144results about How to "Turn in place" patented technology

The invention discloses an underwater working robot which is characterized by mainly comprising a vehicle body module, a manipulator module or/and an underwater camera module, a functional component module and a control module, wherein the modules are completely isolated mechanically and electrically; the vehicle body module mainly comprises a six-wheel and six-drive sealing vehicle body, a vehicle body direct current servo motor, a vehicle body motor driver, a vehicle body underwater ultrasonic sensor, a vehicle body temperature pressure sensor, an underwater lighting lamp, a vehicle body waterproof plug, a vehicle body inflating valve and a vehicle body anti-radiation lead plate; the manipulator module mainly comprises a base, a waist part, a large arm, a small arm and a tail end executer; the base, the waist part, the large arm and the small arm are connected with one another through hollow joints; air is filled into a manipulator, and wires are arranged in the manipulator; the underwater camera module mainly comprises an underwater camera, an underwater camera lighting lamp and a bidimensional tripod; the functional component module mainly comprises a storage box, an underwater dust remover and an underwater cutter; and the control module mainly comprises a main control console and a hand-control box.

The invention belongs to the field of electromechanical technique, and relates to a spherical moving robot, and in particular relates to a fluid driving spherical robot which comprises a spherical shell, an annular seal container, axial flow devices, an inner driving rotating mechanism and a main shaft. The fluid driving spherical robot is characterized in that the spherical shell consists of two hemispherical shells including a left hemispherical shell and a right hemispherical shell; the annular seal container is positioned in the spherical surface; the outer annular surface of the container is concentric with the spherical surface of the spherical shell; the container is filled with fluid; the volume of the fluid is half of the volume of the container; two axial flow devices are symmetrically installed in the annular seal container; the axial flow devices drive a liquid to flow in the annular seal container, thus the mass center of the spherical robot is changed, thus the spherical robot can move forwards and backwards; the inner driving rotating mechanism positioned in the spherical shell mainly comprises an inner driving bracket, a motor, a motor support, a flywheel shaft, a flywheel, an electricity supply power supply and a controller; the main shaft is fixedly connected with the inner driving bracket through the motor support; the fly wheel is installed on the inner driving bracket through a bearing; the motor shaft is connected with the fly wheel through a coupling; and the motor drives the lower part of the motor to rotate together with the flywheel shaft vertical to the main shaft and the fly wheel, and the spherical robot takes a turn under the driving of the fluid on the basis of an angular momentum conservation principle.

The invention discloses a rocking arm rhombus four wheels moon vehicle shift system, including a rotary rhombus frame and a front, a rear ,a left and a right wheels with an independent drive system mounted on the frame, the front and the rear wheels are independently fixed on the frame via a front hanger system and a rear hanger system, and the left and the right wheels are independently fixed on the frame via a left hanger system and a right hanger system. The front hanger system and the rear hanger system all consists of a connection mechanism and a steering mechanism. The invent uses a novel type of four wheels three axial rhombus chassis with the advantages of compact structure, high lightness degree, low energy consumption ,big load capacity, good cross country characteristics, convenient posture adjustment, strong land suitability , smooth vehicle body posture and high reliability.

The invention discloses an eccentric wheel capable of intelligently adjusting eccentricity. The eccentric wheel comprises a shaft, a wheel hub, a wheel rim and a tire, wherein the wheel hub is provided with a driving gear I, a motor I, a supporting wheel, an inclination angle sensor, a deviation adjusting tank and a deviation adjusting device; the deviation adjusting device comprises two supports, a screw rod which is arranged between the supports, a guide rail, a screw rod nut, a driven gear which is coaxially and fixedly connected with the screw rod, a driving gear II, a motor II and a fixed frame thereof; the screw rod nut is fixedly connected with the shaft through a flange, and the inner side of the wheel rim is provided with an internal gear. The structure of the eccentric wheel also comprises a shaft driving device, a road condition detection device and a processor, wherein the output terminal of the processor is connected with the motor I, the motor II and the shaft driving device. The eccentric wheel can detect road conditions and automatically adjust the distance between the shaft and the wheel center according to the road conditions so as to enable the traveling process to be smoother, not only can reduce the vibration degree on roads with greater fluctuation, but also solves the difficulty that common wheels are not easy to climb steps, and can be applied on various vehicles.

