486results about How to "Less freedom" patented technology

The invention relates to a free 6-UPS three-linkage parallel robot, belonging to the robot and mechanical producing area. The invention is characterized in that: three couples of straight driving branches are arranged in symmetry right triangle between the upper platform (1) and the base (2), while each couple comprises: two same SPU synchronous flexible driving branch while the upper end of each branch has a ball couple, the middle has a moving couple and the lower end has a universal couple connected to the base (2); the moving couple is formed by a mechanical or hydraulic synchronous flexible driver; the distance between two ball couples of each couple of straight driving branch is the same as the distance between two universal couple vertical axles (9). The invention is characterized in less freedom, easy control, large working space, simple structure and high accuracy. The invention can be used in large radio telescope, three-dimensional measure and sensor, etc.

A technique of acquiring a width obtaining an appropriate exposure with minimum restrictions, while accurately correcting flickering is provided. An exposure control method includes integrating a video signal obtained by shooting a subject by means of a CMOS imaging element as input video signal over not less than a horizontal period, normalizing the integral value or the difference value of the integral value between neighboring fields or frames, extracting the integral value or the difference value after the normalization as flicker spectrum, determining, based on the extracted flicker spectrum, the presence or absence of a flicker component contained in the video signal obtained by the imaging element and controlling the exposure value, using a program diagram for preferentially employing the shutter speed less liable to produce flickering when it is determined that the video signal contains a flicker component.

An electromechanical VVA system for controlling the poppet valves in the cylinder head of an internal combustion engine. The system varies valve lift, duration, and phasing in a dependent manner for one or more banks of engine valves. A rocker subassembly for each valve or valve pair is pivotably disposed on a control shaft between the camshaft and the roller finger follower. The control shaft may be displaced about a pivot axis outside the control shaft to change the angular relationship of the rocker subassembly to the camshaft, thus changing the valve opening, closing, and lift. A plurality of control shafts for controlling all valvetrains in an engine bank defines a control shaft assembly. The angular positions of the individual control shafts may be tuned to optimize the valve timing of each cylinder. The system is applicable to the intake and exhaust camshafts of diesel and gasoline engines.

A bionic robot under-driven flexible hand device belongs to the technical field of anthropomorphic robot, and mainly comprises a thumb, a forefinger, a middle finger, a ring finger, a little finger and a palm. The device is provided with five independently controller fingers and fifteen joint freedoms, and is controlled by ten motors. The structures of four fingers (the forefinger, the middle finger, the ring finger and the little finger) are same. The variable initial configuration of finger and special effect of partial-coupling self-adapting grasping are realized through double motors, a transmission mechanism, a flexible component and reed component. The four fingers bend the second middle finger segment before grasping an object and the bottom finger segment bends for obtaining an excellent grasping preparing gesture. The robot hand is closer to man hand. The device of the invention has the advantages of compact structure, high integrity, external appearance, dimension and shape closer to man hand, capability for stably grasping and automatically adopting for objects with different shapes and dimensions. The device of the invention is used for anthropomorphic robot.

The invention provides a wafer pre-alignment method, which comprises the following steps of: calculating shape center position coordinates of a wafer, radial displacement maximum offset emax and an included angle of a radial displacement maximum offset part and horizontal Y direction by using a high-accuracy laser transmitting sensor according to one-circumference data of the edge of the wafer; driving the wafer to rotate at an angle so as to position the radial displacement maximum offset emax and the horizontal Y direction on a straight line, thereby finishing shape center positioning of the wafer; and accurately positioning a notch of the wafer according to a shape center algorithm. According to the wafer pre-alignment method, the edge of the wafer is detected by using a light transmitting sensor, and the positions of a shape center and the notch of the wafer are determined by using the shape center algorithm, so that the accuracy of the positioning method is effectively improved, the time and the space occupied by a pre-alignment are reduced, and the cost is reduced.

