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3704 results about "Robot hand" patented technology

Full-function liquid medicine preparation intelligent robot and medicine preparation method thereof

The invention discloses a full-function liquid medicine preparation intelligent robot and a medicine preparation method thereof. The full-function liquid medicine preparation intelligent robot comprises a shell, a medicine rack, a bottle taking mechanical arm, a liquid pumping mechanical arm, a bottle clamping mechanism and a liquid medicine shaking device, and is characterized in that: the shellis provided with an operating door with a seal; the medicine rack is arranged in the shell and corresponds to the operating door; the medicine rack has a rotary structure with more than two side faces; and each side face of the medicine rack is provided with accommodating areas for different medicines, and an indoor constant temperature and disinfecting cotton ball accommodating area. The intelligent robot has the property of full functions of preparing medical liquid, nutrient solution and chemical therapy medicines, radically changes the traditional mode of preparing cytotoxic medicines andthe manual preparation environment, has the characteristics of accurate liquid preparation, sterile preparation process and no cross-infection, protects the health safety of medical workers, avoids the leakage of the cytotoxic medicines, is environment-friendly, and saves cost of hospital medication and labor cost.
Owner:衡阳桑谷医疗机器人有限责任公司

Robot hand eye calibration method and device based on standard ball

The invention relates to a robot hand eye calibration method and a robot hand eye calibration device based on a standard ball. The method comprises the steps of acquiring point cloud information of the standard ball based on a camera coordinate system, and position information of a robot TCP in a robot-based coordinate system; positioning a ball surface of the standard ball according to the pointcloud information, determining a ball center position of the standard ball, and determining a three-dimensional coordinate value of the ball center of the standard ball in the camera coordinate systembased on a maximum likelihood estimation algorithm according to the ball center position; and determining an overdetermined transformation matrix equation of the three-dimensional coordinate value from the camera coordinate system to the robot-based coordinate system, and utilizing a least square optimization algorithm for determining a homogeneous transformation matrix of the camera coordinate system in the robot-based coordinate system, so that robot hand eye calibration is realized. According to the robot hand eye calibration method and the robot hand eye calibration device based on the standard ball provided by the invention, the robot hand eye calibration is realized by adopting the standard ball, no internal parameters of a camera is required to be calibrated, and the calibration method is simple, high in efficiency and suitable for hand eye calibration operation of various robots.
Owner:武汉库柏特科技有限公司

Visual identification and grabbing method of mechanical arms

The invention discloses a visual identification and grabbing method of mechanical arms. The method includes the following steps of (1) image collecting, wherein workpiece images are collected through a dual-camera system formed by two CCD visual sensors, and the images are converted into digital formats and transmitted into a computer memory, (2) image processing, wherein a processer conducts color recognition, image enhancement, edge sharpening and noise reduction on the images, conducts measurement on the length and area of workpieces, and finds out the coordinate position of the central point of the workpieces in the images, (3) coordinate transferring, wherein the coordinates of the CCD visual sensors are calibrated with the coordinates of the mechanical arms, so that the coordinate system of the CCD visual sensor can coincide with that of the mechanical arms, the coordinate position of the central point of the workpieces in the images is transmitted to a controller of the mechanical arms, and the mechanical arms are controlled by the controller to grab the workpieces. By means of the visual identification and grabbing method of the mechanical arms, the mechanical arms are made to more accurately grab the workpieces in the fast-paced production process, in other words, under the dual-camera system, even though the positions of the workpieces are slightly deviated, the mechanical arms can accurately grab the workpieces as well.
Owner:上海朗煜电子科技有限公司

Automatic assembly production line of wall socket

The invention discloses an automatic assembly production line of a wall socket. The automatic assembly production line comprises a bottom box automatic assembly part and a panel bottom box automatic assembly part. The bottom box automatic assembly part is of a rotary plate type structure which sequentially arranges multiple processes on the periphery of a rotary plate. A transmission mechanism which integrates transmission and outputting on the same side is adopted by the panel bottom box automatic assembly part, and multiple working positions are respectively arranged in front and in rear of the transmission mechanism. In addition, a bottom box positioning and overturning mechanism between the two parts overturns a bottom box which is assembled by the bottom box automatic assembly part to a preset position, a grabbing mechanical arm in the panel bottom box assembly part is used for moving the bottom box onto a panel, a transmission mechanism of the panel bottom box automatic assembly part transmits the bottom box to a screw feeding mechanism, the socket undergoing screw feeding assembly is moved to a finished product area through a material taking mechanical arm. The automatic assembly production line of the wall socket has the advantages of being high in automation degree, small in occupied space and high in production efficiency.
Owner:惠州市星宝机械设备有限公司

