127results about How to "Improve grasping accuracy" patented technology

The invention discloses a posture and moving track positioning system and method of robot grabbing an online workpiece. The device comprises a camera support, an industrial camera, the tested workpiece, a workpiece conveying belt, a tail end executer, a robot system, a workbench, an image processor and the like. The method comprises the steps that a depth positioning model of a plane point in an absolute coordinate system in the vertical direction, a depth positioning model of a space point in the absolute coordinate system in the vertical direction, an X-axis positioning model of the plane point in the absolute coordinate system in the horizontal direction and an X-axis positioning model of the space point in the absolute coordinate system in the horizontal direction are established, three-dimensional coordinates of imaging points in all the cameras can be solved through combination of the priori knowledge of the workpiece, accordingly, and a robot can be guided to adopt the accurate tail end executer posture and movement track to intelligently grab the workpiece accurately. The posture and moving track positioning system and method have the advantages that the grabbing precision is high, the structure is simple, and cost is low.

The invention discloses a miniaturized flexible micro clamp based on piezoelectric driving. The micro clamp comprises a base, a pretension screw, a motion transmission mechanism, a first fastening screw, a second fastening screw, a piezoceramic driver and a spacer, wherein the base and the motion transmission mechanism are fixedly mounted through the first fastening screw and the second fastening screw; the pretension bolt is arranged at the rear end of the motion transmission mechanism; the piezoceramic driver and the spacer are arranged in a first cutting slot of the motion transmission mechanism. According to the design of the invention, through a two-stage amplification mechanism in the amplification mechanism, the parallel grabbing of the closed-type micro clamp can be realized.

The invention discloses a real-time pose estimation method and a positioning grabbing system for a three-dimensional target object. The real-time pose estimation method comprises the following steps:acquiring three-dimensional graphic information of the target object; calculating to obtain a local feature descriptor of the target object according to the graphic information; performing three-dimensional pose estimation on the target object through the local feature descriptor by utilizing a pre-established three-dimensional model database to obtain pose information of the target object; and outputting the obtained pose information. According to the application, the real-time pose estimation method requested to be protected is applied to the positioning and grabbing system of the three-dimensional target object; the controller can control the motion mechanism to accurately grab the target object according to the pose information output by the processor, the grabbing accuracy can be effectively improved while the grabbing efficiency is guaranteed, and the practical performance of the positioning grabbing system in the application process is enhanced.

The invention relates to a bar material conveying device which comprises a horizontal conveying machine. The horizontal conveying machine comprises at least one conveying set formed from a driving assembly and a band type dragging assembly, wherein as least one row of bar bases in the direction of conveying are arranged on the band type dragging assembly, the bar bases comprise supporting plates perpendicular to the annular surface of the band type dragging assembly, and the outer ends of the supporting plates are provided with concave type supporting parts sunk in the direction of the band type dragging assembly. The bar material conveying device provided by the invention is provided with multiple bar bases used for bearing bars, the concave type supporting parts are arranged on the bar bases, so that the positions of the bars in the direction of conveying are stabilized, a certain space is also left below the bars to be conveniently captured by mechanical arms, and the capture accuracy is increased by stabilizing the positions of the bars at the same time.

The invention discloses a three-dimensional vision accurate guiding and positioning method for automobile intelligent manufacturing automatic feeding. A camera is used for conducting photographing and image collecting on a component, and the position and the angle deviation of the component under a fixed coordinate system are calculated through image processing and in combination with the vision detection algorithm; and a robot is used for transmitting the position and angle information, the track of the robot is corrected, the robot is guided to arrive at the correct work position, and accordingly the robot automatically corrects the track for workpiece grabbing and feeding. According to the three-dimensional vision accurate guiding and positioning method, the component grabbing precision is high, the precision can reach + / -0.5 mm, accurate positioning on a material box is not needed, and the cost and maintaining expense for accurately positioning the material box are omitted; and the later maintaining and adjusting technology is facilitated.

