and a through hole, screwed hole is used for and the coordinating of thread spindle, and wherein through hole makes thread spindle cross the handle of finger and don't contact with it.Thread spindle one end and gear are fixed, and the other end is embedded in bearing, and together with bearing links with case member, thread spindle forms kinetic system by the transmission of gear and steering wheel.Case member is semiclosed shape cuboid shell, and two faces of wherein parallel with finger side case member are all fixed with bearing, gear and steering wheel, ensure steering wheel, gear and thread spindle concentric.There is a manhole bottom surface of case member for cabling, comprising the connecting line of the connecting line of steering wheel and circuit board, optoelectronic switch and circuit board, limit sensors and the connecting line of circuit board and the connecting line of foil gauge and circuit board.The cuboid connector that circuit board is fixed between flange and case member is inner, circuit board mainly contains one-chip computer module, steering wheel supply module, single-chip microcomputer supply module, RS232 communication module, limit sensors detection module, strain measurement module, optoelectronic switch detection module.Compiled program downloaded by single-chip microcomputer, system electrification, and it is that two fingers are in the maximum position that opens and trigger limit sensors and produce signal and be sent to circuit board systems, motor stalls that clamper automatically resets, and now clamper is in and maximumly opens distance.During clamp holder clamping, a finger is mobile, another finger is in original position, when having object in the middle of clamper, the finger motion of movement to be detected by optoelectronic switch to the distance of distance object setting and transmits a signal to single-chip microcomputer, and single-chip microcomputer controls this steering wheel stop motion according to main program, and simultaneity factor controls another finger motion, when moving to the distance of distance object setting, two fingers move toward one another and then grip objects simultaneously.Clamping force can be gathered by foil gauge, the size of clamping force can be set, single-chip microcomputer is transmitted a signal to when two grip finger object foil gauges collect when clamping force reaches setting value, namely the stop motion of Single-chip Controlling two steering wheel is pointed and is no longer continued motion, can ensure that clamping force is that default value ensures that clamped object is in original position simultaneously like this.When not having object in the middle of clamper, finger inner surface is equipped with limit sensors, and triggering limit sensors and produce signal being sent to single-chip microcomputer, Single-chip Controlling two steering wheel stop motions when two finger contact, is now empty clip-like state.
The invention has the beneficial effects as follows, the initial position of held object can not be changed and the initial position not changing clamp body clamps by controlling two motions referred to respectively, the size of clamping force can be set, the error adopting the strain measurement circuit of temperature-compensating can realize reducing variations in temperature to detect clamping force, serial communication and write host computer operation sequence and can realize automatically controlling to be convenient to user operation, only needs circumscripted power line and data wire can realize intelligence clamping.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the present invention is further described.
Fig. 1 is internal structure schematic diagram of the present invention.
Fig. 2 is finger of the present invention outside schematic diagram.
Fig. 3 is finger of the present invention inner side schematic diagram.
Fig. 4 is circuit module distribution schematic diagram of the present invention.
Fig. 5 is overall schematic of the present invention.
In figure: 1. flange, 2. connector, 3. case member, 4. steering wheel, 5. gear wheel, 6. free gear, 7. pinion, 8. thread spindle, 9. the first limit sensors, 10. the second limit sensors, 11. optoelectronic switches, 12. liang of fingers, 13. foil gauges, 14. single-chip microcomputers, 15. steering wheel supply modules, 16. single-chip microcomputer supply modules, 17.RS232 communication module, 18. limit sensors detection modules, 19. strain measurement modules, 20. optoelectronic switch detection modules.
Detailed description of the invention
The present invention is further illustrated below in conjunction with accompanying drawing and specific embodiment.
