642 results about "Grippers" patented technology

A system that includes a workpiece and a robotic gripper apparatus. The workpiece includes a pair of opposed first retention features. Each first retention feature includes a first proximal end, a first distal end, and an outer periphery. The pair of opposed grippers are moveable between a first position in which the pair of opposed grippers engage the pair of opposed first retention features. Each gripper includes a mounting feature having a second proximal end, a second distal end, and an inner periphery. When the pair of opposed grippers are in the first position, a first portion of the inner periphery near the first proximal end engages a first portion of the outer periphery near the second proximal end and a second portion of the inner periphery near the first distal end is separated from a second portion of the outer periphery near the second distal end.

The invention discloses a robot disordered grabbing method and system based on 3D vision, and relates to the field of vision grabbing, and the method comprises the steps: configuring a 3D vision collection module to execute incoming material area continuous collection, executing definition of a robot base coordinate system, a camera coordinate system and an incoming material station coordinate system, and setting a tray in-place consistency constraint. Deterministic mapping of a clamp and a strategy is formed under multiple types of incoming materials, the grabbing success rate is improved, deformation and falling risks are reduced, collision safety is improved with minimum safety gap constraint and path cost selection in an unordered environment, and operation stability is maintained through action time accounting and beat conformity judgment on the beat side. And traceability is realized by a sorting accuracy target and a task log write-in mechanism, and finally, shutdown waiting and secondary faults are reduced through alarm and separate disposal rules in a static incoming material and structure separation risk scene.

A self-propelled substrate feeding and discharging system is suitable for carrying a plurality of substrates and comprises a material box and a first self-propelled vehicle. The material box comprises a material rack and a plurality of material frames. The material frame is suitable for containing the base plate. And the first self-propelled vehicle is electrically driven and is used for carrying the material box and taking and placing the substrate from the material frame. The first self-propelled vehicle comprises a vehicle body unit, a conveying unit and a robot arm. The conveying unit comprises a conveying belt set used for moving the material boxes into or out of the vehicle body unit and a pulling and placing device used for taking and using one material frame. The pulling and releasing device is provided with at least one pair of telescopic cylinder sets arranged at intervals. And the robot arm is used for taking and placing the base plate of the material frame taken by the pulling and placing device. The robot arm comprises two electric clamping jaws. And each electric clamping jaw is provided with a plurality of paws. Automatic feeding and discharging can be achieved, manual operation is not needed, manpower is saved, and the production efficiency is good.

Bagging machines include a sealing mechanism having a sealing bar and a pressure plate movable in relation to the sealing bar so that the pressure plate and the sealing bar can apply pressure to a sealing area on an envelope to form a closure seal. The bagging machines can include a high-force actuator and a low-force actuator configured to apply different levels of force to the sealing bar dependent upon the position of the sealing bar in relation to the pressure plate. The bagging machines also can include one or more grippers that separate the upper ends of the envelope walls to provide access to an interior pocket of the envelope. The grippers can be configured to disengage from their drive mechanism upon encountering an obstruction in their movement into and out of contact with the envelope walls.

A system includes a feeder apparatus to transfer a blank to each of the groups and an applicator apparatus to apply the blank to each of the groups as the articles move along a travel path. The feeder apparatus includes a plurality of grippers to engage the blank. The feeder apparatus includes a guide to position each of the grippers along an orbital path during rotation such that each of the grippers has at least two radial positions along the orbital path and that orbital motion of each of the grippers is momentary paused at a first radial position to engage the blank. The applicator apparatus includes first applicator tools to press the blanks onto alternating first ones of the groups and second applicator tools to press the blanks onto alternating second ones of the groups as the articles move along the travel path.

