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288results about How to "Flexible movement" patented technology

Multi-position lower limb rehabilitation training robot

The invention belongs to the field of rehabilitation medical equipment and in particular relates to a multi-position lower limb rehabilitation training robot. The robot comprises a supporting mechanism, a patient fixing system, a lower limber training device and a control system. The lower limber training mechanism utilizes a neutral equilibrium principle, and can be conveniently converted into an outer dynamic-free training mode in a flat-lying state; a patient weight loss and fixation form of connecting the upper body of a patient and a sliding flat plate is adopted; a sole air bag training mechanism is light and flexible, and the patient can achieve a better training effect under the prompt of a lower limber vibration feedback module; exoskeleton lower limber rehabilitation equipment which can realize neutral equilibrium, a flat plate type fixed weight loss system and functional modules such as the vibration feedback module and the like are integrated to form the system, and the neutral equilibrium, the flat plate with an adjustable distance, and the more intuitive vibration feedback characteristic are fully utilized to realize the functions of the multi-position lower limb rehabilitation training robot in an active control mode, a passive control mode, an impedance control model and the like.
Owner:TSINGHUA UNIV

High mobility spherical detecting robot

The invention relates to a high-maneuvering spherical detection robot, which encloses a movement mechanism and a control device, etc., into a spherical shell and realizes the movement of the whole robot through the barycenter offset and the angular momentum conservation principle. The movement mechanism mainly comprises a support frame, a connection disk, a straight-line drive mechanism, a pivot steering drive mechanism, a telescoping mechanism, etc. The straight-line drive mechanism mainly comprises a drive motor, a gear transmission unit, an executive part, etc., which takes advantage of the barycenter offset to realize the straight-line movement of the spherical robot. The pivot steering drive mechanism comprises a drive motor and an executive mechanism, which takes advantage of the angular momentum conservation principle to realize the pivot steering movement of the spherical robot. The combination of straight-line and steering movements can realize the movement of the high-maneuvering spherical detection robot in any orientation. The telescoping mechanism comprises a drive motor, a screw mechanism, etc., which are used for realize the purpose that cameras at both ends protrude out of and retract into a sphere shell. The spherical robot not only provides a steady platform for installing cameras, but also realizes the pivot steering with flexible movement and strong maneuverability, and the spherical robot can be used for a plurality of tasks such as high toxic gas detection, field environment observation, and planetary exploration, etc.
Owner:战强

Differential motion driving magnetic adsorption type multifunctional wall climbing robot with small-folding-size mechanical arms

The invention belongs to the technical field of special robots and particularly relates to a differential motion driving magnetic adsorption type multifunctional wall climbing robot with small-folding-size mechanical arms, comprising a climbing mechanism and an operation mechanism, wherein the operation mechanism comprises multifunctional mechanical arms and tail end working modules; a base of each multifunctional mechanical arm is fixed on an adsorption type climbing mechanism; and each tail end working module is fixed at the tail end of each multifunctional mechanical arm. According to the invention, the small-folding-size mechanical arms are carried; with the adoption of a five-degree-of-freedom matching manner, the tail end of each arm can work in a working region at any position and any angle; and compared with the other mechanical arms with less degree-of-freedom, the movement of the multifunctional mechanical arms is more flexible. The small-folding-size mechanical arms refer to that the arm folding is more compact and the size of the folded arm is smaller according to explanation; and according to the shape represented on each arm, particularly a large arm adopts a curve design, so that other structures can be avoided when the arms are folded.
Owner:DONGFANG ELECTRIC CORP LTD

