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1736results about How to "Large working space" patented technology

Operation positioning device and method and robot operation system

ActiveCN104083217AEasy to get placementAvoid restrictionsDiagnosticsSurgeryX-rayEngineering
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.
Owner:BEIJING TINAVI MEDICAL TECH

Six-degree-of-freedom multi-function loading and transporting robot

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.
Owner:ANHUI UNIV OF SCI & TECH +1

Branch three-leg five-DOF (degree of freedom) parallel mechanism containing double-compound drive

The invention discloses a branch three-leg five-DOF (degree of freedom) parallel mechanism containing a double-compound drive. The branch three-leg five-DOF parallel mechanism comprises an engine base, a movable platform and a single-drive branched chain for connecting the engine base and the movable platform and two compound drive branched chains with the same structure, both ends of each of three branched chains are symmetrically distributed in a regular triangle shape, wherein the single-drive branched chain is composed of two universal pairs and a drive translation pair to form a UPU-type series structure branched chain. Each compound drive branched chain is composed of two revolute pairs, a drive translation pair and a spherical hinge to form an RRPS-type compound drive series structure branched chain, and axial lines of two revolute pairs are vertical to each other to form a universal pair, wherein one revolute pair is connected with the engine base and coaxially connected with a drive motor, and the spherical hinge is connected with the movable platform. The branch three-leg five-DOF parallel mechanism is strong in bearing capacity, good in stability, large in working space, high in flexibility, simple in structure, less in movable branched chain, hard to interference, free from automatic jogging, high in precision, close to a frame in drive and easy to control.
Owner:YANSHAN UNIV

Two-degree-of-freedom equal-diameter sphere pure-rolling parallel rotating mechanism

The invention discloses a two-degree-of-freedom equal-diameter sphere pure-rolling parallel rotating mechanism and relates to the technical field of robots, precise instruments, equipment and machinery manufacturing. The mechanism is mainly formed by a motion platform, a fixed base and motion branch chains and can implement an effect that the motion platform takes the two-degree-of-freedom equal-diameter sphere pure-rolling parallel rotation around the fixed base. More than three motion branch chains are connected between the motion platform and the fixed base by motion pairs; each motion branch chain comprises more than two connecting rods; and each motion branch chain is of a symmetrical structure and comprises two or a plurality of motion pairs to form more than four degrees of freedom. The rotating mechanism provided by the invention has the advantages that the motion platform has a large working space; the structure is compact; stiffness is high; the mechanism does not include redundant constraining, mutual internal stress does not exist among the motion branch chains and accuracy stability is high; and the two-degree-of-freedom equal-diameter sphere pure-rolling parallel rotating mechanism has the simple structure and is convenient to install. The advantages enable the rotating mechanism to have wide application in the field of a high-performance pointing device.
Owner:BEIHANG UNIV

Detachable prestress supporting frame system

The invention discloses a detachable prestress supporting frame system and aims to provide a supporting frame system which is good in stability of a supporting structure of a foundation pit, can reduce supporting density to a supporting beam and provides larger working space for foundation pit mining operations on the premise of not influencing strength of the supporting structure of the foundation pit. The detachable prestress supporting frame system comprises a group of construction method piles and an enclosure purlin beam. The group of construction method piles are arranged on the edge of the foundation pit. The enclosure purlin beam is arranged on the inner side of the construction method piles. A plurality of triangular supporting members are arranged on the inner side of the enclosure purlin. Angle counter-supporting beams are arranged at the concave corner of the foundation pit. Each angle counter-supporting beam is arranged between two triangular supporting members on two adjacent sides of the concave corner. One end of each angle counter-supporting beam abuts against the side surface of one of the triangular supporting members. A prestress reserved member is arranged between the other end of each angle counter-supporting beam and another triangular supporting member. The prestress reserved member comprises two supporting parts which can be unfolded mutually, one of the two supporting parts abuts against the side surface of the triangular supporting member, and the other supporting part abuts against the end portion of the angle counter-supporting beam.
Owner:DONGTONG ROCK SOIL SCI & TECH HANGZHOU

