564 results about "Robotic hand" patented technology

The invention discloses a jewelry flaw detection and grading system based on machine vision and a manipulator. The system comprises a multi-mode imaging module; the image processing module is used for carrying out preprocessing operation on the original image; the edge processing module comprises a GPU acceleration processor and is used for deploying a flaw detection model to detect flaws; training data are automatically generated through a semi-supervised learning algorithm; the mechanical execution module comprises a six-axis mechanical arm, a path planning algorithm and a collision detection model for a bounding box and a directed bounding box of the six-axis mechanical arm; the cloud management module is used for storing detection data based on a block chain technology and supporting third-party verification; and dynamically updating the expert knowledge base. According to the jewelry sorting method and system, the types and grades of the jewelry are divided through the DINOv2 defect detection model, meanwhile, the PnP algorithm is adopted to be fused with the depth information, the jewelry is sorted according to grade division, meanwhile, consumers can rapidly and accurately obtain relevant information (such as materials, authenticity and value evaluation) of the jewelry, and the shopping experience is greatly improved.

The invention discloses an integrated tile-shaped magnet outer circle grinding device and method based on artificial intelligence, and belongs to the technical field of grinding machining. The integrated tile-shaped magnet outer circle grinding device comprises a feeding device, a grinding device and a visual detection device; the feeding device comprises a feeding conveying belt, a guide groove, a spring bin, a material blocking barrel, a feeding barrel, a magnetic suction cup, an electromagnetic push rod, a cooperative mechanical arm, a reset spring and a discharging conveying belt. The visual detection device comprises a magnetic shoe counting camera, an annular light source, a counting camera bracket, a measuring camera bracket, a backlight plate, an outer contour measuring camera, a positioning camera and a positioning camera bracket; integrated automatic operation of feeding, grinding, detection and discharging is achieved, the production efficiency is greatly improved, automatic counting, precision detection and discharging are completed through cooperation of visual detection and the conveying belt, the manual operation intensity is effectively reduced, production interruption caused by personal errors is avoided, and the productivity in unit time is remarkably improved.

The utility model discloses a high-flexibility flexible mechanical finger supporting forward and reverse holding and a manipulator. The mechanical finger comprises a middle finger section, a base finger section and an end finger section, wherein the base finger section and the end finger section are rotationally connected with the two ends of the middle finger section respectively. Driving units are arranged in the end finger section, the middle finger section and the base finger section; bevel gear transmission units are arranged at the tail end of the end finger section, the tail end of the middle finger section and the tail end of the base finger section; the driving units are in transmission connection with the corresponding bevel gear transmission units; the driving unit drives the end finger section and the base finger section to rotate by taking the corresponding bevel gear transmission unit as a central shaft; through the structure and position design of the micro driving motor and the bevel gear transmission unit, each finger and each knuckle of the manipulator can be flexibly controlled, so that the manipulator has higher bionic flexibility and more precise grabbing capacity, and can be suitable for different scene requirements; by means of the special inserting mode between knuckles, the left-right hand grabbing function of the single mechanical arm is achieved.

The invention, which relates to the technical field of device testing, discloses a visual self-calibration system for a microneedle automatic patch device and a calibration method thereof, comprising: a data acquisition module for measuring a spatial relationship among a composite calibration target, a calibration visual camera, a laser contourgraph and a manipulator coordinate system; the compensation model building module is used for building a corresponding relation model of the grabbing condition and the pose compensation amount based on patch deformation data collected by the laser contourgraph; the drifting prediction module is used for monitoring the motor temperature and the movement mileage and establishing a drifting prediction model; the deformation pre-compensation module is used for acquiring deformation characteristics after the patch is picked up and processing and acquiring a pose pre-compensation amount by utilizing a compensation model; the deformation compensation correction module fuses the pose pre-compensation amount and the drift pre-compensation amount, generates a final compensation control instruction and drives the manipulator to complete compensation motion; under complex operation conditions, the deformation compensation model shows great adaptability and robustness.

Apparatuses, systems, and techniques to perform a grasp of on object using an articulated robotic hand equipped with one or more tactile sensors. In at least one embodiment, a machine-learned model trained in simulation to grasp a cuboid using signals received from tactile sensors is applied to grasping objects of various shapes in a real-world environment.

