35 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.

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 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.

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.

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.

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 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.

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.

The application discloses a continuous action semantic coding and translation method and system for a humanoid robot, and the method comprises the following steps: establishing a unified reference time axis, and setting a sampling and coding element action data structure and a decoding element action data structure; sampling data of each actuator according to the sampling and coding element action data structure; coding the sampling points according to action semantics, and outputting the coding and storing the coding in an action library after the coding is completed; taking out the action coding stream from the action library when the robot moves, and decoding the action coding stream; calculating the continuous action coding stream by using an action smoothing algorithm after the decoding, and filling each action point of the continuous action coding stream according to the decoding element action data structure; and outputting the decoded action coding stream and executing the decoded action coding stream according to the unified time axis. The joints of the humanoid robot can independently move at the same time point, and the linkage action of the humanoid robot can be realized on the whole.

The application relates to a composite transmission structure and simulation equipment, wherein the composite transmission structure is applied to the simulation equipment and comprises a support, a first motion mechanism, a second motion mechanism and an output shaft; the support comprises a first support section and a second support section fixedly connected; the first motion mechanism is connected to the first support section; the second motion mechanism is installed on the second support section of the support; the output shaft is connected with an output end of the second motion mechanism; the first motion mechanism is used for driving the output shaft to do linear motion; and the second motion mechanism is used for driving the output shaft to do rotary motion. Therefore, by arranging two groups of independent motion mechanisms corresponding to driving linear motion and rotary motion of the output shaft, composite transmission output in two different dimensions is realized; and the motion of the first motion mechanism and the second motion mechanism does not interfere with each other, effectively solving the problems that the traditional simulation equipment transmission structure is single, cannot synchronously realize linear and rotary composite motion or interference between transmissions is serious.

The application discloses a detection method, device and system for abnormal pet behavior in public places. The method comprises the following steps: acquiring a real-time video stream, identifying the posture relationship between each pet and each person included in each video frame of the real-time video stream; extracting a target pet included in the image recognition result, at least one associated person meeting a distance threshold condition with the target pet, and a leash detection result matched with the target pet; if it is determined that the leash detection result is that there is no leash, acquiring the posture relationship between the target pet and each associated person in each identified posture relationship matched with a target time interval; and if it is determined that the posture relationship between the target pet and all associated persons is an independent motion relationship, generating abnormal behavior warning information for the target pet. By using the above technical scheme, the influence of factors such as leash shielding, too thin or poor light on the detection result can be avoided, and the detection accuracy is improved.

The application discloses a parallel force control end effector in the technical field of robot intelligent manufacturing, which comprises a moving platform, three supporting points arranged on the moving platform, and a single-degree-of-freedom driving unit connected with each supporting point through a supporting chain structure, wherein the distance from each supporting point to the center of the moving platform is equal, and the bottom of the single-degree-of-freedom driving unit is connected with a fixed base. The parallel force control end effector is composed of the moving platform, three single-degree-of-freedom driving units moving independently, the supporting chain structure and the fixed base. The fixed base is connected with a robot end flange, and the three-degree-of-freedom force control function of the end effector is utilized to complete the contact type operation of the robot, and the parallel force control end effector has the advantages of large force-to-mass ratio, high output force value, low system inertia and the like, and solves the high-frequency dynamic contact force control problem during grinding of large and complex components of the robot.

The invention discloses a two-dimensional motion sample stage with a self-defined track, and belongs to the technical field of laser sample stage processing control equipment. The sample table comprises a sample table body, a first linear driving unit, a second linear driving unit, a connecting structure, a position sensor, a sliding rail assembly and a controller. The second linear driving unit is arranged on the moving part of the first linear driving unit through a connecting structure to form a two-dimensional motion synthesis structure; the position sensor detects the position of the motor in real time and feeds back to the controller; the controller decomposes a two-dimensional track into two independent motions in the orthogonal direction by utilizing the Lissajous figure synthesis principle according to a preset self-defined track, closed-loop adjustment is carried out by adopting an improved cascade PID control strategy, and only proportional control is adopted for a speed loop. According to the invention, high-precision and high-speed trajectory tracking of the sample table in a two-dimensional plane is realized, the response time is shortened to 3.1 ms, the tracking error is less than 0.01 mm, the structure is compact, the control is flexible, and the device is suitable for sample scanning and processing under a high repetition frequency laser.

