129 results about "Robot design" patented technology

The invention discloses a multi-constraint-based multi-objective optimization design method for a hexapod robot, and aims to solve the problem of task failure possibly caused by driving overload, structural interference or foot end slipping when a foot robot moves and operates in a field environment due to the fact that a real field topographic condition is not considered in a foot robot optimization method. According to the method, the optimal body size of the hexapod robot meeting the terrain trafficability constraint is calculated by utilizing the terrain trafficability constraint in combination with the to-be-executed terrain conditions, terrain indexes and to-be-optimized geometric parameters of the hexapod robot, and then the optimal body size of the hexapod robot meeting the terrain trafficability constraint is calculated according to the leg size constraint of the hexapod robot; taking the minimum value of the joint peak value stress and the joint peak value power under the leg size constraint as an optimization target, and obtaining the optimal leg size by using a non-dominated sorting algorithm. Therefore, the optimal structure of the hexapod robot is obtained. According to the method, the body size and the leg structure size of the hexapod robot are optimized through terrain adaptability constraints and multiple real physical constraints, and the method belongs to the field of robot design.

The invention provides a welding robot design method and system for steel structure workpiece welding seam tracking, and relates to the technical field of steel structure workpiece welding seam visual tracking and automatic welding. Steel structure workpiece image data collected by an industrial camera in real time is divided into two groups; training a weld groove detection network based on YOLOv3 by using the marked image data to obtain a weld groove real-time detection model based on YOLOv3, and optimizing and deploying the model; and the online group uses the model to infer the position of the weld groove, determines the coordinates of the inferred weld groove and the welding gun of the welding robot under the base coordinate system through sensor position calibration, and uses a spline interpolation method to generate the movement track of the welding gun of the welding robot in real time. By means of the process, the teaching-reproduction mode of an existing robot is broken, the problem that a robot pre-programming mode deals with complex changes of field working conditions is solved, and high automation of real-time tracking tasks of the weld groove is achieved.

The invention discloses an inspection robot for a special underground environment of a coal mine and a use method, and relates to the technical field of coal mine safety production. The inspection robot for the special environment of the underground coal mine comprises a walking track and further comprises a walking mechanism, a main body frame, a detection unit, a power supply unit, a communication unit and a pan-tilt shield assembly, the walking mechanism is matched with the walking track to achieve movement, the detection unit achieves instrument image collection through the pan-tilt shield assembly, and the power supply unit supplies power to the main body frame. The power supply unit and the communication unit respectively supply power and transmit data to the whole machine; stable operation in a high-risk environment is ensured by adopting an explosion-proof safety design, high-precision positioning and identification of the instrument are realized through a dynamic search algorithm and an intelligent detection algorithm, unmanned inspection and real-time data transmission functions are realized, a modular structure can be flexibly expanded, various instrument detection requirements can be met, and the system is suitable for popularization and application. And the coal mine inspection efficiency and the intelligent level are obviously improved.

The application discloses a kind of underground pipeline detection method and system based on multiple information sources, which comprises the following steps: pipeline detection system obtains the historical information of regional pipeline, arranges pipeline detection sensor;Establish detection sub-region, obtain pipeline characteristic parameter;Design regional fault detection algorithm, obtain health center point, calculate regional fault coefficient, determine fault sub-region;Pipe robot is put into fault sub-region, design adaptive fault point detection algorithm, detect fault point, record fault point position;Output pipeline detection result, notify pipeline inspection personnel;The scheme realizes the fault detection of underground pipeline by using multiple information sources, improves the detection efficiency by using the historical information of pipeline and establishing the arrangement scheme of pipeline detection sensor, divides the entire pipeline by establishing sub-region, detects each sub-region separately, improves the detection efficiency and accuracy of pipeline fault, and reduces the safety risk caused by pipeline fault.

The invention belongs to the technical field of magnetic control micro-robots and intelligent control, and relates to a mudskipper-imitating magnetic control micro-robot and a control method thereof.The mudskipper-imitating magnetic control micro-robot system comprises a robot body and a control part, and the robot body is composed of two magnetic driving sub-modules and an energy storage module; the two magnetic driving sub-modules are symmetrically fixed at two ends of the energy storage module at a preset interval, and the energy storage module is used for realizing non-magnetic connection of the two magnetic driving sub-modules; the control part comprises a magnetic field generation module for forming a driving magnetic field around the robot body and a controller for adjusting the magnetic field generation module to change the magnetic field intensity and direction so as to drive the robot body to realize jumping motion; the robot designed by the invention can adapt to large deformation of intestinal peristalsis, efficiently cross mucous membrane wrinkles, adapt to unstructured characteristics of intestinal tracts, and can accurately reach a focus area to provide a path for accurate diagnosis and treatment of intestinal diseases.

