CN106272499A - Flexible electrostatic absorption end effector - Google Patents
Flexible electrostatic absorption end effector Download PDFInfo
- Publication number
- CN106272499A CN106272499A CN201610850433.5A CN201610850433A CN106272499A CN 106272499 A CN106272499 A CN 106272499A CN 201610850433 A CN201610850433 A CN 201610850433A CN 106272499 A CN106272499 A CN 106272499A
- Authority
- CN
- China
- Prior art keywords
- guide cylinder
- spacing guide
- electrostatic
- motor
- electrostatic absorption
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- 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
- B25J15/0085—Gripping heads and other end effectors with means for applying an electrostatic force on the object to be gripped
-
- 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
- B25J15/0019—End effectors other than grippers
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of flexible electrostatic absorption end effector, including spacing guide cylinder, in the way of can being moved up and down by driving with the lifter plate of spacing guide cylinder sliding fit inside and at least two Electrostatic Absorption diaphragm that arranges along lifter plate circumference；When lifter plate is along spacing guide cylinder upward sliding, Electrostatic Absorption diaphragm is to spacing guide cylinder contract and forms the parcel to object and pastes；When workpiece is clamped by needs, make lifter plate be driven to move up inside spacing guide cylinder, drive Electrostatic Absorption diaphragm to spacing guide cylinder internal contraction, so that Electrostatic Absorption diaphragm can wrap object upon adsorption, then make each Electrostatic Absorption diaphragm be energized and produce electrostatic, thus being attached to body surface and realize the crawl to object；The present invention realizes easily, simple to operate, and Electrostatic Absorption diaphragm therein arranges multiple along lifter plate circumference, can treat absorbent bodies and be formed and effectively adsorb clamping, it is ensured that the stability of operation and safety.
Description
Technical field
The present invention relates to a kind of absorption of workpieces chucking device, particularly to a kind of for workpiece is carried out the soft of Electrostatic Absorption
Property Electrostatic Absorption end effector.
Background technology
Electrostatic Absorption refer to the object of small not static electrification when near the object of electrostatic, due to electrostatic induction phenomenon,
Induce near one end of electrostatic object contrary with static electrification object electrical, and be attracted and be attached at showing on static electrification object
As.In prior art, Electrostatic Absorption is many is adsorbed less object by electrostatic attraction board or sheet, when needs are to bigger work
Part carries out less adapting to during clamping absorption；More existing electrostatic adsorption device is mainly by the electrostatic attraction board of planar rigidity
Realize absorption to plate-shaped body, too high to the modeling requirement of adsorbed workpiece, it is impossible to irregularly shaped workpiece or circle,
On cylindrical work use, range is limited, and can not form active adsorption, adsorption effect it cannot be guaranteed that, job security
Can not be effectively ensured, be susceptible to danger.
Accordingly, it would be desirable to existing electrostatic adsorption device is improved so that it is the workpiece of various shape and size can be entered
Row clamping absorption, advantages of good adsorption effect, and can guarantee that job security.
Summary of the invention
In view of this, the present invention provides a kind of flexible electrostatic absorption end effector, and it can be to various shape and size
Workpiece carries out clamping absorption, advantages of good adsorption effect, and can guarantee that job security.
The flexible electrostatic absorption end effector of the present invention, including spacing guide cylinder, with the side that can be moved up and down by driving
The lifter plate of formula and spacing guide cylinder sliding fit inside and at least two Electrostatic Absorption diaphragm arranged along lifter plate circumference；When
When lifter plate is along spacing guide cylinder upward sliding, Electrostatic Absorption diaphragm is to spacing guide cylinder contract and forms the parcel to object
And capture.
Further, also include, for driving lifter plate along the drive mechanism moved up and down inside spacing guide cylinder, driving machine
Structure includes driving motor and by driving the screw rod of motor-driven rotation, screw rod and lifter plate threaded engagement, spacing guide cylinder interior
The axially disposed limit guide rail having for limiting lifter plate rotation of wall.
