207 results about "Articulated robot" patented technology

The utility model discloses a flexible wire supporting plate structure which comprises a mounting frame configured to be provided with a mounting carrier, a sliding assembly mounted on the mounting frame, two material storage stations symmetrically arranged on the sliding assembly, and a joint robot mounted on the sliding assembly through a joint robot base and located between the two material storage stations. And the feeding and discharging mechanism is configured to feed and discharge the materials at the storage station. According to the flexible line supporting plate structure, the collecting plate is arranged at the bottom of the joint robot, the collecting plate is matched with the outer baffle of the material storage station, cutting fluid on paws of the joint robot can be blocked and flows into the collecting groove along a collecting opening of the collecting plate to be collected, the cutting fluid cannot be scattered on a production line, and use is more convenient; and the oppositely-arranged material storage stations are adopted, and each material storage station is provided with the multiple material storage layers, so that the requirement of a production line for material storage is met, and use is convenient.

A robot control device configured such that a storage unit stores a parameter defining a predetermined area near a singular point of a robot. In the robot control device, a processor receives a first teaching point and a second teaching point for robot operation and a type of interpolation between the teaching points, and automatically uses multi-axis interpolation operation different from linear interpolation for at least a part of interpolation operation between the first teaching point and the second teaching point when the type of interpolation is the linear interpolation and also when there is a teaching in which a predetermined position of a distal end of the second arm passes through the predetermined area during movement of the robot under the linear interpolation from the first teaching point to the second teaching point and therefore the teaching is subject to a change.

According to one embodiment of the proposed invention, individual vibration values for each part of an articulated robot are measured, individual current values of respective motors are measured, a correlation between a plurality of pieces of unit position pattern information, vibration value data, and current value data is analyzed, and a failure or possibility of failure for each part of an articulated robot is predicted.

A collaborative robot including: a movable base to movably position the collaborative robot at different variable work locations; an articulated robot actuator movable relative to the base to effect with a robot end effector a predetermined function corresponding to at least one workstation at the at least one work location, the at least one workstation having an undeterministic variable pose with respect to the at least one work location; a vision system connected to the articulated robot actuator to image a vision target connected to and corresponding uniquely to each of the at least one workstation; and a controller to determine from the image data the workstation pose relative to the movable base and automatically teach the articulated robot actuator the workstation pose so as to effect a predetermined deterministic interface, associated with a predetermined workstation function characteristic, between the workstation and robot end effector.

A robot 100 includes: a base 1; an arm 3 coupled to the base 1 to be rotatable horizontally and formed by links 30 coupled to one another to be rotatable horizontally; and a hand 8 coupled to the arm 3 to be rotatable horizontally. A first link 31 that is at least one link of the links 30 has an internal space 40. The first link 31 has a partition 45 that partitions the internal space 40 into two container rooms each for housing a component, that is, a first container room 40A and a second container room 40B.

An articulated robot control method and system and an articulated robot. The control method comprises: establishing a single-articulated impedance control model on the basis of a dynamics model of a robot; determining a stiffness range of a single articulation on the basis of the single-articulated impedance control model, the cut-off frequency of a robot control system, and a critical damping condition; using the stiffness range to determine the maximum stiffness value of the single articulation and a corresponding damping value; establishing a multi-articulated impedance control model and a Cartesian impedance model on the basis of the dynamics model; obtaining an articulation control law on the basis of the multi-articulated impedance control model and the Cartesian impedance model; and on the basis of the articulation control law, using the maximum stiffness value of the single articulation and the corresponding damping value to perform optimal impedance control. Thus, the technical problem in the prior art that the accuracy is low when dynamic performance control is performed on a robot by using an impedance control method is solved, and the technical effect of improving the accuracy of controlling the robot is achieved.

A vertical articulated robot includes a base, a first arm pivoting around a vertical axis with respect to the base, a second arm coupled to the first arm and pivoting around a first horizontal axis with respect to the first arm, a third arm coupled to the second arm and pivoting around a second horizontal axis with respect to the second arm, a first motor causing the second arm to pivot around the first horizontal axis with respect to the first arm, and a second motor causing the third arm to pivot around the second horizontal axis with respect to the second arm. The first motor and the second motor are respectively disposed in the first arm.

