26results about How to "Improve motor flexibility" patented technology

The utility model provides a kind of light six-axis robot belongs to mechanical hand technical field.It solves the problem of slow start, brake and low response speed of six-axis robot in prior art due to its heavy weight.The utility model includes turbine box, driving arm seat, light driving arm, connecting rod, intermediate seat, driving wrist and forepaw assembly, turbine flange is installed at the top of turbine box, driving arm seat is connected and fixed with turbine box by turbine flange, the inside of light driving arm is hollow structure and the both ends of light driving arm are formed with large connecting seat and small connecting seat respectively, large connecting seat is connected with driving arm seat, the both ends of driving arm seat are fixedly connected with cycloidal reducer and servo motor, servo motor extends motor shaft, and motor shaft is connected with connecting rod transmission shaft, connecting rod lower end is connected with connecting rod transmission shaft, connecting rod is set along the direction of light driving arm, and the other end of connecting rod is connected with the bottom of intermediate seat, side plate is formed on the both sides of intermediate seat, and small connecting seat is connected with side plate.The utility model has the advantages of light weight and compact structure.

This utility model belongs to the field of laboratory animal technology and discloses a highly flexible self-propelled electric lifting vehicle suitable for SPF barrier environments. It includes a frame with a sealed cavity inside, a modular integrated electrical box within the cavity, a quick-release structure at the opening of the cavity, a lifting assembly on the frame, a liftable worktable on the lifting assembly, a waterproof structure on the worktable, and a walking drive assembly at the bottom of the frame. The quick-release structure includes a quick-release movable plate and multiple sets of bolts. The walking drive assembly includes a first drive wheel, a second drive wheel, and two sets of driven omnidirectional wheels. This utility model has a compact and reasonable structural design, enabling lifting and driving functions. It is suitable for assisting in the rearing of laboratory animals in high-rise buildings. It is small in size, highly mobile, and easy to move between rearing cages. The main circuit components are integrated, making it less susceptible to contamination. It has good waterproof and dustproof performance, is easy to maintain, and convenient to use.

The invention belongs to the field of robots, and particularly relates to a household multifunctional cleaning robot. The invention aims to provide the household multifunctional cleaning robot which can effectively enter and clean narrow or special-shaped areas in a family so as to realize the functions of cleaning, obstacle crossing, sterilization and insect killing. According to the technical scheme, the household multifunctional cleaning robot is characterized by comprising a bionic skeleton, and a visual device, two soft tentacles, a plurality of bionic feet, a plurality of omnidirectional wheels and a medicine storage and delivery device which are mounted on the bionic skeleton.

This invention proposes a robot dog anti-collision frame with an energy-absorbing shell, including an anti-collision guard plate with one end of a first anti-collision beam connected to the upper part of one side and one end of a second anti-collision beam connected to the lower part of the other side of the anti-collision guard plate. The protective shell is made of a flexible material. A fixing plate is provided at the bottom of the end of the first anti-collision beam away from the anti-collision guard plate. The top of the fixing plate is connected to the first anti-collision beam, and the bottom is connected to the second anti-collision beam. The advantage of this invention is that by setting a protective shell made of flexible material, the robot dog can efficiently absorb and buffer the impact force by utilizing the elastic deformation of the material itself when it collides, effectively reducing the risk of damage to internal precision components.

This invention discloses a kung fu robot, belonging to the field of robotics technology. The robot aims to solve the technical problems of existing kung fu robots, such as limited joint freedom in the arms, resulting in a single punching path and a narrow blocking range. The kung fu robot includes an arm assembly, a waist assembly, and a leg assembly. The arm assembly is symmetrically arranged on both sides of the chest and consists of at least five servo motors connected in series. The first to third servo motors form the upper arm, and the fourth and fifth servo motors form the forearm. Each servo motor is independently controlled by a main control board inside the chest, achieving multi-degree-of-freedom shoulder and arm movements. The waist assembly has a sixth servo motor that drives chest rotation, and the leg assembly achieves bending movements through servo motors. This invention, through a multi-servo motor collaborative design, significantly improves the flexibility and diversity of arm movements, enabling the robot to smoothly simulate the force exertion process and complex offensive and defensive postures of real martial arts, enhancing its expressiveness and practicality.

