375 results about "Arm moving" patented technology

The invention discloses a pipeline flange butt joint method based on multi-sensor cooperation and a storage medium, and the method comprises the following steps: when a mechanical arm carries a movable pipeline to approach a fixed pipeline, a magnetic encoder is utilized to detect the axial relative deflection angle of the pipeline, and the mechanical arm is controlled to adjust the axial posture of the movable pipeline to realize axial alignment. Under the axial alignment condition, the mechanical arm moves horizontally, the laser distance measuring sensor measures the linear distance, and meanwhile the axial deviation is continuously corrected by combining data of the magnetic encoder. And after the linear distance meets a preset threshold value, the industrial camera collects images of the movable pipeline flange and the fixed pipeline flange, a bolt hole coordinate set is recognized through an image processing algorithm, the rotating angle of the mechanical arm is calculated, the mechanical arm is controlled to rotate, bolt holes of the two flanges are accurately aligned, and butt joint is completed. According to the method, precise positioning of the pipeline flange in the axial direction, the plane direction and the rotating direction is achieved through closed-loop cooperation of the magnetic encoder, the laser ranging device and the visual sensor, and the butt joint precision and reliability are improved.

The invention relates to the technical field of intelligent recognition of transfer robots, and discloses a flexible transfer robot and an intelligent recognition system thereof.The flexible transfer robot comprises a chassis and a V-shaped groove feeding and discharging storage position, the upper surface of the chassis is fixedly connected with a truss supporting assembly, and a lifting assembly is arranged in the truss supporting assembly; compared with an existing operation system, compared with use of a mechanical arm moving device, the device is high in bearing capacity and low in maintenance cost, and compared with a track arranged on the mechanical arm moving device, the occupied area is small; compared with a truss manipulator, although the bearing capacity is high, the occupied space is large, equipment and site construction needs to be carried out in the two schemes, the equipment cost is high, by means of the flexible robot, the comprehensive cost can be saved by more than 2 million yuan, the equipment cost can be saved by 1.5 million yuan, the flexible robot can serve multiple production lines at the same time, no space is occupied, and the flexible robot is suitable for large-scale production. Construction transformation is not needed on site, and the product can be quickly switched within 10 minutes through the input-and-play flexible robot.

The embodiments of the present specification provide a clip device. The clip device comprises a sheath, a clip arm and a receiving tube, the receiving tube is releasably connected with the sheath, the clip arm comprises at least two clamping parts, the proximal ends of the at least two clamping parts are movably arranged in the receiving tube, the clip arm is opened when the clip arm moves distally relative to the receiving tube, the clip arm is closed when the clip arm moves proximally relative to the receiving tube, and the receiving tube is further used for locking the clip arm.

The invention belongs to the technical field related to mechanical arm movement, and discloses a mechanical arm safety critical control method and system fused with tail end posture locking. The method comprises the following steps: establishing a controller which takes the minimum deviation between the actual joint speed and the target joint speed at different moments as a target function and takes the condition that the tail end of the mechanical arm does not collide with an obstacle in the movement process and the movement is stable as a constraint condition; and the optimal joint speeds of the controller at different moments are solved, and the joints of the mechanical arm move according to the optimal speeds, so that the mechanical arm is controlled. By means of the method, the problem that the posture of the tail end of the mechanical arm cannot be abstracted into mathematical constraints and cannot be embedded into quadratic programming of the control obstacle function is solved.

The invention provides a climbing arm self-adaptive reset connecting structure and a climbing arm, and the climbing arm self-adaptive reset connecting structure comprises a movable seat which is used for connecting a self-adaptive climbing arm; the linear motion mechanism is arranged between the movable seat and the device body, and the linear motion mechanism comprises a linear motion mechanism or a rotating mechanism; and the one or more self-adaptive connecting mechanisms are arranged on the linear motion mechanism and comprise shells and elastic pieces arranged in the shells, one ends of the elastic pieces are fixedly connected with the shells, the other ends of the elastic pieces at least abut against the self-adaptive climbing arms, and the elastic pieces are used for providing reset force when the self-adaptive climbing arms move along the linear motion mechanism. According to the wall surface operation robot, slight swing caused by the device body can be buffered, the problems of dragging, twisting or deviation caused by the fact that the swing is transmitted to the adsorption part through the movable arm are solved, stable adsorption between the adsorption part and the wall surface is guaranteed, and then the operation stability of the wall surface operation robot is improved.

