48results about How to "Efficient crawling" patented technology

The invention discloses a pneumatic grabbing mechanism manipulator structure of an automatic wire plugging machine, which comprises a driving bin, one side of the driving bin is provided with a moving mechanism B, one end of the moving mechanism B is provided with a moving mechanism A, one end of the moving mechanism A is provided with a lifting rod, the bottom of the lifting rod is provided with a mounting plate A, the bottom of the mounting plate A is provided with a fixing plate A, and the bottom of the fixing plate A is provided with a clamping mechanism. A mounting plate B is arranged on one side of the fixing plate A, and a sliding groove is formed in one side of the mounting plate B; under the cooperation of the fixing plate A, the mounting plate B, the mounting frame, the suction cups, the annular pipe, the threaded pipe and the mounting head, in the process that objects need to be grabbed and transported, multiple sets of objects can be grabbed at a time for transportation in a suction mode, and under the action of the multiple suction cups, the objects can be conveniently transported. In the grabbing process, the objects can be effectively arranged, and in the process that the objects are grabbed to other stations, the objects can be effectively prevented from being stacked.

The invention provides an automatic wiring robot based on visual identification and guidance, and relates to the technical field of robots. According to the automatic wiring robot based on visual identification and guidance, the robot comprises an industrial camera and a mechanical arm, and the industrial camera is installed at the tail end of the mechanical arm; the robot is an Eye-In-Hand hand-eye model and comprises an ECT and an EBT, and the ECT is a transformation matrix from a tool coordinate system to a camera coordinate system and is determined through hand-eye calibration; eBT is a transformation matrix between a tool coordinate system and a base coordinate system, and is obtained through conversion calculation according to Euler angle information in a controller during operation. The automatic wiring system based on an industrial robot and a machine vision technology is designed and realized aiming at the requirement of automatic wiring in the field of electric appliance manufacturing, and through design and experimental verification of a key algorithm, the system can efficiently and accurately complete identification, grabbing, pose estimation and adjustment of a cable terminal, so that the automation degree of the cable terminal is improved. And tail end visual guidance and other key links.

The invention belongs to the related technical field of robot visual grabbing, and particularly discloses a robot visual grabbing detection method and system for an object stacking scene and a medium, and the method comprises the steps: extracting the image features of an object RGB image in a working scene; based on the image features, an object detection frame and a grabbing rectangle are determined, the object detection frame represents the category and position of an object in the operation scene, and the grabbing rectangle represents the grabbing pose of the object in the operation scene; the object detection frame is matched with the grabbing rectangle; reflecting the matched object detection frame and the grabbed rectangle into image features, and further performing operation relation detection on objects in the operation scene to obtain an object operation relation tree; and the robot grabs the object in the operation scene according to the object operation relation tree, the object detection frame and the grabbing rectangle. Accurate grabbing of the robot under the object stacking scene can be achieved.

The utility model discloses a kind of dielectric fiber driven grippers, including mounting base and the assembly on the mounting base of several clamping jaw mechanisms, all the clamping jaw mechanisms are distributed along circumference, to realize the automatic centring of object and catch;Each the clamping jaw mechanism includes hingedly connected first clamping jaw and second clamping jaw, and the first dielectric fiber driver for controlling the centripetal or centrifugal motion of the first clamping jaw is connected between the first clamping jaw and the second clamping jaw;The second clamping jaw is assembled on the mounting base.The utility model successfully provides a kind of gripper solution with low driving voltage, simple structure, light weight, high reliability and good grasping adaptability by combining low-voltage dielectric fiber driver with optimized design rigid clamping jaw mechanism, and it has excellent comprehensive performance and good application value.

The utility model relates to conveying equipment technical field discloses a die casting aluminium piece conveying equipment, including conveying mechanism, transfer mechanism, wherein, conveying mechanism includes conveying seat, and the conveying way of setting up on conveying seat, conveying mechanism still includes transfer seat, and the transfer seat and the conveying way link to each other, the one end of transfer seat away from the conveying way is equipped with the limiting component for limiting workpiece movement, is equipped with the snatch mouth for the transfer mechanism snatch workpiece on transfer seat. Through above technical scheme, solved the problem that the conveying mechanism frequently starts and closes in the prior art to guarantee the transfer mechanism snatch precision, prolongs the service life of conveying mechanism.

