CN116277118A - Coupler assembling manipulator - Google Patents
Coupler assembling manipulator Download PDFInfo
- Publication number
- CN116277118A CN116277118A CN202310564537.XA CN202310564537A CN116277118A CN 116277118 A CN116277118 A CN 116277118A CN 202310564537 A CN202310564537 A CN 202310564537A CN 116277118 A CN116277118 A CN 116277118A
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- China
- Prior art keywords
- frame
- arc
- coupler
- fixedly connected
- incomplete gear
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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
- B25J15/08—Gripping heads and other end effectors having finger members
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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
- B25J15/0028—Gripping heads and other end effectors with movable, e.g. pivoting gripping jaw surfaces
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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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/0213—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by gears
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/50—Manufacturing or production processes characterised by the final manufactured product
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of coupler assembly, in particular to a coupler assembly manipulator, which comprises a connecting disc and further comprises: a driving structure connected with the connecting disc; the movable grabbing mechanism comprises a groove seat connected with the driving structure, the groove seat is fixedly connected with a plurality of groups of guide strips, the guide strips are slidably connected with a sliding rack, the sliding rack is fixedly connected with a plurality of groups of arc racks, arc grooves are formed in the groove seat, the arc grooves are movably connected with a positioning mechanism, the positioning mechanism is rotationally connected with an incomplete gear, the incomplete gear is meshed with the arc racks, and the incomplete gear is fixedly connected with a separating claw structure; and the linear driving mechanism is connected with the sliding frame. According to the invention, the clamping angle and the clamping position of the coupler are adjusted by adjusting the position of the positioning mechanism in the arc-shaped groove and the meshing position of the incomplete gear and the arc-shaped rack, so that the applicability and the universality of the coupler are improved, the coupler is suitable for the whole assembly line for coupler assembly, and the maintenance difficulty of the assembly line for coupler assembly is reduced.
Description
Technical Field
The invention relates to the technical field of coupler assembly, in particular to a coupler assembly manipulator.
Background
In microwave systems, it is often necessary to divide a microwave power path into several paths in proportion, which is a problem of power distribution. The elements that achieve this function are called power distribution components, i.e. couplers, and mainly comprise: directional couplers, power splitters and various microwave branching devices. The coupler is a radio frequency device which extracts a small part of signals from a wireless signal main channel, and the coupler belongs to a power distribution device like a power divider, except that the coupler is a non-equal power distribution device. The coupler is matched with the power divider for use, and the transmitting power of each antenna port is basically the same in order to achieve a goal that the transmitting power of the signal source can be distributed to each antenna port of the indoor distribution system as evenly as possible.
Modern coupler assembly production often adopts assembly line assembly to add welded mode and assembles, specifically adopts sharp continuous type conveyer belt cooperation manipulator to realize the material loading, because the coupler component is numerous and the structure is different for on the assembly line, because current manipulator commonality is relatively poor, same kind of manipulator can't need adjust according to the difference of the part of centre gripping, thereby lead to the existence multiple mutually non-universal manipulator on the coupler assembly line, greatly increased the maintenance degree of difficulty to the manipulator on the coupler assembly line.
Disclosure of Invention
The present invention is directed to a coupler assembling manipulator, which solves the above-mentioned problems in the prior art.
In order to achieve the above purpose, the present invention provides the following technical solutions:
a coupler assembly manipulator comprising a land, further comprising:
a plurality of groups of driving structures connected with the connecting disc;
the movable grabbing and clamping mechanism is connected with the driving structure and comprises a groove seat connected with the driving structure, a plurality of groups of guide bars are fixedly connected with the groove seat, a sliding frame is connected with the guide bars in a sliding mode, a plurality of groups of arc racks are fixedly connected with the sliding frame, arc grooves are formed in the groove seat, when the groove seats are mutually abutted, the arc grooves are mutually communicated, the arc racks with the same height are in butt joint to form an annular rack structure, the arc grooves are movably connected with a positioning mechanism, the positioning mechanism is rotationally connected with an incomplete gear, the incomplete gear is meshed with the arc racks, and the incomplete gear is fixedly connected with a separating claw structure;
and the linear driving mechanism is connected with the sliding frame and is connected with the driving structure.
As a further improvement of the invention: the driving structure comprises a guide frame fixedly connected with the connecting disc, the guide frame is connected with the linear driving mechanism, a first motor is fixedly installed on one side of the guide frame, the first motor is connected with a groove seat through a screw rod, and the groove seat is in sliding connection with the guide frame.
