CN207120242U - A kind of novel holding device - Google Patents
A kind of novel holding device Download PDFInfo
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- CN207120242U CN207120242U CN201721030849.9U CN201721030849U CN207120242U CN 207120242 U CN207120242 U CN 207120242U CN 201721030849 U CN201721030849 U CN 201721030849U CN 207120242 U CN207120242 U CN 207120242U
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Abstract
The utility model discloses a kind of novel holding device, the adapter sleeve of two arm ends of robot is socketed in including screw thread respectively, side of the adapter sleeve away from robot arm is provided with fixed cover, lateral wall of the adapter sleeve away from robot arm side is provided with annular link slot corresponding with fixed cover, the fixed cover is threadedly coupled with the madial wall of annular link slot, the bottom of the adapter sleeve and fixed cover is respectively equipped with the first fixing port and the second fixing port being oppositely arranged, connected ball is provided with first fixing port and the second fixing port, drag ring is arranged with the connected ball, annular fixing groove corresponding with drag ring is equipped with the madial wall of first fixing port and the second fixing port.The utility model is simple in construction, easy to use, the clamping that can be stablized to drawing board and paintbrush, while the deflection of convenient control drawing board and paintbrush, being smoothed out for convenient drawing, improves drawing efficiency, ensure that drawing quality.
Description
Technical field
It the utility model is related to robotic technology field, more particularly to a kind of novel robot clamping device.
Background technology
Robot is the automatic installations for performing work, and it can both receive mankind commander, and can run advance volume again
The program of row, can also be according to the principle guiding principle action formulated with artificial intelligence technology, and its task is assistance or the substitution mankind
The work of work, such as production industry, construction industry, or dangerous work.
Nowadays the characteristics of robot develops can be summarized as：In transverse direction, application surface is more and more wider, is expanded by 95% commercial Application
Open up the non-industrial applications to more areas.Traditional robot can not be carried out steady in the application in drawing field to drawing board and paintbrush
Clamp is held, while the regulation to drawing board and the deflection angle of paintbrush is inconvenient, so as to cause drawing not to be smoothed out, reduces
Drawing efficiency, influence drawing quality.
In order to solve the above problems, we have proposed a kind of novel holding device.
Utility model content
The purpose of this utility model is in order to solve that stable holding can not be carried out to drawing board and paintbrush in the prior art, simultaneously
Regulation to drawing board and the deflection angle of paintbrush is inconvenient, so as to cause drawing not to be smoothed out, reduces drawing efficiency, shadow
The problem of ringing drawing quality, and a kind of novel holding device proposed.
To achieve these goals, the utility model employs following technical scheme：
A kind of novel holding device, including screw thread is socketed in the adapter sleeve of two arm ends of robot, the company respectively
Side of the female connector away from robot arm is provided with fixed cover, and lateral wall of the adapter sleeve away from robot arm side is provided with
Annular link slot corresponding with fixed cover, the fixed cover are threadedly coupled with the madial wall of annular link slot, the adapter sleeve and
The bottom of fixed cover is respectively equipped with the first fixing port and the second fixing port being oppositely arranged, and first fixing port and second are fixed
It is intraoral to be provided with connected ball, drag ring is arranged with the connected ball, on the madial wall of first fixing port and the second fixing port
Annular fixing groove corresponding with drag ring is equipped with, the drag ring is fixedly connected with the madial wall of annular fixing groove, the company
Two ends received extend through the first fixing port and the second fixing port and stretched out, two ends that the connected ball runs through
Portion is equipped with thread groove, is threaded with head rod and the second connecting rod, the connection in two thread grooves respectively
The inside of set is provided with transmission mechanism, and the one end of the head rod away from thread groove inner bottom part is connected with transmission mechanism, two
The two described one end of second connecting rod away from connected ball on robot arm have been respectively fixedly connected with the second contiguous block and
Three contiguous blocks, the described one end of second contiguous block away from the second connecting rod are fixedly connected with drawing board fixed mechanism, and the described 3rd connects
Connect side of the block away from the second connecting rod and be fixedly connected with paintbrush fixed mechanism.