This invention discloses a medicine bottle printing and traying device, comprising a transmission mechanism, a printing mechanism, and a defect detection and rejection mechanism mounted on a frame. The transmission mechanism includes a first conveyor and a second conveyor arranged horizontally, with the printing mechanism positioned above the first conveyor. The inlet end of the first conveyor is connected to a feeding mechanism, and the outlet end of the first conveyor is connected to the inlet end of the second conveyor via a first conveying and transfer mechanism. The defect detection and rejection mechanism includes a medicine bottle defect detection and rejection mechanism and a tray defect detection and rejection mechanism. A tray insertion mechanism is located below the outlet end of the second conveyor, and the outlet end of the tray insertion mechanism is connected to a third conveyor. This device not only enables efficient printing and traying of medicine bottles but also effectively screens medicine bottles with substandard printing and trays with substandard trays, thereby significantly improving the quality of medicine bottle printing and traying.

The invention discloses an unstacking and grabbing device for stacked rubber blocks of multiple sizes, belongs to the technical field of clamp structures, and solves the problems that in the prior art, rubber blocks fall off and cannot be grabbed in a tight stacking gapless scene. The device mainly comprises a flange plate, a connecting block is arranged on the flange plate, an adapter plate is arranged at the bottom of the connecting block, and a grabbing mechanism is arranged at the bottom of the adapter plate; the grabbing mechanism comprises a bearing module and an air cylinder module, and the air cylinder module is connected with an inserting claw assembly. And the two inserting claw assemblies synchronously act through the bearing module. According to the rubber block grabbing mechanism, rubber blocks of multiple sizes can be stably grabbed, the size and the thickness are not limited, the rubber blocks are not affected by unevenness caused by elasticity of the surfaces of the rubber blocks, the rubber blocks can still be stably grabbed, and the production efficiency is improved.

The utility model discloses a multi-line automatic material sticking machine for magnetic materials, which comprises a case, a support frame and a grabbing component, the support frame is arranged on one side of the case, a conveying belt is arranged in the middle of the support frame, an adding component is arranged above the conveying belt, a top frame is arranged at the top of the case, and the grabbing component is arranged at the bottom of the top frame. The grabbing assembly comprises a linear motor, a hydraulic cylinder and a lifting plate, an electromagnet is arranged in the middle of the bottom end of the lifting plate, and the adding assembly comprises a hydraulic lifting rod, a spraying pipe and an adhesive tank. According to the multi-line magnetic material bonding device, the to-be-bonded workpiece is arranged in the machine box, the adhesive is sprayed on the to-be-bonded workpiece through the adding assembly in front of the connecting position of the machine box and the conveying belt, the magnetic material can be downwards pressed to the surface of the to-be-bonded workpiece under the action of the grabbing assembly, the to-be-bonded workpiece is precisely bonded, the multi-line magnetic material bonding function is achieved, and the working efficiency and the bonding effect are improved.

A clamping mechanism is used for clamping materials and comprises an assembling structure, a first clamping assembly and a second clamping assembly. The assembly structure has a first direction and a second direction perpendicular to the first direction. The first clamping assembly is connected with the assembling structure and comprises a pressing claw, the pressing claw is movably arranged in the first direction, and the pressing claw is used for abutting against one side of a material. The second clamping assembly is connected with the first clamping assembly and comprises a first side clamping jaw and a second side clamping jaw, and the first side clamping jaw and the second side clamping jaw are movably arranged in the second direction and used for clamping the other two opposite sides of the materials. The clamping mechanism provided by the utility model has the advantage of efficiently grabbing materials.

