62results about How to "Crawl smoothly" patented technology

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 provides an industrial robot, which comprises a base guide rail component, a base component, a large arm component, an engraving and milling component, a wrist component and a claw component, wherein the lower end of the base guide rail component is matched with a guide rail I and can roll along the guide rail I; the lower end of the base component is matched with a guide rail II which is arranged at the upper end of the base guide rail component and can slide along the guide rail II; the base component consists of an upper component and a lower component, wherein the upper component can rotate around the lower component; a shoulder shaft on the large arm component is in floating fit with a shoulder shaft hole formed on the upper part of the upper component, and the large arm component realizes the action of lifting or lowering the arm; the lower part of the engraving and milling component is matched with a guide rail III which is arranged on the side of the large arm component, can slide along the guide rail III and realizes a drilling action; the wrist component is arranged in a mounting hole of the large arm component through a loop bar and finishes the action of lifting and lowering the wrist; and the side of the claw component is matched with a guide rail IV which is arranged on the wrist component, slides along the guide rail IV and realizes the action of opening and closing the claws.

The invention discloses an electric cylinder hand grab used for grabbing a battery pack. The electric cylinder hand grab comprises a horizontal electric cylinder and a vertical electric cylinder connected with the horizontal electric cylinder. A hand grab body is arranged at the lower end of the vertical electric cylinder and comprises two double-end clamping air cylinders, and a clamping jaw is arranged at the stretchable end of each double-end clamping air cylinder. An auxiliary air cylinder is arranged at the head of one of the clamping jaws, and an auxiliary clamping block is arranged at the stretchable end of the auxiliary air cylinder. A vertical lifting air cylinder is arranged between the two double-end clamping air cylinders, the stretchable end of the lifting air cylinder faces downwards and is connected with a sucking disc fixing base, and a plurality of sucking discs are arranged on the lower side face of the sucking disc fixing base. The upper ends of the double-end clamping air cylinders and the upper end of the lifting air cylinder are fixedly connected through a connecting plate. A rotating air cylinder is arranged between the connecting plate and the lower end of the vertical electric cylinder. Therefore, the electric cylinder hand grab has the advantages of being capable of safely and stably grabbing the battery pack and smoothly achieving carrying and packing of the battery pack.

The invention discloses an adjustable deviation prevention device based on a cable detection robot. The adjustable deviation prevention device comprises a support shaft connected with a cable detection robot support leg, a fixing frame arranged on the support shaft, a deviation prevention support frame connected with the support shaft, a stepped shaft connected with the deviation prevention support frame, and a deviation prevention wheel arranged on the stepped shaft. The support shaft passes through the fixing frame; meanwhile, two horizontal extension plates are arranged on the bottom side of the fixing frame, one side is clamped on the cable detection robot support leg, and the other side is clamped on the deviation prevention support frame, so that one face of the fixing frame is attached to the support leg, and the other face of the fixing frame is attached to the deviation prevention support frame.

The invention discloses a part-grasping method based on a robot system comprising a robot (20) and a robot-driven clamp (30), wherein the clamp comprises at least two suction cup assemblies (31) arranged at intervals, the method comprising: Controlling the robot transmission fixture to approach the surface to be picked up of the parts to be picked up in a preset initial posture; controlling the posture of the robot to adjust the jig after detecting that the first suction pad assembly touches the surface to be picked up, While the first suction pad assembly remains in contact with the surface to be grasped, the remaining suction pad assembly further contacts the surface to be grasped; and the control robot grasps the part to be grasped through the at least two suction cup assemblies. The use of the parts crawling method can ensure the successful capture of parts in different poses. Also disclosed in the invention are a robotic system and a fixture.

