57results about How to "Accurate gripping" patented technology

The invention discloses a humanoid robot grabbing method based on three-dimensional vision, and the method comprises the following specific steps: S1, environment modeling and perception: carrying out the three-dimensional scanning of a working environment, and constructing a three-dimensional map of the environment; s2, object identification and 6D attitude estimation: identifying a target object, and estimating the position and attitude of the object in a camera coordinate system; s3, coordinate conversion and target positioning, wherein the posture of the object is converted into a robot base coordinate system from a camera coordinate system through TF conversion; and S4, path planning and motion control are conducted, specifically, path planning is conducted through a cumotion algorithm, a grabbing path is generated, and the two arms are driven to move according to the planned track to achieve grabbing. By means of environment modeling and sensing, the robot can update environment information in real time, conduct three-dimensional scanning on the working environment and generate the three-dimensional grid model of the environment in real time, the model is used for obstacle detection and avoidance planning, and the dynamic environment adaptability of the robot to object grabbing is improved.

The utility model discloses a side-mounted garbage collection and transportation manipulator which comprises a grabbing mechanism, a lifting mechanism, a transverse position adjusting mechanism, a telescopic mechanism, a visual auxiliary operation mechanism and a control mechanism. The grabbing mechanism is provided with a single-finger clamping jaw and a double-finger clamping jaw which can be adjusted independently or simultaneously, and the single-finger clamping jaw is located in a gap in the middle of the double-finger clamping jaw. A sensor is arranged on the tail end clamping jaw; the lifting mechanism drives the grabbing mechanism and the transverse position adjusting mechanism to ascend and descend, and overturning and dumping of the dustbin are achieved. The transverse position adjusting mechanism is used for adjusting the position of the grabbing mechanism in the transverse direction; the telescopic mechanism is used for driving the supporting and lifting mechanism to stretch forwards or retract backwards, and the visual auxiliary operating mechanism obtains an image at the grabbing mechanism and conveys the image to the control mechanism; and the control mechanism is provided with a controller for controlling other parts to work. The grabbing mechanism is controlled to be opened and closed more accurately, and the garbage can is prevented from being shrunken by clamping or falling off in the grabbing process; and the adjustment in the lifting or horizontal direction is more accurate.

The utility model provides an automatic cloth grabbing feeding and conveying device which comprises a laser cutting machine and a mechanical arm, a flexible mechanical clamping jaw is arranged on a flange at the tail end of the mechanical arm, the automatic cloth grabbing feeding and conveying device further comprises a first conveying line and a second conveying line, the second conveying line is arranged beside the first conveying line, and the laser cutting machine is arranged beside the first conveying line. A manipulator is mounted between the first conveying line and the laser cutting machine, a discharging-to-frame assembly is erected on the first conveying line and comprises a mounting frame, and a material frame box is arranged on the mounting frame. The manipulator with the flexible mechanical clamping jaw is used for replacing people to take the cloth pieces, and omission or excessive taking of the cloth pieces is avoided according to a set program; the same set of cloth pieces is transferred to the next process through the transfer box, the problem of cloth piece missing can be avoided as long as the transfer box does not topple over, and abnormity can be remarkably reduced, so that the labor hour of manual processing is reduced, and the transaction rate of orders is increased; circulating conveying and using of the turnover boxes can be achieved through the first conveying line and the second conveying line.

The invention relates to the technical field of mahjong machines, in particular to a remote mahjong machine and a multi-user mahjong remote control system.The remote mahjong machine comprises a software part and a hardware part, and the hardware part comprises a plurality of mahjong devices arranged in various places and is in signal connection through a signal connection module in a controller; the mahjong equipment comprises a base and an upper end shell arranged at the upper end of the base, a rectangular barrier plate used for placing mahjong tiles is arranged in the base and fixedly connected to the base, and a tile picking structure is arranged on one side of the rectangular barrier plate and comprises a rotating motor fixedly arranged on the base; the output end of the rotating motor faces upwards and is fixedly provided with a first air cylinder, the output end of the first air cylinder is horizontally arranged and fixedly connected with a second air cylinder, the output end of the second air cylinder is fixedly connected with a third air cylinder, and the output end of the third air cylinder faces the interior of the rectangular baffle and is fixedly provided with a clamp. The clamp is fixedly provided with an identification camera, and one side of the rectangular barrier plate is provided with a transportation structure.