The invention relates to the technical field of robot design, and provides a robot design method and system based on agent collaboration. The method comprises the steps that a design agent generates a plurality of initial robot models based on robot demand information of a user; the simulation agent constructs a virtual scene matched with the robot demand information; a verification agent performs performance verification on each initial robot model in the virtual scene, and feeds back abnormal event information generated in the verification process of each initial robot model to the design agent; the design agent generates a target robot model based on the abnormal event information corresponding to each initial robot model; and the deployment agent generates manufacturing information of the entity robot required by the user based on the target robot model, guides production of the entity robot based on the manufacturing information, and continuously monitors the entity robot after the entity robot runs. The method is helpful for improving the design efficiency of the robot.

The utility model discloses a microminiature crawler-type wall-climbing detection robot, which is characterized by comprising a wall-climbing mechanism, a detection mechanism mounted on the wall-climbing mechanism and a control mechanism for remotely controlling the wall-climbing mechanism to move, the wall climbing mechanism comprises a bottom frame, a left track driving module and a right track driving module which are installed on the left side and the right side of the bottom frame respectively, and a magnet arranged at the bottom of the bottom frame and used for attracting a metal wall. According to the detection robot provided by the utility model, the left track driving module and the right track driving module are used for driving the wall climbing mechanism to move, so that the detection robot has excellent obstacle crossing capability and can pass through a complex and steep channel; a magnet is arranged at the bottom of a bottom plate of the wall-climbing mechanism, so that the wall-climbing capacity and the loading capacity of the detection robot in the equipment are effectively improved; the detection robot is designed to be smaller and more compact, so that the detection robot can flexibly move in large-scale equipment and is also convenient to recycle and maintain.

1. Name of the designed product: robot and the main body of the robot. 2. Use of the designed product: the whole of the designed product is used as a robot, and the part claimed in design 1 is used as the main body of the robot. 3. Design points of the designed product: the shape expressed by non-dotted lines. 4. Picture or photo best indicating the design points: design 1 perspective view 1. 5. Design 1 is designated as a basic design. 6. Other circumstances needing explanation: the designed product claimed does not include the part indicated by dotted lines in design 1.

The invention discloses a compliance control method in an amphibious environment and a flexible robot, and relates to the field of amphibious robot control, the bottom of each leg of the amphibious robot is provided with a corresponding elastic element, and the amphibious robot designs a multi-sensor integration algorithm switching working mode based on an inertial measurement unit IMU and a depth gauge. And corresponding passive compliance control algorithms are selected in different working modes to guide the motion posture of the robot, and meanwhile, the poses of motors on the legs are controlled based on the output of the feed-forward fuzzy PID controller, so that the position of the robot is controlled by controlling the rotation angles of the motors. The invention provides a compliance control method in an amphibious environment and a flexible robot, which are suitable for an amphibious robot of which the bottom of each leg is provided with a corresponding elastic element, and the adaptability and reactivity in a complex environment are enhanced by designing a corresponding kinetic model and a control strategy.

The invention relates to a device (10) for processing the front and / or rear spoiler (28) of a passenger car, comprising a robot (12) which has gripping elements (22, 24, 26) for the spoiler (28), comprising a processing station (14) arranged in the action region of the robot (12) for processing the spoiler (28), and a detection device (18) which is designed to detect the position of the spoiler (28) at least in the region of the at least one processing station (14). The detection device (18) is connected to a controller (16) of the robot (12), the robot (12) being designed to hold the spoiler (28) in the processing station (14) during processing, and the controller (16) being designed to control the robot (12) to achieve a target position of the spoiler (28) in the at least one processing station (14) depending on the signals of the detection device (18).

The application relates to a low-energy-consumption hexapod robot based on nonlinear rope geometric constraints and a foot end linearization compensation method thereof, and relates to the field of robot design. In order to solve the problem that the robot leg makes circular arc motion with the hip joint as the center, resulting in transverse displacement of the foot end and affecting the motion precision of the robot, the leg mechanism is arranged on both sides of the fuselage in six pairs and is symmetrically arranged left and right, three leg mechanisms on the same side are sequentially arranged from front to back and are arranged as front legs, middle legs and rear legs, each leg mechanism comprises a thigh, a shank and a foot which are sequentially connected, the thigh is rotatably installed on the fuselage through a hip joint shaft, the thigh and the shank are rotatably connected through a knee joint shaft, and the thigh and the shank form an inverted V shape, and the shank is a telescopic leg; the hip joint driving mechanism can drive the thigh to rotate around the Z axis to control the front and back swing of the thigh; the knee joint driving mechanism can transmit power in the process of the front and back swing of the thigh, convert the rotary motion of the thigh into the extension and contraction motion of the shank, and correct the motion track of the foot end.