The utility model relates to the technical field of automobile seat tools, and provides an automobile seat core rib auxiliary feeding tool and device, a core rib comprises a bending part and hook parts arranged at the two ends of the bending part, and the auxiliary feeding tool comprises a carrier plate, a first guide piece, a second guide piece and a limiting piece. The extension line of the carrier plate intersects with the horizontal plane to form an acute angle. The number of the first guiding pieces is two, the two first guiding pieces are parallel to each other and are both fixed relative to the carrier plate, a movable gap is formed between each first guiding piece and the carrier plate, and the first guiding pieces are used for guiding the hook part of the core rib. According to the auxiliary feeding tool and device for the automobile seat core ribs, the inclined tool is arranged, the core ribs can be arranged on the carrying plate, after the core rib at the lowest end is grabbed, the arranged core ribs can move downwards under the action of gravity component force to fill gaps, and therefore a large number of core ribs can be contained, and the core ribs do not need to be manually positioned and installed.

The present invention relates to the field of network security technology application technology, and specifically discloses a production of bait based on an unsupervised pre-training model, including the following steps: S1, preparing relevant corpus; S2, data preprocessing; S3, loading pre-training generation model GPT; S4, downstream specific task training; S5, generating content according to keywords and real environment description; S6, bait file production; S7, generating bait file program binding word, pdf, web; S8, generating bait intelligently and sending it to the terminal. The present invention relies on the bait content generated by the powerful unsupervised pre-training model GPT-2, and combines it with further transformation, and implants a hidden tracking and tracing program in the document; unsupervised pre-training + supervised downstream task fine-tuning, while in NLP tasks, the upstream unsupervised pre-training tasks are mostly implemented using language models, and the downstream supervision tasks directly perform simple transformations on the upstream models.

The utility model discloses a glass ball placing robot which comprises a base mounting plate, a rotating mechanism, a lifting mechanism, a large arm assembly, a small arm assembly and a suction cup assembly, the rotating mechanism is fixed on the base mounting plate, the rotating mechanism is driven by a motor, and the whole rotating motion of the large arm assembly, the small arm assembly and the suction cup assembly is achieved through transmission of a synchronous belt; according to the lifting mechanism, a lead screw nut mechanism is driven by a motor, rotary motion is converted into linear motion, the precision and stability of the motion are guaranteed through guiding of a guide rail sliding block, and overall lifting motion of a large arm assembly, a small arm assembly and a suction cup assembly is achieved. The large arm assembly is driven by a motor and is driven by two sets of synchronous belts, and rotation movement of a small arm is achieved. The suction cup assembly is installed at the tail end of the small arm assembly, and the small arm assembly drives the suction cup assembly to rotate. The suction cup assembly sucks the glass balls through pneumatic control. The device is high in working efficiency and saves manpower.

The utility model discloses an electrolytic zinc sheet stacking and packaging device, and relates to the technical field of electrolytic zinc production. Comprising a chain scraper conveyor and a working table, the working table is located on the rear side of the chain scraper conveyor, a PLC control panel, a flattening assembly and a rotary stacking mechanism are installed on the working table, and a first optoelectronic switch and a second optoelectronic switch are installed on the front side of the chain scraper conveyor. According to the electrolytic zinc sheet stacking and packaging device, action signals are sensed and triggered through the optoelectronic switch, stripped zinc sheets are compacted through the flattening assembly, the shapes of the zinc sheets are made to be regular, subsequent grabbing and stacking are facilitated, at least four grabbing stations are arranged on the arranged rotary stacking mechanism, a rotary transmission mode is adopted, and the working efficiency is improved. Efficient workpiece grabbing and position changing can be achieved, automatic and synchronous feeding and discharging are achieved, labor is saved, the production efficiency is effectively improved, zinc sheets are transferred and stacked on a turnover tray to be carried or transported, all stations of the whole machine are automatically connected, and automatic operation is achieved.

