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 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 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.

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 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.

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.