736results about How to "Achieve crawling" patented technology

The invention relates to a stacked workpiece posture recognizing and picking method based on an RGBD camera. The method includes the following steps that 1), parameters in the RGBD camera are calibrated; 2), training is carried out according to a pre-obtained 3D model of a to-be-captured workpiece, and a 2D model for matching is generated; 3), an RGB image and a depth image of the to-be-recognizedworkpiece are obtained through the RGBD camera, and contour information of the to-be-captured workpiece is obtained; 4), two-dimensional position information of the to-be-captured workpiece in an image pixel coordinate system and a six-freedom-degree pose under a camera coordinate system are obtained; 5), a six-freedom-degree pose of the to-be-captured workpiece under a robot coordinate system isobtained; and 6), a six-axis robot is controlled to pick the to-be-captured workpiece. Compared with the prior art, the RGBD camera with low cost is utilized, in combination with RGB and depth information, the postures of various types of workpieces stacked disorderly are recognized and captured, and the method is high in precision, low in cost and high in adaptability, and can meet the requirements of industrial production.

The invention discloses a system, a method and a device for processing article information. In the system for processing article information, a panel system comprises a panel for bearing an article, a state acquisition device for acquiring state data of the article on the panel and a first positioning device for acquiring the position data of the article on the panel. A shelf system comprises a second positioning device for acquiring the position data of a customer marker. A customer system comprises the customer marker, and a mobile device for binding the customer marker, receiving an article list, and facilitating operation and settlement by the customer. An inventory management system is used for matching the position data of the article on the panel and the position data of the customer marker, determining types and quantities of articles bought by the customer according to a matching result and the state data of the article on the panel and generating an article list for the mobile device. Thus, capturing and transmission of real-time and dynamic article data can be realized, close relation between the article and the customer behavior can be realized, and checkout by the customer freely at any time and at any place can be realized.

The invention provides a robot local path planning method which comprises following two parts: (1) a vision sub-system is adopted to perform closed-loop detection: a mechanical arm sub-system is separated from a mobile underpan sub-system, closed-loop detection control is performed through the closed-loop detection, and pick or place from the mechanical arm to a target object on the best substrate position is realized; (2) the local path plan is formed by a combination of the artificial potential field and the RRT algorithm, and mobile underpan and mechanical arm separation plan is realized through the local path plan; when the local path plan is performed, the mobile underpan adopts the artificial potential field to plan, and after every local path planning, the mechanical arm is planned through the RRT algorithm to judge if the movement of avoiding barrier and smoothly pick up a target object can be completed. According to the invention, the different plans for the mobile underpan and the mechanical arm are combined, so that overall coordination operation of the robot is realized.

The invention relates to an electric commercial vehicle battery box single-trip replacement robot which has the advantages of reducing the land occupation because the size of a replacement robot is effectively reduced, and being easily matched with an electric bus because an installing mode of a battery replacement device in the existing replacement robot is changed into a suspension installing mode. The electric commercial vehicle battery box single-trip replacement robot comprises a frame assembly, wherein the frame assembly is arranged on a walking assembly, a temporary storage rack is arranged at one side of the frame assembly, a control cabinet is arranged at the other side of the frame assembly, a lifting transmission assembly is arranged at the top of the frame assembly and is connected with a lifting assembly and also connected with a balance weight assembly, an objective table assembly capable of rotating in situ is suspended at the lower part of the lifting assembly, a fork assembly and a battery push handle assembly are arranged at the bottom of the objective table assembly, V-shaped wheel sets matched with a rectangular steel upright of a replacement robot frame are arranged at four corners of the lifting assembly, an objective table assembly rotating drive device is arranged on the lifting assembly, and a limit device is arranged on the objective table assembly.