A kind of two degrees of freedom clamper of the present invention, Fig. 1 describes the cut-away view of this clamper, comprise flange 1, connector 2, case member 3, steering wheel 4, some gears, thread spindle 8, two refer to 12, some gears are gear wheel 5, free gear 6, pinion 7, flange 1 is as the coupling part of clamping device and mechanical arm, connector 2 is a semiclosed cuboid framework and the inside fixing circuit board, case member 3 is for carrying various parts, the ultimate range that the inner side that first limit sensors is fixed on case member is opened for limiting clamper, inner side is fixed with the minimum range that the second limit sensors 10 opens for limiting clamper, steering wheel 4 is fixed on the inside bottom of case member, the steering wheel of steering wheel 4 and gear wheel 5 concentric are connected and form a fixed shaft gear train by free gear 6 and pinion 7, pinion 7 and thread spindle 8 concentric are connected, when steering wheel rotates, power is by gear wheel 5, free gear 6, pinion 7 is delivered to thread spindle, thread spindle rotating band starts to refer to along thread spindle axially-movable, thus clamp or unclamp object.Wherein point bottom 12 and have screwed hole through hole, screwed hole is used for coordinating with thread spindle 8, and another thread spindle can pass from through hole, thus the different course changing control two of steering wheel refers to the 12 different directions of motion.As shown in Figure 3, finger inboard groove internal fixtion has optoelectronic switch 11, optoelectronic switch 11 is embedded in finger recess and optoelectronic switch 11 working face is in same plane with finger inner surface, and inside handle end face is fixed with the second limit sensors 10, and there is through hole at handle place for cabling.As shown in Figure 2, external handle place is fixed with foil gauge 13, and foil gauge adopts the circuit mode with temperature-compensating, and one of them foil gauge is positioned at the stressed surface of handle, another foil gauge is positioned at not by external force surface, and these two foil gauges are positioned at the same side of finger.
The distribution in circuit board main body of each circuit module is described in Fig. 4, circuit board is fixed on the inside of connector 2, the first limit sensors 9 fixing inside case member and two refers to that the second limit sensors 10 fixing on 12 is connected with the limit sensors detection module 18 on circuit board, the optoelectronic switch detection module 20 of optoelectronic switch 11 on circuit board connects, foil gauge 13 is connected with the strain measurement module 19 on circuit board, single-chip microcomputer is by I/O port and optoelectronic switch, the limit sensors module different with foil gauge three kinds is connected, by reading the signal that these modules transmit, obtain the motion state of clamper paw, and then the control completed them.
Embodiment: system electrification, gripper return is initial position and maximum deployed position, in clamping process, two finger move toward one another, system can provide two kinds of mode of operations: debugging mode and general work pattern, general work work pattern principle is as follows, two finger move toward one another, wherein the optoelectronic switch of a finger detects the distance of distance held object setting, optoelectronic switch detection module 20 transmits a signal to single-chip microcomputer 14 and controls this finger stop motion by main program, another finger continues motion, when this finger motion is to the distance of distance object setting, optoelectronic switch module 20 transmits a signal to single-chip microcomputer 14, two fingers move toward one another grip objects is simultaneously controlled by main program, size for clamping force detects by strain measurement module, the value of clamping force can be set, when two paws clamp object, trace along with paw spacing reduces clamping force and constantly increases, when clamping force reaches the value of setting, strain measurement module 19 transmits a signal to single-chip microcomputer 14, no longer moved by the programme-control finger of setting, at this moment clamping force is in the size of setting, if when there is no object in the middle of paw, two finger motions continue motion to the distance at a distance of setting, when distance close to 0 time, the handle plane of finger can trigger the limit sensors 9 of opposite paw, limit sensors detection module 18 detects signal and is sent to single-chip microcomputer 14, according to the program of setting, and the stop motion of Single-chip Controlling steering wheel, thus ensure the security of clamper, at this moment clamper is in sky clip-like state.Clamper opens in process, and servos control steering wheel moves through fixed shaft gear train and is transferred to thread spindle, the axially-movable of the different course changing control fingers of thread spindle.The opposing motion of two fingers, move to maximum when opening distance finger can trigger the limit sensors 10 inside case member 3, limit sensors acquisition module is collected signal and is sent to single-chip microcomputer 14, and single-chip microcomputer 14 controls steering wheel 4 stop motion, now opens distance for maximum.
Program principal function is introduced, and the core thinking of program of lower computer is: wait for that host computer assigns instruction, once receive the operation that instruction just carries out being correlated with.In addition, single-chip microcomputer completes the detection of the input quantity to limit sensors and micro photo electric switch by inquiry mode.Slave computer is write in ICCAVR translation and compiling environment, uses AVR STUDIO and JTAG downloader to carry out download and the on-line debugging of program.
Non-elaborated part of the present invention belongs to the known technology of those skilled in the art.
