2232results about "Wheels" patented technology

Inspection robots with a payload engagement device are described. An example inspection robot may have a housing, a drive module, having at least one wheel and a motor, where the drive module is operatively coupled to the housing. The example inspection robot may also have a payload coupled to the drive module, where the payload includes a sensor mounted to the payload, and a payload engagement device operationally coupled to the drive module and the payload, where the payload engagement device applies a selected downward force on the payload.

In various embodiments, an automated platform may autonomously move around a site, loading dock, dock leveler, and / or trailer to transport goods. In one or more embodiments, the automated platform may be loaded with goods and, once loaded, navigate a path from a loading area onto a trailer autonomously. In some embodiments, once the automated platform is loaded onto the trailer, the automated platform may utilize hydraulics to extend legs to the ground with enough force so that the automated platform wheels are not touching the ground in the trailer, which stabilizes the automated platform while it is being hauled to a different site. In at least one embodiment, once the trailer is at the different site, the automated platform may autonomously unload itself out of the trailer and navigate over a dock leveler, through the loading dock, and to an unloading area.

The invention relates to a flange plate forging and pressing device and method. The flange plate forging and pressing device comprises a supporting base, a linkage base and a supporting frame. A first linkage cavity is formed in the supporting seat, the linkage seats are arranged on the peripheral surface of the supporting seat in an equal included angle mode, and first linkage grooves are formed in the linkage seats. According to the flange plate forging and pressing device, through driving of a second hydraulic cylinder, a linkage frame can be in linkage with a linkage sleeve to rotate under the action of a second insection, so that reverse rotation of a first supporting column and a second supporting column can be controlled, and when a first limiting piece deviates from a flange plate and a second limiting piece is close to the flange plate, the flange plate can be precisely limited at the moment; when the second limiting piece deviates from the flange plate and the first limiting piece is close to the flange plate, the position of the flange plate is still in a limiting state, and the flange plate can be operated to rotate, so that continuous forging and pressing at different positions can be continued conveniently after single-time forging and pressing, and the forging and pressing efficiency is improved.

Methods and inspection robots with on body configuration are described. An example inspection robot may have a center body with a plurality of connected drive modules, each drive module having a sensing circuit to measure a drive module operating characteristic, and a visual indicator circuit to output a first visual indicator corresponding to the drive module operating characteristic. The visual indicator circuits of each of the plurality of drive modules are positioned to be simultaneously visible at a point of view.

The utility model provides a mowing robot. The mowing robot comprises a main body bracket, two omnidirectional wheels, two driving wheels, four driving motors and a driving control system, the main body bracket comprises a first end and a second end; the first end and the second end are oppositely arranged; the two omnidirectional wheels are arranged at the first end; the two driving wheels are arranged at the second end; the rated powers of the four driving motors are the same; the four driving motors are arranged in one-to-one correspondence with the two omnidirectional wheels and the two driving wheels; each driving motor is connected with the corresponding omnidirectional wheel and drives the omnidirectional wheel to rotate or is connected with the corresponding driving wheel and drives the driving wheel to rotate; the driving control system is used for being connected with the four driving motors and controlling the rotating speed of the two omnidirectional wheels and the rotating speed of the two driving wheels by controlling the input currents of the four driving motors. Therefore, the four driving motors with the same rated power are adopted, the situation that the grass is deep, the resistance is large, and consequently slipping occurs can be overcome, and the advancing speed of the mowing robot is guaranteed.

