655results about How to "Improve motion stability" patented technology

The invention describes devices and methods for controlling positioning of a payload on an unmanned aerial vehicle. A carrier as described herein may provide movement of a payload relative to a central body or one or more propulsion units of the unmanned aerial vehicle. The payload may move above and below the central body or the one or more propulsion units. The carrier may comprise one or more guides, a first actuator and a second actuator. The first actuator may permit the payload to translate with respect to the one or more guides and the second actuator may permit the payload to rotate about one or more axes of rotation with respect to the one or more guides. Therefore, the positioning of the payload may be well controlled, and movability and maneuverability of the payload may be increased.

A support structure for increasing fixing force of a curtain. The support structure includes an insert body including a main body with a central hollow structure and a metal pin body. The metal pin body can be plugged into the hollow structure of the main body. The metal pin body has a protruding cylindrical rod section. The insert body is received in a central socket of the curtain control seat. The curtain control seat has two protruding engagement bodies disposed on two sides of the central socket. The protruding cylindrical rod section of the metal pin body is inserted into the through hole of the fixing bracket and the engagement bodies are correspondingly fixedly engaged with rectangular perforations of the fixing bracket. Accordingly, the fixing force of the curtain is increased and the stability of the curtain sheet is enhanced.

The invention discloses a control method for motion stability and outline machining precision of a multi-shaft linkage numerical control system. The control method achieves control on the motion stability and outline machining errors of the multi-shaft linkage numerical control system by using a compound control mode of multi-shaft parameter module predictive control and non-linear self-adaptive fuzzy proportional-integral-derivative (PID) control. Simultaneously, error module calculating efficiency is improved by building an outline error module, a speed error module and an acceleration error module. By means of performance optimization indexes, tracking errors, outline errors, speed errors and acceleration errors of the system are minimum, and control performance of a multi-shaft servo control system is improved. Multi-shaft parameter module predicative control increment is solved through a simplified calculating module so as to meet real-time requirements of the control system. Robust property of the multi-shaft linkage numerical control system is improved by adopting the non-linear self-adaptive fuzzy PID control method. The control method effectively improves the motion stability and outline machining precision of the multi-shaft linkage numerical control system.

A tread base includes a tread base frame unit with front and rear belt wheel sets arranged at opposing front and rear sides thereof, and an endless running belt mounted around the front and rear belt wheel sets and having slats transversely arranged on the outer perimeter thereof in a parallel manner. The running belt includes a plurality of movable sliding rollers respectively mounted at the opposing left and right ends of the slats. The tread base frame unit includes two smoothly arched sliding tracks longitudinally arranged in parallel for supporting and guiding the movable sliding rollers of the running belt to enhance the moving stability of the running belt, preventing breaking of the slats of the running belt, avoiding danger and prolonging the lifespan of the tread base.

The invention discloses a wheel-track compound deformation track robot which comprises a machine frame and a spindle installed on the machine frame. Two deformation track wheels capable of being converted between a circle and a triangle and being provided with power devices are installed at two ends of the spindle respectively, two support frames are installed on the front side and the rear side of the machine frame respectively, and follow-up guide wheels are installed at the bottom ends of the support frames. The wheel-track compound deformation track robot has the advantages of moving flexibly, being strong in adapting capability and simple in structure and working stably.

The invention relates to a series-parallel structure-based massage executing device for a head massage robot. The series-parallel structure-based massage executing device comprises a movable underframe, a four-DOF parallel mechanism and a massage head, wherein the four-DOF parallel mechanism is arranged just in the front of the movable underframe; and the massage head is fixed on the four-DOF parallel mechanism. Through cooperative application of the movable underframe and the four-DOF parallel mechanism, a series-parallel structure with high carrying capacity, high motion flexibility, high stability and small required motion space is built; motion of four-DOF directions of one translation and three rotations can be achieved by the four-DOF parallel mechanism; and the series-parallel structure-based massage executing device is good in motion effect, has various freedom of motion, comprehensive contact with the head and adjustable motion and rotation speeds, is wide in applicability, and can be used by people at different age, so that the massage effect of the series-parallel structure-based massage executing device is improved.

