CN221364842U - A walnut grabbing device for a parallel robot on a conveyor belt - Google Patents
A walnut grabbing device for a parallel robot on a conveyor belt Download PDFInfo
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- CN221364842U CN221364842U CN202323540947.5U CN202323540947U CN221364842U CN 221364842 U CN221364842 U CN 221364842U CN 202323540947 U CN202323540947 U CN 202323540947U CN 221364842 U CN221364842 U CN 221364842U
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- 235000020234 walnut Nutrition 0.000 title claims abstract description 43
- 235000009496 Juglans regia Nutrition 0.000 title claims abstract description 27
- 240000007049 Juglans regia Species 0.000 title 1
- 241000758789 Juglans Species 0.000 claims abstract description 26
- 230000007246 mechanism Effects 0.000 claims abstract description 21
- 239000000428 dust Substances 0.000 claims abstract description 12
- 241000758791 Juglandaceae Species 0.000 description 16
- 239000012535 impurity Substances 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- HVYWMOMLDIMFJA-DPAQBDIFSA-N cholesterol Chemical compound C1C=C2C[C@@H](O)CC[C@]2(C)[C@@H]2[C@@H]1[C@@H]1CC[C@H]([C@H](C)CCCC(C)C)[C@@]1(C)CC2 HVYWMOMLDIMFJA-DPAQBDIFSA-N 0.000 description 2
- 230000032683 aging Effects 0.000 description 1
- 239000003963 antioxidant agent Substances 0.000 description 1
- 230000003925 brain function Effects 0.000 description 1
- 230000036995 brain health Effects 0.000 description 1
- 230000005189 cardiac health Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000006386 memory function Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 235000016709 nutrition Nutrition 0.000 description 1
- 230000035764 nutrition Effects 0.000 description 1
- 235000014571 nuts Nutrition 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 235000021122 unsaturated fatty acids Nutrition 0.000 description 1
- 150000004670 unsaturated fatty acids Chemical class 0.000 description 1
Classifications
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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
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/90—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in food processing or handling, e.g. food conservation
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- Apparatuses For Bulk Treatment Of Fruits And Vegetables And Apparatuses For Preparing Feeds (AREA)
Abstract
本实用新型公开了一种传送带上并联机器人用核桃抓取装置，涉及核桃分拣技术领域，解决了现有的核桃抓取还依靠人工的问题，包括基座、抓取机构和除尘机构，基座底部对称固定安装有支架，抓取机构包括第一夹爪、第二夹爪、丝杆和连接座，第一夹爪转动安装在支架内腔，第二夹爪对称转动安装在支架内腔。本实用新型通过设置抓取机构，通过电机可驱动第二皮带轮转动，带动丝杆转动，丝杆顺时针转动时，可通过螺纹块驱动连接座向上移动，从而通过第一连杆和第二连杆驱动第一夹爪和第二夹爪打开，对准核桃后，丝杆反转，驱动连接座向下移动，从而通过第一连杆和第二连杆驱动第一夹爪和第二夹爪靠近移动，对核桃完成抓取，提高抓取质量及抓取效率。
The utility model discloses a walnut grabbing device for a parallel robot on a conveyor belt, relates to the technical field of walnut sorting, solves the problem that the existing walnut grabbing still relies on manual labor, comprises a base, a grabbing mechanism and a dust removal mechanism, a bracket is symmetrically fixedly installed at the bottom of the base, the grabbing mechanism comprises a first clamping jaw, a second clamping jaw, a screw rod and a connecting seat, the first clamping jaw is rotatably installed in the inner cavity of the bracket, and the second clamping jaw is symmetrically rotatably installed in the inner cavity of the bracket. The utility model sets a grabbing mechanism, and a second pulley can be driven to rotate by a motor to drive the screw rod to rotate. When the screw rod rotates clockwise, the connecting seat can be driven to move upward by a threaded block, so that the first clamping jaw and the second clamping jaw are driven to open by the first connecting rod and the second connecting rod. After aligning the walnut, the screw rod is reversed to drive the connecting seat to move downward, so that the first connecting rod and the second connecting rod drive the first clamping jaw and the second clamping jaw to move closer, so as to complete the grabbing of the walnut, and improve the grabbing quality and grabbing efficiency.
