489 results about "Grip force" patented technology

The invention discloses a self-adaptive grabbing force control system and method of a stamping line blanking manipulator, and relates to the technical field of self-adaptive control, and the method comprises the following steps: extracting a plurality of protection layer types corresponding to a plurality of process nodes; when a grabbing instruction is received, the protection layer type corresponding to the procedure node where the target workpiece is located is determined, and a mechanical arm grabbing strategy is called; the method comprises the steps of collecting a surface image of a target workpiece, recognizing the surface image, collecting protective layer characteristics of the target workpiece, inputting the protective layer characteristics into a manipulator grabbing force control model for self-adaptive recognition, outputting grabbing force control instruction parameters, and controlling a manipulator to execute a grabbing action and carry out force control feedback adjustment. According to the mechanical arm, the technical problems that in the prior art, when stamping workpieces with different protection layers are subjected to precise recognition and matched with proper grabbing force, grabbing is unstable, the workpieces are prone to being damaged or clamping fails are solved, and the technical effect that the mechanical arm precisely recognizes the workpieces with the different protection layers and dynamically controls and adjusts force is achieved.

The invention relates to the technical field of robot switching, and discloses a robot tool switching method and system based on multi-modal recognition, and the system comprises an acquisition module which is configured to determine the initial tool release speed and the initial tool grabbing speed of an operation robot based on the task information of the current stage and the task information of the next stage; the judging module is configured to judge whether the initial tool release speed is adjusted or not based on the tool grabbing state information; the controller is further configured to judge whether the initial tool grabbing speed is adjusted or not according to the matching degree; the multi-modal adjustment module is configured to determine a release adjustment coefficient of the initial tool release speed based on the historical release record and obtain a final tool release speed; the grabber is also configured to determine a grabber adjustment coefficient of the initial tool grabber speed based on the contact state information and the grabber force information, and obtain a final tool grabber speed; and an execution module. The tool switching efficiency and accuracy of the operation robot can be effectively improved.

The present invention relates to a prestressed anti-wear and anti-vibration hammer. It solves the problem in the prior art that the grip force of the prestressed wire of the prestressed anti-vibration hammer is insufficient, resulting in wear of the conductor and ground wire. It includes a clamp body, the upper end of the clamp body is movably connected by a hinge pin shaft to a clamp cover plate, an annular clamping channel is formed between the clamp body and the clamp cover plate, a tightening and pressing structure extending towards the inside of the annular clamping channel is arranged through the clamp body and the clamp cover plate, and an insertion-type connection component is arranged between the clamp body and the clamp cover plate and on the circumferential inner side of the annular clamping channel, the clamp body and the clamp cover plate are connected by a swivel bolt structure on the lower side of the annular clamping channel, and a movable positioning mechanism for rotatably positioning the swivel bolt structure is arranged through the clamp body. The advantages of the present invention are: while pressing the conductor and ground wire tightly, the pressing gap is effectively eliminated, the friction caused by relative movement is reduced, and a movable margin is provided to avoid damage caused by the influence of strong wind on rigid pressing.

The invention discloses a mechanical arm autonomous grabbing system and method based on visual guidance and visual touch fusion. The mechanical arm autonomous grabbing system at least comprises a visual semantic guidance and grabbing pose generation module, a smooth grabbing control module based on visual touch fusion and a dynamic planning module based on model prediction path integration. The visual module efficiently generates a six-degree-of-freedom grabbing pose from the point cloud data by using a deep learning network; the smooth grabbing control module monitors object slippage in real time and adaptively adjusts clamping force by fusing visual and tactile information, and stable grabbing of fragile or slippery objects is achieved. And the dynamic planning module adopts a model prediction path integral algorithm MPPI to realize collision-free path planning of the mechanical arm in a complex dynamic environment. The problems that an existing mechanical arm is insufficient in sensing capacity, poor in grabbing robustness and low in path planning efficiency in an unstructured scene are solved, and the autonomous operation capacity and safety of the mechanical arm in the scenes of accompanying, intelligent sorting and the like are remarkably improved.

