101results about How to "Improve crawling efficiency" patented technology

The invention belongs to the technical field of robot grabbing control, and discloses a robot grabbing detection method based on a visual language action multi-mode alignment strategy, which comprises the following steps of: inputting a natural language instruction into a large language model, and generating three descriptions of an object category, a task and a grabbing action and an attention mask; performing channel attention optimization on the three types of data through a text encoder to obtain text encoding features; inputting three-dimensional point cloud data of an object, and generating point cloud coding features; inputting the point cloud data into a candidate grabbing posture coding module, and extracting grabbing posture coding features; multi-modal feature fusion is realized through a cross attention module, and fusion features are obtained; inputting the fusion features into a strategy module to obtain an evaluation value of each candidate grabbing action; and sorting all the candidate grabbing actions according to the evaluation value. According to the method, through alignment fusion of the point cloud, the language text and the grabbing posture, the task-oriented robot grabbing multi-action decision problem is solved.

The invention provides an end effector for grabbing and overturning a cylindrical workpiece and a control method, and relates to the technical field of automatic assembly of the cylindrical workpiece, the end effector comprises a shell, a clamping jaw assembly and a rolling assembly, the rolling assembly comprises motors, a driving roller and a driven roller, the motors are arranged on a first clamping jaw and a second clamping jaw respectively, and the driving roller is arranged on the shell. The first end of the driving roller is connected with an output shaft of a motor, the driven rollers are in meshed connection with the driving roller through a gear set, and the gear set used for meshed connection is arranged between the driven rollers; a hydraulic cylinder in the clamping jaw assembly stretches out and draws back to drive a clamping jaw to move, the clamping jaw grabs or releases a cylindrical workpiece, high reliability and stability are achieved, the grabbing efficiency of the cylindrical workpiece is improved, a motor in the rolling assembly drives a driving roller to rotate, meanwhile, a driven roller is made to rotate through gear meshing, and the grabbing efficiency of the cylindrical workpiece is improved. By means of friction force between the rolling wheels and the surface of the cylindrical workpiece, the cylindrical workpiece rotates to a specified installation angle to be installed.

The invention discloses a robot grabbed object selection method based on image recognition, and relates to the technical field of robot visual recognition and grabbing. Firstly, a depth camera is regulated and controlled to shoot according to a working scene and workpiece characteristics to obtain a to-be-processed image, then the image is preprocessed, a connected domain is extracted, the area is calculated through pixel point counting and shape fitting, and threshold screening is determined according to the clamping jaw size and the pre-stored surface area. And then determining a connected domain contour depth extreme point, calculating a depth ratio, determining an optimal clamping point according to workpiece characteristics, constructing a clamping plane, and calculating a grabbing distance. Finally, the clamping priority is calculated by integrating the area of the connected domain, the depth ratio and the grabbing distance in a weighted mode, and the optimal grabbing object is determined. The method can effectively solve the problems of workpiece stacking shielding, uneven illumination and interference, the calculation amount is reduced, and the robot grabbing precision and efficiency are improved.

The utility model discloses a servo transverse walking type manipulator which comprises an installation table, a sliding rail is fixedly installed on the upper surface of the installation table, an installation plate is installed on the outer surface of the sliding rail in a sliding mode, a servo motor is fixedly installed on the upper surface of the installation plate, an output shaft of the servo motor penetrates to the lower end of the installation plate and is fixedly provided with a gear, and the gear is meshed with a rack. The rack is fixedly mounted on the upper surface of the mounting table and located between the two sets of sliding rails, a connecting cylinder is fixedly mounted on the upper surface of the mounting plate, a linear module is fixedly mounted in the connecting cylinder, a fastening plate is fixedly mounted on the lower surface of a movable block of the linear module, and a transfer mechanism is fixedly mounted on the lower surface of the fastening plate. Through the design of the transfer mechanism, the suction cups can conduct self-adaptive rotation adjustment according to the radian of the lampshade, then the contact area of the suction cups and the surface of the lampshade can be increased, the more stable adsorption effect is achieved, the problem of slippage caused by poor contact can be solved through self-adaptive adjustment, and the stability of the grabbing process is improved.