The invention discloses an aluminum alloy wheel forging process based on automatic control and digital simulation, and belongs to the technical field of automobile part forging. The problems that an existing technology is not high in digitization level, a workshop information system is single in function, and the amount of integrated information is small are solved, the aluminum alloy wheel forging technological process and the forging result are fully re-carved through the digital simulation technology by introducing the digital simulation technology and the automatic control technology, and the aluminum alloy wheel forging quality is improved. Therefore, a worker can predict the aluminum alloy wheel forging effect according to current equipment parameters and various monitoring data in a scene, the worker can adjust parameters of forging equipment and scene parameters in advance, and then the aluminum alloy wheel forging precision is improved. And secondly, various sensing devices are arranged in various forging scenes, various data in the forging scenes are monitored through the sensing devices, and therefore it is ensured that the forging environment is suitable for the aluminum alloy wheel forging requirement to the maximum extent, and the aluminum alloy wheel forging precision and effect are further improved.

The invention belongs to the field of robots, and provides a multi-scene obstacle crossing self-adaptive climbing inspection robot and a control method thereof in order to solve the problem that an existing inspection robot is not suitable for a high-rise steel structure. The multi-scene obstacle crossing self-adaptive climbing inspection robot comprises at least three sections of moving mechanisms, and any two sections of adjacent moving mechanisms are connected through a node connecting rod; a spherical hinge type multi-degree-of-freedom steering engine driving joint is arranged at the middle section part of the node connecting rod; each section of moving mechanism at least comprises a control part, a supporting part, a sensing part and a climbing part; the climbing part at least comprises a pair of side arm connecting rods which are symmetrically arranged on the two sides of the supporting part. The tail end of each side arm connecting rod is connected with a dynamic magnetic attraction wheel through a wrist-imitating joint; a self-adaptive driven wheel is further arranged at the bottom of the supporting part, and the self-adaptive driven wheel and the dynamic magnetic attraction wheels on the two sides of the self-adaptive driven wheel form a three-point clamping structure. The method can meet the requirements of visual full-coverage path planning and space precise positioning of the high-rise steel structure.

Inspection robots and methods for inspection of curved surfaces with sensors at selected horizontal distances are described. An example of such an inspection robot includes a housing; a drive module with a wheel and a motor operatively linked to the housing, a plurality of sensor sleds, and a payload. The payload, which is coupled to the housing, may include a first and a second rail component, each with at least one connector, where the rail components are connectable at a first selected position of a plurality of discrete engagement positions. Each of the rail components may be structured to support at least one of the plurality of sleds where each of the plurality of sleds is coupled to the payload at a respective selected horizontal position such that the plurality of sleds are at selected horizontal distances from each other.

The invention provides an ultra-large turbine disc forge piece precision subarea die forging forming method which comprises the following steps that 1, ultra-large turbine disc forge piece forming is divided into two areas including a center hub radial plate area and an outer side radial plate rim area, the center hub radial plate area is mainly formed through pre-forging, and the outer side radial plate rim area is mainly formed through final forging; secondly, based on the first step, a pre-forging cavity is designed, and a center hub, a radial plate area, an outer side radial plate and a rim area are precisely formed; 3, a finish forging cavity is designed and comprises a center hub, a radial plate area, an outer side radial plate and a rim area; 4, on the basis of the steps, through analog simulation, the shapes and sizes of the pre-forging die and the finish-forging die are adjusted according to the ultra-large turbine disc forge piece filling and forming load conditions; and 5, the forming process of the ultra-large turbine disc forge piece is simulated and analyzed, and it is ensured that the pre-forging forming load and the finish-forging forming load are both lower than 800 MN. The problems of high forming load, large machining allowance and the like during traditional forging of the ultra-large turbine disc forge piece are effectively solved.

The invention relates to a composite deformation wheel type amphibious robot with wheel leg paddle functions. Comprising a sealed cabin, wheel-leg-paddle composite deformation wheels, a transmission structure, a settlement control structure, a visual module and a driving motor, the sealed cabin serves as a robot body support, and the four wheel-leg-paddle composite deformation wheels are symmetrically installed at the four corners of the bottom of the sealed cabin; the two transmission structures are symmetrically arranged on the two sides in the sealed cabin and are connected with the four wheel-leg-paddle composite deformation wheels through through holes in the two sides of the sealed cabin; two driving motors arranged in the sealed cabin drive two groups of wheel-leg-paddle composite deformation wheels on the same side to rotate through two groups of matched transmission structures, and each group of wheel-leg-paddle composite deformation wheels has a wheel type form, a leg type form and a paddle type form which can be switched; when entering a water area, the suspension depth is automatically adjusted through the settlement control structure. The amphibious robot realizes land rolling, obstacle crossing and underwater propelling movement, and is suitable for stable operation in a complex amphibious environment.

