135results about How to "Full range of mobility" patented technology

The invention discloses an omni-directional automatic forklift and a 3D stereoscopic vision navigating and positioning method. The 3D stereoscopic vision navigating and positioning method comprises the following steps: acquiring information of a 3D coordinate in the working environment of the automatic forklift; generating a 3D map; acquiring real-time images and positioning an initial position according to the 3D map; determining a target position; navigating to the target position and judging whether encountering barriers; scanning and identifying two-dimensional codes on a goods shelf; judging whether the automatic forklift is over against the goods and is aligned with the goods; enabling the automatic forklift to insert into a goods shelf tray and completing taking the goods and putting the goods. The omni-directional automatic forklift and the 3D stereoscopic vision navigating and positioning method have the benefits that the 3D map of the working environment is built by a plurality of binocular stereo cameras, the automatic forklift is capable of effectively and accurately positioning, taking the goods and putting the goods with combination of a speedometer, a laser radar and a front camera, three-freedom-degree omni-directional movement on the plane is implemented by Mecanum wheels, the automatic forklift is capable of taking the goods and putting the goods on the same goods shelf without steering, any barriers in the working environment can be effectively avoided in tine by the laser radar and an infrared sensor, and the automatic forklift can be automatically charged by communication between an upper computer and a charging box.

The invention discloses a multifunctional intelligent rehabilitation robot for assisting stand and walk. The whole robot comprises three parts basically: a mechanical stand assisting device, a chassis moving device and a monitoring control device, wherein the mechanical stand assisting device comprises a support base, a swing arm, an electric push rod and a handrail device; the chassis moving device comprises a base, a motor fixing frame, four Mecanum wheels, a braking ratchet wheel, a braking sheet, and the like; the monitoring control device comprises a force sensor array, a vision sensor, a distance-measuring sensor, and the like; and in addition, the robot also comprises a power source storage battery, and the like. The robot can realize the auxiliary stand and walk assistance to a user, can lift the user up safely and comfortably under the condition of sitting posture, judge the motion intention of the user in the walking process and carry out all-sided collaborative motion; meanwhile, the robot can also detect the moving tread of the user so as to judge the stability of the user and do corresponding assistance to the user at the real time; and the robot can safely and effectively assist patients with lower limbs being injured to carry out rehabilitation training and assist the daily activities of weak old people.

The invention discloses an adaptive tracking control method of paths of a comprehensive automatic guided vehicle. The adaptive tracking control method is adopted aiming at the running paths of different shapes, wherein the smoothness of movement of a vehicle body is improved by a free state tracking control method, and the position and the attitude of the vehicle body are accurately adjusted by adopting a comprehensive tracking control method.

A Mecanum wheel-based rocker omnidirectional mobile platform comprises a main body (1), leftwards-rotating Mecanum wheel assemblies (3), rightwards-rotating Mecanum wheel assemblies (5), a rocker suspension I (2), a rocker suspension II (15) and a balancing mechanism (6); the middle parts of the rocker suspension I and the rocker suspension II are hinged to the left and right sides of the main body through revolute joints symmetrically; the middle part of a transverse rocker (8) of the balancing mechanism and one end of the main body are hinged by a revolute joint (10); one end of a side connecting rod I (9) and one end of a side connecting rod II (11) of the balancing mechanism are hinged to the left and right ends of the transverse rocker by spherical joints, and the other end of the side connecting rod I (9) and the other end of the side connecting rod II (11) of the balancing mechanism are hinged to the rocker suspension I and the rocker suspension II by spherical joints; two Mecanum wheel assemblies with different rotation directions are fixed to the two ends of each rocker suspension, and the Mecanum wheel assemblies at the same ends of the rocker suspension I and the rocker suspension II are opposite in rotation directions. According to the invention, wheels are always in contact with the ground and the load is shared, so that the Mecanum wheel-based rocker omnidirectional mobile platform has better motion controllability and terrain trafficability.

