140results about "Programme-controlled manipulator" patented technology

A mobile robot with a diagram indicating a moving path of a subject and a diagram showing a connection between locations, is capable of generating a path on which a subject is predicted to move from information of the subject detected by a detector, a detecting direction of the detector along the path, or tracking the subject by tracing the path, and predicting a location of a destination of the subject even when the subject has moved to another location. Further, the robot is capable of determining an abnormality based on detected location of the subject.

Passive gravity balancing orthosis apparatus for assisting and training patients suffering from muscle weakness by relieving the patients afflicted member of its weight using a plurality of articulated supporting members. Relief is obtained by identifying and fixing the center of mass of the combined articulated equipment members and supported weight of the patient's member in space using a defined parallelogram mechanism and once so identified making the total potential energy for any configuration of the articulated members of the system constant. At least one zero free length spring is used to connect the center of mass to a support outside the articulated members. Additional springs connect the center of mass to the articulated members.

A taught position modification device easily correcting, in a short time, positions of taught points in a program prepared by an offline programming system. A workpiece image captured by a visual sensor and an image of a three-dimensional workpiece model having three characteristic points are displayed on a screen. Based on coordinate values of workpiece portions corresponding to the characteristic points which are specified in the workpiece image, the position and orientation of the model in a robot operating space are corrected, and also positions of taught points are corrected. When a tool end of a robot is positioned by jog feed to the operation position on a workpiece after being automatically moved to one of the corrected taught points, the taught point is modified based on the robot operating position detected at that time.

The invention discloses a variable-rigidity reinforced pneumatic soft driver. A non-strain layer is pasted to the bottom face of a drive cavity inner core, and an initial drive cavity inner core is formed. The periphery of the initial drive cavity inner core is wrapped by thin wires on the top face and the bottom face of the initial drive cavity inner core. A drive cavity outer packaging skin layer is arranged on the outer sides of the thin wires to achieve packaging, and a packaged drive cavity is formed. The bottom plane of the drive cavity is pasted to the top face of a rigidity adjusting cavity wrapping body, and the two ends of the drive cavity are sealed by a front end cover and a rear end cover correspondingly. A drive gas cavity is formed in the sealed drive cavity inner core. A variable-rigidity adjusting gas cavity is formed in the rigidity adjusting cavity wrapping body. Multiple endoskeletons are arranged in the variable-rigidity adjusting gas cavity, and particle spheres are distributed in the variable-rigidity adjusting gas cavity and between the adjacent endoskeletons. A gas source gas inlet guide pipe stretches into the drive gas cavity from the rear end cover, compressed air enters the drive gas source through the gas source guide pipe, a gas source gas outlet guide pipe stretches into the variable-rigidity adjusting gas cavity from the rear end cover, and thevariable-rigidity adjusting gas cavity is vacuumized through the gas source guide pipe.

An industrial robot including a first arm which has a first arm portion, and a second arm portion supported by the first arm portion. The industrial robot also includes a second arm which has a third arm portion and a fourth arm portion supported by the third arm portion. The first arm and the second arm can be expanded/retracted independently. A turning center of the first arm portion and a turning center of the third arm portion are placed coaxially. The first arm and the second arm are constructed so as to be almost line-symmetric with respect to an imaginary line under the condition that the first arm and the second arm are retracted. The first arm portion, the third arm portion, the second arm portion, and the fourth arm portion are placed in this order in a vertical direction.

The invention discloses a rhinestone grinding and polishing machine, which comprises a center support and a plurality of working devices arranged in a ring around the center support along the process path of the rhinestone grinding and polishing, wherein a plurality of manipulators are arranged on the central swinging plate, and each manipulator is used for The rhinestone fixture in the previous working device along the rhinestone grinding and polishing process path among two adjacent working devices is transferred to the latter working device. The rhinestone grinding and polishing machine of the present invention uses universal fixtures, and utilizes the manipulator to transfer the fixtures, which overcomes the problem of docking process caused by the head assembly and the spindle turntable assembly of the prior art because of the non-stop rotation of the head assembly and the main shaft turntable assembly. The utilization rate of mature technical means is high, and the risk of technology research and development is small.