Further, also include fixing the motor mounting shell being connected with spacing guide cylinder, drive motor to be arranged on described motor
In mounting shell.
Further, being additionally provided with motor and power and adjusting part in motor mounting shell, motor adjusting part of powering includes electricity
Source, for driving boost module that motor boosts and for driving the voltage regulating module of motor pressure regulation.
Further, motor mounting shell includes shell and the top cover removably connected with shell, is additionally provided with and will drive in shell
The motor that galvanic electricity machine is fixed in shell is fixed frame.
Further, in shell, integrally formed being provided with is fixed the motor mount that frame matches, in shell with motor
The most integrally formed power supply mounting seat and boost module mounting seat are set.
Further, in voltage regulating module is fixed on described shell；It is provided with on top cover and prevents the power supply of the upper and lower play of power supply from limiting
Position boss and for preventing the boost module positive stop lug boss of the upper and lower play of boost module；Louvre it is formed with on shell.
Further, Electrostatic Absorption diaphragm includes the first basal layer, the second basal layer and is placed in the first basal layer and the second base
Between bottom and for making adsorbed object produce polarized electric field to carry out the comb electrode layer adsorbed, described first basal layer and
Described second basal layer is polyester-imide thin film.
Further, motor mounting shell bottom outside is formed for fixing with the circle of spacing guide cylinder upper end nested arrangements
Seat, circle fixes seat and spacing guide cylinder upper end is correspondingly arranged draw-in groove, and spacing guide cylinder is by the latch with draw-in groove interference fit
Realize fixing the fixing of seat with circle to be connected.
Further, it is formed from top to bottom inside the bottom of spacing guide cylinder for forcing Electrostatic Absorption diaphragm to squeeze in cylinder
The first inclined-plane that pressure is shunk and second oblique for reduce under Electrostatic Absorption diaphragm original state by spacing guide cylinder extruding force
Face.
Beneficial effects of the present invention: the flexible electrostatic absorption end effector of the present invention, when workpiece is clamped by needs
Time, make lifter plate be driven and move up inside spacing guide cylinder, drive Electrostatic Absorption diaphragm to the internal receipts of spacing guide cylinder
Contracting, so that Electrostatic Absorption diaphragm can wrap object upon adsorption, then makes each Electrostatic Absorption diaphragm be energized and produce quiet
Electricity, thus and it is attached to the body surface realization crawl to object；The present invention realizes easily, simple to operate, and electrostatic therein
Absorption diaphragm arranges multiple along lifter plate circumference, can treat absorbent bodies and be formed and effectively adsorb clamping, it is ensured that operation steady
Qualitative and safety.
Accompanying drawing explanation
The invention will be further described with embodiment below in conjunction with the accompanying drawings.
Fig. 1 is overall structure exploded perspective view of the present invention；
Fig. 2 is the Electrostatic Absorption diaphragm deployed condition schematic diagram in the present invention；
Fig. 3 is that the Electrostatic Absorption diaphragm in the present invention is in contraction clamping view；
Fig. 4 is the outer casing bottom structural representation in the present invention；
Fig. 5 is that the motor of the present invention is fixed shelf structure schematic diagram；
Fig. 6 is the spacing guide cylinder bottom structural representation of the present invention；
Fig. 7 is the Electrostatic Absorption diaphragm structure schematic diagram of the present invention.