Seven-degree-of-freedom series-parallel hybrid mechanical arm and robot

The invention provides a seven-degree-of-freedom series-parallel hybrid mechanical arm. The seven-degree-of-freedom series-parallel hybrid mechanical arm comprises a base, a first joint, a first link,a second joint, a connection support, a third joint, a second link, a fourth joint, a fifth link, a fifth joint, a sixth joint, a sixth link, a seventh joint and an end executer connection flange which are sequentially connected, wherein a third link and a fourth link are further arranged between the third joint and the fourth joint, one end of the fourth link is connected with the fourth joint,the other end of the fourth link is connected with the third link, and the third link is connected with a motor shell body of the fourth joint; the third link, the fourth link, the fourth joint and the second link form a parallel four-link transmission mechanism; and the axis of the third joint, the axis of the fourth joint and the axis of the fifth joint are mutually parallel. The new configuration of the seven-degree-of-freedom series-parallel hybrid mechanical arm is high in operation flexibility in a common reachable range of a main movement space; and meanwhile, the load torque of the motor in the vicinity of the base is reduced, and the rotational inertia of the whole mechanical arm is reduced.
Owner:SHANGHAI JIAO TONG UNIV

Coal-fired power station boiler air duct and air-conditioning ventilation duct wormlike cleaning robot

The invention relates to a coal-fired power station boiler air duct and an air-conditioning ventilation duct wormlike cleaning robot. The air-conditioning ventilation duct wormlike cleaning robot comprises a peristaltic vehicle body, a controller, a vision system, an ultrasonic obstacle avoidance device and the like. The peristaltic vehicle body comprises a head and a vehicle body. The head is connected with the vehicle body through a skeleton type hydraulic connection turning device, and parts of the vehicle body are also connected through skeleton type hydraulic connection turning devices. The left, the right and the top of each section of the vehicle body are respectively provided with a non-power fixed traveling platform through a foldable telescopic device, and the bottom of each section of the vehicle body is respectively provided with a power traveling platform through a foldable telescopic device. The vision system and the ultrasonic obstacle avoidance device are installed at the front end of the head. A surrounding type cleaning device is disposed on a first section of the vehicle body, a second section of the vehicle body is connected with the controller, and a dust collection device is arranged on a third section of the vehicle body. The air-conditioning ventilation duct wormlike cleaning robot is capable of cleaning a primary-air air duct, a secondary-air air duct and a central air-conditioning air duct of a coal-fired power station boiler, and has the advantages of being flexible and accurate in motion, capable of cleaning air ducts in all-round manner, reliable in performance, reasonable in price and the like.
Owner:SHANGHAI UNIVERSITY OF ELECTRIC POWER

Buffering and walking integrated landing device

The invention discloses a buffer and walking integrated landing device. Several buffer and walking integrated mechanisms are installed on the side wall of the landing device, and each buffer and walking integrated mechanism includes a body connecting plate assembly, a mechanical leg assembly, a buffering and driving integrated primary vibration reducer, buffering and driving integrated auxiliary vibration reducers, a knee joint locking device and a foot pad. Each body connecting plate assembly has the degree of freedom on medial rotation and lateral rotation; each mechanical leg assembly has the degree of freedom on the external swinging, retraction, anteflection and backward extension of hip joints, the stretching and bending of knee joints and the like; each buffering and driving integrated primary vibration reducer, each left buffering and driving integrated auxiliary vibration reducer, and each right buffering and driving integrated auxiliary vibration reducer achieve buffering or driving between the corresponding mechanical leg assembly and the corresponding body connecting plate assembly; the knee joint locking devices achieve flexible movement. The buffer and walking integrated landing device makes up for the shortcomings of a current movable landing device in the aspects of movement flexibility, use convenience and the like, and is extremely excellent in landing device body posture control capability and obstacle surmounting capability in the movement process.
Owner:NANJING UNIV OF AERONAUTICS & ASTRONAUTICS

Quad-rotor mini-type underwater vehicle

The invention discloses a quad-rotor mini-type underwater vehicle. The quad-rotor mini-type underwater vehicle comprises a vehicle body, four both-way propellers and connecting pieces used for installing the both-way propellers. The quad-rotor mini-type underwater vehicle is characterized in that every two of the four both-way propellers are in one group, the two groups of the both-way propellers are symmetrically arranged on the two sides of the vehicle body respectively, propeller rotating shafts of the both-way propellers are obliquely arranged relative to the horizontal plane, and generated propelling force has the component in the heading direction; and the inclination angles of the propeller rotating shafts of the both-way propellers relative to the horizontal plane are equal, the two both-way propellers in each group are distributed in front of and behind the vehicle body, and the propeller rotating shafts of the both-way propellers are opposite in inclination direction. The quad-rotor mini-type underwater vehicle is reasonable in arrangement, the structure is more stable, movement is more flexible, and the vehicle can directly move in the vertical direction, namely, floating or descending. The overall structure is simple, and miniaturization and microminiaturization are facilitated. Conventional products can be adopted in all modules, special requirements are avoided, the independence of the underwater vehicle is guaranteed, and the beneficial effects of low cost, high stability and the like are achieved.
Owner:ZHEJIANG UNIV