The invention discloses a method for estimating unknown object grabbing positions and posture on the basis of mixed information input network models, and belongs to the field of autonomous grabbing ofrobots. By the aid of the method, unknown objects can be quickly and effectively grabbed by robots. The method include preprocessing image mixed information in training image data sets; constructinginformation fusion mechanisms on the basis of mixed information input and building neural network models; training network model parameters with the mixed information fusion mechanisms to obtain optimized mixed information input network models; segmenting objects capable of being grabbed for scene images by the aid of object segmentation technologies on the basis of RGB-D (red, green and blue-depth) images; searching the optimal grabbing regions on the objects by the aid of candidate region generation mechanisms on the basis of feedback information; estimating grabbing positions and grabbing posture of the robots in the optimal grabbing regions by the aid of depth information and further acquiring the grabbing positions and posture when the objects are grabbed. The scene images are acquired by sensors. The method has the advantage that the unknown objects can be advantageously quickly and accurately autonomously grabbed by the robots.

The invention provides a non-stocker small-sized intelligent stereoscopic warehouse which comprises shelves, a lifting platform, a conveying trolley and a lifting drive system, wherein the lifting platform comprises an L-shaped trolley carrying platform and a linear slider sliding rail device, and the L-shaped trolley carrying platform is fixed on a linear slider and then can only slide upwards and downwards along the vertical direction of a linear sliding rail; and the lifting drive system comprises a stepping motor, a roller, a guide wheel, a counterweight and a rope, the stepping motor synchronously outputs biaxial power through a worm-and-gear reducer, after the steel wire rope is wound around the roller, the two ends of the rope are respectively connected with the counterweight and a connecting arm of the L-shaped trolley carrying platform, and the roller is driven to rotatablely wind the steel wire rope by the worm-and-gear reducer so as to drive the trolley carrying platform to lift up and down. The stereoscopic warehouse provided by the invention is applied to space-limited indoor environments such as labs and the like, so that a limited space plays bigger space utilization; and the automatic identification and grabbing and transport integration and intelligentization of material trays can be realized, thereby greatly improving the intelligentization level of material storage and management.

The invention relates to industrial manufacturing equipment, in particular to automated assembly equipment for combining sealing rings. The invention provides compliance assembly equipment for O-shaped sealing rings. The compliance assembly equipment for the O-shaped sealing rings comprises a base, a feeding mechanism, a mechanical arm and a gripper mechanism, wherein the feeding mechanism is used for providing the O-shaped sealing rings; the mechanical arm is used for driving the gripper mechanism to move; the gripper mechanism is used for grabbing the O-shaped sealing rings; the feeding mechanism, the mechanical arm and a workpiece are fixedly connected to the base; a feeding track of a vibrating plate is connected to the feeding mechanism; the gripper mechanism is fixedly connected to the mechanical arm; and the feeding mechanism and the workpiece are positioned on the lower part of the gripper mechanism. By the compliance assembly equipment for the O-shaped sealing rings, the O-shaped sealing rings can be assembled and manufactured in an unmanned manner, efficiency is high, and quality is good. According to the compliance assembly equipment for the O-shaped sealing rings, the O-shaped sealing rings are automatically supplied by the vibrating plate, and then the mechanical arm grabs the O-shaped sealing rings to assemble the O-shaped sealing rings into the workpiece.

The invention provides a pneumatic soft body gripper. The pneumatic soft body gripper comprises pneumatic soft body drivers and a clamping device; the pneumatic soft body drivers are of hollow columnar structures with air cavities, the cross sections are semi-circular, the three pneumatic soft body drivers are evenly distributed according to the circumference to form the gripper, one end of each pneumatic soft body driver is fixed to the clamping device which is designed in an auxiliary manner, under the air pressure effect, the free end can generate bending action facing the round center direction, and the three pneumatic soft body drivers are in coordination to achieve gripping task. Compressibility of gas and elasticity of the soft body drivers enable the gripper to have the good characteristic of grabbing fragile items in a non-damage manner. Due to the clamping device designed in the auxiliary manner, a gas source is connected into the pneumatic soft body drivers, the soft body gripper is fixed to the tail end of a mechanical arm, the soft body gripper only needs to have two states of inflation and deflation to achieve grabbing and releasing of the items, and the pneumatic soft body gripper is simple in structure, high in self-adaptation capacity, simple in control, low in cost, high in generality and suitable for automation work of small fruit and vegetable picking, dailysmall object classified storage and the like.