The invention relates to the technical field of gear forging equipment, and discloses a spiral bevel gear forging device and a using method thereof.The spiral bevel gear forging device comprises a support, a hydraulic rod is fixedly connected to the inner wall of the support, and the other end of the hydraulic rod is fixedly connected with an upper mold; the electric telescopic rod drives the piston plate to move towards the lower mold along the inner wall of the air pressure cylinder, so that normal air pressure in the air pressure cylinder is converted into high pressure, and the high pressure generates outward thrust; and at the moment, high-pressure gas on the left side of the piston frame acts on a gap between the spiral fan gear and the lower mold through a gap between the fixing frame and the blocking sliding block, through application of the assemblies, the adhesion area between the spiral fan gear and the lower mold is reduced, and resistance borne by equipment during demolding is reduced.

Systems, methods, and apparatus for temperature control and active cooling of an inspection robot are disclosed. An example apparatus may include a temperature determination circuit to interpret an inspection temperature value, a temperature management circuit to determine a temperature management command in response to the inspection temperature value, and a temperature response circuit to provide the temperature management command to a temperature management device associated with an inspection robot.

A vehicle wheel drive device includes: a rotary electric machine that is received on a radially inner side of a vehicle wheel shaped in a cylindrical tubular form and is configured to rotate the vehicle wheel; and a brake device that includes a brake disc and a brake caliper. The brake device is configured to generate a braking force relative to the vehicle wheel. The rotary electric machine includes a rotor and a stator which are opposed to each other in a radial direction. A hollow space is formed on a radially inner side of a magnetic circuit unit that is formed by the rotor and the stator. The brake device is placed in the hollow space in a state where the brake caliper is fixed to an axial end surface of the stator which faces in an axial direction, and the brake disc is rotatable integrally with the rotor.

Aiming at the defects of streamline cutting, vortex turbulence, tail end exposure and the like in the existing forging process, the invention provides the streamline defect regulation and control method for the complex die forging of the aluminum alloy aviation hub, which comprises the following steps of: upsetting a blank, pre-forging the blank and finally performing finish forging and forming, and reasonably designing a heat transfer coefficient and a friction coefficient in the forging process. And the temperature is matched with the forging speed, so that streamline defects such as folding and exposure generated in the forging process are effectively improved, shape follow-up distribution of metal streamlines of the hub forge piece is achieved, the performance of the hub is improved, and the service life of the hub is prolonged.

A trailer jack and transport system providing improved rolling and steerable motion to sport, recreational and utility trailers, when operating on diverse kinds of ground surfaces, including pavement, dirt, sand, and mud, without use of caster-style wheels. The trailer jack and transport system employs a spherical load-bearing transport ball supported within a frame assembly and configured to allow the spherical wheel to freely rotate in any orientation, on ground surfaces of a diverse nature during system operation.

