CN112976031A - Pneumatic flexible driver and net-catching type pneumatic grabbing device - Google Patents
Pneumatic flexible driver and net-catching type pneumatic grabbing device Download PDFInfo
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- CN112976031A CN112976031A CN202110309700.9A CN202110309700A CN112976031A CN 112976031 A CN112976031 A CN 112976031A CN 202110309700 A CN202110309700 A CN 202110309700A CN 112976031 A CN112976031 A CN 112976031A
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- 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
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Abstract
The invention provides a pneumatic flexible driver which comprises a hollow shell, a spring and an air pump, wherein the shell comprises a telescopic section, the telescopic section is of a telescopic spiral fold type structure, the spring is positioned in the telescopic section and is abutted against the inner wall of the telescopic section, the air pump is connected with the shell, and the air pump is used for pumping air in the shell or inflating the shell, so that the telescopic section is axially contracted or extended. The invention also provides a net catching type pneumatic grabbing device.
Description
Technical Field
The invention relates to the technical field of flexible robots, in particular to a pneumatic flexible driver and a net catching type pneumatic grabbing device.
Background
Due to the characteristics of good dexterity, flexibility, human-computer interaction and the like, the flexible robot is increasingly applied to a plurality of fields such as intelligent manufacturing, medical care and the like. The flexible robot is composed of a flexible driver, the existing flexible driver comprises driving modes such as motor driving, gas-liquid driving, functional material driving and the like, and the control performance of the motor-driven manipulator is better; the flexibility of the gas-liquid driven flexible manipulator is better, the pneumatic gas source is convenient to install, the weight is light, and the application of pneumatic drive in the light flexible manipulator is the most extensive; the functional material drive is driven by shape memory alloy, ultrasonic waves, high molecular polymer and functional liquid, and has unique advantages in occasions requiring small and portable mechanical arms.
Patent cn201690001162.x provides a McKibben artificial muscle that expands and contracts by fluid pressure, comprising an elastic tube and a braided tube. The elastic tube is a hollow cylindrical elastic body, and the braided tube is composed of a circular braided wire having a predetermined knitting angle, which is twisted in a movable manner on the periphery of the elastic tube. CN201911322023.3 discloses a soft driver, in particular to a torsional contraction artificial muscle, which comprises an outer packaging layer, a fiber winding and an elastomer; the elastic body is of a hollow structure, and radial expansion and axial contraction are realized by filling a driving medium into the hollow cavity; the fiber winding is arranged on the outer surface of the elastic body, is of a spiral structure, and drives the elastic body to twist through spiral torsion; the outer packaging layer is sleeved on the outer side of the elastic body and used for limiting the elastic body to axially extend out and can axially contract and radially expand along with the elastic body. The flexible driver has good flexibility and flexibility, but the problems of small shrinkage rate and insufficient contraction force generally exist, the contraction rate of the artificial muscle with good performance is only more than 30%, and therefore the flexible driver with large shrinkage rate and strong contraction force has important application value.
Disclosure of Invention
The pneumatic flexible driver provided by the invention aims to solve the defects in the background technology, is based on a negative pressure principle and a telescopic spiral fold type structure, has the characteristics of large shrinkage rate, strong shrinkage force and the like, and solves the problems of small shrinkage rate and insufficient shrinkage force of the conventional flexible driver.
The invention provides a pneumatic flexible driver which comprises a hollow shell, a spring and an air pump, wherein the shell comprises a telescopic section, the telescopic section is of a telescopic spiral fold type structure, the spring is positioned in the telescopic section and is abutted against the inner wall of the telescopic section, the air pump is connected with the shell, and the air pump is used for pumping air in the shell or inflating the shell, so that the telescopic section is axially contracted or extended.
Further, the side wall of the telescopic section protrudes outwards in the radial direction to form an outer fold, the outer fold is of a spiral structure, a groove is formed in the telescopic section at a position corresponding to the outer fold, and the spring is clamped in the groove.
Further, the telescopic section is of an elastic structure, and the diameter of the spring is larger than or equal to the inner diameter of the outer fold.
Further, the pitch of the spring is equal to that of the outer folds, and the total number of turns of the spring is equal to that of the outer folds.
