CN111924519A - Multifunctional material taking manipulator - Google Patents
Multifunctional material taking manipulator Download PDFInfo
- Publication number
- CN111924519A CN111924519A CN202010891625.7A CN202010891625A CN111924519A CN 111924519 A CN111924519 A CN 111924519A CN 202010891625 A CN202010891625 A CN 202010891625A CN 111924519 A CN111924519 A CN 111924519A
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- material taking
- gripper
- sucker
- driving mechanism
- connecting rod
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- 239000007777 multifunctional material Substances 0.000 title claims abstract description 8
- 239000000463 material Substances 0.000 claims abstract description 128
- 230000007246 mechanism Effects 0.000 claims abstract description 106
- 238000013459 approach Methods 0.000 claims abstract description 4
- 230000005540 biological transmission Effects 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 6
- 238000013461 design Methods 0.000 abstract description 3
- 230000010354 integration Effects 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/907—Devices for picking-up and depositing articles or materials with at least two picking-up heads
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/918—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers with at least two picking-up heads
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0214—Articles of special size, shape or weigh
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0214—Articles of special size, shape or weigh
- B65G2201/022—Flat
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
- B65G2201/0258—Trays, totes or bins
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a multifunctional material taking manipulator which comprises a base and material taking mechanisms arranged on the base, wherein each material taking mechanism comprises at least two of a first material taking mechanism for grabbing annular materials, a second material taking mechanism for absorbing sheet-type materials and a third material taking mechanism for grabbing tray-like materials; the first material taking mechanism comprises at least two supporting plates and a supporting plate driving mechanism capable of driving the supporting plates to be folded or unfolded; the second material taking mechanism comprises a gripper and a gripper driving mechanism capable of driving the gripper to approach or move away; the third material taking mechanism comprises a sucker for sucking the thin plate type material and a sucker driving mechanism capable of driving the sucker to act. According to the invention, through the design of the material taking mechanism, the support plate driving mechanism, the gripper driving mechanism, the sucker driving mechanism and the like, at least two materials of annular materials, thin plate type materials and tray-like materials can be grabbed, the integration level is high, the occupied space is reduced, and the efficiency of grabbing different materials is improved.
Description
Technical Field
The invention belongs to the technical field of automation equipment, and particularly relates to a multifunctional material taking manipulator.
Background
At present, with the continuous development of the logistics industry, in the logistics storage room, in order to ensure the conveying efficiency, the manipulator is gradually applied to the daily production life of people, particularly, the logistics is rapidly developed, the logistics is a process of organically combining the functions of transportation, storage, loading, unloading and carrying, packaging, circulation processing, distribution, information processing and the like to realize the user requirement according to the actual requirement in the process of physically flowing articles from a supply place to a receiving place, and the logistics loading, unloading and carrying is the transportation of transporting articles from one production place to another place. Most of logistics freight transportation in the current market is carried by using manual carrying or a forklift, and then is carried by using a mechanical arm, but the existing mechanical arm can only grab the same material, such as a thin plate, an annular material, a relatively heavy tray and the like, but the existing carrying mechanical arm is relatively simple in structure and relatively single in function, a plurality of different mechanical arms are needed for grabbing different materials, and firstly, a large mounting space is needed, and the structure is not compact enough; secondly, a plurality of manipulators have higher cost.
For this reason, a robot for logistics cargo handling is proposed to solve the above-mentioned problems.
Disclosure of Invention
The invention mainly solves the technical problem of providing a multifunctional material taking manipulator which can realize the grabbing of at least two materials of annular materials, thin plate type materials and tray-like materials through the design of a material taking mechanism, a supporting plate driving mechanism, a gripper driving mechanism, a sucker driving mechanism and the like, has high integration level, reduces the occupied space and improves the efficiency of grabbing different materials.
