99results about How to "Flexible grabbing" patented technology

The invention discloses a double-finger double-driving translation clamping type flexible grip and a control method. The double-finger double-driving translation clamping type flexible grip comprises double servo motor systems, double motor end synchronous pulleys, double positioning sliding guide rail systems, double ball screw systems, double screw synchronous pulleys, double finger paws, a U-shaped main rack of the grip and a main rack cover plate, wherein the coordinating fetching action of two paws is realized by the control on two servo motors. A fetching method is characterized in that the double motors are used as power, double fingers are respectively fixedly arranged on two screw guide rail synchronous switching modules, through the rotation of two synchronous toothed belts between the double motor end synchronous pulleys and the ends of the double screw end synchronous pulleys, the rotation of the motor is converted into linear motion by a screw, so that the double fingers are translated respectively along two positioning sliding guide rails, and the translation switching on and off of the double paws along double guide rail surfaces can be realized. Due to the fact that the device is used for independently driving the corresponding paws to move by the double motors, so that the double fingers can more flexibly move, and different fetching speeds can be set for the double fingers, and the position precision is high.

The invention discloses a mechanical arm positioning fetching method based on machine vision. The mechanical arm positioning fetching method comprises the following steps: S1) carrying out parameter calibration on a camera and a mechanical arm, establishing relationship between an image coordinate system and a conveyor belt coordinate system as well as between a mechanical arm coordinate system and the conveyor belt coordinate system; S2) identifying a target workpiece in the image, and calculating the centroid and the angle of deflection of the target workpiece; and S3) sending the centroid and the angle-of-deflection information, which are calculated in the step2), of the target workpiece to the mechanical arm, calculating a position coordinate of the target workpiece under a mechanical arm coordinate system to fetch the target workpiece. The invention exhibits a wide application range, and a great quantity of scattered workpieces can be quickly and accurately fetched under the condition that a production line is not changed, operation is flexible, and cost is saved.

The invention discloses an anti-terrorist explosion-proof robot, comprising a chassis, a crawler traveling mechanism, an obstruction breaking mechanism, a mechanical arm mechanism, a shovel pushing mechanism, a monitoring mechanism and an electric control board control unit, wherein the electric control board control unit is positioned at the central part above the chassis; the crawler traveling mechanism is movably connected below the chassis; the obstruction breaking mechanism is positioned at the front of the chassis; the mechanical arm mechanism is positioned at the front end above the chassis; the shovel pushing mechanism is positioned at the rear end above the chassis and at the rear part of the chassis; and the monitoring mechanism is positioned above a top cover covering the electric control board control unit. The crawler traveling mechanism has a tank type traveling characteristic, so that the robot can adapt to various landforms; an explosion-proof structure can realize an obstruction-breaking cutting explosion-proof function; the mechanical arm mechanism can realize a grabbing function; the shovel pushing mechanism can realize a moving function; and the monitoring mechanism can realize an explosion-proof environmental monitoring function. In the anti-terrorist explosion-proof robot, a plurality of explosion-proof functions of explosives can be implemented at terrible sites in which people are not suitable for staying, so that a plurality of single-function mechanical equipment can be replaced.

The invention discloses an underwater operation robot and a working method thereof. The underwater operation robot consists of a robot body, a pusher, an air bag, a balancing device and mechanical operation arms, wherein the advance, the backstep, the sinking, the floating, the ascending, the descending, and the left-right horizontal turning actions of the robot are realized through the pusher; the gravity of the robot is balanced through the air bag, so that the working load of propellers is relieved; through the balancing device, the robot is guaranteed to be always in a balancing state during action; underwater operation is realized through the mechanical operation arms. According to the underwater operation robot disclosed by the invention, the robot body has three degrees of freedom, so that the robot can realize advance and backstep, ascending and descending, and horizontal turn, and the position of the robot body can be adjusted according to the change of the gravity of the robot, so that the robot is balanced. The mechanical operation arms can perform flexible bending and grasping, so that underwater operation is realized.