Preferably, the transmission mechanism includes the first rotary electric machine being fixed on robot arm, and described first rotates
The output end of motor is connected with cam, and side of the cam away from the first rotary electric machine is fixedly connected with the second connecting shaft, institute
State to rotate in the second connecting shaft and be socketed with retainer ring, the first push-rod electric machine is fixedly connected with the retainer ring, described first pushes away
The push rod of bar motor is rotatably connected to the first connecting shaft, is fixedly connected with the first contiguous block in first connecting shaft, and described
Side of one contiguous block away from the first connecting shaft is fixedly connected with the one end of head rod away from thread groove inner bottom part.
Preferably, end and second connecting shaft end away from cam of first connecting shaft away from head rod is equal
It is fixedly connected with limited block.
Preferably, the drawing board fixed mechanism includes what is be fixedly connected with the one end of the second contiguous block away from the second connecting rod
Installing plate, second contiguous block are provided with standing groove close to the side of installing plate, and the second rotation electricity is fixed with the standing groove
Machine, side of the installing plate away from the second contiguous block are arranged with two clamping plates, and the clamping plate is set close to the side of installing plate
There is the first sliding block, the installing plate is provided with the first chute corresponding with the first sliding block, is rotatably connected in first chute
Screw rod, the screw rod are threadedly coupled with the first sliding block, are provided with cavity in the installing plate, one end similar in two screw rods is equal
Through the first chute madial wall and extend into cavity, one end that the screw rod is located in cavity is fixedly connected with the first helical teeth
Take turns, the second helical gear engaged is provided between two first helical gears, the output end of second rotary electric machine is passed through
Wear installing plate and be fixedly connected with the second helical gear.
Preferably, there is slipmat the relative side of two clamping plates by bonding agent fixed bonding.
Preferably, the paintbrush fixed mechanism includes what is be fixedly connected with the 3rd side of the contiguous block away from the second connecting rod
Installation set, the side of the installation set are fixedly connected with the second push-rod electric machine, and the push rod of second push-rod electric machine is through installation
Cover and be fixedly connected with the 3rd rotary electric machine, fixed cover is connected to connection ring on the 3rd rotary electric machine, the connection ring it is outer
Around multiple second sliding blocks are provided with side wall, the madial wall of the installation set is provided with the second chute corresponding with the second sliding block,
The output end of 3rd rotary electric machine is connected with paintbrush, and installation set is run through simultaneously in the one end of the paintbrush away from the 3rd rotary electric machine
Stretch out.
Preferably, around multiple accommodating grooves are provided with the madial wall of the installation set, the accommodating groove is positioned at two neighboring
Between second chute, the inner bottom part of the accommodating groove is connected with arc by spring and compresses plate, and the arc compresses plate away from bullet
The side of spring is provided with ball, and the ball compresses the end of plate through the notch of accommodating groove away from arc and is in contact with paintbrush.
Preferably, it is arranged with stabilizer on second contiguous block and the 3rd contiguous block, the one of two stabilizers
Side is fixedly connected with drawing board fixed mechanism and paintbrush fixed mechanism respectively.
In the utility model, due to the driving effect of the first rotary electric machine, so as to facilitate cam rotation, so as to facilitate second
Connecting shaft drives the rotation of the first push-rod electric machine, due to the driving of the first push-rod electric machine, so that its push rod length changes, so that it is right
The position of first contiguous block is adjusted, to facilitate the rotation of connected ball, so as to drawing board fixed mechanism and paintbrush fixed mechanism
Yawing moment be adjusted, due to the driving effect of the second rotary electric machine, so as to facilitate the second helical gear to rotate, due to first
Connection is engaged between helical gear and the second helical gear, so as to facilitate the second helical gear to drive screw rod to rotate, due to the first sliding block
It is connected with screw flight, while the contact with the first chute madial wall of the first sliding block, so as to facilitate the first sliding block in the first chute
Interior slip, and then the position of clamping plate is adjusted, to facilitate two clamping plates to be clamped drawing board, due to the second push-rod electric machine
Driving effect, so as to which the convenient position to the 3rd rotary electric machine is adjusted, and then the convenient height for adjusting paintbrush, due to the
The driving effect of three rotary electric machines, so as to facilitate the rotation of paintbrush, and then paintbrush is facilitated to be painted on drawing board.This practicality is new
Type is simple in construction, easy to use, the clamping that can be stablized to drawing board and paintbrush, while convenient control drawing board and paintbrush is inclined
Turn, being smoothed out for convenient drawing, improve drawing efficiency, ensure that drawing quality.
