99results about How to "Good sports characteristics" patented technology

The invention belongs to the technical field of design and control of motors and relates to a permanent magnet bearing-free auto-suspension three-degree-of-freedom spherical motor. The permanent magnet bearing-free auto-suspension three-degree-of-freedom spherical motor comprises a base, a spherical stator wall, stator coils and a rotor, wherein the rotor is positioned in the stator wall; the output shaft of the rotor extends out of an opening above the stator wall; the spherical motor is characterized in that: the stator coils have columnar ironless structures; three layers of stator coils are uniformly distributed along the equator of the spherical stator wall and wefts parallel to the equator and radially fixed on the spherical stator wall; permanent magnet poles are embedded on the surface of the rotor and divided into two layers, namely an upper layer and a lower layer, along the equator; the poles N and the poles S on each layer are staggered; and each stator coil is independently controlled by a driving circuit. The invention also provides a control method for the motor. By the motor and the control method thereof, controllability of a magnetic suspension force and bearing-free running of the motor are realized; furthermore, the movement characteristic of the motor and the flexibility of design of a motor control system are improved.

The invention belongs to the technical field of parallel robot fuzzy control, and provides a parallel robot indirect self-adaptive fuzzy control parameter determining method. The method comprises the steps that a parallel robot dynamic model is established; a parallel robot control target is determined; a parallel robot fuzzy controller is determined according to the parallel robot dynamic model; and according to the parallel robot control target and the parallel robot fuzzy controller, the self-adaptive control rate of the control target is determined. The method can self-adaptively adjust the parameters of a fuzzy control system to acquire a given tracking error performance indicator to realize high quality control requirements.

A device for investigating a collision between a test body and a physical structure, wherein the device comprises a mounting unit for mounting the test body, an electric drive unit adapted for mechanically driving the mounting unit and the test body mounted thereon, and a control unit adapted for controlling the electric drive unit to accelerate the test body mounted on the mounting unit and for controlling release of the test body from the mounting unit to direct the accelerated test body towards the physical structure for collision, wherein the device is adapted so that the mounting unit and the test body mounted thereon are mechanically driven exclusively by the electric drive unit.

The invention discloses an overconstrained parallel mechanism with equivalent Tricept mechanical movement. First and third driving branches are the same in structure; rotating pairs at the outer sides of universal hinges of the two driving branches are connected with a fixed platform; rotating pairs at the inner sides of the universal hinges are perpendicular to movement pairs; and spherical pairs are connected with a movable platform. The rotating pair at the outer side of the universal hinge of the second driving branch is connected with the fixed platform, and is pointed to the center of the fixed platform; the rotating pair at the inner side of the universal hinge is parallel to rotating pairs at the upper ends of the branches, and is perpendicular to movement pairs of the branches; and the rotating pairs at the upper ends of the branches are connected with the movable platform, and are parallel to opposite edges of the movable platform. A rotating pair at the outer side of a universal hinge of a middle constrained branch is connected with the fixed platform, and is pointed to the lower end point of the second branch; a rotating pair at the inner side of the universal hinge is parallel to the connecting line of upper end points of the first and third branches, and is perpendicular to the movement pairs; and the movement pairs are vertically connected with the movable platform. The overconstrained parallel mechanism has equivalent kinematics with the Tricept mechanism, remains excellent movement characteristics of the Tricept mechanism, has smaller movement pairs compared with the Tricept mechanism, and has higher rigidity and movement precision.

The invention relates to a three degree-of-freedom self-stabilizing box body grab bucket based on a parallel mechanism. The grab bucket comprises the three degree-of-freedom parallel mechanism, a fixing plate, four electric slide tracks and four machine claws, wherein the three degree-of-freedom parallel mechanism is arranged right above the fixing plate, and connected with the fixing plate through bolts; the fixing plate adopts a square structure; the electric slide tracks are respectively arranged on the four top angular bisectors of the fixing plate and are fixedly connected with the fixing plate; the machine claws are respectively mounted under the electric slide tracks. The space motion states of the grab bucket can be realized by controlling the rising, falling, speed changing and stopping operation of an electric push rod; the three degree-of-freedom parallel mechanism adopting a 3-RPS mode can perform motion in one translating direction and two rotating directions, namely three degree of freedom directions; the control is simple; the motion property is excellent; the stability in box body grabbing is enhanced; the box body is prevented from shaking in a conveying or lifting process.