Further, the shell further comprises a first fixed section and a second fixed section, the first fixed section and the second fixed section are respectively connected with two ends of the telescopic section, the first fixed section and the second fixed section are respectively connected with the air pump, or one of the first fixed section and the second fixed section is connected with the air pump, and the other of the first fixed section and the second fixed section is a sealing structure.
Furthermore, flexible section is buckled and is formed annular structure, first fixed section with the second fixed section is close to, pneumatic flexible drive still includes tee bend device and trachea, tracheal one end with tee bend device's one end links to each other, tracheal other end with the air pump links to each other, the other both ends of tee bend device respectively with first fixed section with the second fixed section links to each other.
Further, the pneumatic flexible driver further comprises a ventilation joint, an air pipe and a sealing joint, the ventilation joint is connected with the first fixed section, one end of the air pipe is connected with the ventilation joint, the other end of the air pipe is connected with the air pump, the sealing joint is connected with the second fixed section, and the sealing joint is used for sealing the second fixed section.
The invention also provides a net-catching type pneumatic grabbing device which comprises the pneumatic flexible driver.
Furthermore, the net-catching pneumatic gripping device also comprises a top seat and an annular net-shaped device, wherein the top of the annular net-shaped device is connected with the top seat, the bottom of the annular net-shaped device is connected with the outer shell, and the outer shell is bent to form an annular structure, so that an opening for gripping an article is formed at the bottom of the annular net-shaped device.
Furthermore, the pneumatic flexible driver further comprises a three-way device and an air pipe, one end of the air pipe is connected with one end of the three-way device, the other end of the air pipe is connected with the air pump, and the other two ends of the three-way device are respectively connected with the two ends of the shell.
The shell of the pneumatic flexible driver provided by the invention is of a hollow structure, and the shell is provided with a telescopic section of a telescopic spiral fold type structure, and when an air pump pumps air in the shell, the telescopic section can axially contract; when the air pump inflates air into the shell, the telescopic section can extend along the axial direction, so that the shell has a telescopic function. Meanwhile, a spring is arranged in the telescopic section and serves as a framework of the telescopic section, so that the overall toughness of the telescopic section is increased, and the radial contraction of the telescopic section under the negative pressure condition can be prevented.
The pneumatic flexible driver is based on a negative pressure principle and a telescopic spiral fold type structure, has the characteristics of large shrinkage rate, strong shrinkage force and the like, can improve the shrinkage rate from 30% to 50% and further enhance the shrinkage force, so that the mechanical property of the flexible driver is improved, and the problems of small shrinkage rate and insufficient shrinkage force of the conventional flexible driver are solved. Meanwhile, the overall toughness of the telescopic section is improved by arranging the spring in the telescopic section of the shell, so that the shell can be matched with air pumps with different powers for use (namely, the shell can bear the suction force in a certain range and does not radially shrink and deform so as to adapt to the air pumps with different powers).
Drawings
Fig. 1 is a schematic perspective view of a pneumatic flexible driver according to an embodiment of the present invention.
Fig. 2 is a partial cross-sectional view of fig. 1.
Fig. 3 is a perspective view of the vent connector of fig. 1.
Fig. 4 is a schematic perspective view of the sealing joint of fig. 1.
Fig. 5 is a schematic perspective view of a pneumatic catching type gripping device according to an embodiment of the present invention.
Fig. 6 is a schematic diagram of a portion of the exploded structure of fig. 5.
Fig. 7 is a schematic perspective view of the tee device in fig. 5.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
The terms first, second, third, fourth and the like in the description and in the claims of the present invention are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.
The terms of orientation of the upper, lower, left, right, front, rear, top, bottom and the like in the description and the claims of the present invention are defined by the positions of the structures in the drawings and the positions of the structures relative to each other, and are used for the sake of clarity and convenience in technical solution. It is to be understood that the use of the directional terms should not be taken to limit the scope of the claims.
As shown in fig. 1 to 4, the pneumatic flexible driver 1 provided in the embodiment of the present invention includes a hollow housing 11, a spring 12, and an air pump 13, where the housing 11 includes a telescopic section 113, the telescopic section 113 is a telescopic spiral fold structure, the spring 12 is located in the telescopic section 113, and the spring 12 abuts against an inner wall of the telescopic section 113. An air pump 13 is connected to the housing 11, and the air pump 13 is used for pumping air from the housing 11 or inflating the housing 11, so as to axially contract or expand the telescopic section 113.