The invention provides a hinge device and a folding device with the hinge device. The hinge device comprises a hinge support, a first shaft and a second shaft. The first shaft and the second shaft are arranged in parallel and are rotatingly supported by the hinge support. The first shaft is connected to a first main body of a device. The second shaft is connected to a second main body of the device. Through being guided by the first shaft and the second shaft, the first main body can rotate 0 to 360 degrees and/or 360 to 0 degree relatively to the second main body. When the first main body rotates 0 degree to a preset angle and/or the preset angle to 0 degree relatively to the second main body, the first shaft rotates and the second shaft is static, and when the first main body rotates the preset angle to 360 degrees and/or 360 degrees to the preset angle relatively to the second main body, the second shaft rotates and the first shaft is static.

The invention discloses a gripper which adopts a connecting rod for transmission and has wide range as well as heavy load, comprising a transmission box body, a plurality of finger parts used for grasping articles and a flange used for being connected with a robot; each finger part comprises two finger rods, wherein the first finger rod adopts a gear wheel for driving, and a second finger rod adopts a connecting rod for driving; articles with different diameters can be gripped in an circular enveloping way through the linkage of all finger parts and the finger rods thereof. The gripper is driven only by one motor and adopts a synchronous belt and a gear set which are both positioned inside the box body in the transmission from the motor to the finger rods in the transmission box body. Thegripper has the advantages of more contact points of grasped articles, heavy load, high grasping stability, high reliability, and the like.

The invention discloses semiconductor material growing equipment, and in particular relates to a Czochralski crystal growing furnace for semiconductor single crystal growth. In the invention, the downward motion of a heat shield is used to replace the upward motion of a crucible, so that the crucible can only rotate and not ascend any more, thus, one degree of freedom is reduced and the system complexity is decreased; by adopting dual heaters respectively located at the bottom and the side face of the crucible respectively to control the growth of a crystal by aiming at different stages respectively, the temperature gradient control of the crystal and melt is more convenient; the relative positions between the crucible and the heaters are kept parallel and unchanged, and the heat radiation of the heaters is directly used for baking the crucible, so that the heat transfer efficiency is greatly improved in comparison with that in a traditional method in which the crucible in the traditional single crystal furnace is constantly away from a heating zone; and a flow guiding cylinder is used for guiding argon gas to carry out enhanced heat exchange on the crystal, so that an convection vortex of the argon gas above the melt is inhibited, thus, impurities and micro-defects in the crystal are favorably reduced and the consumption level of the argon gas is decreased.

The invention discloses a vibration modeling and analyzing method of a crack impeller structure of a centrifugal compressor. The vibration modeling and analyzing method comprises the steps of firstly, providing a modeling method of a centrifugal impeller, obtaining a whole model by rotating and converting a finite element model of a section of the impeller, reducing the DOF (Degree of Freedom) of a system by adopting a hybrid interface modal synthesis method, and simulating a breath effect of a crack by defining a contact mode on a crack interface; secondly, providing a method for solving large-scale symmetrical sparse matrix-inverse matrix, and thus obviously reducing the memory space needed by calculation; finally, providing a method for carrying out statistical analysis on resonant frequency of the crack impeller structure, considering dissonant factors such as manufacturing error and state degradation which exist in an actual impeller, and obtaining statistical regularity of structure resonant frequency under a random dissonant mode. According to the vibration modeling and analyzing method disclosed by the invention, the calculating accuracy is ensured, obvious improvement effect of calculating efficiency is realized at the same time, and a high-efficiency analyzing method is provided for optimal design of the impeller and quantitative diagnosis of the crack.