The invention discloses a numerical control cutting machine, which comprises a longitudinal guide rail, a machine frame arranged on the longitudinal guide rail, and a numerical control system, a cutting control system, a transverse movement system, a lifting mechanism and a deflection device which are arranged on the machine frame, wherein a longitudinal driving rack is arranged on the longitudinal guide rail and is matched with a longitudinal driving gear; the longitudinal driving gear is arranged on the machine frame; the lifting mechanism is arranged on the transverse movement system; and the deflection device is arranged on the lifting mechanism. The numerical control cutting machine has the advantages of high production efficiency, quality of beveled edges and accuracy, low labor intensity of workers and the like and is controlled automatically in the whole process, angles of the beveled edges are easy to ensure, and the generality of workpieces is high.

The invention puts forwards a swimming-walking hybrid bionic blade leg and track combined walking underwater robot and a control method of the swimming-walking hybrid bionic blade leg and track combined walking underwater robot. The swimming-walking hybrid bionic blade leg and track combined walking underwater robot comprises a frame, a floating body module, a hanging bracket, a control sealed cabin, a motion component, a sensing detection component, a visual positioning device and an operation extension module; the floating body module, the hanging bracket, the control sealed cabin, the motion component, the sensing detection component, the visual positioning device and the operation extension module are all mounted on the frame, and the gravity center of the underwater operation robot is located right under the buoyancy center. By adopting the invention, the underwater operation robot can adapt to operation demands for working faces of different categories and different attitudes, and further can adapt to the demands on omnidirectional mobility and obstacle climbing abilities on the different working faces, thereby being capable of providing technical support to various underwater operation tasks completed by the underwater operation robot.

The invention discloses a quadruped robot remote control system and a remote control method thereof. The remote control system comprises a controller I. The controller I receives and processes a touch screen and rocker signals and is communicated with a controller II of a quadruped robot through a wireless communication module I and a wireless communication module II of the quadruped robot, and the controller I also receives feedback information of the controller II and displays the feedback information of the controller II through a liquid crystal display screen. By means of the quadruped robot of the remote control system, the remote control method is simple and visualized, the remote control system is especially suitable for flexible control and state monitoring for the quadruped robot, can be interact with a user, then sends control commands and parameters, and setting and sending the commands and parameters to the quadruped robot, and finally displays the state fed back by the quadruped robot, and monitoring for the quadruped robot is achieved.

The invention discloses a track wheel pavement repair robot system which comprises a robot body with a power system, wherein a mechanical arm is mounted on the robot body, and a pavement repair device is mounted on the mechanical arm; the robot body is also provided with a control system for controlling the mechanical arm; and the control system is provided with a wireless signal receiving device and electrically connected with the mechanical arm. Specifically, the pavement repair device comprises a grouting device and / or a percussion bit and / or a slotting device. The invention also discloses a pavement repair method. By adopting the robot system disclosed by the invention, intelligent repair can be realized; since only manual remote intervention is needed, the repair safety is improved to a certain degree; and the integrated modular mechanical arm can be disassembled and combined according to actual conditions, and an end repair tool is replaced, thereby improving the utilization efficiency of the modular mechanical arm.

The invention relates to an intelligent movement platform capable of automatically moving, in particular to a mechanism capable of realizing integral omnidirectional movement of a platform by means of controlling movement of three ball wheels. The intelligent movement platform belongs to the technical field of motor drive, sensor ranging, wireless communication and automatic control, and particularly comprises three identical ball wheel driving mechanical structures, three motor drivers, an environment sensing system and a platform control system. After an ambient environment is detected by the environment sensing system, obtained environment information is transmitted to a platform master control module of the platform master control system, control instructions are obtained after the environment information is processed by the platform master control system and are transmitted to control modules of the motor drivers, the ball wheels are controlled to roll by driving motors, and accordingly the platform moves. The intelligent movement platform is based on an omnidirectional principle of rolling of balls, a manual control working mode and an automatic running working mode can be realized, a single-platform running mode and a multi-platform running mode also can be realized, and the intelligent movement platform has the advantages of small volume, fine balancing, outstanding movement behavior expression, quickness, maneuverability and omnidirectional movement.