The invention discloses a mechanical arm control method and system based on real-time attitude estimation, and the method comprises the steps: obtaining a real-time point cloud image of a mechanical arm, and carrying out the attitude estimation based on the real-time point cloud image to obtain an initial attitude of the mechanical arm; the target posture of the mechanical arm is determined, the target posture and the initial posture are analyzed, and the posture error difference is determined; the attitude error difference is analyzed, the error state of the mechanical arm in each direction is determined, and a motion optimization coefficient matrix of the mechanical arm is determined based on the error state; the operation parameters of the mechanical arm are optimized on the basis of the motion optimization coefficient matrix, and motion of the mechanical arm is controlled on the basis of the optimized operation parameters; and after the mechanical arm moves, the steps are repeated, and closed-loop circulation control over the mechanical arm is completed. Visual monitoring is converted into real-time dynamic monitoring from static monitoring, continuous closed-loop deviation correction can be achieved in the movement process of the mechanical arm, accordingly, dynamic deviation correction and accurate operation are achieved, and the grabbing and assembling success rate and efficiency of the mechanical arm are greatly improved.

The invention provides a surgical robot which is characterized in that the surgical robot comprises a robot base, two mechanical arms arranged on the robot base and an execution instrument, the base ends of the two mechanical arms are connected with the robot base, the tail ends of the two mechanical arms are connected with the execution instrument, and therefore a parallel structure is formed; the connecting positions of the tail ends of the two mechanical arms and the executing instrument are arranged at intervals in the executing direction of the executing instrument, and the two mechanical arms move in at least two translational freedom degrees through the tail ends of the two mechanical arms. And the actuating device is driven to move in at least two translational degrees of freedom and move in at least two rotational degrees of freedom.

Provided is a shoulder joint structure for a figure, which makes a shoulder joint of a figure look human-like as much as possible when a corresponding arm of the figure is moved. The shoulder joint structure for a figure includes: a shoulder base part configured to form a base of a shoulder and an underarm of a figure; and an upper arm part to be coupled to the shoulder base part without a gap. The shoulder base part is pivotable about a first pivot axis relative to a body of the figure, the first pivot axis extending sideways and diagonally upward from the figure. The upper arm part is pivotable up and down about a second pivot axis relative to the shoulder base part, the second pivot axis extending in a front-and-rear direction of the figure when the figure has a corresponding arm down.

The invention relates to a kinematics parameter calibration method, system and device, computer equipment and a medium. The method comprises the following steps: acquiring a target joint angle group of an entity mechanical arm; the target joint angle group is obtained after the virtual sensing equipment is controlled to measure the virtual mechanical arm in the virtual measurement scene; the entity mechanical arm is controlled to move according to the target joint angle set, and the tail end position information, collected by the entity sensing device, of the entity mechanical arm after the entity mechanical arm moves is obtained; and according to the target joint angle set and the tail end position information, kinematics parameters of the entity mechanical arm are calibrated. By constructing a virtual measurement scene, the joint configuration of the entity mechanical arm is measured and verified, and a target joint configuration, capable of being sensed by entity sensing equipment, of a tail end target of the entity mechanical arm is obtained; in this way, in the measurement process based on the target joint configuration, a user does not need to manually adjust the direction of the target ball, continuous and autonomous kinematics parameter calibration can be achieved, and therefore the calibration efficiency is improved.