Configurations for grippers designed for holding and moving armored power cables for downhole well operations are provided. The grippers are designed to ensure a certain amount of compression force can be exerted against the cable without damaging the armor strands, the internal electrical core including power conductors, insulation or the metallic shielding of the same. Improved installation speed and reliability for electrical submersible pumps may be realized through the system and methods disclosed herein. An armored cable matching coiled tubing injector head grippers are installed on the injector head chain and are compressed against the cable creating the necessary frictional force to safely convey the cable and the attached ESP in and out of the well. Another aspect is a set of rollers fitted to the cable guide attached to the injector head to safely guide the cable from and to the cable reel.

The invention provides a multi-degree-of-freedom robot clamping jaw structure and a control method thereof, and relates to the technical field of self-adaptive clamping jaws, and the multi-degree-of-freedom robot clamping jaw structure comprises a multi-degree-of-freedom mechanical arm, a double-shaft-hole plate, a first rotating shaft, a second rotating shaft, a cam part, a wobble wheel part and a driving unit. The invention creatively provides a pre-positioning and rolling clamping two-stage clamping mode, firstly, self-adaptive pre-tightening is carried out through independent rotation of the wobble wheel piece, and a gap is eliminated; then continuous rolling extrusion force is applied to the side wall of the workpiece through synchronous and same-direction rotation of the cam piece and the wobble wheel piece; by means of the dynamic linear contact extrusion mode, anti-rotation torque far larger than static friction force can be generated, and therefore on the premise of not depending on the large static friction force, axial movement and circumferential rotation of the workpiece in the carrying process are effectively restrained, and stable clamping in essence is achieved.

The invention relates to a double-station welding robot which comprises a robot unit and a workpiece fixing unit and is used for welding a pipeline and flange plates at the two ends. Two welding devices are arranged on a connecting plate of the robot unit at intervals, a fixed rack and a movable rack of the workpiece fixing unit are each provided with a claw disc assembly, a double-station clamping structure is formed, two sets of workpieces can be synchronously clamped and welded, waiting for completion of a single set is not needed, and the idle time and the production period of equipment are greatly shortened. The movable rack can slide along the linear sliding table seat to adapt to pipelines with different lengths, so that the operation continuity is guaranteed; the clamping assembly is of a double-positioning structure of an inner diameter supporting block and an outer diameter pressing block, three sets of grippers are evenly distributed along the circumference of a claw disc, the driving device can drive the supporting block to externally support the inner wall of a pipeline and drive the pressing block to internally press the outer wall of a flange disc, a workpiece is synchronously positioned and fixed, radial displacement and circumferential rotation are effectively limited, and coaxiality and assembly precision are guaranteed. Welding defects caused by loose clamping are avoided, the quality and the qualified rate of joints are improved, and it is ensured that workpieces meet the sealing and strength requirements.

The utility model relates to a heating device for a plurality of large iron molds and models with different cavities, and belongs to the field of machinery. The device comprises a movable trolley, a movable trolley track, a grabbing type manipulator mechanism and a fixed trolley heating furnace, the movable trolley is arranged on the movable trolley track, and the grabbing type manipulator mechanism grabs and moves an iron mold and a model from the movable trolley to a heating trolley of the fixed trolley heating furnace; the grabbing type manipulator mechanism comprises a moving trolley, a moving track frame, a moving trolley track, a lifting movable beam, a hydraulic cylinder, a mechanical gripper, a guide rod and a stand column, the moving trolley is arranged on the moving trolley track, and the moving track frame is arranged on the stand column; the moving trolley is provided with a hydraulic cylinder which ascends and descends synchronously, the hydraulic cylinder is connected with a lifting movable beam, the lifting movable beam is provided with four guide rods, and two mechanical grippers are installed on the bottom face of the lifting movable beam. The device is reliable in operation, convenient to install, low in maintenance cost, high in automation degree and smooth in technological process, and meets the use requirements.

