1525 results about "Grippers" patented technology

Embodiments relate generally to a robotic fruit picking apparatus and a method of picking fruit. An example apparatus includes: a chassis; a robotic arm supported by the chassis and having an end effector, wherein the end effector includes a plurality of grippers and an extendable suction element; a vision system carried by the chassis and configured to identify pieces of fruit for picking; and a control system carried by the chassis and in communication with the vision system to control the robotic arm to pick identified pieces of fruit using the end effector. The control system may be configured to operate in a first mode to control the extendable suction element to extend the suction element towards a piece of fruit. The control system may be further configured to operate in a second mode following the first mode to retain contact with the piece of fruit by applying suction while freely allowing extension or retraction of the suction element based on movement of the piece of fruit.

The invention discloses microminiature needle body high-speed visual screening equipment and a screening method thereof, and belongs to the technical field of industrial automatic detection and sorting. The equipment comprises an equipment frame, a feeding module, a visual identification module, a grabbing module, a control module and a material receiving module. The feeding module is used for conveying to-be-screened needle bodies. The visual identification module performs image acquisition and model identification on the needle body; the grabbing module is provided with a plurality of grabbing clamping jaws, can move in the horizontal direction and the vertical direction under the driving of the control module, and grabs a plurality of needle bodies of the same model at the same time at a time. The material receiving module comprises a plurality of material receiving boxes and a transposition driving mechanism for driving the material receiving boxes to move so as to align the target material receiving box to the grabbing module. The equipment disclosed by the invention can be widely applied to high-efficiency sorting of micro-miniature needle bodies with the diameters ranging from 0.3 mm to 3mm and the lengths ranging from 3mm to 77mm, has high precision, high speed and high reliability, and is suitable for large-scale production and multi-variety and small-batch production requirements.

Embodiments include systems for determining one or more properties of an object. In an embodiment, a system includes a gripping element, a light source, a probe element including an optical fiber, a spectrometer, and a processor. The gripping element is configured to grasp the object. The light source is configured to illuminate the object. The probe element is operatively coupled to the gripping element. The optical fiber is configured to transmit reflected light from the object. The spectrometer configured to: (i) receive the transmitted reflected light from the optical fiber and (ii) generate spectral data based on the received transmitted reflected light. The processor is configured to: (i) receive the generated spectral data from the spectrometer and (ii) determine one or more properties of the object based on the received generated spectral data.

Rotational drives (100) may have at least two degrees of freedom. End-of-arm-tools (1122) may incorporate rotational drives (100). The end-of-arm-tools (1122) may include one or more linear adjustable assemblies (1124) and one or more rotational adjustable assemblies (1126). The end-of-arm-tools (1122) may include various tools, such as magnetic grippers.

Disclosed is a mobile robot manipulator system for handling railway inter box connectors for securement of shipping containers to the intermodal railcars, in a railway yard under an outdoor working environment, with a unique end-effector design incorporating at least two independently actuated and redundant grippers, supplemented by an additional aerial lift and aerial anchor to help stabilize the position of the movable base of the manipulator, a manipulator docking station to help protect the manipulator, end-effector, vision camera, and other sensitive equipment from damages against shock and under all weather conditions, and a sure grip methodology for safely transporting the railway inter box connector by the robot manipulator.

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 invention discloses a fixing and adjusting device for automatic welding of a robot, and relates to the technical field of automatic welding of robots. The first transmission assembly and the second transmission assembly are combined with the first hydraulic cylinder and the angle adjusting assembly, flexible and accurate three-dimensional space positioning and posture adjusting capacity is provided for a welding structure, the multiple independently-driven robot clamping jaws are provided with floating pressure heads, a pressure sensor and a temperature sensor are integrated, and the welding precision is improved. The clamping state is monitored in real time, stable clamping is ensured, meanwhile, damage is avoided, three-dimensional deformation data of a workpiece are captured in real time through the laser contourgraph and the CCD camera, the controller integrates the data, a welding seam track, the pose of the robot and clamping force, displacement and temperature information fed back by the clamping jaw, and then the adjusting assembly can be driven to conduct pose compensation. Local thermal deformation caused by welding heat input is actively counteracted, and the welding precision, the joint quality and the process stability are improved.

