545 results about "Manipulator system" patented technology

A manipulator comprises an actuator block and a working unit attachable to and detachable from the actuator block. The actuator block has a motor, the working unit has a connecting shaft and an end working portion disposed at the distal end thereof, and the end working portion is rotated in conjunction with the motor. The working unit further has a two-dimensional code holding an identification signal, and the actuator block further has an infrared camera for recognizing the identification signal in the code and supplying it to a controller, is the camera being not in contact with the code. The controller controls the working unit based on the supplied identification signal.

A manipulator has an operating unit including a trigger lever, a distal end working unit including an end effector and a yaw axis and a roll axis for changing the direction of the end effector, and a connector shaft interconnecting the operating unit and the distal end working unit. The operating unit includes an actuator block housing therein motors for actuating the yaw axis and the roll axis and a gripper operational quantity corrector for mechanically transmitting an operational action of the trigger lever to actuate the end effector. A controller calculates an interference amount caused on the end effector by the attitude angles of the yaw axis and the roll axis. The gripper operational quantity corrector is controlled by the controller to extend or retract a push rod, for correcting the operational quantity of the operational action of the trigger lever to compensate for the interference amount.

In a master-slave manipulator system, manipulation device can be manipulated intuitively even when clutch manipulation is performed. A master-slave manipulator system includes: mode switching device for switching between a master-slave mode, in which the slave manipulator is controlled, and an observation device visual field tracking clutch mode, in which transmission of an operation command to the slave manipulator from the manipulation device is cut off to move the manipulation device to an optional position and orientation; a switching unit control section that reads a signal of the mode switching device to forward a mode signal to the manipulation device control section; and a visual field transform section that forwards a third control command to the manipulator control section and forwards a fourth control command to the visual field change control section on the basis of an operation command read by the manipulation device control section at the time of the observation device visual field tracking clutch mode so as to make an agreement between a direction of motion of an image of the slave manipulator displayed on the display device and a direction of manipulation of the manipulation device.

The invention has for its object to provide a manipulator and manipulator system in which a dynamic surplus is rapidly removed and a moving assembly actuates rapidly in association with the operation of an operating assembly.

The manipulator 1 includes an operating assembly 2 operated by an operator, a moving assembly 3 operated by the operating assembly 2, a transmitting assembly 4 for coupling the operating assembly 2 to the moving assembly 3 to transmit driving force of the operating assembly 2 to the moving assembly 3, and a transmission compensating assembly 6 for making up for a dynamic surplus occurring in the transmitting assembly 4 in association with the operation of the operating assembly 2.

Laser drilling devices are disclosed which include a laser beam source and a laser drilling head. The laser drilling head includes a beam manipulator system in which the only dynamically moving optical element is a mirror. The mirror is dynamically and reciprocally translatable along the direction of the incoming laser beam and is also dynamically and reciprocally tiltable about an axis that is perpendicular to the nominal optical axis of the drilling head. The drilling head also includes a spinnable laser beam rotating system, a simplified compensation system, and a focusing system. The compensation system includes as its only laser beam path shifting optical elements on or two wedge plates which, if two, are fixably rotatable relative to one another in planes which are perpendicular to the nominal optical axis of the laser drilling device.

An automated rod manipulator system for moving a drill rod section from a storage magazine to a drill rig and connecting the drill rod to a drill string of the drill rig without manual manipulation of any parts. The automated rod manipulator system may comprise a magazine to store and dispense a plurality of drill rod sections, a carriage to convey one of the plurality of drill rod sections from the magazine to a transfer position; and a gripping arm coupled to a drill rig mast of a drilling rig, the gripping arm operable to convey one of the plurality of drill rod sections from a transfer position to a position aligned with a spindle center line of the drilling rig. The automated rod manipulator may also include a control system and an alignment assembly for aligning the drill rod section on a spindle centerline of the drill rig.

