89 results about "Robotic hand" patented technology

A plurality of methods 600-800 that collectively reduces touch swipe latency within a user interface (210) of an electronic device 100 / 200 includes: activating 610 a predictive touch utility 120; and in response to detecting 710 a sliding movement of an external manipulator 165 from a set of prior positions on a touchpanel 148 to a current position on the surface: dynamically computing 712 a predicted next position 392 based on the set of prior positions and the current position, before the external manipulator 165 arrives at an end position 240 while continuously touching the surface; and triggering 714 advancement of 536 the user interface 210 to a predicted next frame corresponding to the predicted next position 392. Activating the predictive touch utility 120 includes selecting and loading 612 a predictive touch profile 134 having a response curve 1500 / 1600 that correlates to gains applied to compute the predicted next position 392.

An automated hand tool sharpening and cleaning system for sharpening the two opposed cutting edges of domestic, industrial, sport, or hobby hand tool like a knife blade is provided by the invention. The apparatus comprises a six-axis robotic arm, a pneumatic gripper, a vision sensor camera for profiling the blade edges, a robotic controller, and sequentially-arranged grinding, coarse sharpening, fine sharpening, and buffing rotating wheel assemblies used to grind, sharpen, and buff or polish the cutting edges of the knife blade. The blade cutting edges are profiled by the camera image that is processed by associated software to define the blade by multiple points defined along its edge, followed by a set of algorithms that are used to clean up any discrepancies in the profile data. The resulting corrected profile data is then translated into a set of machine control commands fed to the robotic arm and pneumatic gripper via the robot controller for manipulating the knife blade edges via the robotic arm with respect to each of the grinding, coarse sharpening, fine sharpening, and buffing / polishing wheels and an associated wash station for remove bits of metal and other residue resulting from the sharpened knife blade.

The invention discloses a humanoid mechanical arm control method based on a Kinect sensor. The method comprises the first step of collecting data through the Kinect sensor; the second step of preprocessing the collected data, and then using relevant algorithms to conduct gesture segmentation; the third step of using a DBN neural network to conduct gesture recognition; the fourth step of converting recognized gestures into instructions in a fixed format; the fifth step of using a TCP protocol to conduct telecommunication, and then sending the instructions to a server side; the sixth step of making the server side receive and recognize the instructions, and obtaining a control parameter through kinematics calculation; the seventh step of making the server side control motions of a mechanical arm according to the control parameter. According to the humanoid mechanical arm control method based on the Kinect sensor, the requirements in the aspects of cost and accuracy in actual operation, response speed and the like are considered, the problems that a data glove is high in control cost, and the traditional human-computer interactive modes based on keyboards and the like have certain requirements on specialized knowledge are solved, and the humanoid mechanical arm control method has the advantages that the operation is humanized, the response speed is high, the accuracy is high, and the humanoid mechanical arm control method has very good robustness.

The invention discloses a modular reconfigurable underwater robot. The robot comprises a signal buoy and a plurality of module cabins connected end to end through connecting assemblies; the signal buoy communicates with the module cabins through a zero-buoyancy communication line; the module cabins comprise a camera cabin, a tail propelling cabin, a propeller cabin, a battery cabin and a control cabin; and a wireless communication and motor driving circuit is arranged in each module cabin and is used for receiving a driving control signal sent by the control cabin so as to control each modulecabin to work. When the robot navigates in water, the signal buoy receives remote control signals sent by a receiving station and inputs the signals into the control cabin through the zero-buoyancy communication line; the control cabin transmits motor driving signals of all the module cabins to all the module cabins in a wireless mode; and the module cabins achieve the functions of advancing, retreating, steering, hovering, translation, depth setting, self-stabilization, fixed-point cruising, mechanical arm grabbing and the like.

The invention relates to a kinect based novel sorting system and an operation method thereof. The system comprises a conveying belt and a support; under the support the conveying belt goes through the support, the support is behind the conveying belt, a kinect body sensor is arranged on one side of the front part of the conveying belt, a parallel mechanical hand is hung on the top of the support and is fixed on the support through a fixed platform, and one side of the kinect body sensor is provided with a PC terminal, which controls the kinect body sensor and the parallel mechanical hand. The low-cost kinect body sensor is utilized to carry out sorting, the sorting can last for a very long time, while the artificial sorting cannot last for such a long time, and the human cost can be reduced. Moreover, the objects can be precisely identified without any industrial camera, and in some dangerous occasions, the mechanical hand can be operated by recognizing the human gestures.

