26 results about "Industrial manipulator" patented technology

The invention relates to the technical field of stamping part machining, and discloses an industrial manipulator feeding and discharging automatic stacking mechanism which comprises a mechanical arm, a second adsorption assembly connected with the mechanical arm, a table body arranged on one side of the mechanical arm, a transfer table and an adjusting assembly arranged on the top of the table body, and a first adsorption assembly arranged on the adjusting assembly. The second adsorption assembly comprises a box body, the box body is arranged on the mechanical arm, and a third rotating shaft is rotationally connected to the box body; the manipulator grabs the blanks from the blank placing area according to a set sequence, the blanks are sequentially processed by a plurality of punching machines, and finally finished products are orderly placed in the finished product placing area, so that automation and continuity of the production process are realized, and the production efficiency is greatly improved. And on the other hand, the automatic stacking structure is precisely matched with the manipulator, so that the error rate and the fault rate in the operation process are effectively reduced, production interruption and loss caused by human factors or mechanical faults are reduced, and the overall production quality and stability are improved.

The invention relates to the technical field of industrial automation equipment, discloses a high-speed intelligent screw machine control system and method based on artificial intelligence and a manipulator, and solves the problems that an existing screw machine is low in locking efficiency, poor in positioning precision, insufficient in product changing flexibility and free of real-time anomaly detection processing capacity. The control system comprises a hardware layer, a software layer and a cooperative control layer, the hardware layer is provided with a double-vision identification structure, an industrial manipulator, a locking execution mechanism module, a feeding module, a sensor module, an industrial personal computer and a control module; the software layer is internally provided with a convolutional neural network model and a reinforcement learning model, is provided with a process template library, and further comprises a visual identification module, an AI algorithm module, a motion control module, a locking execution control module, a data storage and analysis module, a task scheduling module and a man-machine interaction module; the cooperative control layer is provided with a control interface and an MES data reporting interface, and bidirectional data interaction with an external production line control system and a factory MES system is achieved.

The invention relates to the technical field of aeronautical manufacturing, and discloses an electric arc fuse additive manufacturing method and device.A rotating clamp and a horizontal overturning clamp are arranged in the field of view of a binocular camera, the binocular camera is used for collecting workpiece images to construct a first three-dimensional model, and the first three-dimensional model is compared with a theoretical digital model to recognize all areas to be machined; then the workpiece is fixed to a horizontal overturning clamp, a first to-be-machined area is determined according to the current rotation angle, and second image information is collected in real time through a binocular camera to obtain a second to-be-machined area; a machining path is generated based on the position of the second to-be-machined area, and additive manufacturing or welding is conducted through an industrial manipulator control device; and finally, through visual guidance and dynamic path planning, automatic identification and accurate positioning of the to-be-machined area are achieved, the overturning angle is dynamically adjusted for multiple times of overturning and scanning to complete full-coverage machining of all the machined areas, and the problems that traditional electric arc additive manufacturing is low in efficiency and unstable in quality are solved.

The invention discloses a multi-strategy fusion whale optimization algorithm, belongs to the technical field of algorithm optimization, and constructs a multi-strategy fusion whale optimization algorithm for solving the problems of low operation efficiency and poor stability and globality in a time optimal trajectory planning process of an industrial mechanical arm on the premise of meeting kinematics constraints. An optimal neighborhood disturbance and variable spiral position updating strategy is introduced on the basis of a traditional whale optimization algorithm, the limitation of local optimum is broken through, a nonlinear convergence factor and an adaptive weight are introduced, and better solving precision and higher iteration speed are achieved. A trajectory curve frame is constructed by using a 3-5-3 polynomial interpolation function, and a target function of time is established by taking a UR3 mechanical arm as a research object. Simulation experiments show that the operation time of the mechanical arm is shortened by 11.3% compared with that of a similar whale algorithm, the kinematics curve of each joint is continuous and smooth, and the feasibility of the scheme in the industrial mechanical arm is verified.

