278results about How to "Improve motion stability" patented technology

The invention relates to the field of robot attitude control, in particular to a robot attitude control method and system based on intelligent recognition. The method comprises the following steps: continuously acquiring a real-time sandbox scene video stream based on a high-definition camera; and carrying out time sequence frame segmentation on the real-time sandbox scene video stream, and carrying out global contrast enhancement processing to obtain a global contrast optimization image sequence. Carrying out dynamic object identification on the global contrast optimization image sequence, and carrying out continuous frame optical flow motion tracking to generate a dynamic object optical flow change track; optimizing the image sequence according to the global contrast to extract scene ground and scene obstacle data; performing dynamic trajectory rendering on the scene ground and scene obstacle data based on the dynamic object optical flow change trajectory so as to construct a dynamic scene twinborn model; robot position posture parameters and user operation instructions are recognized. According to the invention, timely attitude adjustment response and accurate movement position control are realized.

The invention discloses a quadruped robot autonomous decision control system based on multi-modal perception, and belongs to the technical field of robot motion, and the system specifically comprises the steps: collecting visual, force and sound information through multiple sensors of a camera, a force sensor and a microphone array, and carrying out the preprocessing; according to the processed information, a diagonal gait, leg track and motion path planning scheme is generated by adopting a motion planning strategy; generating a specific control instruction to drive the robot to move, and monitoring and adjusting in real time; after the task is completed, the motion performance of the robot is evaluated, and a motion planning and control method is optimized according to an evaluation result; the autonomous motion ability and adaptability of the quadruped robot in a complex environment are improved.

The invention provides a quadruped robot control method and system based on reinforcement learning and a composite model, relates to the technical field of robot automatic control, and introduces multiple control modes (a wheel type mode, a foot type mode and a wheel-foot composite mode) to realize efficient passing of multiple terrains. A reinforcement learning method is used for replacing traditional model prediction control, the complexity of a control system is greatly simplified, the real-time response capability to a dynamic environment is enhanced, a composite model optimization controller further optimizes speed distribution through quadratic programming so as to ensure the optimal speed and stability performance, a user can manually switch a control mode, and the control efficiency is improved. The requirements of different task scenes, such as patrol, rescue and transportation tasks of complex terrains, are met; the invention shows excellent passing efficiency and energy consumption performance in experiments, especially in the aspect of smoothness of terrain transition and multi-mode switching.

The invention discloses an underwater robot intelligent control method and system based on deep learning, and relates to the technical field of underwater obstacle avoidance of underwater robotics.The method comprises the steps that a deep learning calibration model is established through a deep learning algorithm, and the avoidance rate index BrsL in the underwater robot avoidance process is constructed; the ocean current speed and direction of the area where the underwater robot is located and the real-time vertical descending depth, the underwater temperature value and the submerging seawater pressure value of the propeller in the obstacle avoiding process are monitored and monitored, an ocean current influence index YL and a relative strength index Xd are calculated and evaluated, and the ocean current influence index YL and the relative strength index Xd are evaluated; if a multi-stage calibration control strategy of the first calibration instruction and the second calibration instruction is triggered, the power of the propeller and the posture of the underwater robot are adjusted, and timely adjustment is carried out according to the change of the vertical descending depth so as to adapt to the ocean current environment, and it is guaranteed that the underwater robot stably moves in the obstacle avoidance process.

The invention discloses a snake bone joint, a flexible joint assembly, a surgical operation arm and a surgical robot. The snake bone joint comprises two snake bone bases which can rotate based on respective pivots, the two pivots are parallel and have a constant distance, and the snake bone joint further comprises a first limiting structure and a second limiting structure which are arranged between the two snake bone bases. The first limiting structure comprises a first protrusion and a first groove which make contact with each other, the first protrusion is arranged on one snake bone base part, and the first groove is formed in the other snake bone base part. The second limiting structure comprises a second bulge and a second groove which are in contact with each other, the second bulge is arranged on one snake bone base part, and the second groove is arranged on the other snake bone base part; the pivot of one snake bone base is a first pivot, and the vertical distance between the first protrusion and the first pivot is larger than the vertical distance between the second protrusion and the first pivot. Therefore, the snake bone joint has the advantages of being high in bending precision and high in load deformation resistance.

