1047 results about "Arm moving" patented technology

The invention provides a cooperative mechanical arm self-adaptive obstacle avoidance method in a dynamic scene, which comprises the following steps of: 1, setting an initial pose and a target pose according to a work task of a cooperative robot, and performing global path planning in an initial environment; 2, an operator completes an assembly task in an assembly area, and the collaborative robot operates according to a preset route and completes the assembly task in a matched mode; 3, the depth camera obtains a human body skeleton and skeleton node information, and a human body bounding box is generated; 4, whether the distance between the arm bounding box and the robot is smaller than the safety distance or not is judged, and if yes, collision early warning is triggered; 5, a new collision-free track is re-planned based on the self-adaptive obstacle avoidance strategy of the artificial potential field method, and the mechanical arm moves according to the new track to avoid the obstacle; and 6, after the obstacle leaves the safety early warning range, the mechanical arm returns to the global path and finally arrives at the target point.

The invention relates to a wheel type double-arm humanoid robot motion track planning and obstacle avoidance method. The method comprises the steps that a robot system is started for self-inspection; the first sensor obtains environment information and constructs a real-time three-dimensional point cloud obstacle information graph; the second sensor obtains chassis state information and mechanical arm state information; a target task is set, and a moving path of a chassis and a moving path of a mechanical arm are planned based on the state information of the target task; and the system controls the chassis to move according to the planned moving path through the cooperative control model, and the mechanical arm moves according to the planned moving track. Through construction and real-time updating of the real-time three-dimensional point cloud obstacle information graph, the robot can effectively recognize and avoid obstacles, the risk of collision with the surrounding environment is reduced, meanwhile, the robot can adapt to the dynamically changing environment, path planning is rapidly updated through the D * Lite algorithm, and the path planning efficiency is improved. And the path can be adjusted in time when the obstacle moves or a new obstacle appears.

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 discloses a sow vaccine injection method based on deep learning and machine vision. The sow vaccine injection method comprises the following steps that 1, an AGV chassis is controlled to arrive at a work station according to an instruction; 2, visually recognizing the posture of the sow to be injected, and if the recognition result is that the sow to be injected is in a non-standing posture, driving up the sow to be injected with manual assistance; if the recognition result is a standing posture, visually guiding the mechanical arm to move to a photographing position; 3, the RGBD camera shoots in real time to obtain the injection position and distance of the sow to be injected, and the mechanical arm moves to position the injection clamp to the pre-injection position; 4, injection is completed, and an injection result is recorded; the invention further discloses a sow vaccine injection system based on deep learning and machine vision. Manual operation is replaced by mechanical operation, automation of the vaccine injection process is achieved, direct contact between personnel and sows is reduced, and the risk of infectious disease transmission is reduced.

To provide a battery replacement system and a battery replacement device which can detach and attach a battery speedily and with high reliance compared to conventional constitution.SOLUTION: A battery replacement device comprises an arm 260 which holds a battery 11 and an arm movement part which moves the arm. The arm movement part at least comprises a first lifting part which moves the arm within a device body of the battery replacement device in a vertical direction and a second lifting part which moves the arm outside the device body in the vertical direction.SELECTED DRAWING: Figure 6

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 provides a trajectory planning method and device for collision avoidance of an equipotential operation mechanical arm, and the method comprises the steps: determining a state space, an action space and a reward function of the mechanical arm, the reward function is a function which considers the safe operation space of the mechanical arm under the hot-line work and the demand of the mechanical arm for avoiding the dangerous space on the basis of ensuring that the tail end of the mechanical arm moves to the target point position; based on the state space, the action space and the reward function, utilizing a depth deterministic strategy gradient algorithm to carry out iterative training to obtain a target strategy model; the target point position of the mechanical arm is obtained, the target point position is input into the target strategy model, and the optimal moving path of the mechanical arm is obtained; and the mechanical arm is controlled to move to the target point position according to the optimal moving path. The problem that the mechanical arm is difficult to avoid the dangerous space through a traditional method is solved.