Loading and unloading handling mechanical arm for solar cell module

The invention provides a loading and unloading handling mechanical arm for a solar cell module, and the mechanical arm provided by the invention is used for realizing the functions of loading and unloading in a solar cell module producing process. The loading and unloading handling mechanical arm is characterized by consisting of a mechanical arm mechanism I, a horizontal motion unit II, two vertical motion units III, a pallet lift mechanism IV and a frame V, wherein the mechanical arm mechanism is of an aluminum alloy frame combined structure, and is provided with a plurality of groups of sucker modules so as to realize safe handling of solar cell modules in different specifications; and the horizontal motion unit and the vertical motion units adopt servo motors as drive, and drive the mechanical arm mechanism through a synchronous cog belt and a ball screw assembly respectively to realize accurate motion positioning in horizontal and vertical directions, and the motion units of two directions can independently or simultaneously move. A position servo control system is of a hierarchical control structure formed by a human-computer interaction layer, a motion control layer and a servo control layer. The handling mechanical arm has the advantages of large working space, high positioning accuracy, small motion inertia, reliable and smooth motion and suitability for handling large-sized fragile solar cell modules in different specifications.
Owner:YINGKOU JINCHEN AUTOMATION CO LTD

Three-freedom-degree series-parallel omni-directional mobile transfer 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.
Owner:ANHUI UNIV OF SCI & TECH

Device for pneumatically driving two free flexible mechanical arms and method for controlling device

The invention discloses a device for pneumatically driving two free flexible mechanical arms and a method for controlling the device. The device comprises a flexible mechanical arm body, a pneumatic driving part and a control part, wherein one end of the flexible mechanical arm body is a free end, and the other end of the flexible mechanical arm body is a fixed end; the fixed end is arranged on an oscillating flange plate of an oscillating cylinder through an oscillating flange plate mechanical connection device; a rotation angle of the oscillating cylinder is detected by a photoelectric coder; the displacement of a rodless movement cylinder is detected by a linear grating ruler; a plurality of piezoelectric ceramic chips are adhered to the fixed end of the flexible mechanical arm body and respectively serve as a piezoelectric sensor and a piezoelectric driver; an acceleration sensor is arranged at the free end; the piezoelectric sensor or the acceleration sensor can detect the vibration of the flexible mechanical arms; the pneumatic driving part consists of two pneumatic channels which are respectively used for driving the movement of the rodless movement cylinder and the oscillation of the oscillating cylinder; and the control part is used for processing the detected movement, rotation and vibration signals of the flexible mechanical arms and performing corresponding processing.
Owner:SOUTH CHINA UNIV OF TECH

Soft rock four-line large-span tunnel compound double-side wall bracing cable conversion excavation construction method

InactiveCN102226398AExpand the working areaInternal force redistribution is not obviousUnderground chambersTunnel liningEngineeringBuilding construction
The invention relates to a soft rock four-line large-span tunnel compound double-side wall bracing cable conversion excavation construction method which has the characteristics of safety in construction, speediness and simpleness in operation, and is further applicable to large-scale machines for construction. The method comprises the following steps: (1) excavating pilot holes on side walls on two sides, firstly implementing corresponding forepoling before excavation, and immediately implementing corresponding preliminary bracing and temporary bracing after the excavation; (2) pouring pedestal foundations on the two sides; (3) excavating side pilot holes of arch parts on the two sides respectively, firstly implementing the corresponding forepoling before the excavation, immediately implementing the corresponding preliminary bracing and the temporary bracing after the excavation, and implementing a pre-stressed anchor cable connected with a surrounding rock anchor at the top of the corresponding preliminary bracing; (4) excavating core soil of the arch parts bench by bench, firstly implementing the corresponding forepoling before excavating an upper bench, immediately implementing the corresponding preliminary bracing after the excavation, and implementing the pre-stressed anchor cables connected with the surrounding rock anchor at two end parts of the preliminary bracing; (5) pouring secondary lining of the arch parts; (6) excavating the lower core coil bench by bench; and (7) pouring an inverted arch, and pouring the inverted arch to the design height.
Owner:CHINA RAILWAY ERYUAN ENG GRP CO LTD

Slope protection pile pouring and cable bolting construction method for deep foundation pit

