21971results about "Gripping heads" patented technology

The present invention provides an intelligent robot for power inspection and an inspection method thereof, comprising a quadruped robot, wherein a laser radar, a voiceprint sensor and an infrared sensor are provided at the front end of the quadruped robot; a pan-tilt base is provided at the middle of the quadruped robot, and a camera is provided on the pan-tilt base; a six-degree-of-freedom mechanical arm is also provided at the tail of the quadruped robot, and a mechanical claw is provided at the end of the mechanical arm. The robot flexibly plans tasks based on the layout of the substation, sets inspection cycles for different equipment according to their importance, and automatically generates accurate task plans, thereby avoiding the tediousness and omissions of manual planning and improving planning. The advanced path planning algorithm enables the robot to quickly plan the optimal path, integrates multiple positioning technologies to ensure accurate navigation, and effectively reduces travel time. Multiple inspection modes are carried out in parallel, non-stop inspections are dynamic screening, routine inspections are comprehensive inspections, and non-preset inspections are flexibly targeted at specific points, which greatly improves the coverage efficiency of the inspection and avoids detection blind spots.

A robot includes a mobile base, a turntable rotatably coupled to the mobile base, a robotic arm operatively coupled to the turntable, and at least one directional sensor. An orientation of the at least one directional sensor is independently controllable. A method of controlling a robotic arm includes controlling a state of a mobile base and controlling a state of a robotic arm coupled to the mobile base, based, at least in part, on the state of the mobile base.

A mechanical end effector for a humanoid robot includes a plurality of identical finger assemblies. Each of the finger assemblies is removably connected to a frame. Each of the finger assemblies is fully self-contained and operable independently of every other one of the finger assemblies and independently of every other component connected to the frame. Each of the finger assemblies includes a single electric motor and is configured to be fully operable using only the single electric motor.

A mechanical end effector for a humanoid robot includes a plurality of identical finger assemblies. Each of the finger assemblies is removably connected to a frame. Each of the finger assemblies is fully self-contained and operable independently of every other one of the finger assemblies and independently of every other component connected to the frame. Each of the finger assemblies includes a single electric motor and is configured to be fully operable using only the single electric motor.

A humanoid robot includes a torso, a left arm assembly coupled to the torso and having a first reference line, a left wrist coupled to the left arm assembly and including at least a rotational axis, and a left end effector coupled to the left wrist. The left end effector is configured to move about the rotational axis and includes a finger assembly with a second reference line and at least two degrees of freedom, and a thumb assembly with at least three degrees of freedom. A first angle is formed between the first and second reference lines when the left wrist is in a first configuration, and a second angle is formed when the left wrist is in a second configuration. Both the first and second angles are greater than 70 degrees, and the difference between the first and second angles is greater than 150 degrees.

A robotic surgical system. a surgeon console operatively coupled to a patient console and one or more surgical instruments. A surgeon computer is coupled to or integrated with the surgeon console, the surgeon computer further operatively connected to the one or more surgical instruments; A surgical robot is coupled to a robotic surgery control system and a feedback loop. The robotic surgery control system includes or is coupled to an artificial intelligence (AI) system. A feedback loop is further configured to receive performance-related data from the one or more sensors, the data analyzed by the robotic surgery control system or the AI system to dynamically adjust the robotic system's operation as needed. A data extraction module retrieves, from the robotic surgery control system or the AI system. one or more programmed steps executed by the surgeon for positioning at least one of the surgical instruments during the surgical procedure.