The utility model relates to the technical field of medical auxiliary devices, in particular to an auxiliary movement device for upper limb nursing after a mammary gland operation. The base is horizontally placed on a table board and surrounds the front side of the body of a patient, the upper arm moving assemblies are movably arranged on the left side and the right side of the base respectively and used for placing upper arms on the two sides respectively, and the forearm moving assemblies are rotationally arranged at the front ends of the two upper arm moving assemblies respectively and used for placing forearms on the two sides respectively. The sliding angle adjusting assemblies are arranged on the left side and the right side of the base correspondingly and used for limiting the moving angle range of the upper arm moving assemblies, and the rotating angle adjusting assemblies are arranged at the joints of the upper arm moving assemblies and the front arm moving assemblies on the same sides correspondingly and used for limiting the rotating angle range of the front arm moving assemblies on the corresponding sides. The device solves the problem that a patient cannot perform rehabilitation training accurately according to the movement amplitude guided by a doctor.

The utility model relates to the technical field of microwave switches, and discloses a miniaturized steady-state coaxial microwave switch, which comprises a base, an elastic sheet, an armature and a first support rod, when the microwave switch provided by the utility model is used, when an external force drives one second support arm to move downwards, one first support arm can press the corresponding push rod downwards, so that the corresponding radio frequency reed moves downwards, and when the radio frequency reed is pressed downwards in place, the corresponding microwave channel is conducted; at the moment, the microwave channel can be kept in a conducting state under the magnetic action of the upper magnet on the second support arm and the lower magnet on the base; in the state, when the other second support arm moves downwards under the action of external force, the second support arm which moves downwards previously moves upwards, and the corresponding microwave channel is switched off; therefore, the microwave switch provided by the utility model needs to provide a downward force in actual use, the steady-state control of the microwave channel can be realized only by the electromagnetic driving device of the single-winding coil, and the size is smaller.

A filling method is disclosed in which a robot arm moves a discharge port to a first position in a first recessed portion, and at the first position, a discharge of the viscous material is started. After the discharge of the viscous material is started, the discharge of the viscous material is stopped. In a state where the discharge of the viscous material is stopped, the robot arm moves the discharge port above the first recessed portion. In a state where the discharge of the viscous material is stopped, the robot arm moves the discharge port to a second position in the first recessed portion by moving the discharge port in the horizontal direction and then moving the discharge port downward along the vertical direction, or by moving the discharge port obliquely downward. At the second position, the discharge of the viscous material from the discharge port is started.

The invention relates to a slagging-off arm telescopic mechanism of a slagging-off device. The mechanical arm is assembled on the rack and can axially move relative to the rack, and a slagging-off claw is mounted at the front end of the mechanical arm; the multiple sets of guide rollers are in guide rolling fit with the upper surface and the lower surface of the mechanical arm so as to guide the mechanical arm, each guide roller comprises a roller base and a roller, and the rollers are rotationally assembled on the roller bases. The guide spring mechanism comprises a plurality of guide spring units in one-to-one correspondence with the guide rollers, each guide spring unit comprises a guide sleeve and a spring, one end of each guide sleeve is connected with a roller seat of the corresponding guide roller, the other end of each guide sleeve is perpendicularly connected with the rack, and the springs provide elastic acting force towards the mechanical arm for the guide rollers. The mechanical arm is extruded to realize guide fitting; when the mechanical arm axially moves relative to the rack, the pitching angle of the mechanical arm relative to the rack can be changed due to the change of the gravity center. The adverse effect of heat can be reduced, and the slagging-off efficiency is improved.

The application discloses a lock for an intelligent cabinet, which comprises a cabinet door, a lock catch, a lock hook unit, an escapement unit and an escapement unit driving device; the lock hook unit rotates around an A axis; the escapement unit driving device drives the escapement unit to perform an escapement action; the lock hook unit comprises a lock tongue and an escapement arm; in a locking state, the lock tongue is sleeved into the lock catch, and the escapement unit catches the escapement arm, so that the escapement arm moves in a swing range; a lock catch beam is arranged on the cabinet door, and the lock catch is fixed on the lock catch beam; the lock further comprises a top door unit, which applies an elastic pushing force to the lock catch beam, so that the cabinet door has a tendency to be opened; the elastic pushing force is transmitted to the lock tongue through the lock catch, so that the lock hook unit has a tendency to rotate positively around the A axis, and thus the end of the escapement arm is hooked with the escapement unit; the stability of the cabinet door in the locking state is improved, and meanwhile, the cabinet door can be stably and quickly closed in the closing process; the end of the escapement arm generates a pressing force on the escapement groove of the escapement unit, so that the cabinet door avoids the problem of being easily opened when being knocked from the front.