Detailed description of the invention
Fig. 1 is overall structure exploded perspective view of the present invention, and Fig. 2 is the Electrostatic Absorption diaphragm deployed condition signal in the present invention
Figure, Fig. 3 is that the Electrostatic Absorption diaphragm in the present invention is in contraction clamping view, and Fig. 4 is the outer casing bottom in the present invention
Structural representation, Fig. 5 is that the motor of the present invention is fixed shelf structure schematic diagram, and Fig. 6 is the spacing guide cylinder bottom of the present invention
Structural representation, Fig. 7 is the Electrostatic Absorption diaphragm structure schematic diagram of the present invention, as shown in the figure: the flexible electrostatic of the present embodiment is inhaled
Attached end effector, including spacing guide cylinder 1, joins with spacing guide cylinder 1 internal slide in the way of can being moved up and down by driving
The lifter plate 2 closed and at least two Electrostatic Absorption diaphragm 3 arranged along lifter plate 2 circumference；When lifter plate 2 is along spacing guide cylinder 1
During upward sliding, Electrostatic Absorption diaphragm 3 is to spacing guide cylinder 1 contract and forms the parcel to object and crawl；As it can be seen,
Lifter plate 2 can move up and down along spacing guide cylinder 1, and when in an initial condition, all Electrostatic Absorption diaphragms 3 are common along lifter plate
2 radially outward become umbrella-shaped structure deployed condition, and Electrostatic Absorption diaphragm 3 circumferentially arranges two, three, four, five or six,
Certainly also can be more than six settings, when workpiece object is clamped by needs, lifter plate 2 by drive along spacing guide cylinder 1 to
Upper movement, to spacing guide cylinder 1 contract under the Electrostatic Absorption diaphragm 3 extruding bottom spacing guide cylinder 1 simultaneously, to upon adsorption
Workpiece object surface forms parcel clamping；It addition, Electrostatic Absorption diaphragm 3 has certain flexibility, it is mainly connected with lifter plate 2
The root bending at place can produce Electrostatic Absorption by energising to spacing guide cylinder 1 contract, Electrostatic Absorption diaphragm 3.
In the present embodiment, also include the drive mechanism for driving lifter plate 2 to move up and down along spacing guide cylinder 1 inside,
Drive mechanism includes driving motor 4 and by the screw rod 5 driving motor 4 to drive rotation, screw rod 5 and lifter plate 2 threaded engagement, spacing
The axially disposed limit guide rail having for limiting lifter plate 2 rotation of the inwall of guide cylinder 1；It is provided with spacing on lifter plate 2
Guide rail 19 match slide guide pad 18, lifter plate 2 is provided centrally with and the nut of screw rod 5 threaded engagement, when drive motor 4
When driving screw rod 5 to rotate, lifter plate 2 can move up and down；Overall structure is simple, can conveniently drive on lifter plate 2 and move down
Dynamic to drive Electrostatic Absorption diaphragm 3 workpiece object is clamped or loosens.
In the present embodiment, also include and the spacing fixing motor mounting shell 6 being connected of guide cylinder 1, drive motor 4 to be arranged on institute
State in motor mounting shell 6；Being additionally provided with motor in motor mounting shell 6 to power and adjusting part, motor adjusting part of powering includes
Power supply 7, for driving boost module 8 that motor 4 boosts and for driving the voltage regulating module 9 of motor 4 pressure regulation；Wherein, power supply 7 is
Battery, boost module 8 and voltage regulating module 9 are respectively used to driving motor 4 to boost and pressure regulation, and boost module 8 and voltage regulating module 9 are equal
For existing hardware device, power supply 7, boost module 8 and voltage regulating module 9 are installed in motor mounting shell 6.
In the present embodiment, motor mounting shell 6 includes shell 6-1 and the top cover 6-2 removably connected with shell 6-1, shell
It is additionally provided with in 6-1 and the motor driving motor 4 to be fixed in shell 6-1 is fixed frame 10；As it can be seen, motor pressure
Fastening frame is a few character form structure, and driving motor 4 is fixed by it, and top cover 6-2 and shell 6-1 is integrally formed the box body of closing
Structure.
In the present embodiment, in shell 6-1, integrally formed being provided with is fixed the motor mount that frame matches with motor
The most integrally formed in 20, shell 6-1 power supply mounting seat 21 and boost module mounting seat 22 are set；Voltage regulating module 9 is fixed on described
In shell 6-1, in shell, it is provided with voltage regulating module mounting seat 23；The power supply preventing power supply about 7 play it is provided with on top cover 6-2
Positive stop lug boss and for preventing the boost module positive stop lug boss of boost module about 8 play；Drive motor 4 to be arranged on motor to install
On seat, motor is fixed and is compressed by driving motor 4 be connected fixing with motor mount of frame；It addition, be additionally provided with in shell 6-1
Button panel, drives the motor control panel 17 of motor 4 to be arranged on top cover 6-2, is also formed with single-chip microcomputer installation position 24 He in shell
Battery fills an installation position 25；In the present embodiment, shell 6-1 is formed with louvre 11；Louvre 11 is formed at the side of shell 6-1
On wall, louvre arranges multiple and is strip structure.
