34results about How to "Implement the crawling function" patented technology

The invention discloses an under-actuated manipulator claw for picking fruits and vegetables. At present, fruits and vegetables are manually picked basically. The under-actuated manipulator claw for picking the fruits and the vegetables comprises a machine frame, a driving transmission mechanism and a finger mechanism, and particularly comprises an upper base, a finger fixing component, a supporting post, a lower base, a step motor, a screw rod, a nut, a lifting platform, a guiding post, a far finger, a middle finger, a near finger, a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a driving rod, a first torsion spring and a second torsion spring. A plurality of fingers are driven by one step motor at the same time, an under-actuated finger mechanism is adopted, and the torsion springs are used as a limiting mechanism, so that the under-actuated manipulator claw for picking the fruits and the vegetables has enwrapping and clawing functions; and a contact force sensor is arranged on a clawing surface, so that the clawing force can be fed back and controlled through detection of the contact force; the under-actuated manipulator claw for picking the fruits and the vegetables is simple in structure and easy to control; and the self adapting capability of the under-actuated manipulator claw to the shape of an object is improved; and the clawing stability is improved. Therefore, the fruits and the vegetables can be picked in a damage-free way.

The invention provides a mechanical arm grabbing method and a system for achieving the method. The method comprises the following steps that S1, point cloud information of the surface (the surface capable of being seen in the view field of a camera) of an object to be grabbed is collected; S2, data of the point cloud information is further processed, and feasible grabbing points meeting constraintconditions are extracted through a grabbing programming algorithm; S3, the grabbing points are adopted as inverse kinematics input of a mechanical arm, and a motion control instruction is sent to themechanical arm and a two-finger parallel gripper; and S4, the mechanical arm executes the motion control instruction, and moves to the specified position, and according to the motion timing relationship in the motion control instruction, the two-finger parallel gripper is opened and clamped to complete the grabbing task. The mechanical arm grabbing method and the system for achieving the method have the beneficial effects that under the condition that the shape of the object is uncertain, a single visual sensor can be used for achieving the mechanical arm grabbing function with robustness.

The invention discloses a drilling machine, which comprises a machine platform, a frame, a movable platform, a cutting detection mechanism, a powder absorption device and an oil cooling device. The machine platform serves as a bearing device of the whole drilling machine, the frame is arranged on the machine platform, the movable platform comprises an X axis platform installed on the machine platform and a Y axis platform installed on the frame, the cutting detection mechanism is fixedly installed on the frame through a casing of the cutting detection mechanism, and the powder absorption device is arranged on the side of the frame and is communicated with the casing of the cutting detection mechanism through a connection pipe. At least six mechanical arm devices are arranged on the frame, and each mechanical arm device comprises a main holder device and an auxiliary holder device installed on the side of the main holder device. The drilling machine is compact in structure and high in manufacture accuracy and production efficiency, can save material resources and greatly lower production and manufacture cost.

The invention discloses an underwater mechanical arm. The underwater mechanical arm comprises a cabin, a telescopic drive piece, clamping claws and guide rods. The telescopic drive piece is arranged in the cabin arranged in a sealed manner. The guide rods are in sealed sliding connection with the cabin. One ends of the guide rods are connected with the telescopic executing end of the telescopic drive piece, the other ends of the guide rods are hinged to one ends of the clamping claws, and the other ends of the clamping claws are hinged to the cabin. The multiple clamping claws conduct clampingor loosening along with the process that the telescopic drive piece drives the guide rods to stretch and contract. A motor and lead screw transmission manner is adopted for driving, the four-claw linkage manner is used for achieving the underwater object grabbing function, the mechanical arm function is achieved through a simple structure, and the cost and operation difficulty are reduced. Meanwhile, a complete watertight structure is achieved, stability of underwater automatic operation is improved, the difficulty of underwater fishing work is effectively lowered, the application field of anunderwater robot is widened, and wide popularization value is achieved in the fields of water surface management, underwater fishing and the like.