The invention discloses a stacked mixed type flexible continuum surgical instrument. The stacked mixed type flexible continuum surgical instrument comprises a flexible continuum module and an end effector module connected with the flexible continuum module. The outer layer of the bending part of the flexible continuum module is provided with stacked and staggered rotational joints, the inner layer of the bending part of the flexible continuum module is provided with a notch type flexible framework which is integrally cut and processed, and gaps formed by stacking the rotational joints of the outer layer correspond to notches of a notch type flexible framework body one by one; rotating shafts between the rotating joints on the outer layer are in one-to-one correspondence with strain center shafts of the bent beams of the notch type flexible framework; and the bending part driving wires of the flexible continuum module are uniformly arranged in the circumferential direction of the side wall of the rotating joint. On the premise that more flexible operation freedom is guaranteed, the motion precision, the motion stability and the axial rigidity are improved, more accurate wire driving control is achieved, and meanwhile good flexibility and strength balance is achieved.

The invention discloses a robot mechanical arm joint motion track planning and motion control method. The method comprises the steps that S1, high-precision vibration sensors are installed on a pipe joint and an end effector of a mechanical arm and calibrated; s2, starting a vibration sensor, collecting vibration data of each part in real time, and transmitting the data to a control system; s3, the control system carries out real-time calculation and analysis on the vibration data, and vibration abnormity of the mechanical arm in the operation process is recognized; s4, the mechanical arm is adjusted in real time according to the analysis result, and the stability and precision of the mechanical arm are guaranteed; and S5, storing related data of machine operation and adjustment, thereby facilitating later learning use. Through the technical means of the high-precision vibration sensor, real-time data acquisition and analysis, real-time adjustment, data storage and the like, the vibration condition of the mechanical arm can be monitored in real time, and the movement precision and stability of the robot mechanical arm are remarkably improved.

The invention discloses a line drive type biped robot leg structure which comprises a thigh support, a knee joint motor is arranged at the lower end of the thigh support, a shank support is connected to an output shaft of the knee joint motor, a foot assembly is movably connected to the lower end of the shank support and comprises a foot fixing piece, and a heel is connected to the rear portion of the foot fixing piece. The heel is connected with a line driving structure, the line driving structure comprises a first ankle joint motor, a second ankle joint motor, a first driving line wheel, a second driving line wheel, a first ankle joint line wheel and a second ankle joint line wheel, and a first transmission line is arranged between the first driving line wheel and the first ankle joint line wheel; a second transmission line is arranged between the second driving line wheel and the second ankle joint line wheel, a first crank swing rod structure is arranged between the first ankle joint line wheel and one side of the heel, and a second crank swing rod structure is arranged between the second ankle joint line wheel and the other side of the heel. The device has the advantages of being simple in structure and good in adaptability.

The invention provides a main shaft structure which comprises a pipeline disc, a rear end seat, a shaft core, a water retaining ring and a rear shaft core end cover, the rear end seat is located on the periphery of at least part of a shaft section of the shaft core, the pipeline disc and the rear end seat are arranged at intervals in the axial direction, and the water retaining ring is further arranged between the pipeline disc and the rear end seat. At least part of the structure of the water retaining ring is located on the periphery of at least part of the structure of the shaft core, the rear shaft core end cover is arranged at the axial upper end of the shaft core, a containing cavity is formed in the upper end of the rear shaft core end cover, a water outlet hole is formed in the water retaining ring, and the water outlet hole is located below the containing cavity and can be communicated with the containing cavity. Water in the containing cavity can be discharged out of the main shaft structure through the water outlet hole. Water can be effectively prevented from entering the motor at the lower end of the spindle structure, the waterproof sealing effect on the motor of the spindle structure is achieved, and the problem that in the prior art, water easily enters the motor of an electric spindle, and potential safety hazards are caused is solved.