The invention discloses a slope protection pile pouring and cable bolting construction method for a deep foundation pit. The method comprises the following steps of: 1, making preparations before construction; 2, pouring a slope protection pile, namely measuring, paying off, molding and constructing the poured slope protection pile, punching holes on the poured slope protection pile, binding and hoisting a steel reinforcement cage for molding the slope protection pile, pouring concrete into the poured slope protection pile and constructing a crown beam at the top end of the pile; and 3, excavating a foundation in a layered form and constructing anchor ropes on different rows, namely excavating a first-layer foundation, arranging a first row of anchor ropes, arranging a steel waist rail, arranging anchor heads of the anchor ropes, tensioning the anchor ropes and finishing excavating processes of different layers of foundations and arranging different rows of anchor ropes. The method has a reasonable design, simple construction steps, low investment cost, large support depth and good using effect, and solves the problems of complicated construction steps, high construction cost, inconvenience in control, easy damage to surrounding pipelines, roads, buildings and the like, large construction space and the like existing in the conventional double-row pile supporting method can be solved.
Owner:SCEGC NO 6 CONSTR ENG GRP CO LTD

Five degree-of-freedom manipulator

The invention discloses a five degree-of-freedom manipulator, and relates to a manipulator. The manipulator aims to solve the problem that no manipulator which is matched with intelligent wheelchairs and has the advantages of accurate positioning, high precision, small mass and large rigidity exists at present. A disc type driving servomotor of a paw is fixed in a mandrel of a wrist revolute joint, a wrist revolute joint connecting piece of the wrist revolute joint is fixedly connected with the upper end of an auxiliary connecting plate of a wrist joint, a connecting end of a second connecting piece of the wrist joint is fixedly connected with the upper end of a small arm, the lower-rear end of the small arm is fixedly connected with a large gear of an elbow joint, an elbow joint bearing support in the elbow joint is fixedly connected with the upper end of a big arm, the lower end of the big arm is fixedly connected with a sixth connecting piece of a shoulder joint, and the sixth connecting piece of the shoulder joint is fixedly connected with a shoulder revolute joint mandrel of a shoulder revolute joint. The manipulator can replace human arms to finish operation tasks on certain specific occasions. The manipulator has the advantages of simple structure, accurate positioning, high precision, small mass, large rigidity, full functions, safe and reliable use, simple and convenient assembly and maintenance, and lower cost.
Owner:HARBIN INST OF TECH

Double-arm four-wheel polling robot mechanism

The invention relates to a mobile robot, in particular to a double-arm four-wheel polling robot mechanism comprising a box body, a front arm mechanism and a rear arm mechanism, wherein the front arm mechanism and the rear arm mechanism are of the same structure and are respectively installed on the box body; each arm mechanism comprises travelling mechanisms, turnover mechanisms, an elevating gear, a clamping mechanism and a supporting arm, wherein one end of the supporting arm is connected with the box body, and the other end of the supporting arm is hinged with the elevating gear the two ends of which are respectively provided with the front turnover mechanism and the rear turnover mechanism; the front travelling mechanism and the rear travelling mechanism which can be turned over to the vertical state from the horizontal state are respectively connected to the output end of the front turnover mechanism and the output end of the rear turnover mechanism; the front travelling mechanism, the rear travelling mechanism, the front turnover mechanism and the rear turnover mechanism are linked with the elevating gear; and the clamping mechanism which is installed on the supporting arm and can clamp earth wires by moving up and down is arranged just below the front travelling mechanism and the rear travelling mechanism. The robot mechanism provided by the invention has the advantages of good safety protection performance, strong crawling and obstacle-detouring capability, large working space, wide application range and the like.
Owner:SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI +1

Multi-shaft linkage series-parallel machine tool

The invention relates to a multiple spindle linkage series and parallel machine tool, which belongs to the production field of a numerical control machine. The machine tool mainly comprises a bed piece, a moveable platform for arranging a basic shaft, an operation platform for arranging a cut workpiece and three upright posts arranged on the bed piece; the three upright posts are distributed in a triangle shape; the guide rail of each upright post is provided with a saddle in a straight-line motion; the moveable platform is connected with the three saddles through three branched chains to form a space parallel closed chain apparatus; the space parallel closed chain apparatus is used for realizing two-dimensional motion and one-dimensional rotation motion freedom; the operation platform for arranging the cut workpiece is used for realizing one-dimensional motion and one-dimensional rotation motion freedom; the operation platform and the space parallel closed chain apparatus are used for realizing the gang control of five shafts. The multiple spindle linkage series and parallel machine tool has the advantages of simple structure, reasonable distribution, flexible and easy-control processing, large operation space, high processing precision, and realization of vertical and horizontal purposes; combined with the predominance of the serial-type and the parallel-type machine tools, the machine tool can be used for multiple spindle linkage numerical control processing of complex curved-type parts.
Owner:TSINGHUA UNIV
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