81results about How to "Enough degrees of freedom" patented technology

The invention discloses a light clutch type assisting exoskeleton device and a control method thereof. The light clutch type assisting exoskeleton device can simulate human motions to assist the human body to bear load and comprises a frame carrier, a waist mechanism, hip joints, knee joints, ankle joints and feet which are sequentially arranged from top to bottom. The light clutch type assisting exoskeleton device has multiple freedom degrees, can simulate multiple motions of the human body and can better achieve matching with the human motions. A clutch type joint driven assistance mode is adopted, required sensing hardware requirements are low, control is convenient to achieve, clutch type driving energy can be integrally designed with the structure of the light clutch type assisting exoskeleton device, and the mass and volume of the light clutch type assisting exoskeleton device are effectively decreased. The light clutch type assisting exoskeleton device is simple and reliable in structure, high in integration and easy to control and can be used for strengthening the load-bearing capability of a wearer and assisting walking, and the fatigue feeling of load-bearing motions of the human body is effectively reduced.

An antenna structure (106) comprising a first electrically conductive element (102) having a first end and a second end, a second electrically conductive element (103) having a first end and a second end, and a coupling structure (104) short- circuiting the first electrically conductive element (102) with the second electrically conductive element (103) by means of electrically connecting the electrically conductive elements (102, 103) at positions between the first and the second ends, wherein an integrated circuit (105) is connectable between the first end of the first electrically conductive element (102) and the first end of the second electrically conductive element (103).

The invention provides a power distribution cabinet inspection robot. The robot comprises a machine body part, an unlocking part, a turning part and a door opening part, wherein the machine body partcomprises a rotary base, a rotating base, a first stepping motor, a second stepping motor, a third stepping motor, a T-shaped block, a first mounting plate, a first screw rod, a second screw rod, a third screw rod, a camera, a camera shooting rod, double triangular plates, a first electric actuator, camera shooting double rods, a fourth stepping motor, a main transmission belt, a first gear, a fifth stepping motor, a second gear and a rotating support, when the power distribution cabinet inspection robot is used, the machine body part moves to the vicinity of a power distribution cabinet needing inspection, the unlocking part is used for turning a lock of the power distribution cabinet, then a lock body ejects a turning block, the turning part is used for rotating the turning block by 90 degrees, at the moment, a cabinet door pops open, then the door opening part is used for opening the cabinet door, and the machine body part is used for carrying out scanning inspection on the interiorof the power distribution cabinet.

The invention discloses a distal radius fracture reduction and force measurement device. The device comprises a forearm and elbow joint supporting system, a biplanar arc-shaped guide rail system, an upper arm fixing system, a thumb traction system and a palm traction system, wherein the biplanar arc-shaped guide rail system and the upper arm fixing system are arranged on the forearm and elbow joint supporting system, and the thumb traction system and the palm traction system are arranged on the biplanar arc-shaped guide rail system. According to the device, all key assemblies can allow X rays to transmit, and therefore a doctor can conveniently monitor and judge the reduction effect during an operation; after a satisfactory fracture reduction effect is achieved, the device can be locked to keep the reduction state, and reduction losing possibly occurring in the plaster immobilization process is avoided; most importantly, the device can measure some biomechanical key parameters in the reduction process in real time, and a theoretical basis and a possible way are provided for normalized, quantified and precise operation of fracture reduction.

The invention provides an automatic water receiving and carrying robot. The automatic water receiving and carrying robot comprises a control box, an upper machine body part, a lower machine body part,mechanical arm parts, an assisting arm part and a moving machine body part, wherein the upper machine body part comprises an upper machine body, an up-down shoulder moving block, a shoulder telescoping guide rail, an assisting arm lifting guide rail, etc.; the lower machine body part comprises an upper machine rotating shaft, a lower machine body, etc.; the moving machine body part comprises a moving machine body, a turning wheel, a reversing motor, moving wheels, etc.; the assisting arm part comprises an assisting arm connecting part, a first assisting arm, fixed claws, movable claws, etc.;each mechanical arm part comprises a first shoulder block, a big arm block, a small arm block, claw part, etc. According to the automatic water receiving and carrying robot, the upper machine body isconnected to two mechanical arms and one assisting arm; the two mechanical arms are matched to arrange a water receiving basin below a water faucet, and a switch of the water faucet is clamped throughthe claw parts of the assisting arms; the claw parts are rotated through a clamping claw motor, and thus the water is opened and closed; the water basin can be carried close to people; the water basin is carried and poured after use, and thus the whole water receiving and carrying operation is finished.

