CN116021535A - High-efficiency pneumatic flexible robot - Google Patents
High-efficiency pneumatic flexible robot Download PDFInfo
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- CN116021535A CN116021535A CN202310020158.4A CN202310020158A CN116021535A CN 116021535 A CN116021535 A CN 116021535A CN 202310020158 A CN202310020158 A CN 202310020158A CN 116021535 A CN116021535 A CN 116021535A
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Abstract
The application discloses be applied to flexible robot field's a high efficiency pneumatic flexible robot, this robot is through the gas supply in the successive pneumatic tongs of solenoid valve to the difference, utilize flexible to wrap up in the clamp effect of holding the tongs and carry out once only snatching of a plurality of articles, effectively improve work efficiency, and because a plurality of flexibility are wrapped up in each other crisscross between holding the tongs during snatching, consequently can also effectively prevent to snatch in-process article and drop, through set up restraint and flexible connection piece in the inside of flexible wrapping up in holding the tongs, expansion effect when utilizing to aerify makes the restraint bulge, and utilize the restriction effect of restraint to make flexible wrapping up in holding the tongs upset deformation, thereby realize flexible wrapping up in holding the tongs of flexible tongs and move, the flexible snatching of robot has been embodied, realize flexible robot's work efficiency, utilize a plurality of flexible wrapping up in holding the tongs and snatch a plurality of articles once only, greatly reduced the frequency of robot repeated snatch action, effectively improve snatch efficiency.
Description
Technical Field
The application relates to the field of flexible robots, in particular to a high-efficiency pneumatic flexible robot.
Background
In fact, the robot has great difference from the traditional robot in terms of technology and design concept, mainly through different software and hardware architecture designs, and is provided with a sensor at each joint to perform high-precision position and power control.
The flexible robot has better adaptability in the aspect of grabbing different objects than the traditional robot, has better practical value on objects with easily broken skins, but the robot is used as a machine for replacing human labor, the efficient working efficiency is the most important characteristic, and particularly for the goods which are continuously produced on a production line, the traditional flexible robot can only grab one article at a time, and obviously has low grabbing efficiency.
Therefore, the flexible robot can grasp a plurality of objects at one time, and the working efficiency of the flexible robot is improved.
Disclosure of Invention
This application aim at improves the flexible robot among the prior art, compare prior art and provide a high efficiency pneumatic flexible robot, through the gas supply in the solenoid valve successively to different pneumatic tongs, utilize flexible to wrap up in the effect of wrapping up in and hold the grasp of carrying out disposable a plurality of article, effectively improve work efficiency, because the mutual crisscross between a plurality of flexible of wrapping up in and hold the grasp when snatching moreover, consequently can also effectively prevent to snatch in-process article and drop, be applicable to snatch heavier article, through setting up restraint and flexible connection piece in the inside of flexible of wrapping up in and holding the grasp, expansion effect when utilizing the inflation makes the restraint drum, and utilize the restriction effect of restraint to make flexible of wrapping up in and holding the grasp upset of holding, thereby realize flexible wrapping up in and holding the grasp wrap up in and hold the action, flexible of holding the grasp has been revealed.
The working efficiency of the flexible robot is realized, a plurality of objects are grabbed at one time by utilizing a plurality of flexible wrapping and clamping handles, the repeated grabbing action frequency of the robot is greatly reduced, the grabbing efficiency is effectively improved, and the service life of the flexible robot is prolonged.
Further, the flexible wrapping and clamping gripper comprises a main gripping section, two ends of the main gripping section are fixedly connected with auxiliary gripping sections, the main gripping section mainly performs gripping actions, and the auxiliary gripping section is used as an extension section of the main gripping section to effectively avoid dropping of objects.
Further, the main grabbing section is cylindrical, and the main grabbing section consists of an outer limiting layer and an inner limiting layer, and the outer limiting layer and the inner limiting layer jointly form the main grabbing section, so that the main grabbing section can realize flexible grabbing action.
Further, the outer limiting layer and the inner limiting layer are made of flexible elastic materials, the flexibility of the inner limiting layer is larger than that of the outer limiting layer, and the deformation direction of the main grabbing section after inflation is determined by different flexibility of the outer limiting layer and the inner limiting layer, so that the main grabbing section can complete flexible grabbing actions.
