403 results about "Robot end effector" patented technology

The invention discloses a robot control method and system for an industrial pipeline, and relates to the technical field of robot control. The method comprises the steps that a flange plate is installed on an end effector of the robot, a binocular vision camera is installed in the center of the front end of the flange plate, and four point laser displacement sensors are symmetrically arranged on the flange plate at different heights; the binocular vision camera collects a pipeline image; the upper computer determines an initial pose control result of the robot according to the pipeline image so as to control the robot to move preliminarily; the four point laser displacement sensors are used for collecting spatial displacement data of the pipeline at different height points after the robot moves preliminarily; and the upper computer determines a target pose control result of the end effector of the robot through the spatial displacement data so as to control the end effector of the robot to carry out pose adjustment. According to the method, accurate control over the axial parallelism of the robot end effector and the pipeline can be achieved, and therefore the pipeline assembling accuracy is improved.

The invention provides an ultrasonic probe normal automatic attitude adjustment method and system based on laser ranging for a curved surface component, and relates to the technical field of laser, and the method comprises the steps: scanning the curved surface component through a laser ranging sensor array, obtaining surface space coordinate point data, fitting a curved surface geometric equation, and dividing a detection area. And selecting a detection center point in each detection area, calculating a normal vector of the curved surface, converting the normal vector to a local coordinate system of the probe, constructing a pose transformation matrix, and calculating an attitude angle parameter of the ultrasonic probe. And finally, converting the attitude angle parameter into a motion control instruction of a robot end effector, driving a three-axis servo motor assembly to adjust the attitude of the ultrasonic probe, and performing real-time attitude correction through an angle encoder to ensure that the ultrasonic probe is always perpendicular to the surface of the curved surface component. According to the invention, normal automatic posture adjustment of the ultrasonic probe in curved surface component detection is realized, and the detection precision and efficiency are improved.

This disclosure sets forth a robotic end effector for acquiring and managing an article, such as an item of luggage. The robotic end effector can include an extendable arm comprising a first support member, a capture device comprising a guide member having a plurality of apertures formed therein with a rod slideably supported in each aperture of the guide member. The capture device can further include a biasing member associated with one or more rods and being configured to bias the one or more rods in a first direction relative to the guide member. The article interface system can include an actuatable article engagement device. The actuatable article engagement device can itself include an article interface surface. The actuatable article engagement device can be operated to interface with an article to facilitate movement of the article toward the capture device.

The multi-deposit end effector system 100 can include: a set of actuators 110; an optional set of utensil mating connectors 120; and a plurality of utensils 200. Each utensil can include: a set of scoops 210; a set of mechanical linkages 220; a set of ingressive elements 230; and / or any other suitable components. However, system 100 can additionally or alternatively include any other suitable set of components. The system functions to facilitate ingredient (e.g., foodstuffs) manipulation with the plurality of utensils. More preferably, the system can function to facilitate portioned ingredient picking and / or deposition (e.g., insertion at a target foodstuff container and / or placement location) using each utensil of the plurality of utensils.

The invention relates to a multi-task operation planning method and system for an autonomous robot driven by a body cognition large model. The method comprises the steps that S1, coding is carried out based on an RGB image and a depth image which are obtained in real time, and body visual representation is obtained; s2, acquiring a natural language instruction, performing cross-modal fusion on the natural language instruction and the body visual representation to obtain a fusion feature, and performing multi-task decomposition on the basis of the fusion feature; s3, on the basis of a multi-task decomposition scheme, a diffusion strategy is utilized to generate a continuous action track of a robot end effector; and S4, acquiring a second RGB image and a second depth map after the robot executes according to the continuous action track, and taking the second RGB image and the second depth map as closed-loop feedback signals. The system is used for realizing the method. Compared with the prior art, the multi-task autonomous planning and accurate execution capability of the robot in a dynamic complex environment is remarkably improved by deeply fusing vision and language modalities based on the biont cognition large model and predicting an accurate action trajectory in combination with the diffusion strategy action decision module.