The invention provides a wearable function-enhanced manipulator system and assisting fingers thereof. Assisting fingers adopt rope drive; force sensing is formed by using a spring connected with a driving rope; an annular electromyography acquiring array is worn on a forearm of a user and is used for estimating motion and force information of the wrist and fingers of the user, and estimating the behavior intention of the user according to the extracted position and the force information, so that a corresponding decision is made for assisting or enhancing the activity function of the fingers; a passive arm mechanism shares forces borne by the wrist and the fingers of a human body and can realize the actions of assisting and enhancing the function of the fingers under the condition that normal activities of the human body are not influenced. Meanwhile, the invention provides a control method for the manipulator system. The wearable function-enhanced manipulator system has the advantages of compact structure, light weight, good flexibility and good safety; the functions of the fingers can be enhanced to the maximum extent, and natural hands of the user are enabled to engage other tasks; the wearable function-enhanced manipulator system has better use potential in the industry, agriculture, household demand, entertainment and other aspects.

The invention discloses a space manipulator ground microgravity hybrid simulation method, and particularly relates to a realization method for ground-based simulation of a space microgravity environment by a 7-DOF space manipulator. Gravity compensation is realized at the middle part of the 7-DOF space manipulator by adopting the gas flotation method; the middle part of the 7-DOF space manipulator is supported on two gas flotation feet; shoulder parts and wrist parts at two ends as well as an end effector adopt static balance mechanisms to realize gravity compensation; two static balance mechanisms are designed, respectively named as a shoulder part static balance mechanism and a wrist part static balance mechanism, and used for realizing gravity compensation for a 2-DOF manipulator formed by a shoulder joints 1 and 2 and the end effector as well as gravity compensation for a 3-DOF manipulator formed by wrist joints 5, 6 and 7 and the end effector, as a result, gravity compensation for the whole space manipulator system is realized.

A manipulator system includes a master manipulator configured to send an input command, a slave manipulator configured to operate according to the input command, an image capturing unit configured to acquire an image of an object, a display device placed in front of the operator and configured to display the image acquired by the image capturing unit, a detection device configured to detect the direction of an operator's face of the operator with respect to the display device, and a control unit configured to determine whether the direction of the operator's face is within a predetermined angle with respect to the display device based on the detection result in the detection device, and to shift an operation mode of the slave manipulator between a first control mode and a second control mode in which an operation is limited more than in the first control mode based on a determination result.

The invention discloses an automatic laminator and an automatic laminating method. The automatic laminator comprises an electric control cabinet, feed devices, lamination platforms, laminate output devices, a lamination robot, throwing devices, positioning devices and a manipulator system. The laminate output devices are mounted around the lamination robot, the lamination platforms are arranged on the left of the lamination robot, the throwing devices are mounted on the left of the lamination platforms, the positioning devices are mounted on the left of the throwing devices, the feed devices are mounted near the positioning devices, and the manipulator system is mounted between the feed devices and the positioning devices. Automatic lamination is performed by taking laminates via feeding and twin-axis manipulators, positioning via the positioning devices, throwing and laminating of the lamination robots and outputting via the laminate output devices. Silicon steel sheets can be laminated into a reliable-precision transformer iron core according to needs, labor intensity of operators is reduced and production efficiency is improved.

The invention relates to an underwater multifunctional robot, which is characterized in that: it comprises a motion vehicle system, a underwater camera system carried on the motion vehicle system, a mechanical hand system, function elements, and operation controller, wherein said function elements comprises one or the combination of underwater cleaner, underwater adsorption pump, underwater cutter, or underwater bonding machine; the operation controller via control line is connected to the motion vehicle system, mechanical hand system, function elements and underwater camera system to drive or control them. The invention has small volume, complete function, high automatic degree, wide application, high reliability, and simple operation, which it can be used in worse condition.

A manipulator has an operation command unit and an exchangeable working unit. The working unit comprises an end effector operable under actions of a control apparatus, and an ID retaining section holding an ID for individualized discrimination of the working unit. The control apparatus includes an ID identification section for identifying the ID and for determining whether the working unit is connected to the operation command unit, an origin point recognition section for recognizing whether the end effector is in a prescribed origin point position or in a non-origin point position, and a warning section which generates a detachment warning when it is determined that the end effector has been detached from the operation command unit, in the event it is determined that the end effector is in a non-origin point position.