The utility model provides a flexible positioning feeding device for pharmaceutical materials, belongs to the technical field of material feeding, and aims to solve the problem that when an existing mechanical arm grabs the materials at the connecting position of a baffle and a bearing platform, grabbing fails possibly due to limitation of the size of the mechanical arm. The mounting frame is fixedly connected to the upper surface of the vibrating plate; the two first connecting pieces are fixedly connected to the upper surfaces of the left side and the right side of the mounting frame correspondingly; the unfolding assembly is arranged on the vibrating plate; and the two rapid material changing assemblies are arranged on the front side and the rear side of the interior of the storage disc correspondingly. The two first baffles and the two second baffles are opened by a certain angle at the same time, so that the situation that grabbing fails due to the size of the mechanical arm when the mechanical arm grabs materials at corners is avoided, and the efficiency of manually cleaning the materials in the storage disc can be greatly improved through the detachable storage disc.

The invention relates to the field of manipulator equipment, in particular to a manipulator for taking and discharging a core, which comprises a fixing frame, a mechanical arm is slidably mounted on the fixing frame along the vertical direction, mounting boxes are integrally formed at the left end and the right end of the mechanical arm, one ends, close to each other, of the two mounting boxes are open, and adjusting plates are rotatably mounted in the mounting boxes. A first clamp and a second clamp are respectively mounted on two front and back opposite side walls of the adjusting plate, the first clamp is used for grabbing a square battery cell, and the second clamp is used for grabbing a round battery cell. According to the mechanical arm, the clamp on the mechanical arm is optimized, so that the mechanical arm can grab a round battery cell and can grab a square battery cell, and when the round battery cell and the square battery cell are fed at the same time, the clamp on the mechanical arm does not need to be replaced repeatedly; therefore, the whole process of taking and placing the battery cell is simplified, and the efficiency of taking and placing the battery cell is improved.

The invention relates to a cubic spline trajectory planning and MPC tracking control method for optimizing a hydraulic mechanical arm based on a genetic algorithm, and belongs to the field of trajectory gauges of hydraulic mechanical arms. According to the method, the minimum time of cubic spline trajectory planning is iteratively solved by taking the time of the whole trajectory as a target function and the kinematics constraint of the mechanical arm as a boundary condition through a genetic algorithm, so that the trajectory planning is optimized, and the grabbing efficiency is improved. Meanwhile, MPC control rates with constraints are designed according to the identification models of all the shafts of the hydraulic mechanical arm, corresponding constraints are designed according to the upper and lower limits of input signals of all the shafts and the upper and lower limits of input variable quantities, and accurate trajectory tracking is achieved. Compared with a traditional PID control rate and a composite PID-DOB control rate, the method has remarkable advantages in the aspects of static errors and dynamic errors, the debugging process is simpler, parameters are fewer, and application and popularization are easier.

The utility model provides an integrated mobile robot which comprises a mobile base which is used for moving to any position or pausing at any position according to a received control instruction and determining an orientation angle; the mechanical arm is used for upwards moving the target box body on the material taking position to a material placing position; the camera supporting rod is arranged on a rotating seat of the mechanical arm to rotate along with the rotating seat, or the camera supporting rod is arranged on the movable base, the camera supporting rod is at least provided with a first visual perception module, the first visual perception module comprises a multispectral camera and a laser radar, and the multispectral camera and the laser radar are arranged on the camera supporting rod; the image acquisition module is used for cooperatively realizing image information acquisition of the target box body and the box stack body formed by the target box body. The visual perception module can rotate along with the mechanical arm and can also rotate through the camera supporting rod, the imaging efficiency of the target box body can be improved, and then the grabbing efficiency of the mechanical arm on the target box body is improved.

The invention relates to the technical field of manipulators, in particular to a finger structure of a dexterous hand, which comprises a connecting block, a palm shell, a thumb assembly, a finger assembly and a joint lubricating assembly, the palm shell is fixedly connected to one side of the connecting block, the finger assembly is hinged to one side, away from the connecting block, of the palm shell, the thumb assembly is arranged at the side part of the finger assembly, and the joint lubricating assembly is arranged at the other side of the palm shell. The thumb assembly is installed in the palm center shell, joints of the thumb assembly and the finger assembly are in sliding fit with joint lubricating assemblies, a rope driving structure is adopted integrally, the installation number of motors at the joints is reduced, meanwhile, independent driving structures between fingers are adopted and can be matched with one another, and therefore various grabbing actions can be flexibly carried out; according to the mechanical arm, lubricating oil can flow out through extrusion force between the rope pipe and all the joints, the lubricating purpose is achieved, friction at the joint connecting positions is reduced, the flexibility of the thumb assembly and the finger assembly in the grabbing process is improved, and the clamping precision is guaranteed.