The invention discloses an automatic catching device, an ironing machine and an ironing method. The automatic catching device comprises a cloth clamping mechanism, a first driving mechanism for driving the cloth clamping mechanism to transversely move and a second driving mechanism for driving the cloth clamping mechanism to longitudinally move, wherein the cloth clamping mechanism is provided with at least two cloth chucks and an opening and closing driving mechanism for driving the cloth chucks to transversely move; the front ends of the cloth chucks are connected with a needle row. The ironing machine comprises the automatic catching device, an excessive ironing device and a workbench with a barrel plate; the excessive ironing device is connected to the workbench; the needle row faces the barrel plate. According to the automatic catching device and the ironing machine which are disclosed by the invention, automatic material catching is realized, the production efficiency is improved, and the labor and the time are saved.

The invention discloses a multi-source heterogeneous data aggregation method and device, a storage medium and a terminal, and the method comprises the steps of employing a preset plug-in to obtain original data from a data source, and enabling the preset plug-in to be in one-to-one correspondence with the data source; determining a standard data structure according to the data type of the originaldata, wherein the standard data structure comprises at least one field and the field type of the field; converting the original data according to the standard data structure to obtain processed data;and for a plurality of pieces of processed data, storing the plurality of pieces of processed data in a classified manner by taking the standard data structure as a reference, the plurality of piecesof processed data being obtained from the same or different data sources. Through the scheme provided by the invention, the complexity of system access and data conversion can be reduced, and the efficiency of synchronous processing of the multi-source heterogeneous data is improved.

The invention discloses a production line vehicle accumulation battery installation device which can effectively lower labor intensity, reduce the number of operators for a production line and improve the degree of automation of the production line. The production line vehicle accumulation battery installation device comprises a bracket, a pallet limiting groove, a pallet, a transverse guide rail, transverse sliding blocks, a transverse moving execution device, a longitudinal guide rail, a longitudinal sliding block, a longitudinal moving execution device, an installation base, a first lifting execution device and a clamping positioning device, wherein the pallet limiting groove is formed in the top surface of the bracket, and the pallet is arranged in the pallet limiting groove; the transverse guide rail is arranged above the bracket, the transverse sliding blocks are arranged on the transverse guide rail in a slideable mode, and the transverse moving execution device is used for driving the transverse sliding blocks to move along the transverse guide rail; the longitudinal guide rail is arranged on the transverse sliding blocks, the longitudinal sliding block is arranged on the longitudinal guide rail in a slideable mode, and the longitudinal moving execution device is used for driving the longitudinal sliding block to move along the longitudinal guide rail; the installation base is arranged below the longitudinal sliding block, the first lifting execution device is arranged on the longitudinal sliding block and used for driving the installation base to lift vertically, and the clamping positioning device is arranged on the installation base.

The invention discloses a high-altitude wall decoration device capable of replacing climbing operation. The high-altitude wall decoration device capable of replacing the climbing operation comprises amovable base. Load-bearing supporting columns are fixedly installed on both sides of the top of the movable base. Universal wheels are fixedly installed on the front and back surfaces of two sides ofthe bottom of the movable base. A pre-packed box is arranged in the middle of the top of the movable base. Placing grooves are formed in the middle of the two sides of the bottom of the movable base,and the invention relates to the technical field of indoor wall decoration. According to the high-altitude wall decoration device capable of replacing the climbing operation, after wall bricks are grasped on the ground, the actions such as lifting up the and installation of the wall bricks by being attached to a wall surface, are carried out; on the one hand, it is ensured that a single operatorcan operate on his own and complete the installation task to save labor, on the other hand, the installation personal does not need to carry out the installation operation at high altitude, and the safety of operators is ensured, the transfer of the wall bricks and high-altitude storage are not required, and safety and practicality are achieved.

