95results about How to "Achieve walking" patented technology

The invention relates to a device capable of walking freely in a pipeline. The device comprises a front walking mechanism and a rear walking mechanism. The front walking mechanism and the rear walking mechanism are the same in structure. The front walking mechanism and the rear walking mechanism are respectively composed of a servo motor, an outer sleeve, an inner sleeve, a walking telescopic arm and a fixed telescopic arm. Each outer sleeve is placed on the periphery of the corresponding inner sleeve. The walking telescopic arms and the fixed telescopic arms are selectively connected with the ends of the inner sleeves and the ends of the outer sleeves. Each servo motor drives the corresponding inner sleeve and the corresponding outer sleeve to make intermittent relative movement through a transmission mechanism. The front walking mechanism and the rear walking mechanism are connected through an electric push rod, and a walking motor used for driving the electric push rod to be telescopic is arranged in the rear walking mechanism. According to the device, the walking telescopic arms and the fixed telescopic arms make selective contact with the inner wall of the pipeline, due to the fact that the electric push rod is driven by the walking motor, the entire device can be driven to walk freely inside the pipeline, the device can replace manual work to conduct maintaining, overhauling and dredging operations of pipelines and pipe networks, the labor of workers is lightened, and dangerous accidents are avoided.

The invention provides a quadruped robot biped support phase force hybrid force control method. The method comprises the steps of (S1) projecting the overall movement of a robot to a radial plane and a normal plane, (S2) establishing a control model, simplifying the movement of the robot along the radial plane as a plane seven-connection-rod model, and simplifying the movement along the normal plane as a linear inverted pendulum model, and simplifying the plane seven-connection-rod model as a plane virtual telescoping leg model, wherein the control target of the plane virtual telescoping leg model is a mass center height, a body pitch angle and a horizontal displacement, (S3) carrying out hybrid controlling according to a control model, establishing the kinetic equation of the plane virtual telescoping leg model and establishing the kinetic equation through a Newton-Euler method, controlling the mass center height and the body pitch angle through a position servo method, and using the double-ring control method of outer ring position and inner ring foot end force for the horizontal displacement of a virtual telescoping leg plane model. The method has the advantages of good control effect and the improvement of robot adaptability.

The invention discloses a compliant control method of a wheel foot type robot. The method includes outer loop control, middle loop control and inner loop control, wherein the outer loop control is control of the pose of a robot body and aims to make the pose of the robot body accurately trace an expected pose track; the middle loop control is foot end contact force control and aims to make the pose of the robot body accurately trace an expected pose track; the inner loop control is active joint driving moment control and aims to make supporting leg foot end contact force trace expected force obtained through outer loop calculation. Due to the three kinds of control, while the pose of the robot body is accurately controlled, the supporting leg foot end contact force is controlled. The method has the advantages of being simple in principle, high in control accuracy and capable of improving the adaptive capacity of the robot.

The invention discloses a functional electrical stimulation fuzzy control method, which relates to the technical field of disabled person rehabilitation medical appliances and comprises the following steps that: the surface electromyographic signals are collected by multiple channels; a high-pass filter is adopted for carrying out filtering processing to filter the low-frequency noise caused by the electrode sliding; the filtering processing is carried out through fast independent component analysis for filtering industrial industry interference; the time domain analysis is carried out on the surface electromyographic signals after the secondary filtration to obtain the root-mean-square; errors and error variation rates between the output root-mean-square matrix value and the expected root-mean-square matrix value are used as the input of a fuzzy controller, and the stimulation current intensity precision quantity is used as the output; the errors and the error variation rates are converted to the discourse domain value according to the proper proportion, and the membership function is determined; the control rule and the membership function are used for deducting the errors and the error variation rate to obtain the stimulation current fuzzy quantity; and the defuzzification processing is carried out to obtain the stimulation current intensity precision quantity. The accuracy and the stability of a functional electrical stimulation (FES) system are effectively improved.