A method for assembly of a cable connector includes, an end effector affixed to an articulated robot arm of a robotic insertion system, holding a cable wire for insertion into an insertion cavity of a connector housing. The articulated robot arm is controlled to move the cable wire toward a preliminary insertion pose predicted to correspond to insertion of the cable wire into the insertion cavity. Using a force sensor, the robotic insertion system detects that a magnitude of an insertion force vector exceeds an insertion force threshold, indicating misalignment of the cable wire relative to the insertion cavity. The articulated robot arm is controlled to move the cable wire toward a corrected insertion pose determined based at least in part on the insertion force vector, wherein the preliminary insertion pose and the corrected insertion pose differ by a pose adjustment.

The present invention provides a vertical articulated robot and robot system capable of improving detection accuracy. [Solution] The device comprises a base, a first drive mechanism connected to the base, a first arm 221 connected to the first drive mechanism and rotating around a pivot axis, a second drive mechanism connected to the first arm 221, a second arm connected to the second drive mechanism, and a motor 700 for driving the second arm. The first arm 221 has a first housing 300 connected to the first drive mechanism, a second housing 400 fixed to the first housing 300 and connected to the second drive mechanism, and an inertial sensor module 600 fixed to the first housing 300 and detecting at least one of acceleration and angular velocity in the first arm 221. The motor 700 is fixed to the second housing 400 or the second arm.

This invention provides a cutting machine for processing civil aircraft parts, belonging to the field of laser cutting equipment technology. It includes a laser cutting table, a gantry frame one, and a gantry frame two. The key feature is that the gantry frame one is equipped with a parts loading / unloading component, which includes an articulated robot, a support frame, and several funnel-shaped silicone discs. It also includes an orientation control component, which comprises several guide frames movable within the support frame and an adjustable unit for moving the guide frames. The silicone discs are installed under the guide frames. A detection component is installed between the guide frames and the silicone discs to detect the load at the lower end of the silicone discs. This invention, through the installation of the parts loading / unloading component, achieves self-loading and unloading of sheet metal, greatly reducing labor intensity and improving processing efficiency. Adjusting the orientation of each silicone disc allows the parts loading / unloading component to lift sheet metal of various specifications.

A cooking robot system according to some embodiments of the present disclosure may comprise: a first pot; an articulated robot; and a control unit, wherein the control unit may determine whether to rotate a gripper unit coupled to the articulated robot according to the type of cooking utensil when the cooking utensil is gripped by controlling the movement of the articulated robot.

A protective layer forming device is provided with: a protective layer forming unit (110); a moving mechanism that moves the protective layer forming section (110) in the longitudinal direction of the blade; an articulated robot (130) which is attached to the movement mechanism and which adjusts the position of the protective layer forming unit (110) in the blade thickness direction of the windmill blade body (5a) and the orientation of the protective layer forming unit (110) so that the construction direction of the protective layer forming unit (110) faces the construction range (FA); and a control unit, the protective layer forming unit (110) having: a first spraying unit (111) for spraying a first construction material within a first construction range (SA1) centered on the first axis (X1) to form a protective layer; a second spray section (112) that forms a protective layer by spraying a second construction material within a second construction range (SA2) centered on the second axis (X2); and a first interval adjustment unit (114) that changes the inclination angle ([theta] 1) of the second axis (X2) with respect to the first axis (X1) on a plane orthogonal to the blade longitudinal direction.