This invention belongs to the field of bionic robotics technology, specifically disclosing a bionic eye based on a two-degree-of-freedom parallel mechanism driven by artificial muscles. It includes a two-degree-of-freedom flexible driving parallel mechanism with a bionic eye structure on it. The bionic eye structure includes a flexible eyeball. The two-degree-of-freedom flexible driving parallel mechanism includes symmetrically arranged rectus muscle flexible bodies and rectus muscle ties connected to the flexible eyeball. The end of the rectus muscle flexible body has a common tendon ring platform that cooperates with the rectus muscle ties. This invention, by using a ball-joint connected bionic eye structure, combined with the four artificial muscles of the rectus muscle flexible body in the two-degree-of-freedom flexible driving parallel mechanism, enables the bionic eye to possess two movement postures: yaw and pitch. By conforming to the physiological structure and main movement patterns of the human eyeball, and through the stepless adjustment of the rectus muscle flexible body by the rectus muscle ties, precise two-degree-of-freedom adjustment of the bionic eye can be achieved.

The utility model relates to the technical field of automatic mechanical equipment, in particular to an improved automatic clamping mechanism which comprises a main machine frame, a first guide rail, a connecting polish rod and a motor. The first guide rails are symmetrically arranged in the main frame; the connecting polished rod is arranged between the first guide rails and is parallel to the first guide rails; a driving assembly is clamped on the first guide rail and the connecting polished rod, and a driving connecting shaft is arranged on the driving assembly; a clamping assembly is mounted at the end of the driving connecting shaft and can rotate under the driving of a driving assembly; the motor is arranged at the upper end of the main rack, and the driving assembly can be driven by the motor to ascend and descend along the first guide rail to drive the clamping assembly to move synchronously. A sliding groove is further formed in the side end of the main machine frame, and an auxiliary locking assembly is embedded in the sliding groove. The auxiliary positioning assembly is used for conducting auxiliary positioning on the pump body part. The clamping device has high precision, high adaptability and efficient clamping capacity, and can be used for accurately clamping, carrying and positioning a workpiece.

This invention discloses a motion planning method for a seven-DOF robotic arm system, comprising a six-DOF robotic arm and a guide rail. The method first obtains key configuration parameters, dividing the system's revolution angle around a fixed point into n regions and establishing a one-to-one mapping with n predetermined positions on the guide rail. These parameters include the boundary angles of each region, the corresponding guide rail positions, and floating thresholds set for both to suppress fluctuations in region boundary identification caused by floating-point precision. Subsequently, the current revolution angle and guide rail position are identified to determine the target revolution angle. Based on the region numbering relationship between the current and target angles and the current guide rail position, a motion path is adaptively generated. This path is achieved through asynchronous coordination of the robotic arm joint motion and the guide rail linear motion, maintaining a constant end-effector posture throughout the process. This invention avoids real-time kinematics solving through discretization and parameter mapping, improving planning stability, system adaptability, and motion efficiency.

The invention discloses a mechanical arm for a surgical robot and the surgical robot. The mechanical arm comprises a base, a first connecting arm, a moving arm, a first rotating joint, a second connecting arm, a second rotating joint, a telecentric control assembly and an end effector which are sequentially connected. The moving arm can move in the length direction of the first connecting arm, one end of the second connecting arm is rotatably connected with the moving arm through a first rotating joint, the other end of the second connecting arm is rotatably connected with the telecentric control assembly through a second rotating joint, and the end effector is arranged at the end of the telecentric control assembly. The surgical robot comprises the mechanical arm. According to the mechanical arm and the action tail end of the surgical robot, deflection of the tail end executor is achieved through rotation of the two rotation centers, movement of the mechanical arm is more flexible, a larger movement range is achieved, and it is ensured that surgical instruments can normally move to the initial position.