The invention discloses a propeller power three-dimensional space attitude test platform, which belongs to the technical field of engine performance detection and comprises a first rotating part, a second rotating part and a third rotating part. A first supporting platform matched with the third rotating part is arranged on the first rotating part, and a second supporting platform matched with the second rotating part is arranged on the third rotating part; the first supporting platform can drive the second rotating part and the third rotating part to rotate around a first direction, the second supporting platform can drive the second rotating part to rotate around a second direction, a to-be-tested piece is arranged on the second rotating part, and the second rotating part can drive the to-be-tested piece to rotate around a third direction; the X / Y / Z axis rotation motion of the rack can be independent motion or three-axis linkage operation, the long-time test work of one space posture can be met, and a user can set the position state of a tested piece in the space according to the test requirement. The multi-dimensional test state simulates all attitude actions as much as possible when the aircraft flies in the air.

The invention discloses an oblique constraint mechanism kinematics solving method, and belongs to the technical field of robots. According to the invention, a closed chain mechanism under oblique constraint is split into independent motion branch chain mechanisms at the position of an oblique constraint kinematic pair; according to the motion characteristics of each structural component in the branch chain mechanism, the motion transmission relation of each branch chain mechanism is analyzed, a coordinate transformation matrix representing the position and posture of each structural component in the branch chain mechanism is established, and the position and posture of an oblique constraint component in each branch chain mechanism are solved; according to the constraint characteristics of the oblique constraint, an oblique constraint relation equation between the branch chain mechanisms is established, and the relation between the coupling structure assembly and the input source is solved, so that the motion space of the whole oblique constraint mechanism is obtained. And according to the motion space distribution of the oblique constraint mechanism, the motion track of the oblique constraint mechanism is planned in the motion space, and inverse kinematics solution is carried out. The method is a special, universal, accurate and efficient kinematics analysis method for the oblique constraint mechanism, and can be widely applied to kinematics calculation of the oblique constraint mechanism.

The utility model belongs to the technical field of laser processing, and provides a double-station motion platform which comprises a first supporting seat, a second supporting seat and an X-axis linear motor module. The X-axis linear motor module comprises two groups of X-axis sliding blocks and two groups of X-axis rotors, and the X-axis sliding blocks are connected with the corresponding X-axis rotors through X-axis rotor seats; a supporting guide rail is arranged on the second supporting seat and is in sliding fit with two sets of supporting sliding tables, a cross beam is arranged between the supporting sliding tables and the corresponding X-axis rotor seats, a Y-axis moving mechanism is arranged on the cross beam, and a Z-axis moving mechanism is arranged at the moving end of the Y-axis moving mechanism. According to the platform, the two sets of X-axis rotors move independently, the Y-axis moving mechanism and the Z-axis moving mechanism are combined, independent movement of two sets of machining equipment is achieved, and the situation that two independent lead screws occupy a large space is avoided. And secondly, the second supporting seat can improve the stability of the cross beam. And a to-be-machined object can pass through the space between the first supporting seat and the second supporting seat, so that the space is reasonably utilized.

A joint modeling and simulation method and system for a marine engineering installation operation, which method and system belong to the technical field of ships and marine engineering, and particularly relate to joint modeling and simulation of marine engineering installation operations. By means of the method and system, the problems of existing modeling and simulation techniques in marine engineering equipment installation operations having relatively low simulation efficiency and being incapable of meeting the real-time requirements of engineering training exercises, and the time costs for repeat development caused by the difficulty in reusing a simulation model being relatively high are solved. The method comprises the following steps: S1, obtaining an independent equipment movement simulation model; and S2, on the basis of movement transfer simulation and load transfer simulation, acquiring real-time joint simulation data. The joint modeling and simulation method and system for a marine engineering installation operation are applicable to joint modeling and simulation of marine engineering installation operations.