The invention aims to provide an omni-directional intelligent furniture paint spraying robot. The omni-directional intelligent furniture paint spraying robot comprises an XYZ three-axis translational motion mechanism, a Y-axis rotating mechanism, a spraying gun, a supporting framework mechanism and the like; a Z-axis moving mechanism is mounted in a sliding way of a vehicle body through a sliding block on a Z-axis mounting plate, linear motion along a Z axis can be achieved through driving by screws and nuts, a Y-axis moving mechanism is mounted on the Z-axis mounting plate through a Y-axis mounting plate, linear motion along a Y axis can be achieved through driving by gears and racks, an X-axis moving mechanism is mounted on the Y-axis mounting plate through two polish rods, linear motion along an X axis can be achieved through driving by gears and racks, the Y-axis rotating mechanism is mounted on an X-axis sliding block through bolts, and rotating along the Y axis can be achieved through driving by a steering engine. By means of the omni-directional intelligent furniture paint spraying robot, space four-degrees-of-freedom movement of the spraying gun of the robot can be entirely achieved, omni-directional paint spraying can be performed on whole furniture, and defects that common paint spraying machines can only spray paint on panel plane furniture by fixed production lines, and the like can be overcome.

This invention relates to a high accuracy low friction magnetic suspension-sliding compound guideway characterizing in mounting a pair of base like magnets oppositely between the end face of the bottom of a mobile piece and the supporting face of the guideway to keep them at an un-contact state by the repulsive force formed by it and form a positive pressure between the top guide faces of the mobile piece and the guideway, taking a side end face of the mobile piece and the guideway as the side guide face to mount a pair of like side magnets oppositely on the other end face opposite to the guide face of the side to keep the mobile piece and the guideway at an un-contact state at the side end face with the repulsive force formed by the pair of magnets to form a positive pressure on the guide face of the side part.

The invention relates to a wheel foot type wall climbing robot mechanism, which comprises a semi-cylindrical first body 1, a semi-cylindrical second body 2, a connecting rod, a first suction disc foot and a second suction disc foot, wherein the lower parts of the first body 1 and the second body 2 are respectively provided with the first suction disc foot and the second suction disc foot, axial lines of the first body 1 and the second body 2 are parallel and are in parallel arrangement in a contact mode, two end parts in parallel arrangement of the two bodies are respectively connected into a relatively rotatable structure through the connecting rod, the first suction disc foot adopts a negative pressure absorption structure, the second suction disc foot adopts a vacuum absorption structure, and a walking wheel is arranged in the first body. The wheel foot type wall climbing robot mechanism organically combines the respective advantages of a wheel type moving mechanism and a foot type moving mechanism, the mechanism has better moving characteristics and force characteristics, the moving speed is high, the barrier getting capability is high, and the curve surface adaptability is good.

The invention relates to a two-movement-three-rotation complete decoupling and series-parallel linking robot mechanism. The mechanism is formed by connecting a 2T2R parallel mechanism with a rotating end R in series. The parallel mechanism is composed of a fixing platform, a moving platform and four branch chains connected to the middle of two platforms. A first branch chain is composed of a moving pair, three rotating pairs with axial lines in parallel and four linking rods connected among the four rotating pairs; a second branch chain is composed of a rotating pair, a moving pair, three rotating pairs with axial lines in parallel and four linking rods connected among three rotating pairs; configurations of a third branch chain and the second branch chain are the same to each other; a fourth branch chain is composed of two moving pairs with mutual perpendicular directions, two rotating pairs with perpendicular axial lines and three linking rods. Both the moving pair connected with the fixing platform and the rotating pair connected to the tail end are used as the active pair; the mechanism can be a series-parallel linking robot or the executing mechanism of the manipulator, so as to realize the two-dimensional movement, three-dimensional rotation, grabbing at five degree of freedom, or other operations. The design is completely decoupled, easy to control, and quick in responding speed.

