5777 results about "Manipulator" patented technology

Some examples of the disclosure are directed to object manipulators and associated processes for manipulating an object representation in a three-dimensional environment. The object representation may correspond to a scan of a real-world object in a real-world environment. The object manipulators may include an object cleanup manipulator and a text annotation manipulator. The object cleanup manipulator may be selectable to display one or more control affordances providing functionality for selectively removing portions of the object representation in the three-dimensional environment and / or selectively adjusting one or more parameters of the object representation in the three-dimensional environment. The text annotation manipulator may be selectable to display one or more control affordances providing functionality for selectively generating one or more text labels in the three-dimensional environment. The one or more text labels may be associated with the object representation in the three-dimensional environment.

The invention discloses a manipulator grabbing control system based on visual identification, and the system comprises a visual identification module which is used for collecting the three-dimensional form data and surface feature information of a target object, and eliminating the noise interference in an original image through preprocessing; the multi-modal fusion processor is used for receiving the three-dimensional form data and the surface feature information output by the visual recognition module, executing point cloud structured conversion on the three-dimensional form data, extracting geometric features of an object through a neural network, and meanwhile, performing weight distribution on the surface feature information by adopting a feature attention mechanism to complete multi-feature fusion processing; according to the multi-axis cooperative manipulator provided with the end executor, the end executor integrates a touch sensing assembly used for touch sensing and an adsorption execution device used for assisting grabbing. By integrating the technologies of visual identification, multi-modal fusion, intelligent optimization, dynamic feedback and the like, the sensing precision, the environmental adaptability and the grabbing reliability of the system to object characteristics are improved.

The invention belongs to the technical field of cleaning and dirt prevention and removal, and discloses a control system and a control method of an ultrasonic cleaning device, stable energy coupling and dead-corner-free cleaning are realized through double-closed-loop driving and dynamic modulation in an ultrasonic cleaning link, and the uniformity of tank liquid cavitation intensity is remarkably improved. Meanwhile, control strategies are customized in the aspects of a rinsing link, a water cutting and drying link, liquid level control, manipulator control and the like, so that the defects of high energy consumption, incomplete drying, low rinsing efficiency, manipulator conflict and the like in the prior art are overcome while the surface and the interior of the workpiece are thoroughly cleaned; and the cleaning effects of high cleanliness, complete drying and no physical or chemical damage are ensured.

The invention discloses a 3D (three-dimensional) rocker potentiometer assembling machine. The 3D rocker potentiometer assembling machine comprises a stander, wherein the stander is provided with a rotatable transporting tray, and the rotatable transporting tray is provided with a plurality of storage grooves for storing rocker assemblies; a mechanical hand mechanism and a rocker assembly transporting mechanism, corresponding to the storage grooves, are arranged on the surface of the stander and the periphery of the rotatable transporting tray, the stander is also provided with a controller which is connected with the rotatable transporting tray, the mechanical hand mechanism and the rocker assembly transporting mechanism, and the controller is connected with an electric control system below the stander. By adopting the 3D rocker potentiometer assembling machine, a 3D rocker potentiometer can be automatically assembled and tested; not only can the production efficiency be greatly improved compared to the manual assembling, but also the labor cost is saved.

The invention relates to the technical field of grabbing manipulators, and discloses a self-adaptive grabbing device for a special-shaped curved surface workpiece, which comprises a central bearing base made of a light metal material and provided with a multifunctional quick connector at the top; the central adsorption module is fixed at the central position of the bottom of the central bearing base and comprises an air pressure balance pipeline communicated with an external air source; by means of radial adjustment of the cross shaft and cooperation of the elastic buffering structure and the vertical guiding assembly, high-precision centering and stable adsorption are achieved, vertical contact of the suction cup is ensured through vertical guiding, the suction cup is suitable for different curved surface radians, and the stable adsorption force under the small area is kept; and electric control connection supports installation, namely electrification, and is suitable for automatic precise grabbing.