The automatic punching machine comprises a machine body, a conveying belt, a mechanical clamping jaw and a top plate, the machine top is fixedly installed above the machine body, the conveying belt is arranged on one side of the machine body, a punching protruding block is installed under a supporting plate, a punching table is installed above the machine body, and the machine top is fixedly installed on the machine body. A mechanical clamping jaw is fixedly installed on the mechanical arm, and a top plate is fixedly installed above the telescopic rod. Through the arrangement of the conveying belt, the mechanical arm and the mechanical clamping jaw, the conveying belt can continuously and automatically convey plate raw materials, the mechanical arm and the mechanical clamping jaw can rapidly and accurately complete clamping and placing of workpieces, and therefore the conveying belt and the mechanical clamping jaw are used in cooperation to form a complete automatic material circulation system. By means of the automatic operation, the requirement for manual intervention is reduced, the labor cost and the risk of human errors are reduced, the production efficiency is improved, and therefore the automation degree of the production line is greatly improved.

The present invention discloses an aerial automated replacement device for a single lamp controller based on an unmanned aerial vehicle platform, comprising an unmanned aerial vehicle, a mechanical arm and a controller disassembly and assembly mechanism, wherein the mechanical arm is set up on the unmanned aerial vehicle, and the controller disassembly and assembly mechanism is fixed to the end of the mechanical arm; the controller disassembly and assembly mechanism comprises a rotating motor, a mechanical claw housing, a mechanical claw and a camera assembly for visual positioning when replacing the controller; the mechanical claw housing is fixed to the driving end of the rotating motor, the camera assembly is fixed to the mechanical claw housing, and a mechanical claw motor is arranged on the side of the mechanical claw housing close to the controller. In addition, the device is also equipped with an equipment recovery bin and an equipment replacement bin, which can be used to store recovered parts and replacement parts. The invention realizes the automatic replacement of a plug-in type single lamp controller installed on the top of a street lamp fixture in the air through a unmanned aerial vehicle platform, which greatly reduces the maintenance cost and safety hazards of this type of single lamp controller and improves work efficiency.

The invention relates to the technical field of substrate glass production, and discloses a substrate glass safe sampling device and method.The substrate glass safe sampling device comprises clamping jaws, a clamping jaw frame, a three-hinge mechanism and a locking handle, the two clamping jaws are fixed to the two ends of the clamping jaw frame respectively, the three-hinge mechanism is arranged in the middle of the clamping jaw frame, and the locking handle is arranged on the clamping jaw frame; the design of the three-hinge mechanism allows the clamping jaw frame to have certain flexibility while keeping certain rigidity, the clamping jaw frame can adapt to substrate glass of different shapes and sizes, the sampling safety is further improved, the sampling success rate is further increased, meanwhile, the three-hinge mechanism is connected with the locking handle, and the clamping jaw frame is convenient to use. By arranging the locking handle, an operator can easily adjust the opening and closing degree of the clamping jaw so as to quickly and accurately clamp the substrate glass, the locking handle can also fix the position of the clamping jaw, once the clamping jaw is locked, the clamping jaw can firmly clamp the substrate glass, and the sampling device has the advantages of high sampling efficiency and high safety, and is suitable for popularization and application. And the injury to sampling personnel is avoided.

