39results about How to "Improve grip stability" patented technology

The utility model relates to the technical field of radio frequency coaxial connectors, and particularly discloses an anti-slip radio frequency coaxial connector convenient to install, which comprises a joint, a connector shell arranged at one end of the joint, a connecting block arranged at the bottom of the connector shell and an adjusting mechanism arranged below the connector shell. The adjusting mechanism comprises a threaded cylinder, a threaded groove is formed in the bottom of the connector shell, and the threaded groove is in threaded connection with the threaded cylinder; a protection mechanism is arranged at the bottom of the threaded cylinder; the protection mechanism comprises a protection plate fixedly connected with the interior of the threaded cylinder, the threaded cylinder and the protection mechanism are matched to protect the connecting block, the height can be adjusted to adapt to different scenes, the connecting block can be conveniently and rapidly connected with an external contact piece, the structure is simple, operation is convenient, and meanwhile the protection plate is made of excellent materials and designed to be anti-skid and anti-pollution. The effects of protection, convenient installation, reliable connection and convenient operation are achieved.

The utility model discloses a paper cup framing system, which relates to the technical field of paper cup framing and comprises a paper cup conveying line used for conveying paper cups and a plastic frame conveying device used for conveying plastic frames, an open-close type interceptor is arranged at the tail end of the paper cup conveying line, and protective plates are arranged on the paper cup conveying line corresponding to two sides of the open-close type interceptor. The opening and closing interceptors are matched with protection plates on the two sides of the paper cup conveying line to position the paper cups; a grabbing device is arranged between the paper cup conveying line and the plastic frame conveying device, the grabbing device grabs paper cups on the paper cup conveying line into plastic frames on the plastic frame conveying device, the grabbing device comprises a collaborative robot, and a clamping jaw used for grabbing the paper cups is arranged at the moving end of the collaborative robot. The paper cup conveying line, the grabbing device and the plastic frame conveying device are matched with one another, so that the paper cups can be automatically and tidily placed in the plastic frames in the storage or transportation operation.

The application relates to the technical field of mechanical arm grabbing and operation, and discloses a general mechanical arm grabbing method, system and equipment based on a scale-invariant network improvement; the general mechanical arm grabbing method is applied to a mechanical arm control device and specifically comprises the following steps: S11: acquiring an RGB-D image containing a target object; through parallelized back projection, the two-dimensional coordinates (u, v) of each pixel in a depth image and the depth value D(u, v) are converted into a three-dimensional point cloud P in a camera coordinate system in real time. Through vertical / horizontal priority directional hard constraints and end-to-end transmission from a decision screening end to a motion execution end, the application ensures that a grabbing approach vector and an object surface normal always maintain an optimal included angle, significantly improves the grabbing stability and safety for slender and sheet objects, and greatly reduces the probability of accidental collision.

The utility model discloses a ship -borne crane for offshore operation, including support, hoisting assembly and fixture subassembly, hoisting assembly includes power input part, transmission mechanism and lifting appliance, power input part drives lifting appliance to go up and down movement through transmission mechanism, fixture subassembly is connected in lifting appliance, and fixture subassembly includes support frame, at least two opposite setting's clamping arm and drive mechanism, clamping arm is installed in support frame in open and close, and the inside working surface of clamping arm is arc or pincer shape, and the clamping groove is formed between two opposite setting's clamping arms, drive mechanism is used for driving two clamping arms open and close to snatch or loosen cylindrical heavy object, the utility model discloses through setting up the clamping arm with arc or pincer shape working surface, specially aiming at the appearance feature design of cylindrical heavy object, has provided greater contact area and better stress distribution, has improved snatch stability and security significantly. Overall simple and reliable structure, the low manufacturing cost, maintains conveniently.

The utility model relates to a kind of taking and placing manipulator for counterweight block production line, including the roller line for conveying counterweight block, the roller line end is equipped with baffle, the side at the roller line end is provided with taking and placing mechanism, the taking and placing mechanism includes six-axis mechanical arm of vertical setting, the execution end of the six-axis mechanical arm is vertically provided with suspension plate, and parallel gripper is respectively longitudinally symmetrical fixedly connected in the both ends of suspension plate, two parallel grippers can be grabbed to the corresponding end of counterweight block conveyed to baffle.The taking and placing manipulator of the utility model can replace manual operation, avoid the strength and security risk of artificial handling, reduce the risk of injury.