The invention discloses a deformed caterpillar robot which comprises a robot stand and a robot body, wherein robot body is installed on the robot stand; both sides of the robot stand are respectively provided with a set of deformed caterpillar running mechanism; each deformed caterpillar running mechanism comprises a traveling drive shaft, a caterpillar deformed drive shaft, a caterpillar and a deformed oscillating bar mechanism; each traveling drive shaft and each caterpillar deformed drive shaft are arranged on the robot stand in parallel; one end of each deformed oscillating bar mechanism is fixedly connected with each caterpillar deformed drive shaft, and the other end is supported on each traveling drive shaft by a bearing; a drive caterpillar wheel is installed on each traveling drive shaft; driven caterpillar wheels are both arranged on each caterpillar deformed drive shaft and each deformed oscillating bar mechanisms; and each drive caterpillar wheel and all driven caterpillar wheels are meshed with each caterpillar. The deformed caterpillar robot has steady running, high obstacle crossing and climbing capability, simple structure, stable working and reliable control.

The invention provides a quadruped robot body posture control method and a quadruped robot body posture control device. The method includes acquiring robot body posture angle, a robot body posture angular speed and position coordinates of all leg ends of a to-be-controlled quadruped robot in real time; computing an angle of a leg end supporting plane of the to-be-controlled quadruped robot relative to a robot body plane on the basis of the leg end position coordinates; computing a robot body posture angle control quantity of the to-be-controlled quadruped robot on the basis of the angle, the robot body posture angle and the robot body posture angular speed; computing all joint target positions of the to-be-controlled quadruped robot on the basis of the robot body posture angle control quantity, and controlling all joints of the to-be-controlled quadruped robot to move according to all the joint target positions. The quadruped robot body posture control method has the advantages that the method can achieve real-time robot body posture control of the to-be-controlled quadruped robot, and the movement stability and the terrain adaptability of the to-be-controlled quadruped robot are enhanced, so that the technical problem that the movement stability of the quadruped robot is affected severely by the poor real-time performance of an existing posture adjustment mode is relieved.

The invention belongs to the field of bionic robots and relates to a bionic quadruped robot with energy storage effect. The rigid spine of the existing bionic quadruped robot is modified. The bionic quadruped robot comprises a front trunk, a rear trunk, a spine, a left front leg unit, a right front leg unit, a left rear leg unit and a right rear leg unit. The front trunk and the rear trunk are connected with front and rear ends of the spine, respectively. The spine can drive the front trunk to rotate relative to the rear trunk. The left front leg unit, the right front leg unit, the left rear leg unit and the right rear left leg unit have same structures and are connected to left and right sides of the front and rear trunks, respectively. The spine is added between the front and rear trunks; the whole shape is more approximate to a true quadruped animal; when the robot walks, the front and rear trunks allow a larger step through the spine pitching up or down, and the robot can walk faster; less energy is lost when the robot touches the ground, motion stability is improved, and utilization rate of energy is increased.

The invention relates to a pole-climbing robot, in particular to a pole-climbing robot with a stabilizing device. The problem that an existing small pole-climbing robot is poor in stability is solved. A storage battery is installed at the lower end of a linear telescoping mechanism. A second mechanical hand is installed on the lower portion of the linear telescoping mechanism through a second crank-link mechanism. A third motor is installed on the lower portion of the linear telescoping mechanism. A working mechanical hand is installed on the lower portion of the linear telescoping mechanism through a first crank-link mechanism. The stabilizing device and the linear telescoping mechanism are connected above the second mechanical hand and located above the working mechanical hand. A first mechanical hand is installed on the upper portion of the linear telescoping mechanism through a third crank-link mechanism. A second motor is connected with the third crank-link mechanism. The second motor drives the third crank-link mechanism to move to open or close the first mechanical hand. The pole-climbing robot with the stabilizing device is used for pole-climbing cleaning of an electric pole.

The invention discloses a rugged-terrain-oriented four-foot robot double-layer structure gait planning method. During upper layer movement planning, landing points of swing legs under each swing phaseare planned according to a gait sequence, and centroid track planning of a robot trunk is carried out on each supporting phase to form the optimal target movement state of each step till the finishing point of a given planned path is reached, wherein the landing points are planned in the mode that a sector search area of the current swing legs in the four-foot robot is built in a grid map, and coordinates of the optimal target landing points are found in a passable area of the sector search area. By using method, the calculation efficiency and the terrain adaptability of the robot are improved under the condition that the movement speed and stability of the robot are not reduced.

