2results about How to "Add control" patented technology

The application discloses a control method and device of a mechanical arm, equipment and a storage medium, and belongs to the field of robots. The method is executed by a controller of the mechanical arm, a three-dimensional object is placed on any position except a terminal of the mechanical arm, and the method comprises the following steps: controlling the mechanical arm to throw the three-dimensional object; acquiring a first control signal; controlling any position except the terminal of the mechanical arm to catch the thrown three-dimensional object based on the first control signal; acquiring a second control signal; and controlling the mechanical arm to make the three-dimensional object reach a force balance state again at any position except the terminal based on the second control signal. The application provides a new use method of the mechanical arm, the three-dimensional object is thrown first, then the three-dimensional object is caught by any position except the terminal of the mechanical arm, and the three-dimensional object is kept in balance again; the throwing and catching action of the three-dimensional object is realized, and the control mode of throwing and catching the three-dimensional object by any position except the terminal of the mechanical arm is expanded.

This invention discloses an externally motor-controlled weft take-up and unwrap device and a weft insertion method. The weft insertion drive module has a weft tube control module mounted on its module motion slider. A shuttle rest is fixed to the end of the weft insertion drive module, allowing the shuttle body to be positioned on the shuttle rest. The transmission mounting base of the weft tube control module is equipped with a weft insertion support rapier and a rotatable lightweight weft tube drive shaft. The lightweight drive shaft is driven by the weft tube control motor and rotates. The shuttle body includes a shuttle body with two sets of rapier support blocks at the rear and two sets of drive blocks rotatably mounted at the front. A weft tube is detachably mounted between the two sets of drive blocks. The weft insertion support rapier can engage with the rapier support blocks on the shuttle body and drive the shuttle body forward under the influence of the weft insertion drive module. The lightweight drive shaft can engage with the drive blocks and drive the weft tube to rotate under the influence of the weft tube control motor, thus controlling the unwinding of the weft tube.