1782results about How to "Small moment of inertia" patented technology

The invention relates to an upper limb rehabilitation training robot which comprises a first joint, a second joint, a third joint, a fourth joint and a fifth joint; the five joints are sequentially connected serially; the movement of all the joints respectively corresponds to the unfolding/folding of shoulder joints, the bending/extension of the shoulder joints, the bending/extension of elbow joints, the internal rotation/external turning of forearms, the bending/extension of wrist joints and the bending/extension of fingers; all the joints of the robot are driven by independent motors; each joint is provided with a mechanical hard limit and an electric limit to protect the training of a patient; and the second joint and the fourth joint are respectively provided with a adjustment device capable of adjusting relative positions between the second joint and the third joint and between the third joint and the fifth joint. The upper limb rehabilitation training robot provides various rehabilitation movement for the turning of the shoulders, elbows and forearms as well as the wrist and finger joints of the upper limbs of the patient in a three-dimensional space, and can complete the upper limb rehabilitation training to the upper limbs of the patient with higher quality.

A micro-oscillation element includes an oscillation section and a frame. The oscillation section is provided with a mirror surface and is connected to the frame via trapezoidal first and second springs. The oscillation section is located between the first spring and the second spring. Each of the first spring and the second spring is deformable along with the oscillation of the oscillation section.

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 relates to a controllable stacking robot, which comprises a large arm swinging branched chain, a small arm swinging branched chain, a gesture maintaining branched chain, a tail end actuator and a machine frame. The robot completes the tasks of transporting and stacking on a space as well as flexible and changeable trajectory output according to the combined movement of the large arm swinging branched chain and the small arm swinging branched arm. During a working process, according to two groups of parallelogram structures of the gesture maintaining branched chain, the tail end actuator can be guaranteed to maintain in a horizontal state all the time, all servo motors are arranged on the machine frame, rod pieces can be made into light rods, the robot has small movement inertia and excellent dynamic performance, and can be better satisfied with the requirement of transporting stacks at a high speed. According to the controllable stacking robot, by the adoption of a novel connecting rod mechanism, as a connecting transmission mechanism is simple in structure, the stress of each rod is improved, and the robot is more suitable for manufacturing a large-scale stacking machine.

The invention discloses an RCM mechanism for a mechanical arm of a laparoscopic minimally invasive surgical robot. The RCM mechanism disclosed by the invention comprises a connecting rod I, a connecting rod II, a connecting rod III, a connecting rod IV, a connecting rod V, a connecting rod VI, a linear motion output mechanism I, a linear motion output mechanism II, a rotation output mechanism and surgical instruments, wherein the six connecting rods form double parallelogram mechanisms. According to the RCM mechanism, motions of the surgical instruments including linear displacement freedom degree T, deflection freedom degree P and rotation freedom degree Y are correspondingly realized through the driving actions of the linear motion output mechanism I, the linear motion output mechanism II and the rotation output mechanism respectively; requirements of various freedom degrees to moment/torque of a driving mechanism are reduced through the double parallelogram mechanisms and the manner that the rotary centre axis of the rotation freedom degree Y and the connecting rod II form a certain included angle theta; the connecting rod III is directly pushed and pulled through the linear motion output mechanism II, so that the output moment/torque requirements to a freedom degree driving mechanism are reduced; and thus, the light weight and the miniaturization of the mechanical arm of the laparoscopic minimally invasive surgical robot are realized.

The invention relates to a two-position three-way inverse proportion decompression electromagnetic valve for an AT (Automatic Transmission). The two-position three-way inverse proportion decompression electromagnetic valve is mainly formed by a main valve and a proportion electromagnet, wherein the main valve is formed by a valve body, a valve core which is positioned at the inner part of the valve body, a valve seat which is sleeved on the valve body and an inner valve core which is positioned at the inner part of the valve core and close to one side of the valve seat, and the proportion electromagnet is formed by a sliding bearing, a bearing seat, a pole shoe, an armature, a top rod, a stroke gasket, a stop iron, a spring seat, a regulating spring, a baffle plate, a regulating screw, a baffle plate cushion, a coil and a yoke iron. According to the two-position three-way inverse proportion decompression electromagnetic valve disclosed by the invention, the problems such as lower response speed, larger pressure fluctuation, short service life, large leakage rate and high manufacturing cost of an existing inverse proportion decompression electromagnetic valve for the AT are solved, and the two-position three-way inverse proportion decompression electromagnetic valve disclosed by the invention has the advantages of high response speed, small pressure fluctuation, long service life , small leakage rate, lower manufacturing cost and the like.

A controllable multi-degree of freedom welding robot comprises four controllable four-link-mechanism closed-loop executing mechanism subchains which are in parallel connection and an executing main chain in series connection. A main chain connecting rod can be controlled by the controllable four-link-mechanism closed-loop executing mechanism subchain to move within the surface with the controllable four-link-mechanism closed-loop executing mechanism subchains. The spatial motion of a moving platform can be achieved by the motion of a first connecting rod and a body. According to this arrangement, the spatial motion of an end effector can be achieved, motion inertia is small, dynamics performance is good and reliability is high. The controllable multi-degree of freedom welding robot has the advantages of being compact in structure and easy to control. The rods can be made as light rods, work spaces for mechanisms are large, gravity centers of the mechanisms are moved backwards to keep balance. The controllable multi-degree of freedom welding robot can be widely used.

