920results about How to "Flexible steering" patented technology

The invention discloses a novel forklift type AGV (automatic guided vehicle) trolley. The novel forklift type AGV trolley comprises a trolley body, wherein a lifting system is arranged in the front of the trolley body, and the lifting system is connected with a material fork in transmission mode. The novel forklift type AGV trolley is characterized in that a multifunctional integrated control device is arranged on the trolley body, a dual wheel differential drive device is arranged in the middle of the trolley body, the dual wheel differential drive device is connected with the multifunctional integrated control device, protection devices are arranged around the trolley body, and an adaptation movement mechanism is arranged at the bottom of the trolley body. The novel forklift type AGV trolley achieves the purpose of adding the characteristics of turning in circles, being accurate to control and automatically running of an AGV based on performance of a forklift, and simultaneously can guarantee the advantages of being flexible to swerve and small in swerve radius.

An unmanned bicycle realizing balance control during speed changing comprises a hardware structure and a control system. A brand-new speed-changing control system structure is designed by improving the hardware structure of the bicycle and additionally arranging a speed sensor, an angle sensor, a handlebar steering motor, a rear wheel drive motor, a brake motor and a controller. The control system comprises a steering controller module, a speed fusion and parameter switching module, a brake module and a protection module and can control steering of a handlebar of the bicycle, rotation of a rear wheel and the brake force according to the acquired body attitude of the bicycle and bicycle speed information, and accordingly, the balancing and steering functions of the bicycle are realized in the speed changing process.

The invention discloses a new-concept intelligent multifunctional spaying machine chassis. The new-concept intelligent multifunctional spaying machine chassis comprises a chassis rack, a pesticide tank fixing support, a spray lance lifting support, a spray lance conversion mechanism, a spray head and wheels, wherein the pesticide tank fixing support is arranged at the rear end of the chassis rack, the spray lance lifting support is arranged at the front end of the chassis rack in a rotatable mode, the spray lance conversion mechanism and the spray lance lifting support constitute a vertical moving pair, the spray head is arranged on the spray lance conversion mechanism, and the wheels are installed at the bottom of the chassis rack through a longitudinal adjusting device and a transverse adjusting device. The new-concept intelligent multifunctional spaying machine chassis has the advantages of applying full-hydraulic power, and being stable in driving, large in drive torque, flexible in steering, simple in transmission, concise in overall structure, reasonable in configuration, and stable in center of gravity. In addition, the new-concept intelligent multifunctional spaying machine chassis has the advantages that due to the facts that stepless adjustment of the wheel torque, the ground clearance height and the like can be achieved and the spray lance conversion mechanism can descend, ascend and rotate, the spray lance conversion mechanism can achieve line-shaped conversion, U-shaped conversion and reverse-U-shaped conversion, the effect of omni-directional spraying is achieved, the requirement for all-terrain omni-directional spraying of different plants and different growth cultivation periods of one plant can be overall achieved through the new-concept intelligent multifunctional spaying machine chassis.

The invention belongs to the technical field of special vehicles and particularly relates to an unmanned sprinkling truck and a sprinkling method. The unmanned sprinkling truck comprises a sprinkling truck body and an unmanned driving system installed in the sprinkling truck body. The sprinkling truck body comprises a sprinkling truck driving system and an automatic sprinkling device. The unmanned driving system comprises multiple sensing and positioning systems and a control system. The input end of the control system is connected with the sensing and positioning systems, and the output end of the control system is connected with the automatic sprinkling device. The sensing and positioning systems are arranged on the unmanned sprinkling truck body. The unmanned driving system is added on an existing, the unmanned sprinkling truck runs along a predetermined route and performs sprinkling according to a predetermined procedure, a driver is liberated from repeated and dull driving, the sufficient sensing and positioning systems are utilized to form a sprinkling demand distribution diagram of a whole block or a whole city and further dynamically plan sprinkling routes and sprinkling amounts of multiple unmanned sprinkling trucks.