The utility model discloses an unmanned aerial vehicle automatic battery replacing clamp of an automatic airport, and relates to the technical field of unmanned aerial vehicle battery replacing. The automatic battery replacing clamp comprises a clamp body, the clamp body is composed of a static clamping plate and a movable clamping plate, the static clamping plate and the movable clamping plate are connected in a sliding mode, and an electric driving device used for driving the movable clamping plate to move is arranged on the static clamping plate. The clamp body and the driving device jointly form the automatic battery replacing clamp for the unmanned aerial vehicle. According to the battery replacing clamp for the automatic airport and the unmanned aerial vehicle, the structure is simple, the automation degree is high, the battery replacing clamp does not use a gas circuit as a power source, and the stability of the battery replacing clamp is improved. According to the battery replacing mechanism, the lead screw stepping motor is used, the control precision is high, and the battery clamping safety is improved.

The present invention provides a rotating mechanism in an automatic button feeding device, which belongs to the technical field of sewing equipment. It solves the technical problems that the existing structure has no positioning for the swing arm assembly, and deviation is easy to occur when obtaining buttons. The rotating mechanism in the automatic button feeding device includes a mounting seat, a swing arm is hinged on the mounting seat, a driving member for driving the swing arm to rotate is provided on the mounting seat, a positioning part is provided on the mounting seat, and a positioning rod is connected to the swing arm, and the positioning rod can abut against the positioning part. The positioning rod and the positioning part of the rotating mechanism of the present invention form a positioning structure, so that the clamping mechanism can swing to the same position every time, so that the clamping arm can accurately align with the feeding channel, avoid deviation when clamping the buttons, and ensure accurate clamping of the buttons.

The invention provides a material taking mechanism, a meal cabinet and a control method, the material taking mechanism is suitable for a discharging device, the discharging device comprises a material storage mechanism and a discharging mechanism, and the material taking mechanism comprises a transportation structure which is movably arranged; the transportation structure is used for carrying the to-be-taken materials taken out from the material storage mechanism to the feeding end of the discharging mechanism; the clamping structure is movably arranged on the transportation structure; the clamping structure is used for clamping the to-be-taken materials stored in the material storage mechanism to the conveying structure. The material taking mechanism can effectively solve the technical problems that in a meal outlet structure of a meal selling cabinet in the prior art, each goods channel needs to be independently provided with a motor and a crawler belt, so that cost is increased, and control is complex.

The utility model discloses a clamping device, which is used for moving thrust wheels to a mounting position on a chassis of an excavator, and comprises a loading component, a feeding component, a moving component, a clamping component and a control system, the clamping assembly comprises a clamping mechanism and a visual mechanism, the clamping mechanism comprises a fixing plate, a connecting plate and a clamping jaw, the clamping jaw is arranged on the fixing plate and used for clamping the thrust wheel, the connecting plate is arranged on the fixing plate and connected with the moving assembly, the connecting plate is connected with the visual mechanism, and the visual mechanism is arranged on the fixing plate. The visual mechanism is used for taking photos, and the photos are related to the thrust wheels or the chassis; the control system can control the clamping mechanism to clamp the thrust wheel according to the picture and control the moving assembly to move the thrust wheel to the chassis. According to the utility model, the thrust wheel can be quickly and accurately moved to a mounting point position, and the mounting efficiency of the thrust wheel is effectively improved.

This application discloses a three-roll guide with adaptive die shape adjustment, relating to the field of rolling mill technology. It includes a housing, support arm assemblies, and an adaptive adjustment component. At least three support arm assemblies are circumferentially arrayed on the housing, and guide wheels on the three support arms mutually enclose each other to form a forming hole for the rolled bar. The adaptive adjustment component corresponds one-to-one with each support arm assembly, maintaining elastic contact with the support arm assembly to adjust the rotation of the support arm assembly on the housing, thereby changing the size and shape of the forming hole. This application enables the support arm assembly to automatically adjust the size and shape of the forming hole formed by the guide wheels according to the diameter of the metal sheet. The die shape formed by the guide wheels is passively adjusted according to the incoming material, thus achieving adaptive die shape adjustment and ultimately realizing accurate clamping and torsion-free rolling of the workpiece.