The application discloses a wheel-leg balance robot design capable of active jumping and a control method thereof. The wheel-leg balance robot design is based on a planar parallel five-bar mechanism, and comprehensively considers the leg structure design and wheel train structure design of the wheel-leg balance robot suitable for active jumping. A plurality of sensor modules are adopted for sensing, so that the robot can autonomously perform the jumping function on a complex obstacle road section. Meanwhile, the wheel diameter and the motor torque are matched and designed, so that the robot has strong passability. The joint motor connection structure is improved to improve the design strength of the leg structure. An inverted pendulum model containing a wheel-leg hybrid structure is used to fit the robot movement, an LQR control algorithm is adopted to process the nonlinear system through piecewise linearization, and reference input is added to realize trajectory tracking.

The passive hip power-assisted exoskeleton comprises leg rods, a waist module, an energy storage module and a quick release assembly, the waist module comprises a cross beam and waist protection plates perpendicular to the two ends of the cross beam respectively, and a tray is hinged to the middle of the cross beam; the energy storage module comprises energy storage boxes arranged at the two ends of the cross beam respectively, springs arranged in the energy storage boxes and connecting ropes penetrating through the springs, and the quick release assembly comprises protective plates arranged at the two ends of the cross beam respectively and used for clamping the corresponding energy storage boxes and quick release buttons with the pressing ends protruding out of the energy storage boxes. According to the invention, clockwise torque is generated by the energy storage module and can be counteracted with the torque in the opposite direction generated by the gravity of the knapsack, so that the wearing comfort of the exoskeleton is improved, and the energy storage module and the waist module on the corresponding side can be locked by sliding the energy storage box to a specified position; and the energy storage module and the waist module on the corresponding side can be unlocked by pressing the quick release button. The invention belongs to the field of robot design.

The invention provides a distributed fault-tolerant control method and device for a multi-robot system, and relates to the technical field of robots, and the method comprises the steps: constructing a system dynamics model containing an actuator fault and a sensor fault, designing an intermediate observer for each follower robot, and carrying out the fault-tolerant control of the robot. The joint real-time estimation of the system state, the actuator fault, the sensor fault and the intermediate variable is realized, the estimation process does not need to know the boundary information of the fault amplitude and the change rate in advance, and does not need to meet the matching condition depended by a traditional observer, so that the adaptability and robustness of fault estimation are remarkably improved; on the basis, external state information of a leader and a neighbor robot is obtained from a communication network, a distributed cooperative fault-tolerant controller is constructed to generate an action control instruction, and the adverse effect of faults of an actuator and a sensor on the cooperative performance of the system is effectively compensated. And finally, all follower robots can stably and consistently track the motion state of the leader.

Transport system (1) for internal material transport comprising a tugger train (2) comprising a towing vehicle and at least one tugger train trailer (4a; 4b; 4c; 4d), and at least one trolley wagon (5a; 5b; 5c; 5d), wherein the tugger train trailer (4a; 4b; 4c; 4d) is designed to carry the at least one trolley wagon (5a; 5b; 5c; 5d), wherein the trolley wagon (5a; 5b; 5c; 5d) has at least one longitudinal strut (L1; L2), characterized in that the transport system (1) comprises an autonomous transport robot (10) which is designed to unload the trolley wagon (5a; 5b; 5c; 5d) from the tugger train trailer (4a; 4b; 4c; 4d) and / or to transport the tugger train trailer (4a; 4b; 4c; 4d) with the trolley wagon (5a; 5b; 5c; 5d) to load, wherein the autonomous transport robot (10) has a coupling device (11) designed to be coupled to the longitudinal strut (L1; L2) of the trolley trolley (5a; 5b; 5c; 5d).

1. Name of the product in this design: AI Desktop Pet Robot. 2. Purpose of this design: For use in an AI-powered desktop pet robot designed for emotional companionship. 3. The key design feature of this product is its shape. 4. The image or photograph that best illustrates the design's key points: a 3D model.