Parallel robot for prostate flexible needle particle implanting

The invention discloses a parallel robot for prostate flexible needle particle implanting, and relates to the field of minimally-invasive medical apparatuses. The parallel robot has the advantages ofbeing small in size, compact in structure, convenient to operate, free of guide of guiding plates and the like. The parallel robot comprises a parallel posture adjustment mechanism, a flexible needleparticle implanting mechanism, an ultrasonic image navigation mechanism and multiple sensors; a parallel four-degree-of-freedom mode is adopted, the stability of the rigidity of a tail entry needle isimproved, and the outer needle movement flexibility of the flexible needle particle implanting mechanism is also met; a rotary-motor-driven flexible needle is adopted as an inner needle, an arc trackcan be formed through puncturing, obstacles of nerves, blood vessels and the like of the prostate are avoided, and the task of many needles at one point is completed. The ultrasonic image navigationmechanism is installed on a supporting base of the parallel posture adjustment mechanism, and can complete linear translation, pitching, yawing, and rotation around the center line of the ultrasonic image navigation mechanism, and focus target images are obtained via the anorectum so that a doctor can make corresponding processing according to real-time needle entry situations of particle implanting needles. The parallel robot is merged with the multiple sensors, so that the doctor conveniently carries out data observation and precise operation in a surgery, and the requirements for high precision positioning of entry needles and the safety of the surgery are met.
Owner:FOSHAN BAIKANG ROBOT TECH CO LTD

Hydraulic mechanical arm suitable for cutter changing operation of shield tunneling machine

ActiveCN105965503AAdapt to space requirementsMeet the needs of tool changing operationsProgramme-controlled manipulatorArmsHydraulic cylinderHobbing
The invention discloses a hydraulic mechanical arm suitable for cutter changing operation of a shield tunneling machine. The hydraulic mechanical arm comprises a base. The base is provided with a waist part. One side of the waist part is connected with one end of a big arm, and the other end of the big arm is connected with one end of a middle arm. The big arm is provided with a first hydraulic cylinder and a second hydraulic cylinder which are in pivot joint. The other end of the middle arm is connected with one end of a front arm. A third hydraulic cylinder is installed on the middle arm. A tool installing head is connected to the other end of the front arm. The front arm is provided with a fourth hydraulic cylinder. A hobbing cutter grabbing tool is arranged on one side of the tool installing head and comprises a U-shaped base. Two symmetrically-arranged grabbing tongs are arranged on a cross beam of the U-shaped base. One end of a fifth hydraulic cylinder is in pivot joint to the side wall of the U-shaped base, and the other end of the fifth hydraulic cylinder is in pivot joint with the grabbing tongs. All parts of the mechanical arm are hydraulically driven, super-high load capability is achieved, and a hobbing cutter of the shield tunneling machine can be easily grabbed. The hydraulic mechanical arm is simple and compact in structure, small in size, flexible in movement and capable of meeting the requirement for the cutter changing operation space. The digital hydraulic technology is adopted, and convenient and reliable control can be achieved.
Owner:NORTHEASTERN UNIV