Specifically, in this embodiment, the housing 11 is made of a rubber material, so that the telescopic section 113 has good telescopic performance and can be bent to adapt to different use scenarios. The entire housing 11 is integrally formed by press molding, so that the entire housing 11 has good airtightness. Meanwhile, the spring 12 is used as a framework of the telescopic section 113, so that the toughness of the telescopic section 113 is increased, the radial contraction of the telescopic section 113 under the negative pressure condition when the air pump 13 pumps the air in the shell 11 is prevented, and the shell 11 can be matched with air pumps 13 with different powers for use, namely, the shell 11 can bear the suction force in a certain range without radial contraction deformation; if the spring 12 is not provided as a skeleton, the telescopic section 113 may be radially contracted and deformed under a small suction force, which affects the axial contraction of the telescopic section 113, i.e., reduces the rated suction force working range of the housing 11. The present embodiment increases the maximum suction force that the housing 11 can bear, i.e. increases the contraction force of the pneumatic flexible actuator 1, by using the spring 12 as the skeleton of the telescopic section 113. Meanwhile, when the telescopic section 113 is restored to the extended state from the contracted state, the restoring elastic force of the spring 12 can assist the telescopic section 113 to extend.
Further, the side wall of the telescopic section 113 protrudes outwards in the radial direction to form an outer fold 114, the outer fold 114 is a spiral structure, a groove 115 is formed in the telescopic section 113 at a position corresponding to the outer fold 114, and the spring 12 is clamped in the groove 115, so that the spring 12 is completely attached to the groove 115, and the telescopic section 113 is prevented from being deviated from the inner wall of the telescopic section 113 when being contracted or extended in the axial direction, and the use effect is affected.
Further, the telescopic section 113 is an elastic structure, and the diameter of the spring 12 is greater than or equal to the inner diameter of the outer fold 114.
In particular, the diameter of the spring 12 is equal to or slightly larger than the inner diameter of the outer fold 114, so that the spring 12 can support the telescopic section 113 well, thereby preventing the telescopic section 113 from contracting radially under negative pressure when the air pump 13 pumps air in the housing 11.
Further, the pitch of the spring 12 is equal to the pitch of the outer corrugations 114, and the total number of turns of the spring 12 is equal to the total number of turns of the outer corrugations 114.
Further, the housing 11 further includes a first fixed section 111 and a second fixed section 112, the first fixed section 111 and the second fixed section 112 are respectively connected to two ends of the telescopic section 113, the first fixed section 111 and the second fixed section 112 are respectively connected to the air pump 13, or one of the first fixed section 111 and the second fixed section 112 is connected to the air pump 13, and the other of the first fixed section 111 and the second fixed section 112 is a sealing structure.
Specifically, in the present embodiment, the first fixing section 111 and the second fixing section 112 are cylindrical shell structures, and the expansion section 113 is a spiral-corrugated shell structure.
As shown in fig. 1 to 4, in one usage scenario, the first fixed section 111 is connected to the air pump 13, and the second fixed section 112 is a sealed structure, that is, the air pump 13 pumps air from the casing 11 or inflates air into the casing 11 by being connected to one end of the casing 11, so that the telescopic section 113 is contracted or extended in the axial direction.
Specifically, the pneumatic flexible driver 1 further comprises a ventilation joint 16, an air pipe 14 and a sealing joint 17, wherein the ventilation joint 16 is connected with the first fixing section 111, one end of the air pipe 14 is connected with the ventilation joint 16, the other end of the air pipe 14 is connected with the air pump 13, the sealing joint 17 is connected with the second fixing section 112, and the sealing joint 17 is used for sealing the second fixing section 112.
Further, the vent joint 16 includes a first air pipe joint 161 and a first switching joint 162, a first through hole 163 and a second through hole 164 are axially provided in the first air pipe joint 161, and the first through hole 163 communicates with the second through hole 164. The air pipe 14 is inserted into the first through hole 163, the inner wall of the second through hole 164 and the outer side wall of one end of the first adapter 162 are both provided with threads (not shown), one end of the first adapter 162 is inserted into the second through hole 164 and is connected with the first air pipe connector 161 by threads, and the other end of the first adapter 162 is inserted into the first fixing section 111.