A wall building robot comprises a workbench body. The workbench body is provided with a brick car transferring mechanism, a double-four-axis linkage control system, an automatic claying machine, a hydraulic brick cutting machine, a brick clamping pallet, and a lifting and translation mechanism. The brick car transferring mechanism moves up and down on a workbench through a first workbench body guide rail and a second workbench body guide rail. The double-four-axis linkage control system conducts spatial positioning and moving on a brick taking manipulator. The automatic claying machine and the hydraulic brick cutting machine are parallel to each other and are both arranged across the brick clamping pallet. The automatic claying machine is connected with the workbench body through a hopper supporting plate and provided with a hopper, an impeller, and a driving motor. The hydraulic brick cutting machine is provided with a cutting blade bracket. The lifting and translation mechanism is arranged on a hollow position between a workbench body base in the workbench body and a workbench top supporting frame. The wall building robot can replace manpower to carry out brick taking, claying, brick cutting, wall building and other action, and is high in automation degree and efficiency and convenient to use.

The invention provides a manipulator. The manipulator comprises an arm portion and a grabbing portion. The arm portion is configured to move the grabbing portion. A rotary platform is arranged at the tail end of the arm portion. The grabbing portion comprises a rotary frame and grabbing elements. The rotary frame is rotationally arranged on the rotary platform. The grabbing elements are arranged on the rotary frame. Each grabbing element comprises a sucker frame, a first sucker and a second sucker, wherein each first sucker and the corresponding second sucker are arranged on the corresponding sucker frame in a spaced manner. According to the manipulator, the grabbing portion is moved by the arm portion, the first suckers on the grabbing portion grab glass slides, meanwhile due to the fact that the second suckers are arranged on the grabbing portion, labels can be grabbed by the second suckers, accordingly the flexible grabbing and moving of the glass slides are achieved, and the labels can be grabbed and moved as well.

The invention discloses a plate grabbing hanging bracket, and belongs to the field of plate carrying machines. The plate grabbing hanging bracket comprises a hanging bracket body and a grabbing mechanical arm, the hanging bracket body comprises a supporting frame and a sliding rail fixedly connected to the supporting frame, the grabbing mechanical arm comprises a walking device, a lifting air cylinder, a rotary air cylinder and a clamping plate device, the walking device is movably connected with the sliding rail, the lifting air cylinder is fixedly connected to the bottom of the walking device, the rotary air cylinder is fixedly connected with a stretchable rod of the lifting air cylinder, and the clamping plate device is fixedly connected with the rotary air cylinder. By means of the plate grabbing hanging bracket, motions of straight line walking, lifting, rotation and the like can be achieved, and a plate can be flexibly grabbed, carried, stacked and the like.

The invention discloses a tray-free stacking process for autoclaved lightweight concrete building blocks, and belongs to the field of concrete building block packaging processes. The tray-free stacking process is characterized by being implemented by a full-automatic packaging system, and each stacking clamp (302) is independently controlled to be opened and closed through a line; the tray-free stacking process comprises the following stacking steps: (1) setting the arrangement direction and the quantity of the building blocks on each layer in building block stack, and sizes of loading and unloading holes; (2) performing green brick rolling over: continuously rolling over a plurality of rows of building blocks row by row; (3) performing grounding: grouping the building blocks row by row until the quantity of building blocks for each layer is met; (4) performing layer-by-layer stacking: stacking the subsequent building blocks on the lower layer of the building block stack in sequence through a mechanical arm stacking mechanism (3); (5) reserving and setting loading and unloading holes; and (6) performing packaging. According to the tray-free stacking process for the autoclaved lightweight concrete building blocks, no tray is used in the whole conveying process, so that a large number of trays are saved; the building blocks can be directly carried by a forklift truck without the tray, so that the effect of the tray is thoroughly eliminated; and therefore, a lot of production cost is saved.