The application discloses a method for generating a stable clamping pose of a double-arm clamping jaw based on a point cloud, and relates to the technical field of robots, and comprises the following steps: obtaining an image of a target object captured by a camera and depth information of a corresponding frame, and inputting the image into a stereo depth estimation model to obtain corresponding estimated depth information. The application solves the problem of depth missing of the target object in a shielding and complex structure area by fusing the depth information of an RGBD camera and the stereo depth estimation result, improves the completeness of point cloud data, adopts a depth fusion mechanism determined by difference to take into account the accuracy of model estimation and camera measurement, improves the quality of point cloud, generates a jaw pose by combining force closure and collision avoidance constraints to ensure the stability and safety of grabbing, reduces the complexity of the model by using point cloud features with rotation and translation invariance, and improves the recognition ability of a grabbing area and the success rate of grabbing by the interaction between target object features and jaw features.

The utility model provides a kind of wind collecting nozzle with straightening function, including the wind nozzle body for being connected at the hot air outlet of hair dryer, the wind nozzle body has the air guide channel for guiding the hot air of hair dryer, and the air outlet is communicated with air guide channel, the wind nozzle body is connected with the hair clip assembly that it air outlet is covered, the hair clip assembly includes the hair clip seat for being connected at the air outlet of wind nozzle body, the hair clip seat is connected on the air outlet of wind nozzle body and is equipped with the first air outlet for being communicated with air guide channel communication, the hair clip seat rotatably connected with the hair clip cover that can be folded on hair clip seat and then hold hair, the second air outlet for hot air outlet is equipped on the hair clip cover, and the utility model aims at overcoming the deficiency of prior art, to provide a kind of wind collecting nozzle with straightening function, more convenient to use, more suitable.

The utility model discloses a kind of obstetric flushers, including liquid storage tank, connecting pipe, extension piece, direction-changing arm and spray head, liquid storage tank includes the tank body for storing cleaning fluid and is set to the pressing portion of tank body tail end, pressing portion is corrugated structure, with good elasticity and resilience, tank body opening end is connected connecting pipe and extension piece in turn by thread, extension piece one end is equipped with rotatable direction-changing arm, direction-changing arm one end is equipped with locating head and input hole, the other end is connected with spray head, liquid can be in palm pressing pressing portion after via passage and input hole into direction-changing arm and from spray head to spray to realize flushing function, the extension piece outside is provided with accommodating groove for folding storage direction-changing arm, connecting pipe outside is equipped with antiskid structure to facilitate operation, structure design is reasonable, connection is stable, spray direction is adjustable and convenient to store.

The application discloses a high-stability pedal support workpiece conveying device, and relates to the technical field of automatic conveying of automobile parts.The device comprises a conveying assembly, a positioning assembly and a grabbing assembly installed on a mechanical hand.The positioning assembly is arranged at one end of the conveying assembly, and workpieces are conveyed to the positioning assembly through the conveying assembly.The grabbing assembly is fixedly installed on the mechanical hand.The grabbing assembly comprises a support, a mounting block and a connecting pipe.The support is fixedly installed on the mechanical hand, the mounting block is fixedly installed on the support, one end of the connecting pipe is fixedly connected with the mounting block (32), the end of the connecting pipe away from the connecting pipe is a sleeving end for sleeving workpieces, and a magnetic block for adsorbing workpieces is installed in the connecting pipe.The mechanical limiting of the sleeving end of the connecting pipe and the magnetic force adsorption of the magnetic block form double fixing, effectively prevent workpieces from falling off, deviating or posture overturning during high-speed conveying, moving or vibration, solve the problem of unstable grabbing of traditional mechanical hands, and ensure the effect of keeping workpieces in a stable state during conveying.