The utility model portable engine silencer inlet and exhaust pipe welding frock, include, bottom plate, cylinder positioning mechanism, exhaust pipe positioning mechanism and air inlet pipe positioning mechanism, the bottom plate is rectangular board, the cylinder positioning mechanism is fixed on the bottom plate surface, include, opposite setting rear end positioning and front end positioning, the rear end positioning includes, support plate I, base and positioning column, the front end positioning includes, support plate II, end cover and cylinder I, the exhaust pipe positioning mechanism is fixed in the right side of cylinder positioning mechanism, include, support plate III, exhaust base and cylinder II, the air inlet pipe positioning mechanism is fixed in the left side of cylinder positioning mechanism, include, support plate IV, flange base, positioning column II and cylinder III, the utility model portable engine silencer inlet and exhaust pipe welding frock's beneficial technical effect is accurate to the air inlet pipe and exhaust pipe with positioning and clamping, inlet and exhaust pipe one -off clamping and welding, has guaranteed that the product after welding can satisfy the design requirement.

The utility model relates to the technical field of battery recycling and disassembling, and discloses a portable lead-acid battery disassembling device which comprises a disassembling box, the bottom of the inner side of the disassembling box is fixedly connected with a turnover liquid discharging mechanism, the inner side of the disassembling box is fixedly connected with a pole piece disassembling mechanism, the turnover liquid discharging mechanism comprises a stand column, and the stand column is fixedly connected with the pole piece disassembling mechanism. The bottoms of the stand columns are fixedly connected to the bottom of the inner side of the dismounting box, a fixing shaft is fixedly connected to the close sides of the two stand columns, rotating blocks are rotationally connected to the outer sides of the fixing shafts of the stand columns, and a dismounting table is rotationally connected to the outer sides of the fixing shafts of the stand columns. According to the utility model, the L-shaped sliding block is pushed to slide on the sliding rail through the overturning driving cylinder, the rotating block is driven to rotate around the upright post fixing shaft, and then the dismounting table is overturned, so that the battery liquid automatically flows into the battery liquid pool to be collected, the battery liquid is efficiently discharged, the dangerous liquid can be prevented from being manually contacted, and the potential safety hazard caused by misoperation is prevented.

The utility model relates to a rotary table positioning and clamping device, in particular to an automobile production trim line rotary table positioning and clamping device. According to the technical scheme, the positioning and clamping device for the automobile production interior trim line rotary table comprises a fixed table, a servo motor, a sliding frame and a clamping assembly, the servo motor is fixedly connected to the fixed table, the sliding frame is fixedly connected to an output shaft of the servo motor, and the clamping assembly is arranged on the sliding frame. According to the utility model, the gear motor drives the sliding frame to replace a manipulator to convey the interior trim parts at a certain angle, so that the installation cost is reduced, and the working efficiency is also improved.

The present invention provides an intelligent toilet with a cleaning function, comprising a test paper collection component and a dropper collection component, wherein the test paper collection component is used to store different test paper strips in different areas, and a sample dropper component is arranged on one side of the test paper collection component, and the sample dropper component is used to collect samples collected by a sampling dropper; the dropper collection component is used to store different sampling droppers for detection, and can output axial rotational power to realize the conversion of different sampling droppers, and can provide horizontal moving force to the test paper collection component to specify the test paper position.

The invention discloses an automatic assembling device for power distribution cabinet machining, the assembling device comprises a clamp and a bracket, the bracket is provided with the clamp, and the clamp is used for erecting and forming a frame; the bracket is composed of a frame body and side beams, the frame body comprises a fixed frame and a movable frame, a linear moving part perpendicular to the fixed frame and the movable frame is arranged between the fixed frame and the movable frame, the fixed frame is arranged at the end of the linear moving part, and the movable frame is arranged on a moving part of the linear moving part; the linear moving part controls the distance between the fixed frame and the movable frame, and the feeding distance from single-station feeding to the fixed frame and the feeding distance from single-station feeding to the movable frame are shortened by making the fixed frame and the movable frame close to each other. The distance between the fixed frame and the movable frame is controlled through the linear moving part, so that the fixed frame and the movable frame are close to each other or far away from each other, the feeding position is adjusted, the feeding distance is shortened, and the material carrying time and manpower consumption are reduced.