The invention discloses a reciprocating telescopic glass wiping robot used for cleaning the surface of glass. The robot comprises robot bodies, a left sucking unit, a right sucking unit, a control unit and a communication unit, cleaning devices are arranged on the lower portion of the left sucking unit and the lower portion of the right sucking unit, the robot bodies comprise the left robot body and the right robot body which are connected together with the distance adjustable, and a reciprocating mechanism is arranged between the left robot body and the right robot body. The left sucking unit is arranged on the left robot body, a component, used for sucking to glass, of the left sucking unit is rotational relative to the left robot body, a rotating power mechanism is connected between the left robot body and the component, used for sucking to glass, of the left sucking unit, and the right sucking unit is arranged on the right robot body. The communication unit and the control unit are connected through signals, and the control unit is connected with the left sucking unit, the right sucking unit, the reciprocating mechanism and the rotating power mechanism through signals. The reciprocating telescopic glass wiping robot has the advantage of being better in glass cleaning effect.

The invention discloses a tennis ball picking system and method of a tennis ball picking machine. The tennis ball picking system comprises a central processing unit, a vision system, a driving system and a tennis ball picking device, wherein the central processing unit is used for receiving measured data of infrared distance measurement sensors and sending out a movement instruction to the driving system according to relevant data; the vision system at least comprises three infrared distance measurement sensors and an AD (Analogue/Digital) conversion circuit, and is used for measuring the positions and distances of tennis balls; the driving system is driven by the central processing unit to realize speed change and turning in a walking process of the tennis ball picking machine; the tennis ball picking device is composed of a two-degree-of-freedom mechanical arm and a steering engine driving circuit; the two-degree-of-freedom mechanical arm is used for finishing tennis ball clamping, tennis ball moving and tennis ball putting actions. With the adoption of the tennis ball picking system, the tennis balls falling in a tennis court can be automatically found and the full automation of a tennis ball picking process is realized, so that manpower resources are saved.

The invention provides a building curtain wall cleaning robot with a recycling function, which comprises a mounting plate, a telescopic rod is connected to the outer wall of the mounting plate, a fixing frame is connected to the end, away from the mounting plate, of the telescopic rod, a fixing shaft is connected to the inner wall of the fixing frame, a sponge cylinder is connected to the outer wall of the fixing shaft, and a water pan is connected to the bottom wall of the fixing frame; a scraping plate is connected to the inner wall of the water receiving disc and movably abuts against the sponge cylinder, a cleaning mechanism is connected to the bottom of the water receiving disc, two fixing blocks are fixedly connected to the outer wall of the mounting plate and connected to the two sides of the telescopic rod correspondingly, and a groove is formed in the outer wall of each fixing block; when the robot is controlled to move outside the curtain wall, the robot is fixed to the outerside of the curtain wall through the suction cup pieces, the outer side of the curtain wall is fixedly cleaned through the device, the curtain wall robot is prevented from swinging easily in the air,and then the safety coefficient of the device in the curtain wall cleaning process is improved.

The invention relates to an AGV vehicle handling robot and belongs to the technical field of stereoscopic garages. The AGV vehicle handling robot comprises a first AGV body and a second AGV body; thefirst AGV body and the second AGV body both comprises a walking mechanism, a steering mechanism and a clamping mechanism; each walking mechanism includes a walking wheel group, wherein each walking wheel group is internally provided with a walking wheel and a walking input shaft; each steering mechanism includes a steering transmission gear fixedly mounted to a housing of the corresponding walkingwheel group; the walking input shafts and the steering transmission gears are coaxially disposed. The robot is simple and reliable in structure, a large number of conventional parts are adopted, automatic processing is facilitated, the procurement cost is reduced, a wheel group mechanism is simplified, and dependence on procurement is reduced.

