1610results about How to "Small inertia" patented technology

The invention discloses an exoskeleton type upper limb rehabilitation training robot, which includes a base, two mechanical arm assemblies and six motor drive assemblies; the base includes a mobile base, an electrical box, an electric lifting column, a base platform, Motor mounting angle bracket, base rotating motor, coupling, base main bearing seat, base ball screw nut assembly, base nut seat, base common sub-bearing seat, right bracket, base linear guide assembly and left Bracket; the mechanical arm assembly includes a mechanical shoulder belt assembly, a mechanical shoulder joint assembly, a mechanical elbow joint assembly, a mechanical forearm assembly, a mechanical wrist joint assembly, and a mechanical hand assembly; the motor drive assembly includes a motor and a deceleration assembly, a torque sensor assembly and The transmission assembly, the motor and deceleration assembly, the torque sensor assembly and the transmission assembly are all mounted on the same motor-driven base frame. The invention can be worn on the upper limbs of the human body, and can be used to assist the upper limbs of the human body to move in three-dimensional space and carry out rehabilitation training.

A two-freedom robot mechanism with 2D translation and planar parallel connection is composed of a static plat form, a dynamic platform, and 4 branches including 2 active branches and 2 passive branches for linking dynamic platform with static platform. Said active branch consists of a drive arm and a driven arm.

The invention discloses a flexible micro-positioning stage with two degrees of freedom, the design of the flexible micro-positioning stage with two degrees of freedom comprises a flexible mechanism and an integral structure, two piezoelectric ceramic drivers are adopted in the structure, the tail part of each driver is connected with a base through a bolt, and the top end of each driver is connected with a spherical joint through a thread, thereby realizing Hertz contact. The flexible mechanism of the positioning stage mainly comprises three parts of the base, flexible branched chains with entirely consistent structures and a supporting movable platform thereof. Two displacement sensors are used for measuring actual output of the movable platform and respectively fixed between the base and the movable platform through an L-shaped support and a Z-shaped support. The flexible micro-positioning stage is characterized by high resolution and fast dynamic response speed, and can be taken as an auxiliary positioning platform of a nano-imprint lithography positioning system for realizing micro-feeding and precise positioning.

The invention discloses a three dimensional force feedback main operator used for assisting a minimally invasive surgery robot. A base mechanism comprises a base and an upright post, wherein, a fan-shaped bottom plate is arranged on the top surface of the upright post; a four-bar mechanism comprises an arc support arranged on an arc bottom plate and a parallelogram mechanism formed by an upper near rod, a lower near rod, an upper distant rod and a lower distant rod; a wrist mechanism comprises a wrist body, a fifth projecting shaft is arranged at the upper part of the wrist body, one end of a knuckle is sheathed on the fifth projecting shaft, the other end of the knuckle is sheathed on a sixth projecting shaft arranged on a handle base by a bearing; two handle shafts are connected to the handle base by the bearing, the two handle shafts are engaged together by a gear, and a handle is stuck on each handle shaft. In the device of the invention, rotating centres of three rotational freedom of the wrist mechanism intersect at one point, and the working point is arranged at the intersection; the design eliminates pose compensation when the pose is adjusted and can realize six-shaft linkage.

A packaging system utilizes two sides of a loading carousel, which reduces both the height and footprint of the packaging system. Mass and inertia are also reduced, allowing higher operational speeds. The loading carousel receives opened cartons on a first side and lowers them over product groups on a second side.

The invention relates to dynamic loading methods based on a servo motor, belonging to the field of motors and solving the problem that the properties of a direct-current motor can not satisfy the requirements of an electric loading system. The first method comprises the following steps of: transmitting a driving torque instruction value and an initial braking torque instruction value by utilizing a system controller according to the given loading spectrum to drive a measured motor to rotate; meanwhile, driving a loading motor to generate a braking torque for loading the measured motor; and then, feeding back the actual output torque value applied to the measured motor by the loading motor through adopting a torque/rotary speed sensor, and regulating the braking torque instruction value by utilizing the system controller according to a deviation so that the actual output torque value applied to the measured motor by the loading motor rapidly tracks the initial braking torque instruction value. The second method of the invention comprises the following steps of: calibrating the input and output torque relation curve of the loading motor by using the torque/rotary speed sensor, and then transmitting the driving torque instruction value and the braking torque instruction by using the system controller according to the given loading spectrum and the relation curve to load the measured motor.