The invention discloses a marine seat framework welding track real-time correction system based on machine vision and mechanical feedback. The marine seat framework welding track real-time correction system comprises a robot control unit, a welding unit, a vision sensing unit, a force sensing unit and a track correction module running on the robot control unit. The visual sensing unit is installed on an end effector of the robot and used for collecting image data including a to-be-welded weld joint and a peripheral area of the to-be-welded weld joint in real time. The force sensing unit is installed between a robot end effector and a welding gun and used for detecting six-dimensional force and torque signals between the welding gun and a workpiece in the welding process in real time. The core of the track correction module is a real-time correction algorithm based on multi-sensor information fusion, and the track correction module receives image data from the visual sensing unit and mechanical data from the force sensing unit. The sensing limitation of a single sensor is overcome, the vision provides macroscopic position deviation, the force sensing provides microcosmic contact and attitude information, and more comprehensive environment sensing is realized through complementation of the vision and the force sensing.

The invention discloses an intelligent tooling for paving a photovoltaic module and a control method thereof, the method is suitable for a robot end effector, and the method comprises the following steps: collecting three-dimensional space point cloud data of the photovoltaic module to generate pose information of the photovoltaic module, and controlling the end effector to carry out adaptive pose adjustment according to the pose information; the tooling is controlled to press down, and after it is judged that fitting is in place by monitoring the compression stroke of the suction cup, a vacuum adsorption instruction is started; the adsorption state is judged based on vacuum pressure change curve parallel monitoring and a dynamic balance algorithm, and a carrying permission signal is generated after a preset adsorption success condition is met; continuously carrying out anomaly detection in the carrying process, and if an anomaly is found, triggering a fault processing strategy; and releasing the negative pressure to place the photovoltaic module after the target position is reached, and rechecking the placement pose. Intelligent and self-adaptive picking and placing of the photovoltaic module by the tooling are realized, and the reliability, the safety and the automation level in the carrying process are improved.

The invention relates to the technical field of coffee latte robots, in particular to a robot task processing method and system for coffee latte. The method comprises the following steps: obtaining a target garland pattern instruction, and carrying out feature extraction on an input instruction through an image recognition and semantic analysis model; constructing a cup body coordinate system, and performing adaptive modeling on different apertures, depths and cup-shaped structures based on the cup body coordinate system and the collected features to generate a cup body space attitude parameter set; generating a time sequence track set of the robot end effector based on the corrected time sequence stable track set in combination with the state vector; and matching with a comparison target structured representation matrix, optimizing a trajectory control parameter and a fluid jet parameter, and realizing real-time adaptive adjustment and stable output of a garland result. By dynamically adjusting the noise covariance matrix, track deviation caused by liquid level disturbance and cup body shaking is corrected in real time, and the problems of garland stroke breakage and deviation caused by external disturbance are solved.

A method for performing robotic packing of objects in a container includes acquiring a first image of an object grasped by a robotic end effector and a second image of the container. The first image is used to estimate dimensions of the grasped object and compute an object kernel. The second image is used to construct a heightmap indicating multiple placement regions at specific height levels from a container base. For any placement region, the heightmap is used to construct feature maps for a number of features that affect placement feasibility and / or quality. A feature cost map is computed for each feature by convolving the feature map with the object kernel. The feature cost maps are combined to compute a total cost map for that placement region. An optimal placement pose is computed by identifying a minima from the total cost map (s) for one or more of the placement regions.

A sensor module for an end effector of a robot is described. The sensor module includes a substrate having formed thereon, a set of proximity sensors and a set of pressure sensors, the set of proximity sensors and the set of pressure sensors configured to have overlapping sensing regions, and a cover coupled to the substrate, the cover comprising a material that permits transmission of signals from the set of proximity sensors through the material.