The invention relates to the technical field of positioning calibration, and provides a water jet scalpel robot autonomous operation three-dimensional detection and positioning calibration method, which comprises the following steps: S1, manually controlling the tail end of a mechanical arm to carry out coarse scanning, and searching a calibration target; s2, fine scanning path planning of the line laser scanner is carried out, and the scanning directions X and Y of the line laser scanner are determined; s3, multiple times of scanning are carried out in the X direction and the Y direction, and multiple pieces of point cloud data are obtained through scanning; s4, recording and processing the point cloud data, and reserving the point cloud data of the calibration target; s5, performing error feature estimation and calibration on the reserved point cloud data of the calibration target; s6, manually controlling the calibration of the tail end of the water jet cutter, and correcting the space offset of the tail end of the cutter head of the water jet cutter; s7, filtering the point cloud data obtained during normal operation to obtain global error compensation; and S8, performing dynamic positioning correction on the operation target. The method is used for scanning positioning error compensation and correction of a hand-eye system of the water jet scalpel robot and dynamic error correction in the operation process.

A cutting device includes a base plate, a motor attached to the base plate, a driving cord including a first end and a second end, the first end being attached to the motor, and a cutting assembly. The cutting assembly includes a fixed blade that is fixed to the base plate, and a driven blade that moves with respect to the fixed blade. The second end of the driving cord is attached to the driven blade to move the driven blade with respect to the fixed blade when the motor rotates.

The disclosure presents a humanoid robot with an upper region (head, torso, arms with forearm assemblies, end effectors), lower region (legs), and connecting central region. Each end effector features index, middle, ring, little finger, and thumb assemblies attached to a housing of said end effector. The housing includes interior wall extents creating spaces for tendon routing, where the first distance between first and second wall extents is less than 45% of the second distance between third and fourth wall extents. Tendons controlling finger movements pass between these wall extents. The robot incorporates a wrist assembly connecting the housing of the end effector to the forearm, actuators housed in the forearm that control the tendons, and a carpal tunnel-like structure that guides tendons from forearm to base of the housing, enabling precise hand movements without requiring actuators in the hand itself.

Disclosed is a method and tidying robot system that performs it. A robot of a tidying robot system receives a starting location, a target cleaning area, and obstructions in its path navigating the target cleaning area. It determines a tidying strategy including vacuuming and obstruction handling. It executes the tidying strategy, vacuuming the target cleaning area and moving and / or avoiding obstructions, which are tidyable and / or movable objects. Where the obstruction may be picked up, the robot determines and executes a pickup strategy. Where the obstruction may be relocated but not picked up, it pushes the obstruction to a different location. Where the obstruction cannot be relocated / picked up, it alters its path to avoid the obstruction. The robot determines if the dirt collector is full, and if so, navigates to a base station configured to charge the robot and empty the dirt collector. Otherwise, it continues to execute the tidying strategy.

The invention relates to the technical field of visual automatic calibration, and discloses a joint manipulator automatic calibration method and device based on a visual system. The method comprises the following steps: carrying out multi-view image acquisition on a joint manipulator of the five-axis robot to obtain original image data; performing occlusion region extraction on the original image data to obtain a joint occlusion region set; on the basis of the joint occlusion region set, disordered image splicing and mark point feature extraction are carried out on the original image data, and joint feature image data are obtained; constructing an adaptive calibration equation based on the joint feature image data, and solving a target transformation relation between a global visual coordinate system and a local visual coordinate system; multi-joint collaborative calibration and joint chain constraint optimization of the five-axis robot are executed according to the target transformation relation, and joint error correction parameters are generated, high-precision joint error correction parameter calculation is achieved, and the positioning precision and the movement precision of a joint manipulator of the five-axis robot are greatly improved.

The invention provides high-altitude picking equipment. The high-altitude picking equipment comprises a walking vehicle, a mechanical arm and a picking and cutting device, the lower end of the mechanical arm is connected with the walking vehicle through a first rotating assembly, and the picking and cutting device is connected with the upper end of the mechanical arm; the picking and cutting device comprises an arc-shaped supporting body, an arc-shaped sliding rail, a hook claw mechanism, a sliding rail driving mechanism, a cutting mechanism and a hopper. A movable channel is formed in the arc-shaped supporting body, and the arc-shaped sliding rail is assembled in the movable channel in a sliding mode. The hook claw mechanism is arranged at one end of the arc-shaped supporting body, the sliding rail driving mechanism is arranged on the arc-shaped supporting body, and the sliding rail driving mechanism is in transmission connection with the arc-shaped sliding rail; the cutting mechanism is arranged on the arc-shaped sliding rail and located at the end away from the hook claw mechanism. The hopper is arranged on the outer side of the arc-shaped sliding rail, the hopper and the cutting mechanism are located at the same end of the arc-shaped sliding rail, and the hopper is located below the cutting mechanism. The oil palm fruit petiole cutting device has the advantages that petiole parts and petioles of fruit strings of oil palm fruits can be effectively, synchronously and rapidly cut, and the picking efficiency is improved.

