38results about How to "Low number of drivers" patented technology

A three-finger mechanical gripper with a variable structure relates to a three-finger mechanical gripper and solves problems of large size, high maintenance cost and gripping structural limitation of the whole gripper in the present three-finger mechanical gripper. Three rotating shafts are evenly distributed on a rotating pedestal; an output shaft of a motor on the bottom end of each finger is fixedly connected with a corresponding worm rod; each worm rod is engaged with a corresponding worm gear; each small straight gear is engaged with a large straight gear; an output shaft of each finger joint motor is fixedly covered with a coupling connection rod; one end of the coupling connection rod is connected with the tail end of a short side of a second joint via a first driving rod; the other end of the coupling connection rod is connected with one end of a second connection rod and one end of a first connection rod via a second driving rod; the other end of the first connection rod is connected with the second joint; and the tail end of the long side of the second joint and the other end of the second connection rod are both connected with a first joint. The three-finger mechanical gripper with the variable structure can be applied to the technical field of robots.

The invention discloses an array substrate and a manufacturing method thereof. The problems that signal lines in an existing array substrate are all placed on the same layer, so that equal resistance between the signal lines is achieved, part of the signal lines are horizontally bent, and accordingly signal line density of a wiring zone is small, the drive number is large, and cost is high are solved. The array substrate comprises a plurality of wiring zones arranged on a non-displaying zone, a plurality of signal lines are arranged in the wiring zones, at least part of the signal lines in each wiring zone are formed by leading wires in different layers in a series-connecting mode, and the resistance difference between any two signal lines in the same wiring zone is in the threshold value range. According to the array substrate and the manufacturing method thereof, traditional signal lines placed in one layer of the array substrate are changed to the signal lines placed between the multiple layers, so that the fact that the resistance difference between the signal lines is smaller than the threshold value and the bending radius of the signal lines is small is facilitated, signal line concentrating density is large, the drive number is lowered, and the purpose of cost lowering is achieved.

The invention discloses a line inspection robot, comprising a line inspection robot system and shooting systems. The line inspection robot is characterized in that the line inspection robot system comprises a line hanging device, a high voltage power transmission line position detection device and a line inspection robot main body; the shooting systems are fixedly installed on two ends of the line inspection robot main body; the line inspection robot main body is in mechanical fixed connection with the line hanging device and the high voltage power transmission line position detection device; the whole line inspection robot system is connected to the power transmission line through the line hanging device; the line hanging device can realize motions like driven crawling, safe self-locking, off-line obstacle crossing, etc, of the line inspection robot system; the high voltage power transmission line position detection device enables the line inspection robot system to accurately position the power transmission line and realizes obstacle detection; the line inspection robot main body can realize the fact that the line inspection robot system performs swinging in a 3D space; and the shooting system can realize real time collection and transmission of an image.

The invention discloses a flexible tail end traction rehabilitation robot. The flexible tail end traction rehabilitation robot comprises a mounting rack and a traction mechanism. The bottom of the mounting rack is clamped on a sickbed. The traction mechanism comprises two traction units. Each traction unit comprises a slide block component, a guide rail, an electric hoist and a foot fixing rack. The guide rail is installed on a frame. The slide block component is arranged on the guide rail and is slidably connected with the guide rail. The electric hoist is installed on the slide block component. The food fixing rack is installed at the tail end of a traction rope of the electric hoist. A pulling force sensor and an angle sensor are installed on the traction rope. The slide block component is driven to slide along the corresponding guide rail by a driving mechanism to drive the electric hoist and the traction rope on the electric hoist to move back and forth. The foot fixing rack moves back and forth along with the traction rope and moves in the vertical direction under the effect of contraction and release of the traction rope to simulate the walking track of the foot of a patient at the same time. The flexible tail end traction rehabilitation robot has the advantage that flexible traction can be conducted on the foot of the patient to avoid a secondary injury.

The invention relates to an underactuated flexible gripper, and belongs to the technical field of agricultural intelligent equipment. The underactuated flexible gripper includes a gripper base, guiderods, a palm, a palm-adjacent finger, a fingertip structure, a driving device and a control device, wherein the fingertip structure includes a fingertip, a ball, a compression spring, a spring limit device, a slider limit surface, a slide groove and a rubber cushion, the driving device includes a stepper motor, a coupling, a ball screw, a disc slider, a curved push rod, the guide rods, a connecting rod I, a connecting rod II, a connecting rod III and a slide bar, and the control device comprises a controller and a pressure sensor. The underactuated flexible gripper is used to solve the problems that the fruit harvesting rate is not high and fruits are easily damaged.