The invention discloses an automatic library book returning robot and a book returning system thereof, and belongs to the technical field of robots. The automatic library book returning robot comprises a moving assembly capable of driving the robot to move as a whole. A book loading assembly is arranged at one end of the moving assembly, a lifting assembly is arranged above the moving assembly, a book putting-in-rack assembly is installed on the lifting assembly, and the lifting assembly can drive the book putting-in-rack assembly to move vertically. The book putting-in-rack assembly comprises a lifting table, a book bottom plate and a first book pushing plate capable of sliding vertically on the book bottom plate are arranged on the lifting table, a book pushing device is arranged on the first book pushing plate, a book dividing device is further arranged on one side of the lifting table and can move along the side edge of the lifting table, and a code scanner is further installed on the book dividing device. The book returning robot is reasonable in structural design, easy to operate, capable of automatically rerunning books without manual intervention, high in efficiency and capable of reducing labor cost, emancipating productivity and reducing the operating cost of a library.

The invention discloses an abysmal sea communication relay buoy which comprises a shell body. A wall-collision device and an antenna are symmetrically arranged at one end of the shell body and a cable guide tube is connected with the other end of the shell body. A conductance temperature depth (CTD) sensor, an acoustic transponder main machine, a pressure resistant tank and an acoustic transponder transducer are arranged sequentially in the shell body from top to bottom. Upper shake-reducing boards are symmetrically arranged at the periphery of the middle portion of the shell body. Lower shake-reducing boards are further symmetrically arranged at the periphery of the bilge portion of the shell body. According to the abysmal sea communication relay buoy, a shell is designed in a water-drop-shaped solid of revolution with the size gradually increased from top to bottom, devices with large weight are arranged at the bottom of the shell, so that in serious sea environment, the abysmal sea communication relay buoy is high in moving stability, capable of maintaining an efficient and long working state, compact in structure and convenient to process. The cable guide tube is arranged at the bottom of the shell body, a cable used for connection can be arranged in the cable guide tube, and therefore the abysmal sea communication relay buoy is rapid and convenient to arrange and recycle and high in work efficiency.

Provided is a shock absorber, comprising an oil storage cylinder (13), a working cylinder (14), a piston rod (6), a guiding and sealing assembly used to guide the movement of the piston rod (6), and an expansion and circulation valve assembly and a compression and compensation valve assembly provided on a piston (16). The guiding and sealing assembly comprises a guide seat (27, 29) and an oil seal (34) located at the upper end of the guide seat. The face of the upper end of the guide seat (27, 29) is formed with an oil storage groove, and the oil storage groove has an oil-air separation contact surface (35). An elastic separation lip (36) is formed on the oil seal (34) and the elastic separation lip (36) is in airtight contact with the oil-air separation contact surface (35) such that the oil storage groove is separated into an outside part and an inside part. Moreover, further provided are a vehicle suspension system and a vehicle comprising the shock absorber. The piston rod of the shock absorber has good movement stability, the friction between the piston and the inner wall of the working cylinder is low, and the shock absorber has a long service life and has significantly improved dampening effects.

The invention discloses an automatic packaging machine which comprises a rotary table, material trough mechanisms, a film tearing mechanism, a material feeding mechanism, a bar code scanning mechanism, a film coating mechanism, a labeling mechanism, a bag discharging mechanism, a bag tearing mechanism and a bagging mechanism, wherein the material trough mechanisms, the film tearing mechanism, the material feeding mechanism, the bar code scanning mechanism, the film coating mechanism, the labeling mechanism, the bag discharging mechanism, the bag tearing mechanism and the bagging mechanism are arranged outside the rotary table in the anticlockwise rotation direction of the rotary table; and a film feeding station, a material feeding station, a bar code scanning station, a film coating station and a bagging station are arranged on the rotary table in the circumferential direction of the rotary table in sequence so as to finish working procedures such as film releasing and tearing, film feeding, material feeding, bar code scanning, film coating, bag discharging, labeling, bag tearing, bag opening, bagging and discharging. The automatic packaging machine integrates various working procedures, realizes automatic film coating, bar code sticking and bagging, is compact in connection of the working procedures, high in production stability and high in degree of automation, adopts a double-product processing mode and has high productivity.