This application relates to a collaborative control method for a picking robot based on collaborative picking and collection of mushrooms, including the following steps: picking, by a suction cup, the mushrooms, and conveying, by a built-in conveying apparatus, the mushrooms to a discharge port; dynamically adjusting a movement path of the picking robot; synchronously moving a receiving mechanism and the picking robot, and ensuring the receiving mechanism to be aligned to the discharge port; separating, by a separating apparatus, mushrooms that meet a quality standard and unqualified mushrooms, where the mushrooms that meet a quality standard and the unqualified mushrooms respectively enter a first dropping hopper and a second dropping hopper; grading the mushrooms in the first dropping hopper for a second time, classifying the mushrooms based on volumes and diameters of the mushrooms; when any dropping hopper is to be fully loaded, triggering the receiving mechanism to alternately operate.

A material conveying apparatus, a battery assembly system, a production line, and an assembly method. The material conveying apparatus comprises a frame (10), a conveying mechanism (20), a limiting mechanism (30), and a carrying mechanism (40). The conveying mechanism (20) comprises two conveying paths arranged on the frame (10), one of the two conveying paths is an input path (21) used for conveying a box body (60) loaded with materials, and the other one of the two conveying paths is an output path (22) used for conveying the unloaded box body (60). The limiting mechanism (30) is disposed on the frame (10) or the conveying mechanism (20) and is used to define on the input path (21) a waiting position (21a) and a material pick-up position (21b) arranged in the input direction, and define on the output path (22) a transfer position (22a) and a removal position (22b) arranged in the output direction. The carrying mechanism (40) is used for carrying to the transfer position (22a) the box body (60) which is located at the material pick-up position (21b). The material conveying apparatus can be adapted to transportation of various battery assembly materials and has good universality.

The invention provides double-arm picking equipment for shelf-type planted shiitake mushrooms and an operation method thereof. The double-arm picking equipment comprises a moving platform, the upper portion of the moving platform is connected with a chassis, and a lifting device, a shiitake mushroom storage device and a shiitake mushroom picking device are arranged above the chassis. Through mechanical automatic mushroom stick fixing and mushroom picking, intelligent identification, picking and placing of mushroom sticks on a shelf and identification and picking of mushrooms on the mushroom sticks can be carried out at the same time, planting areas can be traversed automatically, the mushroom picking speed is increased, and labor and time cost is saved. Three-dimensional scanning is carried out through the depth camera vision system, the position and size of the mushroom sticks and the maturity of mushrooms can be accurately recognized, and it is ensured that the quality of picked mushrooms is high. The lifting device adjusts the height of the mechanical arm and cooperates with a visual system, picking and mushroom stick processing are more accurate, damage to mushrooms and mushroom sticks is reduced, mushroom picking automation is achieved, operators do not need to put physical labor heavily, and the workload is relieved.

The invention discloses an automatic manipulator clamping mechanism and a tool clamp comprising the same, relates to the technical field of manipulators, and solves the problem that the efficiency and the precision are low when articles or parts are carried and mounted due to the fact that a mechanical arm is difficult to simulate the movement of each joint of a human arm. The automatic manipulator clamping mechanism comprises a lower base, a vertical rotating assembly, an automatic manipulator system and a mold clamping assembly, wherein the vertical rotating assembly is mounted at the top of the lower base. According to the device, further adjustment can be conducted according to the specific position of the mold or the product, and high-precision mold or product grabbing or mounting operation is achieved. And meanwhile, transmission is carried out in a worm and gear connection mode when the position of a mold or a product is accurately positioned, it is guaranteed that interference and conflict are not generated in operation of a first transmission motor and a second transmission motor, the overall occupied area of the structure is small, and the weight of the clamping end of the mechanical arm is effectively reduced.

