10results about How to "Simple motion control" patented technology

The invention discloses a snake bone joint, a flexible joint assembly, a surgical operation arm and a surgical robot. The snake bone joint comprises two snake bone bases which can rotate based on respective pivots, the two pivots are parallel and have a constant distance, and the snake bone joint further comprises a first limiting structure and a second limiting structure which are arranged between the two snake bone bases. The first limiting structure comprises a first protrusion and a first groove which make contact with each other, the first protrusion is arranged on one snake bone base part, and the first groove is formed in the other snake bone base part. The second limiting structure comprises a second bulge and a second groove which are in contact with each other, the second bulge is arranged on one snake bone base part, and the second groove is arranged on the other snake bone base part; the pivot of one snake bone base is a first pivot, and the vertical distance between the first protrusion and the first pivot is larger than the vertical distance between the second protrusion and the first pivot. Therefore, the snake bone joint has the advantages of being high in bending precision and high in load deformation resistance.

The utility model discloses an obstacle-crossing spherical robot. The obstacle-crossing spherical robot comprises a spherical shell, a driving core frame, a swinging guide framework and a supporting obstacle-crossing mechanism, the spherical shell is composed of an upper hemispherical shell and a lower hemispherical shell which are connected through flange plates on the left side and the right side to form the complete spherical shell. The driving core frame is arranged in the center of the interior of the spherical shell, the driving steering engine and the conductive slip ring are installed on the left side and the right side of the driving core frame respectively, the driving core frame moves, the driving steering engine is connected to the first flange plate through the first coupler, and the conductive slip ring is connected with the second flange plate so as to be fixed in the sphere; the swing guide framework comprises a swing arm, a balancing weight and a tripod, and is connected with the swing steering engine to control the motion direction of the spherical robot; the supporting obstacle crossing mechanism comprises supporting legs, a digital steering engine and a second coupler and controls the spherical robot to cross obstacles. The external structure and the internal structure of the spherical robot are simplified, and the spherical robot has the advantages of being flexible in movement, good in stability and high in controllability.

The invention provides a multi-spiral rigid foldable tubular structure which comprises a plurality of truncated cone units which are connected in the axial direction, and the lengths of adjacent side edges of the truncated cone units in the axial direction are unequal, so that the tubular structure formed by connecting the truncated cone units in the axial direction is spiral. The truncated cone units are provided with adjacent side edges with the same length in the circumferential direction so that the tubular structures of the truncated cone units can be folded in the circumferential direction. The head end of the tubular structure can be closed according to needs, the foldable characteristic of the tubular structure is not affected, the tubular structure can be connected through the side edges in the circumferential direction, the foldable tubular structure with the multiple channels is formed, the foldable tubular structure can be applied to the fields of aerospace, robots, building structures and the like, and the problem that in the foldable tubular structure with the bent axis, the foldable tubular structure cannot be folded easily is solved. The problems that the bent section folding tubular structure is complex in shape and limited in application field exist.

The invention relates to the technical field of automatic food processing and selling equipment, in particular to a stick supplying mechanism, a stick inserting and delivering system and an automatic roast sausage vending machine, the stick supplying mechanism comprises a stick hopper, a base and a stick hopper driving mechanism, the stick hopper is arranged on the base and is in sliding connection with the base, and a stick outlet allowing a single stick to transversely fall out is formed in the bottom of the stick hopper; the base is provided with a caulking groove allowing a single stick to fall into, and in the sliding process of the stick hopper on the base, when the stick outlet passes through the caulking groove, the sticks in the stick hopper can fall into the caulking groove. According to the utility model, the stick bucket is independently driven by the stick bucket driving mechanism to slide back and forth on the base for one time, so that a stick can be automatically supplied in the caulking groove of the base, materials can be conveniently inserted on the stick subsequently, and the work is stable and efficient; the skewer supply mechanism is matched with the material grabbing mechanism, automatic skewer insertion can be carried out on the roasted sausages, manual skewer insertion in advance is not needed, and a series of problems caused by simultaneous heating and roasting of the skewers and the sausages on a grill can be avoided.

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.

