76results about How to "Smooth and flexible movement" patented technology

A mechanical device of double - wedge beam deflection consists of base, two linear stepping motors, two rails, two round wedges and mirror frames and two angle coders. It is featured as placing vertical and horizontal shafts in orthogonal arrangement with their one end connected on mirror frame and their another supported by bearing, setting two said motors in base to drive two mirror frames to rotate around vertical and horizontal shafts separately and placing angle coder at one side of rotary shaft.

The invention discloses a bionic cockroach robot based on a double-four link mechanism; the robot comprises six groups of the same feet, and upper connecting plates and lower connecting plates used for connecting the feet together. The configuration of the feet adopts the double-four link mechanism, and three steering gears drive the double-four link mechanism to respectively simulate the motion of the hip, thigh and calf joints of a cockroach. The bionic cockroach robot advances in a tripod gait way so as to realize the tripod gait motion. In order to improve the bearing capability of the robot and simultaneously put the three steering gears on the feet so as to improve the rigidity and the stability of the whole robot, the invention uses the plane four-link mechanism in the design of the configuration of the feet, can achieve the amplification of force and motion, reduce the requirements on the driving capability of the steering gears, and improves the load capability of the robot. From the perspective of bionics, the bionic cockroach robot which adopts the multi-link structural design is reasonable.

The invention relates to a hydraulic engineering pipe fitting stacking industrial robot. The hydraulic engineering pipe fitting stacking industrial robot comprises a traveling device, an adjustable support, a rotary device, a three-degree-of-freedom parallel mechanism and a clamping device; the adjustable bracket is located on the rear upper side of the traveling device; the rotary device is located in the front end position of the adjustable support, and is fixedly connected with the adjustable support; the three-degree-of-freedom parallel mechanism is located between the rotary device and the clamping device; the upper end of the three-degree-of-freedom parallel mechanism is connected with the rotary device; and the lower end of the three-degree-of-freedom parallel mechanism is connected with the clamping device. The hydraulic engineering pipe fitting stacking industrial robot can realize a series of operation including grabbing, carrying and stacking of water conservancy and hydropower pipelines, is high in automation degree and stable and flexible in motion, solves such problems as high manual carrying operation cost, low efficiency and high dangerousness, the horizontal interval and vertical interval of the clamping device are adjustable, thereby facilitating grabbing of the water conservancy and hydropower pipelines with different diameter sizes, grabbing and stacking are convenient and rapid, clamping is stable and firm in the carrying process, slipping is not easy to occur, and the safety is good.

The invention relates to an automatic vehicle part stacking robot. The automatic vehicle part stacking robot comprises a walking device, an adjustable bracket, a rotating device, a redundancy parallel mechanism and a stacking manipulator; the adjustable bracket is positioned on the back upper side of the walking device; the rotating device is positioned at the front end of the adjustable bracket, and is fixedly connected with the adjustable bracket; the redundancy parallel mechanism is positioned between the rotating device and the stacking manipulator; and the upper end of the redundancy parallel mechanism is connected with the rotating device, and the lower end of the redundancy parallel mechanism is connected with the stacking manipulator. The automatic vehicle part stacking robot can realize such serial operations as hub grabbing, carrying and stacking, is high in automation degree, stable and flexible in movement and high in operation efficiency, and solves such problems as high manual operation cost, low efficiency and high danger.

The invention relates to a new energy auto parts warehouse operation robot, which includes a walking device, an adjustable bracket, a rotating device, a hybrid mechanism and a stacking manipulator; At the front end of the bracket, the rotating device is fixedly connected to the adjustable bracket, the hybrid mechanism is located between the rotating device and the palletizing manipulator, and the upper end of the hybrid mechanism is connected to the rotating device, and the lower end of the hybrid mechanism is connected to the palletizing manipulator. The invention can realize a series of operations such as grabbing, transporting and stacking the wheel hub, and has high degree of automation, stable and flexible movement, and high operation efficiency, and solves the problems of high manual operation cost, low efficiency and high risk.

The invention provides a general transport vehicle for multi-model parts. The general transport vehicle mainly comprises an omnidirectional mobile mechanism and a control device, wherein the omnidirectional mobile mechanism is arranged on a vehicle body and composed of four self-driven omnidirectional wheels; the control device is arranged on the vehicle body, distributed on a flexible supportingsystem on a platform of the vehicle body in a polygonal manner, and positioned among the four omnidirectional wheels; and the control device is used for receiving external operation instructions, transforming the instructions into control signals and outputting the control signals to an execution mechanism for adjusting the self-driven omnidirectional mobile mechanism and the flexible supporting system; moreover, the flexible supporting device of the flexible supporting system comprises a crossed mobile platform and a lifting mechanism with flexible process joints. The general transport vehicle provided by the invention has a simple structure, flexible and stable motion, high motion precision and large bearing capacity. The shortages that the working space of conventional airplane part transportation cars is large, the supporting tools are not general and a specific vehicle is applied specifically are overcome.