The invention discloses a low-power-consumption one-way transmission hexapod robot and a foot end track correction method thereof, and belongs to the field of robot design. The problems that an existing robot is high in energy consumption, heavy in structure, complex in control, high in cost, low in reliability and the like are solved. The hip joint, the thigh, the knee joint, the shank and the foot are connected in sequence, the one-way transmission mechanism is used for controlling the gait of the shank, the thigh is a deformable four-bar mechanism, and the one-way transmission mechanism is connected with the thigh and the hip joint; when the hip joint is driven to rotate in the forward direction, the thigh is driven to deform through transmission cooperation of the one-way transmission mechanism, so that the thigh drives the shank to complete the swing action of lifting and falling. When the hip joint is driven to rotate reversely, the one-way transmission mechanism does not transmit motion at the moment, the thighs do not deform any more, and therefore the feet are always kept in the supporting phase of making contact with the ground and stepping on the ground. The system is mainly used for executing tasks such as complex environment exploration, disaster rescue and planet exploration.

The invention provides a construction process robot assembly planning and designing method, and belongs to the technical field of robot design, and the method comprises the steps: determining the total labor amount based on human in construction simulation; a translation assembly, an action assembly, a driving assembly and a working assembly which are needed for assembling the robot are concluded and extracted, and the working coverage amount of the robot in different assembly combination modes is simulated by taking the whole process of construction simulation as the basis and the total work amount as the reference standard; quality and cost parameters are set to compare the generated coverage amounts, a final assembly matching mode is determined, and a robot assembly scheme is determined; and on the basis of the assembly scheme, construction simulation is adjusted in combination with construction data, and finally a construction whole-process planning route based on the person and the robot is generated. According to the construction process robot assembly planning and designing method provided by the invention, the robot can finish a specified construction task more meticulously and perfectly, the utilization rate and the conversion rate of the robot are improved, and the construction efficiency is improved.

The application relates to a parallel robot design method, in particular to a parallel robot pose error compensation method based on a physical information neural network. The purpose is to provide a parallel robot pose error prediction and compensation method based on a physical information neural network, so as to ensure that the prediction result conforms to the mechanism mechanism, reduce the experimental cost and process complexity, improve the compensation accuracy, and be suitable for parallel robot mechanisms with clear kinematic equations. The technical scheme is a parallel robot pose error compensation method based on a physical information neural network, which is performed according to the following steps: 1, establishing a parallel robot mechanism inverse kinematics model and a geometric error Jacobian matrix, and then embedding the geometric error Jacobian matrix into the physical information neural network; 2, determining the parameters of the physical information neural network according to the parallel robot structure; 3, simulation verification; 4, experimental correction and feedforward compensation.

1. Name of the product in this design: Intelligent Companion Robot. 2. Purpose of this design: A cat-faced robot designed to provide emotional companionship to users through natural language interaction based on a large language model. 3. The key design feature of this product is its shape. 4. The image or photograph that best illustrates the design's key points: a 3D model.

The invention relates to a collaborative control method and system for a space flexible multi-arm robot using the stress stiffening effect, and relates to the field of collaborative control of space flexible multi-arm robots. The invention solves the problem that the research on robots considering flexibility in the prior art mainly focuses on a single robotic arm, and there is still little research on multi-arm space robots, especially those that can switch configurations between open chain and closed chain. The method comprises: based on the two topological configurations of the space flexible multi-arm robot, namely the open chain and the self-closed chain, respectively establishing the dynamic model of the space multi-arm robot considering joint flexibility in the two states of open chain and self-closed chain; introducing the internal force stiffening effect, and determining whether there is internal stress to complete the stiffness analysis of the space multi-arm robot considering flexible joints in the self-closed chain configuration; designing a composite control law for the space multi-arm robot considering flexible joints based on the singular perturbation method, and is also applicable to the field of improving control accuracy in the process of orbital service and orbital capture.

Provided is a system, method, and device for constructing a robotic device. The method includes executing a single-level nonlinear program configured to determine a constraint-satisfying selection and configuration of actuators on at least one robotic device for at least one task associated with state trajectories over a plurality of timesteps, the at least one robotic device associated with robot design data comprising a plurality of actuators, and applying a regularization function within the single-level nonlinear program to the robot design data to select a subset of actuators from the plurality of actuators that satisfy constraints of the at least one task, the regularization function configured to exclude actuators of the plurality of actuators over the plurality of time steps.

The application provides an event-triggered safety guarantee control method and device of a teleoperation robot system, and relates to the technical field of teleoperation robot system control. The method comprises the following steps: establishing a teleoperation system with dynamic uncertainty and time delay under safety constraints; constructing a virtual reference system for each manipulator in the teleoperation system; based on the virtual reference system, designing an event-triggered safety guarantee controller for the master and slave robots respectively, giving an event-triggered condition for the master robot controller update and an event-triggered condition for the slave robot quadratic programming problem solution and controller update; realizing the synchronization of the master and slave robots, and ensuring that the state of the manipulator of the slave robot is located in the safety set of the manipulator of the slave robot. The application discusses the safety key control problem of the teleoperation system with unknown dynamics, time delay and event-triggered mechanism. Under the design of the application, the safety of the slave robot in the unknown environment is ensured, and the master-slave synchronization is realized.

