130results about How to "Simple motion control" patented technology

The invention discloses a large-sized workpiece welded intelligent robot device, relates to robot technology, in particular to the robot device based on visual control technology. The device consists of a robot body, a sensing system, a robot controller and a welding auxiliary mechanism. The welded robot is provided with nine moving shafts, including three macrographic moving translational moving shafts, three microscopic moving translational moving shafts and three rotating shafts. The robot body comprises a robot frame and a robot head which is arranged on a transverse arm of the robot frame, and the robot frame consists of the three macrographic moving translational moving shafts, namely a horizontal lead rail, an upright post and the transverse arm. The robot head consists of the three microscopic moving translational moving shafts, the three rotating shafts and a welding gun. The robot frame provides the large-scale three-dimensional movement of the robot; the precision of macrographic moving movement is compensated by the microscopic moving mechanisms of the robot head which also provides rotating freedom of motion. The robot device can meet the movement requirements of large scale and precise positioning for the welding operation of large-sized workpieces. Through the visual sensing technology and intelligent visual controlling technology, the device can improve the automatic welding quality and efficiency of the welded robot.

The invention provides a robot realization method, a control method, a robot and an electronic device. The robot realization method comprises steps: the robot sends an acquired real scene image and synchronization information thereof, and a control end determines a target position according to the real scene image and the target position and the synchronization information are sent to the robot; according to the target position and the synchronization information, the robot determines the target position of the robot; according to the obstacle information of the current scene and the target position of the robot, a planning path is generated; and according to the planning path, the robot is moved to the target position. By adopting the technical scheme provided by the invention, a user only needs to specify a target point on the real scene image uploaded by the robot, the robot can be autonomously navigated to the target point according to the target point selected by the user, the motion control on the robot is more convenient, the control frequency is lower, the control instruction amount is reduced, and a friendly interactive experience can also be provided in a condition with a poor remote control network environment.

The invention relates to a handle-type manipulator, which comprises finger joints, drivers for driving the finger joints, a plurality of fingers of connecting bars supported at the finger joints and driven by the driving the force of the drivers, a motion control portion for respectively controlling the drivers of the fingers, a position detector for checking the positions of the finger joints of relative fingers, and a plurality of strain detectors on all finger devices for detecting the strain on the connecting bars caused by the force on the fingers. The motion controller according to the positions of the finger joints detected by the position detectors and the strains on the connecting bars detected by the strain detectors controls the drivers of relative fingers and adjust the handle force of the fingers. The invention can further comprise a contact position calculator and a load calculator for calculating out the contact positions between the fingers and the handled object according to the position of the finger joints detected by the position detector and the strain of the connecting bars detected by the strain detectors.

The invention provides a robot motion path planning method. The robot comprises a host, a mechanical arm, a microcontroller and a camera, wherein the host is connected with the microcontroller, and the microcontroller is connected with a steering gear on the mechanical arm and is used for controlling the motion of the mechanical arm; the host is connected with the camera. A RGBD (Red Green Blue Depth) camera of the robot can shoot information in the captured range to realize the follow-up of the human body and the human arm; the degree of freedom and the degree of precision of the mechanical arm of the robot in the motion planning process can be improved, and are fused on time, space and data to improve the system adaptability and environmental space recognition ability, so that the robot moves in accordance with a correct planning trajectory, and thus the path planning of the mechanical arm of the robot can be realized at high degree of freedom, the work efficiency is high, and the computation amount is small.

The invention discloses a bent steel tube ultrasonic automatic detecting system which comprises a bent tube feeding mechanism, an annular supporting mechanism and two bent tube ultrasonic detection mechanisms, wherein the bent tube feeding mechanism is composed of a set of drive retainers; each drive retainer is composed of a drive roller, a support roller, a motor mounting rack, a support roller mounting rack, a support roller guide rail rack and a drive roller mounting rack; the annular supporting mechanism is composed of an annular guide rail and two hydraulic support cylinders, and an internal gear is installed in the middle of the inner ring of the annular guide rail; and each bent tube ultrasonic detection mechanism comprises a detection servomotor, a rotation mechanism outer box body, a transmission gear, a gear shaft, a pneumatic telescopic link, a chain-type ultrasonic probe rack mounting rack and a chain-type ultrasonic probe rack. According to the method, the bent tube is fed in the axial direction, and the ultrasonic probe moves in the circumferential direction of the bent tube to perform the full surface flaw detection so as to implement ultrasonic automatic flaw detection on the large-diameter bent steel tube, thereby effectively enhancing the accuracy and efficiency of the bent steel tube nondestructive flaw detection and lowering the detection labor intensity of the workers.