The invention discloses a multipoint mechanical hand for a myriametre well drill, which comprises an arm, a crossed hand, a hand driving mechanism and an elastic floating friction mechanism. The hand driving mechanism drives the crossed hand to open or close to clamp or release a tubular column, and the elastic floating friction mechanism is arranged on the inner side of the crossed hand. The crossed handle can be crossed to achieve grab of well casings with different pipe diameters, and one well drilling equipment only needs one handle. The elastic floating friction mechanism can automatically and slightly adjust angles to achieve a multipoint and force-equipotent clamping mode, and clamping points are evenly distributed around the well casing, so that too much clamping force is not required, and deformation of the well casing is avoided. An elastic friction sheet of the elastic floating friction mechanism is in a floating mode, so that friction area can be enlarged, the clamping force can be further reduced, and clamping can be reliable and safe.

The invention discloses an intelligent 360-degree multi-dimensional mechanical arm of an automobile equipment line, and relates to a mechanical arm. A large side plate is provided with a pressure energy accumulator, one end of a composite lifting arm I and one end of a composite lifting arm II are respectively connected with the pressure energy accumulator, the other end of the composite lifting arm I and the other end of the composite lifting arm II are connected with a connecting plate I, one end of a lifting air cylinder is connected with the large side plate, the other end of the lifting air cylinder is connected with the composite lifting arm II, one end of a front-and-back swinging air cylinder is connected with the pressure energy accumulator, and the other end of the front-and-back swinging air cylinder is connected with a composite swing arm I. Due to the adoption of a pneumatic clamp device capable of being rotated by 360 degrees under servo control, material grabbing and rotating are achieved, clamping time is saved, and labor intensity of workers is reduced in the assembling process. Meanwhile, a sensor network and an advanced ARM microcontroller are adopted in the mechanical arm to achieve intelligent detection and digital fuzzy control, state sensing and intelligent feedback control of the assisting mechanical arm are achieved in the working process, and safety and the automation level of products are improved.

The invention provides a clamping spring loading device of a ball valve automatic assembling machine, belongs to the technical field of machinery, and aims to solve the problems that an existing ball valve is assembled manually, the assembling efficiency is low, and the labor cost is high and the like. According to the clamping spring loading device of the ball valve automatic assembling machine, the ball valve automatic assembling machine comprises an operating table which his fixedly connected with a mold seat, wherein the mold seat moves together with the operating table; and the clamping spring loading device is arranged at the side edge of the operating table, and comprises a rack, a vibration material disc and a driving mechanism, wherein the top of the rack is fixedly connected with a horizontal guide rail which is movably connected with a manipulator, a material outlet of the vibration material disc is provided with a slide block, the slide block is provided with a material receiving groove, the driving mechanism can drive the slide block to perform reciprocating motion between the material outlet of the vibration material disc and the manipulator, and the manipulator can convey a clamping spring in the material receiving groove into a valve body at the mold seat. The clamping spring loading device has the advantages of high automation degree, capability of improving the assembling efficiency of the ball valve and the like.

An apparatus for transporting objects may include a plurality of grippers having a first spacing at a first position and second spacing at a second position. A drive mechanism may be provided is for selectively displacing the grippers from the first position to the second position to adjust the spacing between the grippers.

The invention discloses a method for realizing accurate grasping by combining three-dimensional vision recognition, and belongs to the technical field of mechanical arm application. The method comprises the steps of step S101, building a mechanical arm device which can realize accurate grasping by three-dimensional vision recognition; step S102, obtaining three-dimensional point cloud data of a target workpiece by using a three-dimensional vision recognition mechanism, and using the three-dimensional point cloud data as a benchmark model; step S103, controlling the calibration point location of the mechanical arm, and obtaining a coefficient conversion matrix between a depth camera and the mechanical arm; step S104, training and calculation by the step S103: collecting the visual information of the depth camera of the vision recognition mechanism, and conducting three-dimensional visual guidance when the mechanical arm moves; and by system calibration, obtaining the point cloud data and conducting pose estimation for the workpiece, calculating the grasping movement track of the workpiece, and controlling the mechanical arm to grasp and place the workpiece. The method has high flexibility and adaptability.