A system that includes a workpiece and a robotic gripper apparatus. The workpiece includes a pair of opposed first retention features. Each first retention feature includes a first proximal end, a first distal end, and an outer periphery. The pair of opposed grippers are moveable between a first position in which the pair of opposed grippers engage the pair of opposed first retention features. Each gripper includes a mounting feature having a second proximal end, a second distal end, and an inner periphery. When the pair of opposed grippers are in the first position, a first portion of the inner periphery near the first proximal end engages a first portion of the outer periphery near the second proximal end and a second portion of the inner periphery near the first distal end is separated from a second portion of the outer periphery near the second distal end.

A method of operation of a mobile unit is described here. The method includes receiving a first signal to create a stack of totes on a conveying platform. Further, the method comprises receiving a second signal to lift the stack of totes in a vertical upward direction relative to the conveying platform. The method further comprises receiving a third signal to dispense a first tote from the stack of totes to a first location. The first tote is held at the conveying platform by a set of grippers of the mobile unit. Further, the method comprises receiving a fourth signal to travel to a second location to drop a second tote from the stack of totes. In some examples, the second tote corresponds to a current lowermost tote among the stack of totes and is held at the conveying platform by the set of grippers.

The invention provides a driving and sensing integrated soft claw, gripper and method, and belongs to the field of deep sea soft grippers. The problems that a traditional soft gripper sensor is prone to forming stress concentration and cannot achieve multi-point sensing are solved. The driving and sensing integrated soft claw comprises a sensing layer, an acoustic wave guide main flow channel extending in the length direction is arranged on the sensing layer, and an ultrasonic transducer is arranged on the side, close to the fixed end of the sensing layer, of the acoustic wave guide main flow channel. The end face of one side of the sensing layer is a grabbing face, and a plurality of evenly-arranged protrusions are arranged in the acoustic wave guide main flow channel corresponding to the end face. And the driving layer is arranged on the side, away from the grabbing face, of the sensing layer, a plurality of deformation cavities communicating with the acoustic wave guide main flow channel are formed in the driving layer, the driving layer is in a stretching state in a normal state, and when the deformation cavities are filled with liquid and pressurization continues, the deformation cavities are used for deforming to drive the sensing layer to bend. The manipulator is mainly used for grabbing actions.

The invention discloses a mechanical arm gripper and an automobile door frame grabbing method.The mechanical arm gripper comprises a frame piece and a driving piece, the driving piece is connected with a positioning unit, the driving piece is used for driving the positioning unit to move in the X direction or move on the X-Y plane, the driving piece is further connected with a plurality of clamping units capable of moving in the X direction, and in the first state, the clamping units are clamped in the X direction; in the first state, the materials are at least partially located in the space under the frame piece, the materials are integrally suspended, and in the second state, the materials are disengaged from the clamping jaw and located at the station. Through cooperation of the driving part, the positioning unit and the clamping unit, the automobile door frame can be conveyed in the mode that the automobile door frame is positioned firstly and then clamped, the positioning unit moves in the X direction or in the X-Y plane, and the clamping unit moves in the X direction, so that the automobile door frame conveying device can adapt to automobile door frames of different sizes and shapes; and compared with the mode that different types of mechanical arm grippers are replaced, the operation space is saved, and the production and manufacturing cost can also be reduced.