The invention relates to the technical field of industrial robot control, and particularly discloses an intelligent foreign matter sorting robot control system based on AI recognition, which comprises a dynamic spatial feature extraction module, a manipulator motion state coding module, a collaborative conflict detection module, a dynamic trajectory optimization module and an execution control adjustment module, constructing a three-dimensional dynamic space model through multi-sensor fusion, and extracting spatial topological features by utilizing continuous coherence analysis; manipulator motion parameters are converted into topological space representation, and a track feature coding matrix is established; detecting interaction conflicts among the manipulators in real time by adopting a multi-scale coherence analysis method, and generating graded early warning signals; a collision avoidance track is optimized based on topological constraints and a virtual rejection field technology; precise execution is achieved through inverse kinematics of the Lie group theory and self-adaptive control.

The invention relates to the technical field of mechanical arm control, in particular to a self-adaptive fuzzy fixed time control method based on an output-limited mechanical arm, and the method comprises the following steps: S1, constructing a mechanical arm dynamic model; s2, setting constraint conditions of an output state of the mechanical arm dynamic model; s3, defining a tracking error and a virtual control law of the mechanical arm dynamic model; s4, on the basis of output state limitation and fixed time control, an actual control law is designed to serve as input of the mechanical arm dynamic model, and an adaptive law is constructed; and S5, a three-level logarithmic obstacle Lyapunov function is constructed, the three-level logarithmic obstacle Lyapunov function is combined with the virtual control law, the actual control law and the self-adaptive law step by step and substituted into the virtual control law, the actual control law and the self-adaptive law, and then it is guaranteed that the output state of the mechanical arm dynamic model does not exceed the preset safety boundary according to the actual fixed time control lemma. According to the invention, high-precision trajectory tracking can be realized on the premise of ensuring safe operation of the mechanical arm.

The invention discloses an automatic alignment and integrated control system and method for an optical crystal array. The automatic alignment and integrated control system comprises a quantum entanglement enhanced ultra-precise sensing array, a multi-factor coupling error prediction module, a full-link adaptive compensation execution module, a central control module and a federal learning collaborative optimization module. The sensing array is used for acquiring multi-dimensional error data such as sub-nano displacement, Raman spectrum deformation, infrared temperature rise and friction stress in real time; the prediction module is used for mining coupling characteristics between error sources based on an attention mechanism and predicting an instant alignment error and a hysteresis deformation error; the compensation execution module realizes full-link compensation through quantum traceability calibration, mechanical arm dynamic composite compensation and process parameter cooperative adjustment according to the prediction error; the central control module performs synchronous scheduling and conflict coordination; and the federated learning module realizes collaborative optimization and privacy protection of models among multiple devices. According to the invention, ultrahigh-precision and adaptive intelligent integration of the optical crystal array is realized.

A visual tactile sensor, a manipulator and a control method thereof, the visual tactile sensor comprising: a contact layer, at least a portion of which is transparent; when the contact layer is subjected to external force, at least one part of a plurality of markers in the marker array generates displacement and / or deformation; and the image acquisition unit is used for performing image acquisition on the marker array and performing image acquisition on the outside through the transparent part of the contact layer. The visual tactile sensor provided by the invention not only can capture the external visual information before operation to identify the operation object, but also can provide the tactile information in the operation process, so that the perception capability of an operation system is enhanced, and the operation success rate is improved.

The invention discloses a mold injection molding full-process automation system based on layered cooperative control, which comprises a central control layer, a module scheduling layer and an equipment execution layer, and clock synchronization among the layers is realized through an industrial Ethernet. The central control layer comprises a dynamic scheduling server and a digital twinborn verification module, the module scheduling layer comprises a mold intelligent scheduling module, an injection molding process control module and a product quality closed loop module, and the equipment execution layer comprises a manipulator cooperation unit and a sprue material processing unit. By constructing a three-layer cooperative control architecture of a central control layer, a module scheduling layer and an equipment execution layer and combining a modular hardware carrier and a cross-layer data closed loop, common industrial problems such as cooperative level splitting, mold control marginalization and abnormal response delay are systematically solved; and finally, the comprehensive benefits that the die changing efficiency is remarkably improved, the product reject ratio is greatly reduced, and the energy consumption is obviously reduced are achieved.