The invention discloses an anti-adhesion plate feeding manipulator with a distance detection function. The anti-adhesion plate feeding manipulator comprises a transverse main shaft. A middle manipulator arm set which extends downwards and is used for sucking plates is arranged in the middle of the transverse main shaft. Shaking manipulator arms extending downwards and air blowing assemblies are correspondingly arranged at the two ends of the transverse main shaft. Each shaking manipulator arm comprises a shaking sucker and a joint connected with the upper end of the shaking sucker. A cavity is formed in each joint. An air inlet hole communicating with the corresponding cavity is formed in one side of each joint. The air inlet holes are connected with a first air source through a first air pipe. The joints are driven by a shaking drive mechanism to shake back and fourth in the vertical direction. The anti-adhesion plate feeding manipulator has the beneficial effects that in the ascending process of the plates, the shaking suckers at the two ends are driven by the shaking drive mechanism to shake up and down, so that the corresponding portions of the top layer of the plate are driven to shake up and down, meanwhile air is blown between the top layer of the plate and the next layer of the plate below the top layer of the plate through nozzles of the blowing assemblies, and plate adhesion is prevented.

The invention discloses an obstacle removal type intelligent vehicle system based on laser distance measurement. A vehicle body is driven to move in a track manner; wheels adopt right-angled steering speed reducing motors; a mechanical arm is mounted on a turntable base in the center of the vehicle body; the turntable base is of an all-aluminum alloy structure; a rotating part is a steel ball bearing, so that the arm can freely rotate; the mechanical arm is a six-degree-of-freedom arm, and a hard aluminum alloy two-degree-of-freedom mechanical jaw capable of grabbing objects is arranged at the tail end of the mechanical arm; the mechanical arm can be used for conventional grabbing operation, and also can autonomously remove non-fixed obstacles to develop an advancing road; the moving plan of the mechanical arm adopts a D-H coordinate system analysis method; the distance measurement adopts a pulse laser distance measurement system; and an emitting module, a receiving module and an MCU module for data processing are used for quickly removing any obstacle to measure the distance, so that the system reliability is improved. The system combines the autonomous mechanical arm with the intelligent vehicle, can help people to work under special environments untouchable by manpower, and is higher in reality application value.

A flexible mechanical finger adaptive to shapes of clamped objects belongs to the technical field of intelligent robots and comprises a flexible outer wall, a multi-stage rigid beam, a finger base and a screw. The finger is triangular, two edges, except for the bottom edge, of the triangular finger are made of high-elasticity materials, and high elastic deformation can be realized under the effect of external force. The multi-stage rigid beam and the finger base are made of rigid materials unsuitable for elastic deformation. Two or a plurality of mechanical fingers are selected to act fittingly. When the mechanical fingers grab a workpiece, vertical surfaces of flexible outer walls of the mechanical fingers contact with the workpiece by the aid of an external power source and elastically deform, stress on the workpiece is uniform due to the fact that the flexible outer walls are tightly attached to the surface of the workpiece, multi-stage rigid plates rotate relative to the flexible outer walls when the flexible outer walls deform, accordingly, the top ends of triangular structures of the flexible outer walls are closed downwards, and the workpiece is wrapped. The fingers are separated from the workpiece by the aid of the external power source, and initial states of the fingers are restored. The flexible mechanical finger is simple in structure and is adaptive.

The invention is applicable to the field of robot grab and provides a detection method for a target object grab position based on a deep learning robot. The method comprises the steps that an RGB-D image containing a target object is collected through a sensor; candidate grab regions are divided in a target region of the RGB-D image; the length-width ratio of each candidate grab region is kept unchanged, the size of each candidate grab region is magnified to the size required for input of a neural network; input vectors are constructed for the magnified candidate grab regions; the input vectors are whitened, and the whitened input vectors are input into the trained neural network; and the score of each candidate grab region is acquired, and the candidate grab region with the highest score is determined as the grab position. The grab position of the target object can be determined just by acquiring the RGB-D image of the target object, the robot can grab any target object through the grab position, and manual intervention is not needed.