The invention discloses an intelligent learning method for grabbing of a three-finger dexterous hand for multiple types of workpieces, and belongs to the technical field of intelligent grabbing application of manipulators. A pre-defined rule and simulation expert double-layer mode is provided, a high-quality demonstration data set is automatically generated, a simulation grabbing scene of a mechanical arm and a three-fingered dexterous hand is constructed, recognition and classification of multiple types of workpieces are achieved by analyzing workpiece contour features, grabbing hand shapes are matched according to the recognition and classification, strategy pre-training is carried out through simulation learning, and the recognition and classification efficiency is improved. And optimizing the strategy based on a PPO algorithm and a composite reward function. Aiming at the problem of lack of a standardized three-fingered dexterous hand parameter model, a modeling method based on parameterized URDF and automatic script generation is used to realize efficient configuration and optimization of the three-fingered dexterous hand in simulation. Through performance evaluation, stable and high-quality grabbing of multiple types of workpieces can be achieved.

The invention relates to the technical field of injection molding production and manufacturing, and discloses an injection molding raw material feeding mistake-proofing verification system for a safety system airbag, which comprises a central verification server, an edge computing gateway, an intelligent hopper unit provided with an electromagnetic locking mechanism and a handheld intelligent terminal. The handheld terminal is used for collecting information, and the server verifies order matching and generates an unlocking instruction when the physical position identifiers are consistent and are in a preset time window. The system establishes a virtual session to lock the injection molding machine in a single-batch mode, and the product taking-out manipulator and the label printer are linked in real time through the interlocking control module according to the session state. The algorithm engine module calculates single-mode consumption based on screw metering parameters and melt PVT characteristics so as to invert real-time inventory, and pressure and speed characteristics in the glue injection process are extracted in combination with the rheological analysis module to generate rheological fingerprints for attribute verification. According to the invention, the space-time physical interlocking of the feeding authority, the whole-process batch anchoring and the online closed-loop monitoring of the physical attributes of the raw materials are realized.

A method for learning finger gaiting skills for multi-fingered robot hands may decompose a finger-gaiting task into shorter tasks by contact groups. The method may augment a reference trajectory for each shorter task. The method may use representation pretraining and exploration for learning.

The manipulator comprises a joint assembly, a first driving part and a transmission assembly, and the joint assembly comprises a first joint part and a second joint part rotationally connected with the first joint part; the first driving piece is arranged on the first joint piece; the transmission assembly is in transmission connection with the first driving piece and the second joint piece, the first driving piece can drive the second joint piece to rotate in the grabbing direction through the transmission assembly, and the transmission assembly is configured to be capable of cutting off power transmission with the first driving piece when the second joint piece is subjected to impact force and rotates in the grabbing direction, or cutting off power transmission with the second driving piece when the second joint piece rotates in the grabbing direction. When the second joint part is subjected to impact force and rotates in the direction opposite to the grabbing direction, the transmission assembly can cut off power transmission between the transmission assembly and the first driving part. According to the manipulator, the risk that the driving piece of the manipulator is damaged can be reduced, and therefore the use cost of the robot is reduced.

An articulated work robot device includes a lower body, a bridgehead coupled to a common axis at a first position of the lower body to be rotatable, first and second articulated arms configured to be overlapped with each other up and down and having first ends respectively disposed at second and third positions opposite to each other with respect to the common axis on the bridgehead to be rotatable together through the common axis, first and second plurality of hands respectively coupled at second ends of the first and second articulated arms through scissor links, and first and second composite drive modules disposed in an internal space of the bridgehead and driving the first and second articulated arms and the first and second plurality of hands, respectively.

The invention provides a peristaltic pump control method for a pneumatic mechanical gripper, which relates to the field of intelligent control, and comprises the following steps: constructing a pneumatic conversion module, a peristaltic pump PID control module, a driving execution module, a bending sensing module and an error feedback processing module; the bending angle difference of the mechanical gripper is calculated and subjected to pneumatic conversion to obtain a bending error; the position type PID outputs a control signal, and Kp, Ki and Kd are set on line through a self-adaptive migration optimization algorithm; adjusting and updating individuals by utilizing a direction perception consensus index, a virtual adsorption point set and an adsorption step length; generating a time offset factor correction time sequence based on the historical response memory function; and the corrected signal drives a motor, and precise control over the mechanical gripper is achieved. According to the method, overshoot and steady-state errors are remarkably reduced, response time is shortened, oscillation is suppressed, manual parameter adjustment is reduced, and robustness is improved.