A refuse collection vehicle including a wheeled vehicle chassis and a refuse collection body coupled to the wheeled vehicle chassis. The refuse collection body has a grabber assembly to engage a refuse container and position the refuse container relative to the refuse collection body. The grabber assembly includes a first grabber arm, a second grabber arm, and a ratcheting pawl. The first grabber arm and the second grabber arm move between an open position and a closed position. The ratcheting pawl is operable between an engaged position and a disengaged position. The ratcheting pawl is configured to prevent rotation of the first grabber arm and the second grabber arm when the ratcheting pawl is in the engaged position.

The application relates to a self-walking universal mop rod and a cleaning method thereof, which comprises a pipe body, a movable seat, a supporting arm and a positioning support, the tail end of the pipe body is provided with a thread, and the tail end of the pipe body is connected with an external air supply device; the movable seat is movably arranged at the head end of the pipe body, and the movable seat is provided with a through hole which is connected with the inside and outside of the pipe body; the supporting arm is slidably arranged on the movable seat, when the movable seat is in a first state, the supporting arm is relatively static with the pipe body, and the supporting arm is located in the extension range of the surface of the pipe body; when the movable seat is in a second state, the supporting arm moves relatively with the movable seat, and the supporting arm is located out of the extension range of the surface of the pipe body; the positioning support is used for being fixed at a muzzle, the tail end of the pipe body is arranged in the positioning support, the pipe body can move along the axis direction of the pipe body, and self-rotation is carried out in the moving process. The cleaning area and effect can be maximized without manual operation.

The present application relates to a kind of around rail type surgical auxiliary system and method.The system at least includes the annular floor track arranged around operating table.Multiple degree of freedom mechanical arm moves along annular floor track and is configured to perform the freedom operation in horizontal and / or vertical plane.Multiple degree of freedom mechanical arm is instructed to move along the annular floor track and is instructed to drive to complete the movement of several degrees of freedom.The present application improves the accuracy of risk identification in the process of surgery by the detection warning of multiple degree of freedom mechanical arm in around rail type surgical auxiliary system and the active warning of medical staff.Around rail type surgical auxiliary system is used for the taking and arrangement of surgical instrument on the one hand, and is used for recording the whole process of surgery on the other hand, and the relevant surgical data recorded is identified and judged, so as to form multi-direction, multi-angle warning system in operating room.

The utility model relates to the technical field of biomimetic robots, in particular to an adjustable transmission mechanism for a biomimetic robot, which comprises a middle seat and two transmission components, and each transmission component comprises a rotating shaft, a connecting arm, a telescopic arm, a first screw and a rotating part; the rotating shaft is rotationally connected with the middle base and located on the side edge of the middle base. The connecting arm is fixedly connected with the rotating shaft, and the telescopic arm is slidably connected with the connecting arm; the rotating part is rotated to drive the first screw to rotate, the first screw rotates to enable the telescopic arm to move along the connecting arm, and the length of the telescopic arm extending out of the connecting arm is adjusted, so that the overall length of the telescopic arm and the connecting arm can be adjusted according to the needs of the bionic robot; according to the position adjusting mode of the telescopic arm, a groove does not need to be formed in the connecting arm, limitation is reduced, the adjustable range of the telescopic arm is enlarged, and the problems that the adjustable range of the telescopic arm of an existing adjustable transmission mechanism for the bionic robot is limited, and using limitation is high are solved.