In order to solve the technical problems, the invention adopts a technical scheme that: the invention provides a multifunctional material taking manipulator which comprises a base and material taking mechanisms arranged on the base, wherein each material taking mechanism comprises at least two of a first material taking mechanism for grabbing annular materials, a second material taking mechanism for sucking thin plate type materials and a third material taking mechanism for grabbing tray type materials;
the first material taking mechanism comprises at least two supporting plates and a supporting plate driving mechanism capable of driving the supporting plates to be folded or unfolded, and the annular material is supported through the outer wall surfaces of all the supporting plates;
the second material taking mechanism comprises a gripper and a gripper driving mechanism capable of driving the gripper to approach or depart from the second material taking mechanism, and the gripper is driven by the gripper driving mechanism to clamp the material of the tray-like material;
the third material taking mechanism comprises a sucker for sucking the thin plate type materials and a sucker driving mechanism capable of driving the sucker to act, and the thin plate type materials are sucked by the sucker driving mechanism driving the sucker.
The support plate driving mechanism comprises a motor, a transmission structure and a first connecting rod, the transmission structure comprises a nut and a screw rod, the output end of the motor is connected with one end of the screw rod, the nut is sleeved on the screw rod, one end of the first connecting rod is fixedly connected with the nut, the other end of the first connecting rod is connected with the support plate, the screw rod is driven by the motor to rotate and be converted into linear motion of the nut, and the support plates are closed or opened through the first connecting rod.
Further, the outer wall surface of the support plate is a circular arc surface.
Further, the gripper driving mechanism and the sucker driving mechanism are the same group of power driving mechanisms.
The power driving mechanism comprises a first air cylinder, a second connecting rod, a third connecting rod and two mounting shafts, wherein the first air cylinder is connected with the second air cylinder, one end of the second air cylinder is connected with one of the mounting shafts through the second connecting rod, each mounting shaft is provided with the gripper, the sucker is mounted at the lower part of the gripper, and the two mounting shafts are connected through the third connecting rod;
the installation axle pass through the mount pad install in the base, just the mount pad with be connected for rotating between the installation axle.
Furthermore, the first cylinder and the second cylinder are arranged back to back, the output end of the first cylinder is connected with the second connecting rod, and the output end of the second cylinder is connected with the base.
Further, the base is also provided with a vacuum generator, and the vacuum generator is connected with the sucking disc.
Further, the base is also provided with a laser ranging sensor for ranging.
The invention has the beneficial effects that:
the material taking mechanism comprises at least two of a first material taking mechanism for grabbing annular materials, a second material taking mechanism for sucking thin plate type materials and a third material taking mechanism for grabbing tray type materials; the first material taking mechanism comprises at least two supporting plates and a supporting plate driving mechanism capable of driving the supporting plates to be folded or unfolded, and the annular materials are supported by the outer wall surfaces of all the supporting plates; the second material taking mechanism comprises a gripper and a gripper driving mechanism capable of driving the gripper to be close to or far away from the second material taking mechanism, and the gripper is driven by the gripper driving mechanism to clamp the tray-like materials; the third material taking mechanism comprises a sucker for sucking the thin plate type material and a sucker driving mechanism capable of driving the sucker to act, and the sucker driving mechanism drives the sucker to suck the thin plate type material; according to the invention, through the design of the material taking mechanism, the support plate driving mechanism, the gripper driving mechanism, the sucker driving mechanism and the like, at least two materials of annular materials, thin plate type materials and tray-like materials can be grabbed, the integration level is high, the occupied space is reduced, and the efficiency of grabbing different materials is improved.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical solutions of the present invention more clearly understood and to implement them in accordance with the contents of the description, the following detailed description is given with reference to the preferred embodiments of the present invention and the accompanying drawings.