The invention provides an Opencv-image-processing-based quadrotor aircraft midair autonomous grabbing operation control method. A quadrotor aircraft operation system is composed of a quadrotor aircraft and an operation device, and the operation device is composed of a mechanical arm and a gravity center balance mechanism, wherein the mechanical arm and the gravity center balance mechanism are symmetrically installed below the quadrotor aircraft. Images of a grabbed target and an artificial mark are obtained through a camera on the quadrotor aircraft, the Opencv is utilized for processing the images, the camera posture information is solved, and thus the posture information of the quadrotor aircraft is obtained; and the quadrotor aircraft, the mechanical arm and the gravity center balance mechanism are controlled in a graded manner according to the posture information of the quadrotor aircraft. The application filed of the quadrotor aircraft is broadened, midair operation can be performed either in a room or in a surrounding outdoor environment with dense buildings, and midair operation precision is improved.

The invention relates to a robot positioning grabbing method and system based on laser visual guidance. The robot positioning grabbing method comprises the steps that three non-collinear distance measuring instruments are used for measuring the distance of a target object, and the normal vector of a plane where the target object is located is determined; the posture of a visual sensor is adjustedaccording to the normal vector; two-dimensional image information of the target object is captured through the visual sensor; and the posture of the target object is determined according to the two-dimensional image information, and grabbing of the target object is achieved. The system comprises a positioning grabbing arm, a PLC and an upper computer. The PLC is sealed in the positioning grabbingarm and connected with the upper computer, the positioning grabbing arm is provided with a visual sensor which is connected with the PLC, and the plane where the visual sensor is located is provided with the three non-collinear distance measuring instruments. Compared with the prior art, the robot positioning grabbing method and system based on laser visual guidance have the beneficial effects that the calculation amount is small, the precision is high, and the grabbing speed is high.

The invention discloses an unmanned plane mechanical arm aerial operation system with the help of virtual reality, and a control method for the unmanned plane mechanical arm aerial operation system. The system consists of an unmanned plane part and a ground station part. The unmanned plane part comprises a triaxial self-stabilizing holder, a camera, an unmanned plane image transmission module, an unmanned plane data transmission module, a mechanical arm, and an airborne computer. The ground station part comprises a virtual reality glasses, a ground station data transmission module, a ground station image transmission module, a mechanical arm operation module, and a ground station computer. Through wearing the virtual reality glasses with a head posture measurement module, an operator can control the field of the camera on the unmanned plane through head movement, so the operation can focus on the control of the mechanical arm, thereby greatly improving the capturing precision and speed of an object.

The invention discloses an object grabbing method and device based on 3D matching and computing equipment, and the method comprises the steps: obtaining a scene image and a point cloud corresponding to the scene image, inputting the scene image into a deep learning segmentation model, and carrying out the instance segmentation processing to obtain the segmentation result of each object in the scene image; according to the point cloud corresponding to the scene image and the segmentation result of each object, determining the point cloud corresponding to each object; for each object, matching the point cloud corresponding to the object with a preset template point cloud, and determining pose information of the object; and according to the point clouds corresponding to all the objects, determining the stacking relation between the objects, determining a target object from all the objects according to the stacking relation, converting the pose information of the target object into a robot coordinate system, and transmitting the converted pose information of the target object to the robot. According to the scheme, the pose information of each object is accurately determined, and the object grabbing accuracy is effectively improved.

The invention relates to the technical field of compact camera module detection and provides a method and system for capturing the content of a test chart. The method comprises the steps of calculating the coordinates of a central point C of the test chart according to the center coordinates of four positioning crosses on the test chart, calculating the coordinates of the central point of four virtual crosses of each view field, calculating the coordinates of all view field capturing points, and drawing corresponding small image boxes in the image of the test chart according to the coordinates of each view field capturing point and the corner demands of the small image box. According to the method, errors can not be generated due to the rotation of the image of the test chart, and capturing precision is improved; meanwhile, when the image of the test chart is shot through a compact cameral module, position-capturing of test chart content capturing points of each view filed can be achieved automatically simply by adjusting the four positioning crosses of the test chart to be within a corresponding blue box of the compact camera module, operation is convenient and quick, and testing efficiency is improved.