The invention discloses a three-section machine body type hexapod robot with the transportation function and the operation function fused, and belongs to the technical field of robots. The problems that the rigid machine body structure of an existing hexapod robot is fixed and the function of the robot is single are solved. A front trunk is connected with a middle trunk in a rotating mode through front driving joints, the front trunk and linear drivers of the front driving joints are hinged, and the linear drivers of the front driving joints are hinged to the middle trunk. The middle trunk is connected with a rear trunk in a rotating mode through middle driving joints, the middle trunk and linear drivers of the middle driving joints are hinged, and the linear drivers of the middle driving joints are hinged to the rear trunk. A self-discharging tipping bucket is connected with the middle trunk in a rotating mode through rear driving joints, the self-discharging tipping bucket and linear drivers of the rear driving joints are hinged, and the linear drivers of the rear driving joints are hinged to the middle trunk. A front left leg and a front right leg are connected with the front trunk, a middle left leg and a middle right leg are hinged to the middle trunk, and a rear left leg and a rear right leg are hinged to the rear trunk. The hexapod robot is high in topographical change adaptive capacity and high in motion flexibility and stability.

A lens barrel in which a plurality of movable units, each including a group of lenses, are moved in the optical axis direction when a cam ring is rotated relative to a stationary ring around the optical axis, is disclosed. The lens barrel includes a first movable unit including a first group of lenses and a first moving frame having a roller support hole formed therein; a second movable unit including a second group of lenses and a second moving frame disposed inside the first moving frame; a pressing roller supported in the roller support hole in the first moving frame; a biasing spring attached to the outer surface of the first moving frame; and a receive roller supported by the first or second moving frame.

The invention relates to a cable parallel driving based offshore cage cleaning robot and a cleaning method. The robot comprises a tail end cleaning mechanism, a motion controller and at least two flexible rope parallel branch chains uniformly distributed on a cage body, wherein the tail end cleaning mechanism is located in the cage, and the flexible rope parallel branch chains are connected between the cage body and the tail end cleaning mechanism; each flexible rope parallel branch chain comprises a winding motor fixed on the cage body as well as a driving cable, and the driving cable is connected to the tail end cleaning mechanism by the winding motor; the motion controller controls coordinating motion of the at least two flexible rope parallel branch chains, so that the tail end cleaning mechanism performs underwater three-dimensional motion in the cage. Underwater three-dimensional motion of the tail end cleaning mechanism is realized by means of a parallel driving manner, multiple driving cables of the tail end cleaning mechanism are mutually restrained, so that underwater stability is improved, positioning precision is improved easily, and the requirement of the offshore cage for automatic cleaning can be met.

The invention discloses a control method for a movable type four-wheel all-dimensional steering robot chassis. The robot chassis comprises a vehicle frame, wheel groups and a programmable logic controller (PLC) control system, four bearing holes are symmetrically formed in the vehicle frame and are used for installation of the wheel groups, and each wheel group comprises a reduction box, a steering shaft, a servo motor, a coupling, a vibration damper and a hub motor; the servo motor is mounted on a box body, is connected with a worm through the coupling and is used for driving the worm to rotate, and finally the rotating angle of the steering shaft is controlled, the hub motor is arranged below the steering shaft, and the vibration damper is arranged between the hub motor and the steering shaft; and the PLC control system comprises a PLC, a servo driver and an analog quantity input and output module. According to the control method for the movable type four-wheel all-dimensional steering robot chassis, deflection angles of the four wheels are controlled through the PLC, steering of the wheels is achieved, moreover each wheel is controlled by the PLC independently, the wheels move mutually and coordinately according to a mathematical model of a movement track, and established track movement is achieved.