The utility model relates to the technical field of tires, and discloses a four-season tire pattern which comprises a tire tread, the whole tire tread is cut through by a herringbone groove, and a reinforcing rib defined by four cylinders is arranged at the center of the herringbone groove. Through unequal numbers of through type inclined grooves and non-through type inclined grooves formed in the central pattern blocks and linear and wavy 3D guide grooves reasonably distributed in the central pattern blocks, the rigidity of patterns can be well balanced, the ground contact area of the tread is increased, and therefore the abrasion performance of the tire is improved, and the service life of the tire is prolonged. According to the tire, the dry ground gripping force and wet ground breaking water film of the tire are ensured, meanwhile, the gripping performance of the tire in ice and snow fields is guaranteed, and the tire patterns are arranged in a multi-layer variable-pitch arrangement mode when the tire patterns are arranged at all the pitches in the circumferential direction of the tread, so that the low-noise characteristic of the tire is achieved; and the center position of the herringbone groove is connected with the pattern block through the reinforcing rib formed by encircling four special cylinders, so that drainage and snow removal are facilitated, and the rigidity of the tread pattern block is ensured.

A thermoplastic bottle is provided that has a sidewall having an exterior surface that defines a plane curve. The sidewall is joined with a base and a mouth to define an interior volume. Facets are integrally formed in the sidewall that each have a recess interior to the plane curve and a protrusion extending above the recess. The protrusion being either above or below the plane curve. The recess can surround the protrusion or be adjacent thereto. Facets can be arranged in a variety of patterns and vary in shape, size, or both relative to one another. A ratio is defined for a recess depth to an absolute value of a height of a protrusion of 0.2-5:1. The resulting bottle offers a better grip when fluid bottle contents have dripped on the exterior surface relative to a conventional bottle. By allowing the drippage to seep into recesses of the facets.

The invention discloses intelligent fruit picking and air transportation integrated equipment and an operation method thereof.The intelligent fruit picking and air transportation integrated equipment comprises three types of multifunctional mechanical arms, the tail ends of the picking mechanical arms are integrated with image recognition and clamping mechanisms, lossless picking of fruit stems is achieved through joint cooperation and preset clamping force control, and fruits are conveyed to a temporary storage box through a special conveying pipe; the placing mechanical arm integrates a clamping mechanism and an air suction head, and empty basket placing and fruit basket placing are integrated. The lifting appliance grabbing mechanical arm integrates multiple assemblies and completes multi-task grabbing of a lifting appliance, a full fruit basket and an empty fruit basket. A magnet pole controllable design is adopted to realize lossless grabbing and releasing of the lifting appliance, the unmanned aerial vehicle autonomously plans a path based on a position sensor A / B to cooperate with ground equipment, and the supporting platform can be rotatably folded to save space; in addition, an overhanging button and a sound-light alarm are arranged to guarantee man-machine safety, all links are linked to form a full-process automatic operation closed loop, and picking and transporting efficiency and operation flexibility are remarkably improved.

The utility model discloses an anti-skid steel claw structure for an all-terrain sole and the all-terrain sole. The anti-skid steel claw structure structurally comprises a half sole steel claw, the half sole steel claws and the rear sole steel claws are located behind the half sole steel claws at intervals, the high-strength storage type half sole steel claws and the high-strength storage type rear sole steel claws are arranged on the front sole and the rear sole of the all-terrain shoe sole respectively, during conventional walking, the first anti-skid nails and the second anti-skid nails on the half sole steel claws and the rear sole steel claws are stored in the corresponding first assembling grooves and the corresponding second assembling grooves, and when the all-terrain shoe sole walks on a complex terrain, the anti-skid nails and the second anti-skid nails are stored in the corresponding first assembling grooves and the corresponding second assembling grooves. By rotating the half sole steel claw and the rear sole steel claw, under the cooperation of the corresponding hinge structures on the half sole steel claw and the rear sole steel claw, the half sole steel claw and the rear sole steel claw are turned over, the corresponding first anti-skid nail and the corresponding second anti-skid nail are exposed, and after the first anti-skid nail and the second anti-skid nail make contact with the ground, high road holding force and friction force are provided, and a wearer can walk on the complex terrain conveniently.

