33results about How to "High self-weight ratio" patented technology

The invention relates to a single leg structure of an electric quadruped robot. The single leg structure comprises a hip joint, a knee joint, a thigh connecting rod, a shank connecting rod and a foot,the hip joint comprises a first hip joint body and a second hip joint body, the second hip joint body is connected with the power output end of the first hip joint body, the knee joint is connected with the power output end of the first hip joint body through the thigh connecting rod, the knee joint is in rigid connection with the second hip joint body, the power output end of the second hip joint body is connected with power input end of the knee joint through the transmission mechanism, the shank is fixedly connected to the power output end of the knee joint, and the foot is connected to the shank. According to the structure, the low quality and low rotating inertia of the thigh and the shank is guaranteed, the good motion performance is achieved, the structure is simple and compact, itis guaranteed that the knee joint and the hip joint of the single leg have the good reverse drive characteristic, and the single leg structure can be used for assembling the electric quadruped robotwhich is capable of bouncing and high in load deadweight ratio.

The invention discloses a rope-driven multi-degree-of-freedom series manipulator and a driving method thereof, and belongs to the field of manipulators. The rope-driven manipulator comprises a base, a waist joint unit, a waist platform, a large arm unit, a small arm unit, a tail end platform unit and the like. One ends of steel wire ropes are fixed to driven wheels at joints, the other ends of the steel wire ropes are fixed to a driving unit winch at the waist platform, so that the driving force is transferred from the winch at the waist platform to the driven wheels at the joints at the rear end by means of the ropes and accordingly drives the joint units to conduct rotation movement around joint shafts correspondingly. The joint driving ropes are guided by guide pulleys and bypass the joint shafts at the front end sequentially, by arranging the specified diameters of shaft guide wheels, a driving method is built, thus any joint at the front end of the manipulator rotates while the posture of the tail end of the manipulator remains unchanged relative to the world coordinate system. The buffer effect of making contact of the manipulator with the environment is increased through the flexibility of the ropes, and the rope-driven multi-degree-of-freedom series manipulator is especially suitable for occasions with the high requirements for the interaction safety of the manipulator, people and the environment.

The invention discloses a flexible bionic manipulator and relates to the technical field of mechanical devices. The flexible bionic manipulator comprises a mechanical arm, a mechanical wrist and a mechanical finger component. The mechanical arm comprises an arm support, first motors and a second motor, and the first motors and the second motor are connected with screw rods through rotating shafts. Nuts are mounted on the screw rods through threaded fit. The mechanical finger component comprises a mounting base, finger units are arranged on the mounting base, and each finger unit comprises three finger knuckles which are connected through two finger joints. The finger joints are connected to the nuts of the screw rods through steel wires respectively. According to the mechanical wrist, a connecting shaft connects a first rotating seat on the arm support and a second rotating seat on the finger mounting base, and the mechanical wrist further comprises a gear set in meshing transmission, wherein a first bevel gear is synchronous with a rotary shaft of the second motor, and a second bevel gear is fixedly connected to the connecting shaft in a sleeving mode. The flexible bionic manipulator is high in bionic degree, the grabbing force and grabbing postures can be autonomously adjusted, the ratio between the grabbing force and the dead weight is high, and the requirement for loads of an industrial robot body is lowered.

The invention provides an integrated joint module of a compact robot and the compact robot, and relates to the technical field of robots. The integrated joint module comprises a single cycloidal pin wheel speed reducer, a shell, a shaft, an electromagnetic actuator, a movable pin, an integrated circuit module, an end cover, a cable protection sleeve, a claw brake disc, a cable, a photoelectric encoder read head, a photoelectric encoding disc, a motor stator and a motor rotor. The single cycloidal pin wheel speed reducer is fixed to the front end of the shell, the motor stator is fixed in the shell, and the motor rotor is fixedly connected with the shaft. The front end of the shaft is fixedly connected with the input end of the single cycloidal pin wheel speed reducer. The rear end of the shaft is sequentially fixedly connected with the photoelectric encoding disc and a brake device. The photoelectric encoder read head is fixed in the shell and is opposite to the photoelectric encodingdisc in position, and the end cover is fixed to the rear end of the shell. The integrated joint module of the compact robot and the compact robot are high in integrity, small in size, large in load dead load ratio and good in rigidity, the structure is hollow, collision detection is conducted, and design, installation, usage and maintenance of the robot are easier and more convenient.