The utility model relates to the technical field of garbage collection, in particular to a self-loading and unloading garbage truck which comprises a mounting plate, a clamping plate is fixedly mounted on the mounting plate, a mounting groove is formed in the clamping plate, an electric push rod is fixedly mounted on the inner wall of the mounting groove, and a connecting plate is fixedly mounted at the output end of the electric push rod. A connecting column is fixedly installed on the connecting plate, and a rotating rod is rotationally installed on the connecting column. The driving gear and the driven gear are driven to rotate through the electric push rod, the connecting column, the rotating rod and the like, when the driving gear and the driven gear rotate, the two grippers rotate oppositely, then the garbage can is clamped, and after the garbage can is clamped by the grippers, garbage in the garbage can can be poured into the garbage truck in cooperation with a dumping device of the garbage truck. Manual carrying is replaced by clamping the garbage cans through the grabhooks, time and labor are saved, the situation that the garbage cans roll over due to the fact that the garbage cans are too heavy is avoided, and the dumping efficiency of the garbage cans is improved.

Rotational drives may have at least two degrees of freedom. End-of-arm-tools may incorporate rotational drives. The end-of-arm-tools may include one or more linear adjustable assemblies and one or more rotational adjustable assemblies. The end-of-arm-tools may include various tools, such as magnetic grippers.

The invention relates to the technical field of photovoltaic frame punching and riveting, in particular to a horizontal punching type photovoltaic frame automatic punching and riveting device which comprises a punching table and further comprises a horizontal punching mechanism, the horizontal punching mechanism comprises a fixing plate fixedly installed on the punching table, and a punching plate is installed on the punching table in a sliding mode; two first grippers are mounted on each of the two mounting plates; the punching and riveting mechanism comprises a punching and riveting table arranged on one side of the punching table, and a pressing head is arranged on a pressing and riveting frame; the rotating clip discharging assembly comprises two rotating frames installed on one side of the punching and riveting table, and material pushing pieces are arranged in the rotating frames; a second feeding assembly used for conveying materials is arranged between the horizontal punching mechanism and the punching and riveting mechanism. According to the photovoltaic frame punching machine, horizontal punching is conducted on a photovoltaic frame through the fixing plate and the punching plate, feeding and discharging are conducted at the same time through the first feeding assembly, connection of the second feeding assembly is utilized, the photovoltaic frame obtained after punching is completed is conveyed to the punching and riveting procedure, material overturning is completed in the conveying process, and the machining efficiency is improved.

A handling device for handling products that are conveyed by a transport device, the handling device including at least one handling unit having a plurality of movably supported movement carriages, and a plurality of handling elements that are embodied as vacuum grippers. The plurality of handling elements move relative to the movement carriages in each case at least substantially parallel to a product support surface of the transport device.

The utility model relates to the technical field of pile grippers, in particular to a pile gripper mounted on a self-elevating platform, which comprises a guide sleeve, an upright post slidably arranged in the guide sleeve, a lifting component arranged between the guide sleeve and the upright post and used for driving the guide sleeve and the upright post to move relatively, a hoop component arranged on the upright post, and a hoop component arranged on the hoop component. The hoop assembly is used for embracing a pile, an adjusting seat is arranged on one side of the guide sleeve, a fixing seat is arranged on the side, away from the guide sleeve, of the adjusting seat, a plurality of telescopic frames are arranged between the adjusting seat and the fixing seat, each telescopic frame comprises a telescopic shaft, a set of telescopic arms and a telescopic seat, and the telescopic shafts are rotationally connected with the adjusting seats. One end of the telescopic arm is rotationally connected with the telescopic shaft, the other end of the telescopic arm is movably connected with the telescopic seat, and the telescopic seat is fixedly connected with the fixed seat. The pile sinking device has the effects of conveniently adjusting the positions of the arm claws and reducing the pile sinking operation cost of the pile body.

The invention discloses a robot disordered grabbing method and system based on 3D vision, and relates to the field of vision grabbing, and the method comprises the steps: configuring a 3D vision collection module to execute incoming material area continuous collection, executing definition of a robot base coordinate system, a camera coordinate system and an incoming material station coordinate system, and setting a tray in-place consistency constraint. Deterministic mapping of a clamp and a strategy is formed under multiple types of incoming materials, the grabbing success rate is improved, deformation and falling risks are reduced, collision safety is improved with minimum safety gap constraint and path cost selection in an unordered environment, and operation stability is maintained through action time accounting and beat conformity judgment on the beat side. And traceability is realized by a sorting accuracy target and a task log write-in mechanism, and finally, shutdown waiting and secondary faults are reduced through alarm and separate disposal rules in a static incoming material and structure separation risk scene.

