28results about How to "Improve crawling efficiency" patented technology

The application relates to the technical field of picking robots, in particular to an intelligent high-efficiency picking robot, which comprises a body, a temporary storage box and a mechanical arm are respectively adaptively installed on the body, a camera and a picking mechanism are adaptively installed on the top of the mechanical arm, an outer layer pipe in the picking mechanism is adaptively sleeved with an inner layer pipe with a gap, an inner cavity is formed between the outer wall of the inner layer pipe and the inner wall of the outer layer pipe, a sliding mesh bag is adaptively installed in the inner cavity, and the mesh bag is used for grabbing and picking apples; the picking mechanism is designed as a double-layer pipe structure, the space occupied by picking is greatly reduced, picking is convenient, the picking efficiency is high, the shielding of the camera is reduced, and the picking efficiency is improved.

The automatic concrete fishing bucket comprises an inner cylinder and an outer cylinder which are coaxially arranged in a sleeving mode and can rotate relatively, and slurry inlets distributed in the circumferential direction at intervals are formed in the bottoms of the inner cylinder and the outer cylinder; a shaft hole is formed in the center of the bottom of the outer cylinder, a shaft penetrating through the shaft hole is arranged in the center of the bottom of the inner cylinder, a hoop abutting against the bottom of the outer cylinder is arranged on the shaft in a sleeving mode, the hoop is provided with a shifting rod, and the shifting rod is located between the two adjacent guide plates to shift the outer cylinder to rotate, so that the slurry inlets of the inner cylinder and the outer cylinder are opened and closed. The slurry inlets are overlapped or staggered through relative rotation of the inner cylinder and the outer cylinder, the guide plate guides concrete to smoothly enter the inner cylinder, and the efficiency is improved; the hoop prevents the outer cylinder from being axially disengaged; during forward rotation, the slurry inlets coincide to achieve continuous feeding, during reverse rotation, the slurry inlets are staggered and completely closed, concrete leakage in the lifting process is prevented, pile head concrete cleaning is achieved, and the construction efficiency is improved.

The application discloses a flexible intelligent tray feeding device, and relates to the technical field of industrial intelligent automation equipment.The device comprises a frame body, a work platform, a material taking end and a material receiving and discharging end arranged on the frame body; a storage bin is arranged below the material receiving and discharging end; a material receiving bin is arranged above the material receiving and discharging end; a conveying component is arranged on the outer side of the work platform and close to the material taking end, and comprises a first conveying device, a transfer device and a second conveying device arranged in sequence; a separating component is used for separating and lifting a full tray in the storage bin and carrying the full tray to the material receiving and discharging end; a carrying platform arranged on the work platform can reciprocate between the material taking end and the material receiving and discharging end, and a jacking assembly is further arranged on the carrying platform; the material taking component arranged above the work platform is further provided with a visual recognition unit.The flexible intelligent tray feeding device has the advantages of small overall size, continuous and uninterrupted feeding process, compatibility of feeding of different types of components, realization of flexible production, and component detection function.

The utility model belongs to the technical field of medicine taking grippers, and particularly relates to a rapid medicine dispensing machine medicine taking gripper based on flexible gripping, which comprises a base plate, a rotating motor is mounted on the base plate, the output end of the rotating motor is fixedly connected with a rotating disc, a support is mounted at the top of the rotating disc, a first motor is mounted in the support, and a second motor is mounted in the first motor. The output end of the first motor is fixedly connected with a first force arm. According to the manipulator, three-dimensional space positioning of the tail end of the gripper is achieved through the rotating motor and the multi-joint force arm, the horizontal operation range can be enlarged, and the gripping angle can be accurately adjusted; the arc-shaped active clamping jaw and the auxiliary clamping jaw are matched with the connecting rod, the U-shaped rotating rod and the closing plate, so that flexible wrapping and grabbing can be realized by fitting the shape of the medicine, the contact stress is reduced, and the damage risk is reduced; and the rotating stability is improved through the design of a base plate supporting column and balls, the grabbing efficiency can be improved through the overall scheme, multi-shape medicine compatibility can be achieved, and the requirements of automatic medicine dispensing for efficiency and safety are met.