The invention discloses a split-type differential drive device and an omnibearing movable automatic guided vehicle thereof, belonging to the field of an automatic conveying device. The device is provided with an upper rotating disc which is fixed on a vehicle body and is assembled together with a lower rotating disc in a coaxial way by a thrust bearing; the upper rotating disc is provided with an angle sensor and an electromagnetic clutch; and the lower rotating disc is provided with a guide sensor, a vehicle controller and two sets of wheel type moving device, each of which comprises a motor driver, an motor brake, a servo motor, a rotary encoder, a speed reducer and a driving wheel. The device of the invention has the advantages of simple structure, high bearing capacity, accurate control, stable running and the like; and the method fully utilizes the characteristics of the device, is simple in control principle and good in path adaptability, and has higher stability, accuracy and rapidity.

The invention discloses a robot suitable for omni-directionally moving on a complex vertical face. The robot comprises a regular hexagonal machine body and six crawling feet, wherein the six crawling feet are arranged at the six peaks of the regular hexagonal machine body; and each crawling foot is provided with three moveable joints. The six crawling feet are connected in parallel and in series through a micro steering engine; and the robot is always kept to be supported by four crawling feet at any time in a crawling process through the suction of a negative pressure sucking disc and the robot body has higher supporting rigidity, wall face adaptability and obstacle-climbing capability. Therefore, omni-directional movement is realized on the complex vertical face.

The invention discloses a wheeled soccer robot. The wheeled soccer robot comprises a chassis; a lower end face of a polygonal frame structure; omnidirectional wheel mechanisms which are connected to the lower end surface of the chassis in an annular array and are used for driving the chassis to move; a translation positioning mechanism which is fixedly arranged in the middle of the upper end faceof the chassis and used for recording coordinates of the chassis driven by the omnidirectional wheel mechanisms to move; a soccer ball kicking mechanism which is arranged on one side of the upper endsurface of the chassis and used for driving a soccer ball to move; and a soccer ball collecting and releasing mechanism which is arranged on the other side of the upper end surface of the chassis andis used for receiving and releasing the soccer ball. The wheeled soccer robot can automatically move, integrates ball shooting and ball receiving, and can not only shoot soccer balls, but also shoot various balls with different sizes.

The invention discloses a following type lower limb motion rehabilitation omnidirectional mobile robot. A U-shaped moving bottom frame and an upper U-shaped protective frame are connected through a telescoping support device, an omnidirectional mobile chassis is connected under the front end bending section of the U-shaped frame of the omnidirectional mobile bottom U-shaped mobile bottom frame, the rear end is connected with two universal wheel assemblies, the omnidirectional mobile chassis includes a chassis main frame and continuous switching wheel assemblies, the chassis main frame is connected with the U-shaped frame, the three continuous switching wheel assemblies are connected to the bottom surface of the chassis main frame and are in circumference array triangular distribution, and a fall-down protector is arranged under the upper U-shaped protective frame and is connected with the upper U-shaped protective frame. A user is between the U-shaped moving bottom frame and the upper U-shaped protective frame to be protected by the fall-down protector, the walking intention of the user can be determined by a walking intention detection device, the robot is controlled to follow the user to move, protects the user from secondary injury by accidentally falling down, and assists the user to perform lower limb motion rehabilitation training.

The invention discloses a universal rolling spherical robot and relates to the field of the spherical robot. A short axis motor and a short axis are positioned at the center line of a spherical shell and both ends of an inner frame are used as rotational supports; a long axis passes through the center line of the spherical shell and is vertically crossed with the center line of the spherical shell, on which the short axis is positioned, at the sphere center; the inside of the spherical shell is used as a rotational support pair of the long axis; a driven gear on the long axis is meshed with a long axis driving gear connected with a long axis motor; an axis of an azimuth motor passes through the sphere center; inertial wheels are connected with the azimuth motor; the symmetric line of the inertial wheels passes through the axis of the azimuth motor; the short axis and the long axis rotate to cause overturning of the inertial wheels, so that the linear motion of the spherical robot is realized; and the inertial wheels are driven to rotate by the azimuth motor, so that the steering control of the spherical robot is realized. Three freedom degrees of the universal rolling spherical robot are mutually independent; the omnibearing movement of the spherical robot is realized; the universal rolling of the spherical surface of the spherical robot is realized; the control mode is simple; the gravity centers of the inertial wheels are easy to regulate; and a frame-shaped structure of the inner frame can be used for controlling the arrangement of parts such as a circuit board, a power supply and the like.

