171 results about "Robot" patented technology

A method for estimating the force on a distal end of a working catheter includes positioning a portion of a robotically controlled guide catheter and working catheter into a body lumen wherein a distal end of the working catheter projects distally from a distal end of the guide catheter. The working catheter and guide catheter are dithered with respect to one another using a dithering device operatively connected to a proximal portion of the working catheter. The coupling may occur directly to the working catheter or via a seal such as a Touhy seal. The force experienced by the working catheter at a proximal region is measured through at least one dithering cycle. The force at the distal end of the working catheter is then estimated based on the measured force at the proximal region. The estimated force may be displayed to a physician on, for example, a monitor.

A substrate processing apparatus is described. The apparatus includes a substrate load lock chamber. A plurality of storage bays may be used to store magnetic media substrates. A first set of one or more multi-axis robot arms may transfer one or more magnetic media substrates between the substrate load lock chamber and the plurality of storage bays. A substrate transfer chamber is vacuum coupled to the substrate load lock chamber. A plurality of process chamber modules are vacuum coupled to the substrate transfer chamber. A second set of one or more multi-axis robot arms may transfer magnetic media substrates between the storage bays and the plurality of process chamber modules under sub-atmospheric conditions.

The invention relates to an intelligent board sorting system. The intelligent board sorting system comprises a manual charging board inlet, a double-faced board return line, a distributing transfer line, a feeding roller line, a board distributing region, a three-layer jacking transfer line, a double-layer jacking transfer line, a board outlet and a swinging belt line. The double-faced pored boardreturn line is arranged at the left side of the distributing transfer line. The distributing transfer line is connected with the feeding roller line. The double-layer jacking transfer line is arranged at the left side of the three-layer jacking transfer line. The swinging belt line is arranged at the right side of the three-layer jacking transfer line. A CCD detection line is arranged at the right side of the distributing transfer line. According to the intelligent board sorting system, a conveying line body is used for conveying boards in a classified mode, board sorting is conducted by combining a robot, the intelligent quality inspection function of CCD boards is achieved, the boards can be conveyed and sorted in real time accurately and stably, and the degree of automation and intelligence is high; and manpower and material resources can be greatly saved, the data recording and statistical functions are achieved and production analysis and optimization can be facilitated.

An unwind apparatus for obtaining, loading, splicing, and unwinding convolutely wound rolls of web material and forwarding the web material unwound from each of the convolutely wound rolls uninterruptedly to a downstream apparatus is disclosed. The unwind apparatus provides for a multi-axis robot and an end effector operatively connected to the multi-axis robot. The end effector provides for a stationary motor, a rotational coupling mechanically coupled to the stationary motor, and, a mandrel mechanically coupled to the rotational coupling. The mandrel is capable of releasably engaging the convolutley wound rolls of web material.

The invention discloses a practical flexible cystoscopy surgery auxiliary robot system. The system particularly comprises a robot used for achieving a flexible cystoscope can move at four degrees of freedom; a remote control device and control method which are used for converting the action with multi-degree-of-freedom operation to control signals so as to precisely and synchronously control the execution terminal; a driving plate mechanism which can precisely clamp and control a flexible cystoscope driving plate; the flexible cystoscope matched with various specifications and models and a flexible cystoscope clamping component which can be mounted and dismounted quickly; a support which can assist in supporting the soft part of the flexible cystoscope in cooperative work. According to the system, the surgical flexible cystoscope can be quickly mounted or dismounted on the robot by a doctor to precisely clamp and control the driving plate of the flexible cystoscope, therefore, with the robot arm movement at four degrees of freedom precisely and synchronously controlled by control terminal devices, the precise remote control performed on the flexible cystoscope for a surgery is achieved, the X-ray radiation on site suffered by the doctor is avoided, and meanwhile, the surgical difficulty is lowered, the surgical failures are reduced, and the service life of the flexible cystoscope is prolonged.

The invention discloses a track detection method and a robot. The track detection method comprises the following steps of: acquiring a real-time video flow of a track by the robot; determining a position of the robot through vision positioning on the basis of the real-time video flow; determining an advancing scheme of the robot according to the position of the robot; controlling the robot to advance according to the advancing scheme; detecting whether a target image exists in each frame of image of the real-time video flow or not, wherein the target image is an image displaying a fault area of the track; and if the target image exists in each frame of image of the real-time video flow, uploading the target image to a server so that the server carrying out secondary analysis on the targetimage and matching the target image to a corresponding client to display on the basis of a result of the secondary analysis. According to the method, basic facilities and basic equipment of track traffic can be automatically detected, so as to ensure safe operation of track traffic systems.

