43results about How to "Improve grasping accuracy" patented technology

The invention relates to a large model and small model collaborative robot operation action real-time control method and a large model and small model collaborative robot operation action real-time control system. The method comprises the following steps: firstly, collecting and preprocessing multi-modal data; carrying out data coding on the multi-modal data to obtain a feature vector; aligning the multi-modal data by using a cross-modal token alignment technology to obtain a feature representation; then training a neural network model by using the feature vector and the feature representation to obtain a trained large model; pruning, distilling and quantifying the trained large model to generate a small model; the small model is deployed to an edge computing device, the edge computing device obtains current instruction text data in real time and conducts reasoning on the current instruction text data, and an action plan of the robot is generated; and finally, the robot is controlled to operate and act in real time by means of action planning of the robot and feedback signals of the sensors. Compared with the prior art, the method has the advantages of low delay, high efficiency, capability of improving tactile perception, self-adaptive grabbing and real-time action planning and the like.

The invention discloses an automobile stamping part dynamic grabbing and boxing method and system based on a flexible manipulator, and the method comprises the steps: obtaining the three-dimensional point cloud data of a target stamping part on a conveyor belt in real time, extracting the key geometric features of the target stamping part, and determining the type, position and posture of the target stamping part; the type, the key geometric features and the posture of the target stamping part are input into a pre-trained contact point prediction model, and the contact point of the flexible manipulator is predicted; according to the position and posture of the target stamping part and the predicted contact point of the flexible manipulator, trajectory planning of the flexible manipulator is conducted, and a planned trajectory is obtained; and target stamping parts are grabbed and boxed according to the planned track of the flexible manipulator. The stamping part grabbing device can flexibly meet the grabbing requirements of stamping parts of different shapes, sizes and positions and has good adaptability to special-shaped stamping parts of complex shapes, and the grabbing precision and the boxing efficiency are improved.

The invention provides a multi-modal fusion sensing robot interaction system, and relates to the technical field of multi-modal fusion sensing, and the system comprises an information sensing unit activation module; a target area scanning module; the target position information determining module is used for determining target position information of the to-be-fetched article according to the regional image and the regional point cloud set; the article grabbing module is used for generating an article grabbing path based on the target position information to grab articles; and the article carrying module is used for collecting weight information of the grabbed articles through a pressure sensor, and if the weight information is within a preset weight interval, the grabbed articles are carried to a preset storage area. The technical problems that a traditional carrying robot usually depends on a single sensor for detection, accurate recognition and positioning cannot be effectively achieved in a complex environment, and the object grabbing precision and reliability are insufficient can be solved, more comprehensive and accurate object sensing and grabbing can be achieved, and the object grabbing efficiency is improved. And the article grabbing accuracy and reliability are remarkably improved.

The utility model relates to the technical field of mechanical arm grabbing devices, and discloses a mechanical arm feeding grabbing device based on visual positioning, which comprises a mechanical arm main body, a pneumatic bearing clamp is arranged at the grabbing hand end of the mechanical arm main body, a first CCD (Charge Coupled Device) camera is arranged on the mechanical arm main body, and a material piece to be grabbed is arranged on the side surface of the mechanical arm main body. According to the mechanical arm, the mechanical arm body is matched with the pneumatic bearing clamp, a material piece to be grabbed can be grabbed, in the grabbing process, the first CCD camera is used for photographing, a visual software processing algorithm is used, the position of the material piece to be grabbed is judged, grabbing is accurate, and then the second CCD camera conducts secondary position positioning on the grabbed material piece to be grabbed. The material position deviation coordinate information caused in the grabbing process is calculated and corrected, the grabbing precision is high, the device achieves the secondary visual positioning capacity, the grabbing precision is relatively high, and the production stability and efficiency are improved.

The invention discloses an environment-friendly operation and maintenance robot vision system, and the system comprises an image collection module which comprises a 3D camera disposed on a mechanical arm of a robot, and is used for collecting a plane image and a depth image of a target object; the image processing module is used for preprocessing the plane image acquired by the image acquisition module and transmitting the plane image to the target detection module; the target detection module is provided with a rotating target detector obtained by training based on a YOLOv8OBB network model, and is used for detecting the image transmitted by the image processing module and outputting a target frame center point, a target frame width, a target frame height and a rotating angle; the data conversion module is used for obtaining a rotation translation matrix of the target relative to the 3D camera; and the result output module is used for converting the rotation translation matrix into a relative motion matrix of the mechanical arm and outputting the relative motion matrix to a mechanical arm control unit of the robot. Based on the scheme of the invention, an efficient and accurate water quality station robot vision system can be obtained.