The invention relates to a flexible gripper with a surface micro structure. The flexible gripper includes a motor, a bending grabbing mechanism is connected to the end part of an output shaft of the motor through a connecting body; an air guiding channel is formed in the connecting body, one end of the air guiding channel communicates with an inflating connector on the surface of one side of the connecting body, and the other end of the air guiding channel communicates with the bending grabbing mechanism; the structure of the bending grabbing mechanism includes a flexible finger plate, the topend of the flexible finger is connected with the bottom surface of the connecting body, the bottom end of the flexible finger plate is the free end, an elastomer is connected to one side of the flexible finger plate and is formed to a whole by connecting a plurality of mutual communicating air bags in the length direction sequentially, an inflating cavity is formed in each air bag, the inflatingcavities of the every two adjacent air bags are in communication through an air channel, and the inflating cavity of the air bag located at the top most communicates with the air guiding channel; andunder the uninflated state, the sizes of the inflatable cavities of the air bags decrease in sequence in the direction away from the connecting body. According to the flexible gripper with the surfacemicro structure, effective grasping of objects with the complex shapes and regular structures can be met.

The invention relates to plastic product production equipment with high production efficiency based on Internet of things. The equipment comprises a base, a worktable, a storage box and four brackets,wherein the worktable is fixed to the base through the brackets which are uniformly distributed at four corners of the worktable; the storage box is arranged on the base and is located below the worktable; an injection mechanism is arranged above the worktable; a rotating mechanism and a grabbing mechanism are arranged on the worktable; the injection mechanism comprises an injection assembly andtwo lifting assembles; the injection assembly comprises an injection pipe, a push plate, an air cylinder, a piston, a fixed ring, a feeding hole, a connecting plate and a lifting plate. The plastic product production equipment with the high production efficiency based on Internet of things provided by the invention accelerates the processing speed of products through the injection mechanism and the rotating mechanism, so that the production efficiency is improved. Furthermore, the finished product is conveyed to the storage box through the grabbing mechanism, so that an intelligent unloading function is achieved.

The invention discloses a variable torque converter for an under-actuated dexterous hand. The variable torque converter comprises a first worm gear, an inner worm shaft, a second worm gear, an outer worm shaft and a first gear, wherein the inner worm shaft is meshed with the first worm gear which is connected with an inner knuckle of the dexterous hand, the outer worm shaft is meshed with the second worm gear which drives an outer knuckle of the dexterous hand, and the first gear is connected with an output shaft of a driving motor. A third gear is fixed onto the outer worm shaft and meshed with the first gear, a second gear capable of axially moving along the inner worm shaft is in threaded connection with the inner worm shaft and meshed with the first gear, a Belleville spring which enables the second gear to be fixed or rotate relative to the inner worm shaft is arranged on the inner worm shaft, and a retainer ring is arranged between the Belleville spring and the second gear. The variable torque converter is simple and convenient to mount, reliable in connection, capable of effectively realizing control of torque transmission and especially applicable to logic control of knuckle rotation of the under-actuated dexterous hand.

The invention provides a robot gripper and a control method thereof. The gripper comprises a support and a plurality of gripper mechanisms arranged on the support, each gripper mechanism comprises a fingertip part, a first connecting rod and a second connecting rod, each fingertip part swings around the support under the support of the first connecting rod and the second connecting rod and swings towards the center shaft side of the support to be folded, in the folded state, the first connecting rod is located on the outer side of a center shaft of the support, the second connecting rod is located on the inner side of the center shaft of the support, a lead screw for driving is arranged along the center shaft of the support, the lead screw is sleeved with a lead screw nut, a push rod is arranged for each gripper mechanism, one end of each push rod is rotationally connected with the lead screw nut, and the other ends of the push rods are rotatably connected with swing arms extending from the other end of the first connecting rod or the second connecting rod to the opposite side of the body part of the first connecting rod or the second connecting rod. The robot gripper is small in size and compact in structure. Real-time communication with the robot gripper is realized through the Ethercat.

The invention provides a prefabricated stand column erector for double-layer tunnel internal structure construction. The prefabricated stand column erector comprises a moving chassis, a mechanical rotating arm and a mechanical hand; the mechanical hand is rotatably arranged on the moving chassis through the mechanical rotating arm; the mechanical hand is provided with a mechanical hand body internally provided with a telescopic device and a load lifting device telescopic cylinder connected with a telescopic end of the telescopic device; the mechanical hand is provided with a stand column fixing plate used for sticking the prefabricated stand column to be assembled; the stand column fixing plate is rotatably connected with the mechanical hand body through rotating an oil cylinder group in multiple directions; the stand column fixing plate is provided with a through hole; and the load lifting device telescopic cylinder is arranged in the through hole in a penetrating mode and is connected with a stand column load lifting device. The prefabricated stand column erector for the double-layer tunnel internal structure construction can solve the problem of overcoming the limited internal structure space inside the tunnel to assemble a pre-supported stand column.

