CN112497248B - Flexible sorting clamping mechanical claw - Google Patents
Flexible sorting clamping mechanical claw Download PDFInfo
- Publication number
- CN112497248B CN112497248B CN202110030046.8A CN202110030046A CN112497248B CN 112497248 B CN112497248 B CN 112497248B CN 202110030046 A CN202110030046 A CN 202110030046A CN 112497248 B CN112497248 B CN 112497248B
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- China
- Prior art keywords
- gripper
- mechanical claw
- threaded rod
- stepping motor
- claw
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Links
- 210000000078 claw Anatomy 0.000 title claims abstract description 86
- 210000001364 upper extremity Anatomy 0.000 claims abstract description 27
- 230000001681 protective effect Effects 0.000 claims abstract description 15
- 210000003141 lower extremity Anatomy 0.000 claims description 21
- 210000003414 extremity Anatomy 0.000 claims description 5
- 230000000694 effects Effects 0.000 abstract description 2
- 230000000630 rising effect Effects 0.000 abstract 1
- 238000011161 development Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000008602 contraction Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000010146 3D printing Methods 0.000 description 1
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000013013 elastic material Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000000741 silica gel Substances 0.000 description 1
- 229910002027 silica gel Inorganic materials 0.000 description 1
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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/022—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by articulated links
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a flexible sorting clamping mechanical claw, which comprises a mechanical claw base, a four-claw chuck, a stepping motor nut component, a connecting rod hinge point, an electric telescopic rod and a mechanical claw upper limb hinge point, wherein a driving device of a stepping motor is arranged in the mechanical claw base, the lower end of the mechanical claw base is connected with the stepping motor, the stepping motor is externally connected with a threaded rod, a protective sleeve is additionally arranged on the outer edge of the threaded rod, the threaded rod extends out of a mechanical claw fixing piece, and the four-claw chuck is sleeved on the threaded rod in an sleeved mode. This flexible letter sorting centre gripping gripper is open structure through setting up step motor nut subassembly to 4 gripper mountings are branched out along four directions in the periphery, utilize gripper mountings to articulate gripper upper limbs, and under step motor drive, make step motor nut subassembly along threaded rod automatic rising, drive opening and drawing in of gripper, simple structure, the degree of freedom is high, makes gripper activity very easy control.
Description
Technical Field
The invention relates to the technical field of mechanical claw sorting, in particular to a flexible sorting clamping mechanical claw.
Background
With the rapid development of industrial automation, the mechanical claw is gradually replacing the traditional manual work. The mechanical claw, which is a high-tech automatic production device, is a product in the mechanized and automatic development process. The device can replace heavy labor of people to realize mechanization and automation of production, and can be operated under harmful environment to ensure personal safety. Therefore, the material becomes an important component of industrial automatic production and has wide development prospect.
However, the traditional rigid mechanical claw has low standardization degree, poor flexibility and higher cost. Therefore, the gripper is difficult to grasp different kinds of objects by using the same rigid gripper in actual industrial production, and the traditional gripper is easy to be subjected to unbalanced stress so as to damage the object to different degrees or cause the object to fall due to insufficient gripper grasping force. In addition, the current mode of manual classification is mostly adopted for sorting different types of commodities, and sorting workers continuously repeat the same actions, so that the labor intensity is high and the working efficiency is low. The flexible mechanical claw is mainly driven by electric power, takes the super-elastic silica gel material as a body model, combines the research of the 3D printing technology, has infinite freedom degree in theory, and overcomes the defects of the rigid mechanical claw due to good flexibility.
The present invention therefore proposes a flexible sorting clamping gripper in order to solve the problems mentioned above.
Disclosure of Invention
The invention aims to provide a flexible sorting clamping mechanical claw, which aims to solve the problems that the claw is difficult to grasp different kinds of objects by using the same rigid mechanical claw in the prior art, and the traditional mechanical claw is easy to generate unbalanced stress so as to damage the object to different degrees or the object falls due to insufficient grasping force of the mechanical claw.
