1097 results about "Robotic hand" patented technology

The invention discloses a manipulator grabbing method based on deep learning target detection and image segmentation, and relates to the technical field of artificial intelligence and robotics.The manipulator grabbing method comprises the following steps that a scene image to be processed is collected, the image quality is improved through the multi-light-source fusion image enhancement technology, and recognition errors caused by uneven illumination are reduced; and inputting the enhanced image to a pre-trained deep learning model, executing a target detection task, and outputting an initial bounding box and a category label of the target object. According to the method, through multi-light-source image enhancement and high-precision image segmentation, the accuracy of target recognition and contour extraction is remarkably improved, and the capture failure rate caused by image misjudgment is reduced. And meanwhile, geometric consistency verification and a multi-factor grabbing scoring mechanism are introduced, dynamic screening and collision pre-detection are conducted on the paths, the grabbing stability and safety of the mechanical arm in the complex environment are effectively guaranteed, and the intelligence and robustness of the whole system are remarkably improved.

The invention discloses an operation and maintenance manipulator intelligent control method and system based on visual identification, and relates to the technical field of intelligent manipulator control, and the method comprises the steps: collecting RGB image data and depth image data of an operation and maintenance operation area, and obtaining a standardized image matrix and a mapping relation matrix; inputting the standardized image matrix into an improved ResNet residual network model, generating a comprehensive feature descriptor, and calculating a spatial position coordinate and an attitude angle of the target equipment based on the mapping relation matrix; based on the current joint angle state of the manipulator, an improved Jacobian matrix inverse kinematics algorithm is used for solving a target angle sequence of each joint, a preset operation mode library is matched based on the comprehensive feature descriptor, and a grabbing force parameter and a motion speed parameter are determined; and converting the target angle sequence into a control instruction, and sending the control instruction to each joint driver of the manipulator to drive the manipulator to complete action planning. According to the invention, full-process automation from environment perception to task execution is realized.

The invention relates to the technical field of magnetic core product assembling equipment, and discloses full-automatic magnetic core dispensing and terminal assembling equipment which comprises a machine base. A magnetic core feeding device, a dispensing device, a terminal feeding device, a pre-pressing detection device, an oven curing device and a magnetic core charging pipe device are sequentially arranged in the conveying direction of the conveying device, and the oven curing device is arranged on the rear side of the conveying device. A first material taking mechanical arm is arranged between the oven curing device and the conveying device, a second material taking mechanical arm is arranged between the oven curing device and the magnetic core charging pipe device, and a jig block provided with a plurality of magnetic cores is conveyed on the conveying device. The magnetic core charging pipe device comprises a material pipe distribution frame, a plug pulling assembly, a quantitative material pushing assembly and a plug assembly, wherein the plug pulling assembly, the quantitative material pushing assembly and the plug assembly are sequentially arranged on the side of the material pipe distribution frame.

The invention provides a method and a device for redirecting human hand actions to a heterogeneous manipulator in a multi-task scene, and relates to the technical field of robots and intelligent control. The method comprises the following steps: acquiring visual data and tactile data; performing task type classification by adopting a pre-trained Perciver IO model to obtain a task type code; according to a physical constraint dynamic correction mechanism, correcting the joint weight of the machine finger to obtain a normalized finger weight; key point extraction is conducted on the human hand, and vectors between all joints of the human hand are calculated through a geometric vector method; performing driven joint constraint processing according to the established joint mapping matrix, calculating an adapted Jacobian matrix, and obtaining an adapted standardized robot arm kinematics model; and carrying out nonlinear optimization on the vectors between the human fingers and between the robot fingers to obtain each joint angle of the robot arm, so that the robot arm completes action redirection. By adopting the method, the generalization ability of cross-task and heterogeneous models can be improved.

The invention provides a full-closed-loop control method and system for a multi-station servo feeding manipulator, and the method comprises the steps: firstly, detecting the thickness of a plate in real time, querying a preset thickness-pressure relation, and determining a target pressure value when the multi-station servo feeding manipulator carries out the grabbing of the plate; a real-time pressure value is then generated through a dynamic pressure regulation mechanism. And the system compares the real-time pressure with the target pressure to obtain a deviation value, dynamically adjusts proportional, integral and differential parameters in combination with a fuzzy rule base, and calculates and generates a dynamic pressure compensation amount by using the adjusted parameters. And the compensation amount and the target pressure are superposed to form a comprehensive control instruction, and the comprehensive control instruction is fed back to the execution mechanism to realize closed-loop adjustment, so that the pressure stability and the position fixation of the plate in the whole grabbing and transferring process are finally kept, and the slippage phenomenon is effectively eliminated. The pressure control precision and the anti-sliding stability in the plate transferring process are improved.

