14results about How to "Flexible grabbing" patented technology

The invention discloses a humanoid robot grabbing method based on three-dimensional vision, and the method comprises the following specific steps: S1, environment modeling and perception: carrying out the three-dimensional scanning of a working environment, and constructing a three-dimensional map of the environment; s2, object identification and 6D attitude estimation: identifying a target object, and estimating the position and attitude of the object in a camera coordinate system; s3, coordinate conversion and target positioning, wherein the posture of the object is converted into a robot base coordinate system from a camera coordinate system through TF conversion; and S4, path planning and motion control are conducted, specifically, path planning is conducted through a cumotion algorithm, a grabbing path is generated, and the two arms are driven to move according to the planned track to achieve grabbing. By means of environment modeling and sensing, the robot can update environment information in real time, conduct three-dimensional scanning on the working environment and generate the three-dimensional grid model of the environment in real time, the model is used for obstacle detection and avoidance planning, and the dynamic environment adaptability of the robot to object grabbing is improved.

The utility model relates to the technical field of medical instruments, in particular to a blood clot grabbing device which comprises a fixing cylinder, a pushing rod is slidably installed on the surface of the fixing cylinder in a penetrating mode, a vent groove is transversely formed in the center of the interior of the pushing rod, and a fixing plate is fixedly connected to the left side of the fixing cylinder. A positioning adsorption mechanism is installed at the center of the surface of the fixing plate in a penetrating mode, and a movable opening and closing mechanism is installed on the left side of the fixing plate. Through the arrangement of the pushing rod, the elastic screen cloth, the positioning adsorption mechanism, the fixing plate and the movable opening and closing mechanism, the grabbing device has the advantage of flexible grabbing, a sliding barrel can be driven to move rightwards when the pushing rod is pulled to move rightwards, the inclination angles of a plurality of connecting rods are changed at the same time, then three first movable rods rotate inwards, closed grabbing is achieved, and the grabbing efficiency is improved. A small electric push rod can be controlled to stretch out to work, a second movable rod is further driven to rotate inwards, the closing effect is guaranteed, and the blood clots are grabbed in a leakage-proof mode.

The utility model discloses a flexibly grabbed waste sorting transfer robot, and relates to the technical field of medical recovery equipment, the flexibly grabbed waste sorting transfer robot is provided with a base, driving wheels, a sliding plate, a rotating seat, a first mechanical arm, a second mechanical arm, a third mechanical arm and a rotating head; a driving wheel can drive a base to move, a sliding plate can drive a driving seat and a rotating seat to move, the rotating seat, a first mechanical arm, a second mechanical arm and a third mechanical arm can accurately adjust the position of a rotating head, the rotating head is adjusted to the position above medical waste, and by arranging an electric cylinder, a fixing frame and a grabbing clamp, the position of the grabbing clamp can be accurately adjusted; single medical waste is flexibly grabbed, using is more flexible, meanwhile, a cleaning and disinfecting assembly is further arranged on the device, the grabbing clamp can be cleaned and disinfected, the surrounding environment can be disinfected, and growth and diffusion of bacteria are inhibited.

The utility model discloses a grabbing type sea cucumber fishing robot. The sea cucumber collecting robot comprises a robot frame, a five-degree-of-freedom mechanical arm and a sea cucumber collecting device, a mechanical arm base and a sea cucumber collecting device are fixedly arranged on the top of the robot frame, a sealing bin is fixedly arranged at the bottom of the robot frame, and vertical propellers and horizontal propellers are fixedly arranged on the periphery of the robot frame. And the synchronous pulley II is driven by the stepping motor I to realize the rotary motion of the mechanical arm. According to the underwater robot, the five-degree-of-freedom mechanical arm and the eight-shaft propeller are adopted, and free movement and flexible grabbing of the robot under water are achieved. The sea cucumber catching robot can replace manpower to catch sea cucumbers and is not limited by seasons. The water pressure borne by the device is far higher than that borne by human beings, so that the device has higher safety. The sea cucumber catching robot is used for replacing manual work, and potential hazards of the marine environment to the body health of a caught person are effectively avoided.