Description
技术领域Technical Field
本实用新型涉及核桃抓取技术领域，具体为一种传送带上并联机器人用核桃抓取装置。The utility model relates to the technical field of walnut grabbing, in particular to a walnut grabbing device for a parallel robot on a conveyor belt.
背景技术Background technique
核桃是一种常见的坚果，外壳坚硬，营养丰富，富含不饱和脂肪酸，有助于降低胆固醇水平，保护心脏健康，核桃还含有丰富的抗氧化剂，可以帮助消除自由基，减缓衰老过程，此外，核桃还被认为有助于改善记忆力和脑功能，对大脑健康有益。Walnut is a common nut with a hard shell and rich nutrition. It is rich in unsaturated fatty acids, which help lower cholesterol levels and protect heart health. Walnuts are also rich in antioxidants, which can help eliminate free radicals and slow down the aging process. In addition, walnuts are also believed to help improve memory and brain function and are beneficial to brain health.
在核桃生产完成后，需要对核桃进行抓取装袋打包，目前对核桃进行抓取一般还在依靠人工完成，人工成本较高，容易出现人为误差，影响装袋效率及装袋质量。After walnut production is completed, the walnuts need to be grabbed, bagged and packaged. Currently, the grabbing of walnuts is generally done manually, which has high labor costs and is prone to human errors, affecting bagging efficiency and quality.
为此，我们提出了一种传送带上并联机器人用核桃抓取装置。To this end, we proposed a walnut grasping device for a parallel robot on a conveyor belt.
发明内容Summary of the invention
本实用新型提出一种传送带上并联机器人用核桃抓取装置。The utility model provides a walnut grabbing device for a parallel robot on a conveyor belt.
为实现上述目的，本实用新型提供如下技术方案：一种传送带上并联机器人用核桃抓取装置，包括基座、抓取机构和除尘机构，所述基座底部对称固定安装有支架，所述抓取机构包括To achieve the above purpose, the utility model provides the following technical solutions: a walnut grabbing device for a parallel robot on a conveyor belt, comprising a base, a grabbing mechanism and a dust removal mechanism, wherein a bracket is symmetrically fixedly installed at the bottom of the base, and the grabbing mechanism comprises
第一夹爪，所述第一夹爪转动安装在支架内腔；A first clamping jaw, the first clamping jaw being rotatably mounted in the inner cavity of the bracket;
第二夹爪，所述第二夹爪对称转动安装在支架内腔，所述支架内腔固定安装有固定块；A second clamping jaw, the second clamping jaw is symmetrically rotatably mounted in the inner cavity of the bracket, and a fixing block is fixedly mounted in the inner cavity of the bracket;
丝杆，所述丝杆转动安装在固定块表面；A screw rod, the screw rod is rotatably mounted on the surface of the fixed block;
连接座，所述连接座套接在丝杆表面，所述连接座与第一夹爪之间转动安装有第一连杆，所述连接座与第二夹爪之间转动安装有第二连杆。A connecting seat is sleeved on the surface of the screw rod, a first connecting rod is rotatably installed between the connecting seat and the first clamping jaw, and a second connecting rod is rotatably installed between the connecting seat and the second clamping jaw.
优选的，所述连接座表面固定安装有螺纹块，所述螺纹块与丝杆螺纹连接。Preferably, a threaded block is fixedly mounted on the surface of the connection seat, and the threaded block is threadedly connected to the screw rod.
优选的，所述丝杆一端固定安装有第一皮带轮，用于驱动丝杆转动。Preferably, a first pulley is fixedly mounted on one end of the screw rod for driving the screw rod to rotate.