The utility model relates to the technical field of metering pumps, and provides a pneumatic rotary valve metering pump which comprises a rotary valve, a metering mechanism, a driving mechanism, a reversing mechanism and an adjusting screw rod. The rotary valve is provided with a feeding port, a discharging port, a material storage cavity and a three-way valve element. The reversing mechanism comprises a reversing piece, a reversing cylinder body, a reversing piston, a reversing valve element and a reversing cavity. According to the pneumatic rotary valve metering pump provided by the utility model, the action that the three-way valve core is alternately communicated with the material inlet, the material outlet and the material storage cavity is linked with the action that gas of the first gas output port and the second gas output port is alternately conveyed to the first driving cavity and the second driving cavity at the same time, so that the suction or pump-out value is more accurate; according to the metering pump, the volume change of the material storage cavity is more accurate, the metering pump is more accurate due to the combination of the metering pump and the material storage cavity, even if gas transmission power is interrupted, materials sucked or pumped out by the metering pump are accurate, the accuracy can be improved, the structure of the metering pump is simpler, and the cost is reduced.

The invention discloses a direct current motor control SIP chip and optical equipment, the SIP chip comprises a control circuit unit, a motor driving circuit unit, a position feedback circuit unit and a state feedback circuit unit, and the control circuit unit is connected with the motor driving circuit unit, the position feedback circuit unit and the state feedback circuit unit; all the circuit units are packaged into a chip through a system level, and direct current motor driving, position feedback and state monitoring are achieved. According to the invention, only one circuit chip is used for realizing the functions of driving, position monitoring and state monitoring of the multi-path direct current motor, accurate and rapid control of the direct current motor can be realized under reasonable programming setting, and motion control in infrared, visible light, ultraviolet and other optical systems is greatly simplified; and the circuit units are packaged together in a system-in-package (SIP) mode, so that the size and the power consumption of the circuit are greatly reduced, and the reliability and the stability of the control circuit are improved.

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.

The utility model relates to the technical field of metering pumps, and provides a pneumatic metering pump which comprises a one-way valve, a metering mechanism, a driving mechanism and a control mechanism. Wherein the one-way valve is provided with a material storage cavity; a metering cylinder body of the metering mechanism is communicated with the material storage cavity, and a metering piston is slidably connected into the metering cylinder body so as to change the size of the material storage cavity; a driving part of the driving mechanism is connected with the metering piston; a driving cylinder body is internally divided into a first driving cavity and a second driving cavity; the control mechanism comprises an electromagnetic valve and an adjusting screw, the electromagnetic valve controls the driving piston to slide back and forth, and the adjusting screw adjusts the stroke of the driving piston. According to the pneumatic metering pump provided by the utility model, the motion control of the metering piston is easier through the electromagnetic valve, the motion of the metering piston can be controlled without more control components, the structure of the metering pump can be simplified, the cost is reduced, and the control precision is high, so that the motion of the metering piston is more accurate, and the precision of the pneumatic metering pump is improved.

The utility model discloses a fruit and vegetable belt buffer conveying device which comprises a front feeding module, an opening and closing fruit separating module, a buffer conveying module, a belt buffer sub-module and a buffer fruit placing module. The front feeding module comprises a front feeding conveying belt for conveying fruits; the opening and closing fruit separating module comprises a shifting plate capable of shifting, and the shifting plate has a first state of distributing fruits on the front feeding conveying belt to the buffering conveying module and a second state of distributing the fruits on the front feeding conveying belt to the buffering sub-module through shifting of the shifting plate; the buffer conveying module comprises a buffer conveying channel, and the buffer conveying channel conveys the fruits to the position below the buffer conveying module; the belt caching sub-module comprises a caching conveying belt connected with the front feeding conveying belt; the buffering fruit placing module is located at the tail end of the belt buffering sub-module and comprises an overturning plate arranged in a damping rotating mode, and when the fruits move to the overturning plate from the buffering conveying belt, the gravity of the fruits drives the overturning plate to overturn, so that the fruits fall to the position below the buffering fruit placing module. The fruit sorting device has the advantages that fruits are cached through the caching conveying belt, and subsequent fruit sorting is facilitated.