The invention provides a track-deformable robot moving platform for a dangerous hazard site environment. The track-deformable robot moving platform for the dangerous hazard site environment comprisesa robot body, two passive self-adapting track modules and an information acquiring module, wherein each passive self-adaptive track module comprises a track, a passive self-adapting mechanism, four fixing supporting frames, three track driven wheels, four track bearing wheels and a track driving wheel; the fixing supporting frames are inverted Y-shaped frames, and every two fixing supporting frames form a group, and the two fixing supporting frames in each group are leftwards and rightwards symmetrically connected through corresponding connecting shafts; two track bearing wheels are correspondingly fixed to two end parts of Y shapes of the lower parts of the fixing supporting frames in each group through the corresponding connecting shafts; and one track driven wheel is fixed to the upperpart of each of the fixing supporting frames in each group through the corresponding connecting shaft. According to the moving platform, the shape of the tracks can be flexibly passively changed basedon the size of a barrier in the environment, and the contact area between the track and the barrier can be increased, and thus the barrier crossing capacity of the moving platform is improved.

The invention discloses a control system of a wearable robot for helping the disabled. The control system comprises a master controller, a slave controller, a driver, an executing mechanism, a power source, a visual operation interface, an alarm module and a power-off protection module. A fieldbus communication manner, a control algorithm and personification gait design are adopted. The master controller is used for operating the algorithm, calling gaits, planning tracks, reading, feeding back and controlling the work of all the modules. The slave controller is a controller of a subnet. An EtherCAT bus is adopted in the fieldbus communication manner, and communication between the slave controller and the driver is formed. The control algorithm controls and adjusts movement of the executing mechanism in real time based on PID closed loop feedback. An NID optical locating and tracking system is adopted in the personification gait design for acquiring the movement curves of all the joints in the walking process of a human body. The robot can walk. The robot is formed in a fitting manner completely based on the actual walking gaits of the human body, the walking human simulation degree of the robot is high, and the robot acts smoothly and is high in degree of attachment to the human body.

The invention discloses a slip driving-based curved surface adaptive all-round omni-directional wall climbing robot, which comprises a body and two mechanical legs, wherein each mechanical leg comprises a feeding mechanism, a rotating mechanism and at least three adaptive curvature adsorption mechanisms; and the flexibility of an electric push rod and the degrees of freedom of rotation of the rotating mechanisms enable the mechanical legs to realize front and back interference-free continuous reciprocating motion under the driving of a linear sliding table. The slip driving-based curved surface adaptive all-round omni-directional wall climbing robot can passively adapt to curvature changes of various working surfaces, and has motion flexibility and passability to realize omni-directional motion and obstacle crossing on a working surface with a complex variable curvature. Based on a discrete fixed contact form, the wall climbing robot and the working surface have no relative slip, whicheffectively avoids damage of the robot to a paint film on the working surface. By adoption of an electromagnet and permanent magnet combination adsorption form, reliable adsorption and flexible lifting up in a moving process of the robot can be realized. A permanent magnet guarantees the reliable adsorption property of the robot in a power-losing state on the working surface, so that the safety coefficient is substantially increased.

The invention provides a plane two-freedom moving device, which comprises an operation platform, step motors and a synchronous belt, wherein the synchronous belt is connected with the step motors; Y direction slide rails are arranged at the two sides of the operation platform; a slide plate and the slide rails are matched and connected through a slide block and chute structure; two synchronous motors are respectively arranged at the identical side end of the two Y-shaped slide rails; two reversing wheels are respectively arranged at the other side of the two Y-direction slide rails; four transmission shaft sleeves are fixedly arranged on the slide plate; the two ends of one synchronous belt are respectively connected with the two sides of a work slide block, and the synchronous belt sequentially bypasses a synchronous belt wheel and the transmission shaft sleeves. The plane two-freedom moving device has the advantages that the structure is simple; torques in different directions at different speeds are output through the two step motors; the walking of the work slide block on the plane can be realized. The plane two-freedom moving device is applied to a wall climbing grinding robot; the structure is simple, so that the self weight of the robot can be effectively reduced, and the control is more flexible.