The invention relates to the technical field of mechanical automation, and discloses an intelligent identification adsorption mechanical arm moving device. The device is mainly composed of a slideway beam, a supporting column, a rotating cross rod, a collector, a transmission rod, a motor, a large telescopic rod, a roller gear, a telescopic camera, a rotatable fixer, a suction cup and the like. The operation method comprises the following steps: firstly, carrying out environment sensing and target positioning through the telescopic camera and the sensor; then the collector formulates an adsorption strategy according to the characteristics of the object and adjusts a sucker; then executing adsorption and detecting stability; continuous monitoring and dynamic adjustment are carried out in the carrying process; and finally, carrying out placement preparation and accurate placement above the target position. The device solves the problems of poor intelligent identification, inaccurate adsorption control, unstable operation and the like of existing carrying equipment, realizes efficient and automatic sorting, has the advantages of accurate defect identification, intelligent adaptation to various parts, stable and reliable operation, energy conservation, environmental protection and the like, and effectively improves the production efficiency and competitiveness of enterprises.

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 belongs to the technical field of key production line testing, and discloses key testing equipment. The key testing equipment is used for testing keys and specifically comprises an adjusting assembly, a first mechanical arm, a material turning mechanism, a second mechanical arm and a detection assembly. Wherein the adjusting assembly can enable the clamping part of the key to face upwards, and the clamping part is located on the side, opposite to the button, of the key; the first mechanical arm is arranged on the downstream portion of the adjusting assembly and used for clamping the clamping part. The turning mechanism is arranged at the downstream of the first mechanical arm, the first mechanical arm clamps the clamping part and moves the key to the turning mechanism, and the turning mechanism is used for turning the key over; the second mechanical arm and the detection assembly are both arranged on the downstream of the material turning mechanism, the second mechanical arm moves the turned keys to the to-be-detected position of the detection assembly, and the detection assembly is used for detecting the performance of the keys. According to the invention, the automatic performance detection of the key can be realized, the automation degree and the test efficiency are effectively improved, and the labor cost can be reduced.

The invention discloses an intelligent tobacco leaf picking manipulator and a picking method.The manipulator comprises a mechanical arm, the tail end of the mechanical arm is provided with a binocular camera and an end effector, the end effector comprises a driving motor, a connecting module, a tobacco leaf cutting mechanical claw and an anti-scraping ball mechanical claw, and the two sets of mechanical claws are arranged in parallel up and down; the tobacco cutting mechanical grippers are arranged in parallel, are connected with an output shaft of the driving motor through a connecting module and are driven by the driving motor to perform opening and closing actions, two concentric circles surrounding a tobacco rod can be formed when the tobacco cutting mechanical grippers are closed, a cutting circle formed by the upper tobacco cutting mechanical grippers is larger than the periphery of the tobacco rod, and an anti-scraping circle formed by the lower anti-scraping ball mechanical grippers makes contact with the periphery of the tobacco rod. During working, the binocular camera positions the position of a tobacco stem and transmits the tobacco stem to the upper computer, the mechanical arm moves the end effector to the positioning position according to position information, the closed mechanical claw surrounds the tobacco stem, and when the anti-scraping ball mechanical claw moves upwards, the tobacco cutting mechanical claw cuts tobacco from bottom to top. The device has the advantages of high picking efficiency, low breakage rate, high adaptability and the like.

The utility model belongs to the technical field of mechanical arms, and particularly relates to a mechanical arm moving structure based on double-motor combined control, which comprises a fixed seat and supporting legs, the supporting legs are mounted at the bottom of the fixed seat, a moving device is mounted in the fixed seat, and the moving device comprises a rotating unit, a lifting moving unit and a clamping unit. The rotating unit is installed in the fixing base, the lifting moving unit is installed on the top of the fixing base, and the clamping unit is installed on the top of the fixing base. According to the mechanical arm moving structure based on double-motor combined control, the lifting moving unit is installed, and two sets of telescopic lifting motors installed below the rotating unit are used for combined control, so that a lifting block is driven to ascend and descend on the outer surface of a linear rail and a clamping unit is driven to stretch out and draw back; and therefore, the whole clamping unit can be further controlled to move in a three-dimensional space, and the clamping work is completed.