Hexapod bionic robot

The invention relates to a robot, in particular to a hexapod bionic robot. The hexapod bionic robot comprises an upper bottom plate, a lower bottom plate, a fire extinguisher, an upper cover, obstacle avoidance sensors, a controller and six legs, wherein a robot body is formed by the upper bottom plate and the lower bottom plate; the upper cover is mounted on the upper bottom plate; the controller is mounted in the upper cover; the robot body is octagonal; a pair of opposite edges of the robot body are two tips respectively, and the other six edges are respectively positioned on two sides so as to form side waists; the first leg is mounted at one end of one side waist, the second leg is mounted in the middle of the side waist, and the third leg is mounted at the other end of the side waist; the fourth leg is mounted on the other side waist and symmetrical to the first leg, the fifth leg is mounted on the side waist and symmetrical to the second leg, and the sixth leg is mounted on the side waist and symmetrical to the third leg; the fire extinguisher is mounted at one tip of the robot body; each obstacle avoidance sensor is mounted between every two adjacent legs. The hexapod bionic robot provided by the invention has high adaptive capability to environment, can realize real-time obstacle avoidance and can reasonably plan walking routes; the robot body is stable, and legs are flexible and varied to move; the hexapod bionic robot can be adapted to various terrains, different speeds and different load requirements.
Owner:NANJING FORESTRY UNIV

Thigh and shank device with knee joint parameter measurement suitable for exoskeleton auxiliary supporting robot

The invention discloses a thigh and shank device with a knee joint parameter measurement suitable for an exoskeleton auxiliary supporting robot. The thigh and shank device is characterized in that knee joints are driven by adopting hydraulic cylinders, and the response speed and the bearing capacity of the exoskeleton auxiliary supporting robot are increased; the waist is connected with thighs through telescopic rods, and shanks are connected with feet through telescopic rods; one ends of the hydraulic cylinders are connected with the thighs through supports, pin shafts and joint bearings, piston rod ends are connected with the shanks through hydraulic cylinder connecting pieces, the knee joints are connecting components of the thighs and the shanks, sensors are used for measuring angular displacements of the knee joints, and the moving control that the knee joints of a human body are followed by exoskeletons is realized. According to the high and shank device with the knee joint parameter measurement suitable for the exoskeleton auxiliary supporting robot, disclosed by the invention, only the knee joints are controlled by the hydraulic cylinders, other joints are all used for adapting to moving requirements of leg joints of the human body, and the other joints comprise hip joints which are provided with the sensors, ankle joints, plantar structures, side swinging arms of the waist, globe joints of the thighs and the like; the structural characteristics of the human body are artificially simulated by the exoskeleton auxiliary supporting robot, the thigh and shank device is suitable for the human body to wear, the moving flexibility is maintained, the structure is simple, and a user can be helped to support the load weight.
Owner:BEIHANG UNIV

Naval vessel sea state dynamic simulator

When performing a task at sea, a naval vessel often comes across typhoons or sea waves, or is hit by shells during a fight, so that a naval vessel body tilts at a large angle, and under a serious condition, the naval vessel body even can overturn. In order to predict the tilting range borne by the naval vessel in advance or simulate sea states which can be generated when the naval vessel performs the task, the invention provides a naval vessel sea state dynamic simulator. According to the naval vessel sea state dynamic simulator disclosed by the invention, a method that a three-freedom degree motion platform and a six-freedom degree motion platform are overlaid is adopted; electric-hydraulic servo driving is used; the six-freedom degree motion platform is arranged at the top and the three-freedom degree motion platform for supporting is arranged at the bottom; under the control of an electric-hydraulic servo system, the two platforms are mutually matched, so that the various sea states which probably appear can be simulated; finally, the sea states of 0-9 levels, which can be generated when the naval vessel performs the task at a sea level can be simulated. The naval vessel sea state dynamic simulator disclosed by the invention can have an important effect of simulating detection in the process of designing and manufacturing of the naval vessel.
Owner:SHANGHAI MARITIME UNIVERSITY

Variable structural spherical double-arm search and rescue robot

The invention requests to protect a variable structural spherical double-arm search and rescue robot which mainly comprises double variable structural mechanical arms and a variable structure spherical shell and has the prominent characteristics that double six-degree-of-freedom mechanical arms are designed on a robot base frame, and by a deformation double-arm mechanism, extension and retraction of the mechanical arms are completed; the robot can be changed into a double-wheel state from a sphere by a deformation spherical shell mechanism, and double mechanical arms can extend by the deformation double-arm mechanism so as to finally complete the integral deformation process; the robot can implement flexible movement by a rolling driving mechanism; in a sphere state, electronic elements of the robot are all packaged in the spherical shell, and thus, the variable structural spherical double-arm search and rescue robot has an excellent self-protection ability and in the searching and rescuing field, corrosion of dust and harmful gas can be effectively prevented; in a deformed state, the mechanical arms can implement a search and rescue operation on the outside, and meanwhile, collaboration of rolling of the spherical shell can reinforce the obstacle climbing ability of the robot in the searching and rescuing field and adaptability of the robot to different terrains.
Owner:CHONGQING UNIV OF POSTS & TELECOMM