The present invention relates to a mobile robot system, include a 3-freedom mobile platform, a 5-freedom robot, vision system and comptuer control system. Its camera with rotation and pitching function is mounted in the top end of straight-line guideway of robot, the mobile platform can implement forward, backward, leftward, rightward and automatic revolving 3-freedom omnibearing movement, and its 5-freedom robot is consisted of 1 moving joint and 4 turning joints, and its operation is flexible. The movement of said robot can implement large range movement operation function. Besides, said invention also provides the application range and method of said mobile robot system.

The invention discloses a neural network inversion control method for a flexible manipulator system. The neural network inversion control method comprises the following steps of establishing a dynamic model of a flexible manipulator servo system and performing equivalent transformation on the dynamic model, and initializing a system state, sampling time and a control parameter; introducing a virtual control variable into the design of each step by combining sliding-mode control and an inversion method, and finally deducing self-adapting controller input; calculating the tracking error, the integral sliding mode surface, the error variable and the differential of a control system. Meanwhile, by utilizing the approximation characteristic of a neural network, the complexity explosion problem brought by the inversion method and the approximation of model parameter uncertainty are avoided; the invention provides the neural network inversion control method capable of effectively improving the location tracking control performance of the flexible manipulator servo system, therefore the stable and rapid tracking of the system is realized.

The invention relates to a grabbing manipulator system for semiconductor packaging equipment. The system comprises a mechanical grabbing device, an air cylinder grabbing device and a pressing plate buffering device, wherein the mechanical grabbing device comprises a guide rod fixing block, a claw, a guide rod, a first spring and a grabbing fixing block; the air cylinder grabbing device comprises an air claw, a slide rail fixing block and a slide rail; and the pressing plate buffering device comprises a substrate, a guide shaft, a third spring, a guide shaft fixing plate, a stop sheet, a linear bearing, a pressing plate and a pressing plate fixing block. Compared with the prior art, the manipulator system for grabbing the semiconductor packaging equipment is simple in structure, does not occupy space, and can adapt to a semiconductor product of which width and thickness are in certain range; when different types of products are machined, replacement and adjustment are not required; the equipment is stable in running and low in cost; and the production efficiency and the utilization efficiency of the equipment are greatly improved.

The invention relates to a motion coordination control method for a space dual-manipulator system, and belongs to the technical field of space manipulators. In order to overcome the defects that no space manipulator system specific to dual manipulators exists at present, the coordinated relation between a manipulator and a satellite body is not considered in an existing space manipulator system and tracking errors are high, the motion coordination control method for the space dual-manipulator system is provided. The motion coordination control method for the space dual-manipulator system includes the steps that a kinematical equation and kinetic equation of the space dual-manipulator system are established; the space dual-manipulator system is subjected to trajectory planning according to the initial postures and tail-end postures of the manipulators; and trajectories of the space dual-manipulator system are subjected to tracking control through a PD controller. The motion coordination control method for the space dual-manipulator system is suitable for a space manipulator control system.

A medical manipulator system includes a medical manipulator, an operating unit for inputting operation commands, motors for driving a working unit, a controller for driving the motors based on operation commands supplied from the operating unit, and an LED that displays an operational state. The controller carries out controls for distinguishing between an operational mode in which the operation command is validated and the motors are driven, and a stopped mode in which the motors are halted regardless of whether the operation command is present or not. An illumination state of the LED is switched dependent on whether the system is in the operational mode or the stopped mode. The LED is disposed in the center of an upper surface of a bridge, which interconnects a grip handle and an actuator block.

The invention relates to a fast-replacement station for a power battery of a pure electrically-driven vehicle. A pure electrically-driven vehicle integrated control system, a fast-replacement manipulator system, a vehicle transferring control system, a charging rack operation control system, a charging machine control system and a monitoring scheduling system are connected together in a wireless communication manner to form an intelligent fast-replacement system for the power battery of the pure electrically-driven vehicle. Automatic vehicle inbound, parking, battery pack cabin door opening, battery pack unlocking, battery replacing, battery pack locking, battery pack cabin door closing and vehicle outbound can be realized through the intelligent fast-replacement system, thus the power battery in the vehicle can be automatically replaced rapidly and conveniently.