15018results about "Gripping heads" patented technology

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.

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.

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.

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 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 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 provides a dexterous hand based on multi-modal fusion control, and relates to the technical field of automatic control, the dexterous hand comprises a palm module, a palm center vision sensing module, a finger module, a fingertip force sensing module and a multi-modal control module; the palm center visual sensing module is used for acquiring visual information of the dexterous hand in a working area; the finger module comprises at least two fingers; the fingertip force sensing module is used for detecting information of contact force applied to the fingertip position; and the multi-mode control module is used for controlling the dexterous hand to grab a target object based on the visual information and the contact force information. According to the dexterous hand based on multi-mode fusion control, data of two modes of visual information and contact force information are fused, so that the dexterous hand can adapt to different grabbing environments, intelligent closed-loop control of visual guidance and force sense regulation and control is realized, and the environmental adaptability and flexibility of the dexterous hand are improved.

The invention relates to the technical field of grabbing manipulators, and discloses a self-adaptive grabbing device for a special-shaped curved surface workpiece, which comprises a central bearing base made of a light metal material and provided with a multifunctional quick connector at the top; the central adsorption module is fixed at the central position of the bottom of the central bearing base and comprises an air pressure balance pipeline communicated with an external air source; by means of radial adjustment of the cross shaft and cooperation of the elastic buffering structure and the vertical guiding assembly, high-precision centering and stable adsorption are achieved, vertical contact of the suction cup is ensured through vertical guiding, the suction cup is suitable for different curved surface radians, and the stable adsorption force under the small area is kept; and electric control connection supports installation, namely electrification, and is suitable for automatic precise grabbing.

The invention relates to the technical field of robots, and provides a parallel connection rod driving mechanical finger with four degrees of freedom, which comprises a base, and a first driving mechanism, a second driving mechanism, a third driving mechanism and a fourth driving mechanism which are arranged on the base in parallel, the mechanical finger further comprises an MCP joint, a PIP joint and a DIP joint which are connected in sequence. The MCP joint is connected with the base through a universal joint. The first driving mechanism and the second driving mechanism are connected with the two sides of the MCP joint correspondingly so as to drive the MCP joint to conduct pitching motion and side-sway motion. The third driving mechanism is connected with the PIP joint so as to drive the PIP joint to perform pitching motion; and the fourth driving mechanism is connected with the DIP joint so as to drive the DIP joint to perform pitching motion. Four degrees of freedom have high dexterity, and the repeated positioning precision is good; high load ratio, high rigidity and high energy density are achieved, the branch chain structure interchangeability is good, the overall structure is simple and compact, and the space occupation ratio is small.

The invention discloses a dynamic grabbing method and system, and relates to the technical field of automatic manufacturing. The dynamic grabbing method comprises the following steps that S1, positioning and pose recognition are conducted on to-be-grabbed parts based on a deep learning model, and the to-be-grabbed parts are divided into grabbable parts or non-grabbable parts based on pose recognition; s2, calculating an affine transformation matrix based on camera calibration to convert a camera coordinate system into a robot coordinate system; s3, constructing a part track motion model based on the multi-frame image, and predicting a grabbable part track based on the part track motion model; s4, the robot implements a grabbing action and obtains feedback information of the grabbing action, and track planning parameters or time compensation values are adjusted based on the feedback information; realizing time synchronization of the camera and the robot based on the time compensation value; and the optimal adsorption position and speed are calculated according to the predicted grabbable part track and the preset triggering time, so that the movement of the robot is more efficient and smoother.

