66 results about "Arm position" patented technology

The application relates to a mechanical arm positioning and grabbing method and device, computer equipment and a storage medium. The method uses registration technology to obtain a successful registration of the actual object grabbing position, calculates the space conversion relationship between the teaching object and the actual object, effectively uses the information of the registered object, compensates for the poor imaging of the part through an optimization algorithm, and infers the grabbing position of the remaining object which fails to be registered, thereby solving the problem of registration failure caused by poor imaging of the high-reflectivity part. The method significantly improves the success rate of grabbing and the reliability of the system, ensures accurate grabbing of the part in a high-reflectivity environment, and improves the stability and efficiency of the overall system.

A retention system includes a pipe rack rotatable between a first pipe rack position and a second pipe rack position, a retention arm assembly coupled with the pipe rack, and a pipe positioner system. The retention arm assembly is rotatable relative to the pipe rack between a first arm position and a second arm position. When the pipe rack is in the first pipe rack position and the retention arm assembly is in the first arm position, the retention arm assembly is disengaged from a deck bushing of a drilling machine. When the pipe rack is in the second pipe rack position and the retention arm assembly is in the second arm position, the retention arm assembly is engaged to retain the deck bushing in a raised state. The pipe positioner system contacts the drill string to guide and center a movement of the drill string along a vertical axis.

This product is an industrial robot in which the left-right orientation of the arm position can be changed by setting the origin position of the joint. As shown in "Perspective View 1" and "Perspective View 2" with the arm position changed, the left-right orientation can be changed.

The utility model relates to the technical field of radiotherapy equipment, in particular to an arm positioning and supporting device and a radiotherapy positioning device, which comprise an arm positioning and supporting plate. The arm positioning supporting plate comprises an arc surface mounting part matched with the arc surface mounting surface, supporting parts used for supporting an arm and a connecting part arranged between the arc surface mounting part and the supporting parts, the supporting parts are located on the two sides of the arc surface mounting part, and the supporting parts are higher than the arc surface mounting part. By arranging the cambered surface mounting part, the arm positioning and supporting device can be conveniently and stably connected with the bed board; by arranging the supporting part, the arm is supported, and the comfort of keeping the fixed body position of the patient during treatment is improved.

The utility model relates to the field of lockset, concretely relates to an adjustable hasp, including first base, second base, swing arm and adjusting assembly. Swing arm can rotate and separate or connect with limiting hook, and this kind of movable connection mode makes that hasp still can complete closing action when facing slight misalignment. Adjustable hasp adopts split type structure design, and is divided into first base, second base, swing arm and adjusting assembly, and each component is through rotary connection or bolt fixation between each component, is convenient for dismounting, maintenance or replacement. In old building or non - standard structure, user does not need to replace entire assembly, only needs partial adjustment to restore function. When needing to adjust swing arm position, through loose and tight bolt, moves connecting block and swing arm in the range of adjusting groove to change the spatial position of swing arm, and adapts to the connecting demand of different misalignment distance.

The application discloses a closed-chain operation hydraulic double-arm trajectory planning and motion control method considering multiple physical constraint limitations. The method comprises the following steps: establishing a hydraulic double-arm trajectory planner, modeling the physical constraints of the hydraulic double-arm, and generating a new expected trajectory according to an input instruction; establishing a hydraulic double-arm motion controller, receiving the expected trajectory from the trajectory planner, adaptively updating object inertia parameters for estimation of the physical constraint boundary, and performing motion control on the double arm. The application can be used for closed-chain operation of the hydraulic double-arm object, ensures that the object motion does not exceed the multiple physical constraint limitations of the system, so that the object does not deviate from the expected path, reduces the double-arm position error and internal force, and thus avoids the occurrence of unexpected accidents.

The invention provides flexible rocker arm welding equipment, and relates to the technical field of aero-engine production equipment. The flexible rocker arm welding equipment comprises a rocker arm positioning piece and a rotary welding assembly. A pin positioning hole is formed in the center of the rocker arm positioning piece and used for allowing a rocker arm pin to be inserted so as to position the rocker arm pin. A positioning protrusion is arranged on one side of the pin positioning hole and inserted into a second through hole in the rocker arm body, so that the rocker arm body is positioned, and the positioning precision between the rocker arm body and the rocker arm pin is guaranteed. The rotary welding assembly comprises a rotating component and a welding structure installed on the rotating component, the rotating component is used for driving the welding structure to rotate around the center of the rocker arm positioning piece, the rocker arm pin is welded by one circle through the welding structure, and the rocker arm body and the rocker arm pin are limited through the rocker arm positioning piece in the welding process. And the influence of welding thermal deformation is avoided, so that the manufacturing qualification rate of the flexible rocker arm is favorably improved.