The utility model provides a kind of movement device of cylinder sewing machine feed dog, belong to sewing machine technical field.It solves the problem that existing feed dog movement device is not applicable to cylinder sewing machine.This sewing machine includes the cabinet with long arm, the first end of swing arm is fixed with feed dog, the middle part of swing arm is hinged with long arm, the first end of lifting tooth bar is hinged with long arm, the first end of lifting tooth bar is located directly below the first end of swing arm, lower shaft can drive swing arm swing back and forth around its hinged point by feeding assembly, lower shaft can drive lifting tooth bar swing up and down around its hinged point by lifting tooth assembly, the first end of lifting tooth bar swing upwards can make the first end of swing arm move upwards, swing arm can make the first end of swing arm move downwards under the action of its elasticity.This movement device of cylinder sewing machine feed dog has the advantages of reasonable use of space, smooth movement of cylinder sewing machine feed dog.

A control method for a support robot, the method comprising: in response to recognizing that a target object has an intent to require support, controlling a support robot to move toward the target object, and when the support robot moves to a target movement position, controlling a robot arm to move to a target joint position, wherein the target movement position and the target joint position are both determined on the basis of the relative position between the target object and a target sensor; and in the process of the robot arm moving to the target joint position or after the robot arm moves to the target joint position, when it is detected by means of a tactile sensor that an external force is applied to the robot arm, performing compliance control on the support robot. Further provided are a support robot, an electronic device, a computer storage medium, and a computer program.

The invention provides a pair of picking scissors with a clamping function, which comprises a hinged shaft, a first scissor arm and a second scissor arm which are rotatably connected to the hinged shaft, and a first clamping arm and a second clamping arm which are rotatably connected to the hinged shaft and are positioned on one side of the second scissor arm, the opposite ends of the first clamping arm and the second clamping arm are each provided with a plurality of clamping teeth capable of being meshed in the length direction of the first clamping arm and the second clamping arm. Wherein the second clamping arm is fixedly connected with the second scissor arm in an attached mode, and the first clamping arm and the first scissor arm are arranged in a spaced mode and form a space for containing the second scissor arm. The first clamping arm and the first scissor arm are connected through a connecting assembly so that the first scissor arm can be driven to synchronously get close to or get away from the second clamping arm while getting close to or getting away from the second scissor arm. The fruit and vegetable picking device solves the problem that fruits of fruit and vegetable varieties are prone to falling during picking.

The utility model relates to the technical field of aluminum shell production, in particular to a clamping device for aluminum shell production, which comprises a bottom plate, a supporting column, a supporting table, a first through groove, a fixing block, a first threaded hole, a first through hole, a first screw rod, a rotating handle, a limiting column and a first clamping arm, the first clamping arms are arranged in the first through grooves in a sliding mode, the rotating handles on the two sides are rotated, the rotating handles rotate to drive the first screws to rotate, the first screws rotate to drive the first clamping arms to move, when the first clamping arms move to make contact with the outer surface of the aluminum shell, rotation is stopped, and in the process, the moving distances of the clamping arms on the two sides are consistent, so that the aluminum shell is located in the center; according to the scheme, the aluminum shell can be protected when the aluminum shell is clamped by limiting the position of the second clamping arm, the situation that the aluminum shell is damaged due to work errors is effectively reduced, and the waste cost caused by deformation of the aluminum shell is reduced.

The invention provides a method and device for calibrating a tool and a mechanical arm control system. According to the method for calibrating the tool, the tool is installed at the installation position of a mechanical arm, and the method comprises the following steps that a plurality of sampling points are generated based on the motion constraint condition of the mechanical arm and the measurement condition of a sensor; screening out one or more calibration points from the plurality of sampling points based on the performance evaluation criteria of the plurality of sampling points; enabling the mechanical arm to move to each calibration point in the one or more calibration points, and collecting sensor data when the mechanical arm is located at each calibration point; and performing calibration between the tool coordinate system and the robot arm coordinate system based on sensor data collected when the robot arm moves to each calibration point.