Drawings
FIG. 1 is one of the schematic structural views of the present invention (grabbing a ring of material);
FIG. 2 is one of the schematic structural illustrations of a first take off mechanism of the present invention;
FIG. 3 is a second schematic view of the first reclaimer mechanism of the present invention;
FIG. 4 is a second schematic view of the present invention (sucking thin plate material);
FIG. 5 is a third schematic structural view of the present invention (grabbing tray-like materials);
the parts in the drawings are marked as follows:
the device comprises a base 1, a ring-shaped material 10, a first material taking mechanism 2, a thin plate-shaped material 20, a supporting plate 21, a tray-like material 30, a gripper 31, a suction disc 41, a supporting plate driving mechanism 5, a motor 51, a first connecting rod 52, a nut 53, a screw rod 54, a power driving mechanism 6, a first air cylinder 61, a second air cylinder 62, a second connecting rod 63, a third connecting rod 64, a mounting shaft 65, a mounting seat 66, a vacuum generator 7 and a laser ranging sensor 8.
Detailed Description
The following description of the embodiments of the present invention is provided for illustrative purposes, and the present invention will be described in detail with reference to the accompanying drawings. The invention may be embodied in other different forms, i.e. it is capable of various modifications and changes without departing from the scope of the invention as disclosed.
Example 1: a multifunctional material taking manipulator, as shown in fig. 1 to 5, comprises a base 1 and material taking mechanisms mounted on the base, wherein the material taking mechanisms comprise at least two of a first material taking mechanism 2 for grabbing an annular material 10, a second material taking mechanism for sucking a thin plate type material 20 and a third material taking mechanism for grabbing a tray-like material 30;
the first material taking mechanism comprises at least two supporting plates 21 and a supporting plate driving mechanism 5 capable of driving the supporting plates to be folded or unfolded, and the annular material is supported by the outer wall surfaces of all the supporting plates;
the second material taking mechanism comprises a gripper 31 and a gripper driving mechanism capable of driving the gripper to approach or depart from the second material taking mechanism, and the gripper is driven by the gripper driving mechanism to clamp the material of the tray-like material;
the third material taking mechanism comprises a sucker 41 for sucking the thin plate type material and a sucker driving mechanism capable of driving the sucker to act, and the thin plate type material is sucked by the sucker driving mechanism driving the sucker. The manipulator is lifted and carried by a hoisting mechanism, and the like, and the hoisting mechanism, such as a crane and the like, is not described in detail for the prior art.
In this embodiment, the material taking mechanisms include three types, namely, a first material taking mechanism 2 for grabbing the annular material 10, a second material taking mechanism for sucking the thin plate type material 20, and a third material taking mechanism for grabbing the tray-like material 30, so that grabbing of three types of materials, namely, the annular material, the thin plate type material, and the tray-like material, can be realized. Of course, it may be used to grip only two of the materials.
The support plate driving mechanism 5 comprises a motor 51, a transmission structure and a first connecting rod 52, the transmission structure comprises a nut 53 and a screw rod 54, the output end of the motor is connected with one end of the screw rod, the nut is sleeved on the screw rod, one end of the first connecting rod is fixedly connected with the nut, the other end of the first connecting rod is connected with the support plate, the screw rod is driven by the motor to rotate and be converted into linear motion of the nut, and the support plates are closed or opened through the first connecting rod.
The outer wall surface of the supporting plate is an arc surface. In this embodiment, the supporting plates are three, and if three supporting plates are provided, the supporting plates are most stable, and the grabbing effect is optimal, but not limited thereto.
In this embodiment, the gripper driving mechanism and the suction cup driving mechanism are the same group of power driving mechanisms.
In this embodiment, the power driving mechanism 6 includes a first cylinder 61, a second cylinder 62, a second connecting rod 63, a third connecting rod 64, and two mounting shafts 65, the first cylinder is connected to the second cylinder, one end of the second cylinder is connected to one of the mounting shafts through the second connecting rod, each mounting shaft is provided with the gripper, the suction cup is mounted at the lower part of the gripper, and the two mounting shafts are connected through the third connecting rod;
the installation axle pass through mount pad 66 install in the base, just the mount pad with be the rotation connection between the installation axle.
The first air cylinder and the second air cylinder are arranged back to back, the output end of the first air cylinder is connected with the second connecting rod, and the output end of the second air cylinder is connected with the base.
The base is also provided with a vacuum generator 7, which is connected with the suction cup.