The invention discloses a robot elevator taking method and device, a robot and a computer program product. The robot is provided with a mechanical arm, and a sensor is arranged on the mechanical arm. In the elevator taking process, the robot moving to the preset position can divide the interaction process into a detection stage and an operation stage according to the structure of the robot, and operability is improved. In the detection stage, a mechanical arm of the robot moves to a detection point position from a safety point position, first state information including effective button information of an elevator is obtained in real time through a sensor, and an operation point position for pressing a target button can be accurately calculated; and in the operation stage, the mechanical arm moves to the operation point position from the detection point position, and the target button is accurately pressed to activate the button. After the button is activated, elevator taking based on the second state information can improve the success rate of the robot entering and exiting the elevator. According to the method, interaction between the robot and the elevator is more accurate and smoother through arrangement of three point positions in two stages, and the elevator taking efficiency is effectively improved; and the robot does not need to communicate with the elevator, so that the elevator does not need to be transformed, and the scene applicability of the robot can be guaranteed.

The invention belongs to the technical field related to robot visual control, and discloses a method and system for cooperatively controlling a mechanical arm to move based on visual servo and force sense admittance. The method comprises the steps that a mechanical arm moves to an assembly target position, and an image collection device collects an image of a target point at the assembly target position as an expected image; the tail end of the mechanical arm clamps the to-be-assembled workpiece to move to an assembly target position, an image collection device collects an image of a target point in real time in the moving process of the tail end of the mechanical arm, and the image collected in real time is compared with an expected image so as to calculate the movement speed vc of the tail end of the mechanical arm; when the to-be-assembled workpiece is in contact with the pin at the assembly target position, the force sensor measures the force and the torque during contact, and the movement speed vf of the tail end of the mechanical arm is calculated through the force and the torque; and calculating the movement speed of the tail end of the mechanical arm at the next moment by utilizing the movement speeds vc and vf of the mechanical arm. According to the invention, the problem that visual control and force control cannot be cooperatively controlled in the prior art is solved.

The utility model belongs to the field of parking space locks, and discloses a parking space lock which comprises a blocking piece, a locking piece and a locking piece. A driving unit; a transmission mechanism; a linear track; a substrate; when the driving unit drives the transmission part to move, the transmission part drives the moving part to slide along the linear rail and drives the connecting arm to slide along the linear rail and rotate relative to the moving part at the same time, so that the connecting arm drives the blocking part to turn over. When the blocking piece is subjected to external impact force in the open state, the blocking piece drives the connecting arm to move, the connecting arm drives the moving piece to slide relative to the linear rail, and the linear rail limits displacement of the moving piece in the direction perpendicular to the sliding direction of the moving piece. Power transmission is achieved through the transmission mechanism, the linear rail and the connecting arm are arranged independently, and the strength of the connecting arm and the transmission stability are guaranteed while the connecting arm moves; the linear track can assist the moving part in linear motion and can offset external impact force, so that the moving part is protected and prevented from being deformed and damaged; all the components can be integrated on the base plate, and therefore a user can conveniently install the parking space lock.