Robot system (1), comprising: an articulated robot (2) equipped with a tool that performs work on a workpiece (W), the tool being attached to a wrist axis (10) at the distal end with an operating range of 360° or more; a sensor (3) which detects a position and an orientation of the workpiece (W); and a controller (4) configured to control the robot (2) based on an operating program, where the operating program has two or more learning points, each defining a position and an orientation of the tool, and an operating instruction for moving each joint between the teach-in points in a direction in which a rotational amount thereof is minimized, and wherein the controller (4) is configured to: correct the position and orientation of the tool at a first teach-in point at which work is to be performed on the workpiece (W) based on the position or orientation of the workpiece (W) detected by the sensor (3); to determine whether an angle of the wrist axis (10) at the distal end at the first teach-in point, which is calculated based on the position and orientation of the tool after the correction, exceeds an operating limit; and if it is determined that the operating limit is exceeded, by increasing or decreasing the angle by 360°, the angle of the wrist axis (10) at the distal end at each of the first teach-in point and one or several other teach-in points besides the first teach-in point to an angle within the operating range.

This invention provides a vertical articulated robot capable of improving operational performance, and a method for assembling a vertical articulated robot. [Solution] The fifth arm 225 has a housing 100, a first bevel gear 300, and a second bevel gear 400, and a flange 500, a reduction gear 510 connected to the flange 500 that amplifies the force received and drives the flange 500, and a fitting member 520 inserted into the reduction gear 510 and detachably fitted to the connection portion 411 of the second shaft portion 410.

A workpiece connecting apparatus, which is capable of quickly connecting a component to a workpiece even if the workpiece has a complicated shape, connects a second workpiece to a front surface of a first workpiece by urging the second workpiece against the front surface of the first workpiece. The workpiece connecting apparatus includes, in particular, a first pressing articulated robot and a supporting body connected to a distal end of the first pressing articulated robot and capable of being abutted on the back surface of the first workpiece.

A motor torque control method for direct teaching of an articulated robot, in which, during direct teaching, joint angles and joint angular velocities of joints of the articulated robot when an end effector of a robot arm is moved to a teaching target position are acquired by a sensor; calculating a deviation of an end effector variable of the robot arm and a speed deviation of the end effector variable on the basis of the joint angle and the joint angular velocity of each joint acquired by the sensor; the control target value of the joint torque of each joint is calculated by a mathematical expression in which an inertia compensation term is omitted on the basis of the deviation of the end effector variable of the robot arm, the speed deviation of the end effector variable, and the joint angle of the robot arm, and the control target value of the joint torque of each joint is calculated by a mathematical expression in which the inertia compensation term is omitted. The motor torque of the motor built in each joint is controlled to the calculated control target value of the joint torque.

In a surgical robot, a robot controller controls an articulated robot so that an arm base rotationally moves in an arc shape around a predetermined position set at a position away from the arm base.

To provide a cutting device suitable for cutting a tape on an outer peripheral side surface of a laminated body.SOLUTION: A cutting device 10 includes: a vertical articulated robot 20 having a robot arm 22; and a robot hand 30 provided at a tip of the robot arm 22. A cutter 45 is provided on the robot hand 30. When dismantling a workpiece in which a laminate, formed by laminating substrates and the like, is integrated by attaching a tape to an outer peripheral side surface of the laminate, the cutting device 10 moves the cutter 45 along the outer peripheral side surface by an operation of the robot arm 22 to cut the tape.SELECTED DRAWING: Figure 3

To provide a learning device for generating a learning model capable of generating teaching data of an articulated robot.SOLUTION: The learning device includes a setting unit that sets a task including a first target value range for a tip position of the articulated robot and a second target value range for a direction in which the tip position is to be directed, a determination unit that determines whether first tip position information indicating the tip position of the articulated robot after the articulated robot is driven is within the first target value range and whether first direction information indicating a direction of the tip position of the articulated robot is within the second target value range, a learning unit that learns a correspondence relationship among a second tip position of the articulated robot before the articulated robot is driven by a drive control unit, second direction information indicating a direction in which the tip position is directed, a control value, the first tip position information, the first direction information, and a determination result, and an update unit that updates the task when one or more determination results by the determination unit satisfy a predetermined condition.SELECTED DRAWING: Figure 1

An unmanned ground-based hygiene maintenance vehicle, UGV, includes a housing with a base plate, top plate and housing side wall substantially perpendicular to the base plate. Arranged in the housing is at least one wheel drive coupled to at least one wheel in a recess in the base plate. The UGV includes sensors for sensing the environment of the UGV, and a controller for autonomous location and navigation of the UGV based on sensing parameters of the sensors. The UGV includes an articulated robot arm on the top plate of the housing and to support a hygiene maintenance tool. The UGV includes at least one load-receiving element coupled to the housing side wall and extending outwards from the housing side wall, wherein the load-receiving element includes a load support surface for supporting a hygiene maintenance tool supply module with respect to a vertical direction extending transverse to the base plate.