The invention discloses an axial and radial stretching type tire molding drum which comprises an inner tile, an inner tile driving mechanism, an outer tile and an outer tile driving mechanism, wherein two axial ends of the inner tile and the outer tile are respectively provided with a drum shoulder capable of doing stretching motions along the axial direction thereof; the inner tile driving mechanism comprises a hollow spindle, a screw rod, a sliding seat and a connecting rod mechanism, and the connecting rod mechanism is used for realizing the stretching motions of the inner tile along the radial direction and the inner tile shoulder drum along the axial direction; the outer tile driving mechanism consists of two groups of space connecting rod mechanisms which are axially symmetrical relative to the outer tile and is used for realizing the stretching motions of the outer tile along the radial direction and the outer tile shoulder drum along the axial direction; the space connecting rod mechanism is formed by hinging a first group of rod pieces and a second group of rod pieces; the motion planes of the second group of rod pieces are all superposed with the radial symmetrical planeof the outer tile; and the motion planes of the first group of rod pieces are all vertical to the motion planes of the second group of rod pieces. The molding drum can be used for realizing axial andradial stretching, is suitable for molding aviation radial tires and has the characteristics of light weight, compact structure and convenience for tire disassembly.

The invention discloses multi-spray head biological 3D printing equipment capable of batching and mixing materials automatically and a control method for the multi-spray head biological 3D printing equipment, and belongs to the field of tissue engineering and biological 3D printing. Pneumatic supplies of pneumatic material pressing tanks are connected with the inlets of solenoid directional valves; the outlets of the solenoid directional valves are connected with spray heads; when the pneumatic supplies supply pressure and the solenoid directional valves are electrified, biological materials in the pneumatic material pressing tanks can be pressed into a material mixing cylinder in proportions, and are mixed uniformly through a stirrer in a material mixing tank assembly. The material mixing tank assembly is connected with the pneumatic supplies and the inlets of the solenoid directional valves; the outlets of the solenoid directional valves are connected with the spray heads; when the pneumatic supplies supply the pressure and the solenoid directional valves are electrified, the biological materials in the pneumatic material pressing tanks can be pressed out from the spray heads; and the spray heads complete printing work according to a preset route under the cooperated movement of a moving top beam and a material taking driving arm. The multi-spray head biological 3D printing equipment capable of batching and mixing the materials automatically and the control method for the multi-spray head biological 3D printing equipment have the advantages that the materials can be batched and mixed quickly and automatically; multiple printing requirements can be met by the spray heads; printing performance can be played better; flexible control is easy to realize; the printing efficiency is improved.

The invention relates to a method for controlling the movements of articulated arms (21, 22, 23) of an industrial robot (2) using a movement setting means (3), wherein the movement setting means (3) is held by an operator in a predefined position relative to a reference mark (19, 19', 19") and the reference mark (19) is detected by the movement setting means and optionally read (16), and the distance (17) thereof to the reference mark is measured. The position and the alignment of the movement setting means (3) is detected by internal sensors (9), e.g. inertial / acceleration sensors, or by external sensors (30, 31, 32), e.g. 3D camera. Upon satisfying the coupling condition (25), the industrial robot or individual articulated arms thereof are coupled virtually to the movement setting meansand follow its movements, as if a fixed or rigid or flexible mechanical coupling had been established with respect to the industrial robot. In addition, a haptic feedback to the operator can be provided by a mechanical coupling of the movement setting means to an articulated arm of the industrial robot.

