35results about How to "Fast turn" patented technology

A vertical silicon controlled rectifier (SCR) that directs an electro-static discharge (ESD) current directly to ground from the input / output pad. The vertical SCR is includes a vertical NPN and a vertical PNP that creates a very good SCR exhibiting very low ohmic on-resistance. The vertical SCR provides a low on-resistance and fast turn on, and can be adjusted to alter the trigger voltage value, holding voltage and how it is triggered. It can be optimized to trigger under ESD events and discharge the ESD current effectively to ground.

Disclosed is an airplane turning limitation control method through differential braking. The ground friction is utilized to the utmost extent, on the premise of guaranteeing the stable and safe airplane turning process, according to different turning requirements, the engine thrusting force and braking torque state parameters controlling the airplane turning most efficiently are provided to pilots correspondingly, the airplane turns in the highest turning speed, the airplane operating potential is played to the utmost extent, the front and main wheel wearing is reduced during turning, the engine oil consumption is low, and the airplane is prevented from skidding and tipping. Thus, the maximum friction coefficient of the wheels and runway is of the input amount, and the method has the advantages of high turning speed and stability, safety and efficiency of the turning process.

The invention discloses an invasive four-legged wheel type robot. The robot comprises a supporting plate, a circuit board and four supporting legs, and is characterized in that each supporting leg consists of a rotary steering engine, a swinging steering engine, a direct-current motor and a wheel; an output shaft of each rotary steering engine is fixed on the supporting plate along the vertical direction; a shell of each swinging steering engine and the shell of each rotary steering engine are fixed together; the output shaft of each swinging steering engine is arranged along the longitudinal direction of the supporting plate; the output shaft of each direct-current motor is arranged along the horizontal direction of the supporting plate; each direct-current motor and the output shaft of each swinging steering engine are fixed by a U-shaped bracket; each wheel is fixed on the output shaft of each direct-current motor; the supporting plate is provided with an electromagnetic gun and a power supply capacitor. The robot disclosed by the invention is capable of quickly moving forwards, moving backwards, making a turn or rotating in situ by controlling the direct-current motor; the robot can walk by the four legs by controlling the swing steering engines and the rotary steering engines; therefore, the robot realizes the functions of crossing barriers and keeping away from the barriers, so the robot is applicable for walking in complicated environment; by the electromagnetic gun, the robot is capable of attacking a target.

The invention particularly relates to an ROV leveling auxiliary device and an ROV. The ROV leveling auxiliary device comprises a controller, an attitude sensor, a horizontal guide rail, a horizontal lead screw, a lead screw sliding block, a first motor driving circuit and a first motor, all of which are arranged on a supporting frame in an ROV body, wherein the horizontal guide rail and the ROV body are coaxial; the horizontal lead screw is arranged in the horizontal guide rail, and the lead screw sliding block is arranged on the horizontal lead screw; the input end of the first motor is connected with the controller through the first motor driving circuit, and the output end of the first motor is connected with the horizontal lead screw to drive the lead screw sliding block to move on the horizontal lead screw; the attitude sensor is connected with the controller; the attitude sensor detects the current movement state of the ROV and sends the current movement state to the controller, and the controller controls the rotational direction and speed of the first motor. According to the technical scheme, a traditional leveling experiment is changed into attitude self-adjustment, and therefore the process of artificial participation in ROV leveling is omitted.

The invention relates to the technical field of anti-missile, and discloses a three-dimensional omnidirectional real-time prediction guidance method. The method comprises the steps of: establishing auniform acceleration kinematics model of a three-dimensional incoming missile and a defense missile, using a current motion state of the incoming missile and the defense missile according to the kinematics model as an input calculation prediction interception point position at every moment, using the defense missile to take the prediction interception point position as a target at every moment, designing a guidance law according to a way of intercepting a stationary target, and calculating prediction guidance demand overload of the defense missile. The three-dimensional omnidirectional real-time prediction guidance method uses a predictive idea to design the guidance law, converts an original high-speed moving and maneuvering incoming target into an equivalent predictive intercepting target with low-speed motion. Compared with a traditional guidance law, facing a large azimuth incoming target at close range, the three-dimensional omnidirectional real-time prediction guidance method reduces off-target, the interception accuracy is improved, the robustness to the target uncertainty maneuver is enhanced, the intercept range is wider, and the interception time is shorter.

