1303 results about "Working space" patented technology

The invention relates to the technical field of intelligent mechanical arm control, and discloses a mechanical arm track optimization method and system based on deep learning and a fuzzy algorithm, and the method comprises the steps: building a kinematic model of a mechanical arm, determining the working space of the mechanical arm, carrying out the high-density random sampling, and generating a three-dimensional point cloud picture of a reachable region at the tail end of the mechanical arm; constructing a path planning model, designing a state space and an action space, and constructing a reward function; time-impact double-target optimization is carried out on the tail end path point sequence, a smooth joint trajectory is constructed, and balance between the shortest trajectory execution time and the minimum joint impact is achieved on the premise that speed and acceleration constraints are met; and tracking control is carried out on the trajectory, external disturbance and unmodeled dynamics are estimated and compensated in real time, a parameter adaptive law is designed, and the trajectory tracking precision of the system in a complex environment is improved. The autonomy, the accuracy and the anti-interference capability of the hot-line work mechanical arm in a complex environment are improved.

The invention belongs to the technical field of parallel robots, and particularly relates to a four-degree-of-freedom parallel mechanism with an offset angle, which comprises a fixed platform, transmission branch chains are respectively arranged on the left side and the right side of the fixed platform, and parallelogram structures with offset angles are fixedly arranged at the upper ends of the two transmission branch chains; and a movable platform is connected between the two parallelogram structures with the offset angles. According to the four-degree-of-freedom parallel mechanism, a unique 4-2-1 structure is adopted, two driving branch chains are driven to act through four driving moving joints composed of two first sliding blocks and two second sliding blocks, three-dimensional translational motion and one-dimensional rotating motion of one movable platform are achieved, the working space of the four-degree-of-freedom parallel mechanism can extend infinitely in the direction of a guide rail, and the working efficiency of the four-degree-of-freedom parallel mechanism is improved. The device is good in movement stability, compact in structure and high in rotation flexibility.

The invention provides a filter stick defective product sorting method for reinforcement learning self-adaptive grabbing, and relates to the technical field of filter stick sorting. The defects of the filter stick are recognized through a multi-view visual module, image coordinates are compensated in real time in combination with the speed of a conveying belt, and the image coordinates are accurately mapped to a three-dimensional working space of a mechanical arm; then, defect poses, production line states and mechanical arm parameters are input to a reinforcement learning module, so that the optimal grabbing action and clamping pressure are output, and efficient sorting of the driving mechanical arm and the soft clamping jaw is achieved; and meanwhile, the feedback evaluation unit acquires a grabbing result through a sensor, generates a reward signal optimization strategy network, and realizes continuous online learning. The technical problems that in a high-speed flexible production line, a traditional sorting system is insufficient in grabbing precision and high in false grabbing rate due to the fact that visual recognition and a mechanical grabbing strategy are disjointed are solved. According to the invention, the collaborative precision of defect identification and grabbing and the sorting efficiency in the filter stick production line are obviously improved.

The invention relates to a humanoid robot, in particular to a redundant drive parallel waist mechanism for the humanoid robot. The redundant drive parallel waist mechanism for the humanoid robot has the advantages of being large in working space range, high in precision and large in bearing capacity. According to the technical scheme, the redundant drive parallel waist mechanism for the humanoid robot is characterized by comprising a waist platform connected with upper limbs of the humanoid robot, a pelvic bone base connected with lower limbs of the humanoid robot and six branches connected between the waist platform and the pelvic bone base in parallel; the six branches comprise four first branches and two second branches; or the six branches comprise four third branches and two fourth branches.

A method for calibrating a robot is disclosed. A working space of the robot at least partly overlaps with a working space of a machining and / or production tool. The robot is moved such that a reference point of the robot is at a first position within the working space of the machining and / or production tool. A first position value for the robot at the first position is compared with a first position value for the machining and / or production tool at the position. If the first position value for the robot differs from the first position value for the machining and / or production tool, the first position value for the robot is corrected or the first position value for the machining and / or production tool is corrected such that the first position value for the robot and the first position value for the machining and / or production tool are the same.

