Flexible body transfer mechanical clamping jaw

Abstract

The utility model provides a flexible body transfer mechanical clamping jaw which is used for clamping makeup cotton sets and comprises a mechanical jaw body, a supporting component and two cotton clamping plates. The cotton clamping plates are driven through the mechanical claw body, and the two sides and the two ends of the cotton pad set are attached, protected and clamped through the supporting component and the two cotton clamping plates. The mechanical claw main body comprises a driving part, two clamping connecting rods and a fixed connecting rod; wherein the supporting component comprises a supporting column and an anti-collapse frame, the clamping connecting rod is connected with the first air cylinder, and the vertical column is connected with the second air cylinder, so that the supporting component and the clamping connecting rod are driven at the same time, and the function that the two sides of the cotton pad set are protected to avoid side collapse while the two ends of the cotton pad set are clamped is achieved; and finally, through the arrangement of the supporting component, the supporting component can make contact with and be tightly attached to the side face of the makeup cotton set for blocking in the clamping process, lateral extrusion protection force is provided for the makeup cotton set, and the risks of collapse, side collapse and the like generated in the transferring process of the makeup cotton set are reduced.

Description

Technical Field

[0001] The utility model belongs to the technical field of transfer manipulators, and in particular relates to a flexible transfer mechanical clamp. Background Art

[0002] The application market of cosmetic cotton is very wide, and robot gripping has been gradually widely used in various fields of industrial production. Up to now, most of the existing cosmetic cotton production lines still use manual methods to transfer the cosmetic cotton groups, and the workers are unstable and inefficient when transferring. At the same time, considering the working conditions of the transportation of the cosmetic cotton group, and the cosmetic cotton group is a flexible body, it is easy to have problems such as side collapse and middle collapse during the clamping process. Therefore, the production efficiency of the cosmetic cotton production line is still restricted by the manual transfer of the cosmetic cotton group. In the industrial manipulator specially developed for the transportation of cosmetic cotton groups, the terminal transfer device is the key to the smooth grasping and transportation of the cosmetic cotton group. However, there is currently no relevant research on this special cosmetic cotton group transportation manipulator in China.

[0003] Therefore, how to provide a mechanical clamp that can stably transport a group of cosmetic cotton pads and prevent the cosmetic cotton pads from collapsing during transportation, thereby improving the transportation efficiency of the cosmetic cotton pads is a technical problem that technical personnel in this field urgently need to solve. Utility Model Content

[0004] The technical problem to be solved by the utility model is to provide a flexible body transport mechanical clamp to at least solve one of the above technical problems.

[0005] In order to solve the above technical problems, the utility model provides a flexible body transport mechanical clamp for clamping a cotton pad group, the flexible body transport mechanical clamp comprising: a mechanical clamp body, the mechanical clamp body comprising a driving part, two clamping links and a fixed link; the driving part comprises a flange shell, a first cylinder and a second cylinder, the first cylinder and the second cylinder are both arranged inside the flange shell, the first cylinder is rotatably connected to one end of the two clamping links through a conductive member, and the two ends of the fixed link are respectively rotatably connected to the middle parts of the two clamping links; a supporting member is used to clamp the two sides of the cotton pad group; the supporting member comprises a pillar and an anti-collapse frame, the top of the pillar is connected to the second cylinder, the middle part of the fixed link is penetrated by a positioning hole, the fixed link is clamped and sleeved in the middle part of the pillar through the positioning hole, and the bottom of the pillar is fixedly connected to the anti-collapse frame; two cotton clamping plates are used to clamp the two ends of the cotton pad group; the two cotton clamping plates are respectively installed and fixed corresponding to the other ends of the two clamping links.

[0006] Optionally, the anti-collapse frame includes a connecting rod and two side baffles, the bottom of the pillar is fixedly connected to the middle of the connecting rod, and the two ends of the connecting rod are respectively fixedly connected to the two side baffles; wherein the connecting rod is arranged vertically to the pillar, and the two side baffles are respectively arranged vertically to the two ends of the connecting rod.

