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Automatic crystal blank polishing and burnishing system and docking mechanism thereof

The invention discloses a docking mechanism, comprising a docking machine frame, wherein a docking position, a switching position, a powder soaking position and a transition position are arranged on the docking machine frame; the docking bracket is fixedly mounted in the docking position, a docking component is arranged on the docking bracket, and the docking component comprises an upper sliding fixture seat and a lower fixed fixture seat; a switching bracket is arranged in the switching position, the switching bracket is driven by a switching bracket driving device to rotate around a horizontal shaft, and an upper fixture fixing part and a lower fixture fixing part are arranged on the switching bracket; a powder soaking component is arranged in the powder soaking position; a first fixture placement rack is arranged in the transition position; and the docking mechanism also comprises a first front-and-back transfer mechanism and a second front-and-back transfer mechanism. The invention also discloses an automatic crystal blank polishing and burnishing system adopting the docking mechanism. According to the technical scheme, the docking precision and the bonding firmness of crystal blanks are guaranteed, the docking working position is reasonable in structure, and the docking efficiency and the processing efficiency of the whole automatic polishing and burnishing system are improved.
Owner:虞雅仙

End effector device of under-actuated picking manipulator

The invention discloses an end effector device of an under-actuated picking manipulator. The end effector device comprises three fingers with the same structure, a transmission mechanism, three contacting plates, three connecting rods, a driving rod and a rotary disk, wherein each finger has three joints, and one end of the first joint of each finger is uniformly arranged on the rotary disk; and each finger is provided with one contacting plate. The working mechanism of the end effector is that the driving rod is driven by a motor to move and drives the three fingers to oppositely move to close by the connecting rods; when the contacting plates of the fingers contact fruits and vegetables, the fruits and vegetables can push the contacting plates to slide so as to drive the incomplete gear movement in the second joints of the fingers, and the meshed gears drive the third joints of the fingers to move; when force sensors on the surfaces of the contacting plates detect preset grasping force, signals are fed back to the motor, the driving rod is controlled to stop moving, and the motor drives the rotary disk to rotate, so that the picking of the fruits and vegetables is realized. The end effector device can be used for picking fruits and vegetables, and if the end effector device is used together with other device such as a robot, the high-efficiency and high-reliability picking operation is achieved.
Owner:ZHEJIANG SCI-TECH UNIV
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