The invention discloses a high-adaptability variable-rigidity flexible manipulator and a grabbing method thereof, and relates to the technical field of robot end execution. Comprising a plurality of rope-driven flexible grabbing fingers connected to the high-adaptability attaching transmission structure. The rope-driven flexible grabbing finger comprises a multi-joint movable rigid phalanx, a flexible adaptive contact layer and a special-shaped channel air bag. The high-adaptability attaching transmission structure comprises a transmission cavity formed by connecting a flexible attaching silicon rubber sleeve and a fixed bottom plate seat, and a plurality of connecting rods and a plurality of soft springs are arranged in the transmission cavity. The contact face of the mechanical arm and an object is made of a flexible material, flexible contact can be achieved, the high-adaptability attaching transmission structure can be well attached to the grabbed object, the grabbing attaching degree is increased, the grabbing adaptability is improved, meanwhile, under the influence of the air bag and the variable-rigidity structure, rigidity change can be achieved in the bearing process, and the mechanical arm is more flexible. And the bearing capacity of the manipulator is improved.

The invention relates to the technical field of badge production, in particular to a badge production machine. Comprising a machine table, a linear circulating conveying mechanism, a plurality of accompanying carriers, a backing paper feeding mechanism, a picture feeding mechanism, a backing paper transfer carrier, a picture transfer carrier, a pin assembling device, an elastic piece bending forming station, a pin flattening mechanism, a press fitting device, a lower cover feeding station, a pin feeding mechanism and a multi-head synchronous feeding and discharging mechanical arm. The invention discloses a multi-head synchronous transfer manipulator and a bending driving mechanism. Synchronous assembly of the upper cover assembly and the lower cover assembly is achieved, online assembly of the pin is also achieved, the pin is directly assembled below the bottom face of the lower cover, subsequent production and processing can be conducted without conducting redundant overturning actions on the lower cover and the lower cover assembly, the badge production efficiency is greatly improved, and the production cost is reduced. And all feeding and transferring actions can be completed only by two manipulators, so that the number of the manipulators is reduced, and the production and manufacturing cost is reduced.

The utility model discloses a finger mechanism and a robot, relates to the technical field of robots, and solves the technical problems that in the prior art, a finger mechanism hinders bending of a palm of a mechanical arm, and the palm is difficult to be matched with the finger mechanism to grasp the finger mechanism, the finger mechanism comprises a rigid driving assembly, a connecting rod assembly and a knuckle assembly, the connecting rod assembly is connected with the rigid driving assembly and the knuckle assembly, the rigid driving assembly is driven to drive the knuckle assembly to grab an object to be grabbed through the connecting rod assembly, and the rigid driving assembly, the connecting rod assembly and the knuckle assembly are arranged in the first direction and in the second direction. The connecting position of the connecting rod assembly and the rigid driving assembly is higher than the connecting position of the connecting rod assembly and the knuckle assembly so that the rigid driving assembly can be driven to deviate relative to the knuckle assembly in the second direction, the second direction is the direction away from the knuckle assembly, and an included angle is formed between the first direction and the second direction.

The invention discloses a jewelry flaw detection and grading system based on machine vision and a manipulator. The system comprises a multi-mode imaging module; the image processing module is used for carrying out preprocessing operation on the original image; the edge processing module comprises a GPU acceleration processor and is used for deploying a flaw detection model to detect flaws; training data are automatically generated through a semi-supervised learning algorithm; the mechanical execution module comprises a six-axis mechanical arm, a path planning algorithm and a collision detection model for a bounding box and a directed bounding box of the six-axis mechanical arm; the cloud management module is used for storing detection data based on a block chain technology and supporting third-party verification; and dynamically updating the expert knowledge base. According to the jewelry sorting method and system, the types and grades of the jewelry are divided through the DINOv2 defect detection model, meanwhile, the PnP algorithm is adopted to be fused with the depth information, the jewelry is sorted according to grade division, meanwhile, consumers can rapidly and accurately obtain relevant information (such as materials, authenticity and value evaluation) of the jewelry, and the shopping experience is greatly improved.