Brief description of the drawings
Fig. 1 be the utility model proposes a kind of novel holding device structural representation；
Fig. 2 is the structural representation at A in Fig. 1；
Fig. 3 be the utility model proposes a kind of novel holding device in drawing board fixed mechanism structural representation；
Fig. 4 be the utility model proposes a kind of novel holding device in paintbrush fixed mechanism structural representation；
Fig. 5 be the utility model proposes a kind of novel holding device in installation set structural representation.
In figure：1 adapter sleeve, 2 fixed covers, 3 connected balls, 4 drag rings, 5 head rods, 6 second connecting rods, 7 first connect
Connect block, 8 first connecting shafts, 9 first rotary electric machines, 10 cams, 11 second connecting shafts, 12 retainer rings, 13 first push-rod electric machines, 14
Second contiguous block, 15 the 3rd contiguous blocks, 16 installing plates, 17 second rotary electric machines, 18 clamping plates, 19 first sliding blocks, 20 screw rods, 21
One helical gear, 22 second helical gears, 23 slipmat, 24 installation sets, 25 second push-rod electric machines, 26 the 3rd rotary electric machines, 27 connections
Ring, 28 second sliding blocks, 29 paintbrushes, 30 springs, 31 arcs compress plate, 32 balls, 33 stabilizers, 34 limited blocks.
Embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the embodiment of the utility model is carried out
Clearly and completely describing, it is clear that described embodiment is only the utility model part of the embodiment, rather than whole
Embodiment.
In description of the present utility model, it is to be understood that term " on ", " under ", "front", "rear", "left", "right",
The orientation or position relationship of the instruction such as " top ", " bottom ", " interior ", " outer " are based on orientation shown in the drawings or position relationship, are only
Described for the ease of description the utility model and simplifying, rather than instruction or imply signified device or element must have it is specific
Orientation, with specific azimuth configuration and operation, therefore it is not intended that to limitation of the present utility model.
Reference picture 1-5, a kind of novel holding device, including screw thread is socketed in the connection of two arm ends of robot respectively
Set 1, side of the adapter sleeve 1 away from robot arm is provided with fixed cover 2, lateral wall of the adapter sleeve 1 away from robot arm side
Annular link slot corresponding with fixed cover 2 is provided with, fixed cover 2 is threadedly coupled with the madial wall of annular link slot, the He of adapter sleeve 1
The bottom of fixed cover 2 is respectively equipped with the first fixing port and the second fixing port being oppositely arranged, the first fixing port and the second fixing port
It is interior to be provided with connected ball 3, be arranged with drag ring 4 in connected ball 3, be equipped with the madial wall of the first fixing port and the second fixing port with
Annular fixing groove corresponding to drag ring 4, drag ring 4 are fixedly connected with the madial wall of annular fixing groove, and drag ring 4 can prevent
Lower connected ball 3 is acted on without external force to deflect, two ends of connected ball 3 extend through the first fixing port and the second fixing port and outside
Extension, two ends that connected ball 3 runs through are equipped with thread groove, head rod 5 are threaded with respectively in two thread grooves
With the second connecting rod 6.
The inside of adapter sleeve 1 is provided with transmission mechanism, head rod 5 one end and transmission mechanism away from thread groove inner bottom part
Connection, transmission mechanism include the first rotary electric machine 9 being fixed on robot arm, the output end connection of the first rotary electric machine 9
There is cam 10, side of the cam 10 away from the first rotary electric machine 9 is fixedly connected with the second connecting shaft 11, turned in the second connecting shaft 11
It is dynamic to be socketed with retainer ring 12, the first push-rod electric machine 13 is fixedly connected with retainer ring 12, the push rod of the first push-rod electric machine 13 rotates
The first connecting shaft 8 is connected with, the first contiguous block 7 is fixedly connected with the first connecting shaft 8, the first contiguous block 7 is away from the first connection
The side of axle 8 is fixedly connected with the one end of head rod 5 away from thread groove inner bottom part, and the first connecting shaft 8 is away from the first connection
The end of bar 5 and the second end of the connecting shaft 11 away from cam 10 are fixedly connected with limited location block 34, prevent retainer ring 12 from departing from
Second connecting shaft 11, while prevent the push rod of the first push-rod electric machine 13 from departing from the first connecting shaft 8.
