44results about How to "Improve motor flexibility" patented technology

The invention discloses a line drive type biped robot leg structure which comprises a thigh support, a knee joint motor is arranged at the lower end of the thigh support, a shank support is connected to an output shaft of the knee joint motor, a foot assembly is movably connected to the lower end of the shank support and comprises a foot fixing piece, and a heel is connected to the rear portion of the foot fixing piece. The heel is connected with a line driving structure, the line driving structure comprises a first ankle joint motor, a second ankle joint motor, a first driving line wheel, a second driving line wheel, a first ankle joint line wheel and a second ankle joint line wheel, and a first transmission line is arranged between the first driving line wheel and the first ankle joint line wheel; a second transmission line is arranged between the second driving line wheel and the second ankle joint line wheel, a first crank swing rod structure is arranged between the first ankle joint line wheel and one side of the heel, and a second crank swing rod structure is arranged between the second ankle joint line wheel and the other side of the heel. The device has the advantages of being simple in structure and good in adaptability.

The invention belongs to the related technical field of hydraulic robot body structures, and discloses a humanoid robot trunk structure and a hydraulic humanoid robot, the trunk structure forms a closed oil way system, and a flow channel of the closed oil way system is embedded in the trunk structure; the trunk structure comprises a bottom plate, an arm supporting column, an oil inlet valve block, a motor pump, an oil outlet valve block and a hydraulic cylinder, the arm supporting column is arranged on the bottom plate, the oil inlet valve block and the oil outlet valve block are connected with the two opposite ends of the motor pump respectively, and the motor pump is arranged on the bottom plate; the hydraulic cylinder is arranged on the arm supporting column; the bottom plate, the arm supporting column, the oil inlet valve block, the oil outlet valve block and the hydraulic cylinder are all constituent parts of the closed type oil way system. According to the invention, the integration level is improved.

According to the bionic leg and foot mechanism based on the four-bar mechanism, the crossed four-bar mechanism is combined with a linear actuator to drive knee joints to move, the rotation movement of the knee joints of the human body is simulated in the movement process, the movement flexibility of the leg and foot mechanism is improved, and a robot can more naturally and smoothly complete actions such as walking and running. A double-electric-drive ankle joint driving system is adopted, a parallelogram mechanism is designed, and a driving joint is upwards moved to the top of a shank rod piece, so that the rotational inertia of the leg-foot mechanism can be greatly reduced, the movement flexibility of the ankle joint is improved, and the simulation of complex actions in the walking process of a human body is realized.

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 present invention discloses a robot chassis structure, comprising a shell, a first side plate, a second side plate, a first wheel axle and a second wheel axle; a communication interface is arranged on the shell; the first side plate is connected to the first side wall of the shell, and a first gear box and a second gear box are arranged on the first side plate at intervals, the first gear box comprises two meshing gears and a first driving device connected to a main gear, and the second gear box comprises two meshing gears and a second driving device connected to the main gear; the second side plate is connected to the second side wall of the shell, and a third gear box and a fourth gear box are arranged on the second side plate at intervals, the third gear box comprises two meshing gears and a third driving device connected to the main gear, and the fourth gear box comprises two meshing gears and a fourth driving device connected to the main gear; two driven gears arranged side by side are connected to positions near both ends of the first wheel axle, and another two driven gears arranged side by side are connected to positions near both ends of the second wheel axle.

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.

A method for constructing a controller for a robot (100), a motion control method and apparatus for the robot (100), and the robot (100). The method for constructing a controller for a robot (100) comprises: controlling the robot (100) to move, and acquiring motion state data and control data of the robot (100) during the moving process, wherein a diversity measure of the motion state data and the control data is higher than a predetermined threshold (S201); on the basis of the motion state data and the control data, calculating a linear equilibrium parameter matrix by means of data iteration (S202); and on the basis of the linear equilibrium parameter matrix, constructing a controller corresponding to dynamic characteristics of the robot (100) (S203).