The invention provides a robot dynamic tracking and grabbing system of easily-damaged articles. The system comprises a conveyor belt, a robot, a far-end visual system, a near-end visual system, a photoelectric switch and an upper computer; the conveyor belt is used for conveying the easily-damaged articles; the robot is used for grabbing the easily-damaged articles, the far-end visual system is fixed at the starting end of the conveyor belt and used for vertically shooting the easily-damaged articles; the near-end visual system fixed to the front of the robot and used for photographing the easily-damaged articles from the front side; the photoelectric switch arranged on the conveyor belt, and the upper computer is used for controlling the robot to accurately grab the easily-damaged articles according to the image information acquired by the far-end visual system and the near-end visual system. The invention further provides a robot dynamic tracking and grabbing method of the easily-damaged articles, track pre-planning and accurate error compensation are respectively carried out on the basis of information obtained by remote and near-end vision, so that the identification precisionand speed of moving objects are improved, the robot can quickly enter the real-time tracking state of the easily-damaged articles, the tracking precision and the grabbing precision of the easily-damaged article are improved; the system is simple in structure, convenient to operate and high in practicability.

The invention belongs to the technical field of design and manufacturing of parts in coal mine drilling machines, particularly relates to a manipulator automatic stem changing device for a undergrounddrilling machine to solve the problems that manipulator grasping stem is adopted but accuracy is low, and the structure of a drilling stem cabin is not reasonable, so that error is large during manipulator grasping, and therefore efficiency is low during cooperating use. The manipulator automatic stem changing device comprises a drilling machine, a drilling stem cabin device, a manipulator rotating device, a holder and a drilling machine fixing seat. The drilling machine is mounted at one end of the drilling machine fixing seat; the drilling stem cabin device used for storing a drilling stemis mounted on the drilling machine fixing seat; the manipulator rotating device used for taking out the drilling stem rotating to the working position is mounted on the drilling machine fixing seat; and the holder is mounted at the other end of the drilling machine fixing seat. Automatic stem grasping, stem placing and reverse operation in stem withdrawing process are achieved. The drilling stem cabin device controlled by a double-ratchet wheel is provided, and grasping accuracy is greatly improved.

The invention discloses a grabbing industrial robot for complex workpiece matching and positioning. An industrial robot controlling system comprises a demonstrator, and a moving controller, and a control system comprises an industrial computer; an RGB camera observes that a workpiece enters the view field, a trigger is placed in the middle of a workpiece conveying line in the view field, when theworkpiece touches the trigger, the RGB camera captures the image, the captured image is transmitted to the industrial computer for image processing, the shape and the grabbing position information ofthe target workpiece are obtained after the analysis and processing of the image and sent to the industrial robot, the industrial robot conducts grabbing at the designated position, and according to the different shapes, the target workpiece can also be stacked at different places in a workpiece storing area; and analyzing and processing are conducted on the collected image, the shape of the target workpiece is identified, the center of centroid position of the target workpiece is obtained, for the complex workpiece in an irregular shape, the shape of the workpiece is obtained by using a comparative matching method, and centroid positioning and grabbing are conducted.

The invention relates to a guide rail assembly, a guide rail and a robot moving device. By means of the guide rail assembly, the guide rail and the robot moving device, the technical problem that an existing guide rail assembly is liable to deformation in use is solved. The guide rail assembly comprises a base and a support plate arranged at the upper end of the base. A linear guide rail belt is further fixed to the support plate. The linear guide rail belt is arranged in the length direction of the base, and the middles of the left side wall and the right side wall of the linear guide rail belt are each provided with an inward-concave groove zone. The guide rail assembly further comprises a sliding part arranged in an upside down mode. The end face of the sliding part is of a [-shaped structure. The inner walls of the two sides of the sliding part are provided with protrusions respectively, and the protrusions are matched with grooves in the groove zones. The sliding part is placed on the linear guide rail belt in an upside down mode, and the two protrusions on the sliding part are clamped in the groove zones on the two sides of the linear guide rail belt respectively. The guide rail is composed of two guide rail assemblies. The robot moving device comprises a robot and the guide rail. A base under the robot is fixed to two sliding parts on two guide rail assemblies.

