CN210704869U - Pneumatic flexible multi-finger-deformation mechanical clamping jaw - Google Patents
Pneumatic flexible multi-finger-deformation mechanical clamping jaw Download PDFInfo
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- CN210704869U CN210704869U CN201921377385.8U CN201921377385U CN210704869U CN 210704869 U CN210704869 U CN 210704869U CN 201921377385 U CN201921377385 U CN 201921377385U CN 210704869 U CN210704869 U CN 210704869U
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Abstract
The utility model provides a pneumatic flexible indicates many variants mechanical clamping jaw, its characterized in that: the device comprises a mounting seat, a fixed claw mounting rack and at least two rotary claw mounting racks; the fixed claw mounting frames and the rotary claw mounting frames are respectively connected with pneumatic soft fingers; the fixed claw mounting frame is connected with the mounting seat; each rotary claw mounting frame is connected with the mounting seat through a rotary driving mechanism respectively to realize that the rotary driving mechanism drives the rotary claw mounting frame to rotate, so that the pneumatic soft finger connected with the rotary claw mounting frame rotates to realize position adjustment. The mechanical clamping jaw can adjust the position of the pneumatic soft finger to form various clamping forms, is suitable for grabbing more types of objects, has good universality and can reduce the use cost.
Description
Technical Field
The utility model relates to a mechanical clamping jaw technical field, more specifically say, relate to a pneumatic flexible multi-finger variant mechanical clamping jaw.
Background
With the continuous development and maturity of intelligent industries such as robot technology, the proposal of industrial 4.0, the successive proposal and deepening of policies such as Chinese manufacturing 2025 and the like, the manufacturing industry has no profound changes, the industrial robot gradually replaces the human labor, and the application of the industrial robot extends to the logistics industry, the electronic industry, the food industry, the consumption field and the like.
In an automated production line, a manipulator is particularly important as an end effector for a robot to perform grabbing and assembling work. The application scene of the traditional rigid manipulator is generally fixed, and the rigidity matching degree of the traditional rigid manipulator is different from that of different objects; mainly because the material is mostly a rigid object, usually for objects of a specific size and shape; if complex actions are required, the number of required drive shafts increases, and the structure becomes more complex. The humanoid hand dexterous manipulator is limited in application range due to the reasons of complex structure, high manufacturing cost, complex control algorithm and the like.
Therefore, under the condition of more operation requirements, the pneumatic soft finger is gradually popularized, is cast and molded by a flexible material under a special process, can actively or passively change the shape and the rigidity of the finger, realizes the interactive work with different objects, and is more efficient, safe and convenient. For example, the chinese utility model patent "a flexible clamping jaw of pneumatic multi-finger configuration" (publication number: CN 207027549U) discloses a flexible clamping jaw of pneumatic multi-finger configuration, the actuator mainly comprises three soft fingers and a finger base, the soft fingers are inflated or sucked through the gas path, and the self-adaptive gripping of objects with different shapes and sizes can be realized under the characteristic of the flexible material. However, the existing pneumatic soft finger has a fixed finger base, and the position of the pneumatic soft finger cannot be flexibly changed according to the type of an object, so that the type of the object grabbed by the equipment is limited.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to overcome the shortcoming and not enough among the prior art, provide an adjustable pneumatic software finger position form multiple centre gripping form, be applicable to and snatch more types of object, have good commonality, can reduce use cost's pneumatic flexible multi-finger type mechanical clamping jaw.
In order to achieve the above purpose, the utility model discloses a following technical scheme realizes: the utility model provides a pneumatic flexible multi-finger variant mechanical clamping jaw which characterized in that: the device comprises a mounting seat, a fixed claw mounting rack and at least two rotary claw mounting racks; the fixed claw mounting frames and the rotary claw mounting frames are respectively connected with pneumatic soft fingers;
the fixed claw mounting frame is connected with the mounting seat; each rotary claw mounting frame is connected with the mounting seat through a rotary driving mechanism respectively to realize that the rotary driving mechanism drives the rotary claw mounting frame to rotate, so that the pneumatic soft finger connected with the rotary claw mounting frame rotates to realize position adjustment.