The utility model provides a battery cell clamping jaw device capable of detecting grabbing force, which comprises a clamping jaw cylinder provided with two clamping ends. Each clamping end is provided with a pressure sensing element; the detection end of each pressure sensing element is connected with the corresponding clamping jaw single arm through a connecting unit; the connecting unit comprises a mounting plate and an anti-falling block, the top of the mounting plate is connected with the detection end of the pressure sensing element, and the anti-falling block is detachably arranged at the bottom of the mounting plate and locks the upper end of the clamping jaw single arm. The clamping jaw device can avoid the situation that the clamping force of the clamping jaw device is too small, so that a battery cell slides off or is damaged due to too large force, the clamping force of the clamping jaw cylinder is conveniently and accurately regulated and controlled, and the stability of the clamping jaw in the process of grabbing the battery cell is improved.

Provided is technology which enables suitable control of a chuck holding force. In this machine tool comprising a main shaft provided with a chuck for holding a workpiece, when an open / close mechanism has performed a closing operation on the chuck such that the chuck enters a closed state from an open state, a holding force of the chuck on the workpiece in the closed state is acquired on the basis of the magnitude of a difference between a first time taken from when a control unit emits a control signal for the closing operation to the open / close mechanism to when a first sensor detects that the chuck is no longer in the open state, and a second time taken from when the control unit emits a control signal in an open / close mechanism to when a second sensor detects that the chuck has entered the closed state.

The invention provides a self-adaptive force feedback control method for a pressure sensing artificial hand. The self-adaptive force feedback control method comprises the following steps: S1, acquiring a pressure signal; s2, pressure signal preprocessing; s3, setting a pressure threshold value; s4, pressure signal contrastive analysis; s5, generating an adaptive force adjusting signal; s6, executing driving force; and S7, acquiring and feeding back a force feedback signal. Through sensing-analysis-adjustment-feedback closed-loop control, self-adaptive grabbing of the artificial hand to different objects is achieved, the core is that the grip strength is dynamically adjusted based on pressure signals, and grabbing stability and object safety are both considered.

The present invention surrounds the application of a substance to a sports ball, such as silica silylate, for the purposes of increasing grip and hydrophobicity. Disclosed are inventions surrounding the method, the system, and the apparatus for the treatment of a sports ball or other objects which a user desires to treat with a substance to achieve certain results in relation to the substance applied.

The utility model discloses a sole with a shock absorption function, which comprises a wear-resistant outer layer, a composite inner layer body is adhered to the top of the wear-resistant outer layer, and the composite inner layer body comprises a comfortable top layer, a microwell plate, a shock absorption middle layer, a stable supporting layer, a buffer air bag layer and an elastic memory layer which are sequentially arranged from top to bottom. The shock absorption middle layer comprises a first shock absorption plate, a second shock absorption plate, a third shock absorption plate and a fourth shock absorption plate which are sequentially arranged from top to bottom. The shock absorption middle layer is composed of four layers of EVA foam materials with different hardness and density, a unique gradient shock absorption structure is formed, the design can absorb and disperse impact force generated during walking or movement step by step, impact on knees and ankles is effectively relieved, joint health is protected, the wear-resistant outer layer is made of high-wear-resistant rubber materials, and the wear-resistant outer layer is made of high-wear-resistant rubber materials. And the anti-skidding grains are arranged, so that the wear resistance of the sole is enhanced, the road holding force on the wet and slippery ground is also improved, and the walking safety is ensured.