The invention discloses a material carrying mechanical arm capable of rotating and displacing. The mechanical arm comprises a base, a lifting stand column, a transverse moving mechanism, a mechanicalarm, a connecting piece and a material taking mechanical claw, wherein the lifting stand column is fixed on the base through a rotating disc, the transverse moving mechanism is arranged on the liftingstand column, the lifting stand column comprises a lifting air cylinder and a supporting stand column, and the bottom of the lifting air cylinder is arranged on the rotating disc; and the mechanicalarm comprises a first mechanical arm, a second mechanical arm and a third mechanical arm, wherein the third mechanical arm is connected with the material taking mechanical claw through the connectingpiece, a first hydraulic cylinder is connected between the first mechanical arm and the second mechanical arm, a second hydraulic cylinder is arranged between the second mechanical arm and the third mechanical arm, and a third hydraulic cylinder is arranged between the third mechanical arm and the material taking mechanical claw. Through the cooperation and use of the lifting stand column, the transverse moving mechanism and the rotating disc, all-directional work of the material taking mechanical claw can be controlled, so that the automation degree in the production process is improved, manual operation of people in a dangerous environment is replaced, the working condition is improved, and the working efficiency is greatly improved.

A process is provided for controlling a robotal device, such as a multiaxial industrial robot, by a control unit, with a control core for executing control processes for the robotal device. An interface function checks whether models and/or procedures optionally contained in the control core or additional models and/or transformation procedures and/or special algorithms of kinematic structures, which can be preset at the interface are used as model modules for motion-relevant variables of the robotal device. Special and third-party kinematics can thus also be operated with a control device suitable for executing the process without the control itself having to be modified.

The invention provides an indoor mobile robot for delivering meals and belongs to the technical field of robots. The indoor mobile robot for delivering the meals comprises a chassis, Mecanum wheels, a storage battery, a charging pile, a trunk support, shoulder joint servo drive units, large arm joint servo drive units, shoulder and large arm connecting pieces, large arm and small arm connecting pieces, small arm joint servo drive units, small arm and wrist joint connecting pieces, wrist joint servo drive units, wrist joint and palm connecting pieces, tail end joint servo drive units, tail end connecting pieces, chassis servo drive units, a binocular vision sensor, a controller and a WIFI module. The indoor mobile robot is provided with double arm structures, double arms have multiple freedom degrees and the power-off self-locking function, the meals can be automatically delivered in a restaurant rapidly and efficiently, and the indoor mobile robot is simple in structure, convenient to operate and capable of saving manpower.

A control apparatus of an automatic machine is provided, while the control apparatus supplies electric power of a power supply in high reliability with respect to a driving apparatus of the automatic machine, and further, has no problem as to ensuring of safety.

In a control apparatus of an automatic machine having a breaker (22) connected to a power supply (21), and a driving apparatus (32) for supplying electric power of the power supply (21) to a driving unit (35) of the automatic machine via a relay apparatus (31) connected to the breaker (21), which controls the driving apparatus (32), the control apparatus is comprised of: a current control rectifying element (33) connected to the relay apparatus (31); and a current controlling device (29) for feed-controlling the current control rectifying element (33) after a contact of the relay apparatus (31) has been closed when supplying of the electric power to the driving unit (35) is turned ON.

The present disclosure is directed to an autonomous exoskeleton device that includes one or more actuators, one or more controllers, one or more sensors with one or more unidirectional transmissions. The control system includes an exoskeleton member configured and arranged on a limb of a user; a control device, a control device connected to the at least one exoskeleton member; an actuator mechanically connected to the limb of the user; and a sensor configured and arranged to sense a global angle of the exoskeleton device relative to the ground. The control device is configured and arranged to use the global angle to control the exoskeleton member.