The invention relates to the technical field of substation detection equipment, in particular to a fault discharge detection device for a main transformer of a substation, which comprises a base, a first bearing plate is arranged on the side of a vertical supporting beam, a right-angle support is connected to a first servo rotating seat on the side of the first bearing plate, and a second bearing plate is fixedly mounted on the right-angle support. A horizontal supporting arm is installed on a second servo rotating seat on the second bearing plate, a bearing rotary table is installed at one end of the outer side of the horizontal supporting arm, a stabilizing screw rod is installed on a loading plate at one end of the outer side of the bearing rotary table, an adjusting screw rod on the periphery of the stabilizing screw rod is sleeved with a detection probe rod, and a third bearing plate is fixedly installed on the other side of the loading plate; an infrared camera probe is arranged on the outer side of the third bearing plate. According to the invention, through a matching structure of a mechanical-electrical integration design and a space kinematic chain, full-angle coverage of the main transformer of the transformer substation can be realized, a safe operation space is given to electric power engineering personnel, and the core problems of high signal supply omission ratio and high personnel safety risk are solved.

The invention discloses a CNC machine tool feeding and discharging robot multi-mode motion control system and method, and relates to the technical field of robot motion control, and the method comprises the following steps: in the path planning process, firstly, according to the task requirement of each mechanical arm and the current working space state, the motion path of the mechanical arm is dynamically generated through real-time sensor feedback; after the complete motion path is generated, the path of the mechanical arm is divided into a plurality of sub-path sections according to a fixed time window, and each sub-path section represents a small continuous motion area of the mechanical arm. Through dynamic path prediction and conflict detection combined with real-time sensor feedback and a machine learning model, potential path conflicts can be recognized and evaluated in time, the time window and the task execution sequence can be intelligently adjusted according to conflict severity, it is ensured that each mechanical arm executes tasks within safe time and space, and the task execution efficiency is improved. The deadlock phenomenon is reduced, and the overall efficiency and stability are improved.

A system for performing minimally invasive procedures in a body lumen of a patient including a flexible catheter having a first lumen configured and dimensioned to receive an endoscope therethrough and a second lumen configured and dimensioned to receive a first flexible tube therethrough. The first flexible tube is movable through the second lumen and has a distal portion including a first curve extending in a first direction with respect to the longitudinal axis and a second curve extending in a second different direction with respect to the longitudinal axis. A retractor system is positioned at a distal portion of the catheter and is movable from a non-expanded insertion position to an expanded position forming an expanded cage to form a larger working space. The distal portion of the first flexible tube is movable within the expanded cage.

The invention discloses a giant telescope sub-mirror installation robot device capable of reconstructing connection points, and belongs to the field of precise instruments and equipment. The robot device sequentially comprises a movable platform upper layer, a movable platform middle layer and a movable platform lower layer from top to bottom. A vertical rope used for being connected with a hoisting mechanism is fixed to the periphery of the upper layer of the movable platform. The periphery of the middle layer of the movable platform is fixedly provided with a mechanical arm with a rope outlet mechanism, and the fixing and the length of connecting points of the four horizontal ropes can be controlled. The position of the robot mounting device can be adjusted in a large space range by matching with the movement of the vertical ropes of the hoisting mechanism, reconstructing and controlling the connecting points and the lengths of the four horizontal ropes. A six-degree-of-freedom mechanism is arranged on the lower layer of the movable platform, and a clamping jaw used for clamping a lens is arranged at the lower end of a mounting frame of the six-degree-of-freedom mechanism. Therefore, assembly and maintenance tasks such as mounting and dismounting of the sub-mirror under the conditions of large working space and heavy load are realized.

The utility model provides a quick self-locking device which comprises a self-locking device body provided with a working space, a hook arranged on the self-locking device body, and an anti-falling lock catch arranged on the self-locking device body and matched with the hook, and further comprises an anti-falling lock catch arranged on the self-locking device body and matched with the hook. The clamping convex block is rotationally arranged in the working space and can be matched with the side wall of the working space to clamp the rope when the clamping convex block is driven by the rope to rotate; the ejector rod is arranged in the clamping protruding block in a sliding mode and can press the rope on the working side wall when the rope is pulled in the forward direction. And the safety ring is arranged on the clamping convex block and is positioned in the axial extension direction of the ejector rod. According to the utility model, the safety can be improved, and the working efficiency can be improved.