The utility model discloses mechanical clamping jaw's theory of operation is: the rotary driving mechanism drives each rotary claw mounting rack to rotate, so that a pneumatic soft finger connected with the rotary claw mounting racks rotates to realize position adjustment; all pneumatic soft fingers form multiple clamping forms, so that the pneumatic soft fingers are suitable for grabbing more types of objects, the universality of the equipment is improved, and the use cost is reduced.
Preferably, the number of the rotating claw mounting brackets is two; the two rotary claw mounting frames are hinged with the mounting seat at the same hinge position; the rotary driving mechanism comprises a linear motion driver connected to the mounting seat and a linkage piece;
the linear motion driver is connected with the linkage piece so as to realize that the linear motion driver drives the linkage piece to move; the two rotating claw mounting frames are respectively rotatably connected with the linkage piece, and the two connecting points are positioned on two sides of the movement axis; the movement axis refers to a movement axis passing through the hinge point and being parallel to the driving direction of the linear motion driver.
The linear motion driver drives the linkage piece to move, and the linkage piece drives the two rotary claw mounting frames to rotate around the hinge joint in opposite directions through the connecting points respectively so as to realize closing or rotate around the hinge joint in a back direction so as to realize separation; therefore, three pneumatic soft fingers connected with the rotating claw mounting rack and the fixed claw mounting rack can form a parallel clamping state or a wrapping clamping state; in the wrapping type clamping state, the pneumatic soft fingers connected with the two rotary claw mounting frames can be adjusted to different positions to form wrapping type clamping forms with various angles. The utility model discloses mechanical clamping jaw can realize the transformation of two centre gripping form schemes, has enlarged and has held the object scope of grabbing, and is safer, convenient, high-efficient. The rotary driving mechanism is simple and ingenious, the two rotary claw mounting frames can effectively rotate around the hinged position, and the position adjustment of the pneumatic soft finger is realized.
Preferably, the linear motion driver is a pneumatic cylinder; the piston rod of the cylinder is connected with the linkage piece.
Preferably, the two rotating claw mounting frames are respectively provided with a rotating hole; the linkage piece is provided with a long guide hole along the direction of the motion axis; the mounting seat is connected with a connecting piece; the rotary claw mounting frame, the linkage piece and the mounting seat are connected together through the connecting piece penetrating through the rotary hole of the rotary claw mounting frame and the long guide hole of the linkage piece.
Preferably, the fixed claw mounting frame is provided with a mounting groove; the two rotary claw mounting frames are respectively attached to the upper bottom surface and the lower bottom surface of the linkage piece and are rotatably connected with the upper bottom surface and the lower bottom surface of the linkage piece; the joint of the two rotary claw mounting frames and the linkage piece is embedded in the mounting groove, and the joint of the two rotary claw mounting frames and the linkage piece is positioned through the groove walls on the two sides of the mounting groove; the fixed claw mounting rack and the linkage piece are mutually positioned; the fixed claw mounting frame, the rotary claw mounting frame, the linkage piece and the mounting seat are connected together through the connecting piece penetrating through the rotary holes of the fixed claw mounting frame and the rotary claw mounting frame and the long guide hole of the linkage piece. The advantages of the design are as follows: the fixed claw mounting frame, the rotary claw mounting frame, the linkage piece and the mounting seat can be stably and reliably connected together, and the structure of the rotary driving mechanism is simplified.
Preferably, the rotating claw mounting frame and the linkage piece are connected by embedding the boss into the linkage mounting hole.
Preferably, the linkage member is a cam member; the rotating claw mounting frame is provided with a guiding position matched with the motion track of the edge of the cam piece. The arrangement of the cam piece can convert the linear driving action of the linear motion driver on the cam piece into the pushing action of the cam piece on the rotating claw mounting rack; the rotary jaw mounting bracket is preferably adapted to translate linear motion of the linear motion actuator into rotational motion of the rotary jaw mounting bracket by virtue of the urging force of the cam member in addition to the urging force of the point of attachment to the cam member.
Preferably, the pneumatic soft finger is adjustably connected to the stationary pawl mounting bracket and the rotating pawl mounting bracket, respectively. The advantage of this setting can be according to the size and the kind of the size and the adjustment of the distance of each pneumatic software finger of snatching the object, makes mechanical clamping jaw can better with various object phase-matchs, further improves mechanical clamping jaw's commonality.