Further, the outer limiting layer occupies one third of the main gripping section, and the outer limiting layer is arranged close to the pneumatic grip, and the main gripping section is required to bend towards the inner limiting layer after being inflated, so that the occupied portion of the outer limiting layer cannot be excessively large so as not to influence bending.
Further, the auxiliary grabbing section is made of a silica gel material, permanent magnets are fixedly inlaid on the inner wall of the auxiliary grabbing section, two adjacent permanent magnets are mutually magnetically adsorbed, the two adjacent permanent magnets are mutually contacted in the flexible grabbing process of the main grabbing section, and the two adjacent permanent magnets are connected together through the magnetic attraction effect, so that the wrapping effect on articles is effectively increased, and the articles are prevented from falling.
Further, a plurality of connectors matched with the connecting pipe orifice are formed in the side wall of the pneumatic gripper, a thread sleeve in threaded connection with the connecting pipe orifice is fixedly inlaid at the connecting port, the flexible wrapping gripper is detachably connected with the pneumatic gripper through the threaded connection of the connecting pipe orifice and the thread sleeve, accordingly, the pneumatic gripper can additionally grip a single large-size object, applicability is effectively improved, stability of threaded connection is improved through the thread sleeve, air leakage is effectively avoided, a closed air cover matched with the thread sleeve is further arranged outside the pneumatic gripper, and when a working mode that the flexible wrapping gripper is detached is selected, the closed air cover is screwed on the thread sleeve after the flexible wrapping gripper is detached, so that sealing is achieved.
Furthermore, the constraint piece adopts hard materials, the constraint piece is arc-shaped, the non-deformation characteristic of the constraint piece enables the air bag to start to bend towards the opposite face of the constraint piece after the air bag is inflated, and therefore flexible grabbing action of the flexible wrapping and clamping hand is achieved, and the constraint piece plays a role in limiting the expansion direction of the air bag.
Further, the flexible connecting piece adopts elastic material, and the flexible connecting piece is located the middle part position of two restraint pieces, and flexible connection has been realized between two restraint pieces to the flexible connecting piece, and two restraint pieces can overturn and return to realize the reduction like this to let the flexible grasp action of holding the hand in a bundle accomplish.
Further, the side wall of the flexible wrapping clamp hand away from the pneumatic hand is fixedly connected with a plurality of anti-falling gaskets, each anti-falling gasket comprises a plurality of petal-shaped sticky sheets, each sticky sheet is made of rubber materials, friction force between the flexible wrapping clamp hand and the grabbed object is increased by the sticky sheets supported by the rubber, therefore the object is effectively prevented from falling off in the grabbing process, and the object is also easier to grab.
Compared with the prior art, the advantage of this application lies in:
(1) The flexible wrapping and clamping device has the advantages that the electromagnetic valve sequentially supplies air to different pneumatic handles, the wrapping and clamping actions of the flexible wrapping and clamping handles are utilized to grab a plurality of objects at one time, the working efficiency is effectively improved, the objects can be effectively prevented from falling off in the grabbing process due to the mutual staggering among the flexible wrapping and clamping handles during grabbing, the flexible wrapping and clamping device is suitable for grabbing heavier objects, the restraint piece and the flexible connecting piece are arranged in the flexible wrapping and clamping handles, the restraint piece is inflated through the expansion action during inflation, the flexible wrapping and clamping handles are enabled to overturn and deform through the limiting action of the restraint piece, the wrapping and clamping actions of the flexible wrapping and clamping handles are achieved, the flexible grabbing of the flexible wrapping and clamping handles is embodied, the working efficiency of the flexible robot is achieved, the objects are grabbed at one time through the flexible wrapping and clamping handles, the repeated grabbing action frequency of the robot is greatly reduced, the grabbing efficiency is effectively improved, and the service life of the flexible robot is further prolonged.
(2) The flexible wrapping and clamping gripper comprises a main gripper section, two ends of the main gripper section are fixedly connected with auxiliary gripper sections, the main gripper section mainly performs gripping actions, and the auxiliary gripper section is used as an extension section of the main gripper section, so that objects can be effectively prevented from falling.