The invention relates to the technical field of robots, in particular to a rolling contact type continuum mechanical arm with a symmetrical structure and a statics modeling method thereof, the rolling contact type continuum mechanical arm comprises a plurality of rolling joints which are connected in sequence, and the rolling joints comprise one-degree-of-freedom joints and two-degree-of-freedom joints; the one-degree-of-freedom joints and the two-degree-of-freedom joints are alternately stacked, and every two adjacent rolling joints are connected in a rolling contact mode; the one-degree-of-freedom joint and the two-degree-of-freedom joint are each provided with a wire passing hole, and a driving cable is arranged in each wire passing hole in a penetrating mode. The continuum mechanical arm is of a symmetrical structure, the tail end of the continuum mechanical arm is provided with the most complete working space, and the problem that the working space at the tail end of an existing continuum mechanical arm has defects is solved; according to the static modeling method for the rolling contact type continuum mechanical arm, the problem that static analysis of rolling joints of different structures is inconsistent is solved, and the problem that calculation is complex due to the fact that integral terms exist in a traditional beam theoretical model is solved.

The utility model discloses a multi-station magnetizing device which comprises a machine body, a plurality of magnetizing assemblies, a transmission assembly and a control assembly, and a working space is formed on the machine body. The plurality of magnetizing assemblies are arranged in the working space. The conveying assembly comprises a conveying belt and a driving mechanism. The control assembly comprises a plurality of temperature detection elements and a controller electrically connected with the temperature detection elements, the controller is electrically connected with the transmission assembly, each magnetizing assembly is provided with one temperature detection element, and the temperature detection elements are used for detecting the current temperature of the corresponding magnetizing assembly and sending the current temperature to the controller; the controller controls the transmission assembly to work to transport the rotor to be magnetized to the front side of the magnetizing assembly with the current temperature smaller than the preset temperature. A user only needs to place the to-be-magnetized rotor on the transmission assembly on the corresponding magnetizing assembly to realize magnetizing operation, so that misjudgment caused by manual judgment can be avoided, and the intellectualization of the multi-station magnetizing device is improved.

The invention belongs to the technical field of intelligent manufacturing, and particularly relates to a six-axis industrial robot programming method for preventing joint overspeed through kinematics optimization. Interpolating between the trajectory control points to obtain a discrete point location sequence; initializing a tail end working posture and calculating an inverse solution of the robot to obtain a joint space motion trail; defining an operability calculation method, a singular point region threshold value and a joint space movement distance; selecting a greedy strategy or a heuristic strategy; generating a rotation angle of the tail end around the tool axis and a robot joint space trajectory; and outputting the robot program. While singularity avoidance optimization is carried out by using the redundant degree of freedom of the robot, the corresponding movement distance in the joint space when the robot passes through each point on the path is checked, and the movement distance in the joint space is shortened, so that the large-amplitude movement in the joint space caused by the small-amplitude movement of a robot end tool in the working space is avoided, and the working efficiency is improved. And the risks of shutdown and safety accidents caused by joint overspeed are reduced.

Improved methods and devices for performing an endoscopic surgery including a system for performing minimally invasive procedures including a flexible catheter having a first lumen, a first flexible tube positioned in the first lumen, and a second flexible tube positioned in the first lumen. The first lumen defines a first space configured and dimensioned to receive an endoscope. The first flexible tube and second flexible tube are fixed at a proximal portion and configured to float within the first lumen of the catheter. First and second flexible guides are slidably positioned within the first and second flexible tubes and dimensioned to receive a first instrument for axial movement therein, the first and second flexible guides movable to an angled position with respect to a longitudinal axis. A working space expanding system positioned at a distal portion of the flexible catheter, the working space expanding system movable from a non-expanded insertion position to an expanded position forming an expanded region to expand the working space within the body lumen.

The invention relates to the technical field of parallel machine mechanisms, in particular to a position symbol positive solution two-translation and one-rotation parallel robot. The working space of a conventional 2T1R parallel robot is greatly limited by the singular configuration of a mechanism or the rotating capacity of a movable platform is limited, so that the conventional 2T1R parallel robot is difficult to adapt to the machining operation of a large-dip-angle inclined plane. In order to solve the problems, the position symbol positive solution two-translation and one-rotation parallel robot is provided, the topological structure of the position symbol positive solution two-translation and one-rotation parallel robot comprises a static platform, a movable platform, a mixed branch chain I, a simple branch chain II and a simple branch chain III, and the mixed branch chain I, the simple branch chain II and the simple branch chain III are connected with the static platform and the movable platform. The positive solution problem of the position of the mechanism is successfully decoupled, and the motion of any driving revolute pair located on the static platform in the space sub-parallel mechanism in the mixed branched chain determines the translation of the movable platform along the z axis. The two simple branch chains are independently responsible for rotation of the movable platform around the y axis and translation of the movable platform along the x axis. According to the highly-decoupled driving mode, the risks of internal interference and singular configuration are reduced.