The invention relates to the technical field of unmanned remote control measurement, and provides a rudderless unmanned ship capable of automatically sailing, which comprises a ship body, pontoons on the two sides, a communication unit, a navigation and positioning unit, a measuring unit, a power and driving unit, a ship body gesture measuring unit, an industrial personal computer, and a battery providing a working power supply for the other parts. According to the invention, the advancement, backing and turning of the unmanned ship can be realized through controlling the turning and speed difference of the power equipment mounted on the two sides of the ship body; the unmanned ship can complete planned sailing lines to perform measuring tasks such as underwater terrain plotting, flow velocity and flow rate measurement, and close-range photogrammetry; the automatic voyage of the unmanned ship at the rudderless state can be realized; the flexibility of the unmanned ship is improved; and the measuring working efficiency is greatly improved and the cost is reduced.

The invention discloses a polymorphic spherical hopping robot which belongs to the field of robots. The polymorphic spherical hopping robot is characterized by comprising two parts, namely a mechanical body and a control system, wherein the mechanical body comprises two cylinder fixed frames and a movable frame, an inner side plate of the movable frame drives the whole movable frame to move to the center or two ends under the driving of a screw rod so as to control the unfolding and closing of hemispherical shells on two sides, when being unfolded, the spherical shells can be used for supporting the whole robot to run in a two-wheeled state, and when being completely closed, the spherical shells are in a spherical state and can be used for completely wrapping an internal mechanism of the robot; the control system comprises two parts, namely an upper computer and a lower computer, wherein the upper computer is used for realizing the motion and bounce control of the robot and a state display function, and the lower computer comprises a master control module, a spherical shell control module, a motion control module, a bounce control module, a data acquisition module, a gesture detection module and a data transmission module. The polymorphic spherical hopping robot has the advantages of simple structure, multiple motion states, strong adaptability, good controllability and the like.

The invention discloses an electric hydraulic power-assisted steering system. In the system, a hydraulic pump pumps oil in an oil storage tank and outputs pressure oil to the pressure oil duct of the steering system; a pressure retaining valve comprises a pressure retaining valve core and a pressure retaining valve housing which are coaxial with the input shaft of a steering wheel and are nested with each other; the oil inlet of the pressure retaining valve is communicated with the pressure oil duct of the system; the oil return port of the pressure retaining valve is communicated with the oil storage tank; chambers on the two sides of the piston of a double-action power-assisted cylinder are respectively communicated with the two control oil ports of the pressure retaining valve; the piston of the double-action power-assisted cylinder is connected with the input shaft of the steering wheel through a transmission mechanism; the oil port of an energy accumulator is communicated with the pressure oil duct of the system; a detector is used for acquiring steering parameter signals and outputting the steering parameter signals to a control device; and the control device receives the steering parameter signals acquired by the detector, and determines whether to output a control signal to the electric drive device of a hydraulic pump according to the preset conditions. The invention also provides an automobile utilizing the electric hydraulic power-assisted steering system and a control method thereof.

The invention discloses a four-wheel-driven bowed tractor transport vehicle, which comprises a frame and a rear axle assembly. The frame is provided with an engine, a clutch, a hydraulic steering gear and a front axle assembly, wherein the front axle assembly comprises a front axle box connected with a main gearbox, and the main gearbox is connected with a transfer gearbox which is provided with a power output shaft of the transfer gearbox; and the rear axle assembly comprises a car hopper and a rear axel half shaft which is provided with a rear axle transaxle in drive connection with the power output shaft of the transfer gearbox by a universal drive shaft. The transport vehicle makes the car hopper acquire drive capability, solves the problems of poor climbing ability and slippage tires when loaded, greatly improves the loading capability of the transport vehicle, reduces energy consumption, prevents the tires from being worn untimely, prolongs service life, and is especially applicable for severe environments, such as mountain areas, slopes and depressions, forestry, pastures, roadless areas, and so on.