The invention discloses a preparation method of a phase change gel material with a variable mechanical state. The method comprises the following steps: (1) preparing poly (N-isopropylacrylamide) hydrogel with a three-dimensional cross-linked network structure by taking an initiator/tetramethylethylenediamine oxidation-reduction system as an initiation system, and then soaking the hydrogel in lower alcohol for alcoholization to obtain alcogel; and (2) heating and melting a phase change material, and carrying out solvent replacement on the phase change material and the alcogel to obtain a phase change gel material. The phase change gel material prepared according to the preparation method disclosed by the invention is high in phase-change latent heat and excellent in stability, has good elasticity and softness, is an energy storage material with more excellent mechanical properties, can change the shape and rigidity as required, and can be applied to multi-scale adhesion and attachment of various three-dimensional surfaces.

The invention relates to a rotary-cutting pressing type grab bucket device. The rotary-cutting pressing type grab bucket device comprises a grab bucket mechanism, a rotary-cutting mechanism and a pressing mechanism. The grab bucket mechanism comprises an installing rod, fixed pieces, upper connecting rods and lower connecting rods. The row of fixed pieces are evenly welded to the lower end of the installing rod, the corresponding upper connecting rod is welded between every two adjacent fixed pieces at the upper end, and the corresponding lower connecting rod is welded between every two adjacent fixed pieces at the lower end. The rotary-cutting mechanism comprises a fixed plate, a fixed box, rotary-cutting branched chains and L-type limiting insertion rods. The fixed plate and the fixed box are welded, the rear side wall of the fixed box is welded to the fixed pieces, the row of rotary-cutting branched chains are installed between the fixed box and the fixed plate, and the part, between every two rotary-cutting branched chains, of the fixed box is provided with the two corresponding L-type limiting insertion rods. The rotary-cutting branched chains comprise rotary-cutting motors, rotating shafts, rotary-cutting cutter heads and double nuts. The function of treating pond sludge and water plants in a mechanized mode is achieved, and the rotary-cutting pressing type grab bucket device has the advantages of being low in labor intensity, easy and convenient to operate, high in working efficiency and the like.

The invention discloses an unmanned human face recognition intelligent mechanical arm robot. The robot comprises an automatic walking system, a six-axis mechanical arm system, an automatic charging system, a human body temperature measuring system, a human face recognition system and an alarming system, wherein the automatic walking system, the six-axis mechanical arm system, the automatic charging system, the human body temperature measuring system, the human face recognition system and the alarming system are connected with a control system of the robot. The human body temperature measuringsystem comprises an infrared temperature detection module and a human body temperature analyzing module. The infrared temperature detection module comprises multiple infrared thermometers inlaid in the head of the robot. The infrared temperature detection module and the human body temperature analyzing module are connected with the control system. The head is located at the end, away from a walking base, of a body. By means of the robot, the human body temperatures of multiple persons can be measured at the same time anytime and anywhere; and storage drawers are arranged so that storing and conveying of medicines or other objects can be facilitated, meanwhile, an unlocking module is combined with electromagnetic locks on the storage drawers, an antitheft effect can be achieved, and in addition, due to the human face recognition system, objects and medicines can be effectively prevented from being taken wrongly.

The invention discloses a variable-posture joint type dexterous hand, and belongs to the technical field of mechanical hands. The variable-posture joint type dexterous hand comprises a base, a jacking assembly and a clamping assembly, wherein the jacking assembly and the clamping assembly are arranged on the base; the jacking assembly is in sliding fit with the base; and the clamping assembly comprises a plurality of multi-connecting-rod fingers which are connected to the edge of the base and can be changed in form. According to the variable-posture joint type dexterous hand, the jacking assembly and the clamping assembly are arranged on the base, the multi-connecting-rod fingers capable of changing various grabbing forms are arranged on the clamping assembly; and when an object needs to be grabbed, the jacking assembly is used for jacking the top surface of the object, the multi-connecting-rod fingers are used for grabbing the outer side of the object, the object is grabbed through the cooperation of the jacking assembly and the clamping assembly, and therefore the grabbing function under the condition of the complex contour of the object is realized.