Preferably, the fixed claw mounting frame and the rotating claw mounting frame are respectively provided with a long mounting hole, and the pneumatic soft finger is adjustably arranged in the long mounting hole.
Preferably, the mount is provided with an external mounting hole for connection with an external device.
Compared with the prior art, the utility model has the advantages of as follows and beneficial effect:
1. the mechanical clamping jaw can adjust the position of the pneumatic soft finger to form various clamping forms, is suitable for grabbing more types of objects, has good universality and can reduce the use cost; the method is safer, more convenient and more efficient;
2. the rotary driving mechanism of the mechanical clamping jaw of the utility model is simple and ingenious, effectively enables the two rotary jaw mounting racks to rotate around the hinged part, and realizes the position adjustment of the pneumatic soft finger;
3. the utility model discloses mechanical clamping jaw can adjust the distance that each pneumatic software pointed according to the size of a dimension and the kind that snatch the object, makes mechanical clamping jaw can better with various object phase-matchs, further improves mechanical clamping jaw's commonality.
Drawings
FIG. 1 is a schematic view of the wrapped gripping configuration of the mechanical gripper of the present invention;
FIG. 2 is a schematic structural view of the mechanical clamping jaws of the present invention in a parallel clamping configuration;
FIG. 3 is an exploded view of the mechanical jaw of the present invention;
FIG. 4 is an exploded view of the stationary jaw mounting bracket, the rotating jaw mounting bracket, and the linkage member of the present invention mechanical clamping jaw;
FIG. 5 is a schematic view of the mechanical gripper of the present invention in a wrapped gripping configuration;
FIG. 6 is a schematic view of the external support in the wrapped gripping configuration of the mechanical gripper of the present invention;
FIG. 7 is a schematic view of the mechanical clamping jaws of the present invention in a side-by-side clamping configuration;
FIG. 8 is a schematic view of the outer support of the mechanical clamping jaws of the present invention in a side-by-side clamping configuration;
wherein, 1 is a pneumatic soft finger, 2 is a fixed claw mounting rack, 21 is a mounting groove, 3 is a rotating claw mounting rack, 31 is a rotating hole, 32 is a boss, 33 is a guide bit, 4 is a linkage piece, 41 is a long guide hole, 42 is a linkage mounting hole, 5 is a cylinder, 6 is a cylinder support piece, 7 is a mosaic piece, 8 is a mounting seat, and 9 is a connecting piece.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Example one
The pneumatic flexible multi-finger mechanical clamping jaw is structurally shown in fig. 1 to 4 and comprises a mounting base 8, a fixed jaw mounting frame 2 and two rotary jaw mounting frames 3; the fixed claw mounting rack 2 and each rotating claw mounting rack 3 are respectively connected with a pneumatic soft finger 1.
The mount 8 is provided with an external mounting hole for connection with an external device. The fixed claw mounting frame 2 is connected with the mounting base 8; each rotating claw mounting frame 3 is connected with the mounting base 8 through a rotating driving mechanism. Specifically, the two rotary claw mounting frames 3 are hinged with the mounting seat 8 at the same hinge; the rotary drive mechanism comprises a linear actuator connected to the mounting 8, and a linkage 4.
The linear actuator may be of the known art, such as a pneumatic cylinder 5. The linear motion driver is connected with the linkage piece 4 to realize that the linear motion driver drives the linkage piece 4 to move.
The fixed claw mounting rack 2 is provided with a mounting groove 21; the two rotary claw mounting frames 3 are respectively attached to the upper bottom surface and the lower bottom surface of the linkage piece 4 and are embedded into the linkage mounting holes 42 through the bosses 32 to realize rotatable connection with the upper bottom surface and the lower bottom surface of the linkage piece 4; the joints of the two rotary claw mounting frames 3 and the linkage piece 4 are embedded in the mounting groove 21, and the joints of the two rotary claw mounting frames 3 and the linkage piece 4 are positioned through groove walls on two sides of the mounting groove 21. The fixed jaw mounting frame 2 and the linkage member 4 are mutually positioned.