In order to achieve the above purpose, the present invention provides the following technical solutions: the utility model provides a flexible letter sorting centre gripping gripper, includes gripper base, four claw chucks, step motor nut subassembly, connecting rod pin joint, electric telescopic handle and gripper upper limb pin joint, be equipped with step motor's drive arrangement in the gripper base, and gripper base its lower extreme is connected with step motor, the external threaded rod of step motor, and the threaded rod outer edge is equipped with the protective sheath to the threaded rod extends out gripper mounting, four claw chucks overcoat is on the threaded rod, and accomplishes centripetal rotation work through the flexible of threaded rod, and the threaded rod extends out the gripper connecting rod, the one end of threaded rod with step motor lower extreme is connected, and the other end of threaded rod with gripper upper limb is articulated, electric telescopic handle rotates respectively and installs and deviates from one side of threaded rod, and moves its flexible end vertical decurrent and rather than adjacent gripper lower limb pin joint connection, electric telescopic handle protective sheath is all equipped with in the electric telescopic handle outside to the electric telescopic handle protective sheath end can extend and correspond the drive the lower limb and be close to or keep away from the electric gripper upper limb and be equipped with the electric gripper upper limb pin joint, the gripper is equipped with the mechanical limb is connected with the tip, and the gripper is equipped with the tip through the electric gripper.
Preferably, the stepping motor nut component is of an open structure, the stepping motor is externally connected with a threaded rod, a protective sleeve is additionally arranged on the outer edge of the threaded rod, the threaded rod extends out of the mechanical claw fixing piece, and the mechanical claw fixing piece is fixedly connected with the threaded rod through a fixing nut.
Preferably, the threaded rod is in a spiral shape, and the lifting of the nut component of the stepping motor and the rotation of the four-jaw chuck are controlled under the pushing of the stepping motor, and the mechanical jaws are driven to open or close.
Preferably, the four-jaw chuck comprises a chuck main body, four movable jaws uniformly distributed in circumference, a chuck driving machine and connecting rod connecting points, wherein the connecting rod connecting points are distributed outside the movable jaws in a central symmetry manner, and the connecting rod hinging points extend out of the mechanical jaw connecting rods.
Preferably, the electric telescopic rods are respectively rotatably installed on one sides of the corresponding threaded rods, the telescopic ends of the electric telescopic rods are vertically downward and are connected with the adjacent mechanical claw lower limb hinge points, and the electric telescopic rod protective sleeves are arranged on the outer sides of the electric telescopic rods.
Preferably, the mechanical claw comprises a mechanical claw upper limb and a mechanical claw lower limb, one section of the mechanical claw upper limb is hinged with one section of the mechanical claw upper limb by one end of the mechanical claw connecting rod, the other end of the mechanical claw connecting rod is hinged with the stepping motor nut component, and the electric telescopic rod is connected with the mechanical claw lower limb.
Preferably, the upper limb of the mechanical claw is connected with a contact body through a buffer spring, and the contact body is provided with the front end of the contact body for increasing the grabbing force.
Compared with the prior art, the invention has the beneficial effects that: the flexible sorting and clamping machine;
(1) The stepping motor nut assembly is arranged to be of an open structure, 4 mechanical claw fixing pieces are branched out along four directions at the periphery, the mechanical claw fixing pieces are used for hinging the upper limbs of the mechanical claws, and the stepping motor nut assembly is driven by the stepping motor to automatically lift along the threaded rod to drive the mechanical claws to open and close, so that the structure is simple, the freedom degree is high, and the movement of the mechanical claws is easy to control;
(2) Through setting up a four-jaw chuck that comprises chuck main part, four movable claws that are circumference evenly distributed and chuck driving machine, the tie point of gripper connecting rod distributes in the center symmetry outside movable claw, and when the stepper motor drive threaded rod was flexible, movable claw was outwards advanced under the effect of chuck driving machine, drove gripper upper limbs motion. In addition, the four-jaw chuck is sleeved on the threaded rod, centripetal rotation work is completed through the expansion and contraction of the threaded rod, and 4 mechanical jaw connecting rods extend out of the connecting points of the mechanical jaw connecting rods to control the tightening and the loosening of the mechanical jaws;
(3) Through setting up electric telescopic handle, rotate it respectively and install in the one side that corresponds to deviate from the threaded rod, and its flexible end is vertical downwards and rather than adjacent the gripper low limbs pin joint is connected, every electric telescopic handle outside all is equipped with telescopic handle protective sheath flexible end and can extend in order to drive corresponds gripper low limbs rotate and be close to or keep away from rotatory threaded rod.
Drawings
FIG. 1 is a front view of the overall structure of the present invention;
FIG. 2 is a side view of the present invention in perspective;
FIG. 3 is a schematic view of the structure of the mechanical claw of the present invention;
FIG. 4 is a schematic view of a buffer spring and contact connection structure according to the present invention;
FIG. 5 is a schematic view of the structure of the threaded rod of the present invention;
FIG. 6 is a schematic view of the structure of the electric telescopic rod of the present invention;
fig. 7 is a schematic view of the four-jaw chuck according to the present invention.