(3) The main grabbing section is cylindrical, and the main grabbing section consists of an outer limiting layer and an inner limiting layer, and the outer limiting layer and the inner limiting layer jointly form the main grabbing section, so that the main grabbing section can realize flexible grabbing action.
(4) The outer limiting layer and the inner limiting layer are made of flexible elastic materials, the flexibility of the inner limiting layer is larger than that of the outer limiting layer, and the deformation direction of the main grabbing section after inflation is determined by different flexibility of the outer limiting layer and the inner limiting layer, so that the main grabbing section can complete flexible grabbing actions.
(5) The outer limiting layer occupies one third of the main gripping section, and the outer limiting layer is arranged close to the pneumatic grip, and the main gripping section is bent towards the inner limiting layer after being inflated, so that the occupied part of the outer limiting layer cannot be excessively large so as not to influence bending.
(6) The auxiliary grabbing section is made of silica gel materials, permanent magnetic blocks are fixedly inlaid on the inner wall of the auxiliary grabbing section, two adjacent permanent magnetic blocks are mutually magnetically adsorbed, the two adjacent permanent magnetic blocks are mutually contacted in the flexible grabbing process of the main grabbing section, and the two adjacent permanent magnetic blocks are connected together through the magnetic attraction effect, so that the wrapping effect on articles is effectively increased, and the articles are prevented from falling.
(7) The side wall of pneumatic tongs is offered a plurality of connectors that match with the connecting pipe mouth, and the fixed threaded sleeve that inlays of connector department has with connecting pipe mouth threaded connection, threaded connection of connecting pipe mouth and threaded sleeve makes flexible wrapping up in and has realized dismantling with pneumatic tongs and be connected, thereby let pneumatic tongs carry out the snatch of single bulky article in addition, effectively improved the suitability, moreover, the steadiness of threaded connection has been strengthened through the threaded sleeve, effectively avoid gas leakage, pneumatic tongs's outside still is provided with the gas closure lid that matches with the threaded sleeve, when selecting the mode of dismantling flexible wrapping up in the tongs, will be flexible wrapping up in after taking down the tongs with the gas closure lid twist on the threaded sleeve in order to realize sealing.
(8) The restraining piece adopts hard materials, the restraining piece is arc-shaped, the non-deformation characteristic of the restraining piece enables the air bag to start to bend towards the opposite face of the restraining piece after the air bag is inflated, and therefore flexible grabbing action of the flexible wrapping and clamping hand is achieved, and the restraining piece plays a role in limiting the expansion direction of the air bag.
(9) The flexible connecting piece adopts elastic material, and the flexible connecting piece is located the middle part position of two restraint pieces, and flexible connection has been realized between two restraint pieces to the flexible connecting piece, and two restraint pieces can overturn back like this and realize the reduction to let the flexible grasp action of holding the hand in a bundle accomplish.
(10) The flexible sidewall that is wrapped up in and is kept away from pneumatic tongs still fixedly connected with a plurality of anticreep gaskets, and the anticreep gasket includes the bonding piece of a plurality of petal shapes, and the bonding piece adopts rubber materials, has increased the flexible frictional force of wrapping up in between the tongs and being snatched article by the bonding piece that rubber supported to effectively prevent that article from dropping at the in-process of snatching, also let the article be more easily grabbed.
Drawings
FIG. 1 is an inactive state diagram of the present application;
FIG. 2 is a diagram of the initial grabbing state of the present application;
FIG. 3 is a diagram of a plurality of gripping states according to the present application;
FIG. 4 is a single grip operation mode diagram of the present application;
FIG. 5 is a change view of the flexible pinch grip of the present application before and after grasping;
FIG. 6 is a front view of the flexible pinch grip of the present application;
FIG. 7 is a view showing the inflation of the flexible pinch grip of the present application;
FIG. 8 is a cross-sectional view of the main grip section of the present application;
FIG. 9 is a partial top view of the present application;
fig. 10 is a side view of a flexible pinch grip of the present application.