As a further improvement of the invention: the positioning mechanism comprises a sliding block which is in sliding connection with the arc-shaped groove, a hinged frame which is in rotating connection with the incomplete gear is fixedly connected with the sliding block, an electromagnet is fixedly installed in the sliding block, the electromagnet is connected with a permanent magnet through a first spring, the permanent magnet is fixedly connected with an abutting frame which is in sliding connection with the sliding block, and the abutting frame is in movable connection with the arc-shaped groove.
As a further improvement of the invention: the separating claw structure comprises a connecting frame fixedly connected with the incomplete gear, a claw body is sleeved on the connecting frame, a clamping frame is fixedly installed on one side of the connecting frame, a limiting frame is connected with the clamping frame in a sliding mode, a second spring is installed between the limiting frame and the clamping frame, and the limiting frame is movably connected with the claw body.
As a further improvement of the invention: the linear driving mechanism comprises a center frame fixedly connected with the guide frame, the center frame is fixedly connected with an active telescopic rod, a sleeve body is fixedly arranged at the moving end of the active telescopic rod, and a linkage plate fixedly connected with the sliding frame is connected with the sleeve body in a sliding manner.
As a further improvement of the invention: the arc racks are arranged at equal intervals along the moving direction of the carriage.
As a further improvement of the invention: and the sliding frame is provided with a T-shaped groove matched with the guide strip.
Compared with the prior art, the invention has the beneficial effects that:
the driving structure is used for enabling the groove seats to be far away from each other in a mode of adjusting the positions of the groove seats, so that the butted arc grooves are separated from each other, arc racks are separated from each other, space is provided for personnel to install the positioning mechanism in the arc grooves, before the positioning mechanism is installed in the arc grooves, the personnel can deflect through adjusting the deflection angle of the incomplete gear, and accordingly the initial position of the separating claw structure is adjusted. According to the invention, the clamping angle and the clamping position of the coupler are adjusted by adjusting the position of the positioning mechanism in the arc-shaped groove and the meshing position of the incomplete gear and the arc-shaped rack, so that personnel can adjust the coupler adaptively according to the difference of the coupler assembly part structures, the coupler is suitable for clamping parts of different structures of the coupler, the applicability and the universality of the coupler are improved, the coupler is suitable for a whole coupler assembly line, and the maintenance difficulty of the coupler assembly line is reduced.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a top view of the present invention;
FIG. 3 is a bottom view of the present invention;
FIG. 4 is an enlarged partial schematic view of the present invention at A in FIG. 2;
FIG. 5 is a schematic view of the structure of the slider, electromagnet, first spring, permanent magnet and abutment frame of the present invention in cooperation with each other;
FIG. 6 is a schematic perspective view of a moving pinch grip of the present invention;
fig. 7 is a schematic structural view of the moving clip mechanism of the present invention.
In the figure: 1. a connecting disc; 2. a driving structure; 3. a movable grabbing mechanism; 4. a first motor; 5. a groove seat; 6. a guide bar; 7. a carriage; 8. an arc-shaped rack; 9. an arc-shaped groove; 10. a positioning mechanism; 11. an incomplete gear; 12. a separation claw structure; 13. a linear driving mechanism; 14. a guide frame; 15. a screw; 16. a slide block; 17. a hinge bracket; 18. an electromagnet; 19. a first spring; 20. a permanent magnet; 21. the abutting frame; 22. a connecting frame; 23. a claw body; 24. a clamping frame; 25. a limiting frame; 26. a center frame; 27. an active telescopic rod; 28. a sleeve body; 29. a linkage plate; 30. a T-shaped groove; 31. and a second spring.
Detailed Description
The technical scheme of the patent is further described in detail below with reference to the specific embodiments.
