97results 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 utility model discloses a sports shoe upper and a shoe, the sports shoe upper comprises a shoe upper base layer, the shoe upper base layer comprises a first splicing part, a second splicing part and a third splicing part, the first splicing part corresponds to a forefoot area and a heel area of a human foot; the second splicing part is positioned in the middle section area of the arch between the front sole area and the heel area; the third splicing part extends along the edge of the vamp, is connected with the sole and is connected with the first splicing part and the second splicing part; the fixing line is arranged at the junction of the first splicing part, the second splicing part and the third splicing part; the vamp base layer is formed by splicing a first splicing part, a second splicing part and a third splicing part, and the splicing parts are regions which are formed by weaving TPU yarns in an interweaving mode and have different weaving intensities. According to the sports vamp and the shoe, the softness and hardness of each part of the vamp base layer are adjusted by arranging the areas with different weaving intensities on the vamp base layer, the vamp fits the foot movement of a user, and the sports performance of the user is improved.

The invention discloses a spoke wheel mechanism with variable spoke number, and relates to the technical field of wheel leg robots. The device comprises a machine body connecting plate, a hub driving unit is installed on the machine body connecting plate, the output end of the hub driving unit is fixedly connected with a transmission shaft, the free end of the transmission shaft is fixedly connected with an outer hub, the side, facing the transmission shaft, of the outer hub is fixedly connected with an inner hub, and the diameter of the outer hub is larger than that of the inner hub. Through mutual cooperation of structures such as the outer gear ring, the inner gear ring and the gear assembly, the outer wheel spokes and the inner wheel spokes can be driven to extend and contract, so that the whole device is converted from a wheel type mode to a leg type mode with three spokes and then to a leg type mode with six spokes, multi-terrain movement is facilitated, and the service life of the device is prolonged. The environment adaptability and the movement flexibility are improved, conversion of all modes can be achieved only through control of a single motor, the structure is simple, and operation is convenient and fast.

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 present invention provides an adsorption-type bionic robot fish, comprising a main cabin, an adsorption component, a pectoral fin component, a bionic fish tail and a caudal fin; the main cabin, the bionic fish tail and the caudal fin are connected in sequence, and the bionic fish tail can swing left and right relative to the main cabin; the adsorption component comprises a suction cup, which is arranged on the top of the main cabin, and the suction cup can be adsorbed on the surface of a target object or detached from the surface of the target object; the pectoral fin component comprises a first driving component, a first pectoral fin and a second pectoral fin, the first driving component is arranged in the main cabin, the first pectoral fin and the second pectoral fin are relatively arranged on the left and right sides of the main cabin, and the first driving component is respectively connected to the first pectoral fin and the second pectoral fin; the bionic robot fish of the present invention can truly imitate the motion modes and biological characteristics of biological fish, has rich motion modes and good motion performance, can achieve high motion flexibility, can realize underwater adsorption tasks, and provides new ideas for complex underwater exploration tasks.

The invention discloses an omni-directional mobile platform adaptable to a star catalogue non-structural terrain environment, and relates to the technical field of deep space exploration, the omni-directional mobile platform comprises a main body truss structure, a driving wheel leg mechanism and two groups of auxiliary wheel leg mechanisms, the two groups of auxiliary wheel leg mechanisms are arranged at the end part of the driving wheel leg mechanism, and the driving wheel leg mechanism is connected with the main body truss structure through a driving motor mounting plate. The omni-directional moving platform capable of adapting to the star catalogue non-structural terrain environment is adopted, and the lunar rover is adjusted to be in a two-wheel rapid advancing mode, a four-wheel obstacle crossing mode and a six-wheel climbing mode through the configuration changing capacity so that the requirement that the lunar rover can move omni-directionally in the rugged, gully, ruins, muddy and other non-structural complex ground environments can be met; flexible actions such as rapid low-consumption advancing and in-situ turning can be achieved, and different from a multi-wheel moving mode of a traditional scheme, the hybrid driving mode of the two sets of driving wheel legs and the two sets of auxiliary wheel legs guarantees the stability of the mechanism and meanwhile has more excellent movement flexibility.

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, and is used to rotate around the first cross-axis and / or the second cross-axis under the drive of a driving device to realize the driving of the two degrees of freedom of pitch and yaw of the front-end actuator, and the two degrees of freedom include a first degree of freedom and a second degree of freedom; a front-end actuator, wherein the front-end actuator is fixed at both ends of one of the first cross-axis and the second cross-axis of the cross-axis; a double-row guide wheel, wherein the double-row guide wheel is arranged at both ends of the other one of the first cross-axis and the second cross-axis; and two guide wheels, wherein the two guide wheels are symmetrically arranged on the side wall above the cross-axis to commutate the driving wire used to drive the first degree of freedom to rotate to the same side as the driving wire used to drive the second degree of freedom to rotate.

