52 results about "Independent motion" patented technology

The invention relates to the technical field of continuum robot control, in particular to an under-actuated active and passive cooperative control device for a continuum robot. The two sections of mechanical arms are connected in a staggered mode to form two sections of continuous mechanical arms moving independently, each mechanical arm is provided with a plurality of bending units which are sequentially connected in the same position, the pre-tightening compensation mechanism is installed on the core body in the circumferential direction, the under-actuated control mechanism is installed on the installation disc, and the first rope is connected with the mechanical arms and the rope fixing plate; one end of the second rope is connected with the mechanical arm, and the other end of the second rope sequentially penetrates through the mechanical arm, the pre-tightening compensation mechanism and the first positioning wheel assembly and then is connected with the rope fixing plate to form a tension compensation loop for the first rope. The two-section continuum structural design is adopted, kinematics dimension reduction is achieved, and the multi-direction bending capacity can be achieved in a narrow space through bionic optimization. A combined type pre-tightening mechanism with a spring and a pulley combined is adopted, rope deformation is passively compensated through an elastic element, and dynamic tension maintaining is achieved.

It provides the following solutions: the system includes subsystems such as an integrated management and evaluation subsystem, and constructs a ship six-degree-of-freedom motion model. A thrust calculation model is built for the problem of propeller thrust affected by broken ice during the propulsion process. By treating broken ice as independent moving objects, the motion of broken ice is solved to obtain the relative motion speed between the ship and broken ice. The influence of broken ice on propeller performance is considered by incorporating the relative speed between the ship and broken ice into the propeller modeling process, which acts on the aforementioned model. The annular crack method is used to determine the breaking shape of level ice, and the generated broken ice is close to real-world conditions.

The invention relates to the technical field of stress detection equipment, and discloses building steel structural member stress detection equipment which comprises a base, an adjusting ring is fixedly arranged on the base, and a first detection piece for detecting stress at the two ends of a steel structural member is arranged on the adjusting ring; the adjusting ring is provided with a second inspection part for detecting the stress of the middle section of the steel structural part, and the adjusting ring is provided with a pushing part for enabling the steel structural part to move; the J-shaped connecting groove is matched with the pulley, non-impact conversion from horizontal movement to vertical movement is achieved, jumping generated during lifting of the placing piece is avoided, the size design of the avoiding groove provides an independent movement space for the first sensor, the movement interference risk is thoroughly eliminated, sliding friction is converted into rolling friction through bearing matching of the pulley and the rotating shaft, and the stability of the sensor is improved. And through the symmetrical layout of the connecting grooves, the stress on the two sides of the placing piece is balanced, side inclination during lifting is avoided, and it is ensured that the posture of the steel structural piece is stable.

The invention discloses an underwater grabbing task-oriented double-software mechanical arm cooperation method, which is characterized by comprising the following steps of S1, establishing an automatic machine model of an underwater cooperative grabbing task of a double-software mechanical arm system; s2, on the basis of the automaton model established in the step S1, an upper-layer task planner is established in combination with a supervision and control theory; and S3, when the double-software mechanical arm system works, the sensed underwater sensing signals are abstracted into discrete events, the discrete events serve as input of an upper-layer task planner to trigger the upper-layer task planner to generate action instructions, and the generated action instructions are issued to independent motion controllers of the two mechanical arms respectively. According to the method, a perception-action sequence is described in a formalized mode based on an automaton model, an upper-layer task planning problem is converted into a supervision control problem to obtain a feasible task planner, and the upper-layer planning requirement of an underwater grabbing task is met.

This invention relates to a force feedback handle and its control method, belonging to the field of human-computer interaction technology based on tactile and force sensing. The force feedback handle is not only miniaturized but also has advantages such as low moment of inertia and good response, making it applicable to gantry crane operation, robot manipulation in extreme environments, and helicopter towing. The force feedback handle of this invention exhibits independent motion in two degrees of freedom, requiring no decoupling. In use, by interactively controlling the position of the handle in both degrees of freedom with the feedback force—that is, increasing the absolute value of the position in one degree of freedom corresponds to a corresponding increase in the damping force in the other—accidental activation can be prevented.