The invention relates to a robot and a joint device. The robot comprises a base, the joint device and a load. The joint device comprises a first joint supporting mechanism connected to the base; the first joint mechanism comprises a first driving assembly and a swing arm assembly, and the swing arm assembly can swing around the first axis relative to the first joint supporting mechanism under the driving of the first driving assembly; the second joint supporting mechanism can synchronously swing along with the swing arm assembly; the second joint mechanism comprises a second driving assembly and a rotating shaft assembly, the rotating shaft assembly is configured to be capable of circumferentially rotating around a second axis under the driving of the second driving assembly, and the second axis is perpendicular to the first axis; the load is connected to the rotating shaft assembly and can synchronously move along with the rotating shaft assembly; the rotating shaft assembly is rotatably arranged on the second joint supporting mechanism and can synchronously swing along with the swing arm assembly. According to the robot and the joint device provided by the embodiment of the invention, the joint device can be rotated and adjusted in a pitching manner, and the structure is compact.

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 invention provides photovoltaic panel cleaning equipment which comprises an unmanned aerial vehicle, a lower hanging assembly, a gas cylinder, an ion generator, an ion tuyere and a controller, the lower hanging assembly comprises a mounting frame and a joint module, and the unmanned aerial vehicle, the mounting frame and the joint module are sequentially connected; the gas cylinder is mounted on the mounting frame and is used for spraying gas; the ion generator is used for generating positive ions or negative ions according to the type of floating dust on the photovoltaic panel; the ion tuyere is installed on the joint module, the gas cylinder and the ion generator are communicated with the ion tuyere, and the ion tuyere is used for spraying gas sprayed out of the gas cylinder and ions generated by the ion generator to the photovoltaic panel; the controller is used for controlling the joint module to move so that the spraying angle of the ion air nozzle can be matched with the inclination angle of the photovoltaic panel, and the flow of gas sprayed out of the gas cylinder is controlled according to the electric charge quantity of floating dust on the photovoltaic panel. According to the photovoltaic panel cleaning equipment, the cleaning quality and efficiency of the photovoltaic panel can be improved, and the adsorption effect of the cleaned photovoltaic panel on floating dust in the environment is reduced.

The embodiment of the invention provides a mechanical arm control method and device, equipment and a medium, and belongs to the technical field of robots. The method comprises the steps that the obstacle area within the movement range of the mechanical arm is determined; determining an initial movement track according to the starting point position information and the ending point position information of the mechanical arm; slicing the initial movement track to obtain at least one piece of process position information; acquiring a corresponding movement coverage area when the tail end joint of the mechanical arm moves along the initial movement track, and determining an obstacle intersection area of the movement coverage area and the obstacle area; determining at least one piece of obstacle avoidance position information according to the obstacle intersection area and the position information of each process; obstacle avoidance control parameters of the mechanical arm are obtained according to the starting point position information, the ending point position information and the obstacle avoidance position information; and the mechanical arm is controlled to move according to the obstacle avoidance control parameters, obstacles are avoided, and the movement space and movement flexibility of the mechanical arm are greatly improved.

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.

The invention discloses a large component of a high-density separation type needle selection device and an electronic jacquard machine. The large assembly comprises an electromagnet plate formed by stacking 8n electromagnet units front and back, a pulley block plate formed by stacking 8n pulley block units front and back, a left armature hook plate formed by stacking 8n left armature hook units front and back, a right armature hook plate formed by stacking 8n right armature hook units front and back, a mounting frame and a driving printed circuit board. Each electromagnet unit is installed above the corresponding pulley block unit in a longitudinal separation mode, and each left armature hook unit and each right armature hook unit are installed on the left side and the right side of the corresponding electromagnet unit respectively in a lateral separation mode. By the adoption of the separated design, maintenance is convenient, shock absorption and heat dissipation of the electromagnet unit are facilitated, working requirements are better met, the movement flexibility of the armature hook is improved, the production cost is reduced, and the production quality and reliability of a high-density large assembly are improved.

The invention relates to the technical field of virtual reality, and discloses a virtual reality evacuation experiment method, system and device based on multi-person online coordination. The method comprises the following steps: building a virtual reality disaster scene based on a scene template in a preset scene model library; after the virtual reality disaster scene is triggered to run, acquiring evacuation experiment data generated by the tested object based on the virtual reality disaster scene displayed by the tested device; through each intelligent agent model-based NPC in the virtual reality disaster scene, based on evacuation experiment data and scene data of the virtual reality disaster scene, determining a motion and control strategy of the NPC so as to display each NPC in the virtual reality disaster scene displayed by the tested equipment according to the motion and control strategy, and interacting with the tested object to perform an evacuation experiment; the problems of low efficiency, poor effect, high cost and uncontrollable risk caused by performing an evacuation experiment in a real scene can be avoided; the experiment efficiency and effect are improved, and the experiment cost and risk are reduced.

