154results about How to "Achieve crawling" patented technology

The invention relates to the technical field of mechanical arm obstacle avoidance grabbing, and discloses an automatic obstacle avoidance grabbing system and method. The system comprises a mechanical arm, a stereo camera, a flexible grabbing unit and a control unit, the mechanical arm is arranged on a table top, the stereo camera is arranged on the mechanical arm, the flexible grabbing unit is arranged at the tail end of the mechanical arm, and the stereo camera is used for obtaining point cloud images and plane images of a target object and an obstacle; the control unit is used for obtaining point cloud data of the target object and the obstacle according to the point cloud images and the plane images of the target object and the obstacle, and processing the point cloud data of the target object and the obstacle to obtain the position of a grabbing point; envelope box description is carried out on the mechanical arm, the stereo camera, the flexible grabbing unit and the obstacle so as to carry out self-collision detection and obstacle collision detection, the path from the initial position to the target position is calculated under the condition that collision does not exist, and the mechanical arm is controlled to grab the target object according to the calculated path.

Top loading type packaging equipment comprises a rack, and a paper blank warehouse, a paper blank grabbing mechanism, a paper blank boxing mechanism, a paper box conveying mechanism, a material conveying mechanism, a material grabbing mechanism, an inner tongue folding mechanism, a paper box sealing mechanism and a paper box output mechanism are arranged in the rack. The device is characterized in that the paper blank library comprises a plurality of paper blank conveying mechanisms; the paper blank box forming mechanism comprises a two-shaft linear sliding table, a mounting frame is connected to the lower end of the sliding table, and a plurality of paperboard grippers are evenly distributed on the mounting frame; a glue spraying mechanism is mounted on the rack and located in front of the paper blank grabbing mechanism, the glue spraying mechanism comprises a plurality of pairs of first glue spraying guns, and each pair of first glue spraying guns corresponds to inner tongues at the two ends of the to-be-formed paper blank respectively; a paper box forming mechanism is arranged on the rack and located in front of the glue spraying mechanism, the paper box forming mechanism comprises a plurality of forming assemblies, and the number of the forming assemblies is equal to the number of the paperboard grippers and the paperboard grippers are in one-to-one correspondence. The equipment can simultaneously realize forming, loading and box sealing of a plurality of pieces of ground paper, is high in production efficiency, and is convenient to replace different specifications.

The invention provides a clamp for a loading and unloading robot and the loading and unloading robot. The clamp comprises a clamp body, and the clamp body is provided with a first mounting base and a second mounting base which are sequentially arranged; the first suction cup array is arranged on the first mounting seat; the second suction cup array is arranged on the second mounting base and hinged to the second mounting base; and the first driving motor module is used for driving the second suction cup array to rotate, so that the second suction cup array can be in a state perpendicular to the first suction cup array or in a state in which the second suction cup array and the first suction cup array are in the same plane. The second suction cup array can be driven by the first driving motor module to rotate, so that the second suction cup array can be in the state perpendicular to the first suction cup array or in the state in the same plane with the first suction cup array, and one side face or two side faces of a target box body are grabbed; the application scene and the application range of the clamp can be expanded, and box grabbing in limited spaces such as the container can be achieved.

The utility model belongs to the technical field of clamping jaw equipment, and particularly relates to an ejection type clamping jaw mechanism which solves the problems that the ejection type clamping jaw mechanism cannot stretch out and draw back, and objects cannot be grabbed at a short distance and a long distance. The ejection type clamping jaw mechanism comprises an ejection frame and a clamping jaw seat, a grabbing assembly is arranged on the clamping jaw seat, the clamping jaw seat is slidably connected to the ejection frame through a sliding structure and has an extending position and a retracting position, and an ejection structure enabling the clamping jaw seat to tend to move towards the extending position is arranged between the clamping jaw seat and the ejection frame. And the limiting release structure is used for limiting or allowing the clamping jaw seat on the retraction position to move. According to the mechanism, the grabbing assembly and a corresponding structure used for stretching and retracting are combined, the effect that objects are grabbed in a short distance and a long distance through stretching and retracting is achieved, the structure is simple, and operation is convenient.

