178results about How to "High speed movement" patented technology

The invention discloses a super-redundant flexible mechanical arm based on rope driving. The super-redundant flexible mechanical arm comprises a driving module, a mechanical arm module and a plurality of driving ropes; the mechanical arm module comprises a plurality of joints in serial connection, the adjacent joints are connected through cross and perpendicular rotating shafts arranged between the adjacent joints, and at least three driving ropes are fixedly connected to any joint; the driving ropes can be driven by the driving module to move independently; and the driving ropes arranged on the same joint are arranged in a manner that the joint can be pulled by the driving ropes to rotate around the rotating shafts relative to the adjacent joints. According to the super-redundant flexible mechanical arm, all joints can be adjusted independently and controlled more accurately, the weight of the joints is greatly reduced, the bearing capacity of the mechanical arm is further improved, and the high-speed movement and the quick response of the mechanical arm are achieved. Meanwhile, the distributing work of electric lines is removed, the mechanical arm is only composed of mechanical structures and is not prone to being affected by severe environments, the service life is prolonged, and the mechanical arm is convenient to disassembly, maintain and assemble.

The invention relates to a minitype wheel/caterpillar structure-variable mobile-search reconnaissance robot, which mainly comprises a case, road wheels, an electric motor, an interconversion mechanism that can carry out mobile interconversion between the wheel type and caterpillar type, an elastic caterpillar, a running gear, a reconnaissance device, a mobile driving mechanism, a self-locking mechanism and a robot case, wherein, the rear part of the robot case is provided with a universal wheel, the robot case and the reconnaissance device are connected through a live shaft to form a robot. The robot has the characteristics of both the quick movement of a wheel type mobile robot and good through-obstacle capability of a caterpillar type mobile robot, namely that the robot adopts the wheel type movement to get fast-moving performance under good ground condition, and can change the motion mode of the motion mechanism into the caterpillar type movement that has favorable through-obstacle capability under poor ground conditions such as meeting with obstacles, stairway or non-hard road surface.

The invention discloses a magnetic suspension bilateral magnetic resistance driving type direct linear transmission device, which mainly comprises a linear bilateral long base, a bilateral long stator linear magnetic resistance motor, a movement bearing table, a stator base fixed connecting rod, a rotor inter-phase connecting rod, a linear movement displacement sensing ruler, an auxiliary support guide rail pair, a suspended air gap detection sensor, a radiating fan and the like. A magnetic suspension support magnetized loop is multiplexed with a linear magnetic resistance motor stator and rotor magnetized loop, a base is not needed to be used for magnetizing, a moving component is not provided with a permanent magnet and does not need an external power supply, and the transmission device has the advantages of simple and compact structure, low manufacturing cost, high power-to-volume ratio, high electromagnetic thrust, short magnetic circuit path, high inter-phase sealing property, high fault-tolerant capability, zero friction operation and the like.

A head assembly for a chip mounter is provided. The head assembly includes: a housing having a plurality of spindle receiving holes; nozzle spindles that are fitted with nozzles picking up and mounting electronic components and vertically movably inserted into the spindle receiving holes; a selection member selecting at least one of the nozzle spindles and vertically moving the selected nozzle spindle; a horizontal driver horizontally moving the selection member and changing a nozzle spindle to be selected; and an elevating driver vertically moving the selection member.

The invention relates to a piezoelectric-ceramics-based high-speed high-precision macro-micro platform and a switching method. The macro-micro platform comprises a platform base plate and a voice coil motor, wherein the platform base plate is disposed on a vibration isolation pedestal, the voice coil motor is disposed at one side of the platform base plate, and the voice coil motor comprises a voice coil motor shell, a voice coil motor magnet assembly, a voice coil motor coil, a voice coil motor linearity encoder and a motor shaft connecting rack. Because the voice coil motor is used to drive the platform to feed in a large stroke and a high speed, and a piezoelectric ceramics is directly connected with an output shaft of the voice coil motor, the macro-micro platform is compact in structure and easy to feedback control. Additionally, the platform is provided with the piezoelectric ceramics which plays a vibration damping effect on the high-speed motion platform by applying an opposite acting force, so that the problem that the high-acceleration motion platform is large in vibration and hard to be stable rapidly; and after the platform is stable, the piezoelectric ceramics switches functions for driving the micro platform to move, and by closed ring control of an absolute grating, the precision positioning of platform micro motion is realized.