This invention relates to the field of robotic arms and discloses a flexible clamping and tightening industrial robotic arm for sleeves and short sections. It includes a flexible arm device, a gripper device, and a connecting frame. The gripper device includes a rotation mechanism, a sliding mechanism, and a clamping mechanism. The clamping mechanism includes a support block, two sets of clamping components, and three sets of locking components. The support block is fixedly installed on the bottom side of the sliding mechanism. The two sets of clamping components are symmetrically arranged on both sides of the support block. Each clamping component includes a clamping plate, two sliders, a rotating shaft, and two swing rods. Sliding grooves are provided on both ends of the plates. Both clamping plates are semi-circular structures, and their tops are hinged by pins. The three sets of locking components are horizontally arranged within the two clamping plates. An opening and closing mechanism is provided within the support block, a driving mechanism is provided at the top of the two clamping plates, and a pushing mechanism is provided on the side of the connecting frame. This invention solves the problems of the gripper's inability to adapt to sleeves or short sections with various surfaces, small point contact area, weak clamping, and low tightening efficiency.

A software-defined network card hardware function configuration method is disclosed.The application discloses an industrial manipulator grabbing system and method based on FPGA and visual AI.The system integrates an industrial camera, an FPGA heterogeneous computing platform and a manipulator controller.The PS end of the FPGA platform is responsible for image acquisition and communication, and the PL end completes the whole process of image preprocessing, AI target detection and coordinate calculation in parallel through a hardware image preprocessing pipeline, a deep learning processing unit (NPU) IP core and post-processing logic.The application solidifies the complete visual AI processing flow in the FPGA hardware, realizes ultra-low delay and high-deterministic processing performance, effectively solves the problems of high delay and large jitter of the traditional industrial computer scheme, and is particularly suitable for high-speed and high-precision industrial automation grabbing scenes.

The application discloses a mechanical hand with manual quick replacement, relates to the technical field of industrial mechanical hands, and can quickly replace various clamps. The mechanical hand comprises a mechanical arm and a changer. One end of the mechanical arm is respectively provided with the changer and a guide supporting mechanism. The guide supporting mechanism is arranged on the outer ring of the changer. The changer comprises a fixing assembly and a replacement assembly. The fixing assembly and the replacement assembly are clamped. The guide supporting mechanism comprises a supporting seat and a guide assembly. The supporting seat and the guide assembly are slidingly connected. The supporting seat is internally provided with a guide groove. The guide assembly comprises a guide sliding block and a guide plate. The application provides the prepositioning along the axial direction through the guide plate. The V-shaped concave surface of the guide plate is adjacent to the abutment surfaces of the connecting seat. The positioning hole on the connecting seat corresponds to the positioning pin on the mounting seat. The sliding cooperation of the guide sliding block and the guide groove enables the replacement assembly to move linearly in the direction perpendicular to the bonding surface, reduces the jamming phenomenon caused by the non-parallel bonding surface, and improves the push-in success rate.

The utility model relates to an industrial manipulator convenient to mount. The industrial manipulator comprises a connecting seat, a mounting seat and a clamping jaw which are mounted on a driving arm, the mounting base is detachably connected with the connecting base, the clamping jaw is arranged on the side, away from the connecting base, of the mounting base, a connecting bolt is arranged on the side, facing the connecting base, of the mounting base, and a limiting column is assembled at the end, away from the mounting base, of the connecting bolt. According to the industrial manipulator convenient to mount, by designing a detachable connecting structure of the mounting seat and the connecting seat, the clamping jaw is more convenient to replace, a complicated dismounting process is not needed, the maintenance efficiency is improved, and the industrial manipulator convenient to mount is more detailed by utilizing the matching of a limiting column on a connecting bolt and a through hole in the connecting seat; according to the clamping device, rotation of the mounting seat and the clamping jaw after butt joint is effectively prevented, the connection stability is improved, meanwhile, the friction force between the clamping device and the connecting bolt is increased through the design of the fixing assembly and the cooperation of the clamping hoop and the bolt, and the connection firmness is further ensured.