[0007] Optionally, each of the side baffles includes a fixed plate and two extension plates, the middle portion of the fixed plate is fixedly connected to the connecting rod; the fixed plate is provided with two symmetrically arranged sliding grooves, one end of the two extension plates is provided with a slider, and the two extension plates are slidably connected to the fixed plate through the slider; wherein the opening direction of the sliding groove is consistent with the length direction of the fixed plate.

[0008] Optionally, the pillar includes a first fixed section, a second fixed section and a third fixed section arranged in sequence from top to bottom, the first fixed section is fixedly connected to the second cylinder, and the diameter of the cross section of the second fixed section is smaller than the diameter of the cross section of the third fixed section.

[0009] Optionally, the fixing connecting rod is sleeved on the second fixing section through the positioning hole; the diameter of the positioning hole is adapted to the diameter of the cross section of the second fixing section, and the diameter of the positioning hole is smaller than the diameter of the cross section of the third fixing section.

[0010] Optionally, the fixed connecting rod includes a sleeve and two rotating rods, and the positioning hole is opened through the sleeve; one end of the two rotating rods is respectively rotatably connected to the two sides of the sleeve, and the other end of the two rotating rods is respectively rotatably connected to the middle part of the two clamping connecting rods.

[0011] Optionally, the two cotton clamping plates include a mounting plate, a connecting plate and a contact plate, wherein the connecting plate is respectively connected to the mounting plate and the contact plate so that the cotton clamping plates form a Z-shaped structure; and the mounting plate is fixed to the other end of the clamping connecting rod.

[0012] Optionally, the contact plate has a comb-tooth structure.

[0013] Optionally, the tooth ends of the comb tooth structure are provided with folded angles so that the angle between the middle of the comb tooth structure and the tooth ends of the comb tooth structure on the action surface is greater than 180 degrees; the action surface is the side in contact with the cosmetic cotton group.

[0014] Optionally, the cotton-padded plate is made of stainless steel.

[0015] Beneficial effects:

[0016] The utility model provides a flexible transport mechanical gripper for clamping a cosmetic cotton group, comprising a mechanical gripper body, a supporting member and two cotton-clamping plates; the cotton-clamping plates are driven by the mechanical gripper body, and the supporting member and the two cotton-clamping plates are used to clamp the two sides and both ends of the cosmetic cotton group for fit protection; the mechanical gripper body comprises a driving part, two clamping connecting rods and a fixed connecting rod; a driving part comprising a first cylinder and a second cylinder is provided in the mechanical gripper body, and the clamping rate of the cosmetic cotton group by the flexible transport mechanical gripper is increased by selecting a cylinder for driving; wherein the supporting member comprises a pillar and an anti-collapse frame, the clamping connecting rod is connected to the first cylinder, and the column is connected to the second cylinder, so as to drive the supporting member and the clamping connecting rod at the same time, so as to realize clamping of the two ends of the cosmetic cotton group. At the same time, the two sides of the cosmetic cotton group are protected to prevent lateral collapse. Since the cosmetic cotton group is usually composed of a number of overlapping bulk cosmetic cottons, supporting both ends makes it easy to generate a high or low squeezing pressure on the middle part, which may cause the cosmetic cotton in the middle to collapse laterally due to being too tight or collapse downward due to being too loose. The supporting structure can be used to block the side of the cosmetic cotton group during clamping, provide lateral squeezing protection for the cosmetic cotton group, and prevent the cosmetic cotton group from collapsing from the side and collapsing laterally, thereby reducing the collapse and lateral collapse of the cosmetic cotton group during transportation. In this way, a mechanical clamp that can stably transport the cosmetic cotton group and prevent the cosmetic cotton from collapsing during transportation is realized as a whole, thereby improving the transportation efficiency of the cosmetic cotton.