The invention provides a multi-task general artificial intelligence robot design and management platform, which comprises a modular design module used for enabling a service robot to learn and optimize the response capability of a complex environment based on environment adaptation and task learning of a cloud artificial intelligence large model. The multi-task general artificial intelligence robot design and management platform provided by the invention is used for realizing the self-adaptive learning of the service robot in the use process, and further realizing the purpose of coping with different application scenes based on the self-adaptive learning.

The application belongs to the technical field of robot design, and particularly relates to a collision detection mechanism and a robot. The collision detection mechanism comprises: a collision plate connected to a body of the robot; a base used for being installed on one of the collision plate and the body of the robot, the base being provided with a connecting portion; a sleeve provided with a connecting column, the connecting column being movably installed in the connecting portion; a swing rod assembly, one end of the swing rod assembly extending to the base, the other end of the swing rod assembly penetrating out of the sleeve and being connected to the other one of the collision plate and the body of the robot, the swing rod assembly being relatively displaced with the base after the collision plate collides with an obstacle; a reset device used for providing a reset elastic force to the swing rod assembly, so that the swing rod assembly is reset after moving relative to the base; and a detection device used for detecting whether the end of the swing rod assembly towards the base is relatively moved with the base. The technical scheme of the application solves the problems of high design difficulty and high investment cost of the robot in the prior art in the aspect of collision detection.

A miniature parallel robot and a flat design manufacturing method, relating to the field of robots. A direction perpendicular to a fixed platform is used as a longitudinal direction and a direction parallel to the fixed platform is used as a transverse direction; the overall structure of a miniature parallel robot to be manufactured is divided in both the longitudinal direction and the transverse direction; then linkage units obtained by the division are manufactured on the basis of a flat machining process; and finally, the linkage units are recombined by re-assembly to obtain a final miniature parallel robot. The present invention simplifies the design process of the miniature parallel robot, and can be conveniently applied to different complex parallel robots (having more than three branches). Additionally, the miniature parallel robot designed and manufactured by means of the method has high precision, high rigidity, and high dynamic performance.

The invention provides a method and a device for testing the climbing ability of a highway tunnel horizontal rail robot, and aims to solve the problems that the friction coefficient is reduced and theoretical calculation and actual working conditions are disjointed due to rail pollutants in a tunnel, the height of a rail is adjusted through step-by-step decreasing, and a critical climbing angle is judged in combination with a laser sensor; parameters such as a rolling friction coefficient and an air resistance coefficient are introduced to evaluate the gradeability, and the defect that a traditional test method neglects environmental influence is overcome. The device adopts the design of an inverted T-shaped base bracket and a modular track, and a graded counterweight superposition test is added, so that the wide-angle working condition coverage range is expanded. According to the invention, an accurate evaluation basis is provided for tunnel robot design, and the accuracy of a robot climbing test is improved.

A robot designed to clean the hull of a ship while in transit is provided. For example, the robot can include a chassis, a plurality of wheels, a motor, a magnetic attachment component, a suspension, a cleaning element, and a housing within which the chassis, the plurality of wheels, the motor, the magnetic attachment component, the suspension, and the cleaning element are at least partially disposed. The plurality of wheels can be configured to move the robot along a surface of a ship hull. The motor can be configured to power at least one wheel from the plurality of wheels. The magnetic attachment component for attaching the robot to the surface of the ship hull. The suspension can have a set of linkages that suspend each of the plurality of wheels and the magnetic attachment component from the chassis.

A kind of low-energy consumption six-legged robot of screw rod and rope drive coupling and motion control method, it is related to robot design field.The existing six-legged robot uses multiple motor cooperative control, increases control difficulty and the problem of structural complexity.This application includes body, leg mechanism, thigh driving mechanism and shank driving mechanism, leg mechanism is provided with six and left-right symmetrical arrangement in the two sides of body, three leg mechanisms of same side are arranged in order from front to back, thigh driving mechanism is provided with two and left-right symmetrical arrangement in body, and each thigh driving mechanism can drive three leg mechanisms of same side move forward and backward;Each leg mechanism corresponds a shank driving mechanism, and the shank driving mechanism can transmit linear motion generated by thigh driving mechanism to shank, to drive shank to lift or fall.This application is mainly used for executing task in complex environment such as post-disaster search and rescue, field exploration, planet exploration etc..