The application discloses an industrial manipulator, an operating method and application of the industrial manipulator in composite insulators, and comprises a bottom plate, a hollow shaft carrier is fixed at the right position of the top end of the bottom plate, a screw rod linear lifting module is installed at the top end of the hollow shaft carrier, a supporting arm is installed at the moving end of the screw rod linear lifting module, a rotary following type clamping assembly is installed at the bottom end of the supporting arm, and a servo motor is installed at the top end of the shell of the screw rod linear lifting module. The application utilizes a highly integrated single motor driving design, fundamentally simplifies the control logic and architecture of the system, greatly improves the reliability and stability of the manipulator, and the lifting, rotation and radial multi-zone ring spraying glazing assembly of the blank are automatically completed under the driving of a single power source, without additional sensors or control instructions, while ensuring the completeness of the glazing function, effectively reducing the structural complexity, mechanical cost and maintenance cost of the equipment.

1. Name of the design product: mechanical hand. 2. Use of the design product: the design product is used for industrial mechanical hand on industrial production line. 3. Design points of the design product: in shape. 4. Picture or photo best indicating the design points: perspective view 1.

The utility model relates to the technical field of industrial manipulators, in particular to an internal expansion gripping device with a dragging function, a gripping device body comprises an internal expansion mechanism and an auxiliary dragging mechanism, and the internal expansion mechanism drives a transmission mechanism through an expansion clamping cylinder to drive an expansion clamping jaw on a clamping jaw mounting pipe to realize clamping; the auxiliary dragging mechanism pushes the push rod to axially move in the fixing pipe through the dragging air cylinder to assist in completing positioning or separation of the workpiece. Through the coaxial composite design of the internal expansion mechanism and the auxiliary dragging mechanism, the grabbing and separating functions are integrated, the device can continuously clamp a workpiece under the influence of gravity in the vertical state, and the clamping jaw is small in stress and not prone to damage.