The invention discloses a wall surface wire display method of a high-supersonic-speed inward turning air intake duct and an isolated segment flow field, wherein the method belongs to the technical field of hydromechanics. The method is characterized in that partial wall surfaces of the inward turning air intake duct and a flow channel in the isolated segment are replaced by a transparent material; the transparent wall surface at one side is used for observation, and the transparent wall surface at the other side is provided with a plurality of rows of micropores; wires are threaded through the micropores and are tightly adhered outside the wall surface, and furthermore background paper is adhered on the outer wall surface; in experiment, light is irradiated to the background paper; and simultaneously a wall surface wire flow spectrum of the inner flow field is photographed from the other side; and by means of the plurality of rows of micropores with known spatial positions, optical distortion correction can be performed on a wire flow spectrum picture, thereby realizing the more accurate and more reliable inner flow field structure which is observed. According to the method, through developing potential of wall surface wire displaying technology, an inner flow field display technique for the inward turning air intake duct and the isolated segment is supplied, thereby understanding the inner complicated three-dimensional flow structure of the inward turning air intake duct and the isolated segment.

The invention provides an insulating mounting robot for a power distribution cabinet. The insulating mounting robot comprises a main body part, a screwing part, a fixing part and a clamping part; themain body part comprises a limiting disc, semi-gears, a semi-gear seat, a first electric cylinder, a lifting rod, a rotary lifting disc, a rotating base, a base plate, a first gear, a first stepping motor, a second gear, a third gear, a travelling frame, a driven wheel, a driving wheel, a travelling belt and a two-way asynchronous motor; the screwing part is provided with a parallel mechanism to provide sufficient degrees of freedom for a joint, motion such as rotation, stretching out and drawing back can be achieved, and a nut can be aligned with a bolt and is tightly screwed; magnets are mounted on the inner sides of a nut sleeve of the screwing part and a bolt sleeve of the fixing part, and thus it can be guaranteed that the bolt and the nut do not fall off in the moving process; and the fixing part is provided with a parallel mechanism, the functions such as rotation, stretching out and drawing back can be achieved, and the degree of freedom needed when the bolt is inserted into ahole from the lower part can be met.

The invention discloses a portable biomedical experiment box. The portable biomedical experiment box is composed of a box body part, a clamping part, a blood drawing part, an injection part and the like; the box body part comprises a box body, a box cover, a pulling plate and the like; the clamping part comprises a moving disc, an inner rotary disc, claw sleeves and the like; the blood drawing part comprises a moving block, a test tube clamp, a blood drawing needle and the like; the injection part comprises a telescopic moving block, a rotary frame, an injection pushing block and the like. When the experiment box is used, an animal which is used for the experiment is placed in the box body, when the experiment needs to be conducted, the animal is clamped by using the clamping part, the blood of the animal is drawn by using the blood drawing part, the injection part is used for injecting the animal, foods for the animal are placed in a food box and a water box which are arranged in thebox body, and the animal is observed through transparent glass in the experiment box.

The invention provides a vertical steel pipe welding, grinding and polishing robot. The main body of the vertical steel pipe welding, grinding and polishing robot is composed of a machine body portion, a welding portion, a grinding portion, a polishing portion, a base portion and the like, wherein the machine body portion comprises a bottom support, a lifting guide rail and the like, the welding portion comprises a movable taking seat, an upper cushion block and the like, the grinding portion comprises an arm telescopic guide rail, a grinding wheel and the like, the polishing portion comprisesa long connecting shaft, a polishing disc and the like, and the base portion comprises a bottom fixing seat, an outer abutting plate and the like. During use, a lower steel pipe is placed in the baseportion, the lower steel pipe is clamped by the base portion, an upper steel pipe is placed on the lower steel pipe to be in butt joint with the lower steel pipe, the upper steel pipe is clamped by the main body portion, then the upper steel pipe and the lower steel pipe are welded by the welding portion, a welding seam portion is ground by the grinding portion, and then the welding seam portionis polished by the polishing portion.

