A method for a robot to simulate the passive mechanical state of human limb muscles, comprising a method for simulating different degrees of tensile force in bending the elbow or bending the knee in the human body, and a method for simulating different degrees of tensile force in extending the elbow or extending the knee in the human body. The robot is provided with, sequentially connected, a base (1), a shoulder joint assembly, an upper arm (5), an elbow joint assembly, a forearm (14), and a palm (16). The shoulder joint assembly is able to drive the upper arm (5) to rotate in all directions, and the elbow joint assembly is able to drive the forearm (14) to bend or extend.

A method for a robot to simulate the passive mechanical state of human limb muscles, comprising a method for simulating different degrees of tensile force in bending the elbow or bending the knee in the human body, and a method for simulating different degrees of tensile force in extending the elbow or extending the knee in the human body. The robot is provided with, sequentially connected, a base (1), a shoulder joint assembly, an upper arm (5), an elbow joint assembly, a forearm (14), and a palm (16). The shoulder joint assembly is able to drive the upper arm (5) to rotate in all directions, and the elbow joint assembly is able to drive the forearm (14) to bend or extend.

An automated laser shock peening (LSP) process equipment system for an aero-engine blade, including: a base, where a loading and unloading manipulator, working manipulator, reverse engineering mechanism, coating apparatus, and LSP apparatus are disposed; the loading and unloading manipulator is configured to grab a blade and place it on the reverse engineering mechanism, which includes a reverse engineering instrument and controller that are connected, the instrument can generate three-dimensional digital data of the blade, and the controller generates a working path for coating and LSP according to the data, and transmits the path to the working manipulator; the loading and unloading manipulator places the blade into the pallet, and the working manipulator drives the blade to a corresponding position according to the path. Independent locating and clamping systems of the pallet and the blade and the pallet and the manipulator fix a position of the blade relative to the manipulator.

An automated laser shock peening (LSP) process equipment system for an aero-engine blade, including: a base, where a loading and unloading manipulator, working manipulator, reverse engineering mechanism, coating apparatus, and LSP apparatus are disposed; the loading and unloading manipulator is configured to grab a blade and place it on the reverse engineering mechanism, which includes a reverse engineering instrument and controller that are connected, the instrument can generate three-dimensional digital data of the blade, and the controller generates a working path for coating and LSP according to the data, and transmits the path to the working manipulator; the loading and unloading manipulator places the blade into the pallet, and the working manipulator drives the blade to a corresponding position according to the path. Independent locating and clamping systems of the pallet and the blade and the pallet and the manipulator fix a position of the blade relative to the manipulator.

A method and apparatus for dispensing and retrieving products is provided. A system may include: a grasping head; first and second grasping members, each grasping member comprising: a top member; a post member; and first and second grasping fingers, where the first and second grasping fingers extend from the post member and are spaced apart from the top member by a predetermined distance, where the first and second grasping members are connected to the grasping head, where at least one of the first and second grasping members is movably connected to the grasping head, where the at least one of the first and second grasping members is movable relative to the other of the first and second grasping members.

The present application relates to a substrate transfer device, comprising a horizontally arranged cross beam, and support beams longitudinally arranged at two ends of the cross beam, wherein a substrate carrier is suspended on the cross beam, the substrate carrier is located between the two support beams, and the substrate carrier is parallel to a plane where the two support beams are located, the substrate carrier comprises two side walls oppositely arranged in a horizontal direction, and each of the support beams is provided with an auxiliary clamping structure for clamping the substrate carrier during transferring of the substrate carrier.

An injection molding machine includes a machine base; a stationary platen fixed to the base for holding a stationary mold section; a moving platen slidably supported by the base for holding a moving mold section; a rotary apparatus slidably supported by the base axially intermediate the stationary and moving platens for supporting a plurality of center mold sections and moving the center mold sections among axial positions directed toward the stationary and moving mold sections and lateral positions directed toward the operator and non-operator side of the machine; and a part-handling apparatus mounted to the stationary platen. The part-handling apparatus includes an end-of-arm tooling disposed laterally outboard of the rotary apparatus. The end-of-arm tooling is movable laterally between an engaged position for interacting with molded articles in one of the center mold sections in the lateral positions, and a disengaged position spaced laterally outwardly from the engaged position.

An injection molding machine includes a machine base; a stationary platen fixed to the base for holding a stationary mold section; a moving platen slidably supported by the base for holding a moving mold section; a rotary apparatus slidably supported by the base axially intermediate the stationary and moving platens for supporting a plurality of center mold sections and moving the center mold sections among axial positions directed toward the stationary and moving mold sections and lateral positions directed toward the operator and non-operator side of the machine; and a part-handling apparatus mounted to the stationary platen. The part-handling apparatus includes an end-of-arm tooling disposed laterally outboard of the rotary apparatus. The end-of-arm tooling is movable laterally between an engaged position for interacting with molded articles in one of the center mold sections in the lateral positions, and a disengaged position spaced laterally outwardly from the engaged position.

This invention comprises a device for measuring root pulling force (RPF) in a plant. The RPF device comprises a plant grasping mechanism, as well as a force measurement sensor. In certain embodiments, the device is automatic, so that the “hand of man” is not required to exert force on the plant while the root pulling force of the plant is being measured. Also disclosed is a root pulling force motion mechanism, which brings the RPF device into proximity of a plant to be measured. Further disclosed is a method for measuring root pulling force of a plant.

A picking system is configured to pick items from, and put items into, storage containers. The picking system includes a picking station. The picking station includes: a picking system controller configured to receive product orders from a warehouse management system; at least one container contents handling position; a camera configured to produce an image of contents of a storage container; an image processing system in communication with the camera for processing the image produced by the camera in order to identify a position of a specific item in the storage container, and a robotic picking device. The image processing system is further in communication with a picking system controller and is adapted to inform the picking system controller of the position of the specific item. The robotic picking device is in communication with the picking system controller and is configured to, under guidance from the picking system controller, to pick said specific item from said position in the storage container. The camera and the robotic picking device are arranged to operate, at any one instance, on different containers such that the camera is producing an image and the image processing system is processing the produced image of the contents of a storage container in a first product order while the robotic picking device is handling a second storage container on the basis of an earlier image that has been produced by the camera and processed by the image processing system.