Further, the sealing joint 17 includes a plug joint 171 and a second adapter 172, and the plug joint 171 is provided with a joint groove 173. The inner wall of the joint groove 173 and the outer wall of one end of the second adapter 172 are both provided with threads (not shown), one end of the second adapter 172 is inserted into the joint groove 173 and is threadedly coupled to the plug joint 171, and the other end of the second adapter 172 is inserted into the second fixing section 112.
Further, the outer side walls of the first adapter 162 and the second adapter 172 are respectively provided with a flange 165/174, the flange 165 on the first adapter 162 and the flange 174 on the second adapter 172 respectively abut against the inner wall of the first fixing section 111 and the inner wall of the second fixing section 112, and the outer surfaces of the first fixing section 111 and the second fixing section 112 are respectively sleeved with a first clamp 19 having a locking function, so as to prevent the first adapter 162 and the first fixing section 111 and the second adapter 172 and the second fixing section 112 from falling off.
In another usage scenario, as shown in fig. 5 to 7, the first fixed section 111 and the second fixed section 112 are both connected to the air pump 13, respectively, that is, the air pump 13 pumps air from the housing 11 or inflates air into the housing 11 by connecting to both ends of the housing 11, so as to axially contract or expand the telescopic section 113.
Specifically, the telescopic section 113 is bent to form an annular structure, the first fixing section 111 is close to the second fixing section 112, the pneumatic flexible driver 1 further comprises a three-way device 15 and an air pipe 14, one end of the air pipe 14 is connected with one end of the three-way device 15, the other end of the air pipe 14 is connected with the air pump 13, and the other two ends of the three-way device 15 are respectively connected with the first fixing section 111 and the second fixing section 112.
Further, the three-way device 15 includes a three-way joint 152 and a second air pipe joint 151, and the second air pipe joint 151 is connected to the air pipe 14. One end of the three-way joint 152 is connected to the second air pipe joint 151, and the other two ends of the three-way joint 152 are connected to the first fixing section 111 and the second fixing section 112, respectively. Meanwhile, the outer surface of the first fixing section 111 and the outer surface of the second fixing section 112 are both sleeved with the second clamp 18 having a locking function, so as to prevent the three-way joint 152 from falling off from the first fixing section 111 and the second fixing section 112.
The working process of the pneumatic flexible driver 1 is as follows: when the pneumatic flexible driver 1 works, the air pump 13 pumps air in the shell 11 through the air pipe 14 to enable the interior of the shell to be in a negative pressure state, the telescopic section 113 and the spring 12 contract together, the telescopic section 113 is easy to contract axially due to the spiral fold type structure, and the spring 12 framework limits radial contraction of the telescopic section, so that the pneumatic flexible driver 1 can generate a larger contraction rate and a stronger contraction force; when the operation is finished, the air pump 13 inflates air through the air pipe 14, so that the interior of the shell 11 is recovered to the normal pressure, and the expansion section 113 is recovered to the initial state under the restoring force of the framework of the spring 12 and the inflation action of the air pump 13.
As shown in fig. 5 to 7, the embodiment of the present invention further provides a net capture type pneumatic grasping apparatus 2, which includes the above pneumatic flexible driver 1.
Specifically, the pneumatic catching type gripping device 2 further comprises a top seat 21 and an annular net-shaped device 22, wherein the top of the annular net-shaped device 22 is connected with the top seat 21, the bottom of the annular net-shaped device 22 is connected with the outer shell 11, and the outer shell 11 is bent to form an annular structure, so that the bottom of the annular net-shaped device 22 forms an opening 221 for gripping an article. When grabbing articles, firstly, the articles are sleeved into the annular net-shaped device 22 from the opening 221, then the air pump 13 pumps air in the shell 11, so that the telescopic section 113 is contracted along the axial direction, at the moment, the opening 221 is reduced, the articles cannot fall from the opening 221, and grabbing of the articles is realized; when the article is placed, the air pump 13 inflates the housing 11, so that the expansion section 113 is expanded along the axial direction, and the opening 221 is enlarged, so that the article can be pulled out from the opening 221, i.e. the article can be placed.
