370results about How to "Improve motor flexibility" patented technology

The invention discloses an omnidirectional moving transfer robot with Mecanum wheels. The omnidirectional moving transfer robot comprises a mechanical arm with six degrees of freedom, an omnidirectional moving base plate, a binocular vision device, a master control box and a remote monitoring device. The omnidirectional moving base plate comprises a frame and the multiple Mecanum wheels arranged below the frame. Each Mecanum wheel is a drive wheel. A plurality of distance measuring sensors are arranged on the periphery of the frame. Each distance measuring sensor is fixedly connected with the frame through an independent suspending module. By means of the structure, the rotating speeds and the steering direction of all the wheels are matched so that a moving platform can move in any direction in the plane, and the moving flexibility of the whole transfer device is remarkably improved; in addition, it can also be ensured that the Mecanum wheels are in full contact with the ground, and operation stability and control precision are improved; and furthermore, the binocular vision device is used for guiding the robot to move and conduct the object carrying and conveying task, the whole process is completed by the robot independently, and the intelligence degree is higher.

The invention relates to an operation positioning device and method and a robot operation system. The operation positioning device comprises a positioning ruler, an upper computer and a series-connection mechanical arm with at least six degrees of freedom. The upper computer is connected with the series-connection mechanical arm, the positioning ruler comprises two opposite surfaces allowing X-rays to transmit, the two opposite surfaces are fixedly connected through a connecting surface allowing X-rays to transmit, the two opposite surfaces are respectively provided with a group of marks, each group of marks comprise at least four mark points which are not located on the same straight line, and the mark points are X-ray-proof components. Any opposite surface or the connecting surface is fixedly connected with a ruler handle, and the ruler handle is connected with the tail end of the series-connection mechanical arm through a port. The upper computer adjusts the position of the positioning ruler by controlling movement of the series-connection mechanical arm, space positioning calculation is conducted according to the mark points in collected images, and a planning path is obtained. The device can achieve perspective positioning at any angle, and can eliminate system errors caused when an operation path is calculated, increase working space and improve the operation positioning accuracy.

The invention discloses a six-degree-of-freedom multi-function loading and transporting robot. The six-degree-of-freedom multi-function loading and transporting robot comprises a mobile chassis, an anti-overturning device, an adjustable supporting seat, a rotating device, a motion executing arm, a grasping device and an electric air pump. The anti-overturning device mounted under the mobile chassis is used for preventing the robot from overturning during executing the loading and transporting tasks; the adjustable supporting seat can be used for adjusting the height and the fore-and-aft horizontal displacement of the grasping device; the rotating device is used for adjusting the left-right rotation of the grasping device; the motion executing arm is mainly used for executing the lifting and lowering tasks; and the grasping device is capable of executing the material grasping task by mechanical clamping or negative pressure adsorbing. The robot can be used for the works as material moving and carrying, material loading and unloading and the like in the logistics or industrial production and has the advantages of being high in flexibility of motion, strong in adaptability, large in anti-overturning torque, compact in structure, capable of saving storage space, convenient to adjust and control and the like. The robot is capable of overcoming the technical defects in the prior loading and transporting robot and more applicable to popularization.

The invention discloses an underwater robot control system based on a mobile phone Bluetooth technology. The system comprises a processing system arranged in an underwater robot carrier, a Bluetooth device packaged in a buoy and an underwater robot control end on a mobile phone, wherein the underwater robot control end is communicated with an underwater robot through the Bluetooth device, the buoy is connected with the underwater robot through a zero-buoyancy cable to conduct data transmission, and a main control board of the processing system controls the rotating speed and the rotating direction of a propeller through the actual depth of the underwater robot and acquired through a depth sensor and the actual gesture acquired through a gesture control board to finally achieve functions of underwater suspension, depth keeping and the like. The system can well overcome the shortcoming that the underwater robot is insufficient in real time performance under the autonomy mode and poor in flexibility in the cable mode, meets the requirement for real-time communication and provides well hardware support for flexible movement of portable acquisition of underwater robot information and flexible movement of the underwater robot.