The invention provides an automobile equipment line intelligent 360-degree multi-dimensional mechanical arm fixture device, and relates to a mechanical arm clamping tool. The other side of a rotary air cylinder bearing block is provided with an upper clamping palm large side board and a lower clamping palm large side board, the right ends of the two clamping palm large side boards are connected with a side board connection plate in a sealed mode to be combined into a U-shaped whole body, the side board connection plate is connected with a telescopic cylinder, a cylinder guide rod is arranged in the telescopic cylinder, a clamping palm supporting shaft penetrating through two sides of the left end of each clamping palm large side board is provided with a clamping palm supporting bearing block, and the clamping palm supporting shafts penetrate through the clamping palm supporting bearing blocks. By the adoption of the servo-control 360-degree rotation pneumatic fixture device, material is grabbed and rotated, clamping time is saved, and labor intensity of workers during assembly is lowered. Intelligent detection and digital fuzzy control are formed by adopting a sensor network and an advanced ARM micro controller, state induction and intelligent feedback control of an assistance mechanical arm in a work process are achieved, and safety and the automation level of products are improved.

The invention discloses a mechanical hand capable of working on any 3D curve and an action process for the mechanical hand, and belongs to the technical field of automatic equipment. The mechanical hand capable of working on any 3D curve is characterized by comprising a rack (1), a travelling mechanism, a w-axis rotating mechanism (6) and a grabbing mechanism (7), wherein the travelling mechanism is mounted on the rack (1), and can separately move along the x axis, the y axis and the z axis; the w-axis rotating mechanism (6) is mounted on the travelling mechanism; the grabbing mechanism (7) is mounted on the w-axis rotating mechanism (6); and the grabbing mechanism (7) comprises a gabbing mechanism main body (45) as well as a pallet grabbing mechanism and a ceramic tile grabbing mechanism which are mounted on the grabbing mechanism main body. The grabbing mechanism of the mechanical hand is more flexible, and the ceramic tile grabbing mechanism and the pallet grabbing mechanism can separately grab ceramic tiles and pallets. The action process of the mechanical hand capable of working on any 3D curve can be matched with a ceramic tile production line better.

The invention discloses a positioning gripper applied to a new-energy motor shell positioning and grabbing process. The positioning gripper mainly comprises a public mounting base, a gripper substrate, a compression cylinder, a guide rod, a compression plate, a rotary supporting arm, a three-jaw chuck, a rotary cylinder, a pressure and displacement sensor and the like. When a new-energy motor shell is positioned and grabbed, the compression plate, the rotary supporting arm and the three-jaw chuck are cooperated, so that the new-energy motor shell is positioned and grabbed, pressure and displacement are detected in real time in the grabbing process through the pressure and displacement sensor mounted on the gripper, and efficient and stable data feedback and support are provided for automation of gripper control. The positioning gripper has the advantages that the gripper is simple in structure, high in positioning and grapping accuracy, efficiency and modularization degree and provided with a public mounting base, so that the gripper can be mounted on a robot and a truss manipulator or any other process devices needing positioning and grabbing functions.

A capacitance based tactile array sensor is disclosed that provides for close resolution of sensing pixels by using insulated conductors as electrodes, and allows for eliminating the need for a joint or connection interface near periphery of the sensor array. Optional aspects of the invention include provision for allowing use of stretchable conductors, reduction of the burden of number of connections at one layer of conductors in the sensor, providing for differential sensing resolutions at different areas of sensing, and modularity in configuration allowing replacement of a defective sensor pixel in the array. The tactile array sensor may be integrated with surface of a robotic hand's finger, palm, or any other surface of a device that requires multi-point sensing of external contacts. The capacitance information is processed for useful display or control of systems based on the contact feedback.

The present invention provides removable-unit storage modules, which can be combined into a network. The storage modules comprise storage cells arranged in a rule based structured configuration, and robotic hands to which move along tracks in order to retrieve objects from the storage cells. In one embodiment, the storage cells are used to contain data storage units. Several modules can be combined into a network by means of bridge tracks which connect the tracks of different modules, allowing the robotic hands to move between modules. The bridge tracks can be dynamically connected and disconnected from the modules, allowing the network configuration to change according to user needs. The individual modules are mobile and can be transported to other locations and connected with other removable-unit storage networks.

The invention relates to the field of intelligent testing, and discloses an avionics HMI interface-oriented intelligent test system and a test method. The avionics HMI interface-oriented intelligent test system comprises an automatic testing module, an image recognition module, and a mechanical arm module, wherein the automatic testing module is connected with the image recognition module and themechanical arm module; the system issues a test task to the image recognition module and the mechanical arm module by manually editing a test case, the image recognition module positions a test targetand sends positioning coordinates to the mechanical arm module, and a controller in the mechanical arm module controls a mechanical arm to operate to complete the test task. According to the intelligent test system, the test case is edited, and the mechanical arm is guided to test the test target by using a visual guidance technology; and test parallelization is realized, remote test service is implemented, a server can publish a newly added interface online and synchronize the newly added interface to a client, and requirements of different clients are met.

