215 results about "Robot design" patented technology

The invention discloses a design and control method of a wheel-leg balance robot capable of actively jumping. The design of the wheel-legged balance robot is based on a planar parallel five-bar mechanism, the leg structure design and the wheel train structure design of the wheel-legged balance robot suitable for active jumping are comprehensively considered, and various sensor modules are adopted for sensing, so that the robot can autonomously jump on complex obstacle road sections; meanwhile, the diameter of the wheel and the torque of the motor are designed in a matched mode, so that the robot has high trafficability; a joint motor connecting structure is improved, so that the design strength of a leg structure is improved; an inverted pendulum model containing a wheel-leg mixed structure is used for fitting robot motion, an LQR control algorithm is adopted for processing a nonlinear system through piecewise linearization, and reference input is added to achieve trajectory tracking.

The invention discloses a spatial flexible multi-arm robot cooperative control method and system using a stress stiffening effect, and relates to the field of spatial flexible multi-arm robot cooperative control. The problems that in the prior art, robot research considering flexibility mainly focuses on a single mechanical arm, and for a multi-arm space robot, especially the situation that configuration can be switched between an open chain and a closed chain, current research is still few are solved. The method comprises the steps that based on the open chain topological configuration and the self-closed chain topological configuration of the space flexible multi-arm robot, kinetic models, considering joint flexibility, of the space multi-arm robot in the open chain state and the self-closed chain state are established respectively; an internal force stiffening effect is introduced, whether internal stress exists or not is determined, and rigidity analysis of the space multi-arm robot considering the flexible joint under the self-closed chain configuration is completed; a composite control law is designed for the space multi-arm robot considering the flexible joint based on a singular perturbation method, and the method is also suitable for the field of improving the control precision in the orbit service and orbit capturing process.

The invention discloses a manufacturing method for an automatic polishing system for a complex special-shaped thin-wall skin. The manufacturing method comprises the following steps that (1) a polishing head module is designed; (2) a six-axis robot is arranged; (3) designing a supporting vehicle module; (4) planning a polishing path; and (5) starting a polishing working procedure. The intelligent machining design concept is added, the force control technology, the vision technology, the software technology and the like are fused in grinding equipment, the automatic robot technology, the grinding automatic alignment planning technology, the automatic photographing positioning technology and the like are specifically included, and automatic grinding of the thin-wall skin of the aviation product is achieved; in the grinding process, attitude force / position mixed control compensation is carried out according to contact force of the tail ends of the grinding heads and product contact parts, accuracy and stability of the contact force of the grinding heads are guaranteed, meanwhile, self-adaptive stretching and retracting can be carried out according to contour features of the surfaces of the products, rapid movement between the grinding heads and the contact surfaces is achieved, and the grinding efficiency is improved. And the grinding head is quickly replaced and mounted through the design of a positioning buckle.

The invention discloses a bionic humanoid robot foot, and relates to the field of robot design. The problem that an existing humanoid robot is not high in walking efficiency due to the fact that foot pedaling force is insufficient is solved. The invention comprises a front sole, a middle foot, a rear foot and a fascia connecting rod mechanism, the middle foot and the fascia connecting rod mechanism are oppositely arranged up and down and are arranged between the front sole and the rear foot, the front sole and the rear foot are connected through the middle foot and the fascia connecting rod mechanism, and a multi-degree-of-freedom supporting connecting rod structure is defined by the middle foot, the fascia connecting rod mechanism, the front sole and the rear foot; when the feet of the humanoid robot touch the ground, the supporting connecting rod structures are stressed to deform, so that the terrain self-adaptive capacity of the feet of the robot is improved; the fascia connecting rod mechanism is of a bendable rod-shaped structure, a limiting assembly is arranged on the fascia connecting rod mechanism, and the limiting assembly can limit bending of the fascia connecting rod mechanism, so that the degree of freedom of the supporting connecting rod structure is reduced, the supporting connecting rod structure becomes rigid, and the treading force of the robot feet is increased in the treading process of the robot feet. The method is mainly used for robot foot design.