The invention relates to the technical field of mechanical arm operation monitoring, in particular to a multi-joint mechanical arm operation track intelligent monitoring system based on artificial intelligence, which comprises a mechanical arm track monitoring platform, a mechanical arm operation unit, a track generation unit, a joint track tracking unit, an interference matching unit, a track action analysis unit and an offset management unit, according to the method, on the premise that the moving track is determined, whether the joint position coordinates of the multi-joint mechanical arm are accurate or not is preliminarily analyzed, on the premise that the joint position coordinates are accurate, whether the track in the joint moving step process is normal or not is analyzed in a deep mode, and analysis is conducted in combination with vibration interference factors of the multi-joint mechanical arm; according to the method, the moving trajectory coincidence degree is reasonably analyzed, analysis is carried out according to the moving trajectory coincidence degree, the moving trajectory standard is known, the moving trajectory is adjusted reasonably and specifically according to the information feedback condition, and the accuracy and stability of the moving trajectory of the multi-joint mechanical arm are improved.

The invention discloses a vertical open type isolating switch, which comprises a static contact seat, a static contact, a static contact, a static contact and a static contact, and is characterized in that the static contact seat is provided with an open slot; a tool arm base; the tool arm driving shaft is movably mounted on the tool arm base; the tool arm moving seat is hinged to the tool arm base; the conductive tool arm is mounted on the tool arm moving seat and can rotate along with the tool arm moving seat until the conductive tool arm is clamped into the open slot, a radial bulge structure is arranged on the peripheral wall of the conductive tool arm, and the conductive tool arm can rotate along the axis of the conductive tool arm relative to the tool arm moving seat; and the transmission mechanism is used for connecting the tool arm driving shaft with the conductive tool arm in a transmission manner, and can enable the radial bulge structure on the conductive tool arm to tension the open slot after the conductive tool arm is clamped into the open slot. When the conductive cutter arm starts to enter the open slot, the radial bulge structure does not tension the two opposite side walls of the open slot, so that the resistance is not large when the conductive cutter arm enters and exits the open slot, and after the conductive cutter arm is clamped into the open slot, the radial bulge structure continues to rotate and is gradually opened to tension the two opposite side walls of the open slot, so that the conductive cutter arm is in tight contact, and sufficient contact force is ensured.

The invention provides a master-slave type double-arm force-position hybrid control method for deboning a tail wishbone, which comprises double mechanical arms consisting of a master arm and a slave arm. The method comprises the following steps of: establishing pose constraints and motion constraints between the tail wishbone and the master arm as well as between the master arm and the slave arm; therefore, a closed kinematic chain is formed between the double mechanical arms and the tail wishbone, and the slave arm moves along with the master arm; according to the tail wishbone deboning segmentation plane and the closed kinematic chain, a position control equation of a mechanical arm operation space is obtained; the force control rate of the tail wishbone is obtained according to the stress of the tail wishbone, and the position control equation and the force control rate form a force-position mixed control law; carrying out constraint analysis on a tail wishbone meat segmentation plane, and determining a deboning path and deboning directions of all points of the path; in the task of removing the tail wishbone, the two arms are subjected to master-slave force position mixed control, the master arm tightly holds the tail wishbone, and the slave arm carries out accurate deboning operation.

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 utility model discloses a side clamping vertical type automatic stacking production line which comprises a brick turning conveying mechanism, a mechanical arm and a plurality of turning supports, the brick turning conveying mechanism comprises a conveying frame, a conveyor, a jacking device and a brick turning device, the conveyor is arranged at the top of the conveying frame, and the jacking device is arranged below the conveyor; according to the brick turning and conveying mechanism of the side-clamping and vertical-placing type automatic stacking production line, brick bags are conveyed to the jacking device through the conveyor, the jacking device jacks up the brick bags, the brick turning device turns over the brick bags from the horizontal state to the vertical state, the mechanical arm moves the brick bags in the vertical state to the turning support, the jacking device can jack up the turning support and enable the turning support to be in the inclined state, and therefore the brick bags can be turned over. In this way, the turning support can be matched with the side guardrails to directly stack the brick packages in the vertical state, the situation that the brick packages located at the bottom are excessively pressed and damaged due to the fact that the brick packages are stacked in the horizontal state is avoided, meanwhile, the overall structure of the turning support is simplified, and the terrain clearance of the turning support is reduced; and pit digging construction is not needed during turnover support installation, so that the construction cost is reduced.

