115results about How to "Realize the turn" patented technology

The invention discloses a detection robot for underground rescue of a pressurized type coal mine, belonging to the technical field of robots. The detection robot comprises an explosion-proof box body, symmetrical travelling mechanisms, two driving mechanisms, an industrial control computer, a lifting mechanism and an optical fiber winding mechanism, wherein the symmetrical travelling mechanisms are arranged on two sides of the explosion-roof box body; the two driving mechanisms and the industrial control computer are arranged in the explosion-roof box body and are respectively independent; the lifting mechanism is provided with various probes; the mechanisms form a modular structure; the two driving mechanisms are symmetrically arranged and respectively comprise a first driving motor, a second driving motor, batteries connected with the motors, a first spur gear, a second spur gear, a driven spur gear, a first planetary reducer and a connecting shaft; the first spur gear and the second spur gear are respectively sleeved on output shafts of the first drive motor and the second drive motor; the driven spur gear which is in simultaneous meshed drive with the first spur gear and the second spur gear is sleeved on an input shaft of the first planetary reducer; an output shaft of the first planetary reducer is connected with a connecting shaft extending out of the box body; and the connecting shaft end is connected with a driving wheel. According to the invention, one output shaft is driven by adopting two motors simultaneously, thus the power of the robot can be improved.

The invention discloses a compliant control method of a wheel foot type robot. The method includes outer loop control, middle loop control and inner loop control, wherein the outer loop control is control of the pose of a robot body and aims to make the pose of the robot body accurately trace an expected pose track; the middle loop control is foot end contact force control and aims to make the pose of the robot body accurately trace an expected pose track; the inner loop control is active joint driving moment control and aims to make supporting leg foot end contact force trace expected force obtained through outer loop calculation. Due to the three kinds of control, while the pose of the robot body is accurately controlled, the supporting leg foot end contact force is controlled. The method has the advantages of being simple in principle, high in control accuracy and capable of improving the adaptive capacity of the robot.

The invention discloses a fixed wing aircraft provided with multiple rotor wings and capable of realizing vertical take-off and landing. The fixed wing aircraft comprises a fuselage, aircraft wings and a tail wing, as well as power rack units arranged on the aircraft wings and the tail wing, wherein the power rack units comprise front rotor wings, rear rotor wings and tail rotor wings. According to the invention, the switching between the helicopter mode take-off and landing and fixed wing flight mode can be realized, the safety performance of the take-off and landing of the aircraft is improved, and the take-off and landing mode of the traditional fixed wing aircraft is changed.

The invention belongs to the field of sports equipment, particularly provides a double-plate type multi-user cooperative sliding device and aims to solve the problem that a conventional double-plate type multi-user cooperative sliding device is complicated in structure, smaller in rolling amplitude and short of flexibility. The sliding device comprises a first sliding plate, a second sliding plate and linkage rods, wherein the linkage rods are connected with the first sliding plate and the second sliding plate through worm and gear units, so that the first sliding plate and the second sliding plate can be inclined towards one side simultaneously; the linkage rods are made of an elastic material, a ball bearing is mounted between each support and a corresponding gear, and accordingly, a sliding state between the first sliding plate and the second sliding plate can be changed. The two sliding plates of the sliding device have larger angles of inclination, the turning radius of motion of the whole device is reduced, the gravity center of the device carrying people can be flexibly shifted, so that the sliding device can avoid the rollover phenomenon when turning, rotating or jumping at a higher sliding speed, and a technical condition can be provided for pairs of skiers to realize creative sports artistic expression.

A deformable bionic power conversion impeller by means of fin undulation and hydraulic volumetric difference comprises two completely identical fish-shaped oil cylinder assembly bodies, two completely identical framework assembly bodies, a hull, a flexible tail fin and two completely identical foldable telescopic oil cylinders for power conversion. Oil cylinders of the fish-shaped oil cylinder assembly bodies and the oil cylinders for power conversion are respectively in bilateral symmetry and are fixedly connected to two sides of the hull respectively through screws so that two completely communicated from heads to tails and completely independent sealing oil cavities are formed, the two sealing oil cavities are vertically restrained by the framework assembly bodies which are connected by retrofitting chains, liquid is filled into the oil cavities, and the two oil cylinders for power conversion are alternately squeezed and stretched with any power capable of generating alternate reciprocation of two straight lines and meeting the load requirements. The power conversion impeller is capable of generating impelling force by simulating undulation of the tail fin of an underwater creature, and load and undulation amplitude of the impeller can be controlled by changing magnitude and speed of power output. Turning can be controlled by changing mutual positions of acting neutral points of the power.