The invention discloses a three-freedom-degree series-parallel omni-directional mobile transfer robot. The transfer robot comprises an omni-directional mobile chassis, a main slewing gear, a lifting device, parallel working arms, a tail end slewing gear and a clamp holder. The omni-directional mobile chassis is used for executing walking and steering tasks, the lifting device is connected with the omni-directional mobile chassis through the main slewing gear, the parallel working arms installed at the top of the lifting device are connected with the clamp holder through the tail end slewing gear and are used for adjusting the operation posture of the clamp holder. A series-parallel is adopted in a robot body, and the omni-directional mobile transfer robot has the advantages of being high in rigidity, large in carrying capacity, high in motion precision, large in operation space and the like; the clamp holder has six motion ranges and three independent motion freedom degrees and is high in motion flexibility; the tri-drive omni-directional mobile chassis can realize walking tasks of moving forward, or moving backward, or turning left or turning right, and is reasonable in structural design, and high in anti-overturning ability. In addition, the omni-directional mobile transfer robot has the advantages of being convenient to manipulate, and high in adaptability to road conditions.

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

The invention discloses a miniature crawler-type cable tunnel patrol robot, which relates to a robot capable of realizing cable tunnel / pipeline patrolling. The robot consists of two independent crawlers, a substrate, a posture setting mechanism, a camera with a holder, and a sensor. The posture setting mechanism is arranged in the substrate. The camera with the holder is arranged on the substrate. The two crawlers are positioned on the left and right sides of the substrate respectively, and are in rotational connection with driving connecting rods on the substrate and the posture setting mechanism by two groups of shafts respectively. The sensor is arranged on the substrate. The left and right independently driven crawlers are adopted, and a posture included angle formed by the two groups of crawlers can be set, so the robot can be adapted to either the smooth-riding surfaces of cable tunnels or the arched surfaces of pipelines of different diameters by regulating the posture included angle, and realizes advancing, stepping-back and various turning motions by controlling the motions of the left and right crawlers. The robot realizes the automatic patrolling of underground transmission lines.

The invention discloses a series-parallel movable heavy load casting robot. The series-parallel movable heavy load casting robot comprises a four-wheel drive type moving platform, a rotation device, a stand column assembly, a lifting drive device, a parallel work arm, a tail end executor and a binocular visual system. Four-wheel omnidirectional wheel drive is adopted in the four-wheel drive type moving platform to achieve long-distance flexible stable walking, a rear hydraulic supporting leg and an adjustable hydraulic supporting leg are used for achieving stagnation point self-balance support, work supporting stability is improved, a robot body has five space motion freedom degrees, the rotation device and the lifting drive device can achieve rotation and lifting adjustment, the four-freedom-degree parallel work arm can carry out posture adjustment on the tail end executor, different tail end executors can be replaced according to work needs, different work needs of core assembling, core discharging, casting, carrying and the like of a large casting can be met, the casting core assembling and discharging and casting work efficiency, quality and safety can be improved, and labor intensity and production cost of operators can be reduced.

Disclosed is an under-actuated spatial manipulator end effector. A single-sleeve screw nut drives a finger drive platform to drive three mechanical fingers synchronously, and the structural synchronization is improved. By means of parallel-connection transmission arrangement, in other words, a drive motor is arranged on the screw on the same side obliquely through spur gear transmission, the axial length of the end effector is decreased greatly, the entire weight is reduced, and the strength and moving flexibility of the manipulator system are improved.

The invention discloses a compound trussed movable overload casting robot. The robot comprises a four-wheeled moving platform, a revolving device, a lifting device, a front moving device, a rear moving device, a counterweighing device, parallel working arms and a tail end executor. According to the robot, by means of four-wheeled driving and four-corner stationary point self-balancing supporting, flexible stable traveling and stable supporting of the four-wheeled moving platform are achieved, and the robot body has six spatial freedoms of motion; revolving, moving front and back and lifting adjustment of the revolving device, the front moving device and the lifting device can be achieved respectively, the counterweighing device moves on the rear moving device, and the number of counterweighing blocks can be increased or decreased; the parallel working arms can conduct posture adjustment on the tail end executor, and the tail end executor can be replaced based on needs. By means of the robot, different operation demands of core assembling, core setting, casting, carrying and the like of a heavy casting are met, the efficiency, quality and safety of core assembling, core setting and casting operation of the heavy casting are improved, the labor intensity of operators is relieved, and the production cost is reduced.