The invention provides an automatic assembly production line for toy cars, and belongs to the field of assembly production lines. Comprising a mounting frame and a conveying assembly, the conveying assembly is arranged in the mounting frame, a plurality of connecting blocks are evenly distributed and fixedly connected to the conveying assembly, mounting plates are fixedly connected to the connecting blocks, and locking assemblies are arranged on the side walls of the mounting plates. The conveying assembly, the mounting plate and the locking assembly are arranged, two clamping plates are pushed through a first spring, the clamping plates can fix a main body structural part of the toy car, then a conveying shaft can be driven to rotate through operation of a first motor, and the conveying shaft drives a chain to rotate through a chain wheel; and the mounting plate on the chain drives the toy car main body structural member to move together, so that multi-station automatic assembly operation on the toy car can be realized, and the assembly production efficiency of the toy car is effectively improved.

The invention discloses an automatic feeding device for metal plate stamping, and belongs to the technical field of metal plate stamping feeding, and the automatic feeding device is technically characterized in that the automatic feeding device comprises a conveyor, a first workbench and a second workbench, through an arranged one-by-one discharging mechanism, the material circulation speed can be remarkably increased, the manual carrying and waiting time is shortened, and the working efficiency is improved. Through the arrangement of the grabbing and discharging mechanism and the limiting and pushing mechanism, grabbing and movement control of metal plates can be well achieved, and therefore the automatic grabbing and moving process is achieved, the operation process is greatly simplified, the physical burden of workers is relieved, and the working efficiency is improved. Compared with a traditional manual feeding mode, the feeding device has the advantages that the feeding time can be greatly shortened, production interruption is reduced, stamping equipment can continuously and efficiently operate, the automation degree is high, and the production efficiency is improved. The device has the advantages of being convenient to feed and punch, low in cost and high in automation degree.

The utility model relates to the technical field of sensors, in particular to a mechanical photoelectric sensor which comprises a fixedly arranged base and a swing plate which is arranged on the base and swings through a pin shaft, one side of the swing plate is fixedly connected with a supporting plate in an upward inclined mode, and the upper portion of the supporting plate penetrates through a gap between two rollers and is fixedly connected with a pressing block. The top surface of the pressing block is positioned above the roller; a tension spring is further fixedly arranged on the base, the proximity switch is in signal connection with the control unit and located on one side of a downward swinging track line of the proximity plate, the tension spring is located above the swinging plate, and one end of the tension spring is fixedly connected with the swinging plate. Compared with an existing photoelectric sensor, the precision is higher, and empty grabbing of the mechanical arm is effectively prevented.

The clamp comprises a main body frame, a main air cylinder is fixedly installed on the main body frame, and a linkage assembly, a clamping assembly and a transmission shaft assembly are arranged on the main body frame. The linkage assembly comprises a connecting rod connected with the output shafts of the main air cylinders in an inserted mode, a first plug pin connected with the output shafts of the main air cylinders and the connecting rod in an inserted mode, a felt piece, a deep groove ball bearing and a pin used for limiting the position of the deep groove ball bearing, and the felt piece and the deep groove ball bearing are arranged at the end of the connecting rod. The states of the multiple clamping assemblies are controlled through the linkage assembly and the clamping assemblies correspondingly, so that bagged materials are grabbed, the main body frame can be connected with the mechanical arm through the connecting base, the loading and stacking efficiency is improved, meanwhile, all the main air cylinders can be independently controlled, and therefore the grabs are independently released, and the loading and stacking efficiency is improved. And the grabbing and placing requirements and position adjustment of different materials are met.

The application discloses a multi-lamp-bar type lamp strip structure and relates to the field of mechanical equipment for textile industry, which comprises a long-strip-shaped mounting plate and an LED lamp bar, the LED lamp bar comprises a strip-shaped conductive substrate and a plurality of lamp beads arranged on the conductive substrate, the conductive substrate is arranged on one side of the mounting plate and detachably fixedly connected with the mounting plate through a threaded part, a plurality of the lamp beads are arranged in multiple rows along the width direction of the conductive substrate; and the lamp beads comprise white light lamp beads and purple light lamp beads, a plurality of the purple light lamp beads are uniformly arranged along the length direction of the conductive substrate and form a purple light lamp strip, and a plurality of the white light lamp beads are uniformly arranged along the length direction of the conductive substrate and form a white light lamp strip. Through the dual-light-source space cooperation, the end brightness compensation, the modular heat dissipation and the quick maintenance architecture, the application precisely matches the strict requirements of the cotton foreign fiber removing equipment on the light source stability and the imaging uniformity, finally realizes efficient and durable lighting support, and improves the comprehensiveness and sensitivity of the foreign fiber machine in detecting foreign fibers.