The invention relates to an electric automobile chassis system with a four-wheel independent steering function and a steer-by-wire mechanism of the electric automobile chassis system. The steer-by-wire mechanism comprises two steering pull rods, a steering power unit and two transmission units, the steering pull rods are arranged horizontally, the end, close to a wheel, of each steering pull rod is hinged to a steering knuckle of a suspension wheel assembly, and when the plane where wheels are located is perpendicular to the steering pull rods, the two steering pull rods are symmetrical about the vertical radial direction of the wheels; the steering power unit is electrically connected with an electronic control unit of an electric automobile and provided with two levels of power output ends which are the same in speed ratio and opposite in power output direction; the power output ends of the two transmission units are connected with the two levels of power output ends of the steering power unit respectively, and the power output end of each transmission unit is connected with one end, away from the corresponding wheel, of the corresponding steering pull rod to drive the steering pull rod to move back and forth to drive the corresponding wheel to swing. According to the electric automobile chassis system with the four-wheel independent steering function and the steer-by-wire mechanism of the electric automobile chassis system, steering stability of the wheels is good, and the electric automobile chassis system is safe, reliable and good in maneuverability in narrow space.

The invention relates to a pivot steering AGV self-walking carrier vehicle, comprising a vehicle body, and is characterized in that the vehicle body comprises a chassis and a frame, wherein a control box is arranged at the inner side of the frame above the chassis, the front end and the rear end of the chassis are provided with two universal wheels respectively, a driving wheel box is arranged below the middle part of the chassis, two coaxial driving wheels are arranged at the two sides of the driving wheel box respectively, and the two driving wheels are connected with respective independent driving mechanisms. The pivot steering AGV self-walking carrier vehicle is simple and compact in structure, the two independently driven driving wheels are arranged between driven wheels at the front end and the rear end of the vehicle body and are enabled to rotate in reverse at the same rotating speed, so that pivot steering of the carrier vehicle is realized, the vehicle body is fast steered, and the occupied space is reduced, therefore operation of steering, pick-up and unloading of the AGV self-walking carrier vehicle in a narrow channel is realized.

The invention relates to the field of automatic mechanical equipment, in particular to an automatic reclaimer for storage. The present invention is achieved through the following technical solutions: a storage automatic reclaimer, including a running device, a storage device connected to the running device, a retrieving device capable of extending and retracting, and a retrieving device for retrieving The goods obtained by the device are transferred to the material box transfer assembly on the storage device. The storage device includes at least two layers of storage racks at different heights. The storage racks include storage transfer devices. The material box transfer assembly It is connected with the picking device and can be lifted in the vertical direction. The purpose of the present invention is to provide a storage automatic reclaimer, the reclaimer includes a storage device, which can automatically reclaim and store the goods, increase the number of pick-ups for a single trip of the reclaimer, and increase reclaiming and sorting efficiency.

An all-terrain inspection robot relates to a robot, the robot includes a robot detection device (1), a pan/tilt (2), a triangular drive train (3), a wireless antenna (4), and a robot body (5); The device (1) includes a protective sealing cover (6), a temperature sensor (7), a laser ranging (8), an indicator light (9), a high-definition visible light camera (10), a sound probe (11), an infrared probe (12), The flashlight (13); the cloud platform includes a worm gear reducer (14), a detection device butt joint flange (15), an acceleration gear set (16), a rotating motor (17), and an elevation motor (18); There are crawlers, and the triangular driving wheel train is connected to the motor; the wireless antenna is provided with receiving and transmitting signal devices; the robot of the present invention can be widely used in complex terrain power inspections, space detection, explosion rescue and other occasions.

The invention discloses an autonomous navigation robot which comprises a motion module, a control module, a gyroscope and a laser sensor, wherein the motion module comprises four universal wheels, two steering wheels and a motor; the steering wheels are connected with an output shaft of the motor; the control module comprises a data storage unit, a data processing unit, an information receiving unit and a signal output unit; the motor is connected with the signal output unit; and the gyroscope and the laser sensor are connected with the information receiving unit. The invention further discloses an autonomous navigation method of the robot. The method comprises the following steps: pre-storing a map, performing route planning, avoiding an obstacle and the like. According to the autonomous navigation robot and the method disclosed by the invention, the types of obstacles can be identified, and the obstacles can be autonomously avoided; and the time or distance priority rule can be set according to needs, and real optimization of a target route is realized.

The invention provides a halbach birotor self-sliding wide range speed regulation permanent magnet hub motor for an electric vehicle. The halbach birotor self-sliding wide range speed regulation permanent magnetism hub motor for an electric vehicle includes barrel-shaped inner and outer rotors, a rotatable stator with inner and outer double layer armature windings, two end caps with special structures, an automatic sliding structure fully utilizing mutual coordination of permanent magnet attractive force and a freewheel clutch, and a double reinforcing structure utilizing an electromagnetic clutch. Besides, the hub motor also utilizes a design of a wireless transmission position sensor signal, a sectional type speed regulation design, Halbach array permanent magnet setting, and a novel heat radiation design, and then becomes a unique motor after being integrated with the other patent: self-sliding motor intelligent cruise and PWM and SVPWM control conversion.