The application discloses a hip structure, a leg structure and a biped robot, and relates to the technical field of robots.The hip structure comprises a hip abduction assembly fixing seat, a hip abduction assembly, a hip pitch assembly and a hip roll assembly.The hip abduction assembly comprises a hip abduction connecting piece and a hip abduction joint.The hip pitch assembly comprises a hip pitch connecting piece and a hip pitch joint.The hip roll assembly comprises a hip roll connecting piece and a hip roll joint.The hip abduction connecting piece is fixedly installed on the hip abduction assembly fixing seat.The output end of the hip abduction joint is connected with the output end of the hip pitch joint.The hip pitch connecting piece is connected with the output end of the hip roll joint.The hip roll connecting piece is used for being connected with a thigh skeleton.The hip structure can reduce the end mass of the leg structure, reduce the moment of inertia, and thus improve the flexibility and endurance of the biped robot.

The application discloses a lower limb auxiliary driving mechanism and a robot, which comprises a thigh assembly and a lower leg assembly connected with the thigh assembly, and a connecting end of a thigh connecting piece two and the lower leg assembly forms a knee joint. In the application, a constant force load mechanism is arranged on the thigh assembly, constant tension of a spring is converted into a compensation torque acting on the knee joint, so that the compensation torque can directly offset part or all of the bending moment generated by the weight of the lower limb on the knee joint, thereby realizing accurate compensation of the static load of the knee joint, reducing the driving burden when the joint maintains a posture, and the constant force load spring serves as a parallel auxiliary execution mechanism and jointly bears the load of the knee joint with a motor driving system. Through the parallel sharing mode, the joint load originally borne by the motor can be reasonably distributed, the motor works in a relatively stable and high-efficiency interval more, peak load is reduced, current impact is reduced, and overall driving efficiency is improved.

The utility model belongs to the technical field of photovoltaic cleaning, and particularly relates to a photovoltaic cleaning unmanned aerial vehicle capable of avoiding entanglement of an external water supply pipe. The photovoltaic cleaning unmanned aerial vehicle capable of avoiding entanglement of the external water supply pipe comprises an unmanned aerial vehicle body; the spraying assembly comprises a fixed hanging frame and a spraying assembly body; the fixed hanging frame is fixed to the bottom of the unmanned aerial vehicle body. The spraying assembly is rotatably mounted at the lower end of the fixed hanging frame; the water supply assembly is connected with the spraying assembly and comprises an external water pipe used for supplying water to the spraying assembly. Due to the fact that the spraying assembly and the fixed hanging frame are rotationally installed, when the position and the posture of the cleaning unmanned aerial vehicle are adjusted, the external water pipe cannot rotate along with the cleaning unmanned aerial vehicle, the cleaning unmanned aerial vehicle can rotate by 360 degrees without worrying about whether the external water pipe is wound or not, and the cleaning operation quality is guaranteed while the action flexibility of the cleaning unmanned aerial vehicle is improved; and potential safety hazards are effectively avoided.

This invention discloses a modular robot for shrub harvesting, relating to the field of shrub harvesting. It includes a chassis module, a cutting module, and a material picking and transport module. The chassis module includes a frame and a driving mechanism for moving the frame. The frame is used to mount either the cutting module or the material picking and transport module. The cutting module includes a first frame, a second frame, a linear drive mechanism, a swing drive mechanism, a housing, and the cutting mechanism itself. The rear end of the first frame is hinged to the frame. The swing drive mechanism drives the first frame to swing horizontally, and the linear drive mechanism drives the second frame to reciprocate along the length of the first frame. The front end of the second frame has a housing, and the cutting mechanism is located at the lower part of the housing. The material picking and transport module includes a material picking module located at the front end of the frame and a transport module located at the rear end of the frame. This device reduces costs, improves the movement flexibility of the cutting mechanism, and is suitable for meeting different cutting needs.