The invention provides an ultrasonic phased array detector with low power consumption and capability of real-timely transforming styles of arrays. The whole system comprises an FPGA (Field Programmable Gate Array) control module, a square MEMS (Micro-electromechanical Systems) ultrasonic sensing array, a PCI (Programmable Communications Interface) bus, a signal processing module and an array style and frequency selection module. The FPGA module comprises a pulse control unit and a beam control unit; the square MEMS ultrasonic sensing array is a square phased array with the same numbers of transverse rows and longitudinal rows which are made up of many MEMS ultrasonic sensors and have the same spacing; the array is formed by arranging a row of emission arrays and a row of receiving arrays in a crossing manner; each emission array element has an independent pulse excitation channel; each receiving array element has an independent echo receiving channel; the signal processing module is composed of amplification units and filter units, which have the same number with that of the receiving array elements; the array style and frequency selection module is composed of key arrays; the key arrays are capable of respectively representing many kinds of different array styles and different ultrasonic frequencies so as to be suitable for different detection conditions, thus a hardware structure of arrays is simplified; therefore, the ultrasonic phased array detector is applicable to detecting various robots under different special environments.

The invention relates to the technical field of mechanical automation, in particular to an online teaching processing system for a glue dispensing machine, which is characterized in that the main body of a glue dispensing robot is internally provided with a command interpreter and a main-body communication interface, and at least one of a microcomputer and a teaching programmer is connected with the main body of the glue dispensing robot in an interface communication manner to form an online programming mode or a programming mode or an online mode; and the main body of the glue dispensing robot receives a teaching command or an automatic operation command sent by the microcomputer or the teaching programmer through the main-body communication interface, the teaching command or the automatic operation command is interpreted by the command interpreter and then sent into a storage unit of a motion controller, and the storage unit of the motion controller sends the command to a robot arm for operation execution so as to enable the main body of the glue dispensing robot to complete a teaching task or a processing task. Compared with the prior art, in the online teaching processing system provided by the invention, the robot arm coordinates of the main body of the glue dispensing robot can be synchronously updated when a CAD/CAM (Computer-Aided Design/Computer-Aided Manufacturing) model is modified, thus improving the programming efficiency and precision.

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.

A robotic laser-pointing apparatus has an instrument center, a first rotation axis, a second rotation axis, and a pointing axis, with the first rotation axis, the second rotation axis and the pointing axis in a known relationship to the instrument center. A laser source provides a pointing-laser beam along the pointing axis. A pointing drive system aims the laser beam by rotating the pointing axis about the instrument center in response to a pointing-direction control. Focusing optics having a focusing-optics drive serve to focus the pointing-laser beam in response to a focusing-optics control. A processor, responsive to target-position information, generates the pointing-direction control and the focusing-optics control. Some embodiments include an electronic-distance-measurement system having a measurement beam. Some embodiments provide for compensation of aiming errors of the pointing-laser beam and the measurement beam.

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 discloses a method for searching a gas leakage source by dynamically integrating a plurality of search strategies. The method comprises a stage of estimating adaptability of various search methods under different search conditions by means of an artificial neural network to determine a main factor which affects performance of various searching methods, and train the artificial neural network for estimating the adaptability of the search methods; an integration mode of a plume finding phase, namely, an integration strategy which combines the search method based on a visual attention mechanism with a random search method; an integration mode of a plume tracing phase, namely, respectively determining a search direction of the next step by a chemotaxis method, an anemotaxis method and a visual method when a robot detects the gas concentration information, and inputting the current search condition which is the main factor affecting the performance of the search methods to the trained artificial neural network to obtain the adaptability of various methods, and planning a local search route of the robot by a driving force vector composition method. The method can obviously improve the efficiency and the success rate of searching the gas leakage source.

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 provides an operation monitoring system of a hot-line working robot. Monitoring objects include a first mechanical arm, a second mechanical arm, an auxiliary mechanical arm, a storage battery and an operation scene. Monitoring equipment of the monitoring system includes a temperature and humidity sensor, a pressure sensor, a current collector, a voltage collector, a data collection card, a panoramic camera, a binocular camera and a depth camera, data which are collected by the temperature and humidity sensor, the pressure sensor, the current collector and the voltage collector are compared with corresponding safe range values, if the current collected data are within corresponding safe ranges, the hot-line working robot is normally operated, and if the current collected data are not within the corresponding safe ranges, corresponding warning messages are sent. According to the operation monitoring system, operation personnel can remotely monitor the robot to work on line through the monitoring system, so that the safety of the operation personnel is guaranteed.

The invention discloses a valve body closed type multidirectional precision forging production line, and relates to the field of forging. The valve body closed type multidirectional precision forging production line comprises a heating station, a preformed blank station, a carrying robot, a first stamping station and a second stamping station. The valve body closed type multidirectional precision forging production line further comprises a mould spraying device; and the mould spraying device enters a mould cavity of a mould after a to-be-machined blank is pushed out of the mould in the first stamping station, and cleans, cools and lubricates the mould. Thorough cleaning, cooling and lubrication on the mould is realized in continuous operation, and the service life of the mould is prolonged effectively. In addition, the valve body closed type multidirectional precision forging production line adopts automatic control, so that no manual intervention is required, the labor intensity is reduced, the labor cost is reduced and the fluctuation of the product quality is avoided. Machined parts have no fins, the waste of a material is reduced, and a utilization ratio of the material is raised.