The invention discloses an under-actuated robot finger with a rigid-flexible hybrid transmission mechanism, and relates to the technical field of intelligent robots. The connecting seat is fixed at the top end of the gear box, a rotating shaft is mounted in the middle of the connecting seat, a worm gear is sleeved on the rotating shaft, and the rotating shaft is meshed with the worm; the tail end of the knuckle shell is rotatably connected with the worm gear; the tail end of the swinging arm is hinged to the front side edge of the connecting seat; a limiting groove is formed in the top end of the swinging arm; the tail end of the driving arm is hinged to the rear side edge of the surface of the worm gear, the top end of the driving arm is hinged to the inner side end of the sliding rod, the fingertip assembly comprises a flexible base and a rigid framework and is provided with a spring hinged to the top end of the knuckle shell, and the outer side end of the sliding rod is hinged to a rigid supporting rod embedded into the fingertip assembly. The rigid-flexible hybrid transmission mechanism is combined with the under-actuated design, the method is simple and easy to implement, the requirements of the humanoid prosthetic finger on the aspects of size, weight, integration and grabbing envelope are met, the characteristic of coupling-adaptive movement is achieved, and the flexibility and comfort are improved.

A control apparatus, a control system, a robot system, a control method, and a computer program that is configured to generate a control signal for controlling a robot.

The invention discloses a manipulator for carrying automobile sheet metal parts, and relates to the technical field of manipulators, the manipulator comprises a supporting base, a mechanical arm and a plurality of suckers, the mechanical arm is mounted at the top of the supporting base, a U-shaped plate is mounted at the end, away from the supporting base, of the mechanical arm, and a supporting plate is fixedly connected to the lower end of the U-shaped plate; the supporting plate is provided with an adjusting assembly for automatically adjusting the height of the suction cups according to the automobile door frame, the adjusting assembly comprises limiting springs arranged on the outer surfaces of the suction cups in a sleeving mode, the middle of the U-shaped plate is hollow, and adjustment can be rapidly conducted according to the concave-convex condition of the door frame through the suction cups capable of being adjusted up and down; the time for manual intervention or readjustment due to the fact that the suction cups are not matched with the automobile door frame is shortened, the situation that adsorption is not stable due to the fact that the suction cups do not effectively make contact with the automobile door frame is avoided, and the phenomenon that abrasion occurs due to too large pressure when only a small number of suction cups are matched with clamping jaws to grab the automobile door frame is avoided; and the universality and the application range of the sucker type manipulator are improved.

The embodiment of the invention provides an action simulation optimization method for an intelligent agent dexterous hand. The method can be applied to the technical field of artificial intelligence. The motion imitation optimization method of the intelligent agent dexterous hand comprises the steps of obtaining motion image data of a target execution motion; extracting corresponding action track data according to the action image data; and according to the current execution state and the action trajectory data of the dexterous hand, optimizing imitation execution of the target execution action by the dexterous hand through a preset action trajectory optimization condition. The embodiment of the invention further provides an action simulation optimization device and equipment for the intelligent agent dexterous hand, a storage medium and a program product.

A quick-change platform, a battery production line, and a control method. The quick-change platform comprises a tray kit (10). In a first pick-and-place state, the tray kit (10) is located at a first pick-and-place position, so that the tray kit (10) is used for receiving a target object (80) disengaged from a battery module fixture, or a battery module handling device picks up the target object (80) placed on the tray kit (10); and in a second pick-and-place state, the tray kit (10) is located at a second pick-and-place position, and is used for taking down the target object (80) on the tray kit (10), or for placing the target object (80) onto the tray kit (10).