The invention relates to a full-automatic hydraulic and hydroelectric engineering drain pipe clamping integrated machine. The full-automatic hydraulic and hydroelectric engineering drain pipe clamping integrated machine comprises a walking device, an adjustable support, a rotation device, a delta parallel mechanism and a clamping device. The adjustable support is located above the rear portion of the walking device. The rotation device is located at the position of the front end of the adjustable support. The rotation device is fixedly connected with the adjustable support. The delta parallel mechanism is located between the rotation device and the clamping device. The upper end of the delta parallel mechanism is connected with the rotation device. The lower end of the delta parallel mechanism is connected with the clamping device. By means of the full-automatic hydraulic and hydroelectric engineering drain pipe clamping integrated machine, a series of operation such as grabbing, carrying and stacking of water conservancy and hydropower pipelines can be achieved, the automation degree is high, movement is steady and flexible, the operation efficiency is high, and the problems that the manual carrying operation is high in cost, low in efficiency, large in dangerousness and the like are solved.

The invention relates to an omni-directional water conservancy steel pipe mounting robot which comprises a walking device, an adjustable support, a rotating device, a parallel-series mechanism and a clamping device. The adjustable support is located above the rear portion of the walking device. The rotating device is located at the front end of the adjustable support and fixedly connected with the adjustable support. The parallel-series mechanism is located between the rotating device and the clamping device, the upper end of the parallel-series mechanism is connected with the rotating device, and the lower end of the parallel-series mechanism is connected with the clamping device. According to the omni-directional water conservancy steel pipe mounting robot, a series of work of grabbing, carrying, stacking and the like of water conservancy and hydropower pipes can be achieved; the automation degree is high, movement is stable and flexible, and work efficiency is high; and the problems that manual carrying work is high in cost, low in efficiency and large in dangerousness are solved.

The invention relates to a heavy-duty self-driven omnidirectional wheel and a design method thereof, and belongs to the technical field of omnidirectional wheels. A omnidirectional wheel body (121) consists of a spoke (1212), 6-16 roller mandrels (1211) uniformly distributed on the outer ring of the spoke along the circumferential direction, small rollers (1210) arranged on the roller mandrels (1211), and two end covers (1214) for positioning the spoke (1212) and the roller mandrels (1211), wherein the end covers (1214) are connected with the roller mandrels (1211) through bearings (1213), and the end covers (1214) are fixedly connected with the spoke (1212); and the included angles between the roller mandrels (1211) and the axis space of a transmission shaft (122) are equal and are 30-60degrees, the adjacent small rollers have superposition in space distribution, and the outline enveloping surface formed by all the small rollers (1210) is a cylindrical surface superposed with the theoretical outline surface of the wheel. The omnidirectional wheel has the advantages of simple structure, stability in movement and strong bearing capacity.

The invention relates to a palletizing robot for automobile wheels, which includes a walking device, an adjustable bracket, a rotating device, a Stewart parallel mechanism and a stacking manipulator; and the rotating device is fixedly connected with the adjustable bracket, the Stewart parallel mechanism is located between the rotating device and the palletizing manipulator, and the upper end of the Stewart parallel mechanism is connected with the rotating device, and the lower end of the Stewart parallel mechanism is connected with the palletizing manipulator. The invention can realize a series of operations such as grabbing, transporting and stacking the wheel hub, and has high degree of automation, stable and flexible movement, and high operation efficiency, and solves the problems of high cost, low efficiency and high risk of manual operation.

The invention relates to an intelligent carrying machine for electric vehicle spare parts. The machine comprises a moving device, an adjustable bracket, a rotating device, a three-degree-of-freedom parallel mechanism and a stacking manipulator, wherein the adjustable bracket is positioned above the rear part of the moving device; the rotating device is positioned at the front end of the adjustable bracket and is fixedly connected to the adjustable bracket; the three-degree-of-freedom parallel mechanism is positioned between the rotating device and the stacking manipulator; the upper end of the three-degree-of-freedom parallel mechanism is connected with the rotating device while the lower end of the three-degree-of-freedom parallel mechanism is connected with the stacking manipulator. The machine can perform a series of work such as grabbing, carrying and stacking hubs; in addition, the machine is high in automation degree, stable and flexible to move, and high in working efficiency, and can solve the problems such as high cost, low efficiency and high risk in manual work.