This invention relates to the field of bag-breaking devices, and provides a rubber material bag-breaking and feeding device, including a housing. A conveying mechanism is located at the inlet on one side of the housing. A material bin and a recycling bin are sequentially arranged inside the housing along the direction away from the inlet. A supporting component is located on the top of the material bin. A bag-breaking mechanism is located on the outside of the housing. A bag-grabbing mechanism, a displacement drive component, and a lifting drive component are located on the inner top of the housing. The bag-grabbing mechanism includes a mounting base, a grabbing arm, a sliding seat, a connecting arm, and a top seat. The piston rod of the grabbing cylinder extends, driving the sliding seat to slide downwards, causing the grabbing arm to rotate around its center. The lower ends of the two grabbing arms come together, causing the needles on the two needle discs to cross and clamp the packaging bag. The bag-grabbing mechanism of this invention inserts into the bag and clamps it when the bag contains material, instead of grabbing the bag after it has been broken open and the material released, as is the case with existing grippers, effectively avoiding the occurrence of empty gripping.

This invention relates to a tooling fixture for robotic welding of cable trays, comprising a support frame, a side plate clamping mechanism, and a crossbar clamping mechanism. The support frame is divided into a feeding area, a welding area, and a discharging area. The side plate clamping mechanism has multiple sets, each containing symmetrical side plate clamping units. A linkage drive mechanism is installed in the drive box at the bottom of the support frame to drive the clamping units to open and close quickly, adjusting the side plate spacing. The crossbar clamping mechanism uses a servo motor to drive two sets of conveyor belt mechanisms arranged in a stepped manner to clamp and convey the crossbars. The crossbar spacing is controlled by adjusting the motor start-stop interval, and a limit baffle is installed at the feeding position. The welding area includes a welding station and a welding robot, with pneumatic grippers on both sides, equipped with crossbar and side plate detection units. After detection, the conveyor mechanism is stopped and welding operations begin. A side plate limit mechanism is also provided. This invention is adaptable to cable trays of different sizes, offering high versatility and production flexibility, a high degree of automation, convenient feeding, short downtime, reduced equipment investment, and improved production efficiency.

The present invention relates to the technical field of injection-molded member inspection, and disclosed are an injection-molded member multi-shot insert inspection device and inspection method. The injection-molded member multi-shot insert inspection device comprises a turntable, a plurality of molds, and a plurality of manipulators arranged on a multi-shot multi-station vertical injection molding machine body. Each manipulator is rotatably connected to a rotating frame, and a sidewall of the rotating frame is fixedly connected to a plurality of suction cup grippers. An inspection module is arranged at an end portion of the rotating frame, each inspection module comprises a CCD camera fixedly connected to the end portion of the rotating frame, and a protective cover is arranged on the CCD camera. The injection-molded member multi-shot insert inspection device and inspection method can blow-clean an insert position before insertion, and automatically blow-clean lenses of the CCD cameras. The injection-molded member multi-shot insert inspection device and inspection method facilitate the detection of protrusion and depression defects on the surface of an insert, and can detect tilting after insertion. In cooperation with the CCD cameras, the injection-molded member multi-shot insert inspection device and inspection method can improve the accuracy of inspection results.

The utility model provides a robot feeding and discharging device for a crank grinding machine. Relates to the technical field of automatic feeding and discharging. The robot feeding and discharging device for the crank throw grinding machine comprises a hollow bearing shell, a first transposition shaft is rotationally mounted at the top of the hollow bearing shell, a connecting disc is fixedly mounted at the top end of the first transposition shaft, and a hollow cylinder is fixedly mounted at the top of the connecting disc; a lifting screw rod is rotatably installed in the hollow cylinder, a mechanical arm is installed on the lifting screw rod in a threaded mode, the two sides of the mechanical arm extend out of the hollow cylinder and are in sliding connection with the outer wall of the hollow cylinder, and finger air cylinders are fixedly installed on the two sides of the mechanical arm; clamping jaws of the two finger air cylinders are fixedly provided with clamping blocks. The device has the advantages that the material changing speed is high, and the machining efficiency of the grinding machine is obviously improved.