The utility model discloses a 3D printing football leg guard plate, and belongs to the field of sports protection equipment. A 3D printing football leg guard plate comprises a hard layer and a soft layer, the hard layer and the soft layer are made through 3D printing, the bottom face of the hard layer is connected with the top face of the soft layer, the cross section of the hard layer and the cross section of the soft layer are each of an arc-shaped structure, and the hard layer and the soft layer are each of a net-shaped porous structure. The upper part and the lower part of the hard layer are in arc protruding shapes, and the left side and the right side of the hard layer are of arc structures bent inwards. The hard layer and the soft layer are both of a net-shaped porous structure, accurate distribution of materials is achieved through the 3D printing technology, the overall weight of the leg guard plate is effectively reduced, and wearing comfort and movement flexibility are improved. Due to the net-shaped porous structure, the weight is reduced, the air permeability of the leg guard plate is improved, perspiration and heat dissipation are facilitated, the stuffiness feeling caused by long-time wearing is reduced, and the exercise experience is improved.

The utility model discloses an amphibious detection robot, and belongs to the technical field of robots. An amphibious detection robot comprises a robot body, a plurality of spiral driving devices are symmetrically arranged on the periphery of the robot body, the axes of the spiral driving devices are parallel to the axis of the robot body, and every two adjacent spiral driving devices form a walking face. The plurality of spiral driving devices form a plurality of walking surfaces in different directions of the machine body, the plurality of walking surfaces can separately drive the machine body to walk, and the machine body is provided with a submerging and floating assembly and a detection assembly; through the structural design of the plurality of symmetrically arranged spiral driving devices and the detection assembly, any two adjacent spiral driving devices can form a walking surface, even if a single driving device fails or the machine body overturns, other walking surfaces can also drive the machine body to continue to complete the detection task, and the quality and efficiency of the detection work are improved; the snorkeling assembly adjusts the buoyancy state of the robot, so that the robot can obtain stable driving force on land and in water.

The utility model discloses a kind of quick disassembly limiting structure of robot joint module, the structure includes two connecting pieces, sleeve kit, fixed part and hinge connecting block, wherein sleeve kit is made of two clamps, and quick disassembly is realized by screw on fixed part, the lug of the outer ring surface of two clamps cooperates with limiting block, ensure that motor corner is limited within 360 degrees, effectively avoid internal component damage caused by excessive rotation, the device adopts clamp structure, significantly reduce axial gap, make joint module structure more compact, by screwing loose fastening screw, joint module can be quickly disassembled, greatly improve maintenance efficiency, the design of limiting block and lug, avoid motor output end directly contact limiting block, improve reliability and service life, the utility model is suitable for quick disassembly and maintenance of robot joint module, with the characteristics of simple structure, convenient operation, high reliability, with wide application prospect and practical value.

The application belongs to the technical field of bionic robots, and specifically discloses a three-degree-of-freedom bionic eye driven by artificial muscles, which comprises a bionic eye structure, the bionic eye structure is connected with a three-degree-of-freedom flexible driving structure, the bionic eye structure is provided with a trolley structure matched with the three-degree-of-freedom flexible driving structure, and the trolley structure comprises a trolley support, and the trolley support is provided at both ends with a trolley roller matched with the three-degree-of-freedom flexible driving structure. The bionic eye structure and the three-degree-of-freedom flexible driving structure are connected through a spherical hinge, six artificial muscles of a rectus muscle flexible body and an oblique muscle flexible body are matched, and under the adjustment of the trolley structure, the bionic eye has three motion postures of yaw, pitch and roll, not only conforms to the physiological structure and motion form of primate eyeballs, but also can realize the flexibility and stable visual perception ability of primate eyeballs through bionics.

This application relates to the field of medical device technology, and in particular to a pulse ablation clamping device, including a handle, a support tube, a first ablation clamp, a second ablation clamp, a flexible transmission assembly, and a drive assembly. One end of the support tube is fixedly mounted on the handle, and its interior communicates with the interior of the handle. The first ablation clamp is fixedly mounted on the end of the support tube away from the handle. The second ablation clamp is movable toward or away from the first ablation clamp on the end of the support tube away from the handle. Compared to existing pulse ablation clamping devices, the support tube can undergo plastic deformation, allowing the first and second ablation clamps to move synchronously and rotate synchronously at multiple angles more flexibly, adapting to the tissue orientation of different sites and improving surgical flexibility. The drive assembly can drive the second ablation clamp toward the first ablation clamp via the flexible transmission assembly. Compared to rigid transmission methods, it can transmit power in a non-linear transmission path.