The invention discloses a multi-industrial-manipulator controller based on a double-layer CPG (central pattern generator). A structure similar to a layered neural network, which the ganglion controlling activities of invertebrates has and which a central nervous system controlling activities of vertebrates has, is adopted, features of a multi-industrial-manipulator control system and those of a single industrial manipulator are combined, and collective coordination and information interaction of multiple industrial manipulators are efficiently synergic. Flexible joints and a rich sensor system are adopted, information utilization rate of the multiple industrial manipulators is increased, and the joints of the industrial manipulators are effectively controlled, so that the system has high reliability and stability. The sensor system has the ability of autokinetic movement while the industrial-manipulator is enabled to have sufficient dynamic performance and degree of freedom. The multi-industrial-manipulator controller is composed of a phase coordination layer and a motion pattern generation layer; the phase coordination layer allows phase sequence locking for each industrial manipulator; the motion pattern generation layer allows trajectory planning and attitude adjustment for each industrial manipulator.

The invention discloses a flower opening process reconstruction method and a flower opening process reconstruction device. The method comprises the following steps: collecting four-dimensional point cloud data in the whole flower opening process; selecting a frame of point cloud data comprising all petal information, and creating a flower grid template according to the point cloud data, wherein the flower grid template comprises a plurality of petal grid templates; driving the flower grid template performing grid deformation so as to track the point cloud data based on a corresponding relationship between the flower grid template and the point cloud data, respectively obtaining the flower grid template corresponding to each frame of the point cloud data, and performing shape constraint, collision constraint and fixed root constraint on each petal grid template in the grid deformation process; arranging all the obtained flower grid templates according to a flower opening sequence, namely obtaining the dynamic flower opening process. According to the invention, efficient deformation of the flower grid templates is performed in a data drive manner on the basis of the collected real point cloud data and the created flower grid templates, and the accurate and vivid flower opening process can be reconstructed.

The invention provides an intelligent luggage carrying robot. A main body of the intelligent luggage carrying robot is composed of a clamping part, a placing part, a machine body part and the like, wherein the clamping part comprises a lifting arm frame, a cutting gear, a main arm, a friction sleeve and the like; the placing part comprises a placing lifting frame, a fixed rotating block, a supporting frame and the like; and the machine body part comprises a chassis, a walking frame, an inclined supporting plate, a single-side lifting frame and the like. When the intelligent luggage carrying robot is used, luggage is placed on the placing part through the clamping part, then the luggage slides to the machine body part through the placing part, then the machine body part controls the robot to move to a designated position, the luggage slides to the placing part through the machine body part, and then the clamping part places the placed luggage on the ground.

The invention discloses an anti-terrorist and anti-riot robot. The anti-terrorist and anti-riot robot is mainly composed of a body part, a shield part, an electric shock part, a subduing part, a narcotizing part, a traveling part and the like. The body part comprises a body, a rotary cover, a rotary connecting rod and the like. The shield part comprises a lifting block, a rotating block, a shieldand the like. The electric shock part comprises an electric baton, an electric shock block, a lifting cylinder and the like. The subduing part comprises a fork head, a fork rod, an up-down rotary discand the like. The narcotizing part comprises a lateral lifting block, a rapid cylinder, a standby anesthetic and the like. The traveling part comprises a base disc, a traveling conveying belt, a caterpillar track and the like. When the anti-terrorist and anti-riot robot is used, the robot travels to a specified position through the traveling part, the shield part is used for retreating terrorists, the electric shock part is used for electrically shocking resistant terrorists, the subduing part is used for subduing part of the terrorists, and the narcotizing part is used for attacking extremeterrorists with the anesthetic.

The invention discloses a high-voltage transmission conductor spacer rod maintenance vehicle, which is composed of a walking part, a screw part, a bracket part and a nut screwing part. The walking part includes: trolley shell, walking wheels, pinch wheels and so on; The screw part comprises a lifting block, a vane, an inner hexagon fixing block and the like; The bracket part comprises an upper clamping block, a lower clamping bracket and the like; The screw nut part includes: rack track, etc. When in use, the trolley is placed on the wire, and the trolley is moved to the vicinity of the spacerbar, if the spacer bar is loose, the screw on the spacer bar is fixed by using a screw part, and then the nut is tightened by screwing the nut part; If the spacer is damaged, The screw portion secures the screw on the spacer bar, the bracket portion drags the spacer bar, the nut portion is then removed and the spacer bar mounting block is removed by screwing the nut portion, the bracket portion is then lifted off the lead, the other end of the trolley is fitted with a new spacer bar in a similar manner, and the replaced spacer bar is then brought back to the vicinity of the tower.