The invention relates to the automated conveying technology, in particular to a bilateral equidistant conveying device and a stacking machine using the device; the bilateral equidistant conveying device comprises a driving device, a fixing frame, a bottom support, a middle plate and an upper support plate; the driving device and the bottom support are respectively installed on the fixing frame; a primary driving wheel and a primary driven wheel connected mutually by a primary stroke synchronization belt are installed on the bottom support; the middle part of the bottom end of the middle plate is fixedly connected with the primary stroke synchronization belt by a fixing splint. The quantity of the driving devices of a conveying system is reduced effectively, so that the control of the whole mechanism is facilitated, the control mechanism is simplified and the cost is reduced. The primary stroke mechanism is capable of moving to two ends in the horizontal direction to drive the upper support plate to move, so that objects opposite to each other at two sides of an automatic conveying structure at this conveying station can be conveyed; therefore, the conveying device is increased in motion scope and more flexible.

The invention discloses a wheel leg type multi-mode patrol inspection and rescue robot which comprises a multi-steady state machine frame, four sports legs, four omni-directional wheels with drive motors, a steering engine wire wheel assembly and an external sensor, wherein the multi-steady state machine frame comprises four base units, the four base units forms a polygonal structure, the every two adjacent base units are connected with each other through an energy storage hinge, and each of the base units consists of two connecting blocks and a spring hinge between the connecting blocks; thefour sports legs are respectively and symmetrically mounted on the four base units; the four omni-directional wheels are respectively mounted on the four base units; the steering engine wire wheel assembly comprises a wire wheel and a drive steering engine which are mutually connected, the eight connecting blocks are connected in series through a steel wire rope on the wire wheel, and the drive steering gear is connected with any one connecting block; the external sensor is mounted on the multi-steady state machine frame. The wheel leg type multi-mode patrol inspection and rescue robot disclosed by the invention has the characteristics of light weight, strong flexibility, high reliability and the like.

The invention discloses a wheel leg type 3-PUU parallel mobile robot, belongs to the field of parallel robots, and can solve the problems of complex structure, unstable wheel leg type conversion and difficult realization in a traditional robot. The wheel leg type 3-PUU parallel mobile robot comprises a base platform, a movable platform I, a movable platform II, a branched chain and an universal wheel; the branched chain includes three inner branched chains and three outer branched chains; the base platform is connected with the movable platform I through the inner branched chains, and is connected with the movable platform II through the outer branched chains; each branched chain includes a connecting rod, a hooke joint and a mobile pair; two ends of the connecting rods are connected with the hooke joints; the hooke joints at the top ends of the connecting rods are connected to the base platform; the hooke joints at the bottom ends of the connecting rods are connected to the mobile pairs; the mobile pairs of the inner branched chains are on the outer sides of the connecting rods; the mobile pairs of the outer branched chains are on the inner sides of the connecting rods; and the universal wheel is connected with the mobile pairs of the inner branched chains. The wheel leg type 3-PUU parallel mobile robot obviously reduces the driving number, and is easy to control.

The invention relates to an automatic transfer device for nodular cast iron pipe production, and belongs to the technical field of nodular cast iron pipe transfer equipment. The technical problems that a traditional transfer method is low in speed, long in positioning time, low in automation degree, high in noise and the like are solved. The automatic transfer device comprises a horizontal conveying device, a lifting device, two grabbing and clamping devices, a monitoring device and a control system; the horizontal conveying device comprises a machine frame, four groups of moving wheels and two groups of moving wheel driving devices, the lifting device comprises a lifting driving device and two lifting frames, and each grabbing and clamping device comprises an air cylinder, a clamping jaw mounting base, two clamping jaws and two connecting rods; and the control system is electrically connected with the moving wheel driving devices, the lifting driving device, the air cylinders, the monitoring device and a nodular cast iron pipe transmission line. The automatic transfer device is small in occupied area, high in automation degree, accurate in positioning, high in working efficiency and wide in application range, and the automation degree is increased through the monitoring device.