The utility model discloses a carrying mechanism of a four-axis robot, and relates to the technical field of carrying mechanisms. The four-axis robot is mounted on the robot base; the grabbing assembly is installed at the moving end of the four-axis robot and used for grabbing objects, the four-axis robot is used for driving the grabbing assembly to move and achieving object carrying, and the grabbing assembly comprises a four-axis robot fixing base fixedly connected to the moving end of the four-axis robot. A robot connecting plate is fixed to the lower end of the four-axis robot fixing base, two grabbing structures are arranged at the lower end of the robot connecting plate, and the two grabbing structures are symmetrically arranged along two opposite angles of the lower end of the robot connecting plate. The four-axis robot, the rotating air cylinder and the pneumatic clamping jaw cooperate to control the clamping jaw to grab an object, object carrying is achieved, operation is easy, efficiency is high, time is saved, and popularization significance is achieved.

The utility model relates to automatic equipment field discloses an automatic disc placing machine, include: mounting panel, sucking disc, install on mounting panel, electromagnetic adsorption head, install on mounting panel, electromagnetic adsorption head is located in the central region of sucking disc, the mounting panel includes: adjusting plate, install on mounting panel, sucking disc and electromagnetic adsorption head all install on adjusting plate, in the utility model, through sucking disc and electromagnetic adsorption head cooperation, electromagnetic adsorption head utilizes electromagnetic induction principle and produces magnetic force adsorption, provides main gripping force, even if the uneven product surface can effectively snatch, sucking disc can compensate uneven surface, to vacuum adsorption auxiliary, both collaborative work, improved the adsorption stability of the metal product of surface condition complex, reduced the risk of product falling.

The utility model relates to the technical field of crop planting, in particular to a potato planting machine capable of automatically filling soil, which comprises a planting machine body, a material storage box, a rotating wheel, a soil filling disc, a needling component and a guide frame, the material storage box is hinged to the planting machine body, the top of the material storage box is open, and the rotating wheel is mounted at the bottom of the material storage box. The side, close to the planter body, of the storage box is connected with a guide frame, the upper side and the lower side of the guide frame are open, the sides, close to the guide frame, of the front portion and the rear portion of the storage box are connected with soil filling discs, the bottoms of the soil filling discs are aligned with the bottoms of the rotating wheels, and a needle inserting assembly is connected into the storage box. The potato planting machine is provided with the pricking needle assembly, the pricking needle assembly is simple in structure, low in failure rate and easy to clean and replace, the maintenance cost of the planting machine is reduced, the fixing needles can accurately prick into seed potatoes, the slipping or empty grabbing phenomenon is avoided, the stability and accuracy of sowing are improved, the seed potatoes of different specifications can be effectively grabbed, and the universality of the planting machine is improved.

The present invention belongs to the technical field of transformers, and specifically relates to a transformer oil leakage detection method, device, equipment and medium. The method comprises the following steps: S1, collecting video data around the transformer through a number of cameras, and uploading it to an AI training server through an edge AI inference server; S2, dividing the video data into normal samples and abnormal samples; obtaining normal and abnormal model contours; and then fusing the two to obtain a transformer oil leakage detection model; S3, publishing the transformer oil leakage detection model to an edge AI inference server; S4, preprocessing the video data collected by the camera; S5, establishing a fast discrimination algorithm according to the transformer oil leakage detection model, and judging whether the video data is abnormal according to the fast discrimination algorithm; S6-7, judging whether oil leakage occurs by image segmentation method and transformer oil leakage detection model. The present invention collects video data around the transformer, automatically detects transformer oil leakage, and solves the problem that oil leakage is difficult to find in the early stage, resulting in transformer damage.

The invention relates to a robot autonomous grabbing method and system based on visual and tactile feedback, and the method comprises the steps: firstly, observing deformation quantities of rubber at different joints of a manipulator in different directions through a camera, obtaining current manipulator deformation quantity data, splicing the current manipulator deformation quantity data with manipulator joint position data, and then carrying out global correlation analysis processing; obtaining a current manipulator global feature vector; then, the historical mechanical arm deformation quantity data and the current mechanical arm deformation quantity data are spliced and then subjected to time sequence feature analysis processing, and mechanical arm time sequence feature vectors are obtained; and finally, performing feature fusion on the current manipulator global feature vector and the manipulator time sequence feature vector, and performing nonlinear processing to obtain a manipulator deformation prediction vector. And the manipulator executes the grabbing action of the manipulator at the next moment according to the manipulator deformation prediction vector, the grabbing force of the manipulator is automatically adjusted, and the continuity and stability of the grabbing action of the manipulator are achieved.