The invention discloses an independent drive steering system of a six-wheel rocker arm unmanned lunar rover, which mainly comprises a steering mechanism, a driving mechanism and wheels. A walking system of a middle wheel does not comprise a steering system. The steering mechanism comprises an upper steering motor sleeve, a lower steering motor sleeve, a steering motor, a steering planetary gear accelerator, a bidirectional thrust ball bearing sleeve and a sealing ring. The driving mechanism comprises left and right motor sleeves, a driving motor, a driving planetary gear accelerator, an angular contact ball bearing and a clamping ring. The wheels are matched with the wheel baffle rings. The design process comprises the following steps of 1, designing parameters of a driving system motor and a planetary gear accelerator reducer, 2, designing parameters of a steering system motor and the planetary gear accelerator reducer, 3, determining the size and assembly relationship of the motor sleeve, 4, designing the structure of the wheel, 5, realizing structural design of a steering system, 6, conducting structural design of a driving system and wheels, and 7, conducting system sealing design.

A lateral displacement and pivot steering system of an automobile relates to the field of automobile design manufacture and is characterized in that a set of support and driving system composed of hydraulic telescopic cylinders, bearing trundles, pressure bearings, two-way hydraulic motors and a hydraulic telescopic arms is installed on a bearing support of an automobile chassis by utilizing the hydraulic transmission principle. A bearing trundle direction adjusting plate is fixed on a telescopic rod of the hydraulic telescopic cylinder, and two ends of resetting springs are respectively connected with the adjusting plate and the bearing trundle to form a direction adjusting system. The lateral displacement and pivot steering system changes the direction of an oil path and oil flow through different actions of an electromagnetic valve and is capable of enabling the automobile to achieve 90-degree lateral displacement and pivot steering of any angle within 360 degrees.

The invention relates to the field of logistics transport equipment, in particular to an omni-directional driving wheel device and an AGV (automatic guided vehicle). The omni-directional driving wheel device comprises a fixing seat, a driving device, a transmission actuator, a wheel and a steering device. The wheel comprises a driving wheel and a driven wheel, and the driving wheel and the driven wheel are rotationally connected with the fixing seat; the driving device is in transmission connection with an axle of the driving wheel by the transmission actuator, so that the driving wheel can be driven to rotate; the steering device is mounted on the fixing seat and is connected with the AGV, so that the AGV can omni-directionally move. The AGV comprises the omni-directional driving wheel device. The omni-directional driving wheel device and the AGV have the advantages that the omni-directional driving wheel device is simple in structure and low in cost and control difficulty; the AGV has omni-directional moving functions, and accordingly the production or storage efficiency can be improved.

The invention relates to a steering mechanism, which comprises a steering control handle, a crank shaft, a connecting rod, a linkage rod and a restraining mechanism, wherein the steering control handle is coaxially connected with a main shaft of the crank shaft, and drives the crank shaft to rotate, one end of the connecting rod is arranged on the rod journal of the crank shaft in a sleeving manner, and the other end of the connecting rod is hinged to the linkage rod, two steering wheels are connected with the two ends of the linkage rod respectively, and the restraining mechanism is arranged on the connecting rod and/or the linkage rod so as to enable the turning directions of the steering wheels at the two ends of the linkage rod to be consistent. The invention further provides an omnidirectional traveling chassis and a trolley. Through utilizing the steering mechanism and the omnidirectional traveling chassis, the omnidirectional and limitless rotation of the steering wheels of the trolley can be realized, and the problem of deformation of a parallelogram structure is solved.

A universal entertaining bicycle built for three comprises a frame in parallel connection structure design, which includes an adult type frame and a children type frame and is connected with an annular handle bar, a rotatable seat, a locking chuck, a fixing disc and a front fork, wherein the rotatable seat is connected with the frame via a bearing and a bearing seat, the locking chuck is connected with the front fork via a hexagonal socket head cap screw bolt, the connection fixing disc is connected with the frame via a hexagon bolt, the front fork is connected with a pedal support, an adjusting bar steel and a tire, and the pedal support is formed by connection of a pedal connection square tube and a pedal connection bar steel via a hexagon bolt, and connected with a pedal via a central shaft and the crank. The inventive bicycle has a parallel connection structure design and a stable bicycle body, can allow three people to simultaneously provide power input and direction control and allow effective face-to-face communication, and has the advantages of a wide visual range and high entertaining effects.

