30results about How to "Lower centroid height" patented technology

The invention belongs to the technical field of robots, and particularly relates to a gait planning method and a device, a computer readable storage medium and a robot. The gait planning method comprises the following steps: constructing a linear inverted pendulum model of the centroid height of the robot, wherein the linear inverted pendulum model of the centroid height is a model for reducing the centroid height and increasing centroid fluctuation on the basis of the linear inverted pendulum model; and based on the linear inverted pendulum model of the centroid height, performing gait planning in each centroid time sequence period of the robot. According to the invention, on the basis of a traditional linear inverted pendulum model, the height of the mass center is further reduced, the fluctuation of the mass center is increased, and the leg length required by rapid walking can be effectively provided.

The invention provides a steering system structure with a front engine to match with an independent air suspension. A system is arranged by adopting a steering structure with the finished-bus front engine to match with the independent air suspension, and the steering structure comprises a steering wheel assembly, a steering transmission device assembly, an angle steering gear, a steering gear box and the independent air suspension, wherein the steering wheel assembly, the steering transmission device assembly, the angle steering gear, the steering gear box and the independent air suspension are all connected with a bus frame; the steering wheel assembly realizes relevant connections through the steering transmission device assembly, while the independent air suspension is connected with the bus frame through an air bag, a swing arm and a middle rocker arm. After the steering system structure with the front engine to match with the independent air suspension is applied to a large or medium bus, as the space between a steering system and a front suspending system is short, the steering force loss which wheels suffer is low; therefore the steering maneuvering characteristic of a finished bus is improved; meanwhile, the suspension structure of the air bag also guarantees the operation comfort of the finished bus, the weight of the finished bus is reduced, and the driving is added with safety guarantee; the steering system structure is applicable for the large or medium bus.

The invention relates to a double-chamber hydragass spring which comprises an upper lug, a lower lug, a main cylinder, an elastic component, a back pressure cylinder, a piston, a guide pipe and the like, wherein the upper lug is positioned at the upper part of the main cylinder; the lower lug is positioned at the lower part of the back pressure cylinder, the upper lug and the main cylinder are connected through a thread structure, and the lower lug and the back pressure cylinder are connected through a thread structure; the upper lug and the lower lug are both provided with a bearing internally; the side part of the upper lug is connected with the elastic component; and the piston and the guide pipe are installed in the back pressure cylinder. The double-chamber hydragass spring is characterized in that the back pressure cylinder, the piston and the guide pipe are connected into a whole and installed in the cylinder body of the main cylinder; a main cavity is formed by a space among the upper surface of the piston, the main cylinder and the space below the upper lug; a main air chamber is formed by the main cavity, an elastic component oil liquid chamber of the elastic component and an air chamber; a back pressure air chamber is formed by a back pressure chamber in the back pressure cylinder and a ring chamber positioned between the main cylinder and the back pressure cylinder; the back pressure chamber and the ring chamber are connected through a connecting pipe. The double-chamber hydragass spring has the beneficial effects of simple structure, small size, light weight, good tightness and large bearing tonnage and is convenient to arrange and install.

The invention belongs to the technical field of spacecraft structures, and in particular relates to a spacecraft main structure having to carry a large mass storage case in the field of high orbit ordeep space exploration. The light weight-type spacecraft main structure comprises a base plate, a center angle box, a top plate, four separation plates, four side plates and four inclined side plates.The light weight-type spacecraft main structure is of an octagonal pillar structure with an outwardly-projected top part and an outwardly-projected bottom part; and the structural weight can be effectively reduced at the whole spacecraft arrangement level. To satisfy structure rigidity and equipment installation demands, the top plate is designed to be an aluminum panel aluminum honeycomb sandwich structure plate; the base plate is designed to be a carbon fiber reinforced resin stiffened shell; the rest structural plates are designed to be carbon fiber reinforced resin panel aluminum honeycomb sandwich structure plates. Instrument installation is achieved with cabin plates having the minimum area, so the whole spacecraft structural weight can be greatly reduced; and a lighter detector having a better configuration can be designed in cooperation with the overall system.