The invention discloses an electrode stem straightness detection method based on point cloud, and relates to the technical field of machine vision and automatic detection, and the method comprises the steps: collecting and fusing multi-frame point cloud data through combining a line laser camera and a manipulator with a hand-eye calibration technology, and generating a complete electrode stem three-dimensional model. After preprocessing, an improved PointNet + + network is adopted for segmentation, and foreground point cloud of the electrode stem is extracted from a complex background; carrying out the principal component analysis of the foreground point cloud to correct the attitude, carrying out the projection to generate a depth map, carrying out the binarization processing, extracting central axis scatter points, and carrying out the fitting of an ideal reference straight line through a least square method; and a pair of parallel containing lines containing all axis scatter points and having the minimum distance are determined according to an interphase criterion by adopting a minimum containing area method, and the vertical distance of the parallel containing lines is the final straightness error. According to the invention, non-contact and automatic detection is realized, the detection precision and efficiency are better than those of a traditional scheme, and the real-time quality inspection requirement of industrial online production can be met.

The invention discloses a flexible self-adaptive grabbing finger based on a paper folding structure and a method, and relates to the technical field of manipulators. The finger comprises a finger seat and at least two finger bodies, wherein each finger body comprises a joint module, a finger section module and a connecting piece; the joint module is a first hollow body formed by a triangular variant Yoshimura paper folding structure in a surrounding mode, an air bag is arranged on the back side of the joint module, and a first guide hole is formed in the ventral side of the joint module. The finger section module is a second hollow body; the connecting piece is detachably connected with the joint module and the finger section module; the first rope penetrates through the first guide hole to be connected with the ventral side of the finger section module at the tail end, and the second rope penetrates through the second guide hole in the connecting piece to be connected with the middle position of the finger section module at the tail end. A paper folding structure and air-rope hybrid driving are adopted, and through the hierarchical control strategy of pneumatic rapid enveloping and rope-driven event driving, the structure is simplified, control is reliable, maintenance is convenient and fast, the self-adaptive grabbing capacity is achieved, and the mechanical arm is particularly suitable for agricultural picking and other complex environments.

The invention discloses a hand motion mapping method based on a data glove, which comprises the following steps of: judging the type of a task to be performed according to data acquired by the data glove, and selecting different mapping methods. If the current gesture is judged to be the gesture representation, applying a gesture recognition model, if the current gesture exists in a gesture library, applying a standard gesture in the library, and if the current gesture does not exist, applying direct joint angle mapping to four fingers except the thumb, and applying Cartesian space mapping to the thumb. And if the task is judged to be the operation task, the data of the data glove is directly processed by a pre-trained neural network and is directly mapped into a joint angle corresponding to the target manipulator. The training thought of the neural network is that the human hand joint angle represented by the data glove and each joint angle of the target manipulator under the same gesture action are obtained at the same time, a neural network model is constructed, the angle of the data glove serves as input, the corresponding angle of the manipulator serves as output, and training is conducted. Finally, the motion mapping process from the hand to the manipulator is achieved.

The invention provides a laser marking, transition line shaping and post-welding detection machine which is applied to the technical field of motor equipment machining and comprises a machine table, the top face of the machine table is a machining face, and a stator is carried and machined on the machine table; the stator carrying assembly is a manipulator; the stator cleaning assembly is used for cleaning the stator; the stator laser marking assembly comprises a second linear module, a second material carrier, a laser marking machine, an air blowing and dust collecting piece and a code scanning machine; the second material carrier is arranged on the second linear module, the stator is moved by the second material carrier along with the second linear module, and the laser marking machine, the blowing dust collection piece and the code scanning machine are located on the two sides of the second linear module; the device is a composite process device integrating laser precise marking, intelligent transition line shaping and multi-mode post-welding detection functions, achieves a mutual smooth carrying effect, and is non-pause and non-waiting-stop device.

The utility model provides a robot hand and a robot system including the same. The robot hand includes: a plurality of robot fingers; and a robot palm configured to be operatively connected with the plurality of robot fingers, where an individual robot finger includes: a first phalanx; a second phalanx; and a first hydraulic actuator configured to operatively connect the first phalanx with the second phalanx, where the first hydraulic actuator includes a soft bellows-shaped deformable body such that, when in operation, the first and second phalanx are deformed by the flexible bellows-shaped deformable body, the flexible bellows-shaped deformable body is deformed by the flexible bellows-shaped deformable body. The first hydraulic actuator is switchable at least between a compressed state and an extended state in response to an external force and / or hydraulic pressure applied thereto. Other example embodiments are described herein. In certain embodiments, the present disclosure provides robotic hands and robotic systems including the same that exhibit high compliance, adaptability, and precise control to robotic applications, and address the challenges to achieve fine in-hand manipulation of the robot.

1. Name of the product in this design: Wrist Connector Plate. 2. Purpose of this design: This design is used as a connecting plate to connect the palm and wrist of a robotic arm. 3. The key design feature of this product is its shape. 4. The image or photograph that best illustrates the design's key points: 3D view 1.