The reference numerals in the figures illustrate:
the pneumatic flexible robot comprises a pneumatic flexible robot body, a pneumatic gripper, a 1011 thread bush, a flexible wrapping gripper, a 201 main gripping section, a 2011 outer limiting layer, a 2012 inner limiting layer, a 202 auxiliary gripping section, a 3 connecting pipe orifice, a 4 restraining piece, a 5 flexible connecting piece, a 6 permanent magnet block and a 7 anti-drop gasket.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, but not all embodiments, and all other embodiments obtained by those skilled in the art without making creative efforts based on the embodiments in the present application are all within the scope of protection of the present application.
Examples:
the application discloses high-efficiency pneumatic flexible robot, please refer to fig. 1, 6, 10, including pneumatic flexible robot body 1, install a plurality of pneumatic tongs 101 on the pneumatic flexible robot body 1, pneumatic flexible robot body 1 includes a plurality of air feed lines that communicate with the inside air chamber of pneumatic tongs 101, all install the solenoid valve on each air feed line, solenoid valve control is used for controlling to supply air to different pneumatic tongs 101 successively (and this part control structure and theory of operation are the well known technique of skilled person, detailed description is not given here), thereby let pneumatic tongs 101 grasp a plurality of articles once only, all be connected with a plurality of flexible and wrap up in tongs 2 on each pneumatic tongs 101, flexible is wrapped up in tongs 2 and is kept away from the lateral wall of pneumatic tongs 101 and still fixedly connected with a plurality of anti-disengaging gaskets 7, anti-disengaging gaskets 7 include a plurality of petal-shaped sticky pieces, and sticky pieces that adopt rubber material, the sticky pieces supported by rubber have increased the friction between flexible and wrapped up tongs 2 and the grasped articles, thereby prevent the articles from falling in tongs 202 in the flexible and grasp section 201 is also connected with flexible tongs section 201, which is fixed in the flexible tongs section is also included in the flexible tongs section of the flexible tongs 201;
referring to fig. 5, 6, 7 and 8, the main grabbing section 201 mainly performs grabbing actions, the auxiliary grabbing section 202 is used as an extension section of the main grabbing section 201, objects can be effectively prevented from falling off, the main grabbing section 201 is in a cylindrical shape, the main grabbing section 201 is composed of an outer limiting layer 2011 and an inner limiting layer 2012, the outer limiting layer 2011 and the inner limiting layer 2012 jointly form the main grabbing section 201, so that the main grabbing section 201 achieves the actions of flexible grabbing, the outer limiting layer 2011 and the inner limiting layer 2012 are made of flexible elastic materials, flexible rubber materials are preferably selected, other materials can be selected according to actual requirements, the flexibility of the inner limiting layer 2012 is larger than that of the outer limiting layer 2011, the flexibility of the outer limiting layer 2011 and the flexibility of the inner limiting layer 2012 are different, the deformation direction of the main grabbing section 201 after being inflated is determined, the main grabbing section 201 is enabled to complete the action of flexible grabbing, the outer limiting layer 2011 occupies one third part of the main grabbing section 201, the outer limiting layer 2011 is arranged close to the pneumatic grabbing section 101, the main grabbing section 201 is enabled to achieve the action of flexible grabbing, the permanent magnet blocks are enabled to face the inner limiting layer 2012 after being inflated, the two adjacent permanent magnet blocks are enabled to be prevented to be in the bending direction of the inner side limiting layer 2012, the two adjacent permanent magnet blocks are enabled to be prevented from falling off the adjacent to each other, and the two adjacent permanent magnet blocks are enabled to be prevented from being in the magnetic vice-side 6 are enabled to be in the magnetic-contact with each other, and the adjacent side segment is prevented from being attached to the adjacent side segment 202, and the two side by the flexible blocks are prevented from being attached to the adjacent to the side section side by the side section 202;