The invention discloses a clamping and transferring device and application thereof, and relates to the technical field of transferring devices, a rotating driving motor is fixed on a supporting frame, and a rotating frame is connected with the power output end of the rotating driving motor and is driven by the rotating driving motor to rotate; the suspension frame is arranged in the rotating frame and rotationally connected with the two sides of the rotating frame. The clamping mechanism comprises a connecting frame plate, a clamp mounting plate, a clamp and a clamping driving assembly; the connecting frame plate is connected with the end of the suspension frame, the clamp installation plate is fixed to the connecting frame plate, the clamp is arranged on the clamp installation plate and connected with the furniture driving assembly, the clamp is driven by the clamp driving assembly to clamp and loosen objects, and the device can be applied to the bead stringing machine. According to the clamping and transferring device, through automatic control, rapid and accurate clamping and transferring of objects are achieved, and the production efficiency is remarkably improved. By arranging the reset torsion spring, the protruding teeth and other structures, the stability and clamping force of the clamping mechanism are improved, and the safety of objects in the clamping and transferring process is ensured.

The invention relates to the technical field of mobile robot logistics transportation, in particular to a gantry type mobile operation robot which comprises a rack, a driving wheel set, a lead screw lifting mechanism, a guide mechanism, a clamping mechanism and a safety protection device. And a brand-new gantry type mobile operation robot is formed. The mobile operation robot has the advantages of being simple in structure, convenient to operate, good in stability and the like. The functions comprise all-directional moving, vertical lifting and horizontal clamping, and efficient carrying is achieved. The robot has high innovativeness and is suitable for the field of logistics transportation, the carrying efficiency is remarkably improved, the labor cost is reduced, and the robot has remarkable practical value.

The utility model relates to an automatic discharging device and relates to the technical field of material conveying, the automatic discharging device comprises a base, a first transmission mechanism, a material taking mechanism, a second transmission mechanism and a material collecting mechanism, the first transmission mechanism is arranged on the upper side of the base, and the first transmission mechanism can convey materials in the length direction of the base; the material taking mechanism is arranged on the upper side of the base and located on one side of the transmission mechanism. The second transmission mechanism is arranged on the base and located on the lower side of the material taking mechanism, and the material taking mechanism can place materials of the first transmission mechanism on the second transmission mechanism and convey the materials; the material collecting mechanism is arranged at the end, away from the material taking mechanism, of the second transmission mechanism and can collect materials conveyed by the second transmission mechanism. The tin plating device is used for solving the problems that an existing tin plating device is difficult to automatically discharge, so that labor consumption is increased, and efficiency is low.

This application relates to the field of camera assembly technology, and in particular to an automatic film-peeling mechanism for a video doorbell camera. The mechanism includes a positioning component and a film-peeling component arranged adjacent to each other. The positioning component is used to position the camera module, and the film-peeling component has a first gripper capable of moving vertically. The first gripper is used to peel the film. A discharge port is provided between the positioning component and the film-peeling component, and the discharge port is located below the first gripper during film peeling. This application enables high-precision handling, positioning, and film peeling of the camera module under automated conditions, significantly improving assembly efficiency, reducing manual intervention, and ensuring the integrity of the film peeling and the stability and reliability of the production process.

The utility model discloses a superfine side turns living tissue sampling forceps, include: first pliers head, second pliers head, traction steel wire, pliers body and handle, first pliers head and second pliers head rotatablely connect, first pliers head is connected with one side of pliers body, pliers body is connected with handle, one end of traction steel wire passes through second pliers head and pliers body in proper order and stretches into handle, the push block of handle is slidably arranged, and traction steel wire is connected with push block. Through the application of the utility model, the superfine side turns living tissue sampling forceps are provided, which are connected with the tube sheath through the supporting frame and are bonded with the fixed block in the mode of the tube sheath, can simplify the processing technology and the assembly process, are favorable for improving the production efficiency, reduce the production cost, and compared with the existing living tissue sampling forceps, the number of parts required for processing and assembly is reduced. In addition, it can also access the target tissue from a narrow cavity or a tricky angle in the human body, accurately clamp the diseased tissue, and is favorable for improving the precision of sampling.