The invention relates to the technical field of mechanical arms, in particular to a chemical emergency disposal-oriented manipulator cross-modal sensing control system which comprises an environment scanning module, a visual positioning module, an obstacle avoidance planning module, a pose compensation module, a decision mapping module and a grabbing updating module. Obtaining environment state information; an operation view angle image of the manipulator is collected, visual features of the operation view angle image are solved, and pose information is obtained; obstacle avoidance correction is conducted on the motion trail of the mechanical arm, and a collision-free approaching path is obtained; the operation view angle image and the multi-mode micro-touch signal are fused, error compensation is carried out on the pose information, and an accurate grabbing pose is obtained; mapping object surface physical attributes sensed by the multi-mode micro-tactile signals to obtain a self-adaptive grabbing instruction; the manipulator is controlled to conduct grabbing through the self-adaptive grabbing instruction, and environment state information is updated; according to the invention, the accuracy of cross-modal sensing control of the manipulator can be improved.

The utility model discloses automatic punching and receiving equipment for multi-cavity injection products, which comprises a rack, a first carrier transferring mechanism, a manipulator clamp, a runner cutting machine, a transfer carrying module, a second carrier transferring mechanism, a water gap cutting machine, a blanking carrying module and a material distribution box mechanism, wherein the first carrier transferring mechanism, the manipulator clamp, the runner cutting machine, the transfer carrying module, the second carrier transferring mechanism, the water gap cutting machine, the blanking carrying module and the material distribution box mechanism are mounted on the rack; a manipulator clamp is arranged above the input end of the first carrier transferring mechanism in a butt joint mode, a runner cutting machine is further arranged above the first carrier transferring mechanism in a butt joint mode, and the transfer carrying module carries products on the first carrier transferring mechanism after runner cutting to the second carrier transferring mechanism. A water gap cutting machine is arranged above and below the second carrying seat transferring mechanism in a butt joint mode, and a discharging carrying module and a material distribution box mechanism are arranged at the output end of the second carrying seat transferring mechanism in a butt joint mode. By means of the mode, the injection molding runner and the injection molding water gap are sequentially cut twice, hot cutting of the water gap is achieved, cutting precision and notch flatness are guaranteed, product quality is guaranteed, and products are packaged in cavities.

The invention discloses a track optimization control method and system for a high-speed linear seven-axis manipulator, and relates to the technical field of data processing. The method comprises the following steps: acquiring a multi-manipulator grabbing task, dividing the task into single-manipulator grabbing sub-tasks, defining a starting point and an ending point for each sub-task, and generating a track boundary constraint set through a constraint hierarchical model; taking the termination point as a root node, generating a reverse extension tree in a feasible region range of the trajectory boundary constraint set through a potential field steering strategy, and outputting a multi-dimensional trajectory primitive; the multi-dimensional trajectory primitives are preprocessed, and a candidate trajectory set is screened out through a multi-objective optimization strategy; and integrating the optimized trajectories of the manipulators through a global trajectory conflict coordination mechanism, and detecting trajectory conflicts by adopting space-time alignment to generate a global optimal trajectory.

The invention discloses a manipulator grabbing control method and equipment based on position and posture recognition. The manipulator grabbing control method comprises the following steps that S1, initial image information of a target object is acquired through image acquisition equipment; s2, performing preprocessing and feature extraction on the initial image information, and obtaining three-dimensional position coordinates and attitude parameters of the target object through a preset position and attitude recognition algorithm; and S3, according to the three-dimensional position coordinates and the posture parameters, a grabbing path of the manipulator is planned by combining a kinematic model of the manipulator. By introducing technical means such as a deep learning recognition algorithm, forward / inverse kinematics model collaborative planning, real-time posture dynamic adjustment and force sensing feedback control, the problems that a traditional mechanical arm is low in grabbing precision, poor in adaptability and insufficient in operation stability are solved, intelligent and high-precision grabbing control in a complex scene is achieved, and the grabbing precision of the mechanical arm is improved. And the requirements of the modern industry on high efficiency, reliability and flexibility of automatic equipment are met.