The application discloses a robot grabbing method and device, a computing device and a computer readable storage medium. The method comprises the following steps: obtaining joint state space information of a robot; inputting the joint state space information into a pre-trained reinforcement learning collaborative decision network; outputting chassis control instructions and mechanical arm grabbing instructions in parallel by the reinforcement learning collaborative decision network; controlling the movement of the mobile chassis according to the chassis control instructions, and controlling the mechanical arm to perform a grabbing action according to the mechanical arm grabbing instructions, so that the mobile chassis and the mechanical arm are controlled in parallel. In this way, the grabbing efficiency of the robot in a dynamic environment can be improved.

This utility model discloses a four-stage combined folding boom for erecting an arch. A rotary support plate has a rotary table, on which a telescopic folding assembly is rotatably mounted. The telescopic folding assembly includes a folding arm, a connecting rod combined arm, a triangular support platform, and a telescopic combined arm. The folding arm is rotatably mounted on the rotary table, with a connecting rod combined arm at its upper end. A triangular support platform is located at the upper end of the connecting rod combined arm, and the telescopic combined arm is driven onto the triangular support platform. The front end of the telescopic combined arm is connected to a boom head luffing platform, which has a rotating swing gripper at its front end. This utility model, through the forward and backward translation of the connecting rod combined arm, ensures that the telescopic combined arm's gripping range on the arch is expanded, improving gripping efficiency. The combined connecting rod combined arm and the telescopic combined arm, through multi-dimensional precise control, can more effectively erect the arch to the designated position.

The utility model provides a three-jaw clamping jaw robot. Comprising a coupling block, a frame plate is mounted on the coupling block, a mounting plate A is mounted on the frame plate, a mounting plate B is mounted below the frame plate, and a chuck A is mounted on the mounting plate A. Two groups of adjustable inner support type clamping jaws are arranged on the upper portion, the distance between one group of adjustable inner support type clamping jaws and the other group of adjustable inner support type clamping jaws can be adjusted through the adjusting mechanism, so that the adjustable inner support type clamping jaws can adapt to grabbing tasks of more workpieces with different shapes and sizes, stable grabbing is achieved, meanwhile, the double-end air cylinder and the clamping heads are installed on the lower portion, additional operation flexibility is provided for the robot, and the working efficiency is improved. And in addition, the position detectors are arranged on the three sets of clamps, the position states of the clamps can be accurately monitored in real time, it is ensured that each grabbing action can be accurately in place, and the workpiece grabbing efficiency and the workpiece grabbing stability are effectively improved.

The invention discloses a logistics cargo sorting method based on computer vision, and relates to the field of logistics, and the method comprises the following steps: obtaining multi-modal visual data of cargoes; obtaining a multi-modal feature vector set based on the multi-modal visual data; inputting the multi-modal feature vector set into a preset adaptive visual memory network to output a goods identification result and a corresponding identification confidence; and when the recognition confidence coefficient is larger than or equal to a preset threshold value, fusion features are generated based on the multi-modal feature vector set, and a three-dimensional space model of the goods is constructed through the fusion features so that the three-dimensional space model can be used for path planning of a mechanical arm. According to the logistics goods sorting method based on the computer vision, the multi-mode visual data of the goods are obtained, the self-adaptive visual memory network is matched, high-precision goods recognition can be achieved, and the sorting error rate is remarkably reduced; and meanwhile, an accurate three-dimensional space model is provided, and the grabbing efficiency and safety of the mechanical arm are improved.

The present application provides an object grasping method based on object poses, which comprises: obtaining a first object pose of a first target object, wherein the first target object comprises an object determined from N objects to be grasped; calculating a pose distance between the first object pose and at least one of M second object poses, wherein the M second object poses comprise object poses of M objects that fail to be grasped from the N objects to be grasped, M or N is an integer greater than or equal to 1, and M is less than or equal to N; and stopping grasping the first target object if any of the calculated pose distances is less than a first distance threshold. The present application also provides an object grasping device based on object poses, an electronic device and a storage medium.