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.

The invention discloses a six-foot walking robot with a trunk using a metamorphic ten-bar mechanism. The device comprises a closed chain and six open chains, wherein the closed chain is a metamorphic ten-rod mechanism formed by sequentially connecting a first rod to a tenth rod; the lengths of the first rod, the second rod, the sixth rod and the seventh rod are the same, the lengths of the third rod, the fifth rod, the eighth rod and the tenth rod are the same, the lengths of the fourth rod and the ninth rod are the same, the structures of all the open chains are the same, the eleventh rod, the twelfth rod and the thirteenth rod in the open chains are located in the same plane, and each open chain is connected with one rod piece in the closed chain through an eleventh rotating hinge. The metamorphic ten-bar mechanism serves as the trunk to be applied to the hexapod robot, trunk deformation of the hexapod robot is achieved by means of the characteristics of variable motion range and variable configuration of the metamorphic mechanism, and the adaptability of the hexapod robot to different complex scenes is improved.

The utility model relates to the technical field of optical cement removing tools, in particular to a tool for removing OCA. An operator can be prevented from being in direct contact with OCA micelles, the removal effect and efficiency of the OCA micelles are improved, and a main screen or a cover plate and the like are effectively prevented from being scratched during glue removal; comprising a head bonding part used for bonding OCA micelles; the head bonding part is hemispherical; the finger pinching part is used for exerting force on the fingers of the operator; the finger pinching part is integrally connected with the head bonding part; the finger holding part is in a cuboid shape and is located in the middle of the circular section of the hemispherical head bonding part; anti-skid parts are arranged on the outer walls of the finger holding parts and the head bonding part; the size of the finger holding part is 10mm * 10mm; the reinforcing plates are arranged in the head bonding part and the finger holding parts; the finger holding part is detachably mounted at the grab handle part; an embedded box is arranged at the end of the grab handle part, the finger holding part is installed in the embedded box, and a U-shaped opening is formed in the embedded box.

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 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 are connected to a connecting seat of a front-end actuator, and are used to rotate around the second cross axis under the drive of a driving component to realize the driving of the second degree of freedom of the front-end actuator; and 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 to rotate around the first cross axis under the drive of the driving component to realize the driving of the first degree of freedom of the front-end actuator.

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, and is used to rotate around the first cross-axis and / or the second cross-axis under the drive of a driving device to realize the driving of the two degrees of freedom of pitch and yaw of the front-end actuator, and the two degrees of freedom include a first degree of freedom and a second degree of freedom; a front-end actuator, wherein the front-end actuator is fixed at both ends of one of the first cross-axis and the second cross-axis of the cross-axis; and a guide wheel, wherein the guide wheel is arranged at both ends of the other one of the first cross-axis and the second cross-axis to commutate the driving wire used to drive the first degree of freedom to rotate to the same side as the driving wire used to drive the second degree of freedom to rotate, so that the wire threading holes of the driving wire located on the connecting seat are arranged in a straight line, and the direction of the straight line is parallel to the rotation axis of the second degree of freedom.

The utility model discloses a ram of a machine tool, which relates to the technical field of machine tools and comprises a ram body, the cross section of the ram body is of a C-shaped structure with 2 / 3 circle, and the opening side of the ram body is close to a cross beam of the machine tool; the bottom of the ram body is provided with a cutting head installation face used for being fixedly connected with a laser cutting head. The sliding rail body is provided with a guide rail pair used for being in sliding connection with a machine tool cross beam. The ram body of the open-loop structure with the C-shaped cross section is adopted, and 2 / 3 fastening connection is reserved between the ram body and the laser cutting head, so that the distance between the axis of the ram body and the machine tool cross beam is shortened, namely, the distance between the cutting center and the machine tool cross beam is shortened, the cutting center is stressed more evenly, and cutting precision and stability are guaranteed.

The invention discloses an automobile part stamping die and a using method, and relates to the field of part stamping, the automobile part stamping die comprises an upper die base and a lower die base installed at the bottom of the upper die base, a material taking mechanism is installed on one side of the upper die base, and a moving mechanism is installed on one side of the lower die base. Through the lifting and rotating functions of the rotating rod, stable and efficient taking-out and accurate transferring of a workpiece are achieved, the rack drives the gear to rotate, then the rotating sleeve and the rotating rod are driven to rotate by 180 degrees, meanwhile, lifting is achieved, the suction cup makes contact with and takes out the workpiece on the lower die base, and under the cooperation of the limiting groove and the fixing rod, the workpiece is taken out. The rotating rod ensures the accuracy of the position of the workpiece, the workpiece is rapidly moved to the set position, subsequent procedure machining is facilitated, the conveying efficiency and the automation level are greatly improved, and the overall efficiency of a production line is optimized.

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.