In the figure: 1. a gripper base; 2. a stepping motor; 3. a four-jaw chuck; 31. a movable claw; 32. a connecting rod connection point; 33. a chuck body; 34. a chuck driving machine; 4. a threaded rod; 41. a stepper motor nut assembly; 42. a gripper fixing member; 43. a fixing nut; 5. a protective sleeve; 6. a gripper bar; 61. a connecting rod hinge point; 7. a buffer spring; 8. an electric telescopic rod; 81. the lower limb hinge point of the mechanical claw; 82. an electric telescopic rod protective sleeve; 83. an electric telescopic rod pushing device; 84. the upper limb hinge point of the mechanical claw; 9. a contact body; 91. the front end of the contact body; 10. the tail end of the mechanical claw is saw-toothed.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-7, the present invention provides a technical solution: a flexible sorting clamping mechanical claw comprises a mechanical claw base 1, a stepping motor 2, a four-claw chuck 3, movable claws 31, a connecting rod connecting point 32, a chuck main body 33, a chuck driving machine 34, a threaded rod 4, a stepping motor nut assembly 41, a mechanical claw fixing piece 42, a fixing nut 43, a protective sleeve 5, a mechanical claw connecting rod 6, a connecting rod hinging point 61, a buffer spring 7, an electric telescopic rod 8, a mechanical claw lower limb hinging point 81, an electric telescopic rod protective sleeve 82, an electric telescopic rod pushing device 83, a mechanical claw upper limb hinging point 84, a contact body 9, a contact body front end 91 and a mechanical claw lower limb tail end saw tooth 10.
As shown in fig. 1 and 2, a driving device of a stepping motor 2 is arranged in a gripper base 1, the lower end of the driving device is connected with the stepping motor 2, the stepping motor 2 is externally connected with a threaded rod 4, a protective sleeve 5 is additionally arranged on the outer edge of the threaded rod 4,4 gripper fixing pieces 42 extend out, a four-jaw chuck 3 consists of a chuck main body 33, four movable jaws 31 which are uniformly distributed circumferentially and a chuck driving machine 34, gripper connecting rod connecting points 32 are distributed on the outer side of the movable jaws 31 in a central symmetry mode, when the stepping motor 2 drives the 4 to stretch out and draw in, the movable jaws 31 are pushed out under the action of the chuck driving machine 34 to drive the gripper upper limbs to move, the four-jaw chuck 3 is sleeved on the threaded rod 4, the centripetal rotation work is completed through the stretching of the threaded rod 4,4 gripper connecting rods 6 extend out, one end of the threaded rod 4 is connected with the lower end of the stepping motor 2, the other end of the four-jaw chuck 3 is hinged with the upper limbs, the electric telescopic rod 8 is respectively rotatably arranged on one side of the corresponding deviating from the threaded rod 4, the telescopic ends of the gripper lower limbs 81 are vertically connected with the lower ends of adjacent grippers, each electric telescopic rod 8 is arranged on the lower ends of the telescopic rod, and the telescopic rod is vertically connected with the telescopic rod, and the telescopic rod is provided with the telescopic rod 8, the telescopic rod is in contact with the telescopic rod is arranged at the inner side of the telescopic rod 9, the telescopic rod is close to the telescopic rod 9, the telescopic rod is in contact with the telescopic rod 9, and the telescopic rod is in front of the telescopic rod 9, and the telescopic rod is in contact with the telescopic rod 9, and the telescopic rod is in front of the telescopic rod has the telescopic rod 9, and the telescopic rod is connected with the telescopic rod 9, and the telescopic rod is correspondingly, and the telescopic rod is connected with the telescopic rod 4, and the lower gripper is correspondingly, and the telescopic rod is correspondingly.
As shown in fig. 3 and 4, a group of grippers includes 2 to 4 grippers. The mechanical claw comprises a mechanical claw upper limb and a mechanical claw lower limb, wherein one section of the mechanical claw upper limb is hinged by a mechanical claw connecting rod 6, the other end of the mechanical claw upper limb is hinged with a stepping motor nut component 41, the mechanical claw lower limb is connected through an electric telescopic rod 8, and the mechanical claw lower limb is driven to open or close by the mechanical claw lower limb. The upper limb of the mechanical claw is connected with a contact body 9 through a buffer spring 7, and the contact body 9 is provided with a contact body front end 91 for increasing the grabbing force, so that the stress is balanced when grabbing objects.