A flexible cable driven three-freedom parallel mechanism is composed of three drive units and moving platform. The said driven unit comprises base, reel installed along with motor and vertical column. The steel wire cable wound on the said reel passes through lower static pulley, counterweight and upper static pulley and then fixed to the moving platform. The steel wire cables for threed drive units are all fixed to the moving platform to form a triangle. Its advantages are big working space and high stressing performance and speed.

A weight material is provided on a heel side of a hosel portion in a golf club head. A convex portion E is provided on the heel side of the head. The weight material is disposed within the convex portion. The weight material is made of high specific gravity metal such as tungsten, and welded on both a lower column and a skirt portion.

The invention relates to a rotor of a high-quality and high-speed built-in permanent magnet motor and a magnetic steel structural parameter determining method thereof. In the invention, the whole section magnetic steel of each electrode of the rotor of a conventional built-in permanent magnet motor is divided into multiple sections of magnetic steel which have the same polarity and different widths; the multiple sections of the magnetic steel are respectively arranged in a rotor core; and reinforcing ribs with the function of magnetic isolation are arranged among the multiple sections of the magnetic steel. By reasonably modulating and determining the width and distribution of each section of the magnetic steel, the air gap magnetic density waveform approaches sine distribution; harmonic components are reduced to the greatest extent; the eddy current loss of the magnetic steel and the torque pulsation of the motor are simultaneously reduced; and the electromagnetic performance of the motor is enhanced. Furthermore, the multiple sections of the magnetic steel are arranged in the circumference along the rotor; the highest rotating speed of the safe operation of the rotor is greatly enhanced on machinery; the radial thickness which is needed by the magnetic circuit of the rotor is obviously reduced on the structure; the rotational inertia and weight of the rotor are reduced; the dynamic response of the motor is improved; and the requirements of a high-speed driving system on the performance of the motor are met.

The invention discloses a magnetic suspension bilateral magnetic resistance driving type direct linear transmission device, which mainly comprises a linear bilateral long base, a bilateral long stator linear magnetic resistance motor, a movement bearing table, a stator base fixed connecting rod, a rotor inter-phase connecting rod, a linear movement displacement sensing ruler, an auxiliary support guide rail pair, a suspended air gap detection sensor, a radiating fan and the like. A magnetic suspension support magnetized loop is multiplexed with a linear magnetic resistance motor stator and rotor magnetized loop, a base is not needed to be used for magnetizing, a moving component is not provided with a permanent magnet and does not need an external power supply, and the transmission device has the advantages of simple and compact structure, low manufacturing cost, high power-to-volume ratio, high electromagnetic thrust, short magnetic circuit path, high inter-phase sealing property, high fault-tolerant capability, zero friction operation and the like.

The invention discloses a single-leg robot jumping mechanism driven through a connecting rod. The single-leg robot jumping mechanism comprises a machine body, a thigh and a shank which are hinged in sequence. The thigh is provided with a jumping drive device for driving the shank to rotate. The hinged position of the machine body and the thigh is provided with a direction drive device for driving the thigh to rotate. The upper end of the shank is provided with a shank ejector plate hinged to the lower end of the thigh. A drive rod is arranged between the shank ejector rod and the jumping drive device. The drive device and the shank ejector rod are hinged to the two ends of the drive rod respectively, and an elastic energy storing piece is arranged between the thigh and the shank ejector plate. The direction drive device can drive the thigh to rotate to achieve the direction control. The jumping drive device and the direction drive device are close to the machine body, the rotational inertia of the thigh relative to the machine body is reduced, the energy consumption of a first drive motor can be reduced, and the moving stability and agility of robot movement are improved. The stability of a robot is improved through balancing fly wheels. The energy can be stored and buffering can be achieved through the elastic energy storing piece and balancing pieces.

The invention relates to a quasi-SCARA (Selective Compliance Assembly Robot Arm) industrial robot, which comprises a base, a whole arm rotating mechanism, a vertical motion mechanism, a forearm rotating mechanism and an actuating station rotating mechanism; the whole arm rotating mechanism is fixedly arranged on the base; the vertical motion mechanism is arranged on the whole arm rotating mechanism; the whole arm rotating mechanism drives the vertical motion mechanism to rotate; the forearm rotating mechanism is fixedly arranged on the vertical motion mechanism; the vertical motion mechanism drives the forearm rotating mechanism to move vertically; the actuating station rotating mechanism is arranged on the forearm rotating mechanism; the forearm rotating mechanism drives the actuating station rotating mechanism to rotate; so that a tandem type industrial robot structure is formed. Compared with an SCARA robot, the quasi-SCARA industrial robot has the advantages that the lifting movement of the robot is moved from the fourth joint to the second joint, the robot is small in size in the vertical direction due to the special flat design of the forearm rotating mechanism and the actuating station rotating mechanism, and thus the robot is more suitable for operations of carrying objects and the like in a narrow space.