The invention provides an interaction system, an X-ray machine and a control method. The interaction system comprises an arm body; the driving assembly is used for driving the arm body to move, the driving assembly comprises a driving rod and a supporting seat, the driving rod is connected with the supporting seat, the supporting seat is connected with the arm body, and the driving rod is arranged in a telescopic mode; the operation assembly is arranged on the supporting seat, the operation assembly is in signal connection with the driving assembly, and the operation assembly is used for controlling the driving assembly to move; the operation assembly is in signal connection with the arm body and used for controlling the arm body to move. According to the interaction system, the technical problem that the C-arm position needs to be frequently moved between the near-bed position and the far-bed position in the prior art when the C-arm position is adjusted is solved.

The application relates to a flexible mechanical arm control method and system based on a fractional order complementary sliding mode, and the method comprises the following steps: constructing a flexible mechanical arm dynamics model according to mechanical arm related parameters, a hypothetical modal method and a Lagrange method; decoupling the flexible mechanical arm dynamics model according to a singular perturbation method to generate a slow variable subsystem model and a fast variable subsystem model; establishing a super-helix extended state observer according to the slow variable subsystem model and generating an observed disturbance value; generating a fractional order complementary sliding mode control law according to a flexible mechanical arm position tracking error; generating a trajectory tracking control law according to a tracking differentiator, the observed disturbance value and the fractional order complementary sliding mode control law; generating a vibration suppression control law according to the fast variable subsystem model, a super-helix algorithm and a mechanical arm end vibration amount; and combining the trajectory tracking control law and the vibration suppression control law to generate a total control law. The control precision is improved through the fractional order complementary sliding mode, and chattering is effectively suppressed.

The utility model discloses a mechanical arm mounting frame which comprises a supporting frame, the supporting frame is in a frame shape, a mechanical arm is fixedly mounted at the upper end of the supporting frame, a plurality of universal wheels are fixedly mounted at the lower end of the supporting frame, supporting discs are fixedly mounted at the vertex angles of the lower end of the supporting frame, and rotating discs are rotatably mounted at the upper ends of the supporting discs. A supporting arm is rotatably installed at the upper end of the rotating disc, a supporting arm rotating shaft is perpendicular to the rotating disc rotating shaft, a supporting leg is rotatably installed at the end, away from the rotating disc, of the supporting arm, fixing pieces are arranged at the positions of the rotating disc and the supporting arm rotating shaft, and the fixing pieces fix the positions of the rotating disc and the supporting arm. According to the mechanical arm, the supporting arms and the supporting legs are arranged at the vertex angles of the lower end of the supporting frame, when the mechanical arm is used, the supporting arms are opened and fixed through the fixing pieces, the supporting range is expanded through the supporting arms and the supporting legs, supporting performance is improved, and the possibility of overturning is reduced.

An armrest for an office chair is used for solving the problems that in the prior art, an office chair armrest in the prior art can support arms of a user, but due to the fact that an arm supporting face of the armrest is relatively horizontal with the ground, when the position of the arms of the user is changed, the supporting area of the armrest for the arms is reduced, and the supporting effect is poor. The device comprises a base, a mounting block is rotationally arranged on the base, a groove is formed in the mounting block, a rotating rod is arranged on the mounting block, the two ends of the rotating rod are rotationally arranged on the outer walls of the two opposite sides of the groove respectively, and the handrail is fixedly arranged on the rotating rod. An adjusting assembly used for adjusting the rotating angle of the handrail is arranged in the mounting block.

The utility model relates to the technical field of casting machine equipment maintenance, and discloses a ladle arm spherical bearing dismounting device, which comprises a ladle table, a ladle arm and a spherical bearing, the protection structure comprises a first protection part and a second protection part, the first protection part comprises two sets of first supporting bearings fixedly installed on the top of the wrapping table, two sets of fixing clamping rings are fixedly installed on the top of the wrapping table, and fixing clamping ring bolts are installed in the fixing clamping rings in a clamped mode; the second protection part comprises a first tool platform frame arranged outside the ladle table, two sets of second jacking hydraulic cylinders are arranged at the top of the first tool platform frame, a second tool platform frame is arranged outside the ladle table, two sets of third jacking hydraulic cylinders are arranged at the top of the second tool platform frame, and the purpose of limiting and fixing the ladle arm is achieved; and the fixing effect of the wrapping arm is improved, the stability of wrapping arm disassembly is improved, the situation of wrapping arm position deviation is reduced, and the using safety of the device is improved.