The present invention provides a self-control system for a mine pipe gripper and its control method, which relates to the technical field of mine pipe grippers. The system controls the pipe gripping process by means of vision, perception, and planning. The vision recognition part uses a mine visible light and depth camera for composite image acquisition to improve the accuracy of the coordinates of the pipe to be installed. The attitude perception part is responsible for spatially positioning the attitude of the pipe gripper. Finally, the hydraulic arm motion trajectory is planned by calculating the spatial coordinates of the pipe center and the spatial coordinates of the hydraulic arm center, and the inverse solution of the spatial coordinate system is carried out according to the DH algorithm, which is decomposed into the displacement and angle transformation amounts of the telescopic oil cylinder and the slewing motor, so as to achieve the purpose of the pipe gripper autonomously and accurately gripping the pipe; greatly solving the problems of manual operation of the existing mine pipe grippers, lack of intelligent perception, poor operation quality, and large potential safety hazards.

The invention discloses a full-automatic intelligent car loader stacking method, and relates to the technical field of data analysis, and the method comprises the steps: obtaining cargo attribute information, vehicle parameter information and transportation demand information, and carrying out package arrangement strategy analysis based on the cargo attribute information, the vehicle parameter information and the transportation demand information to obtain an initial package arrangement strategy; analyzing grabbing poses of a plurality of grabbing hands in the intelligent car loader on the basis of the initial package arranging strategy; cargo stacking debugging is carried out based on the grabbing pose and the initial package arranging strategy, and the gap accumulation ratio and the height error are detected in the cargo stacking debugging process; and the initial package arranging strategy and the grabbing posture are adjusted based on the gap accumulation ratio and the height error, a target package arranging strategy and a target grabbing posture are obtained, and the intelligent car loader conducts goods stacking according to the target package arranging strategy and the target grabbing posture. According to the invention, the goods can be effectively prevented from shifting, colliding and being damaged in the transportation process, and a firm guard is provided for the safety of the goods.

A self-propelled substrate feeding and discharging system is suitable for carrying a plurality of substrates and comprises a material box and a first self-propelled vehicle. The material box comprises a material rack and a plurality of material frames. The material frame is suitable for containing the base plate. And the first self-propelled vehicle is electrically driven and is used for carrying the material box and taking and placing the substrate from the material frame. The first self-propelled vehicle comprises a vehicle body unit, a conveying unit and a robot arm. The conveying unit comprises a conveying belt set used for moving the material boxes into or out of the vehicle body unit and a pulling and placing device used for taking and using one material frame. The pulling and releasing device is provided with at least one pair of telescopic cylinder sets arranged at intervals. And the robot arm is used for taking and placing the base plate of the material frame taken by the pulling and placing device. The robot arm comprises two electric clamping jaws. And each electric clamping jaw is provided with a plurality of paws. Automatic feeding and discharging can be achieved, manual operation is not needed, manpower is saved, and the production efficiency is good.

The invention relates to the technical field of automatic equipment for in-vitro diagnosis, in particular to a method for cleaning a reaction cup, a mode selection method and a chemiluminescence immunoassay analyzer. The method for cleaning the reaction cup comprises the following steps that the first gripper is driven to move on the gripper movement axis in the linear direction, the reaction cup in a reaction cup hole in a first target is grabbed, and the cup throwing action is completed; meanwhile, the second gripper is driven to move on the gripper movement axis in the linear direction, the reaction cup in the reaction cup hole in the second target is grabbed, and the cup throwing action is completed. The reaction cups in the reaction cup holes can be cleaned through linear motion of the grippers, and the multiple grippers work separately. The problems that in the prior art, cup grabbing and cup throwing actions can be achieved only by moving cup grabbing hands for a long distance, avoiding control logic is lacked between the cup grabbing hands, position interference is prone to occurring, and the cup cleaning efficiency of an analytical instrument is affected are effectively solved.