To enable front wheels to climb over a step without using auxiliary wheels.SOLUTION: A carry cart CC includes wheels each of which rolls over a road surface 10 due to rotation with an axle as a center, and a cart body 20 disposed above a grounding level at which the wheels are in contact with the road surface 10. Further, the carry cart includes a support part 41, a link body 51, and an elastic body 63. The support part 41 is interposed between a front wheel 31 and a rear wheel 33. A skeleton part of the support part is formed with a support body 42. The link body 51 supports an axle 32 of the front wheel 31, and turns in a vertical direction with a turning axis line AL1, which is set at a point behind the axle 32 and ahead of the support body 42, as a center. The elastic body 63 is interposed between the link body 51 and the support body 42, and causes a constraining force to act on the link body 51 above the turning axis line AL1. When both the front wheel 31 and the rear wheel 33 are grounded on a horizontal surface, the turning axis line AL1 is located at a point lower than a center axis line AL2 of the axle 32.SELECTED DRAWING: Figure 1

The invention relates to a deformable wheel-track combined type advancing mechanism which comprises a driving main shaft, a hub and a track arranged on the outer side of the hub, the driving main shaft is provided with a power switching driving part, and the power switching driving part drives the track to rotate through a track transmission assembly; the power switching driving piece can move leftwards along the driving main shaft, so that the power switching driving piece is separated from the crawler belt transmission assembly; crawler belt supporting pieces are arranged on the peripheral side of the hub and are driven by a deformation mechanism to stretch and deform in the radial direction of the hub, so that the crawler belt is supported to be in a circular state or a non-circular state; the hub is provided with a driven rotary meshing part, a driving rotary meshing part is arranged at the right end of the power switching driving part, and the power switching driving part drives the hub to rotate when moving leftwards till the driving rotary meshing part is meshed with the driven rotary meshing part. Free switching between a wheel type structure and a crawler type structure is achieved, the flexibility of the wheel type structure is included, the high trafficability of the crawler type structure is achieved, and the performance is stable when the robot deals with various road conditions.

A robot may have a sphere-like outer shell defining an inner cavity. An axle unit includes an axle connected at its opposed ends to the outer shell, in the inner cavity, and a transmission to transmit a torque to the axle. A pendulum drive unit is operatively connected to the axle unit and supported in the outer shell by the axle, the pendulum drive unit having actuators to produce torque, the actuators operatively connected to the transmission of the axle unit. The axle unit and the pendulum drive unit concurrently define a cylindrical joint by which the pendulum drive unit is movable in rotation and translation relative to the axle to tilt and drive the sphere-like outer shell via the actuators.

The utility model relates to the technical field of robot equipment, in particular to an integrated magnetic adsorption wheel which comprises a first shell, a second shell, a first magnetic adsorption wheel and a second magnetic adsorption wheel. The second shell is arranged outside the first shell in a sleeving mode, the second shell and the first shell are coaxially arranged, and an output shaft of the first driving mechanism penetrates through the second shell; and the mounting frame is arranged on the output shaft in a sleeving manner, and a stop structure is arranged on the mounting frame and is arranged on the output shaft and the mounting frame. Through the arrangement of the integrated magnetic adsorption wheel, the function that a robot system formed by the integrated magnetic adsorption wheel stably walks on complex wall surfaces with vertical angles, large curvatures, unevenness and the like can be achieved.

The invention provides a pre-forming device and a pre-forming method for a cold extrusion hub, relates to the technical field of hub machining, and aims to solve the technical problems of high production cost and low production efficiency caused by the fact that two sets of dies are needed for hub forming in the prior art. A cold extrusion hub pre-forming device comprises an upper die, a lower die, a side die, a cushion block, a first driving assembly and a fourth driving assembly, a first forming face is arranged at the bottom end of the upper die, the lower die is connected into a through hole in the middle of the side die, a second forming face is arranged at the top end of the lower die, a third forming face is arranged on the inner wall of the through hole, and the fourth driving assembly drives the cushion block to slide in the horizontal direction. The first driving assembly is connected with the upper die, during die assembly, the first forming face, the second forming face and the third forming face define a first forming die cavity, an annular groove is formed in the peripheral wall of the lower die in the circumferential direction to form a second forming die cavity, and the projection area of the first forming face is larger than that of the second forming face. The invention further discloses a cold extrusion hub pre-forming method which uses the cold extrusion hub pre-forming device.