The invention relates to the technical field of zero-value insulator detection, in particular to an iron stepping robot for insulator zero-value detection and a detection method.The robot comprises a core body, leg structures and feet, and the core body is responsible for generating leg control instructions, conducting zero-value detection analysis on insulator voltage and outputting a detection result; each leg structure adopts a three-stage rotating shaft design, wherein a first rotating shaft is connected with the core body to control the robot to move along an insulator string. And the second rotating shaft is used for adjusting leg actions to adapt to insulators at different positions and angles. And the third rotating shaft is connected with the foot and is used for finely adjusting foot actions to ensure accurate contact with an insulator iron cap. And the foot parts are used for clamping an insulator iron cap, stably collecting voltage and transmitting the voltage to the core body for analysis. The robot realizes automation of insulator zero value detection, has the advantages of high detection efficiency, high precision, safety, reliability, strong adaptability and the like, and effectively replaces a traditional manual detection mode.

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 provides an event triggering 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 security constraints; constructing a virtual reference system for each manipulator in the teleoperation system; based on a virtual reference system, designing event triggering safety guarantee controllers for the master robot and the slave robot respectively, and giving event triggering conditions updated by the master robot controller and event triggering conditions updated by the slave robot quadratic programming problem solving and controller updating; the master robot and the slave robot are synchronized, and it is ensured that the state of the mechanical arm of the slave robot is within the safety set of the mechanical arm of the slave robot. The present invention discusses security critical control issues for teleoperation systems with unknown dynamics, time delays and event trigger mechanisms. Under the design of the invention, the safety of the slave robot in an unknown environment is ensured, and master-slave synchronization is realized.

The invention discloses an interaction method and device based on an AIGC robot and a medium, and relates to the technical field of data processing. The method comprises the following steps: logging in a platform, creating an AIGC robot, entering a robot design page, and setting reply logic by a creator; collecting a user dialogue data set, and optimizing man-set reply logic based on the data set to obtain optimized logic; constructing a retrieval knowledge base, configuring a workflow, and constructing a multi-round dialogue process and page navigation logic; configuring and issuing the AIGC robot based on the optimized reply logic and the multi-round dialogue process; and a user instruction is received, and the AIGC robot interacts with the user according to the instruction and the knowledge base, so that the technical problems of context understanding, knowledge updating lagging and insufficient generated content accuracy existing in man-machine interaction in the prior art are solved, and the technical effect of improving the response accuracy and real-time performance of the AIGC robot in man-machine interaction is achieved.

The utility model provides a lightweight high-speed parallel robot, relates to the technical field of robots, and solves the technical problems that in the prior art, the design of a parallel robot has defects, a rotating shaft adopts a ball spline shaft for transmission, and if a spline is abraded or a ball is damaged, normal operation of transmission can be influenced. The utility model provides a lightweight high-speed parallel robot which comprises a movable platform, a static platform and a rotating unit, the rotating unit comprises a first shaft assembly, a second shaft assembly, a first sliding part and a second sliding part, and the first end of the first shaft assembly is connected with the static platform; the second end of the first shaft assembly penetrates through the first sliding piece and then is connected with the second sliding piece. The second end of the second shaft assembly is connected with the movable platform, and the first end of the second shaft assembly penetrates through the second sliding piece and then is connected with the first sliding piece, so that the rotating unit can achieve torque transmission and meanwhile can conduct telescopic movement, and movement is flexible.

The invention discloses a warship bird flapping wing imitating flying robot based on a brain-like neural network and a control method, the warship bird flapping wing imitating flying robot comprises a flying device, a delivery device, a detection device and a sub-robot, and the flying device, the delivery device, the detection device and the sub-robot are controlled to work through a console so as to complete a long-distance detection task. A warship bird imitating structural design is adopted, and a child-mother robot design scheme is used, so that precise delivery of tasks and efficient recovery of child robots are realized, and the equipment utilization rate is further improved; the warship bird flight mode is learned in combination with the brain-like neural network to be used for the robot, energy consumption of robot flight is reduced, the flight endurance time is remarkably prolonged, and therefore the long-distance detection task is achieved.