Further, the pneumatic flexible driver 1 further comprises a three-way device 15 and an air pipe 14, one end of the air pipe 14 is connected with one end of the three-way device 15, the other end of the air pipe 14 is connected with the air pump 13, and the other two ends of the three-way device 15 are respectively connected with the two ends of the shell 11.
Specifically, this pneumatic grabbing device of net formula 2 of catching is flexible grabbing device, compares in other rigidity grabbing device of taking the clamping jaw, and this pneumatic grabbing device of net formula 2 of catching can realize snatching the more fragile or easily damaged article of texture, for example snatch vase, porcelain bowl porcelain basin etc. and other rigidity grabbing devices of taking the clamping jaw lead to the fact article to collide with when snatching such easily damaged article easily, perhaps snatch the dynamics and be difficult to hold to cause the damage to article.
Specifically, the material of the annular net device 22 can be determined according to different requirements, such as plastic, nylon rope, etc. For example, when the net-capture type pneumatic gripping device 2 is used for gripping an article and transferring the article, plastic with certain hardness can be used as the material of the annular net-shaped device 22, so that the collision damage of the annular net-shaped device 22 to the article can be reduced, the annular net-shaped device 22 is not easy to deform, and the article can be transferred. For example, when the net-catching pneumatic gripping device 2 is used for gripping a vase and transferring the vase, the vase is firstly sleeved into the annular net-shaped device 22 from the opening 221, then the air pump 13 pumps air in the shell 11, so that the telescopic section 113 is contracted along the axial direction, at this time, the opening 221 is reduced, the vase cannot fall from the opening 221, gripping of an article is realized, and then the vase is transferred; when the vase is placed, the annular net-shaped device 22 is not deformed, so that the vase is still in the original posture, the vase can be directly placed (if the annular net-shaped device 22 is made of flexible materials such as nylon ropes, the posture of the vase can be changed in the transferring process, and the vase cannot be directly placed), at the moment, the air pump 13 inflates the shell 11, the telescopic section 113 extends along the axial direction, at the moment, the opening 221 is enlarged, the vase can be separated from the opening 221, and the vase can be placed.
Further, a flange 24 is fixed on the top seat 21 and used for connecting the net-catch type pneumatic gripping device 2 with a mechanical arm or a robot.
According to the pneumatic flexible driver 1 provided by the embodiment of the invention, the shell 11 is of a hollow structure, the shell 11 is provided with the telescopic section 113 of a telescopic spiral fold type structure, and when the air pump 13 pumps air in the shell 11, the telescopic section 113 can be axially contracted; when the air pump 13 inflates the housing 11, the telescopic section 113 can be extended along the axial direction, so that the housing 11 has a telescopic function. Meanwhile, the spring 12 is arranged in the telescopic section 113, and the spring 12 serves as a framework of the telescopic section 113, so that the overall toughness of the telescopic section 113 is improved, and the radial contraction of the telescopic section 113 under the negative pressure condition can be prevented.
The pneumatic flexible driver 1 provided by the embodiment of the invention is based on a negative pressure principle and a telescopic spiral fold type structure, has the characteristics of large shrinkage rate, strong contractility and the like, and compared with the existing pneumatic artificial muscle, the pneumatic flexible driver 1 can improve the shrinkage rate from more than 30% to 50% and further enhance the contractility, so that the mechanical property of the flexible driver is greatly improved, and the problems of small shrinkage rate and insufficient contractility of the existing flexible driver are solved. Meanwhile, the spring 12 is arranged in the telescopic section 113 of the shell 11, so that the overall toughness of the telescopic section 113 is improved, and the shell 11 can be matched with air pumps 13 with different powers for use. The pneumatic flexible driver 1 provided by the embodiment of the invention belongs to the category of flexible robots, and has the excellent characteristics of flexibility, dexterity, man-machine cooperation and the like of the flexible robot. In an instrument using a contraction type pneumatic tendon as a driver, the pneumatic flexible driver 1 of the embodiment of the invention can be adopted to optimize and improve the performance, and the pneumatic flexible driver 1 of the embodiment of the invention has wide application, is suitable for a plurality of fields such as transportation assembly, medical care and the like, and particularly has outstanding advantages in the aspect of factory intelligent assembly.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (10)
1. The utility model provides a pneumatic flexible driver, characterized in that, includes hollow shell (11), spring (12) and air pump (13), shell (11) are including flexible section (113), flexible section (113) are telescopic spiral fold formula structure, spring (12) are located in flexible section (113) just spring (12) with the inner wall of flexible section (113) offsets and leans on, air pump (13) with shell (11) link to each other, air pump (13) are used for extracting gas in shell (11) or to aerify in shell (11), thereby make flexible section (113) shrink or extension along the axial.