The invention discloses a pet cat litter preparation method and device based on straw, and solves the problems that when a crushing wheel of existing equipment works, the meshing angle of the crushing wheel is small, and the occlusal force and shear force to straw are weak, the device comprises a device body, a straw pretreatment assembly and a pre-driving assembly, the device main body comprises a device base, a feeding seat and a crushing treatment seat, and the straw pretreatment assembly comprises a first crushing roller, a second crushing roller and an auxiliary roller pressing ring; in the embodiment of the invention, the straw pretreatment assembly and the pre-driving assembly are arranged, and the straw pretreatment assembly and the pre-driving assembly cooperate with each other, so that straw raw materials can be effectively grabbed, the meshing angle with the raw materials is increased, and then the meshing force and the shearing force on the straw are strengthened; the auxiliary rolling ring can perform variable-range pre-crushing treatment on the straw raw materials, so that the crushing efficiency of the straw raw materials is ensured, and the granularity uniformity of cat litter products is indirectly improved.

The application discloses an unmanned ship recycling device, a recycling system and a recycling method. The unmanned ship recycling device comprises a crane module, a docking module and a control module. The crane module comprises a hoisting arm and a motion compensation arm, the working end of the hoisting arm is hinged to the connecting end of the motion compensation arm, and the working end of the hoisting arm and the motion compensation arm is respectively provided with a first pulley set and a second pulley set. The docking module comprises an electromagnetic connecting hook, a connecting male head and a traction rope. The control module comprises a central control unit and a first position sensor, and the first position sensor is located on the hoisting arm. The application realizes the automatic parking of the unmanned ship through motion compensation and relative motion compensation, and saves manpower. Precise positioning adjustment and positioning recognition device ensure the high efficiency of the unmanned ship recycling. The electromagnetic connecting hook and the connecting male head have effective grabbing and locking mechanisms, which improve the reliability and safety of operation, and also significantly improve the safety and efficiency of operation.

The utility model provides a blade blunt trailing edge demolding and laying positioning tool which comprises a hoisting support provided with an installation platform, and a vacuum pump and a program central control device are arranged on the installation platform. Supporting mechanisms are arranged on the two sides of the hoisting support. Adsorption assemblies are arranged on the hoisting support, and each adsorption assembly comprises a telescopic plumbing arm provided with a suction cup; the direction adjusting mechanism is used for adjusting the sucker; the sucker is connected with the vacuum pump, and the direction adjusting mechanism is connected with the program central control device. The blade blunt trailing edge demolding and laying positioning tool adapts to the height difference of the positions on the two sides of any mold, and it can be guaranteed that blades are grabbed horizontally in areas with different height differences; the blade grabbing angle is adjusted through the direction adjusting mechanism, effective vacuum adsorption and grabbing of the surface with any inclination angle are achieved, the independent telescopic function of the telescopic plumbing arm can adapt to various scenes such as height and concave-convex conditions existing on the surface of the blade, it is guaranteed that the blade is kept in the original state during grabbing, damage to the surface of the blade due to forced grabbing is avoided, and the working efficiency is improved. And the labor cost is reduced.

The utility model provides a sliding type base card material box and an identification card pre-packaging machine using the material box, the material box comprises a box frame, a film material supporting plate is installed in the material box, a guiding mechanism and a driving mechanism are installed between the material box and the box frame, the identification card pre-packaging machine comprises a machine frame (37), the sliding type base card material box is installed on the machine frame (37), and the sliding type base card material box is installed on the machine frame (37). A grabbing and transferring mechanism (38) is arranged on the upper side of the sliding type base card material box, the grabbing and transferring mechanism (38) can transfer the film materials and the base cards in the sliding type base card material box to a matched welding station (39), and the matched welding station (39) can conduct welding matched packaging on the base cards and the film materials. The material box lifting device has the advantages that base cards and film materials can be vertically lifted, effective grabbing of the grabbing mechanical arm is guaranteed, the driving mechanism can drive the material box to move and be pulled out integrally, workers can conduct manual replenishment conveniently, the labor intensity of the workers is reduced, and meanwhile the replenishment operation efficiency is improved.