The invention relates to a handling robot, in particular an articulated robot, for a cleanroom environment (12), comprising at least one, in particular multi-axis, robot arm (14), with at least one robot flange (16) arranged at at least one end (18) of the robot arm (14) and provided for a detachable connection with at least one end effector (20), and with at least one robot base (22) on which the robot arm (14) is arranged, in particular movably mounted. It is proposed that the handling robot comprises at least one motion and / or bearing unit (24) on which the robot base (22) is arranged, in particular movably mounted, and which is provided for moving at least the robot base (22) relative to a surface (26).

An articulated robot may include: a first rotating part; a second rotating part rotatably connected to the first rotating part; a connector connecting the first rotating part and the second rotating part, where a first connector hole and a second connector hole are defined in the connector; and a stopper including a portion detachably inserted into each of the first connector hole and the second connector hole. The stopper includes: a main body including the portion inserted into each of the first connector hole and the second connector hole; a support disposed under the main body, where a support hole is defined in the support; and a fastener including a portion detachably inserted into the support hole.

To provide an unloading apparatus for unloading many pieces of luggage, e.g., in a container, which holds the luggage by a suction part and unloads the same by using an articulated robot arm, and further reduces a loading time.SOLUTION: A receiving conveyor 50 with a conveyance direction as a horizontal direction is provided below an arm apparatus 20 having a holding part 30. A lift conveyor 40 with a conveyance direction as an unloading direction is provided on the downstream of the receiving conveyor 50. Luggage 5 grasped by the holding part 30 is transferred onto the receiving conveyor 50 by the operation of the arm apparatus 20. The luggage 5 is conveyed in a horizontal direction and is transferred to the lift conveyor 40. The luggage 5 is unloaded backwards by the lift conveyor 40. In this way, the rotation operation of the arm apparatus 20 onto the lift conveyor 40 is omitted to reduce the loading time.SELECTED DRAWING: Figure 1

The invention relates to the technical field of face cleaning, in particular to a face cleaning robot self-adaptive smooth cleaning method, which comprises the following steps: acquiring a face RGB-D image; face feature points are extracted, and a polygon vertex set is constructed based on the outermost layer feature points of the face; acquiring a face region pixel set by using a scanning line filling algorithm, and performing pixel point cloud conversion; face cleaning zoning is carried out; utilizing the local point cloud set, the PCA normal vector and normal vector direction normalization to extract the local curved surface normal vector of the human face; carrying out kinematics constraint on the attitude; and performing force-position hybrid control and active obstacle avoidance safety control on the error. According to the method, the face cleaning task of the joint type robot and safety control in the task process are achieved.

The invention belongs to the technical field of cleaning devices, and particularly relates to a screw drive type modular joint robot for cleaning an ash discharging opening of an ash silo, which comprises a base flange connected with the side wall of the ash discharging opening of the ash silo, and the base flange is connected with a robot mechanism. The robot mechanism is composed of a driving assembly, transmission joints, a steering assembly and a cleaning unit, the driving assembly is connected with the base flange, the transmission joints and the steering assembly are arranged in groups and are in transmission connection with the driving assembly, and the cleaning unit is arranged at the transmission joint at the foremost end; by means of the robot mechanism, when accumulated ash at the ash discharging opening of the ash silo is cleaned, the robot mechanism is more suitable for the structural size of the ash silo, the cleaning efficiency and effect are improved, and meanwhile the cleaning angle and orientation can be conveniently adjusted.