The invention relates to the technical field of five-axis hybrid robot error compensation, in particular to a five-axis hybrid robot tail end pose error compensation method and system. The method comprises the following steps: acquiring vehicle body welding demand data and analyzing the welding strength difference between welding spots; thirdly, the theoretical contact strength of the manipulator is matched according to the welding strength difference data, the heat conduction toughness loss of adjacent welding spots is simulated, and the toughness influence gradient of the heat chain reaction is further recognized; then, carrying out regional gridding processing on the toughness influence gradient data, regulating and controlling the contact force of the manipulator, and learning a tail end pose error compensation strategy; and finally, designing automatic firmware based on the compensation strategy, and embedding the automatic firmware into the bottom layer of the robot to ensure that the tail end pose error is accurately compensated. According to the method, the error compensation technology of the five-axis hybrid robot is optimized, so that the error compensation technology of the five-axis hybrid robot is more perfect.

The invention discloses a flexible finger friction contact collision dynamics simulation method based on an absolute node coordinate method, which comprises the following steps: simplifying a finger of a flexible manipulator into a connecting rod system, taking a tail end knuckle as a flexible beam for consideration, and carrying out unit division on the flexible beam system based on the absolute node coordinate method; a contact collision process is described by using an additional constraint method, meanwhile, switching of a viscous state and a sliding state is considered, a friction-containing flexible finger contact collision dynamic model is established, and a dynamic equation of a system is solved by adopting a double-circulation implicit integral algorithm; and obtaining a curve graph that the flexible finger tail end displacement changes along with time and the finger tail end contact force changes along with time. The invention provides a new frictional contact collision dynamic model for a flexible manipulator system, and provides more perfect data information and image information for researchers in the field.

The invention discloses a hub bearing eddy current testing machine, and relates to the technical field of hub bearing detection. A hub bearing eddy current testing machine comprises a workbench, a frame body is installed on the workbench, a first mechanical arm is installed on the frame body, the first mechanical arm is provided with a clamping and rotating mechanism, and the clamping and rotating mechanism is configured to be capable of clamping parts and driving the parts to rotate; a second mechanical arm is arranged on the workbench, a detection mechanism is installed on the second mechanical arm, and the detection mechanism is configured to conduct inner end face detection and flange tooth detection on rotating parts; the workbench is further provided with a feeding mechanism and a discharging mechanism, wherein the feeding mechanism is used for conveying the parts to the clamping and rotating mechanism, and the discharging mechanism is used for discharging the parts. The detection efficiency can be improved.

Provided is a technique that allows even a person without knowledge on robots to intuitively and efficiently teach a work motion a robot by a work demonstration while maintaining a normal human motion as much as possible, and that can reduce the man-hours for pre-adjustment of teaching, facilitate the introduction, etc. A robot teaching method is a method for performing teaching for generating a motion of a robotic hand mechanism corresponding to a work motion including an operation on an operation object by a hand of a teacher based on measurement of a work motion, and includes, as steps performed by a computer system: a step of acquiring a first measured pose obtained by measuring a pose of the operation object and a second measured pose obtained by measuring a pose of the hand of the teacher during the work motion; a step of detecting the operation on the operation object by the teacher; and a step of generating a teaching pose for generating the robotic motion data based on the first measured pose, the second measured pose, and the detected operation.

The invention discloses a computer case heat dissipation side plate stamping machining device and technology, and relates to the technical field of computer case machining. The machining device comprises an unwinding module used for outputting a metal plate and a stamping module; the stamping module comprises a first stamping part, a second stamping part, a third stamping part and a cutting part which are arranged in sequence; a feeding module is further arranged between the unwinding module and the stamping module, and the feeding module is used for conveying the unwound and output metal plates to the stamping module at equal intervals; according to the metal plate stamping and cutting device, the multiple stamping parts and the cutting part are integrated, the feeding module is arranged to convey unreeled and output metal plates at equal intervals, and after one-time stamping is completed, a mechanical arm does not need to be adopted for transferring the metal plates, so that the stamping efficiency can be improved, the stamping precision of all the stamping parts is guaranteed, and the production cost is reduced. And the deflection phenomenon in the transferring process is avoided, and the production quality is further improved.