A final state network optimizing method for double-arm mechanical hand synchronous repeated motion planning comprises the following steps that firstly, the expected target tracks r*L (t) and r*R (t) of a left end effector and a right end effector of a double-arm mechanical hand and the expected drawing angles theta * L (0) and theta * R (0) of a left joint angle and a right joint angle of the double-arm mechanical hand are determined; secondly, final state attraction optimization indexes are designed, and the double-arm mechanical hand synchronous repeated motion planning scheme is formed; thirdly, a final state network model of a limited value activation function is constructed, and the final state network is used for solving a time-varying matrix equation; and fourthly, the solved resultis used for controlling various joint motors, and mechanical arms are driven to execute tasks. A double-arm mechanical hand repeated motion method high in precision and capable of achieving finite time convergence is provided, and when the initial positions of the left joint angle and the right joint angle of the mechanical hand are set at will, it is guaranteed that the double-arm mechanical hand can still effectively finish the work task, and whether various joint angles are in the expected task tracks or not does not need to be considered.

Herein disclosed is a robot arm mechanism (100) comprising a first arm link mechanism (110) and a second arm link mechanism (120), a robot arm driving mechanism 130 for driving the first arm link mechanism (110) and the second arm link mechanism (120), and a link retaining mechanism (140) for pivotably retaining the first arm link mechanism (110) and the second arm link mechanism (120), in which a third arm link (113) and a fourth arm link (114) of the first arm link mechanism (110) are kept forward in a first rotation direction (130a), in which the first arm link mechanism (110) and the second arm link mechanism (120) are extended, thereby enabling to prevent the quadric crank chain constituting the robot arm mechanism (100) from being flattened out while the first arm link mechanism (110) and the second arm link mechanism (120) are extended, and improving resistance to deformation, in comparison with the conventional robot arm mechanism (900).

The invention relates to a method and to a system for aligning and controlling the position of a robot tool, wherein a monitoring device (600) is equipped with a detection unit (610) and processing unit (620) which co-operates with the control device (630) of the robot and automatically determines the alignment of the robot tool (205) by means of the detection unit (610) by taking into account at least one pre-determined reference direction of the robot tool (205), in addition to at least one predetermined tolerance angle which defines a tolerance range for the at least one reference direction of the robot tool (205).; The processing unit (620) compares the determined alignment to the predetermined reference direction and / or to the tolerance values predetermined by the defined tolerance range and / or if the at least one tolerance range is not respected, the respective robot tool (205) is disconnected and / or deactivated in co-operation with the control device (630) of the robot (200).

The invention discloses equipment capable of simulating performance tests on a memory bank in different environments. The equipment comprises a supporting frame, a control device, an environment simulation device and a testing device; the environment simulation device comprises a case, a heating system, a refrigerating system, a humidity control system and an air circulation system, wherein the heating system, the refrigerating system, the humidity control system and the air circulation system are installed inside the case; and the to-be-tested memory bank is installed in the testing device. The equipment can simulate the true use environment of the memory bank, curve-type data processing of pressurization variables is performed in different environments, and meanwhile environment temperature is changed; the test temperature range is from -15 DEG C to +85 DEG C, and the humidity is 10% below the temperature of 20 DEG C and is below 20% at the temperature of 20 DEG C or above; when thetemperature value of case temperature is 20 DEG C or 40 DEG C or 60 DEG C, the temperature difference of surface temperature of the memory bank at the same moment is tested in an environment with temperature not higher than 10 DEG C; a full-automatic stretching and retraction device is adopted as a drawer body, and full-automatic operation can be realized in cooperation with a mechanical arm, therefore, multiple memory banks can be tested at a time, and the quality and capacity of the memory banks are effectively improved; and the use environment temperature requires indoor usage at the temperature of 20-30 DEG C, and the equipment does not have a requirement on cleanness.

The invention discloses a multi-functional four-rotation-wing aircraft of the bionic hand, and belongs to the technical field of aircrafts. The aircraft includes a flying frame. The periphery of the flying frame is evenly connected with four rotation wings. The inner side of the flying frame is connected with a solar panel. The side surface of the flying frame is connected with a micro camera. Thelower end of the flying frame is connected with a mechanical arm through a hydraulic type spring shock absorber. The flying frame is a basic structural foundation of the aircraft. The flying frame can support the aircraft components, stabilize the connection, and improve the capacity of resisting disturbance of the aircraft. According to the multi-functional four-rotation-wing aircraft of the bionic hand, the modern solar photovoltaic power generation technology, the four-rotation-wing aircraft body structure, the mechanical arm, the spring shock absorbing system are used, existing defects ofan unmanned aerial vehicle are improved, using function that the unmanned aerial vehicle combines the mechanical arm is optimized, and the technical development of the unmanned aerial vehicle is propelled.