The invention discloses a reimbursement process management method and system based on an RPA technology. The method comprises the following steps: constructing a reimbursement system: carding and recording a reimbursement process, creating an RPA automatic process, planning an execution path of a software robot, developing the software robot to automatically grab data and identifying key information; data acquisition: uploading a reimbursement voucher, identifying and acquiring reimbursement data, and performing data cleaning and format conversion; filling reimbursement receipts: filling the converted reimbursement data into a preset template; and intelligent auditing and checking: checking and approving according to the enterprise financial system and the approval rule. Compared with the prior art, the RPA software robot has the advantages that the RPA software robot has the capability of automatically executing various processes, interacts with the system according to a set program, automatically executes the reimbursement process and replaces manual repeated work such as data entry, information processing and form filling, and compared with the prior art, the RPA software robot is higher in efficiency, fewer in error and more convenient to use.

The invention discloses an intelligent fuel system and method based on multi-machine cooperation and control of artificial intelligence, and relates to the technical field of intelligent fuel processing, and the method comprises the steps that coal is unloaded to a belt through a ship unloader; coal is conveyed to a bucket wheel machine through a belt; coal is conveyed to a coal bunker through a bucket wheel machine; and the running states of the belt and the bucket wheel machine are monitored through wireless diagnosis. According to the remote full-automatic intelligent control system for the ship unloader, the coal unloading efficiency is greatly improved, and the risk of operation accidents is reduced; according to the full-automatic unattended control system of the bucket wheel machine, the continuity and automation of storage yard operation are realized, and the labor cost is obviously reduced; the wireless equipment diagnosis and monitoring platform improves the equipment maintenance efficiency and the response speed, and reduces the downtime; the image recognition-based coal conveying belt coal blockage and overflow recognition and early warning system effectively prevents the blockage and overflow problems in the fuel conveying process, and ensures the stable operation of a production line.

The utility model provides a condenser foreign matter grabbing tool, and relates to the technical field of nuclear power equipment maintenance tools, the condenser foreign matter grabbing tool comprises a telescopic rod assembly, an electric clamping jaw, a video indication assembly and a control module, the electric clamping jaw is arranged at the front end of the telescopic rod assembly, and the electric clamping jaw is provided with at least two sets of clamping arms which can be exchanged for use and have different grabbing angles. The video indication assembly comprises a camera which is arranged at the front end of the electric clamping jaw and faces the clamping arm. The control module is electrically connected with the electric clamping jaw and the video indicating assembly so as to control operation of the electric clamping jaw and the video indicating assembly. The tool can realize video indication operation, is convenient to use, can realize single-person operation, and improves the operation efficiency. In addition, an operator can select and exchange the clamping arms with the corresponding grabbing angles according to use requirements, foreign matter clamping operation at the specific angle can be conducted in the narrow space of the condenser, the success rate of foreign matter grabbing is guaranteed, and rigid damage to a titanium tube bundle of the condenser is avoided.

The utility model relates to an automatic liquid suction device which comprises a driving device, the output end of the driving device is connected with a clamping assembly, the clamping assembly clamps a liquid suction gun, and the liquid suction gun is connected with a first storage container through a connecting pipe set. The driving equipment drives the liquid suction gun to do linear motion in the vertical direction through the clamping assembly, so that the end of the liquid suction gun is immersed into the solution in the second storage container, and then the solution in the second storage container is transferred into the first storage container through the liquid suction gun. The full-automatic barreled solution suction device can achieve full-automatic barreled solution suction, manual participation is not needed, the manual labor intensity and harm of toxic solutions to the human body are reduced, the cleanliness is high, pollution to the environment is reduced, the suction efficiency is high, and the residual quantity of sucked solution is low.

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 utility model relates to the technical field of automobile parts, in particular to a fin product array and steering collecting machine. According to the technical scheme, the device comprises a collecting table, a feeding table and push plates, the collecting table is connected with the feeding table, a conveying belt is arranged on the feeding table in a transmission mode, the push plates are arranged above the conveying belt in a sliding mode through air cylinders, work waiting positions are arranged on the conveying belt through splitter plates, a main body beam is arranged on the side of the collecting table, and the main body beam is connected with the collecting table. A horizontal arm is horizontally and slidably arranged on the main body beam, a vertical arm is vertically and slidably arranged on the horizontal arm, swing tables are rotatably arranged on the lower surface of the vertical arm at equal intervals, vacuum suction cups are arranged on the lower surfaces of the swing tables, and a stock bin is arranged on the side, away from the conveying belt, of the collecting table. According to the utility model, ordered array of fin products is realized through cooperation of structures, and suction, directional steering and accurate release of the products are realized through the suction mechanism with a multi-degree-of-freedom moving structure and the rotary swing table.