The invention discloses a bionic coxa joint of a three-DOF (Degree of Freedom) spherical surface parallel humanoid robot which has biasing output. The bionic coax joint is characterized in that the sphere center of a three-DOF spherical surface parallel mechanism is coincident to the sphere center of a central spherical surface hinge; the axis line of the lower supporting rod (8) of a central spherical surface hinge pushes through a center of the fixed platform (4) of the three-DOF spherical surface parallel mechanism; furthermore, the external end of lower supporting rod of the central spherical surface hinge is fixedly connected with the fixed platform (10) of the three-DOF spherical surface parallel mechanism; the axis line of the straight output rod (12') of the central spherical surface hinge pushes through the center of the movable platform (17) of the three-DOF spherical surface parallel mechanism; furthermore, the external end of the straight output rod of the central spherical surface parallel mechanism is fixedly connected with the movable platform (14); alternatively, a moving connection pair is formed in a prism way; the straight output rod (12') pushes through the movable platform (17) and is fixedly connected with the biasing output rod (18); a plane formed by the axis line is coincident to the O-zz13 plane; the biasing direction is determined by a right-handed helix in the positive direction of the x-axis; the biasing angle ah of two axis lines is ranging from 50 DEG or 60 DEG; the fixed coordinate system of the three-DOF spherical surface parallel mechanism is O-x0y0z0; the gesture angles of the relative transition coordinate system O-x0'y'z' are respectively presented as follows: Alpha is equal to 18 to 22 DEG, Beta is 12 to 20 DEG and Gama is 42 to 55 DEG. The bionic coxa joint has the advantages of high over-constraint, large static rigidity, large workspace and unloading function, etc.

The invention discloses a simple heavy stuff carrying and feeding trolley and belongs to the field of carrying tools. The simple heavy stuff carrying and feeding trolley comprises a base, universal casters, a support, a feeding support, a sliding support, a supporting device, a manual winch, a pulley set and a hoisting hook, wherein the universal casters are arranged on the base, the support and the base are fixed into a whole, the feeding support is arranged on the top of the support, the sliding support is arranged inside the feeding support, the supporting device is arranged in the front of the feeding support, the manual winch is fixed to the back portion of the sliding support, and the pulley set and the hoisting hook are installed in the front of the sliding support. The pulley set comprises a fixed pulley and a movable pulley, a steel wire rope is led from the manual winch, sequentially winds around the fixed pulley and the movable pulley and then is fixed to the sliding support or a fixed pulley support; a fixed supporting plate is installed at the back of the base, and a movable supporting plate is installed in the front of the base. According to the simple heavy stuff carrying and feeding trolley, the functions of heavy stuff hoisting, transferring and machine tool feeding are achieved through a simple structure, and the labor intensity of workers is alleviated; meanwhile, the simple heavy stuff carrying and feeding trolley is simple in structure, convenient to operate, low in cost and high in safety and meets the use requirements of small and medium size enterprises.

The invention provides a modularized walking robot with a flexible torso. The walking robot comprises the flexible torso and two groups of walking legs, wherein the flexible torso comprises a front machine body plate, a rear machine body plate, and waist joints used for connecting the front machine body plate with the rear machine body plate; the two groups of walking legs are respectively mounted on the left sides and right sides of the front machine body plate and the rear machine body plate, and are connected with the front machine body plate and the rear machine body plate; first steering engines are used for driving the walking legs; a second steering engine is used for driving the flexible torso. The modularized walking robot abandons the traditional rigid body structure, and has three two-free-degree waist joints, so that the movement flexibility and stability of the robot are higher, and the obstacle crossing capability is stronger. The walking legs of the walking robot can be conveniently expanded into six legs, eight legs, ten legs or even more legs. As the walking leg structure is simplified in a better manner, reactive power loss due to gravity action in the walking process is reduced, and as a double-action damper is mounted between each thigh and each crus, the passive buffering effect is achieved, and the ground impact on the robot in the walking process is reduced.

A light electrically-driven unmanned ground platform adopts a hybrid electrically-driven structure and an articulated-type independent hinged suspension system, wherein the articulated-type independent hinged suspension system comprises a swing arm mechanism and drive wheels; each drive wheel adopts a hub traction motor for driving and a hub traction motor controller for controlling; each swing arm adopts an independent swing arm DC motor and a swing arm motor controller for controlling. The light electrically-driven unmanned ground platform can adopt multiple drive modes and can move in 6*6, 6*4 or 6*2 drive mode according to different road conditions. The light electrically-driven unmanned ground platform is provided with the special swing arm mechanism, the ground clearance of the chassis of the light electrically-driven unmanned ground platform is increased, and the off-road capability is enhanced. Through control over the swing arm DC motors and a stepper motor, the pose of the light electrically-driven unmanned ground platform can be adjusted within a certain range and the swing arms can be rotated by 0-360 degrees.