[0017] The above description is only an overview of the technical solution of the utility model. In order to more clearly understand the technical means of the utility model, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the utility model more obvious and easy to understand, the specific implementation methods of the utility model are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of this specification or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 A schematic diagram of the application of the flexible transport mechanical gripper provided in an embodiment of the present application;

[0020] Figure 2 A schematic diagram of the overall structure of the flexible transport mechanical gripper provided in an embodiment of the present application;

[0021] Figure 3A schematic diagram of the overall structure of the support mechanism provided in the embodiment of the present application;

[0022] Figure 4 A front view of a quilted board provided in an embodiment of the present application;

[0023] Figure 5 A side view of a quilted board provided in an embodiment of the present application;

[0024] Reference numerals:

[0025] 1—cosmetic cotton set;

[0026] 2—Mechanical claw body;

[0027] 21 - driving unit;

[0028] 22—clamping connecting rod;

[0029] 23—fixed connecting rod;

[0030] 231—Socket;

[0031] 232—Rotary rod;

[0032] 3—Support mechanism;

[0033] 31 - pillar;

[0034] 311 — first fixed section;

[0035] 312 — second fixed section;

[0036] 313—third fixed section;

[0037] 32—anti-collapse frame;

[0038] 321—connecting rod;

[0039] 322—side baffle;

[0040] 3221—fixed plate;

[0041] 3222—Extension plate;

[0042] 3223—chute;

[0043] 4—Quilted board;

[0044] 41 - fixed plate;

[0045] 42—connecting plate;

[0046] 43—contact plate; DETAILED DESCRIPTION

[0047] 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.

[0048] At the same time, in the embodiments of this specification, when a component is referred to as being "fixed to" another component, it may be directly on the other component or there may also be a centered component. When a component is considered to be "connected to" another component, it may be directly connected to the other component or there may be a centered component at the same time. When a component is considered to be "set on" another component, it may be directly set on the other component or there may be a centered component at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used in the embodiments of this specification are for illustrative purposes only and are not intended to limit the present utility model.

[0049] See also Figure 1 The present embodiment provides a flexible transport mechanical gripper for gripping a cotton pad group 1. The flexible transport mechanical gripper comprises: a mechanical gripper body 2, the mechanical gripper body 2 comprises a driving part 21, two gripping connecting rods 22 and a fixed connecting rod 23; the driving part 21 comprises a flange housing, a first cylinder and a second cylinder, the first cylinder and the second cylinder are both arranged inside the flange housing, the first cylinder is rotatably connected to one end of the two gripping connecting rods 22 through a transmission member, and the two ends of the fixed connecting rod 23 are respectively connected to the two gripping connecting rods. The middle part of the cosmetic cotton group 1 is rotatably connected; the supporting member 3 is used to clamp the two sides of the cosmetic cotton group 1; the supporting member 3 includes a pillar 31 and an anti-collapse frame 32, the top of the pillar 31 is connected to the second cylinder, and a positioning hole is penetrated through the middle part of the fixed connecting rod 23, and the fixed connecting rod 23 is clamped and sleeved on the middle part of the pillar 31 through the positioning hole, and the bottom of the pillar 31 is fixedly connected to the anti-collapse frame 32; two cotton clamping plates 4 are used to clamp the two ends of the cosmetic cotton group 1; the two cotton clamping plates 4 are respectively installed and fixed to the other ends of the two clamping connecting rods 22.

[0050] Specifically, the utility model provides a flexible body transport mechanical gripper for clamping a cosmetic cotton group 1, comprising a mechanical gripper body 2, a supporting member 3 and two clamping plates 4; the arrangement of the mechanical gripper body 2 and the clamping plates 4 facilitates the clamping and grasping of the cosmetic cotton group 1; wherein, the mechanical gripper body 2 is provided with a driving unit 21 comprising a first cylinder and a second cylinder, and since cylinder drive is usually used for smaller manipulators, it has the advantages of fast speed, fast response and convenient control, and the cylinder can drive the central pillar to enable the gripper to operate stably with high accuracy, so the present application adopts cylinder drive to facilitate improving the clamping rate of the flexible body transport mechanical gripper for the cosmetic cotton group 1; since the cosmetic cotton group 1 is usually a plurality of bulk cosmetic cottons arranged in an overlapping manner, supporting both ends thereof makes it easy to generate a high or low squeezing pressure on the middle part thereof, thereby causing the cosmetic cotton in the middle part to collapse sideways due to being too tight or collapse due to being too loose, and by the arrangement of the supporting member 3. , can contact and stick to the side of the cosmetic cotton group 1 to block it during clamping, provide lateral squeezing protection force for the cosmetic cotton group 1, and have the function of preventing the cosmetic cotton group 1 from collapsing and collapsing from the side, reducing the collapse and side collapse of the cosmetic cotton group 1 during transportation; wherein, the supporting member 3 includes pillars 31 and 31 and an anti-collapse frame 32, the clamping link 22 is connected to the first cylinder, and the pillar 31 is connected to the second cylinder. When the first cylinder pulls the conductive member upward, it drives the clamping links 22 connected to both sides to clamp inwardly. At the same time, the second cylinder pushes the pillar 31 downward. When the anti-collapse frame 32 contacts the cosmetic cotton group 1, it stops moving, and the two ends and both sides of the cosmetic cotton group 1 are clamped and clamped to complete the clamping movement of the cosmetic cotton; when the cosmetic cotton group 1 is transported into the cosmetic cotton box, the second cylinder pulls the pillar 31 upward, and at the same time, the cylinder 1 pushes the conductive member downward to make the clamping link 22 open outward, so that the cosmetic cotton group falls into the cosmetic cotton box, and the transportation of the cosmetic cotton group is completed.