This invention relates to the field of machine vision technology, specifically to a method and system for sorting debris on a vibrating screen. The method first uses several first cameras to simultaneously acquire images of different areas of the detection zone at the inlet of the vibrating screen. After deblurring and image stitching, debris is identified to determine its planar position and the first waiting position of the gripper. The gripper is then moved from its initial position to the first waiting position. Next, a second camera on the gripper acquires the three-dimensional coordinates of the debris, reflecting its height, and a second waiting position is planned. Simultaneously, as the gripper moves from the first to the second waiting position, its posture is adjusted according to the shape of the debris. Finally, after the gripper reaches the second waiting position, it maintains its gripping posture and moves directly downwards to the three-dimensional coordinates of the debris to grasp it. This method effectively improves the timeliness and accuracy of the gripper's grasping action, while shortening the overall operation time and increasing grasping efficiency.

The application discloses a robot active decoupling type aviation cable grabbing method based on topological segmentation, and specifically comprises the following steps: a vision camera acquires position information of each cable connector in a cable bundle; an aviation cable cross-section geometric analysis model is constructed; a topological segmentation path set of the aviation cable bundle is planned; path pruning is performed according to multi-level constraints such as target avoidance, grabbing quantity, safety gap target exposure angle and the like; optimal segmentation paths are obtained through multi-objective optimization decision making by taking the grabbing quantity, safety crossing difficulty and shielding influence as optimization indexes; and a double-arm robot actively decouples to grab a target cable. The method provided by the application can realize reliable grabbing of a target to be operated under dense shielding of aviation cables, provides an effective scheme for dexterous operation of cables in a robot cable assembly process, and thus promotes the development of cable automatic assembly technology in the field of aviation and aerospace.

The application provides a robot and a control method, device and readable storage medium thereof. The control method comprises: acquiring a point cloud image containing a grasped object; inputting the point cloud image into a preset grasping network to enable the preset grasping network to perform classification prediction according to the point cloud image to obtain a contact point between a fingertip and the grasped object; constructing a first rotation matrix of a coordinate system with the contact point as an origin relative to a world coordinate system according to coordinate information of the contact point; determining coordinate information of a joint according to the coordinate information of the contact point, a vector between the joint and the fingertip and the first rotation matrix; determining a transfer matrix of a coordinate system with the joint as an origin relative to the world coordinate system according to the coordinate information of the joint; and controlling the robot to work in a grasping posture corresponding to the transfer matrix.

The utility model discloses a cushion lever grabbing device, which belongs to the technical field of pipe rod transfer, and comprises a track mounting plate fixedly connected on a stacking box pipe moving vehicle through bolts, a traveling mechanism is assembled on the track mounting plate, a lifting mechanism is assembled on the traveling mechanism, a rotating mechanism is assembled at the bottom end of the lifting mechanism, and the rotating mechanism is fixedly connected with the track mounting plate through bolts. The hoisting mechanism is assembled at the bottom end of the rotating mechanism; the lifting and grabbing device is composed of the track mounting plate, the walking mechanism, the lifting mechanism, the rotating mechanism and the lifting mechanism, the cushion lever can be automatically lifted, placed and grabbed, manual work is not needed, the labor intensity is relieved, and meanwhile the grabbing efficiency is improved.

The invention discloses a material staggered stacking, grabbing and feeding device, and relates to the technical field of material grabbing. Comprising a front lifter; the front shovel assembly is movably arranged on the front lifter; the front lifters and the rear lifters are arranged in parallel at intervals; the rear shovel assembly is arranged on the rear lifter; the front shovel assembly comprises a front suspension plate arranged on the front lifter, a front drag chain is horizontally arranged on the front suspension plate, and a front shovel head lifting bottom plate is arranged on the front drag chain; the rear shovel assembly comprises a rear suspension plate arranged on the rear lifter, a rear drag chain is horizontally arranged on the rear suspension plate, a rear shovel head lifting bottom plate is arranged on the rear drag chain, and a plurality of shovel heads are sequentially arranged on the front shovel head lifting bottom plate and the rear shovel head lifting bottom plate side by side at intervals; the front shovel head lifting bottom plate and the rear shovel head lifting bottom plate are each provided with a plurality of pressing plate assemblies. The end, away from the front shovel head lifting bottom plate, of the front hanging plate and the end, away from the rear shovel head lifting bottom plate, of the rear hanging plate are provided with pressing rod assemblies. The feeding device has the advantages of being capable of improving feeding efficiency and quality and the like.

