557 results about "Arm moving" patented technology

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 coffee machine mechanical arm acceleration compensation control method and device based on toppling spill prevention, and relates to the technical field of mechanical arm control. A coffee machine calls a real-time acceleration sequence from an acceleration control library after receiving a real-time order, and a pipetting mechanical arm moves along a pipetting collision-free track in the process of clamping an order coffee cup to move along the pipetting collision-free track; the liquid gravity center offset is measured in real time through a six-axis force sensor integrated on a clamping jaw, and lagging shake offset of a real-time acceleration sequence is carried out according to the real-time gravity center offset. The technical problem that in the prior art, when a mechanical arm of a coffee machine transports coffee drinks containing heterogeneous liquid, the displacement control stability is insufficient, and pouring and scattering are likely to happen is solved. The technical effects that the coffee liquid is effectively prevented from spilling and leaking in the transportation process, the transportation stability of complex coffee drinks containing ice blocks, foam and the like is remarkably improved, safety and high efficiency of collaborative operation of the multiple mechanical arms are ensured, and the delay or overflow risk caused by liquid shaking is greatly reduced are achieved.

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 present invention relates to a gravity compensation mechanism for a mechanical arm of a surgical robot, comprising a mechanical arm base, a lifting arm, a wire rope, an adapter seat and a gas spring, wherein a guide rail is installed on the inner side of the mechanical arm base, a slider is slidably connected to the guide rail, one side of the adapter seat is fixedly connected to the slider, and the other side of the adapter seat is fixedly connected to the lifting arm, and the lifting arm moves linearly along the guide rail; an end is fixed at each end of the wire rope, one end of the end is hung on a hook, the hook is fixed on the top of the inner side of the mechanical arm base, and the end of the other end is fixed on the lifting arm, the wire rope passes around a first pulley and a second pulley in sequence, the upper end of the gas spring is fixed on the top of the inner side of the mechanical arm base, and a movable pulley seat is fixed at the lower end, the first pulley is installed on the movable pulley seat, and the second pulley is fixed on the top of the inner side of the mechanical arm base; the present invention can compensate for the gravity that needs to be overcome when a doctor manually drags the lifting arm, so that the doctor can easily drag it to move in the height direction and manually adjust it.

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 utility model discloses a stamping die for producing washing machine parts, and belongs to the technical field of washing machine machining parts, the stamping die comprises a stamping machine, an upper die installed on the stamping machine, a machining table arranged on the stamping machine and a lower die installed on the machining table, and the machining table is provided with a calibration mechanism; the calibration mechanism comprises two-way lead screws symmetrically installed on the machining table and movable arms arranged at the two ends of the two-way lead screws in a threaded and sleeving mode. The ends, away from the two-way lead screws, of the movable arms are fixedly connected with fixed rods. The bidirectional lead screws are symmetrically arranged on the machining table and matched with the servo motors, the positioning rods and the movable arms, after the servo motors are started, the symmetrically-distributed movable arms can be driven to drive the fixed rods, the connecting rods and the rubber cushion plates to be close to or away from one another, and after the movable arms move to the designated positions, sheet calibration is completed; compared with a traditional sheet feeding mode, calibration operation is faster, calibration operation can be continued for a long time, and the qualified rate of products is increased.

The utility model belongs to the technical field of fungus cultivation devices, and particularly relates to an under-forest morchella planting soil detection device which comprises a base and a collection and detection device. The collecting and detecting device is provided with a conveying channel, a plurality of springs are fixedly installed at the bottom of the conveying channel, a fixing frame is fixedly installed at the bottoms of the springs, and a first servo motor is fixedly installed on one side of the fixing frame; the movable arm moves circumferentially with the joint of the fixing frame as the axis, the position of a second servo motor at one end of the movable arm is adjusted, and when the movable arm moves to the designated position, the second servo motor is driven to enable a second ball screw at the output end to rotate clockwise to be in threaded fit with a second ball nut; and a second ball nut is matched with the grab bucket in a hinged mode, so that the grab bucket is turned over with the hinged position of the mounting plate as the axis to collect soil on the ground, the collecting and conveying functions are achieved, the problem that certain labor intensity of workers is consumed during collecting is solved, and the adaptability in use 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 embodiment of the specification provides a clip instrument. The clip instrument comprises a sheath tube, a clamping arm and a storage tube, the storage tube is connected with the sheath tube in a releasable mode, the clamping arm comprises at least two clamping parts, the near ends of the at least two clamping parts are movably arranged in the storage tube, when the clamping arm moves towards the far end relative to the storage tube, the clamping arm is opened, and when the clamping arm moves towards the far end relative to the storage tube, the clamping arm is closed. When the clamping arms move towards the near end relative to the storage pipe, the clamping arms are closed, and the storage pipe is further used for locking the clamping arms.

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.