The utility model relates to the technical field of universal grippers, and discloses a universal gripper for stud welding without a grounding electrode. Comprising a supporting block, a pressing block, a pressing arm, a cushion block, a lining, a first gasket, a first connecting piece, an SMC speed regulating valve, a second connecting piece, a powerful tightening cylinder, an air cylinder pressing arm, a third connecting piece, a fourth connecting piece, a second gasket, a fifth connecting piece, a sixth connecting piece, an octagonal pipe, a first insulating pin and a second insulating pin. And the first gasket is arranged between the pressing block and the pressing arm. According to the universal hand grab without the grounding electrode, the pressing block material is replaced, so that the space is not occupied; when in use, the pressing blocks on the grippers are better attached to a plate and a pipe, so that the conductivity is increased, the installation space of the grounding electrode is saved, more space is provided for optimizing the track, and the operation is convenient, time-saving and labor-saving.

Bagging machines include a sealing mechanism having a sealing bar and a pressure plate movable in relation to the sealing bar so that the pressure plate and the sealing bar can apply pressure to a sealing area on an envelope to form a closure seal. The bagging machines can include a high-force actuator and a low-force actuator configured to apply different levels of force to the sealing bar dependent upon the position of the sealing bar in relation to the pressure plate. The bagging machines also can include one or more grippers that separate the upper ends of the envelope walls to provide access to an interior pocket of the envelope. The grippers can be configured to disengage from their drive mechanism upon encountering an obstruction in their movement into and out of contact with the envelope walls.

The present invention discloses an adaptive industrial robot gripper based on flexible materials, which relates to the technical field of robot grippers. It comprises a main body component and a moving component arranged at the bottom of the main body component, wherein the moving component is provided with a clamping component for clamping an object, and the clamping component is provided with an expansion component for flexibly clamping the object. The present invention is implemented by filling a storage box with a flexible fluid material, the flexible fluid material enters a limit frame through a feed pipe, squeezing and expanding an expansion bag, driving a bidirectional threaded rod to rotate by a driving motor, and two moving blocks respectively driving a first clamping plate and a second clamping plate to move, clamping the object, changing the injection amount of the flexible fluid material and the movement distance of the first clamping plate and the second clamping plate, thereby achieving adaptive flexible clamping of the object, and adjusting the injection amount of the silicone fluid by a first motor, thereby achieving adaptive flexible clamping of the object.

The utility model relates to the technical field of automation equipment, in particular to a stacking manipulator which comprises a chassis, a multi-shaft transmission arm and an intelligent flexible gripper, one end of the multi-shaft transmission arm is rotatably connected to the chassis, and the other end of the multi-shaft transmission arm is detachably connected with the intelligent flexible gripper; magnetic suction panels are arranged at the joints of the intelligent flexible grippers and the multi-axis transmission arm, and the intelligent flexible grippers are symmetrically arranged on the magnetic suction panels. The intelligent flexible gripper is further provided with an integrated weighing sensor and a visual identification system, and the weighing sensor is used for monitoring the weight of the gripped aluminum sulfate powder package in real time; and the visual identification system is used for identifying the position, size and posture of the aluminum sulfate powder package in real time so as to realize accurate grabbing and stacking actions in a complex space. According to the aluminum sulfate powder packaging bag stacking machine, the multi-shaft transmission arm, the intelligent flexible gripper, the integrated weighing sensor and the visual identification system are integrated, so that safe, efficient and accurate stacking of aluminum sulfate powder packaging bags is achieved.

An adjustable ratchet wrench is provided that includes a base plate and a top plate rotatably coupled to the base plate. A plurality of grippers may form an interior polygonal shape within a center of the base plate and the top plate for gripping a workpiece. A plurality of push rods coupled to the grippers may move the grippers to change the size of the interior polygonal shape as the top plate is rotated with respect to the base plate.