The utility model relates to the technical field of the automatic production to power board especially, it is a kind of equipment of automatic identification feed position and intelligent grabbing and assembly, it includes: feed arrangement, receives and stores spare parts temporarily;Conveying device, receives and stores box;Grabbing device, grabs, shifts and assembles spare parts in box;And identification system, to spare parts and box are automatically identified, assist grabbing device to complete the grabbing, shifting and assembly operation of spare parts;Wherein, identification system is equipped with top identification module, the top identification module is installed in the upper of feed arrangement, and the spare parts temporarily stored on feed arrangement are automatically identified, to assist grabbing device to carry out intelligent grabbing operation to spare parts.Summarized above, through multiple identification module accurate positioning spare parts, feed conveying structure optimization, reliable gripping jaw assembly grabs assembly, effectively improve grabbing efficiency, assembly quality, reduce manual intervention, reduce cost, enhance equipment applicability and competitiveness.

The utility model belongs to the technical field of aerial operation devices, and provides an aerial operation device with an active retractable hook, which comprises a carrier, a telescopic module and an active grab hook module, the active claw hook module is connected below the carrier through the telescopic module; the telescopic module comprises a traction piece and a storage assembly, the storage assembly is installed below the carrier, and the traction piece extends outwards from the interior of the storage assembly until the traction piece is connected with the active claw hook module; a power balance assembly is installed above the active grappling hook module, and the power balance assembly dynamically levels the active grappling hook module, so that the grabbing precision of the active grappling hook module is improved. The carrier and the active grab hook module are connected through the telescopic module, when the active grab hook module grabs an object, the active grab hook module swings under the influence of airflow and the like below the carrier, the power balance assembly is installed above the active grab hook module, and accurate grabbing operation is achieved.

The utility model provides a kind of feeding and discharging device applied to numerical control machine tool, comprising: main body mechanism, set in use ground, and with numerical control machine tool adjacent arrangement;For steel sleeve carding and conveying, feed mechanism is set on main body mechanism;For supporting feed mechanism, transplanting mechanism is set on main body mechanism;For the steel sleeve conveyed by feed mechanism is placed into numerical control machine tool after being grabbed, and the handling mechanism that the steel sleeve processed by numerical control machine tool is extracted, is set on transplanting mechanism;The feeding and discharging device for numerical control machine tool proposed in the utility model does not need to operate personnel arm to stretch into the numerical control lathe inside of high-speed operation, can avoid mechanical injury accident risk, completely solve the security risk of artificial feeding and discharging.

The invention relates to a ball head rod disordered grabbing method based on 3D vision, belongs to the technical field of robot operation and automatic manufacturing, and particularly relates to a workpiece pose estimation method based on combination of YOLOv8 and Triplet Attention modules, which is used for disordered grabbing tasks in complex scenes. According to the method, the color and depth images of the workpiece are acquired through the RGB-D camera, and the efficient lightweight Triplet Attention module is introduced, so that the processing speed and precision of the model on the target detection and segmentation task on the mobile terminal equipment are remarkably improved. And the Triplet Attention module enhances the space attention mechanism of the model through three-way rotation convolution operation on the features, so that the detection and segmentation precision is remarkably improved. The segmented mask region is applied to the depth image, corresponding point cloud data are extracted, and six-degree-of-freedom pose estimation is carried out by using a normal consistency optimization (NDT) algorithm. The NDT algorithm is excellent in processing noise and partially shielded scenes. Experimental results show that compared with an original YOLOv8 model, the model added with the Triplet Attention module is improved in segmentation precision and recognition accuracy. The method has high accuracy and robustness in the aspects of workpiece recognition and pose estimation, and is suitable for real-time industrial application scenes.