The invention relates to a roadblock, in particular to a movable roadblock, provides a movable roadblock and a movable roadblock system through long-distance control or field remote control and aims at solving the problem of the traditional roadblock of bringing dangers to workers during deployment and also the problem of an ordinary automatic roadblock of maneuverability. The movable roadblock comprises a motor, a chassis, wheels, a control circuit and a power supply, wherein the control circuit is arranged in the chassis and is composed of a single chip microcomputer; the wheels are arranged under the chassis; the single chip microcomputer is connected with the motor so as to control the motor to run; the wheels are connected with the motor and controlled by the motor; and the power supply is connected with the motor. Through a manner of long-distance control or field remote control, the roadblock is controlled to move, overcomes the deficiencies of the traditional roadblock and the ordinary automatic roadblock and is more suitable for being applied to urban traffic management by virtue of the characteristics of safety, flexibility and convenience.

The invention discloses a snake robot with a digging function. During operation, firstly, a second shell keeps still, a first motor rotates, a first shell and a drill are driven to rotate by virtue of an output shaft, a linear motor push rod installed between box bodies extends to push the first shell to drill forwards, additionally, a helical blade on the surface of the second shell does not rotate and is used as a support piece so as to supply support reverse force, the first shell moves forwards at a distance s and then stops, the motor and the first shell keep still at this time, a second motor begins to rotate so as to drive the second shell to rotate, a linear motor output rod retracts to pull the second shell to move forwards, and the second shell moves forwards at the same distance s and then stops. When turning or pitching is needed, the output length of different linear motors can be controlled according to required turning and pitching angles, so as to realize the corresponding movement. The snake robot has the advantages of safety, reliability, simplicity and easiness in implementation, and the digging function of the snake robot is realized.

The invention relates to a double-ring clutch type electromagnetic-drive spherical robot, which comprises a left hemispherical shell, a hemispherical clutching mechanism, a right hemispherical shell, a lead screw shaft, a coupler, a speed reducer, a motor, bearing seat fixing screws, electromagnetic drive parts, magnetic steel rings, permanent magnetic steel pieces, a left bearing seat, a right bearing seat and rubber pads and the like. The left hemispherical shell and the right hemispherical shell form a spherical shell, one or more magnetic rings are arranged in each hemispherical shell, the magnetic steel rings and the spherical surface of the spherical shell are coaxial on the lead screw shaft, the permanent magnetic steel pieces are uniformly disposed on the magnetic steel rings, N-electrodes of two adjacent permanent magnetic steel pieces are opposite in direction, the electromagnetic drive parts mainly includes electromagnetic cores, electromagnetic coils, a control module, a power supply, a supporting plate, a plurality of infrared tubes and supporting wheels, the supporting plate is processed to be arc-shaped and concentric with the magnetic steel rings, and the infrared tubes are mounted on two sides of the supporting plate respectively. The spherical robot can progress and retreat according to the principle of electromagnetic stepping, is simple and reliable in structure, stable and flexible in motion and high in controllability when compared with conventional robots.

The invention relates to an electric drive earthmover travelling driving device, which belongs to the technical field of engineering machinery and comprises an engine, a generator, a power inverter, three motors, three sets of bidirectional clutch assemblies and a differential steering mechanism, wherein the bidirectional clutch assemblies comprise front clutches and rear clutches; an output shaft of each motor is connected with an input shaft of a corresponding bidirectional clutch; the bidirectional clutch assemblies are connected with the differential steering mechanism; and each motor is connected with the generator. The power distribution in linear travelling and steering is controlled by adopting a frequency conversion driving technology through controlling the bidirectional clutches to be engaged and disengaged. The invention has few parts, a compact structure, high drive efficiency, simple control and low manufacturing cost.

The invention relates to a pipeline robot and application thereof. The pipeline robot comprises one or more robot units which are sequentially connected, and each robot unit comprises two crawling mechanisms and a swing mechanism, wherein every two crawling mechanisms are connected to the front and the back of the corresponding swing mechanism; each crawling mechanism is mainly composed of a rack, a driving device, rotating shafts and driving wheels, wherein the driving device, the rotating shafts and the driving wheels are arranged on the rack; each swing mechanism is mainly composed of bevel gear systems which are meshed with each other and can achieve left-and-right swing and up-and-down swing. The pipeline robot is ingenious in structural design, simple and practical, operation of the crawling mechanisms can be driven through one driving motor, and meanwhile turning and obstacle crossing of the pipeline robot can be effectively achieved through the swing mechanisms; compared with an existing pipeline robot on the market, the pipeline robot is low in cost, stable and reliable to operate and convenient to maintain, operation work in multiple complicated occasions such as vertical pipelines, L-shaped pipelines and T-shaped pipelines can be achieved, and good economic value and market benefit are achieved.