The two rotary claw mounting frames 3 are respectively provided with a rotary hole 31; the linkage piece 4 is provided with a long guide hole 41 along the direction of the motion axis; the mounting seat 8 is connected with a connecting piece 9. The fixed claw mount 2, the rotating claw mount 3, the link 4 and the mount base 8 are coupled together by the connecting member 9 passing through the fixed claw mount 2, the rotation hole 31 of the rotating claw mount 3 and the elongated guide hole 41 of the link 4. The advantages of the design are as follows: the fixed claw mounting frame 2, the rotating claw mounting frame 3, the linkage member 4 and the mounting seat 8 can be stably and reliably connected together, and the structure of the rotary driving mechanism is simplified.
The utility model discloses mechanical clamping jaw's theory of operation is: the linear motion driver drives the linkage piece 4 to move, and the linkage piece 4 respectively drives the two rotary claw mounting frames 3 to rotate around the hinge joint in opposite directions through the connecting point to realize closing or rotate around the hinge joint in opposite directions to realize separation; therefore, the three pneumatic soft fingers 1 connected with the rotating claw mounting rack 3 and the fixed claw mounting rack 2 can form a parallel clamping state or a wrapping clamping state; in the wrapping type clamping state, the pneumatic soft fingers 1 connected with the two rotary claw mounting frames 3 can be adjusted to different positions to form wrapping type clamping forms with various angles.
The utility model discloses mechanical clamping jaw can realize the transformation of two centre gripping form schemes, has enlarged and has held the object scope of grabbing, can reduce use cost, and is safer, convenient, high-efficient. The rotary driving mechanism is simple and ingenious, the two rotary claw mounting frames 3 can effectively rotate around the hinged position, and the position of the pneumatic soft finger 1 can be adjusted.
The linkage 4 is a cam member; the rotary claw mounting frame 3 is provided with a guiding direction 33 matched with the motion track of the cam piece edge. The arrangement of the cam piece can convert the linear driving action of the linear motion driver on the cam piece into the pushing action of the cam piece on the rotating claw mounting rack 3; the rotary jaw mounting 3 is preferably adapted to convert the linear motion of the linear motion actuator into rotational motion of the rotary jaw mounting 3 by the urging force of the cam member in addition to the urging force of the point of attachment to the cam member.
The pneumatic soft finger 1 is respectively and adjustably connected with the fixed claw mounting frame 2 and the rotating claw mounting frame 3. In this embodiment, the fixed claw mounting bracket 2 and the rotating claw mounting bracket 3 are respectively provided with long mounting holes, and the pneumatic soft finger 1 is adjustably disposed in the long mounting holes. The advantage of this setting is that can adjust the distance of each pneumatic software finger 1 according to the size and the kind of snatching the object, makes mechanical clamping jaw can better with various object phase-matchs, further improves mechanical clamping jaw's commonality.
The structure and the working principle of the pneumatic soft finger can adopt the prior art.
When the form that needs snatched the object can stably grab and hold when mechanical clamping jaw is in the state that three pneumatic software fingers evenly arranged, mechanical clamping jaw adopts parcel formula centre gripping state, and cylinder 5 does not start. Then, the positive pressure input is carried out on the pneumatic soft finger 1 through an air pipe interface under a pneumatic loop; the pneumatic soft finger 1 is characterized in that the back side of the pneumatic soft finger 1 is made of a high-elasticity elastic material and is easy to stretch, and the inner side of the pneumatic soft finger 1 is made of a low-elasticity constraint material, so that the pneumatic soft finger 1 is bent inwards, and an object is grasped as shown in fig. 5. When the gripped object needs to be put down, negative pressure is input, the air bag is contracted, the pneumatic soft finger 1 is squeezed by the back side to be expanded outwards, and the object is released as shown in fig. 6.
When the shape of the object to be grabbed is not suitable for adopting wrapping type clamping and the parallel type clamping can better realize the clamping of the object, the air cylinder 5 is started. And then the linkage piece 4 connected with the cylinder 5 linearly moves along with the cylinder, and the linkage piece 4 enables the two rotary claw mounting frames 3 to be close to each other, so that the pneumatic soft fingers 1 form a parallel clamping state. Inputting positive pressure to the pneumatic soft finger 1 to grip the corresponding object, as shown in fig. 7; negative pressure is input to release the gripped object, as shown in fig. 8.