The invention discloses a dual-head 3D printer capable of rotatably switching printing heads. The dual-head 3D printer is characterized by comprising a fixing plate, an installation plate which is arranged on the fixing plate, a first printing head and a second printing head, wherein the first printing head and the second printing head are installed on the installation plate in parallel; the fixing plate is provided with a fixed rotating shaft, and the installation plate is connected to the fixed rotating shaft in a way of rotating around the axis of the fixed rotating shaft; the first printing head is arranged below the fixed rotating shaft to the left side, and the second printing head is arranged below the fixed rotating shaft to the right side; and the dual-head 3D printer also comprises a drive mechanism for driving the installation plate to rotate along the fixed rotating shaft. The installation plate is driven by the drive mechanism to rotate, so that the structure that the heights of the two printing heads can be adjusted up and down relatively in the vertical direction, the working printing head is always maintained at a relatively low position, and the non-working printing head is maintained at a relatively high position; thus, the non-working printing head does not influence the surface of a molded workpiece, and the printing quality is improved.

The invention discloses a two-degree of freedom precise positioning work table, which comprises a base, a moving platform, a rigid support which is connected with the bottom of the base, and four flexible branched chains which are connected between the moving platform and the base, wherein each flexible branched chain comprises a moving block and three groups of flexible plate spring structures; each flexible plate spring structure consists of two '-'-shaped flexible plate springs; a first group and a second group of the flexible plate spring structures are respectively positioned at the left side and the right side of the moving block; the lower ends of the two '-'-shaped flexible plate springs of a third group of the flexible plate spring structures are connected with the side wall of the upper end of the moving block, and the upper ends thereof are connected with the side wall of the moving platform; four piezoelectric ceramics driving devices are respectively horizontally arranged; a ball-shaped joint of each driving device is supported on the side wall of the lower end of the moving block; and conducting strips of two position sensors are respectively connected with the upper plane of the rigid support and the lower plane of the moving platform. The positioning work table can be taken as an auxiliary positioning platform of a nanometer embossing photoetching positioning system to realize the microscale feeding and the precise positioning.

The invention relates to a rotary wing type unmanned aerial vehicle for spraying pesticides. The rotary wing type unmanned aerial vehicle comprises a vehicle body with a rotary wing component, wherein a plurality of pesticide boxes and a pesticide spraying device connected with the pesticide boxes are further mounted on the vehicle body; all the pesticide boxes are flatly arranged and the whole horizontal gravity center coincides with the horizontal gravity center of the vehicle body. According to the rotary wing type unmanned aerial vehicle for spraying pesticides disclosed by the invention, a large pesticide box is divided into a plurality of small pesticide boxes with the same size, so that the inertia of pesticide liquid inside a single pesticide box can be reduced, the horizontal center-of-gravity shift generated by the liquid inside each pesticide box is relatively small under the condition that the aerial vehicle suddenly stops, the overall horizontal center-of-gravity shift is greatly smaller than that under the condition that the single pesticide box is filled with the pesticide liquid, and thus the problem that flight control cannot correct out-of-control falling caused by too large horizontal center-of-gravity shift and too large dip angle of the vehicle body is avoided.

The invention provides an electric monocycle which is provided with a frame, a main wheel, a pressure sensor, a gyroscope and a central processing unit. The electric monocycle is characterized in that a speedometer and two sets of balancing devices are further included, and the speedometer is connected with the main wheel and the central processing unit and used for detecting monocycle speed information and transmitting the monocycle speed information to the central processing unit; the balancing devices are symmetrically arranged on the two sides of the frame, and comprise telescopic components and auxiliary wheels, the telescopic components are connected with the central processing unit and can be lengthened or shortened, the auxiliary wheels are connected with one ends of the telescopic components, and when the central processing unit judges that the monocycle speed is larger than a high monocycle speed threshold value, the central processing unit sends a shortening instruction to the telescopic components, the telescopic components are shortened to the minimum according to the shortening instruction, and the auxiliary wheels are made to be away from the ground; when the central processing unit judges that the monocycle speed is smaller than a low monocycle speed threshold value, the central processing unit sends a lengthening instruction to the telescopic components, the telescopic components are lengthened, and the auxiliary wheels and the main wheel are on the ground. According to the technical scheme, the electric monocycle is high safety performance, high in adaptability to road conditions, not likely to fall off and suitable for being used by various people.