The utility model relates to saw dust collection technology field, and disclose a saw with dust collection function, include: cutting main part subassembly, include: cutting saw main part, cutting saw main part is saw core work part, is used for realizing cutting operation, the cutting operation end outside of assembling in cutting saw main part, the air guide hole of going through is set up on the protective cover, is used for guiding the dust and small particle that cutting produces, clamping frame, fixedly connected in the protective cover outside, and the air duct one end with the air guide hole on the protective cover is corresponding setting, is used for transmission dust and small particle, this saw with dust collection function, dust collection efficient and prevent leakage: through micro blower in dust collection box produces suction, cooperation air guide hole, the corresponding setting of air duct, can quickly cut the dust and small particle that produces with the cutting into the collection box, realizes dust efficient collection, simultaneously, the air duct is connected with the air guide hole place and sets up sealing washer, can effectively prevent dust leakage in transmission process, guarantees the clean work environment.

The utility model discloses a drop type fuse porcelain bottle protection fixing frame, including protection fixing frame main part, fixed plate, fixed frame lock block, front and back inclination angle adjusting block, porcelain bottle fixed hook and install hook angle adapter. Through fixed frame lock block realizes and compound insulation cross arm's lock and unlock, the connecting portion cooperation front and back inclination angle adjusting block of main part side portion realizes inclination angle regulation, and four sets of adjusting holes are established to front and back inclination angle adjusting block, can realize four -bar length regulation, and porcelain bottle fixed hook is semicircular arc shape, and bottom is equipped with reinforcing rib adaptation porcelain bottle, and the angle adapter of side edge is convenient for insulating rod operation. The fixed frame installation is simple, and can be live operation, and adapts different installation distance and angle, can effectively prevent porcelain bottle from falling because of connecting piece failure, is applicable to 20KV and below transmission line, and service life is long.

The invention provides a movable cotton spinning manipulator for the intelligent manufacturing equipment industry, which relates to the technical field of manipulators and comprises a connecting seat, a driving mechanism, a guide groove, a movable seat, a grabbing mechanism and a side grabbing mechanism. The device has the advantages of being reasonable and simple in structure, low in production cost, convenient to install and complete in function, the distance between the two grabbing mechanisms can be adjusted through a specific driving structure, the device can meet the requirement for grabbing cotton textile materials with different widths, grabbing assemblies do not need to be frequently replaced or parameters do not need to be manually adjusted, and the continuous operation efficiency of a production line is effectively improved; according to the side grabbing mechanism, a double grabbing mode combining main grabbing and side grabbing is adopted, after main grabbing of the two sides of a material is completed, auxiliary reinforcing can be conducted on the front side and the rear side of the material through the side grabbing mechanism, and the grabbing stability of light, thin, soft and other cotton textile materials prone to sliding off is remarkably improved; and loss and equipment jamming faults caused by material deviation and falling in the transfer process are reduced.

The utility model provides a kind of robot and shoe processing system for shoe shaping, it is related to shoe processing technical field.The robot includes rotary drive component, vision system and two manipulators, rotary drive component transmission connection has mounting seat, and the rotation axis of rotary drive component is consistent with vertical;Two manipulators are located in the two sides opposite of mounting seat;Vision system includes three cameras, one of which is provided in mounting seat, and the other two cameras are one-to-one corresponding provided in the end region of two manipulators.The shoe processing system includes the above-mentioned robot, shoe press, controller and shoe rack for placing shoe tree, robot is arranged between shoe press and shoe rack, and the manipulator and vision system of robot are all connected to controller.The robot identifies the model and orientation of shoe tree, and the orientation accuracy of the manipulator clamping shoe tree, adjusting its orientation and placing it in the orientation accuracy of shoe press processing station is higher, so as to improve the shaping processing accuracy of shoes.