1. The name of the design product: teaching device of programming graphical user interface with multi-joint robot. 2. The use of the design product: used for real-time teaching of industrial robot movement. 3. The design points of the design product: the content of the graphical user interface. 4. The picture or photo that best shows the design points: design 1 front view. 5. For common design, omit rear view, left view, right view, top view, bottom view. 6. Design 1 is designated as the basic design. 7. The use of the graphical user interface: used for controlling industrial robot to complete designated production task, with functions of real-time control, free programming, data communication, task driving, recording alarm information and fault diagnosis analysis, etc. 8. The man-machine interaction mode of the graphical user interface: design 1 front view is the state of loading graphical user interface after the hand-held device is powered on, after loading is completed, it automatically enters design 1 interface change state diagram 1, the interface is "program running" interface, clicking "monitor" on the interface corresponds to jump to design 1 interface change state diagram 2; clicking "programming" at the bottom of design 1 interface change state diagram 2 switches to design 1 interface change state diagram 3, free programming can be performed, clicking "main program" on the interface corresponds to jump to design 1 interface change state diagram 4; clicking "debug" at the bottom of design 1 interface change state diagram 4 switches to design 1 interface change state diagram 5; clicking "manual" at the bottom of design 1 interface change state diagram 5 switches to design 1 interface change state diagram 6; clicking "alarm" at the bottom of design 1 interface change state diagram 6 switches to design 1 interface change state diagram 7. Design 2 front view is the state of loading graphical user interface after the hand-held device is powered on, after loading is completed, it automatically enters design 2 interface change state diagram 1, the interface is "program running" interface, clicking "monitor" on the interface corresponds to jump to design 2 interface change state diagram 2; clicking "programming" at the bottom of design 2 interface change state diagram 2 switches to design 2 interface change state diagram 3, free programming can be performed, clicking "subprogram" on the interface corresponds to jump to design 2 interface change state diagram 4; clicking "debug" at the bottom of design 2 interface change state diagram 4 switches to design 2 interface change state diagram 5; clicking "manual" at the bottom of design 2 interface change state diagram 5 switches to design 2 interface change state diagram 6; clicking "alarm" at the bottom of design 2 interface change state diagram 6 switches to design 2 interface change state diagram 7. Design 3's main view shows the handheld device after power-on, loading the graphical user interface. After loading, it automatically enters Design 3's interface change state diagram 1, which is the "Program Run" interface. Clicking "Monitor" on this interface will jump to Design 3's interface change state diagram 2. Clicking "Programming" at the bottom of Design 3's interface change state diagram 2 will switch to Design 3's interface change state diagram 3, where you can perform free programming. Clicking "Axis Movement" on this interface will jump to Design 3's interface change state diagram 4. Clicking "Debug" at the bottom of Design 3's interface change state diagram 4 will switch to Design 3's interface change state diagram 5. Clicking "Manual" at the bottom of Design 3's interface change state diagram 5 will switch to Design 3's interface change state diagram 6. Clicking "Alarm" at the bottom of Design 3's interface change state diagram 6 will switch to Design 3's interface change state diagram 7. The main view of Design 4 shows the state after the handheld device is powered on and the graphical user interface is loaded. After loading, it automatically enters the interface change state diagram 1 of Design 4, which is the "Program Running" interface. Clicking "Monitor" on this interface will jump to the interface change state diagram 2 of Design 4. Clicking "Programming" at the bottom of Design 4 interface change state diagram 2 will switch to the interface change state diagram 3 of Design 4, where you can perform free programming. Clicking "Hopper Movement" on this interface will jump to the interface change state diagram 4 of Design 4. Clicking "Debug" at the bottom of Design 4 interface change state diagram 4 will switch to the interface change state diagram 5 of Design 4. Clicking "Manual" at the bottom of Design 4 interface change state diagram 5 will switch to the interface change state diagram 6 of Design 4. Clicking "Alarm" at the bottom of Design 4 interface change state diagram 6 will switch to the interface change state diagram 7 of Design 4. The main view of Design 5 shows the state after the handheld device is powered on and the graphical user interface is loaded. After loading, it automatically enters the Design 5 interface change state diagram 1, which is the "Program Running" interface. Clicking "Monitor" on this interface will jump to the Design 5 interface change state diagram 2. Clicking "Programming" at the bottom of Design 5 interface change state diagram 2 will switch to the Design 5 interface change state diagram 3, where you can perform free programming. Clicking "Hopper Count" on this interface will jump to the Design 5 interface change state diagram 4. Clicking "Debug" at the bottom of