The invention discloses an integrated tile-shaped magnet outer circle grinding device and method based on artificial intelligence, and belongs to the technical field of grinding machining. The integrated tile-shaped magnet outer circle grinding device comprises a feeding device, a grinding device and a visual detection device; the feeding device comprises a feeding conveying belt, a guide groove, a spring bin, a material blocking barrel, a feeding barrel, a magnetic suction cup, an electromagnetic push rod, a cooperative mechanical arm, a reset spring and a discharging conveying belt. The visual detection device comprises a magnetic shoe counting camera, an annular light source, a counting camera bracket, a measuring camera bracket, a backlight plate, an outer contour measuring camera, a positioning camera and a positioning camera bracket; integrated automatic operation of feeding, grinding, detection and discharging is achieved, the production efficiency is greatly improved, automatic counting, precision detection and discharging are completed through cooperation of visual detection and the conveying belt, the manual operation intensity is effectively reduced, production interruption caused by personal errors is avoided, and the productivity in unit time is remarkably improved.

The invention discloses an under-actuated metamorphic manipulator integrating grasping and pressing operations, which comprises a palm bracket, at least two under-actuated grasping fingers, a rigid pressing single finger and a driving mechanism, and is characterized in that the under-actuated grasping fingers and the rigid pressing single finger are arranged on the palm bracket. The main functions of the manipulator include self-adaptive enveloping and grabbing of objects in different shapes and execution of operations such as switch and button pressing, the enveloping and grabbing function is mainly completed by the under-actuated grabbing finger, and the rigid pressing single finger can also play a role in auxiliary clamping; in the pressing function, force is output by a mechanical arm connected with the manipulator, and pressure is applied to a target through a rigid pressing single finger. The under-actuated metamorphic manipulator integrating grabbing and pressing operation is used for fine operation in the flammable and explosive environment, the grabbing adaptability and the structural rigidity are both considered, multiple kinds of grabbing and pressing operation can be conducted, and the under-actuated metamorphic manipulator has the advantages of being light in weight, high in integration level and large in output force.

The invention discloses a smart type library-based teleoperation method, system and device, and a storage medium. The method comprises the following steps of: constructing a smart operation type library; analyzing the task instruction through a preset multi-modal large language model MLLM to obtain a corresponding operation step, and matching a dexterous operation type corresponding to the current step from a dexterous operation type library; intuitive accurate control between the hand and the manipulator is realized through an interpolation mapping strategy. The interpolation mapping strategy specifically comprises the following steps: capturing a fingertip position of a human hand in real time; calculating the normalized projection proportion of the current posture of the human hand relative to the stretching state and the contraction state; and according to the projection proportion, linear interpolation is carried out on the extension and contraction joint angles of the manipulator, and a manipulator joint angle instruction is generated. According to the method, the adaptability and stability of teleoperation are provided by establishing a systematized smart type library and combining a type automatic retrieval module assisted by a multi-modal large language model and an interpolation mapping control strategy.

The utility model discloses a high-flexibility flexible mechanical finger supporting forward and reverse holding and a manipulator. The mechanical finger comprises a middle finger section, a base finger section and an end finger section, wherein the base finger section and the end finger section are rotationally connected with the two ends of the middle finger section respectively. Driving units are arranged in the end finger section, the middle finger section and the base finger section; bevel gear transmission units are arranged at the tail end of the end finger section, the tail end of the middle finger section and the tail end of the base finger section; the driving units are in transmission connection with the corresponding bevel gear transmission units; the driving unit drives the end finger section and the base finger section to rotate by taking the corresponding bevel gear transmission unit as a central shaft; through the structure and position design of the micro driving motor and the bevel gear transmission unit, each finger and each knuckle of the manipulator can be flexibly controlled, so that the manipulator has higher bionic flexibility and more precise grabbing capacity, and can be suitable for different scene requirements; by means of the special inserting mode between knuckles, the left-right hand grabbing function of the single mechanical arm is achieved.

The utility model discloses a rotary type three-station spraying and pressure maintaining all-in-one machine which comprises an electric push rod, a top plate, a carrying plate, a sliding base, a guide rail, a mechanical arm, a station rotating disc, a lampshade surface treatment station, a lampshade gluing station, a lampshade press-fitting station, a speed reducer, a chain wheel transmission set, a servo motor, an air cylinder, a pressing buckle block and a protective pressing plate. The automobile lampshade spraying press-fitting device is reasonable in design, a rotary three-station spraying press-fitting structure is adopted, continuity of technological processing of all the stations can be guaranteed, meanwhile, the multipurpose mechanical arm is arranged so that processing of related technologies of lampshades can be completed, lampshade tooling speed is high, quality is high, and working efficiency is improved.