The invention discloses a robot visual guide positioning algorithm. The robot visual guide positioning algorithm comprises the following steps: S1, a material is grabbed by a robot, and the position of the material relative to a clamp is offset relative to that of an original material relative to the position of the clamp; S2, the robot is used for grabbing the material and placing the material inan intelligent camera for photographing; S3, the camera calculates the pose of a current material under a camera coordinate system, and transmits the original material pose and the pose data of the current material to the robot; S4, the robot is used for converting the pose of the coordinate system and correcting a TCP of the robot; and S5, the robot uses the corrected TCP, the material can be accurately placed in the accurate position of a mold. According to the robot visual guide positioning algorithm, the integrity of the visual guide positioning solution of the industrial robot can be effectively supplemented, the robot is used for grabbing and positioning the material, a conveyor belt or a support is not needed, the cost is saved, the material grabbing efficiency is improved, and thematerial grabbing accuracy is improved.

The invention relates to a fruits and vegetables sorting manipulator and belongs to the technical field of an industrial robot. The fruits and vegetables sorting manipulator comprises a pedestal, a shaft drive device I, a shaft drive device II, a big arm, a shaft drive device III, a small arm, a shaft drive device IV and grasping paws, wherein the shaft drive device I is installed in the pedestal; the shaft drive device II is installed on a rotary seat of the shaft drive device I in a fastening way; one end of the big arm is installed on the shaft drive device II; the other end of the big are is connected with the shaft drive device III; the shaft drive device III is installed at the large end of the big arm; one end of the small arm is installed on the shaft drive device III; the other end of the small arm is connected with the shaft drive device IV; the grasping paws are installed on the small arm and are simultaneously connected with the shaft drive device IV. The fruits and vegetables sorting manipulator provided by the invention adopts a five-freedom-degree manipulator and can accurately position the grasping position; a grasping part adopts a pneumatic-linkage manipulator to improve the grasping accuracy and stability; and grasping fingers adopt a flexible skid-proof design, so the grasping force can be reduced and mechanical damages of the surfaces of fruits and vegetables can be prevented.

The invention discloses a robot multi-fingered hand, a robot arm and a robot, and relates to the technical field of the robots, so as to solve the technical problems that an existing robot multi-fingered hand is relatively complicated in structure, the realization of functions and the stability of movement are not facilitated and the ingenious property and the grabbing precision are low. The robotmulti-fingered hand is characterized in that each finger simply comprises two knuckles; a little finger and a ring finger are driven to bend by a driving device; a forefinger and a middle finger aredriven to bend by driving devices correspondingly; a thumb is driven by two driving devices, in which one driving device drives the thumb to bend and the other driving device drives the thumb to rotate around the finger root; a metacarpal bone is driven to rotate by a driving device independently; a position sensor is arranged at the tail end of a rotating shaft of the metacarpal bone and is usedfor feeding back a rotating position of the metacarpal bone; the finger roots of the four fingers, namely, the forefinger, the middle finger, the ring finger and the little finger, are provided with position sensors for the position detection of every two adjacent fingers; and a position sensor is arranged at the tail end of a rotating joint of the thumb and is used for feeding back a rotation angle and a bending position of the thumb.

The invention provides a device for grabbing steel in a pneumatic manner. The rear end of a base is connected with two wheels which can roll on the ground but can not turn. The front end of the base is connected with steering wheels, wherein direction rotation of a trolley can be achieved through the steering wheels. A rotating table is connected to the base and connected with the base through a rotating motor, the rotating table can circumferentially rotate, and therefore the device can more flexibly, easily and conveniently move. A holding rod is fixed to the rotating table so that a worker can hold the holding rod to operate the device. A gas pressure generation device is arranged at the front end of the holding rod and supplies gas to a pneumatic cylinder so that the telescopic length of the pneumatic cylinder can be controlled. A support is fixed to the central position of the base. A swing rod is connected with the support through a hinge. The swing rod and the support can rotate and move relatively. Meanwhile, the tail of the telescopic pneumatic cylinder is connected with the support through a hinge, a top rod and the swing rod are connected through a hinge, and therefore movement, in the vertical plane, of the swing rod can be controlled by the telescopic pneumatic cylinder through the telescopic length of the telescopic pneumatic cylinder, and gripper jaws pick up steel through stretching and clamping.