In the present embodiment, Electrostatic Absorption diaphragm include first basal layer the 26, second basal layer and be placed in the first basal layer with
Between second basal layer and for making adsorbed object produce polarized electric field to carry out the comb electrode layer 27 adsorbed, described first
Basal layer and described second basal layer are polyester-imide thin film；I.e. Electrostatic Absorption diaphragm is using polyester-imide thin film as first
Basal layer, is arranged above with the comb electrode intersected the most again, finally covers one layer of polyester-imide thin film again above as second
Basal layer；The comb electrode layer two ends of Electrostatic Absorption diaphragm are formed with electrode contact 28, and absorption affinity passes through pectination at electrode two ends
Apply high voltage, produce electric field, by the molecular polarization of adsorbed object, form polarized electric field, so that electrode produces on thin film
Raw electric field both positive and negative polarity and the both positive and negative polarity of adsorbate surface electric field attract each other, and have adsorbed object.
In the present embodiment, motor mounting shell 6 bottom outside is formed for the circle with spacing guide cylinder 1 upper end nested arrangements
Shape fixes seat 12, and circular fixing seat 12 and spacing guide cylinder 1 upper end are correspondingly arranged draw-in groove 13, spacing guide cylinder 1 by with draw-in groove
The latch 14 of 13 interference fit realizes fixing the fixing of seat 12 with circle and is connected；On i.e. circular fixing seat 12 and spacing guide cylinder 1
Being provided with draw-in groove 13, spacing guide cylinder 1 upper end is coated at circular fixing seat 12 and draw-in groove 13 position is corresponding, then by inserting
Pin forms interference fit in inserting draw-in groove 13.
In the present embodiment, be formed from top to bottom inside the bottom of spacing guide cylinder 1 for force Electrostatic Absorption diaphragm 3 to
The first inclined-plane 15 that in cylinder, extruding is shunk and be used for reducing under Electrostatic Absorption diaphragm 3 original state and extruded by spacing guide cylinder 1
Second inclined-plane 16 of power；Wherein, the second inclined-plane is formed at inside edge, spacing guide cylinder 1 bottom, and the first inclined-plane is positioned at and the
The top that two inclined-planes are connected, the first inclined-plane is the inclined-plane the most radially-inwardly tilted, and the second inclined-plane is from top to bottom radially
Outward-dipping inclined-plane, and the second inclined-plane gradient is more than the first inclined-plane gradient；When Electrostatic Absorption diaphragm 3 is in original state
Time (not when spacing guide cylinder 1 contract), the second inclined-plane can reduce is led by spacing under Electrostatic Absorption diaphragm 3 original state
To cylinder 1 extruding force, and when Electrostatic Absorption diaphragm 3 shrinks, the second inclined-plane can have certain guide effect.
Finally illustrating, above example is only in order to illustrate technical scheme and unrestricted, although with reference to relatively
The present invention has been described in detail by good embodiment, it will be understood by those within the art that, can be to the skill of the present invention
Art scheme is modified or equivalent, and without deviating from objective and the scope of technical solution of the present invention, it all should be contained at this
In the middle of the right of invention.
Claims (10)
1. a flexible electrostatic absorption end effector, it is characterised in that: include spacing guide cylinder, can be moved up and down by driving
The lifter plate of mode and spacing guide cylinder sliding fit inside and at least two Electrostatic Absorption film that arranges along lifter plate circumference
Sheet；When lifter plate is along spacing guide cylinder upward sliding, Electrostatic Absorption diaphragm is to spacing guide cylinder contract and is formed object
Parcel and crawl.