The invention relates to a mechanical hand dedicated to an automatic device for on-site fire rescue. The mechanical hand comprises a redundant parallel mechanism and a fire extinguishing device, wherein the redundant parallel mechanism is right below the fire extinguishing device; and the upper end of the redundant parallel mechanism is connected with the fire extinguishing device. According to the invention, the mechanical hand has multiple functions like direction adjustment and fire extinguishing and can perform fire extinguishing on a fire scene, the automation degree is high, the motion is stable and flexible during fire extinguishing, the fire extinguishing ejection range is large, the fire extinguishing efficiency is high, the safety is high, and the problem that manual fire extinguishing is low in efficiency and is highly dangerous is solved; and the redundant parallel mechanism adopts a 2-UPS-2-RPS parallel mechanism, and can move in four degree-of-freedom directions, namely, the parallel mechanism can move along the X axis and the Z axis and can rotate around the X axis and the Y axis, so that on one hand, the direction and angle of the fire extinguishing device are adjusted, and on the other hand, a vibration damping effect is achieved on the fire extinguishing device, and the problem that a stored fire extinguisher has potential safety hazards due to too severe shaking is prevented.

The invention relates to a method for arranging a shifting carrying platform of wheels based on rotating shaft fixed type two-dimensional motion, which belongs to the technical field of shifting carrying platforms. The method comprises the following steps: achieving certain basic single straight line motion according to the following arrangement mode: arranging a first driving wheel and a second driving wheel, wherein the included angle between the direction of the basic single straight line motion and the axial line of the first driving wheel is phi, the included angle between the direction of the basic single straight line motion and the axial line of the second driving wheel is -phi, and phi is more than 0 degree and less than 180 degrees; achieving pure rotation motion of the platform according to the following arrangement mode: arranging the included angle between the axial lines of the two driving wheels to be at least 0 degree; and arranging all driving wheels of the platform according to the two rules, wherein the driving wheels are the wheels based on the rotating shaft fixed type two-dimensional motion. The shifting carrying platform has stable and flexible motion and large bearing capacity, is convenient to mount and maintain, and can satisfy the requirement on performing shifting carry in a small space.

A host machine structure assembly comprises a mounting frame (20) and a first electronic element (41). The mounting frame (20) comprises a first bearing member (21) and a second bearing member (23) that are disposed in a relatively spacing way. A first mounting portion (211) is disposed on one of the first bearing member (21) and the second bearing member (23). The first electronic element (41) is mounted on the first mounting portion (211), and is located between the first bearing member (21) and the second bearing member (23). A mounting base (215) used for mounting an energy supply device is disposed on one of the first bearing member (21) and the second bearing member (23), and the mounting base (215) is disposed back to the first electronic element (41). A remote control mobile device (100) uses the host machine structure assembly. The whole assembly structures of the remote control mobile device (100) and the host machine structure assembly thereof are simple and compact.

The invention provides a large gear grinding machine grinding wheel rack rotation device and a rotation control method thereof. The device comprises a rotation cylinder, a rotation seat, a spindle, a dual-lead clearance elimination worm gear, a circular grating, a grinding wheel rack, a clamping mechanism and an unloading mechanism. the spindle and the rotation seat are fixed firmly through bolts, the rotation cylinder is supported on the spindle through a group of rolling bearings, the grinding wheel frame is directly connected with the rotation cylinder and is rotated by the driving of the dual-lead clearance elimination worm gear, the rotation position is controlled by the circular grating, and the grinding wheel rack can be locked on the rotation seat through the clamping mechanism. By means of the device and the method, the requirements for high rigid support, stable and flexible moving and accurate location of large gear grinding machine grinding wheel racks can be met.

A device for calibration of metal rockwell hardness tester indentation depth measurement systems includes a base, one end of the base is vertically provided with a left end plate, the left end plate is provided with a linear guide rail, the linear guide rail is internally provided with a slide block on a mobile plate, the slide block is arranged on the mobile board, and the mobile board is also provided with a drive system for making the mobile plate move up and down; the base is further provided with a displacement sensor, a display value of the metal rockwell hardness tester indentation depth measurement systems is compared, and thus the metal rockwell hardness tester indentation depth measurement systems are calibrated. The device has the advantages of compact structure and smaller specification and dimension, and can be widely applied in calibration of all kinds of the rockwell hardness tester measurement systems with different specifications; the displacement sensor is located on a same axis as the principal shaft of a hardness tester, the working principle of a rockwell hardness tester can be completely simulated, the abbe principle is met, and the synchronicity of the displacement quantity of the displacement sensor and the hardness tester is ensured; and the accuracy of the device is 0.2 [mu]m.