The invention relates to the technical field of suture line processing equipment, and particularly discloses a cutting device for a barb suture line and a barb cutting technology.The cutting device comprises a base, a line inlet guide mechanism, a barb cutting mechanism and a line outlet guide mechanism are arranged at the two ends of the base respectively, and the barb cutting mechanism comprises a carrier plate; a center hole for a suture line to pass through is formed in the carrier plate, two cutting clamping seats are symmetrically arranged on the carrier plate located on the two sides of the center hole, linear grooves are formed in the side faces, close to each other, of the two cutting clamping seats, and cutting knife assemblies are arranged on the cutting clamping seats. One end of the cutting knife assembly extends into the linear groove through a groove formed in the cutting clamping seat; according to the cutting device for the suture line with the barbs, continuous and high-speed barb cutting of the suture line is achieved, the production efficiency is remarkably improved, the barbs formed after cutting can be outwards kept at a large unfolding angle, and the grabbing force and the connecting stability of the barbs in the using process are enhanced.

The invention relates to the technical field of rehabilitation medical treatment, in particular to a hand rehabilitation training system based on virtual reality and gesture interaction, and the system comprises a gesture sensing module which collects a hand movement track, a muscle electric signal, grip pressure and a joint movement angle; the VR rehabilitation scene construction module constructs a rehabilitation training virtual scene, simulates a hand interaction behavior and a force feedback effect through an adaptive physical engine and a neural action mapping algorithm, and outputs simulation data; the intelligent evaluation center evaluates the action standard degree and the muscle activation efficiency based on an improved CNN-GRU model, identifies an action compensation mode and abnormal force generation, and outputs an evaluation report; the interactive training unit renders a motion state and a training process in real time, and generates personalized training guidance in combination with voice, visual and tactile prompts; and the personalized regulation and control unit predicts a rehabilitation trend and a stage target through a reinforcement learning algorithm, and dynamically adjusts training parameters and scene difficulty. Therefore, the problems of low interaction precision, incapability of sharing and the like in the prior art are solved.

A surgical robotic system includes a robotic arm having an instrument with a pair of opposing jaws configured for grasping, and an instrument drive unit configured to couple to and to actuate the instrument. The system also includes a surgeon console having a handle controller configured to control the robotic arm and the instrument. The system further includes a controller configured to: receive an electrical property of the opposing jaws; receive an angle of the opposing jaws; determine whether the opposing jaws are grasping a metallic object; and adjust a gripping force of the opposing jaws based on the determination.

The invention relates to the technical field of automobile maintenance equipment, and discloses a new energy automobile chassis maintenance manipulator which comprises a base, a first mechanical gripper arm is fixedly connected to the upper surface of the base, a second mechanical gripper arm is rotatably connected to the interior of the first mechanical gripper arm, and a replacement mechanism is rotatably connected to the interior of the second mechanical gripper arm. A first protection mechanism is fixedly connected to the lower surface of the base, a second protection mechanism is fixedly connected to the outer surface of the first mechanical claw arm, and the first protection mechanism enables the manipulator to move conveniently, reduces the load of a motor, eliminates interference of circular motion and stabilizes operation of the claw arms. The clamping jaw replacing mechanism can replace clamping jaws according to needs, and the grabbing force is dispersed; the second protection mechanism is provided with an elastic rod piece at a key part to buffer external force; the first protection mechanism and the second protection mechanism cooperate with each other, the tremor risk of the claw arm is reduced, and the manipulator is assisted to operate flexibly and stably during maintenance.

