89results about How to "Motor coordination" patented technology

The invention relates to a four-footed walking robot, and specifically relates to a pliant four-footed robot with a flexible waist and elastic legs. The pliant four-footed robot is divided into several parts, namely a front torso, a vertebral column, a waist, a back torso and four legs with the same structures; a bearing in the front torso or the back torso and flanged shafts on all the legs forma rotating pair; the front torso is connected with the vertebral column by using the rotating pair and is driven by a motor and a gear set, so that a body of the robot has a pitching degree of freedom; the vertebral column is connected with the waist by using a rotating pair with a torsion spring, so that the body of the robot has a transverse rolling degree of freedom; the waist is connected with the back torso also by using a rotating pair with the torsion spring, so that the body of the robot has a deflection degree of freedom; leg parts of the robot consist of thighs and shanks, which areall driven by the motor and the gear set; and the shanks are provided with compression springs, so that the ground impact force is decreased when the robot walks. By using the pliant four-footed robot, a conventional rigid structure is placed with a flexible structure; the movement stability of the robot is increased; and the impact of the robot is decreased.

A powered gait orthosis is provided for exercising the legs of a patient, and includes a treadmill for acting on the feet of the patient and a pair of gait simulation assemblies disposed adjacent to the treadmill. Each gait simulation assembly includes a support arm including pivotally movable first and second depending arms, which further include drive means for movement thereof about first and second horizontal axis. The device further includes first and second attachment means on the first and second depending arms, for attachment to a patient's thigh and ankle, respectively. A lifting means including a drive means is supported in a vertically extending tower, which houses a gait simulation assembly. The lifting means lifts and holds a patient on the treadmill. Control means is provided to operate the depending arms in a controlled manner to cause the legs of the patient to move in a desired gait.

A DNA sequencing tray (92) holds an array of sample wells (82) in a rank and file pattern by means of rigid file members (85) connected by flexible mechanisms (87) permitting the pattern to be expanded to change the center-to-center spacing between adjacent wells (82) form 9 mm to 10.8 mm.

The invention relates to a robot body modularization linkage device for a single-drive multi-legged robot. The device comprises a main frame, double parallelogram linkage mechanisms, hip mechanisms, grippers, a connecting frame, a crank, a power drive rod and a motor; both the parallelogram linkage mechanisms are arranged at both the sides of the main frame; the hip mechanisms are connected with the parallelogram linkage mechanisms by the grippers; double the parallelogram linkage mechanisms are connected by the connecting frame or the crank; the motor is connected with the crank by the power drive rod; and the motor drives the power drive rod to rotate, the power drive rod drives the crank or the connecting frame to rotate, the crank drives both the parallelogram linkage mechanisms to reciprocate and the reciprocating motion of both the parallelogram linkage mechanisms drives each hip mechanism to alternately move back and forth by the grippers. Compared with the prior art, the robot body modularization linkage device for the single-drive multi-legged robot has the advantages of simple structure, optimization for foot end tracks, high motion reliability and stability and the like.

The invention discloses a wheeled lunar vehicle driving control method based on slip ratio adjustment, which includes the steps: working condition selection and control objective determination; wheel slip ratio estimation; establishment of a lunar vehicle system model; and calculation of wheel distributed moment Ti. Driving conditions of a lunar vehicle include an accelerating or decelerating condition of a vehicle body and a uniform-speed driving condition of the vehicle body, wherein when the vehicle body is under the accelerating or decelerating condition, the slip ratio of each wheel is controlled within a high driving efficiency range, and the high driving efficiency of the wheels can be guaranteed; and when the vehicle body is under the uniform-speed driving condition, the average value of the slip ratio of all the wheels serves as a control objective, so that the problems of singleness of the control objective, energy consumption increase caused by too high or too low single wheel slip ratio, poor trafficability variation and the like can be avoided. By means of a sliding mode variable structure control algorithm, solving is simple, the calculated quantity is small, and the system is guaranteed to have excellent robustness, so that the lunar vehicle can more coordinately move in the rugged environment.

A pumping unit system having vertical sampson post, a walking beam pivotally supported at the upper end of the sampson post and a horsehead affixed at a forward end thereof that supports a reciprocated sucker rod string, including a gear reducer mounted at selectable positions on the walking beam and having a horizontally extending drive shaft, a crank arm affixed to the drive shaft the spacing between a selectable length pitman rod having a first end secured to said crank arm and a second end having a pitman bearing that is selectably mountable to a plurality of pitman bearing locations and a prime mover connected to the gear reducer and wherein the characteristics of the pumping unit are determined by the selectable position of the gear reducer, the selectable length of the crank arm, the selectable length of the pitman rod, and the selectable pitman bearing location.