The embodiment of the invention provides an intelligent book storing and taking system and method. The system comprises a two-wheel differential motion chassis, a five-degree-of-freedom mechanical arm, a clamping device and a storing device. Wherein the two-wheel differential motion chassis is used for freely moving in a library so as to adapt to different environments and terrains; an advanced control algorithm is adopted to realize accurate speed control and direction control; the five-degree-of-freedom mechanical arm positions the book position through a depth camera and moves, so that the book is accurately positioned by the clamping device; the clamping device rotates along with the stories to clamp the books in different placing states and swing and stir the books up and down, so that the books are pulled out, and through the system, the intelligent storing and taking speed and accuracy are improved.

The utility model provides a 360-degree circumferential air supply carbon arc gouging gun which comprises a gun head, a pneumoelectric connecting rod connected with the gun head and a handle arranged on the pneumoelectric connecting rod in a sleeved mode, one end, away from the gun head, of the pneumoelectric connecting rod is connected with a pneumoelectric combination body, and the pneumoelectric combination body is rotatably connected with the pneumoelectric connecting rod. In the operation process, the carbon arc air gouging gun can freely adjust the gouging angle, so that an operator can flexibly carry out various complex or fine gouging machining without frequently adjusting the position of the body or the arm, and the operation difficulty and the harm degree of smoke dust to the operator are reduced.

The utility model relates to the technical field of fitness equipment, in particular to a height adjusting assembly for a pushing and lifting trainer. Comprising a base, a movable plate and a supporting block, the supporting block is fixedly installed at the top of the movable plate, the inclination angle of the movable plate relative to the base is adjustable, the movable plate and the base are kept fixed after adjustment, and the supporting height of the supporting block is changed along with the inclination angle of the movable plate; the base is provided with a plurality of sets of clamping grooves which are vertically arranged at intervals and transition grooves communicating with the same sides of the clamping grooves, and the first end of the movable plate is switched and clamped in one set of clamping grooves through the transition grooves. A traditional mode that the supporting height of the movable arm is fixed is changed, an innovative mode that the supporting height of the supporting block is changed by adjusting the inclination height of the movable plate is provided, and a trainee can adjust the lower limit position of the movable arm to a posture comfortable to the arm of the trainee according to needs to conduct safe exercise.

The utility model relates to forestry disease and insect pest monitoring equipment technical field, concretely for pine wood nematode disease monitoring sampler, include: support seat, first waist type piece, second waist type piece and third waist type piece, both ends of support seat all respectively have clamping arm and prop open arm, and two prop open arms are located between two clamping arms position, first waist type piece, second waist type piece and third waist type piece are in turn arranged from top to bottom. The utility model drives clamping arm and support seat to occur hinged through movable element cooperation third hinged link and first hinged link, and make two clamping arms gradually relatively rotate, and the tree is steadily clamped, and the movable column drives prop open arm and support seat hinged through second hinged link simultaneously, makes the tree gap expand, when the pine nematode exposes, keeps the gap expansion state, at this moment, the pine nematode in the gap can be taken out from the forceps, to realize the single person convenient pine nematode and reduce the purpose of the damage to the tree trunk.

The utility model relates to a mechanical arm teleoperation device which comprises a driving mechanical arm, the driving mechanical arm comprises a plurality of connecting rods which are sequentially connected in series, and every two adjacent connecting rods are rotationally connected through a joint assembly; each joint assembly comprises a joint shaft which is pivotally connected with two adjacent connecting rods; and the at least one damper is arranged on the joint shaft and / or the connecting rod so as to slow down the angle change rate of the joint assembly. The angle change rate of the joint shaft and / or the connecting rod is slowed down through the resistance generated by the damper, the deviation between the position of each joint assembly and the position of the arm of the operator is reduced or eliminated, data such as the joint angle collected by the active mechanical arm can accurately reflect the real intention of the operator, the collected data are smoother, and the safety of the operator is improved. And the data acquisition quality is improved, so that the simulation accuracy of the driven mechanical arm to the action of the driving mechanical arm is improved, and the precision and reliability of teleoperation are improved.