The utility model relates to the technical field of connectors, and particularly discloses a double-supporting-arm elastic sheet connector which comprises a shell, a first fixing block and a second fixing block are fixedly arranged at the bottom and the top of an inner cavity of the shell respectively, a connecting assembly is arranged between the first fixing block and the second fixing block, and the connecting assembly comprises a welding part. One side and the top end of the welding part are fixedly connected with the first fixing block and the second fixing block respectively, one end of the welding part is fixedly connected with a bent arm, and one end of the bent arm is fixedly connected with an inclined arm. An abutting arc part is pressed, the abutting arc part drives an inclined arm to move towards the side close to a welding part, a bent arm is matched with the inclined arm to move, the abutting arc part and the inclined arm move to drive a limiting groove, a first supporting arm and a second supporting arm to move towards the side away from the welding part, and at the moment, the limiting groove is exposed; and the connecting wire is inserted and passes through the inner cavities of the two limiting grooves through the second through holes.

The application provides a trajectory planning method and device for live-line working mechanical arm collision avoidance, the method comprising: determining a state space, an action space and a reward function of the mechanical arm, the reward function being a function considering a safe working space of the mechanical arm under live-line work and a demand for the mechanical arm to avoid a dangerous space on the basis of ensuring that a terminal end of the mechanical arm moves to a target point position; iteratively training, based on the state space, the action space and the reward function, a deep deterministic policy gradient algorithm to obtain a target policy model; obtaining the target point position of the mechanical arm, inputting the target point position into the target policy model to obtain an optimal moving path of the mechanical arm; and controlling the mechanical arm to move to the target point position according to the optimal moving path. The application solves the problem that a conventional method is difficult to control the mechanical arm to avoid a dangerous space.

The application provides a control method, device and equipment of a mechanical arm and a storage medium, and relates to the technical field of mechanical arms. The method comprises the following steps: controlling an observation device installed on a first mechanical arm to collect task information of a target task to be executed by a second mechanical arm; controlling the second mechanical arm to execute the target task based on the task information; and adjusting a current pose of the first mechanical arm based on a current pose of the second mechanical arm during execution of the target task, so that the first mechanical arm moves following the second mechanical arm. Thus, the observation device installed on the first mechanical arm can be controlled to dynamically collect the task information of the target task to be executed by the second mechanical arm, the real-time performance and accuracy of the task information are improved, the second mechanical arm can be controlled to execute the target task by taking the task information into consideration, the control accuracy of the second mechanical arm is improved, the task execution quality of the second mechanical arm is improved, and the application scenario of welding, screwing and the like is suitable.

The utility model provides a mechanical arm gripper, a mechanical arm and an unpacking system. The mechanical arm gripper comprises a mounting base, an adsorption mechanism, a clamping mechanism and a driving mechanism. Wherein the mounting base is provided with a first side and a second side which are opposite to each other, and the first side of the mounting base is used for being connected with an arm body of the mechanical arm; the adsorption mechanism is arranged on the second side of the mounting seat, and is used for being connected with a negative pressure air source so as to adsorb a material bag under the action of negative pressure provided by the negative pressure air source; the clamping mechanism is rotationally connected to the mounting base, the clamping mechanism comprises at least two clamping arms, and a material taking space is defined by the at least two clamping arms and the adsorption mechanism; the driving mechanism is arranged on the mounting base and connected to each clamping arm so as to be used for driving the clamping arms to move towards or away from the adsorption mechanism. According to the mechanical arm gripper provided by the utility model, the adsorption mechanism and the clamping mechanism can be simultaneously utilized to perform double clamping on a material bag, and the clamping capacity is strong.

The present disclosure relates to spoiler actuation systems and methods for aircraft. An aircraft includes a wing, a spoiler, a spoiler movable between a cruise position and an up position and between the cruise position and a droop position, and a spoiler actuation system coupled to a hydraulic system of the aircraft, the spoiler actuation system including a first piston and a second piston, a rack connected between the first piston and the second piston (the rack movable between a first position and a second position), a pinion coupled to the rack (the pinion rotating between a third position and a fourth position as the rack moves between the first position and the second position), a first crank arm coupled to the pinion (the first crank arm rotating with the pinion between the third position and the fourth position), and a second crank arm coupled to the first crank arm and the spoiler (the second crank arm moving the spoiler between the cruise position and the up position as the first crank arm rotates between the third position and the fourth position).