69 results about "Robot end effector" patented technology

The present application relates to the medical robot control and precision testing technical field, especially related to a kind of kinematics parameter closed-loop calibration method and device of surgical robot end effector.The method is first set up reflection unit on surgical robot end effector, and the motion data of driving unit and the light spot position data detected by photoelectric detection unit are collected;Control surgical robot end effector executes rotary scanning movement to carry out coordinate correction to light spot position data;Each independent motion axis of surgical robot end effector is driven respectively, and according to the mapping relationship of corrected light spot position data and motion data, the transmission parameter and hysteresis parameter of each independent motion axis are identified;Drive the motion axis with coupling relationship, identify inter-axis coupling coefficient, and configure kinematics calibration model to control system.The present application effectively eliminates steel wire transmission coupling and system geometric error through step-by-step optical feedback and geometric self-calibration, and improves the operation precision of end effector.

This invention relates to a flexible chain-type high-efficiency grinding device for wind turbine blades, comprising: a grinding bracket, a grinding mechanism and a grinding support mechanism disposed on the grinding bracket, and a floating connection assembly connected to the grinding bracket; wherein the grinding mechanism includes at least an annular chain assembly adapted to perform rotary motion, a plurality of grinding plates arranged at intervals along the rotary motion direction of the annular chain assembly and connected to the annular chain assembly, and abrasive paper disposed on each grinding plate; the grinding support mechanism includes at least a first pressure roller assembly and a second pressure roller assembly disposed in the annular region formed by the annular chain assembly; wherein the first pressure roller assembly is adapted to support the grinding plate facing the wind turbine blade among the plurality of grinding plates, and the second pressure roller assembly is adapted to support the portion of the annular chain assembly facing the wind turbine blade; and the floating connection assembly is used to connect to a robot end effector and enable the grinding bracket to float relative to the wind turbine blade.

The application provides a tipping machine connection hooking robot action coordination method and device, relates to the technical field of data processing, and comprises the following steps: firstly, acquiring multi-source real-time data of a tipping machine, a robot end effector and a wrist; based on the data, performing coupling feature learning through a deep network to obtain a high-dimensional hidden space representation of a system coordination state; then, performing explicit decoupling processing on the representation, dynamically isolating interference features generated by tipping machine overturning motion, and extracting core feature representation of hooking action; subsequently, based on the core feature representation, performing energy optimal joint optimization under the premise of satisfying action geometry and dynamics hard constraints to generate a coordinated action sequence; finally, correcting network internal parameters in real time through an online adaptive compensation mechanism to cope with dynamic uncertainties such as cargo sliding, so as to output a final coordinated control instruction. The application can effectively strip strong dynamics interference, and realize high-precision, high-energy-efficiency and robust coordinated operation.

The application belongs to the technical field of robot end effector, and discloses an electromagnetic driving dexterous gripper based on soft beam bending mode switching, which comprises an outer frame, an upper part of which is provided with an electromagnetic driving module, and a lower part of which is fixed with an outer frame magnet, the electromagnetic driving module comprising an electromagnetic coil and a magnet; a soft beam driver, one end of which is connected with the magnet, and the other end of which is hingedly supported in the outer frame, the soft beam driver comprising a soft beam and a soft beam center magnet installed on the soft beam; and a finger, which is installed on the outer convex surface of the soft beam. The electromagnetic driving dexterous gripper provided by the application can pick up planar light and thin objects, and solves the problems that the existing rigid clamping jaw is difficult to pick up planar light and thin objects and the flexible clamping jaw has a slow dynamic response.

Multi-spindle robot end effector with means for adjusting the center distance between drilling tools. The invention relates to a multi-spindle robot end effector (10), intended for drilling a workpiece, comprising: - a body (2), - n spindles (5.1, 5.2, 5.3) mounted in the body forming an array, each spindle being intended to carry a drilling tool (6.1, 6.2, 6.3) adapted to perform drilling along a direction (Z) called the feed direction, - means for adjusting the center distances (e2) between the n spindles along at least one direction (X and / or Y) orthogonal to the feed direction (Z). Figure for the abstract: Fig. 1