The invention discloses a carrying robot operation control method, a device and a robot and relates to the technical field of robots. The method comprises steps of according to the operation distance of a left driving wheel, the operation distance of a right driving wheel and a preset operation track, determining a following error of the left driving wheel and a following error of the right driving wheel; generating a left driving wheel position adjusting instruction and a right driving wheel position adjusting instruction; and sending the left driving wheel position adjusting instruction and the right driving wheel position adjusting instruction to a first servo driving system and a second servo driving system, thereby reducing operation deviations. According to the invention, operation of two independent motors is simultaneously controlled based on the following errors of the left and right driving wheels; the independent control of the motors is changed into coupling control, so effects on operation of the carrying robot imposed by dynamic features of motors are reduced; operation track precision of the carrying robot is improved; and stability of the operation of the carrying robot is improved.

The invention discloses an end effector of a grabbing-cutting integral picking robot for spherical fruits and vegetables. The end effector comprises an upper connection plate (20), a lower connection plate (18), a cutting circular slitter (23), four flexible enveloping mono-paws, and a flexible enveloping paw rotating mechanism. A cutting steering servo motor (12) is fixed to the upper connection plate via a bolt; a stretching plate (21) is assembled to an output shaft of the servo motor; a base seat (16) is linked and fixed to a fixing rack (13) via bolts and can axially rotate; a soft shaft (17) passes through a spacing hole of the base seat (16), and two ends are connected to output shafts of two driving servo motors (14) via flange couplers (15); the four flexible enveloping mono-paws driven by the soft shaft (17) can adapt to fruit and vegetable growth postures in an automatic and flexible way; a three-arm greenhouse picking robot works as a carrier; spherical fruits and vegetables of different growth postures can be flexibly grabbed and cut with high efficiency; and the end effector can be applied to automatic harvest for spherical fruits and vegetables.

The invention relates to the field of polishing equipment and particularly relates to a force-controlled polishing device and a polishing robot applying the force-controlled polishing device. The force-controlled polishing device comprises a bottom mounting seat, a top mounting seat, a middle fixed guide plate, a precise guide mechanism, a telescopic driving device and a high-speed ratio adjuster; the lower ends of the precision guide mechanism and a telescopic device are arranged at the top face of the bottom mounting seat, the upper ends of the precise guide mechanism and the telescopic device are driving ends, and the driving ends are both arranged at the bottom of the top mounting seat; the middle fixed guide plate is arranged between the precision guide mechanism and the telescopic device; and the precision guide mechanism and the telescopic driving device are fixed on the middle fixed guide plate. The precision guide mechanism can guarantee the precision of the stretching direction of the telescopic driving device, and the high-speed ratio adjuster can control the output pressure of the telescopic driving device, so that the force-controlled polishing device can precisely output pressure required for the robot in force-controlled polishing, thus meeting the polishing technological requirements of high-precision products and further greatly improving the product quality.

The invention provides a storage transfer robot group with an automatic charging function and a wireless automatic charging method thereof. The method adopts a wireless charging mode and realizes automatic deploying and charging of a plurality of storage transfer robots via a charging pile; the realization of wireless autonomous charging is effectively helpful for the storage transfer robot groupwith the automatic charging function to get rid of the limitation of working time and improves the transportation efficiency of logistics and freight transportation; the use of the storage transfer robot group with the automatic charging function is beneficial to reducing the cost of logistics sorting and transportation, reducing the input of personnel, improving logistics management, reducing theprobability of cargo transfer damage, improving the sorting efficiency of the modern logistics and promoting the development of the logistics industry. In addition, the storage transfer robot can beapplied to other fields including a material processing field, a hotel transfer field, and a military and hazardous field.

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 discloses a visual dictionary close-loop detection method and device based on distance measure. The visual dictionary close-loop detection method based on distance measure comprises thefollowing steps: determining the shortest spatial distance between a first position corresponding to a current frame picture and a second position corresponding to a historical frame picture, whereinthe historical frame picture is a frame picture of which the similarity to the current frame picture reaches a first preset threshold; if the shortest spatial distance is less than a second preset threshold, putting the historical frame picture in a candidate frame picture set, wherein the second preset threshold is a pre-acquired preset multiple of the uncertainty of the current frame and an adjacent frame thereof; and carrying out close-loop detection on the candidate frame pictures and the current frame picture. The selection range of similar pictures in a visual dictionary is restricted bythe shortest spatial distance, so that appropriate similar pictures can be found for closed-loop detection. Therefore, visual ambiguity is reduced, the accuracy of closed-loop detection is improved,and the positioning accuracy of robots is increased.

The invention discloses a working method of a robot cleaner and belongs to the robot cleaner field. With the working method of the robot cleaner of the invention adopted, the problems of long waitingtime of a user and high power consumption of a robot cleaner in the prior art which are caused by a condition that the robot cleaner in the prior art needs construct an environmental map can be solved. According to the technical schemes of the invention, a user draws a virtual boundary on a display screen, and the robot cleaner converts the virtual boundary into a planned boundary, and then startswork planning according to the planned boundary. With the working method of the robot cleaner of the invention adopted, the user can be facilitated to operate the robot cleaner to perform cleaning work, and is not required to wait.