The invention relates to a mobile robot and a control method thereof based on a predesigned move path. The mobile robot consists of a wheeled mobile device and a remote controller. The wheeled mobile device and the remote controller are connected through a short-range wireless communication mode. The wheeled mobile device consists of a microprocessor A, a motor drive circuit, an electronic compass, a wireless transceiver A, a storage, and an ultrasonic obstacle avoidance sensor. The remote controller consists of a microprocessor B, a wireless transceiver B, a keyboard, and a liquid crystal display (LCD) screen. The mobile robot has recording model and a moving model. In the recording model, move path of the mobile robot is completed through the fact that a user controls left movement and the like of the mobile robot by the remote controller. In the moving model, the user controls movement of the mobile robot through the remote controller by sending control commands at one time. According to the mobile robot and the control method thereof based on the predesigned move path, wiring does not needed, flexibility is good, operation is simple, environment adaptive ability is strong, omni-direction mobile of household environment and the like can be achieved, and at the same time, set of different stop time of different positions can be achieved.

The invention provides an all-directional movable manipulator with four feet. The all-directional movable manipulator comprises a movable four-foot platform and a multi-freedom-degree manipulator. The movable four-foot platform comprises a platform base and four legs, and the legs in a parallel structure form are mounted laterally below the platform base circumferentially and symmetrically, so that the movable four-foot platform has the same moving capability circumferentially. The legs in the parallel structure form have three degrees of freedom respectively, and each leg is mainly composed of a waist platform, three branched chains, an ankle and a foot. The legs and the platform base are fixedly connected by a certain angle through the waist platforms to enable the legs to extend towards the outside of the platform base. The multi-freedom-degree manipulator is fixedly mounted on the movable four-foot platform. The movable manipulator has good ground adaptability and all-directional moving capability, thereby being applicable to movable operation in narrow space. Moreover, the legs in the parallel structure form have the characteristics such as high bearing capacity and rigidity, guarantee high stability of the platform base of the movable platform, and are applicable to high-precision operation of the manipulator.

The invention provides a novel omnidirectional wheel type mobile robot. Three composite wheels are arranged on a robot body; energy two of the three composite wheels are arranged in a 120-degree uniform distribution mode; and the distances from the wheel centers of the wheels to the center of the mobile robot are equal. Each composite wheel can realize axial rotation and zero-radius revolution; the rotation and the revolution are respectively and independently driven by a motor, and the three wheels are not interfered mutually. The three wheels are driving wheels and are adjusted to turn the direction, thereby traveling in the plane along any direction. The omnidirectional wheel type mobile robot has the advantages that the structure is simple, the manufacture is easy, the control accuracy is high, and the popularization is easy, so that the omnidirectional wheel type mobile robot is very suitable for occasions with narrow space and high mobility requirement for the robot, can be used as a mobile transportation device on the flow production line of the factory, also can be used as the facility for domestic service and entertainment, and can replace the labor at various danger places for use.

The invention discloses a storage omnidirectional mobile platform with a gravity monitoring function. The storage omnidirectional mobile platform with the gravity monitoring function comprises a chassis frame, and four groups of road wheels located at the bottom of the chassis frame; and the storage omnidirectional mobile platform with the gravity monitoring function is characterized in that the road wheels comprises omnidirectional wheels which are connected with the chassis frame by an omnidirectional wheel support, and a pressure sensor is arranged between the omnidirectional wheel supportand the chassis frame; the four groups of road wheels are all provided with motors, and the four motors can work simultaneously or separately; and the pressure of the four omnidirectional wheels is measured by the pressure sensor, and the gravity of the whole platform is calculated. Front-and-back movement and left-and-right movement, and tasks of rotation in situ and any radius turning are finished with high stability and high precision, and omnidirectional movement of the platform is achieved; the platform can move freely in a small space; and the gravity of the platform is calculated, the state of motion is changed in real time according to changes of the gravity, and the movement is more smooth and steady; and the structure is simple, and practicability is high.

