41results about How to "Realize multi-degree-of-freedom motion" patented technology

The invention relates to a portal frame type five-freedom-degree abrasive water jet spatial machining mechanical arm. On the basis of a portal frame, a mechanical arm and an abrasive water jet machining technology are combined, and the flexibility and efficiency of water jet machining are improved. The portal frame type five-freedom-degree abrasive water jet spatial machining mechanical arm comprises a portal frame work bench, an abrasive water jet spray nozzle, a wrist, a forearm, a big arm, a machine seat, a sliding block, a portal frame cross beam and portal frame stand columns. The portal frame type five-freedom-degree abrasive water jet space machining mechanical arm has the advantages that the structure is ingenious, the mechanical arm and the water jet technology are combined, machining of a plane, a curved face and an inner surface and an outer surface of a workpiece is achieved through water jet, the flexibility of abrasive water jet machining is improved, the application range is wider, and the portal frame type five-freedom-degree abrasive water jet spatial machining mechanical arm is characterized by being efficient, reliable, flexible in operation and the like.

The present invention belongs to the field of the ultrasonic electric motor manufacturing technique, and relates to an electromagnetic pressure-regulating multiple-freedom spherical ultrasonic electric motor. The invention comprises an engine casing, a sphere rotor which is provided with an output shaft, and a stator fixed on the engine casing. The sphere rotor is sleeved with an abrasion resisting circular ring. The surface of the circular ring is provided with a plurality of permanent magnetic pieces. The engine casing is also fixed with a plurality of pairs of electromagnetic poles. Each electromagnetic pole is composed of an iron core and a winding coil winding the iron core. The number of pairs of the electromagnetic poles is same to the number of pairs of magnetic piece electrodes and the positions are corresponding with the magnetic piece. The acting force between the permanent magnetic piece and the electromagnetic pole are regulated through changing the current of the winding coil of the electromagnetic pole. The multiple-freedom spherical ultrasonic electric motor of the invention has the advantages of more reliable structure, controllable prepressure of the rotor, improved operating characteristic of the electric motor and increased flexibility to the designing of the electric motor control system.

The invention relates to a three-degree-of-freedom base and a 4D seat applying the same. The base comprises a chassis, a seat frame and a plurality of driving cylinders for connecting the chassis and the seat frame, wherein the driving cylinders are three driving cylinders which are distributed in an isosceles-triangle manner; each driving cylinder is connected with the chassis and the seat frame respectively by two ends of a universal and rotatable joint; the base also comprises at least one balance frame which is connected with the chassis and the seat frame by the two ends of a small-angle rotatable joint; and the 4D seat applying the base is also provided with a seat with an internal special-effect device on the chassis. The invention has the advantages that the traditional basic structure with the chassis, the seat frame and the driving cylinders is still used, three driving cylinders and two balance frames are used, so that multi-degree-of-freedom movement is realized, and the cost for driving, control and manufacture and cost for power energy are reduced; and the mechanical space is greatly saved, so that components needing to be provided with control equipment are integrated into a platform, and space support is provided for integration of a product.

The present invention provides a snake-like robot joint module and a snake-like robot. The snake-like robot joint module of the present invention includes a shell with a shell connecting portion at one end, and a shaft body arranged in the shell is rotated, and is set on The drive unit between the housing and the shaft body, the rotational displacement detection unit and the braking unit, and the joint connection block with one end pivotally arranged on the housing, are arranged in the housing, and A transmission unit located between the shaft body and the joint connection block. The joint module of the snake-shaped robot according to the present invention can realize the modularization of the robot joint through the integration of various components in the housing, and at the same time, it can also facilitate the replacement of the joint modules after connecting multiple joint modules, so that it has Better replaceability, and improve the practicability of the robot made of joint modules.

The invention discloses an ankle joint rehabilitation training device. The ankle joint rehabilitation training device comprises a work table, a Z-axis rotation mechanism erected to the work table and rotating around the Z axis of the work table, a Y-axis rotation mechanism connected with the Z-axis rotation mechanism and rotating around the Y axis of the work table, and an X-axis rotation mechanism connected with the Y-axis rotation mechanism and rotating around the X axis of the work table, wherein the lower end of the X-axis rotation mechanism is provided with a pedal plate parallel to the table board of the work table; the Y-axis rotation mechanism comprises an annular bracket vertically fastened to a drive arm of the Z-axis rotation mechanism, an annular sliding cover in sliding arrangement with one side wall of the annular bracket, and a Y-axis drive mechanism used for driving the annular sliding cover to rotate around the axis of the annular bracket, the Y-axis drive mechanism rotates synchronously with the annular sliding cover, and the X-axis rotation mechanism is fastened to one side of the annular sliding cover. Due to the adoption of the structural design, the ankle joint rehabilitation training device has the advantage that the multi-freedom-degree movement of the ankle joint is conveniently and rapidly realized, and further, the efficiency of the rehabilitation training is effectively promoted.