To provide a clamp-on type ultrasonic flowmeter which can be easily attached to a pipe in a narrow working space.SOLUTION: A clamp-on type ultrasonic flowmeter 1 for measuring a flow rate of a fluid flowing in a pipe using an ultrasonic wave includes a main-body-side pipe mounting portion 30 for mounting, on a pipe 100, a device main body 10 on which an ultrasonic transducer for transmitting and receiving an ultrasonic wave to and from the pipe 100 is mounted, and an outer pipe mounting portion 20 disposed to face the main-body-side pipe mounting portion 30 via the pipe 100. The band 45 inserted through the two band openings 40 is fastened to fix the body-side pipe mounting part 30 and the outside pipe mounting part 20 to the pipe 100.SELECTED DRAWING: Figure 1

The invention discloses a dust blocking method for a working space of fully-mechanized face personnel, and belongs to the technical field of coal mine dust treatment. The invention provides a comprehensive blocking scheme for solving the problems that in the prior art, fully-mechanized face dust is high in concentration and serious in diffusion, and workers are prone to suffering from pneumoconiosis. According to the method, a wireless dust source tracking spraying device is arranged on the outer side of a coal mining machine, and dust generated by coal cutting is settled and guided; a coal mining area and a personnel activity area are physically separated by utilizing an efficient dust blocking and isolating device on the hydraulic support; a negative-pressure micro-mist dust remover is arranged in front of a stand column of a top beam of the support to suck and purify dust near the top beam; and a support dust receiving device is installed on the hydraulic support and used for collecting dust generated by descending the column and moving the support. The method can effectively reduce the dust concentration in the working space of workers on the fully-mechanized coal mining face, reduces the risk of pneumoconiosis of miners, and provides convenience for source-divided and domain-divided treatment of dust on the fully-mechanized coal mining face.

When the improved structure of the sole pressing machine works, a second driving mechanism is used for driving a pressing rod to move to a position staggered with a working space, so that a manipulator can smoothly place a workpiece in the working space, and then the second driving mechanism is used for driving the pressing rod to move to a position opposite to the working space; compared with the prior art, a displacement function is added to the pressing rod, the discharging action of the mechanical arm is avoided or reset by moving the position of the pressing rod, the overall structure is simple, the operation is convenient, and the cost is low. The problem that a traditional fixed pressing rod is prone to hindering the discharging action of the mechanical arm is effectively solved.

The invention provides a boom assembly based on a spatial three-degree-of-freedom fly boom and an intelligent overhead working truck, and relates to the technical field of overhead working trucks. The boom assembly based on the spatial three-degree-of-freedom fly boom comprises a main boom, the fly boom, a supporting hydraulic cylinder, a supporting piece, a swing driving mechanism, a working platform and the like. When the device is applied to the overhead working truck, when the working platform is subjected to wide-range switching of the working position, the rotary table does not need to rotate, the flying arm and the working platform are driven to swing up and down through the telescopic action of the supporting hydraulic cylinder, the flying arm and the working platform are driven to swing left and right through the swing driving mechanism, and the working platform is driven to move front and back through the telescopic action of the flying arm. The degree of freedom and the operation range of the working platform are increased, multi-degree-of-freedom accurate adjustment of wide-amplitude switching of the operation position of the working platform is achieved, and the requirement of the overhead working truck for the operation space is lowered; by arranging the intelligent monitoring system, intelligent and accurate control over operation of the overhead working truck is achieved, and operation safety is improved.