A coil feeding device is configured to feed a coil of material in a predetermined direction to manufacture a hairpin of an electric machine. The coil feeding device comprises a substrate, the upper surface of the substrate is provided with a base rail and a guide rail, and the base rail and the guide rail are connected with each other to form a linear path; a feed module provided to reciprocate along the base rail and provided with a plurality of feed grippers configured to grip material coils; a fixing module disposed downstream of the feeding module on a feeding path of the material coil with a predetermined distance from the feeding module, and provided with a fixing gripper configured to grip the material coil; and a guiding module disposed between the feeding module and the fixing module to guide the material coil such that the material coil is linearly fed.

This utility model discloses a transfer device for assembling industrial and commercial energy storage cabinets, including a column, a crossbeam on the column, a lateral moving component on the crossbeam, a moving plate on the lateral moving component, a mounting plate on the side of the moving plate, a lifting column inside the mounting plate, and a cylinder and a first motor adapted to the lifting column on the mounting plate. A positioning plate is located at the bottom of the lifting column, a movable Z-plate is located at the bottom of the positioning plate, a movable auxiliary plate is located at the bottom of the Z-plate, a clamping motor is located at the end of the auxiliary plate, a three-jaw chuck is located at the output end of the clamping motor, and two symmetrical side grippers are located on the side. This utility model allows for multi-angle and multi-range adjustment, enabling a large range of movement for the overall device. Simultaneously, the three-jaw chuck and side grippers at the ends can achieve bottom and side clamping in different states, making it widely applicable.

This utility model discloses an anti-deformation fixture for machining the inner hole of a rear wheel steering knuckle fork in automobiles. It includes grippers and a mold base; the mold base is symmetrically arranged on a chuck, and corresponding grippers are provided on the mold base. The grippers are positioned opposite each other, forming a clamping position; angular positioning blocks are provided on the clamping surfaces of the grippers, and the angular positioning blocks are obliquely positioned. A positioning groove is provided on the outer periphery of the angular positioning blocks, and the structure of the positioning groove matches the U-shaped groove of the rear wheel steering knuckle fork in automobiles. The size of the angular positioning blocks is adapted to the inner cavity of the U-shaped groove; a mounting hole is provided in the positioning groove, and a gripping member is movably disposed in the mounting hole. The front end of the gripping member serves as a gripping surface, and gripping textures are provided on the gripping surface. This invention provides a product-specific positioning block and positioning groove on the gripper surface that are designed to fit the product structure, thereby limiting and fixing the product. Movable claws with gripping textures are installed in the mounting holes within the positioning grooves, ensuring a close fit between the gripper surface and the product. This guarantees product stability during processing, effectively prevents deformation during inner hole machining, and improves the product qualification rate.

This invention relates to the field of wafer fabrication technology, and proposes a robotic arm and wafer cleaning process for testing various types of wafer products. The robotic arm includes side grippers, a middle gripper, a first power component, and a second power component. Two side grippers are provided, each with both elastic and rigid gripping portions. The middle gripper is positioned between the two side grippers and also has a rigid gripping portion. The first power component adjusts the Y-axis distance between the two side grippers and simultaneously adjusts the X-axis distance between the side grippers and the middle gripper. The second power component drives the side grippers to rotate about the Z-axis. By incorporating a first power component, this invention allows adjustment of the distance between the two side grippers, thus accommodating the gripping of wafers of different sizes and specifications, and enabling the removal of wafers from stacking containers, making it highly convenient to use. Furthermore, it facilitates adjustment of the gripping direction of the side grippers, further improving the ease of application.