referring to fig. 2, 3, 4 and 6, a cavity is formed in the flexible wrapping and clamping hand 2, an air bag is placed in the cavity, restraining pieces 4 are fixedly connected to inner walls of two ends of the air bag far away from the pneumatic hand 101, the restraining pieces 4 are made of hard materials, plastic materials are preferably selected, other materials can be selected according to actual requirements, the restraining pieces 4 are arc-shaped, the air bag starts to bend towards opposite sides of the restraining pieces 4 after being inflated with air, so that flexible grabbing actions of the flexible wrapping and clamping hand 2 are achieved, the restraining pieces 4 play a role in limiting the expansion direction of the air bag, flexible connecting pieces 5 are fixedly connected between the two restraining pieces 4, the flexible connecting pieces 5 are made of elastic materials, polyurethane elastic materials are preferably selected, other materials can be also selected according to actual requirements, the flexible connecting pieces 5 are located in middle positions of the two restraining pieces 4, flexible connecting pieces 5 enable flexible connection between the two restraining pieces 4, the two restraining pieces 4 can be turned back to achieve reset, and accordingly the flexible wrapping and clamping hand 2 completes flexible grabbing actions, each flexible wrapping and clamping hand 2 is connected with the air bag through the two air bags 3 and the air bag, and the flexible wrapping and clamping hand 2 extend into the sealed space between the air bag and the air bag, and the air bag is connected with the air bag through the air bag and the air bag 3 and the flexible wrapping and the air clamping hand 2;
referring to fig. 9, a plurality of connection ports matched with the connection pipe orifice 3 are formed in the side wall of the pneumatic gripper 101, a threaded sleeve 1011 in threaded connection with the connection pipe orifice 3 is fixedly inlaid at the connection port, the flexible wrapping gripper 2 and the pneumatic gripper 101 are detachably connected through the threaded connection of the connection pipe orifice 3 and the threaded sleeve 1011, so that the pneumatic gripper 101 can grip a single large-size object additionally, applicability is effectively improved, the stability of threaded connection is enhanced through the threaded sleeve 1011, air leakage is effectively avoided, an air-tight cover matched with the threaded sleeve 1011 is further arranged outside the pneumatic gripper 101, and after the flexible wrapping gripper 2 is removed, the air-tight cover is screwed on the threaded sleeve 1011 to realize sealing when a working mode of removing the flexible wrapping gripper 2 is selected.
The working principle of the scheme is as follows: after the pneumatic flexible robot body 1 is started to work, the pneumatic flexible robot body 1 is inflated into different pneumatic grippers 101 by controlling the sequence of starting the electromagnetic valves, so that the two opposite pneumatic grippers 101 are inflated firstly, then the rest pneumatic grippers 101 are inflated later, thereby realizing the grabbing effect on a plurality of articles at one time, the pneumatic grippers 101 are inflated and simultaneously the flexible wrapping grippers 2 are inflated, the restraint 4 limits the expansion direction of the flexible wrapping grippers 2 after the flexible wrapping grippers 2 are inflated, and the restraint 4 and the inner limiting layer 2012 limit the flexible wrapping grippers 2 to bend inwards, thereby realizing the flexible grabbing action, achieving the aim of grabbing a plurality of articles simultaneously, and the two adjacent flexible wrapping grippers 2 are connected together by virtue of the magnetic attraction effect of the permanent magnet 6, so that the gripping effect on a plurality of articles is realized, and the pneumatic grippers 101 are effectively prevented from dropping down.
The electromagnetic valve sequentially supplies air to different pneumatic grippers 101, the flexible wrapping and clamping gripper 2 is used for gripping a plurality of objects at one time, the working efficiency is effectively improved, the objects can be effectively prevented from falling off in the gripping process due to the mutual staggering among the flexible wrapping and clamping grippers 2 during gripping, the electromagnetic valve is suitable for gripping heavier objects, the restraint piece 4 and the flexible connecting piece 5 are arranged in the flexible wrapping and clamping gripper 2, the restraint piece 4 is made to bulge through the expansion effect during inflation, the flexible wrapping and clamping gripper 2 is made to overturn and deform through the limiting effect of the restraint piece 4, the wrapping and clamping action of the flexible wrapping and clamping gripper 2 is realized, the flexible gripping of the flexible wrapping and clamping gripper 2 is reflected, the working efficiency of the flexible robot is realized, the plurality of objects are gripped at one time by the flexible wrapping and clamping gripper 2, the frequency of repeated gripping actions of the robot is greatly reduced, the gripping efficiency is effectively improved, and the service life of the flexible robot is further prolonged.
The foregoing description is only a preferred embodiment of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art, within the scope of the present application, should apply to the present application, and all changes and modifications as fall within the scope of the present application.
