9results about How to "Improve exercise efficiency" patented technology

The application relates to a control method for dynamically optimizing contact force distribution of a foot-type robot, and belongs to the technical field of foot-type robots. The method solves the problem that the foot end of a foot-type robot is prone to sinking when the foot-type robot travels on soft terrain. The method comprises the following steps: acquiring real-time ground reaction force of each foot of the foot-type robot in a current gait cycle supporting phase and joint control information in a previous gait cycle supporting phase; obtaining an expected ground reaction force time curve of each foot in the current gait cycle supporting phase based on the joint control information of each foot in the previous gait cycle supporting phase and a standard ground reaction force time curve; and obtaining control torque of each foot at each time by using a PID controller based on the expected ground reaction force time curve of each foot in the current gait cycle supporting phase and corresponding real-time ground reaction force, and applying the control torque to each joint motor of each foot to optimize the contact force distribution of each foot. The method realizes walking stability of the foot-type robot on unstructured terrain.

The invention relates to the related technical field of snakelike robot control, in particular to a CPG distributed control system and method of a snakelike robot, the system comprises 11 CPG units corresponding to different modules, each CPG unit is an independent Hopf oscillator, a rhythm propagation chain is formed through hierarchical bus communication, and a multi-source sensing module, a master control coordination module and an execution driving module are matched. The method comprises the steps of initialization, environment perception, rhythm generation and the like, parameters can be dynamically adjusted, feedback coefficients are optimized by adopting head end leading, tail end following phase synchronization and reinforcement learning, and modular redundancy design is achieved. The response speed, the fault-tolerant capability and the motion efficiency of the robot in a multi-medium environment are improved, and the method is suitable for complex scene operation.

The invention provides a whole body posture linkage method and device when a humanoid robot stretches hands to reach an object, and the method comprises the steps: obtaining a swing arm angular velocity, a gait phase angle and an azimuth deviation angle between the tail end of an arm and a target object in a walking state of the humanoid robot, and determining a freezing switching judgment threshold value according to the azimuth deviation angle and the swing arm angular velocity; screening a preliminary candidate point set according to comparison of the freezing switching judgment threshold value and a preset threshold value; updating a correction value of a freezing switching judgment threshold value in a next-step state period according to an evaluation result of a suppression result of the trunk pitching oscillation amplitude, mapping the correction value into a phase deviation compensation value in gait phase synchronization, and determining a hand stretching action starting opportunity; and fusing the hand stretching action starting time and the swing arm freezing time, and evaluating the standard reaching degree of the overall action time shortening amount and a preset time optimization threshold so as to determine whole body posture linkage parameters.

This utility model discloses a spring-type mechanical force gauge, comprising a cylindrical body, a guide post, and a linear bearing. The upper end of the cylindrical body is provided with an upper cap, and the lower end with a lower cap. The guide post is mounted inside the cylindrical body via the linear bearing, with its upper end passing through the upper cap and extending to the outside of the cylindrical body. An upper lifting ring is provided at the upper end of the guide post, and a lower lifting ring is provided on the lower cap, penetrating the lower cap. The lower lifting ring is connected to the guide post located inside the cylindrical body. A compression spring is provided inside the cylindrical body, and the compression spring is sleeved on the guide post. Using the mechanical force gauge described in this utility model, one end of the cylindrical body is connected to the rotating safety hook of the wing mooring cable, and the other end is connected to the ground ring, thus securing an aircraft parked on the ground and meeting usage requirements. Its overall structure is simple, operation and use are convenient, greatly improving work efficiency. It is highly practical and suitable for widespread application.