The application provides a redundant mechanical arm position adjustment method, which is applied to various scenes such as cloud technology, artificial intelligence, intelligent transportation and vehicle-mounted devices, relates to the fields of artificial intelligence, cloud technology and block chain, and comprises the following steps: acquiring end coordinates of a redundant mechanical arm of a mobile redundant mechanical arm system; constructing a collaborative carrying optimization function of a plurality of mobile redundant mechanical arm systems; acquiring constraint conditions of the collaborative carrying optimization function; performing solution calculation on the collaborative carrying optimization function to obtain joint angular velocity of the redundant mechanical arm, mobile platform velocity and carrying object rotating angular velocity; and adjusting the position of the redundant mechanical arm. The application further provides a redundant mechanical arm position adjustment device, an electronic device and a storage medium. The application can accurately determine the position of the redundant mechanical arm, reduce the occurrence of singular states, reduce the probability of causing joint damage and sensor failure of the redundant mechanical arm, and reduce energy loss of the redundant mechanical arm.

The utility model discloses a quick adjustable wiper arm positioning tool, be used for assisting wiper arm installation to car, including the positioning frame for positioning on car, at least one adjusting frame for positioning wiper arm is movably arranged on the positioning frame, and the adjusting frame is connected with the positioning frame through the tightness adjusting component, so that the adjusting frame has the free adjusting state of movable relative to the positioning frame and the locking state of inmovable relative to the positioning frame. The utility model can quickly adjust wiper arm positioning tool under the condition of no any auxiliary tool, so that the wiper of left and right wiper arm can be positioned on the front windshield positioning point accurately and quickly, and the assembly efficiency of worker is improved.

This utility model discloses a patient arm support device for cardiovascular care, including a base. A connecting box is fixedly connected to the top of the base. Rotating rods are rotatably connected to both sides of the inner wall of the connecting box. A support plate is sleeved on the outer wall of the rotating rods. Fixing straps are fixedly connected to both sides of the support plate. An angle adjustment mechanism is rotatably connected to the bottom of the inner wall of the connecting box. A fixing mechanism is fixedly connected to one side of the base, and a chuck bearing seat is fixedly connected to the top of the base. A worm gear is inserted into the inner wall of the bearing seat. A rocker arm is fixedly connected to one end of the worm gear. A chuck is fixedly connected to the outer wall of the rocker arm. A worm wheel is rotatably connected to the top of the base and meshes with the worm gear. A helical gear one is fixedly connected to the top of the worm wheel, and a helical gear two is sleeved on the outer wall of the rotating rod. This utility model can not only precisely control the angle of the patient's arm but also prevent accidental changes in the patient's arm position, ensuring the safety and stability of the patient's arm support.

The utility model discloses a kind of commercial cleaning robot operation platform angle adjusting device, it is related to cleaning equipment technical field, including robot body, rotating component, unlocking device, swing arm, operation platform and handle;The swing arm is hinged with robot body by rotating component, the unlocking device is set on swing arm, the operation platform is set in the movable end of swing arm, the handle is set in the both sides of operation platform;The utility model is based on damper, increase the matching of the clamping assembly of unlocking device through clamping plate and different position slot, the swing arm is mechanically fixed, even if damper appears performance attenuation due to repeated use, clamping assembly can still ensure swing arm position stability, guarantee operation platform reliable hover, avoid the problem that traditional single damper structure hovers unreliable.

The utility model relates to the technical field of arm positioning, in particular to an arm positioning strap convenient to wear, which comprises a supporting ring, a shoulder strap and a limiting device, the shoulder strap is mounted on the surface of the supporting ring, the limiting device is arranged on the surface of the supporting ring and comprises a main block, the main block is placed on the surface of the supporting ring, the surface of the shoulder strap is connected with an insertion plate in a sleeved manner, and the insertion plate is connected with the shoulder strap. Protruding blocks are fixedly connected to the surfaces of the two sides of the inserting plate, the two protruding blocks are symmetrically arranged, an inserting groove is formed in the surface of the main block, grooves are formed in the surfaces of the two sides of the main block, the two grooves are symmetrically arranged, and the grooves are communicated with the inserting groove. According to the utility model, the limiting device is arranged, so that a patient can conveniently and quickly wear the positioning belt, the situation that the patient needs to spend a lot of time when using the positioning belt is avoided, and the convenience of using the positioning belt by a worker is improved.