The invention discloses an injection medicine storing and sorting device, and belongs to the technical field of medical automatic equipment. In order to solve the problems in the prior art that the storage density is limited and small medicine bottles are easy to topple due to a manipulator clamping and grabbing mode, the device provided by the invention comprises a frame (1), at least one medicine box (2) and at least one sorting device (3). The medicine box (2) comprises a shell (21), medicine bottle storage channels (212) defined by partition plates (211) are arranged in the shell (21) in parallel, medicine taking windows (213) in one-to-one correspondence with the channels are formed in the first end of the shell (21), and the width of the medicine taking windows (213) is smaller than the diameter of medicine bottles. The sorting device (3) comprises a curved surface suction cup mechanism (31) and a moving mechanism (32). The curved surface suction cup mechanism (31) can extend into the medicine taking window (213) to suck the outer wall of the medicine bottle at the foremost end and pull the medicine bottle out of the medicine box (2). Medicine is taken through the medicine taking window through the curved-surface suction cup, mechanical arm moving space does not need to be reserved between medicine bottles, and ultimate dense storage is achieved; and meanwhile, by means of flexible adsorption and an optional anti-toppling mechanism, the grabbing stability of the small-specification medicine bottles is effectively achieved.

The invention relates to a gripper control method and system for an annular product, and relates to the technical field of product machining, and the method comprises the steps: obtaining an initial position of a gripper and a conveying area image; determining the center position of the product and the actual size of the product on the conveying area image; constructing a future arrival ray according to the central position of the product, and constructing a simulated arrival point; determining the moving distance of the product according to the simulated arrival point and the central position of the product, and determining the moving duration of the product according to the moving distance of the product and the conveying speed; determining the moving distance of the gripper according to the simulated arrival point and the initial position of the gripper, and determining the moving duration of the gripper according to the moving distance of the gripper and the speed of the gripper; when the product movement duration is consistent with the gripper movement duration, defining the corresponding simulation arrival point as a demand arrival point; and controlling the gripper to move to the demand arrival point and controlling the gripper to operate in the demand operation mode. The annular product machining device has the effect of improving the overall machining efficiency of annular products.

The application provides a chip pasting device capable of pasting chips of various sizes, relates to the technical field of chip pasting, and comprises a pasting machine body, a point gluing mechanism, a pasting table, a chip pickup head and a chip pasting head which are installed above the pasting machine body, the point gluing mechanism is movably installed on the left edge above the pasting machine body through a guide rail and a magnetic coupling cylinder, the pasting table is movably installed on the front edge above the pasting machine body through a guide rail and a magnetic coupling cylinder, the chip pickup head is provided with two chip pickup heads capable of switching a plurality of different sizes of vacuum nozzles, the nozzle disc of the chip pickup head is integrated with a plurality of different sizes of vacuum nozzles in the circumferential direction, the nozzle disc can be programmably driven to rotate through a nozzle changing driving element and a synchronous belt transmission, the required size of vacuum nozzle can be quickly positioned to the working position and connected with a negative pressure suction device, the design realizes the quick switching of the nozzle, manual intervention is not needed for shutdown and replacement, and the problem of low replacement efficiency caused by the fixed size of the nozzle is solved.

The utility model discloses a sample analysis system and test tube seal cap mechanism, test tube seal cap mechanism includes: the cap conveying unit for the conveying of cap, the test tube conveying unit for the conveying of test tube, the buffer unit for the buffer cap of conveying on cap conveying unit one by one, the grabbing unit for the cap on buffer unit cap on test tube conveying unit carries out the seal cap operation of test tube. The utility model buffer unit can buffer cap conveying unit on cap one by one, so that the target cap of preparing to carry out the seal cap operation can be independent of cap conveying unit, avoid the mutual interference between the cap of grabbing unit and other cap on cap conveying unit when grabbing cap, lead to cap to be blocked, and then improved the efficiency and speed of cap grabbing.