The invention relates to the technical field of new energy motor production, in particular to a new energy motor production line tray grabbing structure and method. Comprising a supporting beam, a plurality of station bases, an adsorption structure and a visual module, and the supporting beam is a suspended beam body which is supported by a supporting column and arranged in the first horizontal direction; the station bases are bearing bases located below the supporting beams and used for bearing trays. The multiple station bases comprise at least one serving as a grabbing station and used for storing the trays loaded with parts and at least one serving as a storage station and used for storing empty trays. The adsorption structure can move in the first direction, the second direction and the vertical direction, is connected to the supporting beam and is used for adsorbing the empty trays on the grabbing station. The visual module is installed on the adsorption structure and used for obtaining the storage condition of the parts in the tray on the grabbing station. The grabbing structure is simple, empty trays can be automatically transferred, the motor assembling efficiency is greatly improved, and a large amount of manpower and material resources are saved.

The utility model relates to a soft package pasting, grabbing and lifting device. The soft package pasting, grabbing and lifting device comprises a rack. The pasting device is arranged on the rack, and the pasting device is used for pasting a binding belt of a soft bag to be grabbed; and the grabbing device is arranged on the rack, and the grabbing device is used for grabbing the binding belt of the to-be-grabbed soft package pasted by the pasting device. Before the soft bag to be grabbed needs to be grabbed and lifted, the binding belt of the soft bag to be grabbed can be firstly pasted by the pasting device, so that the binding belt can be independent from the soft bag to be grabbed, the binding belt can be conveniently grabbed by the grabbing device subsequently, the grabbing efficiency of the soft bag to be grabbed is improved, and the grabbing efficiency of the soft bag to be grabbed is improved. Therefore, after the bridle of the soft package to be grabbed is grabbed, the soft package to be grabbed can be transported, dumped and the like, and the transporting and dumping efficiency of the soft package to be grabbed is improved.

The present invention discloses a brain-controlled grasping robot system and control method for visual semantic target stimulation, including an EEG signal acquisition unit, a visual induced unit, a signal processing unit, and a grasping robot body; the grasping robot body acquires the semantic target image and posture information of each object in the environment; and grasps the object according to the brain-controlled grasping intention; the visual induced unit flashes the visual induced paradigm based on the semantic target stimulation in a preset flashing mode; the EEG signal acquisition unit acquires the EEG signal induced by the visual induced paradigm of the disabled operator; the signal processing unit decodes the EEG signal to obtain the brain-controlled grasping intention, and sends it to the grasping robot body, and also uses the knowledge graph to infer the next step of the brain-controlled grasping intention of the disabled operator, and feeds back to the visual induced unit to generate a visual induced sub-paradigm. The intelligent decision-making and execution capabilities of the brain-controlled grasping robot for assisting the disabled are improved, and the disabled operator is helped to achieve basic self-care.

The utility model discloses a multifunctional grabbing jig which comprises a feeding grabbing mechanical arm and a multi-product feeding grabbing jig, the feeding grabbing mechanical arm is arranged on a feeding workbench, and the multi-product feeding grabbing jig is connected with the feeding grabbing mechanical arm through a lifting straight arm. According to the multifunctional grabbing jig, the structure of the grabbing jig is optimized, so that the grabbing jig can grab a plurality of products at the same time, the product grabbing and assembling efficiency is effectively improved, meanwhile, the use of the grabbing jig can be reduced, the jig space is saved, the switching and debugging time is shortened, the production efficiency is effectively improved, and the production cost is reduced. And meanwhile, the equipment investment cost is also reduced.