The invention relates to the technical field of industrial robots, and provides a humanoid robot self-adaptive clamping jaw grabbing device based on visual feedback, the grabbing device comprises a visual feedback module, a clamping jaw control module and a mechanical arm provided with a clamping jaw, and the mechanical arm comprises a plurality of joints; the visual feedback module is used for carrying out fine-grained object classification on the environment information through an improved YOLOv7 model and sending the shape type and the three-dimensional pose of an object to be grabbed to the clamping jaw control module; the clamping jaw control module is used for receiving the shape type and the three-dimensional pose of the to-be-grabbed object sent by the visual feedback module, controlling the mechanical arm to move by adopting a low space occupation configuration strategy, and generating a collision-free track of the clamping jaw from the initial position to the to-be-grabbed object; and when the clamping jaw approaches the object to be grabbed, the clamping jaw is controlled to move within the speed threshold range, and when the clamping jaw makes contact with the object to be grabbed, the clamping force of the clamping jaw is restrained based on the clamping force of the clamping jaw, the shape type of the object and the three-dimensional pose.

The invention provides a clamping mechanism which comprises a strain uniformly-distributed stacked structure fluid actuator, and when the strain uniformly-distributed stacked structure fluid actuator stretches out and draws back, a second shaft moves along with a push plate so as to drive a first shaft to rotate around the second shaft and move along with the second shaft in the stretching-out and drawing-back direction. Meanwhile, the second shaft drives the clamping piece to rotate around the third shaft so as to enable the clamping piece to be opened or closed, the grabbing state of the clamping piece is associated with the telescopic state of the fluid actuator of the uniform strain distribution stacking structure, and the expansion degree of the clamping piece is determined by the telescopic degree of the fluid actuator of the uniform strain distribution stacking structure; the stability degree of the clamping piece is determined by the pressure difference of the fluid actuator of the strain evenly-distributed stacked structure, and the clamping piece is endowed with a grabbing state with the adjustable flexible degree through the adjustable flexibility of the fluid actuator of the strain evenly-distributed stacked structure. The clamping mechanism provided by the invention has the grabbing force and the flexible degree of freedom of the rigid clamping jaw, and the applicability of the clamping mechanism is effectively improved.

The utility model discloses a portable material stirring device for interior decoration, which comprises a portable moving frame and a stirring structure, the top of the portable moving frame is provided with a lifting frame, the front side of the lifting frame is bolted with a rotating frame, the front side of the lifting frame is bolted with a fixed frame, the surface of the rotating frame is rotatably connected with a supporting mechanism, and the surface of the supporting mechanism is provided with a stirring mechanism. A limiting mechanism is clamped to the inner wall of the supporting mechanism, and the problems that an existing portable material stirring device for indoor decoration is mostly arranged in a handheld mode, when thick decoration materials are stirred, certain gripping force needs to be continuously applied to keep the stirring device stable, after the stirring device is used for a certain period of time, the hands are prone to ache, and the stirring effect is poor are solved. And most stirring devices with supporting structures are large in size, so that the stirring devices are difficult to be placed at positions close to a construction area, stirred materials need to be conveyed to a construction site by carrying the materials for multiple times, and the workload is increased.

The present invention provides a composite adsorption-enhanced force-current coupling flexible electrostatic gripper and a control method thereof, relating to the technical field of flexible grippers. The composite adsorption-enhanced force-current coupling flexible electrostatic gripper comprises a support frame, a force-current coupling structure, a flexible electrostatic adsorption enhancement layer, and a gecko-like adsorption enhancement layer. The force-current coupling structure enables bidirectional bending, thereby increasing the gripping range of conventional electrostatic adsorption flexible grippers and resolving the issue of insufficient gripping range in existing electrostatic adsorption flexible grippers. Furthermore, the gecko-like adsorption enhancement layer provides van der Waals forces to enhance adsorption, further increasing gripping force.