The invention discloses an automatic riveting machine for a power line plug inner frame. The automatic riveting machine comprises a conveying mechanism for conveying power lines, a positioning mechanism for identifying a positioning power line core line according to the color of the core line, a sizing mechanism for sizing the positioned core line and a riveting mechanism for riveting the sized core line with a plug inner frame; the positioning mechanism, the sizing mechanism and the riveting mechanism are sequentially arranged on one side of the conveying mechanism, and the conveying mechanism conveys the power lines processed by different processes to a mechanism of next process for processing. The automatic riveting machine is fully automated in the conveying, positioning, sizing and riveting processes, and does not require manual operation, which not only reduces the labor cost and improves the work efficiency, but also avoids increasing errors due to fatigue caused by manual operation.

Disclosed is a rapid measurement route planning method of sections of blades of an aviation engine. The blades to be measured are mounted on a clamp, a measuring transducer that is clamped on an X shaft is adjusted, then the measuring transducer is adjusted to required characteristic sections of the blades, the measuring transducer scans the characteristic sections of the blades along the X shaft, and a data sequence is collected; then a measuring table is rotated for 180 degrees so that other side edges of the blades are scanned to collect a data sequence; data of the characteristic sections of the blades that are scanned twice are converted in the same coordinate system through thickness of a known standard gauge block and conversion of coordinates, a characteristic section curvilinear equation is determined through a fitting function, and parameters of the characteristic sections of the blades are obtained; the measuring transducer is moved in a vertical direction to different positions so as to achieve measurement of the characteristic sections with different heights of the blades. According to the rapid measurement route planning method of the sections of the blades of the aviation engine, the movement control is simple, data collection speed is high, algorithms are simple and clear, and implementation in terms of engineering is easy.

The invention relates to the intelligent driving field, concretely relates to a vehicle motion control method and apparatus based on track planning and associated devices, and is aimed at solving theproblems that track calculation is high in complexity and poor in practicality during vehicle assistance driving. The vehicle motion control method includes the following steps: making primary planning for vehicle route tracks in advance on the basis of a route starting point and a route ending point, capturing a short reference track with a preset length in a route direction on a vehicle route track curve planned in advance every a certain period of time during running, solving a current driving track curve of a vehicle through a polynomial fitting method, generating vehicle kinetics model parameters, and thus controlling running of the vehicle. The method realizes driving track planning and motion control for vehicles in an easy, stable and highly efficient manner, exhibits high robustness, and substantially improves comfort of vehicles during an entire moving process.

The invention discloses a rotary nozzle type three-dimensional printer. The rotary nozzle type three-dimensional printer comprises a frame assembly (1), a material tray (8), a display screen (2) and a control panel (3), wherein the material tray (8) is arranged at the top of the frame assembly (1), and the display screen (2) and the control panel (3) are arranged on the front face of the frame assembly (1). The rotary nozzle type three-dimensional printer is characterized in that the printer further comprises a printing platform (4) capable of moving along the Z axis, a Z axis moving assembly (5) used for driving the printing platform (4) to move along the Z axis, a nozzle assembly (6) capable of moving freely in an XOY parallel surface and a nozzle rotating assembly (7) used for driving the nozzle assembly (6) to rotate around the Z axis. According to the rotary nozzle type three-dimensional printer based on a polar coordinate system, a curve fusion path can be generated quickly when curved surface parts are manufactured; and motion control is simple, and the working efficiency and precision are high.

An apparatus for controlling a robot arm performs operations using a robot arm (5) by controlling the movement of the robot arm (5). The apparatus corrects movement information by means of a movement correcting section (20), corresponding to movement correcting information relating to a method for correcting the movement information relating to the movement of the robot arm with respect to the operations performed to the robot arm by a human, and a human force detected by a force detecting section (53), while the robot arm (5) is moving.