The invention discloses an over-constraint parallel mechanism with three degrees of freedom, which comprises a fixed rack, a movable platform, three driving chains and a driven chain. The three driving chains and the driven chain are connected between the fixed rack and the movable platform, the third driving chain is connected with the driven chain by a reverse equal-ratio transmission which is connected between a near rack rod of the third driving chain and a near rack rod of the driven chain, the movable platform consists of four angle plates, four side rods and four parallel rods, effective lengths of the side rods are equal to those of the parallel rods, the four angle plates are symmetrically and uniformly distributed, each angle plate connected with two far rack rods of a corresponding one of four branch chains, the four side rods are sequentially connected by rotation pairs to form a rhombic structure, four vertexes of the rhombic structure are respectively connected with the four angle plates by rotation pairs, the center of the rhombic structure is coincident with a center formed by the four angle plates, each parallel rod is arranged between the corresponding two adjacent angle plates, lower connecting axes on each two opposite angle plates are parallel to each other, and lower connecting axes of each two adjacent angle plates are parallel to each other. The over-constraint parallel mechanism is novel and is fine in lateral rigidity.

The invention relates to an AGV vehicle handling robot and belongs to the technical field of stereoscopic garages. The AGV vehicle handling robot comprises a first AGV body and a second AGV body; thefirst AGV body and the second AGV body both comprises a walking mechanism, a steering mechanism and a clamping mechanism; each walking mechanism includes a walking wheel group, wherein each walking wheel group is internally provided with a walking wheel and a walking input shaft; each steering mechanism includes a steering transmission gear fixedly mounted to a housing of the corresponding walkingwheel group; the walking input shafts and the steering transmission gears are coaxially disposed. The robot is simple and reliable in structure, a large number of conventional parts are adopted, automatic processing is facilitated, the procurement cost is reduced, a wheel group mechanism is simplified, and dependence on procurement is reduced.

A multi-freedom-degree controllable mechanism type garbage loader comprises a garbage loading system, a cab and a vehicle chassis. The garbage loading system comprises a multi-freedom-degree controllable loading mechanism, two speed reducer power source groups and a machine frame. The vehicle chassis can achieve the functions such as moving forwards, moving backwards, steering and braking, and the working requirements of the garbage loader are met. According to the multi-freedom-degree controllable mechanism type garbage loader, various flexible complex loading actions can be completed like a hydraulic loader, the shortcomings that a hydraulic system is high in manufacturing cost, low in transmission efficiency and high in maintaining cost, and oil leakage can easily happen are overcome, the multi-freedom-degree controllable mechanism type garbage loader has the advantages of being high in reliability and high in efficiency, energy is saved, and the multi-freedom-degree controllable mechanism type garbage loader is very suitable for city cleaning work.

The invention discloses a fully-isotropic three-dimensional-movement two-dimensional-rotation hybrid robot in the technical field of robots. The fully-isotropic three-dimensional-movement two-dimensional-rotation hybrid robot comprises a fixed platform, a bottom platform, a movable platform, a parallel mechanism for connecting three branched chains (2T1R) between two platforms, and a mechanism end, wherein the bottom platform is connected with the fixed platform by a movement pair 1T; a branched chain I is composed of two movement pairs, two rotating pairs with perpendicular axes, and connecting rods; a branched chain II is composed of one rotating pair, one movement pair, three rotating pairs with parallel axes, and connecting rods; the branched chain III is composed of one movement pair, a parallelogram hinge, three rotating pairs and connecting rods; the movable platform is connected with the mechanism end through the rotating pair. According to the three-dimensional-movement two-dimensional-rotation fully-isotropic hybrid robot mechanism, the five movement pairs connected with the bottom platform and the mechanism end are subjected to active driving, so as to realize the three-dimensional movement, two-dimensional rotational movement and the one-to-one control for speeds of active joints and outputs of the end; the mechanism realizes movement decoupling, is fully isotropic so as to have excellent movement transmission property, and can be used as an end execution mechanism of a coordinate measuring machine.