The invention provides a cross writing and drawing robot which comprises a left base and a right base, wherein a transverse polish rod is arranged between the left base and the right base, and is movably provided with a moving center; a longitudinal polish rod vertical to the transverse polish rod is arranged on the moving center; a penholder module and/or a laser module are/is arranged at the end part of the longitudinal polish rod; and a left motor and a right motor are respectively arranged on the left base and the right base, and can be used for driving the penholder module, the moving center and the longitudinal polish rod to make X-axial movement on the transverse polish rod, or driving the penholder module and the longitudinal polish rod to make Y-axial movement relative to the moving center. The cross writing and drawing robot can be used for automatically controlling the penholder module to make X-axial movement or Y-axial movement through a control module, as well as writing or drawing by virtue of a pen clamped on the penholder module instead of a person, has the advantages of compact structure, reliable performance, sensitive action, high movement displacement accuracy, long service life and the like, and is suitable for working situations with relatively high repeatability.

The invention provides an intelligent robot and a control method and system thereof. The control method for the intelligent robot comprises the steps that a scene map is constructed according to omni-directional scene data scanned by laser radar, the real-time position of the intelligent robot is displayed on the scene map, and a navigation point task, a path task and a task queue are established;a task to be executed is configured according to the selected navigation point task, the path task and/or the task queue; and the process of the task to be executed is executed, and in the executingprocess of the task to be executed by the intelligent robot, surrounding obstacles of the intelligent robot are detected in real time and are avoided in the obstacle detecting process. According to the intelligent robot and the control method and system thereof, 360-degree omni-directional laser scanning can be carried out on the working environment through the laser radar so as to construct the scene map, and the detection of the obstacles around the robot, automatic positioning and navigation, path planning, path recording and task queue editing can be realized, and the motion precision of the robot can be achieved.

The invention relates to a cable inspection robot and a control system of the cable inspection robot. The control system comprises a control module, a temperature collecting module, an image collecting module, a servo system, a power source module and a storage module. The temperature collecting module and the image collecting module are used for collecting temperature signals of cables and image signals of the cables respectively. The control module comprises a first controller and a second controller. The first controller is connected with the temperature collecting module, the image collecting module and the servo system and is used for processing the temperature signals collected by the temperature collecting module and the image signals collected by the image collecting module and controlling the servo system. The second controller is connected with the first controller, the power source module and the storage module and is used for storing the temperature signals processed by the first controller and the image signals processed by the first controller into the storage module. Due to the fact that the first controller and the second controller are arranged in the control system, processing speed can be greatly improved, so that the control system is suitable for high-speed inspection of the cable inspection robot.

The invention relates to a path planning method and device, a mechanical arm controller and a readable storage medium. The method comprises the following steps: carrying out random tree growth processing according to a sampling space of a joint space, a starting point configuration of a task starting point of a mechanical arm in the joint space of the mechanical arm and a finishing point configuration of a task finishing point in the joint space, and pre-set first step length second step length, so as to obtain a plurality of tree nodes in a random tree, wherein the first step length is a steplength for the growth from a new tree node to a sampling point and the second step length is a step length for the growth from the new tree node to a target tree node; in a random tree growth processing process, judging a local minimum state; when judging that the growth of the random tree is at the local minimum state, adjusting the first step length and the second step length, so as to enable the first step length to be greater than the second step length; and obtaining an initial path from the task starting point to the task finishing point in the joint space according to the plurality oftree nodes of the random tree. By adopting the method provided by the invention, the local minimum state can be avoided in the growth process of the random tree.

The present invention relates to one kind of rotating pair non-overconstrained four freedom degree parallel robot mechanism, which consists of one fixed platform, one movable platform, one secondary platform, branched motion chains and rotating pairs. All the branched motion chains are in identical structure, and all the motion pairs in the mechanism are rotating pairs. When the mechanism moves, the movable platform is subjected to two independent constrains, and the mechanism is one non-overconstrained mechanism with four freedom degrees. The present invention has the advantages of symmetrical structure, easy assembling, low design and manufacture cost, great work space, etc, and may be applied in parallel robot, parallel machine tool and other industrial fields.