The invention provides a redundant controlled micro underwater robot and a fault diagnosis and fault-tolerant control method. A shell has a streamline shape spliced by a lower shell, an upper front shell and an upper back shell; an inclination compass cabin, a depth gauge, a battery tank, a Doppler speed meter, an electronic cabin, horizontal propeller impellers and a turning rise-sink control actuator are arranged inside the shell from the front to the back; and the depth gauge, the battery tank and the Doppler speed meter are arranged in parallel and positioned at the back of the inclination compass cabin together, the turning rise-sink control actuator is positioned in the middle of two horizontal propeller impellers, and the two horizontal propeller impellers and the turning rise-sink control actuator are arranged transversely in parallel and positioned at the tail of the underwater robot together. The robot and the method have the characteristics of high intellectualization degree, strong fault-tolerant capability, good safety, flexile motion, and convenient structural adjustment.

The invention discloses a short-stroke crankshaft connecting rod device for a tricot machine. The invention comprises eccentric shafts, a first shaft journal (4), a second shaft journal (5), a central wall plate (7), a grooved needle bed connected with a first eccentric shaft (1), a yarn guide needle bed crankshaft connecting rod mechanism, a stylet bed crankshaft connecting rod mechanism connected with a second eccentric shaft (2), and a sinker bed crankshaft connecting rod mechanism connected with a third eccentric shaft (3). The first shaft journal (4) and the second shaft journal (5) are respectively and fixedly connected with the end parts of the second eccentric shaft (2) and the third eccentric shaft (3). The second eccentric shaft (2), the first eccentric shaft (1) and the third eccentric shaft (3) are connected with each other in turn and are rotated around the first and second shaft journals (4, 5). The short-stroke crankshaft connecting rod device effectively shortens the motion stroke of weaving elements; the grooved needle travel is between 8 and 12 millimeters; the moving time of yarn guide needles is between 1.5 and 1.8 microseconds; the engine speed is improved to be 2500 to 3000 turns per minute; the noise is less than or equal to 85 decibels; the vibration is small; the energy consumption is low; the device is suitable for high-speed rotation; the power is small; and the productivity is obviously improved.

The invention discloses a six-degree-of-freedom parallel micro platform which comprises a fixed platform body and a movable platform body. The lower surface of the movable platform body is evenly provided with three sets of fixing bearing bases, and each fixing bearing base is connected with the fixed platform body downwards in a transmission mode through two branch chains, namely, the three sets of the bearing bases and six branch chains are arranged between the fixed platform body and the movable platform body. According to the six-degree-of-freedom parallel micro platform, the fixed platform body is fixed to the installation end face at the tail end of a macro robot through a micro platform installation hole, a tail end actuator is fixed to the movable platform body through a gripper installation hole in the movable platform body, the size is small, the weight is low, rigidity and precision are high, six-degree-of-freedom precise trimming of space postures of a workpiece in the assembly process is achieved, and the aim of precise assembly is achieved.

The invention discloses a vertical-shaft windmill with one arm and a plurality of vanes, and the windmill comprises wind vanes, a wind vane rotary shaft, a windmill rotary shaft, a vane arm and a wind vane swing spacing mechanism, wherein, the wind vane swing spacing mechanism is composed of a chock block and a swing angle spacing block; one end of the vane arm is connected to the windmill rotary shaft, and the other end extends outwards by suspending the arm radially with the windmill rotary shaft as the center of a circle; each vane arm is provided with two or more wind vanes; each wind vane is hinged on the vane arm by the wind vane rotary shaft vertically connected to the vane arm, and the swing angel of each wind vane is limited by the wind vane swing spacing mechanism. The windmill of the invention uses a plurality of small-sized wind vanes to substitute a large-size wind vane with one arm and single vane, can utilize wind energy better, and can improve the efficiency of the windmill.