Automatic lifting equipment of a crane effectively solves the problem of poor clamping effect and comprises a main beam, a crane carriage, a winch, a steel wire rope and a lifting appliance, the lifting appliance comprises a body, a pulley block is installed at the upper end of the body, a first clamping plate and a second clamping plate are hinged to the body, and a first clamping jaw is fixed to the lower end of the first clamping plate; a first clamping jaw is fixed to the lower end of the first clamping plate, a second clamping jaw is fixed to the lower end of the second clamping plate, a first boss is fixed to the inner side of the first clamping plate, a second boss is fixed to the inner side of the second clamping plate, and the first boss and the second boss are located at the same height. Transverse plates are fixed to the upper end of the first clamping plate and the upper end of the second clamping plate, through grooves are formed in the transverse plates, guide rods are fixed to the body and located in the through grooves, the guide rods are sleeved with sliding rings, the sliding rings slide up and down along the guide rods, springs are installed between the body and the sliding rings, and the sliding rings make contact with the transverse plates all the time.

The electric hydraulic multi-petal grab bucket comprises a grab bucket base, a hydraulic cabin, a main shaft rod, a control valve set and a hydraulic pump set used for controlling the grab bucket to work, a plurality of grab bucket petals and a driving rod are rotationally installed on the surface of the grab bucket base, the other end of the driving rod is movably connected with the surfaces of the grab bucket petals, and a plurality of plunger cavities are formed in the inner side of the grab bucket base; the control valve sets are arranged on the inner sides of the plunger cavities one by one, communicating pipes communicating with the plunger cavities are arranged on the surface of the driving rod, and a pressure release valve is arranged on the surface of the driving rod. According to the grab bucket, the novel rotary control valve body structure is arranged, the swash plate base is driven by the driving motor to rotate, then the multiple control valve sets are controlled to be opened and closed one by one, and each grab bucket petal can independently move according to the shape, size and resistance of materials by means of sequential control and progressive movement of the grab bucket petals; therefore, the operation flexibility is improved.

The invention discloses an aggregation-induced fluorescence enhanced carbon quantum dot as well as a preparation method and application thereof. The carbon quantum dot is a carbon nanomaterial synthesized from a tetra (4-carboxybenzene) ethylene monomer. The invention provides the carbon quantum dot, the surface of the carbon quantum dot has abundant carboxyl groups, mercury ions can be effectively grabbed, and under the guidance of the mercury ions, the carbon quantum dot has the characteristics of generating aggregation and leading to remarkable enhancement of fluorescence intensity. The carbon quantum dot belongs to a fluorescence enhancement type probe material, only emits weak fluorescence, fluorescence is enhanced after the carbon quantum dot reacts with Hg (II), and compared with a fluorescence quenching type material, fluorescence enhancement signal change is easier to effectively detect, background signals can be reduced, and the carbon quantum dot is more suitable for being applied to a biological system. The carbon quantum dot is used for Hg (II) detection and has good specificity and selectivity, interference resistance and high sensitivity, a good linear relation can be established through the fluorescence intensity of a solution and the concentration of Hg (II), and extremely low detection is achieved.

The invention discloses a process for preparing a liquid fertilizer by using proline fermentation liquor, and relates to the technical field of fertilizer preparation, and the process has the advantages that an acrylic monomer is combined with an ammonium persulfate initiator and an N, N '-methylene bisacrylamide cross-linking agent to prepare a high-molecular polymer network, and in the process, the proline fermentation liquor is added into the high-molecular polymer network to prepare the liquid fertilizer. The carboxyl and amino of the acrylic monomer provide active sites for subsequent reaction, then a copper ion complexing group is introduced, copper ions are subjected to complexing reaction with the carboxyl and amino in the polymer to form a stable coordination bond which is combined with electrostatic interaction, proline molecules can be efficiently grabbed from proline fermentation waste liquid, and the proline can be efficiently separated from the proline fermentation waste liquid. Specific functional groups such as acylamino are introduced, so that the specific binding with the proline is enhanced, the binding of the specific material to the proline is firmer and more accurate, a solid foundation is laid for the subsequent preparation of high-quality fertilizers, the recycling rate of resources is increased, and a high-purity key raw material is provided for the production of liquid fertilizers.