The invention discloses a modular active joint type biped walking robot with six degrees of freedom. The robot consists essentially of six joint modules and two circular feet. Each joint module has a rotating freedom degree and is driven by a DC servo motor. The joint modules have two types, joint rotating shafts thereof are respectively parallel and vertical to the axis of a joint connecting rod and respectively called as I type or T type. All the modules are sequentially connected in series, and the sequence is as follows: foot-the I type joint-the T type joint-the T type joint-the T type joint-the T type joint-the I type joint- the foot. The rotating shafts of the four T type joints in the middle are parallel to each other, and vertical to the rotating shafts of the I type joints at the two ends. The robot has a plurality of walking models, including twist gait, transverse gait and flip gait. The robot is characterized by few freedom degrees, active walking, simple structure and control, good adaptability to the environment, strong obstacle-climbing capability, low energy consumption and the like. The robot can be widely used for operations such as carrying, detection, disaster relief and the like.

Provided is a rotatable multiple-connecting-rod controllable excavating mechanism having a metamorphic function. One end of a second driving part of the excavating mechanism is connected to a machine frame through an eighth rotating pair, the other end of the second driving part is connected with one end of a third connecting rod through a ninth rotating pair, the other end of the third connecting rod is connected with one end of a second connecting rod through a tenth rotating pair, and the other end of the second connecting rod is connected to a bucket through an eleventh rotating pair. One end of the first driving part is connected to the other end of the machine frame and connected with one end of a bucket rod, and the other end of the bucket rod is connected to the bucket. One end of a large arm is connected to the machine frame through a first rotating pair, the other end of the large arm is connected with one end of a first connecting rod through a second rotating pair, the other end of the first connecting rod is connected with the second connecting rod through a third rotating pair, and the other end of the second connecting rod is connected to the third connecting rod through a fourth rotating pair. The rotatable multiple-connecting-rod controllable excavating mechanism utilizes connecting rod transmission to replace hydraulic transmission, and the shortcomings of high maintenance cost, high hydraulic element cost, large operation noise and the like of a traditional excavating machine are overcome.

A latch system includes a latch and a key barrel operably coupled via a clutch to the latch. The clutch has an engaged condition where operation of the key barrel unlatches the latch, and the clutch has a disengaged condition where operation of the key barrel does not unlatch the latch.

The invention discloses a method for indirectly measuring the deformation of an antenna structure based on strain sensors. The method comprises the following steps: (1) sorting alternative modals based on a modal coordinate evaluation vector and according to the participation deformation degree, and obtaining a minimum complete modal set capable of describing the deformation of an antenna structure according to the linear correlation between deformation vectors before and after modal deletion; (2) adopting an effective independence method to carry out sensor arrangement, and deleting the degree of freedom with minimum contribution to the independence of a target modal until the remaining number of degree of freedom is the same with the number of the sensors; (3) calculating a mapping matrix with the use of numerical simulation and measured data according to the linear relationship between the displacement and strain of the antenna structure under the condition of small deformation; and (4) using the sensors arranged in specified positions to measure the displacement, obtained through the mapping matrix after strain of the antenna structure, of the antenna structure according to the corresponding relationship between strain and displacement. By the adoption of the method of the invention, the deformation of an antenna can be indirectly measured by strain sensors, and the method has the advantages of small amount of calculation, high computing speed and high real-time performance.

The invention provides a sunflower type solid antenna capable of being spread. The sunflower type solid antenna capable of being spread aims at resolving the problems that mesh type and inflatable antenna molded surfaces are not high in precision and limited in working frequency at preset. According to the sunflower type solid antenna capable of being spread, a regular dodecagon plate body serves as a base, six driving shafts and six universal shafts are arranged in a staggered mode along the edge of the base, each driving shaft is connected with a corresponding edge on the base through the corresponding driving shaft support, the two ends of each driving shaft are respectively connected with one end of an adjacent universal shaft, each driving shaft is connected with the lower end of a main spherical shell, the other side of each auxiliary spherical shell is connected with the other side of an adjacent auxiliary spherical shell through a spherical hinge mechanism, the middle of each universal shaft is connected with the lower end of a connecting rod, and the upper end of each connecting rod is connected with the corresponding spherical hinge mechanism. The sunflower type solid antenna capable of being spread is used for the field of antennas.