The invention belongs to the field of Chinese medicaments, and in particular relates to a Chinese medicament for treating neck, shoulder, waist and leg pains and hyperostosis. The Chinese medicament is mainly prepared from the following raw medicaments in parts by weight: 8 to 12 parts of processed cibotium barometz, 8 to 12 parts of processed dipsacus root, 10 to 18 parts of processed clematis root, 10 to 18 parts of processed drynaria rhizome, 10 to 18 parts of root of red-rooted salvia, 10 to 18 parts of processed eucommia bark, 10 to 18 parts of astragalus root, 10 to 18 parts of suberect spatholobus stem, 6 to 10 parts of processed licorice, 8 to 12 parts of mistletoe, 10 to 14 parts of atractylodes, 10 to 14 parts of obscured homalomena rhizome, and 8 to 12 parts of angelica pubescens. The Chinese medicament for treating the neck, shoulder, waist and leg pains and the hyperostosis can treat both symptoms and root causes, has a good treatment effect, and is low in treatment cost.

This invention discloses a spectacle frame with the function of vision training, including frame members, a nose bridge, temple connecting extensions and spectacle legs. The frame, nose bridge and spectacle legs are provided with LED illuminant bodies. One spectacle leg is provided with a regulating switch and the other spectacle leg is provided with a battery cell and a charging hole. The nose bridge and spectacle legs are provided with chips to control the LED illuminant bodies to flash or extinguish in order according to a program. The LED illuminant bodies, chip, battery and regulating switch are interlinked via a flexible board. The angle between the spectacle frame and spectacle legs can be freely adjusted in the range of 180°. When the angle is 180°, all the LED illuminant bodies on spectacle legs and nose bridge are aligned in one straight line. This invention effectively combines multi-vision training and 3-color ball training with the spectacle frame and can be used to train eyeballs to move toward different directions, thus fully exercising eye muscle. The spectacle frame of this invention is simple in structure, convenient for use and carrying and able to improve visual acuity, ease the fatigue of eye muscle, improve visual quality and control myopia.

The invention provides a multi-channel concentric tube robot device for natural orifice endoscopic surgery and a visual servo control method of the multi-channel concentric tube robot device. The device comprises at least one concentric tube visual channel, at least two concentric tube operating channels and a driving mechanism, wherein the at least one concentric tube visual channel is formed bynesting at least two elastic tubes, and an image sensor used for visual feedback is arranged at the tail end of the innermost tube; each of the at least two concentric tube operating channels is formed by nesting at least two elastic tubes, and a surgical instrument used for carrying out operation is arranged at the tail end of the innermost tube; the driving mechanism is configured to drive the linear motion and rotation motion of each elastic tube of the visual channel and the operation channels respectively. The invention further provides a control method based on the visual servo for the device, and the motion of each concentric tube channel can be independently controlled at the same time, so that accurate positioning and navigation can be realized in the minimally invasive surgery.

In a multi-function electronic device, consists of a display mounted on the body of the device and two slidable panels mounted in the body for extension and retraction into the body. The body includes a base panel extending outward. One panel contains a keypad for use in conjunction with the display. The other panel contains a portion of a full function keyboard that cooperates with another portion of the full function keyboard mounted on the base panel. The full function keyboard is provided for operation with the display.

The invention discloses a multifunctional indoor movable chair, which is characterized by comprising a bottom frame, a carrying wheel arranged on the bottom frame, an anti-reverse mechanism fixedly arranged on the bottom frame, a seat lifting mechanism rotatably arranged on the bottom frame, a seat plate rotatably arranged on the seat lifting mechanism, a back plate capable of adjusting the heightand the angle and arranged on the seat plate, a headrest capable of adjusting the height and the angle and arranged on the back plate, a pedal capable of adjusting the height and detachably arrangedon the seat plate, and a rotatable armrest frame arranged on two sides of the seat plate. The multifunctional indoor movable chair has a simple structure, can provide good assistance for different crowds such as the elderly and the people with functional disorders of lower limbs, thereby achieving comfortable lifting, completing life activities conveniently and carrying out rehabilitation walking-aid training, improving life quality, improving leg muscle strength level and promoting rehabilitation.