Referring to fig. 1 to 7, an assembly manipulator for a coupler includes a connection pad 1, a connection hole for externally connecting a moving mechanism is formed on the connection pad 1, the externally connected moving mechanism may be a mechanical arm with multiple degrees of freedom, or may be a cylinder with a connection structure, where the connection structure is used for docking with the connection pad 1, and further includes:
a plurality of groups of driving structures 2 connected with the connecting disc 1;
the movable grabbing mechanism 3 is connected with the driving structure 2, the movable grabbing mechanism 3 comprises a groove seat 5 connected with the driving structure 2, a plurality of groups of guide strips 6 are fixedly connected to the groove seat 5, the number of the guide strips 6 can be two groups, the number of the guide strips 6 can be four groups, the guide strips 6 are slidably connected with a sliding frame 7, the sliding frame 7 comprises a guide rail slidably connected with the guide strips 6 and an arc plate fixedly connected with the guide rail, the arc plate of the sliding frame 7 is fixedly connected with a plurality of groups of arc racks 8, the number of the arc racks 8 on each group of sliding frame 7 can be sixteen groups, or eighteen groups, arc grooves 9 are formed in the groove seat 5, when the groove seats 5 are abutted to each other, the arc racks 8 of the groove seat 5 are mutually communicated and are butted into an annular rack structure, the arc grooves 9 are movably connected with a positioning mechanism 10, the positioning mechanism 10 is rotatably connected with an incomplete gear 11, the incomplete gear 11 is meshed with the arc racks 8, the incomplete gear 11 is fixedly connected with a separation claw structure 12, and the separation claw structure 12 is used for separating a material grabbing claw structure;
and the linear driving mechanism 13 is connected with the carriage 7, the linear driving mechanism 13 enables the arc racks 8 with different heights to be meshed with the incomplete gear 11 by adjusting the position of the carriage 7, and the linear driving mechanism 13 is connected with the driving structure 2.
The driving structure 2 is characterized in that the groove seats 5 are separated by adjusting the positions of the groove seats 5, the butted arc grooves 9 are separated from each other, the arc racks 8 are separated from each other, a space is provided for personnel to install the positioning mechanism 10 in the arc grooves 9, before the positioning mechanism 10 is installed in the arc grooves 9, the personnel adjust the initial positions of the separating claw structures 12 by adjusting the deflection angles of the incomplete gears 11, after the positioning mechanism 10 is installed in the arc grooves 9 and the positions of the incomplete gears 9 are adjusted, the positioning mechanism 10 carries out self-limiting, the positions of the incomplete gears 11 are limited, then under the driving of the driving structure 2, the groove seats 5 are reset, under the driving of the linear driving mechanism 13, the sliding frame 7 moves, the arc racks 8 are driven by the sliding frame 7 to move, and the effect of the plurality of groups of arc racks 8 together with the sliding frame 7 is equivalent to that of moving racks are meshed, so that the moving arc racks 8 drive the incomplete gears 11 to deflect, and the separating claw structures 12 carry out claw picking operation under the driving of the incomplete gears 11. According to the invention, the clamping angle and the clamping position of the coupler are adjusted by adjusting the position of the positioning mechanism 10 in the arc-shaped groove 9 and the meshing position of the incomplete gear 11 and the arc-shaped rack 8, so that personnel can adjust the coupler adaptively according to different coupler assembly component structures, the coupler is suitable for clamping components of different structures of the coupler, the applicability and the universality of the coupler are improved, the coupler is suitable for a whole coupler assembly line, and the maintenance difficulty of the coupler assembly line is reduced.
In one case of this embodiment, the driving structure 2 includes a guide frame 14 fixedly connected with the connection disc 1, the guide frame 14 is connected with the linear driving mechanism 13, the guide frame 14 is used for supporting the linear driving mechanism 13, a first motor 4 is fixedly installed on one side of the guide frame 14, an output shaft of the first motor 4 is fixedly connected with a screw rod 15, the screw rod 15 is in threaded connection with the groove seat 5, and the groove seat 5 is in sliding connection with the guide frame 14. The screw 15 rotates and drives the slot seat 5 to slide along the guide frame 14 under the drive of the first motor 4, so that the position of the slot seat 5 on the guide frame 14 is adjusted.
In one case of this embodiment, the positioning mechanism 10 includes a slider 16 slidably connected to the arc-shaped slot 9, the slider 16 is fixedly connected to a hinge bracket 17 rotatably connected to the incomplete gear 11, an electromagnet 18 is fixedly installed in the slider 16, the electromagnet 18 is connected to a permanent magnet 20 through a first spring 19, the permanent magnet 20 is fixedly connected to an abutment bracket 21 slidably connected to the slider 16, and the abutment bracket 21 is movably connected to the arc-shaped slot 9. Under the action of the magnetic field of the electromagnet 18, the permanent magnet 20 pulls the first spring 19 away from the electromagnet 18, so that the permanent magnet 20 presses the abutting frame 21, the abutting frame 21 presses the arc-shaped groove 9, the pressure between the inner wall of the arc-shaped groove 9 and the abutting frame 21 is increased, and the maximum static friction force between the inner wall of the arc-shaped groove 9 and the abutting frame 21 is further increased, so that the movement of the sliding block 16 is limited.