Claims (6)
1. a two degrees of freedom two refers to clamper, it is characterized in that: comprise flange (1), connector (2), case member (3), steering wheel (4), gear wheel (5), free gear (6), pinion (7), thread spindle (8), first limit sensors (9), second limit sensors (10), optoelectronic switch (11), two refer to (12), foil gauge (13), single-chip microcomputer (14), steering wheel supply module (15), single-chip microcomputer supply module (16), RS232 communication module (17), limit sensors detection module (18), strain measurement module (19) and optoelectronic switch detection module (20), flange (1) is as this two coupling part referring to clamper and mechanical arm, flange (1) one end can junctor mechanical arm, flange (1) one end can connect connector (2), connector (2) is a semiclosed cuboid hollow frame and the inside fixing circuit board, connector (2) connected with outer casing parts (3), case member (3) is for carrying steering wheel (4), gear wheel (5), free gear (6), pinion (7), thread spindle (8), first limit sensors (9), second limit sensors (10), optoelectronic switch (11), two refer to (12) and foil gauge (13), inside handle end face is fixed with the ultimate range that limit sensors (10) opens for limiting clamper, external handle place is fixed with foil gauge (13), steering wheel (4) is fixed on the inside bottom of case member, the steering wheel of steering wheel (4) and gear wheel (5) concentric are connected and form a fixed shaft gear train by free gear (6) and pinion (7), pinion (7) and thread spindle (8) concentric are connected, when steering wheel rotates, power is by gear gear wheel (5), free gear (6), pinion (7) is delivered to thread spindle, thread spindle rotating band starts to refer to along thread spindle axially-movable, thus clamp or unclamp object, wherein two refer to that screwed hole through hole is arranged at (12) bottom, screwed hole is used for coordinating with thread spindle (8), another thread spindle can pass from through hole, thus the different course changing control two of steering wheel refers to the direction of motion that (12) are different, two refer to that (12) inboard groove internal fixtion has optoelectronic switch (11), optoelectronic switch (11) is connected with optoelectronic switch detection module (20), optoelectronic switch detection module (20) is connected with single-chip microcomputer (14), foil gauge (13) is connected with strain measurement module (19), strain measurement module (19) is connected with single-chip microcomputer (14), first limit sensors (9), second limit sensors (10) is connected with limit sensors detection module (18), limit sensors detection module (18) is connected with single-chip microcomputer (14), steering wheel (4) is connected with steering wheel supply module (15), steering wheel supply module (15) is connected with single-chip microcomputer (14), RS232 communication module (17) is connected with single-chip microcomputer (14).
2. two degrees of freedom two according to claim 1 refers to clamper, it is characterized in that: steering wheel and gear and case member are fixed, steering wheel controls thread spindle by gear drive, thread spindle and finger pass through threaded engagement, form the system of single servos control one finger, in like manner opposite side steering wheel controls the movement of another finger by gear drive and screw-driven, such composition two steering wheels control the grasping systems of two fingers respectively, control to point mobile respectively and initial position that is that do not change clamp body realizes gripping objects by two steering wheels.
3. two degrees of freedom two according to claim 1 refers to clamper, it is characterized in that: connector is a semi-enclosed cuboid framework, circuit module is fixed on lower portion, wherein there are optoelectronic switch detection module, limit sensors detection module, strain measurement module and single-chip microcomputer, described two degrees of freedom two refers to that clamper can realize automatically controlling according to the signal of main program in single-chip microcomputer and each detecting unit feedback, outsidely only need connect the Based Intelligent Control that power line and data wire can realize clamper.
4. two degrees of freedom two according to claim 3 refers to clamper, it is characterized in that: optoelectronic switch is fixed on to be pointed in inboard groove and is connected with the optoelectronic switch detection module in circuit module, optoelectronic switch can trigger and transmit a signal to single-chip microcomputer when finger distance object to be detected certain distance being detected, and single-chip microcomputer performs next step operation according to the setting of main program.
5. two degrees of freedom two according to claim 3 refers to clamper, it is characterized in that: foil gauge be fixed on finger external handle place and with the strain measurement model calling in circuit module, strain measurement is to triggering during corresponding deformation and transmitting a signal to single-chip microcomputer, and single-chip microcomputer performs next step operation according to the setting of main program.
6. two degrees of freedom two according to claim 3 refers to clamper, it is characterized in that: limit sensors is fixed on finger inside handle place and is connected with the limit sensors detection module in circuit module with case member inner surface, can trigger when limit sensors detects and touches and transmit a signal to single-chip microcomputer, single-chip microcomputer performs next step operation according to the setting of main program.