The invention provides a self-adaptive fractional order nonsingular terminal sliding mode control method based on time delay estimation, and relates to the technical field of manipulator control. Designing a non-singular terminal sliding mode surface containing fractional differential and power transformation, and further constructing a reaching law with variable gain; then, the unknown dynamic state and disturbance of the system are compensated in real time through a time delay estimation technology by utilizing historical control input and state information; finally, a control law is generated by integrating the sliding mode surface, the reaching law and the time delay estimation compensation item, high-precision and strong-robustness control over an uncertain nonlinear system is achieved, and the tracking precision and the anti-interference capacity of the manipulator in the uncertain environment are effectively improved.

The invention discloses a self-adaptive grabbing force control system and method of a stamping line blanking manipulator, and relates to the technical field of self-adaptive control, and the method comprises the following steps: extracting a plurality of protection layer types corresponding to a plurality of process nodes; when a grabbing instruction is received, the protection layer type corresponding to the procedure node where the target workpiece is located is determined, and a mechanical arm grabbing strategy is called; the method comprises the steps of collecting a surface image of a target workpiece, recognizing the surface image, collecting protective layer characteristics of the target workpiece, inputting the protective layer characteristics into a manipulator grabbing force control model for self-adaptive recognition, outputting grabbing force control instruction parameters, and controlling a manipulator to execute a grabbing action and carry out force control feedback adjustment. According to the mechanical arm, the technical problems that in the prior art, when stamping workpieces with different protection layers are subjected to precise recognition and matched with proper grabbing force, grabbing is unstable, the workpieces are prone to being damaged or clamping fails are solved, and the technical effect that the mechanical arm precisely recognizes the workpieces with the different protection layers and dynamically controls and adjusts force is achieved.

The invention relates to a manipulator multi-task cooperative control method and system based on artificial intelligence. The method comprises the following steps: firstly, receiving a multi-task request group sent by an external system, and analyzing to obtain task intention description and execution constraint conditions of each task; then environment state data and real-time operation parameters of the manipulator are collected through a multi-sensor system, and an operation capability evaluation result is generated; inputting the information into a pre-trained multi-task collaborative planning model, and generating a multi-task collaborative control strategy through collaborative processing; according to the strategy, action sequence instructions of all joints of the manipulator are generated and sent to a driving control system; and finally, collecting feedback data in real time by utilizing multiple sensors, dynamically adjusting an action sequence instruction, and ensuring ordered execution of multiple tasks. According to the method, efficient cooperative control over multiple tasks of the manipulator is achieved, and the task execution efficiency and stability are improved.

The invention discloses a jewelry flaw detection and grading system based on machine vision and a manipulator. The system comprises a multi-mode imaging module; the image processing module is used for carrying out preprocessing operation on the original image; the edge processing module comprises a GPU acceleration processor and is used for deploying a flaw detection model to detect flaws; training data are automatically generated through a semi-supervised learning algorithm; the mechanical execution module comprises a six-axis mechanical arm, a path planning algorithm and a collision detection model for a bounding box and a directed bounding box of the six-axis mechanical arm; the cloud management module is used for storing detection data based on a block chain technology and supporting third-party verification; and dynamically updating the expert knowledge base. According to the jewelry sorting method and system, the types and grades of the jewelry are divided through the DINOv2 defect detection model, meanwhile, the PnP algorithm is adopted to be fused with the depth information, the jewelry is sorted according to grade division, meanwhile, consumers can rapidly and accurately obtain relevant information (such as materials, authenticity and value evaluation) of the jewelry, and the shopping experience is greatly improved.