优选的，所述基座内腔转动安装有转轴，所述转轴表面固定安装有第二皮带轮，所述第二皮带轮与第一皮带轮之间连接有皮带，所述基座顶部固定安装有电机，所述电机输出端与转轴固定连接。Preferably, a rotating shaft is rotatably installed in the inner cavity of the base, a second pulley is fixedly installed on the surface of the rotating shaft, a belt is connected between the second pulley and the first pulley, a motor is fixedly installed on the top of the base, and the output end of the motor is fixedly connected to the rotating shaft.
优选的，所述除尘机构包括气筒和活塞，所述气筒固定对称安装在支架侧壁，所述气筒内腔滑动安装有活塞。Preferably, the dust removal mechanism comprises an air cylinder and a piston, the air cylinder is fixedly and symmetrically mounted on the side wall of the bracket, and the piston is slidably mounted in the inner cavity of the air cylinder.
优选的，所述转轴另一端固定安装有转轮，所述转轮表面固定安装有偏心轴，所述偏心轴与活塞之间转动安装有第三连杆。Preferably, a rotating wheel is fixedly mounted on the other end of the rotating shaft, an eccentric shaft is fixedly mounted on the surface of the rotating wheel, and a third connecting rod is rotatably mounted between the eccentric shaft and the piston.
优选的，所述气筒侧壁安装有第一单向阀和第二单向阀，所述第一夹爪内腔开设有第一气孔，所述第二夹爪内腔开设有第二气孔，所述第一气孔和第二气孔与第二单向阀之间连通有软管。Preferably, a first one-way valve and a second one-way valve are installed on the side wall of the air cylinder, a first air hole is opened in the inner cavity of the first clamping jaw, a second air hole is opened in the inner cavity of the second clamping jaw, and a hose is connected between the first air hole and the second air hole and the second one-way valve.
与现有技术相比，本实用新型的有益效果是：Compared with the prior art, the beneficial effects of the utility model are:
本实用新型通过设置抓取机构，通过电机可驱动第二皮带轮转动，带动丝杆转动，丝杆顺时针转动时，可通过螺纹块驱动连接座向上移动，从而通过第一连杆和第二连杆驱动第一夹爪和第二夹爪打开，对准核桃后，丝杆反转，驱动连接座向下移动，从而通过第一连杆和第二连杆驱动第一夹爪和第二夹爪靠近移动，对核桃完成抓取，提高抓取质量及抓取效率。The utility model provides a grasping mechanism, and a motor can drive the second pulley to rotate, thereby driving the screw rod to rotate. When the screw rod rotates clockwise, the threaded block can drive the connecting seat to move upward, thereby driving the first clamping jaw and the second clamping jaw to open through the first connecting rod and the second connecting rod. After the walnut is aligned, the screw rod is reversed to drive the connecting seat to move downward, thereby driving the first clamping jaw and the second clamping jaw to move closer through the first connecting rod and the second connecting rod, thereby completing the grasping of the walnut and improving the grasping quality and grasping efficiency.
本实用新型通过设置除尘机构，电机驱动转轴转动时，可带动转轮同步转动，通过偏心轴和第三连杆驱动活塞在气筒内腔做活塞运动，当活塞向偏心轴方向运动时，第一单向阀导通，将空气吸入气筒中，当活塞远离偏心轴方向移动时，第二单向阀导通，将空气经软管送至第一气孔和第二气孔，并向夹取的核桃表面喷出，对核桃进行喷气除尘，清除核桃表面杂质，保证核桃质量。The utility model is provided with a dust removal mechanism. When a motor drives a rotating shaft to rotate, the rotating wheel can be driven to rotate synchronously. The piston is driven to perform piston movement in an inner cavity of an air cylinder through an eccentric shaft and a third connecting rod. When the piston moves in the direction of the eccentric shaft, the first one-way valve is turned on to suck air into the air cylinder. When the piston moves away from the eccentric shaft, the second one-way valve is turned on to send air to the first air hole and the second air hole through a hose and spray the air toward the surface of the clamped walnuts. Thus, the walnuts are subjected to jet dust removal, impurities on the surface of the walnuts are removed, and the quality of the walnuts is guaranteed.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
图1为本实用新型剖面图；Fig. 1 is a cross-sectional view of the utility model;
图2为本实用新型图1中A处放大图；Figure 2 is an enlarged view of point A in Figure 1 of the present utility model;
图3为本实用新型抓取机构立体图；Figure 3 is a three-dimensional diagram of the grabbing mechanism of the utility model;
图4为本实用新型整体立体图；Figure 4 is an overall stereogram of the utility model;
图5为本实用新型俯视图。FIG5 is a top view of the utility model.