The invention discloses a five-finger bionic dexterous hand with distributed touch perception and a control method. The five-finger bionic dexterous hand comprises a palm part; fingers of the thumb unit, the index finger unit, the middle finger unit, the ring finger unit and the little finger unit respectively comprise a three-stage series flexion and extension mechanism which is sequentially composed of a third knuckle, a second knuckle and a first knuckle from a metacarpophalangeal joint, and each three-stage series flexion and extension mechanism has three flexion and extension freedom degrees and one deflection freedom degree; the tendon rope driving units are arranged in the palm part; the palm center camera is integrated on the front face of the palm part and used for collecting visual information of an operation area; the 15 air pressure type touch sensor modules are installed on the third knuckles, the second knuckles and the first knuckles of all the finger units in a distributed mode, and each air pressure type touch sensor module is integrated with a pressure and temperature double sensing unit and used for sensing contact pressure and environment temperature; the control module is integrated on the back face of the palm part and is in signal connection with the palm center camera, the air pressure type touch sensor modules and the tendon rope driving unit.

A system for handling a component of a vehicle includes a body, at least one protrusion, a robot, and a gripper structure. The body is configured to house electrical components and defines a longitudinal axis. The protrusion extends outwardly from the body along an axis. The protrusion includes a cylindrical shaped inner portion at a proximal end of the protrusion and a tapered outer portion near a distal end of the protrusion. The robot is configured to move the body. The gripper structure is secured to the robot and includes at least one mounting feature. The mounting feature includes a portion comprising a shape that corresponds to the cylindrical shaped inner portion of the protrusion such that the gripper structure is configured to be removably coupled to the component.

The invention relates to the technical field of robots, and provides a humanoid dexterous hand based on a double-center decoupling metamorphic palm and series-parallel direct-drive mechanical fingers, which comprises a metamorphic palm and at least one mechanical finger. Eight connecting rods and eight revolute pairs of the metamorphic palm are alternately arranged and sequentially connected to form a closed loop, the axes of four adjacent revolute pairs intersect at a first sphere center to form a first spherical four-rod mechanism, and the axes of the other four adjacent revolute pairs intersect at a second sphere center to form a second spherical four-rod mechanism. Different metamorphic forks are derived from the eight revolute pairs through coaxial axes and coplanar adjacent axes, and when the eight revolute pairs move to forking points for forking, the eight revolute pairs enter different motion branches so as to form different metamorphic structures. A direct-drive type driving mechanism included in the mechanical finger drives an MCP joint to conduct pitching motion and side-sway motion, and the direct-drive type driving mechanism drives a PIP joint and a DIP joint to conduct synchronous flexion and extension motion. The clothes provided by the invention have stronger dexterity.

The invention discloses a feeding manipulator for petroleum drill rod joint production, and belongs to the technical field of feeding manipulators, the feeding manipulator comprises a mechanical operation arm, two mechanical operation claws are arranged at the free end of the mechanical operation arm, and each mechanical operation claw comprises two clamping claw pieces symmetrically arranged on an output shaft of the mechanical operation arm; a stabilizing assembly with a stabilizing part is arranged in the clamping jaw part, the stabilizing part comprises a main air bag which is arranged in the clamping jaw part and used for improving uniform clamping pressure, an air pump is arranged at the top end of the clamping jaw part, and an inflation part is installed between the output end of the air pump and the main air bag in a communicating mode. The main air bag is arranged in the clamping jaw piece, the internal main air bag can be inflated and expanded to fill gaps between the clamping plates and workpieces, the clamping jaw piece can adapt to the workpieces of different shapes and sizes, the elastic material can absorb clamping impact force, the rigid clamping plates are prevented from making direct contact with the surfaces of the workpieces, pressure is evenly distributed after inflation, local stress concentration is prevented, and the clamping jaw piece can be used for clamping workpieces of different shapes and sizes. And the clamping stability is improved.

The invention relates to a robot dynamic grabbing control method based on visual sense and tactile sense depth fusion. The method comprises the following steps that firstly, based on visual information, surface geometric features of a target object are extracted, grabbing adaptability scores are calculated, an optimal grabbing point is selected, and a collision-free approaching track is planned; secondly, in a contact establishment stage, detecting a contact event through a touch sensor, fusing vision and touch data to unify a coordinate system, calculating a vision-touch consistency score, and applying an initial grabbing force; and thirdly, in the stable holding stage, slip detection is conducted through wavelet packet energy entropy and pressure gradient, and the grabbing force and impedance parameters are dynamically adjusted in combination with self-adaptive impedance control. According to the method, intelligent control over the whole process from approaching to contact to stable holding is achieved, and the adaptability, stability and safety of robot grabbing in the dynamic environment are improved.