The base is also provided with a laser ranging sensor 8 for ranging, which is mainly used for detecting the distance from the material to be grabbed.
The working principle and the working process of the invention are as follows:
as shown in fig. 1 to 3, the manipulator is in a state of grabbing the annular material, at this time, the first cylinder and the second cylinder are both in an extended state, at this time, when the nut is located at a position B in fig. 2, the support plate is in a closed state, at this time, the first material taking mechanism can extend into a cavity in the center of the annular material, then the motor drives the screw rod to rotate, the screw rod is converted into linear motion of the nut, the nut is driven to move downwards, the support plate is propped open through the first connecting rod (at this time, the nut is located at a position a in fig. 2), and then the annular material is supported through the outer wall surfaces of all the support plates, so that the;
as shown in fig. 4, one of the first cylinder and the second cylinder is in a contracted state, and the other one is in an extended state, at this time, the sucking discs are just downward under the action of the two mounting shafts, the second connecting rod and the third connecting rod, and the vacuum generator acts on the sucking discs to suck the sheet-type materials, so that the sheet-type materials are sucked;
as shown in fig. 5, the first cylinder and the second cylinder are both in a contracted state, and at this time, the gripper can grip the material like a tray from the side through the action of the two mounting shafts, the second connecting rod and the third connecting rod, so that the material like a tray can be gripped.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all equivalent structures made by using the contents of the specification and the drawings of the present invention or directly or indirectly applied to other related technical fields are included in the scope of the present invention.
Claims (8)
1. The utility model provides a multi-functional material taking manipulator which characterized in that: the material taking mechanism comprises a base (1) and material taking mechanisms arranged on the base, wherein the material taking mechanisms comprise at least two of a first material taking mechanism (2) used for grabbing annular materials (10), a second material taking mechanism used for sucking thin plate type materials (20) and a third material taking mechanism used for grabbing tray type materials (30);
the first material taking mechanism comprises at least two supporting plates (21) and a supporting plate driving mechanism (5) capable of driving the supporting plates to be folded or unfolded, and the annular material is supported by the outer wall surfaces of all the supporting plates;
the second material taking mechanism comprises a gripper (31) and a gripper driving mechanism capable of driving the gripper to approach or depart from the second material taking mechanism, and the gripper driving mechanism drives the gripper to clamp the material of the tray-like material;
the third material taking mechanism comprises a sucker (41) for sucking the thin plate type materials and a sucker driving mechanism capable of driving the sucker to act, and the sucker driving mechanism drives the sucker to suck the thin plate type materials.
2. The multi-functional reclaiming manipulator as claimed in claim 1, wherein: backup pad actuating mechanism (5) include motor (51), transmission structure and first connecting rod (52), transmission structure includes nut (53) and lead screw (54), the output of motor with the one end of lead screw is connected, the nut suit in the lead screw, the one end of first connecting rod with nut fixed connection and the other end with the backup pad is connected, through the rotatory linear motion who converts the nut of motor drive lead screw to realize closing together or strutting of backup pad through first connecting rod.
3. The multi-functional reclaiming manipulator as claimed in claim 1, wherein: the outer wall surface of the supporting plate is an arc surface.
4. The multi-functional reclaiming manipulator as claimed in claim 1, wherein: the gripper driving mechanism and the sucker driving mechanism are the same group of power driving mechanisms.
5. The multi-functional reclaiming manipulator as claimed in claim 4, wherein: the power driving mechanism (6) comprises a first air cylinder (61), a second air cylinder (62), a second connecting rod (63), a third connecting rod (64) and two mounting shafts (65), the first air cylinder is connected with the second air cylinder, one end of the second air cylinder is connected with one of the mounting shafts through the second connecting rod, each mounting shaft is provided with the gripper, the sucker is mounted at the lower part of the gripper, and the two mounting shafts are connected through the third connecting rod;
the installation axle pass through mount pad (66) install in the base, just the mount pad with be the rotation connection between the installation axle.