The invention discloses a mobile trolley system based on mobile robot. The mobile trolley system comprises a mechanical body, a control module, a driving module, a navigation module and a communication module; the mechanical body is used for providing a physical structure for movement of the mobile robot; the control module is in communication connection with a general console system through the communication module; the control module is connected with the mechanical body through the driving module; the navigation module is connected with the control module; and the control module is connected with a multi-joint mechanical arm system. The mobile trolley provided by the invention can serve as a moving carrier of a small mechanical arm, omni-directional movement is achieved, and operating efficiency is high.

The invention relates to a movable testing turntable, in particular to a three-axle turntable capable of moving in all directions. The three-axle turntable comprises a turntable body and a moving platform rotationally connected with the turntable body. The turntable body comprises a rotating rod, a middle ring and an outer ring. The moving platform comprises a base, a plurality of support rods and universal wheels. The outer ring is rotationally mounted on the base. The support rods are evenly distributed on the base circumferentially. The universal wheels are connected to the support rods respectively. Horizontal front-back and left-right translational degrees of freedom are achieved by the aid of the universal wheels. The middle ring is rotationally mounted in the outer ring. The rotating rod serving as a carrier of a to-be-tested object is rotationally mounted in the middle ring. Three rotational degrees of freedom are achieved by rotating the rotating rod relative to the middle ring, rotating the middle ring relative to the outer ring and rotating the outer ring relative to the base. The three-axle turntable has the advantages that driving elements are not needed, the three-axle turntable is simple, convenient and practical in structure, and five degrees of freedom are achieved and can be selected according to testing conditions; the universal wheels at the bottom can be replaced according to needs to facilitate use of the turntable.

The invention discloses a wheel-track composite type chassis structure. The wheel-track composite type chassis structure comprises a caterpillar baseboard, four electric push rod lifting mechanisms, four Mecanum mobile mechanisms and an omnibearing mobile platform frame, the omnibearing mobile platform frame is fixed to the wheel-track chassis baseboard, push rod top ends of the four electric push rod lifting mechanisms are fixed to the omnibearing mobile platform frame separately, the four Mecanum mobile mechanisms are fixedly connected with the four electric push rod lifting mechanisms, and by extending and retracting electric push rods, the Mecanum mobile mechanisms are in contact with and leave the ground. The wheel-track composite type chassis structure is flexible to move, convenient to operate and reliable to run, and the adaptability to complex terrains is high.

The invention discloses an omni-directionally moving platform. The omni-directionally moving platform comprises a platform frame body which is in a cuboid structure; four permanent magnet synchronous motors are installed on the platform frame body; speed reducers are connected to output shafts of the permanent magnet synchronous motors; omni-directionally moving wheels are connected to the speed reducers; a rotating shaft of every omni-directionally moving wheel is fixed on the platform frame body through a supporting bearing seat; a battery pack is arranged on the platform frame body; the battery pack is connected with the permanent magnet synchronous motors; a motor controller is installed on the platform frame body. The omni-directionally moving platform has the advantages of achieving random movement inside a plane due to control of the rotating direction and the rotating speed of every permanent magnet synchronous motor, being high in flexibility, good in position reachability, not confined to use occasions and applicable to a complex environment with narrow space, greatly reducing requirements for working space and basically satisfying use requirements in various occasions.

The invention discloses a four-wheel drive road face repairing robot system. The four-wheel drive road face repairing robot system comprises a robot body with a power system. A mechanical arm is installed on the robot body, and a road face repairing device is installed on the mechanical arm. The robot body is further provided with a control system used for controlling the mechanical arm. The control system is provided with a wireless signal receiving device, and the control system is electrically connected with the mechanical arm. Specifically, the road face repairing device comprises a grouting device and / or a percussion bit and / or a slotting device. The invention further discloses a road face repairing method. The robot system can achieve intelligent repairing, and due to the fact that only artificial long-distance intervention is needed, safety during repairing is improved to a certain degree. The modular mechanical arm is integrated, the mechanical arm can be dismounted, mounted and combined according to the actual situation, the repairing tools at the tail end can be replaced, and the use efficiency of the modular mechanical arm is improved.