Design 5 interface change state diagram 4 will switch to the Design 5 interface change state diagram 5. Clicking "Manual" at the bottom of Design 5 interface change state diagram 5 will switch to the Design 5 interface change state diagram 6. Clicking "Alarm" at the bottom of Design 5 interface change state diagram 6 will switch to the Design 5 interface change state diagram 7. The main view of Design 6 shows the state after the handheld device is powered on and the graphical user interface is loaded. After loading, it automatically enters the interface change state diagram 1 of Design 6, which is the "Program Running" interface. Clicking "Monitor" on this interface will jump to the interface change state diagram 2 of Design 6. Clicking "Programming" at the bottom of Design 6 interface change state diagram 2 will switch to the interface change state diagram 3 of Design 6, where you can perform free programming. Clicking "User Variables" on this interface will jump to the interface change state diagram 4 of Design 6. Clicking "Debug" at the bottom of Design 6 interface change state diagram 4 will switch to the interface change state diagram 5 of Design 6. Clicking "Manual" at the bottom of Design 6 interface change state diagram 5 will switch to the interface change state diagram 6 of Design 6. Clicking "Alarm" at the bottom of Design 6 interface change state diagram 6 will switch to the interface change state diagram 7 of Design 6. The main view of Design 7 shows the state after the handheld device is powered on and the graphical user interface is loaded. After loading, it automatically enters the Design 7 interface change state diagram 1, which is the "Program Running" interface. Clicking "Monitor" on this interface will jump to the Design 7 interface change state diagram 2. Clicking "Programming" at the bottom of Design 7 interface change state diagram 2 will switch to the Design 7 interface change state diagram 3, where you can perform free programming. Clicking "Judgment Condition" on this interface will jump to the Design 7 interface change state diagram 4. Clicking "Debug" at the bottom of Design 7 interface change state diagram 4 will switch to the Design 7 interface change state diagram 5. Clicking "Manual" at the bottom of Design 7 interface change state diagram 5 will switch to the Design 7 interface change state diagram 6. Clicking "Alarm" at the bottom of Design 7 interface change state diagram 6 will switch to the Design 7 interface change state diagram 7. The main view of Design 8 shows the state after the handheld device is powered on and the graphical user interface is loaded. After loading, it automatically enters the Design 8 interface change state diagram 1, which is the "Program Running" interface. Clicking "Monitor" on this interface will jump to the Design 8 interface change state diagram 2. Clicking "Programming" at the bottom of Design 8 interface change state diagram 2 will switch to the Design 8 interface change state diagram 3, where you can perform free programming. Clicking "End Judgment" on this interface will jump to the Design 8 interface change state diagram 4. Clicking "Debug" at the bottom of Design 8 interface change state diagram 4 will switch to the Design 8 interface change state diagram 5. Clicking "Manual" at the bottom of Design 8 interface change state diagram 5 will switch to the Design 8 interface change state diagram 6. Clicking "Alarm" at the bottom of Design 8 interface change state diagram 6 will switch to the Design 8 interface change state diagram 7. The main view of Design 9 shows the state after the handheld device is powered on and the graphical user interface is loaded. After loading, it automatically enters the Design 9 interface change state diagram 1, which is the "Program Running" interface. Clicking "Monitor" on this interface will jump to the Design 9 interface change state diagram 2. Clicking "Programming" at the bottom of Design 9 interface change state diagram 2 will switch to the Design 9 interface change state diagram 3, where you can perform free programming. Clicking "End Loop" on this interface will jump to the Design 9 interface change state diagram 4. Clicking "Debug" at the bottom of Design 9 interface change state diagram 4 will switch to the Design 9 interface change state diagram 5. Clicking "Manual" at the bottom of Design 9 interface change state diagram 5 will switch to the Design 9 interface change state diagram 6. Clicking "Alarm" at the bottom of Design 9 interface change state diagram 6 will switch to the Design 9 interface change state diagram 7. The main view of Design 10 shows the state after the handheld device is powered on and the graphical user interface is loaded. After loading, it automatically enters the Design 10 interface change state diagram 1, which is the "Program Running" interface. Clicking "Monitor" on this interface will jump to the Design 10 interface change state diagram 2. Clicking "Programming" at the bottom of Design 10 interface change state diagram 2 will switch to the Design 10 interface change state diagram 3, where you can perform free programming. Clicking "Jump" on this interface will jump to the Design 10 interface change state diagram 4. Clicking "Debug" at the bottom of Design 10 interface change state diagram 4 will switch to the Design 10 interface change state diagram 5. Clicking "Manual" at the bottom of Design 10 interface change state diagram 5 will switch to the Design 10 interface change state diagram 6. Clicking "Alarm" at the bottom of Design 10 interface change state diagram 6 will switch to the Design 10 interface change state diagram 7.