The invention relates to a self-adaptive manipulator which comprises a gripper used for gripping a workpiece, and the gripper is attached to the gripping face of the workpiece in a self-adaptive mode. The mechanical arm is connected with the gripper and drives the gripper to move and rotate; the recognition module comprises a visual recognition unit and a thermal imaging recognition unit, the visual recognition unit is used for scanning and recognizing the workpiece, and the thermal imaging recognition unit is matched with the visual recognition unit to precisely recognize the workpiece; and the control module receives the workpiece design data issued by the upper computer, compares and analyzes the workpiece design data with the identification data of the identification module, and issues an operation instruction to the mechanical arm and the gripper. According to the self-adaptive manipulator disclosed by the invention, visual identification and thermal imaging identification are combined, so that rapid and accurate identification and positioning of a workpiece are realized, and the condition that the gripper can rapidly and accurately grab the workpiece is ensured; and a self-adaptive device matched with the gripper can better fit the gripping surface while ensuring enough gripping force, so that the damage to the surface of the workpiece is reduced.

The invention discloses a grabbing stability control method and system of a bionic hand, a terminal and a medium, and relates to the technical field of bionic hands, and the method comprises the steps that after the bionic hand makes contact with a target object, initial grabbing force is obtained, and the target object is grabbed based on the initial grabbing force; stress information of the bionic hand and a vibration signal of the bionic hand are monitored in real time in the grabbing process, and a sliding risk index of the target object is determined based on the stress information and the vibration signal; and adjusting the holding posture and / or the gripping force of the bionic hand based on the sliding risk index so as to improve the gripping stability of the bionic hand. The sliding risk index of the target object can be dynamically analyzed in the grabbing process, the grabbing posture and / or grabbing force of the bionic hand are / is adjusted based on the sliding risk index, the grabbing stability of the bionic hand can be improved, and the safety of the target object is ensured.

The machine tool includes: a first spindle that includes a collet chuck that grips a workpiece; a first headstock that rotatably supports the first spindle; an air cylinder that generates a driving force for changing a state of the collet chuck between a gripping state for gripping the workpiece and a release state for releasing the grip of the workpiece; a non-rotary transmitting member that transmits the driving force received from the air cylinder; a rotary transmitting member that rotates together the first spindle and transmits to the collet chuck the driving force received from the non-rotary transmitting member; strain detection means that is attached to the non-rotary transmitting member and detects a strain of the non-rotary transmitting member produced when the driving force is transmitted from the air cylinder to the collet chuck, and a deriving unit that derives the gripping force of the collet chuck based on a detection result of the strain detection means.

The invention discloses a flexible manipulator with variable clamping force and constant-force rubbing and a using method thereof, and belongs to the technical field of micromanipulators, the flexible manipulator comprises a first driving mechanism, a second driving mechanism, a variable-rigidity clamping mechanism and a constant-force rubbing mechanism, the variable-rigidity clamping mechanism is formed by connecting a guide beam assembly, a variable-rigidity beam assembly and a decoupling beam assembly in series, and the constant-force rubbing mechanism is connected with the first driving mechanism. A first clamping end is arranged at the tail end, the rigidity of the constant force rubbing mechanism can be adjusted through embedded shape memory alloy, the constant force rubbing mechanism is composed of a positive rigidity structure and a negative rigidity structure, a second clamping end opposite to the first clamping end is arranged at the tail end, and the two mechanisms are connected through the decoupling beam assembly to achieve structural decoupling. The problems that an existing flexible manipulator is non-adjustable in clamping rigidity, slow in constant force response and mutual in function interference are solved, and self-adaptive grabbing and stable rubbing of micro-scale objects are achieved.