The invention discloses a tool changing method for a numerical control machine tool. According to the method, when a tool changing program starts, a tool sheath starts to swing, meanwhile, a main shaft starts to move and rotates at the same time, the three actions are performed at the same time, and therefore time is saved. Moreover, according to the method, an in-place signal of a mechanical arm is replaced by a braking signal of the mechanical arm. When the braking signal of the mechanical arm is received, a tool clamping component starts to act immediately, so that action time of the tool clamping component is minimized. The tool changing method can be used for increasing tool changing speed.

The invention relates to a printed circuit board (PCB) production line, in particular to the PCB automatic detection production line and an application method thereof. The PCB automatic detection production line comprises a board dividing module, a detection module, a conveying module, a first mechanical arm, a code scanner, a second mechanical arm and an NG board storage area, wherein the conveying module is connected with the board dividing module; the first mechanical arm, the code scanner and the detection module are arranged on the conveying module; and the second mechanical arm is arranged on the conveying module and the NG board storage area. The PCB automatic detection production line provided by the invention overcomes the defects of a traditional production line, automatic detection is achieved, double stations are designed for board dividing and detection, and the detection efficiency is improved. Most importantly, the layout of the production line is adjusted, and the accuracy of board detection is improved. Meanwhile, NG boards are automatically and sequentially arranged through the mechanical arms, so that workers can conveniently record and overhaul the NG boards, and the board utilization rate is increased.

A compact, lightweight manipulation system that excels in operability and has a force feedback capability is provided. When automatic operation of a slave manipulator 105 that follows manual operation of a master manipulator 101 is bilaterally controlled by means of communication, the force acting on the slave manipulator is fed back to the master manipulator by operating the master manipulator primarily under electrically-driven speed control and the slave manipulator primarily under pneumatically-driven force control. Therefore, in the master manipulator, it is not necessary to compensate for the dynamics and the self-weight of the master manipulator in the motion range of a user, allowing highly accurate, broadband positional control, which is specific to an electrically-driven system, and in the slave manipulator, nonlinearity characteristics specific to a pneumatically-driven system presents passive softness, provides a high mass-to-output ratio, and produces a large force.

A transport apparatus that supports and moves a substrate by using a robot hand between a plurality of chambers includes a first detection unit that detects the substrate, in a first stop position of the robot hand, using a first detection position set on one surface of the substrate supported by the robot hand, and a second detection unit that detects the substrate, in a second stop position of the robot hand, using a second detection position set on the one surface of the substrate supported by the robot hand.

The invention discloses a weight carrying robot, applied in the field of robots and used for solving a problem of low measurement detection efficiency of the existing platform scales and weighing scales in measurement detection caused by carrying weight manually. The weight carrying robot comprises a man-machine interaction device, an industrial control host, a motion controller, an electric appliance cabinet and a mechanical body; the man-machine interaction device is connected with the industrial control host, the industrial control host is connected with the motion controller, the motion controller is connected with the electric appliance cabinet, and the electric appliance cabinet is connected with the mechanical body; the electric appliance cabinet at least comprises a servo driver, the mechanical body at least comprises a servo motor and a mechanical gripper, and the mechanical gripper is connected with the servo motor; under control of the motion controller the servo driver drives the servo motor; and under control of the servo driver, the servo motor controls the mechanical gripper to move; and the mechanical gripper is used for gripping padlock weights.

The invention belongs to the technical field of high-speed precise assembling equipment, and discloses high-speed precise assembling equipment for ultra-thin keyboard blank key supports. The equipment comprises a machine body as well as a feeding module, a transplanting module, a film tearing module and an assembling module which are located above the machine body; the feeding module comprises an iron part feeding module and a plastic part feeding module; the transplanting module is used for transplanting multiple groups of plastic parts located in a working position into a plastic part transplanting clamp and transplanting multiple groups of iron parts located in the working position into an iron part transplanting clamp; the film tearing module is used for completing the film tearing work of the multiple groups of iron parts; the assembling module is used for assembling the multiple groups of plastic parts and the multiple groups of iron parts after film tearing. The five groups of assembling suction heads are adopted for simultaneous assembling, precision mold type assembling is adopted, mechanical arm positioning precision and machine vision positioning precision are eliminated, the production efficiency is greatly improved, the production time is shortened to 0.8 second from original 3 seconds, the productivity is improved by four times, and the yield is increased to 99.9% from 95%.