The utility model belongs to the technical field of industrial mechanical grippers, and particularly relates to an anti-skid mechanical gripper for an industrial manipulator, which comprises a manipulator and an adjusting box, a grabbing structure is arranged below the manipulator, the grabbing structure comprises an adjusting mechanism and an anti-skid mechanism, the adjusting mechanism comprises a mounting plate, a motor, a rotating rod, a rotating rod and a rotating plate, and the motor is arranged on the mounting plate. The bottom of the mounting plate is connected with the top of the motor, the output end of the motor is connected with the top of the rotating rod, the top of the adjusting box is connected with the bottom of the rotating rod, and the top of the rotating rod is slidably connected with the inner wall of the rotating plate. According to the anti-skid mechanical claw for the industrial manipulator, the angle and position of the clamping plate can be rapidly and conveniently adjusted, then objects of different sizes can be better grabbed, and the problems that the position of the clamping plate cannot be rapidly and conveniently adjusted, and the angle of the clamping plate cannot be rapidly and conveniently adjusted are solved; and the working efficiency of the mechanical claw is improved.

According to the SMT patch feeding device provided by the invention, in the working process of the SMT patch feeding device, to-be-assembled electronic components are added into the vibration conveying disc, and the vibration conveying disc conveys the to-be-assembled electronic components to the material conveying pipe. The industrial camera shoots the to-be-assembled electronic component on the first conveying belt and compares the shot image with a database in the control mechanism to judge whether the to-be-assembled electronic component has defects or not. The first conveying belt conveys to-be-assembled electronic components to the second conveying belt, and the code scanning gun carries out code scanning processing operation on the to-be-assembled electronic components on the second conveying belt so that the sorting mechanism can carry out sorting operation conveniently. The second conveying belt conveys to-be-assembled electronic components to the bearing table, the industrial mechanical arm is combined with the clamping air cylinder to classify and place different types of to-be-assembled electronic components, a chip mounter can conveniently classify and take materials, and defective to-be-assembled electronic components are placed in an external damage box.

The application relates to the field of industrial robots, in particular to a highly automated industrial manipulator. The industrial manipulator comprises a base, a rotary table and a mechanical arm, the rotary table is rotationally arranged on the base, the mechanical arm is arranged on the rotary table, a cross roller bearing is arranged between the rotary table and the base, the cross roller bearing comprises an outer ring, an inner ring, rolling elements and a retainer, the retainer comprises a fixed block and two clamping blocks, the two clamping blocks are slidingly inserted into two ends of the fixed block, a liquid storage cavity is formed between the clamping blocks and the fixed block, a liquid inlet channel is arranged on the side wall of the fixed block, a liquid outlet channel is arranged in the clamping block, a connecting piece is arranged between the clamping block and the fixed block, and the connecting piece is made of a shape memory alloy. The lubricating oil supply channel is arranged on the retainer, the structure of the retainer is optimized, the self-circulation of the lubricating oil is realized, the integrity of the running raceway is maintained, the running of the rolling elements is more stable and reliable, the structure is simple, the assembly difficulty is low, and maintenance is convenient.

The invention relates to the technical field of manipulators, in particular to an industrial manipulator assisting feeding and discharging, which comprises a telescopic arm and a clamping jaw, the clamping jaw is used for clamping a workpiece, the telescopic arm is connected with the clamping jaw to drive the clamping jaw to move up and down, and the telescopic arm comprises a fixed frame, a first telescopic frame and a second telescopic frame which are in sliding connection pairwise; an adjusting assembly is arranged on the telescopic arm and can ensure that the transmission belt rotates in the same direction when the first telescopic frame and the second telescopic frame change the sliding direction, so that the problem of long-term stress abrasion of a local belt caused by traditional reciprocating transmission of the transmission belt is avoided, and the whole transmission belt is in uniform contact with a transmission wheel; and meanwhile, the positions of the fixing frame, the first telescopic frame and the two sides of the transmission belt can be continuously changed, the same positions of the two sides of the transmission belt are prevented from being clamped all the time, and damage to the transmission belt is reduced.

The application relates to the technical field of mechanical hands, and particularly provides an industrial mechanical hand for assisting in feeding and discharging, which comprises a telescopic arm and a clamping jaw, the clamping jaw is used for clamping a workpiece, the telescopic arm is connected with the clamping jaw so as to drive the clamping jaw to move up and down, the telescopic arm comprises a fixing frame, a first telescopic frame and a second telescopic frame, the three are slidably connected in pairs, an adjusting assembly is arranged on the telescopic arm, the adjusting assembly can ensure that a transmission belt rotates in the same direction when the sliding directions of the first telescopic frame and the second telescopic frame are changed, the problem of local belt long-term stress abrasion caused by traditional reciprocating transmission is avoided, the transmission belt is uniformly contacted with a transmission wheel as a whole, the service life of the transmission belt is greatly prolonged, meanwhile, the positions of the fixing frame and the first telescopic frame on the two sides of the transmission belt can be continuously changed, the same position on the two sides of the transmission belt is avoided from being clamped all the time, and the damage of the transmission belt is reduced.