The present invention discloses a handling device, comprising a grabbing component and a moving component; the grabbing component is installed on the moving component; the moving component comprises a driving mechanism, an active component, a transmission component and a driven component; the output shaft of the driving mechanism is fixedly connected to the active component; the active component is movably connected to the transmission component; the transmission component is movably connected to the driven component; there are at least two grabbing components, which are respectively installed on the active component and the driven component; the driving mechanism drives the active component to move back and forth, the active component drives the transmission component to rotate, the transmission component drives the driven component to move back and forth, and the movement direction of the driven component is the same as the movement direction of the active component; the handling device drives the active component and the driven component to move by the driving mechanism, automatically adjusts the position of the grabbing component, and meets the different requirements for adjusting the position of workpieces on the production line.

The invention provides a boxing method in a container, which is carried out through a loading and unloading robot, the loading and unloading robot comprises a clamp main body, a first suction cup array, a second suction cup array, a first driving motor module and a mechanical arm, and the method comprises the following steps: controlling the clamp main body to suck a first side surface and a second side surface which are adjacent to each other of a target box body; wherein the first sucker array sucks the first side surface, and the second sucker array sucks the second side surface; the mechanical arm is controlled to move, so that the front end of the target box body is put on a target position; the second suction cup array is controlled to release the target box body, and the first driving motor module drives the second suction cup array to move to be in the same plane with the first suction cup array; and the mechanical arm is controlled to move so as to drive the first suction cup array to push the target box to the target position. According to the clamp, one side face or two side faces of a target box can be grabbed, the application scene and the application range of the clamp can be expanded, and box grabbing in limited spaces such as a container can be achieved.

The utility model relates to the technical field of artificial intelligence restaurants, in particular to a clamping jaw compatible with various dinner plates, which comprises a finger cylinder, a first clamping component and a second clamping component, a cylinder flange plate is mounted on the upper side of the finger cylinder, and a quick-change plate is mounted on the upper side of the cylinder flange plate. Positioning pin shafts are installed at the two ends of the lower side of the air cylinder flange plate, an air cylinder cover is arranged on the outer side of the air cylinder flange plate, air cylinder sliding blocks are arranged at the two ends of the lower side of the finger air cylinder, and an L-shaped stainless steel speed regulating valve is arranged on one side of the finger air cylinder. The first clamping component and the second clamping component are driven by the finger air cylinder to be automatically opened and closed so as to grab the trays, automatic dish pouring, seasoning adding and dish carrying operation can be completed, compatibility of various trays can be achieved by grabbing the edges of the trays, the clamping jaws can complete grabbing of various dishes, and automatic replacement of the clamping jaws is achieved through the quick-change tray.

This utility model discloses a heat sink fixing device for a computer chassis, including a screw mounting platform, an XYZ screw moving component, a screw hole detection camera, and a screw mounting component. The screw mounting platform is located near the chassis conveying assembly. The fixing part of the XYZ screw moving component is fixedly mounted on the screw mounting platform. The screw hole detection camera and the screw mounting component are both fixedly mounted on the output part of the XYZ screw moving component and both mate with the chassis on the positioning and pressing platform of the chassis conveying assembly. The screw hole detection camera detects the position of the screw holes, and then the screw mounting component picks up and installs the screws. This allows for quick and easy fixing of the heat sink inside the chassis, thus achieving automated installation.