The invention discloses a flexible robot posture measurement method and relates to the field of robot vision measurement. According to the flexible robot posture measurement method, the initial posture information is obtained, extended kalman filtering is performed on measured data, so that the relative posture information of a flexible robot and a charging head is obtained, and the expected speedof the tail end of a mechanical arm is calculated according to the relative posture information, and then motions of all joints of the flexible robot are planned, so that precise aligning to the charging head is performed; and by means of introducing of the flexible robot, the working space of a charging robot is enlarged and the movement flexibility of the charging robot is improved, furthermore, the multiple-freedom-degree redundancy of the flexible robot is quite suitable for an unstructured measurement environment, and influence of past-time historical cumulative measurement data on the subsequent motion process of the flexible robot is added to the measurement result through the extended kalman filtering, the corrected posture information after compensation is obtained, the flexiblerobot posture measurement method and a device have high calculation accuracy, addition of the hardware cost is not needed, the posture information can be obtained just needing one camera, the measuring system cost is reduced, and the posture measurement accuracy is improved.

The invention relates to a bionic robot dog with a flexible structure; the bionic robot dog comprises a body frame, a flexible back, four legs, a head, a neck, a tail and a driving device; the four legs comprise thighs, shanks and feet; the top ends of the thighs of the four legs are respectively connected with two sides of a front frame and a rear frame; the hinge connection is utilized for the bottom end of the neck and the front end of the front frame, for the bottom end of each thigh and the top end of the corresponding shank and for the bottom end of each shank and the corresponding foot; the head is connected with the top end of the neck; the top end of the tail is connected with the rear end of the rear frame; two ends of the flexible back are respectively connected to the rear end of the front frame and the front end of the rear frame; the driving device comprises a plurality of groups of motors and transmission structures; the motors drive the thighs, the shanks, the feet, the head, the neck and the tail to finish certain actions by means of the transmission structures; the flexible back is of a flexible connector; and four legs are provided with flexible parts. The bionic robot dog with the flexible structure has various motion ways; and the flexible structure is capable of absorbing impact, delivering energy and improving motion flexibility.

The invention belongs to the technical field of robots and discloses a 6-PSS parallel mechanism and a position forward and inverse solution method. A circular rail is arranged and provided with six sliding modules which move actively and precisely along the rail. The sliding modules are connected with the lower ends of connecting rods of a fixed length through spherical hinges correspondingly. Theupper ends of the connecting rods are connected with a motion platform through spherical hinges correspondingly. According to the 6-PSS parallel mechanism and the position forward and inverse solution method, six-degree-of-freedom motion of the motion platform can be achieved, the mechanism is remarkably characterized in that the motion platform can rotate at any angle around the vertical axis, the motion flexibility of the mechanism is improved, and the posture adjustment work space is expanded; and the mechanism can be applied to multiple occasions including light radar antenna pedestals, radiotelescope feed source supporting platforms, motion simulators and the like. The mechanism and method provided by the invention are easy to operate, and the problem that a Stewart platform traditional six-degree-of-freedom parallel robot is limited in work space is effectively relieved; and the motion platform moves by driving the six parallel sliding modules, and the motion speed of the motionplatform is increased.

The invention discloses a device and method for controlling a three degree of freedom hybrid drive flexible cable parallel robot. The device comprises a flexible cable parallel robot, a main control industrial personal computer, a measurement industrial personal computer, a communication device, a programmable logic controller, a sensor and hybrid drive controllers, wherein the main control industrial personal computer is connected with the programmable logic controller through the communication device, the output ends of the hybrid drive controllers are connected with the flexible cable parallel robot, the flexible cable parallel robot is connected with the measurement industrial personal computer through the sensor, and the measurement industrial personal computer is connected with the main control industrial personal computer through the communication device. Measurement data is processed in real time by the measurement industrial personal computer and transmitted to the main control industrial personal computer through the communication device; the main control industrial personal computer, the programmable logic controller and the measurement industrial personal computer are communicated in a serial bus manner, and four groups of hybrid drive controllers can be controlled to realize coordinating winding and unwinding of four flexible cables and complete high-accuracy motion of space three-dimensional translation degree of freedom of the hybrid drive flexible cable parallel robot; and the device has the advantages of rapid response of a system, good stability and high accuracy.

The invention discloses a thumb device for artificial hand. The driving device (1) is in rotary connection with the back part of near knuckle (4), the front part of near knuckle is in rotary connection with back part of middle knuckle (3), and the front end of middle knuckle is in rotary connection with the back part of far knuckle (2). The middle knuckle and near knuckle imitate deficient activation motion of real hand driven by middle knuckle shaft disk, the middle knuckle and far knuckle imitate coupling motion of real hand driven by coupling rod; and the knuckle number of thumb is imitative to that of real hand. The invention is characterized by simple structure, real-like appearance and flexible motion of each knuckle.