This utility model relates to the field of fruit processing technology, and in particular to a high-efficiency peeling and pitting device for fruit processing, including a fixed plate; it also includes a fruit positioning block and a peeling and pitting assembly; a support frame is fixedly connected to the lower end of the fixed plate, a mounting frame is fixedly connected to the upper end of the fixed plate, the peeling and pitting assembly is provided on one side of the fixed plate, the fruit positioning block is fixedly connected to the upper end of the fixed plate, a first telescopic cylinder is fixedly connected to the lower end of the fixed plate, and a movable plate is fixedly connected to the output end of the first telescopic cylinder; this device works by placing the fruit on the fruit positioning block, activating the first telescopic cylinder, which drives the movable plate to slide, the movable plate to move the toothed plate, the toothed plate to rotate the gear, thereby causing the two sets of movable plates to move together, the movable plate to move the connecting plate, and the connecting plate to move the V-shaped clamping block, thereby clamping and fixing the fruit, preventing the fruit from slipping or shifting position during the gripping process, improving gripping accuracy, processing quality and efficiency.

The present invention relates to the technical field of chip testers, and specifically to a method for improving the accuracy of signal capture in a chip tester. The method is characterized in that it includes the following steps: S1, taking an ideal change point; S2, taking a sample point, performing a detection scan on each sample point and the ideal change point respectively, and recording each detection scan result; S3, repeating step S2 multiple times; S4, establishing a statistical data model; S5, obtaining a real change point; S6, repeating steps S2-S5; S7, calculating the overall deviation time ∆t of the signal; S8, compensating the overall deviation time ∆t at the signal input end. Compared with the prior art, all points within a time period are taken, and all points are scanned multiple times at multiple points to obtain the positions of several real points, and then the average of several real points is taken to cover the changes of the signal at various positions within a period, fully considering the distribution of the signal, obtaining the precise position of the signal change for compensation, thereby improving the signal capture accuracy.

The application discloses a multi-modal depth perception and grasping system based on transparent objects, and relates to the field of robot operation, comprising a multi-spectral perception module, a depth correction module, a grasping posture generation module and a control module. The application comprehensively acquires visual information and thermal radiation information of the transparent object by combining two perception methods of RGB-D image and thermal imaging (TIR) image, and analyzes systematic errors of the depth map to detect error sources of the RGB-D camera and the TIR camera. The system adopts an encoder-decoder model as a depth correction core, the model extracts complementary features of the RGB-D image and the TIR image through a modal exclusive encoder, and utilizes a feature fusion module to complete feature alignment and integration, thereby effectively improving the depth estimation accuracy on the transparent surface. Meanwhile, a Bayesian optimization method is adopted to optimize hyperparameters of the depth correction model, through hyperparameter optimization and model fitting processing, the system effectively avoids overfitting and underfitting problems, and further improves the robustness of the depth correction model and the grasping accuracy of the transparent object.

An embodiment of the present invention provides a hook-lifting robot for railway hump operations, which relates to the field of railway operation robots. The hook-lifting robot for railway hump operations includes: a track, a walking mechanism and a mechanical arm; the walking mechanism is installed on the track, and the mechanical arm is connected to the walking mechanism; the track includes a main rail and a secondary rail arranged parallel to the main rail; the walking mechanism includes a secondary rail wheel set and a walking chassis that cooperate with the secondary rail; by laying the track, walking on uneven ground is avoided, thereby significantly improving the operation stability and accuracy. The setting of the track ensures that the walking mechanism always remains stable during walking, reducing the risk of grasping failure caused by potholes on the ground. In addition, the fixed wheels and the movable wheels roll smoothly on the track, which further improves the efficiency and reliability of the robot in the hook-lifting operation, optimizes the overall operation process, and enhances safety.

This invention relates to the field of robotic arm control technology, specifically a control system and method for a chemical emergency robotic arm based on intelligent perception. The system includes: a data acquisition unit for collecting environmental data from a chemical scenario and obtaining an initial depth image of the target area of ​​the chemical equipment to be operated; performing multi-sensor fusion processing on the environmental data and the initial depth image to obtain corresponding gas concentration information, obstacle location information, and image data of the target area; and a hazard assessment unit for inputting the gas concentration information, obstacle location information, and the current posture information of the robotic arm into a hazard assessment model to obtain the corresponding operational hazard level and the distance to the nearest obstacle. This invention uses a target recognition model to accurately obtain the location information of the target area and combines this with data such as the operational hazard level and obstacle location information to generate obstacle avoidance paths and operational instructions. This enables the robotic arm to intelligently avoid obstacles in complex environments while ensuring smooth operation.