The application discloses a kind of variable width motion operation integrated module mechanical arm under narrow environment, this mechanical arm is based on modularization, multiple variable width modules are combined with joint module.In joint module, driving motor drives each variable width module to swing in two directions, so that the mechanical arm bends to any direction to complete the work in each scene.The application has flexible telescopic mechanism on each variable width module and multi-section linkage, quickly realizes the change of fuselage width, and has additional motion module, the tip end moves according to the predetermined curve by cam link mechanism.Each variable width module adopts transmission shaft transmission to realize variable width function and additional motion function linkage, control is simple and light in weight, relative to traditional mechanical arm, mechanical arm can be independently moved to specified position for work without manual handling in necessary scene, fuselage adopts special mechanism design, ensure structural strength while lightening, improve stability.

The present application relates to the medical robot control and precision testing technical field, especially related to a kind of kinematics parameter closed-loop calibration method and device of surgical robot end effector.The method is first set up reflection unit on surgical robot end effector, and the motion data of driving unit and the light spot position data detected by photoelectric detection unit are collected;Control surgical robot end effector executes rotary scanning movement to carry out coordinate correction to light spot position data;Each independent motion axis of surgical robot end effector is driven respectively, and according to the mapping relationship of corrected light spot position data and motion data, the transmission parameter and hysteresis parameter of each independent motion axis are identified;Drive the motion axis with coupling relationship, identify inter-axis coupling coefficient, and configure kinematics calibration model to control system.The present application effectively eliminates steel wire transmission coupling and system geometric error through step-by-step optical feedback and geometric self-calibration, and improves the operation precision of end effector.

The invention discloses a horizontal electroplating wafer conveying manipulator which integrates five sets of independent motion modules, namely a lifting module, a transverse moving module, a rotating module, a straight moving module and an overturning module, five-axis linkage control is achieved, and compared with a traditional single-degree-of-freedom conveying device or a few-degree-of-freedom conveying device, the horizontal electroplating wafer conveying manipulator has the advantages that the conveying efficiency is improved; and the manipulator can achieve quick and accurate multi-dimensional movement in a complex environment, and the carrying efficiency and flexibility are greatly improved.

The invention discloses an independent motion controller, and relates to the technical field of motor shells, the independent motion controller comprises an outer shell, a processor and an adjusting module, the outer end of the outer shell is provided with a controller, the two sides of the exterior of the outer shell are provided with touch assemblies, the middle end of the interior of the outer shell is provided with the processor, and the top end of the processor is provided with a motor. The outer end of the motor is connected with a synchronous belt, and the other end of the synchronous belt is provided with a winding assembly. After the communicating seat is communicated with the first electrifying seat, the processor can electrify the vibration sensor through the communicating seat and the first electrifying seat, vibration generated after the vibration sensor is electrified can be sensed by a worker holding the equipment at the moment, and through the operation, the vibration sensor can transmit a sent signal to the worker; most use scenes of sports equipment are in a relatively high-noise and relatively complex environment, so that an instruction completion signal can be quickly, conveniently, accurately and efficiently transmitted by adopting a mode of transmitting a signal to a hand of a worker through a vibration sensor.

The invention provides a variable mechanical limit static and dynamic dual-mode torsion test fixture, which comprises at least one fixture body, the fixture body comprises a base and a motion torsion device, the base comprises a bottom plate and two side plates, and the bottom plate and the two side plates define a test piece channel for accommodating a test piece; the motion torsion device comprises a shell, a torsion chuck and a servo motor, the torsion chuck is movably mounted in the shell and used for fixing a test piece, and the servo motor is used for driving the torsion chuck to rotate; and the motion torsion device can slide in the test piece channel. The motion torsion device is arranged in the base in a sliding manner, and the mechanical limit of the motion torsion device can be adjusted in the horizontal direction, so that the fixture adapts to slender strip-shaped test pieces with different lengths, the universality of the fixture is remarkably improved, and the application range of the fixture is remarkably widened; a plurality of independent motion torsion devices can be arranged on the base at the same time, the same or different torsion angles and cyclic loading modes can be applied to different sections of the same test piece, and the experiment function of the clamp is expanded.