The invention discloses a modular reconfigurable crawler-type wall climbing robot, consisting of seven or more than seven absorption joints. Each absorption joint comprises a U-shaped frame, a bracket, a shell A, a shell B, a shaft, a shaft sleeve, a steering engine, an electromagnet, a sucker A and a sucker B; the sucker A is arranged on the shell A; the sucker B is arranged on the shell B; the steering engine and the shaft are arranged on the bracket; the shaft sleeve is arranged on the U-shaped frame; the shell A and the shell B are connected and form a cavity used for arranging the electromagnet; the U-shaped frame is connected with the shell A; and the bracket is connected with the shell B. The modular reconfigurable crawler-type wall climbing robot forms a serial crawler-type structure of the robot by the U-shaped frame of the former absorption joint and the output shaft and shaft of the steering engine of the latter absorption joint so as to lead the robot to have the feature of multiple degrees of freedom. The crawler-type robot which is formed by adopting connection of seven or more than seven absorption joints with identical structures enhances the motion flexibility, absorption reliability and obstacle-climbing capability of the robot.

The invention relates to surgical devices used for peritoneoscope minimally invasive surgery, in particular to a decoupling type surgical device used for the peritoneoscope minimally invasive surgery, and aims at solving the problem that existing surgical instruments are not in a decoupling form, so that control of a system in a surgery process is quite inconvenient. The decoupling type surgical device used for the peritoneoscope minimally invasive surgery comprises a first rotating shaft mechanism, a second rotating shaft mechanism, a third rotating shaft mechanism and a fourth rotating shaft mechanism, wherein the first rotating shaft mechanism, the second rotating shaft mechanism, the third rotating shaft mechanism and the fourth rotating shaft mechanism are mounted in a control box in a matrix-shaped mode. The first rotating shaft mechanism is connected with a separating pliers mechanism through a first transmission rope and controls the separating pliers mechanism to be opened through the first transmission rope. The third rotating shaft mechanism is connected with the separating pliers mechanism through a third transmission rope and controls the pitching actions of the separating pliers mechanism through the third transmission rope. The fourth rotating shaft mechanism is connected with the other end of a rotary rod through a fourth transmission rope and controls the rotary motion of the rotary rod through the fourth transmission rope. The decoupling type surgical device used for the peritoneoscope minimally invasive surgery is used in the medical field.

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

The invention discloses a hopping robot with a wheel movement function. The hopping robot with the wheel movement function comprises a robot body which is horizontally arranged, a wheel movement mechanism and a hopping mechanism, wherein the wheel movement mechanism is mounted in the robot body, and the hopping mechanism is mounted at an opening end of the robot body. A design of a front-back symmetric structure is used, and thus the fact that after the robot is landed, no matter the front face or the back face touches the ground, the robot can hop again is benefited, and the influence of landing turning to secondary hop is reduced; through the arc-shaped through hole structure design of protrusions with arc-shaped supporting holes arranged on the horizontal edges of the robot body, synchronous movement and asynchronous movement of two rolling wheels under the drive of a single electric motor are achieved; and by using wheel-type movement and the hopping function, the robot has multiple kinds of movement modes, by using the structure that a teeth-missing gear is meshed with a gear, instant unconstrained release of an energy storage component is achieved, and thus improvement of the hopping performance of the energy storage component is benefited. The hopping robot with the wheel movement function is taken as a moving carrier of an airborne instrument, after an airborne sensor is added to the hopping robot with the wheel movement function, the hopping robot with the wheel movement function can be used in the fields of environmental monitoring, urban counterterrorism, military reconnaissance, earthquake relief, science adventure and the like.

The invention relates to a flying 3D printing robot. The flying 3D printing robot comprises an omni-directional mobile platform mechanism, a Z-axis elevating system, a 3D printing mechanism and feedback / communication / control circuits. The flying 3D printing robot is characterized in that the Z-axis elevating system is arranged on and fixedly connected with the omni-directional mobile platform mechanism; the 3D printing mechanism is arranged on and fixedly connected with the Z-axis elevating system; the feedback / communication / control circuits are all mounted on the omni-directional mobile platform mechanism; and the feedback / communication / control circuits control the omni-directional mobile platform mechanism and the Z-axis elevating system to drive the 3D printing mechanism to realize printing of three-dimensional long-strip objects without dimensional limits. The flying 3D printing robot has the characteristics of compact structure, a small size, exemption from dimensional limits on to-be-printed objects of traditional 3D printer, high movement flexibility and a fast printing speed; cooperation and communication among a plurality of printing robots are simultaneously realized, and 3D printing efficiency is further improved; and the flying 3D printing robot is especially applicable to low-cost and high-efficiency printing of great-distance long-strip objects like walls of buildings.