The invention relates to the field of plate machining, and particularly discloses an automatic plate production line and a production method.The automatic plate production line integrates an automatic feeding mechanism, a crawler-type cutting and code spraying mechanism, an automatic material sucking and stacking mechanism, an automatic lifting and feeding mechanism and an automatic bending mechanism on one production line and is controlled through the same control system; the automation level and the machining efficiency in the plate machining process are effectively improved, manual participation and the labor cost are greatly reduced, plates are transferred to the crawler-type cutting and code spraying mechanism through the automatic feeding mechanism to be subjected to code spraying and then cut, the cut plates are centered, stacked and straightened through the automatic material sucking and stacking mechanism, and then the plates are conveyed to the conveying mechanism through the conveying mechanism. The machining precision of the plate in the subsequent bending process is improved, the plate is conveyed to the automatic bending mechanism through the automatic supporting and feeding mechanism to be subjected to two-side bending of the cut plate, finally, the plate is conveyed to the discharging frame through the automatic material sucking and stacking mechanism to be discharged, the whole process is automatic, and the bending efficiency and the subsequent sorting efficiency of different plates are improved.

The utility model discloses a tray conveying device of disc type feeder relates to feeding equipment technical field, including conveying channel, tray conveying unit and gripper pick -and -place unit, the rear end of conveying channel is single board body, and in the middle side clamping has the mounting bracket of inverted F shape structure, tray conveying unit installs in the inner corner side of conveying channel, tray snatch unit contains ball screw two, motor card frame, lift backing plate, hydraulic cylinder, clamping jaw, cushion block, pressure sensor and encoder. The device is equipped with horizontal and vertical two direction's removal module, can effectively complete to the conveying of tray, and is provided with the snatch structure, can realize the automatic pick -and -place and back of tray, effectively promotes the degree of automation of feeding process, adapts to the demand of high -speed paster, besides, the device still has detachable bearing plate seat and automatic clamping mechanism, makes the bearing plate seat of loading tray can conveniently realize the connection with conveying part.

The invention discloses a negative pressure variable stiffness driver and a driving system, the negative pressure variable stiffness driver comprises a negative pressure source and a driver main body, and the driver main body comprises a sealing soft bag, an elastic skeleton and a variable stiffness layer. The elastic framework is embedded in the sealed soft bag, and the variable stiffness layer is fixed on the bag wall of the sealed soft bag. The negative pressure variable stiffness driving system comprises a signal acquisition card, a pneumatic valve and a negative pressure variable stiffness driver. When air is exhausted to the variable-rigidity layer and negative pressure is formed in the variable-rigidity layer, the rigidity of the variable-rigidity layer is increased, the rigidity of the driver main body is asymmetric, and the driver main body is bent towards the opposite side direction; and when air is exhausted from the sealed soft bag and the internal air pressure of the variable stiffness layer is recovered to atmospheric pressure, the driver main body does contraction motion. The driver has the high power-to-weight ratio and the contraction characteristic and compliance similar to those of biological muscles, the multi-direction bending function can be achieved, and various types of objects can be grabbed. Meanwhile, the movement of the driver can be represented through the change of the inductance of the spring so as to realize a self-sensing function.

This invention discloses a method, apparatus, electronic device, and medium for analyzing strip tension. The method includes: collecting tension information of strip steel on a target production line within each preset scanning cycle; calculating the tension fluctuation rate based on the collected tension information; determining whether the tension fluctuation rate is within a target range, where the target range is one of multiple preset fluctuation rate ranges; if so, incrementing the tension fluctuation count in the target range by 1; and determining the strip tension fluctuation status based on the tension fluctuation counts for each of the multiple fluctuation rate ranges. This method enables online analysis of strip tension fluctuation, automatically analyzing strip tension fluctuation data according to a unified standard, which helps improve the accuracy of the tension fluctuation analysis results.

The present invention discloses a composite action manipulator gripping mechanism and gripping method, including a shell, characterized in that: the upper side of the shell is fixedly connected to the lower side of an upper steel plate, the upper steel plate is fixedly connected to a transition flange through four cylinder support shafts, the lower side of the transition flange is fixedly connected to the bottom surface of a large cylinder, the output shaft of the large cylinder passes through the center of the upper steel plate and is fixedly connected to a connecting shaft, the lower side of the connecting shaft is fixed to the upper center of a connecting block 1, and the lower four corners of the connecting block 1 are fixedly connected to the upper middle part of a magnet substrate through support shafts. The present invention relates to the field of manipulator mechanisms, and specifically, to a composite action manipulator gripping mechanism. The present invention has the advantage of greatly improving efficiency in sucking annular thin-walled parts and grabbing material boxes containing parts.