The invention belongs to the technical field of robot structures, and relates to a six-foot crawler-type parallel hydraulic building curtain plate mounting robot which is composed of a crawler-type moving platform, a mechanical six-foot assembly, a leg mounting frame, a mechanical large arm assembly, a hydraulic small arm assembly, a curtain plate terminal executing mechanism and a curtain plate. The mechanical six-foot assembly is installed on the leg mounting frame. The leg mounting frame is installed on the crawler-type moving platform, the mechanical large arm assembly is installed on the crawler-type moving platform, the hydraulic small arm assembly is installed on the mechanical large arm assembly, the curtain plate terminal executing mechanism is installed on the hydraulic small arm assembly, and the curtain plate is attracted to the curtain plate terminal executing mechanism. The curtain plate is grabbed by the curtain plate terminal executing mechanism through an air pressure sucker, so that the curtain plate is stably and effectively grabbed, the mounting cost is reduced, and the mounting efficiency is improved; the remote control over the robot can be achieved, the 5G data transmission technology is utilized, monitoring and action control over a building curtain plate installation construction site are achieved, and the installation process is more intelligent and efficient.

The invention discloses a bionic rope-driven four-degree-of-freedom arm for man-machine cooperation. The degree of freedom of an elbow joint is one, and the degree of freedom of a wrist joint is three. All joints are driven in a rope transmission mode, the elbow joint is achieved through a tangent circle rolling mechanism, meanwhile, a movable pulley transmission structure is designed to achieve joint rigidity and torque amplification, and three degrees of freedom of the wrist joint are achieved through cooperation of a three-connecting-rod parallel mechanism and an universal joint. All jointdriving motors are arranged at shoulder structures, so that the motion inertia of the arm is effectively reduced, and the rope length change between the joints is decoupled and is convenient to control. Compared with an existing motor-driven cooperative robot, the arm has the advantages of being high in movement flexibility, high in movement flexibility, small in movement inertia, large in load self-weight ratio and the like, and the safety coefficient and the working performance of the robot in the field of man-machine cooperation are effectively improved.

The invention discloses a low-noise negative-pressure wall-climbing robot. The robot comprises a chassis, a moving device, a negative pressure device, a noise reduction device, a main control panel and a monitoring camera device. The negative pressure device is fixed to the top of the chassis, the noise reduction device is arranged at the top of the negative pressure device, two tracks of the moving device are symmetrically installed on the lower surface of the chassis and located on the two sides of the negative pressure device, the tracks driven by the motor make contact with the wall face,and a sealing strip is pasted to the edge of the lower surface of the chassis. The monitoring camera device is installed on the upper surface of the chassis, the main control panel is connected with the remote control device through wireless signals, and the main control panel is in electric signal connection with the moving device, the negative pressure device, the noise reduction device and themonitoring camera device. The low-noise negative-pressure wall-climbing robot has the advantages of being low in noise, small in size, light in weight, stable in operation and the like. The cable-freecontrol can be realized, monitoring and detecting equipment can be carried, the investigation and detection task can be excellently completed in a narrow space, and the working efficiency is greatlyimproved.