A main shaft apparatus (10) of a built-in motor system, wherein a rotary shaft (12) is provided with: a first cylindrical component (71) made of metal material; and a second cylindrical component (72) made of carbon fibre composite material, which is positioned on the outer peripheral surface of the first cylindrical component (71) and into the outer peripheral surface of which a rotor (20) fits. By virtue of this, the temperature increase of the rotary shaft and a bearing due to the heat produced by the rotor can be controlled and processing precision can be improved.

The invention discloses a rigid-flexible coupled trunk-shaped continuous robot, and relates to the technical fields of robots and advanced manufacturing. The robot comprises a control box and a group of joints which are mounted on one side of the control box, have completely the same structure and are connected end to end, wherein each joint comprises a movable platform, a fixed platform, and a supporting rod and three driving ropes which connect the movable platform and the fixed platform; one end of the supporting rod is fixedly connected with the fixed platform vertically, and the other end of the supporting rod is connected with the movable platform through a ball pair; one ends of the three driving ropes are fixedly connected with three endpoints of the movable platform respectively, and the other ends of the three driving ropes penetrate through three endpoints of the fixed platform to be connected with the ropes in the control box; and the ropes are connected with a motor through a speed reducer. According to the rigid-flexible coupled trunk-shaped continuous robot, working platforms of each joint can achieve motion output of three-dimensional rotation under a cartesian coordinate system; and the motion output of each movable platform is achieved through transmission of the rigid supporting rod and the three driving ropes, so that the rigid-flexible coupled motion characteristic is achieved.

The invention discloses a two-degree-of-freedom mechanical arm joint driven by ropes. The two-degree-of-freedom mechanical arm joint comprises a first rotating shaft, a second rotating shaft, a fixed end, a movable end and the driving ropes. The first rotating shaft and the second rotating shaft are crossed. The movable end can rotate round the first rotating shaft and the second rotating shaft relative to the fixed end. At least three driving ropes are arranged and are circumferentially distributed along the movable end. One ends of the driving ropes are fixedly connected with the movable end, and the other ends of the driving ropes can independently pull the movable end to rotate under external force. According to the two-degree-of-freedom mechanical arm joint driven by the ropes, the weight of joints can be greatly reduced, and therefore the bearing capability of a mechanical arm can be further improved, and high-speed moving and fast responding of the mechanical arm are facilitated; and meanwhile, the arrangement work of electrical wires is omitted, the mechanical arm is only composed of mechanical structures, the influences of severe environments are not likely to occur, the service life is easily prolonged, and disassembling, maintaining and assembling are convenient.

The invention discloses an intelligent firefighting rescue command and dispatch system. The intelligent firefighting rescue command and dispatch system comprises a main individual transmitter, a positive pressure air breathing apparatus, an intelligent firefighting bracelet, an audio and video helmet, a Mesh network repeater, an interphone, an emergency command box, a positioning module and a main positioning IPC (Industrial Personal Computer), wherein the main individual transmitter performs information exchange with each of the positive pressure air breathing apparatus, the intelligent firefighting bracelet, the audio and video helmet and the Mesh network repeater through the wireless network, the Bluetooth, signal lines and the Mesh network, so as to monitor the on-site rescue situation in real time; the emergency command box performs information exchange with the 119 command center through 4G; and the positioning module is connected with the main positioning IPC through a wireless serial port to realize the positioning of rescue workers. According to the intelligent firefighting rescue command and dispatch system, the seamless information integration of a plurality of departments is realized through the effective network convergence, and meanwhile the vital signs of rescue workers and the air pressure values in air bottles can be monitored in real time, an early warning is given to the rescue workers, and the expansibility is good due to reserved interfaces.

The invention belongs to the technical field of an energy material, and provides a carbon nanotube/graphene/silicon composite lithium battery negative electrode material and a preparation method therefor, for overcoming the shortcoming of poor electric circulation performance caused by severe volume effect of a silicon negative electrode in an electrochemical lithium storage process, difficulty in forming a stable surface solid electrolyte film and low intrinsic conductivity. The composite lithium battery negative electrode material comprises foamed nickel, and a graphene layer and a silicon co-mixed carbon nanotube layer which are alternately arranged on the foamed nickel; the graphene layer in on the uppermost layer; and the graphene layer on the uppermost layer is also covered with a thick graphene protection layer. By adoption of the multi-layer structure of the graphene layer and the alternate silicon/carbon nanotube composite layer, three-dimensional compounding on silicon power is performed based on high mechanical performance and high conductivity of the graphene and the carbon nanotubes jointly, so that the negative electrode rate capability and cycling performance are remarkably improved under the premise of maintaining high silicon specific capacity; and meanwhile, the preparation method has the advantages of simple process, low cost and high repeatability.