The invention provides a compound axis tracking system based on a rotary biprism. The system can be used for tracking a fast-moving target with high precision. The device comprises a rotary biprism tracking control device, an imaging assembly, a fast reflecting mirror tracking device and a detector. According to the system, the rotary biprism is controlled to quickly track the moving target, namely, the target enters the image assembly and then is imaged to the detector, a fast reflecting mirror is controlled to deflect according to the miss distance of the target on the detector in order to stably close the target in a detection center, and as a result, high-precision tracking of the fast-moving target can be realized.

The invention relates to a single leg structure of an electric quadruped robot. The single leg structure comprises a hip joint, a knee joint, a thigh connecting rod, a shank connecting rod and a foot,the hip joint comprises a first hip joint body and a second hip joint body, the second hip joint body is connected with the power output end of the first hip joint body, the knee joint is connected with the power output end of the first hip joint body through the thigh connecting rod, the knee joint is in rigid connection with the second hip joint body, the power output end of the second hip joint body is connected with power input end of the knee joint through the transmission mechanism, the shank is fixedly connected to the power output end of the knee joint, and the foot is connected to the shank. According to the structure, the low quality and low rotating inertia of the thigh and the shank is guaranteed, the good motion performance is achieved, the structure is simple and compact, itis guaranteed that the knee joint and the hip joint of the single leg have the good reverse drive characteristic, and the single leg structure can be used for assembling the electric quadruped robotwhich is capable of bouncing and high in load deadweight ratio.

The invention relates to a six-freedom-degree industrial robot with ball screw pair transmission. Waist whole circle rotating is achieved through a waist swing mechanism, a shoulder swing mechanism and an elbow swing mechanism form a two-freedom-degree parallel mechanism to achieve two-dimensional horizontal moving, and ball screws are driven by motors arranged on a swing platform respectively. Three mutual-orthometric rotating shafts connected through a front arm rotating mechanism, a wrist swing mechanism and a tool clamping base swing mechanism are driven independently by three motors respectively, and three-freedom-degree gesture adjusting of an executing tail end tool is achieved. The advantage of the large working space of a serial mechanism is kept, ball screw transmission is used, the rigidness of the mechanism is guaranteed, the positions of the driving motors are lowered, good dynamic characteristics are obtained, bearing capacity is large, high-speed or superspeed operation can be easily achieved, and the six-freedom-degree industrial robot has the advantages that side gaps do not exist, rigidness is high, micro-motion feeding can be conveniently achieved, accumulated errors are small, motion accuracy is high, positive and athwart kinematics solving is convenient, and control is convenient.

This invention relates to a stepless meshing control clutch with large power. The clutch, super clutch, control derailleur, line clutch, control strains drive device, which are designed by the principles of meshing stepless displacement and the continuous meshing stepless locking and control, which are suitable to automobile, derailleur, impulse derailleur, automatic derailleur, machine bed and other locations needing large power.

The invention relates to an automatic solar tracking system which tracks the sun accurately in real time and is used for efficiently collecting and using solar energy. The automatic solar tracking device comprises a solar energy photovoltaic array, an adjusting device connected with the solar energy photovoltaic array and used for adjusting the position of the solar energy photovoltaic array, a stand column for supporting the adjusting device and a control system. The adjusting device is composed of a pitch angle adjusting assembly and a position angle adjusting assembly, wherein the pitch angle adjusting assembly is connected with the position angle adjusting assembly through a vertical shaft, the position angle adjusting assembly is arranged on the stand column, and the control system is used for performing closed loop control on the adjusting device. The accuracy in solar tracking of the automatic solar tracking device is smaller than 0.1, the energy consumption only occupies for 0.5% of the electric energy production of the driving photovoltaic array, and the automatic solar tracking system has the advantages of being long in service life, intact in protection function and the like.

The invention provides a seven-degree-of-freedom series-parallel hybrid mechanical arm. The seven-degree-of-freedom series-parallel hybrid mechanical arm comprises a base, a first joint, a first link,a second joint, a connection support, a third joint, a second link, a fourth joint, a fifth link, a fifth joint, a sixth joint, a sixth link, a seventh joint and an end executer connection flange which are sequentially connected, wherein a third link and a fourth link are further arranged between the third joint and the fourth joint, one end of the fourth link is connected with the fourth joint,the other end of the fourth link is connected with the third link, and the third link is connected with a motor shell body of the fourth joint; the third link, the fourth link, the fourth joint and the second link form a parallel four-link transmission mechanism; and the axis of the third joint, the axis of the fourth joint and the axis of the fifth joint are mutually parallel. The new configuration of the seven-degree-of-freedom series-parallel hybrid mechanical arm is high in operation flexibility in a common reachable range of a main movement space; and meanwhile, the load torque of the motor in the vicinity of the base is reduced, and the rotational inertia of the whole mechanical arm is reduced.