The invention relates to a robot multi-freedom degree joint. Wherein, the inner semi-annular bracket is hinged on the inner side of annular body; the outer semi-annular body is hinged on the outer side of annular body; two connection points between inner semi-annular bracket and annular body, an two connection points between outer semi-annular body and annular body are all on the diameter of annular body; the connecting line between two connection points of inner semi-annular bracket and annular body is vertical to the connecting line of another two connection points; the connection part of inner semi-annular bracket and annular body has the first ultrasonic motor which is mounted at the inner side of inner semi-annular bracket; the connection part of outer semi-annular bracket and annular body has the second ultrasonic motor which is mounted at the inner side of annular body; the output shaft of first ultrasonic motor is connection via key to the annular body while the output shaft of second ultrasonic motor is connection via key to the outer semi-annular body; and both the inner side of outer and inner semi-annular bodies have connection holes.

The invention relates to a multi-degree of freedom linear motor. The multi-degree of freedom linear motor comprises a first magnet array, a second magnet array, a third magnet array and a fourth magnet array which are successively arranged in parallel along the first direction. A first magnetic field is formed between the first magnet array and the second magnet array. A second magnetic field is formed between the third magnet array and the fourth magnet array. The first magnetic field and the second magnetic field are opposite in polarity. The multi-degree of freedom linear motor also comprises a U-shaped coil array. Two ends of the U-shaped coil array are respectively inserted in the first magnetic field and the second magnetic field. According to the invention, without adding the number of coils, push forces in x and y directions and even torque in the Rz direction are achieved, so that the multi-degree of freedom movement of the linear motor is realized.

The invention provides a hybrid-driven multi-stator multi-degree-of-freedom motor, which relates to the technical field of multi-degree-of-freedom motors. A rotor is arranged in a circular cylindricalstator. The rotor includes a rotor frame, and an output shaft is fixed on the rotor frame. A number of permanent magnets are attached to the surface of the outer edge of the rotor frame, and a numberof cylindrical permanent magnets are arranged on the circumference. A fixed shaft and the output shaft are connected by a ball structure. A sensor for detecting the position and speed of the rotor isarranged in the fixed shaft. The lower part of the fixed shaft is connected with a supporting material, which realizes scalability and has certain stiffness. Telescopic stators are respectively arranged above and below the rotor. Driving coils are distributed on the telescopic stators, and the positions and number of the driving coils correspond to those of the cylindrical permanent magnets. Theinvention mainly aims to solve the problem that the traditional multi-degree-of-freedom motor has the disadvantages of huge size, low precision, low efficiency, low degree of freedom and complex control. The hybrid-driven multi-stator multi-degree-of-freedom motor of the invention has the characteristics of simple structure, small size, many degrees of freedom, fast response, simple, accurate anddiverse control, low loss and wide use.

The invention discloses an inner wallboard carrying robot. The inner wallboard carrying robot comprises a base; a rotating oil cylinder is arranged on the base; a height oil cylinder is arranged at the upper end of the rotating oil cylinder; a radial oil cylinder is horizontally arranged at the upper end of the height oil cylinder; a wallboard upright base is arranged at the tail end of the radialoil cylinder, and is hinged with a wallboard upright rotating shaft; the wallboard upright base is provided with a hydraulic motor for driving the wallboard upright rotating shaft to rotate; a vertical connecting piece is vertically arranged on the wallboard upright rotating shaft; a wallboard contact plate is arranged at the bottom of the vertical connecting piece; multiple left separation oil cylinders and multiple right separation oil cylinders are horizontally arranged on the two sides of the wallboard contact plate; left clamping oil cylinders are vertically arranged at the tail ends ofthe left separation oil cylinders; right clamping oil cylinders are vertically arranged at the tail ends of the right separation oil cylinders; left clamping manipulators are arranged at the tail endsof the left clamping oil cylinders; and right clamping manipulators are arranged at the tail ends of the right clamping oil cylinders. The inner wallboard carrying robot has the advantages of reasonable design, high mechanical degree, high carrying and bundling efficiency and the like.