The invention discloses an integral type bearing seat and a machining process thereof, and relates to the technical field of sand mill bearing seats, and the integral type bearing seat comprises a fixed end cover, a movable end cover, a transmission shaft and a sealing assembly. The invention further discloses a machining process of the integral bearing seat. The machining process comprises the following steps of part machining, part assembling and product detecting. The fixed end cover and the movable end cover are arranged, the sealing assembly is arranged in the middle of the movable end cover, sealing between the sealing assembly and the transmission shaft can be achieved through a third-stage sealing ring in the sealing assembly, and sealing between the sealing assembly and the movable end cover can be achieved through a second-stage sealing ring in the sealing assembly; the first-stage sealing ring in the sealing assembly can achieve sealing between the filler seat and the sealing seat, sealing is conducted between the sealing assembly and the transmission shaft, between the sealing assembly and the movable end cover and between the filler seat and the sealing seat, the sealing effect of the bearing seat is guaranteed, and the service life of the bearing seat is prolonged.

The invention discloses a method and a device for positioning in-canopy visual touch fusion safe movement of a rigid-flexible hybrid mechanical arm. The method comprises the following steps of: dividing various heterogeneous objects in a fruit tree canopy into avoidance targets and compliance targets; for an avoidance target, the dynamic characteristics of the avoidance target are used as obstacles, and a dynamic path is planned, so that the rigid-flexible hybrid mechanical arm strictly avoids the target; for a compliance target, the rigid-flexible hybrid mechanical arm goes deep into a fruit tree canopy and makes contact with the compliance target, integrated joint tension / tension obtained by tension / tension sensors on the flexible arm and corresponding integrated joint theoretical tension / tension are used for making difference, error signals are generated, feedback adjustment is conducted on the error signals of the driving rope, and then the compliance target is obtained by controlling a tension / tension disc type motor. And the rope length of the driving rope is dynamically adjusted, the flexible arm is driven to generate a dynamic bending deformation angle, and the flexible and smooth movement of the rigid-flexible hybrid mechanical arm when the rigid-flexible hybrid mechanical arm makes contact with a compliant target is achieved. The method is widely suitable for autonomous continuous planning of the rigid-flexible hybrid mechanical arm in various fruit tree complex canopy scenes.

The utility model discloses a ball spline ZR shaft mounting head, and belongs to the technical field of precision chip processing. The ball spline ZR shaft mounting head comprises a bottom plate, and a linear sliding block module is fixedly mounted on the surface of the bottom plate. According to the ball spline ZR shaft mounting head, the Z-axis synchronous wheel assembly rotates, so that the synchronous belt pressing block moves along with the Z-axis synchronous wheel assembly and drives the suction nozzle rod support to move, then the spline housing assembly and the suction nozzle move in the direction of a precision chip, and the R-axis stepping motor works to drive the R-axis synchronous wheel assembly to move; the suction nozzle rod synchronous belt wheel moves and drives the suction nozzle to rotate, at the moment, a vacuum pump air pipe is connected into the air pipe rotating joint, air flow reaches the suction nozzle through the ball spline shaft for vacuumizing, so that the precision chip is sucked, the movement stability of the Z axis is high, and the precision of sucking the precision chip by the suction nozzle is high; not only is the suction rate of the precision chip improved, but also the processing efficiency of the precision chip is improved.

The invention discloses a Z-axis motion platform and a use method. Wherein the Z-axis motion platform comprises a bottom plate, an adsorption mechanism, a jacking mechanism, a guide mechanism and a driving mechanism; the adsorption mechanism comprises an electrostatic chuck, the jacking mechanism can move in the Z-axis direction and is used for jacking off a wafer on the electrostatic chuck, the driving mechanism is used for providing moving driving force for the jacking mechanism, and the guiding mechanism is arranged between the jacking mechanism and the bottom plate and is used for guiding when the jacking mechanism moves in the Z-axis direction; the guide mechanism comprises a fixed support, a sliding block, a sliding rail, an elastic piece and a movable support. The fixed support is connected with the bottom plate, the sliding block or the sliding rail is fixed to the fixed support, the movable support is connected with the jacking mechanism, the sliding rail or the sliding block is fixed to the movable support, and the elastic piece is used for providing reset force for the movable support to move to the low position. The Z-axis motion platform has the advantages of being high in motion precision, good in stability, low in installation and adjustment difficulty, small in mass and the like, and the problems of motion clamping stagnation, low return speed and the like can be prevented.