The invention discloses an automatic film tearing and pasting machine for 3C large sheet materials. The film tearing and pasting machine comprises a workbench, an upper suction jig, a lower suction jig, a film tearing clamping jaw and an outer connecting beam. A mechanical arm is independently arranged right behind the workbench; a product table is arranged at the right side of the front end of the workbench and detachably connected with a material clamp, material sheets are stacked on the material clamp, a white film material table is arranged at the right side of the rear end of the workbench, a finished product containing area is arranged at the left side of the rear end of the workbench, and white films are stacked on the white film material table; a positioning base is arranged at theleft side of the front end of the workbench, and a right-angled notch-shaped film tearing port is formed in one corner of the rear end of an adsorption base plate of the positioning base; and a micro-motion cylinder of the positioning assembly is fixed below an upper guide hole, the telescopic end of the micro-motion cylinder is connected with a positioning needle, the outer connecting beam is ofa cross key and clamping groove structure, the upper side face and the lower side face of the front end of a main arm are connected with the upper suction jig and the lower suction jig respectively,and the film tearing clamping jaw is perpendicularly connected to the middle of the rear side face of the main arm. The film tearing and pasting machine has the effects of automatic film tearing and pasting and high-precision production of sheet-shaped products.

The invention relates to the technical field of clamps and particularly discloses a sample bottle clamping device high in sample grabbing precision, good in grabbing and clamping stability and suitable for a manipulator. The sample bottle clamping device comprises an installing base, a rotary motor arranged on one side of the installing base, an electric cylinder arranged on the other side of theinstalling base and capable of rotating under the control of the rotary motor, and a clamping jaw mechanism installed at the output end of the electric cylinder; the clamping jaw mechanism comprises acontact sensor installed at the output end of the electric cylinder and a plurality of clamping jaws annularly arranged around the contact sensor; the contact sensor is used for sending out an instruction to the electric cylinder when making contact with a to-be-grasped sample piece, and the electric cylinder is controlled to act; the various clamping jaws adapt to the shape of a connecting portion of the sample piece and the surface shape of the sample piece; and the clamping jaws are driven by the electric cylinder to be close to or away from the center of the output end of the electric cylinder so as to jointly clamp or release the sample piece.

The invention discloses an intelligent device for rapid port loading and unloading and a work method of the intelligent device. A plurality of omnidirectional wheels are fixed to the lower portion ofa support through retracting mechanisms. Two sliding rails are arranged at the upper portion of the support. The two ends of a movable platform are arranged on the two sliding rails correspondingly, and the movable platform slides on the sliding rails. The movable platform is provided with a sliding rod, the sliding rod is provided with a sliding block sliding on the sliding rod, and the sliding direction of the sliding block is perpendicular to the sliding direction of the movable platform on the sliding rail. A grabbing mechanism is connected to the lower portion of the sliding block througha steel wire rope, and an industrial camera is fixed to the grabbing mechanism. The retracting mechanisms, the movable platform, the industrial camera and the grabbing mechanism are connected with anindustrial personal computer, the industrial personal computer is connected with a communication device, and the communication device communicates with a control device through wireless signals. Theintelligent device can automatically conduct cargo container grabbing and placing, the grabbing precision is high, meanwhile, the cargo loading and unloading process can be finished without vehicle stop, the cargo loading and unloading time is greatly shortened, and the port cargo throughput is improved.

