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图书与其它产品不同,在操作过程中不能损坏纸张,所以采用气动方式传动比较合适。书籍的开本有16开本和32开本等,它们出厂时的包装形状不同,有长条捆状的,也有方形纸包状的,由于捆扎力和裹包力的差异,要求气动自定心四爪机械手能适应这些变化,设计成既能抓取16开本的一大捆书,又能抓取32开本的两长捆书,还要牢固地抓取四小包书,如图1所示。
Books and other products are different, during operation can not damage the paper, so the use of pneumatic transmission more appropriate. The books are 16 copies of the open and 32 open-book, etc., they are different from the factory package shape, a long strip of the shape, there are square paper bag-shaped, due to the binding force and the difference between the package requires pneumatic self- The manipulator can adapt to these changes and is designed to grab both a large bundle of books in 16 books and two long bundles of books in 32 books, as well as four small books, as shown in Figure 1.