Two second one end of connecting rod 6 away from connected ball 3 on two robot arms have been respectively fixedly connected with second
The contiguous block 15 of contiguous block 14 and the 3rd, the one end of the second contiguous block 14 away from the second connecting rod 6 are fixedly connected with drawing board and fix machine
Structure, side of the 3rd contiguous block 15 away from the second connecting rod 6 are fixedly connected with paintbrush fixed mechanism, the second contiguous block 14 and the 3rd
Be arranged with stabilizer 33 on contiguous block 15, the sides of two stabilizers 33 respectively with drawing board fixed mechanism and paintbrush fixed mechanism
It is fixedly connected, prevents the second contiguous block 14 and the 3rd contiguous block 15 from rocking, improve the stability of picture.
Drawing board fixed mechanism includes the installing plate being fixedly connected with the one end of the second contiguous block 14 away from the second connecting rod 6
16, the second contiguous block 14 is provided with standing groove close to the side of installing plate 16, and the second rotary electric machine 17 is fixed with standing groove, installation
Side of the plate 16 away from the second contiguous block 14 is arranged with two clamping plates 18, and clamping plate 18 is provided with first close to the side of installing plate 16
Sliding block 19, installing plate 16 be provided with 19 corresponding first chute of the first sliding block, be rotatably connected to screw rod 20, spiral shell in the first chute
Bar 20 is threadedly coupled with the first sliding block 19, and cavity is provided with installing plate 16, and one end similar in two screw rods 20 is slided through first
The madial wall of groove simultaneously extends into cavity, and one end that screw rod 20 is located in cavity is fixedly connected with the first helical gear 21, two
The second helical gear 22 engaged is provided between one helical gear 21, the output end of the second rotary electric machine 17 runs through installing plate 16 simultaneously
It is fixedly connected with the second helical gear 22, there is slipmat 23 the relative side of two clamping plates 18 by bonding agent fixed bonding, side
Just drawing board is clamped, while prevents from crushing drawing board.
Paintbrush fixed mechanism includes the installation set being fixedly connected with side of the 3rd contiguous block 15 away from the second connecting rod 6
24, the side of installation set 24 is fixedly connected with the second push-rod electric machine 25, and the push rod of the second push-rod electric machine 25 runs through installation set 24 simultaneously
The 3rd rotary electric machine 26 is fixedly connected with, fixed cover is connected to connection ring 27, the lateral wall of connection ring 27 on the 3rd rotary electric machine 26
It is upper around being provided with multiple second sliding blocks 28, the madial wall of installation set 24 be provided with 28 corresponding second chute of the second sliding block, it is anti-
Only the 3rd rotary electric machine 26 rocks, and the output end of the 3rd rotary electric machine 26 is connected with paintbrush 29, and paintbrush 29 rotates electricity away from the 3rd
One end of machine 26 is through installation set 24 and stretches out；
Around being provided with multiple accommodating grooves on the madial wall of installation set 24, accommodating groove between two neighboring second chute,
The inner bottom part of accommodating groove is connected with arc by spring 30 and compresses plate 31, and arc compresses side of the plate 31 away from spring 30 and is provided with rolling
Pearl 32, ball 32 compresses the end of plate 31 through the notch of accommodating groove away from arc and is in contact with paintbrush 29, due to spring 30
Elastic force make use, offseted with ball 32 so as to facilitate arc to compress plate 31, and then cause paintbrush 29 to keep connecing with ball 32
Touch, and then reduce the contact area of paintbrush 29 and the madial wall of installation set 24, reduce frictional force, facilitate the rotation of paintbrush 29.