This utility model discloses a four-stage combined folding boom for erecting an arch. A rotary support plate has a rotary table, on which a telescopic folding assembly is rotatably mounted. The telescopic folding assembly includes a folding arm, a connecting rod combined arm, a triangular support platform, and a telescopic combined arm. The folding arm is rotatably mounted on the rotary table, with a connecting rod combined arm at its upper end. A triangular support platform is located at the upper end of the connecting rod combined arm, and the telescopic combined arm is driven onto the triangular support platform. The front end of the telescopic combined arm is connected to a boom head luffing platform, which has a rotating swing gripper at its front end. This utility model, through the forward and backward translation of the connecting rod combined arm, ensures that the telescopic combined arm's gripping range on the arch is expanded, improving gripping efficiency. The combined connecting rod combined arm and the telescopic combined arm, through multi-dimensional precise control, can more effectively erect the arch to the designated position.

The utility model provides a three-jaw clamping jaw robot. Comprising a coupling block, a frame plate is mounted on the coupling block, a mounting plate A is mounted on the frame plate, a mounting plate B is mounted below the frame plate, and a chuck A is mounted on the mounting plate A. Two groups of adjustable inner support type clamping jaws are arranged on the upper portion, the distance between one group of adjustable inner support type clamping jaws and the other group of adjustable inner support type clamping jaws can be adjusted through the adjusting mechanism, so that the adjustable inner support type clamping jaws can adapt to grabbing tasks of more workpieces with different shapes and sizes, stable grabbing is achieved, meanwhile, the double-end air cylinder and the clamping heads are installed on the lower portion, additional operation flexibility is provided for the robot, and the working efficiency is improved. And in addition, the position detectors are arranged on the three sets of clamps, the position states of the clamps can be accurately monitored in real time, it is ensured that each grabbing action can be accurately in place, and the workpiece grabbing efficiency and the workpiece grabbing stability are effectively improved.

The invention relates to the technical field of medical instruments, in particular to a rectum varus suturing instrument under a laparoscope. Comprising a needle holding forceps body, a sleeve rod and a handle which are connected with each other are arranged on the needle holding forceps body, a fixed forceps head and a movable forceps head which are matched with each other are connected to the end of the sleeve rod, a U-shaped groove which is sunken towards the holding direction of the handle is formed in the handle, and a sliding block is installed on the clamping face of the fixed forceps head in a sliding mode. The sliding direction of the sliding block is parallel to the length direction of the fixed forceps head, an adjusting part for pushing the sliding block to slide is arranged on the handle, and when the fixed forceps head and the movable forceps head clamp the suture needle, the sliding block can drive the suture needle to rotate around the axis of the suture needle; the sliding block capable of sliding is arranged on the fixed forceps head, so that the angle adjustment work of the suture needle is achieved, the operation process is remarkably simplified, the adjustment efficiency is improved, and the forceps are particularly suitable for operation scenes such as rectum inversion suture under a laparoscope and the like which have high requirements for instrument control precision.

The application relates to an automatic assembling machine, which comprises a first feeding mechanism for overturning a horizontally placed mobile phone shell to a vertical state and moving the mobile phone shell in the vertical state to a first position, the mobile phone shell being provided with a mounting hole, and the mounting hole of the mobile phone shell in the vertical state facing upward; a feeding mechanism for moving the horizontally placed mobile phone shell on a flow line to the first feeding mechanism; a second feeding mechanism for moving a plunger provided by a feeding mechanism to a second position; an assembling mechanism for moving and mounting the plunger in the second position into the mounting hole of the mobile phone shell in the first position to form an assembly; a discharging mechanism for moving the assembly to the flow line; a first visual module for positioning and / or detecting the mobile phone shell in the first position; and a second visual module for positioning and / or detecting the plunger on the assembling mechanism. The application improves production efficiency and product yield and reduces assembly difficulty.