The application relates to a kind of double-robot trajectory optimization methods for complex curved surface workpiece spraying task.The method comprises: establishing double-arm motion model, obtaining double-arm space point cloud distribution by Monte Carlo method, obtaining the geometric model of the spraying workpiece and the corresponding spraying key path point, and establishing the spatial pose relationship between robot end effector and workpiece;Based on the key path point, a segmented polynomial trajectory planning method is used to construct an initial spraying trajectory;The intermediate node speed parameter in the segmented polynomial trajectory is used as the optimization variable, and a multi-objective evaluation function containing trajectory length, curvature distribution, end attitude deviation and kinematic constraint is constructed;The evaluation function is solved by using a particle swarm optimization algorithm, and the optimal intermediate node speed parameter that meets the spraying process requirement is obtained;Based on the optimized intermediate node speed parameter, the final spraying trajectory is generated.The application can improve the system operation stability under the premise of ensuring the spraying quality, and has strong engineering application value.

The utility model discloses a kind of inverted conical surface guiding type self-force anti-skid device.It relates to anti-skid clamping and robot end effector accessory technical field, for the problem that existing clamping end surface anti-skid structure is difficult to utilize tangential slip tendency to improve local normal pressure under the condition of no active drive, the following scheme is proposed: including shell, fixed inverted conical surface guide, follow-up slider, floating contact pad, anti-skid friction layer and supporting / reset spring, fixed inverted conical surface guide has inverted conical surface guide surface, follow-up slider is slidably matched with it, floating contact pad and anti-skid friction layer form floating assembly with follow-up slider, and normal ejection towards object when tangential micro-displacement is generated.The utility model is suitable for the anti-skid end surface of clamping, grabbing, dragging and handling equipment.

The application relates to a kind of robot end effector multiscale clamping force control device and method based on DIC, wherein the method comprises the following steps: S1, obtaining multiscale signal, collecting multiscale speckle image: S2, processing multiscale data and extracting features, image is processed by power platform multi-thread;S3, mapping multiscale physical quantity and constructing model, power platform is associated with multiscale feature and parameter and builds layered model;S4, control multiscale closed loop and adjust real-time, power platform uses layered adaptive algorithm to adjust PWM parameter.The application can consider non-contact sensing, multiscale modeling and real-time control, and break the force control bottleneck of robot soft body end effector.

This utility model discloses a welding torch bracket structure for robots, including a fixed base for mounting the welding torch, a support rod connected to the fixed base, an adapter block connecting the support rod and the fixed base, a flange connected to a robot end effector at the end of the support rod away from the fixed base, a safety bumper between the flange and the support rod, and the fixed base being rotatable relative to the support rod. The fixed base includes an upper seat and a base. The upper seat has a semi-circular first slot, and the base has a semi-circular second slot that mates with the first slot to mount the welding torch. A connecting protrusion for connecting to the adapter block is provided on the side of the base away from the upper seat. Several first bolts connect the upper seat and the base. This welding torch bracket structure is simple in structure, easy to install the welding torch, securely fixes the welding torch, and allows for individual angle adjustment of the welding torch, which can be adjusted according to the customer's usage environment and location accessibility requirements.

This invention discloses a multi-level adaptive machining auxiliary clamping device, belonging to the field of robotic automated drilling and riveting. The base module of this invention is used to stably connect the pressure foot to the robot's end effector and provides mounting positions for the conformal module, locking module, and alignment module. The conformal module uses a cylindrical pin array to automatically adapt to the surface shape of workpieces with different curvatures and conforms accordingly. The locking module is used to lock the conformed cylindrical pin array, ensuring the stability of the conformation. The alignment module is used to align the perpendicularity of the tool axis to the workpiece surface before drilling. This invention has a simple structure, low cost, and convenient installation. By applying clamping force to the workpiece surface, it can reduce the influence of drilling axial force on the workpiece, reduce chatter during machining, and improve machining stability. Simultaneously, this device can achieve automatic conformal clamping of workpieces with different curvatures, ensuring stable clamping while reducing workpiece deformation and further improving drilling accuracy.