图中：1、基座；2、支架；3、抓取机构；301、第一夹爪；302、第二夹爪；303、固定块；304、丝杆；305、连接座；306、螺纹块；307、第一连杆；308、第二连杆；309、第一皮带轮；310、转轴；311、第二皮带轮；312、电机；4、除尘机构；401、转轮；402、偏心轴；403、气筒；404、活塞；405、第三连杆；406、第一单向阀；407、第二单向阀；408、第一气孔；409、第二气孔；410、软管。In the figure: 1. base; 2. bracket; 3. grasping mechanism; 301. first clamping jaw; 302. second clamping jaw; 303. fixing block; 304. screw rod; 305. connecting seat; 306. threaded block; 307. first connecting rod; 308. second connecting rod; 309. first pulley; 310. rotating shaft; 311. second pulley; 312. motor; 4. dust removal mechanism; 401. rotating wheel; 402. eccentric shaft; 403. air cylinder; 404. piston; 405. third connecting rod; 406. first one-way valve; 407. second one-way valve; 408. first air hole; 409. second air hole; 410. hose.
实施方式Implementation
下面将结合本实用新型实施例中的附图，对本实用新型实施例中的技术方案进行清楚-完整地描述，显然，所描述的实施例仅仅是本实用新型一部分实施例，而不是全部的实施例。基于本实用新型中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本实用新型保护的范围。The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.
实施例1Example 1
请参阅图1-5，图示中一种传送带上并联机器人用核桃抓取装置，包括基座1、抓取机构3和除尘机构4，基座1底部对称固定安装有支架2，用于安装第一夹爪301和第二夹爪302，抓取机构3包括第一夹爪301、第二夹爪302、丝杆304和连接座305，第一夹爪301转动安装在支架2内腔，第二夹爪302对称转动安装在支架2内腔，用于抓取核桃，支架2内腔固定安装有固定块303，丝杆304转动安装在固定块303表面，用于驱动连接座305，连接座305套接在丝杆304表面，连接座305表面固定安装有螺纹块306，螺纹块306与丝杆304螺纹连接。Please refer to Figures 1-5. The figure shows a walnut grasping device for a parallel robot on a conveyor belt, including a base 1, a grasping mechanism 3 and a dust removal mechanism 4. A bracket 2 is symmetrically fixedly installed at the bottom of the base 1 for installing a first clamp 301 and a second clamp 302. The grasping mechanism 3 includes a first clamp 301, a second clamp 302, a screw 304 and a connecting seat 305. The first clamp 301 is rotatably installed in the inner cavity of the bracket 2, and the second clamp 302 is symmetrically rotatably installed in the inner cavity of the bracket 2 for grasping walnuts. A fixed block 303 is fixedly installed in the inner cavity of the bracket 2, and the screw 304 is rotatably installed on the surface of the fixed block 303 for driving the connecting seat 305. The connecting seat 305 is sleeved on the surface of the screw 304, and a threaded block 306 is fixedly installed on the surface of the connecting seat 305, and the threaded block 306 is threadedly connected to the screw 304.