The invention aims to provide an upper oscillating arm assembly of an automobile double-wishbone suspension, which has the advantages of light weight, simple structure, low manufacture cost and convenience for installation. The upper oscillating arm assembly of the automobile double-wishbone suspension comprises an upper oscillating arm body provided with a ball pin assembly and is characterized in that two free ends of the oscillating arm body are connected by bolts; the upper oscillating arm body is subjected to punch forming by a single layer of steel plate; the cross section of the upper oscillating arm body is of a groove shape of which the opening faces upwards or downwards; and the opening of the groove shape is gradually reduced to free ends on two ends from the ball pin assembly.The upper oscillating arm assembly of the automobile double-wishbone suspension has the advantages of simple and reasonable structure, light weight, low manufacture cost and convenience for install and is very suitable to apply for low and medium-grade automobiles.

Disclosed herein is a shock absorber for damping vibration transmitted to a vehicle according to a road state. The shock absorber includes a cylinder and a piston valve disposed within the cylinder and connected to a piston rod to divide the cylinder into a first chamber and a second chamber. The shock absorber further includes a hollow chamber formed within the piston rod, a floating piston disposed within the hollow chamber to move up and down and to divide the hollow chamber into upper and lower chambers, first and second orifices formed in upper and lower ends of the hollow chamber and connected to the first and second chambers, respectively, and a resistance changing mechanism configured to cooperate with the floating piston and change a fluid resistance with respect to the floating piston where the resistance changing mechanism cooperates therewith.

The invention provides a 1T&(1T2R)&1R completely isotropic parallel serial robot mechanism. The 1T&(1T2R)&1R completely isotropic parallel serial robot mechanism comprises a fixed platform, a bottom platform, an upper platform, and a (1T2R) parallel mechanism or a mechanical tail end composed of three branches connected between the two platforms, wherein the fixed platform is connected to the bottom platform by use of a movable pair 1T; the first branch chain is composed of a movable pair, two rotating pairs having the axes perpendicular to each other, and a connecting rod; the second branch chain is composed of a rotating pair, a movable pair, three rotating pairs having the axes parallel to each other, and a connecting rod. The third branch chain is composed of a rotating pair, a movable pair, three rotating pairs having the axes parallel to each other, and a connecting rod; the upper platform is connected with the mechanical tail end by use of the rotating pair 1R. In the mechanism, five motion pairs connected with the bottom platform and the mechanism tail end are used for driving, and complete decoupling of five-degree-of-freedom output of two-dimensional movement and three-dimension rotation is realized; the 1T&(1T2R)&1R completely isotropic parallel serial robot mechanism is simple in structure and low in cost, and has the advantages of motion decoupling and complete isotropy in kinematics.

The invention relates to a large-working-space multi-degree-of-freedom controllable mechanism-type shovel-loading integrated transport car, which comprises two actuation mechanism subchains which are connected with each other in parallel. Two main arm rods can be controlled by the two parallelly connected actuating mechanism subchains to make plane motion in a bucket space of the plane on which the two main arm rods stay, a bucket is controllably adjusted by the actuation mechanism subchains, and the bucket is controlled by the actuation mechanism subchains to turn upwards and downwards. The plane control is realized through the synthesis motion of an actuation mechanism chain comprising a closed-loop subchain, the space motion of the bucket is realized through the connection with the two symmetric and parallelly connected subchains, the dynamics performance of the bucket space is good, the working space is large, the balance property is good, the mechanism reliability is high, the advantages such as compact structure and simplicity in control can be realized, a rod piece can be made into a light rod, so that the transport car can run forwards and backwards, can unload the material forwards and backwards, can be applied to more fields, is completely driven by the electric power and has no emission and noise pollution.