The invention discloses a multi-task dexterous hand operation method based on self-adaptive two-way distillation, which comprises the following steps of: constructing a plurality of single-task expert strategies based on vision-touch pre-training, and collecting state-action tracks of a high-degree-of-freedom dexterous manipulator on various operation tasks; on-line distillation is utilized to distill multi-task expert data into a unified diffusion strategy sharing perception characterization and task coding, and modeling action multi-modal distribution is generated through diffusion type actions; a self-adaptive routing network is introduced, supervision weights of all experts are dynamically distributed according to the current observation state, and weighted distillation of the mixed experts is achieved; and after the performance of the unified strategy is superior to that of experts, performing reverse distillation on the unified diffusion strategy into expert strategies of all tasks by adopting action-reward combined constraint, and performing two-way iterative distillation circulation. Through forward and reverse knowledge migration between a unified strategy and a task expert, the problems of observation distribution offset and task imbalance in multi-task dexterous operation can be effectively relieved.

The invention provides a multi-scene vision switching intelligent spraying robot, and relates to the technical field of building decoration spraying. The system comprises an intelligent platform, an intelligent spraying manipulator, a processing part, a sealing part and a switching part, the processing part can accurately wind and store the exposed wire harness outside the slot hole of the socket without pulling the wire harness in the slot hole, and can also realize rapid storage of the wire harness; the sealing component provides two plugging schemes of a sealing air bag and a disposable baffle plate, and can automatically seal the socket slot. And the switching component realizes switching and automatic cleaning of the nozzles of multiple specifications, and is adaptive to the requirements of different latex paint types, spraying layer numbers and wall surface roughness. And full-process automation of wire harness protection, socket slot plugging, nozzle switching and spraying operation is realized. The wiring harness pollution and damage during spraying are effectively avoided, the spraying uniformity and the operation efficiency are improved, and the whole robot is made to meet the multi-scene spraying requirement.

The invention discloses an air pressure-motor cooperative driving super-redundant deformation continuum charging robot system, which comprises a pneumatic mechanical arm, a motor, a charging robot, a charging robot, a charging robot and a charging robot, and is characterized in that the pneumatic mechanical arm comprises a plurality of sections of pneumatic continuum; the charging head is mounted at the head end of the pneumatic mechanical arm; the adjacent pneumatic continuum bodies are connected through the hollow motors. The flexible bending movement of each section of pneumatic continuum in a plane is realized by adopting the pneumatic semi-corrugated pipe for driving, and the plane bending movement is converted into multi-degree-of-freedom movement in a three-dimensional space through the hollow motor for driving. Through cooperative control of pneumatic driving and the hollow motor, the position and posture of the charging head can be flexibly adjusted to adapt to charging interfaces at different positions and angles, and the adaptability to diversified charging scenes is remarkably improved. Meanwhile, the robot is endowed with the natural output force compliance characteristic through pneumatic driving, the safety and reliability in the charging docking process are effectively improved, and the robot is particularly suitable for the complex working condition environment with positioning errors or dynamic changes.

The invention provides a motion control method of a surgical robot and a surgical robot system. In accordance with an example of the present application, the surgical robotic system includes a manipulator assembly that is movable under actuation of an actuator; the method comprises the following steps: determining whether the manipulator assembly collides or not, wherein the collision comprises an imminent collision or an already-collided collision; in response to the collision of the manipulator assembly, adjusting a control parameter of the actuator to reduce a current output of the actuator; the manipulator assembly is actuated by the actuator to move. The motion state of the manipulator can be adjusted in time, and damage caused by collision is effectively reduced; meanwhile, adjustment can be carried out when it is detected that the manipulator assembly collides, the motion tracking performance of the manipulator assembly is effectively maintained without the collision risk, and the accuracy of the operation is improved.