请参阅图3，连接座305与第一夹爪301之间转动安装有第一连杆307，用于驱动第一夹爪301，连接座305与第二夹爪302之间转动安装有第二连杆308，用于驱动第二夹爪302，丝杆304一端固定安装有第一皮带轮309，用于驱动丝杆304转动。Please refer to Figure 3. A first connecting rod 307 is rotatably installed between the connecting seat 305 and the first clamping jaw 301 for driving the first clamping jaw 301. A second connecting rod 308 is rotatably installed between the connecting seat 305 and the second clamping jaw 302 for driving the second clamping jaw 302. A first pulley 309 is fixedly installed at one end of the screw rod 304 for driving the screw rod 304 to rotate.
使用时，丝杆304顺时针转动，可通过螺纹块306驱动连接座305向上移动，从而通过第一连杆307和第二连杆308驱动第一夹爪301和第二夹爪302打开，对准核桃后，丝杆304反转，驱动连接座305向下移动，从而通过第一连杆307和第二连杆308驱动第一夹爪301和第二夹爪302靠近移动，对核桃完成抓取。When in use, the screw rod 304 rotates clockwise and can drive the connecting seat 305 to move upward through the threaded block 306, thereby driving the first jaw 301 and the second jaw 302 to open through the first connecting rod 307 and the second connecting rod 308. After aiming at the walnut, the screw rod 304 reverses and drives the connecting seat 305 to move downward, thereby driving the first jaw 301 and the second jaw 302 to move closer through the first connecting rod 307 and the second connecting rod 308 to complete the grasping of the walnut.
请参阅图1，基座1内腔转动安装有转轴310，转轴310表面固定安装有第二皮带轮311，第二皮带轮311与第一皮带轮309之间连接有皮带，基座1顶部固定安装有电机312，电机312输出端与转轴310固定连接。Please refer to Figure 1. A rotating shaft 310 is rotatably installed in the inner cavity of the base 1. A second pulley 311 is fixedly installed on the surface of the rotating shaft 310. A belt is connected between the second pulley 311 and the first pulley 309. A motor 312 is fixedly installed on the top of the base 1, and the output end of the motor 312 is fixedly connected to the rotating shaft 310.
本实施例中：使用时，通过电机312可驱动第二皮带轮311转动，从而通过皮带驱动两个第一皮带轮309同时转动，带动丝杆304转动，丝杆304顺时针转动，可通过螺纹块306驱动连接座305向上移动，从而通过第一连杆307和第二连杆308驱动第一夹爪301和第二夹爪302打开，对准核桃后，丝杆304反转，驱动连接座305向下移动，从而通过第一连杆307和第二连杆308驱动第一夹爪301和第二夹爪302靠近移动，对核桃完成抓取，提高抓取质量及抓取效率。In this embodiment: when in use, the second pulley 311 can be driven to rotate by the motor 312, thereby driving the two first pulleys 309 to rotate simultaneously through the belt, driving the screw rod 304 to rotate, and the screw rod 304 rotates clockwise, and the connecting seat 305 can be driven to move upward through the threaded block 306, thereby driving the first jaw 301 and the second jaw 302 to open through the first connecting rod 307 and the second connecting rod 308. After aligning with the walnut, the screw rod 304 reverses and drives the connecting seat 305 to move downward, thereby driving the first jaw 301 and the second jaw 302 to move closer through the first connecting rod 307 and the second connecting rod 308, completing the grasping of the walnut, and improving the grasping quality and grasping efficiency.