The invention discloses an active swing arm type variable diamond four-wheel lunar rover moving system. The system comprises a diamond like vehicle frame, a front wheel, a rear wheel, a left wheel and a right wheel with an independent driving system positioned on the vehicle frame. The front wheel and the rear wheel are fixedly positioned on the vehicle frame via a front suspension system and a rear suspension system. The left wheel and the right wheel are fixedly positioned on the vehicle frame via the left suspension system and the right suspension system. The front suspension system and the rear suspension system comprise a swing arm type power mechanism and a steering mechanism. The front wheel and the rear wheel change direction in linkage. The left suspension system and the right suspension system comprise a swing arm type power mechanism. Adopting the structure of the four-wheel three-axis diamond chassis and the active swing arm, the invention initially plays the high-efficient mobility of wheel type driving mode and the crawling ability of foot type moving system, and the invention relates to the active swing arm type variable diamond four-wheel lunar rover moving system with simple and compact structure, low cost, being suitable for operation under various severs environments, wide application, good stability, high reliability and strong flexibility of steering.

The invention relates to the technical field of intelligent life electric appliances, especially to an intelligent cleaning robot. The intelligent cleaning robot comprises a robot body, a supporting plate is fixedly connected with the inner side of the shell, a dust collection mechanism is arranged on the supporting plate, and a driving mechanism for controlling the robot to move is arranged on the outer side of the dust collection mechanism; a cleaning mechanism for treating stubborn oil stains is arranged on the inner side of the dust collection mechanism; according to the invention, the dust collection mechanism is arranged, an annular connecting pipe is utilized, dust in the advancing direction can still be absorbed after the device is steered, the dust collection capability of the intelligent cleaning robot is effectively enhanced, the steering mechanism is arranged, and pivot steering of the robot can be realized, so that the robot is more flexible; and the cleaning mechanism isconnected with the rotating rod, the direction of the cleaning mechanism can be changed along with steering of the intelligent cleaning robot, so that the cleaning mechanism can stably operate each time, the cleaning mechanism is arranged, water is sprayed while cleaning is conducted, the cleaned ground is dried, and the cleaning effect is effectively improved.

The invention discloses a master-slave control system of a four-wheel independent driven steering robot, and aims at solving the technical problem that most of moving robots in the prior art are two-wheel driven steering robots which are inconvenient to steer, can only deal with easier routing inspection missions and are incompetent to effectively deal with the routing inspection missions when facing the complicated detection environment of an electric power system. According to the system, by the cooperation of an upper computer and a lower computer, the expected rotation rate and expected linear acceleration of four hub motors of the robot and the expected angle, expected angular speed and the expected angular acceleration of four steering servos are obtained according to the planning decomposition of expected routing inspection routes and transmitted to corresponding slave controllers of the hub motors and slave controllers of the steering servos, and finally corresponding control of the hub motors and the steering servos are executed by the slave controllers of the hub motors and the slave controllers of the steering servos respectively to achieve the four-wheel independent driven steering of the robot.

The invention discloses an unmanned obstacle crossing vehicle. The unmanned obstacle crossing vehicle comprises a vehicle frame and vehicle wheels mounted on the vehicle frame through suspensions; thesuspension comprises a front suspension and a rear suspension which are respectively located in the front and back of the vehicle frame and are in swinging connection relative to the vehicle frame, as well as a middle suspension located at the bottom of the middle of the vehicle frame and fixed relative to the angle of the vehicle frame; the front suspension and the rear suspension are in hingedconnection with the vehicle frame respectively through a front fork frame and a rear fork frame; and a swinging driving part is separately arranged between the front fork frame and the vehicle frame as well as between the rear fork frame and the vehicle frame. The unmanned obstacle crossing vehicle disclosed by the invention has the beneficial effects that the ground clearance of the vehicle frameand the axle distance between front and rear vehicle axles can be adjusted so as to be adapted to different obstacle crossing topographies, so that the passing ability of the unmanned obstacle crossing vehicle and the passing stationarity in the complex topographies is improved; the transmission efficiency is high, and good maneuverable capability and flexibility is realized.

A rotary piston unit for IC engine, water turbine, steam turbine, water pump, air compressor, etc is composed of disk-shaped piston holder on mainshaft, multiple plate pistons running directionally around mainshaft in planetary mode, and two semi-cylinders on two end faces of planetary piston to form a piston space with alternative big and small cross-sections. The left part and right part of each plate piston sequentially and periodically come in said piston space to form piston effect, realizing the conversion between fluid energy and mechanical energy.

The invention provides veering equipment, a traveling system and car, and relates to the technical field of electrical new power. The steering equipment comprises a steering machine and a gear frame. The output shaft of the steering machine is connected with the gear frame, and is used for driving the gear frame to rotate. The gear frame is used for connecting with wheels, and drives the wheel to deflect when the gear frame is rotating. The problems that the traditional steering machine has a plurality of parts, the structure is complex, and the workload of the technical questions is heavy in the prior art are solved. The steering machine drives the gear frame to rotate and drive the wheel to deflect, veer is achieved by using the driving way of the steering machine, the operation is easy, the weight of the steering machine is reduced greatly, and loads can be increased.