In one case of this embodiment, the separating claw structure 12 includes a connecting frame 22 fixedly connected with the incomplete gear 11, a claw body 23 is sleeved on the connecting frame 22, a clamping frame 24 is fixedly installed on one side of the connecting frame 22, the clamping frame 24 is slidably connected with a limiting frame 25, a second spring 31 is installed between the limiting frame 25 and the clamping frame 24, and the limiting frame 25 is movably connected with the claw body 23. The personnel pulls the spacing 25 for spacing 25 breaks away from the jaw 23, thereby releases spacing 25 to the jaw 23, and second spring 31 is compressed during that, dismantle from link 22 and dismantle the jaw 23 and install new jaw 23 on link 22 after personnel release spacing 25, under the drive of second spring 31, spacing 25 inserts in the jaw 23, spacing 25 is spacing jaw 23 again, thereby accomplish the convenient change to jaw 23, avoid personnel to use extra extracting tool.
In one case of this embodiment, the linear driving mechanism 13 includes a central frame 26 fixedly connected with the guide frame 14, the central frame 26 is fixedly connected with an active telescopic rod 27, the active telescopic rod 27 is optionally a hydraulic telescopic rod or an electric telescopic rod, a sleeve 28 is fixedly mounted at the moving end of the active telescopic rod 27, and a linkage plate 29 fixedly connected with the carriage 7 is slidably connected with the sleeve 28. The driving telescopic rod 27 drives the sleeve body 28 to move, the sleeve body 28 drives the sliding frame 7 to move through the linkage plate 29, so that the position of the sliding frame 7 is adjusted, when the sliding frames 7 are far away from each other, the linkage plate 29 moves along with the sliding frame 7, and the sleeve body 28 drives the sliding frames 7 far away from each other to synchronously move through the linkage plate 29 after sliding due to the sliding connection of the sleeve body 28 and the linkage plate 29, so that the linear driving mechanism 13 is convenient for driving the sliding frames 7 at different positions.
In one case of the present embodiment, the arc-shaped racks 8 are arranged at equal intervals in the moving direction of the carriage 7. The arrangement mode of the arc-shaped racks 8 on the sliding frame 7 is equal-spacing arrangement, so that the transmission continuity between the arc-shaped racks 8 and the incomplete gear 11 is improved conveniently.
In the second embodiment, referring to fig. 1 and 4, a T-shaped groove 30 adapted to the guide bar 6 is formed on the guide rail of the carriage 7. By arranging the T-shaped groove 30, when the guide strip 6 is driven by the groove seat 5, the guide strip 6 of the carriage 7 is separated in the moving direction of the groove seat 5, so that the carriage 7 can move along with the guide strip 6 conveniently.
The working process comprises the following steps: under the drive of the first motor 4, the screw 15 rotates and drives the slot seat 5 to slide along the guide frame 14, so that the position of the slot seat 5 on the guide frame 14 is adjusted, the butted arc-shaped slots 9 are separated from each other, the arc-shaped racks 8 are separated from each other, space is provided for a person to install the sliding block 16 in the arc-shaped slots 9, before the sliding block 16 is installed in the arc-shaped slots 9, the person adjusts the initial position of the separating claw structure 12 by adjusting the deflection angle of the incomplete gear 11, after the positioning mechanism 10 is installed in the arc-shaped slots 9 and the position in the arc-shaped slots 9 is adjusted, under the action of the magnetic field of the electromagnet 18, the permanent magnet 20 pulls the first spring 19 and moves away from the electromagnet 18, so that the permanent magnet 20 presses the abutting frame 21, the abutting frame 21 presses the arc-shaped slots 9, so that the pressure between the inner wall of the arc-shaped slots 9 and the abutting frame 21 is increased, and then the maximum static friction between the inner wall of the arc-shaped groove 9 and the abutting frame 21 is lifted, so that the sliding block 16 is limited to move, the position of the incomplete gear 11 is limited, then under the drive of the driving structure 2, the groove seat 5 is reset, the driving telescopic rod 27 drives the sleeve 28 to move, the sleeve 28 drives the sliding frame 7 to move through the linkage plate 29, so that the position of the sliding frame 7 is regulated, the sliding frame 7 drives the arc-shaped racks 8 to move, and the incomplete gear 11 is meshed with the arc-shaped racks 8, so that the effect of a plurality of groups of arc-shaped racks 8 moving together with the sliding frame 7 is equivalent to that of the moving racks, the moving arc-shaped racks 8 drive the incomplete gear 11 to deflect, and the connecting frame 22 rotates and drives the claw body 23 to move under the drive of the incomplete gear 11.
While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the invention, the scope of which is defined by the claims and their equivalents.