The invention discloses an anti-explosion robot with a dual-motor eight-foot walking mechanism, and relates to the field of robots. According to the technical scheme, the robot comprises a rack, and steady-step advancing devices and transmission devices are arranged on the rack. The two steady-step advancing devices are located on the two sides of the rack and are arranged in parallel, and each steady-step advancing device comprises eight seven-connecting-rod mechanical legs, the seven-connecting-rod mechanical legs can do actions of raising, forward stretching, backward kicking and the like,and during stepping, the eight seven-connecting-rod mechanical legs in each steady-step advancing device operate. The transmission devices are used for driving the four sets of seven-connecting-rod mechanical legs on the single side of the rack to achieve stepping motion, the two transmission devices are located on the two sides of the rack symmetrically, and each transmission device comprises a stepping motor, two driving chain wheels, two transmission chains, two output chain wheels and an output shaft. The robot has the advantages that the robot can adapt to the terrain with the large fallor the fault, flexible steering and reversing are achieved, advancing vibration is small, and a driving device stably operates.

The invention discloses an aerospace motor-driven helicopter which includes a dish airframe, and jet aeromotors which are arranged on both sides of the airframe. The center of the airframe is in a hollow cylindrical shape, and low-speed direction adjusting blades are arranged on the upper portion and the lower portion of a hollow cylinder. An annular drive system formed by an electromagnet coil is arranged on the wall of the hollow cylinder. Two groups of fixed frame centers are arranged on the upper portion of the hollow cylinder, wherein the two groups of the fixed frame centers are arranged on the upper portion and the lower portion of a propeller by a foreward propeller through an axis. The upper fixed frame is provided with an auxiliary drive stiffening ring, and a reversal propeller is arranged on the lower portion; two groups of fixed frame centers are arranged on the lower portion of the hollow cylinder, wherein the two groups of the fixed frame centers are arranged on the upper portion and the lower portion of the propeller by a reversal propeller through an axis. The auxiliary drive stiffening ring is arranged on the fixed frame on the upper portion of the propeller. In addition, a rocket jet engine mouth is arranged on the rear portion of a middle section of each wing of the lower reversal propeller in a horizontal mode. Multiple resistance-increasing lifting blades are arranged on the bottom surface of each wing and a contrarotating generator is arranged at the intersection position of the center shaft of the upper foreward propeller and the center shaft of the lower reverse propeller.

The invention discloses an indoor following robot system. The indoor following robot system comprises a structure subsystem, a voice interaction subsystem, a sensing subsystem, an intelligent planningsubsystem and an omnidirectional maneuvering control subsystem, wherein the voice interaction subsystem, the sensing subsystem, the intelligent planning subsystem and the omnidirectional maneuveringcontrol subsystem are constructed on the structure subsystem; the man-machine voice interaction subsystem is used for acquiring voice information; the sensing subsystem is used for acquiring sensing information including RGB-D images and obstacle position information; the intelligent planning subsystem is used for determining a working mode of the robot and performing follow-up motion control planning by combining the voice information and the sensing information; and the omnidirectional maneuvering control subsystem is used for realizing maneuvering control of the robot according to the following motion control plan. According to the system, deep learning and Kalman filtering are adopted to realize human body target detection and tracking, robot motion planning under obstacle avoidance isrealized based on an artificial potential field method, and good following performance of the robot for human bodies with various postures is ensured; the system is simple in structure, low in cost and high in expansibility, and can serve as a universal basic platform for development of other multi-purpose indoor following robots.

Disclosed is a method for controlling minimum-radius limitation turning of an airplane through differential braking. According to a friction coefficient of a tire and a track, visualized braking pressure and turning linear speed control parameters are provided for an aviator, and rapid turning of the airplane with the structurally-allowable minimum turning radius is achieved. Maneuverability and safety of the airplane turning process controlled by the aviator on the ground through the differential braking are ensured.

