9results about How to "Crawl fast" patented technology

The invention relates to the technical field of end effectors, in particular to an end effector and a robot. The end effector comprises a first connecting assembly used for being connected with a robot. The second connecting assembly is used for being connected with a tail end movable rod of the robot; a plurality of third connecting assemblies are movably arranged on the second connecting assembly; the third connecting assembly is provided with the execution end; the movable assembly is arranged on the third connecting assembly; the movable assembly is connected with the second connecting assembly when moving to the first position, and a movable rod at the tail end of the robot drives the second connecting assembly, the movable assembly, the third connecting assembly and the execution end to synchronously move up and down and rotate. When moving to the second position, the movable assembly is connected with the first connecting assembly, a movable rod at the tail end of the robot drives the second connecting assembly, the movable assembly, the third connecting assembly and the execution end to rotate synchronously, and the third connecting assembly and the execution end do not move up and down.

The invention provides a production process and production equipment of a heavy-denier high-low velvet wear-resistant gold washing blanket, and the production process comprises the following steps: (1) opening, mixing, carding and lapping heavy-denier polyester staple fibers with different thicknesses to form a uniform fiber web, and needling the fiber web through a pre-needling machine; (2) processing high-low stripe patterns through a jacquard machine; (3) carrying out primary gluing and fluff fixing through a gluing machine; and (4) carrying out secondary gluing through a gluing machine to form a waterproof layer, and rolling the blank blanket after glue solidification. Various materials with different thicknesses are adopted, the thickness is matched to improve the structural strength of the product, the jacquard patterns are in a four-stripe style and a one-high-one-low special style, gold can be effectively blocked at the low position, and the success rate of gold washing is improved.

The invention discloses an automatic grabbing device for material carrying equipment, which relates to the technical field of material transportation and comprises a mounting plate, an adjusting mechanism arranged at the top of the mounting plate, a power mechanism arranged at the bottom of the mounting plate, a grabbing mechanism arranged on one side of the power mechanism, and an arrangement mechanism arranged on one side of the grabbing mechanism. The grabbing mechanism and the sorting mechanism are both connected with the mounting plate; by arranging the adjusting mechanism and the grabbing mechanism, the adjusting mechanism works to drive the grabbing mechanism to work, bagged cement is grabbed, the device can grab multiple bags of cement in a lifting mode at a time, the cement grabbing speed is increased, and the bagged cement carrying efficiency is improved; by arranging the adjusting mechanism, the driving mechanism and the arranging mechanism, the adjusting mechanism and the driving mechanism work to drive the arranging mechanism to work, accumulated cement is repeatedly extruded and flapped, and therefore the cement is very compactly stacked on a truck, bagged cement is not prone to toppling over during jolting, and accidents are not prone to being caused.

The utility model discloses an automatic carrying device for part machining and production. The automatic carrying device comprises a rack, a part grabbing mechanism and a control system, wherein the part grabbing mechanism and the control system are arranged on the top of the rack. Wherein the part grabbing mechanism comprises a posture adjusting assembly and a vacuum grabbing assembly installed at the tail end of the posture adjusting assembly, the posture adjusting assembly comprises three posture adjusting modules distributed in a circumferential array mode, and each posture adjusting module comprises an adjusting motor, an adjusting arm and a transmission unit in transmission connection with one end of the adjusting arm; the other end of the adjusting arm is connected with the vacuum grabbing assembly in an up-down rotating mode, the adjusting motor is fixedly installed on the top of the rack, and the adjusting motor drives the transmission unit to drive the adjusting arm to move up and down in the corresponding vertical face. The control system comprises an industrial camera and a controller, the industrial camera is in electric signal connection with the controller, and the industrial camera is arranged at the top of the rack; the adjusting motor and the vacuum grabbing assembly are both in electric signal connection with the controller.

This invention discloses a miniature bidirectional crawling robot based on vibration mode control, comprising a support frame, a drive device, and a power system. The power system consists of an elastic element, a flexible four-bar linkage, and crawling feet. One end of the elastic element is fixed to the support frame, and the other end is connected to the flexible four-bar linkage. The other end of the flexible four-bar linkage is fixed, with the crawling feet connected in its middle section. The elastic element can generate different vibration modes under different frequency excitations. The drive device can drive the elastic element to undergo forced vibration, which in turn drives the crawling feet relative to the ground through the flexible four-bar linkage to achieve bidirectional crawling. When the power system is in first-order vibration, the robot crawls forward; when the power system is in second-order vibration, the robot crawls backward. Thus, by changing the vibration mode of the elastic element, the robot can be controlled to achieve bidirectional crawling motion. This invention has a simple structure, high reliability, convenient bidirectional motion control, great miniaturization potential, and fast crawling speed.