In the utility model, due to the driving effect of the first rotary electric machine 9, so as to facilitate cam 10 to rotate, so as to convenient
Second connecting shaft 11 drives the rotation of the first push-rod electric machine 13, due to the driving of the first push-rod electric machine 13, so as to its push rod length
Change, and then the position of the first contiguous block 7 be adjusted, to facilitate the rotation of connected ball 3, so as to drawing board fixed mechanism and
The yawing moment of paintbrush fixed mechanism is adjusted, due to the driving effect of the second rotary electric machine 17, so as to facilitate the second helical teeth
Wheel 22 rotates, due to engaging connection between the first helical gear 21 and the second helical gear 22, so as to facilitate the band of the second helical gear 22
Dynamic screw rod 20 rotates, because the first sliding block 19 is threadedly coupled with screw rod 20, while the first sliding block 19 and the first chute madial wall
Contact, so as to facilitate the first sliding block 19 to be slided in the first chute, and then the position of clamping plate 18 is adjusted, to facilitate two
Clamping plate 18 is clamped to drawing board, due to the driving effect of the second push-rod electric machine 25, so as to convenient to the 3rd rotary electric machine 26
Position is adjusted, and then the convenient height for adjusting paintbrush 29, due to the driving effect of the 3rd rotary electric machine 26, so as to facilitate picture
The rotation of pen 29, and then facilitate paintbrush 29 to be painted on drawing board.
It is described above, the only preferable embodiment of the utility model, but the scope of protection of the utility model is not
This is confined to, any one skilled in the art is in the technical scope that the utility model discloses, according to this practicality
New technical scheme and its utility model design are subject to equivalent substitution or change, should all cover in protection model of the present utility model
Within enclosing.
Claims (8)
1. a kind of novel holding device, including screw thread is socketed in the adapter sleeve (1) of two arm ends of robot, its feature respectively
It is, side of the adapter sleeve (1) away from robot arm is provided with fixed cover (2), and the adapter sleeve (1) is away from robot
The lateral wall of arm side is provided with annular link slot corresponding with fixed cover (2), and the fixed cover (2) is interior with annular link slot
Sidewall thread connects, and the bottom of the adapter sleeve (1) and fixed cover (2) is respectively equipped with the first fixing port and second being oppositely arranged
Fixing port, first fixing port and the second fixing port are interior to be provided with connected ball (3), and drag ring is arranged with the connected ball (3)
(4) annular fixing groove corresponding with drag ring (4), institute, are equipped with the madial wall of first fixing port and the second fixing port
State drag ring (4) to be fixedly connected with the madial wall of annular fixing groove, two ends of the connected ball (3) extend through first and consolidated
Determine mouth and the second fixing port and stretch out, two ends that the connected ball (3) is run through are equipped with thread groove, two spiral shells
Head rod (5) and the second connecting rod (6) are threaded with groove respectively, the inside of the adapter sleeve (1) is provided with transmission
Mechanism, the one end of the head rod (5) away from thread groove inner bottom part is connected with transmission mechanism, on two robot arms
The one end of two second connecting rods (6) away from connected ball (3) has been respectively fixedly connected with the second contiguous block (14) and the 3rd and connected
Block (15) is connect, the one end of second contiguous block (14) away from the second connecting rod (6) is fixedly connected with drawing board fixed mechanism, described
Side of 3rd contiguous block (15) away from the second connecting rod (6) is fixedly connected with paintbrush fixed mechanism.
2. a kind of novel holding device according to claim 1, it is characterised in that the transmission mechanism includes being fixed on machine
The first rotary electric machine (9) in device human arm, the output end of first rotary electric machine (9) is connected with cam (10), described convex
The side of wheel (10) away from first rotary electric machine (9) is fixedly connected with the second connecting shaft (11), on second connecting shaft (11)
Rotation is socketed with retainer ring (12), and the first push-rod electric machine (13), first push rod are fixedly connected with the retainer ring (12)
The push rod of motor (13) is rotatably connected to the first connecting shaft (8), and the first contiguous block is fixedly connected with first connecting shaft (8)
(7), side of first contiguous block (7) away from the first connecting shaft (8) and the remote thread groove inner bottom part of head rod (5)
One end is fixedly connected.