The invention belongs to the technical field of path planning, and particularly relates to a caragana microphylla stumping mobile platform path planning method and a planning system thereof. On the basis of an A * algorithm, a grid fixed distance is improved in combination with operation requirements, a dynamic weight and a corner optimization function are introduced to complete global path planning of the caragana microphylla stumping mobile platform, the improved algorithm improves the operation efficiency, and the overall motion stability of the caragana microphylla stumping mobile platform is improved. The device is used for solving the problem that the stumping effect is poor in the caragana korshinskii stumping operation environment with changeable terrains and complex obstacles. The robot can adapt to the working environment with changeable terrains and complex obstacles in shallow mountains and hills.

The invention relates to the technical field of unmanned aerial vehicle launchers, in particular to a marine unmanned aerial vehicle launcher. The marine unmanned aerial vehicle launcher comprises a supporting frame, a bottom bracket, a telescopic piece, an angle adjusting assembly, a lifting frame, a front supporting assembly and a rear supporting assembly. The two ends of the telescopic pieces are rotationally connected with the supporting frame and the bottom bracket correspondingly, and the multiple telescopic pieces are arranged at intervals; the angle adjusting assembly is arranged on the bottom bracket and is in transmission connection with the lifting frame; the front supporting assembly and the rear supporting assembly are arranged on the lifting frame at intervals in the length direction of the lifting frame, and the front supporting assembly and the rear supporting assembly are both used for being connected with the unmanned aerial vehicle. The front supporting assembly locks or releases the lug rods through the lock catches, so that the levelness of the bottom bracket can be adjusted by adjusting the lengths of the multiple telescopic pieces, it is guaranteed that the levelness of the bottom bracket is within the set range, and therefore the launching accuracy of the unmanned aerial vehicle is guaranteed.

The utility model discloses a scanner for animal specimen restoration or fossil restoration, belongs to the technical field of three-dimensional scanning equipment, and provides a scanner which is used for animal specimen restoration or fossil restoration and is easier to use, the scanner comprises a base, a suspension mechanism is arranged on the base and is used for suspending an object needing to be scanned, and the suspension mechanism is arranged on the base. The base is fixedly connected with a rotating mechanism, the output end of the rotating mechanism is fixedly connected with a horizontal telescopic rod, the movable end of the horizontal telescopic rod is fixedly connected with a vertical telescopic rod through an adapter block, the movable end of the vertical telescopic rod faces upwards and is connected with a swing mechanism, and the swing mechanism is provided with an acquisition terminal; the acquisition terminal is suitable for acquiring surface structure information of a suspended object. According to the utility model, the data acquisition terminal is arranged at the tail ends of the rotating mechanism, the horizontal and vertical telescopic mechanism and the swinging mechanism, so that the acquisition terminal has flexibility which is not inferior to that of hand holding, manpower is liberated, and a worker can scan animal specimens or fossils more easily.

The utility model relates to the field of spiral transmission, in particular to a spiral anti-backlash sleeve, a transmission assembly and a solar device. The spiral anti-backlash sleeve comprises a first sleeve body and a second sleeve body which are coaxially arranged, threads with the consistent thread pitch are arranged on the circumferential faces of the first sleeve body and the second sleeve body, the first sleeve body is provided with a first guide rail part, the second sleeve body is provided with a second guide rail part, and an elastic piece is arranged between the first sleeve body and the second sleeve body; the bearing and guiding piece comprises at least one connecting position used for being connected with an external driving component; the first sleeve and the second sleeve of the guide bearing piece are movably connected; the device further comprises an anti-disengaging part which is fixedly connected with the bearing and guiding piece and used for limiting the movement range of the first sleeve and the second sleeve. The screw drive assembly is provided according to the drive sleeve. Finally, the solar device is provided according to the spiral transmission assembly. The spiral spline has the beneficial effects that the spiral transmission stability is improved while the transmission gap of the spiral spline is reduced.