The invention discloses a leg motion control method and system for a flying type double-wheel-leg robot based on active-disturbance-rejection control, and the method comprises the following steps: S1, solving a five-connecting-rod kinematics calculation formula of the legs of the robot based on the geometrical relationship of a five-connecting-rod mechanism; s2, on the basis of the five-connecting-rod kinematics solution formula, virtual model control is utilized, and the mapping relation between the force of the working space and the joint torque is obtained; s3, solving a kinetic equation of a leg mechanism of the robot by utilizing a Lagrange equation; s4, constructing an active-disturbance-rejection control model based on the kinetic equation, and dynamically optimizing the active-disturbance-rejection control model by using an RBF neural network to obtain a robot leg control model; and S5, regulating and controlling the leg movement of the robot by using the robot leg control model.

A cross beam punching device for vehicle machining relates to the technical field of punching devices and comprises a supporting table, a side frame is fixedly connected to the supporting table, a vertically-arranged telescopic cylinder is fixedly connected to the top of the side frame, a switching plate is horizontally arranged below the telescopic cylinder in a sliding mode, and a plurality of vertically-arranged sleeves are fixedly connected to the switching plate in parallel; a plurality of sleeves are arranged on the supporting table, punch connecting rods are arranged in the sleeves in the vertical direction in a sliding mode, punches are connected to the lower ends of the punch connecting rods, the diameters of the punches on the multiple punch connecting rods are different, two punching supporting seats moving to the positions below the punches are horizontally arranged on one side of the supporting table in a sliding mode, and the two punching supporting seats move oppositely and reversely. The punching device solves the problems that when an existing punching device is used, punches of different sizes are replaced in a rotary disc mode, and due to the fact that the diameter of the rotary disc is large, large working space is occupied, and space layout and use are affected.

The utility model provides a seven-axis modular robot, which comprises a base, a plurality of joint modules, a plurality of switching structures and a tool output flange, by optimizing the layout and axis relation of each joint module, the robot is enabled to have larger working space by adjusting the angle and position of each joint under the condition of not changing the position of the base; in addition, under the condition that the horizontal radius is increased, elbow interference is not increased, flexible operation can be achieved in a more complex space environment, and interference and collision are avoided.

The invention belongs to the technical field of robot control, and particularly discloses a flexible robot grabbing planning method and system based on contact point guidance. Comprising the steps that point cloud position information p and normal vector information n of the surface of an object are obtained, a contact force distribution model of the robot arm is constructed, a grabbing force spinor space of the robot arm is constructed based on a discretized friction cone model and the contact force distribution model, and therefore an initial contact point candidate point set pc meeting the force closing condition is generated; and the positions and postures of the object and the robot system are set respectively, whether the current contact point set pc is located in the working space of the robot system or not is judged, and inverse kinematics of the redundant system of the robot is conducted according to the contact point set pc. The grabbing state planning method is suitable for grabbing state planning of various grabbed objects and robotic arm-robotic hand configurations, and has the advantages of being good in grabbing stability, high in effectiveness and wide in universality.

The technical scheme belongs to the technical field of wood splitting devices, and particularly relates to a wood splitting machine which comprises a rack, a baffle, a wood splitting axe, a two-way rapid oil cylinder and a power unit. The two-way quick oil cylinder and the baffle plate are arranged on the rack; the wood breaking axe is installed at the driving end of the two-way rapid oil cylinder, the wood breaking axe is S-shaped, wood can be split more easily, and a working space used for containing the wood is formed among the rack, the baffle and the wood breaking axe; the power unit is integrated on the rack to provide oil pressure for the two-way rapid oil cylinder; the hydraulic control switch valve and the control valve are stacked and integrated into a whole through the two-way rapid oil cylinder. The main beam is arranged on the machine frame, the tail end of the main beam is bent and upwarped, the tail plate is embedded and welded to the tail end of the main beam, the reinforcing plates are arranged on the two sides of the tail plate, the main beam is formed by cutting an integral sectional material, and compared with a traditional main beam formed by welding three plates, machining procedures of the main beam are reduced; and the bent guide plate is additionally arranged between the baffle and the sliding rail on the main beam, so that the strength of the baffle is improved while residual wood grid chippings are conveniently cleaned.