It is disclosed a remotely operated vehicle, an automated storage and retrieval system comprising the remotely operated vehicle, and a method of using same. The remotely operated vehicle comprises: ⋅—a first set of wheels (610) configured to move the remotely operated vehicle (600) in the first direction (X) along the first set of rails (110), ⋅—a second set of wheels (620) configured to move the remotely operated vehicle (600) in the second direction (Y) along the second set of rails (111), ⋅—a wheel lift mechanism (630) configured to disengage the first set of wheels (610) from the rail system (108) to bring the second set of wheels (620) into engagement with the second set of parallel rails (111), ⋅—and configured to disengage the second set of wheels (620) from the rail system (108) to bring the first set of wheels (610) into engagement with the first set of parallel rails (110), and ⋅—a counter weight (640) coupled to the wheel lift mechanism (630) such that operation of the wheel lift mechanism (630) causes a centre of gravity (CoG) of the remotely operated vehicle (600) to change in the first direction (X) and / or in the second direction (Y) through movement of the counter weight.

The invention discloses a forming die, a forming method and application of a refractory high-entropy alloy gear component, belongs to the technical field of near-net forming of refractory high-entropy alloy gear components, and aims to solve the technical problem that the refractory high-entropy alloy gear component is difficult to form in the prior art. The forming period of the refractory high-entropy alloy gear component is shortened, energy consumption caused by the adoption of a traditional hot forging process is reduced, the production period is shortened, the production cost is reduced, in addition, the high-temperature deformation capacity of refractory high-entropy alloy is improved through the electroplastic effect and the high-temperature softening effect, and the service life of the refractory high-entropy alloy gear component is prolonged. The limitation of ultrahigh room temperature and high-temperature strength of the refractory high-entropy alloy on forming of complex components is effectively solved, and the refractory high-entropy alloy is expected to be applied to forming of other complex components made of high-strength and difficult-to-deform materials and has wide application prospects. The manufacturing method is mainly used for manufacturing the refractory high-entropy alloy gear component.

A planetary wheel end includes a planetary gear set, a rotatable axle shaft, a rotationally fixed axle tube surrounding at least a portion of the axle shaft, and a planetary gear carrier arranged for fixing to a wheel. The planetary gear set includes a radially inner sun gear, a radially outer ring gear and a plurality of planet gears drivingly engaged with the sun gear and the ring gear. The axle shaft is rotationally fixed to the sun gear and the axle tube includes a spindle rotationally fixed to the ring gear. The planetary gear carrier includes a plurality of planetary shafts and each one of the planet gears is rotatable about a respective one of the planetary shafts. In an example embodiment, each one of the plurality of planet gears has a respective radial needle bearing disposed on the respective one of the plurality of planetary shafts.

The forging device for gear blank machining relates to the technical field of forging machining and comprises a forging table, a forging mechanism is arranged on the back face of the forging table, a waste collecting groove is formed in the forging table, and a blank supporting mechanism and a cleaning mechanism are arranged in the waste collecting groove. Two clamping assemblies are symmetrically arranged on the upper surface of the forging table. And the clamping assembly comprises two fixed mounting seats which are symmetrically distributed on the surface of the forging table. According to the gear blank forging device, the blank supporting mechanism is arranged on the surface of the forging table, a gear blank can be supported through the blank supporting disc, then the gear blank is limited through the clamping assemblies on the two sides, the stability of the gear blank in the forging process is improved, the forging piece does not need to be limited manually, the safety in the forging process is improved, and the forging efficiency is improved. And the two clamping columns can be inserted into the through hole of the gear blank, and the two limiting ejector blocks are used for abutting against and limiting the through hole of the gear blank, so that continuous forging operation is conducted on the rotating gear blank.