The invention relates to a field omni-directional mobile chassis and an operation platform and a ground clearance adjusting method thereof. The field omni-directional mobile chassis comprises the operation platform, a Beidou-laser radar navigation system, a frame suspension, an electric cabinet and an independent steering and walking assembly. The working platform achieves ground clearance adjustment through an electric cylinder driving and optical axis guiding method. The frame suspension is of a gantry type structure and comprises a rectangular frame, beam columns and cross beams. The electric control box and the Beidou-laser radar navigation system are arranged on a frame suspension; the independent steering and walking assembly comprises a walking mechanism and a steering mechanism. According to the independent steering and walking assembly, the steering flexibility is improved; the frame suspension and the ground clearance adjusting method are suitable for ridge type planting or field multi-task operation of high-stem crops. Different operation execution components can be hung and mounted on the operation platform to complete various field operation tasks; and the Beidou-laser radar navigation system is used for realizing accurate navigation.

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 relates to a pre-tensioning clamp assembling machine which is mainly composed of a rack, a first conveying belt mechanism, a second conveying belt mechanism, a material disc feeding device, an electric claw device, an in-place pressing assembly, a loading manipulator device, a first detection device, a second detection device and a carrying manipulator device. The first conveying belt mechanism is located on the left side and used for conveying and positioning clamps, and the second conveying belt mechanism is located on the right side and used for outputting finished products. The material disc feeding device automatically supplies copper heads, the electric claw device opens the hoop, the in-place pressing assembly presses the copper heads into the hoop, and the copper heads are loaded into the mechanical arm device to be carried. The first detection device judges the direction of the clamp, the second detection device detects the tension force of the clamp, and the carrying manipulator device carries the clamp between the first conveying belt mechanism and the first detection device. The functions of automatic assembly of the clamp and the copper head, clamp direction judgment, tensioning force detection and the like can be achieved, and the production efficiency and quality of the pre-tensioning clamp are improved.

The invention discloses an anti-torsion continuum robot actuator based on a paper folding structure. A rack comprises an upper part and a lower part which are arranged in a mirror image mode, and an embedded rotating part is arranged in the rack, can achieve multi-degree-of-freedom rotation and is used for connecting the rack of the upper part and the rack of the lower part; the outer foldable main body is arranged on the periphery of the rack; the cable system is arranged in the rack, penetrates through the outer foldable body and is used for controlling and driving the rack, the outer foldable body and the embedded rotating piece to rotate at multiple degrees of freedom. The torsion resistance under the load condition is remarkably improved, the stability and precision of the actuator under the complex motion condition are ensured, and the characteristics of flexibility and light weight of the continuum robot actuator are kept.

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 present disclosure provides a front-end actuator, comprising: a cross-axis, wherein the cross-axis comprises a first cross-axis and a second cross-axis that intersect each other perpendicularly; a U-shaped frame, wherein the U-shaped frame is opened upward, and the two front ends of the U-shaped frame are connected to the two ends of the first cross-axis, and the bottom of the outer surface of the U-shaped frame is provided with an arc-shaped wire guide groove for arranging a second driving wire, which is used for rotating around the second cross-axis under the drive of the second driving wire to realize the driving of the second degree of freedom of the front-end actuator; a front-end actuator, wherein the front-end actuator is fixed at the two ends of the first cross-axis and is coaxially connected to the U-shaped frame, and is used for rotating around the first cross-axis under the drive of the first driving wire to realize the driving of the first degree of freedom of the front-end actuator; and a guide wheel, wherein the guide wheel is arranged at the two ends of the first cross-axis and is used for guiding the second driving wire.

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 invention discloses a humanoid robot linear actuator and a preparation method thereof, and the humanoid robot linear actuator comprises a fixed cylinder body, and a frameless motor, an execution device and a detection unit which are arranged in the fixed cylinder body; the execution device is arranged in the fixed cylinder body through driving of a frameless motor, and the detection unit is used for controlling the execution device to move; the frameless motor is coaxially arranged outside a curved-surface lead screw of the execution device in a sleeving mode, and the two ends of the curved-surface lead screw are rotationally arranged in the fixed cylinder body. The invention discloses a humanoid robot linear actuator which is compact in structure, excellent in driving performance and capable of achieving high-precision motion control and a preparation method of the humanoid robot linear actuator.

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.