Claims (10)
1. The utility model provides a high efficiency pneumatic flexible robot, includes pneumatic flexible robot body (1), install a plurality of pneumatic tongs (101) on pneumatic flexible robot body (1), pneumatic flexible robot body (1) include a plurality of air feed lines with pneumatic tongs (101) inside air chamber intercommunication, its characterized in that, every air feed line go up all install the solenoid valve, every all be connected with a plurality of flexibility on pneumatic tongs (101) and wrap up in and hold in tongs (2), the cavity has been seted up to the inside of holding in tongs (2), and has placed the gasbag in the cavity, the gasbag is kept away from the equal fixedly connected with restraint (4) of both ends inner wall of pneumatic tongs (101), and fixedly connected with flexonics piece (5) between two restraint (4), every all be linked together between flexible tongs (2) and pneumatic tongs (101) air chamber and be connected with mouth of pipe (3), and connecting mouth of pipe (3) run through flexonics piece (5) and extend to in, flexible coupling piece (5), two restraint space between two air bags (4) enclose into airtight space.
2. A high efficiency pneumatic flexible robot as claimed in claim 1, wherein the flexible pinch grip (2) comprises a main grip section (201), and two ends of the main grip section (201) are fixedly connected with auxiliary grip sections (202).
3. A high efficiency pneumatic flexible robot as claimed in claim 2, wherein the main gripping section (201) is cylindrical in shape and the main gripping section (201) is composed of an outer limiting layer (2011) and an inner limiting layer (2012).
4. A high efficiency pneumatic flexible robot as claimed in claim 3, wherein the outer limit layer (2011) and the inner limit layer (2012) are made of flexible elastic material, and the flexibility of the inner limit layer (2012) is greater than that of the outer limit layer (2011).
5. A high efficiency pneumatic flexible robot as claimed in claim 3, wherein the outer limit layer (2011) occupies one third of the main grip section (201) and the outer limit layer (2011) is arranged close to the pneumatic grip (101).
6. The high-efficiency pneumatic flexible robot according to claim 2, wherein the auxiliary grabbing section (202) is made of a silica gel material, permanent magnet blocks (6) are fixedly inlaid on the inner wall of the auxiliary grabbing section (202), and two adjacent permanent magnet blocks (6) are mutually magnetically adsorbed.
7. The high-efficiency pneumatic flexible robot according to claim 1, wherein a plurality of connectors matched with the connecting pipe orifice (3) are formed in the side wall of the pneumatic gripper (101), a threaded sleeve (1011) in threaded connection with the connecting pipe orifice (3) is fixedly inlaid at the connectors, and a gas-tight cover matched with the threaded sleeve (1011) is further arranged outside the pneumatic gripper (101).
8. A high efficiency pneumatic flexible robot as claimed in claim 1, wherein the restraining member (4) is made of hard material, and the restraining member (4) is arc-shaped.
9. A high efficiency pneumatic flexible robot as claimed in claim 1, wherein the flexible connection member (5) is made of elastic material, and the flexible connection member (5) is located at a middle position of the two constraint members (4).
10. The high-efficiency pneumatic flexible robot according to claim 1, wherein the side wall of the flexible wrapping gripper (2) far away from the pneumatic gripper (101) is fixedly connected with a plurality of anti-falling gaskets (7), the anti-falling gaskets (7) comprise a plurality of petal-shaped sticky sheets, and the sticky sheets are made of rubber materials.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310020158.4A CN116021535A (en) | 2023-01-06 | 2023-01-06 | High-efficiency pneumatic flexible robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310020158.4A CN116021535A (en) | 2023-01-06 | 2023-01-06 | High-efficiency pneumatic flexible robot |
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| Publication Number | Publication Date |
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| CN116021535A true CN116021535A (en) | 2023-04-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202310020158.4A Pending CN116021535A (en) | 2023-01-06 | 2023-01-06 | High-efficiency pneumatic flexible robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117775322A (en) * | 2024-01-10 | 2024-03-29 | 同济大学 | Space flexible gripper driven by micro energy |
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2023
- 2023-01-06 CN CN202310020158.4A patent/CN116021535A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117775322A (en) * | 2024-01-10 | 2024-03-29 | 同济大学 | Space flexible gripper driven by micro energy |
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