The invention discloses a multi-robot collaborative transportation method. Multiple robots collaboratively drive a target object to a target position; and the types and the quantity of the robots are determined through a central control system or a robot with calculation capacity via a judgment algorithm. According to the multi-robot collaborative transportation method, multiple low-power robots can be used for collaboratively transporting the target object which has the weight higher than the load capacity of the single robot. After the power is reduced, the robots can realize space minimization, thus realizing the advantage that the robots can enter a gap between the object and the ground or enter a gap between the object and another object; and therefore, the storage density of the object is increased, and the special space requirement for a storage device is reduced.

The invention discloses a six-degree-of-freedom mechanical arm device of a block press dedicated for an optical element. The six-degree-of-freedom mechanical arm device comprises a base, a rotary driving component, a big arm component, a small arm component, a hand component and a wrist component, wherein the rotary driving component comprises a base motor, a harmonic reducer, a base rotation shaft and a coupler; the big arm component comprises a big arm, a big arm driving motor and a first cycloidal pin gear reducer; the small arm component comprises a small arm, a small arm driving motor and a second cycloidal pin gear reducer; the big arm driving motor is connected with the bottom of a big arm; the base motor, the big arm driving motor and the small arm driving motor are all hollow shaft motors; the hand component is provided with a minitype temperature sensor. The six-degree-of-freedom mechanical arm device has the advantages of compact and simple structure, convenience in pipeline arrangement, easiness in operation and convenience in adjustment, a workpiece and a mould can be picked and placed, the temperature change of the workpiece and the mould after mould pressing can be detected in real time, the use efficiency of the block press is improved, and the damage possibility of the workpiece and the mould can be lowered.

A robot includes two members that relatively rotate around a rotary shaft. The position of the rotary shaft for at least one of the two members is changed.

The invention discloses a system and a method for controlling an automatic drug racking and placing device and belongs to an automatic control system. The control system comprises a PLC (programmable logic controller) control subsystem, a barcode reader and a motion control module, the barcode reader is connected with the PLC control subsystem which is connected with an upper computer and further connected with a servo driving motor and a stepping motor through the motion control module, and the motion control system is further connected with a motion coder. Under the joint action of the PLC control subsystem and the motion control module and by combining preset parameters of all kinds of drugs stored in a database of the upper computer, a motion executing mechanism is controlled to convey different drugs into specified drug grooves, and the whole process is automatically completed by controlling the motion executing mechanism through the motion control module by the PLC control subsystem, so that efficiency of drug racking is remarkably improved; and a drug racking device lower than a manipulator in cost is used, so that the system can be used as an automatic drug-racking control system in drug rooms of various medical institutions and is wide in application range.

The invention provides a horizontal multi-joint industrial robot which comprises a base, a horizontal swing arm assembly and a ball spline lead screw positioning assembly, wherein the horizontal swingarm assembly is rotatably mounted on the base; the ball spline lead screw positioning assembly comprises a ball spline lead screw shaft and a driving device; the driving device is used for driving the ball spline lead screw shaft to horizontally rotate and/or move up and down in the height direction of the horizontal swing arm assembly; the driving device comprises a driven assembly; the driven assembly is mounted on the ball spline lead screw shaft and is fixed at the end, far away from the base, of the horizontal swing arm assembly through a support frame; the support frame comprises a support plate and a support rod; the support rod supports the bottom of the support plate; the ball spline lead screw shaft is arranged on the support plate and the horizontal swing arm assembly in a penetrating manner; and the driven assembly is positioned in a space defined by the support plate, the support rod and the horizontal swing arm assembly. The horizontal multi-joint industrial robot is easy to assemble, compact in structure and small in inertia and can conveniently realize light weight.