6. The multi-functional reclaiming manipulator as claimed in claim 1, wherein: the first air cylinder and the second air cylinder are arranged back to back, the output end of the first air cylinder is connected with the second connecting rod, and the output end of the second air cylinder is connected with the base.
7. The multi-functional reclaiming manipulator as claimed in claim 1, wherein: the base is also provided with a vacuum generator (7), and the vacuum generator is connected with the sucker.
8. The multi-functional reclaiming manipulator as claimed in claim 1, wherein: the base is also provided with a laser ranging sensor (8) for ranging.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010891625.7A CN111924519A (en) | 2020-08-31 | 2020-08-31 | Multifunctional material taking manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010891625.7A CN111924519A (en) | 2020-08-31 | 2020-08-31 | Multifunctional material taking manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111924519A true CN111924519A (en) | 2020-11-13 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010891625.7A Pending CN111924519A (en) | 2020-08-31 | 2020-08-31 | Multifunctional material taking manipulator |
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| Country | Link |
|---|---|
| CN (1) | CN111924519A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115123837A (en) * | 2022-08-30 | 2022-09-30 | 常州奥智高分子集团股份有限公司 | Diffusion plate semi-finished product stacker |
| CN116331825A (en) * | 2023-04-18 | 2023-06-27 | 广东海洋大学 | Machine-made grabbing device |
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| EP1524216A1 (en) * | 2003-10-13 | 2005-04-20 | Deutsche Post AG | Gripping device for picking up articles and method thereof |
| CN103434840A (en) * | 2013-08-30 | 2013-12-11 | 中国化学工业桂林工程有限公司 | Tire hand grab |
| CN204172044U (en) * | 2014-10-09 | 2015-02-25 | 武汉人天机器人技术有限公司 | A kind of multi-function robot handgrip |
| CN205033212U (en) * | 2015-10-16 | 2016-02-17 | 顾栗先 | Multi -functional terminal final controlling element of automatic hacking machine of robot |
| CN206255621U (en) * | 2016-12-15 | 2017-06-16 | 金石机器人银川有限公司 | The Tire hand grab of bar linkage structure |
| CN209835004U (en) * | 2019-03-26 | 2019-12-24 | 迈巴赫机器人（昆山）有限公司 | Multifunctional gripper |
| CN212424624U (en) * | 2020-08-31 | 2021-01-29 | 知行机器人科技（苏州）有限公司 | Multifunctional material taking manipulator |
-
2020
- 2020-08-31 CN CN202010891625.7A patent/CN111924519A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1524216A1 (en) * | 2003-10-13 | 2005-04-20 | Deutsche Post AG | Gripping device for picking up articles and method thereof |
| CN103434840A (en) * | 2013-08-30 | 2013-12-11 | 中国化学工业桂林工程有限公司 | Tire hand grab |
| CN204172044U (en) * | 2014-10-09 | 2015-02-25 | 武汉人天机器人技术有限公司 | A kind of multi-function robot handgrip |
| CN205033212U (en) * | 2015-10-16 | 2016-02-17 | 顾栗先 | Multi -functional terminal final controlling element of automatic hacking machine of robot |
| CN206255621U (en) * | 2016-12-15 | 2017-06-16 | 金石机器人银川有限公司 | The Tire hand grab of bar linkage structure |
| CN209835004U (en) * | 2019-03-26 | 2019-12-24 | 迈巴赫机器人（昆山）有限公司 | Multifunctional gripper |
| CN212424624U (en) * | 2020-08-31 | 2021-01-29 | 知行机器人科技（苏州）有限公司 | Multifunctional material taking manipulator |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115123837A (en) * | 2022-08-30 | 2022-09-30 | 常州奥智高分子集团股份有限公司 | Diffusion plate semi-finished product stacker |
| CN116331825A (en) * | 2023-04-18 | 2023-06-27 | 广东海洋大学 | Machine-made grabbing device |
| CN116331825B (en) * | 2023-04-18 | 2023-12-05 | 广东海洋大学 | Machine-made grabbing device |
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