This utility model discloses a cleaning mechanism and an internal working device for a generator enclosed busbar. It includes a cleaning component with cleaning blades for cleaning dust from the surface of insulators, a driving component mounted on the cleaning component to control its movement, and a driving tenon at the driving end of the driving component. A mounting assembly is disposed between the driving component and the cleaning component, including a receiving cavity inside the cleaning component, and connecting plates one and two for transmission connection between the driving component and the cleaning component. The advantages of this utility model are that by driving the cleaning component and cleaning blades to rotate, the cleaning of dust on the surface of fixed insulators can be achieved. Simultaneously, the cooperation of the receiving cavity and mounting sleeve, among other related structures, achieves the effect of embedding the driving component within the cleaning component, making the entire cleaning mechanism more compact, reducing its volume, improving the movement efficiency of the cleaning component, and making the cleaning mechanism lightweight and easy to operate in confined spaces.

This utility model discloses a quadruped robot. The lower leg mechanism includes a foot pad mounting base, a support rod, and a sleeve. A first protective sleeve is fixed to the outer periphery of the support rod. The sleeve is fitted onto the first protective sleeve and slides within it, with the first protective sleeve at least covering the sliding range of the sleeve. A fixing post extending from the top of the foot pad mounting base towards its bottom is provided. The fixing post has an axially formed mounting hole, the opening of which is located at the top of the foot pad mounting base. The support rod is at least partially inserted into the mounting hole and fixedly connected to the foot pad mounting base. A reinforcing structure is provided at the top of the foot pad mounting base to enhance the strength of the edge of the mounting hole. Multiple support members are spaced apart between the fixing post and the inner wall of the foot pad mounting base. The advantages of this utility model are: enhanced strength of the entire lower leg mechanism and effective reduction of its weight, better adapting to the demands of high-speed movement.

This invention discloses a laser welding device and method for multi-row large battery module connectors. The welding device includes a motion platform and welding components. The motion platform includes a machine base, within which a laser system control system is installed. The laser system control system controls the laser and the overall laser optical path. A Y-axis module slide is installed on the machine base, and a product positioning plate is installed on the Y-axis module. The welding components include a fixed frame, an X-axis module, a Z-axis module, and a welding module. The welding module includes a substrate, which is fixedly mounted on the slider of the Z-axis module. The substrate has multiple sets of mounting threaded holes and mounts a galvanizing head and a depth camera. The depth camera is adjacent to the galvanizing head and separated from it by a light-blocking plate. A ring-shaped surface light source is located directly below the depth camera for high-contrast imaging of the welding position. The substrate is equipped with a separate welding nozzle. This method enables high-speed, integrated, safe welding of multi-row large battery module connectors with a large range of motion, as well as rapid and flexible changeover.

Embodiments of the present application disclose a robot local path optimization method, a computer device and a computer readable storage medium. The method comprises the following steps: when a dynamic obstacle is detected according to environment point cloud data collected by a robot, a predicted trajectory of the dynamic obstacle is determined; working condition information of the robot is obtained, and a hybrid optimization value is calculated according to the working condition information and the predicted trajectory; and the hybrid optimization value is iteratively optimized to determine a local path adjustment strategy of the robot. Therefore, the present application can effectively avoid high-speed or unpredictable moving obstacles, significantly improve the motion efficiency and trajectory smoothness of a logistics sorting robot in a complex warehouse environment, reduce the risk of goods shaking, and realize multi-objective collaborative optimization.

The utility model provides a connecting and locking device for a modular robot, which relates to the technical field of robots and comprises a locking connecting shaft and a locking connecting block. The adjacent module robots are connected in a matched mode through the locking connecting shafts and the locking connecting blocks. The locking connecting shaft comprises a connecting plate, a stepped shaft and a connecting disc, one side of the connecting plate is fixedly connected with the first end of the stepped shaft, the second end of the stepped shaft is fixedly connected with one side of the connecting disc, and the diameter of the connecting disc is larger than that of the smallest step on the stepped shaft; the locking connecting block comprises a connecting hole plate, a buckle, a first gear, a second gear, a limiting switch and a driving motor. According to the locking connection device, the locking connection shafts and the locking connection blocks are used in cooperation, so that locking connection between the module robots is achieved, and the locking connection device is simple in structure and convenient to operate.