The invention discloses an all-dimensional steering obstacle crossing vehicle based on a hub motor. The all-dimensional steering obstacle crossing vehicle comprises a central control system, a storage battery pack, an operating table, a hydraulic system and wheels, wherein the storage battery pack is fixed to a vehicle body, and the wheels are arranged on the left front portion, the right front portion, the left rear portion and the right rear portion of the vehicle body respectively. The all-dimensional steering obstacle crossing vehicle is characterized in that the wheels and the vehicle body are connected through a steering lifting mechanism, and crawler wheel mechanisms are arranged on the left side and the right side of the bottom of the vehicle body respectively. The all-dimensional steering obstacle crossing vehicle can realize on-site steering, transverse traveling and wheel lifting obstacle crossing, flexibility, maneuverability and obstacle crossing performance of the all-dimensional steering obstacle crossing vehicle are high, and stability, power performance and the terrain adaptive capacity of the all-dimensional steering obstacle crossing vehicle are high.

The invention discloses a pulse jet type underwater robot based on a tubular origami structure, which is composed of a pulse jet mechanism and two steering propulsion mechanisms, wherein the pulse jetmechanism realizes the repetitive process of water storage-water spray-water storage-water spray by impulse jet propulsion. The structure of the two steering propulsion mechanisms is the same, the first steering propulsion mechanism realizes turning to the right and the second steering propulsion mechanism realizes turning to the left; the pulse jet mechanism realizes the functions of water storage and water spraying through the axial expansion and contraction of the tubular origami structure; the tubular origami structure is driven by the rack and pinion mechanism to realize the axial expansion and contraction of the tubular origami structure, the steering propulsion mechanism is driven by the streamlined semi-circular fish fin structure to perform the reciprocating swing to achieve thesteering propulsion function, and the fish fin structure is driven by the swing guide rod mechanism to achieve the reciprocating swing. The invention is a novel underwater robot and has the advantagesof simple structure, fast propulsion speed, flexible steering and the like.

The invention discloses an unmanned ship working through light wave complementation. The unmanned ship comprises a water surface mother ship and an underwater glider which are connected through a middle cable. The acting force between hydrofoils and the water mainly serves as the advance power of the underwater glider. Meanwhile, a wave energy-kinetic energy conversion mechanism coverts wave energy collected in the hydrofoil overturn process into kinetic energy, a propeller drives the underwater glider to advance, and then the water surface mother ship is driven to advance through the middle cable. Motors of propelling devices are arranged at the rear edges of the last group of hydrofoils, on the one hand, the underwater glider is propelled to advance when wind waves are small, on the other hand, the thrusts of the propelling devices are different by controlling the different powers of the motors of the two groups of propelling devices, and then steering of the propelling devices is controlled. The unmanned ship works by comprehensively utilizing complementation of solar energy and wave energy and can work for a long time under the situation that any energy is lacked, for example, the unmanned ship can work in a rainy weather lasting for a long time or in a sea area where waves are small, so that the light wave complementation purpose is truly achieved.

The invention relates to a hexapod robot driven by parallel connecting rods. The hexapod robot mainly consists of a robot body and six groups of pedipulators, wherein the robot body adopts an octahedron-like structure; the structures of the six groups of pedipulators are completely the same; the six groups of pedipulators are mounted on six surfaces of the robot body in a shaft symmetry manner; the movement of each steering engine is adjusted, and through the swinging of thighs and the rotating of a waist structure are driven by the parallel connecting rods, and the dancing of shanks is driven by serial connecting rods, so that multiple legged gaits of the hexapod robot are realized. The hexapod robot disclosed by the invention adopts long leg mechanisms, operating ranges of the legs of the robot are enlarged, operating speed is also greatly increased, four gait manners are adopted as the operating manner, and operating capacity of the robot in an unstructured environment is improved.