The invention relates to the technical field of human-computer interaction, and discloses a motion track reproduction method and device, computer equipment and a storage medium. The method comprises the steps of collecting respective motion data of a first object and a second object; based on the motion data, acquiring spatial change information of the first object relative to the second object, including relative pose change and relative position change of the first object; spatial change information of the first object relative to the second object is analyzed, and independent motion data, including pose change and position change, of the first object in the space relative to the second object is separated; and reproducing a motion track of the first object based on the independent motion data. The motion data of the first object and the motion data of the second object are subjected to conjoint analysis, the relative space relation between the first object and the second object is analyzed, interference factors generated by driving of the second object are effectively eliminated, the independent motion data of the first object are extracted, and misjudgment caused by coupling influence in a traditional method is avoided.

A method of transmitting communications from a buoy placed in a body of water having the steps of: first determining a first orientation of the buoy relative to a communication target; second determining a second orientation of the buoy relative caused by the body of water; third determining whether a transmission can reach the communication target; and transmitting communications in a directional manner to the communication target if the step of determining determines that a transmission can reach the communication target. A sense control unit is likewise disclosed as are various systems and methods.

The application discloses a control method for cooperative carrying of a double SCARA robot, and also discloses a system of the first and second SCARA robots which jointly hold a workpiece through end effectors. The method comprises the following steps: in a cooperative control mode, the first robot moves independently according to a preset trajectory, and the second robot keeps a relative position with the first robot; a desired position and force are obtained according to environmental constraints; positions and forces of the two robots are collected in real time; the first robot adopts a position control strategy, and outputs a force through a proportional differential control law based on a position error according to position feedback; and the second robot adopts a damping control strategy, and outputs a speed correction amount through a proportional differential control law based on a force error according to force feedback. The application realizes decoupling of the position and the force through differentiated control, and improves carrying stability, precision and adaptability. The master-slave architecture avoids position grabbing or mutual dragging, reduces dependence on positioning precision, and is suitable for carrying of precise or fragile workpieces.

The invention provides a synchronous linkage XAFS measuring device and method based on a Rowland circle, and belongs to the technical field of X-ray analysis and measurement. The device comprises a fixedly-arranged X-ray source, an actively-driven rotating arm, a motion platform, a crystal monochromator, a detector, a corresponding connecting rod and a sliding rail assembly. The rotating arm rotates around a light source excitation point of the X-ray source, the motion platform is driven to move by utilizing the Rowland circle geometry principle, and meanwhile, automatic adjustment of the Bragg angle of the crystal monochromator and synchronous tracking and positioning of the detector are achieved through the constraint effect of the fixed connecting rod and the telescopic connecting rod. According to the device, an X-ray diffraction light path is always kept on a dynamic Rowland circle, the optimal focusing condition of the light path is ensured, the measurement precision and efficiency of an X-ray absorption fine structure spectrum are improved, the measurement process is simplified, positioning errors caused by multi-axis independent movement in a traditional device are eliminated, and the device is suitable for fine structure analysis in the fields of material science, chemistry, physics and the like.

An apparatus tor assembling metal cages, formed by longitudinal rods and transversal stirrups, eases the carpenters ' work by allowing to select and place precisely the stirrups and the rods. Thanks to a frame consisting of fixed and movable members, the stirrups are locked in the desired position according to the selected format. A first lifting system allows to raise or lower the whole cage during the assembly phases, whereas a second system allows the independent motion of the longitudinal rods with respect to the stirrups, without interferences, The apparatus also facilitates the positioning in height of the cage, by favouring ties and welds to fix the components in the definitive position.