The present application relates to the technical field of rehabilitation robots, and particularly relates to a flexible driving upper limb exoskeleton device with a double-sided switchable configuration, which comprises a base part, a flexible driving part, a platform support part and an upper limb exoskeleton actuator. The actuator comprises a shoulder joint assembly, an upper arm part, a binding part, an elbow joint part, a forearm part and a wrist joint part in sequence. The shoulder joint assembly has three active degrees of freedom of adduction / abduction, internal rotation / external rotation and flexion / extension, the elbow joint has one active degree of freedom of flexion / extension, and the wrist joint is a passive rotation structure. The upper limb exoskeleton realizes quick switching between left and right upper limbs through a reversible installation mode, adopts a flexible driving and Bowden cable transmission mode, arranges a driving unit away from the upper limb body, and improves the safety of human-machine interaction. Through an upper arm and forearm length adjustable structure, a platform support part height adjustable structure and a base part horizontal adjustable structure, the human body adaptability of the exoskeleton is improved.

The present application relates to chip production technical field, especially a kind of chip pick-and-place manipulator of full-automatic die bonder, including workbench, the workbench upper end is provided with suction pump, the workbench one end is fixedly connected with motor, the output shaft of motor is fixedly connected with runner, the lateral wall of workbench both sides are rotatably provided with runner, and transmission belt is connected between two runners, the lateral wall of the end of workbench away from motor is bolted with link frame, sliding table is fixedly connected on the transmission belt.The chip pick-and-place manipulator of full-automatic die bonder provided in the present application, when the gas extracted by suction pump is sprayed inward, the chip can be quickly cleaned, when the gas extracted by suction pump is sprayed outward, the chuck can be used to adsorb the chip, and the gas extracted can quickly detect that the chuck is not located directly above the chip, and is extracted, effectively reduce the load during transportation, and the setting of link frame can balance relative to motor.

The truss assembly for the robot comprises a truss body and a sliding frame, the sliding frame is connected with the inner wall of the truss body in a sliding mode through a plurality of idler wheels rotationally installed on the two sides of the top of the sliding frame, and the truss assembly is characterized in that a lubricating device is arranged in the truss body, and lubricating oil is provided for the idler wheels through the lubricating device; a collecting device is further arranged in the truss body, and lubricating oil is recycled through the collecting device. By arranging the lubricating device, lubricating oil can be injected into the lubricating oil tank from an inlet of the lubricating oil tank, and when the robot body fixed to the sliding frame slides relative to the truss body through the rolling wheels, lubricating maintenance treatment can be conducted on the surfaces of the rolling wheels through the lubricating oil in the lubricating oil tank; therefore, the probability that the surfaces of the rollers are corroded and rusted is reduced, friction force between the rollers and the inner wall of the truss body is reduced, motion precision and flexibility of the robot body are improved, and working efficiency is guaranteed.

The utility model relates to an eggplant seedling transplanter which comprises a movable rack, a clamping jaw structure and a ground breaking structure, the clamping jaw structure and the ground breaking structure are fixed on the movable rack, and a seedling picking structure, a seedling lifting structure and a tray telescopic structure are further arranged on the movable rack; the seedling picking structure comprises a lead screw lifting assembly and a first-stage inserting disc, and the lead screw lifting assembly is fixed to the bottom of the movable rack and is in driving connection with the first-stage inserting disc; the seedling lifting structure comprises a chain wheel lifting assembly and a second-stage inserting disc, the chain wheel lifting assembly is fixed to one side of the movable rack and is in driving connection with the second-stage inserting disc, and the second-stage inserting disc and the first-stage inserting disc are oppositely distributed; the tray telescopic structure comprises a lead screw horizontal telescopic assembly, an arc-shaped guide rail and a tray, the lead screw horizontal telescopic assembly is fixed to the top of the movable rack and rotatably connected with the tray, the tray is slidably connected with the arc-shaped guide rail, and the tray is located under the clamping jaw structure. Compared with the prior art, the device has the advantages of high automation degree, high transplanting efficiency, low cost and the like.