The invention relates to an advanced mechanical arm control system based on BCI and an implementation method thereof. The system comprises a machine vision subsystem, a brain-computer interface subsystem and a mechanical arm subsystem; the brain-computer interface subsystem and the machine vision subsystem are connected to the mechanical arm subsystem through a TCP / IP for communication, and the machine vision subsystem recognizes and positions coordinates of a target object in a photographing mode; and the brain-computer interface subsystem is used for acquiring scalp electroencephalogram signals generated by steady-state visual evoked potentials and performing real-time analysis and feature extraction on the scalp electroencephalogram signals, the control intention of a person is online decoded and a computer-recognizable control command is generated, and the machine arm subsystem operates according to the control command. According to the system, the design is reasonable, the controlintention of the person can be decoded online and the computer-recognizable control command is generated to control the mechanical arm to operate, the accurate multi-objective control function is realized, and the system has the characteristics of being safe, efficient and reliable.

The invention discloses a fully-automatic laser cutting production line. The fully-automatic laser cutting production line comprises a line body, a material warehouse, a truss mechanical arm, a finished product trolley and a laser cutting machine; the material warehouse, the truss mechanical arm and the finished product trolley are arranged sequentially along the line body; the laser cutting machine is arranged between the material warehouse and the finished product trolley; the truss mechanical arm is used for capturing materials from the material warehouse and transferring to the laser cutting machine, then capturing finished products from the laser cutting machine and then transferring to the finished product trolley; the finished product trolley is used for transferring the finished products. The automation degree of the processing and transporting processes of the production line disclosed by the invention is high, and the working efficiency is improved.

The invention discloses a paper-based friction plate feeding manipulator, which solves the technical problem of low operating efficiency of an existing three-degree-of-freedom pneumatic manipulator. The technical scheme includes that the paper-based friction plate feeding manipulator comprises a bottom block (1), a combination part (2), a longitudinal moving cylinder (3), a horizontal arm connecting plate (4), manipulator cylinders (5), manipulators (6), vertical arms (7), a vertical arm combination part (8), a horizontal arm (9), a slider (10), a piston rod fixing block (11), a guide rail fixing plate (12), a pneumatic guide rail (13), an operating table (14), a base (15), a sliding table (16), a horizontal moving cylinder (17) and a flange (18). Since two manipulators are parallelly arranged on the operating table, the paper-based friction plate feeding manipulator is suitable for continuous production of gluing and surface mounting of paper-based friction plates. Further, the opening size and all-direction positions of the manipulator are adjustable, gripping of base plates of the paper-based friction plates of different diameters is realized, and operating efficiency is improved.

The invention provides a chuck gripper device of a stacking robot for a complex surface. The device comprises a connecting flange, a mounting frame, a transverse adjusting mechanism, longitudinal adjusting mechanisms, an absorbing mechanism, a human-computer control interface and an electrical protection device; the transverse adjusting device is used for adjusting the width of the absorbing mechanism through a motor driving a bidirectional rotating lead screw; the longitudinal adjusting mechanisms are of a symmetric design and are respectively mounted at two sides of the bidirectional rotating lead screw to lift and lower down the absorbing mechanism; the absorbing mechanism is connected with a sponge chuck by a hinging manner, which effectively avoids the phenomenon of failure of absorbing on an uneven surface; the absorbing mechanism can be in match with the transverse and longitudinal moving mechanisms to adapt to the change on the size of materials. The device is suitably used for gripping objects with different size and surface forms and has the characteristics of being simple in structure, convenient to drive, steady and reliable, high in generality, and flexible to operate.

The invention discloses a synchronous control mechanical arm. The synchronous control mechanical arm comprises a base, a rotation table, a big arm, a first small arm, a second small arm, a wrist, anda mechanical gripping device. The base is positioned by four uniformly distributed bolt holes and fixedly installed on a workbench. The rotation table is installed on the base through bolts, and rotated around a central rotation shaft of the base. The big arm is connected with the front end of the rotation table through a joint. The first small arm is connected with the front end of the big arm through the joint. The second small arm is connected with the front end of the first small arm through the joint. The wrist is connected with the front end of the second small arm through the joint. Themechanical gripping device is fixedly installed at the front end of the wrist through the bolts. The synchronous control mechanical arm is simple in structure. The mechanical gripping device uses a motor to drive mutually vertically installed rotation cams to synchronously control four claws. Bag-packed articles and box-packed articles can be captured by the synchronous control mechanical arm instead of a person. The working strength of workers is reduced, and the working efficiency is greatly improved.