For rectangular or objects with two planes approximately parallel to each other, such as books, notebook batteries, keyboards and the like, parallel clamping is preferably adopted; for cylindrical objects such as water cups, moon cakes and the like and partial irregular objects, wrapping type clamping is preferably adopted; for the string-shaped fruits, the string-shaped fruits which are long in length and distributed in irregular shapes are preferably clamped in a wrapping manner; the fruit in a string shape with a short length and a regular inverted cone shape is preferably clamped in a parallel manner.
Example two
The pneumatic flexible multi-finger mechanical clamping jaw of the embodiment is different from the first embodiment in that: in this embodiment, the number of the rotating claw mounts is at least two or more, such as two, three, four, or even more. Each rotary claw mounting frame is connected with the mounting seat through a rotary driving mechanism respectively to realize that the rotary driving mechanism drives the rotary claw mounting frame to rotate, so that the pneumatic soft finger connected with the rotary claw mounting frame rotates to realize position adjustment. The rotary driving mechanism can adopt the prior art, such as an electric turntable and the like.
The rest of the structure of the present embodiment is the same as that of the first embodiment.
The above embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be equivalent replacement modes, and all are included in the scope of the present invention.
Claims (10)
1. The utility model provides a pneumatic flexible multi-finger variant mechanical clamping jaw which characterized in that: the device comprises a mounting seat, a fixed claw mounting rack and at least two rotary claw mounting racks; the fixed claw mounting frames and the rotary claw mounting frames are respectively connected with pneumatic soft fingers;
the fixed claw mounting frame is connected with the mounting seat; each rotary claw mounting frame is connected with the mounting seat through a rotary driving mechanism respectively to realize that the rotary driving mechanism drives the rotary claw mounting frame to rotate, so that the pneumatic soft finger connected with the rotary claw mounting frame rotates to realize position adjustment.
2. The pneumatically flexible multi-fingered mechanical jaw of claim 1, wherein: the number of the rotary claw mounting frames is two; the two rotary claw mounting frames are hinged with the mounting seat at the same hinge position; the rotary driving mechanism comprises a linear motion driver connected to the mounting seat and a linkage piece;
the linear motion driver is connected with the linkage piece so as to realize that the linear motion driver drives the linkage piece to move; the two rotating claw mounting frames are respectively rotatably connected with the linkage piece, and the two connecting points are positioned on two sides of the movement axis; the movement axis refers to a movement axis passing through the hinge point and being parallel to the driving direction of the linear motion driver.
3. The pneumatically flexible multi-fingered mechanical jaw of claim 2, wherein: the linear motion driver is an air cylinder; the piston rod of the cylinder is connected with the linkage piece.
4. The pneumatically flexible multi-fingered mechanical jaw of claim 2, wherein: the two rotating claw mounting frames are respectively provided with rotating holes; the linkage piece is provided with a long guide hole along the direction of the motion axis; the mounting seat is connected with a connecting piece; the rotary claw mounting frame, the linkage piece and the mounting seat are connected together through the connecting piece penetrating through the rotary hole of the rotary claw mounting frame and the long guide hole of the linkage piece.
5. The pneumatically flexible multi-fingered mechanical jaw of claim 4, wherein: the fixed claw mounting rack is provided with a mounting groove; the two rotary claw mounting frames are respectively attached to the upper bottom surface and the lower bottom surface of the linkage piece and are rotatably connected with the upper bottom surface and the lower bottom surface of the linkage piece; the joint of the two rotary claw mounting frames and the linkage piece is embedded in the mounting groove, and the joint of the two rotary claw mounting frames and the linkage piece is positioned through the groove walls on the two sides of the mounting groove; the fixed claw mounting rack and the linkage piece are mutually positioned; the fixed claw mounting frame, the rotary claw mounting frame, the linkage piece and the mounting seat are connected together through the connecting piece penetrating through the rotary holes of the fixed claw mounting frame and the rotary claw mounting frame and the long guide hole of the linkage piece.
6. The pneumatically flexible multi-fingered mechanical jaw of claim 5, wherein: the rotary claw mounting frame and the linkage piece are embedded into the linkage mounting hole through the boss to achieve connection.
7. The pneumatically flexible multi-fingered mechanical jaw of claim 5, wherein: the linkage piece is a cam piece; the rotating claw mounting frame is provided with a guiding position matched with the motion track of the edge of the cam piece.