This utility model discloses a pallet transporter, including a frame, a back frame, side frames on the left and right sides of the back frame, a tail frame at the rear of the back frame, steering casters at the bottom of the tail frame, directional casters at the bottom of the side frames, an adjusting frame for vertical movement at the front of the tail frame, a cantilever above the back frame, one end of the cantilever connected to the adjusting frame, a jack between the cantilever and the tail frame, a handrail hinged to the tail frame, an adjusting shaft rotatably connected to the adjusting frame with its axis extending left and right, and a guide rod fixedly connected to the adjusting frame with its axis extending left and right, a left guide sleeve and a right guide sleeve slidably connected to the guide rod, a left lead screw and a right lead screw nut threaded onto the adjusting shaft, a handwheel at at least one end of the adjusting shaft, and a left fork arm and a right fork arm. This transporter features adjustable fork arm spacing and centered fork arm position.

The invention belongs to the technical field of die bonding, and particularly discloses a swing arm type die bonder and a swing arm position determination method, the swing arm type die bonder comprises four swing arm assemblies, each swing arm assembly comprises a swing arm, a main shaft motor driving the swing arm to rotate and a telescopic unit connected with an output shaft of the main shaft motor, an output shaft of the telescopic unit is connected with a crystal taking suction nozzle; the four swing arm assemblies are installed on the rack and are arranged in a rectangular array, and in the die bonding process, the four swing arm assemblies do mirror image swing arm motion to form dynamic balance. Vibration of the machine table can be suppressed, and the die bonding precision of the die bonder is improved.

The present technology pertains to full body or partial body tracking in a multiuser extended reality (XR) application. In one aspect, a client device that is participating in the multiuser XR application and may be configured to determine a position of a first elbow associated with an arm of an avatar in the virtual world based on at least a position associated with a wrist or hand of a user; determine whether the position of the elbow is inside a boundary associated with an opposing shoulder; adjust the position of the elbow to be outside of the boundary associated with the opposing shoulder; and render the arm of the avatar based on the position of the elbow outside of the boundary. Additional aspects include compound motion tracking and rendering of a shoulder in an XR application.

This invention provides a twin-arm alignment method that enables the coordinated operation of multiple robotic arms to meet high-precision construction requirements. [Solution] The system includes a camera position calculation step that calculates the position of the camera relative to the tip of the first robot arm based on the position of a first feature point relative to the camera obtained by the camera and the position of the tip of the first robot arm relative to the base of the first robot arm, and a second robot arm position calculation step that calculates the position of the second robot arm relative to the first robot arm based on the position of a second feature point relative to the camera obtained by the camera, the position of the camera relative to the tip of the first robot arm obtained in the camera position calculation step, the position of the tip of the first robot arm relative to the base of the first robot arm, and the position of the tip of the second robot arm relative to the base of the second robot arm.

A glute hamstring developer exercise machine includes a vertical post extending from a lower end to an upper end; a user body support system coupled to the vertical post, the user body support system having one or more pads to support the user in a plurality of positions; and a primary frame supporting the one or more pads and extending substantially from the vertical post; at least one weight arm positioned substantially underneath the one or more pads, the at least one weight arm is to be operated by the user to perform one or more exercises.

A system including a housing with a housing wall extending between a housing first end and a housing second end, a tray pivotably coupled to the housing, an arm pivotably coupled to the housing, and a first actuator and a second actuator positioned on the outer surface of the housing. A first opening, defined by the housing wall, is positioned proximate the housing second end. The first actuator is coupled to the tray and actuatable between a first actuator first position, causing the tray to pivot to a first tray position, and a first actuator second position, causing the tray to pivot to a second tray position. The second actuator is coupled to the arm and actuatable between a second actuator first position, causing the arm to pivot to a first arm position, and a second actuator second position, causing the arm to pivot to a second arm position.

An embodiment of an apparatus for retaining a substrate includes a base, a pair of arms positioned adjacent to a bottom surface of the base, the pair of arms including a first arm and a second arm, and an actuator coupled to the base and the pair of arms. The actuator is configured to move the pair of arms toward and away from one another along the bottom surface of the base. In addition, the apparatus includes a first plurality of retention pads positioned on the first arm in a first arrangement and a second plurality of retention pads positioned on the second arm in a second arrangement that is different from the first arrangement.