A multi-joint finger unit (1) has first and second joint sections (3, 5) constructed by using bevel gears. In each joint section (3, 5), the section where a driving bevel gear (10, 44) and a driven bevel gear (14, 56) mesh with each other and also a bearing section of a joint shaft (15, 57) are assembled in a tubular housing (13, 51) whose forward end is closed. Rear end openings (13A, 52) of the tubular housings (13, 51) are closed by a tubular housing (7) at a finger root and a tubular housing (41) at a finger body section. The section where the gears of the joint sections (3, 5) mesh and the bearing section are substantially sealed, so that a foreign matter is prevented from entering from the outside to these sections and lubricant does not leaks from these sections. The multi-joint finger unit is suitable for use in place where thick powder dust is present and in a clean room.

A robot hand apparatus includes a first holder having a first sucking surface that is bendable at any position and configured to suck an object using negative pressure; a second holder arranged to oppose the first sucking surface of the first holder; and a driving mechanism configured to change a distance between the first holder and the second holder to sandwich the object between the first holder and the second holder.

The invention discloses a film-tearing and assembly integrated assembly line. The film-tearing and assembly integrated assembly line comprises a film-tearing assembly line, a flow assembly and a relaytransfer mechanism, wherein the film-tearing assembly line comprises a product loading device, a product transporting mechanism and a product film-tearing mechanism; a plurality of trays for containing products are stacked in the product loading device; the product transporting mechanism is arranged on the product loading device; the product film-tearing mechanism is arranged at the downstream ofthe loading direction of the product loading device; the flow assembly line comprises an assembly mechanical hand, a carrier loading device and a product buffering jig, wherein an assembling suckingassembly is mounted on the assembly mechanical hand; the carrier loading device is arranged beside the relay transfer mechanism; the product buffering jig is arranged between the relay transfer mechanism and the assembly mechanical hand; and a plurality of product buffering holes are formed in the product buffering jig. The film-tearing and assembly integrated assembly line can save product turnover and positioning times to improve film-tearing and assembly efficiency.

The invention discloses an automatic online plug-in control system, an implementation method and a plug-in mechanism, and relates to the technical field of electronic electric energy meter manufacturing industry to solve the technical disadvantages in the prior art that multiple electronic plug-ins cannot be conveyed, controlled and identified. The control system includes a computer system. The computer system includes a control unit. The control unit includes a mechanical arm control unit, a support device control unit, a belt conveying line control unit, a feeding mechanism control unit, anda cutting control device. The computer system further includes a database, a comparison unit, and an identification unit. The control system can complete the automatic online identification, control,and plug-in of liquid crystal, backlight members, and diodes without human intervention at high efficiency, achieves unattended operation, shortens detection time, saves manpower cost, and improves work efficiency.

The invention relates to an operating method for a positioning system 1, in particular for the structural assembly of aircraft, wherein the positioning system 1 comprises a plurality of positioners 2a, 2b, 2c, each of which has at least one manipulator M. The manipulators M grasp a component B and manipulate it in a synchronized manner, while it is jointly grasped by the manipulators M.

The invention relates to a deep hole drainage building dredging device which includes a robot operating system and a transfer system. The robot operating system includes a first traveling machine head, and the first traveling machine head is slidably disposed in a track groove in the top end of a deep hole spillway; a mechanical arm is installed at the lower end of the first walking machine head,and the mechanical arm is connected to a mechanical hand; the transfer system includes an underwater belt conveyor which is connected to a walking base, and the walking base is arranged on a bottom plate of the deep-water spillway; a traveling swinging hopper is arranged on one side of the underwater belt conveyor, the traveling swinging hopper is connected to a lifting mechanism on a second traveling machine head through a hoisting rope group, and the second traveling machine head is arranged in the track groove; and the other side of the traveling swinging hopper is provided with a lifting platform, and the lifting platform is connected to a crane through a cable. The deep hole drainage building dredging device can complete removal of silt in the deep hole spillway.

Methods of determining a location of a desired joint in a scanning assembly are provided. The method comprises acquiring a digital image of an extremity against a background within the scanning assembly. The extremity has a plurality of digits extending away from a base of the extremity and the plurality of digits has a plurality of corresponding joints. The method also comprises extracting the outline of at least a portion of the extremity, locating a midpoint along a width of a base of the extremity, identifying a plurality of clusters of texture features; and, determining the location of a desired joint based on a distance between the center point and the midpoint.