Online offset correction method and device for robot hand-eye calibration

ActiveCN108818536AEasy and Accurate AcquisitionPrecision AdjustmentProgramme-controlled manipulatorProduction lineRobot hand
The invention relates to an online offset correction method and device for robot hand-eye calibration. The online offset correction method comprises the steps that coordinate values of the circle centers of nine circles on a calibration plate in a camera coordinate system and a base coordinate system are obtained; a transformation equation of the circle center of each circle on the calibration plate from the camera coordinate system to the robot base coordinate system is established, through offset coordinates of each circle, the least square method is adopted to calculate a homogeneous transformation matrix of the camera coordinate system relative to the robot base coordinate system; and according to calibrated pose values of the camera coordinate system relative to the base coordinate system, errors of the offset correction calibration results of the nine circles on the calibration plate are analyzed through a vector two-norm formula, and thus the precision of the online offset correction method is evaluated. According to the online offset correction method and device for robot hand-eye calibration, offset in the robot hand-eye calibration process is corrected, flexible, preciseand rapid adjustment on a production line can be achieved, high-repeatability and precise grabbing operation can be achieved, the online offset correction method and device can be applied to operationof an SCARA robot hand-eye device, and the simple, efficient and high-precision effects are achieved.
Owner:武汉库柏特科技有限公司

Pinching-holding composite and adaptive robot finger device with rod and wheels connected in parallel

The invention belongs to the technical field of robot hands and discloses a pinching-holding composite and adaptive robot finger device with a rod and wheels connected in parallel. The robot finger device comprises a base, two finger sections, a driver, the two transmission wheels, transmission parts, the connecting rod, five shafts, a thumbing block and a spring part. The driver drives the connecting rod, and the two ends of the connecting rod are connected to the first shaft and the third shaft respectively in sleeved mode. The first shaft and the second shaft are arranged in the base in a sleeved mode. The third shaft is arranged in the second finger section in a sleeved mode. The fourth shaft is arranged on the second transmission wheel in a sleeving mode. The fifth shaft is arranged in the first finger section in a sleeved mode. The first finger section and the first transmission wheel are arranged on the second shaft in a sleeving mode. The second transmission wheel is arranged on the fifth shaft in a sleeving mode. The second finger section is connected to the fourth shaft in a sleeved mode. The robot finger device can grab articles in a pinching-holding composite and adaptive mode; the second finger section can be clenched to pinch the articles inwards or opened to pinch the articles outwards or hold the articles adaptively; the grabbing range is wide and the dead movement zone is small; the size is small, the appearance simulates the human, the flexibility is high, the structure is simple and reliable, and a sensing and controlling system is not needed.
Owner:TSINGHUA UNIV

Automatic loading robot for packing boxes

The invention provides an automatic loading robot for packing boxes. The automatic loading robot comprises a PLC automatic control system, a packing stacking trolley and a transportation line, wherein the packing stacking trolley comprises a portal frame; a travelling device is arranged at the lower end of the portal frame; the front ends at the two sides of the portal frame are fixedly connected with a large Z axis; the large Z axis is connected with the X axis; the front end of the X axis is equipped with a small Z axis; a lifting device is arranged on the large Z axis; an X-axis servo motor is mounted on the X axis through a gear rack; the small Z axis is connected with a box drawing platform through a slide block and a guide rail brake; a box pushing device is arranged on the box drawing platform; a distributing device is arranged at the front end of the travelling device; and a reversing device and a normalizing device are arranged on the transportation line. The automatic loading robot can extend into a car to complete automatic stacking, and packing boxes do not need to be arranged into rows in advance, so that space is reduced, and loading stacking efficiency is improved; and a mechanical hand adopts a box pushing mode for the packing boxes, is free of damages on the packing boxes, can be operated in the car, and is limited by the car.
Owner:烟台海德智能装备有限公司
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