The present application belongs to the technical field of strabismus correction equipment. In view of the poor strabismus training effect of the current strabismus correction equipment and the problem that it cannot be applied to patients with different eye heights, the present application provides an eye strabismus correction equipment, which comprises a training table, a strabismus correction mechanism, a position adjusting mechanism and a head correction mechanism. The position adjusting mechanism is connected with the strabismus correction mechanism, and the position adjusting mechanism and the head correction mechanism are both arranged on the training table. The height and horizontal position of the strabismus correction mechanism can be adjusted by the position adjusting mechanism, so that it is suitable for patients with different eye heights, and the patient can be trained to follow the view, and the head correction mechanism can automatically correct the patient's head when the patient is training strabismus, preventing the patient's head from deviating during strabismus training and ensuring the strabismus training effect.

The utility model discloses a leg structure and a biped robot, and relates to the technical field of robotics.The leg structure comprises a hip lateral extension assembly fixing base and two hip lateral extension assemblies fixedly installed on the hip lateral extension assembly fixing base respectively, and the two hip lateral extension assemblies are arranged in a front-back staggered mode along the output axis of the hip lateral extension assemblies; the mounting directions of the two hip lateral extension assemblies are opposite. According to the leg structure, by means of the arrangement mode of the hip lateral extension assemblies which are staggered front and back and are opposite in installation direction, the transverse size of the hip is reduced, the movement flexibility in a narrow space is improved, and meanwhile load balanced distribution and rich gait movement are achieved through a reasonable force transmission path; and the limitation of a traditional structure on the joint movement range is broken through to adapt to high-difficulty actions, so that the application adaptability of the biped robot in many fields is enhanced.

The application discloses a structure of a pneumatic driving continuum robot with asymmetric stiffness, comprising: a bone joint, a plurality of groups of bone joints are arranged, and the bone joints are sequentially connected in series to form a robot main body structure; a direction changing assembly is arranged between adjacent bone joints, the direction changing assembly comprises two groups of symmetrically arranged pneumatic half bellows, and the two groups of pneumatic half bellows are symmetrically arranged between the adjacent bone joints; a penetrating module is arranged, and the plurality of groups of bone joints are connected in series through the penetrating module; a pneumatic module is connected with the pneumatic half bellows and drives the pneumatic half bellows to deform; wherein, the adjacent bone joints are connected through a mortise and tenon structure. The application has different motion characteristics in different directions, can adapt to complex and changeable working environments, and improves the environmental adaptability of the robot. The two groups of symmetrically arranged pneumatic half bellows in the direction changing assembly combine the asymmetric stiffness characteristics, so that the robot turns more flexibly and accurately, and can complete a complex motion trajectory.

The application relates to the technical field of robots, and discloses a foldable robot for old-age service, which comprises a trunk structure, the outer wall of the trunk structure is provided with an arm assembly, the bottom of the trunk structure is provided with a waist assembly, the outer wall of the waist assembly is provided with a leg assembly, the top of the trunk structure is provided with a head joint, and the outer wall of the head joint is provided with an interactive screen. The vertical folding design is adopted, the waist assembly is used to realize 180-degree bending, the folding steps are only three, compared with the traditional horizontal folding mode, the vertical folding mode is shorter in time consumption and simpler in operation, the trunk and the arm are closely combined with the leg wheel foot structure after bending, the space utilization rate is obviously improved, the vertical folding mode is perfectly suitable for the storage and placement requirements of small space environments such as home-based old-age care and old-age homes, meanwhile, the auxiliary wheels are unfolded to form a triangular supporting structure with the main wheels, the stability of the robot in indoor ground walking in the old-age care scene is effectively ensured, and the light weight and the motion stability are considered.