The invention discloses a site multifunctional tubular column processing device and a drilling tool feeding and throwing method thereof. The device comprises a base, a turnover arm assembly is hinged to one end of the base, and the turnover arm assembly can turn over relative to the base so as to be switched into a horizontal state / a vertical state; the turnover arm assembly comprises a main body frame, at least one group of holding clamps is arranged on the main body frame, the holding clamps can hold / release a drilling tool placed on the turnover arm assembly, and when the number of the holding clamps is more than two, the holding clamps are arranged at intervals in the length direction of the turnover arm assembly. The drilling tool is turned over from the horizontal state to the vertical state through the light and energy-saving concept, and then the function that the drilling tool of multiple specifications is lifted to the drill floor face on the site is achieved. Meanwhile, by means of flexible configuration and collaborative operation of the device and a power drill rod box or a drill rod frame, the requirements of drilling tools with different lengths for getting on and off a drill floor are met.

The utility model discloses an automatic liquid crystal zebra strip frame feeding and discharging device. The automatic liquid crystal zebra strip frame feeding and discharging device comprises a frame, a feeding vibration disc, a positioning base, an assembling rotary disc, a transferring mechanism and a discharging module. The feeding vibration disc is connected with the positioning seat, the assembling rotary disc is provided with a rotating seat and two assembling seats, and the two assembling seats are oppositely arranged on the rotating seat. The transferring mechanism comprises a moving assembly, a sliding seat support, a lifting module, a double-clamping-jaw support and transferring clamping jaws, the sliding seat support is connected with the moving assembly, the lifting module is arranged on the sliding seat support, the double-clamping-jaw support is fixedly arranged at the top end of the lifting module, and the two transferring clamping jaws are arranged at the two ends of the double-clamping-jaw support at intervals. The moving module drives the sliding seat support, the lifting module on the sliding seat support, the double-clamping-jaw support and the transferring clamping jaws to move among the positioning seat, the assembling rotary disc and the discharging module, so that the two transferring clamping jaws are transferred between the positioning seat and the assembling rotary disc or between the assembling rotary disc and the discharging module. The zebra strip frame assembling machine can achieve automatic feeding and discharging of zebra strip frames and is high in assembling efficiency.

The invention relates to the technical field of packaging equipment, in particular to a rapid packaging machine which comprises a feeding mechanism, a conveying mechanism and a discharging mechanism, the conveying mechanism is used for conveying a connector from the feeding mechanism to the discharging mechanism, and the conveying mechanism comprises a clamping base, a clamping driving assembly and a clamping jaw arranged on the clamping base; the clamping jaw comprises two sets of clamping pieces movably arranged on the clamping base, the clamping driving assembly is used for driving the two sets of clamping pieces to move oppositely, and clamping elastic pieces driving the two sets of clamping pieces to move oppositely are arranged on the clamping base. Soft clamping of the connector is achieved, damage to a shell of the connector is avoided as much as possible, the problem that a cover plate needs to be additionally installed in a traditional suction cup mode is solved, the structure is simplified, and cost is reduced.

The automatic feeding and discharging device for sleeve shaft machining comprises a bearing table and a taking and placing mechanism, and the bearing table is used for containing a tray for containing a semi-finished sleeve shaft; the picking and placing mechanism comprises a five-axis mechanical arm, and the free end of the five-axis mechanical arm can be adjusted at multiple angles. The taking and placing assembly comprises a base fixed to the free end and gripping apparatuses installed at the two ends of the base, the two gripping apparatuses are the first gripping apparatus and the second gripping apparatus respectively, the first gripping apparatus is used for gripping the sleeve shaft of the semi-finished product, and the second gripping apparatus is used for gripping the sleeve shaft of the finished product; the base can rotate around the first axis, and when the base rotates, the first gripping apparatus and the second gripping apparatus are driven to relatively rotate around the first axis, so that the positions of the first gripping apparatus and the second gripping apparatus are exchanged. According to the device, automatic feeding and discharging can be conducted in the sleeve shaft machining process, feeding and discharging are conducted synchronously, and the machining efficiency is improved.

