654results 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 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 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.

A pressing-type unlocking track comprising: a track component with a main slide channel at its up lateral side on which an arresting return passage and a lateral return passage are arranged next to its front end; a driving component with a guide column held in the main slide channel; a linkage component backward pivoted to the driving component and comprising a track rib situated at its one side and held in the main slide channel; a positioning component backward pivoted to the linkage component and comprising a protruded guide column situated at its one side and held in the main slide channel; a spring connected between the track component and the linkage component as one component applying pulling force on the linkage component. As such, three main components such as driving component, linkage component and positioning component can be pivoted to a triple subassembly.

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.

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 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.