As shown in fig. 5, the stepper motor nut assembly 41 is in an open structure, the stepper motor 2 is externally connected with a threaded rod 4, a protective sleeve 5 is additionally arranged on the outer edge of the threaded rod 4 to protect the internal structure, a device capable of sliding freely is formed, 4 gripper fixing pieces 42 extend out to facilitate the installation of grippers, and the gripper fixing pieces 42 are fixedly connected with the threaded rod 4 through fixing nuts 43.
The threaded rod 4 is in a spiral shape, similar to a screw, and is pushed by the stepping motor 2 to control the lifting of the stepping motor nut group 41 and the rotation of the four-jaw chuck 3, and drive the mechanical jaws to open or close.
As shown in fig. 6, the electric telescopic rods 8 are respectively rotatably installed at one sides of the corresponding opposite threaded rods 4, and the telescopic ends of the electric telescopic rods 8 are vertically downward and connected with the adjacent gripper lower limb hinge points 81, the telescopic ends of the electric telescopic rod protecting sleeves 82 are respectively installed at the outer sides of the electric telescopic rods 8 and can stretch to drive the corresponding gripper lower limbs to rotate and approach or separate from the rotary threaded rods 4, and the electric telescopic rod pushing devices 83 are installed at the lower ends of the electric telescopic rod protecting sleeves 82.
As shown in fig. 7, the four-jaw chuck 3 comprises a chuck main body 33, four movable jaws 31 uniformly distributed circumferentially and a chuck driving machine 34, wherein the gripper connecting rod connecting points 32 are distributed outside the movable jaws 31 in a central symmetry manner, the four-jaw chuck 3 is sleeved on the threaded rod 4, and the centripetal rotation work is completed through the extension and contraction of the threaded rod 4, and 4 gripper connecting rods 6 extend out of the gripper connecting rod hinging points 61 to control the tightening and the loosening of the grippers.
The working principle of the embodiment is as follows: before the flexible sorting clamping mechanical claw is used, the whole condition of the mechanical claw needs to be checked, and the mechanical claw can be determined to work normally.
When the flexible sorting and clamping mechanical claw is used, according to the method shown in fig. 1-7, firstly, the angles of four mechanical claws are adjusted simultaneously to adapt to the shape of a target object, and through the mutual matching of the driving of the stepping motor 2 of the mechanical claw base 1 and the threaded rod 4, the rotation of the four-claw chuck 3 and the lifting of the stepping motor nut component 41 are automatically controlled, the rotation of the mechanical claw connecting rod 6 is controlled, and then the opening and closing of the upper limbs of the mechanical claw are controlled. The lower limb of the mechanical claw is controlled to relax by driving the electric telescopic rod 8, so as to realize the grabbing action. When the gripper contacts an object, the contact body front end 91 made of elastic material is contacted first, then the contact body front end 91 is clung to the object, and as the pressure increases, the buffer spring 7 starts to compress, and the envelope of the whole contact body front end 91 to the object increases, so that the fitting is more compact and stable. The gripper then grabs the object to reach the designated location, the stepper motor nut assembly 41 moves upward, the four-jaw chuck 3 rotates inward, the gripper is released under the action of the gripper connecting rod 6 and the electric telescopic rod 8, and the object is placed, and what is not described in detail in the specification is all the prior art known to those skilled in the art.
Although the present invention has been described with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described, or equivalents may be substituted for elements thereof, and any modifications, equivalents, improvements and changes may be made without departing from the spirit and principles of the present invention.