The invention relates to the field of wheel systems, in particular to a low-unsprung-mass near-wheel IPASS system. The system comprises a wheel axle adjusting system, which is provided with an independent motor for controlling the distance between wheels and a vehicle body to adjust the wheel track; a steering system, which is provided with a small gear driven by the independent motor to roll along a steering inner gear installed on the top of the device to achieve steering, wherein the motor and the gear are hidden in a steering hollow shaft to reduce the vertical height; a near-wheel propelling system, which independently drive a motor to transmit torque to control the advancing and backing of wheels through a spline assembly, a bevel wheel speed reducer, and a planetary gear speed reducer; and an independent suspension system, which adopts a hydraulic damping and supporting system, wherein when driving in uneven ground, the impact generated by vertical movement can be absorbed by springs. During the vehicle driving process, independent propelling / braking, axle distance control, steering, and suspension system are provided for each wheel, self-adaptive optimized traction control is realized, and multiple steering functions are achieved.

The invention discloses a magnet moving mechanism and a window-cleaning robot and relates to the technical field of robots. The magnet moving mechanism comprises a magnet, a magnet fixing frame, a limiting structure and a regulating device. The regulating device comprises a motor and a deceleration gear set driven by the motor, an output shaft of the deceleration gear set is provided with a threaded part, the magnet is placed in the magnet fixing frame, the magnet fixing frame is provided with a threaded hole, the threaded hole is matched with the threaded part, and the limiting structure limits the magnet fixing frame, limits rotation of the magnet fixing frame and enables the magnet fixing frame to move in the length direction of the output shaft. The window-cleaning robot comprises a driver and a follower which are adsorbed to the two sides of glass respectively, the driver and the follower are provided with magnets opposite in polarity, and the magnet moving mechanism of the driver is used for adjusting the distance between the magnet and the glass. The magnet moving mechanism and the window-cleaning robot are simple in structure, can be automatically controlled and are simple to operate.

The invention relates to the field of track transit, in particular to a double-track turnout system, a double-track vehicle, a vacuum pipeline transportation system and an operation method of the vacuum pipeline transportation system. The double-track turnout system is arranged to be a double-suspension system comprising a first track mechanism and a second track mechanism, and a vehicle runs through the first track mechanism in a straight running state; and the vehicle runs in a turnout area through the second track mechanism; and when vehicle drives into or out of the turnout area, the firsttrack mechanism and the second track mechanism are adopted for performing transition conversion. According to the embodiment of the invention, the vehicle is converted from one track mechanism to another track mechanism, so that rapid and convenient turning of the vehicle is realized, and under the condition that the turnout is fixed, turning can be realized through up-and-down track transfer ofthe vehicle, response time is not needed, and the conversion process is in smooth transition, and the rear vehicle speed is not influenced; all vehicles on the main line can run at full speed, and efficiency is high; and the turnout is simple in structure, tracks do not need to be controlled, only vehicle track changing needs to be controlled, and cost is low.

The invention relates to a rotor tilting device for a four-axis unmanned aerial vehicle. The rotor tilting device for the four-axis unmanned aerial vehicle comprises a steering engine device, a connecting rod device, a bearing and a frame connecting part; the steering engine device comprises a steering engine, a steering engine bracket and two locating rods, wherein the steering engine is clampedbetween the steering engine bracket and the frame connecting part; the two locating rods are correspondingly and vertically fixed on the two sides of the steering engine; the connecting rod device comprises an upper rocking bar, a lower rocking bar, a rotor connecting rod and two guide rods, wherein the lower rocking bar is connected with a steering engine steering disc; the two ends of the upperrocking bar and the lower rocking bar are correspondingly connected with each other through the guide rods; fixing grooves are correspondingly formed in the centers of the upper rocking bar and the lower rocking bar; the fixing groove of the upper rocking bar is in interference fit with the rotor connecting rod; and the rotor connecting rod penetrates through the frame connecting part and is fixedthrough a bearing. The rotor tilting device for the four-axis unmanned aerial vehicle has the advantages that greater forward flying thrust and rotating torque can be provided for the four-axis unmanned aerial vehicle, the cruising speed and maneuverability can be enhanced, tilting fine adjusting can be continuously generated, and the flight stability can be enhanced.