A motion dependency surgical robotic system (100) employs an independent robotic arm (20), a dependent robotic arm (21), and a motion dependency robot controller (104). In operation, the motion dependency robot controller (104) controls an independent motion of the independent robotic arm (20) within a coordinate space responsive to an input signal indicative of the motion of the independent robotic arm (20) within the coordinate space, and further controls a motion of the dependent robotic arm (21) within the coordinate space as a function of a spatial geometric relationship between the independent robotic arm (20) and the dependent robotic arm (21) within the coordinate space.

The invention discloses a control method for cooperative carrying of double SCARA robots, and further comprises a system of a first SCARA robot and a system of a second SCARA robot, and the first SCARA robot and the second SCARA robot jointly clamp a workpiece through an end effector. The method comprises the steps that a cooperative control mode is adopted, a first robot independently moves according to a preset track, and a second robot keeps a relative position; acquiring an expected position and an acting force according to environmental constraints; acquiring positions and acting force of the two robots in real time; the first robot adopts a position control strategy and applies a proportional differential control law output acting force based on a position error through position feedback; and the second robot adopts a damping control strategy, applies a force error-based proportional differential control law through acting force feedback, and outputs a speed correction amount. Decoupling of the position and force is achieved through differential control, and the carrying stability, precision and adaptability are improved. The master-slave architecture avoids position grabbing or mutual dragging, reduces dependence on positioning precision, and is suitable for carrying precise or vulnerable workpieces.

A planar two-degree-of-freedom parallel piezoelectric stick-slip platform belongs to the field of piezoelectric precision driving and comprises an output platform, a guide rail mechanism, a support frame, a base and a piezoelectric stick-slip driving mechanism, the piezoelectric stick-slip driving mechanism is mounted on the base; the output platform is arranged on the guide rail mechanism, and the guide rail mechanism is arranged on the supporting frame and used for guiding and motion decoupling of the output platform so as to achieve two-degree-of-freedom independent motion of the output platform in the horizontal plane. The output platform is in contact with an output foot at the top of the piezoelectric stick-slip driving mechanism, and when the piezoelectric stick-slip driving mechanism is powered on, the output foot outputs displacement to drive the output platform to move. Large-stroke motion can be achieved, the coupling error of motion in all directions is reduced through the parallel connection mechanism, the output control precision is high, output two-degree-of-freedom translation can be achieved, and the parallel connection mechanism can be used for micro-operation of tiny parts.

Optical flow refers to the pattern of apparent motion of objects, surfaces, and edges in a visual scene caused by the relative motion between an observer and a scene. Optical flow algorithms can be used to detect and delineate independently moving objects, even in the presence of camera motion. The present invention uses optical-flow algorithms to detect and remove marine snow particles from live video. Portions of an image scene which are identified as marine snow are reconstructed in a manner intended to reveal underwater scenery which had been occluded by the marine snow. Pixel locations within the regions of marine snow are replaced with new pixel values that are determined based on either historical data for each pixel or a mathematical operation, such as one which uses data from neighboring pixels.

The invention relates to a control method for decoupling of a double-input double-output system, in particular to a motion decoupling system and method of a fast reflector, and solves the problem that existing motion decoupling cannot effectively decouple coupling caused by orthogonal imbalance of a motion axis and coupling caused by orthogonal imbalance of an actuator and a position sensor. And independent movement of each shaft and accurate feedback of the rotation angle of each shaft by a position sensor are difficult to realize. The system comprises a double-coordinate autocollimator, a data processing unit and a control unit, and the control unit is used for transmitting a motion instruction to the actuator and controlling the data processing unit to correct the position sensor by using the motion decoupling matrix of the position sensor so as to realize two-axis decoupling of the fast reflecting mirror. The method provided by the invention can effectively decouple the coupling caused by the orthogonal imbalance of the motion axis and the coupling caused by the orthogonal imbalance of the position sensor, and realizes the independent motion of each axis and the accurate feedback of the position sensor on the rotation angle of each axis.