3. a kind of novel holding device according to claim 2, it is characterised in that first connecting shaft (8) is away from the
The end of the end of one connecting rod (5) and the second connecting shaft (11) away from cam (10) is fixedly connected with limited location block (34).
4. a kind of novel holding device according to claim 1, it is characterised in that the drawing board fixed mechanism includes and the
The installing plate (16) that the one end of two contiguous blocks (14) away from the second connecting rod (6) is fixedly connected, second contiguous block (14) are leaned on
The side of nearly installing plate (16) is provided with standing groove, and the second rotary electric machine (17), the installing plate are fixed with the standing groove
(16) side away from the second contiguous block (14) is arranged with two clamping plates (18), and the clamping plate (18) is close to installing plate (16)
Side is provided with the first sliding block (19), and the installing plate (16) is provided with the first chute corresponding with the first sliding block (19), and described
Screw rod (20) is rotatably connected in one chute, the screw rod (20) is threadedly coupled with the first sliding block (19), the installing plate (16)
Interior to be provided with cavity, one end similar in two screw rods (20) is run through the madial wall of the first chute and extended into cavity, institute
State one end that screw rod (20) is located in cavity and be fixedly connected with the first helical gear (21), between two first helical gears (21)
Provided with the second helical gear (22) engaged, the output end of second rotary electric machine (17) is through installing plate (16) and with the
Two helical gears (22) are fixedly connected.
A kind of 5. novel holding device according to claim 4, it is characterised in that two clamping plates (18) it is relative one
There is slipmat (23) side by bonding agent fixed bonding.
6. a kind of novel holding device according to claim 1, it is characterised in that the paintbrush fixed mechanism includes and the
The installation set (24) that side of three contiguous blocks (15) away from the second connecting rod (6) is fixedly connected, the side of the installation set (24)
The second push-rod electric machine (25) is fixedly connected with, the push rod of second push-rod electric machine (25) through installation set (24) and is fixedly connected
There is the 3rd rotary electric machine (26), fixed cover is connected to connection ring (27), the connection ring (27) on the 3rd rotary electric machine (26)
Lateral wall on around being provided with multiple second sliding blocks (28), the madial wall of the installation set (24) provided with and the second sliding block (28)
Corresponding second chute, the output end of the 3rd rotary electric machine (26) are connected with paintbrush (29), and the paintbrush (29) is away from the
One end of three rotary electric machines (26) is through installation set (24) and stretches out.
7. a kind of novel holding device according to claim 6, it is characterised in that on the madial wall of the installation set (24)
Around multiple accommodating grooves are provided with, between two neighboring second chute, the inner bottom part of the accommodating groove passes through the accommodating groove
Spring (30) is connected with arc and compresses plate (31), and the arc compresses side of the plate (31) away from spring (30) and is provided with ball
(32), the ball (32) compresses the end of plate (31) through the notch of accommodating groove away from arc and is in contact with paintbrush (29).
8. a kind of novel holding device according to claim 1, it is characterised in that second contiguous block (14) and the 3rd
Be arranged with stabilizer (33) on contiguous block (15), the sides of two stabilizers (33) respectively with drawing board fixed mechanism and picture
Fixed mechanism is fixedly connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721030849.9U CN207120242U (en) | 2017-08-17 | 2017-08-17 | A kind of novel holding device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721030849.9U CN207120242U (en) | 2017-08-17 | 2017-08-17 | A kind of novel holding device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207120242U true CN207120242U (en) | 2018-03-20 |
Family
ID=61602537
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721030849.9U Active CN207120242U (en) | 2017-08-17 | 2017-08-17 | A kind of novel holding device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207120242U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108856535A (en) * | 2018-05-16 | 2018-11-23 | 白云涛 | A kind of logistics container fixed mechanism |
| TWI701117B (en) * | 2019-10-09 | 2020-08-11 | 僑光科技大學 | Under-actuated mechanical arm gripper |
-
2017
- 2017-08-17 CN CN201721030849.9U patent/CN207120242U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108856535A (en) * | 2018-05-16 | 2018-11-23 | 白云涛 | A kind of logistics container fixed mechanism |
| TWI701117B (en) * | 2019-10-09 | 2020-08-11 | 僑光科技大學 | Under-actuated mechanical arm gripper |
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