The invention provides a universal caster and connecting structure and an adjusting method of the universal caster and connecting structure, and belongs to the field of universal casters. According tothe universal caster and connecting structure and the adjusting method of the universal caster and connecting structure, the problems that existing universal casters cannot brake synchronously and cannot move directionally are solved. The universal caster and connecting structure includes four universal casters and an adjusting frame connected with the four universal casters. Each universal caster includes a turning sleeve, a wheel frame, two rollers, a brake pipe, an adjusting rod and an adjusting column, wherein a fixing sleeve sleeves the top end of the turning sleeve, the wheel frame is fixed to the bottom end of the turning sleeve, the wheel frame includes an inner ring and an outer ring, the two rollers are connected with the wheel rings, the inner ring movably sleeve the wheel rings, the brake pipe is located in the wheel frame, a brake column is arranged in the brake pipe, an adjusting block is fixed to the adjusting rod, an alignment ring is fixed to the inner wall of the fixing sleeve, an adjusting hole is formed in the inner wall of the fixing sleeve, the adjusting column is arranged in the adjusting hole in a perforating mode, and an adjusting groove is formed in the column wall of the adjusting column. According to the universal caster and connecting structure and the adjusting method of the universal caster and connecting structure, the four universal casters areconnected by the adjusting frame, so that the universal casters can be switched among universal movement, directional movement and braking casters synchronously and quickly.

The invention relates to an automatic fire fighting system, and belongs to the field of fire fighting equipment for highway tunnels. The automatic fire fighting system is fire fighting equipment withfast fire fighting and smoke isolation and special for being used in a tunnel. According to the technical scheme, the automatic fire fighting system comprises tracks and blocking plates; the two tracks are oppositely arranged on two inner walls of the highway tunnel, and the at least two blocking plates are arranged on the tracks; the blocking plates comprise upper baffles, lower baffles, rotatingshafts and motors; and a rotating shaft is slidably arranged between the two racks, the upper baffles and the lower baffles are horizontally fixed to the rotating shaft, and when a fire occurs, the two upper baffles and the lower baffles are turned to a vertical state to form a closed space so as to realize the aim of isolating oxygen and extinguishing fire. The automatic fire fighting system canbe widely applied to the field of fire fighting in tunnels.

The invention discloses a vehicle unstability control method, a vehicle unstability control device and a vehicle. Wheel-side motors are arranged for each wheel in the vehicle. The method comprises thefollowing steps of judging whether the vehicle is in the unstable state or not, wherein the unstable state comprises the understeering state and the oversteering state; when the vehicle is in the understeering state, controlling the vehicle through the wheel-side motors to increase driving force of the wheels at the outer side, reduce driving force of the wheels at the inner side, and increase brake force of the wheels at the inner side; when the vehicle is in the oversteering state, controlling the vehicle through the wheel-side motors to increase the driving force of the wheels at the innerside, reduce the driving force of the wheels at the outer side, and increase the brake force of the wheels at the outer side. Thus, by conducting stepwise control on the wheel-side motors, the brakeforce is gradually strengthened, so that the vehicle more quickly and stably makes turns, the safety and dynamic performance are guaranteed, and the limiting speed, capable of being processed, of thevehicle unstability is higher.

The invention relates to a remote highway fire fighting device and belongs to the field of highway tunnel fire fighting equipment; and the remote highway fire fighting device is specially used in tunnels for fast fire extinguishing and smoke isolating. The technical solution is: the remote highway fire fighting device includes tracks and barrier plates; two inner walls of the highway tunnel are provided with the two tracks opposite to each other, the tracks are provided with the at least two barrier plates; the barrier plates include an upper baffle, a lower baffle, a rotary shaft and a motor;the rotary shaft is rotationally arranged between the two tracks, the upper baffle and the lower baffle are horizontally fixed on the rotary shaft; and in case of fire, the upper and lower baffles turn to the vertical state to form an airtight space and the purpose of isolating oxygen to extinguish fire can be achieved. The remote highway fire fighting device can be widely used in the field of tunnel fire fighting.