The invention relates to the technical field of driving, in particular to a driving device and an AGV (automatic guided vehicle) chassis. The driving device comprises a mounting plate, two damping mechanisms and two driving wheels; the two driving wheels are arranged at the bottom of the mounting plate in parallel; each driving wheel is provided with one damping mechanism; each damping mechanism comprises a supporting rod, an offset plate and an elastic component; the first ends of the supporting rods are rigidly connected to the mounting plate; the second ends of the supporting rods are hinged to the first ends of the offset plates; the first ends of the elastic components are hinged to the mounting plate; the second ends of the elastic components are hinged to the second ends of the offset plates; and each driving wheel is hinged to the corresponding offset plate through a first rotating shaft. According to the driving device and the AGV (automatic guided vehicle) chassis, the technical problem that in the prior art, each wheel cannot independently absorb shock when a single wheel encounters an obstacle can be effectively solved, so that the motion stability of the driving deviceis improved, and the adverse condition that one wheel encounters the obstacle and jounces to influence another wheel can be avoided.

The invention discloses a magnetic-suspension planar feed motion device, which is characterized in that a planar motor is adopted to drive; a stator platform is provided with a square raised head array stator which is formed by silicon sheets evenly; a Y-direction movable platform is provided with two sets of mutually orthorhombic three-phase exciting winding rotors; magnetic-suspension sliding sleeves in two directions are used for supporting a rotor platform respectively; the magnetic-suspension sliding sleeves are arranged on cylindrical guides in the X and Y directions; coil currents in the magnetic-suspension sliding sleeves are controlled to suspend the rotor platform, thus improving the stability and the efficiency of planar motion; excitation voltages are exerted on the three-phase exciting winding rotors by regulation to generate electromagnetic driving power so as to control the planar motion direction of the rotor platform; and grating sensors in two motion directions are utilized to detect motion positions so as to realize accurate planar feed motion. The magnetic-suspension planar feed motion device can be applied to special equipment for manufacturing photoelectrons,micro-electronics and the like, and has wide market prospects.

The invention discloses a novel five-degree-of-freedom manipulator comprising a base, a rotating part, a first connecting part, a first shaft arm, a second connecting part, a second shaft arm, a third connecting part, a third shaft arm and a clamping jaw mechanism; the base is arranged on a horizontal plane, and the rotating part is arranged on the base; the first connecting part is arranged on the rotating part; the lower end of the first shaft arm is rotatably connected to the first connecting part, and the upper end of the first shaft arm is provided with the second connecting part; one end of the first shaft arm is rotatably connected to the first connecting part, and the other end of the first shaft arm is provided with the second connecting part; one end of the second shaft arm is rotatably connected to the second connecting part, and the other end of the second shaft arm is provided with the third connecting part; and one end of the third shaft arm is connected to the third connecting part, and the other end of the third shaft arm is connected with the clamping jaw mechanism. The novel five-degree-of-freedom manipulator is simple in structure, low in space occupancy rate as well as high in degree of freedom, movement stability and precision.

The invention relates to a mechanism realizing multispectral reflective filtering, belonging to the technical field of space remote sensing. At present, the multispectral filtering mechanism of a space optical remote sensor is always a transmission-type optical filter turning wheel mechanism, but the transmission efficiency of the transmission-type optical filter is lower, and the turning wheel has the disadvantages of large size, large development difficulty, low reliability and big disturbance in the imaging process. In order to eliminate the defects in the prior art, the invention aims to provide a multispectral reflective filtering mechanism comprising a multispectral reflective optical filter assembly and an optical filter switching mechanism, wherein the multispectral reflective optical filter assembly and the optical filter switching mechanism are connected by a revolving axle and a key in the optical filter switching mechanism. The mechanism can effectively improve filtering transmission efficiency and has the advantages of small volume and good stability.