The invention discloses a moving chassis for an indoor service robot. The moving chassis comprises a bottom plate, a driving mechanism, a universal wheel mechanism, a sensing system and a power supply system, wherein the universal wheel mechanism comprises universal wheel bases, two groups of universal wheels arranged in the universal wheel bases, and universal wheel support plates fixedly connected with the two groups of universal wheels; the universal wheel support plates are rotationally connected to the universal wheel bases through linear bearings; the upper surfaces of the two ends of the universal wheel support plates are provided with springs respectively; spring pressing plates are fixedly arranged at the upper ends of the springs; the spring pressing plates are fixed to the universal wheel bases. By adopting the moving chassis, on one hand, the four-wheel chassis has a relatively high motion speed and a turning feature on one hand; on the other hand, a seesaw type structural design is adopted for the universal wheel mechanism, and the universal wheel mechanism has high adaptive adjustability to small steps or ditches on road surfaces, so that effective filtering is realized, and the advancing stability and reliability of driving wheels are ensured.

The invention discloses a frequency modulating linear motion transverse water current gravity ore dressing bed, which comprises a sorting bed, a feeding groove, a flushing water groove and a rifle bar, wherein the sorting bed is supported by springs; the springs are arranged on machine bases; a vibration exciter is arranged on the abdomen of the sorting bed; the included angle between the vibrating direction of the vibration exciter and the be surface of the sorting bed is 0-80 degrees; the amplitude and frequency of the vibration exciter are adjusted by using a stepless speed change motor; four springs are arranged on four machine bases; the vibration exciter can be arranged on a frame of the multilayer sorting bed; the frame is supported on the springs or hung by the springs; and one vibration exciter is used for driving a plurality of sorting beds to vibrate simultaneously. Compared with the conventional swinging bed, the frequency modulating linear motion transverse water current gravity ore dressing bed has the advantage: the motion characteristics are improved. Apart from horizontal swinging force, buoyancy of transverse flushing water and flushing force, vertical vibration force is applied to mineral particles, mineral particle groups move on the bed surface like the jump of a frog, and the loosening and layering of the mineral particles are accelerated remarkably, so that zoning of light and heavy minerals is accelerated, and the treating capability and enrichment ratio of equipment are increased.

The invention discloses an optimization method for the wind-generation-set gear-case elastic support span. The optimization method includes the steps that 1, according to the initial parameter of a target wind generation set, a wind-generation-set transmission chain model containing a gear case model is set based on the many-body dynamics, and the initial parameter comprises an initial value of the span of a gear-case elastic support; 2, the value of the span in the wind-generation-set transmission chain model is continuously adjusted, and is subjected to modal and time domain analysis during adjusting every time, the potential resonant frequency obtained by modal and time domain analysis can be avoided after adjustment, and the adjusted wind-generation-set transmission chain model is output; 3, the value of the span in the adjusted wind-generation-set transmission chain model is continuously subjected to fine tuning optimization, the operating characteristic of a transmission chain in the wind-generation-set transmission chain model is best accordingly, and the best span value is obtained and output. By means of the optimization method, the resonance risk of the transmission chain can be avoided, and meanwhile the movement performance is best; the optimization method has the advantages of being simple in achieving method, reasonable in span design and high in optimization efficiency.

The invention relates to the technical field of soil remediation, and discloses a soil remediation device for plateau soil. The device comprises an outer cylinder, an inner cylinder is arranged in thecavity of the outer cylinder, annularly distributed friction blocks are fixedly mounted on the outer wall of the inner cylinder, and an arc-shaped bearing arc block is fixedly mounted at the bottom in the cavity of the inner cylinder. According to the soil remediation device for plateau soil, tensile force of bred animals on plateau grassland is facilitated, the soil remediation device is fixed to connecting bolts on the two sides of an outer cylinder through ropes, the outer cylinder continuously rolls and turns over on the grassland through a discharge pipe on the outer wall, and crushed and mixed cattle and sheep manure in an inner cylinder cavity is extruded into soil, so that an automatic remediation effect for plateau soil is achieved. According to the characteristics of the plateaugrassland soil, local materials are adopted, cattle and sheep manure cultivated by farmers is recycled in a centralized mode, and then the mixed and collected manure is injected into the grassland through the device, root systems of grass can absorb the manure conveniently, so that the soil remediation effect of the plateau grassland is achieved. and the effect and the purpose of repairing the plateau soil are achieved.