Claims (1)
1. The utility model provides a flexible letter sorting centre gripping gripper, includes gripper, gripper connecting rod (6), gripper base (1), four claw chuck (3), threaded rod (4), step motor nut subassembly (41), connecting rod pin joint (61), electric telescopic handle (8), gripper low limbs pin joint (81) and gripper upper limbs pin joint (84), its characterized in that: the mechanical claw consists of a mechanical claw upper limb and a mechanical claw lower limb, one end of a mechanical claw connecting rod (6) is hinged with the mechanical claw upper limb other end, the mechanical claw connecting rod (6) other end is hinged with a stepping motor nut component (41), the electric telescopic rod (8) is connected with the mechanical claw lower limb, a stepping motor (2) is arranged in a mechanical claw base (1), the lower end of the mechanical claw base (1) is connected with the stepping motor (2), the stepping motor nut component (41) comprises a fixed nut (43) and a mechanical claw fixing piece (42), the stepping motor (2) is externally connected with a threaded rod (4), the outer edge of the threaded rod (4) is additionally provided with a protective sleeve (5), the mechanical claw fixing piece (42) is connected with the threaded rod (4) through a fixed nut (43), the threaded rod (4) is in a spiral shape, under the pushing of the stepping motor (2), the lifting of the stepping motor component (41) and the rotation of a four-claw chuck (3) are controlled, the four-claw chuck (3) is driven to be opened or closed, the four-claw chuck (3) comprises a chuck body (31), four chuck (31) which are uniformly distributed in a circle and the center of the movable connecting rod (32) are distributed at the outer side of the movable connecting rod (31), the utility model provides a four-jaw chuck, including four-jaw chuck, threaded rod (8), connecting rod pin joint (61) extend 4 gripper connecting rods (6), four-jaw chuck (3) overcoat is on threaded rod (4), and accomplishes centripetal rotation work through the rotation of threaded rod (4), the one end of threaded rod (4) with step motor (2) lower extreme is connected, and the other end of threaded rod (4) with gripper upper limb articulates, the drive end of electric telescopic handle (8) rather than adjacent gripper upper limb pin joint (84) is connected, and the flexible end of electric telescopic handle (8) downwards and rather than adjacent gripper lower limb pin joint (81) is connected, electric telescopic handle protective sheath (82) are all equipped with in the outside of electric telescopic handle (8) to the flexible end of electric telescopic handle (8) can be elongated in order to drive corresponding gripper lower limb rotates and is close to or keep away from threaded rod (4), gripper upper limb is connected with contact body (9) through buffer spring (7), and contact body front end (91) of contact body that increase the gripping force is equipped with, electric telescopic handle (8) is equipped with the gripper through stretching out and expanding lower limb (8) and is accomplished gripper (10) and is drawn in by the gripper limb action.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110030046.8A CN112497248B (en) | 2021-01-11 | 2021-01-11 | Flexible sorting clamping mechanical claw |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110030046.8A CN112497248B (en) | 2021-01-11 | 2021-01-11 | Flexible sorting clamping mechanical claw |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112497248A CN112497248A (en) | 2021-03-16 |
| CN112497248B true CN112497248B (en) | 2024-04-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110030046.8A Active CN112497248B (en) | 2021-01-11 | 2021-01-11 | Flexible sorting clamping mechanical claw |
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| Country | Link |
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| CN (1) | CN112497248B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112849373A (en) * | 2021-04-01 | 2021-05-28 | 广东海洋大学 | Underwater small-space grabbing robot |
| CN113618772B (en) * | 2021-08-24 | 2024-05-28 | 浙江工业大学 | Double-threaded rod mechanical claw with reliable clamping |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205588326U (en) * | 2016-04-05 | 2016-09-21 | 天津贺普瑞特科技发展有限公司 | Clamping device of anti falling robot |
| CN205766203U (en) * | 2016-07-08 | 2016-12-07 | 黄河科技学院 | Robot three-dimensional machinery pawl |
| CN109895127A (en) * | 2017-12-11 | 2019-06-18 | 西安知点信息科技有限公司 | A kind of transhipment gripper |
| CN216180614U (en) * | 2021-01-11 | 2022-04-05 | 广东海洋大学 | Flexible sorting clamping mechanical claw |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107471234B (en) * | 2017-09-29 | 2018-05-15 | 安徽理工大学 | Foundry robot refers to asynchronous handgrip with omnidirectional more |
-
2021
- 2021-01-11 CN CN202110030046.8A patent/CN112497248B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205588326U (en) * | 2016-04-05 | 2016-09-21 | 天津贺普瑞特科技发展有限公司 | Clamping device of anti falling robot |
| CN205766203U (en) * | 2016-07-08 | 2016-12-07 | 黄河科技学院 | Robot three-dimensional machinery pawl |
| CN109895127A (en) * | 2017-12-11 | 2019-06-18 | 西安知点信息科技有限公司 | A kind of transhipment gripper |
| CN216180614U (en) * | 2021-01-11 | 2022-04-05 | 广东海洋大学 | Flexible sorting clamping mechanical claw |
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| Publication number | Publication date |
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| CN112497248A (en) | 2021-03-16 |
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Effective date of registration: 20240730 Address after: 230000 b-1018, Woye Garden commercial office building, 81 Ganquan Road, Shushan District, Hefei City, Anhui Province Patentee after: HEFEI WISDOM DRAGON MACHINERY DESIGN Co.,Ltd. Country or region after: China Address before: 524088 No. 1 Haida Road, Mazhang District, Zhanjiang City, Guangdong Province Patentee before: Guangdong Ocean University Country or region before: China |