The invention relates to a flexible feeding mechanism for diamond compact processing, and belongs to the technical field of diamond compact sorting, the flexible feeding mechanism comprises a charging tray, a rectangular frame is arranged in the charging tray, the rectangular frame comprises a plurality of transverse plates and vertical plates, the transverse plates are parallel to one another, the vertical plates are parallel to one another, and the length direction of the transverse plates is perpendicular to the length direction of the vertical plates; the transverse plate and the vertical plate are staggered and located on the same plane, the transverse plate and the vertical plate are both in a long strip shape, the height direction of the transverse plate and the height direction of the vertical plate are perpendicular to the bottom face of the charging tray, a containing groove used for containing the transverse plate and the vertical plate is formed in the bottom wall of the charging tray, and the rectangular frame is arranged in the containing groove in a sliding mode and slides in the direction perpendicular to the bottom wall of the charging tray. A first driving part used for driving the rectangular frame to slide is arranged on the charging tray; adjusting pieces are arranged on the plate faces of the transverse plate and the vertical plate and used for acting on the edges of the diamond compacts, so that the overlapping area of the overlapped diamond compacts is increased. The diamond compact grabbing device has the effect of improving the diamond compact grabbing precision.

This utility model relates to the field of forging press technology, and in particular to a high-precision center-positioning fast forging press. Technical solution: The high-precision center-positioning fast forging press includes a forging press and a positioning and feeding assembly. A positioning and feeding assembly is located at the front of the forging press. This utility model uses a second lifting cylinder below both ends of an anti-slip clamping plate to drive its lifting and lowering. The descending anti-slip clamping plate presses down and clamps one end of the workpiece above the feeding table. Combined with a lifting screw mechanism and a horizontal adjusting screw rail to adjust the position of the horizontal adjusting suction cup, the suction cup descends to vacuum-adhere and grab the workpiece. The precise transmission characteristics of the screw are used to achieve the workpiece positioning function during material grabbing, thus ensuring the placement accuracy of the workpiece when it is transported to the forging press station by the suction cup.

The application provides a kind of object scanning data correction method, grabbing system control method, grabbing system and computer readable storage medium, wherein the object scanning data correction method includes: obtaining the scanning data of a feature surface in an object, the object has an ideal shape, under the ideal shape, the scanning shape of the feature surface is a closed figure, and there is no acute angle in the internal angle of the closed figure;The scanning data is converted into a plan view by vertical projection;Obtain the inscribed figure of the feature surface plan view of the object, the inscribed figure is similar to the shape of the feature surface in the ideal shape of the object;Calculate to obtain a correction model, the correction model is similar to the ideal shape of the object.The embodiments of the application utilize the inscribed figure similar to the ideal shape of the object to calculate and obtain the correction model of the object, and the correction model is used for subsequent processing process.The correction model can overcome the problem of inaccurate positioning and shape deformation edge corner loss, and improve the accuracy of object scanning data.

The utility model relates to the technical field of facial mask processing, and discloses a facial mask grabbing and placing mechanism which comprises an operation table, conveying equipment is fixedly connected to the bottom of the inner side of the operation table, placing equipment is installed at the bottom of the inner side of the operation table, and a moving machine is fixedly connected to the top of the inner side of the operation table. The bottom of the moving machine is fixedly connected with an air cylinder, the output end of the air cylinder is fixedly connected with a servo motor, the outer wall of the servo motor is fixedly connected with supporting rods, and the bottom ends of the two supporting rods are fixedly connected with a chassis. According to the mask cleaning device, the masks are comprehensively adsorbed through the multiple suction cups, the servo motor is started to drive the rubbing plate to repeatedly rub the bottoms of the adsorbed masks, redundant masks adsorbed to the bottoms can be conveniently removed through cooperation with the contact ring at the bottom of the base plate, and the surface of conveying equipment is cleaned through the cleaning brush and the first spring; stains are prevented from being attached to the surface of the mask.

The utility model relates to a machine frame turning positioning device, which belongs to the technical field of machine frame processing, and comprises a bottom plate, sliding rods are fixedly arranged on two sides of the bottom plate, a top plate is fixedly arranged at the top ends of the two sliding rods, an infrared sensor is arranged in the center of the top plate, and the infrared sensor is arranged on the bottom plate. A clamping base is arranged between the two sliding rods, a plurality of arc chucks are concentrically arranged on the upper side of the clamping base in a sliding mode, pushing assemblies for driving the arc chucks to move concentrically are arranged on the side wall of the clamping base, and a lifting rotating mechanism for driving the clamping base to lift and rotate is arranged on the upper side of the bottom plate. The position of the hole in the machine frame is recognized through the infrared sensor above the machine frame, so that the machine frame is automatically positioned, and the subsequent grabbing precision of a mechanical arm is conveniently improved.