Method of sequential handling of a plurality of freight units by an end effector of a robotic system comprises training a neural network operable to bias a plurality of samples of a configuration space of the end effector. Deployment of the trained neural network involves sensing an arrangement of freight units in a scene based on an image of the scene from a sensor. A freight unit is chosen based on the at least one trained neural network. A starting pose of the robotic end effector as a means to pick the chosen freight unit is chosen; and a goal pose of the robotic end effector is chosen as a means to place the chosen freight unit. A motion of the robotic end effector is planned from the starting pose to the goal pose based on a biased plurality of samples. Then motion on the end effector is controlled based on the planning.

The invention discloses a robot rapid replacement device and method based on multi-modal sensing and predictive control, and the device comprises a multi-source sensing module, a track prediction module, a self-adaptive adjustment module, a robot end effector, a control system, and a source sensing module. The trajectory prediction module, the self-adaptive adjustment module and the robot end effector are electrically connected with the control system; the multi-source sensing module comprises a force sensor and a displacement sensor which are used for collecting clamping force between the tool and the clamp and physical signals of the position of the tool in real time. The self-adaptive adjustment module eliminates sensor data lag through a dynamic coupling compensation algorithm, and realizes precise force control in combination with a contact impedance model, a quick locking mechanism and an automatic positioning system are arranged at the robot end effector, the tool replacement speed can be greatly increased while the tool replacement precision is not reduced, and the tool replacement efficiency is improved. And the high requirements of an efficient automatic production line on cutter replacement time and precision are met.

The invention discloses a robot end effector positioning mechanism based on computer vision guidance, and relates to the technical field of robots, the robot end effector positioning mechanism comprises a vision acquisition module, an image processing module, a motion control module and a data transmission module, the vision acquisition module is used for acquiring image information of a target object and a working environment; the image processing module is in signal connection with the visual acquisition module and is used for processing and analyzing an image acquired by the visual acquisition module, and the motion control module is used for controlling the motion of an end executor of the robot so as to enable the end executor to accurately reach a target position. Denoising enhancement, feature extraction and positioning algorithm processing of the image processing module are combined with optimal path planning and accurate driving control of the motion control module, and high-speed data transmission is matched to guarantee real-time performance, so that the accuracy and operation efficiency of target positioning in automatic operation are remarkably improved, and the manual intervention requirement is effectively reduced.

This disclosure sets forth a robotic end effector for acquiring and managing an article, such as an item of luggage. The robotic end effector can include an extendable arm comprising a first support member, a capture device comprising a guide member having a plurality of apertures formed therein with a rod slideably supported in each aperture of the guide member. The capture device can further include a biasing member associated with one or more rods and being configured to bias the one or more rods in a first direction relative to the guide member. The article interface system can include an actuatable article engagement device. The actuatable article engagement device can itself include an article interface surface. The actuatable article engagement device can be operated to interface with an article to facilitate movement of the article toward the capture device.

This invention provides a system and method for calibration of a 3D vision system using a multi-layer 3D calibration target that removes the requirement of accurate pre-calibration of the target. The system and method acquires images of the multi-layer 3D calibration target at different spatial locations and at different times, and computes the orientation difference of the 3D calibration target between the two acquisitions. The technique can be used to perform vision-based single-plane orientation repeatability inspection and monitoring. By applying this technique to an assembly working plane, vision-based assembly working plane orientation repeatability, inspection and monitoring can occur. Combined with a moving robot end effector, this technique provides vision-based robot end-effector orientation repeatability inspection and monitoring. Vision-guided adjustment of two planes to achieve parallelism can be achieved. The system and method operates to perform precise vision-guided robot setup to achieve parallelism of the robot's end-effector and the assembly working plane.