The utility model relates to an automatic PCB feeding line which comprises a fixing frame, a first board feeding device, a second board feeding device, a plugging and unclamping device and a transmission device are arranged on the fixing frame, and the devices are all electrically connected with a central controller. A plate rack vehicle is carried on the conveying device, a plate clamping frame is arranged on the plate rack vehicle, the conveying device drives the plate clamping frame to move to the position below the plugging and unplugging clamp opening device, the plugging and unplugging clamp opening device grabs the plate clamping frame and opens plate clamps, and the first plate feeding device places PCBs on a PCB positioning table of the second plate feeding device after taking the PCBs through a first mechanical arm. After the second board feeding device accurately positions the position of the PCB, a second manipulator grabs the PCB at a fixed point and places the PCB on a clamping plate frame so as to accurately clamp the PCB, the plugging and unplugging device puts the clamping plate frame provided with the PCB back to the board rack vehicle, and then the operation is circulated to install the PCB and the clamping plate frame in a matched mode; the board feeding line can fully automatically complete the actions of feeding, aligning, unclamping and mounting the PCB, and is suitable for a full-automatic production process.

The invention, which relates to the technical field of device testing, discloses a visual self-calibration system for a microneedle automatic patch device and a calibration method thereof, comprising: a data acquisition module for measuring a spatial relationship among a composite calibration target, a calibration visual camera, a laser contourgraph and a manipulator coordinate system; the compensation model building module is used for building a corresponding relation model of the grabbing condition and the pose compensation amount based on patch deformation data collected by the laser contourgraph; the drifting prediction module is used for monitoring the motor temperature and the movement mileage and establishing a drifting prediction model; the deformation pre-compensation module is used for acquiring deformation characteristics after the patch is picked up and processing and acquiring a pose pre-compensation amount by utilizing a compensation model; the deformation compensation correction module fuses the pose pre-compensation amount and the drift pre-compensation amount, generates a final compensation control instruction and drives the manipulator to complete compensation motion; under complex operation conditions, the deformation compensation model shows great adaptability and robustness.

The invention relates to a multi-process and multi-device automatic production line scheduling method. The method comprises the following steps: S1, receiving a scheduling task; s2, confirming whether a posture conversion station for switching between manipulators exists in the scheduling task, if yes, executing, and if not, entering the step S3; s3, priorities are established for different devices in the production line according to the part machining time of the devices; s4, establishing priorities for the production processes according to a first-in first-out principle; s5, establishing priorities for different orders according to the emergency conditions of the orders; s6, obtaining a request list with the highest equipment priority, the highest process priority and the highest order priority, and sorting the request lists according to time; and S7, executing a scheduling instruction on the request with the best priority according to the time sequence. By means of the method, the part machining efficiency in the production line machining process can be improved.

A system is provided comprising a robotic instrument for use with a tool. In some versions, the robotic instrument comprises a hand-held portion to be held by a user and a tool support movably coupled to the hand-held portion to support the tool. A plurality of actuators operatively interconnect the tool support and the hand-held portion to move the tool support in three degrees of freedom relative to the hand-held portion. An optional constraint assembly may operatively interconnect the tool support and the hand-held portion to constrain movement of the tool support relative to the hand-held portion in three degrees of freedom. A guidance array assists users in positioning the tool and / or portions of the instrument.

Apparatuses, systems, and techniques to perform a grasp of on object using an articulated robotic hand equipped with one or more tactile sensors. In at least one embodiment, a machine-learned model trained in simulation to grasp a cuboid using signals received from tactile sensors is applied to grasping objects of various shapes in a real-world environment.

The invention discloses a joint device, a joint system and a control method of a manipulator, and belongs to the technical field of robots. The joint device of the manipulator comprises a fixed base, a connecting support, a multi-degree-of-freedom supporting structure, a rope transmission assembly and a driving assembly, and due to the fact that the two ends of the multi-degree-of-freedom supporting structure are movably connected with the fixed base and the connecting support respectively, the bending degree of freedom of the joint device of the manipulator can be improved. Moreover, the driving assembly can drive the multi-degree-of-freedom supporting structure and the connecting support to move to a preset position through the rope transmission assembly, and the rope transmission assembly is always kept in a tensioned state, so that the influence of looseness of the rope transmission assembly on the transmission precision is reduced; the precision and stability of the driving assembly for driving the connecting support column to move through the rope transmission assembly can be improved.

