158results about How to "Improve walking stability" patented technology

Disclosed are a walking robot and a method of controlling the same, in which impedance control and torso tilt control are achieved complementarily such that impedance can be adjusted according to the tilt of a torso or the tilt of the torso can be adjusted according to the impedance. The method includes measuring a moment of a foot; measuring a tilt of a torso; adjusting the scale of the measured moment based on the tilt of the torso, and controlling the foot based on the scale-adjusted moment; and adjusting the scale of the measured tilt based on a ZMP variation amount of the foot, and controlling the tilt of the torso based on the scale-adjusted ZMP variation amount.

The invention discloses an amphibious crawler crane, which comprises a loading turntable, a chassis, a floating-assisted device and a running device. The loading turntable comprises a lifting device, a turning device, a power device, a transmission device and a control device; the chassis is used for bearing the loading turntable; the floating-assisted device is connected with the chassis, wherein power of the power device is output to the transmission device and output to actuating mechanisms through the transmission device, namely the running device and the lifting device; and the running device comprises a crawler mechanism and an upright post telescoping mechanism, and the upright post telescoping mechanism is arranged between the chassis and the crawler mechanism so as to adjust the height of the chassis. By adopting the crawler running mechanism, the amphibious crawler crane is easy to complete displacement and steering operation of the whole crane, and has low ground pressure so as to improve the construction efficiency of offshore beach wind fields; in addition, the upright post telescoping mechanism is arranged between the chassis and the crawler mechanism, so the amphibious crawler crane can adjust the height of the chassis according to the depth of seawater so as to avoid shock of ocean waves, and has the advantage of safe and reliable operation.

The invention relates to a crawler-type self-walking lotus root harvesting machine and method. The technical scheme of the crawler-type self-walking lotus root harvesting machine is characterized in that a crawler-type walking device is arranged on the outer side of a ship body, a hydraulic motor is arranged at the tail portion of the ship body, the lower side of the tail portion of the ship body is connected with a water collecting device, a pressure adjusting and distributing device is arranged at the head of the ship body, the other side of the ship body is connected with a gun head installing rod, an indexing adjusting high-pressure gun head is arranged on the gun head installing rod through a gun body swinging device, a power transmitting device is arranged on the front side in the ship body, a power device and a high-pressure water supplying device are arranged on the rear side in the ship body, and a hydraulic lifting system is arranged on the ship body. The crawler-type self-walking lotus root harvesting machine has the advantages of being high in lotus root digging efficiency, good in passing ability and suitable for a plurality of road situations, completely reaching barrier-free pass, daring to walk on abrupt slops, also serving as a transporting tool, solving the problem of transporting difficulty in lotus root pools, being suitable for a plurality of water areas with a depth of 15 centimeters or above, only waking on the upper surfaces of lotus roots without damaging the lotus roots and avoiding a situation that the quality of the lotus roots declines due to abrasion.

The invention discloses a cobalt crust mining articulated crawler walking device. A front crawler vehicle (3) is connected with a back crawler vehicle (4) by an articulating device (2) with multiple freedom degrees; and the articulating device (2) generates the pitching movement around z axis, the turning movement around y axis and the overturning movement around x axis between the front crawler vehicle (3) and a back crawler vehicle (1). The scheme of the cobalt crust mining articulated crawler walking device improves the adhesive attraction, the obstacle detouring ability, the walk stability, the flexibility and the passing ability of the vehicle body. Meanwhile, the articulating device has reliable structure, and is convenient in loading and unloading; and the articulated crawler walking device can be changed into two independent crawler vehicles as required.

The invention discloses a modularization sheep foot simulation mechanical foot device which comprises an interface shell, a foot installation plate, plugging mechanisms and foot mechanisms. The interface shell is internally provided with a connection block. A plugging hole is formed in the connection block in the vertical direction, the top face of the foot installation plate is provided with a plugging shaft, and the bottom face of the foot installation plate is used for installation of the foot mechanisms. The plugging shaft penetrates into the plugging hole, due to the fact that the two sets of plugging mechanisms sequentially penetrate through the connection block from the two sides of the interface shell and the end of each plugging mechanism can be located in the plugging shaft, positioning between the interface shell and the foot installation plate is achieved. Detaching between the interface shell and the foot installation plate is achieved by pulling the plugging mechanisms. The foot mechanisms are designed by simulating the sheep feet and are connected with a left hoof section and a right hoof section through two branch chains respectively. Each branch chain is provided with a buffering and energy storing spring to achieve vibration reducing and energy storing. The modularization sheep foot simulation mechanical foot device has the advantages that fast replacing between the foot mechanisms and legs of a robot can be achieved, and the modularization sheep foot simulation mechanical foot device is suitable for leg type and wheel leg type robots to walk on complicated grounds in the open gas.