A connector and a connector assembly. The connector is configured for plug-in engagement with a mating connector, the connector comprising a main body, a limiting member and a lever. The side wall on at least one side of the main body is provided with an accommodating space. The limiting member is rotationally connected to the main body; when the limiting member is not under pressure, at least part of the limiting member protrudes beyond the outer surface of the main body. The lever grips both sides of the main body and is capable of rotating, wherein the lever is rotationally connected to the part of the limiting member protruding beyond the outer surface of the main body. In the present application, when the lever is not mounted on the connector, the limiting member is not subjected to the gripping force from the lever, such that the part of the limiting member configured to be gripped by the lever naturally protrudes beyond the outer surface of the main body. When the connector provided in the present application is plugged into the mating connector, the part of the limiting member that protrudes beyond the outer surface of the main body interferes with the mating connector, preventing the connector provided in the present application from being plugged into the mating connector normally. In this way, an operator has a direct sense of anomalies in the state of insertion, allowing the operator to promptly notice the problem of lever missing or detachment, thereby preventing the connector that does not have the lever mounted thereon from being left at a vehicle operation site. In addition, after the lever is mounted on the connector, the gripping force provided by the lever enables the limiting member to be accommodated in the accommodating space, thereby preventing the connector provided in the present application from interfering with the mating connector when plugged into the mating connector normally.

The invention provides a bait casting boat. The bait casting boat comprises a boat body, a wheel shaft, a walking mechanism, a driving mechanism and a transmission mechanism. The transmission mechanism comprises a first mechanism and two second mechanisms, and the first mechanism and the two second mechanisms are respectively connected with one driving mechanism; the walking mechanism comprises a wheel disc, wheel claws and a spoke, the wheel disc comprises an outer shaft and inner shafts rotationally arranged at the two ends of the outer shaft, the transmission mechanism is connected with the inner shafts, the inner shafts, the spoke and the wheel disc are coaxially installed, the wheel disc is provided with a plurality of wheel claws in a circumferential mode, the spoke is provided with supporting rods in one-to-one correspondence with the wheel claws, and the supporting rods are connected with the transmission mechanism. The supporting rods are hinged to the wheel claws; pins in one-to-one correspondence with the wheel claws are arranged on the inner surface of the wheel disc, and sliding grooves matched with the pins are formed in one ends of the wheel claws. Good ground gripping force can be achieved, efficient obstacle crossing is achieved, the size can be reduced, and the robot is adaptive to the limited loading space of a boat.

The utility model discloses a flexible pneumatic parallel clamping jaw device which comprises a fixed seat, a flexible clamping assembly, a connecting rod mechanism and a pneumatic driving assembly, the flexible clamping assembly comprises two clamping arms which are oppositely and movably arranged on the fixed seat, and the connecting rod mechanism comprises two swing parts which are oppositely arranged. Each swing part comprises a first connecting rod and a second connecting rod, the middle of the first connecting rod is hinged to the side wall of the fixing base, one end of the first connecting rod is hinged to the corresponding clamping arm, the other end of the first connecting rod is hinged to one end of the second connecting rod, and the end, opposite to the first connecting rod, of the second connecting rod is hinged to a pneumatic driving assembly arranged on the fixing base. The pneumatic clamping device is simple in structure and light in weight, the two clamping arms are driven by the pneumatic driving assembly through the connecting rod mechanism to move face to face or back to back on the fixing base so as to clamp objects, and the gripping force is high.

The beverage bottle convenient to grasp comprises a bottle body and an inner groove, the top of the bottle body is connected with a bottle opening, the surface of the bottle body is provided with a label face used for being attached with a label, and the surface of the bottle body and the bottom of the label face are annularly provided with a plurality of inwards-sunken grabbing grooves. The inner grooves are formed in the surface of the bottle body, the grabbing grooves are arranged in a V shape, reinforcing strips are arranged on the surface of the bottle body and located in the middles of the grabbing grooves, and the grabbing grooves are annularly formed in the bottom of the label surface of the surface of the bottle body, so that additional grabbing acting points are provided for a user; by means of the structure, fingers can be naturally embedded into the bottle body, the friction force between the hand and the bottle body is increased, the grabbing grooves are arranged in the V shape and further fit with the shapes of the fingers, the grabbing comfort and stability are improved, and a consumer can more easily and firmly grab the beverage bottle when opening the bottle cap for drinking beverages.