The invention discloses a three-finger three-degree-of-freedom configuration robot gripper, and belongs to the technical field of robots. The robot gripper is a robot gripper between a dexterous gripper and a single-degree-of-freedom holder, and can grip objects in different shapes and sizes. The bottom of a first finger is fixed to the upper surface of a palm cover plate; the bottom of a second finger is arranged in a housing and is rotationally connected with the palm cover plate; the bottom of a third finger is arranged in the housing and is rotationally connected with the palm cover plate; three finger base joint synchronous bending mechanisms, three finger tail end joint synchronous bending mechanisms, the second finger and the third finger are coupled to an opposite-direction rotating mechanism relative to a palm and are arranged in the housing; the three finger base joint synchronous bending mechanisms drive base joints of the three fingers to synchronously bend and rotate through base joint tendon sheath driving mechanisms of the three fingers; and the three finger tail end joint synchronous bending mechanisms drive tail end joints of the three fingers to synchronously bend and rotate through tail end joint tendon sheath driving mechanisms of the three fingers. The three-finger three-degree-of-freedom configuration robot gripper is used to grip the objects.

The invention provides a synchronous unfolding-folding space extend arm of a triangular prism based on centripetal mechanisms, which belongs to technical field of aerospace science and formed by series connection of a plurality of triangular prism centripetal mechanisms. Each triangular prism centripetal mechanism is composed of 3 central connection components, 6 angular point connection components and 12 rod-shaped joint shafts with the same length. The central connection components are provided with cross-shaped bracket structures, each supporting end of the cross-shaped bracket structures is fixedly connected with one joint shaft through a pair of parallel bevel gears, the angular point connection components are V-shaped bracket structures, each angular point connection component is provided with two open supporting ends, and the edge of each supporting end is coaxially connected with one bevel gear through a revolving shaft. The synchronous unfolding-folding space extend arm of the triangular prism based on centripetal mechanisms is small in freedom degree, capable of being unfolded and folded synchronously, good in reliability, high in repeatability, good in structural rigidity, convenient to structure combination and simple in movement mechanism control.

The invention discloses a rolling robot which comprises first and second cross-shaped components (1-1, 1-2), first to fourth connecting rods (3-1, 3-2, 3-3, 3-4), first to eighth joint crosses (4-1, 4-2, 4-3, 4-4, 4-5, 4-6, 4-7, 4-8) and first and second driving motors (2-1, 2-2). The first and second cross-shaped components (1-1, 1-2) are connected with the first to fourth connecting rods (3-1, 3-2, 3-3, 3-4) through the first to eighth joint crosses (4-1, 4-2, 4-3, 4-4, 4-5, 4-6, 4-7, 4-8). The first and second driving motors (2-1, 2-2) are respectively arranged on the first and second cross-shaped components (1-1, 1-2). The formed rolling robot can realize rolling in the random direction in the plane by utilizing inertia and can be used for application such as planetary exploration, military reconnaissance and the like.

The invention relates to a profile redesigning method of an automobile covering part die based on a T spline and belongs to the technical field of automobile covering part die design. The profile redesigning method comprises the steps that firstly, an automobile covering part digital model S0 is transformed into a single sheet T spline surface S1 on any topological structure; secondly, a single sheet T spline surface S2 for expressing rebound deformation is obtained with an isogeometric analysis method; thirdly, a single sheet T spline surface S3 for expressing rebound compensation is obtained with the isogeometric analysis method; lastly, the S3 is transformed into an automobile covering part die profile S4 compatible with the international standard. According to the profile redesigning method of the automobile covering part die based on the T spline, the T spline serves as a carrier of the redesign of the profile of an automobile covering part die, isogeometric analysis serves as the means, and the design result can be used for parameterization of the design flow of the automobile covering part die. In addition, the isogeometric analysis method of rebound calculation and compensation based on a T spline primary function is adopted, and thus the degree of freedom of massive numerical calculation is greatly reduced.