The invention relates to the technical field of robot end executors, in particular to a bionic flexible self-adaptive dexterous hand and a control method.The dexterous hand comprises a palm, bionic fingers, a driving assembly, a reset assembly and a sensing system, the bionic fingers comprise knuckles connected in series through joint mechanisms, and the bionic fingers are movably connected with the palm through finger root joints; a non-Newtonian fluid core-shell structure is arranged on the finger pulp side and comprises a flexible sealing shell and a non-Newtonian fluid inner core filled in the flexible sealing shell, the driving assembly drives the fingers to bend through tendon rope retracting and releasing, the reset assembly enables the fingers to recover stretching after driving force is relieved, and the sensing system integrates a flexible sensor to feed back the grabbing state in real time. The non-Newtonian fluid slowly flows under pressure, so that the flexible shell perfectly fits the outline of an object, the contact area and friction force are greatly increased, creep deformation is resisted due to high internal energy consumption, and the irregular and smooth object is stably grabbed.

The utility model discloses a drivable manipulator end effector quick change device, which relates to the technical field of robot end effector quick change and comprises an upper main disc, a bearing base flange is mounted at the upper end of the upper main disc, a lower main disc is detachably connected to the lower end of the upper main disc, a tool side flange is mounted at the lower end of the lower main disc, and a tool side flange is mounted at the lower end of the tool side flange. A hollow column is fixedly arranged in the upper main disc in a sleeved mode, a first convex groove is formed in the lower end of the bearing base flange, a second convex groove is formed in the tool side flange disc, a transmission component is arranged in the hollow column, and a driven component is arranged in the second convex groove. By arranging the driven component and the transmission component, equipment can be driven to rotate, other independent transmission devices do not need to be introduced into the tool side flange plate to drive the equipment to rotate, the complexity of the device is reduced, only one motor is needed to serve as a power source, and cost is saved.

The present invention discloses an electrically integrated industrial robot end quick-change locking device, comprising: a locking body, which is formed by an accommodating column and a fixing plate connected as a whole, a plurality of first air holes are opened on the outer wall of the accommodating column from the outside to the inside, a driving motor is installed in the fixing plate, a locking mechanism is located on the upper side of the locking body, and is used for rotating under the drive motor, a plurality of second air holes are opened on it, and a cover body is located on the upper side of the locking mechanism, and a plurality of third air holes are opened on it, and is used for being clamped and locked by the rotating locking mechanism when extending into the accommodating holes from top to bottom, so that the end effector fixedly connected to the upper side of the cover body is connected together with the locking body, and then the driving gas passes through the first air hole, the second air hole, and the third air hole in sequence and enters the end effector to drive the end effector to move; the present invention can integrate an electrical interface while realizing the quick-change function of the end effector of the industrial robot, and can directly enter the working state after quick change.

The invention provides a robot assembly space obstacle avoidance method and system applied to 3D perception, and relates to the technical field of robot automatic assemblation.The method comprises the steps that 3D assembly space data of a robot assembly area are obtained firstly, and the 3D assembly space data comprise assembly targets, static obstacles, dynamic obstacles and related information of a robot end effector; extracting spatial obstacle features from the data, establishing an initial obstacle association relationship, dynamically updating the initial association relationship, generating a real-time obstacle association relationship, and generating obstacle avoidance path constraints sorted according to an execution sequence according to the real-time association relationship and motion range information of an end effector; and finally, on the basis of the constraints and the three-dimensional contour information of the assembly target, generating a dynamic obstacle avoidance track of an end effector of the robot, including a continuous position coordinate sequence and a corresponding attitude angle sequence, so that efficient and safe obstacle avoidance of the robot is realized.

The invention belongs to the technical field of robot control, discloses a robot end effector force control method and system for conformal vibration polishing of an optical element, and solves the problems of periodic disturbance, friction nonlinearity, multi-axis mutual interference and the like caused by conformal tangential vibration in the polishing process of a complex curved surface of the optical element. And the normal constant force precision, the polishing consistency and the machining surface shape quality are guaranteed. According to the algorithm, a multi-module collaborative architecture is adopted, and means of an observer, adaptive filtering, mutual interference modeling, feedforward friction compensation and the like are combined, so that a set of composite control scheme with high real-time performance, high robustness and good adaptability is formed. High-precision force control under conformal vibration polishing complex disturbance of the robot is achieved; multi-module coordination mechanisms such as a fourth-order extended state observer (4th-ESO), frequency selection filtering and inverse trapped wave compensation, friction feedforward and mutual interference decoupling are introduced;