The invention discloses a parallel stream heat exchanger integrated with a microchannel and an outer fin, comprising a left collector tube, a right collector tube, an upper cover board, a lower coverboard, a cooling fin set, an air inlet pipe and a liquid outlet pipe; the cooling fin is integrated with a fin and aluminium profile, a microchannel is arranged on the aluminium profile, and the diameter or edge distance of the microchannel is 0.5-3mm; the microchannel of the cooling fin is communicated with the left collector tube and the right collector tube, distance pieces which are arrayed ina staggering way are arranged in the middle of the left and right collector tubes at interval, the left and right collector tubes are divided into a plurality of areas, the air inlet pipe and the liquid outlet pipe and the left and right collector tubes are connected by welding, and the upper cover board and the lower cover board are respectively connected with the left and right collector tubes;by utilizing the microchannel technology, integral outer fin technology and collector tube technology, the invention effectively solves the problem of thermal contact resistance of sheets and the fins; the structure is compact, heat exchanging efficiency is high, the volume is small, the quality is light, the processing is simple, and the heat exchanger adopts all aluminium composite material, thereby greatly reducing the cost.

The invention discloses a hub-motor-based all-directional steering system for a pipe gallery inspection trolley, comprising a frame, wheels, a hub motor, a central control system, a linear guide, an all-directional steering engine, a four-wheel steering engine, an electrical lock and a steering lock. The system uses three steering modes, namely a four-wheel steering mode, a zero-radius steering mode and a traversing mode; the corresponding steering mode may be selected according to actual driving conditions in a pipe gallery. The hub-motor-based multi-mode steering overcomes the defects that,for instance, an existing inspection trolley has difficulty in steering at a right-angle corner and stability during differential steering is poor; flexible steering of the inspection trolley in a narrow pipe gallery and no-blind-zone detection are achieved; the combination of a dual-crank slider mechanism and a rocker-slider mechanism allows four-wheel linked steering, so that fewer steering motors are required; by using the mechanical structure in the system, a control algorithm is simplified, steering reliability is improved, and pipe gallery detection safety is improved accordingly.

The invention discloses an all-wheel drive walking mechanism of a biomimetic six-wheeled leg and aims to solve the problem that a plurality of sensors and complex control logic are adopted by the prior art. The all-wheel drive walking mechanism of the biomimetic six-wheeled leg comprises a front automobile frame, a back automobile frame, a middle freedom degree junction device, wheel legs and driving combination bodies. The wheel legs are a front left wheel leg, a middle left wheel leg, a back left wheel leg, a back right wheel leg, a middle right wheel leg and a front right wheel leg, and the driving combination bodies are a front left driving combination body, a middle left driving combination body, a back left driving combination body, a back right driving combination body, a middle right driving combination body and a front right driving combination body. The middle freedom degree junction device is installed on the middle position of a front base plate of the back automobile frame, the back end of the front automobile frame is connected with the front end of the back automobile frame in a rotating mode, and the front left driving combination body and the front right driving combination body are installed on the left position and the right position in front of the front automobile frame and are connected with the two front wheel legs, and the middle left driving combination body, the back left driving combination body, the back right driving combination body and the middle right driving combination body are installed on four corners of the back automobile frame and are connected with the other wheel legs.

The invention discloses a control method for a movable type four-wheel all-dimensional steering robot chassis. The robot chassis comprises a vehicle frame, wheel groups and a programmable logic controller (PLC) control system, four bearing holes are symmetrically formed in the vehicle frame and are used for installation of the wheel groups, and each wheel group comprises a reduction box, a steering shaft, a servo motor, a coupling, a vibration damper and a hub motor; the servo motor is mounted on a box body, is connected with a worm through the coupling and is used for driving the worm to rotate, and finally the rotating angle of the steering shaft is controlled, the hub motor is arranged below the steering shaft, and the vibration damper is arranged between the hub motor and the steering shaft; and the PLC control system comprises a PLC, a servo driver and an analog quantity input and output module. According to the control method for the movable type four-wheel all-dimensional steering robot chassis, deflection angles of the four wheels are controlled through the PLC, steering of the wheels is achieved, moreover each wheel is controlled by the PLC independently, the wheels move mutually and coordinately according to a mathematical model of a movement track, and established track movement is achieved.