The invention discloses a multiposition and multifunctional pipe moving manipulator for a submarine drilling machine. The multiposition and multifunctional pipe moving manipulator comprises an outer frame, a guide rail, a boom oil cylinder, a telescopic arm component, a position sensor and a manipulator component, wherein the boom oil cylinder can drive the telescopic arm component to swing on theguide rail; and a manipulator oil cylinder stretches out and draws back to drive two manipulators to open and close. According to the multiposition and multifunctional pipe moving manipulator, the boom oil cylinder stretches out and draws back to drive the telescopic arm component to reach the positions of drill pipes, drilling tools and core barrels at different floors of a drill pipe warehouse;a spring and disc spring combined structure in the manipulator oil cylinder can grab drill pipes, drilling tools and core barrels with different diameters, also can protect the pipes when the drilling pipes and the drilling tools are connected and dismantled and the core barrels are put down in the sea and taken up and is high in adaptation; and the multiposition and multifunctional pipe moving manipulator further has the advantages of being simple and compact in structure and convenient in control.

The invention relates to the technical field of unmanned aerial vehicles, and discloses a mechanical claw for an unmanned aerial vehicle, a control method and device thereof and the unmanned aerial vehicle. The unmanned aerial vehicle with a grabbing function and the simple structure can be provided, and thus the reliability and stability of the unmanned aerial vehicle are improved. The mechanicalclaw for the unmanned aerial vehicle comprises a pedestal, at least three mechanical fingers arranged on the pedestal, a driving device, a guiding shaft and a drive assembly. The driving device, thedrive assembly and the at least three mechanical fingers are connected in sequence. The drive assembly and the guiding shaft are connected in a sliding mode. The driving device is used for driving thedrive assembly to slide along the guiding shaft so that the at least three mechanical fingers can be opened and closed.

The invention discloses a manual touch simulation equipment disassembling system and a manual touch simulation equipment disassembling method based on Unity 3d and VR equipment. The manual touch simulation equipment disassembling system comprises a data acquisition module used for acquiring real data of each part model of equipment to be simulated; a model building module used for building a partmodel which can be manually touched and disassembled in the equipment and setting a movable range of the part model; a disassembling sequence setting module used for setting the disassembling sequenceof the part models; an action feedback calling module used for obtaining action feedback for calling a VR handle of the VR equipment; and a data transmission module used for transmitting the positioninformation of the part model and the action information of the VR handle between the VR equipment and the client.

The invention provides a mechanical clamping device. The mechanical clamping device comprises a mechanical jaw, a mechanical arm, a positioning mechanism and a movable table; the mechanical arm is mounted on the movable table, and the detachable mechanical clamping jaw is fixedly mounted at the end of the mechanical arm; the mechanical arm comprises a power arm and at least two sensors; the positioning mechanism, also a power arm, is mounted on the mechanical arm; a camera mechanism and a laser emission mechanism are mounted on the positioning mechanism. The mechanical clamping device has theadvantages of convenience in use, novel design, scientificity, reasonableness, good using effect, high promotion value and huge market economy prospect.

The invention discloses a laparoscope suction device.The laparoscope suction device comprises a shell, the shell is rotationally connected with a rotating column, and according to the laparoscope suction device, firstly, a three-jaw clamp is connected with a suction cup and then enters the abdominal cavity, the suction cup can be well fixed through the three-jaw clamp, and after an external negative pressure suction device is opened, the suction cup is fixed through the rotating column; and the outer side wall of the bag body can be effectively adsorbed and fixed by the sucker. The puncture structure is opened, the puncture structure can explode the bag body, seepage inside the bag body can be sucked by the device in time after the bag body is exploded, the ligation belt can well ligate a puncture part after suction is completed, and residual liquid is prevented from leaking outwards. After ligation, the three-jaw forceps can be separated from the suction cup, and at the moment, the grabbing function of the three-jaw forceps can be achieved. In the operation process, if seepage still exists in the abdominal cavity, the claw forceps structure is changed into a cylinder structure, and meanwhile suction can be conducted; meanwhile, when the suction cup is not used, the bag body can be broken through the three-jaw pliers, and the multifunctional effect of the three-jaw pliers is achieved.