55results about How to "Reduce sports shock" patented technology

The invention discloses a wheel-leg hexapod robot with a suspension system. The wheel-leg hexapod robot comprises a machine body and six single leg structures; six single leg mechanisms are uniformly distributed in the circumferential direction of the machine body; each single leg structure comprises a heel joint, a hip joint and a knee joint, wherein each heel joint is connected with the machine body and is driven to rotate around a vertical Z axis through a motor; and each hip joint is connected with the corresponding heel joint through the suspension system. According to the suspension system, the shock-absorbing buffer effect in two directions can be achieved by using only one shock absorber. The hip joints and the knee joints are directly driven through the motor to rotate around a horizontal Y axis, and are connected through thigh structures; each knee joint is connected with the tail end of a shank structure and a wheeled locomotion mechanism is arranged at the tail end of each shank structure; and a foot end buffer mechanism is arranged at the front end of each shank. According to the wheel-leg hexapod robot with the suspension system, the integrity of the internal environment of the machine body in the motion process can be ensured, and meanwhile, the carrying capacity of the robot and the stability of the load in the motion process can be improved.

The invention discloses a two-leg robot leg mechanism based on driving of artificial muscles. The two-leg robot leg mechanism comprises a single-shaft hip joint, thigh rods, a pneumatic artificial muscle driving mechanism, bionic knee joints, crus rods, ankle joint transmission mechanisms and artificial flexible feet, wherein the single-shaft hip joint is connected with the thigh rods, the thigh rods are connected with the bionic knee joints, the bionic knee joints, the crus rods, the ankle joint transmission mechanisms and the artificial flexible feet are sequentially connected, the pneumatic artificial muscle driving mechanism comprises a transverse rod, the transverse rod is perpendicularly fixed in the thigh rods, two pneumatic artificial muscles are arranged in parallel, one ends of the two pneumatic artificial muscles are fixedly connected with the transverse rod, the other ends of the two pneumatic artificial muscles are connected to each other through a chain, the chain is connected with a driving shaft of the bionic knee joints through a chain wheel, and driving is achieved through opposite pulling of the pair of pneumatic muscles. The two-leg robot leg mechanism has the advantages of being natural in walking gait, high in adaptability to road conditions, small in motion impact, high in walking speed, small in energy consumption, capable of achieving flexible motion of joints, simple in structure and delicate in design.

The invention discloses a precise control method of a linear motion module. A motion control method based on S-shaped speed curve planning and synchronous planning of parabolic functions is adopted to precisely control the linear motion module; an acceleration maximum value and a speed maximum value of each motion shaft of a truss manipulator are input; an initial pose and a target pose of the truss manipulator are given to obtain a displacement variation of each motion shaft of the manipulator; time function nodes of each motion shaft are calculated; longest time nodes are selected as unified planning nodes to calculate actual maximum speed and maximum acceleration of each motion shaft; displacement, speed and acceleration functions at an acceleration phase, a deceleration phase and a constant-speed phase are respectively calculated according to the actual maximum speed and the maximum acceleration of each motion shaft; and the displacement of each motion shaft or discrete points on speed curves are output. The method can prevent the manipulator vibration or noise problem caused by sudden change of the speed or the acceleration, guarantees the motor motion precision, and can control the motion trajectory.

The invention discloses a rope-driving elbow-wrist rehabilitation robot. The rope-driving elbow-wrist rehabilitation robot is characterized by comprising a moving supporting system, a driving system, a large-arm supporting system, an elbow training system, a small-arm supporting system and a wrist training system; both the driving system and the large-arm supporting system are installed on the moving supporting system; the large-arm supporting system is connected with the small-arm supporting system through the elbow training system; the wrist training system is installed on the small-arm supporting system. According to the rope-driving elbow-wrist rehabilitation robot, elbow-wrist-injured patients are subjected to all-around rehabilitation training, and rotating of three freedom degrees of medial rotation/lateral rotation, internal bending/extending and adduction/abduction of the wrist joints and rotating of a freedom degree of buckling/extending of the elbow joints can be achieved. Single-freedom-degree training can be carried out, multiple-freedom-degree cooperative training can also be carried out, the requirements of comfortable performance, the safety and the flexibility and elasticity of the patients are met, and meanwhile the rope-driving elbow-wrist rehabilitation robot has the advantages of being light in weight, good in continuity and small in movement impact.