To provide a vertical multi-joint robot in which a weight of a wrist unit is light and required space is saved while employing double hand.SOLUTION: A vertical multi-joint robot 100 includes: a wrist unit 136 connected to a holding arm 132 and mounted with a first hand 142 and a second hand 146; a fifth shaft 138 that rotates the wrist unit; a sixth shaft 140 and a seventh shaft 144 that rotate the first hand and the second hand; a fifth shaft motor 148, a sixth shaft motor 150, and a seventh shaft motor 152 stored in the holding arm and arranged in parallel; a first intermediate shaft 160 that is arranged coaxially with the fifth shaft and receives a drive force of the sixth shaft motor; a second gear 162b that is attached to the sixth shaft and meshes with a first gear 162a attached to the first intermediate shaft; a second intermediate shaft 164 that is arranged coaxially with the fifth shaft and the first intermediate shaft and receives a drive force of the seventh shaft motor; and a fourth gear 166b that is attached to the seventh shaft and meshes with a third gear 166a attached to the second intermediate shaft.SELECTED DRAWING: Figure 2

A motion unit of the disclosed gait training system comprises: a support unit including an actuator support portion having a predetermined height; and an actuator including a first link having one end connected to the actuator support portion by a first joint, a second link having one end connected to the other end of the first link by a second joint, and a foot plate connected to the other end of the second link by a third joint, wherein a first driving motor for rotating the first link with respect to the actuator support portion is installed at the first joint, a second driving motor for rotating the second link with respect to the first link is installed at the second joint, and a third driving motor for rotating the footrest with respect to the second link is installed at the third joint.

The present invention discloses a three-dimensional reconstruction method, device, and medium. The method includes: calculating the positional relationship between the end flange of an articulated robot and a 3D camera using a calibration pointer and a checkerboard calibration plate; placing an object to be scanned at the end flange of the articulated robot, and controlling the position change of the object to be scanned based on the positional relationship; scanning the object to be scanned in each position to obtain a point cloud of the object to be scanned in each position; and splicing the point clouds in each position to obtain a reconstructed three-dimensional model of the object to be scanned. The present invention can ensure that all details of the object to be scanned are within the field of view and depth of field of the 3D camera, and can accurately and comprehensively restore the texture information of the surface of the object to be scanned, with high applicability, high practicality, and high efficiency.

To provide an inspection device of a bottom surface of a transformer tank capable of reducing a burden of a worker and stabilizing inspection quality.SOLUTION: The inspection device 100 inspects the coating state of the bottom surface of the transformer tank 200. The inspection device 100 includes an imaging unit 180 configured to be capable of imaging the bottom surface of the transformer tank 200 after being coated, and an image processing unit 162 that automatically inspects the coating state of the bottom surface of the transformer tank 200 by performing predetermined image processing on an image for inspection captured by the imaging unit 180. The imaging section 180 includes an articulated robot 110 to which a wrist unit 170 is attached, an image sensor 120 attached to the distal end of the wrist unit 170, and an imaging control section 161 that controls the articulated robot 110 and the image sensor 120.SELECTED DRAWING: Figure 1

The invention provides a vertical multi-joint robot capable of realizing weight reduction and space saving of a wrist unit while employing two hands. A vertical articulated robot includes: a wrist unit connected to a holding arm and to which a first hand and a second hand are attached; a fifth shaft that rotates the wrist unit; a sixth shaft and a seventh shaft that rotate the first hand and the second hand; a fifth-axis motor, a sixth-axis motor, and a seventh-axis motor housed in the holding arm and disposed in parallel; a first intermediate shaft disposed coaxially with the fifth shaft and receiving the driving force of the sixth shaft motor; a second gear attached to the sixth shaft and engaged with a first gear attached to the first intermediate shaft; a second intermediate shaft which is disposed coaxially with the fifth shaft and the first intermediate shaft and receives the driving force of the seventh shaft motor; and a fourth gear attached to the seventh shaft and engaged with a third gear attached to the second intermediate shaft.