The invention provides a track-deformable robot moving platform for a dangerous hazard site environment. The track-deformable robot moving platform for the dangerous hazard site environment comprisesa robot body, two passive self-adapting track modules and an information acquiring module, wherein each passive self-adaptive track module comprises a track, a passive self-adapting mechanism, four fixing supporting frames, three track driven wheels, four track bearing wheels and a track driving wheel; the fixing supporting frames are inverted Y-shaped frames, and every two fixing supporting frames form a group, and the two fixing supporting frames in each group are leftwards and rightwards symmetrically connected through corresponding connecting shafts; two track bearing wheels are correspondingly fixed to two end parts of Y shapes of the lower parts of the fixing supporting frames in each group through the corresponding connecting shafts; and one track driven wheel is fixed to the upperpart of each of the fixing supporting frames in each group through the corresponding connecting shaft. According to the moving platform, the shape of the tracks can be flexibly passively changed basedon the size of a barrier in the environment, and the contact area between the track and the barrier can be increased, and thus the barrier crossing capacity of the moving platform is improved.

The invention discloses a fast steering spherical robot. The fast steering spherical robot comprises eight pairs of spherical surface spherical feet, eight pairs of spherical foot link mechanisms, two spherical foot drive mechanisms, a central spherical wheel frame and a central pendulum bob mechanism, wherein the eight pairs of spherical surface spherical feet are arranged on the two sides in total. The fast steering spherical robot is characterized in that the eight pairs of spherical surface spherical feet are movably connected with the two spherical foot drive mechanisms through the eight pairs of spherical foot link mechanisms respectively, and the two spherical foot drive mechanisms are installed on the two side walls of a central spherical wheel frame body respectively; the central pendulum bob mechanism is fixedly installed in the central spherical wheel frame body; a brushless motor is arranged in the central pendulum bob mechanism to drive the central pendulum bob mechanism to change the center of gravity of the central pendulum bob mechanism, and the robot is controlled to move front and back in the mean axis normal direction; steering engines are arranged in the two spherical foot drive mechanisms respectively, the two spherical foot drive mechanisms change opening and closing angles of the eight pairs of spherical surface spherical feet through the eight pairs of spherical foot link mechanisms, and then left inclination and right inclination of the robot on a mean axis are changed. The robot can smoothly steer in the high-speed advancing process, and is good in flexibility and universal in structure.

The present invention provides a seam welding robot including a robot arm and a welding unit that is coupled to the robot arm. The welding unit includes a pair of roller electrodes. The pair of roller electrodes rotates following motion of the robot arm while sandwiching and pressurizing welding targets. The welding unit passes a welding electric current between the pair of roller electrodes to seam-weld the welding targets.

The invention relates to an intelligent window wiper and a control method thereof. Due to the adoption of a sucking type cleaning part of which the sucking force can be changed, and a telescopic swinging part of which the telescopic length can be changed, the intelligent window wiper is capable of creeping on the surface of a window in a telescopic manner and is relatively simple in movement control and applicable to popularization and application, a place through which a robot creeps can be cleaned twice when the robot creeps one in the telescopic manner, and relatively reliable cleaning quality and relatively high cleaning efficiency can be achieved. In addition, by adopting the control method provided by the invention, when starting to clean, the robot firstly finds the frame of a window, and further creeps along a bow-shaped track from the frame to another opposite frame in a telescopic manner, then the window can be cleaned under planning, and the intelligent window wiper is relatively comprehensive in cleaning and relatively high in efficiency.

The invention discloses a hatch cover opening-closing executing mechanism for a spacecraft, and belongs to the technical field of spacecrafts. The hatch cover opening-closing executing mechanism for the spacecraft is mainly composed of a hatch cover shaft, a sleeve, a lead screw, a nut, a guide pin and the like. Rotational motion of the lead screw is transformed to rotational and displacement motion of a hatch cover, and the rotational and displacement motion is conducted in sequence, so that the hatch cover is closed or opened, appearance integrity of the spacecraft is guaranteed, and load security of a cabin is protected. The hatch cover opening-closing executing mechanism for the spacecraft is compact and reliable in structure and small in influencing by space environment, such as temperature alternating and electromagnetic irradiation.