The invention provides an automatic welding production line for wire coils. The production line comprises a feeding and conveying mechanism, a pressing and positioning mechanism, a transferring manipulator, a welding manipulator, a discharging and conveying mechanism and a control mechanism in signal connection with the feeding and conveying mechanism, the pressing and positioning mechanism, the transferring manipulator and the welding manipulator. The production line is simple in structure, high in welding speed and high in welding quality stability, the phenomenon that welding of welded junctions is not uniform because of manual welding can be effectively avoided, and therefore welding efficiency, welding precision and welding quality of the wire coils can be improved. The invention further provides an automatic welding method for the wire coils. The method includes a feeding procedure, a transferring and positioning procedure, a welding procedure and a discharging procedure which are all performed in sequence, wherein in the transferring and positioning procedure, the transferring manipulator is controlled to clamp, move and overturn the wire coils, meanwhile, the pressing and positioning mechanism is used for pressing, positioning and rotating the wire coils, and the welding procedure starts. The method can be used for solving the problem that the automation degree in the current welding industry is low.

The invention belongs to the technical field of welding of robots, and in particular relates to an autonomous mobile robot system for metal-inert-gas (MIG) / metal-active-gas (MAG) multilayer multipass welding of a large thick plate. The system comprises a robot body, a control system and an MIG / MAG welding system, wherein the robot body comprises a crawling mechanism and an operating mechanism; the control system comprises a sensing system, a robot body control box and a robot master control system; the MIG / MAG welding system comprises an MIG / MAG welding gun, an MIG / MAG welding power supply, a wire feeding machine, shielding gas and a weld cooling system; and the robot body, the control system and the MIG / MAG welding system are connected with one another through cables. The system has the advantages that a contact type magnet-wheel adsorption and non-contact type clearance adsorption composite mode and a three-wheel full-drive wheel type movement mode are used by the crawling mechanism, so that a robot can autonomously and flexibly move at all positions on the surface of an operating object, can be reliably adsorbed and can perform all-position welding operation, and the system is high in comprehensive performance.

The invention relates to a tetrahedral rolling robot with a parallel mechanism, which comprises six telescopic booms and four gusset plate assemblies. Each gusset plate assembly comprises a gusset plate and three cardan joints, wherein the three cardan joints are distributed in a regular triangle at a bottom plate surface of the gusset plate. The six telescopic booms have the same structure and adopt a cable-driven mode. Both ends of each telescopic boom are respectively connected to the cardan joint formed by two gusset plate assemblies. The four gusset plate assemblies have the same structure and the three cardan joints in each gusset plate assembly are respectively connected with one end of the three telescopic booms. The robot can change motion type to conform to different environmentsby the cooperation of cables, thread wheels, pulleys and a motor in a driving mode and has larger motion flexibility. Rich motion types enable the robot to face various types of barriers leisurely without considering the problem of stability.

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

The invention discloses a rotary type feeding and discharging device capable of achieving three-axis transfer. The device comprises a machine frame, a XYZ-triaxial driving device, a clamping device and a rotating device. The fixed end of the rotating device is connected to the XYZ-triaxial driving device and driven by the XYZ-triaxial driving device to do rectilinear motion in the X-axis direction, the Y-axis direction and the Z-axis direction. The clamping device is connected to the rotating end of the rotating device and driven by the rotating device to rotate. The clamping device is composed of a plurality of clamping assemblies which are arranged at intervals through separation devices. Each clamping assembly comprises a clamping air cylinder, two clamping parts and a connection base, wherein the fixed end of the clamping air cylinder is connected to the connection base, the two clamping parts are symmetrically connected to the movement end of the clamping air cylinder, and clamping motion is completed through drive and control of the clamping air cylinder. The rotary type feeding and discharging device capable of achieving three-axis transfer can achieve multi-angle transportation and steering, and has the advantages of being high in transfer speed, good in controllability, high in clamping precision and efficiency and good in flexibility and continuity.