The invention relates to the technical field of amphibious unmanned ships, and provides a variant-type amphibious unmanned ship and a control method thereof. The control method comprises the steps that turning auxiliary data are matched according to state information of an intelligent rudder of the current amphibious unmanned ship, a needed power assisting value for correcting posture informationcollected by the current amphibious unmanned ship in real time to theoretical posture information is searched for according to the target posture information corresponding to intelligent rudder stateinformation recorded in the matched turning auxiliary data; and a propeller in a rear left wheel and a propeller in a rear right wheel are moved according to the power assisting value, cooperating with the propeller blade rotating speed difference produced by transmission of all independent power devices, so that the amphibious unmanned ship is assisted to realize converting of a hull to the target direction of the intelligent rudder. According to the variant-type amphibious unmanned ship and the control method thereof, a special baffle structure is arranged for front wheels and/or rear wheels, so that the amphibious unmanned ship has the function of converting between synchronous hull forms.

The invention provides a vehicle body production line conveying device. The vehicle body production line conveying device comprises a framework, a bearing cross beam assembly, a first lower heart discand a second heart disc assembly, wherein the framework comprises a first cross beam, a second cross beam and two longitudinal beams arranged in parallel, two ends of the first cross beam are fixedlyconnected with the upper ends of the two longitudinal beams respectively, and the first lower heart disc is provided under the upper side surface of the first cross beam; two ends of the second crossbeam are respectively fixedly connected with the lower ends of the two longitudinal beams; a bearing cross beam assembly is arranged between the first cross beam and the second cross beam, and the bearing cross beam is connected with the second cross beam through the second heart disc assembly. The vehicle body production line conveying device can be applied to the production line movement of vehicle bodies with different bearing types, various transmission devices do not need to be designed, and the production cost is reduced; when the vehicle bodies with different bearing types are assembled and moved, the conveying device does not need to be replaced, so that the production efficiency is improved.

The invention belongs to the field of vehicles purely driven by electricity, and discloses a new energy electric vehicle. The new energy electric vehicle comprises a vehicle body, wherein a battery unit which is in a rectangular sheet shape is detachably mounted at the lower end of the vehicle body; a battery mounting groove for accommodating the battery unit is formed in the lower end of the vehicle body, and a positioning baffle for enabling the battery unit to be aligned to the battery mounting groove when the battery unit is mounted in the battery mounting groove is mounted in the batterymounting groove in the left side of the longitudinal direction of the vehicle body. According to the new energy electric vehicle, a mobile vehicle is arranged at the lower end of the battery unit, sothat the battery unit can move under remote control when being separated from the vehicle body; and in addition, by installing vertically arranged electric push rods on both sides of the battery unit,when the battery unit is installed on the vehicle body, the battery unit can be lifted into the battery mounting groove at the bottom of the vehicle body only by moving the battery unit directly below the battery mounting groove by the mobile vehicle and then controlling the extension of the electric push rods.

The invention discloses a rail-bound heavy-load carrier vehicle adopting a non-contact power supply technology, and belongs to the technical field of logistics transportation. The rail-bound heavy-load carrier vehicle comprises wheels (1), a gear motor (2), an anti-collision device (3), a vehicle body (4), an audible and visual alarm device (5) and an electricity pickup (6). The electricity pickup (6) is arranged at the bottom of the vehicle body. The current is excited by picking up a magnetic field generated by a cable (7) which is embedded underground so as to supply power to supply points on the vehicle. The audible and visual alarm device (5) and the anti-collision device (3) are arranged on the vehicle body. The rail-bound heavy-load carrier vehicle adopting the non-contact power supply technology can realize cargo transportation under heavy load condition, and provides an effective mode and a remote means of transportation for the heavy load transportation.