The invention relates to the field of logistics sorting equipment, and particularly discloses an automatic grabbing and lifting device for a logistics sorting assembly line. The automatic grabbing andlifting device comprises a base, wherein a supporting back plate is further arranged on the base; a supporting top seat is fixedly arranged at the top end of the supporting back plate; a rotating disc is rotationally arranged in an opening in the bottom of the supporting top seat; a height adjusting component used for adjusting the height position of an infrared code scanning camera is arranged on the rotating disc; a second positive and negative rotation servo motor is arranged on one side of the rotating disc; a vertical electric telescopic rod is arranged on an output shaft of the second positive and negative rotation servo motor; and an angle adjusting component for adjusting an inclination angle of a grabbing component is arranged at the telescopic end of the vertical electric telescopic rod. According to an embodiment of the invention, a barcode on a logistics object can be scanned through the infrared code scanning camera in order to obtain the position of a target logistics object, and then the grabbing component can be flexibly placed on the two sides of the infrared code scanning camera conveniently when the rotating disc rotates, so that the range of grabbing the targetlogistics object by the grabbing component is extended.

The invention discloses an intelligent clothes storage and distribution system based on tags. The system is characterized by comprising an intelligent wardrobe and a wardrobe control terminal; the intelligent wardrobe is in communication connection with the wardrobe control terminal; a signal sending and receiving device, a radio frequency identification reader and a three-dimensional pickup device are arranged on the intelligent wardrobe; the radio frequency identification reader is used for reading clothes information in the intelligent wardrobe in real time and sending the clothes information to the wardrobe control terminal; the wardrobe control terminal is used for storing the clothes information stored in the intelligent wardrobe, and sending and receiving clothes placing or taking instructions to the signal sending and receiving device; the signal sending and receiving device is used for receiving the instructions sent by the wardrobe control terminal and sending the instructions to the three-dimensional pickup device; the three-dimensional pickup device is used for placing or taking clothes according to the received instructions; the clothes are provided with the RFID tagsrespectively. The system can achieve rapid management of the clothes.

Disclosed is a fruit picking and collecting integrated robot. A control console is connected and installed at the tail of a walking device through a bolt. A conveying device and a posture adjusting device are connected and installed at the upper portion of the walking device through bolts, the tail end of one side of the conveying device is connected with a fruit collecting box, a tail end grabberis installed at the other side of the conveying device, expansion and retraction of three air bags inside the tail end grabber can be controlled through an air pump, then, fruits are grabbed and picked, after the fruits are picked, the fruits are conveyed to the collecting box through the conveying device, and therefore fruit picking and collecting are achieved. Flexible grabbing can be achievedby driving a rope to control a flexible mechanical arm, nondestructive grabbing can be achieved through the tail end grabber containing the air bags, the characteristics of the whole structure can beutilized, the function of picking and collecting integration is achieved, and therefore the picking efficiency is greatly improved.

A clamping force and clamping speed online controllable robot gripper comprises steering engines, fingers, a bottom plate, a main substrate, an auxiliary substrate, driven connecting rods, a rotating shaft, a gear, sector-shaped gears, a gear shaft, driving connecting rods and a transverse plate. The gears are meshed with the sector-shaped gears, the sector-shaped gears are connected with the gear shaft, and a torsion spring is arranged between the sector-shaped gears and the gear shaft; driving connecting rods are located on the outer side of the main substrate and the outer side of the auxiliary substrate respectively, one ends of the driving connecting rods are connected with the two ends of the gear shaft respectively, and the other ends of the driving connecting rods are connected through the transverse plate; one ends of the driven connecting rods are connected with the two ends of the transverse plate respectively, and the other ends of the driven connecting rods are connected through the rotating shaft; and the steering engines are arranged in a bilateral symmetry manner and are fixedly arranged on the inner side of the main substrate. The steering engines output the rotating angle and the rotating angular speed to the fingers, the clamping force and the clamping speed of the gripper can be controlled in an online manner, and the robot gripper is simple in structure, reasonable in design and stable and flexible in work.