A method for retrieving an inventory item based on a handling robot, where the handling robot includes: a storage frame; and a material handling device installed on the storage frame, and including a telescopic arm and a manipulator installed to the telescopic arm; and the method for retrieving an inventory item includes: driving, by the telescopic arm, the manipulator to extend to a preset position of warehouse shelf along a preset horizontal reference line; loading, by the manipulator that is remained on the reference line, the inventory item located in the preset position; driving, by the telescopic arm, the manipulator loaded with the inventory item to move to the storage frame along the reference line; and unloading, by the manipulator that is remained on the reference line, the inventory item to the storage frame.

An adaptive finger gripper for pushing materials, a robot and a gripping and pushing method. The adaptive finger gripper for pushing materials comprises a transmission device (1) and finger gripper main bodies (2); each finger gripper main body (2) comprises a sliding telescopic structure (7) and a frame structure (3), the sliding telescopic structure (7) being slidably connected to the frame structure (3). A gripping space (200) is provided between the different sliding telescopic structures (7), and materials are gripped within the gripping space (200). Each finger gripper main body (2) comprises a gripping state and a pushing state; when in the pushing state, the sliding telescopic structure (7) retracts relative to the frame structure (3) and a target member (100). Different from a rigid collision between the finger gripper and the target member (100) during material pushing in the prior art, when the finger gripper is in contact with the target member (100), each sliding telescopic structure (7) will adaptively retract relative to the target member (100), so as to avoid the rigid collision between the finger gripper and the target member (100), thus reducing the possibility of damage to the finger gripper and the target member (100) caused by the rigid collision.

The invention discloses a dexterous hand teleoperation method based on vision-touch fusion. The method comprises the following steps: 1) vision detection; the method comprises the following steps of (1) carrying out remote control, (2) carrying out redirection, (3) carrying out tactile grabbing, (4) carrying out vision-tactile interaction, (5) carrying out a communication process and (6) carrying out dexterous hand.The method can stably map human hand actions under the complex vision condition, safe and reliable grabbing control is achieved through tactile feedback, meanwhile, multiple dexterous hand configurations and cross-platform deployment are supported, and the precision, robustness and practicability of teleoperation can be improved.

A gripping and pushing integrated finger, comprising finger bodies (2), wherein the number of finger bodies is greater than or equal to 2, and each finger body comprises a sliding telescopic structure (7), a frame structure (3), a locking structure (5) and a pushing structure (6); the pushing structure is fixedly mounted on the frame structure, and the sliding telescopic structure is slidably connected to the frame structure; and the locking structure is used for locking and unlocking between the sliding telescopic structure and the frame structure. Also disclosed are a robot and a gripping and pushing method. The finger integrates both the sliding telescopic structure for realizing the gripping function and the pushing structure for realizing the pushing function onto the finger body, which improves the overall integration level of a device, and materials are effectively and directly inserted into an accommodating space of a target member, which eliminates the necessary repositioning process and secondary insertion in existing material gripping and insertion devices, thereby improving the working efficiency.

In some examples, a restocking robot comprises a mobile base controllable to navigate to an inventory unit at a restocking location, a robot cabinet supported by the mobile base, the robot cabinet including a receptacle for holding a restocking item for the inventory unit. A robot arm is controllable to engage with and open the receptacle of the robot cabinet and retrieve therefrom a restocking item for restocking the inventory unit. The robot arm includes an end effector mounted to the robot arm. The end effector is controllable to move the restocking item retrieved from the receptacle of the robot cabinet into the inventory unit at the restocking location.