The invention discloses a four-synchronous parallelogram transmission roller shutter rotary wing unmanned aerial vehicle which is characterized by comprising rotary shutter wings, rotary shafts, second speed reducers, motors and a fuselage frame; the two rotary shafts in the vertical direction are symmetrically arranged on the two sides of the fuselage frame, and the two horizontal rotary shafts are symmetrically arranged on the front portion and the rear portion of the fuselage frame; the four motors arranged on the fuselage frame are decelerated through the four second speed reducers arranged on the fuselage frame and then drive the four rotary shafts to rotate continuously; the four rotary curtain wings are fixedly connected to the four rotary shafts respectively, the left rotary curtain wing and the right rotary curtain wing are used for generating thrust, and the front rotary curtain wing and the rear rotary curtain wing are used for generating lift force; and each rotary curtain wing comprises a rotary frame and a roller shutter mounted in the rotary frame, and a parallelogram mechanism and a driving motor are further arranged in each rotary frame and used for controlling the roller shutter to be unfolded and folded.

The invention discloses a wheel-pendulum compound driving device for a small mobile robot. Two motors are diagonally fixed at both ends of the bottom plate, and the wheels are driven by synchronous belt pulleys, wherein the two pulleys on the same side pass through the motors installed on the same side For driving, the two pulleys are connected through a synchronous belt, so that the trolley can realize four-wheel drive and the turning direction of the trolley can be realized by controlling the rotation direction of the two motors, so as to save the turning radius and movement space; the middle part of the trolley is equipped with a swing arm , the swing arm includes inner and outer connecting plates, bearings, synchronous belts and synchronous pulleys, which are driven by a motor installed in the middle of the trolley through gear transmission, and can play the role of auxiliary legs and crawlers when passing through larger obstacles. Improve its ability to overcome obstacles.

The invention discloses a turning control method and system under automatic driving. The method comprises the following steps of calculating and acquiring the coordinate of a predetermined point P1 according to time T1 from a turning start point to the predetermined point P1; according to the coordinate of the predetermined point P1, solving and acquiring the coordinate of a predetermined point P2and the coordinate of a predetermined point P3; according to the coordinate of the predetermined point P2 and the coordinate of the predetermined point P3, solving and acquiring an advance turning distance; and according to the solved and acquired advance turning distance, making an airplane start turning at an assigned point. In the invention, high precision turning control under automatic driving is realized.

The present invention relates to the field of rail transportation, in particular to a double-track turnout system, a double-track vehicle, a vacuum pipeline transportation system and an operating method thereof. In the system, the vehicle runs straight through the first track mechanism; the vehicle runs through the second track mechanism in the turnout area; when the vehicle enters or exits the turnout area, the first track mechanism and the second track mechanism perform transition conversion, The embodiment of the present invention uses the vehicle to switch from one track mechanism to another track mechanism to realize the fast and convenient turning of the vehicle, and can realize the turning by changing the track up and down of the vehicle under the condition that the switch is fixed, and no response time is required; The transition process is smooth and does not affect the speed of the vehicles behind; all vehicles on the main line can run at full speed with high efficiency; the structure of the turnout is simple, the track does not need to be controlled, only the control of the vehicle's track change is required, and the cost is low.

The invention discloses an in-situ turning control system and control method for a sickbed, which solves the problem that the sickbed is inconvenient to turn in a narrow space in the prior art, has the advantages of being able to realize the automatic turning and movement of the sickbed, and improving the efficiency of patient transfer The effect, the scheme is as follows: an in-situ turning control system for a hospital bed, including a driving component for connecting the front and rear wheels, the driving component includes a power source, the power source is connected with the driving rod to drive the rotation of the driving rod, and the driving rod The two ends of the front and rear side wheels are connected to drive the corresponding wheels to move; the turning adjustment part is arranged on the inner side of the wheel, and the turning adjustment part includes at least one telescopic rod. After the telescopic rod is opened, it can be in contact with the wheel and push the wheel to turn; A control device, the control device is separately connected to the power source and the telescopic rod.