The utility model relates to litchi sorting technical field discloses a litchi sorting positioning mechanism, including processing cover, the inside of processing cover is provided with sorting mechanism, the sorting mechanism is used for sorting litchi, the bottom of processing cover is provided with conveying positioning mechanism, the conveying positioning mechanism is used for conveying positioning to litchi, the sorting mechanism includes the chute lever, the left and right sides of chute lever are all fixedly connected in the inside top left and right end of processing cover, the inside of chute lever is slidably connected with two mounting rods, the inside front and back of chute lever are all fixedly connected with telescopic link five. In the utility model, through the relative movement of two mounting rods along the horizontal direction driven by the chute lever and telescopic link five, and with the flexible buffer of spring rheostat, through the impact force of elastic deformation absorption, avoid rigid collision, and the positioning cover adapts the fruit outline, ensures can effectively snatch, promotes the accuracy of litchi sorting and the fruit intact rate.

The invention discloses a slope multipoint video image displacement monitoring system and method, and belongs to the technical field of slope monitoring, and the system comprises a passive reference target arranged at a stable position; the plurality of passive measuring point targets are arranged on the side slope; the light supplementing unit is used for irradiating light to the passive reference target and the passive measuring point target; and the multi-point image displacement measuring instrument is used for measuring the displacement of the passive measuring point target relative to the passive reference target so as to monitor the side slope. The non-contact passive target is adopted, wiring is avoided, installation is convenient, cost is low, and high-precision displacement measurement and monitoring can be simply and efficiently achieved.

The utility model relates to the technical field of mechanical grabbing, in particular to a mechanical arm grabbing device which comprises a grabbing claw and a grabbing mechanism, the grabbing mechanism comprises a main frame, two rotating arm sets, a mounting column, a mounting flange, a negative pressure suction cup and a negative pressure pipeline, one ends of the two rotating arm sets are embedded into the two ends of the corresponding main frame respectively, and the other ends of the two rotating arm sets are embedded into the mounting column. Each grabbing claw is embedded in the corresponding rotating arm set, the mounting column is fixedly connected with the main frame, the mounting flange is fixedly connected with the mounting column, the two negative pressure suction cups are fixedly connected with the main frame and embedded in the lower end of the main frame, and the number of the negative pressure pipelines is two. And one end of each group of negative pressure pipelines respectively penetrates through the main frame and is communicated with the corresponding negative pressure sucking disc. According to the grabbing device, square-structure parts and goods can be effectively grabbed, meanwhile, plate parts can be grabbed, the diversity of the grabbing function is effectively improved, meanwhile, the grabbing device does not need to be replaced, and the application range of the device is widened.

The invention provides a special-shaped cigarette packet mechanical arm grabbing method, and relates to the field of cigarette production.The tail end of a mechanical arm is provided with a suction cup unit, the suction cup unit is provided with a plurality of suction cups, the cigarette packet is provided with a plurality of grabbing faces used for being sucked by the suction cups, and the method comprises the following steps that the suction cup unit is moved to a first working position; the distance value between each detection point on the suction cup unit and the cigarette packet is judged; selecting one grabbing surface as an adsorption surface of the cigarette packet according to the distance value; enabling the sucker unit to approach the adsorption surface in a posture parallel to the adsorption surface; when the sucker unit is in contact with the adsorption surface, the moving speed of the sucker unit is dynamically adjusted until the sucker unit adsorbs the adsorption surface; adsorbed cigarette packets are carried through the mechanical arm and the suction cup unit, the mechanical arm can efficiently and stably grab the special-shaped cigarette packets, and the automation level and the production efficiency of a cigarette production line are remarkably improved.