The utility model provides a silica cleaning device which comprises a driving roll shaft and an auxiliary roll shaft, a stainless steel mesh conveying belt is wound on the driving roll shaft and the auxiliary roll shaft, an arc-shaped baffle is arranged on one side of the auxiliary roll shaft, and two inclined baffles are welded to the rear end of the arc-shaped baffle. A first branch pipe, a second branch pipe and a third branch pipe are arranged on the upper portion of the driving roller shaft and the upper portion of the auxiliary roller shaft at equal intervals, and spraying heads are arranged on the lower portion of the first branch pipe, the lower portion of the second branch pipe and the lower portion of the third branch pipe at equal intervals respectively. And then silica is flushed through a first branch pipe, a second branch pipe and a third branch pipe, through the arrangement of an arc-shaped baffle and an inclined baffle, soil and gravel can be conveniently discharged and cannot enter the position below the driving roller shaft, and the movement stability of the driving roller shaft and the stainless steel mesh conveying belt is improved.

The embodiment of the invention provides a robot position monitoring method and device, equipment and a storage medium. Comprising the steps that current position information and storage position information of a target robot are obtained, and torque information between a target robot body and a rotary table is obtained; determining a first synchronization result according to the current position information and the storage position information, and determining a second synchronization result according to the torque information; and when the first synchronization result and the second synchronization result are both position synchronization, determining that the position monitoring result of the target robot body and the rotary table is position synchronization. Mechanical motion can be converted into electric signals through the absolute value encoder, the control system can accurately master the motion state of each shaft by reading the signals, and therefore cutter collision, carving errors and personal injury are avoided. And the absolute value encoder is used for synchronously judging the position and synchronously judging the position based on the moment information, so that the accuracy of position synchronous monitoring is further ensured.

The snakelike robot for operation in the deep and narrow environment comprises a snakelike mechanical arm and a snakelike mechanical arm control box, the snakelike mechanical arm comprises a snakelike mechanical arm body, and the snakelike mechanical arm body comprises a head joint, a tail joint and a plurality of middle joints; the multiple middle joints are connected between the head joint and the tail joint through the universal joints, and the driving ropes are used for penetrating through the rope passing holes to be fixedly connected with the corresponding middle joints and used for controlling the corresponding middle joints. The snakelike mechanical arm control box comprises a plurality of linear driving units arranged on a driving unit frame, and each linear driving unit is used for driving one driving rope to do contraction or relaxation motion. The linear driving unit comprises a driving motor, a motor flange, a supporting column, a coupler, a lead screw lower base, a driving lead screw, a driving optical shaft, a linear bearing, a driving lead screw nut, a nut base, a tension sensor, a driving rope fixing clamp and a lead screw upper base. The problems that a traditional snakelike industrial robot is small in working range and insufficient in overall rigidity are solved.

The invention relates to an autonomous cleaning and deicing method and system based on a multifunctional mechanical arm, and the method comprises the steps: obtaining the icing state information and surrounding environment information of a high-voltage power transmission line, and determining a cleaning strategy which comprises a water gun parameter and a mechanical arm motion parameter; the mechanical arm and a high-pressure water gun at the tail end of the mechanical arm are driven to deice based on the cleaning strategy, water gun parameters and mechanical arm motion parameters are monitored in real time in the deicing process, and the real-time water gun parameters and the real-time mechanical arm motion parameters are obtained; and calculating water spraying reaction force corresponding to the real-time water gun parameters, performing motion compensation on the mechanical arm based on the water spraying reaction force, and meanwhile, adjusting and controlling the real-time mechanical arm motion parameters until deicing is finished. According to the invention, accurate and efficient cleaning of ice coated on the high-voltage transmission line can be realized.