The utility model relates to a multi-hardness sputum suction tube assembly. The multi-hardness sputum suction tube assembly comprises a tube body, the sputum suction catheter comprises a hard catheter and a soft catheter, the hard catheter and the soft catheter are of the same structure and each comprise a catheter body, one end of each catheter body is arranged to be a catheter far end, the other end of each catheter body is arranged to be a catheter near end, a passivation part is formed at the catheter far end, sputum suction holes are formed in the peripheral face of the catheter near end, and the sputum suction catheter further comprises length scale marks; one end of the connector is connected with the near end of the catheter in an inserted mode and is arranged to be a connecting end, the other end of the connector is arranged to be a fixed end, and anti-skid lines are arranged on the peripheral face of the connector; one end of the sputum suction tube connector is fixedly connected to the fixed end of the connector; according to the multi-hardness sputum suction tube assembly, a hard catheter and a soft catheter are provided, a doctor can flexibly select an appropriate catheter to conduct sputum suction operation according to the specific conditions and treatment requirements of a patient, and therefore the safety and effectiveness of treatment are improved.

The application discloses an electric tool, comprising a main body, a handle and a fastener, the main body comprises a shell, the shell is provided with a motor and an output shaft driven by the motor; the handle comprises a holding part and a connecting part, the holding part and the connecting part are integrally formed, the connecting part is made of flexible material and is connected with the shell; the fastener is used for connecting and fixing the main body and the handle; wherein the connecting part is configured to be able to absorb at least part of impact vibration transmitted to the shell by the output shaft through its flexible deformation during the working process of the electric tool, so as to reduce the impact transmitted to the handle. The electric tool of the application effectively reduces the impact and vibration transmitted to the operator's hand, thereby improving the operation comfort, reducing fatigue, and improving the control and safety of the tool.

The utility model discloses a portable high altitude oil feeder relates to oil feeder technical field, including support seat and drive assembly, one side fixedly connected with oil storage tank in the middle part of support seat, the other side of oil pump chamber is established in the middle part of support seat, the inner bottom wall fixedly connected with drive assembly of oil pump chamber, the utility model discloses through the setting of the fixed connection of sealing cover and the threaded connection of oil injection pipe, protection cover and oil storage tank effectively enhances the overall sealing property of oil storage tank, avoids lubricating oil leakage, reduces grease waste and protects the operating environment, prevents foreign matter pollution lubricating oil simultaneously, guarantees lubrication effect, through the setting of observation window, handle type oil injection nozzle, hose and connecting piece, and personnel can master oil quantity in real time, avoids midway oil cut, handle type oil injection nozzle promotes holding stability, and hose adapts multi -angle operation demand, and the precision and efficiency of high altitude oil injection operation are improved greatly, and the operation risk is reduced.

The utility model discloses a weighable vessel for medicine testing, which comprises a ship-shaped weighing vessel, the ship-shaped weighing vessel comprises a ship body and an edge, and the edge is fixed at the upper end of the ship body; the supporting assembly comprises an open hole, an L-shaped inserting rod, a through hole, a threaded pipe, a connecting rod, a baffle, a supporting plate, a limiting plate and an anti-skid pad, the open hole is formed in the end, away from the pointed end of the ship body, of the edge, the L-shaped inserting rod is inserted into the open hole, the through hole is formed in the middle of the L-shaped inserting rod, and the threaded pipe is fixed to the upper end of the L-shaped inserting rod and located over the through hole; the baffle is fixed to the lower end of the connecting rod, the limiting plate is fixed to one end of the L-shaped inserting rod, the supporting plate is fixed to the upper end of the L-shaped inserting rod, and the anti-skid pad is fixed to the lower end of the limiting plate. By means of the arranged supporting assembly, the ship body can be conveniently held by hands, the holding stability is enhanced, and the overall anti-toppling capacity is improved.

The utility model provides a kind of power collection line iron tower modularization grounding device, belong to electric power equipment technical field, the power collection line iron tower modularization grounding device includes: grounding body, connecting component, fixed module, conducting ring and adjusting mechanism;The grounding body is cylindrical structure, the top of grounding body is equipped with connecting face, connecting face is equipped with threaded hole, bolt is threadedly connected in threaded hole;The connecting component includes connecting plate, connecting rod and locking sleeve, connecting plate is fixedly arranged on the connecting face of grounding body, the middle part of connecting plate is equipped with through-hole, connecting rod is arranged in through-hole, the upper end of connecting rod is threadedly connected with locking sleeve;The fixed module includes fixed seat and clamping piece, the utility model can solve the technical problems that the existing power collection line iron tower grounding device structure is complex, installation and maintenance are difficult, modularization degree is low, and adaptability is poor.