Special platform for welding multifunctional cylinder cube

InactiveCN104384761AAchieve circumferential lockingRealize the function of radial lockingWelding/cutting auxillary devicesDirt cleaningDegrees of freedomEngineering
The invention relates to a special platform for welding a multifunctional cylinder cube. The platform comprises a movable trolley, a support rack, a cube clamping device, an adjusting platform, a cylinder locking device, a dust collection smoke discharge device and a cooling device, wherein the support rack is mounted in the middle position of the movable trolley; the cube clamping device is mounted above the support rack; the adjusting platform is positioned at the left side of the cube clamping device; the cylinder locking device is mounted rightly above the adjusting platform; the dust collection smoke discharge device is positioned at the front side of the movable trolley; and the cooling device is positioned at the back side of the movable trolley. The platform can realize the functions of peripheral locking of a cube welding workpiece and radial locking of a cylinder welding workpiece, can realize a space movement function in a direction of four degrees of freedom of three-translation and one-rotation in the welding process of the cube welding workpiece through the support rack, can achieve a multi-angle welding effect, can realize quick cooling treatment for the welded workpiece through the cooling device, and improves the welding efficiency.
Owner:WUHU HUAYI VALVE MFG

Air conditioner indoor unit and shell used by same

The invention discloses an air conditioner indoor unit and a shell used by the same. The shell comprises a shell main body, wherein the shell main body is provided with an air inlet and an air outlet. The shell is characterized in that: the shell main body is also provided with an auxiliary air port, wherein a sliding block, a first connecting rod, a second connecting rod, a third connecting rod, a driving mechanism and a movable panel are arranged at the auxiliary air port on the shell main body; the sliding block can slide relative to the shell main body under the action of the driving mechanism; the first end and the second end of the first connecting rod are respectively articulated to the shell main body and the movable panel; the first end of the second connecting rod and the first end of the third connecting rod are both articulated to the sliding block; the second end of the second connecting rod is articulated between the first end and the second end of the first connecting rod; and the second end of the third connecting rod is articulated to the movable panel. According to the indoor unit and the shell disclosed by the invention, the air intake amount of the air conditioner indoor unit can be increased, the performance of the air conditioner can be effectively enhanced, the attractive appearance of an air conditioner is not influenced and low production cost is achieved.
Owner:GREE ELECTRIC APPLIANCES INC

Circulating variable-pitch propeller pipeline robot

The invention discloses a circulating variable-pitch propeller pipeline robot comprising a guide rod, a linear telescopic motor, a guide wheel, a motion coordinating disc, a fish eye ball head, a telescopic short joint, a driving wheel, a driving wheel supporting rack and a motor having a decelerating set. A rotary bearing is installed in the motion coordinating disc; the center of the rotary bearing is covered with a fish eye bearing; the guide rod is covered with the fish eye bearing in a slide way; the guide wheel is connected with the linear motor telescopic motor; the fish eye ball head is assembled on the linear telescopic motor and in a sleeved connection with a control rod of the motion coordinating disc; the driving wheel is connected with the motor having the decelerating set and installed on the telescopic short joint; the telescopic short joint is connected with the guide rod via the driving wheel supporting rack; a ball head is assembled on the telescopic short joint; the ball head is connected with the ball head on the rotary bearing via a connection rod; and the guide rod is connected with the ball head on the rotary bearing via a synchronous connection rod. The circulating variable-pitch propeller pipeline robot can flexibly move and possesses great traction force, and can be suitable for composite pipeline interior work in a better way.
Owner:SOUTHWEST PETROLEUM UNIV
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