The invention provides fully-automatic production equipment for egg products. The fully-automatic production equipment comprises a rack, a circular conveying mechanism, a plurality of product templates, an oil brushing device, an egg liquid adding device, a drying device and a finished product collecting device; the egg liquid adding device comprises an egg pressing mechanism, a piercing and opening mechanism, an egg supporting plate and a supporting plate conveying mechanism capable of conveying the egg supporting plate between the piercing and opening mechanism and the egg pressing mechanism; the egg supporting plate is mounted on the supporting plate conveying mechanism; the egg supporting plate is provided with a plurality of egg locating holes which can be pressed to deform; and the output end of an egg feeding mechanism corresponds to the initial position of the egg supporting plate. According to the fully-automatic production equipment for egg products, eggs are located by the egg locating holes in the egg supporting plate, then, the eggs are pressed on the piercing and opening mechanism in a way of downwards pressing the egg pressing mechanism so as to be knocked, and then,egg shells are opened by using the piercing and opening mechanism. The action of artificially and downwards knocking the eggs is completely simulated, so that the fully-automatic production equipmentis scientific and reasonable, free of complex transmission connection relationships, capable of more easily controlling the action and better in egg knocking stability.

The embodiment of the invention provides an electronic paper display device and a manufacturing method thereof, relating to the field of display and aiming at being easy to realize double-colour or colour display. The electronic paper display device comprises a substrate formed with a first conducting layer, wherein the first conducting layer is provided with an inclined micropore layer, the inclined micropore layer comprises inclined micropores with colours, electrophoresis display particles are sealed in the inclined micropores, and colours of the electrophoresis display particles are different from the colours of the inclined micropores; and the inclined micropores comprise orifices and inclined pore walls, included angles between the inclined pore walls and the substrate is less than 90 degrees, and vertical projections of the orifices to the substrate are located in the vertical protections of the inclined pore walls, towards the substrate. The electronic paper display device and the manufacturing method disclosed by the invention can be applied to an electronic paper technology.

The invention relates to a three-freedom-degree parallel mechanism. The three-freedom-degree parallel mechanism has the advantages of being simple in structure, high in rigidity, convenient to manufacture and install and capable of easily achieving motion control. According to the technical scheme, the three-freedom-degree parallel mechanism comprises a rack, a movable platform and three branches connected between the rack and the movable platform, wherein the first branch and the second branch are symmetric to the movable platform, and the third branch sequentially comprises a universal hinge, a sliding pair, a guide rod, a first rotating pair, a connecting rod and a second rotating pair. The three-freedom-degree parallel mechanism is characterized in that the first branch and the second branch respectively and sequentially comprise a sliding pair, a guide rod, a first rotating pair, a first connecting rod, a second rotating pair, a second connecting rod and a universal hinge or respectively and sequentially comprise a first rotating pair, a sliding pair, a guide rod, a second rotating pair, a connecting rod and a universal hinge or respectively and sequentially comprise a rotating pair, a first connecting rod, a sliding pair, a guide rod and a spherical hinge or respectively and sequentially comprise a sliding pair, a guide rod, a first rotating pair, a first connecting rod and a spherical hinge.

The invention discloses a series-parallel hybrid robot leg configuration, a walking robot and a motion method thereof, and belongs to the field of robots. The series-parallel hybrid robot leg configuration includes a static platform, a movable platform and a serial-parallel hybrid mechanism; the movable platform includes legs and feet; the legs and the feet are connected through first rotating pairs; first rotating drivers are disposed on the first rotating pairs; the serial-parallel hybrid mechanism includes an active driving branch and two driven driving branches; the active driving branch includes a second rotating driver, a first connecting rod, and a second connecting rod which are successively connected through rotating pairs; the second rotating driver is vertically arranged on oneend of the static platform; a third rotating driver and a fourth rotating driver are arranged on a second rotating pair and a third rotating pair respectively. The series-parallel hybrid robot leg configuration has large movement space, small rotation moment of inertia, flexible movement of the leg mechanisms, can prevent interference, and can realize basic functions such as advancement, turning,obstacle avoidance of the robot, and is suitable for underwater work.

The invention discloses a blade opening and closing mechanism based on a rotary flapping wing vertical take-off and landing power device, belongs to the field of aerospace, and particularly relates totake-off and landing control of a novel rotary flapping wing vertical take-off and landing power device. The blade opening and closing mechanism based on the rotary flapping wing vertical take-off and landing power device is installed at the top of the rotary flapping wing vertical take-off and landing power device; a steering head is driven to rotate through rotation of a steering engine, and alinkage rod is combined, so that all the blades are adjusted to simultaneously move at the same speed, and the opening and closing angle of the blades directly affects the size of the air flow in order to control the lift force of the vertical take-off and landing device. The blade opening and closing mechanism has the advantages of being small in overall weight, low in energy consumption, simplein structure, high in reliability and the like.