The invention relates to a control system of an electrically driven quadruped robot. The control system comprises an upper computer, an industrial computer, a driver and an encoder, wherein the industrial computer is connected with the upper computer to transmit data, and the industrial computer and the encoder are both connected with the driver; the encoder is fixed at the output end of the jointmotor and used for detecting the rotation angle of the joint motor; rotation angles of joints are obtained through the pulse number measured by the encoder and the reduction ratio of a joint reducer,the encoder uploads the pulse number to the driver, the driver uploads the filtered pulse value to the industrial personal computer, then, the industrial personal computer runs, and the output torqueof each joint of the robot is obtained and converted into a current value to be transmitted to the driver; the driver outputs given torque by the motor through a built-in current loop, and flexible optimization of a single leg and optimization of collision energy are realized. The energy loss caused by contact of the single leg with ground is reduced, overall real-time performance and reliabilityof a hardware system and high-speed movement of the quadruped robot are improved, and good dynamic stability and high energy efficiency can be maintained.

This invention relates to a high-speed pick-up method and a system. The arrays composed of several CMOS image units are corresponding to spark source lattices one by one by an optical system independent of others. The CMOS imaging unit array are uniformly controlled by a single chip processor and an outer trigger circuit. After the system is reset and pre-charged, it begins couting the specific state of the time delay test system synchronous signals, when reaching to a set value, the time is delayed and signal of trigger is output the delayer begins timing, trigger pick-up signal is output, the inner exposing control circuit opens the shutter and things happen in the period of exposure, a signal of triggering spark flash is given, it flash arrays flash orderly and corresponding CMOS pixel arrays pick up orderly.

The invention discloses a multifunctional electronic writing pen. The integral appearance of the pen is similar to that of a common writing pen, and a pen body is divided into a front section and a rear section which are movably connected; a nib position is provided with a photo-electric sensing system, a function control system is arranged on the front pen body, and the tail end of the pen body is provided with a connecting system which is communicated with a computer in a wired or wireless way; a plug/socket element is arranged on a connecting opening of the front pen body and the rear pen body, and circuits on the front pen body and the rear pen body are communicated or separated by the element; and a common ink pen core is arranged in the pen body. After a character handwriting recognition system is additionally installed on the writing pen, the operation and the use are similar to holding a common pen by a hand, the control and the operation on the computer can be finished just in a writing way without special drive on any computer, and the pen is suitable for all people; and the built-in common ink pen core can be used at random.

The present invention discloses a high-efficient energy-saving instant-heating safety heater and a production method thereof, wherein, the heater adopts an electromagnetic oven to heat, and is characterized in that the surface of an electromagnetic oven tray is provided with a sealed box body that is made of iron material or stainless steel material and is provided with two layers or more that are separated from each other; each layer of the sealed box body is provided with water and provided with the disc-shaped heat-conducting pipe that is made of the copper pipe, and the heat conducting pipes inside each layer of the sealed box body are communicated with each other; at the same time, the electromagnetic coil supporting plate that is arranged inside the electromagnetic oven adopts the ceramic material to be made into an electromagnetic coil supporting plate with a water cycling passage; the outlet of the water cycling passage of the supporting plate is connected with a water inlet of the heat conducting pipe that is arranged inside the most upper layer of the sealed box body, so that the water that flows inside the heat conducting pipe can be rapidly heated. The electromagnetic oven is used to heat, so that the electricity not only can be completely separated from the water, so as to improve the security of the user, but also can improve the energy source utilization rate.

A hydrostatic power train includes a hydraulic pump, which is connected, via a first main pipe and a second main pipe, to a first hydromotor unit driving a front axle and to a second hydromotor unit driving a rear axle. The first and second hydromotor units can be adjusted in terms of their displacement via a first and second variation device. A direction of travel is defined as forward movement (F) or reverse movement (R) by a position of an operating lever. The first and the second variation devices are controlled by a control valve which takes up a first control position upon a forward movement (F) determined by the position of the operating ever and which takes up a second control position upon reverse movement (R) determined by the position of the operating lever and which takes up a second control position upon reverse movement (R) determined by the operating lever. In the first control position, the first variation device is controlled such that the first motor unit is adjusted for a smaller displacement and, in the second control position; the second variation device is controlled such that the second motor unit is adjusted for a smaller displacement.