The utility model provides an intelligent clamping manipulator for instrument processing, and mainly relates to the technical field of industrial manipulators. An intelligent clamping manipulator for instrument machining comprises a supporting frame, a fixing plate is hinged to the top of the supporting frame, mounting frames are symmetrically and fixedly arranged at the bottom of the supporting frame, clamping jaws are symmetrically hinged to the bottom of each mounting frame, connecting blocks are hinged to the interiors of the two mounting frames, and the connecting blocks are in transmission connection with the corresponding clamping jaws. The two connecting blocks are fixedly connected through a connecting plate, a fixing rod is fixedly arranged at the top of the connecting plate, and the fixing rod is fixedly connected with the bottom of the fixing plate. The utility model has the beneficial effects that the hinge linkage design is adopted, so that the whole structure is simple and compact; the mechanical arm ascends and descends to directly drive the clamping jaw to open and close, an independent control system is not needed, and positioning deviation is avoided; the clamp can adapt to various shaft parts without replacing the clamp, and pure mechanical transmission is beneficial to reduction of energy consumption and maintenance cost.

This invention discloses a supersonic flame thermal spraying device and method for the inner wall of a spiral-shaped water inlet chamber. The device includes a continuously rotating supersonic flame spray gun, a servo motor, an industrial robot, and a movable platform. The movable platform includes a movable platform body and supporting components. The industrial robot is mounted on the platform body. The platform body and supporting components cooperate to allow the movable platform to move stably around the inner wall of the spiral-shaped water inlet chamber during the spraying process. The continuously rotating supersonic flame spray gun is connected to the end of the industrial robot and can rotate continuously in the same direction without being restricted by the spray gun pipeline. This invention can replace the manual supersonic flame spraying work for the surface of large spiral-shaped water inlet chambers in actual engineering applications, solving the problem of pipeline entanglement and twisting during continuous rotation spraying due to the limitations of the supersonic flame spray gun pipeline; and greatly improving the efficiency of engineering implementation and enhancing the uniformity of the coating.

The invention discloses a nonlinear self-adaptive PID tracking control method suitable for complex electromechanical systems such as a mechanical arm. According to the method, nonlinear proportion, integral and differential modulation functions are introduced, and the linear limitation of traditional PID is broken through; smooth transition between a fixed gain linear PID and a nonlinear PID can be realized through parameter adjustment. An integral modulation function adopts a bounded or self-disappearance form, so that the problems of integral saturation and overshoot are effectively suppressed; the designed self-adaptive single-parameter setting mechanism can avoid the defect of repeated trial and error of parameters depending on artificial experience in traditional PID control, and the debugging difficulty and the engineering cost are remarkably reduced. The method can realize asymptotic tracking and guarantee bounded comprehensive performance indexes in the presence of modeling uncertainty and external disturbance, has the advantages of high robustness, simplicity in implementation and wide application range, and is suitable for various application scenes such as industrial mechanical arms, service robots and picking mechanical arms.

The invention discloses an industrial manipulator for dust collector part polishing, and relates to the technical field of industrial robotics.The industrial manipulator comprises a base, a horizontal steering seat, a plurality of mechanical arms, a positioning seat and clamping equipment, the base is positioned on the ground, and the horizontal steering seat is driven by a built-in motor to be rotationally arranged on the base along the vertical axis; the end parts of the horizontal steering seat and the mechanical arms are rotationally butted in sequence and are driven by the first servo motor, the mechanical arm on the outermost side is butted with the positioning seat, and the clamping equipment is assembled on the positioning seat; the mechanical arm comprises a telescopic sleeve piece and a telescopic inserting piece, the telescopic inserting piece is driven by a driving mechanism to be slidably inserted into a first inserting groove of the telescopic sleeve piece, and an expansion assembly is arranged in a connecting gap between the telescopic sleeve piece and the telescopic inserting piece. The problems that a mechanical arm of an existing industrial robot is prone to deformation, limited in use in a narrow space and insufficient in flexibility, and consequently the working efficiency and the multi-scene adaptability of the mechanical arm are affected can be solved.