The invention belongs to the technical field of robots, and provides a waist mechanism for a humanoid robot and the humanoid robot. The humanoid robot comprises a body rack part, and the waist mechanism comprises a structure conduction part; the first driving part is arranged on one side of the body rack part and is connected with the structure conduction part; the second driving part is arranged on the other side of the body rack part and connected with the structure conduction part, the first driving part and the second driving part are execution units which work cooperatively in parallel, and pitching and twisting movement of the waist is achieved through the structure conduction part; the third driving part is connected with the structure conduction part and located on the lower side of the structure conduction part, the third driving part is an independent execution unit, and course adjustment of the waist is achieved through the structure conduction part. The first driving part and the second driving part are linked in parallel, and the third driving part independently moves to realize accurate control of the waist; the first driving part, the second driving part and the third driving part are connected with the structure conduction part, so that the problems of waist structure flexibility and size compactness are solved.

A device for parallel joint connections comprises a base and multiple drive assemblies mounted on the base. Each drive assembly comprises a connecting frame connected to the base, a cylinder extending through the connecting frame, and two piston rods extending into the cylinders at either end. The ends of the two piston rods are connected to universal joints 2, respectively. Universal joints 2 are movably connected to a floating platform. The joints connected by the device of the present invention move independently, achieving completely independent motion control. This allows the parallel joints to operate stably in complex motion scenarios without the risk of rope entanglement. This not only improves the flexibility of motion control but also significantly enhances the device's adaptability to complex tasks.

The invention discloses an industrial robot software reliability test profile generation method and device based on a large model and operation data, and a storage medium. The method comprises the following steps: collecting multi-modal data of an industrial robot in actual operation; on the basis of the aligned multi-modal data, segmenting a continuous data stream into independent motion segments according to a software event or a motion boundary, and constructing a feature representation for describing an event-response relationship; based on the extracted feature vectors, constructing a software event-motion response association model, and identifying a typical operation mode and an abnormal mode; and based on the obtained correlation model analysis result, carrying out inductive reasoning and probabilistic modeling by utilizing a large model, and generating a JSON format test profile. According to the method, low-frequency and hidden time sequence defects and logic errors can be efficiently and automatically found, and the test coverage rate and the fault reproduction capability are remarkably improved.

The invention discloses a toggle no-landing-edge punching structure, and relates to the technical field of punching machine mechanical equipment, the toggle no-landing-edge punching structure comprises an ejection module, a constraint buckle frame is arranged outside the ejection module, and a vertical buffer piece for limiting and buffering the axial movement of the ejection module is coaxially assembled in the constraint buckle frame; horizontal buffering pieces for limiting and buffering radial movement of the material ejecting module are further symmetrically assembled in the restraining buckle frame, the vertical buffering pieces can synchronously and axially move slightly along with vertical movement of the long connecting rod, the long connecting rod is divided into an upper independent movement section, a middle independent movement section and a lower independent movement section, stress of different parts is buffered in a segmented mode, and the buffering effect is good. Sudden change of force during axial movement of the long connecting rod is counteracted; and the horizontal buffer piece limits the radial deviation amplitude of the long connecting rod when the long connecting rod shakes in the radial direction due to unbalanced stress, so that the stability of the motion trail of the long connecting rod is ensured, the service life of parts is prolonged, and the transmission stability and precision of the material jacking device are remarkably improved.