This application discloses a robot control method and related products. The method includes: determining the initial pose data of the object to be operated by the robot end effector in the camera coordinate system; acquiring the transformation matrix from the robot base coordinate system to the camera coordinate system, and the tool matrix from the robot end effector to the tool coordinate system; adjusting the initial pose data according to the execution task corresponding to the object to be operated by the robot end effector based on the transformation matrix and the tool matrix, to obtain the target pose data of the robot end effector in the base coordinate system; generating control commands based on the target pose data to perform motion control on the robot and complete the execution task. This application does not simply perform coordinate transformation, but adjusts the pose data according to the execution task corresponding to the object to be operated by the robot end effector, enabling dynamic adjustment of the target pose data generation strategy according to different operational requirements.

The application relates to the technical field of industrial robots, in particular to a robot end effector quick-change device which comprises a quick-change flange assembly and a quick-change effector end mechanism, the quick-change flange assembly comprises a connecting flange, a six-degree-of-freedom force sensor, an elastic element and an adapter flange, the elastic element is an axial and radial elastic body, the six-degree-of-freedom force sensor is used for monitoring the axial force and the radial force borne by the elastic element in real time, and force feedback is provided for flexible control; the quick-change effector end mechanism comprises a tool placing seat and a plurality of tool discs, each tool disc is mounted on the tool placing seat and corresponds to an effector, one end of the tool disc is used for connecting the corresponding effector, and the other end is provided with a locking assembly, when the adapter flange moves to the tool disc, the adapter flange is locked on the tool disc through the locking assembly. The application has the effects of significantly improving the multi-task adaptability, operation precision and safety of the equipment.

This application provides a control method, device, storage medium, and computer program product for a simulated robot's dual arms. It includes: receiving initial control commands for the robot's dual arms in a simulated environment; acquiring in real-time motion speed signals from the robot's end effector and contact pressure signals from the gripping mechanism; determining the current operation stage based on real-time signal changes, where the operation stage includes a movement stage, a grasping stage, and a placement stage; calling a corresponding preset weight parameter set according to the operation stage to adjust the response sensitivity to the initial control commands; wherein the preset weight parameter set includes at least one position sensitivity parameter and one rotation sensitivity parameter, and different values ​​for the position sensitivity parameter and rotation sensitivity parameter are configured for the movement stage, grasping stage, and placement stage respectively; and processing the initial control commands based on the position sensitivity parameter and rotation sensitivity parameter to generate joint or end effector motion commands for the robot.

This application provides a gripping actuator and its control method, apparatus, and robot end effector, relating to the field of robotics. It is applied to gripping actuators, which include multiple gripping components, at least one of which is an independently drivable active gripping component. The method includes: detecting an obstacle in the opening direction of the active gripping component; if an obstacle is detected, controlling the gripping actuator to move until its central axis faces a target position; for each active gripping component, controlling the active gripping component to open, with the target position located between the center of the target object and the edge of the target object near the obstacle; controlling the gripping actuator to move towards the target object; and controlling the active gripping component to retract until it grips the target object. Applying the solution provided in this application improves the flexibility of the gripping actuator.

The application discloses a kind of robot simulation scene and trajectory automatic generation method and system, receive natural language operation instruction, and through semantic analysis, visual asset generation, three-dimensional reconstruction and physical credible layout generation three-dimensional simulation scene that can be used for robot operation training;Utilize video generation model to synthesize the continuous image sequence of target operation task, and extract two-dimensional visual motion trajectory in target object area;By depth estimation, three-dimensional motion fusion, grasping posture generation and inverse kinematics mapping, two-dimensional visual motion trajectory is converted into robot end effector trajectory and corresponding robot joint trajectory, the simulation scene and expert trajectory generated are paired, form training data set for robot imitation learning strategy training, and support the strategy obtained by training is deployed to simulation environment or real robot hardware.The application can reduce the cost of robot training data acquisition and artificial trajectory design, improve the degree of automation of simulation scene and operation trajectory generation.

This invention belongs to the field of robot end effector technology. It discloses an adaptive bionic three-finger gripper, comprising a palm, three fingers, two rotary servos, a connecting rod, three bending servos, and three drive lines. Each finger consists of a finger root, a finger root joint, a finger middle joint, and a finger tip joint, hinged sequentially. One finger root is fixed to the palm via the connecting rod, while the other two finger roots are independently driven by two rotary servos to change finger orientation. The bending of each finger is achieved by the corresponding bending servo pulling the finger tip joint via a servo disc and drive lines, forming a tendon-like driven bending. This invention achieves adaptive adjustment of the three-finger layout using only two rotary servos, with a simple drive structure and low control complexity. Simultaneously, each finger joint passively follows the bending motion, resulting in a smooth and conforming gripping action that can adapt to irregular object contours, significantly improving gripping stability and adaptability.