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 utility model discloses a metal packaging container gripping device, and particularly relates to the field of container gripping, the metal packaging container gripping device comprises a bottom plate, a base, a conveyor I and a conveyor II are arranged on the top surface of the bottom plate, a metal packaging container body is placed on the conveyor I, a mounting column is rotatably arranged on the top surface of the base, and a linear guide rail is arranged on the mounting column; a mounting plate is arranged on the linear guide rail, a plurality of through grooves are formed in the mounting plate, and two arc-shaped clamping plates are further arranged in the through grooves; a fixing plate is fixedly arranged on the top face of the mounting column, and abutting and pushing columns corresponding to the through grooves in a one-to-one mode are arranged at the bottom of the fixing plate. The sliding block drives the mounting plate to move downwards, the clamping plates on the mounting plate clamp a container body, in the rotating process of the rotating disc, the container body is grabbed to the top of the second conveyor, and then under pushing of the air cylinder, the abutting and pushing column downwards pushes the container body to leave the position between the clamping plates and be located on the second conveyor. By means of the device, the grabbing efficiency can be 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 present invention proposes a steel coil positioning, grasping, warehousing and storage system and a method of using the same, wherein a PLC control module controls a crossbeam to move horizontally along an overhead crane; the PLC control module controls a vertical descent vehicle to move perpendicularly to a horizontal plane; the vertical descent vehicle also includes a sling clamp, and the PLC control module controls the sling clamp to clamp and take and place steel coils; a main scanner is fixed at one end of the crossbeam, and a sub-scanner is fixed at the other end of the crossbeam; the main scanner and the sub-scanner acquire point cloud data of a storage area containing steel coils, and synthesize the point cloud data into a world coordinate system by calibrating parameters; point cloud data is acquired by the main scanner and the sub-scanner, with lower requirements on operators and higher accuracy; a fitting algorithm is used to calculate a conversion matrix, thereby reducing errors; the PLC control module controls the crossbeam, the vertical descent vehicle and the sling clamp, with higher grasping accuracy and significantly improved grasping efficiency; the inventory information system stores product dimensions and position coordinates, making it easier for steel coils to be put in and out of storage.

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.

According to the automatic micro-module mounting equipment disclosed by the invention, the positioning detection mechanism, the black glue dispensing mechanism, the micro-module mounting mechanism and the UV glue dispensing mechanism are intensively arranged on the XY bidirectional transplanting mechanism, so that the micro-module mounting operation is intensively performed in one area, and frequent transfer of a circuit board on which a micro-module is to be mounted is avoided; the positioning difficulty of dispensing and mounting is reduced, so that the mounting precision and efficiency of the micro module are improved; the processing jigs are detachably arranged on the horizontal carrier plate along the X axis and the Y axis in an array manner, so that the mounting and positioning difficulty of the micro module is further reduced, and meanwhile, the feeding efficiency of the mounting equipment can also be improved; the micro module is transferred and mounted in a negative pressure adsorption mode, and the grabbing efficiency of the micro module is high; the upper camera and the lower camera are adopted to correct the position of the micro-module, so that the mounting precision of the micro-module is improved; meanwhile, the invention further discloses a micro-module feeding bin capable of automatically positioning and feeding the micro-modules, upper and lower cameras do not need to be used for correcting the positions of the micro-modules, and the mounting efficiency of the micro-modules is further improved.

The utility model provides a photovoltaic frame blanking device and a photovoltaic frame temporary storage machine, and relates to the technical field of photovoltaic module production, the photovoltaic frame blanking device comprises a blanking support and a blanking tool; the discharging support is provided with a guide cross beam, a moving assembly is arranged on the guide cross beam, and the discharging tool is arranged on the moving assembly. According to the discharging tool of the photovoltaic frame discharging device, the grabbing connecting plate is provided with the lower connecting frames, each lower connecting frame is provided with the corresponding lower installing support, the grabbing pieces are arranged on the lower installing supports, the grabbing pieces on the lower installing supports are independently controlled, one photovoltaic frame can be adsorbed by one lower installing support, and therefore the photovoltaic frame discharging device is simple in structure and convenient to use. A plurality of lower mounting brackets are arranged according to the number of the photovoltaic frames required by one photovoltaic module, so that one discharging grabbing tool can grab the number of the photovoltaic frames required by one photovoltaic module at the same time, and the grabbing efficiency is improved.

The invention relates to the technical field of electrical equipment control, and discloses an intelligent control system and method for electrical equipment, and the method comprises the steps: obtaining the height and diameter of a target object, calculating the length of a clamping jaw and the length of a sub-segment, and judging to execute a first or second grabbing strategy; and when the height of the target object is smaller than the length of the clamping jaw, whether a second grabbing strategy is executed or not is verified by calculating the difference value, if the condition is met, an electric air pump is controlled to control a sub-section in the flexible clamping jaw to be opened and clamp the target object, and in the clamping process, the clamping jaw makes complete contact with the target object by adjusting the inclination and closing-in strategy, and the target object is grabbed. And meanwhile, the auxiliary sections in the clamping jaws make contact with the bottom face of the target object, and the grabbing stability is improved.