The invention relates to a method for preparing monolayer self-assembling structure of nanorods, and in particular relates to a method for preparing a monolayer self-assembling structure of CdSe@Cds nanorods. The method comprises the following steps: smearing a CdSe@Cds nanorod solution onto a copper screen which is wrapped with a carbon film and used for a transmission electron microscopy for observation through a dripping and smearing method; and then performing the self-assembling of the CdSe@Cds nanorods on a carbon film substrate by a thermal annealing technology. Compared with the other self-assembling methods, the self-assembling method in a thermal annealing manner is simple in process and does not require complicated supplementary instruments such as a template and the like, thereby being suitable for large-scale preparation of superlattice structures; and more importantly, the method can be used for partially removing organic insulating molecules wrapping the surfaces of the nanorods so as to improve the electric conductivity of the nanorods. The method has the advantages that the method is novel, simple, low in cost and simple to operate; and the defect in the prior art that the large-scale preparation of the nanorods with self-assembled monolayers is not realized is overcome, so that the method has a good application prospect in the field of nanocrystalline photoelectric devices.

The invention relates to a tire identification automatic identification system based on line structured light and a working method thereof, and belongs to the technical field of tire side face identification high-precision automatic identification equipment. The device system comprises an indexing turntable device. The invention discloses a tire fixing and positioning device and a linear structured light three-dimensional measurement equipment fixing device. A tire to be identified is borne by the indexing turntable device and is fixed by the tire fixing and positioning device, images are collected, processed and identified by the linear structured light three-dimensional measurement equipment fixing device, identification and identification of tires with different diameters can be realized, and the identification accuracy and efficiency are high.

The invention provides a floor tile repairing robot. The floor tile repairing robot comprises a main operation part, a repairing part and a main body part. A shaft on a connecting disc of the main operation part is rotationally connected with a connecting disc seat of the main body part. A first gear on the shaft of the connecting disc of the main operation part is meshed with a fourth gear of themain body part. A first mechanical arm and a second mechanical arm are arranged on the main operation part, enough freedom degree can be provided, flushing and cleaning functions can be achieved, ceramic tiles can be cleaned more sufficiently, and preparation is made for subsequent repairing. The repairing part is provided with a parallel structure and can achieve the functions of rotating, stretching and the like, the degree of freedom required by filling of a ceramic tile repairing agent is met, and the repairing agent can be smeared evenly through a smearing tail end. The main body part can be divided into two parts, namely a polishing part and a walking part, and the polishing part is located below the main body part and used for polishing repaired ceramic tiles.

The present invention relates to a predistorter for reducing memory effects in RF power amplifiers. The invention also relates to a method for reducing memory effects in RF power amplifiers and to a base station including such a predistorter. A predistorter according to the invention includes first means (1) for generating a first signal component, which is an estimate of a drain current of said amplifier, which means (1) for generating said first signal component comprises a linear filter, second means (8) for generating a second signal component as a function of said first signal component and at least one first gain function; ; third means (9) for generating a third signal component as a function of a conjugate of said first signal component and at least one second gain function, and fourth means (7) for combining at least said second signal component and said third signal component to form an output signal. The output signal from the predistorter is further used as input to the power amplifier, which when amplified reduces the memory effects of the amplifier.

The application discloses a method and a device for a teleconference, wherein the method comprises the following steps: a first client transmits a request concerning the teleconference to a server, wherein the first client operates on a first terminal; the first client receives information for displaying a desktop from the server, wherein the desktop is an unlimited desktop in size and can be usedfor jointly operating through different clients which operate on different terminals; the first client is based on information received from the server to form the image data of the desktop; and thefirst client displays a part of a desktop image according to the image data. The method is used for solving the problems that in the prior art, the teleconference is high in share access threshold, poor in interactivity and complex in operation so that information exchange cannot be effectively performed.