The invention discloses a six-bar mechanism multi-foot robot and a modeling method thereof. The six-bar mechanism multi-foot robot comprises a control device, bevel gear speed reducers and left-rightsymmetrical leg mechanisms, wherein the control device is composed of a power supply, a controller internally provided with a direct-current motor control board, a direct-current motor A and a direct-current motor B, and the output shafts of the direct-current motor A and the direct-current motor B are correspondingly connected to the bevel gear speed reducers; and each leg mechanism consists of shell plates, a gear transmission assembly A, a gear transmission assembly B, a six-bar mechanism and a foot claw assembly, and in the case of each leg mechanism, the gear transmission assembly A is mounted between the two shell plates, and the gear transmission assembly B is mounted between the other two shell plates, and both the gear transmission assembly A and the gear transmission assembly B drive the foot claw assembly through the six-bar mechanism. According to the six-bar mechanism multi-foot robot and the modeling method thereof, the two leg mechanisms are driven by the two direct-current motors, the six-bar mechanisms push eight foot claws of front and rear groups to move in a staggered mode, so that walking of the robot is achieved through the staggered movement of the adjacent six-bar mechanisms; and assembling of the robot is compact, thus meeting the requirements of narrow-space operation.

The invention discloses a multifunctional stirrer. The multifunctional stirrer comprises a base, wherein an upright column in a perpendicular direction is fixedly installed on the base, a movable basewhich can perpendicularly move along the upright column is installed on the upright column, a stirring motor a is fixedly installed at an upper end of the movable base, a stirring device in the perpendicular direction is connected on an output shaft of the stirring motor a, a stirring barrel is fixedly installed at an upper end of the base, a temperature display screen is fixedly installed at anouter end of one side of the stirring barrel, a thermometer is fixedly installed on one side of an inner end of the stirring barrel, and a heating rod is fixedly installed on the other side of the inner end of the stirring barrel. In the multifunctional stirrer disclosed by the invention, the temperature display screen is fixedly installed at the outer end of one side of the stirring barrel, the thermometer is fixedly installed on one side of the inner end of the stirring barrel, and the heating rod is fixedly installed on the other side of the inner end of the stirring barrel, so that the temperature in the stirring barrel can be monitored in real time through the temperature display screen. Meanwhile, the heating rod can also adjust the temperature in the stirring barrel, so as to meet different needs in production.

The invention discloses an intelligent sweeping robot for a tiled photovoltaic power station and belongs to the field of photovoltaic panel sweeping devices. The technical problem of how to realize automatic sweeping of all photovoltaic panels on the same plane is solved. The intelligent sweeping robot structurally comprises a power supply device, a controller and a sweeping device and further comprises a secondary-primary travelling device mainly composed of a bearing primary device and a moving secondary device. A sweeping limiting sensor is arranged on the moving secondary device, and the sweeping device is assembled on the moving secondary device. The bearing primary device is provided with a traverse limiting sensor, a photovoltaic panel identification sensor, a secondary device parking sensor and a parking mechanism, and travelling assemblies of the traverse limiting sensor and the bearing primary device, a travelling assembly of the moving secondary device, the sweeping limitingsensor, the sweeping device, the photovoltaic panel identification sensor and the secondary device parking sensor are connected with the controller. The photovoltaic panels can be automatically identified, and the multiple photovoltaic panels on the same plane are swept.

The invention provides an autonomous navigation medical inspection drug delivery robot and a use method. The robot comprises a frame structure used for mounting of a whole part, wheel structures usedfor driving the whole frame structure to move are arranged on the three top corner positions of the bottom of the frame structure, the middle of the top of the frame structure is fixedly provided witha rotating disc middle shaft, a gear transmission mechanism and a planetary gear and drug box linkage structure are arranged on the rotating disc middle shaft in a matched manner from bottom to top,a radar used for navigation is fixedly mounted on the top of a radar mounting table of the frame structure, and a mechanical arm grabbing mechanism is fixedly mounted on the frame structure through amechanical arm mounting table. The robot can share tasks of nurse inspection and drug delivery and inspection of physical signs of a patient, the aim that in an inpatient ward, man-machine coexistingfor service of patients can be achieved, the time for back and forth rushing of a nurse for getting drugs can be reduced, and the patient can be served better.