The invention discloses a creeping robot driven by shape memory alloy and belongs to the technical field of robots. The creeping robot of which the body shape is a caterpillar is made by utilizing bionics, mechanics and materialogy according to the movement characteristics of the natural organism, namely the caterpillar. The body of the robot is made from a silica gel material. A shape memory alloy spring is used as a driver of the robot by utilizing the high integration and large output power characteristics of the shape memory alloy. By combining the movement principle of the caterpillar anddesigning structures with different friction rates at the two ends of the body of the robot, the robot can realize creeping advance. The body bending angle range of the creeping robot is large, the movement efficiency is high, and the environment adapting capability is great.

The invention discloses a two-degree-of-freedom humanoid ankle joint. The two-degree-of-freedom humanoid ankle joint comprises a upper shank part, a lower shank part, a driving device I, a driving device II, a double-jointed component, a foot and a brake cable; the double-jointed component comprises an ankle joint driving device and a subtarlar joint driving device; the ankle joint driving device comprises an ankle joint shaft; the subtarlar joint driving device comprises a subtarlar joint shaft; the ankle joint comprises an upper shaft and a lower shaft, wherein the upper shaft is the ankle joint shaft, and the lower shaft is the subtarlar joint shaft; and the ankle joint shaft and the subtarlar joint shaft are in space cross, and the axes of the ankle joint shaft and the subtarlar joint shaft are not in the same plane. The two-degree-of-freedom humanoid ankle joint provided by the invention can be used for a humanoid robot and improves the personification of a humanoid robot. The mechanism can achieve three movement angles by controlling two parameters, namely, the space two-degree-of-freedom mechanism approximately achieves the three-degree-of-freedom movement of the ankle joint and improves the flexibility of the movement.

The invention provides a thirteen-degree-of-freedom head mechanism of a humanoid robot and relates to a head mechanism of the humanoid robot, which aims to solve the problems of complex structure, poor flexibility, low movement accuracy and low coordination of an overall mechanism of the conventional head mechanism of the humanoid robot. An eyebrow servo steering engine drives eyebrow axes to rotate around eyebrow axis sleeves through eyebrow swinging rods so as to make eyebrow supporting rods swing; an eyeball upward-downward rotation servo steering engine drives outer sliding rings to swing left and right through eyeball upward-downward steering engine cranks, eyeball upward-downward sliding pins and outer ring swinging rods so as to drive eyeball swinging rods to move; an eyeball left-right swinging servo steering engine drives inner sliding rings to swing through eyeball left-right swinging steering engine cranks, eyeball left-right swinging sliding pins and inner sliding ring swinging rods; an eyelid servo steering engine drives eyelid supporting racks to swing through eyelid open-close cranks, eyelid sliding pins and eyelid swinging rods; and a mouth corner servo steering engine drives mouth corner swinging rods to perform up and down opening and closing movement through mouth corner steering engine cranks, mouth corner sliding pins and mouth corner swinging rods. The thirteen-degree-of-freedom head mechanism of the humanoid robot can realize the thirteen degree-of-freedom movement of the head of the humanoid robot.

The invention relates to a palletizing robot for automobile wheels, which includes a walking device, an adjustable bracket, a rotating device, a Stewart parallel mechanism and a stacking manipulator; and the rotating device is fixedly connected with the adjustable bracket, the Stewart parallel mechanism is located between the rotating device and the palletizing manipulator, and the upper end of the Stewart parallel mechanism is connected with the rotating device, and the lower end of the Stewart parallel mechanism is connected with the palletizing manipulator. The invention can realize a series of operations such as grabbing, transporting and stacking the wheel hub, and has high degree of automation, stable and flexible movement, and high operation efficiency, and solves the problems of high cost, low efficiency and high risk of manual operation.

The invention discloses an integrated dual seven-freedom-degree mechanical arm omnidirectional mobile robot system and a control method. The system comprises an omnidirectional mobile motion chassis,a lifting column, a dual seven-freedom-degree mechanical arm, a control module, and a power module; the integrated dual seven-freedom-degree mechanical arm omnidirectional mobile robot control methodadopts a layered structure, the control module comprises a second control unit and a first control unit, the second control unit carries out real-time control over the omnidirectional mobile motion chassis, the lifting column and the dual seven-freedom-degree mechanical arm, the first control unit carries out omnidirectional mobile motion chassis path planning and dual seven-freedom-degree mechanical arm path planning real-time calculation. The integrated dual seven-freedom-degree mechanical arm omnidirectional mobile robot system and the control method have more redundant degree of freedom, motion flexibility is good, meanwhile, in combination with the omnidirectional mobile motion chassis, moving in any direction can be carried out, robot autonomous operation flexibility is ensured, andman-machine collaborative operation adaptation is ensured.