The invention discloses a four-foot bionic walking robot which includes a driving motor, a center shaft, a gearbox, a first inner crank, a first inner swing rod, a space connecting rod, a cam, a leg lifting lever, a steel wire pull cable, an arm body connecting piece, leg parts, a steering mechanism, a first gear, a second gear, a third gear, a fourth gear, a first sliding groove, a first slidingblock, a first roller, a second roller, a first curve sliding groove, a second curve sliding groove, a second sliding groove, a first ball pair, a cross joint, an arm inner sliding rail, arms, a thirdroller, a shoulder sliding groove, thighs, shanks, a fourth roller, a second inner crank, a second sliding block, a third sliding groove, a second inner swing rod, a fourth sliding groove, a second ball pair and a connecting rod. The first gear is a complete gear, the second gear is a 180-degree sector gear, the third gear is a 180-degree sector gear, and the fourth gear is a 180-degree sector gear. The four-foot bionic walking robot has the advantages of being flexible and natural in steering, high in load capacity and low in manufacturing cost and the like, and is suitable for being popularized widely.

The invention relates to the field of display screen supporting frames, in particular to a novel telescopic spring supporting frame. The novel telescopic spring supporting frame comprises a base, an extension arm, a lifting supporting arm and a display screen hanging tool. The base is provided with the extension arm. An extension arm connecting joint is arranged at the top end of the extension arm and provided with the lifting supporting arm. A swinging head is arranged at the head end of the lifting supporting arm. The display screen hanging tool is arranged at the top end of the swinging head. The extension arm, the lifting supporting arm and the display screen hanging tool are upwards arranged in an oblique angle manner (the display screen hanging tool can be adjusted in a pitching manner), the lifting supporting arm conducts universal rotation with the extension arm connecting joint as the axis, and the lifting supporting arm conducts universal rotation with the swinging head as the axis.

The invention discloses a squid-mantle-like pulse type water-spraying propulsion device in the field of ships, comprising a driving shaft connected with a ship body, wherein a driving gear is fixed on the driving shaft; a driven gear meshed with the driving gear is fixedly sleeved in the middle of a piston cylinder; the lower end of the piston cylinder is vertically communicated with the middle of a water-spraying tank; the piston cylinder is internally provided with rotating bearings as well as a piston rod and a piston which are coaxial; a flange is arranged on the inner wall of the piston; the upper end of the piston rod extends out of the piston cylinder; a shaft shoulder is arranged at the lower end of the piston rod; the rotating bearings are arranged on the flange in the piston and are fixed on the shaft shoulder of the piston rod; a water-absorbing one-way valve is arranged at one end of a water-spraying tank; a water-spraying one-way valve is arranged at the other end of the water-spraying tank; a flange cover fixedly connected with the ship body and a bearing bush jacket fixedly connected with the flange cover are sleeved at the upper end of the piston cylinder; and two thrust bearings are arranged between the inner wall of the bearing jacket and the outer wall of the piston cylinder. The invention has the advantages of favorable reliability, flexible steering, any steering in a range of 360 degrees and simultaneous finishing of water absorbing and spraying actions.

The invention provides an extensible robot for climbing an inner wall of a pipeline. The extensible robot comprises a middle connection mechanism, four extensible arms and two extensible mechanisms. Each extensible arm comprises a friction pad, an arm extensible motor, an arm extensible motor holder, an arm extensible pipe connection frame, an arm extensible lead screw, two outer arm extensible pipes and two inner arm extensible pipes. Each extensible mechanism is composed of an arm connection frame, an extensible motor, an extensible motor holder, an extensible pipe connection frame, an extensible lead screw, two outer extensible pipes and two inner extensible pipes. The middle connection mechanism comprises a center rotary frame I, a center rotary frame II, a steering motor I, a steering motor II and a center joint cross. The middle connection mechanism is fixedly connected with the extensible motor holders of the two extensible mechanisms through the center rotary frame I and the center rotary frame II. The arm connection frame of each extensible mechanism is fixedly connected with the arm extensible motor holder of the corresponding extensible arm. Each arm extensible motor holder is symmetrically provided with two extensible arms. The fixed position and the spatial two-freedom-degree rotation of the robot in the pipeline can be achieved.