A carrying stacking mechanism comprises a base seat, a rotary machine frame, an arm lifting mechanism, an end effector translation maintaining mechanism and a flange plate, wherein the rotary machine frame is connected on the base seat through a rotary pair, the arm lifting mechanism comprises a parallelogram mechanism, a first driving rod, a first connection rod, a second driving rod and a fourth connection rod, the parallelogram mechanism is composed of a large arm, a small arm, a second connection rod and a third connection rod, all the rod pieces are connected through hinges, the end effector translation maintaining mechanism comprises a parallelogram mechanism I and a parallelogram mechanism II, the parallelogram mechanism I is composed of a large arm, a first auxiliary connecting rod, a triangular auxiliary frame and the rotary machine frame, the parallelogram mechanism II is composed of a small arm, a second auxiliary connecting rod, a triangular auxiliary frame and an end effector translation maintaining device, all the rod pieces are connected through hinges, and the flange plate is connected on the end effector translation maintaining device through a rotary pair. The carrying stacking mechanism is simple in structure, is large in work space, is flexible to operate, is controlled through the driving of a servo motor, and can achieve intellectualization and numerical control.

The invention discloses unpacking equipment of a robot. The unpacking equipment comprises a feed platform, the robot, an unpacking manipulator and a folding machine, wherein the feed platform is usedfor feeding and supplying materials; the robot is connected with the unpacking manipulator so as to drive the unpacking manipulator to take the materials and open cartons above the folding machine under the overturning action of a vacuum chuck; and the folding machine is matched with the robot so as to press and fold large and small hinges of the cartons. The invention further discloses an unpacking method. The unpacking method comprises the steps that the unpacking manipulator is driven to grab the cartons by the robot, the manipulator is driven to put the cartons above the folding machine and open the cartons by the robot, and the robot is matched with the folding machine so as to press and fold the large and small hinges at the bottoms of the cartons. Compared with the prior art, the feed process is simple and convenient, continuous material taking and supplying can be realized, and the unpacking efficiency is greatly improved. The unpacking equipment of the robot has the characteristic of flexibility in production and is suitable for unpacking various cartons of different specifications.

The invention provides a pneumatic earthworm-like soft robot. The robot comprises at least three single-section structures which are connected by adhesive, each single-section structure comprises an axial driver, an elastic outer cavity sleeving the axial driver and gas pipes, each axial driver is of a cylindrical multi-cavity structure, the outer portion of each cylinder is of a corrugated structure, each corrugation is internally provided with a cavity, and all the cavities are connected through gas paths; one end of each axial driver is provided with a vent hole, and the first gas pipes areconnected with the axial drivers through the vent holes; each elastic outer cavity is of an ellipsoidal cavity structure, and the second gas pipes are arranged between the axial drivers and the elastic outer cavities. The soft robot is driven by gas and can crawl on the plane and in narrow space such as pipelines; when the soft robot crawls on the plane, the soft robot crawls more stably comparedwith a flexing crawling mode, and the movement efficiency is high; when the soft robot crawls in the pipelines and other narrow space, the robot can crawl in various slope environments.

The invention relates to a high-frame strawberry middle and lower layer automatic picking device, comprising a workbench; a first disc gear and a second disc gear which are engaged with each other are arranged above the workbench; the first disc gear is driven by a disc gear stepping motor; two bearing seats are respectively fixed at the upper part and the lower part below the second disc gear; two bearing seats are respectively provided with two thread bearing seats by a bearing; the upper thread bearing seat is fixed on the second disc gear. Two leading screws are respectively sheathed on two central holes which push through the two thread bearing seats; two polished holes at the two sides of the leading screw are provided with two polished threads; the input end of the leading screw passes through the upper end of the second disc gear and is connected with a screw motor; the leading screw and the thread are sheathed by a sliding block at the position between the two screw bearing seats; the sliding block is provided with a rack which is arranged horizontally and driven by a gear motor that drives a gear; the extension end of the rack is connected with a claw mechanism. The high-frame strawberry middle and lower layer automatic picking device is driven by three motors and leads the position of the whole mechanism to be adjustable in the three-dimensional space, thus achieving the object of picking.