实施例2Example 2
请参阅图1-5，除尘机构4包括气筒403和活塞404，气筒403固定对称安装在支架2侧壁，用于集气，气筒403内腔滑动安装有活塞404，转轴310另一端固定安装有转轮401，转轮401表面固定安装有偏心轴402，偏心轴402安装在转轮401非中心位置，用于驱动活塞404在气筒403中做活塞运动，偏心轴402与活塞404之间转动安装有第三连杆405。Please refer to Figures 1-5. The dust removal mechanism 4 includes an air cylinder 403 and a piston 404. The air cylinder 403 is fixedly and symmetrically installed on the side wall of the bracket 2 for collecting air. The piston 404 is slidably installed in the inner cavity of the air cylinder 403. A rotating wheel 401 is fixedly installed at the other end of the rotating shaft 310. An eccentric shaft 402 is fixedly installed on the surface of the rotating wheel 401. The eccentric shaft 402 is installed at a non-center position of the rotating wheel 401 and is used to drive the piston 404 to perform piston motion in the air cylinder 403. A third connecting rod 405 is rotatably installed between the eccentric shaft 402 and the piston 404.
请参阅图1-4，气筒403侧壁安装有第一单向阀406和第二单向阀407，第一单向阀406向气筒403外壁方向单向导通，用于进气，第二单向阀407向气筒403内壁方向单向导通，用于排气，第一夹爪301内腔开设有第一气孔408，第二夹爪302内腔开设有第二气孔409，用于对抓取的核桃进行喷气除尘，清除核桃表面杂质，保证核桃质量，第一气孔408和第二气孔409与第二单向阀407之间连通有软管410。Please refer to Figures 1-4. The first one-way valve 406 and the second one-way valve 407 are installed on the side wall of the air cylinder 403. The first one-way valve 406 is unidirectionally conductive toward the outer wall of the air cylinder 403 for air intake. The second one-way valve 407 is unidirectionally conductive toward the inner wall of the air cylinder 403 for air exhaust. A first air hole 408 is provided in the inner cavity of the first clamp 301, and a second air hole 409 is provided in the inner cavity of the second clamp 302, which are used to jet dust removal for the grasped walnuts, remove impurities on the surface of the walnuts, and ensure the quality of the walnuts. A hose 410 is connected between the first air hole 408, the second air hole 409 and the second one-way valve 407.
本实施例中：电机312驱动转轴310转动时，可带动转轮401同步转动，通过偏心轴402和第三连杆405驱动活塞404在气筒403内腔做活塞运动，当活塞404向偏心轴402方向运动时，第一单向阀406导通，将空气吸入气筒403中，当活塞404远离偏心轴402方向移动时，第二单向阀407导通，将空气经软管410送至第一气孔408和第二气孔409，并向夹取的核桃表面喷出，对核桃进行喷气除尘，清除核桃表面杂质，保证核桃质量。In this embodiment: when the motor 312 drives the rotating shaft 310 to rotate, it can drive the rotating wheel 401 to rotate synchronously, and drive the piston 404 to perform piston movement in the inner cavity of the air cylinder 403 through the eccentric shaft 402 and the third connecting rod 405. When the piston 404 moves toward the eccentric shaft 402, the first one-way valve 406 is turned on, and air is sucked into the air cylinder 403. When the piston 404 moves away from the eccentric shaft 402, the second one-way valve 407 is turned on, and the air is sent to the first air hole 408 and the second air hole 409 through the hose 410, and sprayed onto the surface of the clamped walnuts, so as to perform jet dust removal on the walnuts, remove impurities on the surface of the walnuts, and ensure the quality of the walnuts.
需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。而且，术语“包括”-“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程-方法-物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程-方法-物品或者设备所固有的要素。It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include"-"comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process-method-article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process-method-article or device.
尽管已经示出和描述了本实用新型的实施例，对于本领域的普通技术人员而言，可以理解在不脱离本实用新型的原理和精神的情况下可以对这些实施例进行多种变化-修改-替换和变型，本实用新型的范围由所附权利要求及其等同物限定。Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.
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| CN117532643A (en) * | 2023-12-25 | 2024-02-09 | 新疆大学 | A walnut grabbing device for parallel robots on conveyor belts |
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| CN117532643A (en) * | 2023-12-25 | 2024-02-09 | 新疆大学 | A walnut grabbing device for parallel robots on conveyor belts |
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