The invention relates to a flexible four-DOF (Degree of Freedom) mechanical arm, relating to mechanical arms. The flexible four-DOF mechanical arm comprises a bracket device and a pneumatic device, wherein the bracket device comprises a horizontal fixed plate, a material storage bracket, vertical brackets and fixed baseboards, wherein both sides of the horizontal fixed plate are respectively fixed with the vertical brackets through positioning pins and bolts; the bottoms of the vertical brackets are fixed with the fixed baseboards through bolts; the material storage bracket is fixed between the two vertical brackets and provided with a material storing device; the pneumatic device comprises a horizontal displacement cylinder, a vertical displacement cylinder, a rotary cylinder and a pneumatic claw, wherein the bottom of the horizontal displacement cylinder is fixed on a connecting piece; the connecting piece is fixed on the horizontal fixed plate through bolts; the bottom of the vertical displacement cylinder is fixed on one end of the horizontal displacement cylinder; the tail end of the vertical displacement cylinder is fixed with the rotary cylinder; and the rotary cylinder is fixed with the pneumatic claw through a flange. In the invention, the blocky parts or the parts with inner holes can be conveniently grabbed and arranged on specified positions, and the invention has the advantages of high grabbing accuracy and reliability and small size.

The embodiment of the invention provides a data capture method and device and relates to the field of network application technology. According to the embodiment, update content is determined based on parameter generation rules corresponding to a uniform resource locator (URL) template; the update content is utilized to update the URL template, and a to-be-captured URL is generated; the to-be-captured URL is pushed to a capture server; and the capture server is triggered to capture network data corresponding to the to-be-captured URL. Through the technical scheme in the embodiment, data capture effectiveness and accuracy are improved.

The invention discloses an omni-directional mobile hoisting and unloading two-way storage and transportation vehicle. The omni-directional mobile hoisting and unloading two-way storage and transportation vehicle comprises a vehicle frame body, transportation units, hoisting and unloading units and forking and unloading units, wherein, the vehicle frame body comprises a frame and at least one planeframe layer, and the plane frame layers are horizontally arranged in the frame and are fixedly connected with the frame; each plane frame layer is provided with a set of transportation units, and a set of hoisting and unloading units and a set of forking and unloading units are arranged on the frame corresponding to a set of transportation units; each set of transportation units comprise a firstmotor and a synchronous belt assembly; each set of lifting and unloading units comprise a rotating assembly, a lifting assembly and a lifting hook assembly; and each set of forking and unloading unitscomprises a fork frame, a sliding rail, a fixed pulley and a winding drum assembly. The storage and transportation vehicle can accurately grab, transport, store and unload multiple boxes of goods atthe same time, all actions such as grabbing, transporting and unloading can be independently completed in a narrow and small working environment, manual assistance is not needed, action is flexible, and the working efficiency is high.

The invention relates to the technical field of 3C sheet machining equipment, in particular to a multi-axis machining center with automatic feeding and discharging functions. The multi-axis machining center comprises a base, wherein a Y-axis walking device is arranged on the lower part of the base; an X-axis walking device is arranged above the base; a Z-axis walking device is arranged on the X-axis walking device; a machine head assembly is arranged on the Z-axis walking device; a Z-axis driving cylinder is arranged at the front side of the machine head assembly; an X-axis driving cylinder is arranged at the movable end of the Z-axis driving cylinder; the X-axis driving cylinder is provided with suction cup devices; the first suction cup device comprises a rotating device, an extending block, a hollow frame-shaped main body and four pneumatic suction cups; and a material frame is arranged at the front side of the base, and two inclined automatic clamps are arranged at the rear side of the base. By arranging the multi-axis drive double-station suction cup devices on the machining machine head, material machining and loading and unloading are integrated, the equipment structure is simplified, the cost is reduced, and the working efficiency is improved.

The invention provides a goods stacking system for a logistics transfer center. The goods stacking system comprises a stacking mechanism, a conveying mechanism and a bottom plate. The goods stacking system solves the problems of low stacking efficiency and high labor intensity due to the fact that the current stacking mode of package boxes is mainly manual stacking treatment, the problem that the package boxes are easily damaged, so that goods in box bodies are damaged, and the problems that some large warehouse logistics transfer centers carry out stacking treatment on the package boxes through robot arms, the package boxes need to be conveyed into the clamping ranges of the robot arms when transferring and stacking are carried out through the robot arms, and the movement tracks of the package boxes cannot be guaranteed in the conveying process, so that the to-be-clamped positions of the package boxes are deviated, the clamping stability and position correctness of the robot arms are affected, the package boxes are prone to falling, the goods in the box bodies can be damaged, the guided conveying requirements of the package boxes of different models and sizes cannot be met, and the transfer efficiency and reliability of the package boxes are affected.