The invention discloses an unfolded-type insulation platform for hot-line work in the maintenance field of a transmission line, which comprises a foundation platform, insulation pedals and first supporting plates, wherein the foundation platform is provided with a middle-part hollow structure, the horizontal transverse middle part on the bottom surface of the middle-part hollow structure is provided with a central supporting shaft, and the insulation pedals and the first supporting plates are arranged in pairs at two horizontal transverse sides of the foundation platform; the insulation platform also comprises a pair of second supporting plates, a mid-point of each second supporting plate is pivoted onto the central supporting shaft, and the second supporting plates are axially arranged along the central supporting shaft; and each second supporting plate is provided with a restrained end and a free end, when the insulation platform is folded, the second supporting plates are maintained horizontal, and when the insulation platform is unfolded, the restrained end of each second supporting plate is clamped with a first end of each first supporting plate, and the free end of each second supporting plate is contacted with the bottom surface of the middle-part hollow structure.

The invention discloses an adjustable binary engine passage sealing mechanism based on magnetic transmission. The adjustable binary engine passage sealing mechanism based on magnetic transmission comprises a sealing outer cover, adjustable wall boards, hinges, a magnetic transmission device, a lead screw, a lead screw nut, a swing connecting rod and a fixed base. The adjustable wall boards and a passage body are connected through the corresponding hinges, and the adjustable wall boards are connected through the corresponding wall boards. The fixed base is arranged on the adjustable wall boardin the middle of a passage. The magnetic transmission device is divided into two parts separately mounted on the inner side and the outer side of the sealing outer cover. The part, located on the inner side of the sealing outer cover, of the magnetic transmission device is connected with the lead screw. One end of the swing connecting rod is fixedly connected with the lead screw nut, and the otherend of the swing connecting rod is movably connected with the fixed base on the corresponding adjustable wall board. The part, located on the outer side, of the magnetic transmission device drives the part on the inner side of the sealing outer cover to synchronously rotate in a non-contact mode through a magnetic belt. The lead screw nut linearly moves on the lead screw. The swing connecting roddrives the adjustable wall boards in linkage to achieve geometric adjustment of the passage. By adoption of the adjustable binary engine passage sealing mechanism based on magnetic transmission, geometric adjustment of the engine passage is achieved, and airtightness is ensured.

The invention discloses an ultrasonic medical couplant automatic smearing instrument. A main body is composed of a bracket portion, an application portion, a disinfection portion and the like; the bracket portion comprises: a support frame, a lifting frame, a fixed rotating block, a parallel rod, a rotating connecting plate, and the like; the application portion comprises: a couplant seat, an extrusion block, a telescopic extrusion seat, a telescopic spring, a rotating electric cylinder seat, and the like; the disinfection portion comprises: a rotating base plate, a telescopic electric cylinder head, a sliding frame, a wiping sleeve, a disinfecting extrusion block, and the like; while in use, the instrument is placed next to an ultrasonic instrument, and then the bracket portion controls the application portion to reach the vicinity of a probe, and then the application portion applies the couplant to the probe, after the probe is used, the bracket portion controls the disinfection portion to reach the vicinity of the probe, and the probe can be cleaned and disinfected.

The invention discloses a complete optimal Steiner tree construction method based on a lookup table. The complete optimal Steiner tree construction method comprises the following steps: calculating a node set corresponding mark number; obtaining a minimum line length vector through a potential minimum line length vector lookup table; through the complete optimal Steiner tree lookup table, constructing a complete optimal Steiner tree; constructing a minimum rectangular Steiner tree through the complete optimal Steiner tree; and by establishing a multi-layer lookup table, carrying out data compression on a potential minimum line length vector lookup table and the complete optimal Steiner tree lookup table. According to the complete optimal Steiner tree construction method based on the lookup table, a method for rapidly constructing all possible minimum rectangular Steiner trees is provided with a very small storage space, and enough freedom is provided for a wiring tool so that the optimal minimum rectangular Steiner trees in different environments are rapidly obtained.