The present invention relates to the technical field of arc-shaped steel plate grasping equipment, and in particular, to an arc-shaped steel plate grasping method, comprising a grasping seat and a plurality of electromagnets. The electromagnet is provided with a sliding rod. The sliding rod is slidably arranged in the grasping seat so that the distance between the adsorption surface of the electromagnet and the grasping seat is adjustable. A plurality of electromagnets are distributed on the grasping seat so that when the grasping seat is close to the steel plate, a plurality of electromagnets are attached to different parts of the steel plate. During the grasping process, the electromagnets are extended and retracted according to the shape of the surface of the steel plate, so that each electromagnet can adsorb the steel plate well. After the steel plate is adsorbed, the sliding rod is locked. At this time, lifting the steel plate causes a plurality of electromagnets to lift the steel plate together, ensuring that each electromagnet applies a lifting force to the steel plate.

The invention relates to a grabbing mechanism and a grabbing method thereof.The grabbing mechanism comprises a floating locking unit and a grabbing unit, the floating locking unit comprises a first support part, an X-axis kinematic pair, a Y-axis kinematic pair, a second support part, a locking driving part and a locking shaft, the second support part has the degree of freedom of movement in the plane, the second support part is provided with a locking hole, and the locking shaft is arranged in the locking hole; the locking driving piece drives the locking shaft to move in the Z-axis direction, the locking shaft penetrates through the locking hole and comprises a locking part, a releasing part and a transition part, the shaft diameter of the locking part is the same as the hole diameter of the locking hole, the shaft diameter of the releasing part is smaller than the hole diameter of the locking hole, and the grabbing unit grabs products. When the product is grabbed, the grabbing mechanism is in a locking state, the product can be accurately grabbed, when the product is assembled or placed, the grabbing mechanism is in a floating state, the product can be assembled to another product with a certain tolerance in a floating mode or transferred to a carrier with a certain tolerance in a floating mode, and state switching of the grabbing mechanism is achieved through a simple structure.

The utility model discloses a grabbing mechanism and a junction box grabbing device, the grabbing mechanism comprises a grabbing support, a first clamping jaw, a second clamping jaw, a rotating assembly, a lifting assembly and a translation assembly, the rotating assembly is connected to the grabbing support, and the rotating assembly can drive the first clamping jaw and the second clamping jaw to turn; the lifting assembly is connected to the rotating assembly and can drive the first clamping jaw and the second clamping jaw to do lifting motion. The translation assembly is connected to the upper portion of the lifting assembly and can drive the first clamping jaw and the second clamping jaw to conduct X-direction translation motion and Y-direction translation motion, and the junction box grabbing device comprises the grabbing mechanism. By means of the mode, the grabbing mechanism and the junction box grabbing device can achieve X-direction movement, Y-direction movement, Z-direction movement and steering movement, grabbing of the junction box is achieved, the whole grabbing process is high in corresponding speed, high in control precision, stable and flexible at the same time, automatic grabbing of the junction box is achieved, and the junction box grabbing efficiency is improved.

The invention relates to the technical field of Internet of Vehicles, and discloses a communication connection life cycle monitoring method and system, a domain controller and a medium. The method comprises the steps that a monitoring file is obtained, the monitoring file is loaded to a kernel, and the monitoring file comprises a hook point; capturing a data packet generated in the communication connection process of the vehicle end and the cloud end based on the hook point; analyzing a message carried by the data packet, and determining communication connection information based on the type of the message; and monitoring the communication connection life cycle according to the communication connection information to obtain a communication connection monitoring result. By implementing the technical scheme of the invention, the real-time monitoring and capturing of the data packet are realized, the leakage of potential information is reduced, the overhead of data replication is reduced, and the processing performance of the data packet is improved.

A portal frame type edible rose picking robot belongs to the field of agricultural automatic picking and is composed of a portal frame, a picking device, a walking device, a transverse moving sliding rail, a longitudinal moving sliding rail and a collecting device, the portal frame structure can cover a whole rose plant, and the roses in different growth states can be picked conveniently; a crawler walking device is arranged below the portal frame, the crawler ensures the stability of mechanism operation, transverse and longitudinal moving sliding rails are installed above the portal frame, a depth camera is arranged on the mechanical arm and used for recognizing and positioning roses, and through movement of the sliding rails and cooperative movement of the mechanical arm, all the roses meeting the harvesting requirement can be accurately positioned. The manipulator controls opening and closing of a gripper through a telescopic mechanism to grab roses, and collecting devices are arranged on the two sides of the portal frame correspondingly and used for collecting the roses in different flowering periods correspondingly.