8. Pneumatic flexible multi-fingered mechanical jaw according to any one of claims 1 to 7, characterized in that: the pneumatic soft finger is respectively and adjustably connected with the fixed claw mounting frame and the rotating claw mounting frame.
9. The pneumatically flexible multi-fingered mechanical jaw of claim 8, wherein: the fixed claw mounting frame and the rotating claw mounting frame are respectively provided with a long mounting hole, and the pneumatic soft finger is adjustably arranged in the long mounting hole.
10. Pneumatic flexible multi-fingered mechanical jaw according to any one of claims 1 to 7, characterized in that: the mounting seat is provided with an external mounting hole for connecting with external equipment.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921377385.8U CN210704869U (en) | 2019-08-23 | 2019-08-23 | Pneumatic flexible multi-finger-deformation mechanical clamping jaw |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921377385.8U CN210704869U (en) | 2019-08-23 | 2019-08-23 | Pneumatic flexible multi-finger-deformation mechanical clamping jaw |
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| CN210704869U true CN210704869U (en) | 2020-06-09 |
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| CN201921377385.8U Active CN210704869U (en) | 2019-08-23 | 2019-08-23 | Pneumatic flexible multi-finger-deformation mechanical clamping jaw |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111844119A (en) * | 2020-08-21 | 2020-10-30 | 福州大学 | Variable-stroke soft pneumatic clamping device and working method thereof |
| CN112238465A (en) * | 2020-09-27 | 2021-01-19 | 北京航空航天大学 | Pneumatic soft tongs and robot with adjustable gesture |
| CN112476472A (en) * | 2020-11-21 | 2021-03-12 | 西安交通大学 | Pneumatic soft gripper with adjustable shape |
| CN112692863A (en) * | 2020-12-07 | 2021-04-23 | 杭州电子科技大学 | But automatically regulated interval's software hand claw anchor clamps |
| CN113751891A (en) * | 2021-08-03 | 2021-12-07 | 苏州软体智能装备科技有限公司 | Vacuum cup drying, cup dividing and weld joint pressing integrated machine |
| CN114589727A (en) * | 2022-03-15 | 2022-06-07 | 浙江理工大学 | Become flexible fruit clamping system of gesture, general type of variable size |
| CN114603591A (en) * | 2022-03-15 | 2022-06-10 | 浙江理工大学 | Pneumatic software grasping system of general type of fruit letter sorting case packer |
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2019
- 2019-08-23 CN CN201921377385.8U patent/CN210704869U/en active Active
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111844119A (en) * | 2020-08-21 | 2020-10-30 | 福州大学 | Variable-stroke soft pneumatic clamping device and working method thereof |
| CN112238465A (en) * | 2020-09-27 | 2021-01-19 | 北京航空航天大学 | Pneumatic soft tongs and robot with adjustable gesture |
| CN112238465B (en) * | 2020-09-27 | 2022-02-01 | 北京航空航天大学 | Pneumatic soft tongs and robot with adjustable gesture |
| CN112476472A (en) * | 2020-11-21 | 2021-03-12 | 西安交通大学 | Pneumatic soft gripper with adjustable shape |
| CN112476472B (en) * | 2020-11-21 | 2022-08-05 | 西安交通大学 | Pneumatic soft gripper with adjustable shape |
| CN112692863A (en) * | 2020-12-07 | 2021-04-23 | 杭州电子科技大学 | But automatically regulated interval's software hand claw anchor clamps |
| CN113751891A (en) * | 2021-08-03 | 2021-12-07 | 苏州软体智能装备科技有限公司 | Vacuum cup drying, cup dividing and weld joint pressing integrated machine |
| CN113751891B (en) * | 2021-08-03 | 2023-08-04 | 苏州软体智能装备科技有限公司 | Vacuum cup drying, cup separating, pressure welding and seam integrating machine |
| CN114589727A (en) * | 2022-03-15 | 2022-06-07 | 浙江理工大学 | Become flexible fruit clamping system of gesture, general type of variable size |
| CN114603591A (en) * | 2022-03-15 | 2022-06-10 | 浙江理工大学 | Pneumatic software grasping system of general type of fruit letter sorting case packer |
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