The invention discloses an elbow-joint exoskeleton robot based on lariat flexural drive, comprising a driving mechanism, upper arm front fixing mechanisms, upper arm rear fixing mechanisms, forearm front fixing mechanisms, forearm rear fixing mechanisms, elbow flexing mechanisms, an exoskeleton garment and lariats. The driving mechanism is fixed to the waist through the exoskeleton garment to provide driving power for the whole robot; the lariats are extended out of the driving mechanism, one lariat is guided by the exoskeleton garment to pass through the upper arm front fixing mechanisms andconnect to springs of the forearm fixing mechanisms, and the other lariat is guided by the exoskeleton garment to pass through the upper arm rear fixing mechanisms and connect to tension springs of the forearm rear fixing mechanisms. The elbow-joint exoskeleton robot based on lariat flexural drive has the advantages that burden of moving joints can be effectively relieved, the misalignment problemof rotational centers is eliminated, and the deformation of the robot is more similar to real muscular changes.

The invention relates to the technical field of communication, in particular to a delivery processing method and device of a service robot, a medium and equipment. According to the scheme, when the service robot is required to provide the delivery service, the service robot can be controlled to be navigated to the designated goods taking point to take goods according to the provided goods taking point information and can be controlled to be navigated to the designated delivery point, and the delivery service is completed. Thus, no matter what position the service robot is located, the servicerobot can reach the designated position automatically to take the goods, a user is not required to find the service robot to place the goods into the service robot, the time for finding the service robot aimlessly is saved, and the delivery efficiency of the service robot is improved.

The invention discloses an omnidirectional single-spheroid self-balanced face recognition and tracking robot. The omnidirectional single-spheroid self-balanced face recognition and tracking robot comprises an attitude sensor system, a data handling system, a two-freedom-degree camera system, a servo motor control system, a movement control system and a touch display module, wherein the attitude sensor system is connected with the data handling system to send detected movement state data to the data handling system; the data handling system and the two-freedom-degree camera system are mutually connected to acquire and analyze image data of current environment; the touch display module and the data handling system are mutually connected; the data handling system and the servo motor control system are mutually connected; and the servo motor control system and the movement control system are mutually connected to jointly control the movement state of the system. The omnidirectional single-spheroid self-balanced face recognition and tracking robot disclosed by the invention has the advantages that the in-situ free steering and omnidirectional movement can be performed in a narrow space, so that the omnidirectional single-spheroid self-balanced face recognition and tracking robot can be widely used in crowded places including a hospital, a bazaar and the like, and the movement defects of inflexible movement manner including large turning radius, long consumed time and the like, and the abuses that an interaction manner is single and short of attraction, existing in a conventional movement manner, are overcome.

The invention provides a wearable type assisted traveling device with adjustable step speed and self-adaptive step pitch. The wearable type assisted traveling device comprises a mechanical assembly and a control assembly, wherein the mechanical assembly comprises a waistband, and the two sides of the waistband are symmetrically equipped with racks; thigh support plates are mounted below the racksin a matched mode; the lower ends of the thigh support plates are equipped with thigh fixing belts in the matched mode, and the lower ends of the thigh support plates are equipped with spring coils; the control assembly comprises a power supply module, a motor driver, a control module, a step speed regulating knob, a power supply switch, a sensor A, a sensor B and film pressure sensors which are connected through cables, and is equipped with an electromagnet A and an electromagnet B, the sensor A and the sensor B are mounted on a protective cover in the matched mode, and the film pressure sensors are arranged at the lower ends of the spring coils. Compared with the prior art, the wearable type assisted travelling device has the beneficial effects of solving the long-time travelling obstacle problem of the old, and has the advantages of being adjustable in step speed, enabling step pitch to automatically adapt to to walking habits of people under different conditions, being safe and reliable, being simple in structure, being low in cost, and the like.