A changeable type extending-retracting transverse-movement reinforcing steel bar trolley comprises a supporting portal frame and a bearing frame arranged on the upper portion of the supporting portalframe. The supporting portal frame comprises vertical supporting structures, a transverse supporting beam, longitudinal supporting beams and walking connection beams. Each vertical supporting structure comprises a stand column and a jacking system. The changeable type extending-retracting transverse-movement reinforcing steel bar trolley is characterized in that the bearing frame is of a multi-layer platform three-dimensional frame type structure and comprises a platform supporting system, a top platform arranged on the top of the platform supporting system and side face extending and retracting platforms hinged to the two sides of the platform supporting system, the top platform is composed of multiple layers of overturning frames capable of extending upwards and a steel cover plate, thetwo ends of each longitudinal walking connection beam are provided with walking mechanisms capable of turning, and each walking mechanism comprises a walking wheel group arranged on a walking rail. After the changeable type extending-retracting transverse-movement reinforcing steel bar trolley extends, the requirement for reinforcing steel bar installation of a large-section tunnel can be met, after installation is completed, the changeable type extending-retracting transverse-movement reinforcing steel bar trolley can pass through a small-section construction channel to transversely move to an adjacent tunnel through retraction of the own structures, and then the changeable type extending-retracting transverse-movement reinforcing steel bar trolley extends and recovers to original dimensions, and reinforcing steel bar installation continues to be conducted; and in this way, autonomous transferring between the tunnels and cyclic utilization are achieved.

The invention provides a robot. The robot comprises a base, a robot body, a support, a moving assembly and a rotating assembly. The robot body is installed on the base and comprises a first robot body and a second robot body, an installing cavity body is arranged on the first robot body in the length direction, and a part of the second robot body is accommodated in the installing cavity body; the support is located in the installing cavity body and is movably connected with the first robot body through the moving assembly, and the second robot body is installed on the support; the moving assembly is arranged in the installing cavity body and is located on the support and the fist robot body for limiting the circumferential freedom degree of the support; and the rotating assembly is located on the support and is connected with the second robot body for driving the second robot body to rotate relative to the first robot body. Because the circumferential freedom degree of the support is limited by the moving assembly, the second robot body is driven by the support to move relative to the first robot body accordingly, meanwhile, the second robot body is driven by the rotating assembly to rotate relative to the first robot body, so that rotating and moving of the second robot body relative to the first robot body are mutually non-interfered, and flexibility of the robot body is improved accordingly.

The invention discloses a series-parallel hybrid robot leg configuration, a walking robot and a motion method thereof, and belongs to the field of robots. The series-parallel hybrid robot leg configuration includes a static platform, a movable platform and a serial-parallel hybrid mechanism; the movable platform includes legs and feet; the legs and the feet are connected through first rotating pairs; first rotating drivers are disposed on the first rotating pairs; the serial-parallel hybrid mechanism includes an active driving branch and two driven driving branches; the active driving branch includes a second rotating driver, a first connecting rod, and a second connecting rod which are successively connected through rotating pairs; the second rotating driver is vertically arranged on oneend of the static platform; a third rotating driver and a fourth rotating driver are arranged on a second rotating pair and a third rotating pair respectively. The series-parallel hybrid robot leg configuration has large movement space, small rotation moment of inertia, flexible movement of the leg mechanisms, can prevent interference, and can realize basic functions such as advancement, turning,obstacle avoidance of the robot, and is suitable for underwater work.

The invention relates to a self-propelled tractable dolly car. The self-propelled tractable dolly car comprises a car frame, two driving devices, a steering device, a hydraulic unit, a power control device and a traction linkage mechanism. The car frame is divided into three areas which are the front area, the middle area and the rear area respectively. A steering axle is transversely installed below the front area of the car frame through the steering device via a center swinging hinge. Two steering tires are installed on the left and right side of the steering axle respectively through hydraulic steering mechanisms. The hydraulic unit is installed in the rear area of the car frame, the power control device is installed in the middle area of the car frame, and a rear traction mechanism is installed on the middle rear side of the rear area of the car frame. Four hydraulic supports are installed at the lower end of the car frame. The self-propelled tractable dolly car has the advantages of being ingenious in design, reasonable and compact in structure, convenient to operate, small in occupied space and powerful in function. The self-propelled tractable dolly car can move freely by means of the driving units and can operate within a small space. As the traction mechanisms are arranged front and back, the self-propelled tractable dolly car can be used for traction; the hydraulic supports are arranged on the periphery of the car frame and can lift the car stably, and stable operation is ensured; a rope tightener is installed at the lower end of the car frame, so that it is guaranteed that the car is firmly fixed during air transportation; the self-propelled tractable dolly car is safe and reliable when used and meets different requirements.