The invention relates to an under-actuated continuum mechanical arm which comprises three driving motors, three driving ropes and a plurality of joints connected in sequence. Each joint comprises a movable platform and a static platform; the movable platform in each joint is connected with three driven ropes; each joint is connected with three variable-diameter driving mechanisms, the driven ropes in each joint are in one-to-one correspondence with the variable-diameter driving mechanisms, and each driven rope in each joint is connected with the output end of the corresponding variable-diameter driving mechanism; the variable-diameter driving mechanism comprises a variable-diameter pulley, and the variable-diameter pulley comprises a variable-diameter outer ring body; and the outer ring body of the variable-diameter pulley in the variable-diameter driving mechanism at each joint is driven by a corresponding driving rope to rotate. The mechanical arm is simple in structure and small in overall weight and size, and meanwhile the flexibility and the load capacity of the mechanical arm can be effectively guaranteed.

The invention belongs to the technical field of mechanical joint transmission, and discloses a compact transmission structure of adjacent joints, which is characterized in that a fixed end of a power source sleeves the outer side of a hollow shaft; the first end cover sleeves the outer side of the hollow shaft; the inner ring is in sliding connection with the outer ring through a roller; the inner side of the opening end is connected with the rotating end of the power source through a flexible bearing, and the outer side of the opening end is meshed with the inner ring. The bottom end is pressed between the first end cover and the outer ring; the power source is located on the inner side of the flexible gear. The flexible gear is positioned on the inner sides of the outer ring and the inner ring; the end, close to the bottom end, of the hollow shaft is sleeved with an output end code disc, and the end, close to the opening end, of the hollow shaft is sleeved with a motor end code disc. The problem that an existing integrated joint is long in overall length can be effectively solved, miniaturization and light weight of a robot are achieved, stronger power output is obtained on the basis of miniaturization and light weight, and therefore the larger load-weight ratio is obtained. The invention further discloses a mechanical arm with the transmission structure.

The invention discloses a high-load-dead-weight-ratio mechanical arm assembly. The high-load-dead-weight-ratio mechanical arm assembly comprises a hydraulic arm assembly provided with a plurality of joint assemblies connected in sequence, each joint assembly comprises a main base, a first hydraulic assembly, an auxiliary base and a universal coupling, the main bases and the auxiliary bases are connected through the universal couplings between the main bases and the auxiliary bases, main mounting parts are arranged on the main bases, auxiliary installation parts are arranged on the auxiliary bases, the two ends of the first hydraulic assemblies are correspondingly connected with the main mounting parts and the auxiliary mounting parts, and the two main mounting parts are not symmetrical about the orthographic projection of any shaft of the universal couplings. The invention further discloses the building robot. The positions of the hydraulic assemblies beside the universal couplings are reasonably arranged, so that the mechanical arm assembly can take and place materials at any angle and any position within the working length, the load-weight ratio of a mechanical arm can be remarkably increased, the flexibility and positioning precision of the robot are improved, the high-load-dead-weight-ratio mechanical arm assembly can be suitable for various indoor and outdoor complex ground working environments, and the cost of a robot moving body is reduced.

A hydraulic lightweight parallel mechanical arm belongs to the technical field of robot structures and comprises a moving platform connecting assembly, a big arm moving assembly, a mechanical big arm assembly and a hydraulic parallel mechanical forearm part, the big arm moving assembly is mounted on the moving platform connecting assembly, the mechanical big arm assembly is mounted on the big arm moving assembly, and the hydraulic parallel mechanical forearm part is mounted on the mechanical big arm assembly. Compared with other existing methods, the method has the beneficial effects that a mechanical arm forearm is assembled through a hydraulic assembly, the structure is lighter and more convenient, stepless speed regulation of the mechanical arm in the movement process can be achieved, and the movement precision is higher; the six-degree-of-freedom mechanical forearm is combined and assembled in a hydraulic parallel connection mode, six degrees of freedom of the mechanical forearm are achieved, and compared with other existing mechanical arms, the six-degree-of-freedom mechanical forearm is lighter and has a higher load self-weight ratio; and the assembly type combined mechanical arm is adopted, the requirements of various types of work can be met, and flexible conversion of various terminal execution components can be achieved through a replaceable execution terminal installation part.