The utility model provides a damper rivet vibration feeding device which comprises a machine frame, a vibration disc is installed on the machine frame, a guide rail groove is formed in an outlet of the vibration disc, and the damper rivet vibration feeding device further comprises an isolation unit, a rivet feeding unit and a rivet feeding unit, the transfer unit at least comprises a clamping jaw, and the clamping jaw clamps the materials lifted by the isolation unit and transfers the materials to a feeding jig; and the pre-pressing unit is arranged above the clamping jaw and is used for pre-pressing the material transferred to the feeding jig. The material parts are transversely moved and lifted one by one through the isolation unit, the transferring unit grabs the material parts and transfers the material parts to the feeding jig, the combined valve elements are pre-pressed in cooperation with the pre-pressing unit, and the automatic feeding function of the material parts is achieved.

The utility model discloses a feeding and transferring device suitable for battery cell lamination. The feeding and transferring device comprises a conveying platform, a feeding platform, a buckle conveying belt, a sliding rail, a conveying motor, a sliding motor, a feeding clamp, a positioner, an electric cabinet and a feeding rod, the conveying platform serves as a basic platform, the end of the feeding platform is fixed to the buckle conveying belt, the bottom of the feeding platform is fixed to the sliding rail, the conveying motor and the sliding motor are connected to the middle of the buckle conveying belt, the rolling shaft is arranged between the sliding motor and the buckle conveying belt, and the sliding motor is connected with the sliding rail through the rotating shaft. The feeding clamp is fixed to the feeding rod, the positioner is fixed to the feeding rod, and the electric cabinet is fixed to the bottom of the conveying platform and controls the feeding clamp through a cable. The feeding position of materials can be accurately controlled, the materials can be fixed through the left material fixing table and the right material fixing table of the feeding platform, shaking of the materials is prevented, and therefore accurate feeding of the materials is guaranteed.

The utility model relates to humidifying bottle assembling equipment which comprises a bottle body feeding conveying line, a rotating disc connected with the bottle body feeding conveying line, a water filling machine arranged along the rotating disc, an upper cover feeding conveying line, an upper cover screwing mechanism and a finished product discharging conveying line. The upper cover screwing mechanism comprises a pushing assembly arranged at the tail end of the upper cover feeding conveying line, a clamping jaw for clamping an upper cover from the pushing assembly, a rotating assembly for driving the clamping jaw to rotate and a lifting assembly for driving the clamping jaw to ascend and descend. The utility model provides a humidifying bottle assembling device. The design of an upper cover screwing mechanism is particularly outstanding. The upper cover can be accurately and rapidly conveyed to the clamping jaw through the arrangement of the material pushing assembly, the clamping jaw can accurately clamp the upper cover, and damage or dislocation of the upper cover is avoided. Through the cooperative work of the rotating assembly and the lifting assembly, the clamping jaw can rotate and ascend and descend according to the preset track and force, and therefore the upper cover can be rapidly and accurately screwed.

The invention belongs to the technical field of distribution box production, and particularly relates to a welding device for distribution box production, which comprises a base and a welding robot, the welding robot is fixedly mounted on the base, and the base is further provided with a linear arrangement type pipe feeding assembly; the linear arrangement type pipe feeding assembly comprises a conveying frame fixedly connected to one side of the upper end face of the base, a second conveying belt is arranged on the conveying frame, and a material frame is fixedly connected to the side, close to the conveying frame, of the upper end face of the base. By means of the linear arrangement type pipe feeding assembly and the material taking and butt joint integrated assembly, the process of manual butt joint of square pipes by workers is omitted, and the labor intensity of the workers is remarkably reduced. In the feeding link, compared with the mode that a mechanical arm directly grabs the disorderly-stacked square pipes, the square pipes are firstly arranged and arranged into an ordered linear queue through a specific mechanism, so that the multiple square pipes are separated from one another, and positioning is clear.