The invention discloses a multifunctional mechanical arm automatic machining device and method, and relates to the technical field of mechanical arms, the multifunctional mechanical arm automatic machining device comprises a mechanical arm and the tail end of the mechanical arm, and further comprises a floating chuck movably connected to the tail end, a plurality of clamping jaws slide on the floating chuck in the radial direction, and the floating chuck conducts self-adaptive floating relative to the tail end in at least one horizontal direction; a center shaft is arranged in the axis direction of the floating chuck in a sliding mode, and the center shaft is provided with a floating station and a locking station. According to the multifunctional manipulator automatic machining device and method, a floating chuck is switched between a floating state and a locking state by adjusting a center shaft, and self-adaptive floating of the floating chuck can enable the floating chuck to passively conform to alignment deviation between a workpiece and a target station. Meanwhile, when the center shaft is separated from the locking station, the clamping piece is unfolded and abuts against the inner wall of the piston, and therefore the risk that the clamping jaw accidentally loosens the workpiece is reduced.

The invention discloses a spraying control method of a waveform guardrail spraying manipulator, which relates to the technical field of industrial automation and robot control, and comprises the following steps: acquiring relative position change data of the manipulator and the surface of a waveform guardrail in a rotation process through a pre-established manipulator rotation track model; and for each time node, recording the spraying angle change and distance dynamic adjustment information, establishing a dynamic space mapping relationship under a manipulator rotation state for spraying control, and triggering a secondary spraying supplementing control instruction according to the coating quality consistency feedback, so that the reliability and stability of the spraying supplementing effect can be further ensured, and the spraying efficiency is improved. Therefore, the equipment utilization rate of the manipulator and the automation and intelligence level of spraying operation are remarkably improved while the uniformity of the coating and the consistency of spraying quality are improved.

The invention discloses a feeding and discharging manipulator for a production line, which relates to the technical field of manipulators and comprises a manipulator body, a clamping mechanism mounted at the end of the manipulator body and a first workpiece arranged in an inner cavity of the clamping mechanism. The positioning clamping plate is installed at the end of the manipulator body and used for being connected with the clamping mechanism, the double-layer pipeline is arranged on the lower surface of the positioning clamping plate and can drive the clamping mechanism and the first workpiece to rotate left and right, and a second workpiece and an object placing table for placing the second workpiece are arranged under the first workpiece. A plurality of hidden limiting mechanisms capable of automatically centering and positioning a second workpiece are arranged on the inner wall of the storage table, the first workpiece is guided through a guide groove to achieve staged recovery and rotate leftwards and rightwards for fine adjustment at the same time, dislocation correction is achieved, and before the first workpiece and the second workpiece are installed and connected in a butt joint mode, the second workpiece can rotate leftwards and rightwards. A plurality of hidden limiting mechanisms can be driven to pop up, so that the centering positioning function of the second workpiece is realized, and the efficiency of the whole production line is improved.

The utility model discloses a double-track rotary manipulator cigarette packet mixed loading device. The device comprises a cigarette packet conveying module (1), a rotary transmission module (4) and a manipulator module (5), wherein the cigarette packet conveying module (1) comprises a first track (A) and a second track (B) which are vertically arranged on the same horizontal plane; the rotary transmission module (4) is arranged at the vertical intersection of the second track (B) and the first track (A); the number of the mechanical arm modules (5) is two, and the two mechanical arm modules (5) are arranged at the two ends of the rotary transmission module (4) respectively.

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

The invention discloses a cooperative control method and system for combined optimization of an AGV and a manipulator, and the method comprises the steps: carrying out the unified modeling of the motion freedom degree of the AGV as the freedom degree of a base of the manipulator, and introducing environment constraints, and forming a combined control model; adopting a preset optimization method and introducing a joint optimization objective function to optimize the joint control model; in the operation process of the automatic guided vehicle and the manipulator, motion data of the automatic guided vehicle are collected in real time, posture change data of the automatic guided vehicle in a preset time window are predicted, and feedforward compensation control is conducted on the track of the manipulator according to a prediction result; and when the trajectory error or the motion singularity of the manipulator end effector exceeds a preset threshold value, the automatic guided vehicle executes active compensation pose adjustment to cooperate with the manipulator to complete the operation task. According to the invention, real-time adaptive optimization control of a dynamic environment and an unstructured operation scene can be realized by combining dynamic environment prediction, flexible force feedback and adaptive tail end rigidity adjustment.