The utility model relates to a gearbox fixing plate machining mechanical arm, and aims to solve the technical problems that after a current mechanical arm completes discharging of machined workpieces, the workpieces to be machined need to be grabbed again and positioned to machining equipment, the equipment has waiting time due to the serial operation mode, and further improvement of the overall production efficiency is restricted. Comprising a rotating assembly arranged on an end effector of the mechanical arm; the rotating assembly comprises a mounting plate, and a rotating driving mechanism is arranged on one side of the mounting plate; the bearing plate is rotationally arranged on one side of the mounting plate and connected with the driving end of the rotary driving mechanism; the grabbing assembly is arranged on the side, away from the mounting plate, of the bearing plate, the grabbing assembly can rotate around the driving end of the rotary driving mechanism so that station switching can be achieved, the grabbing assembly can rotate around the driving end, rapid switching of the machining station and the feeding and discharging station is achieved, and the waiting time of traditional serial operation is eliminated.

The utility model relates to the technical field of chip detection, in particular to a PD protocol chip detecting and sorting device. Comprising a workbench, a charging tray, a first jig, a second jig, a third jig, a detection device, a first manipulator, a second manipulator and a first driving part, the first manipulator transfers an external chip in the charging tray to the first jig; the detection device is used for detecting the external chip in the first jig; the second manipulator transfers the external chip in the first jig to the second jig or the third jig; the first driving piece drives the first jig material disc to move; the first jig comprises a movable plate, a constant-temperature plate and a material carrying disc which are sequentially arranged from bottom to top. The first driving piece drives the movable plate to move back and forth between the material disc and the first jig. The first jig composed of the movable plate, the constant temperature plate and the material carrying disc is arranged, the constant temperature plate controls the working state temperature of the material carrying disc, the stability and authenticity of an external chip detection result are ensured, and the controllability of production quality is improved.

The utility model provides a manipulator for chip testing, which comprises a main base and an auxiliary base which are arranged in parallel, a linear transmission module is fixedly mounted on the main base, a sliding rail is fixedly mounted on the auxiliary base, a first sliding block is slidably connected onto the sliding rail, and a second sliding block is slidably connected onto the first sliding block. The direction in which the first sliding block moves along the sliding rail is consistent with the direction in which the linear transmission module moves, a vertical plate is arranged between the main base and the auxiliary base, one end of the vertical plate is fixedly connected with a sliding table of the linear module, the other end of the vertical plate is fixedly connected with the first sliding block, and the first sliding block is fixedly connected with the auxiliary base. Guide rails are arranged at the upper end and the lower end of the front end face of the vertical plate in parallel at intervals, each guide rail is slidably connected with a second sliding block, the second sliding blocks at the upper end and the lower end are connected through a hollow clamping jaw base, and a driving assembly used for driving the clamping jaw base to move along the guide rails is fixedly installed on the vertical plate. The manipulator can quickly and stably transfer chips to different test stations.

The application provides a towing rope guiding cable operation system and method based on a wall-climbing robot, and belongs to the technical field of program-controlled mechanical hands. The system comprises a magnetic adsorption mobile chassis module, a cable loading and guiding release module, a posture sensing and safety monitoring module, a wireless remote control communication module and a power supply and energy management module. The method comprises six steps of system initialization and calibration, robot launching and hull attachment, cable loading and fixing, remote control climbing operation, cable release and handover and robot recovery. The application replaces manual cable throwing with robot autonomous climbing, eliminates the safety hazards of the traditional suspended cable operation in which the tugboat needs to approach the cable in front of the large ship, enables the cable guiding operation to be still operable under the condition of six-level wind, autonomously controls the cable time, and does not require high-altitude operation of the side personnel, thereby significantly improving the operation safety of the tugboat itself and the cable guiding success rate.

The invention discloses waste battery pretreatment equipment which comprises an electrode batch milling device and a recycling discharging device, the electrode batch milling device comprises a milling machine table, a milling section feeding conveying belt, a milling section discharging conveying belt, a measuring table, a milling section discharging conveying belt, a stereoscopic warehouse cabinet and an adaptive distribution adjusting structure, the device comprises a discharge manipulator mounting table and a loading and unloading manipulator, the discharging device comprises a battery discharging placement frame, a discharging module, a copper sheet, a heat dissipation structure, a discharging limiting structure and a double-channel temperature detection structure; the current distribution structure comprises a plurality of discharge cabinets, all the discharge cabinets are connected to the same terminal, the number of the discharge cabinets is in one-to-one correspondence with the number and positions of the battery discharge placement racks, an encoder of the measuring table is electrically connected with a feeding and discharging manipulator, and the feeding and discharging manipulator is electrically connected with the discharge cabinets. According to the invention, the batteries can be discharged under the most suitable current in the corresponding three-dimensional cabins, and the safe discharge is ensured.