The invention provides an asymmetrical double-mechanical-arm device, and belongs to the technical field of industrial robots. The technical problems of the redundancy of the freedom degree of a mechanical arm of an existing double-arm robot and the like are solved. The asymmetrical double-mechanical-arm device comprises a base, a first mechanical arm and a second mechanical arm. The inner end of the first mechanical arm and the inner end of the second mechanical arm are connected with the base. The relationship between the freedom degree L of the first mechanical arm and the freedom degree M of the second mechanical arm meets the following formula|L-M|=N, wherein N is equal to 1, 2, 3, 4, 5 and 6. The first mechanical arm and the second mechanical arm of the asymmetrical double-mechanical-arm device are of an asymmetrical structure, and the number of parts of the second mechanical arm is smaller than that of parts of the first mechanical arm, namely, the second mechanical arm saves parts. By the adoption of the structure, the error of transmission between the parts on the second mechanical arm can be reduced, and therefore the accumulated error of the whole second mechanical arm can be reduced, the manufacturing cost of a system is reduced, and the control difficulty of the system is also reduced.

The invention provides a parameter adjustment method of an immersive video system for treating amblyopia and a device. Immersive videos include left parallax images and right parallax images which respectively correspond to the left eye and the right eye of a human body, the left eye can only see the left parallax images, and the right eye can only see the left parallax images. Parameters of the left parallax images and the right parallax images are adjusted according to the needs of a user in a linkage mode. when the parameters of the left parallax images are adjusted from a minimum value to a maximum value, and the same parameters of the right parallax images are adjusted from a maximum value to a minimum value. According to the parameter adjustment method, linkage adjustment of brightness, gray scale, color saturation, contrast ratio and the like of all pictures or partial pictures of left and right screens are designed according to the characteristics of an amblyopia patient himself/herself, and the amblyopia eye can be fully exercised and treated while the other healthy eye can be reasonably and effectively inhibited.

The invention discloses an indoor standing auxiliary vehicle, including a bottom frame and a carrier wheel, which has characteristics in that: the upper two side hand wheels connected with the carrierwheel through a belt drive are fixedly arranged on the middle vertical pole of the front side of the bottom frame. A table support frame connected to the upper pole and located on the upper side is disposed at a middle position of a knee top plate and a seat connected to the bottom frame, wherein the seat can be relatively opposed by the electric push rod. According to the indoor standing auxiliary vehicle disclosed by the invention, the structure is simple, the movement is coordinated, and the operation is convenient. Other life activities like walking and standing can be achieved in convenience and safety. The movement and steering of the indoor standing auxiliary vehicle can be achieved by rotating the hand wheel. The angle of the table plate can be adjusted; a protection device is arranged in the sitting process and the standing process; the height and the front-back distance adjustment can bead aiming at the people with different stature.

The invention discloses a three-legged wall-climbing robot which comprises electric telescopic rods (1), wherein the three electric telescopic rods (1) are in an end-to-end connection and connected to moving joint shafts (2) to form a triangular structure; a cylinder (3) is connected to the lower end of each moving joint shaft (2); suction cup brackets (4) are connected under the cylinders (3); spring-buffered suction cups (6) are connected to the bottom of the suction cup brackets (4); shaft sleeves (7) are sleeved on journals (22) of the three moving joint shaft (2); and the other end of the three shaft sleeves (7) is movably connected to three pins (51) of a triangle carrying platform (5). The three-legged wall-climbing robot has the advantages of crossing obstacles with a certain height, making a turn flexibly, moving coordinately, and capable of finishing a task of cleaning walls by replacing manual labor.

This invention discloses an oscillating suspension system of crane, including a chassis of vehicle, front and rear suspensions. It is characterized that the front suspension includes a front suspension support fixed to the chassis. The front suspension support is rigidly connected with a front drive bridge. The rear suspension is articulated with the support via a pin shaft. The direction of the pin shaft is perpendicular to the direction of a wheel shaft. Two locking oil tanks are symmetrically mounted at two sides of the pin shaft and between the rear suspension and the chassis. A connecting conduit of a chamber with rod and a chamber without rod of the locking oil tank is provided with a control valve set controlled by an electric control system. The rear suspension is rigidly connected with a rear drive bridge. The oscillating suspension system of crane provided by this invention is characterized that it can be flexibly applied to the crane to work at different pavements and under different bearing changes and it has simple structure, strong bearing ability, convenient distribution and low manufacturing cost.

The invention discloses an effective load space cabin structure applicable to an orbiter, comprising a cabin body and cabin doors; the cabin doors are connected to the cabin body; the cabin doors can open and close the cabin body; the cabin doors are two symmetrical opposite-opening structures, and every cabin door comprises an inner skin, an outer skin, main force bearing beams, honeycomb cores, a reinforcing rib and a heat protecting structure; the honeycomb cores are located between the inner skin and the outer skin; a guide flow slot is arranged on a contact position of the honeycomb cores and the outer skin, the reinforcing rib is arranged between the honeycomb cores, and connected to the main force bearing beams; three cabin door locks are evenly distributed on the main force bearing beams, the two cabin doors are locked to each other in the process of closing; the thermal protecting structure is arranged on the outer skin, and arranged in a staggering manner; the vapor return absorption of the surface of the thermal protecting structure under the natural environment is not more than 0.15%, thus the effective load cabin door structure is high in structural rigidity, good in structure compatibility and sealing property; meanwhile, the effective load space cabin structure can meet integration and lightweight requirements at the same time.