The invention relates to an intelligent wheelchair vehicle based on a drive-by-wire technology and a control method. According to the technical scheme, the control method includes the step of system initialization, wherein fault states of all hub motors are detected to determine a corresponding driving mode, if modules where the four hub motors are located all work normally, a system enters a four-wheel drive mode, if the module where a certain hub motor of front wheels is located breaks down but the modules where the two hub motors of rear wheels are located work normally, the system enters a rear-wheel drive mode, and if the module where a certain hub motor of the rear wheels is located breaks down but the modules where the two hub motors of the front wheels are located work normally, the system enters a front-wheel drive mode; the step of drive control such as going straight, turning and braking. The intelligent wheelchair has the advantages that the drive-by-wire technology is adopted, the manipulating mechanism and the actuators are connected through wires to replace conventional mechanical connection, the structure is simplified, the component arrangement is flexible, control is rapid and flexible to carry out, the wheelchair travels intelligently, and the indoor and outdoor action ability of old people and patients with dyspraxia is improved.

The invention relates to a novel electric road roller and an operation method thereof. The novel electric road roller comprises a left driving wheel and a right driving wheel, and a left wheel hub electromotor and a right wheel hub electromotor which are used for controlling rotating of the left driving wheel and the right driving wheel; and both the left wheel hub electromotor and the right wheel hub electromotor are driven by electric energy provided by a power management system. According to the novel electric road roller and the operation method thereof, a storage battery is used for driving the left wheel hub electromotor and the right wheel hub electromotor respectively, driven of wheel working is realized, a hand shank is used for controlling driving steering, so that operation and steering of the whole novel electric road roller is realized, mechanical devices and hydraulic systems such as engines, clutches, gearboxes, universal gearings, main reducing gears, differential mechanisms, and hydraulic pumps in conventional road rollers are avoided, occurance of mechanical hydraulic failures is reduced, and service life is prolonged. Utilization of electricity utilization off-peak periods in the night is adopted, diversification of electric energy source is realized, dependence on fossil energies such as diesel oil is reduced effectively, working noise is reduced, pollutant discharge is reduced, and maintenance and operation cost is reduced.

The invention relates to a composition for improving symptoms of a cerebrovascular disease. The composition is composed of Ligusticum wallichii, rhizoma Gastrodiae and nervonic acid, and has advantages of synergistic and complementary pharmacological effects, high content of active ingredients, quick taking-effect, controllable quality, small taking dose and definite therapeutic effect. The composition can be prepared into various healthcare product dosage forms suitable for clinical application.

The invention relates to an excavator bucket type amphibious dredge pumping ship. The excavator bucket type amphibious dredge pumping ship comprises a body, wherein the ship body comprises a bow and aship body, two sets of spiral propellers are arranged below the tail part of the ship body, a rotary mud digging mechanism is arranged at the front part of the ship body, the left side wall and the right side wall of the ship body close to the bow are provided with a left mounting groove and a right mounting groove respectively, and front leg supporting mechanisms are arranged on the wall surfaceof the left mounting groove and the right mounting groove, a pipe swinging pump is arranged in the ship body, and a sludge screening mechanism is arranged at the tail part of the ship body. A sludgeoutlet of the sludge screening mechanism corresponds to an inlet of a material feeding screw, an outlet of the material feeding screw corresponds to an inlet of the pipe swinging pump, and the material feeding screw is arranged on the pipe swinging pump. A sundries outlet of the sludge screening mechanism corresponds to a sundries conveying device, the sundries conveying device is installed on theship body, and a rear supporting leg mechanism matched with the rotary mud digging mechanism is arranged behind the ship body. The excavator bucket type amphibious dredge pumping ship disclosed by the invention integrates the functions of mud digging, screening and pumping.