The invention discloses a method for rapid preparation of a high-purity yttrium oxide coating for a plasma etching machine. The method comprises the following steps: 1) preprocessing the surface of a part to be sprayed and protecting a coating-free region with an adhesive tape; 2) adopting high-purity yttrium oxide powder produced by Beijing General Research Institute of Mining and Metallurgy (or withmequal performance parameter), wherein the purity of the yttrium oxide powder is more than or equal to 99.9% and grain distribution is 20-40 microns; and 3) rapidly spraying by virtue of a scheme combining a tri-anode plasma spraying system and a multi-shaft manipulator. Compared with a conventional plasma spraying method, by adopting the spraying method disclosed by the invention, the heat input of a substrate (substrate temperature is less than 100 DEG C) is effectively reduced and the purity and uniformity of the coating is improved; the high-purity yttrium oxide ceramic coating which is 120-180 microns thick and is more than or equal to 99% in purity can be rapidly prepared within 1-2min; and high-energy plasma erosion resistance and service life of an etching machine part of a large scale integrated circuit are enhanced.

The invention discloses a three-translational spatial parallel robot mechanism, relates to the technical field of robots and advanced manufacturing, and particularly relates to a spatial three-degree-of-freedom parallel robot mechanism which can achieve spatial three-translation. The mechanism is composed of a moving platform, a fixed platform, and three branched chains which are connected with the two platforms, wherein each branched chain is composed of a guide rail, a cylinder pair, a rotary pair, a Hooker hinge and a connecting rod from the fixed platform to the moving platform, and the connecting rods are arranged between the fixed platform and the moving platform. According to the three-translational spatial parallel robot mechanism, three-dimensional translational motion output under the Cartesian coordinate system can be achieved by a working platform of the mechanism, the structure is simple, manufacturing and installation are easy, transmission accuracy is high, and cost is low; the work space is large, and the transmission characteristic is good; meanwhile, the kinematic positive solution and kinematic negative solution of the mechanism are simple, and trajectory planning, controlling and correcting are simplified.

The invention discloses a SCARA robot dynamic parameter identification method based on maximum likelihood estimation. According to the method, the rotational inertia of a motor is considered in the robot modeling process, and the identification precision is improved. In the track design, a method of replacing constant terms in the traditional Fourier series by a fifth-order polynomial is adopted,so that both the velocity and the acceleration of the joint at the starting and ending moments of the track are zero. The position, speed and acceleration limits of the joints are considered in the optimization of the excitation track, and the robot is ensured not to be out of limit in operation under the designed track. In the moment measurement, median filtering is introduced, the signal-to-noise ratio is improved, the identification precision is improved, and the parameter identification effect is improved.

The invention discloses a low-pressure arc extinguishing system to improve air-actuated repulsion and switching system based on wall erosion, which consists of static conductive loop and adjacent end tab, the static contact is welded on the static conductive loop; the arc extinguish chamber is set on the top of end tab; the movable contact is welded on the movable conducting bar, which revolves around rotary shaft; the gas-producing material layer is set on the peripheral of static contact and end tab separately, which avoids falling and fusion welding for contact.

The invention relates to a high-speed through-wall fine water mist fire-extinguishing method. The method is characterized by comprising the steps that: 1) a through-wall ejector can instantaneously realize high-speed movement and penetrate a wall; and 2) after the ejector penetrates the wall, a front nozzle of the ejector ejects high pressure fine water mist. Specifically, the step 1) is realized by the following way that: the through-wall ejector adopts a structural form similar to that of a hydraulic cylinder, the high-speed jet inlet of the through-wall ejector is connected to a high-pressure pump source, and a high-pressure accumulator and a sequence valve are disposed between the high-speed jet inlet of the through-wall ejector and the high-pressure pump source, the high-pressure accumulator gradually accumulates high pressure water with certain pressure and flow and when the pressure increases to the opening pressure of the sequence valve, the sequence valve can be opened. The method provided in the invention can realize through-wall fire-extinguishing without needing firefighters to enter a fireground, so that safety of the firefighters is effectively protected and large area destruction of walls or windows is not needed. Thus, the fire in an enclosed space within a building can be isolated from the outside air, and under the dual-fire-extinguishing mechanisms of high efficiency cooling and fast suffocation of high pressure fine water mist, the fire can be rapidly extinguished.

The invention relates to a novel two-degree-of-freedom parallel robot imitating a human elbow joint, comprising: a base, an electric push rod assembly, and a working platform. It is characterized in that: the base is used for the installation of various mechanisms, the electric push rod assembly connects the base and the working platform in parallel through the ball hinges at both ends, and the working platform rotates orthogonally through two spherical hinges and one XY Two deep groove ball bearings on the shaft are in parallel with the base. The invention has high precision, convenient operation, freedom and flexibility, and low cost.