The invention discloses a geneva mechanism which comprises a poking disc, serving as a driving part, and a geneva, matched with the poking disc and serving as a driven part, wherein the poking disc is composed of a poking plate and at least two poking pins which are vertically arranged on the poking plate and uniformly arranged surrounding the center of the poking disc; distances from the centers of the poking pins to the center of the poking disc are the same; the geneva is composed of a rotary disc surface; at least three radial transmission grooves are uniformly formed in the rotary disc surface in the radial direction; and the poking disc rotates around the center to drive the poking pins to be connected in the corresponding transmission grooves in a clamping manner and drive the geneva to rotate around the center. The geneva mechanism has the remarkable effects that limitation of the poking pins to movement of the geneva can be ensured to be reliable at any time, the poking pins are insensitive in fit clearance and can reliably run in places with large torques and high-speed transmission, and the application range of the poking pins is enlarged; and in addition, geneva concave arc holes and convex arc plates further optimize the movement characteristics of the geneva, so that acceleration mutation and soft impact are avoided, and vibration and noise are dramatically lowered.

The invention provides a (2T1R)&(2R) double-acting platform decoupling parallel serial robot mechanism. The robot mechanism is mainly composed of a three-branch chain (2T1R) parallel mechanism and a two-branch chain (2R) parallel mechanism, the two of which are connected in series; the three-branch chain parallel mechanism is composed of a fixed platform, a movable platform and three branch chains connected between the two platforms, wherein the first and second branch chains are completely the same in structure, and both composed of a movable pair, four rotating pairs and four connecting rods; the third branch chain is composed of movable pairs perpendicular to each other in two directions, two rotating pairs having the axes perpendicular to each other, and three connecting rods. The fourth branch chain in the two-branch chain parallel mechanism is connected with the platform at the tail end of the mechanism by use of three rotating pairs having the axes parallel to each other and a rotating pair having the axis perpendicular to the axes of the rotating pairs; the fifth branch chain is connected with the tail-end platform by use of two rotating pair having the axes perpendicular to each other. The driving pairs of the mechanism are the rotating pairs of the branch chains on the platform, and the decoupling of five-degree-of freedom input and output actions of two-dimensional motion and three-dimensional rotation is realized. The (2T1R)&(2R) double-acting platform decoupling parallel serial robot mechanism is applicable to the fields of high precision, high speed, demand on point control and the like.

The invention belongs to the field of compliant mechanisms and relates to a method for implementing multi-stable state of a compliant Sarrus mechanism. The method is characterized in that part or all of rigid hinges in a rigid Sarrus mechanism are replaced by compliant hinges to form a partially or completely compliant Sarrus mechanism and show the rotary and linear multistable features. The stable-state position number and stable-balance position selection of the Sarrus mechanism can be achieved by changing the rod length, and the rotary stable-balance position and the linear stable-balance position correspond with each other. The compliant Sarrus mechanism has advantages of simple structure, good motion characteristics, convenience for fabrication, low fabrication cost and reliable operation; and can be applied in mechanical products requiring rotary or linear multi-stable state or in the occasions requiring the conversion from a rotary motion into a linear motion, for example, lifting devices, translation mechanisms and the like.

Disclosed herein is a shock absorber for damping vibration transmitted to a vehicle according to a road state. The shock absorber includes a cylinder and a piston valve disposed within the cylinder and connected to a piston rod to divide the cylinder into a first chamber and a second chamber. The shock absorber further includes a hollow chamber formed within the piston rod, a floating piston disposed within the hollow chamber to move up and down and to divide the hollow chamber into upper and lower chambers, first and second orifices formed in upper and lower ends of the hollow chamber and connected to the first and second chambers, respectively, and a resistance changing mechanism configured to cooperate with the floating piston and change a fluid resistance with respect to the floating piston where the resistance changing mechanism cooperates therewith.