The invention discloses automatic forging equipment for flange production based on robot conveying and a forging method, and relates to the technical field of automatic forging equipment, a heating furnace is arranged on one side of the automatic forging equipment, a conveying line is arranged at an outlet of the heating furnace, the automatic forging equipment is used for forging a workpiece, and a to-be-raised part of the workpiece is a sealing layer; the automatic forging equipment comprises a machine tool, a power device, a temperature adjusting device and a transfer device, the power device is connected with the machine tool, the transfer device is located between the machine tool and the conveying line, a working cavity is formed in the machine tool, a switching groove is formed in one side of the working cavity and communicated with the working cavity, and the temperature adjusting device is arranged in the switching groove. The workpiece is moved into the working cavity through the transfer device, the temperature adjusting device is arranged in the switching groove and can move into the working cavity, the workpiece is locally heated through the temperature adjusting device, the local plasticity is improved, and the forming quality is conveniently improved.

A wheel of the present disclosure includes a barrel holder, barrel support shafts, barrels, and bearings. The barrel holder is rotationally driven. The barrel support shafts arranged on the circumference of the barrel holder at an angle to a rotation axis of the barrel holder. The barrels are barrel-shaped rotating bodies. The barrels are rotatably supported on the corresponding barrel support shafts, and outer surfaces of the barrels contact a surface on which the wheel travels as the barrel holder rotates. The bearing supports the retainer. A groove is formed at least in a region of the outer circumferential surface of the barrel support shaft extending in the axial direction and including a radially inner projected area of the retainer.

The invention relates to the technical field of climbing robots, in particular to a wheel-wing double-drive high-mobility climbing robot which comprises a base, a first driving part, a second driving part, an inertial measurement unit, a Hall sensor, a depth camera and a control module. The control module can integrate data of the depth camera and the inertial measurement unit to deduce whether the climbing robot has a trend of crossing a corner structure; and when the corner structure crossing trend exists, whether the crossing strategy of the second driving part is started or not is selected based on the Hall sensor data. When the climbing robot in the scheme adopts a wheel type driving mode and is difficult to cross a corner structure, the ducted fan is started to form a wheel-wing dual-driving mode, so that the defects of single wheel type driving are overcome, the maneuverability of the climbing robot is enhanced, and meanwhile, the remote control operation complexity of the climbing robot passing through the corner structure difficult to cross is greatly reduced.

To provide an inspection vehicle (50) for operating on a rail system of a storage / retrieval grid.SOLUTION: An inspection vehicle is configured to retrieve a remotely operated vehicle for inspection. The inspection vehicle comprises a first vehicle area (51) and a second vehicle area (52). The first vehicle area is configured as a vehicle fence for holding the remotely operated vehicle before entry into the second vehicle area, and the first vehicle area is connected to the second vehicle area in such a manner that the remotely operated vehicle can pass through the vehicle fence.SELECTED DRAWING: Figure 8

The invention discloses a local rolling forming method for a high-temperature alloy gradient structure dual-performance disc and the disc. The two sides of the disc piece are provided with annular groove structures stretching across the disc center to the disc edge partial area. The forming method comprises the steps that a high-temperature alloy disc blank is installed to a mandrel of a clamping part to rotate at the constant speed; the high-temperature alloy disc blank is heated, a disc center area of the high-temperature alloy disc blank is cooled, the temperature of the high-temperature alloy disc blank is formed, and a high-temperature alloy rolling forming temperature gradient interval is kept; according to the thickness of the high-temperature alloy disc blank, the first deformation ratio and the second deformation ratio, the first axial pressing amount of each pass of rolling in the disc center area and the second axial pressing amount of each pass of rolling in the disc edge area are set, the two sides of the high-temperature alloy disc blank are rolled outwards in the radial direction of the disc center area from the specific position of the disc center area in sequence, and a disc piece is formed; and carrying out water cooling treatment on the heat-treated disc to room temperature. According to the invention, the purpose of accurately controlling the crystal double-organization structure in the integral forming of the high-temperature alloy with lower production cost and manufacturing period can be achieved.