A biped robot with variable-rigidity ankle joints comprises a left leg, a right leg and a pelvis. The left leg and the right leg comprise thighs, shanks and feet respectively, the pelvis is connectedwith the thighs through hip joints, the thighs are connected with the shanks through knee joints, the shanks are connected with the feet through the ankle joints, and the left leg and the right leg are connected through the pelvis; each ankle joint comprises an ankle joint driving motor, an ankle joint transmission gear pair, a rotating crank, an ankle joint rotating shaft and a passive exhaust variable rigidity mechanism; the passive exhaust variable rigidity mechanism comprises an air cylinder and a connecting piece; and a connecting piece is installed at an end of a piston rod of the air cylinder, the ankle joint driving motor is installed on each thigh, the rotating crank is rotatably installed on the knee joint rotating shaft, the ankle joint driving motor drives the rotating crank torotate around the knee joint rotating shaft through the ankle joint transmission gear pair, and a cylinder body of the air cylinder is rotatably connected with the feet. Walking movement in a two-dimensional plane can be achieved, and walking stability of the biped robot and an adaptability of the biped robot to uneven ground are improved.

The invention relates to an energy recovery device and method for a leg shock absorbing mechanism of a field foot-type robot. The energy recovery device comprises a linear generator stator core and a linear generator rotor hollow shaft, and is characterized in that the linear generator rotor hollow shaft is installed in an inner cavity of the linear generator stator core, a winding coil is wound at the inner surface of the linear generator stator core, the outer wall of the linear generator rotor hollow shaft is provided with a hollow cylindrical permanent magnet, and the linear motor rotor hollow shaft is connected with a joint driving and connecting mechanism and an electric energy storage unit. According to the invention, an electromechanical integration design is adopted to reduce the weight of a mobile robot as far as possible while increasing the energy recovery device, electric energy is generated by adopting relative movements of a stator and a rotor in the axial direction according to a mechanism principle of a linear generator, and the mechanism is embedded into a leg of the robot. The kinetic energy in walking can be stored by two springs through elastic potential energy and is then converted into electric energy. Meanwhile, the walking steady performance of the robot can be improved.

The invention provides an electric-driven steering chassis. The electric-driven steering chassis is capable of guaranteeing the coordinated rotation angles of front and rear vehicle frames, wherein aradius of turning circle is small, realizing the steering and walking of the chassis through a revolving speed difference of left and right vehicle wheels, and improving the stability and a steering response speed of the chassis in a walking process. The electric-driven steering chassis comprises the chassis, the front vehicle frame, the rear vehicle frame, and a controller. Two ends of the frontvehicle frame are provided with left and right front wheels, and two ends of the rear vehicle frame are provided with left and right rear wheels. The left and right front wheels are the front wheels driven by two front hub motors. The controller used for controlling the left and right front hub motors is electrically connected with the front hub motors. The front vehicle frame, the rear vehicle frame and the chassis are rotatably connected by using a vertical front and back axis as a center line. Two ends of a first steering push-pull rod are hinged with a left front connecting base and a right rear connecting base, or hinged with a right front connecting base and a left rear connecting base.

A screw drill mold-stripping machine comprising a main bed body (1), a fixing clamp (3) fixed thereon, a movable clamp (4) movably connected onto the main bed body, a pullout bed body (2) fixedly connected to the main bed body, a puller (5) arranged on the pullout bed body, a support frame (6) supporting the puller and a petroleum pipe workpiece, and supporting trolleys (7) supporting a workpiece holding a pipe. A chain drive mechanism is arranged on the puller and on the movable clamp. An adjusting mechanism is arranged on a running wheel set of the puller. The mold-stripping machine saves manpower, increases operational efficiency, and, during a pullout process, adjusts the puller to a stable state.