The utility model relates to a humanoid welding robot based on machine vision. The humanoid robot body comprises a left arm provided with a welding gun and a right arm provided with a first visual device; the left arm is configured to drive the welding gun to move so that the welding gun can conduct welding. The right arm is configured to drive the first visual device to move to obtain image data; the welding visual processing device is connected with the first visual device and is configured to perform data processing on the image data to obtain welding information; and the robot controller is connected with the welding visual processing device, the left arm and the right arm and is configured to control the left arm and the right arm to move based on the welding information. The humanoid robot is applied to a welding scene, a welding gun is arranged on one mechanical arm of the humanoid robot, a visual device is arranged on the other mechanical arm of the humanoid robot, a welding gun arm and a visual arm are integrated on the same equipment and are of an independent movement structure, and the degree of freedom and the reachable range are greatly improved.

The application discloses a composite robot control method, and belongs to the field of motion control of the composite robot. The composite robot has multiple composite relations among components, such as series connection, parallel connection and mixed connection, and the application solves the problem that the existing industrial robot programming language is difficult to describe the cooperative motion relation among the components of the composite robot and cannot realize the combined motion among the components of the composite robot. The application develops independent and cooperative motion instructions for joints and components, and thus the cooperative or independent motion of each component of the composite robot can be realized.

The utility model discloses a micron-sized objective table based on a servo system, which belongs to the technical field of precise motion control and comprises a shell, a rotating component is mounted on the shell, a Y-axis motion component and an X-axis motion component are mounted below the shell in a crossed manner, and an electrical control box is mounted on one side of the X-axis motion component. The shell provides powerful physical support for the system, so that all moving components stably operate on the objective table. Through high-precision mechanical connection and precise sliding rail design, vibration and errors can be effectively avoided, and the stability and reliability of the objective table in long-time operation are ensured. The X-axis and Y-axis independent movement system enables the objective table to flexibly and independently move on two planes through cross installation and servo control. By means of the design, the objective table can be rapidly adjusted to the needed position in the operation process, the overall working efficiency is improved, and delay and errors caused by manual adjustment are reduced.

The velocity detecting system includes an emitter, a receiver, a light path, a measuring system, and a deducer to calculate the velocity of a body without relying on an external body with independent motion or an earlier known body velocity. The emitter radiates light photons which follow a known light path until the photons reach the receiver. The light is measured by a measuring system. Using the measurements, the light path, and the constant speed of light (c), the deducer calculates the velocity of the body in the direction of the light path.

This invention discloses a test chamber with omnidirectional motion, comprising a chamber body, a first driving device, and a second driving device. The first driving device is located below the second driving device, and the chamber body is connected to the second driving device. The first driving device can drive the second driving device and the chamber body to move back and forth, and the second driving device can drive the chamber body to move left and right. A clamping device is provided within the chamber body, and the clamping device can be adjusted to clamp test workpieces of different sizes. This invention, through the coordinated operation of the first and second driving devices, achieves independent and combined movements of the chamber body in both the back-and-forth and left-and-right directions, realistically simulating the multi-directional displacement state of the test workpiece under actual working conditions, significantly improving the dynamics and realism of environmental testing.

The invention discloses a laser cutting machine for loudspeaker diaphragm production, relates to the technical field of laser cutting machines, and aims to solve the problems that according to the background technology, independent manipulator blanking needs a complex visual secondary positioning system, a manipulator and a laser cutting head belong to two sets of independent movement systems, beat waiting and cooperative errors exist, and the working efficiency is high. According to the scheme, the device comprises an operation table, the top of the operation table is provided with a dynamic adsorption platform, the dynamic adsorption platform comprises a mounting box and a plurality of ceramic adsorption pipes, each ceramic adsorption pipe is internally provided with a vacuum adsorption gas path and a positive pressure purging gas path, and the top of the operation table is provided with a three-dimensional movement mechanism. The blanking function module and the main cutting head can be integrated in the same motion system, follow-up blanking is achieved, secondary positioning is not needed, the production takt is shortened, the overall production efficiency and blanking positioning precision are improved, meanwhile, soot blowing and cooling can be conducted on a laser cutting area before follow-up blanking, and the overall cutting effect is improved.