The invention relates to a motor vehicle door which is fitted with a motor vehicle door lock (5) and an associated locking bolt (3) and with a stop device (6, 7) with corresponding damping elements (8). Said stop device (6, 7) interacts, at least when the locking bolt (3) engages in the motor vehicle door lock (5), with the relevant locking bolt (3) for damping the movements thereof. According to the invention, said stop device (8, 7) is fitted with at least one deflection lever (8) and a transmission lever (7). In this respect, the deflection lever (6) interacting with the locking bolt (3) is designed to at least partially absorb the movement of the locking bolt (3).

The embodiment of the invention provides a fast-response point-to-point S-shaped velocity planning method. The method comprises the steps that S1 if user parameter adjustment occurs at a stop or uniform velocity phase, S1.1 the time required for each phase is iteratively calculated to minimize the sum, and the step S3 is carried out; S2 if user parameter adjustment occurs at a non-uniform velocityphase, S2.1 current speed curve back-up is carried out, and then two types of trials are carried out in order; S2.2 modified user parameters are used to reversely virtualize an inverted virtual speedcurve; S2.3 a forward virtual speed curve is forwardly virtualized; S2.4 if the trials fail, the backup is restored to wait for trials at the time of next parameter change, and the step S2.1 is carried out again; and S3 according to the planned speed curve, a pulse value is output. The method provided by the invention has the advantages of small overall movement shock, small vibration and improved overall efficiency.

A space folding and extending mechanism with double cylinders as extensible units comprises an octagonal support base, three-degree-of-freedom hinges, bevel-edge rods, first gaskets, the first air-pressure cylinders, second gaskets and the second air-pressure cylinders. The octagonal support base is fixedly connected with the three-degree-of-freedom hinges, and the bevel-edge rods, the air-pressure cylinders and the gaskets are connected through revolute pairs. Under the conditions of vibration, collision and the like in the movement process of the mechanism, the gaskets can play a damping role, so that motion shock on the mechanism is low; the mechanism has a high structural symmetry so that different large-scale space folding and extending mechanism bodies can be formed by arranging theextensible units; the space folding and extending mechanism can be used in a space station, a communication satellite platform, a space telescope and other space missions, and has the advantages of being wide in application range and high in practicability.

The invention discloses a lifting slewer, which comprises a cart running system for running along a guide rail, a trolley running system running on the cart running system, a supporting frame arranged on the trolley running system, and a lifting and turning device arranged on the supporting frame. In the lifting and turning device, a slewing mechanism is connected with the supporting frame through a lifting mechanism; the lifting mechanism is used for making the slewing mechanism lift along the supporting frame; the lower end of the slewing mechanism is provided with a pitching device for making a device thereon do pitching motion; the slewing mechanism is used for driving the pitching device to turn. By the structure, an ultrasonic transducer arranged on the lifting slewer can be automatically controlled to be located at any position of a pool in the travel of the lifting slewer, the ultrasonic transducer is positioned in any height in the lifting travel of the lifting and turning device and positioned at any rotation angle through the lifting and turning device on the lifting slewer, and the ultrasonic transducer is positioned at any pitching angle through the pitching device on the lifting slewer, so that a testing dead angle is avoided.

The invention relates to a cross seal clamping mechanism. A support frame is arranged, and a sliding rail mechanism is arranged on the support frame, so that movable installation of two clamping plates is realized; then an oscillating bar mechanism is arranged, so that reverse linkage of the two clamping plates is realized, the two clamping plates are driven by one driving part in a linkage mode, and a clamped part is clamped or released; the two clamping plates can be heat sealing plates, so that heat sealing of a packaging bag is realized; and the two clamping plates can also be conventional pressing plates so as to be matched with a sealing mechanism to seal the packaging bag. The cross seal clamping mechanism has the advantages of high operation precision, simple structure and less movement impact, so that the problem of bad sealing effect of an existing sealing device or clamping device is solved.

The invention discloses a folding and unfolding mechanism with two slider and spring combined and restricted telescopic rods. The folding and unfolding mechanism comprises an octagonal support, three-degree-of-freedom hinges and foldable units, wherein the octagonal support is fixedly connected with the three-degree-of-freedom hinges; the foldable unit comprises an inclined side rod, a first gasket, two slider and spring combined and restricted telescopic rods and a second gasket; the octagonal support is connected with the foldable units through the three-degree-of-freedom hinges; and the inclined side rod, the slider and spring combined and restricted telescopic rods and the gaskets are connected through revolute pairs. Through folding twice, the space folding of the mechanism can be realized, and the folding ratio is large; and moreover, the mechanism has the characteristics of light weight, high precision, high rigidity and high strength, can be applied to the fields of space exploration, earth observation and mobile communication, and is extremely high in adaptability and practicability.