[0051] In some possible embodiments, the anti-collapse frame 32 includes a connecting rod 321 and two side baffles 322, the bottom of the pillar 31 is fixedly connected to the middle of the connecting rod 321, and the two ends of the connecting rod 321 are respectively fixedly connected to the two side baffles 322; wherein the connecting rod 321 is arranged perpendicularly to the pillar 31, and the two side baffles 322 are respectively arranged perpendicularly to the two ends of the connecting rod 321.

[0052] Specifically, if Figure 1-3 As shown, by setting the connecting rod 321 and the side plate 322, the two sides of the cosmetic cotton group 1 can be fitted and clamped, so as to avoid the risk of the cosmetic cotton located in the middle of the cosmetic cotton group 1 collapsing or falling down due to being too tight or too loose; wherein, the two ends of the connecting rod 321 are respectively fixedly connected to the two side baffles 322, and each side baffle 322 is connected to the connecting plate 321 in an L shape to adapt to the shape required for clamping the cosmetic cotton group 1.

[0053] In some possible embodiments, each side baffle 322 includes a fixed plate 3221 and two extension plates 3222, the middle part of the fixed plate 3221 is fixedly connected to the connecting rod 321; the fixed plate 3221 is provided with two symmetrically arranged sliding grooves 3223, and one end of the two extension plates 3222 is provided with a slider, and the two extension plates 3222 are slidingly connected to the fixed plate 3221 through the slider; wherein, the opening direction of the sliding groove 3223 is consistent with the length direction of the fixed plate 3221.

[0054] Specifically, if Figure 3 As shown, when the length of the fixing plate 3221 does not reach the overall longitudinal thickness of the cosmetic cotton group when it is clamped, the setting of the fixing plate 3221 can achieve the effect of supplementing the longitudinal length, thereby adapting to cosmetic cotton groups 1 of different lengths.

[0055] In some possible embodiments, the pillar 31 includes a first fixed section 311, a second fixed section 312 and a third fixed section 313 arranged sequentially from top to bottom, the first fixed section 311 is fixedly connected to the second cylinder, and the diameter of the cross section of the second fixed section 312 is smaller than the diameter of the cross section of the third fixed section 313.

[0056] Specifically, if Figure 3 As shown, by providing the first fixing segment 311 , the second fixing segment 312 , and the third fixing segment 313 of different sizes, the support column 31 is adaptively connected to different related components.

[0057] In some possible implementations, the fixing link 23 is sleeved on the second fixing segment 312 through a positioning hole; the diameter of the positioning hole is adapted to the diameter of the cross section of the second fixing segment 312 , and the diameter of the positioning hole is smaller than the diameter of the cross section of the third fixing segment 313 .

[0058] Specifically, during installation, the fixed link 23 is sleeved on the second fixed section 312 through the positioning hole, and the fixed link 23 can be clamped and fixed on the second fixed section 312, so that the second fixed section 312 moves up and down with the fixed link 23, and the diameter of the positioning hole is smaller than the diameter of the cross section of the third fixed section 313, so it can produce a limiting effect when the pillar 31 moves upward, avoiding the pillar 31 from moving upward excessively and causing errors.