The invention discloses an automatic bolt distributing and feeding mechanism and belongs to the field of assembly of clamps. The automatic bolt distributing and feeding mechanism structurally comprises a vibration disk, a main material channel, an automatic material distributing mechanism, two branch material channels, automatic grabbing and feeding mechanisms, a clamp positioning mechanism and asupporting frame; the tail end of the vibration disk is connected with the main material channel; the two branch material channels are symmetrically arranged on the left side and the right side of therear portion of the supporting frame; the automatic material distributing mechanism is arranged between the main material channel and the branch material channels; the automatic grabbing and feedingmechanisms and the clamp positioning mechanism are arranged on the supporting frame; and the automatic grabbing and feeding mechanisms are arranged on the rear portions of the branch material channelsand the upper portion of the clamp positioning mechanism. Compared with the prior art, the automatic bolt distributing and feeding mechanism has the characteristics of replacing manual operation, achieving automatic assembly of fire fighting pipe clamps, improving the working efficiency, relieving labor intensity of workers and the like, thereby having the great application and popularization value.

The invention relates to a semiconductor structure and a forming method thereof. The forming method for the semiconductor structure comprises the following steps of: providing a substrate, which is provided with a first surface and a second surface opposite to the first surface; forming a first device on the first surface of the substrate; forming a buffer layer covering the first surface of the substrate and the first device; and sticking a protective film on the surface of the buffer layer, wherein the protective film is provided with a hole structure; and the hole structure comprises multiple holes. By means of the forming method for the semiconductor structure, gas bump formed between the buffer layer and the protective film can be avoided; and the protection performance of the protective film and the reliability when the substrate is grabbed by a machine in a following process can be improved.

The invention relates to a strip-shaped workpiece automatic inspection device. The strip-shaped workpiece automatic inspection device comprises a multi-station bin, a grabbing device and an inspectiondevice. An inspection station and a storage station are arranged on the inspection device. The grabbing device comprises two material grabbing claws, one of the material grabbing claws firstly grabsone front strip-shaped workpiece on the multi-station bin, places the strip-shaped workpiece onto the inspection station, and then grabs a rear strip-shaped workpiece on the multi-station bin, thereafter the other material grabbing claw grabs the front strip-shaped workpiece with inspection completed on the inspection station according to the inspection result, and places the front strip-shaped workpiece onto the storage station or a discharging station which is used for conveying materials to the next station, and at last, one of the material grabbing claws places the grabbled rear strip-shaped workpiece on to the inspection station for inspection. According to the strip-shaped workpiece automatic inspection device, after the grabbing device automatically grabs the strip-shaped workpieceon the multi-station bin, can go on to grab the strip-shaped workpiece on the inspection station, and the production efficiency is greatly improved.

The invention provides a floating lifting appliance and battery replacing equipment, and the floating lifting appliance comprises a first tool, a second tool, a connecting piece, a posture adjusting assembly and a grabbing assembly; the first tool is movably connected with the second tool through a connecting piece, the posture adjusting assembly is clamped between the first tool and the second tool, and the grabbing assembly is arranged on the side, away from the first tool, of the second tool. And under the driving of the posture adjusting assembly, the second tool can deflect relative to the first tool. Under the driving of the posture adjusting assembly, the second tool can deflect relative to the first tool, that is, the levelness of the second tool can be adjusted, so that the levelness of the second tool is the same as that of the to-be-grabbed object, and the grabbing assembly can grab the to-be-grabbed object smoothly. According to the floating lifting appliance, the grabbing assembly can be adjusted to be parallel relative to the to-be-grabbed object according to the levelness of the to-be-grabbed object, the floating lifting appliance can adapt to various complex working conditions, grabbing and lifting are convenient, and the lifting efficiency is high.

The invention relates to a device and a process for roll coating the inner wall of a pipe part. The device comprises multiple electric control cabinets arranged in parallel at intervals, wherein a working table is arranged on the top parts of the electric control cabinets; a frame is arranged on the upper surface of the working table; multiple fans are arranged on the top part of the frame; and multiple groups of drying mechanisms, glue rolling mechanisms, detecting devices and three-axle linkage manipulators are arranged at one end of the upper surface of the working table in the frame in parallel at intervals from back to front. The work reliability is good, the glue coating operation of the inner wall surface of the pipe part can be conveniently accomplished, and the work efficiency ishigh.