The invention provides a control system of a multichannel drilling machine tool. The control system of the multichannel drilling machine tool comprises a management computer used for controlling start and halt of the drilling machine tool, a CAD/CAM (Computer Aided Design / Computer Aided Manufacturing) computer used for generating and sending machining requirement information according to characteristics of to-be-machined workpieces and requirements of machining process, a monitoring computer used for monitoring the overall state of the drilling machine tool in real time, a main control computer for generating and sending coordination control information of a plurality of machining channel machine tools, a multichannel coordination control computer used for receiving coordination control information sent by the main control computer, distributing and sending machining task information of each machining channel machine tool, and a plurality of channel machine tool numerical control systems, wherein the number of the channel machine tool numerical control systems corresponds to the number of the machining channel machine tools; the channel machine tool numerical control systems are used for receiving the corresponding machining task information sent by the multichannel coordination control computer, controlling motion of linkage shafts of the channel machine tool numerical control systems and the machining channel machine tools according to the machining task information and coordinating the motion of the linkage shafts of the machining channel machine tools in machining operation; the collision of operation stages of the plurality of machining channel machine tools can be avoided.

The invention discloses a double-crank slide block type heavy duty vehicle rear protector. The double-crank slide block type heavy duty vehicle rear protector includes a frame body, a driving motor, a decelerator, cranks, a bumper and a controller, wherein two sides of the frame body are each provided with a sliding device; two ends of the bumper are fixed on the sliding devices; the sliding devices enable the bumper to slide along the two sides of the frame body up and down; the driving motor is arranged at the upper end of the frame body; a driving shaft of the driving motor is connected with the decelerator; two ends of an output shaft of the decelerator are respectively provided with a first bevel gear and a second bevel gear; the first bevel gear engages with a third bevel gear which is arranged at the back end of a first transmission shaft; and the second bevel gear engages with a fourth bevel gear which is arranged at the back end of a second transmission shaft. The double-crank slide block type heavy duty vehicle rear protector has the advantages of being low in cost, being light in weight, being low in power consumption, being high in response speed, being high in control accuracy, being convenient for mounting, being high in popularization performance, and being easy to realize marketization.

The invention relates to a robot for cable fault detection. The robot comprises a control module, a driving module, a clamping module, a walking module and a monitoring module, wherein the driving module is connected with the control module through a circuit, and is used for outputting driving power according to a control signal output from the control module; the clamping module is fixedly arranged on the driving module; the walking module is arranged above the clamping module and is in transmission connection with the driving module; the walking module is matched with the clamping module to clamp a cable, and walks and stops along the cable under the action of the driving power output from the driving module; the monitoring module is arranged at the top end of the walking module, and is used for monitoring the situation of the cable when the walking module walks along the cable. The robot is simple in structure, can walk freely on an overhead cable, can monitor the cable security situations in the whole process, and can find circuit faults and accurately provide dangerous positions, so that the danger and the complexity of manual operation can be effectively avoided, and the efficiency can be improved.

The invention discloses an intelligent sealing device for ship tail shaft numerical control magnetic fluid. According to the main structure of the intelligent sealing device, a stuffing box is arranged at the sealed part of a tail shaft, one end of the box is provided with a gland, and the other end of the box is connected with a sternpost through a flange. Two layers of PTFE ring box sleeves are arranged in the middle of the box in parallel, and nx twelve radial hedging magnetic sector permanent magnets are embedded in each layer of box sleeve. Magnetic fluid circulating cavities are formed between the box sleeves in which the magnets are embedded and a shaft tube. The two sides of each permanent magnet box sleeve are each provided with a stainless steel circular ring and provided with eight magnetic fluid injecting or discharging holes, wherein the outer sides of the two stainless steel circular rings are each provided with a stainless steel clamping ring. An AH type metal framework teflon sealing ring is clamped on a tail shaft tube. An MCU is arranged, a magnetic fluid input pump and an electromagnetic overflow valve are controlled according to the pressure and temperature sensor information, the pressure in the magnetic fluid circulating cavities and the pressure at the draft of a warship and a submarine can be randomly the same, sealing, lubricating and cooling functions are achieved on the tail shaft tube through circulation of pressurized cold and hot magnetic fluid, and an electromagnetic sealing brake is arranged for strengthening static sealing of the tail shaft tube during downtime.