The application provides a preparation method of a composite dielectric elastomer film and a dielectric elastomer film actuator. The preparation method comprises the following steps: step 1: mixing BTRU@CDs giant electro-rheological particles with an electro-rheological liquid dispersion phase to obtain a suspension; step 2: uniformly mixing silicone rubber with the suspension to obtain a composite dielectric elastomer prepolymer, wherein the mass ratio of the silicone rubber to the suspension is 15:1 to 1:1, and the mass ratio of the BTRU@CDs giant electro-rheological particles in the composite dielectric elastomer prepolymer is 5-40%; and step 3: film forming is performed on the composite dielectric elastomer prepolymer to obtain a composite dielectric elastomer film. The composite dielectric elastomer film prepared by the preparation method of the composite dielectric elastomer film has better actuating performance, better mechanical performance and better cycle stability than traditional rubber elastomers. The problems of high driving voltage, large pre-stretching ratio, limited actuating strain, poor fatigue resistance and easy breakdown of existing dielectric elastomer materials are solved.

The invention relates to a motion planning and control method and system for sorting commodities by a robot. The method comprises the following steps: shooting an image to be sorted; mapping the to-be-sorted image to obtain the initial feature of each grid point in the three-dimensional grid; based on a feature correction method and a volume rendering method, calculating a camera depth map according to the initial feature of each grid point in the three-dimensional grid; correcting the camera depth map to obtain a corrected depth map; calculating pose information of the to-be-sorted commodities; and on the basis of an improved whale optimization algorithm, the movement track of the mechanical arm and the grabbing posture of the dexterous hand are planned according to the corrected depth map and the posture information. Based on a feature correction method and a volume rendering method, a camera depth map can be accurately calculated and corrected, and a dexterous hand can be controlled to quickly and accurately grab commodities; meanwhile, the method is simple, and the grabbing speed of the robot is greatly increased; in addition, the improved whale optimization algorithm is adopted, and it can be guaranteed that the target object is accurately grabbed.

The application relates to the technical field of tin dipping equipment, in particular to a coil pin tin dipping device, which comprises a machine table, the top of the machine table is provided with a top frame and a tin dipping box, the side wall of the top frame is slidably connected with a transverse moving seat, the side wall of the transverse moving seat is provided with a lifting assembly, the lifting assembly is connected with a tin dipping seat, the tin dipping seat is provided with a coil taking piece for grabbing a coil, the top of the machine table is provided with a coil loading rack, and the coil loading rack is located in the moving path of the transverse moving seat. The application has the effect of improving the coil pin tin dipping efficiency.

The invention relates to a flexible gripper with quick response and wireless control, and belongs to the technical field of transportation grippers, the flexible gripper comprises a supporting plate, a clamping plate, a hinge plate and a driving mechanism, and the supporting plate is fixedly provided with a guide rod with a long-strip-shaped hole; the side edges of the two clamping plates are hinged to the two side edges of the supporting plate correspondingly, and clamping blocks are fixed to the two clamping plates. The two hinged plates are hinged through a hinged shaft, a connecting block is fixed to one end of the hinged shaft, a sliding column is fixed to the other end of the hinged shaft and slides in the long-strip-shaped hole, and the side edges of the two hinged plates are hinged to the side faces of the two clamping plates respectively. The driving mechanism comprises a steering engine, a steering wheel and a cable, and the steering engine is fixed on the supporting plate; the steering wheel is fixedly sleeved on an output shaft of the steering engine; one end of the cable is fixed on the hanging hole, and the other end of the cable is fixed on the connecting block. The steering engine is used for driving the steering wheel to rotate, the cable is driven to pull the connecting block and the linkage sliding column to slide in the guide sliding hole, the two clamping blocks can be conveniently and rapidly close to or away from each other, and the grabbing speed of the flexible gripper is increased.