[0059] In some possible embodiments, the fixed link 23 includes a socket 231 and two rotating rods 232, and a positioning hole is opened through the socket 231; one end of the two rotating rods 232 is respectively rotatably connected to the two sides of the socket 231, and the other end of the two rotating rods 232 is respectively rotatably connected to the middle part of the two clamping links 22.

[0060] Specifically, by disposing the sleeve 231 and the rotating rod 232 , combined with the upward and downward clamping rotation of the telescopic connecting rod 22 , the column 31 can also be positioned and limited.

[0061] In some possible embodiments, the two cotton clamping plates 4 include a mounting plate 41, a connecting plate 42 and a contact plate 43, and the connecting plate 42 is respectively connected to the mounting plate 41 and the contact plate 43 so that the cotton clamping plates 4 form a Z-shaped structure; the mounting plate 41 is fixed to the other end of the clamping connecting rod 22.

[0062] Specifically, the cotton-padded plate 4 is formed into a Z-shaped structure to match the shape required for clamping the cotton pad group 1; in order to extend the service life of the cotton-padded plate 4 and prevent stress concentration on the cotton-padded plate 4 due to long-term work, it is recommended to thicken the steel plate at the edge of the comb tooth structure of the cotton-padded plate to enhance its stability and durability, which can also make the working process smoother and ensure work efficiency and quality.

[0063] In some possible implementations, the contact plate 43 has a comb-tooth structure.

[0064] Specifically, since the existing cosmetic cotton transfer production lines all use comb-shaped push plates as partitions at both ends of the cosmetic cotton group, the present application designs the contact plate 43 in the cotton-clamping plate 4 to be a comb tooth structure to adapt to the components in the existing cosmetic cotton transfer production lines for use.

[0065] In some possible embodiments, the tooth ends of the comb tooth structure are all provided with folded angles so that the angle between the middle of the comb tooth structure and the tooth ends of the comb tooth structure on the action surface is greater than 180 degrees; the action surface is the side in contact with the cosmetic cotton group 1.

[0066] Specifically, since the comb-tooth structure is the part that contacts and fits with the cosmetic cotton group 1 , the tooth ends of the comb-tooth structure are all provided with folded angles to enhance the clamping pressure on the two ends of the cosmetic cotton 1 .

[0067] In some possible implementations, the cotton-filled plate 4 is made of stainless steel.

[0068] Specifically, the cotton-clamping plate 4 is made of stainless steel, and at the same time, a material with a surface friction coefficient of 0.3 is selected to increase the friction gripping force between the cosmetic cotton group 1 and the cotton-clamping plate 4, ensuring that the cosmetic cotton group 1 can generate sufficient static friction to lift the cosmetic cotton group 1 from the side, thereby avoiding excessive use of the extrusion force at both ends to clamp the cosmetic cotton group 1 and cause side collapse.

[0069] Finally, it should be noted that the above embodiments are only specific implementation methods of the utility model, which are used to illustrate the technical solution of the utility model, rather than to limit it. The protection scope of the utility model is not limited thereto. Although the utility model is described in detail with reference to the above embodiments, ordinary technicians in this field should understand that any technician familiar with the technical field can still modify the technical solution recorded in the above embodiments within the technical scope disclosed by the utility model, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solution deviate from the scope of the technical solution of the embodiment of the utility model. They should all be included in the protection scope of the utility model. Therefore, the protection scope of the utility model shall be based on the protection scope of the claims.

[0070] Although the implementation scheme of the utility model has been disclosed as above, it is not limited to the applications listed in the specification and implementation modes. It can be fully applied to various fields suitable for the utility model. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the utility model is not limited to the specific details and the illustrations shown and described herein.