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| CN201410559510.2A CN104260103B (en) | 2014-10-20 | 2014-10-20 | A kind of two degrees of freedom two refers to clamper |
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| CN105291121A (en) * | 2015-10-27 | 2016-02-03 | 宁夏共享机床辅机有限公司 | Stacker crane fixture |
| CN106081566A (en) * | 2016-07-29 | 2016-11-09 | 梁启明 | Needle for inserting bottle drawing mechanism |
| CN106142142A (en) * | 2015-04-08 | 2016-11-23 | 鸿富锦精密工业（深圳）有限公司 | Robot device |
| CN108081301A (en) * | 2016-11-22 | 2018-05-29 | 大邱庆北科学技术院 | Detachable module type universal clamping jaw device |
| CN109025408A (en) * | 2018-08-14 | 2018-12-18 | 张家港江苏科技大学产业技术研究院 | A kind of bicycle parking system |
| CN109552868A (en) * | 2018-11-07 | 2019-04-02 | 天津中环领先材料技术有限公司 | A kind of grinding cleaning feeding safety anti-dropping dropping control device |
| CN110101575A (en) * | 2018-02-01 | 2019-08-09 | 深圳市卫邦科技有限公司 | Clamping executive device with monitoring function, make up a prescription robot and its monitoring method |
| CN110355704A (en) * | 2019-08-13 | 2019-10-22 | 襄阳精鑫电子设备制造有限公司 | A kind of automatic self-locking fixture by detection current of electric variation perception object |
| CN110450158A (en) * | 2019-08-12 | 2019-11-15 | 南京工程学院 | Robot end's clamping control device and method based on bi-motor |
| CN110561412A (en) * | 2018-06-05 | 2019-12-13 | 株式会社安川电机 | Control method, device and system of manipulator and manipulator |
| CN111113465A (en) * | 2018-10-31 | 2020-05-08 | 中国科学院沈阳自动化研究所 | Full-automatic clamping mechanism for large-scale structural member |
| CN111923021A (en) * | 2020-07-08 | 2020-11-13 | 广东工业大学 | Modular robot |
| CN113752290A (en) * | 2021-10-19 | 2021-12-07 | 上海非夕机器人科技有限公司 | Gripper and robot |
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| CN105291121A (en) * | 2015-10-27 | 2016-02-03 | 宁夏共享机床辅机有限公司 | Stacker crane fixture |
| CN106081566A (en) * | 2016-07-29 | 2016-11-09 | 梁启明 | Needle for inserting bottle drawing mechanism |
| CN106081566B (en) * | 2016-07-29 | 2023-12-05 | 梁启明 | Bottle inserting needle discharging device |
| CN108081301A (en) * | 2016-11-22 | 2018-05-29 | 大邱庆北科学技术院 | Detachable module type universal clamping jaw device |
| CN110101575B (en) * | 2018-02-01 | 2021-12-21 | 深圳市卫邦科技有限公司 | Clamping execution device with monitoring function, dispensing robot and monitoring method thereof |
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| CN110561412A (en) * | 2018-06-05 | 2019-12-13 | 株式会社安川电机 | Control method, device and system of manipulator and manipulator |
| CN110561412B (en) * | 2018-06-05 | 2022-10-21 | 株式会社安川电机 | Control method, device and system of manipulator and manipulator |
| CN109025408A (en) * | 2018-08-14 | 2018-12-18 | 张家港江苏科技大学产业技术研究院 | A kind of bicycle parking system |
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| CN109552868A (en) * | 2018-11-07 | 2019-04-02 | 天津中环领先材料技术有限公司 | A kind of grinding cleaning feeding safety anti-dropping dropping control device |
| CN110450158A (en) * | 2019-08-12 | 2019-11-15 | 南京工程学院 | Robot end's clamping control device and method based on bi-motor |
| CN110355704A (en) * | 2019-08-13 | 2019-10-22 | 襄阳精鑫电子设备制造有限公司 | A kind of automatic self-locking fixture by detection current of electric variation perception object |
| CN110355704B (en) * | 2019-08-13 | 2024-02-20 | 襄阳精鑫电子设备制造有限公司 | Automatic self-locking clamp for sensing object by detecting current change of motor |
| CN111923021A (en) * | 2020-07-08 | 2020-11-13 | 广东工业大学 | Modular robot |
| CN113752290A (en) * | 2021-10-19 | 2021-12-07 | 上海非夕机器人科技有限公司 | Gripper and robot |
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