The anti-theft bolt assembling and disassembling sleeve comprises a steel pipe body, a connecting sleeve is fixed to the end of the steel pipe body, and an opening sleeve is fixed to the front end of the connecting sleeve; the open sleeve is provided with an open hole matched with the nut; the interior of the connecting sleeve is sunken, so that the inner diameter of the connecting sleeve is larger than that of the opening sleeve; notches are formed in the side walls of the opening sleeve and the connecting sleeve and used for allowing the anti-theft compression nut to enter. The anti-theft bolt mounting and dismounting sleeve can be freely matched by directly utilizing an existing tool, so that the problem of insufficient torque caused by mismatched models is prevented, the engineering construction quality is improved, the problem of limitation of an open spanner to the construction space is avoided, the construction process is simplified by adopting lateral sleeving, and meanwhile, when a conventional bolt is mounted and dismounted, the sleeve can be directly sleeved from the bottom, so that the mounting and dismounting efficiency is improved. And the application range is wider.

The invention discloses a control method and device of a surgical robot, a storage medium and electronic equipment. The method comprises the following steps: determining a plurality of simulated osteotomy surfaces of a target object according to a preoperative plan of knee joint replacement; under each simulated osteotomy surface, calculating a working space of the surgical robot to obtain a plurality of first working spaces; and determining a target working space of the surgical robot according to the plurality of first working spaces, and controlling the surgical robot to execute actions based on the target working space. By means of the method and device, the problem that in the prior art, due to kinematics constraint, an under-degree-of-freedom surgical robot cannot be adjusted to all necessary operation postures, and the accuracy of surgical robot control is low is solved.

The invention discloses a mechanical arm teleoperation training method based on force feedback, and the method comprises the steps: constructing a hot chamber virtual environment containing a mechanical arm model and an operation object through a scene simulation platform Unity, and configuring a joint position according to a real mechanical arm DH parameter; the dynamics simulation platform AppeliaSim builds a corresponding dynamics model, and an inverse kinematics solution and collision detection function is configured; integrating a force feedback device, and constructing a working space mapping model to convert hand motion into an expected pose of the tail end of the mechanical arm; the double platforms synchronize data through a dynamic link library, and the object control and force sense calculation module calculates collision force and bolt assembling and disassembling torque and transmits the collision force and the bolt assembling and disassembling torque to force feedback equipment. The method does not need to depend on a real mechanical arm, safety risks and high cost are avoided, training repeatability and pertinence are improved, immersion and operation precision are enhanced through force sense and visual sense synchronous feedback, the training period is shortened, and the method is suitable for fine operation training of the mechanical arm in a dangerous environment.

The invention relates to a hybrid platform based on 3SPS-PU-3PRR, a working method and application, and belongs to the technical field of manipulators. Comprising a fixed platform, a relay platform and a movable platform, three PRR branch chains are connected between the fixed platform and the relay platform, three SPS branch chains and a PU branch chain are connected between the relay platform and the movable platform, three sets of lead screws are arranged on the fixed platform, the lead screws drive the relay platform to move relative to the fixed platform when doing reciprocating rectilinear motion, and the lead screws drive the relay platform to move relative to the fixed platform when doing reciprocating rectilinear motion when doing reciprocating rectilinear motion. And when the PU branch chains act, the distance between the movable platform and the relay platform is limited, and more reliable structural support and motion stability are provided. The movable platform can perform limited six-degree-of-freedom movement relative to the fixed platform, and the relay platform can perform limited planar movement and rotation relative to the fixed platform. Performance balance is achieved, and the mechanical arm has the advantages of being large in rigidity, stable in structure, high in precision, small in error and large in working space.

The invention relates to a dexterous hand self-adaptive grabbing method, a dexterous hand control system and a storage medium. The dexterous hand self-adaptive grabbing method comprises the steps that multi-modal sensing data is acquired; after the point cloud data is processed and a point cloud global feature vector corresponding to a grabbed target is generated, the tactile patch information is mapped to a dexterous hand working space, and a simulation tactile signal is generated; a Glow-CVAE condition generation model is utilized to process the point cloud global feature vector and the simulated tactile signal, and a candidate grabbing gesture set including joint attitude and pose parameters is generated; and the stability corresponding to each candidate grabbing gesture is determined, a target grabbing gesture is selected from the candidate grabbing gesture set according to the stability, and the grabbing target is grabbed according to the target grabbing gesture. By means of the method and device, the problems that in the prior art, adaptability to special-shaped parts and flexible objects is limited, and grabbing stability is not high are solved, and the beneficial effects of high adaptability and stability of grabbing of diversified objects in a complex scene are achieved.