Claims

1. A flexible transport mechanical gripper for gripping a cosmetic cotton pad set (1), characterized in that: The flexible transport mechanical gripper comprises: A mechanical claw body (2), the mechanical claw body (2) comprising a driving part (21), two clamping links (22) and a fixed link (23); the driving part (21) comprises a flange housing, a first cylinder and a second cylinder, the first cylinder and the second cylinder are both arranged inside the flange housing, the first cylinder is rotatably connected to one end of the two clamping links (22) through a transmission member, and the two ends of the fixed link (23) are respectively rotatably connected to the middle parts of the two clamping links (22); A support member (3) is used to clamp the two sides of the cosmetic cotton group (1); the support member (3) comprises a pillar (31) and an anti-collapse frame (32); the top of the pillar (31) is connected to the second cylinder; a positioning hole is provided in the middle of the fixed connecting rod (23); the fixed connecting rod (23) is clamped and sleeved in the middle of the pillar (31) through the positioning hole; the bottom of the pillar (31) is fixedly connected to the anti-collapse frame (32); The two cotton clamping plates (4) are used to clamp the two ends of the cosmetic cotton group (1); the two cotton clamping plates (4) are respectively installed and fixed corresponding to the other ends of the two clamping connecting rods (22).

2. The flexible transport mechanical gripper according to claim 1, characterized in that: The anti-collapse frame (32) comprises a connecting rod (321) and two side baffles (322), the bottom of the support column (31) is fixedly connected to the middle of the connecting rod (321), and the two ends of the connecting rod (321) are respectively fixedly connected to the two side baffles (322); The connecting rod (321) is arranged perpendicularly to the support column (31), and the two side baffles (322) are arranged perpendicularly to the two ends of the connecting rod (321), respectively.

3. The flexible transport mechanical gripper according to claim 2, characterized in that: Each of the side baffles (322) comprises a fixed plate (3221) and two extension plates (3222), wherein the middle portion of the fixed plate (3221) is fixedly connected to the connecting rod (321); the fixed plate (3221) is provided with two symmetrically arranged sliding grooves (3223), one end of each of the two extension plates (3222) is provided with a slider, and the two extension plates (3222) are slidably connected to the fixed plate (3221) via the slider; wherein the opening direction of the sliding groove (3223) is consistent with the length direction of the fixed plate (3221).

4. The flexible transport mechanical gripper according to claim 3 is characterized in that: The support (31) comprises a first fixed section (311), a second fixed section (312) and a third fixed section (313) which are arranged in sequence from top to bottom, the first fixed section (311) is fixedly connected to the second cylinder, and the diameter of the cross section of the second fixed section (312) is smaller than the diameter of the cross section of the third fixed section (313).

5. The flexible transport mechanical gripper according to claim 4, characterized in that: The fixing connecting rod (23) is sleeved on the second fixing section (312) through the positioning hole; the diameter of the positioning hole is matched with the diameter of the cross section of the second fixing section (312), and the diameter of the positioning hole is smaller than the diameter of the cross section of the third fixing section (313).

6. The flexible transport mechanical gripper according to claim 5, characterized in that: The fixed connecting rod (23) comprises a sleeve (231) and two rotating rods (232), and the positioning hole is opened through the sleeve (231); one end of the two rotating rods (232) is respectively rotatably connected to the two sides of the sleeve (231), and the other end of the two rotating rods (232) is respectively rotatably connected to the middle parts of the two clamping connecting rods (22).

7. The flexible transport mechanical gripper according to claim 6, characterized in that: The two cotton-clamping plates (4) comprise a mounting plate (41), a connecting plate (42) and a contact plate (43); the connecting plate (42) is respectively connected to the mounting plate (41) and the contact plate (43) so that the cotton-clamping plates (4) form a Z-shaped structure; the mounting plate (41) is fixedly mounted to the other end of the clamping connecting rod (22).

8. The flexible transport mechanical gripper according to claim 7, characterized in that: The contact plate (43) is in a comb-tooth structure.

9. The flexible transport mechanical gripper according to claim 8, characterized in that: The tooth ends of the comb tooth structure are all provided with folded angles, so that the angle between the middle of the comb tooth structure and the tooth ends of the comb tooth structure on the action surface is greater than 180 degrees; the action surface is the side in contact with the cosmetic cotton group (1).

10. The flexible transport mechanical gripper according to claim 9, characterized in that: The cotton-clamped plate (4) is made of stainless steel.

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