An automated clamp is disclosed including a clamp frame, motorised clamp jaws, and a robot end effector connector. One of the clamp jaws can receive a drilling tool and / or a fastening tool. One of the clamp jaws has a position sensor for detecting a position of the clamp. The clamp forms part of an automated clamping system. The clamping system is used to automatically clamp a rib web to a rib post or integrated rib foot of an aircraft wing box for automated drilling and / or fastening the rib web to a rib post or integrated rib foot.

Disclosed are techniques and systems for automatically determining and correcting the levelness of a wafer handling robot end effector. The systems may use a tilt sensor or a gravitational field sensor which may be calibrated to the wafer handling robot. The output from the tilt sensor may be used to determine or estimate the tilt of an end effector of the wafer handling robot and to perform correctional positioning to reduce or eliminate the tilt, to automatically teach certain positions that have reduced tilt, to perform health checks on the robot, provide feedback to a user, etc.

The invention discloses a grinding robot end effector with a vibration reduction function. The grinding robot end effector comprises a motor mounting frame, a rotating motor, a vibration reduction mechanism assembling frame, a magnetorheological damper and a vibration reduction plate. One end of the motor mounting frame is connected with the polishing robot; the rotating motor is mounted at the other end of the motor mounting frame; one end, corresponding to an output shaft of the rotating motor, of the vibration reduction mechanism assembly frame is fixedly sleeved on a shell of the rotating motor; the output shaft of the rotating motor penetrates through the vibration reduction mechanism assembly frame and is vertically and fixedly connected with the grinding turntable; the multiple magnetorheological dampers are all installed in the vibration reduction mechanism assembling frame, and the moving end of each magnetorheological damper abuts against the output shaft and applies radial damping force to the output shaft. The multiple vibration reduction plates are fixed to the vibration reduction mechanism assembling frame, and each vibration reduction plate is provided with the multiple elastic buffering units. The grinding robot end effector with the vibration reduction function has an excellent vibration reduction effect, and the grinding precision is improved.

The invention relates to the technical field of robot grinding and polishing machining, in particular to a grinding and polishing path planning method and simulation system for a six-axis robot. Solving a target attitude coordinate system of each cutter location point of the robot end effector in the cutter path; obtaining a target attitude matrix from the previous cutter location point to the next cutter location point according to the target attitude coordinate systems of the two adjacent cutter location points, and obtaining all feasible solutions of the robot joint angle of the next cutter location point by using an inverse kinematics solver; all feasible solutions of the robot joint angle of each cutter location point are screened according to the solution selection fields, and an optimal solution is obtained; and outputting a grinding and polishing motion program of the robot according to the optimal solution of the robot joint angle of each cutter location point in the cutter path. According to the method, the singular solution problem caused by redundant degrees of freedom is solved, and the simulation precision and the machining efficiency of the robot can be improved.

The invention relates to the technical field of intelligent equipment. A trajectory diffusion imitation learning method based on single human video demonstration comprises the steps that a demonstration video is analyzed to obtain an operation body posture motion trajectory and an object pose motion trajectory, and the demonstration video is a video of a human or machine operation object; respectively carrying out interpolation calculation on the positions and postures of the operation body posture motion trail and the object pose motion trail to obtain a training data set; using the training data set to train a diffusion strategy model to obtain a target diffusion strategy model; and during deployment, the real-time pose of an end effector of the robot serves as observation input of the target diffusion type strategy model, an operation body pose movement track and an object pose movement track in the deployment stage are formed, and a joint control instruction of a target operation body is obtained. And the task success rate is kept, and the practicability and the expandability of the imitation learning method are improved at the same time.