The invention relates to the technical field of transfer robots, in particular to an intelligent warehouse logistics automatic transfer robot. The robot comprises a scraper and a suction cup which are arranged on a robot body, the scraper is provided with specially-designed groove pressing teeth, an arc-shaped groove with a guiding function can be formed in the surface of a box body, and it is ensured that a frost layer effectively falls off along a preset path through the design. The system collects temperature gradient, surface appearance and contact stress data in real time through the integrated multi-mode environment sensing unit, the intelligent decision-making unit establishes a dynamic control model based on the data, and accurate evaluation and self-adaptive processing of the frost layer state are achieved. The whole system constructs a complete closed-loop control chain, the limitation of a traditional defrosting method is overcome, the adsorption stability is kept, meanwhile, the operation efficiency is improved, the system is particularly suitable for the low-temperature storage environment of-25 DEG C and below, and a reliable solution is provided for cold-chain logistics automatic operation.

The invention discloses a flexible claw mechanical arm with a safety protection component, and relates to the technical field of mechanical arms, the flexible claw mechanical arm comprises a base, a connecting arm is fixedly arranged above the base, a mounting block is arranged at one end of the connecting arm, a claw mechanism is arranged on the mounting block, a protection mechanism is arranged on the claw mechanism, and the safety protection component is arranged on the protection mechanism. The protection mechanism is matched with the claw mechanism to flexibly clamp an object, the claw mechanism comprises a clamping claw, a control mechanism is arranged on the clamping claw, the control mechanism is used for controlling the clamping claw to rotate, the protection mechanism comprises a sliding block internally provided with a guide rail, and a movable part capable of rotating is arranged on the sliding block. An anti-skid groove is formed in the movable piece, a buffer spring is arranged on the sliding block, a pressure sensor is arranged at one end of the buffer spring, and the pressure sensor is matched with the control mechanism to be used for adjusting the rotation range of the clamping jaw. According to the flexible claw mechanical arm provided with the safety protection component, objects can be flexibly clamped conveniently, and safety is high.

A gripper finger for material insertion, a robot, and a gripping and pushing method. The gripper finger for material insertion comprises a transmission device (1), gripper finger bodies (2) and a forward pushing device; the number of the gripper finger bodies (2) is greater than or equal to two; by means of the transmission device (1), a driving device drives different gripper finger bodies (2) to move toward or away from each other, thus respectively achieving gripping and releasing of a material; when the gripper finger bodies (2) insert the material partially into an accommodation space, the forward pushing device can push the material forward whether the gripper finger bodies (2) disengage from the material or not.

The invention discloses a motor-clutch time division multiplexing driving system for a rope-driven dexterous hand. The motor-clutch time division multiplexing driving system comprises a driving box, a plurality of rope-driven mechanisms and a plurality of dexterous fingers, wherein the rope-driven mechanisms and the dexterous fingers are arranged on the driving box; the rope driving mechanism comprises a power unit, a worm and gear unit and a guide unit. The power unit uses a sun gear to drive a plurality of planetary gears, and an electromagnetic clutch outputs power to the worm and gear unit; the plurality of worm and gear units are respectively used for controlling the winding and unwinding of the plurality of driving ropes; the plurality of guide units respectively guide the plurality of driving ropes to the same rope-driven rotating joints of the plurality of dexterous fingers; different rope-driven rotating joints of the dexterous fingers are controlled by different rope-driven mechanisms, and the same rope-driven rotating joint of the multiple dexterous fingers is controlled by the same rope-driven mechanism. According to the scheme, the fast switching characteristic of the electromagnetic clutch is ingeniously utilized, and driving control over multiple degrees of freedom by a single motor is achieved.

A robotic gripper including one or more fingers and at least one actuator for acting on the fingers in order to grip an object, the gripper including at least one sensor sensitive to a relative movement between the object manipulated by the gripper and the latter, this sensor delivering an output signal, a control system configured to execute at least one machine-learning algorithm trained to deliver, based on the one or more output signals generated by the one or more sensors, at least one slippage-detection score representative of the confidence of the algorithm in the presence of slippage, and to transmit control data to the actuators controlling the one or more fingers, the control data being generated so as to relate the strength of the forces applied by the one or more fingers to said score.