This utility model relates to the field of infusion sets and discloses a precision infusion set with adjustable flow rate, including a bottle stopper puncturer. An infusion tube is fixedly connected to the bottom end of the bottle stopper puncturer. A precision flow regulator is provided at the bottom end of the infusion tube. The precision flow regulator includes an upper cover, and a lower cover is rotatably connected to the bottom of the upper cover. A drip tube is also fixedly connected to the bottom end of the precision flow regulator via the infusion tube. A fixing sleeve is fixedly connected to the outer wall of the infusion tube. An I-shaped groove is formed on the inner wall of the fixing sleeve. An I-shaped block is slidably connected inside the I-shaped groove. A limit ring is fixedly connected to the outer wall of the I-shaped block. In this utility model, the limit rod and limit hole cooperate to achieve anti-accidental contact locking, preventing unexpected changes in flow rate. The rounded corners and inclined surface design make the downward resistance greater than the upward resistance, ensuring accurate and reliable flow regulation, improving infusion safety and user experience, and ultimately achieving a highly efficient protective effect.

The invention discloses an injection medicine storing and sorting device, and belongs to the technical field of medical automatic equipment. In order to solve the problems in the prior art that the storage density is limited and small medicine bottles are easy to topple due to a manipulator clamping and grabbing mode, the device provided by the invention comprises a frame (1), at least one medicine box (2) and at least one sorting device (3). The medicine box (2) comprises a shell (21), medicine bottle storage channels (212) defined by partition plates (211) are arranged in the shell (21) in parallel, medicine taking windows (213) in one-to-one correspondence with the channels are formed in the first end of the shell (21), and the width of the medicine taking windows (213) is smaller than the diameter of medicine bottles. The sorting device (3) comprises a curved surface suction cup mechanism (31) and a moving mechanism (32). The curved surface suction cup mechanism (31) can extend into the medicine taking window (213) to suck the outer wall of the medicine bottle at the foremost end and pull the medicine bottle out of the medicine box (2). Medicine is taken through the medicine taking window through the curved-surface suction cup, mechanical arm moving space does not need to be reserved between medicine bottles, and ultimate dense storage is achieved; and meanwhile, by means of flexible adsorption and an optional anti-toppling mechanism, the grabbing stability of the small-specification medicine bottles is effectively achieved.

The utility model provides a kind of dexterous finger joint with passive self-adaptive gripping, including finger joint clamping direction adjusting module, self-adaptive finger joint and joint hinged module, the self-adaptive finger joint and joint hinged module are both set to two, during the application of this technical scheme, it is through setting the double-shaft motor of joint hinged module, outer hinge base, the finger joint frame of self-adaptive finger joint, the anti-skid module containing telescopic spring, anti-skid fingertip block etc., so that during use multiple joint flexion can be realized, simulate human hand activity, telescopic spring generates reaction force by deformation and pushes anti-skid convex column, let anti-skid colloid closely adhere to article, cooperate anti-skid structure and enhance the firmness and stability of gripping, with higher degree of freedom, and then reached the effect of improving gripping ability and stability, solved the problem that dexterous hand gripping firmness is not good, stability is poor, gripping ability is limited in prior art.

The application discloses a multi-purpose stacking machine, which comprises a machine body, a moving mechanism arranged at the lower end of the machine body and capable of freely moving the machine body on a plane, a lifting frame arranged above the machine body and vertically moving along the machine body, two groups of opposite clamping arms arranged on the lifting frame, a driving element arranged on the lifting frame and capable of driving the clamping arms to extend or retract along the length direction, a clamping element arranged on the clamping arms and used for clamping goods, an RFID scanning unit arranged on the clamping arms and capable of scanning and identifying registered goods information when the clamping element clamps the goods, a supporting table arranged on the machine body and below the lifting frame and used for lifting the goods, an avoiding opening adapted to the supporting table and formed in the middle of the lifting frame, two object carrying plates arranged in the inside of the avoiding opening of the lifting frame and slidably connected with the lifting frame in the direction of approaching or moving away from each other, and a pushing element arranged on the lifting frame and used for driving the object carrying plates to move. The application has the effects of increasing the use function and improving the stacking stability of the goods.