The invention relates to a computer device which comprises a chassis, a slide rail configured in the chassis, an electronic module arranged on the slide rail in a sliding manner, a conductor group connected with the electronic module and a line concentration module, wherein the line concentration module comprises a fixed frame body and a flexible frame body; the fixed frame body extends along a first axis which is parallel to the slide rail and is arranged below the slide rail; the flexible frame body is connected between the fixed frame body and the electronic module; the fixed frame body and the flexible frame body jointly form containing space; the conductor group is arranged in the containing space; when the electronic module is arranged in the chassis, part of the flexible frame body is borne on the slide rail and is arranged on a second axis parallel to the first axis; and when the electronic module slides out of the chassis, the flexible frame body borne on the slide rail moves away from the slide rail along the second axis and at least partly moves to the first axis.

The invention disclose a medical kit land and water conveyer being composed of a convey part, a hull part, a running part and a loading part. The conveying part includes upper cover plate upper cargocompartment and arm traveling frame. The hull part includes: hull, sealing plate, propeller; the running part comprises a moving lifting frame, a parallel seat, and a walking track; the loading part comprises an arm moving block, a limit moving block, and an anti-slip block. When in use, the loading part packs the medical treatment into the cargo compartment, and then the cover plate is closed. When traveling on land, the tracks of the traveling part rotate to realize walking; when traveling in water, the traveling part rises, and the hull part of the ship carries out walking.

The invention discloses a water dispenser bottled water transport loader. A main body of the water dispenser bottled water transport loader is composed of a main body part, a pressing part, a rotatinglifting part, a water changing part, a travelling part and the like. The main body part comprises a machine body, a switch board, a moving guide rail and the like. The pressing part comprises a pressing base, a big armed lever, a pressing head and the like. The rotating lifting part comprises a sliding base, a lifting guide rail, a disc guide rail and the like. The water changing part comprises arotating connecting disc, a triangular claw seat, an inner hanging claw and the like. The travelling part comprises a travelling chassis, a travelling track and the like. During usage, bottled wateris placed on the main body part at first, then the travelling part controls a robot to walk to an elevator, an elevator button is pressed by the pressing part, the robot is controlled to arrive at thedesignated floor, then the travelling part controls the robot to walk to the position near a water dispenser with water needing to be changed, and afterwards the rotating lifting part and the water changing part are matched for taking an empty bucket down from the water dispenser, placing the empty bucket on the main body part and then putting bottled water located in the main body part onto thewater dispenser.

The invention discloses a floor tile seam beautifying robot. The main body of the floor tile seam beautifying robot is composed of a main arm part, a pretreatment part, a filling part, a main body part and the like; the main arm part comprises a contraction frame, a scraping and pressing plate, a scraping block and the like; the pretreatment part comprises a sliding arm block, a rotating base disc, a protruding block and the like; the filling part comprises a shaking foundation disc, a bent plate, a filling frame and the like; the main body part comprises a main sliding frame, a hanging connector, a walking crawler belt and the like. When the robot is used, the main body part controls the robot to walk to the position close to a tile needing seam beautifying, the main arm part is supportedon the tile, gaps between the tiles are reserved, then the pretreatment part cuts out original cement in the gaps and sweeps away the original cement, then the filling part fills the gaps with a seambeautifying agent, and then a scraper on the main body part scrapes away the redundant seam beautifying agent, the seam beautifying process is completed.

The invention provides a ring beam connecting device comprising a support seat, a connecting rod which is vertical to the support seat and is used for connecting a ring beam, two positioning sleeves with external threads on the outer sides and a plurality of disc springs; the two positioning sleeves are respectively connected with both ends of the connecting rod movably through the external threads of the positioning sleeves; the positioning sleeves are connected with the ring beam through a guide rod; the disk springs are arranged between the guide rod and the positioning sleeves along the axial direction of the connecting rod; and the outer end surface of the guide rod is arranged on the outer side of the end surface of the connecting rod. According to the ring beam connecting device, an adjusting space is provided for the assembly and the disassembly of the ring beam through the movable connection between the positioning sleeves and the connecting rod; meanwhile, enough degree of freedom is provided for the ring beam along the axial direction of the connecting rod due to the disc springs; and finally, because the outer end surface of the guide rod is arranged on the outer side of the end surface of the connecting rod, the ring beam and the guide rod are not restricted on a vertical surface, and the stress along the vertical surface is released.