The invention provides a dexterous hand multi-object stable grabbing method and system based on vision and touch perception. The dexterous hand multi-object stable grabbing method comprises the steps that RGB images and depth maps of target objects are collected through a monocular RGB-D camera, and dense point cloud data are generated; geometric features are extracted by using a three-dimensional point cloud neural network, and composite object distribution features are analyzed in combination with visual information; an initial grasping strategy is generated based on the features, actions are executed, and the joint state and contact force data are synchronously obtained in real time through body sensing and a fingertip force sensor; in the carrying process, multi-dimensional force perception and the joint state are fused to analyze object stress distribution and center-of-gravity shift; vision and force sensing data are used as input. Vision, body sensing and force sensing data are fused, the problems of three-dimensional structure recognition and dynamic stress regulation and control in multi-object composite grabbing are solved, compared with a single sensing scheme, the grabbing planning precision and the self-adaptive capacity in a complex scene are remarkably improved, and the method is particularly suitable for stable carrying of combinations of loose objects such as dinner plates carrying tableware.

The invention relates to the field of robot control, and discloses a robot control method and system, and the method comprises the steps: carrying out the fusion sensing of environment data through a multi-modal sensor, and constructing a dynamic environment model through the combination of the clustering segmentation of a dynamic obstacle and the geometric matching of a target cart; generating a Nash equilibrium obstacle avoidance path based on a non-cooperative game framework, and coordinating motion tracks of multiple robots by using distributed model predictive control and an alternating direction multiplier method; a heterogeneous grabbing pose generation network is designed, simulation and real scene feature distribution are aligned through domain adversarial training, and online optimization of a grabbing strategy is achieved in combination with incremental learning; newly-added obstacles and cart deviation are monitored in real time to trigger dynamic re-planning, and the path and the grabbing pose are updated through a closed-loop feedback mechanism. According to the method, the cooperative control robustness in a dynamic environment is improved, the obstacle avoidance efficiency and the grabbing stability are both considered, and the method is suitable for automatic operation in complex scenes such as airports.

The embodiment of the invention provides a dexterous hand control method and device, an intelligent agent and a storage medium, and the method comprises the steps: obtaining sensor data, preprocessing the sensor data, obtaining input information which comprises environment information and state information of a dexterous hand, inputting the input information into a cerebellum model, and obtaining a corresponding control instruction, the cerebellum model comprises a trajectory planning model and a motion controller, the trajectory planning model is used for outputting a corresponding trajectory planning result according to the input information, and the motion controller is used for converting the trajectory planning result into a corresponding control instruction; the motion controller is obtained by combining a cerebellum model neural network and a whole body dynamic model based on a model predictive control algorithm, and performs driving control on an execution mechanism module of the dexterous hand according to a control instruction. According to the dexterous hand control method provided by the embodiment of the invention, the control flexibility and accuracy can be improved.

The invention belongs to the technical field of humanoid robots, and particularly relates to a heavy-load anti-explosion humanoid robot which comprises modular components and a multi-mode sensing network. The modular component comprises a movable chassis assembly used for providing omni-directional movement for the robot; the lifting assembly is fixed to the upper portion of the movable chassis assembly and used for providing lifting driving force; the body assembly is connected with the lifting assembly through the waist synchronous joint module and can be driven by the lifting assembly to ascend and descend; the head assembly is connected with the body assembly and cooperates with the lifting assembly to achieve visual field adjustment by configuring rotating modules in three directions; the multi-mode sensing network is distributed on the head assembly, the body assembly and the mobile chassis assembly through combination of a plurality of sensors in a space full-coverage strategy, and real-time obstacle cross validation, target positioning and obstacle and narrow channel detection in the space can be achieved. The problems that the target detection and obstacle avoidance effects of the robot are poor, the operation load is insufficient, and the operation range is small are solved.