The invention discloses a two-purpose intelligent precise combined seed and fertilizer drill. The drill comprises a rack, wherein a first rotating shaft and a second rotating shaft are arranged at the lower end of the rack, the first rotating shaft is sleeved with a first lantern ring, the second rotating shaft is sleeved with a second lantern ring, the first lantern ring is provided with a rear wheel through a first damping spring, the second lantern ring is provided with a front wheel through a second damping spring, a first transmission gear is arranged on the first rotating shaft, a second transmission gear is arranged on the second rotating shaft, the first transmission gear and the second transmission gear are sleeved with a synchronous belt, a plurality sowing grooves are formed in the synchronous belt at equal intervals, a worm wheel is arranged on the second rotating shaft, and a first driving motor is arranged on the rack. According the combined seed and fertilizer drill, the structure is simple, the sowing is convenient and reliable, the synchronous belt on which the distances between the sowing grooves are different can be changed, seeds of different crops can be sown, the practicability is good, the sowing efficiency is greatly improved, and the time and labor are saved.

The invention discloses an inspection robot capable of climbing stairs. The inspection robot comprises a supporting base with wheels, and a six-shaft mechanical hand arranged on the supporting base. The six-shaft mechanical hand is provided with a cloud deck framework. A probing assembly used for detecting, a continuous track chassis, a climbing mechanism, a telescopic mechanism and the like are contained in the cloud deck framework. According to the inspection robot capable of climbing the stairs, by means of design of the specific climbing structure and the telescopic structure, the robot can walk on the steep slope or the stairs; and in addition, by arranging the probing assembly, the robot can detect equipment like a switch cabinet of a transformer substation. The inspection robot canreplace labor to operate under high pressure, user experience is improved greatly, and the application range of the robot is expanded.

The invention relates to the technical field of robots and provides a climbing robot with an elastic supporting driving mechanism. The climbing robot with the elastic supporting driving mechanism comprises a robot body, a steering mechanism, a driving mechanism and a controller. The robot body comprises a head, a body and a tail. The head and the body are connected through a first supporting arm, and the body and the tail are connected through a second supporting arm. The driving mechanism is arranged in the tail and comprises a third motor, a screw, a sliding block and a tail fixing ring. The third motor is arranged in the screw, and the third motor and the screw are fixed. The screw is sleeved with the tail fixing ring, and the sliding block is arranged between the screw and the tail fixing ring. One end of the sliding block is arranged in a double spiral groove in the surface of the screw in a sliding fit manner, and the other end of the sliding block is fixedly arranged in the tail fixing ring. A supporting leg set of the tail is arranged on the tail fixing ring. The controller is arranged on the head of the robot body and electrically connected with a first motor, a second motor and the third motor. The climbing robot can well run in ruin holes, pipelines and other environments.

The invention provides a carbon-free trolley. The problem of difficult adjusting of the deflecting direction of an existing trolley is solved. The carbon-free trolley comprises a trolley frame, a traveling mechanism, a transmission mechanism and a steering mechanism, wherein the traveling mechanism, the transmission mechanism and the steering mechanism are arranged on the trolley frame; the traveling mechanism comprises a front wheel rotatably connected with the trolley frame, rear wheels arranged on the two sides of the trolley frame, and a driving assembly used for driving the rear wheels torotate; and the transmission mechanism comprises a cycle adjusting assembly used for adjusting the transmission cycle, the transmission mechanism is connected with the rear wheels and the steering mechanism, one end of the steering mechanism is connected with the transmission mechanism, the other end of the steering mechanism is connected with the front wheel, the driving assembly drives the rearwheels to rotate so as to drive the transmission mechanism to adjust the deflecting direction of the front wheel connected with the transmission mechanism, and the cycle adjusting assembly changes the transmission cycle to change the steering cycle that the steering mechanism drives the front wheel to deflect. Through cooperation of the traveling mechanism, the transmission mechanism and the steering mechanism, the trolley operates circularly according to a double-8-shaped trajectory and according to the preset requirements, and the trajectory size of the trolley can be adjusted through the cycle adjusting assembly.