The invention discloses drill rod multi-mechanism cooperative type self-adaptive feeding and discharging integrated equipment and method, and relates to the technical field of drilling machinery, the drill rod multi-mechanism cooperative type self-adaptive feeding and discharging integrated equipment comprises a frame body, a driving mechanism is mounted on one side of the frame body, the drill rod multi-mechanism cooperative type self-adaptive feeding and discharging integrated equipment further comprises a clamping mechanism, the clamping mechanism comprises a mounting base, a supporting rod is fixed to the mounting base, and two grippers are rotationally connected to the mounting base; a hydraulic rod is rotationally connected between the two grippers, a connecting assembly is arranged on each gripper and comprises a hydraulic motor fixedly installed on one side of the gripper, two driving wheels are rotationally connected to the other side of the gripper, one driving wheel is fixed to a driving shaft of the hydraulic motor, and the other driving wheel is fixed to a driving shaft of the hydraulic motor. According to the device, automatic feeding and connecting and automatic dismounting and discharging of the drill rod are achieved through the driving mechanism and the clamping mechanism, the working efficiency and safety are remarkably improved, in addition, the obliquely-arranged driving wheel combines the rotating function and the axial moving function, and the working efficiency is greatly improved. And the single operation period can be further shortened.

The invention relates to the technical field of automatic equipment moving path control, in particular to an electric energy meter production line sorting gripper equipment control method applying automatic control. According to the method, after the initial motion path of the gripper is determined, the initial load can be determined according to the size and the quality of a part grabbed by the gripper, and the safety speed interval of the gripper in the actual motion process can be determined based on the initial load and motion parameters in the path. And in consideration of the set real-time speed, safe and effective path point interpolation can be realized by combining the distance between the adjacent discrete path points. And the gripper intersection point between the grippers is determined based on the final path, and the collision contact between the grippers can be prevented by reducing the real-time speed at the gripper intersection point position. Through effective safe speed setting and smooth path interpolation, the safety of the gripper during moving of the electric energy meter parts is guaranteed, potential safety hazards in the production process are eliminated, and the production efficiency is improved.

A non-contact wafer clamp suitable for a thin wafer, comprising a clamp base, a first arm, a second arm and a third arm. A thin pneumatic component is provided on the first arm; an extended pneumatic component is provided on the third arm; by means of airflow, the thin pneumatic component and the extended pneumatic component form a high-pressure area in an enclosed area of the thin pneumatic component and the extended pneumatic component, the high-pressure area being used for supporting wafers. The beneficial effects are: for the problem in the prior art that the method of using grippers to clamp is prone to wafer damage, the present solution respectively provides on a wafer clamp a thin pneumatic component and an extended pneumatic component, under the cooperation of the thin pneumatic component and the extended pneumatic component, forms a high-pressure area below wafers by means of airflow, and uses a cushioning component to limit wafer movement in the horizontal direction, thus implementing effective wafer gripping processes and avoiding the problem of wafer damage caused by the clamp gripping wafers.

The boxing and stacking clamp comprises a rack, two clamping arm assemblies rotationally connected to the rack, a first driving mechanism driving the clamping arm assemblies to act and a second driving mechanism driving a hook claw to rotate, the first driving mechanism comprises a first driving piece and a connecting rod assembly, and each clamping arm assembly comprises a clamping frame, a swing arm, a clamping plate and the like. The second driving mechanism is composed of a rotating driving shaft, a rotating rod, a rotating chain, a second driving piece and the like. When the materials are transferred, the first driving mechanism and the second driving mechanism are sequentially driven, the clamping arm assemblies clamp the two sides of the bagged materials, and the hook claws rotate to the bottoms of the materials for supporting. The technical effects that the bagged materials can be efficiently and stably clamped and supported, and material transferring and stacking operation is facilitated are achieved.