Flexible electrostatic the most according to claim 1 absorption end effector, it is characterised in that: also include for driving lifting
Plate is along the drive mechanism moved up and down inside spacing guide cylinder, and described drive mechanism includes driving motor and by driving motor to drive
The screw rod rotated, described screw rod and described lifter plate threaded engagement, the inwall of described spacing guide cylinder is axially disposed have for
Limit the limit guide rail of lifter plate rotation.
Flexible electrostatic the most according to claim 2 absorption end effector, it is characterised in that: also include and spacing guide cylinder
The fixing motor mounting shell connected, described driving motor is arranged in described motor mounting shell.
Electrostatic adsorption device the most according to claim 3, it is characterised in that: it is additionally provided with motor in described motor mounting shell
Power supply and adjusting part, described motor power adjusting part include power supply, for the boost module driving motor to boost and for
Drive the voltage regulating module of motor pressure regulation.
Flexible electrostatic the most according to claim 4 absorption end effector, it is characterised in that: described motor mounting shell includes
Shell and the top cover removably connected with shell, be additionally provided with the electricity that motor will be driven to be fixed in shell in described shell
Machine is fixed frame.
Flexible electrostatic the most according to claim 5 absorption end effector, it is characterised in that:；In described shell, one becomes
Shape is provided with and is fixed the motor mount that frame matches with motor, the most integrally formed in described shell arranges power supply mounting seat
With boost module mounting seat.
Flexible electrostatic the most according to claim 6 absorption end effector, it is characterised in that: described voltage regulating module is fixed on
In described shell；It is provided with on described top cover and prevents the power supply positive stop lug boss of the upper and lower play of power supply and for preventing boost module
The boost module positive stop lug boss of lower play；It is formed with louvre on described shell.
Flexible electrostatic the most according to claim 1 absorption end effector, it is characterised in that: described Electrostatic Absorption diaphragm bag
Include the first basal layer, the second basal layer and be placed between the first basal layer and the second basal layer and for making adsorbed object produce
Polarized electric field is to carry out the comb electrode layer adsorbed, and it is thin that described first basal layer and described second basal layer are polyester-imide
Film.
Flexible electrostatic the most according to claim 3 absorption end effector, it is characterised in that: bottom described motor mounting shell
Outside is formed for fixing seat with the circle of spacing guide cylinder upper end nested arrangements, and described circle is fixed seat and described spacing leads
Be correspondingly arranged draw-in groove to cylinder upper end, spacing guide cylinder is by realizing fixing the fixing of seat with circle with the latch of draw-in groove interference fit
Connect.
Flexible electrostatic the most according to claim 1 absorption end effector, it is characterised in that: described spacing guide cylinder
It is formed from top to bottom inside bottom for forcing Electrostatic Absorption diaphragm to extrude the first inclined-plane of contraction in cylinder and for reducing
By the second inclined-plane of spacing guide cylinder extruding force under Electrostatic Absorption diaphragm original state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610850433.5A CN106272499A (en) | 2016-09-26 | 2016-09-26 | Flexible electrostatic absorption end effector |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610850433.5A CN106272499A (en) | 2016-09-26 | 2016-09-26 | Flexible electrostatic absorption end effector |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106272499A true CN106272499A (en) | 2017-01-04 |