The present invention discloses a two -horizontal two -rotating four -wheel wing drone. It is characterized by the wheel wing, drive mechanism, cam, rotating shaft, reducer, motor and fuselage framework.The symmetrical layout on both sides of the fuselage frame has two vertical rotating shafts. The symmetrical layout of the front and back of the fuselage frame has two levels of rotating shafts. The installation of the fuselage frame is fixed with four cams. It is set on the fuselage framework.The four electric motors on the top of the fuselage are set up by the four reducers on the fuselage frame. The four rotating shafts are continuously rotated.The wing is used to generate thrust, and the two wheel wings are used to generate lift. The four transmission mechanisms connect four wheel wings and four cams respectively.The rotating blades, cam and transmission mechanisms are used to control the rotation and reset of the blades.

The invention relates to a multi-stage series-connected expandable dry-adhesive wheel-foot wall-climbing robot and a movement method thereof, belonging to the technical field of robot applications. The robot consists of N wheeled wall-climbing units connected in series through magnetically connected springs (B). The above-mentioned wheeled wall climbing unit includes a base plate (1), a camera pan / tilt mounted on the front of the base plate (1), wheel mechanisms respectively installed on the left and right sides of the middle of the base plate (1), and respectively installed on the base plate ( 1) Bullseye wheel mechanism on the left and right sides of the rear. The invention can adapt to the surface of the ground, inclined surfaces and even the ceiling, and realizes functions such as stable attachment, ground-wall transition, and turning when the robot wheel foot interacts with the wall surface.

A assault robot having four wheel-legs, comprising a support plate (1), a circuit board (7), and four legs. Each of the four legs consists of a rotating servo (2), a swing servo (3), a direct current motor (4), and a wheel (5). An output shaft of the rotating servo (2) is fixed to the support plate (1) in a vertical direction, and a housing of the swing servo (3) is fixed to a housing of the rotating servo (2). An output shaft of the swing servo (3) is in the longitudinal direction of the support plate (1), and an output shaft of the direct current motor (4) is in the crosswise direction of the support plate (1). The direct current motor (4) is fixed to the output shaft of the swing servo (3) via a U-shaped support frame (6), and the wheel (5) is fixed to the output shaft of the direct current motor (4). The support plate (1) is provided with an electromagnetic gun (8) and a power supply capacitor (9). By controlling the direct current motors (4), the present invention enables agile forward movement, backward movement, turning movement, and spinning movement of the robot, and enables, by controlling the swing servos (3) and the rotating servos (2), the robot to walk on the four legs, thus achieving obstacle crossing and obstacle avoidance of the robot, and providing thereto the ability to travel in a complex environment. In addition, an assault on a target can be achieved by the electromagnetic gun (8).

The invention discloses a vehicle unstability control method, a vehicle unstability control device and a vehicle. Wheel-side motors are arranged for each wheel in the vehicle. The method comprises thefollowing steps of judging whether the vehicle is in the unstable state or not, wherein the unstable state comprises the understeering state and the oversteering state; when the vehicle is in the understeering state, controlling the vehicle through the wheel-side motors to increase driving force of the wheels at the outer side, reduce driving force of the wheels at the inner side, and increase brake force of the wheels at the inner side; when the vehicle is in the oversteering state, controlling the vehicle through the wheel-side motors to increase the driving force of the wheels at the innerside, reduce the driving force of the wheels at the outer side, and increase the brake force of the wheels at the outer side. Thus, by conducting stepwise control on the wheel-side motors, the brakeforce is gradually strengthened, so that the vehicle more quickly and stably makes turns, the safety and dynamic performance are guaranteed, and the limiting speed, capable of being processed, of thevehicle unstability is higher.