The invention discloses a robot object grabbing system, method and device, a robot and electronic equipment. The robot acquires a current environment image through the image acquisition device, and extracts object grabbing features from the current environment image by using an object grabbing feature extraction sub-network included in the object grabbing information identification model; the category of at least one object in the current environment image is obtained according to the object grabbing features through an object category recognition sub-network of the model; through a pose parameter identification sub-network of the model, pose parameters of at least one object in the current environment image relative to a camera coordinate system are obtained according to the object grabbing features; the pose parameters under the camera coordinate system are converted into pose parameters under a world coordinate system; and a target object is captured according to the pose parametersunder the world coordinate system and the type of at least one object in the current environment image. By means of the processing mode, the hardware cost of the robot can be effectively reduced, andthe grabbing accuracy and efficiency are improved.

The invention relates to a self-propelling slip type medical blood sampling tube preparation machine. The self-propelling slip type medical blood sampling tube preparation machine comprises self-propelling type rapid installing boxes used for containing medical blood sampling tubes, and mechanical belt type pushing mechanisms matched with the self-propelling type rapid installing boxes and used for pushing the medical blood sampling tubes into an identification printer. Each self-propelling type rapid installing box comprises a medical blood sampling tube storage area and a pushing device, wherein the pushing device can push the medical blood sampling tubes placed in the medical blood sampling tube storage area to move forwards. Each mechanical belt type pushing mechanism comprises a drive unit, a belt wheel and a tooth type tube pushing belt. The pushing devices push the medical blood sampling tubes into the part between pushing teeth of the tooth type tube pushing belts. When the drive units drive the belt wheels to rotate, the tooth type tube pushing belts push the medical blood sampling tubes into a slip channel one by one and then the medical blood sampling tubes slip into the identification printer to be printed. Due to the fact that the self-propelling type rapid installing boxes are matched with the mechanical belt type pushing mechanisms, the self-propelling slip type medical blood sampling tube preparation machine is simple in structure, flexible in grabbing and higher in efficiency.

The invention discloses a multi-degree-of-freedom continuous robot with a flexible target grabbing function, belongs to the technical field of robots, and relates to a multi-degree-of-freedom continuous robot capable of flexibly grabbing small-size objects and curling and winding large-size objects. The multi-degree-of-freedom continuous robot comprises a driving device module, an imitation trunkmodule and a dexterous finger module, and the imitation trunk module is composed of a rotary compression module and a bending compression module; uniform connecting interfaces are reserved at the endsof the modules, and the modules are combined and spliced according to actual requirements; the driving module is arranged on a base of the robot to achieve driving work of all the ropes and control the robot to move; the rotary compression module can simultaneously generate rotation and compression motion, so that the dead angle defect of the bending compression module is overcome; the bending compression module can independently realize compression deformation and bending deformation of the module; and the dexterous finger module achieves the grabbing function through multi-finger cooperation. The robot is simple in structure and flexible to use, and the robot structure has the characteristic of light weight.

The invention discloses a conveying mechanical hand with a controlled rotary arm. The conveying mechanical hand comprises an upright post (1), wherein the upright post (1) is perpendicularly welded to a transverse fixed hollow sleeve (2); a transverse extension arm (3) is inserted into the transverse fixed hollow sleeve (2); a tail end of the transverse extension arm (3) is fixedly connected with a plugging circular ring (4); the plugging circular ring (4) is connected with two crossed fixed plates (5); the fixed plates (5) are connected with a circular inserting sleeve (6); the circular inserting sleeve (6) is connected with an end part of a starting rod (7) and is fixed to the end part of the starting rod by a screw; the starting rod (7) is connected with an air pump (8); the air pump (8) is fixed to an arc support plate (9); the arc support plate (9) is connected with a fixed connecting plate (10); the fixed connecting plate (10) is adhered to the top of the upright post (1) and is fixed to the top of the upright post by a screw; and the air pump (8) is connected with a power source. The conveying mechanical hand disclosed by the invention is provided.

The invention discloses a linear supersonic motor-based three-freedom degree two-finger parallel connection micro operation hand method and belongs to the field of biomedical engineering. An operation hand comprises an arm, linear supersonic motors, flexible joints, a disc, a long finger, a short finger and a base, wherein the arm is fixed on the base, the three linear supersonic motors are all formed by stators and sliders which are fixed on the arm as well as linear guide rails positioned between driving feet of the stators and the sliders; the three linear supersonic motors are uniformly distributed around the middle axis of the arm and are differenced by 120 degrees two by two. The disc is arranged at the tail ends of the guide rails of the linear supersonic motors by the flexible joints; the long finger is fixed on the arm, and the fingertip of the long finger penetrates through a central hole in the disc; the finger root of the short finger is fixed on the disc. The operation hand is compact in structure and simple in control method, and has larger operation range and higher location precision.