The invention discloses a valve mechanism for an engine and a vehicle comprising the valve mechanism. The valve mechanism comprises a valve mechanism body, a rocker component, a first roller, a second roller, a camshaft, supporting structures, a phase adjusting mechanism, and a third roller or limit pins. The bottom of the rocker component is provided with a drive molded surface which is suitable for directly driving a valve to move. The first roller and the second roller both can be arranged on the rocker component in a pivoting mode. The camshaft comprises an inner shaft and an outer shaft, the inner shaft and the outer shaft are coaxially arranged and provided with an inner shaft cam and an outer shaft cam respectively, and the inner shaft cam and the outer shaft cam can rotate along the corresponding shafts respectively. The outer shaft cam abuts against the first roller, the inner shaft cam abuts against the second roller, the supporting structures are arranged on the two sides of the rocker component and provided with circular arc cambers or sliding grooves, the third roller can be attached to the circular arc cambers in a rolling mode, and the limit pins can be matched in the sliding grooves in a sliding mode. The valve mechanism can achieve secondary opening of the valve, can lengthen the opening lasting time of the valve, and is simple in structure, and low in influence on the height of the engine.

The invention discloses automatic production equipment and a production method for environment-friendly paper straws in the technical field of straw production. The automatic production equipment comprises a straw body production mechanism, a mounting platform, a segmenting mechanism and a cutting mechanism, the pipe body production mechanism is fixedly arranged on the left side of the upper end of the mounting platform, the segmentation mechanism is fixedly arranged on the right side of the upper end of the mounting platform, and the cutting mechanism is arranged on the right side of the mounting platform; the pipe body production mechanism is used for producing pipe bodies and conveying the pipe bodies rightwards, the segmenting mechanism is used for rapidly segmenting the pipe bodies in the mode that a cutter rotates in the pipe body conveying direction, and the cutting mechanism is used for aligning straw segments and cutting the straw segments into straw segments; and the movement impact on a transmission structure in the sectioning mechanism is reduced, the loss of the sectioning mechanism is reduced, the service life of equipment is prolonged, meanwhile, the working process of manual transfer and arrangement after straw sections are formed is omitted, and the working efficiency of the equipment is further improved.

The invention discloses a vehicle articulated mechanism, an articulated vehicle and a steering control method of the articulated vehicle. Steering control is achieved through the articulated mechanism. In the hinging mechanism, transverse oil cylinders are correspondingly installed on a front vehicle body and a rear vehicle body of the vehicle in pairs, each group of transverse oil cylinders are arranged in a bilateral symmetry mode, one ends of the transverse oil cylinders are fixed to the vehicle bodies, the other ends of the transverse oil cylinders are connected with movable hinging supports, and the movable hinging supports are driven to do horizontal reciprocating motion along linear sliding ways. Left-right symmetrical arrangement of two steering oil cylinders is realized. One ends of the two steering oil cylinders are hinged to the movable hinged support correspondingly connected with one side of one group of transverse oil cylinders, and the other ends of the two steering oil cylinders are hinged to the movable hinged support correspondingly connected with the same side of the other group of transverse oil cylinders; two pitching oil cylinders are arranged in a left-right symmetric mode; the two ends of the two pitching oil cylinders are connected with the front vehicle body and the rear vehicle body through fixed hinge supports respectively. According to the invention, various forms of steering of the special vehicle on an unstructured road can be realized, and the steering flexibility of the hinged special vehicle is effectively improved.

The invention discloses a plastic pipe mould cooling device capable of carrying out continuous circulating operation. The plastic pipe mould cooling device capable of carrying out continuous circulating operation comprises at least two plastic pipe moulds, wherein each plastic pipe mould comprises at least two mould bodies which carry out circulating operation along annular rails, the mould bodies on the plastic pipe moulds are correspondingly arranged in a one-to-one mode, a cooling water cavity is arranged inside each mould body, and each cooling water cavity is communicated with a cooling water movement pipeline. Due to the fact that water inlets and water outlets of the plastic pipe moulds are connected with cooling water circulating pipelines in a one-to-one mode through water feeding pipelines and water discharging pipelines, a cooling water circulating channel is a totally-closed pipeline, leakage cannot easily happen, and the fault rate is low; due to the fact that operation of the cooling water feeding pipelines, the cooling water discharging pipelines and operation of rotation pipeline converters are in continuous same-direction movement, movement impact is low, and the service life is long; due to the fact that a drive system is in gear drive and chain wheel and chain drive, the drive ratio is constant, the same power source is used by the drive system and is used for drive of the plastic pipe moulds, and elimination of malfunctions is ensured. The plastic pipe mould cooling device capable of carrying out continuous circulating operation has the advantages of being high in cooling efficiency, stable and reliable in operation, and capable of carrying out high-speed and high-efficiency operation.