2. The pneumatic flexible drive of claim 1, characterized in that the side wall of the telescopic section (113) protrudes radially outwards to form an outer fold (114), the outer fold (114) is of a spiral structure, a groove (115) is formed in the telescopic section (113) at a position corresponding to the outer fold (114), and the spring (12) is clamped in the groove (115).
3. The pneumatic flexible drive according to claim 2, characterized in that the telescopic section (113) is of elastic construction, the diameter of the spring (12) being greater than or equal to the inner diameter of the outer fold (114).
4. The pneumatic flexible drive of claim 2, characterized in that the pitch of the spring (12) is equal to the pitch of the outer folds (114), the total number of turns of the spring (12) being equal to the total number of turns of the outer folds (114).
5. The aerodynamic flexible drive according to claim 1, wherein the housing (11) further comprises a first fixed section (111) and a second fixed section (112), the first fixed section (111) and the second fixed section (112) are respectively connected to both ends of the telescopic section (113), the first fixed section (111) and the second fixed section (112) are respectively connected to the air pump (13), or one of the first fixed section (111) and the second fixed section (112) is connected to the air pump (13), and the other of the first fixed section (111) and the second fixed section (112) is a sealing structure.
6. The pneumatic flexible driver as recited in claim 5, wherein the telescopic section (113) is bent to form a ring structure, the first fixed section (111) is adjacent to the second fixed section (112), the pneumatic flexible driver (1) further comprises a three-way device (15) and an air pipe (14), one end of the air pipe (14) is connected to one end of the three-way device (15), the other end of the air pipe (14) is connected to the air pump (13), and the other two ends of the three-way device (15) are respectively connected to the first fixed section (111) and the second fixed section (112).
7. The pneumatic flexible driver according to claim 5, wherein the pneumatic flexible driver (1) further comprises a ventilation joint (16), an air pipe (14) and a sealing joint (17), the ventilation joint (16) is connected with the first fixed section (111), one end of the air pipe (14) is connected with the ventilation joint (16), the other end of the air pipe (14) is connected with the air pump (13), the sealing joint (17) is connected with the second fixed section (112), and the sealing joint (17) is used for sealing the second fixed section (112).
8. A pneumatic catching pneumatic gripping device comprising a pneumatic flexible drive according to any of claims 1-7.
9. The pneumatic catching device of claim 8, wherein the pneumatic catching device (2) further comprises a top seat (21) and an annular net device (22), wherein the top of the annular net device (22) is connected with the top seat (21), the bottom of the annular net device (22) is connected with the outer shell (11), and the outer shell (11) is bent to form an annular structure, so that the bottom of the annular net device (22) forms an opening (221) for grabbing articles.
10. A net-catch pneumatic gripping device according to claim 9, wherein the pneumatic flexible actuator (1) further comprises a three-way device (15) and an air pipe (14), one end of the air pipe (14) is connected to one end of the three-way device (15), the other end of the air pipe (14) is connected to the air pump (13), and the other two ends of the three-way device (15) are respectively connected to two ends of the housing (11).
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| CN202110309700.9A CN112976031B (en) | 2021-03-23 | 2021-03-23 | Pneumatic flexible driver and net-catching type pneumatic grabbing device |
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| CN202110309700.9A CN112976031B (en) | 2021-03-23 | 2021-03-23 | Pneumatic flexible driver and net-catching type pneumatic grabbing device |
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| CN112976031B CN112976031B (en) | 2022-09-30 |
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