The invention relates to an unmanned aerial vehicle, and provides a heavy-load industrial-grade multi-rotor unmanned aerial vehicle hangar. The hangar comprises a hangar body with an opening, a multifunctional manipulator capable of freely moving, and a mechanical arm of a heavy-load unmanned aerial vehicle, and the hangar further comprises a motion booster used for free movement of the mechanicalarm. The heavy-load industrial-grade multi-rotor unmanned aerial vehicle hangar with the structure can overcome the defects of inaccurate full autonomous recovery and inaccurate landing positioning of the heavy-load industrial-grade unmanned aerial vehicle at the present stage, and meanwhile, the quick charging of the unmanned aerial vehicle and the protection of the unmanned aerial vehicle are facilitated.

The invention discloses a stamping die manipulator, the structure of which comprises a flexible grasping device, a connecting head, a support rod, a wrist, a forearm, an elbow, a fixed plate, a large arm, a fixed bolt, a shoulder, a base, and a bottom plate; The grabbing device consists of a non-slip grabbing plate, fingers, a transmission rod, a turntable, a rotating shaft, and a fixed palm. The non-slip grabbing plate is installed on the inner side of the finger, and the finger is connected to the rotating shaft through the driving rod. The bottom of the rotating shaft is vertically connected to the front side of the fixed palm. The top of the fixed palm is movably connected to the bottom of the rotating shaft, and the top of the rotating shaft is fixed to the bottom of the connecting head. The manipulator of the stamping die of the present invention adds a flexible grasping device, which is flexible enough when grasping, and can also be rotated to pick up parts, which is not easy to drop and tight. Solidity is better.

The invention relates to an electronic cam-based CAM variable assignment method and a truss double manipulator and aims at solving the problems that a traditional cam mechanism is easy to wear, poor in flexibility and single in trajectory, needs to receive an electronic cam curve provided by a control system by connecting in parallel with a servo and the like. According to the technical scheme atpresent, aiming to avoid the situation that generation of a cam curve is not flexible, and secondary development is relatively difficult in the later stage, the invention creates and designs a CAM assignment method, through assignment on key process points on the electronic cam, interpolation is performed between every two process points through a quintic polynomial algorithm, the electronic cam curve can be flexibly generated online, and the process requirements are met; and meanwhile, a soft platform and a hardware platform of the electronic cam control system are built, experiments verify that an output motion track of the manipulator is more flexible, and the electronic cam-based CAM variable assignment method and the truss double manipulator are formed.

A brick moving clamp comprises a clamping mechanism, the clamping mechanism comprises a guide rail, a fixed clamping piece and a clamping assembly, the clamping assembly comprises a telescopic piece, a first clamping piece, a second clamping piece and an ejector rod, the fixed clamping piece is fixedly connected with the guide rail, the first clamping piece and the second clamping piece are slidably connected with the guide rail, and the first clamping piece, the second clamping piece and the fixed clamping piece are arranged in parallel; and the second clamping piece is located between the first clamping piece and the fixed clamping piece, the telescopic piece is connected with the first clamping piece and the fixed clamping piece, so that the telescopic piece stretches out and draws back to drive the first clamping piece to be away from or close to the fixed clamping piece, the ejector rod is located between the first clamping piece and the second clamping piece and fixedly connected with the first clamping piece, and one end of the ejector rod faces the second clamping piece. The intelligent brick stacking robot based on visual identification adopts the brick moving clamp and comprises a base, a five-axis manipulator, a visual identification system and a control system. According to the brick moving clamp, the target area needing to be clamped can be accurately recognized and positioned, intelligent clamping is achieved, and the brick moving clamp belongs to the field of automatic stacking.