The invention relates to a soft light sports sock. The soft light sports sock comprises an upper sock leg (1), an instep (2) and a sole (3), wherein the instep (2) and the sole (3) are rolled inwards from up to down so as to form a main body, the main body is of a cylindrical structure, the upper sock leg (1) is located on the left side of the main body, and forms an L-shaped structure with the main body, a heel (4) is arranged between the upper sock leg (1) and the main body, the upper sock leg (1), the main body and the heel (4) are connected with one another so as to form a hollow cylindrical structure, a rib collar (5) is arranged at one end of the hollow cylindrical structure, the other end of the hollow cylindrical structure is provided with a sock toe (6) which forms a closing structure with the rib collar (5), and a soft layer (7) wraps the sock toe (6). The soft light sports sock effectively protects toes, effectively reduces sports impact, and reduces friction.

The invention discloses a safety device utilizing energy consumption brake to realize overspeed protection of a rotary table. The safety device utilizing energy consumption brake to realize overspeed protection of a rotary table includes a control system, wherein the control system includes a frequency-voltage conversion circuit, a PLC controller, a brake interlock circuit, a driver, a motor and a position sensor; an output end of the driver is electrically connected with an input end of the brake interlock circuit; an output end of the brake interlock circuit is electrically connected with an input end of the motor; and an output end of the motor is electrically connected with an input end of the position sensor. The safety device utilizing energy consumption brake to realize overspeed protection of a rotary table utilizes the PLC controller to realize overspeed determination, and starts energy consumption brake interlock motion, wherein the energy consumption brake interlock mechanism utilizes a direct current or alternating current motor reversible principle to convert the energy of motion parts into thermal energy through power generation capability of the motor so as to enable a motion shaft to automatically stop to protect the rotary table and the load of the rotary table. The safety device utilizing energy consumption brake to realize overspeed protection of a rotary table is quick and reliable in movement, and can obviously reduce the braking distance, wherein the braking distance can be quantified.

The invention discloses a spool of an electrohydraulic reversing valve, which comprises a connection structure, a plurality of buffer structures located at one end of the connection structure, and a spool working section arranged between the buffer structures; the connection structure includes a spool screw, a spool screw It is located at one end of the spool of the electro-hydraulic reversing valve; the buffer structure includes a pressure buffer section 1 and a pressure buffer section 2; By improving the original structure of the hydraulic reversing valve, the invention has the advantages of automatic operation, small frictional resistance and small movement impact, and has broad development and application prospects.

The invention provides an oscillating rotor type expansion compressor which comprises a shell. An expansion cylinder, a compression cylinder and a motor are arranged in the shell from bottom to top insequence. An expansion eccentric wheel is arranged in the expansion cylinder. A compression eccentric wheel is arranged in the compression cylinder. The expansion eccentric wheel, the compression eccentric wheel and the motor are all fixedly connected with a main shaft which is axially arranged in the shell. According to the oscillating rotor type expansion compressor provided by the invention, expansion work in the throttling process is recovered, and the loss of refrigeration capacity is reduced; and furthermore, frictional loss, moving impact, vibration and noise caused by mechanical moving parts are reduced.

The invention discloses a knee joint prosthesis. The knee joint prosthesis comprises a femur part anchored on a femur, a tibia part anchored on the femur part and a tibia liner located between the femur part and the tibia part. The femur part comprises an inner condyle and an outer condyle. A spherical projection is arranged between the inner condyle and the outer condyle. The tibia liner comprises an inner condyle motion track, an outer condyle motion track and a spherical projection motion track located between the inner condyle motion track and the outer condyle motion track. The end part of the spherical projection motion track is equipped with a limiting part tangent to the spherical projection motion track. The limiting part is located on the tibia liner. When the knee joint prosthesis performs high flexing motion, the contact area between the femur part and the tibia liner is increased. The motion impact of the femur part and the tibia liner is reduced. Smoothness and reliability of motion of the knee joint prosthesis are enhanced so that service lifetime of the knee joint prosthesis is prolonged.