The invention discloses a sweeping robot. The sweeping robot comprises a main machine, a dust collection device and two installation disks, wherein the dust collection device is arranged at the innerpart of the main machine; the two installation disks are arranged under the main machine and are in opposite rotating directions; hollow central shafts are arranged at the central parts of the installation disks; detachable cleaning heads are arranged under the installation disks; each cleaning head comprises an upper cover; dust collection holes matched with a dust collection pipe are formed in the central parts of the upper covers; a plurality of cleaning bodies stretching to a radial direction and protruding downwards are circumferentially arranged under the upper covers at intervals by taking the dust collection holes as centers; the lower surfaces of the cleaning bodies are in contact with a cleaned surface, and the cleaned surface can be swept in a rotating way; a dust collection airduct is formed by space among adjacent cleaning bodies, the corresponding upper cover and the cleaned surface; dirt can be sucked into the dust collection holes through the dust collection air ductsand then can be sucked into the dust collection device through the central shafts. The sweeping robot disclosed by the invention has the characteristics that sweeping, mopping and sucking are integrated, time and labor are saved, and a cleaning effect is good.

The invention provides a combined stand which is easy and convenient to mount and dismount, easy to transport, firm in structure, complete in function and capable of meeting the requirement for moving stands in the modern social activity. The combined stand is characterized in that the front row of the stand is provided with head platforms connected through positioning buckles, positioning buckles A on the front lower edges of second platforms are connected with the positioning buckles B on the back faces of baffles of the head platforms, the front edges of the second platforms are placed on the tops of the baffles of the head platforms, front slopes of the second platforms are connected with back slopes of the head platforms in an inclined mode, and the second platforms are connected through positioning buckles; the whole stand is formed by connecting the layers.

The invention discloses a series-parallel-connection robot leg configuration, a walking robot and a movement method thereof, and belongs to the field of robots. The series-parallel-connection robot leg configuration comprises a base and two series-parallel-connection driving mechanisms; each series-parallel-connection driving mechanism comprises a first connecting rod, a second connecting rod anda third connecting rod, a foot end connecting rod and a fourth connecting rod, wherein the first connecting rod, the second connecting rod, the third connecting rod, the foot end connecting rod and the fourth connecting rod are sequentially connected in series through rotating pairs, and the axes of the rotating pairs between the connecting rods are parallel to each other and are perpendicular tothe axis of the first rotating pair; the second connecting rod, the third connecting rod, the foot end connecting rod and the fourth connecting rod each are correspondingly composed of two parallel branch connecting rods; and the first rotating pair, the second rotating pair and the third rotating pair each are correspondingly provided with a first rotating driver, a second rotating driver and a third rotating driver. According to the series-parallel-connection robot leg configuration, the walking robot and the movement method thereof, the movement space is large, the rotational inertia is small, the leg mechanisms are flexibly moved, interference is avoided, the basic functions of straight moving, turning, obstacle avoidance and the like of the robot are realized, and the series-parallel-connection robot leg configuration, the walking robot and the movement method thereof are suitable for underwater work.

The invention discloses an unconstrained mobile soft-body robot and a driving method thereof. Existing soft-body robots need to carry elements such as hydraulic sources and valve bodies, which increases the weight of the soft-body robots. The unconstrained mobile soft-body robot comprises a front shell, a rear shell and drivers. The front shell and the rear shell are connected through the two drivers arranged side by side. Each driver is formed by stacking M driving units. Each driving unit comprises a positive electrode, a negative electrode and an elastic bag. The positive electrode and thenegative electrode of each driving unit are fixed to the middle portions of the two side faces of the corresponding elastic bag respectively. The elastic bags are filled with liquid dielectric media.By applying voltage to the electrodes in the middle portions of the two sides of the elastic bags, electrostatic maxwellian stress is generated to extrude the middle portions of the two side faces ofthe elastic bags, so that the edges of the elastic bags are expanded, and the technical effect that the drivers stretch is achieved. Due to the driving method, application of extra hydraulic sources and some control valves is avoided, and the volume of the robot is reduced.

The invention discloses an inspection robot for detecting that a transmission line and capable of automatically returning, and relates to the technical field of transmission line detection, in particular the robot body and the placement groove, A Bluetooth adapt is mounted on that surface of the robot body, The output end flange of the first drive motor is connected with a first rotary lever, theoutput end shaft of the first rotary lever is connected with a first runner, a second drive motor is installed on the left side of the inside of the mounting groove, the output end flange of the second drive motor is connected with a second rotary lever, and the output end shaft of the second rotary lever is connected with a second runner. The invention relates to a patrol robot for detecting thatthe transmission line and capable of returning automatically, As the robot body will be impacted by the external objects in the process of working, the collision prevention plate has the effect of anti-collision to the external objects, avoids the impact force of the external objects from directly contacting with the robot body, has the function of shock absorbing and cushioning to the impact force, and can minimize the injury of the robot body and the external objects.