The invention relates to a motion platform, in particular to a rotatable multi-degree-of-freedom motion platform, and solves the problems that existing installation platforms are large in size, short in service life, high in manufacturing cost and large in mechanical noise. The motion platform comprises a lifting supporting unit and a mounting platform. The lifting supporting unit comprises at least two lifting units and one supporting unit or at least three lifting units. The lifting unit comprises a first motor driving assembly, a chain transmission assembly, a sliding assembly, a lifting assembly and a universal joint. The chain transmission assembly comprises a driving gear, a driven gear, a traction chain and a gear mounting seat. The sliding assembly comprises at least two supporting seats, a sliding rail supported between the at least two supporting seats, a first sliding block assembly and a second sliding block assembly, wherein the first sliding block assembly and the second sliding block assembly slide on the sliding rail. The lifting assembly comprises a first supporting frame and a second supporting frame which are of a H-shaped structure. The supporting unit comprises a universal joint and a stand column hinged to the base.

The invention provides a coanda effect propelling system and an underwater robot and relates to the field of underwater robots. The propelling system comprises a water spray barrel, a control loop, awater spray power device and an adjusting power device. An inner cavity is formed in the water spray barrel, and a water inlet is formed in one end of the water spray barrel. Multiple sets of effect openings formed in the circumferential direction of the water spray barrel are formed in the water spray barrel, each set of the effect openings comprises a first opening and a second opening, the first openings are formed in the side wall of the water spray barrel, and the second openings are formed in the end, away from the water inlet, of the water spray barrel. The water spray barrel is sleevedwith the control loop. A control opening is formed in the control loop. A water outlet of the water spray power device communicates with the water inlet. The adjusting power device is in transmissionconnection with the control loop so as to adjust rotation of the control loop and control an effect valve to be turned on and off. The robot comprises the above coanda effect propelling system. The robot and the coanda effect propelling system are simple in structure, good in stability and low in energy consumption, the output direction of a jet stream can be flexibly adjusted, and multi-freedom-degree motion is achieved.

The invention discloses a rolling type automatic blackboard erasing device which comprises a blackboard body and supporting frame, a blackboard erasing device, a bevel gear transmission mechanism anda track cam transmission mechanism. The bevel gear transmission mechanism is installed on the side face of the blackboard body and supporting frame and is used for driving a batten board and fixed batten lining cloth in the blackboard body and supporting frame to move together; the track cam transmission mechanism is installed on the side face of the blackboard body and supporting frame and is used for achieving motion of a blackboard erasing pin roller in the blackboard erasing device, and the motion of the blackboard erasing pin roller is matched with motion of the batten board and the fixedbatten lining cloth to achieve erasing. By means of the rolling type automatic blackboard erasing device, multi-freedom-degree motion of the blackboard erasing pin roller is achieved, erasing achieves the best effect, and the automatic erasing effect is achieved; and powder formed during motion of the automatic blackboard erasing pin roller can be effectively controlled.

An all-region resource detection robot comprises a multifunctional detection platform, a plurality of conversion mechanical feet connected with the multifunctional detection platform, a plurality of flight supports connected with the multifunctional detection platform, and driving devices arranged on the conversion mechanical feet and the flight supports. The problems that manual detection is high in intensity, low in efficiency, high in cost and unknown in danger, and an existing resource detection robot is insufficient in driving capacity, limited in detection area and the like can be effectively solved.

The invention discloses a rigid-soft composite driver based on foldable sheet-shaped drivers, and provides a manufacturing method of the rigid-soft composite driver. The rigid-flexible composite driver is composed of a near-end rigid connecting piece, a middle-section rigid connecting piece, a far-end rigid connecting piece, a near-end joint driver and a far-end joint driver. The near-end rigid connecting piece, the middle-section rigid connecting piece and the far-end rigid connecting piece are made of the same material, are machined through a 3D printing process, are used for connecting thenear-end joint driver and the far-end joint driver, and play a role in supporting the whole structure at the same time; and the near-end joint driver and the far-end joint driver adopt the same material and structural form and comprise the foldable sheet-shaped drivers, rigid partition plates and strain limiting layers. The bending angles and the output force of the tail ends of the near-end jointdriver and the far-end joint driver can be changed by changing the input air pressure in the near-end joint driver and the far-end joint driver respectively, and then two-degree-of-freedom movement is achieved. The rigid connecting pieces and the joint drivers are integrated, so that multi-degree-of-freedom movement can be realized. The rigid-flexible composite driver can be applied to the fieldsof multi-degree-of-freedom dexterous hands, hand function rehabilitation robots, wearable equipment and the like.