161 results about "Robot design" patented technology

A robot design and control system including a procedural animation engine and a graphical animation editor that enable animators to author stylized walking gaits achievable by physical robotic characters, including bipedal robots of varying design. The animation engine generates dynamically feasible reference trajectories for omnidirectional walking given a desired walking velocity that may be input from a joystick or an artificial intelligence (AI) planner. This allows a legged robot to walk along an arbitrary path while expressing a custom animation “style,” e.g., a happy walk, a sneaky walk, or other manner of walking. The stylized walking motion or gait is generalized by the animation engine from a small number of animation samples that are defined at key walking velocities and tracked using a whole-body controller. The set of samples that are used as input to define a walking style is authored by an animator using the animation editor.

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 discloses an installation and calibration parallel robot trajectory planning method based on a novel multi-target adaptive optimization algorithm, and the method comprises the following steps: 1) constructing an installation and calibration parallel robot coordinate trajectory by taking a Clamped quintic B spline curve as an interpolation function; 2) based on time, impact and energy consumption dimensions, establishing an assembly and calibration platform multi-target trajectory optimization model under a multi-constraint condition; 3) performing iterative solution on the multi-target trajectory optimization model of the installation and calibration platform to obtain an optimized trajectory set of the installation and calibration parallel robot; and 4) evaluating the optimal track set by using a multi-target evaluation method to obtain an optimal track of a group of calibration parallel robots. The multi-target trajectory planning method is designed for the assembling and calibrating parallel robot, and a set of workpiece assembling and calibrating motion trajectories meeting the multi-target performance requirement are obtained.

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 relates to the technical field related to robots, in particular to a design method and device for a robot with human characters and capable of achieving self thinking. The method comprises the following steps: acquiring a five-recognition information matrix; wherein the five-recognition information matrix comprises image recognition information, voice recognition information, taste recognition information, smell recognition information and body touch and limb movement recognition information; the five-recognition information matrix is a partial matrix in the state matrix; determining a stimulation matrix based on the change of the state matrix over time and a predetermined character matrix; wherein the character matrix is used for representing characters of the robot; wherein the stimulation matrix is used for representing the change of the state matrix, and stimulation is obtained under the influence of the character matrix; adjusting a state matrix in combination with the stimulation matrix, the character matrix and a preset memory warehouse; the state matrix is used for representing the current state of the robot; based on the adjusted state matrix, behaviors needing to be carried out by the robot are determined, and a behavior matrix is obtained; and adjusting the character matrix in combination with the state matrix and the stimulation matrix.

The invention discloses a guide wire / catheter operation device of a vascular intervention surgical robot with a humanoid operation characteristic. The whole structure of the guide wire / catheter operation device comprises a guide wire / catheter operation module, a clamping module, a supporting module, a visual detection module and a stable base. The device can simulate clamping, twisting, pushing and pulling actions of the hands of an interventional doctor, and accurate operation of a guide wire / catheter is achieved. In addition, a touch sensor is embedded in the guide wire / catheter operation module, and the touch sensing function of the hand is simulated. The stable base is supported by non-contact movement, and the operation module supporting the guide wire / catheter moves in six degrees of freedom. The visual detection module captures bending deformation and the like in the guide wire pushing process in real time and assists in tactile sensor data to conduct intravascular guide wire state modeling. Compared with a traditional vascular intervention robot design scheme, the human operation characteristics are fully simulated, the effect close to that of an artificial operation can be achieved, and the safety of the vascular intervention operation can be remarkably improved.

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 product of this design: Graphical user interface for controlling the plugging and unplugging robot of electronic equipment. 2. Purpose of this design product: for use in an electronic device. 3. The design highlights of this appearance design product lie in the interface content of the graphical user interface. 4. The picture or photo that best illustrates the key points of the design: Main view of Design 1. 5. Designate Design 1 as the base design. 6. Purpose of the graphical user interface: The graphical user interface of this design is used to control the plugging and unplugging robot. The main view of Design 1 is the main interface of the plug-in robot, which displays a menu bar, a step list, an image, and log information. When the user clicks the "AGV" button in the upper right corner of the interface, the interface presents the Design 1 change state diagram 1. In Design 1 Change State Diagram 1, the user can set the power information. When clicking "Sound Effect Settings" on the left side of the interface, the interface presents Design 1 Change State Diagram 2. In Design 1 Change State Diagram 2, the user can set the sound effect information. When clicking "System" on the left side of the interface, the interface presents Design 1 Change State Diagram 3. In Design 1 Change State Diagram 3, the user can perform operations such as power on and off. When clicking "Manual Operation" on the left side of the interface, the interface presents Design 1 Change State Diagram 4, which is used to manually control the robot. The interaction method of Design 2 is the same as that of Design 1. 7. Other situations that require explanation: Other explanations: "××" in the interface represents variable text, and a single gray block represents the content screen. 8. Design 2 requests protection of color.