The invention discloses a rigid-flexible coupled trunk-shaped continuous robot, and relates to the technical fields of robots and advanced manufacturing. The robot comprises a control box and a group of joints which are mounted on one side of the control box, have completely the same structure and are connected end to end, wherein each joint comprises a movable platform, a fixed platform, and a supporting rod and three driving ropes which connect the movable platform and the fixed platform; one end of the supporting rod is fixedly connected with the fixed platform vertically, and the other end of the supporting rod is connected with the movable platform through a ball pair; one ends of the three driving ropes are fixedly connected with three endpoints of the movable platform respectively, and the other ends of the three driving ropes penetrate through three endpoints of the fixed platform to be connected with the ropes in the control box; and the ropes are connected with a motor through a speed reducer. According to the rigid-flexible coupled trunk-shaped continuous robot, working platforms of each joint can achieve motion output of three-dimensional rotation under a cartesian coordinate system; and the motion output of each movable platform is achieved through transmission of the rigid supporting rod and the three driving ropes, so that the rigid-flexible coupled motion characteristic is achieved.

The invention relates to a precise two-dimensional motion occasion, can be used for precise displacement compensation of a general X-Y motion platform and particularly relates to a stiffness frequency adjustable two-dimensional micro-motion platform based on a stress stiffening principle. The stiffness frequency adjustable two-dimensional micro-motion platform based on the stress stiffening principle comprises X-direction and Y-direction motion sub-platforms, corresponding drivers and a micro-motion working platform, utilizes a film group for adjusting tensile force through screws as a flexible chain and achieves independent adjustment of vibrating frequency. By adopting the structure, the stiffness frequency adjustable two-dimensional micro-motion platform is based on prestress films, is adjustable in frequency and can adjust the inherent frequency of the micro-motion platform according to different working conditions and driving frequencies before working or in the working process, two feeding motion directions are orthogonal, and coupling of the micro-motion working table during two-dimensional motion is avoided.

The invention discloses a movable five-axis robot and belongs to the technical field of application of industrial robots. The robot comprises a fixing base, guide rails, sliding blocks, a trochoidal rack, a roller, a robot mounting base, a tail-end mounting seat, a first driving device, a second driving device, a third driving device, a fourth driving device, a fifth driving device, a first branch chain, a second branch chain and a third branch chain, wherein the first branch chain comprises a large arm and a front arm; the second branch chain comprises a small arm, a small arm pull rod and a front arm; and the third branch chain comprises a rear arm, a first attitude holding rod, a triangular connecting frame and a second attitude holding rod. Through adoption of a transmission device composed of the trochoidal rack and roller pins, the robot is applicable to occasions where the robot is required to move; different types of grippers can be mounted at the tail end of the robot so as to finish gripping of different types of objects; and besides, the robot is simple in structure, high in rigidity and stability, simple to manufacture, convenient to mount and debug and low in mechanism manufacturing cost.

The invention relates to an SCR catalyst crystallization detection method, a detection device and a clearing device, and relates to the technical field of engine after-treatment control. Real-time acquisition and accumulation of the actual intake air volume of an intake and exhaust system and the pre-calibrated intake air volume in an uncrystallized state are carried out, the crystallization stateof an SCR catalyst can be recognized according to an intake air volume deviation value calculated according to the actual intake air volume total value and the pre-calibrated intake air volume totalvalue, and when it is detected that the SCR catalyst has a light crystallization fault, an exhaust temperature management unit can be used for adjusting own control parameters of an engine to roughlyremove crystals, and when it is detected that the SCR catalyst has the severe crystallization fault, the crystals can be thoroughly removed through a DPF active regeneration unit, so that the crystallization fault in the SCR catalyst can be effectively recognized, and different removing measures can be taken for crystallization states of different degrees to prevent the SCR catalyst from being subjected to severe influence caused by crystallization.

The invention discloses a field programmable gate array (FPGA)-based temperature control and temperature compensation circuit device for a silicon microgyroscope. The FPGA-based temperature control and temperature compensation circuit device comprises a microgyroscope integrated with a miniature heater and a temperature sensor, an interface circuit and an FPGA processing circuit; a temperature control loop, a drive control loop and a detection control loop are formed by mutual connection. The chip-level temperature control and temperature compensation of the silicon microgyroscope are achieved by using the temperature sensor and the miniature heater integrated inside the microgyroscope. The FPGA-based temperature control and temperature compensation circuit device has the advantages of high sensitivity, good repeatability, small inertia, high reliability of temperature information, small power consumption, high control accuracy and the like, the effect of temperature drift of an analogue circuit is reduced by an FPGA-based digital temperature control and temperature compensation platform, meanwhile, a digitalized platform is flexible to adjust parameters, and strong in function, kinds of complicated temperature control and temperature compensation algorithms can be flexibly achieved, and optimization of the performance of the system is facilitated.