An automatic tobacco leaf feeding device based on vision assistance includes a positioning column, a horizontal moving device, a vertical moving device, a controller, a three-axis robotic arm, and a robotic gripper. Its key feature is that: binocular cameras are symmetrically arranged on both sides of the horizontal support of the horizontal moving device, with the distance between the two horizontal supports being the width of two tobacco baskets; a laser rangefinder is located in the middle of the vertical support of the vertical moving device; the binocular cameras and the laser rangefinder are connected to the controller via data cables; and the robotic gripper can rotate in a horizontal position. This invention improves feeding efficiency and accuracy through the visual assistance of the binocular cameras and the laser rangefinder, and can accurately grasp tobacco leaves when there is little remaining material. It can also grasp two tobacco baskets simultaneously, allowing both baskets to enter and exit at the same time. The most significant feature of this invention is that it achieves uninterrupted automatic feeding of tobacco leaves into two baskets, reducing the labor intensity of workers and improving work efficiency.

This utility model provides a tension sensor device for monitoring equivalent icing on transmission lines, comprising: a tension detection body, wherein a tension detector is disposed within the tension detection body; a fixing component, one end of which is connected to the tension detection body and the other end of which is connected to the transmission line tower; and a gripping component, which is disposed on the tension detection body and can grip and fix an insulator on the transmission line. When the gripping component grips and fixes the insulator, the tension detector detects the force on the gripping component, i.e., the force on the transmission line, in real time. This utility model makes the installation and use of the tension sensor device more convenient.

The utility model discloses a gripper for semiconductor transfer, a gripping mechanism and a caching device, and relates to the technical field of semiconductor processing, and the gripper for semiconductor transfer comprises a carrier, a first gripping assembly and a second gripping assembly; the first grabbing assembly comprises a first grabbing driver, a first grabbing piece and a second grabbing piece. The first grabbing driver is provided with two driving free ends capable of being close to or away from each other for control. The first grabbing piece and the second grabbing piece are connected to the two driving free ends in a one-to-one correspondence mode. The second grabbing assembly comprises a second grabbing driver, a third grabbing piece and a fourth grabbing piece. The second grabbing driver is installed on the carrier and can be controlled in a telescopic mode. The second grabbing driver is connected with the first grabbing driver; the third grabbing piece is installed on the first grabbing driver. The fourth grabbing piece is mounted on the carrier; a four-point grabbing cavity is formed among the first grabbing piece, the second grabbing piece, the third grabbing piece and the fourth grabbing piece. The above design is helpful for improving the efficiency and reducing the wafer loss.

The utility model discloses a semiconductor bonding sample jig, and relates to the technical field of semiconductor processing. A plurality of grabbing grooves are formed in the top surface of the jig body; the two ends of the grabbing groove extend out of the side face of the jig body correspondingly. Sample stations for bearing samples are formed in the positions, on the two sides of the grabbing groove, of the top face of the jig body; a plurality of visual positioning structures are arranged in the grabbing groove or on the top surface of the jig body; a light absorption material layer is arranged on the top face of the jig body. The design can meet the placing requirements of samples of various sizes, the jig does not need to be replaced, the equipment cost and the jig management complexity are reduced, the production preparation time is shortened, the production efficiency is improved, part of the bottom structure of the sample is prevented from making contact with the jig body, and the bottom of the sample is prevented from being damaged due to contact. Moreover, the problem that a traditional jig lacks an effective visual positioning structure is solved, and a visual camera on the grabbing manipulator can accurately identify the positioning mark, so that the sample is more accurately placed.