The utility model provides a lotus grabbing clamp capable of grabbing flexibly, which comprises a lug frame assembly, a support assembly is hinged to the lower end of the lug frame assembly through a pin shaft, a connecting seat is arranged on the outer edge of the support assembly, a clamp body assembly is hinged to the connecting seat, and an oil cylinder is hinged between the connecting seat and the clamp body assembly. The oil cylinder pushes the clamping body assembly to rotate along the support assembly, and opening and closing of the clamping body assembly are achieved. The clamp body assembly is of a lotus-shaped structure, objects can be grabbed more flexibly, an oil cylinder pipeline is arranged on the inner side of the support assembly and is not prone to damage, and the support assembly can rotate relative to the lug frame assembly to improve the flexible swing space of the grabbing clamp.

The utility model discloses a grabbing mechanism for metal part processing, which comprises a base plate, a clamping assembly is arranged on the base plate, the clamping assembly comprises a rotating big arm, a driven big arm, a bottom plate, a meshing gear, a motor, a fixing plate and a lifting cylinder, the rotating big arm is rotatably connected to the top end of the base plate, and the driven big arm is rotatably connected to the top end of the base plate. The driven large arm is rotationally connected with one end of the rotating large arm, the bottom plate is connected to one side of the driven large arm, the meshing gears are rotationally connected to the top of the bottom plate, the number of the meshing gears is two, the motor is connected with one meshing gear, the fixing plate is arranged at the tops of the meshing gears, and the motor is connected with the rotating large arm. The lifting air cylinder is installed on one side of the fixing plate, and a stopping assembly is arranged on the fixing plate and comprises a fixing box, an electric push rod and a lining plate. The technical problem that in the prior art, grabbing tools of an existing grabbing mechanism need to be frequently replaced and adjusted when the grabbing mechanism faces metal parts of different types, shapes and sizes is solved.

The present invention relates to an intelligent loading and unloading vehicle integrated machine, including a position recognition module, a mobile platform, a motion group, a transport group and a visual recognition component; the transport group includes a transmission component and a material receiving component; a transmission mechanism is provided between the transmission component and the material receiving component; the motion group includes a first motion component, a second motion component, a third motion component and a fourth motion component; the first motion component includes an adsorption component, a telescopic component, a rotating seat and a plurality of rotating shafts. The first motion component, the second motion component, the third motion component and the fourth motion component proposed in the present invention can flexibly and quickly grab goods, can replace traditional manual handling, and can flexibly move in a small space; a visual recognition component is provided to identify the cross section of the goods, the material receiving component can maintain horizontality and receive the goods at the shortest distance, can quickly and accurately complete the loading and unloading of goods, is more intelligent, and greatly improves work efficiency.

The utility model belongs to the field of mechanical clamping jaws, and particularly relates to a flexible feeding mechanical clamping jaw which comprises a three-axis pneumatic jaw, the bottom of the three-axis pneumatic jaw is fixedly connected with a fixing plate, the top of the fixing plate is provided with a spring piston, the bottom of the fixing plate is rotationally connected with a transition connector, and a tire is arranged on one side of the transition connector. According to the three-shaft pneumatic claw, the fixing plate drives the transition joints to move through the three flexible and controllable structures, the transition joints can clamp a tire, so that feeding treatment of the tire is achieved, the spring piston is located on the upper side of the fixing plate, the size of the spring piston can be adjusted on the fixing plate, and the size of the spring piston can be adjusted. The three-axis pneumatic claw can clamp tires with different outer diameter sizes, the three-axis pneumatic claw is more flexible, meanwhile, the angle of the transition connector can be adjusted at the bottom of the fixing plate, the transition connector can be better attached to the surfaces of the tires, grabbing is more stable, and positioning is accurate.

The utility model provides a package stacking mechanical arm controlled by a PLC, and relates to the technical field of mechanical arms, the package stacking mechanical arm comprises a rotating base, a connecting seat is fixedly installed at the output end of the rotating base, a mechanical supporting arm is fixedly connected to the upper surface of the connecting seat, and a connecting rod is fixedly connected to the end, away from the connecting seat, of the mechanical supporting arm; a grabbing plate is fixedly installed at the bottom end of the connecting rod, a fixing plate is fixedly connected to the outer surface of the connecting rod, a vacuum pump is fixedly installed on the bottom face of the fixing plate, the input end of the vacuum pump fixedly communicates with a communicating pipe, and an electromagnetic valve fixedly communicates with the outer surface of the communicating pipe. According to the package stacking mechanical arm controlled by the PLC, a vacuum state is formed between the vacuum suction cups and packages, the packages can be sucked and grabbed, then the packages of different specifications can be grabbed and stacked more flexibly, the problem that the packages of long sizes are difficult to clamp is avoided, and the flexibility of package stacking is improved.