A system and method for moving a payload, the system comprising: an aircraft device having a housing provided with one or more air propulsion units; the housing of the correction device is provided with one or more air propulsion units configured to enable the correction device to move relative to the aircraft device, the housing of the aircraft device and the housing of the correction device are coupled to each other through a telescopic flexible connecting rod, the correction device is provided with a docking module, and the docking module is used for docking the aircraft device and the correction device. The docking module is mounted on at least one or more retractable rigid connecting rods and configured to be removably coupled to a housing of a payload, and the system further includes a control device configured to vary the extent of extension of the flexible connecting rods and to vary the extent of extension of the rigid connecting rods.

The invention relates to the technical field of manipulator control, in particular to a chemical emergency manipulator control system and method based on intelligent perception, and the system comprises a data collection unit which is used for collecting the environment data of a chemical scene, and obtaining an initial depth image of a target region of to-be-operated chemical equipment; performing multi-sensor fusion processing on the environment data and the initial depth image to obtain corresponding gas concentration information, obstacle position information and image data of the target area; and the danger evaluation unit is used for inputting the gas concentration information, the obstacle position information and the current posture information of the manipulator into a danger evaluation model to obtain a corresponding operation danger level and a nearest obstacle distance. According to the method, the target recognition model is adopted to accurately obtain the position information of the target area, and the obstacle avoidance path and the operation instruction are generated in combination with data such as the operation danger level and the obstacle position information, so that the manipulator can intelligently avoid obstacles in a complex environment, and meanwhile, smooth operation is ensured.

The present invention relates to the technical field of clamps, and specifically discloses a sample bottle clamping device with high sample grabbing accuracy, good clamping stability and suitable for a manipulator. The sample bottle clamping device comprises a mounting seat, a rotating motor arranged on one side of the mounting seat, an electric cylinder arranged on the other side of the mounting seat and rotating under the control of the rotating motor, and a clamping claw mechanism installed at the output end of the electric cylinder. The clamping claw mechanism comprises a contact sensor installed at the output end of the electric cylinder and a plurality of clamping claws arranged in a ring around the contact sensor. The contact sensor is used to send instructions to the electric cylinder when contacting a sample to be grasped, and control the movement of the electric cylinder. The shape of the connecting part between each clamping claw and the sample is adapted to the surface shape of the sample. Each clamping claw is respectively driven by the electric cylinder to approach or move away from the center of the output end of the electric cylinder to clamp or release the sample together.

The present invention relates to the field of chip manufacturing technology, and in particular to a chip automatic suction placement detection device and detection method, including a base, a mobile device, a gripping device, a detection device, and a control module. The control module adjusts the action of the mobile device according to the chip position detected by the detection device. The mobile device moves to a first preset position, and the control module controls the gripping module to grip the chip and move it to a second preset position. The control module controls the gripping module to place the chip at the preset position. The detection module detects whether the chip placement position meets the preset requirements. If the preset requirements are met, the current gripping work ends. If the preset requirements are not met, the control module controls the gripping module to grip and place the chip again until the preset requirements are met. The present invention adds a detection device and intelligent control to the chip gripping device, so that the gripping and calibration of the chip can be intelligently detected and corrected.

The invention discloses a logistics stacker crane for carrying logistics packages, and belongs to the field of logistics. A logistics stacker crane for carrying logistics packages comprises a portal frame used for being fixed to the top of a storage space for carrying the logistics packages, a driving assembly is fixedly installed at the output end of the portal frame and comprises a lifting motor, the output end of the lifting motor is fixedly connected with a driving wheel, and a traction rope is wound around the outer portion of the driving wheel; the lower portion of the traction rope is fixedly connected with a mechanical claw used for grabbing and clamping logistics packages. Through combination of the top portal frame and the lifting system, efficient parcel carrying and stacking are achieved. The portal frame is fixed to the top of the storage space to control transverse and longitudinal positioning of the gripper, and the space utilization rate is increased. The lifting system drives a traction rope through a lifting motor to control a mechanical claw to move up and down, and grabbing and stacking of packages are ensured. And in order to prevent the traction rope from shaking, a movable column and linkage plate structure is designed, stable supporting is provided, and therefore the grabbing precision and the overall working efficiency are improved.