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 present invention discloses a reconfigurable bionic robot, which includes a fuselage, deformable and reconfigurable wheels, and a transmission system; a number of deformable and reconfigurable wheels are arranged on both sides of the fuselage, a number of transmission systems are arranged inside the fuselage, the transmission systems are axially connected to the deformable and reconfigurable wheels, and the transmission systems can control the rotation and deformation of the deformable and reconfigurable wheels; the bionic robot designed by the present invention has a compact structure and a small volume, has two motion modes of wheel type and three-arc leg type, can adapt to various terrain environments, and can switch different motion modes according to the characteristics of the terrain to improve the operation efficiency. Other load spaces are reserved in the abdomen of the robot, and various modules can be installed, and the functions of the robot can be flexibly replaced or added according to the task requirements, making the robot more widely applicable.

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 invention discloses a sunken ship salvage underwater tapping jack steel cable device, which belongs to the technical field of sunken ship salvage, and comprises an underwater tapping robot, the underwater tapping robot comprises a water spraying drill bit, a propelling device and an umbilical cord, the propelling device is arranged at the tail part of the water spraying drill bit, and the umbilical cord is connected with the propelling device and the water spraying drill bit. The tapping robot is designed to be capable of advancing by being attached to a ship bottom plate, and the robot advances by taking a transverse welding seam of the ship bottom plate or an adjacent tapping robot as a guide track; the head of the robot is provided with a replaceable tool bit and a high-pressure water spraying device, and a channel can be formed below a ship bottom plate; the robot only needs to overcome the resistance of the head during advancing, and the resistance of traditional tapping equipment is obviously increased along with increase of the tapping depth; the underwater channel tapped and drilled by the robot cannot collapse or be damaged due to the support of the upper ship bottom plate, the combination of the ship bottom plate and the mud surface is loose, the tapping efficiency is higher, and the rework rate is low; according to the device and the method, the threading operation of the large-water-depth shipwreck bottom-passing jack can be realized by adopting small equipment.

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).

The invention relates to an accompanying robot, and belongs to the technical field of robot design. The accompanying robot comprises a base, a support, a functional mechanism, a cover body, an inflation mechanism and a control unit. The bracket is connected with the base; the functional mechanism is located on the side, away from the base, of the support and connected with the support. The cover body is made of a flexible material, the support is sleeved with the cover body, the cover body is connected with the base and the functional mechanism, and a gap is formed between the cover body and the support; the inflation mechanism comprises an air pump, an air inlet pipe and an air outlet pipe, the air pump is connected with the support, one end of the air inlet pipe extends out of the functional mechanism, the other end of the air inlet pipe is communicated with the input end of the air pump, one end of the air outlet pipe is located in the gap, and the other end of the air outlet pipe is communicated with the output end of the air pump; the control unit is electrically connected with the air pump and used for controlling starting and stopping of the air pump. According to the invention, the use safety of the accompanying robot can be improved.

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 present invention discloses a six-wheel drive reconfigurable robot, comprising: a body, expandable reconfigurable wheels, and a transmission system; three expandable reconfigurable wheels are provided on each side of the body, six transmission systems are provided inside the body, the transmission systems are connected to the expandable reconfigurable wheel axles, and the transmission systems can control the rotation and deformation of the expandable reconfigurable wheels; the six-wheel drive reconfigurable robot designed by the present invention has a small size, is highly adaptable to terrain, and has two motion modes, wheeled and three-arc leg. In structured terrain, the robot can switch to the wheeled motion mode for rapid movement; in unstructured terrain, the robot can switch to the three-arc leg motion mode to pass through complex terrain. By switching between the wheel-three-arc leg motion mode, the robot can quickly and maneuverably reach the target point to perform operations.

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.

The invention provides a solar photovoltaic panel cleaning robot and a control method, and relates to the technical field of cleaning robot design, the cleaning robot comprises a chassis frame, walking assemblies are arranged on the two sides of the chassis frame respectively, each walking assembly is provided with a connecting column rotationally connected with the chassis frame, and driving wheels are arranged at the two ends of each connecting column respectively; a crawler belt is arranged between the two driving wheels, located on the same side, of the two walking assemblies. Each adsorption assembly comprises a suction cup and a second driving structure which are used in cooperation. The suction cup is arranged in the containing groove, the second driving structure is arranged on the side, close to the driving wheel, of the crawler belt and corresponds to the avoiding groove, and the second driving structure communicates with the suction cup; the control unit is in communication connection with the first driving structure and the second driving structure and is used for determining that the second driving structure inflates or deflates the corresponding suction cups according to the advancing speed of the crawler belt driven by the first driving structure and the positions of the suction cups; therefore, the robot has the advantages of high universality and high reliability.