The invention belongs to the technical field of path planning and robot motion planning, and particularly relates to a multi-strategy fusion improved RRT * sampling planning method and device and a storage medium, and the method comprises the steps: constructing a dual-search tree through a starting point and a target point in a three-dimensional working space, and selecting a to-be-expanded search tree through a random mode; halton-Bridge mixed sampling is adopted to generate sampling points, so that the global coverage uniformity is improved, and the narrow channel sampling capability is enhanced; calculating the dynamic step length of the exponential decay based on the local obstacle proportion; adopting a hierarchical guidance expansion strategy, preferentially expanding towards a target, introducing an improved artificial potential field to guide expansion when the expansion fails, and taking the bottom with random expansion; performing RRT * neighborhood father node reselection and reconnection optimization on the new node; greedy pruning, self-adaptive interpolation and cubic B-spline smoothing are carried out on a path after the double trees are connected, and an executable smoothing track is output; according to the scheme, planning efficiency, success rate and path quality are improved.

The utility model discloses a precise plastic mold capable of quickly demolding. The precise plastic mold comprises a top plate, a front mold plate, a rear mold plate, a bottom plate, a rotary core-pulling assembly and an ejector pin assembly, a cavity insert is arranged at the bottom of the front mold plate, a core insert is arranged at the top of the rear mold plate, a forming cavity used for injection molding of a product is formed between the cavity insert and the core insert, and the rotary core pulling assembly is arranged in the forming cavity and comprises a push-pull air cylinder, a straight rack, an arc-shaped rack, a rotating shaft and a first inner core. The first inner core of the rotary core-pulling assembly is used for stretching into the forming cavity so as to be used for forming an arc-shaped position of a product, and when the product needs to be demolded after injection molding is completed, the push-pull air cylinder can drive the spur rack to do telescopic movement so as to drive the arc-shaped rack to rotate, so that the first inner core is controlled to be pulled out of the forming cavity; and then the formed product can be ejected out of the forming cavity by the ejector pin assembly, so that the demolding process is completed, the whole core-pulling demolding process is rapid in action, and the production efficiency of the product is effectively improved.

The invention discloses rail grinding equipment for railway maintenance, the rail grinding equipment comprises a rack, a grinding head arranged on the rack and a shielding device arranged on the rack, and the shielding device comprises a shielding assembly arranged on the periphery of the grinding head and used for shielding sparks splashed by the grinding head in the grinding process; and the position adjusting mechanism is in driving connection with the shielding assembly and used for driving the shielding assembly to move, so that the shielding assembly is relatively close to or away from the grinding head. According to the embodiment of the invention, the shielding assembly is arranged on the periphery of the grinding head, so that sparks splashed by the grinding head in the grinding process can be shielded, and the safety of railway maintenance operation is improved. In addition, the shielding assembly can be driven by the position adjusting mechanism to move so as to be close to or away from the grinding head, and can adapt to rail grinding operation at the positions of straight rails, turning, turnouts and the like. Meanwhile, the polishing head can be conveniently replaced and maintained in the later period.

The present invention discloses a safe wiring system and method based on intelligent construction, including a drive box, a guide sleeve and a creeping assembly, wherein a shaft frame is fixedly installed on the inner side of the drive box, and a driving motor is installed on the surface of the shaft frame, a moving groove is provided on the surface of the drive box, and the creeping assembly includes a plurality of moving plates slidably installed on the inner side of the moving groove, and the plurality of moving plates are evenly distributed on the inner side of the drive box in a circumferential direction, and a shaft rod is sleeved on the inner side of the moving plate by rotation, and a deflection wheel sleeve is sleeved on the surface of the shaft rod. In the present invention, both traction mode and wire feeding mode are provided, and the mode is automatically switched according to different pipeline environments, which greatly improves the adaptability and flexibility of cable wiring, ensures wiring efficiency, realizes automation of wiring work, and is particularly suitable for wiring in complex, narrow or long-distance pipelines, avoids the inefficiency and safety hazards of traditional manual wiring, and significantly improves construction efficiency.

This utility model discloses an injection mold for manufacturing control panel housings, relating to the field of control panel housing manufacturing technology. The utility model includes a mounting frame providing installation and stable support for the device, a vibration mechanism housed within the mounting frame, and a demolding mechanism for vibrating the mold during injection molding. Specifically, the vibration mechanism involves a motor driving the front rotating shaft to rotate, while a pulley system simultaneously drives the rear rotating shaft to rotate synchronously. Two impact wheels jointly strike the bottom of the lower mold, causing it to vibrate. During vibration, the lower mold, through the mounting plate, compresses the damping rod and spring, which work together to buffer the vibration and reduce violent shaking. This vibration mechanism reduces the viscosity of the molten plastic, promotes uniform filling of the cavity, assists demolding, simplifies the mold structure, and reduces cost and maintenance difficulty.