The utility model relates to the technical field of stacking, and discloses a stacking device for a distribution center, which comprises a grabbing mechanism, a transmission mechanism and a numerical control mechanism, the transmission mechanism is arranged at the bottom of the grabbing mechanism, the numerical control mechanism is positioned on one side of the grabbing mechanism, the grabbing mechanism comprises a first supporting leg, and the first supporting leg is provided with a second supporting leg. A first supporting column is fixedly connected to the top of the first supporting leg, a first linear motor is fixedly connected to the top of the first supporting column, a first threaded hole is formed in the bottom of the first linear motor, a first movable block is slidably connected to the top face of the first linear motor, and a second supporting rod is in threaded connection to the surface of the first movable block; and a second threaded hole is formed in the surface of the second supporting rod. The conveying mechanism is arranged, the grabbing rod grabs goods in the temporary containing box and places the goods into the wood plates according to instructions, the detachable wood plates are arranged on the peripheries of the wood plates, and the purpose that the goods topple during stacking can be achieved.

The present invention relates to a five-finger manipulator, including a palm portion, one end of which is sequentially connected to a mechanical index finger, a mechanical middle finger, a mechanical ring finger and a mechanical little finger, the other end of which is connected to a base, a thumb portion is provided on one side of the palm portion, a mechanical thumb is installed on one end of the thumb portion, the other end of the thumb portion is connected to the base, the palm portion is provided with a first linear motor and a second linear motor, the base is provided with a third linear motor, the thumb portion is provided with a fourth linear motor, the first linear motor drives the mechanical ring finger and the mechanical little finger to flex and extend, the second linear motor drives the mechanical middle finger to flex and extend, the third linear motor drives the mechanical index finger to flex and extend, and the fourth linear motor drives the mechanical thumb to flex and extend. By respectively installing a plurality of linear motors on the palm portion, the thumb portion and the base, the manipulator will not be too wide, will be compact, can flexibly grasp various types of objects, and expand the application scenarios of the manipulator. The present invention also relates to a robot.

The present invention discloses a lifting and transporting mechanism and a cargo transporting method. The lifting and transporting mechanism comprises a chassis, a walking mechanism is installed at the bottom of the chassis, a gantry and a slide rail are installed on the upper end surface, and the gantry can do reciprocating motion along the slide rail; a double-row lifting fork mechanism that can be lifted and lowered for forklifting cargo is installed on the gantry, and the double-row lifting fork mechanism can rotate with the top of the gantry as an axis. Through the gantry, the double-row lifting fork mechanism and the walking mechanism, the overall spatial position of cargo during transportation and the angle adjustment during cargo transportation are realized, so that all-round cargo handling is realized, and the grabbing is accurate and flexible.

The present invention relates to a CAM variable assignment method based on an electronic cam and a truss dual manipulator. The present invention aims to solve the problems that a traditional cam mechanism is easy to wear, has poor flexibility, has a single trajectory, and needs to receive an electronic cam curve provided by a parallel servo control system. In addition, the existing solution is not flexible in generating the cam curve, and it is difficult to perform secondary development in the later stage. The present invention creates and designs a CAM assignment method. By assigning values ​​to key process points on the electronic cam, and performing difference compensation between process points through a quintic polynomial algorithm, the electronic cam curve can be flexibly generated online to meet process requirements. At the same time, a software and hardware platform for the electronic cam control system is built. Experiments verify that the robot output motion trajectory is more flexible, thus forming a CAM variable assignment method based on the electronic cam and a truss dual manipulator.

The utility model discloses a telescopic limb humanoid robot, and belongs to the technical field of robots. A telescopic limb humanoid robot comprises a body assembly, the bottom of the body assembly is rotationally connected with a leg assembly through a driving part, the side wall of the body assembly is rotationally connected with an arm assembly through a driving part, and the bottom of the arm assembly is fixedly connected with a telescopic mechanism. The end of the telescopic mechanism is fixedly connected with a grabbing mechanism. The grabbing mechanism comprises a rotating frame which rotates on the surface of the telescopic mechanism through a driving part. The distance of the grabbing mechanism can be adjusted through the telescopic mechanism, goods can be grabbed through the grabbing mechanism under the cooperation of the rotating frame, the rotating plate, the linkage rod and the clamping block, the goods can be grabbed flexibly through the mode, the problem that the goods are not firm and fall off easily when grabbed is solved, and the grabbing efficiency is improved. And the working safety of the humanoid robot is further improved.