The invention discloses a curved surface film covering flatness self-adaptive control method based on machine vision, and relates to the technical field of mechanical arm control. The system comprises a machine vision sensing module, a robot end effector, a composite controller and a distributed clamping jaw array. The method comprises the following steps: acquiring a fringe projection image sequence and dynamic trajectory data of an end effector; performing phase calculation and three-dimensional reconstruction on the image sequence, constructing a digital elevation model and calculating flatness error data; inputting the dynamic trajectory data into a feedforward controller to generate a compensation instruction, inputting the flatness error data into a feedback controller to generate a correction instruction, and superposing to obtain a comprehensive correction instruction; and acquiring a strain sensitivity matrix, distributing the comprehensive correction instruction into displacement execution parameters of each clamping jaw by utilizing pseudo inverse operation, and issuing and executing the displacement execution parameters. According to the method, real-time sensing and active intervention of dynamic deformation are realized, and the yield and batch consistency of curved surface film coating are remarkably improved.

The invention provides a nursing robot sensor control method and system, and relates to the technical field of nursing robot control. The method comprises the following steps: acquiring vertical pressure data and shear force data; performing calibration based on the calibration parameters to obtain calibrated vertical pressure data and shear force data; constructing and updating a skin stress distribution map reflecting vertical pressure distribution and shear force distribution of the contact area in real time; according to the skin stress distribution map, the contact force is redistributed by adjusting the moving direction or the inclination angle of the end effector of the nursing robot, and the local high pressure is dispersed by changing the contact point or the force application point of the end effector of the nursing robot. The method aims at solving the problems that initial calibration is insufficient and a simplified torque control model cannot accurately recognize a local high-pressure point and continuous shear force, accurate sensing and self-adaptive adjustment of the vertical pressure gradient and the continuous shear force are achieved, and accumulative micro-damage which is difficult to find in the early stage by conventional means is avoided.

The invention discloses an irregular part uncalibrated grabbing method and system, and belongs to the technical field of mechanical control, and the method comprises the steps: image collection: based on a depth camera installed on an end effector of a robot, capturing a real-time RGB image and a depth image, and outputting image data; rotating target detection and positioning: building a rotating frame grabbing target detection model and training, and executing rotating frame grabbing target detection; servo control of image vision: extracting current image features, defining expected image features, designing an image vision servo control law, and obtaining the joint speed of the robot; grabbing is performed through robot motion execution and iteration. A closed-loop visual servo mode directly calculates errors in an image space and generates a control instruction, so that not only is a tedious hand-eye calibration step in a traditional method avoided, but also an end effector of a robot can be continuously guided to accurately and robustly approach a target grabbing pose, system errors and environmental disturbance are effectively compensated, and grabbing positioning accuracy and success rate are improved.

The invention discloses a robot spline interpolation node selection method based on single-step energy loss. The method comprises the following steps: inputting a to-be-tracked trajectory of a robot end effector; discretizing the trajectory to be tracked to obtain ordered discrete points, and recording position information and curvature information corresponding to the discrete points; the method comprises the following steps: setting a starting end point of a to-be-tracked trajectory as a first interpolation node s0 and a last interpolation node sn, respectively adding an interpolation node s1 and an interpolation node sn-1 at discrete point positions which are delta away from the s0 and the sn, adjusting a step length in an interval of the s1 and the sn-1 to enable a single-step energy value to be equal to a set energy value, setting the position of the energy value as an interpolation node, and setting the position of the energy value as the interpolation node; and obtaining all interpolation nodes in the interval. According to the method, the positions and the number of the least nodes needed for tracking one track through spline interpolation can be rapidly determined, and the method is used for assisting generation of a motion planning method based on the hierarchical search tree and a robot teaching program.

The invention discloses an anti-impact compliance control method, device and system for a robot tail end and a storage medium. The force information of the robot tail end is estimated based on the position, speed and joint motor torque information of a robot; and the abrupt change torque of the end effector is compensated through the trained network system, and the anti-impact performance and the contact flexibility performance of the robot end effector are improved.