The invention provides a feeding mechanism capable of achieving rapid reversing. The feeding mechanism comprises a gear motor and a multi-station graduator, the multi-station graduator is connected with a rotating support arranged in an inclined manner, a plurality of self-adaption clamps used for clamping materials are evenly distributed on the periphery of the rotating support in the circumferential direction, the multi-station graduator is driven by the gear motor to achieve intermittent movement of multiple stations, and the circulated type reversing feeding process of the materials from a feeding zone to a discharging zone is completed. The feeding mechanism is simple in structure, rapid reversing feeding operation of the materials can be achieved, the overall structure is compact, the strength is reliable, and convenience is brought to installation and maintenance.

The invention belongs to the technical field of airport surface detection radars, and particularly relates to an antenna pedestal for the airport surface detection radar. The antenna pedestal comprises an antenna support, a power box, a base and a rotating shaft, wherein a rotating support is arranged on the base; the antenna pedestal further comprises an encoder; the top end of the rotating shaftcoaxially penetrates into a small-aperture section of a mounting hole of the antenna support from bottom to top, and a hole-shaft inserting fit is formed between the rotating shaft and the mounting hole; the antenna pedestal further comprises an expansion ring; when a rotary screw of the expansion ring generates a rotary action, an inner expansion ring and an outer expansion ring generate radialexpansion due to conical fit, and interference fit is formed between the inner expansion ring and the rotating shaft and between the outer expansion ring and the mounting hole. The antenna pedestal issmall and exquisite in size, simple in structure and capable of ensuring normal operation of a radar antenna at the rotation speed of 60 revolutions per minute and even higher, and the high transmission efficiency, the operation stability and the high service life can be guaranteed synchronously.

The invention relates to a plate-type satellite structure for parallel launching of a rocket and multiple satellites and an assembling method. The plate-type satellite structure for parallel launchingof the rocket and the multiple satellites comprises a satellite main structure and a separation structure assembly. The interior of the satellite main structure is used for fixing satellite load equipment and satellite platform equipment, and the outer wall of the satellite main structure is used for fixing a satellite antenna and a solar wing. The separation structure assembly is used for reinforcing the satellite main structure and fixing the satellite main structure to the outer side of a satellite distributor, the satellites can be separated from a carrier rocket independently or the satellites can be separated from the carrier rocket simultaneously through the satellite distributor, the space in the height direction of a fairing is fully utilized, the manufacturing cost is low, the manufacturing period is short, and the assembling is simple and convenient.

The invention discloses a caterpillar track chassis of a sandbeach cleaning trolley. The caterpillar track chassis of the sandbeach cleaning trolley comprises a left caterpillar track rack, a right caterpillar track rack, a fuel tank, a trolley frame, a balancing beam and dampers, wherein the rear portion of the left caterpillar track rack and the rear portion of the right caterpillar track rack are hinged to the two ends of the fuel tank respectively, the front portion of the left caterpillar track rack and the front portion of the right caterpillar track rack are respectively provided with one damper, and the two ends of the balancing beam are arranged on the dampers on the two sides respectively; the middle of the front of the trolley frame is connected to the middle of the balancing beam, the two sides of the rear of the trolley frame are connected to the two sides of the fuel tank, and therefore the trolley frame are respectively connected with the fuel tank and the balancing beam in a three-point connecting mode. Due to the fact that the rear portion of the left caterpillar track rack and the rear portion of the right caterpillar track rack can swing up and down along shafts on the two side of the fuel tank, the left caterpillar track rack and the right caterpillar track rack can achieve terrain-simulating driving, vibration of the trolley is reduced, and the driving speed is greatly improved; besides, due to the fact that the fuel tank is arranged below the trolley frame, the mass center height of the whole trolley is lowered, and loads of the trolley frame can be reduced.