Family
ID=57715028
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610850433.5A Pending CN106272499A (en) | 2016-09-26 | 2016-09-26 | Flexible electrostatic absorption end effector |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106272499A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107671878A (en) * | 2017-11-16 | 2018-02-09 | 重庆大学 | A kind of electrostatic adsorption type software handgrip of imitative fin structure |
| CN109081931A (en) * | 2018-08-08 | 2018-12-25 | 重庆大学 | A kind of Electrostatic Absorption film of flexible expandable and preparation method thereof |
| CN114311559A (en) * | 2022-01-02 | 2022-04-12 | 昆山锲恒精密组件科技有限公司 | Self-adaptive plastic part adsorption device for injection molding machine and implementation method thereof |
| CN117103313A (en) * | 2023-10-23 | 2023-11-24 | 瑞金市明崴电子科技有限公司 | Pneumatic flexible finger with stable grabbing performance and soft manipulator |
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| JPH01171789A (en) * | 1987-12-26 | 1989-07-06 | Shigeo Takada | Grasping device |
| CN2232825Y (en) * | 1994-09-08 | 1996-08-14 | 邢占华 | Manipulator |
| CN2422361Y (en) * | 2000-04-04 | 2001-03-07 | 蒋剑康 | Long handle article-taking device |
| JP2006150517A (en) * | 2004-11-30 | 2006-06-15 | Toyo Glass Kikai Kk | Gripping device of container |
| CN103921271A (en) * | 2014-05-07 | 2014-07-16 | 四川大学 | Under-actuated ingenious multifunctional space robot hand claw |
| CN203911809U (en) * | 2012-05-02 | 2014-10-29 | Sri国际公司 | Electric-adhesion grabbing system |
| CN104816310A (en) * | 2014-02-04 | 2015-08-05 | 精工爱普生株式会社 | Robot hand, robot, manufacturing method for robot hand |
| CN104890001A (en) * | 2014-03-07 | 2015-09-09 | 发那科株式会社 | Robot hand, robot, robot system, and method of holding object |
| CN105729438A (en) * | 2016-03-27 | 2016-07-06 | 苏州科技学院 | Thin tiny component sucking and placing device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01171789A (en) * | 1987-12-26 | 1989-07-06 | Shigeo Takada | Grasping device |
| CN2232825Y (en) * | 1994-09-08 | 1996-08-14 | 邢占华 | Manipulator |
| CN2422361Y (en) * | 2000-04-04 | 2001-03-07 | 蒋剑康 | Long handle article-taking device |
| JP2006150517A (en) * | 2004-11-30 | 2006-06-15 | Toyo Glass Kikai Kk | Gripping device of container |
| CN203911809U (en) * | 2012-05-02 | 2014-10-29 | Sri国际公司 | Electric-adhesion grabbing system |
| CN104816310A (en) * | 2014-02-04 | 2015-08-05 | 精工爱普生株式会社 | Robot hand, robot, manufacturing method for robot hand |
| CN104890001A (en) * | 2014-03-07 | 2015-09-09 | 发那科株式会社 | Robot hand, robot, robot system, and method of holding object |
| CN103921271A (en) * | 2014-05-07 | 2014-07-16 | 四川大学 | Under-actuated ingenious multifunctional space robot hand claw |
| CN105729438A (en) * | 2016-03-27 | 2016-07-06 | 苏州科技学院 | Thin tiny component sucking and placing device |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107671878A (en) * | 2017-11-16 | 2018-02-09 | 重庆大学 | A kind of electrostatic adsorption type software handgrip of imitative fin structure |
| CN107671878B (en) * | 2017-11-16 | 2020-11-03 | 重庆大学 | Electrostatic adsorption type soft gripper with fin-like structure |
| CN109081931A (en) * | 2018-08-08 | 2018-12-25 | 重庆大学 | A kind of Electrostatic Absorption film of flexible expandable and preparation method thereof |
| CN114311559A (en) * | 2022-01-02 | 2022-04-12 | 昆山锲恒精密组件科技有限公司 | Self-adaptive plastic part adsorption device for injection molding machine and implementation method thereof |
| CN114311559B (en) * | 2022-01-02 | 2023-09-22 | 佛山市顺德区天玛仕电子有限公司 | Self-adaptive plastic part adsorption device for injection molding machine and implementation method thereof |
| CN117103313A (en) * | 2023-10-23 | 2023-11-24 | 瑞金市明崴电子科技有限公司 | Pneumatic flexible finger with stable grabbing performance and soft manipulator |
| CN117103313B (en) * | 2023-10-23 | 2024-01-02 | 瑞金市明崴电子科技有限公司 | Pneumatic flexible finger with stable grabbing performance and soft manipulator |
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Application publication date: 20170104 |