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.

A patient transport system includes a patient transport apparatus operable by a user for transporting a patient along stairs and a loading system for loading and unloading the patient transport apparatus from a vehicle cargo area. The loading system includes a brace configured to be mounted to the cargo area of the vehicle, a first arm supported for rotation between a stowed state and a deployed state, a second arm coupled to the first arm, and a receptacle coupled to the second arm. The receptacle is configured to receive and support the patient transport apparatus for movement relative to the cargo area of the vehicle as the first arm moves between the stowed state and the deployed state. The loading system further includes a ratchet assembly interposed between the brace and the first arm to selectively permit motion of the first arm between the stowed state and the deployed state.

The invention discloses a hydraulic power autonomous wheel-legged humanoid robot, and relates to the technical field of humanoid robots. The problems that an existing humanoid robot is weak in maneuverability and poor in load bearing capacity, a hydraulic driving unit and a power unit are connected through a rubber hose, and the flexibility of joint movement and robot movement is affected are solved. A shoulder part is installed at the top end of a trunk, two electro-hydraulic hybrid drive operation arms are arranged on the two sides of the shoulder part respectively, a big arm connecting part is movably connected with the shoulder part, the big arm connecting part is movably connected with a big arm moving part, a small arm connecting part is movably connected with the big arm moving part, and the small arm connecting part is movably connected with a small arm moving part. The forearm movable part is movably connected with the hydraulic manipulator, the trunk is movably connected with the waist part, two wheel legs are arranged on the two sides of the waist part respectively, and the thighs are movably connected with the waist part and the shanks. The maneuverability, the load bearing capacity and the movement flexibility of the robot are improved.

The utility model provides a cleaning robot, and relates to the technical field of cleaning equipment. The side brush assembly comprises a driving mechanism, a swing arm and a cleaning piece; the swing arm is rotatably connected with the machine body around a first rotating axis, and the cleaning piece is arranged on the swing arm and suitable for cleaning operation; the driving mechanism is suitable for driving the swing arm to rotate around the first rotating axis, so that the swing arm moves between an outward swing position and an inward contraction position relative to the machine body, and when the swing arm is located at the outward swing position, the cleaning piece is farther away from the machine body when the swing arm is located at the inward contraction position; when the swing arm is located at the outward swing position, the cleaning piece can clean the included angle between the edge path and the preset obstacle. According to the cleaning robot, the cleaning part can move between the outward swinging position and the inward retracting position along with the swing arm, the cleaning range of the cleaning part is enlarged, the problem that cleaning dead corners exist is solved, the cleaning robot can cope with more complex cleaning working conditions, and the use experience of a user is improved.

The invention discloses a manipulator translation position calibration mechanism and a manipulator, and the manipulator translation position calibration mechanism comprises a motor, an output shaft and a gear, and further comprises a hydraulic box, a lug box and an air cylinder. After the motor drives the sliding block to move to a certain position, the buffer rod and the hydraulic push rod make contact with each other and extrude each other, the hydraulic push rod enables the spring to be stressed and deformed through the hydraulic push plate, the spring generates counter-acting force, and therefore buffering is conducted; the buffer rod cannot make contact with the hydraulic push rod any more, buffer speed reduction can be conducted when the mechanical arm moves to the designated position and stops moving, excessive movement is avoided, accurate calibration of the translation movement position of the mechanical arm can be achieved, and the problem that the movement position cannot be guaranteed due to excessive movement caused by inertia is solved.

A cover for use with aircraft equipment that covers the opening of an aircraft housing using two sets of moveable arms to secure the shield in place. A drive mechanism containing a nut that engages with the two sets of arms differently to allow movement of the two sets of arms at different rates and to allow one set of arms to move when another set of arms is locked in place. Both sets of arms as well as the hub assembly containing the drive mechanism are covered with a weather resistant fabric that prevents material from entering the housing. The arms are pivotably connected to a hub assembly housing that allows one end of the arms to pivot in a direction opposite the direction of movement of the opposing side of the same arm.