This invention discloses a fully automatic loading and unloading device for rapid product quality inspection, relating to the field of fully automatic loading and unloading equipment technology. It includes a machine body, a reference base that can move linearly along the machine body, a detection base, and grippers. It also includes an adjustment component, which includes a support frame mounted on the detection base. In this invention, after the gear is loaded, there is no need to transfer the gear to an independent adjustment device for orientation calibration. Instead, during the movement of the reference wheel towards the gear, the movement of the reference base synchronously pushes the fixed frame, causing a lever to move. The lever inserts into the gear tooth groove, pushing the gear to rotate and fixing the angle, ensuring precise alignment between the gear tooth groove and the reference wheel teeth. The entire adjustment process requires no additional drive components; the integrated design of the process not only reduces equipment costs but also completely avoids the problems of existing visual inspection methods being susceptible to oil stains on the gear surface and interference from ambient light.

The invention discloses a 10 kilovolt hot-line work intelligent parallel groove clamp lock rod device, and relates to the technical field of electric power work equipment, the 10 kilovolt hot-line work intelligent parallel groove clamp lock rod device comprises a lock rod body and two positioning assemblies, the outer surface of the lock rod body is fixedly provided with two grippers, and each positioning assembly comprises a multi-stage electric telescopic rod. According to the intelligent parallel groove clamp locking rod device for 10-kilovolt hot-line work, in 10-kilovolt hot-line work, when a parallel groove clamp needs to be installed at a wire, firstly, the clamping assembly is used for fixing the parallel groove clamp, two screw heads are moved into two limiting bolt holes of the parallel groove clamp respectively, and then the parallel groove clamp can be arranged on a cable in a sleeving mode through the locking rod body; the parallel groove clamp is fixed on the cable by starting the servo motor, and when dismounting is needed, the two screw heads are embedded into the bolt holes of the parallel groove clamp again, and the mounting column is rotated reversely.

The invention relates to the technical field of brake caliper production, and discloses a brake caliper pickup composite gripper device which comprises a gripper transverse mounting plate and appearance gripper assemblies located on the lower portion of the gripper transverse mounting plate and distributed at equal intervals. An electromagnetic valve control box, a mechanical arm flange connecting base and a main back plate are sequentially arranged on the back of the gripper transverse mounting plate from left to right, a shooting unit is arranged on the left side of the top end of the gripper transverse mounting plate, and a single gripper driving assembly is arranged on the portion, located on the back of the main back plate, of the right side of the back of the gripper transverse mounting plate. According to the composite gripper device for picking up the brake caliper, the operation flexibility is improved through the flange connecting base and the reinforcing plate, the movable arm is prevented from inclining through the cooperation of double sliding blocks and double guide rails and a limiting structure, the grabbing stability is enhanced, the grabbing precision is guaranteed through the compensation unit, the calibration needle and the multiple sets of grippers, workpieces are prevented from being damaged and falling off, and the batch operation efficiency is improved; double positioning and real-time detection are achieved through the shooting unit and various sensors, and the production efficiency of the brake caliper can be greatly improved.

The utility model relates to the technical field of medical instruments, in particular to a neuroendoscopic abrasive drill with a water injection pipe fixing device, which comprises a handle component, an outer sleeve rod, an abrasive drill, a guide seat and a water injection joint, and the guide seat and the water injection joint are arranged at the front end of the outer sleeve rod. A fixing device is arranged on the outer sleeve rod and comprises a hoop fixedly arranged on the outer sleeve rod in a sleeving mode and a fixing assembly installed on the hoop. The fixing assembly comprises an outer shell, a fixed inner sleeve, a movable sleeve and a nut, the fixed inner sleeve is provided with a center channel for the water injection pipe to penetrate through, elastic grabbing clamps which are annularly and evenly distributed are arranged at one end of the fixed inner sleeve, the movable sleeve is slidably arranged on the fixed inner sleeve in a sleeving mode, and the nut is in threaded connection with the fixed inner sleeve. The nut is screwed to push the movable sleeve to axially move and extrude the elastic gripper, so that the elastic gripper is forced to radially contract, and the water injection pipe is firmly clamped. Adhesive tape is replaced by a mechanical buckle type structure, so that an external water injection pipe is quickly and reliably clamped and released, displacement or falling of a pipeline in an operation is avoided, and the flushing effect and the operation safety are guaranteed.