The invention discloses an intelligent learning method for grabbing of a three-finger dexterous hand for multiple types of workpieces, and belongs to the technical field of intelligent grabbing application of manipulators. A pre-defined rule and simulation expert double-layer mode is provided, a high-quality demonstration data set is automatically generated, a simulation grabbing scene of a mechanical arm and a three-fingered dexterous hand is constructed, recognition and classification of multiple types of workpieces are achieved by analyzing workpiece contour features, grabbing hand shapes are matched according to the recognition and classification, strategy pre-training is carried out through simulation learning, and the recognition and classification efficiency is improved. And optimizing the strategy based on a PPO algorithm and a composite reward function. Aiming at the problem of lack of a standardized three-fingered dexterous hand parameter model, a modeling method based on parameterized URDF and automatic script generation is used to realize efficient configuration and optimization of the three-fingered dexterous hand in simulation. Through performance evaluation, stable and high-quality grabbing of multiple types of workpieces can be achieved.

The invention discloses a control method and device of a multi-mode intelligent manipulator, and relates to the technical field of manipulators and artificial intelligence. Capturing left and right images of the target object by using a binocular vision technology; outputting the category and boundary coordinates of the target object through a YOLO model; extracting center coordinates of a target object in the left and right images; matching objects consistent with the target object in category and similar to the target object in coordinate in the left and right images; calculating parallax and depth information between the left image and the right image to combine three-dimensional space coordinates of the target object; smoothing the historical coordinates of each target object to output a target detection result of the YOLO model; inputting the target detection result into a task decision model and converting the target detection result into a structured instruction; the grabbing force is executed, calculated and adjusted according to the structured instruction; according to the control method and device for the multi-mode intelligent manipulator, through deep learning and an intelligent control algorithm, the manipulator can autonomously recognize a target and optimize an execution path.

The utility model provides a mechanical gripper which comprises a supporting assembly, a clamping assembly and a clamping assembly. The supporting assembly comprises a material pressing plate, and a sliding hole extending from the edge to the center is formed in the material pressing plate; the driving assembly comprises a driving piece and a pushing block connected to the driving piece, and the driving piece drives the pushing block to slide in the first direction; the material taking assembly comprises a rotating part, a traction part, a first pair of connecting arms, a second pair of connecting arms and a plurality of clamping fingers which are arranged in the sliding holes and penetrate through the sliding holes, the rotating part is rotationally connected with the material pressing plate and comprises a first end and a second end which are opposite, the first end is movably connected with the pushing block, and the second end is movably connected with the traction part; the first pair of connecting arms is rotationally connected with the traction piece, the second pair of connecting arms is rotationally connected with the pushing block, and each connecting arm is correspondingly connected with one clamping finger. According to the mechanical gripper, the workpiece can be positioned when the workpiece is grabbed, the working efficiency is improved, and the production cost is reduced.

The invention is suitable for the field of manipulators, and provides a frame butt-joint assembly mechanical arm which comprises a supporting base body, and two position adjusting tables are arranged on the supporting base body and driven by an adjusting unit to be close to or away from each other. A rotary table is arranged on each position adjusting table and drives a first arm rod to rotate, the first arm rod is connected with a second arm rod and the assembly bearing plate through a hinge structure, and the angle of the first arm rod is controlled by a first push-pull cylinder and a second push-pull cylinder. An adjustable rotary clamping unit is installed on the assembly bearing plate and comprises a third push-pull cylinder and a second motor, and the motor drives a sleeve to rotate and drives a guide plate and a grabbing arm rod to rotate. The grabbing arm rod is connected with the clamping jaw through a quick release assembly, and a shaft sleeve of the third push-pull cylinder is in linkage with the grabbing arm rod through a transmission connecting arm. The rotary welding device has the advantages of being flexible in adjustment, high in adaptability, stable in clamping and convenient to quickly adjust and perform rotary welding.

The invention relates to a microswitch assembling device, which comprises an assembling frame, a plurality of first manipulators, a plurality of first vibration discs, a first conveying mechanism, a dispensing assembly, a second conveying mechanism and a drying assembly, and is characterized in that the first manipulators are connected with the first vibration discs; the first mechanical arms are arranged towards the first conveying mechanism, the first conveying mechanism is connected with the second conveying mechanism, the dispensing assembly is arranged towards the second conveying mechanism, and the second conveying mechanism is arranged towards the drying assembly. The invention provides the assembling device capable of automatically assembling the microswitch.