The utility model relates to the technical field of automation equipment, in particular to a material transferring device. The device is used for transferring plate-shaped products and comprises a first conveying mechanism, a second conveying mechanism, a third conveying mechanism and a fourth conveying mechanism, the second transmission mechanism is used for transferring the product to the next station; the cache bin is used for storing cached products; the grabbing mechanism is used for taking and placing the products on the first conveying mechanism onto the temporary storage bin or the second conveying mechanism, or taking and placing the products in the temporary storage bin onto the second conveying mechanism; the first conveying mechanism, the second conveying mechanism and the temporary storage bin are arranged around the grabbing mechanism. The conveying direction of the first conveying mechanism is perpendicular to the conveying direction of the second conveying mechanism. The first conveying mechanism comprises a first belt conveying line and a jacking assembly arranged at the conveying tail end of the belt conveying line. Products from the cleaning device are taken and placed on the temporary storage bin or the second conveying mechanism, the automation degree is high, manual operation in the prior art is replaced, and the working efficiency is high.

This utility model relates to the field of medical devices, specifically a reverse separation forceps, comprising the following components: a positioning post one, which is fitted onto the forceps handle; a forceps handle, on which two symmetrical posts are provided; a forceps bar, which is mounted on the forceps handle, and a forceps arm is provided between the forceps handle and the forceps bar; a forceps arm, on which a second positioning post is provided; a forceps tip, which is located at the end of the forceps bar. The forceps arm connects the forceps handle and the forceps bar, acting as a lever to provide external force when muscle tissue needs to be separated; the forceps arm has positioning posts for controlling the accuracy of the left and right forceps bar alignment and limiting the pinching position, while also acting as a rocker arm to ensure precise contact and separation of the forceps tip, thus improving the accuracy of grasping muscle tissue during surgery and the separation force required to separate the muscle tissue.

The invention discloses a multifunctional grabbing mechanism with clamping functions of a cutter handle, a material box and a machine tool clamp, and relates to the technical field of machining, the multifunctional grabbing mechanism comprises a flange connecting frame, two symmetrically-arranged buffering mechanisms are installed on one side of the flange connecting frame in a matched mode, and a first pulling claw and a second pulling claw are installed on the two buffering mechanisms in a matched mode respectively; two opposite second sliding rails are fixedly installed on the other side of the flange connecting frame, a second guide rail sliding block, a third guide rail sliding block and a fourth guide rail sliding block are installed on the second sliding rails in a sliding fit mode, a second support is installed on one side of the second guide rail sliding block in a matched mode, and a first support is installed on one side of the fourth guide rail sliding block in a matched mode; and fork arms are mounted on one side of the first bracket and one side of the second bracket in a matched manner. According to the flange connecting frame, multiple advanced grabbing and auxiliary assemblies are integrated, the design is ingenious, multiple tasks can be executed at the same time, the accident risk in the operation process of the mechanical arm is remarkably reduced, and the working efficiency is greatly improved.

The invention relates to a grading seedling transplanting and supplementing machine which comprises a frame, a conveying module, a visual module, a transplanting and supplementing module and a controller. The conveying module is installed in the middle of the frame, the moving and supplementing module is installed at the upper end of the frame and located above the conveying module, and the vision module is installed on the moving and supplementing module. The conveying module, the visual module and the moving and supplementing module are all connected with the controller. The device has the advantages that hole trays with materials are placed on the conveying module, products of different grades are screened out through the vision module, and the controller controls the conveying module to convey seedling raising trays according to the sizes and characteristics of the hole trays; the moving and supplementing module grabs the waste materials to a waste soil collecting position; the transplanting and supplementing module is used for transplanting seedlings to an empty tray area, a row of trays are moved forwards by a conveying module after the trays in the seedling transplanting area are filled with grids, and the trays in the seedling transplanting area are conveyed to a seedling transplanting conveying line outside equipment by a chain after being filled with grids; the whole working process is accurate in positioning, the gripper is accurate in grabbing, and the average moving and supplementing success rate is 98%.