The invention provides a flexible adjustable manipulator for catching a high-temperature steel plate. The manipulator consists of a pair finger moving component and an aluminum section framework. The pair finger moving component is driven by a cylinder and drives a drive pin to slide in a sliding chute of a finger connecting piece so as to provide power for the finger connecting piece. A rotation pin is arranged at the middle section of the finger connecting piece and can swing around a counter bore in a rotation bracket so as to finish the opening and closing movement of the finger. The mounting position of the rotation bracket on the aluminum section can be adjusted at will according to the width of the section of steel plate; and the number and mounting position of the pair finger moving component also can be adjusted at will according to the length of the steel plate. Therefore, the manipulator can be used for catching and blanking the steel plate within a certain size range in the hot stamping process, and is particularly suitable for irregular steel plates. Moreover, certain control measures are adopted in the invention to reduce local temperature drop and deformation of the high-temperature steel plate in the transfer process.

The invention relates to a multi-station movable robot clamp which comprises multiple groups of clamping grasps, an installation support, a robot connecting flange, displacement air cylinders, connecting struts, drive plates, displacement assemblies, slide rails, slide blocks and other major components, wherein one group of clamping grasps is firmly connected to the middle lower part of the installation support by a grasp connecting plate and a cushion pillar; the two groups of slide rails are symmetrically installed on two sides under the installation support in parallel; each group of slide blocks slides on the slide rails; each of the other groups of clamping grasps is installed on each group of slide blocks by a grasp connecting plate; the clamping grasps are connected by the displacement assemblies; the two displacement air cylinders are reversely and symmetrically installed on two sides of the middle part of the installation support by air cylinder installation bases; and ends of air cylinder piston rods are connected to the two groups of clamping grasp connecting plates on the tail end by floating joints, the connecting struts and the drive plates. The clamp provided by the invention has the advantages that the clamp is applicable to carrying and stacking of various products; demands for different intervals at grasping and placement stations of multiple products can be satisfied; the structure is rational; actions are accurate; and universality is high.

The invention relates to an automatic underground bicycle garage control system, comprising a garage pavilion arranged on the ground, an underground bicycle garage and a control system, wherein a garage entering platform and a control console are arranged at the upper part of the ground in front of a garage entering door, and the control system is arranged in the control console at the upper part of the ground; the bicycle garage comprises a support unit and a center conveying unit; the center conveying unit comprises parallel rotating guide rails, a synchronous belt type lifting mechanism, a shaft support type rotating mechanism and a conveying table; the conveying table is driven to go up and down along the rotating guide rails by the synchronous belt type lifting mechanism; the rotating guide rails and the conveying table are driven to rotate horizontally by the shaft support type rotating mechanism; the conveying table is provided with a conveying table grabbing and pushing mechanism; the control system comprises a garage entering safety detection unit, a lift control unit, a rotation control unit, a central processing unit (CPU) and an alarm unit. The invention also provides an automatic underground bicycle garage control method; after the method is adopted, a bicycle can be grabbed, lifted, rotated and pushed; the automatic underground bicycle garage control system is good in safety as well as stable and efficient in operation, and has functions of garage entering safety detection and automatic and accurate fetching.

The invention discloses a screen recording device comprising an acquisition board, a synthesized board, an encoding compression board and a file writing module. The acquisition board comprises a computer video acquisition module, a camera video acquisition module, a computer audio acquisition module and a microphone audio acquisition module. Each acquisition module is realized by independent hardware, and needs not to occupy a CPU (Central Processing unit), so the acquisition frame rate is not limited by the processing speed of the CPU, the dynamic video and the transparent pictures can be captured, and the computer voice and the microphone voice can be recorded simultaneously. In comparison with recording just by software, the recording effect is improved, and the recording efficiency is increased.