The application discloses a method for classifying grasping states based on visual-haptic learning, builds an experimental scene for the method, and performs grasping experiments with a 6-DOF robot arm equipped with parallel grippers. Each end of the parallel grippers is equipped with a visual-haptic sensor to capture the small sliding trend of the object. The optical flow dataset OFB-6 of deformable objects in three states of over-stability, complete stability and instability is constructed. The published dataset is used for benchmark testing. The recognition accuracy of the Transformer model is improved before and after the addition of the optical flow, verifying the effectiveness of the proposed optical flow guided Transformer model learning. The optical flow method of the application can detect these small changes in advance, thereby timely adjusting the grasping strategy. The dynamic changes in the tactile image can be more accurately captured. Through the fusion of visual and tactile information, the model can more comprehensively understand the physical changes in the grasping process, and improve the overall grasping performance.

This utility model relates to the field of gear hole machining technology, specifically to a device for machining balance shaft gear holes. It includes a connecting plate with several limiting grooves on one side. A gripper slides within these grooves. A worm gear ring rotates inside the connecting plate, with spiral teeth fixed to one side. Several arc-shaped tooth grooves meshing with the spiral teeth are formed on one side of the gripper. A worm rotates inside the connecting plate, meshing with the worm gear ring. A slot is formed at one end of the gripper, with a pair of positioning blocks rotating within it. A gear body is clamped between the grippers. This utility model solves the problem that in existing gear machining, machine tool clamps often grip only the outer edge of the gear, making single-tooth clamping prone to displacement. Furthermore, the self-locking mechanism between the grippers and the spiral teeth inevitably leads to loosening over time.

This invention discloses a multifunctional connector assembly equipment, belonging to the field of automated assembly equipment technology. It includes a circular base plate on which a transposition component, a transfer component, and a feeding component are mounted. The transposition component includes a supporting circular plate on which a transposition circular plate is rotatably mounted. By setting multiple feeding vibratory feeders and rotary clamping cylinders, automatic feeding and posture adjustment of various components such as the main body, terminals, wrenches, and covers are achieved. It works closely with the transfer component to form an integrated automated process from feeding to assembly, reducing manual intervention. Furthermore, the overall circular base plate and circumferential layout highly integrate transposition, transfer, and feeding functional modules, resulting in a compact structure and small footprint. Moreover, the synchronous movement of the grippers at multiple workstations is achieved through a linkage gear ring and gear set, ensuring the coordination and consistency of operations at each workstation and improving the operational stability of the equipment.

The invention relates to the technical field of rana nigromaculata slaughtering, in particular to a rana nigromaculata slaughtering machine. Comprising a rack, and a supporting plate, a rolling belt, a blade, a viscera removing piece, a conveying belt, a push rod, a pneumatic clamping jaw, a head removing blade and the like are arranged above the rack; the lower portion of the supporting plate is driven by a rolling motor, so that the rolling belts on the two sides rotate at the same rotating speed. The rana nigromaculata is clamped by the rolling belts on the two sides and conveyed along a straight line, belly opening and viscera removing operation is sequentially completed, then the rana nigromaculata is conveyed to the baffle through the conveying belt to be subjected to peeling and head removing, the rana nigromaculata is pushed out through the push rod after peeling and head removing are completed, and continuous slaughtering of the next rana nigromaculata is achieved circularly. The device has the advantages of short time consumption, high efficiency, low labor cost, small operation difficulty, small occupied area, simple structure, high automation degree and the like, can meet the large-scale slaughtering requirements of rana nigromaculata, and has a good application prospect.