The multifunctional numerical control 3D printing equipment comprises a machine body, a workbench is arranged in the middle of the top end of the machine body, and a first driving motor is installed in the middle of the bottom end of the machine body. A first mechanical arm and a first mounting mechanism are matched to selectively mount a printing head on a storage mechanism, a second mechanical arm and a second mounting mechanism are matched to mount a consumable disc, and two groups of first driving plates are in an attached state and are positioned between two groups of magnets; then the discharging end of the consumable roll is clamped through a wire pulling mechanism, a first driving mechanism drives a fixing mechanism to relieve fixation of the consumable discharging end, a first mechanical arm moves to drive a feeding port of a printing head to face a mounting disc, and under cooperation of a second stepping motor, a limiting guide mechanism and a motor, the consumable roll is driven to rotate; and the discharging end of the consumables enters the feeding port of the printing head, the consumables are automatically installed in the printing head, and the whole process is automatically carried out.

The utility model relates to the technical field of new energy automobile parts, in particular to a scissor door and side door linkage type door opening mechanism for a new energy automobile and the automobile. A rotating arm; the vehicle door connecting arm is provided with at least one second slot part; the switching assembly comprises a sliding rail arranged on the rotating arm, and a switching assembly arranged on the sliding rail; the sliding block is arranged on the sliding rail in a sliding manner; the switching arm is arranged on the sliding block, and at least one insertion part is arranged on the switching arm; the driving part is used for driving the switching arm to do linear motion on the sliding rail, so that the insertion part is connected with the first slot part, and the rotating arm is locked on the mounting plate; or the inserting part is connected with the second inserting groove part, and the vehicle door connecting arm is locked on the rotating arm. According to the invention, not only are fewer parts adopted, but also noise is not easy to make when the switching arm moves.

The invention discloses a smart slave manipulator robot arm control system and a control method. The control system comprises a parameter module which stores structure parameters of a plurality of different types of robot arms; the detection module is used for detecting detection information of the robot arm; the control module selects a control algorithm and outputs a control instruction to the driving module; and the driving module receives the control instruction output by the control module, and drives the robot arm to perform motion control, jitter control, obstacle avoidance control and arm change control according to the control instruction. The flexibility of the robot arm is improved, the control accuracy and safety of the robot arm are improved, the control accuracy is improved, misoperation such as manual operation hand shaking is prevented, and the situation that when a master manipulator robot arm control system breaks down, after a slave manipulator robot arm loses an instruction, the slave manipulator robot arm moves randomly due to the absence of a slave manipulator control system is avoided. Therefore, the damage influence on the surrounding operation environment is reduced.

The utility model discloses an easy-open lid stacking and carrying gripper which comprises a lid body fixing mechanism, the lid body fixing mechanism comprises an adsorption mechanism and a restraining mechanism, the adsorption mechanism can be separably fixed to a lid body set, and the restraining mechanism can fix or release the lid body set in the first direction; the pallet grabbing mechanism comprises a first clamping arm and a second clamping arm, the first clamping arm and the second clamping arm are oppositely arranged, the first clamping arm and the second clamping arm can move relatively to clamp and fix a pallet, and the first clamping arm and the second clamping arm can clamp and fix the pallet through relative movement. Or the first clamping arm and the second clamping arm move oppositely to release the pallet. According to the easy-to-pull lid stacking and carrying gripper, due to the fact that the lid body fixing mechanism and the pallet grabbing mechanism are arranged, easy-to-pull lid bodies can be rapidly transferred, the easy-to-pull lid bodies can be stacked on the pallets, meanwhile, the pallets can be stacked, continuous stacking operation can be carried out, and the working efficiency is improved.