The utility model relates to the technical field of mechanical arms, in particular to a clamping device for a mechanical arm, which comprises a bottom plate, a mounting frame, a clamping component and a driving component, the clamping component changes the motion mode of a clamping claw through the synergistic effect of a first rotating rod, a second rotating rod and a spring, and when the driving component works, the clamping claw is clamped by the clamping component. The first rotating rod and the second rotating rod drive the clamping claw to move, elastic force provided by the spring enables the clamping claw to better adapt to the shape of an object when making contact with the object, compared with a traditional clamping claw only doing arc motion, the clamping claw can be more tightly attached to the surface of the irregular or round object through the design, friction force between the clamping claw and the object is increased, and the clamping claw can be more stably clamped. The clamping device is simple in structure and convenient to use, the slipping phenomenon is effectively reduced, the clamping stability is improved, the springs are arranged, the clamping claws can adapt to the shape of an object, the clamping force can be changed by adjusting the elastic coefficient or the pre-tightening force of the springs, and the adaptability and reliability of the clamping device are further improved.

The utility model discloses a patch detection mechanism, and belongs to the field of patch detection, and the patch detection mechanism comprises a frame, the inner wall of the frame is fixedly provided with a conveying belt, the top of the frame is fixedly provided with a vertical rod, the outer edge of the vertical rod is slidably connected with a rubber block, the inner wall of the rubber block is slidably connected with a cross rod, and the cross rod is fixedly connected with the conveying belt. The outer side of the cross rod is fixedly connected with a fixing plate, the inner side of the fixing plate is fixedly provided with a barrier strip, the top of the frame is fixedly provided with a support, and the inner top of the support is fixedly provided with optical detection equipment. The sucking pump is driven to operate to generate suction force, the sucking disc is matched with the mechanical arm to suck defective PCBs after detection, the mechanical arm is driven to operate to transfer abnormal PCBs, the abnormal PCBs are stored in the inner wall position of the storage box, workers can conveniently treat the abnormal PCBs in a follow-up centralized mode, materials are taken in an adsorption mode, and the working efficiency is improved. And a material removing mechanism of a complex structure in an existing device is replaced, the material taking mode is simple and convenient, efficiency is high, and the equipment failure rate is low.

The utility model discloses a flexible FPC flip module suitable for backlight keyboard lighting effect detection, which comprises a base, lifting assemblies, flip assemblies, damping limiting assemblies and electrostatic chucks, the lifting assemblies are arranged on the two sides of the top of the base, the flip assemblies are arranged on the inner sides of the lifting assemblies, and the damping limiting assemblies are arranged on the inner sides of the flip assemblies. The damping limiting assembly is arranged on the left side of the overturning assembly, the electrostatic chucks are arranged at the bottom of the damping limiting assembly, the total number of the electrostatic chucks is three, the lifting assembly comprises a fixing rod, a positioning groove, a first air cylinder, a limiting seat, a positioning sliding rod and a mounting block, and the overturning assembly comprises a mounting plate, a second air cylinder and a sliding block. The flexible FPC overturning module suitable for backlight keyboard lighting effect detection has the advantages of being convenient to overturn and good in clamping effect, and solves the problem that when an overturning device in the prior art is used, clamping is conducted through a mechanical arm, and a flexible FPC circuit board is prone to breakage or the bending amplitude is too large in the overturning process.

The application discloses a kind of multi-station material receiving and stacking device and stacking method, including rack, the rack is equipped with feeding device, transfer mechanism, detection device, conveying platform and discharging device;The conveying platform is located between feeding device and discharging device, the transfer mechanism is located above conveying platform, the feeding device includes the upper warehouse for placing incoming circuit board, paper receiving bin and upper material suction assembly, the conveying platform is arranged at the side of upper warehouse and is used to carry and transport circuit board, the discharging device is provided with rotatably arranged discharging turntable, the discharging turntable is provided with discharging tray for placing circuit board;The application has fully automated detection, stacking effect, can simultaneously process the placement relationship between circuit board and separator paper through the cooperation of multiple suction manipulators, without manual placement, thereby improving production detection efficiency, can timely sort out qualified circuit board through detection device, without worrying about the outflow of unqualified circuit board.