The utility model relates to the technical field of pneumatic quick connectors for safe exhaust and pressure relief, and discloses a pneumatic quick connector for safe exhaust and pressure relief, which comprises a main channel, an air inlet is arranged at the left end of the main channel, an air outlet is arranged at the right end of the main channel, and an exhaust channel is fixedly mounted at the bottom of the main channel. During air intake, the first arc-shaped disc is pushed leftwards, the sliding block slides along the sliding groove, the connecting disc and the sliding rod are driven to move, the spring is stretched, the main channel air inlet is opened, air flows to the air outlet, during air exhaust and pressure relief, the first arc-shaped disc is loosened, the spring is reset to close the main channel, the pull block is pulled, and the connecting rod slides out of the fixing disc under the action of the elastic piece; according to the design, switching of the air inlet function and the pressure relief function is achieved through simple operation, opening and closing of the channels are accurately controlled through linkage of components, accidental release of the high-pressure gas can be effectively avoided, and the use safety and operation convenience of the pneumatic quick connector are improved.

The application relates to a kind of bionic multi-finger underwater manipulator device, control system, grabbing strategy and target identification method, manipulator is mainly composed of flange and seven-link mechanism underactuated manipulator finger, manipulator finger includes base, triangular piece, fingertip piece and slider, two angles of triangular piece are connected with fingertip piece and slider respectively through connecting rod mechanism, the third angle is connected with base through trapezoidal connecting piece, slider is driven by threaded linear long shaft motor, magnetic touch sensor is arranged in fingertip, and magnetic touch sensor receives fingertip touch information through fingertip receptor unit made of magnetic powder silica gel mixture. The device is controlled by the control system containing microprocessor, and the corresponding adaptive force grabbing strategy is formulated to adapt to objects of different shapes and sizes, and underwater objects are classified and identified through a deep learning algorithm. Compared with the prior art, the application has the advantages of high sensitivity, anti-interference and the like, and has the ability of tactile sensing identification and adaptive grabbing.

The utility model relates to the technical field of trimmers, in particular to a pear tree branch trimmer convenient to adjust, which comprises two grips, each gripping mechanism comprises an accommodating groove, a connecting handle, a storage groove, a rotating shaft and a handle, a limiting mechanism comprises a moving groove, a limiting groove, a limiting block and a first spring, the accommodating groove provides a sliding track for the connecting handle, and the connecting handle is provided with a first spring. The storage groove is matched with the rotating shaft to achieve rotary storage of the handle, the handle can serve as a vertical force application fulcrum when erected, the size of the connecting handle is smaller than that of the grip, a person with a small hand can directly hold the connecting handle, the finger folding distance is shortened, the force application gap during holding is reduced, the holding stability is improved, and a person with a large hand holds the original grip and keeps a natural stretching holding posture. The multi-functional handle is simple in structure and convenient to use, hand tightening fatigue caused by the too narrow grip is avoided, meanwhile, the handle meets the requirement for diversified pruning postures, and therefore adjustment from the holding size to the force application mode is achieved through cooperative adjustment of the hierarchical grip and the multi-functional handle, and then the comfort and continuity of pruning operation are guaranteed.

The utility model discloses a kind of with positioning correction's rare earth electrolytic furnace is used to crucible extraction device, comprising: crucible extraction module, including fixedly arranged on base layer base assembly, and clamping assembly is movably arranged on base assembly, three-axis moving assembly is equipped between the clamping assembly and base assembly, the clamping assembly includes several clamping units, the clamping unit relatively acts to grab or release crucible;Electrolytic furnace module, including fixedly arranged furnace body, and furnace platform assembly is arranged in the circumferential side of furnace body, at least one correction plate is equipped on the furnace platform assembly, multiple correction points are arranged on the correction plate, and the correction point is arranged about the grab pose or open pose of clamping unit.