The invention discloses high-precision special pipe laser cutting equipment. The high-precision special pipe laser cutting equipment comprises a feeding mechanism, a clamping and rotating mechanism, a laser cutting device and a discharging mechanism, the feeding mechanism is used for clamping a to-be-cut product and conveying the to-be-cut product to the clamping and rotating mechanism, the clamping and rotating mechanism is used for clamping the to-be-cut product to rotate, the laser cutting device cooperates with the clamping and rotating mechanism and is used for providing cutting laser beams, and the discharging mechanism is used for discharging the cut product. The high-precision special pipe laser cutting equipment is characterized in that a first positioning mechanism is arranged by corresponding to the advancing end of the to-be-cut product, and the first positioning mechanism comprises a first image acquisition device used for acquiring an end image of the to-be-cut product; and a second positioning mechanism is arranged by corresponding to the laser cutting side of the to-be-cut product, and the second positioning mechanism comprises a second image acquisition device used for acquiring an image of the cut side of the to-be-cut product. The high-precision special pipe laser cutting equipment has the advantage of being higher in cutting precision, the initial angle positioning precision before cutting reaches 0.05 degree, and the positioning precision during cutting reaches 0.01 mm.

The invention provides a sealing ring grabbing device and system and a sealing ring forming and assembling system, and relates to the technical field of sealing ring assembly. The sealing ring grabbing device comprises: a grabbing clamp lower working platform, wherein the working surface thereof is provided with a plurality of contact pin through holes and vacuum adsorption air holes; a grabbing clamp upper working platform provided with a plurality of grabbing contact pins suitable for penetrating through the contact pin through holes in the grabbing clamp lower working platform; a first driving mechanism used for driving the grabbing clamp upper working platform to move in the direction close to the grabbing clamp lower working platform, so that the grabbing contact pins penetrate out of the contact pin through holes to be inserted into the sealing rings, or the grabbing clamp upper working platform is driven to move in the direction away from the grabbing clamp lower working platform, so that the grabbing contact pins are retreated from the sealing rings and then drive the grabbing clamp lower working platform to move together; and a limiting mechanism. The technical problems that in the prior art, a sealing ring grabbing device is poor in reliability, and a sealing ring is prone to partially or integrally falling off in the grabbing or transferring process are solved.

The invention discloses a robot grabbing device which comprises a flange and a connecting rod. An air cylinder base is fixed onto the connecting rod; an air cylinder is fixed onto the air cylinder base; a pair of sliding blocks are arranged on the air cylinder base in a sliding mode; the telescopic end of the air cylinder is connected with the two sliding blocks in a sliding mode through a pair ofsliding grooves distributed in a V shape; the air cylinder can control the two sliding blocks to be separated or close through stretching and retracting; each sliding block is provided with a connecting plate; each connecting plate is provided with a grabbing finger deviating from the center of the corresponding connecting rod; the air cylinder base is provided with a pair of electromagnetic induction switches for detecting the stretching and retracting distance of the air cylinder; a proximity switch for detecting the moving distance of one sliding block is further arranged on the air cylinder base; and a detection block matched with the proximity switch for detection is arranged on the sliding block detected by the proximity switch.

The industrial intelligent robot bionic manipulator grabbing equipment comprises a supporting frame, a U-shaped fixing base capable of sliding up and down is arranged on the side wall of the supporting frame, a height adjusting mechanism used for driving the fixing base to move up and down is arranged on the supporting frame, and a horizontally-distributed guide rail is fixedly arranged on the fixing base; the three finger mechanisms are used for simulating the thumb, the index finger and the middle finger of a human body, and under the cooperation of the knuckles and the flexible ropes, the three finger mechanisms can be used for simulating the thumb, the index finger and the middle finger of the human body, so that the three finger mechanisms can be used for simulating the thumb, the index finger and the middle finger of the human body. The degree of freedom of all knuckles is achieved, the grabbing stability is greatly improved, reliability is high, and the manipulator is suitable for being widely used and popularized in the society.