An autonomous traverse tire changing bot includes a carriage having a carriage frame with a carriage drive section effecting autonomous traverse of the carriage, along a traverse path, relative to a traverse surface or a floor on which the bot rests, and a bot frame including at least one actuator mounted to the carriage and a bot drive section with a motor defining an actuator degree of freedom, wherein the at least one actuator has an end effector having a tire engagement tool disposed so that articulation of the at least one actuator with the actuator degree of freedom effects engagement contact of the tire engagement tool and a tire mounted on a vehicle, and a controller effects traverse of the bot along the traverse path effecting dynamic positioning of the at least one actuator relative to a variable position of the vehicle with the tire mounted thereon.

The invention discloses a glove with a touch sensing function and a dexterous hand, and the glove comprises a glove body, and a plurality of sensor modules and a controller module which are regularly arranged on the glove body; the plurality of sensor modules are regularly arranged on the front surfaces of the palm part, the finger belly part and the fingertip part of the glove body, and the controller module is regularly arranged on the back surface of the palm part of the glove body. The glove is small, light, convenient to carry and suitable for being used in any occasions, the glove body is made of double-layer fabric, devices are all made of flexible materials, and a patient wears the glove comfortably. The glove integrates various sensors, has the function of detecting lateral force, normal force and temperature, can identify various signals of materials, pressure, temperature and the like of a contact object, has important significance on athlete hand function training research, patient rehabilitation training evaluation and the like, and is also suitable for achieving the tactile perception function after a robot dexterous hand is worn.

The invention discloses a force / position hybrid control method for a dexterous arm-hand robot, and aims to improve the tracking precision and flexibility of a high-degree-of-freedom robot in a complex interaction task. The method comprises the following steps: constructing a complete kinematics and dynamics model; designing a self-adaptive sliding mode impedance controller, converting an impedance equation into a system taking interaction force as a state, and introducing a sliding mode variable to realize stable tracking of expected force; a preset performance boundary function and a synchronization error are introduced to realize cooperative control and performance constraint; and finally, a force / position hybrid control structure is constructed, the outer ring adjusts the expected trajectory, the inner ring achieves accurate tracking, and therefore smooth interaction between the robot and the complex environment is achieved. The method has good robustness and adaptability, and is suitable for tasks such as grabbing and operation.

The invention discloses a welding plate blank transferring and positioning device, which belongs to the technical field of positioning devices and comprises a blank placing unit, a deviation rectifying unit, a processing position and a material taking unit. The blank placing unit is provided with a placing workbench capable of stacking plate blanks, and the deviation rectifying unit is provided with a deviation rectifying workbench and a deviation rectifying device. And the material taking unit realizes the whole process of automatically grabbing, transporting and correcting plate blanks and accurately feeding the plate blanks to a processing position through a mechanical arm and a material taking mechanism. Suckers and balls of the material taking mechanism are designed in a combined mode and can alternately work on the same supporting rod. The suction cups are responsible for stably grabbing plate blanks, and the balls provide sliding support in the deviation rectifying stage, so that it is guaranteed that the plate blanks stably move on the deviation rectifying workbench. By means of the design, the operation process is simplified, and errors possibly generated by moving the connecting plate are reduced. The full-process automation from plate blank grabbing to the machining position is achieved, manual intervention is not needed, the labor cost is reduced, and the production efficiency is improved.

A bionic mechanical finger, comprising a bionic finger sleeve (100), a tactile sensing unit (200), a capacitance-to-digital converter (CDC) circuit, a digital processing circuit, and an analog switch array. By means of the design of a sensor structure and an inner insulating layer and the combination with a CDC, the tactile sensitivity comparable to or even superior to that of a human hand is obtained; the design that an upper electrode (210) is grounded and self-capacitors are used as lower electrodes (221) can ensure the precision of pressure measurement, thereby lowering the dependence on chip resources; and in combination with a restriction rule of capacitor design, the mechanical finger achieves a good response in daily grabbing scenarios. Also provided is a mechanical hand comprising the bionic mechanical finger.