Design 1 is used for washing clothes and as a base station for a cleaning robot. The robot base station is used for charging, cleaning and dust collection of the cleaning robot. 1.1) Front view; 1.2) Rear view; 1.3) Left side view; 1.4) Right side view; 1.5) Top view; 1.6) Bottom view; 1.7) Perspective view

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 belongs to the technical field of water supply pipeline detection, and particularly discloses a detection device and method for entering a water supply pipeline through a fire hydrant base, and the detection device comprises a take-up and pay-off mechanism and a pipeline robot; the take-up and pay-off mechanism is connected with the pipeline robot through a communication cable. The pipeline robot comprises a plurality of sphere-like cabins which are connected in series, every two adjacent sphere-like cabins are connected through a flexible cable, and the sphere-like cabins can pass through a fire hydrant base of a water supply pipeline. The sphere-like cabin at one end of the plurality of sphere-like cabins is connected with a communication cable, and the sphere-like cabin at the other end of the plurality of sphere-like cabins is provided with a propelling module; at least one sphere-like cabin is provided with a sensor, and the sensor is used for detecting the water supply pipeline. According to the pipeline robot, the pipeline robot is designed into the multiple cabins connected in series, the size of the single cabin can be effectively controlled, meanwhile, the cabin is designed to be in a sphere-like shape, the pipeline robot can adapt to various shape changes of the pipeline, and efficient and reliable detection of the water supply pipeline is achieved.

The invention provides a multi-degree-of-freedom obstacle avoidance control system and control method for a cardiac surgical robot, the system comprises a main control unit, a parameter detection unit, a data storage unit, a communication unit and a motion control algorithm unit, meanwhile, an out-of-environment obstacle avoidance method is designed for the surgical robot, and an obstacle avoidance method is designed for a scene in a surgery. An obstacle avoidance method in the environment is designed, the flexibility of the slave hand is improved, the motion real-time performance and cooperative performance of a single arm and multiple arms are enhanced, the accuracy and safety of the whole operation are improved, the control precision is improved, collision of the multiple arms in a narrow space is avoided, the obstacle avoidance function is achieved, and harm to a patient is reduced.

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 present disclosure relates to the field of robot design and its application technology, and specifically discloses a system and method for measuring the simulated rotation angle of a robot eyeball, including the following contents: a sensitive module, an eyeball body, a power supply module, an angle data collection module and a control module; the sensitive module is used to complete the angle detection of the robot eyeball; the sensitive module includes a cover body, a cavity, a coil and a connecting shaft, the coil is placed in the cavity, and the cover body is connected to the cavity through the connecting shaft. The angle data collection module is connected to the coil to collect the inductance value of the coil, and the angle data collection module is also connected to the control module. The control module is also connected to a power supply module, a sensitive module and an external module. The present disclosure realizes the direct measurement of the rotation angle of the robot eyeball, and the measurement range can cover the actual rotation range of the eyeball, with high measurement accuracy. The overall system structure is simple and compact, and can be integrated into the inner cavity of the robot eyeball. The angle measurement circuit is simple, and the circuit interface is easy to connect with the control module, which is easy to integrate.

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 discloses a service robot design method and system based on modular simulation, and relates to the technical field of robot design, and the method comprises the steps: determining the total service function and performance index of a service robot according to a work task and a work environment; dividing the total service function into a plurality of independent sub-functions, and constructing a target module of each sub-function; according to the performance indexes, matching an optimal module of each target module from a preset module library to serve as a simulation module; constructing a structural relationship and a data exchange form among the simulation modules according to the environment characteristics, and mapping the environment characteristics into an analog simulation environment; based on an analog simulation environment, performing unit testing and adjustment on each simulation module, and then performing assembly testing and adjustment to obtain a three-dimensional simulation model and an assembly drawing of the service robot; and finally, debugging an installation component, an operation system and a software function component of the entity service robot. The design efficiency of the service robot can be improved.

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.