The application discloses a drill rod transfer manipulator and a drilling machine. The manipulator comprises a first arm support, which is rotatably installed on a top support column; a first driving member, which is installed on the first arm support and is in transmission connection with the top support column, and drives the first arm support to rotate around the top support column; a second arm support, which is hingedly connected to the first arm support; a second driving member, which drives the second arm support to rotate around the hinge connection with the first arm support; a third arm support, which is hingedly connected to the second arm support; a third driving member, which drives the third arm support to rotate around the hinge connection with the second arm support; a fourth arm support, which is axially rotatably installed on the third arm support, and is provided with a clamping structure for clamping a drill rod; and a fourth driving member, which is installed on the third arm support and is connected with the fourth arm support, and drives the fourth arm support to axially rotate. The manipulator of the application is suitable for occasions with limited construction space, such as small mines, and has a wide working range and is convenient for improving the automation degree of the drill rod loading and unloading operation of the drilling machine.

This utility model discloses a large-diameter pipe installation and handling device, including a mobile lifting frame for moving the pipe. The mobile lifting frame includes: four columns with rollers at the bottom, a horizontal beam plate fixedly connected to the four columns, a gripping mechanism for gripping the pipe wall, and a lifting mechanism for lifting the pipe. The lifting mechanism includes a lifting plate and a lifting drive mechanism for driving the lifting plate to move up and down. Two or more vertical guide columns are fixedly connected to the beam plate, extending downwards from the bottom of the beam plate. The lifting plate is located below the beam plate and has guide holes that slide with the guide columns. The lifting drive mechanism includes a fixed part and a movable part that moves relative to the fixed part. The lifting plate is fixedly connected to the movable part, and the beam plate is fixedly connected to the fixed part. The lower surface of the lifting plate has double slide rails with the axis in the front-back direction. The double slide rails face each other left and right. This utility model can lift and fix the pipe, achieving a hoisting function, thus enabling the handling of large-diameter pipes in situations where a crane is unavailable.

The utility model relates to a water exploration device carrying a mechanical gripper, which comprises an exploration device body capable of moving on the water surface, a swing arm capable of swinging up and down is arranged at the bottom of the exploration device body, and the mechanical gripper is arranged at the front end of the swing arm. The mechanical claw comprises a fixed cylinder coaxially and fixedly arranged on the outer side of the front end of the swing arm in a sleeving mode and three claw rods circumferentially and evenly distributed on the outer peripheral side of the fixed cylinder, the front ends of the claw rods are close to each other, the outer peripheral portion of the front end of the fixed cylinder is hinged to the three claw rods, and a moving assembly capable of moving in a reciprocating mode along the axis of the fixed cylinder is arranged in the fixed cylinder. The moving end of the moving assembly is hinged to the rear ends of the three claw rods, and the moving end of the moving assembly drives the three claw rods to swing when moving back and forth along the axis of the fixed cylinder. The underwater robot is reasonable in structural design, and can grab, move and release underwater objects by carrying the mechanical claw, so that the application range of the underwater robot in underwater exploration is expanded.

The present invention discloses a switching mechanism for a trolley of a roller bed type welding production line, comprising the following components: a trolley device, a track and a first driving component; compared with the prior art which requires manual transport of the trolley, the present invention is provided with a track connecting a roller bed trolley switching station and storage areas for trolleys of different models; the first driving component can drive the trolley device to reciprocate along the track between the trolley switching station and each trolley storage area of ​​the welding production line, and the trolley can be grabbed and released with the help of an extraction component, so that the automatic replacement of the trolley on the welding production line can be realized without manual operation, thereby reducing the labor cost; and the extraction component on the trolley device in the present invention grabs the trolley in a vertical direction and places the trolley on the roller bed of the welding production line in a vertical direction, thereby greatly reducing the wear of the roller of the roller bed caused by the trolley being taken and placed, thereby increasing the service life of the roller bed.