This invention provides a sensor control method and system for a nursing robot, relating to the field of nursing robot control technology. The method includes the following steps: acquiring vertical pressure data and shear force data; calibrating the data based on calibration parameters to obtain calibrated vertical pressure and shear force data; constructing and updating a skin stress distribution map reflecting the vertical pressure and shear force distribution in the contact area in real time; and redistributing the contact force based on the skin stress distribution map by adjusting the movement direction or tilt angle of the nursing robot's end effector, and dispersing localized high pressure by changing the contact point or force application point of the end effector. The method of this invention aims to overcome the problems of inaccurate identification of localized high-pressure points and continuous shear force due to insufficient initial calibration and simplified torque control models, achieving accurate perception and adaptive adjustment of vertical pressure gradients and continuous shear force, and avoiding cumulative micro-damage that is difficult to detect early using conventional methods.

The application discloses a robot end effector control system for dynamic error compensation and belongs to the technical field of robot automation control, comprising a task decomposition and frequency interval division module, a pose detection and error parameter matching module, an error analysis module and a comprehensive analysis and data storage module.The application discloses a robot end effector control system for dynamic error compensation, which can effectively solve the problems of fuzzy error control, passive compensation and low efficiency of traditional robots, greatly improve the operation precision and stability, reduce invalid parameter adjustment and be suitable for repetitive operation scenes in the same environment by clearly defining the error source, accurately predicting the aging error and dynamically utilizing the error interaction for targeted compensation.

A robotic system and method are provided with an end effector having lockable compliance. The robotic system for manipulating a workpiece includes: an arm having a pair of segments connected by a joint assembly, in which a locking element is disposed. A gripper is connected to the arm and configured to alternately grip and release the workpiece. A controller operates the locking element to alternately lock and unlock the joint assembly. The gripper holds the workpiece during deformation of the workpiece, while the controller can unlock the locking element to allow movement of the joint assembly to release forces generated on the arm during deformation of the workpiece.

An end effector for a substrate support and delivery system includes a wrist, a plurality of electrically insulating substrate support members, each substrate support member extending from the wrist and having a proximal portion therein, the substrate support member including a substrate-facing surface, a conductive coating, and at least one first conductive member disposed on and electrically in contact with the conductive coating, the conductive coating extending from the conductive member to the proximal end of the support member; and a connector extending between the conductive coating and the wrist. In one aspect, the conductive member includes a conformal or flexible conductive component coupled to a conductive plate.

This application belongs to the field of robot machining technology, specifically disclosing a robot milling error prediction method based on a physical information Gaussian process. The method includes: constructing a prediction model, which includes a pre-constructed robot stiffness error model, an error prediction framework based on a multi-output Gaussian process, and a physical information kernel function. The multi-output Gaussian process-based error prediction framework is used to capture the coupling correlation of the robot end effector's deformation in the x, y, and z directions through a linear common-region model; training the prediction model to obtain a trained prediction model; and inputting the robot's posture and milling force into the trained prediction model to obtain the predicted deformation of the robot end effector output by the prediction model. This method can improve the prediction accuracy of robot stiffness deformation.

The application discloses a robot end effector posture generation method and system, and a storage medium, wherein the method steps comprise: establishing a gripper coordinate system rule decoupled from the gripper shape; acquiring an RGB image, a depth map and camera parameters of a scene and generating a scene point cloud; generating a behavior candidate heat map based on the RGB image; screening out behavior candidate points and rough behavior directions according to each behavior type heat map and converting them into an initial end posture, adding noise to the initial end posture at a truncated time step to obtain an initial value of a diffusion model, and inputting the initial value and a condition vector into a conditional diffusion posture generation model, performing few-step posture denoising based on truncated diffusion, generating an end behavior posture, performing executability evaluation and sorting, and outputting an executable end behavior posture of the robot. Thus, the problems of single action type, strong binding with the gripper shape, slow diffusion model reasoning speed and unstable posture generation caused by point cloud loss in the occluded scene of the existing grasping posture estimation method are solved.