The invention relates to a movable robot mechanism, in particular to a mini biped-wheel composite wall-climbing robot mechanism comprising two main bodies, a link rod and two sucker feet. The two main bodies are respectively connected with the sucker feet and are mutually connected by adopting a rotary joint and through the link rod so as to realize the comparative rolling by the two main bodies; wherein, one main body is also provided with a rotary joint which is driven by a motor and arranged vertically and the other main body is provided with a moving joint which is driven by a motor and arranged vertically and a rotary joint arranged vertically so as to locally turn the whole robot mechanism and fold or unfold the sucker feet; and the movement and attitude regulation of the robot can be realized through the comparative rolling of the two main bodies and by alternately absorbing and releasing the two sucker feet. The mechanism integrates the high moving speed of wheel mechanism with the obstacle avoidance capability of foot mechanism so as to realize the aims of high moving speed, light weight, low energy-cost and high moving capability.

The invention discloses a coupling optimization control method for a leg-wheel robot, belonging to the field of automation. The stability function of the leg-wheel robot is defined as shown in the specification, wherein theta i is the stability angel of a topple axis, and when phi s is less than 0, the robot topples over; and the tractive force function of the leg-wheel robot is expressed by the sliding ratio Si and is shown in the specification, thus in order to improve the tractive force, the maximum value in all the Si is minimized. In the method, the stability and the tractive force are integrated, the sum of the weighted root mean square of the stability and the tractive force is utilized as a coupling optimization standard function, and the optimization standard function is controlled to be minimized, thus ensuring the maximization of theta i and the minimization of Si, namely the maximization of the stability of the robot and the minimization of the sliding movement of the robot. The invention has the advantages that the stability of the robot is considered, the drive tractive characteristic of the robot during movement is considered at the same time, and the movement characteristics of the leg-wheel robot are effectively improved.

The invention discloses a high-speed precision press, which includes a working mechanism, a transmission system, a servo motor, and a supporting component. The working mechanism includes a crank, a connecting rod, and a slider, and the crank is connected to the slider through a connecting rod; The transmission system includes non-circular gear transmission and belt transmission. The non-circular gear transmission includes non-circular driving gear and non-circular driven gear. The non-circular driving gear is driven to rotate by the servo motor belt pulley, and then drives the non-circular The driven gear runs; the non-circular driven gear is connected to the crank, and the non-circular driven gear runs to drive the crank to move, and the connecting rod connected to the crank pushes the slider to complete the punching work. This press adopts a high-speed precision press driven by non-circular gears to process materials by controlling the precision of the bottom dead center, which not only has high manufacturing precision and high work efficiency, but also ensures the processing quality.

The invention designs an active type ankle artificial limb mechanism with functions of linkage energy storage and barycenter self-regulation. A basic structure comprises a driving motor, a base, a series spring system of a muscle-like three-loop linkage mechanism, a parallel spring system of a muscle-like smooth crank slider mechanism, a pressure sensor, a carbon fiber artificial foot, a heel buffer spring system, a barycenter self-regulating block system, an angle transducer and a driving shaft. The two linkage type spring systems can achieve energy storage and energy release continuously, provide energy for the artificial limb mechanism, and reduce energy output of the motor. Moreover, the linkage mechanism has the advantages of simple structure, easy manufacturing, low production cost and the like. Biological joints are non-uniform geometry, thereby showing nonstationarity of ankle flexion-extension rotating axes; the barycenter self-regulating block system can achieve such functionand the function of self-regulation of human body barycenter and the ankle artificial limb mechanism, conforms to the movement characteristic of ankles, improves the comfort level of the artificial limb mechanism during walking, and prolongs the service life of the ankle artificial limb mechanism.

A double clutch comprises an input side, a first output side and a second output side which are rotatably mounted about an axis of rotation. The input side is located on a first axial side and the output sides on an opposite second axial side of the double clutch. Furthermore, a first clutch is provided with a first disk pack for the torque-locking connection of the input side with the first output side and a second clutch with a second disk pack for the torque-locking connection of the input side with the second output side. Two concentric cylinders with circular ring-shaped cross-sections are arranged on a support element, and pistons are arranged in the cylinders, which pistons are adapted to apply axial actuating forces to the clutches, the actuating forces being directed from the first axial side to the second. In order to support the support element with respect to the input side, a rolling bearing is also provided, which lies in an axial region of one of the disk packs.