The utility model relates to lathe technical field provides a good micro - numerical control lathe of chip removal, solve the problem that lathe horizontal work surface falls the chip not easy clearance and the chip falls into the guide rail and influences the problem of tool rest feed. Scheme, the work surface of bed body is inclined surface, the lathe still includes: X axle assembly, include: a) X axle bottom plate, set up on the work surface of bed body, have X axle guide rail on it, b) workbench, slide connection in X axle guide rail, its upper portion is fixed with tool rest, c) first linear drive assembly, drive workbench and move along X axle direction, d) X axle protection assembly, install in workbench X axle direction both ends, protect X axle guide rail, Z axle assembly, include: a) Z axle guide rail, set up in the work surface of bed body, X axle bottom plate bottom slide connection in Z axle guide rail, b) second linear drive assembly, drive X axle bottom plate and move along Z axle direction, c) Z axle protection assembly, install in X axle bottom plate Z axle direction both ends, be used for protecting Z axle guide rail.

The invention relates to the technical field of urban construction, in particular to a kerb and tile visual grabbing control system. A kerb and tile visual grabbing control system comprises a visual identification module, a system control module and a six-axis mechanical arm module, the six-axis mechanical arm module comprises a mechanical arm main body and an auxiliary control assembly, the mechanical arm main body is used for grabbing and laying kerbs and tiles, and the auxiliary control assembly is used for controlling the mechanical arm main body. The mechanical arm body comprises a supporting arm, a lifting arm, a swing arm and a mechanical claw which are sequentially and rotationally connected, and the auxiliary control assembly is connected between the front end of the supporting arm and the front end of the swing arm and used for supporting the mechanical arm body and reducing the equipment load. According to the mechanical arm, the torque generated to the front end of the swing arm when the mechanical claw grabs a heavy object can be effectively shared, the load of each joint motor is greatly reduced, and therefore the structural rigidity and the movement stability of the whole mechanical arm under the heavy-load and large-arm-span working conditions are enhanced, and the precision and stability of the laying action are ensured.

The invention provides a motion device. The motion device comprises a base, a first linear motor, a second linear motor, a first flexible assembly, a second flexible assembly and a middle beam structure. The base has a surface extending in an x-direction and in a y-direction, a z-direction perpendicular to the base surface. The first and second linear motors are mounted on the surface of the base parallel to the x direction. The first end of the middle beam structure is connected with the first linear motor rotor through a first flexible part, and the second end of the middle beam structure is connected with the second linear motor rotor through a second flexible part. The first flexible member has Rz-direction flexibility, rigidity for suppressing movement in the x-direction, rigidity for suppressing movement in the z-direction, rigidity for suppressing movement in the Rx-direction, and rigidity for suppressing movement in the Ry-direction. The second flexible part has Rz-direction flexibility, y-direction flexibility, rigidity for restraining movement in the x-direction, rigidity for restraining movement in the z-direction and rigidity for restraining movement in the Ry-direction. According to the motion device, parallel driving motion clamping stagnation can be weakened, thermal deformation of the middle beam structure in the y direction is compensated, the Abbe error is reduced, and the acceleration performance in the x direction is improved.

This disclosure relates to a lidar, a scanner for the lidar, and an apparatus. The lidar includes a transmitter and a scanner. The transmitter is configured to emit a probe light. The scanner is configured to oscillate about a rotation axis within an oscillation range, deflecting the probe light into a field of view. The oscillation range includes a first fixed-speed region, a first variable-speed transition region, and a second fixed-speed region along a first direction. The first direction is perpendicular to the rotation axis. The scanner rotates at a greater speed in the first fixed-speed region than it rotates at the second fixed-speed region. In the first variable-speed transition region, the scanner's rotational speed varies with angle according to a half-period cosine function.