The application discloses a kind of industrial manipulator end displacement high-precision detection methods based on photoelectric interference, it is related to the field of precision measurement and detection, comprising: S1: acquisition photoelectric interference signal and down frequency filtering to obtain complex envelope signal;S2: based on complex envelope signal cumulative phase, calculate preliminary displacement observation value;S3: acquisition equipment information constructs sensing dataset, generates multi-source error state vector;S4: utilize extended Kalman filter to remove error to generate purified displacement value;S5: according to real-time environmental parameter, calculate air refractive index, and combine reference air refractive index to compensate purified displacement value, generate correction displacement value. Through multi-source sensor fusion, Kalman filter error estimation and air refractive index compensation, realize the high-precision, stability and robustness measurement of industrial manipulator end displacement.

The utility model relates to industrial manipulator technical field discloses an automation industrial manipulator, including mechanical arm, the multifunctional clamping mechanism includes a plurality of mounting seat, the inside rotation of mounting seat is connected with clamping block, the similar side fixed connection of a plurality of clamping blocks has rubber seat, the similar side fixed connection of a plurality of rubber seat has rubber block, the similar side fixed connection of a plurality of rubber block has a plurality of antiskid tooth, the inside sliding connection of quick replacement mechanism is in clamping block. In the utility model, the rubber block of fixing in the similar side of rubber seat passes through the rubber material quality of itself to make rubber seat can clamping and grab the object of uneven or having certain camber surface, and the S pole magnet of fixing in the inside of fixed shaft carries out the reinforcement to the article of holding through the attraction of itself, to guarantee the stability in the transportation process.

The application discloses an industrial manipulator with switchable driving modes, which comprises a first linear module, a second linear module driven by the first linear module to move back and forth, and a vertical linear module driven by the second linear module to move back and forth. The second linear module comprises a transmission assembly for driving the vertical linear module to move and a second driving motor. A rack is arranged on the first linear module along the moving direction of the second linear module. A gear set box is arranged on the second linear module. An input gear of the gear set box is in meshing connection with the rack. An output shaft of the gear set box is in opposite alignment with the rotating shaft of the second driving motor. A connecting shaft for driving the transmission assembly and movable back and forth is inserted into the transmission assembly. Two ends of the connecting shaft are respectively in meshing connection with the output shaft of the gear set box and the rotating shaft of the second driving motor. When one end of the connecting shaft is in meshing connection, the other end is out of meshing connection. The application can switch the driving mode and has high reliability.

The application relates to the technical field of aviation manufacturing, and discloses an electric arc fuse additive manufacturing method and device. A rotating clamp and a horizontal overturning clamp are arranged in the field of view of a binocular camera, a binocular camera is used to collect workpiece images to construct a first three-dimensional model, and comparison is made with a theoretical digital model to identify all regions to be processed. Then, the workpiece is fixed on the horizontal overturning clamp, a first region to be processed is determined according to the current rotating angle, and a second region to be processed is obtained by collecting second image information in real time through the binocular camera. A processing path is generated based on the position of the second region to be processed, and an industrial manipulator control device is used for additive manufacturing or welding. Finally, through visual guidance and dynamic path planning, automatic identification and accurate positioning of the region to be processed are realized, the overturning angle is dynamically adjusted, multiple overturning and scanning are carried out, and full coverage processing of all processing regions is completed, so that the problems of low efficiency and unstable quality of traditional electric arc additive manufacturing are solved.

The application discloses a V-shaped jig seat frame for automatically assembling a combined grouting machine, and belongs to the field of DPF filter production. The V-shaped jig seat frame for automatically assembling a combined grouting machine comprises a frame, a moving manipulator is arranged on the upper side of the frame, a feeding machine is arranged on the left side of the frame, a conveying belt is arranged in the frame, a feeder is arranged on the right side of the frame, a plurality of positioning jigs are arranged on the feeder, an industrial manipulator is arranged on the feeder, a grouting machine body is arranged on the right side of the feeder, a clamping jaw is arranged in the grouting machine body, a paper feeding machine is arranged on the right side of the inner cavity of the grouting machine body, and a hydraulic machine is arranged on the rear side of the grouting machine body. The V-shaped jig seat frame can realize the following functions: a plurality of silicon carbide honeycomb strip materials can be placed on the positioning jigs, the injection port of the shunt plate on the seat frame is used to control the uniform injection of the cement mortar, and the injection of the cement mortar into the narrow gaps between the strip materials in the material stack is ensured to be full and filled.