This invention discloses a robot brain-computer interface method and system based on visual perception and brain-controlled intention decoding. The method includes: acquiring image sequences to extract skeletal modality data and three-dimensional gaze vectors; inputting these data into a motion intention prediction model to obtain a first action intention and its probability of occurrence, and combining the gaze vectors to determine a spatial target; acquiring EEG signals and inputting them into a hierarchical deep convolutional network with a four-branch parallel architecture to obtain a second action intention and its confidence level, wherein the four branches include time domain, frequency domain, time-frequency domain, and spatial domain branches; and using a full-time shared control model based on dynamic weight allocation to dynamically adjust the decision weights of the visual and EEG modalities according to the probability of occurrence of the first action intention and the confidence level of the second action intention, and performing weighted fusion to generate a globally optimal motion intention containing the finally determined action intention category and spatial target, thereby planning the motion trajectory of the robot's end effector to the spatial target.

A method for repairing cracks in turbine runner blades includes the following steps: S1, designing a quick-change tooling at the end effector of a robot according to the runner crack repair process; S2, installing a vision measurement device at the end effector of the robot, and using a hand-eye calibration method to unify the vision measurement coordinate system with the robot end effector flange coordinate system; simultaneously, calibrating the robot and various end effector tools; S3, using an ultrasonic phased array to conduct depth testing on the runner crack area to determine the depth of each location of the runner crack, and constructing the runner crack envelope in trajectory planning software; simultaneously, extracting features from a standard sphere to obtain the coordinates of the sphere's center; S4, constructing a workpiece coordinate system on the center of the extracted standard sphere, generating robot machining point data in the trajectory planning software by combining the runner crack envelope model, generating a robot machining trajectory program using robot inverse kinematics and trajectory optimization strategies, and performing trajectory simulation in trajectory processing software to generate the robot machining trajectory program. This invention effectively improves the efficiency, quality, and accuracy of turbine runner crack repair, and reduces the risks of manual repair.

The application discloses an adaptive foot pressing device for a robot end effector and the end effector. The end effector comprises a base unit, and the device comprises a receiver, a foot pressing unit, an elastic reset assembly and a non-contact distance measuring assembly. The foot pressing unit is movably connected with the receiver and can adaptively deflect to fit a workpiece when pressed; the distance measuring assembly detects the distance between the base and the workpiece, and feeds back to guide the robot to adjust the posture to realize normal alignment. The end effector is also provided with a switching unit which integrates drilling, hole diameter and hole depth measurement and hole detection hole units, and through movement, the units can successively share a second channel to work. The application solves the problems of difficult normal alignment and rigid collision of complex curved surfaces, realizes the full-process automation and closed-loop control of normal alignment, hole making, dust collection and detection, and significantly improves the machining precision and efficiency.

This invention provides a three-dimensional nano-vibration damping gimbal and a nano-measurement system. The vibration damping gimbal is used to detect and counteract the vibration of an end effector, whereby the vibration characterizes the relative vibration between the end effector and the sample. The vibration damping gimbal comprises an accelerometer, an XYZ three-degree-of-freedom (XYZ) drive unit, and a gimbal controller. The gimbal controller is electrically connected to both the accelerometer and the XYZ drive unit. The accelerometer, integrated on the end effector, detects the XYZ displacement of the end effector, obtains a vibration signal, and sends the vibration signal to the gimbal controller. The gimbal controller generates a corresponding drive signal based on the vibration signal detected by the accelerometer and sends it to the XYZ drive unit. The XYZ drive unit is also mechanically connected to both the end effector and the robot end effector, and drives the end effector to generate a compensating motion based on the received drive signal. This compensating motion is used to counteract the vibration.

A system includes a robot configured to transfer either one of a substrate and an edge ring within a substrate processing system, a substrate aligner configured to adjust a rotational position of either one of the substrate or the edge ring relative to an end effector of the robot, and a carrier plate configured to support the edge ring. The robot is configured to retrieve the carrier plate with the end effector, retrieve the edge ring using the carrier plate supported on the end effector, and transfer the carrier plate and the edge ring to the substrate aligner.