The invention discloses a curtain wall cleaning robot control system and method controlled by a microcontroller and belongs to the field of climbing robots. According to the curtain wall cleaning robot control system and method, an internal attachment walking mechanism and an external attachment walking mechanism are alternately attached to a curtain wall, so that a curtain wall cleaning robot horizontally and vertically moves, the curtain wall cleaning robot turns freely by using rotation movement of the internal attachment walking mechanism, and 360-degree all-dimensional movement is achieved; meanwhile, adhesive discs in the internal attachment walking mechanism and the external attachment walking mechanism have the extending and retracting functions, and the curtain wall cleaning robothas good obstacle crossing function and can be suitable for a frameless glass curtain wall and a frame glass curtain wall; according to the curtain wall cleaning robot control system and method, by using a microcontroller program and a control circuit, a motor and a magnetic valve in the curtain wall cleaning robot are subjected to logic control so that the curtain wall cleaning robot can executemovements such as cleaning, walking, turning and obstacle crossing according to operation commands, and the curtain wall cleaning robot is operated flexibly and conveniently, is stable and reliable,and improves the working efficiency and cleaning effect.

The invention discloses a library management robot and a control method thereof. The robot comprises an navigation module, a travelling module, a recognition module, a book taking module and a mastercontrol module, wherein the navigation module, the travelling module, the recognition module and the book taking module are connected to the master control module; the navigation module realizes point-to-point optical path planning and navigation according to location information and location of a book shelf on which target books are located; the master control module is used for controlling the travelling module to move between the book shelves according to navigation of the navigation module, and moving the robot to a position near the book shelf on which the target books are located; the recognition module is used for recognizing the target books on the position near the book shelf on which the target books are located; and the master control module is used for controlling the book taking module to grab the target books according to the recognized results of the recognition module, and correctly and safely placing the target books onto a book support plate. The library management robot shortens book finding time, and realizes intelligent book taking.

The invention discloses an all-directional mechanical arm danger surveying robot which comprises at least three Mecanum wheels (10), a multi-freedom-degree mechanical arm (20), a detection camera system (30), an environment monitoring sensor, a remote communication module (40) and an environment monitoring upper computer. The bottom of the multi-freedom-degree mechanical arm (20) is connected withthe Mecanum wheels (10), and the detection camera system and the environment monitoring sensor are arranged on the multi-freedom-degree mechanical arm (20). The detection camera system (30) and the environment monitoring sensor are connected with the remote communication module (40). The remote communication module (40) is in remote communication with the environment monitoring upper computer. Compared with a traditional steering engine which controls the angle in a spinning manner, the steering engine is not needed for achieving steering in the all-directional mechanical arm danger surveyingrobot, the motion manners such as front-back moving, left-right moving, inclined moving, rotating and the combinations of front-back moving, left-right moving, inclined moving and rotating can be achieved, flexibility and convenience are achieved, and the all-directional mechanical arm danger surveying robot is suitable for a narrow working environment. The all-directional mechanical arm danger surveying robot has the beneficial effects that the running efficiency is high, and energy losses are low.

The invention provides a structural nondestructive hydraulic dismantling robot. The structural nondestructive hydraulic dismantling robot comprises a base, a high-pressure water delivery device, a positioning adjusting device and a hydraulic cutting head. The positioning adjusting device comprises a fixed seat, wherein a first mechanical arm is installed on the fixed seat, a lifting cylinder is connected between the first mechanical arm and the fixed seat, a second mechanical arm is hinged to the end of the first mechanical arm, an expansion cylinder is connected between the second mechanicalarm and the first mechanical arm, a stamping plate is installed at the end of the second mechanical arm, a rotary connector is installed on the stamping plate, and the hydraulic cutting head is connected with the rotary connector in a communicating mode, an adjusting motor is further fixedly installed on the stamping plate, a transmission gear is installed on the adjusting motor, a gear ring is connected to the transmission gear, and the gear ring is installed on the hydraulic cutting head. According to the structural nondestructive hydraulic dismantling robot, the omni-directional movement ofthe hydraulic cutting head is realized through the rotation and telescopic movement of the positioning adjusting device, matched with the self-rotation of the hydraulic cutting head, the inclined cutting dismantling is avoided, and the quality of the hydraulic dismantling is improved.