The invention provides a spherical robot comprising a spherical shell, a first driving piece, a transmission rod and one or more sets of flywheel assemblies, wherein the first driving piece, the transmission rod and the flywheel assemblies are located in the spherical shell. The first driving piece is used for driving the transmission rod to rotate around the axis so as to drive the spherical shell to rotate. The flywheel assemblies comprise first flywheels and second flywheels. When the spherical robot is subjected to interference torque, procession moment is output by controlling reverse synchronous deflection of the first flywheels and the second flywheels so as to overcome the interference torque. Deflection shafts of the first flywheels and deflection shafts of the second flywheels are perpendicular to a connecting rod and the axis, through the layout mode, the radiuses of both the first flywheels and the second flywheels are increased greatly, in this way, rotational inertia of the flywheels can be increased, thus the procession moment of the flywheel assemblies is increased, and thee obstacle crossing ability and travelling stability of the spherical robot are further improved.

The invention discloses a flexible bionic mechanical leg which comprises a shank rod, an ankle assembly and a palm assembly, wherein the ankle assembly comprises a connecting upper plate, an ankle housing and at least one ankle elastic body; the palm assembly comprises a rear palm, a front palm, a connecting frame for the front palm and the rear palm, and a front palm protective shell; the angle elastic body comprises an upper spring seat, a cylindrical spring, a front four-bar mechanism, a rear four-bar mechanism, a lower spring seat, a first spring supporting pin and a second spring supporting pin. According to the mechanical leg, the front palm and the rear palm are elastically connected to form the palm; the front palm has certain rotation space and flexibility, and can better adapt to changes of ground terrain. The angle elastic body adopts two four-bar mechanisms, so that the cylindrical spring with elasticity in single direction is changed into a flexible special mechanism with flexibility on four corners of each four-bar mechanisms, and therefore, the flexibility of the mechanical foot is greatly strengthened, and the travelling stability of the robot is strengthened.

The invention discloses a gait planning method for improving the crawling stability of dinosaur as a biosimulation machine. The gait planning method for an advance crawling gait period comprises the following steps of: squatting; leaning a body rightwards and swaying the tail rightwards; moving a left front leg; moving a left rear leg; leaning a body leftwards and swaying the tail leftwards; moving a right rear leg; moving a right front leg; and leaning the body rightwards, wherein the whole gravity center is positioned in a quadrilateral area formed by corresponding footholds. According to the gait planning method disclosed by the invention, the crawling gait is re-planned by fully considering the factors of large size, heavy weight, more dispersion in distribution and heavier weights of legs, a head and a tail in a large-size quadruped biosimulation machine, namely the dinosaur, so that the foundation is provided for improving the walking stability of the large-size quadruped biosimulation machine, namely the dinosaur.

The present invention relates to a method for distributing foot end force of a foot robot based on an optimized support ratio, and belongs to the technical field of foot force distribution optimization of robots. The method disclosed by the present invention comprises that: (1) when analyzing a vertical load, optimization distribution on the support ratio is directly carried out, and since one of important objectives of foot end force distribution of a multi-legged robot is stability of walking, so that the method disclosed by the present invention firstly carries out optimization on the support ratio to firstly ensure the stability of walking; (2) in the case of ensuring the stability of walking, force in a horizontal direction is continuously analyzed, optimization on the force direction is directly carried out, and since an optimization objective in a conventional method is a minimum total moment or minimum power consumption, and the optimization objective cannot ensure optimal foot end force, so that the method directs at optimization of the foot end force and the direction thereof to ensure an optimal result from a higher level; and (3) when carrying out force distribution, a foot end position in each step is taken into account, so that features of force and moment balance are made full use to further ensure the optimization result.

The invention discloses a stability control method for rbiomimetic obosaur crawling, comprising the following steps of: simplifying limbs into a system of mass points; establishing a D-H coordinate system for each rigid body connecting rod; then sequentially transforming to obtain a position pose of a sole relative to an organism coordinate system, and planning advancing gaits as crouching, inclining a body toward the right side and swinging the tail toward the right side, stepping a front left leg forward, stepping a rear left leg forward, inclining the body toward the left side and swinging the tail toward the left side, stepping a rear right leg forward, stepping a front right leg forward, and inclining the body toward the right by a transformation matrix between the organism coordinate system and a ground coordinate system; and calculating the gravity center of each limb constituent part and the overall mass center of an obosaur in real time by using the transformation matrix according to a driving function of thighs, shanks and hip joints to ensure that a vertical projection falls on a polygonal region formed by footing points. A function relation between a total mass center and joints is obtained through transformation between the organism coordinate system and a fixed coordinate system, and thus each joint variable is regulated, and the walking stability of a rbiomimetic obosaur is improved.