The invention belongs to the technical field of aerospace, discloses a rope-driven foldable umbrella-shaped antenna. The rope-driven foldable umbrella-shaped antenna comprises fan-shaped arrays, a middle column, locking assemblies, rope driving assemblies, a ball head and connecting rod driving mechanisms; more than three groups of fan-shaped arrays are uniformly distributed along a circumferential direction of the ball head to form the foldable umbrella-shaped antenna; the middle column abuts against the ball head; one connecting rod driving mechanism is arranged between the middle column and each fan-shaped array, and the connecting rod driving mechanism can drive all the fan-shaped arrays to be synchronously unfolded or secondarily folded relative to the middle column; each fan-shaped array is provided with one locking assembly; the rope driving assemblies are arranged between the locking assemblies and the ball head; when the umbrella-shaped antenna is unfolded, the rope driving assemblies drive the locking assemblies to be locked, when the umbrella-shaped antenna needs to be folded, the rope driving assemblies drive the locking assemblies to be unlocked, and each fan-shaped array can be subjected to primary folding in the circumferential direction.

The invention discloses an amphibious robot based on a hybrid mechanism. The amphibious robot comprises a mechanical driving assembly, a motor driving assembly and a shell assembly. Wherein the mechanical driving assembly is divided into a left mechanical driving mechanism and a right mechanical driving mechanism, and each mechanical driving mechanism comprises a sole part and a two-degree-of-freedom space hybrid mechanism composed of an upper planar six-bar mechanism and a lower planar six-bar mechanism; the motor driving assembly comprises a servo motor, a motor control panel and a wireless transmission module, the motor controls each set of mechanical driving mechanism to move cooperatively, amphibious movement gaits of frogs are simulated, the robot can crawl in the land environment through the two stages of starting and leg swinging, and the robot can swim underwater through the three stages of slapping, sliding and returning; the motor driving assembly is wrapped in a shell of the shell assembly, and the effects of sealing protection and resistance reduction are achieved. The robot realizes frog type bionic movement by using a small amount of drive, is high in integration level and movement efficiency, simple and convenient to operate and good in stability, and can be used for amphibious bionic mechanism research and land and water exploration.

The invention discloses a collecting and taking-out integrated mechanical claw device for combustible ice exploration. The collecting and taking-out integrated mechanical claw device comprises a mechanical claw unit, a sealing cover unit, a mechanical claw driving device and a sealing cover driving device, wherein a sealing element is arranged on the mechanical claw unit; the mechanical claw driving device controls the opening and the closing of the mechanical claw unit; the sealing cover driving device controls the opening and the closing of the sealing cover unit; when the mechanical claw unit is closed, a space for accommodating combustible ice is formed; and the sealing cover unit can close the space. The collecting and taking-out integration of the collecting and taking-out integrated mechanical claw device is mainly reflected in the opening and the closing of the mechanical claw unit and the sealing cover unit through the mechanical claw driving device and the sealing cover driving device; meanwhile, the sealing element is used for ensuring the sealing performance; and through the combination of different states of the mechanical claw unit and the sealing cover unit, the combustible ice can be collected, stored and taken out in the exploration process. The mechanical claw device has important application prospects in the field of deep sea combustible ice exploration.

The invention provides a three-dimensional circulating conveying line type dense container system, and belongs to the technical field of space intelligent storage. The problems that an existing container system is low in volume loading rate, large in working space requirement, complex in driving process and low in working efficiency are solved. The system comprises a material conversion mechanism, the material conversion mechanism comprises a loading platform, a mechanical claw mechanism, a material circulation track system and a driving screw mechanism, and the loading platform comprises a plurality of movable loading platforms, a plurality of fixed loading platforms and a no-load platform. The multiple movable loading platforms and the no-load platform are evenly distributed on the outer ring of the material circulation track system, the multiple fixed loading platforms are evenly distributed on the inner ring of the material circulation track system, the driving screw mechanism is installed on one side of the material circulation track system, and the mechanical claw mechanism is installed on the other side of the material circulation track system. And the driving screw mechanism is in driving connection with the movable loading platform and the no-load platform. The system is mainly used for space intelligent storage.