This invention discloses a control method and a vibratory feeding device for a vibratory feeding apparatus, relating to the field of automatic feeding technology. The control method for the vibratory feeding apparatus includes the following steps: after calibrating multiple cameras and multiple adsorption units, controlling the vibratory feeding apparatus to enter a working mode; acquiring material state images captured by multiple cameras and identifying target materials in the multiple material state images; planning a picking path based on the pixel coordinates of multiple target materials; converting the pixel coordinates of multiple target materials into physical coordinates and matching multiple adsorption units with multiple target materials; controlling the picking device to move according to the picking path to complete the picking of multiple target materials. This individual calibration method improves the picking accuracy and solves the problems of positioning and allocating materials under visual guidance by multiple cameras and multiple adsorption units, as well as the path planning problem. Path planning can be performed at the pixel coordinate stage, optimizing the length of the picking path and thus shortening the picking cycle.

The application discloses a kind of full-automatic clean intelligent warehousing equipment and use method, it is characterized in that: including warehouse body, material storage module is equipped in the warehouse body;Access material port, it is set on the front lateral wall of the warehouse body, and the rear end of the access material port is connected with the warehouse body, for storing and taking material;Grabbing manipulator is set in the warehouse body, the grabbing manipulator will be placed on the material access material port Material is placed on the material storage module, or the material placed on the material storage module is placed on the access material port;Material tray for placing material is equipped on the access material port, and driving mechanism for driving the material tray to move back and forth, the driving mechanism drives the material tray to move in first position or second position;Material identification mechanism is equipped in the access material port and the grabbing mechanism.The application improves the convenience and stability of material taking and placing.

The utility model discloses a kind of clamping jaw mechanisms, ton bag grabbing system and ton bag grabbing method, including support assembly, several groups of grabbing components, lifting assembly and steering assembly, several groups of grabbing components are arranged in the side of support assembly, rotatably connected on support assembly, lifting assembly is connected on the other side of support assembly opposite with grabbing component, steering assembly is connected in lifting assembly, steering assembly is configured as the difference value of displacement stroke according to the displacement stroke of the ton bag between each group of grabbing components Control support assembly rotation angle adjustment is carried out.The utility model judges the deviation position of ton bag according to the stroke difference value of driving cylinder, angle adjustment is carried out to clamping jaw mechanism by steering assembly, realize the automatic deviation correction of clamping jaw mechanism by effective angle adjustment and error correction mechanism, realize stable, accurate grabbing, improve the stability and efficiency of grabbing.

The mechanical arm for grabbing the glass products comprises a box mounting plate, a plurality of grooves are formed in the inner wall of the mounting plate, the inner top wall of each groove is fixedly connected with a third motor, the output end of each third motor is fixedly connected with a third lead screw, and the output end of each third lead screw is fixedly connected with a second lead screw. And the side wall of the third lead screw is in threaded connection with a third sliding block, the bottom end of the third sliding block is fixedly connected with a connecting block through a connecting rod, the bottom end of the connecting block is fixedly connected with a rack plate, and the bottom end of the mounting plate is fixedly connected with a plurality of mounting cylinders. The two pull rods are pulled towards the outer side, so that the limiting rods leave the interiors of the clamping grooves and the insertion rods, limiting of the insertion rods is relieved, and therefore the mounting plate is rapidly disassembled; during installation, the inserting rod is inserted into the sliding hole, after the pull rod is loosened, the limiting rod is reset under the action of the spring, and therefore the limiting rod penetrates through the inserting rod and then is clamped in the clamping groove, the inserting rod is limited, and rapid replacement and installation are achieved.

The application discloses a kind of inner and outer magnetic source collaborative excitation type soft gripper robot and its control method, belong to magnetic control soft robot field, robot includes: catheter, the multi-arm magnetic control soft gripper of connecting catheter one end, built-in permanent magnet located in catheter interior, external magnet located in catheter exterior, multi-arm magnetic control soft gripper is located between built-in permanent magnet and external magnet;Built-in permanent magnet and the magnetic field direction of external magnet generated is opposite;Multi-arm magnetic control soft gripper includes multiple end cross section arc-shaped strip arm, each strip arm is pre-radial magnetization, and magnetization direction satisfies: under the radial magnetic field generated by built-in permanent magnet alone, the end of each strip arm is in closed state;Under the radial magnetic field generated by built-in permanent magnet and external magnet jointly, the end of each strip arm is in open state.Provides effective way for realizing non-contact removal of foreign matter in narrow, complex environment.