The invention discloses a cell grabbing device and a hot press. The cell grabbing device comprises a translation mechanism, a lifting mechanism and a grabbing mechanism, wherein the grabbing mechanism comprises a mounting plate, a plurality of clamping jaws and at least one driving part; the mounting plate is arranged on the lifting mechanism; each clamping jaw comprises two independent clamping arms, and the two clamping arms are movably arranged on the mounting plate; the clamping jaws are horizontally arranged side by side; the driving part is arranged on the mounting plate, and the output end of the driving part is connected with the clamping arms on the same side of the clamping jaws. As the clamping arms on the same side of the clamping jaws are connected with the driving part, and the clamping jaws are arranged side by side, the driving part can simultaneously drive the clamping jaws to simultaneously grab cells. Therefore the grabbing movement is highly consistent, the grabbing accuracy is high, and out of step grabbing and grabbing deviation caused by individual drive and mounting errors are avoided. The clamping jaws of the cell grabbing device adopt unified drive. The cell grabbing device has the advantages of simple mounting structure and high grabbing stability.

The invention discloses a negative-pressure blocking miniature soft gripper which comprises a connecting piece with one end connected with a transmission device and a flexible clamping piece connectedto the other end of the connecting piece; and a clamping opening is formed in the flexible clamping piece, the clamping opening is in a U shape, an inner cavity surrounding the clamping opening is formed in the flexible clamping piece, outer cavities are symmetrically formed in the two sides of the inner cavity, the outer cavities are filled with shaping particles, and the outer cavities are connected with air pressure adjusting equipment through air pipes. The negative-pressure blocking miniature soft gripper is good in part protectiveness, and due to the fact that the negative-pressure blocking miniature soft gripper is made of a flexible material, indentations cannot be left on the machining face of a part; the grabbing precision is high, opening and closing of the clamping opening inthe flexible clamping piece are a gradual process, the operable space is large in the grabbing process, the position of the part can be better determined, and the possibility of misoperation is reduced; and the clamping effect is good, the rigidity of the clamping opening in the flexible clamping piece is gradually increased in the closing process, and reliable clamping force is provided while constraint is provided for the part.

The invention discloses a drilling method improving PCB plate counter-drilling precision. The drilling method comprises steps of first, arranging an internal layer bonding pad respectively on four plate angles of the PCB plate then pressing the PCB plate, second, capturing a black double image of the internal layer bonding pad via a drilling device, drilling a pre-drilling hole on one side via a drilling needle, and third, turning the PCB plate to the other side and capturing a white image of the pre-drilling hole via the drilling device and drilling through to form a positioning hole. The depth of the pre-drilling hole is smaller than the thickness of the PCB plate. The drilling method improves drilling precision and alignment degrees on two surfaces of the PCB plate.

The invention discloses a three-dimensional pose estimation method of a deformed object and a positioning grabbing system. The pose estimation method comprises the steps of: obtaining three-dimensional scene data of the deformed object in any deformation state, and building a scene point pair set of the deformed object according to the scene data, utilizing a pre-established three-dimensional deformation template database to obtain a template point pair set of the deformation object, and constructing a graph model according to the scene point pair set and the template point pair set, and performing optimization calculation to obtain a connection edge with the largest matching number of nodes in the graph model, and performing three-dimensional pose estimation on the deformed object according to the nodes corresponding to the connection edge to obtain pose information of the deformed object. According to the technical scheme, a three-dimensional pose estimation problem of a deformed object can be converted into an optimization calculation problem of a graph model, as long as the eigenvector corresponding to the maximum eigenvalue of the output matrix is obtained through optimizationcalculation, the relative pose of the deformed object in the scene converted into the template coordinate system can be determined, so that the pose information of the deformed object can be conveniently obtained.