2results about How to "Simple motion control" patented technology

This application provides a beverage device, relating to the field of beverage equipment technology. The beverage device includes a frame, a brewing assembly, a liquid injection pipe, and a scraping assembly. The brewing assembly is mounted on the frame and includes a brewing chamber and a liquid injection hole, with the liquid injection hole communicating with the brewing chamber. The liquid injection pipe is located outside the brewing assembly, opposite to the liquid injection hole, and is movably connected to the frame. The scraping assembly includes a scraping rod and a transmission linkage. The scraping rod is located at the top of the brewing assembly and is used to push the extracted residue at the top of the brewing assembly out of the brewing assembly during rotation. One end of the transmission linkage is fixedly connected to the scraping rod, and the other end is drivenly connected to the liquid injection pipe. The transmission linkage is used to drive the scraping rod to rotate during rotation and to drive the liquid injection pipe to insert or remove from the brewing assembly, thereby connecting or separating the liquid injection pipe from the liquid injection hole. This beverage device has a simple structure, is easy to assemble, and has low cost.

This invention discloses a miniature bidirectional crawling robot based on vibration mode control, comprising a support frame, a drive device, and a power system. The power system consists of an elastic element, a flexible four-bar linkage, and crawling feet. One end of the elastic element is fixed to the support frame, and the other end is connected to the flexible four-bar linkage. The other end of the flexible four-bar linkage is fixed, with the crawling feet connected in its middle section. The elastic element can generate different vibration modes under different frequency excitations. The drive device can drive the elastic element to undergo forced vibration, which in turn drives the crawling feet relative to the ground through the flexible four-bar linkage to achieve bidirectional crawling. When the power system is in first-order vibration, the robot crawls forward; when the power system is in second-order vibration, the robot crawls backward. Thus, by changing the vibration mode of the elastic element, the robot can be controlled to achieve bidirectional crawling motion. This invention has a simple structure, high reliability, convenient bidirectional motion control, great miniaturization potential, and fast crawling speed.