The invention relates to the technical field of network infringement monitoring, and discloses a network infringement monitoring method, system and device, a medium and a program product, and the method comprises the steps: obtaining original right confirmation data, storing the original right confirmation data to an original data node of a block chain, and generating a corresponding right confirmation certificate; crawling network data in the monitoring area, comparing the similarity between the network data and the right confirmation certificate, and determining infringement data in the network data according to a comparison result; and infringement evidence is fixed according to the infringement data, and the infringement data and the corresponding infringement evidence are uploaded to the security chain through the block chain. According to the network infringement monitoring method provided by the invention, the infringement data is determined by comparing the similarity between the network data and the right confirmation certificate in the block chain network, and evidence is obtained in time according to the infringement data and uploaded to the security chain, so that the capturing efficiency and accuracy of network infringement behaviors are improved, and the method is of great significance in protecting intellectual property and maintaining network security.

The multi-angle coal mine drill rod grabbing manipulator comprises a supporting base and a clamping mechanism, a longitudinal hydraulic telescopic rod is arranged on the top face of the supporting base, a lifting table is arranged at the top end of the longitudinal hydraulic telescopic rod, and a first rotation adjusting rod is rotationally arranged in the lifting table; the first rotating adjusting rod is fixedly connected with a rotating sleeve, a transverse hydraulic telescopic rod is arranged in the rotating sleeve, the other end of the transverse hydraulic telescopic rod is connected with a telescopic plate, the telescopic plate is provided with a group of extension plates which are symmetrical up and down, and a second rotating adjusting rod is rotatably arranged between the extension plates; a bearing plate is fixedly arranged on the second rotating adjusting rod, and the clamping mechanism is located on the other side of the bearing plate. Compared with the prior art, the multi-angle grabbing device has the advantages that by arranging the first rotating adjusting rod, the second rotating adjusting rod, the longitudinal hydraulic telescopic rod and the transverse hydraulic telescopic rod, the multi-angle grabbing function is achieved, and the grabbing efficiency and flexibility are improved.

The utility model relates to a steel scrap grabbing manipulator, and belongs to the technical field of manipulators, the steel scrap grabbing manipulator comprises a mounting frame and a claw part connected to the mounting frame, the claw part comprises a first bending plate, a second bending plate and a third bending plate which are hinged to one another, and a connecting structure is further arranged outside the claw part; the connecting structure comprises a triangular plate rotationally installed between the first bent plate and the second bent plate. According to the steel scrap grabbing manipulator, the grabbing part formed by continuously hinging a first bending plate, a second bending plate and a third bending plate is arranged, and a triangular plate, an extrusion rod and a traction rod are connected to assist linkage of the first bending plate and the third bending plate, so that synchronous control over a multi-section structure can be achieved only through one driving source; and in addition, the electromagnet is arranged to assist in adsorbing small scrap iron, the grabbing efficiency of the manipulator is improved, and the practicability of the device is improved.

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.

The invention discloses an automatic chip grabbing device, and relates to the field of chip grabbing, the automatic chip grabbing device comprises a manipulator body, the output end of the manipulator body is connected with a frame, the top of the frame is provided with a driving assembly, the output end of the driving assembly is hinged to a supporting rod, side plates are installed on the two sides of the frame, and the supporting rod is hinged to the supporting rod. A sliding plate is arranged in the side plate in a sliding mode, a sliding groove is formed in the sliding plate, a sliding block is arranged in the sliding groove in a sliding mode, the sliding block is hinged to the other end of the supporting rod, and a clamping plate is connected to the bottom of the sliding block. A sliding block can drive a clamping plate to slide towards the two sides, chips of different sizes can be grabbed conveniently, meanwhile, air is fed into a piston cylinder, then the sliding block can drive the clamping plate to move inwards, therefore, the side wall of the chip is grabbed, meanwhile, a piston can be driven to exhaust air in the piston cylinder into an air bag, and therefore the chip can be grabbed conveniently. And finally, discharging towards the top of the chip through the air bag.

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.