Claims (7)
1. The coupler assembling manipulator comprises a connecting disc, and is characterized by further comprising:
a plurality of groups of driving structures connected with the connecting disc;
the movable grabbing and clamping mechanism is connected with the driving structure and comprises a groove seat connected with the driving structure, a plurality of groups of guide bars are fixedly connected with the groove seat, a sliding frame is connected with the guide bars in a sliding mode, a plurality of groups of arc racks are fixedly connected with the sliding frame, arc grooves are formed in the groove seat, when the groove seats are mutually abutted, the arc grooves are mutually communicated, the arc racks with the same height are in butt joint to form an annular rack structure, the arc grooves are movably connected with a positioning mechanism, the positioning mechanism is rotationally connected with an incomplete gear, the incomplete gear is meshed with the arc racks, and the incomplete gear is fixedly connected with a separating claw structure;
and the linear driving mechanism is connected with the sliding frame and is connected with the driving structure.
2. The coupler assembly manipulator of claim 1, wherein the driving structure comprises a guide frame fixedly connected with the connecting disc, the guide frame is connected with the linear driving mechanism, a first motor is fixedly arranged on one side of the guide frame, the first motor is connected with a groove seat through a screw rod, and the groove seat is in sliding connection with the guide frame.
3. The coupler assembly manipulator of claim 1, wherein the positioning mechanism comprises a slider slidably connected with the arcuate slot, the slider is fixedly connected with a hinge bracket rotatably connected with the incomplete gear, an electromagnet is fixedly mounted in the slider, the electromagnet is connected with a permanent magnet through a first spring, the permanent magnet is fixedly connected with an abutting bracket slidably connected with the slider, and the abutting bracket is movably connected with the arcuate slot.
4. The coupler assembling manipulator according to claim 1, wherein the separating claw structure comprises a connecting frame fixedly connected with the incomplete gear, a claw body is sleeved on the connecting frame, a clamping frame is fixedly installed on one side of the connecting frame, a limiting frame is slidably connected with the clamping frame, a second spring is installed between the limiting frame and the clamping frame, and the limiting frame is movably connected with the claw body.
5. The coupler assembling manipulator according to claim 2, wherein the linear driving mechanism comprises a center frame fixedly connected with the guide frame, the center frame is fixedly connected with an active telescopic rod, a sleeve body is fixedly arranged at the moving end of the active telescopic rod, and a linkage plate fixedly connected with the sliding frame is slidably connected with the sleeve body.
6. The coupler assembly robot of claim 1, wherein the arcuate racks are equally spaced along the direction of movement of the carriage.
7. The coupler assembly manipulator of claim 1, wherein the carriage is provided with a T-shaped slot adapted to the guide bar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310564537.XA CN116277118B (en) | 2023-05-19 | 2023-05-19 | Coupler assembling manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310564537.XA CN116277118B (en) | 2023-05-19 | 2023-05-19 | Coupler assembling manipulator |
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| Publication Number | Publication Date |
|---|---|
| CN116277118A true CN116277118A (en) | 2023-06-23 |
| CN116277118B CN116277118B (en) | 2023-08-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202310564537.XA Active CN116277118B (en) | 2023-05-19 | 2023-05-19 | Coupler assembling manipulator |
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| CN (1) | CN116277118B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116786912A (en) * | 2023-08-07 | 2023-09-22 | 昆山德系智能装备有限公司 | High-precision rack splicing gripper and splicing positioning method thereof |
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| CN112792591A (en) * | 2020-05-18 | 2021-05-14 | 浙江金保科技有限公司 | Special fixture for cylindrical products |
| US20230028737A1 (en) * | 2021-07-20 | 2023-01-26 | Qingdao university of technology | Automobile hub fixture, machining device, and production line |
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| DE10302480A1 (en) * | 2003-01-23 | 2004-08-05 | Zimmer, Günther | Gripping device for gas or fluid supplying machine tool spindle, has piston or piston rod that lies close to spring against whose biasing direction cylinder piston unit is operated to release grab jaws |
| WO2017199239A1 (en) * | 2016-05-15 | 2017-11-23 | B.G. Negev Technologies And Applications Ltd., At Ben-Gurion University | Convertible frictionless to frictional fingertips for a gripper to improve robotic grasp robustness |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116786912A (en) * | 2023-08-07 | 2023-09-22 | 昆山德系智能装备有限公司 | High-precision rack splicing gripper and splicing positioning method thereof |
| CN116786912B (en) * | 2023-08-07 | 2024-01-23 | 昆山德系智能装备有限公司 | High-precision rack splicing gripper and splicing positioning method thereof |
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|---|---|
| CN116277118B (en) | 2023-08-01 |
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