The invention provides a seedling taking mechanism for an automatic transplanter. The seedling taking mechanism mainly comprises an overturning mechanism, a seedling taking frame, an inserting and pulling mechanism and a seedling taking claw. The seedling taking mechanism uses a cylinder as a driver; the overturning mechanism turns over the seedling taking frame to a position right above a seedling bowl; the seedling taking claw is inserted into the seedling bowl under the action of the inserting and pulling mechanism and simultaneously, the seedling taking claw clamps the seedling bowl; thenthe seedling bowl is pulled out and then turned over to a seedling dropping position to drop seedlings. The invention has the advantage that the seedling taking mechanism for the automatic transplanter is simple in mechanism, high in success rate of seedling taking and seedling dropping and high in integral efficiency, and can be applied to the field of plug seedling automatic transplantation.

A robot system includes: a robot arm; a robot hand provided on the robot arm; a contact unit provided on the robot hand for rotating a rotation body of a rotation device which includes the rotation body capable of housing a work and a fixed part rotatably supporting the rotation body and which performs a predetermined process on the work; a detection unit configured to detect a detection target part provided on the rotation body; and a first control unit configured to control operation of the robot arm and the robot hand so that the contact unit rotates the rotation body up to a predetermined rotational position according to a result of detecting the detection target part by the detection unit.

The invention relates to an active adhesion and desorption variable-rigidity self-adaptive gecko-like leg, a robot and a method, and belongs to the technical field of robot application. The variable-rigidity self-adaptive gecko-like leg is mainly characterized by comprising a bionic foot sole (10). The bionic foot sole (10) comprises a wire pulling steering engine (11), a wire pulling steering engine upper end fixing piece (12), a wire pulling steering engine lower end fixing piece (13), a rotary supporting frame (14), a rotary flange (15), a ball head (16), a ball joint upper cover (17) and afoot sole fixing piece (18), and also comprises N foot sole units uniformly arranged on a circle of the foot sole fixing piece (18) and having the same structure; wherein N is a natural number from 3to 9. The self-adaptive gecko-like leg and the robot have active adhesion and desorption movement functions, meet the self-adaptive requirement of the space surface, and can be applied to the structural design of a micro-miniature adhesion foot type robot.

A headrest assembly for assisting individuals with hypertonic extension pattern provides a pivoting support that better matches the pivoting motion of the patient's head in backward extension. A restoring spring absorbs and dissipates the energy of the extension and provides adjustable spring restoring force.

The invention discloses a large-sized workpiece welded intelligent robot device, relates to robot technology, in particular to the robot device based on visual control technology. The device consists of a robot body, a sensing system, a robot controller and a welding auxiliary mechanism. The welded robot is provided with nine moving shafts, including three macrographic moving translational movingshafts, three microscopic moving translational moving shafts and three rotating shafts. The robot body comprises a robot frame and a robot head which is arranged on a transverse arm of the robot frame, and the robot frame consists of the three macrographic moving translational moving shafts, namely a horizontal lead rail, an upright post and the transverse arm. The robot head consists of the three microscopic moving translational moving shafts, the three rotating shafts and a welding gun. The robot frame provides the large-scale three-dimensional movement of the robot; the precision of macrographic moving movement is compensated by the microscopic moving mechanisms of the robot head which also provides rotating freedom of motion. The robot device can meet the movement requirements of large scale and precise positioning for the welding operation of large-sized workpieces. Through the visual sensing technology and intelligent visual controlling technology, the device can improve the automatic welding quality and efficiency of the welded robot.

A discretely controlled micromirror device provides multiple motions of a micromirror using stepper plate and micromirror bottom support. The discretely controlled micromirror device can be controlled in a low driving voltage. Also, simple motion control is applied by digital controlling and only single voltage is needed for driving the micromirror motion.