The invention relates to an intelligent fire fighting robot. The intelligent fire fighting robot comprises a caterpillar band travelling device, four wheel travelling devices, an electric rotary table, a Stewart parallel mechanism and a fire fighting device, wherein the wheel travelling devices are symmetrically arranged on the left and right sides of the caterpillar band travelling device; the electric rotary table is positioned in the central position of the upper end of the caterpillar band travelling device, and is fixedly connected with the caterpillar band travelling device; the Stewart parallel mechanism is positioned between the electric rotary table and the fire fighting device; the lower end of the Stewart parallel mechanism is connected with the electric rotary table; and the upper end of the Stewart parallel mechanism is connected with the fire fighting device. The intelligent fire fighting robot has multiple functions such as composite travelling, position adjusting and fire fighting, a fire at a fire scene can be extinguished, the automation degree is high, the motion during fire fighting is steady and flexible, the fire fighting spraying range is large, the fire fighting efficiency is high, the safety is high, and the problems that in manual fire fighting, the fire fighting efficiency is low and the dangerousness is high are solved.

The invention discloses a fluid-driven spherical rolling robot and a driving method thereof. At present, the driving modes of the spherical robot mainly include trolley driving, counterweight driving,deformation driving and wind power driving, and each driving mode has certain defects. The fluid-driven spherical rolling robot comprises a control box, a power mechanism, a spherical shell and a balance box, wherein the power mechanism comprises an annular pipe, a first gravity center adjusting block, a second gravity center adjusting block and a partition plate; an oil way module is arranged inthe control box; And the oil way module comprises an oil tank, a first reversing valve, a second reversing valve, a first on-off valve, a second on-off valve, an overflow valve and a hydraulic source. According to the invention, a fluid in the pipe is controlled to flow in a hydraulic transmission mode, so that the internal gravity center adjusting blocks are driven to move, and the mass center position of the robot is changed. Compared with a traditional spherical robot mass center changing mode, the structure is simpler and more reliable, and the movement is more stable and flexible.

The invention discloses a hydraulic slide mechanism, which includes a female mold (1), a locking block (2), a slide (3), a bracket (4), a male mold (5), a pull rod (6), a connector (7) and an oil cylinder (8). The slide (3) is disposed between the female mold (1) and the male mold (5). The female mold (1) is fixed on the slide (3) through the locking block (2). The pull rod (6) is connected to the slide (3). The connector (7) is arranged on the pull rod (6), and the oil cylinder (8) is in fixed connection with the pull rod (6) through the bracket (4). The hydraulic slide mechanism provided in the invention makes use of the pressure of a liquid or gas to realize side parting or core pulling through an oil cylinder (air cylinder) piston. The hydraulic slide mechanism has the characteristics of long slide stroke, great parting force, parting and core pulling free of mold opening time and ejection time limit, as well as smooth and flexible motion.

The invention relates to a clamping device of an automatic six-degree-of-freedom transferring robot for water conservancy and hydropower pipelines. The clamping device comprises a fixing plate and clamping mechanisms, wherein the clamping mechanisms are positioned under the fixing plate and are linearly distributed along the transverse central axis of the fixing plate at equal intervals; and each clamping mechanism comprises a guide sliding rail, first sliders, an upper gripper jaw, a lower gripper jaw, extension springs, connecting screw bolts, second sliders, a hydraulic cylinder, a moving lug, a moving swivel pin, a pneumatic push rod, a fixed lug and a fixed swivel pin. The clamping device can realize the operations of gripping and stacking water conservancy and hydropower pipelines, is high in automation degree, stable and flexible in running and high in operation efficiency, and solves the problems of high manual transferring operation cost, low efficiency, high risk and the like. At the same time, as the clamping device is adjustable in horizontal distance as well as vertical distance, water conservancy and hydropower pipelines with different diameters can be conveniently gripped, gripping and clamping are convenient and rapid, clamping is stable and firm in the transferring process, slip is not prone to occur, and the safety is great.

The invention relates to a revolution manipulator for an intelligent firefighting special operation robot. The revolution manipulator for the intelligent firefighting special operation robot comprises a three-freedom-degree parallel-connection mechanism and a fire-extinguishing device, wherein the three-freedom-degree parallel-connection mechanism is located under the fire-extinguishing device, and the upper end of the three-freedom-degree parallel-connection mechanism is connected with the fire-extinguishing device. The revolution manipulator for the intelligent firefighting special operation robot has the multiple functions such as orientation adjustment and fire-extinguishing operation, can carry out fire-extinguishing operation on a fire scene, and is high in automation degree, stable and flexible in movement during fire extinguishing, large in fire-extinguishing spraying range, high in fire-extinguishing efficiency and high in safety, and the problems of low fire-extinguishing efficiency and high risks of manual firefighting are solved. The three-freedom-degree parallel-connection mechanism adopts a 3-RPS parallel-connection mechanism mode, the orientation angle of the fire-extinguishing device can be adjusted on the one hand, and on the other hand, a shock absorption effect for the fire-extinguishing device is achieved, so that safety risks caused by serious shaking to the stored fire extinguisher are prevented.