105 results about "Double degree" patented technology

The invention discloses a splittable snake-like robot with multiple motion modes. The snake-like robot comprises a head portion, body portions, a split portion, joint portions and a tail portion. The head portion and the tail portion are in the same cone shape; every body portion is provided with folding independent retractable wheel foot composite structures which are evenly distributed in six directions in an embedded mode, and the top of every body portion is provided with a driving wheel or a driven wheel; the split portion utilizes rod grooves to achieve dual use in one body or self-salvation when broken; and every joint portion utilizes double mutually-perpendicular steering engine housing structures to mount steering engines, thereby achieving the free horizontal and vertical steering of neighboring modules through double degrees of freedom. By adjusting the retraction angle and the retraction length of every wheel foot, the splittable snake-like robot can moves in multiple motion modes such as sliding, crawling and two-dimensional transformation besides snake-like motion modes of creeping, rolling and wiggling, thereby effectively improving the adaptability and the speed of the snake-like robot under various complex land hard terrain conditions.

The invention provides a novel coaxial double-rotary double-degree-of-freedom eight-rotor-wing amphibious aircraft. The novel coaxial double-rotary double-degree-of-freedom eight-rotor-wing amphibious aircraft is characterized in that four supporting arms are vertical to one another on the same plane; one ends of the four supporting arms are connected with the periphery of an aircraft body and the other ends of the four supporting arms are provided with coaxial double-rotary rotors by double-degree-of-freedom gyro mechanisms; an undercarriage is connected to the aircraft body; an electric control system is arranged in the aircraft body and is used for controlling a double-degree-of-freedom rack and the four coaxial double-rotary rotors According to the novel coaxial double-rotary double-degree-of-freedom eight-rotor-wing amphibious aircraft, a complicated flight task can be finished in a manner of keeping a posture of the aircraft body unchanged; on the basis of improving an onboard load, the flight is very free; various complicated flight tasks can be finished in a severe outer environment; the aircraft directly has a navigation function and supports waterborne and aerial amphibious utilization.

The invention discloses a portable tennis ball service all-in-one machine which can realize functions of picking up tennis balls and cleaning fields. The portable tennis ball service all-in-one machine comprises a chassis module, a tennis ball pick-up module, a field cleaning module and a box body. In the chassis module, a drive wheel is individually driven by two wheels to realize in-situ steering by utilizing the differential speed of the two wheels, thereby reducing the turning radius and improving the working efficiency; and a driven wheel utilizes a shocking-proof suspension frame manner to ensure the contact of time and ground and the stability of operation. The tennis ball pick-up module and the filed cleaning module are mutually independent, a mechanical arm ball holding mechanism in the tennis pick-up module utilizes a five-connecting-rod mechanism with double degrees of freedom so as to effectively realize unfolding and flexing movements, two degrees of freedom are driven by single power, and conversion of degrees of freedom is realized through a press rod mechanism and a locating sleeve in the movement process. A rolling brush in the field cleaning module can move up and down and rotate; in addition, the portable tennis ball service all-in-one machine does not leave from the ground through an undercarriage lifting mechanism when not in cleaning, and acts enough pressure on the ground during brushing so as to realize a cleaning function.

The invention provides a fixed point mechanism. In the fixed point mechanism, when a driving torque is acted on a first connecting rod component or a slide block device, the fixed point mechanism can realize a rotating motion around a fixed point; when the driving torque is acted on a fourth connecting rod component or a sixth connecting rod component, the fixed point mechanism can realize an extending motion corresponding to the fixed point; and when the driving torque is acted on the first connecting rod component or the slide block device, the other driving torque is acted on the fourth connecting rod component or the sixth connecting rod component, the fixed point mechanism can realize the rotating motion around the fixed point and the extending motion corresponding to the fixed point. That is, the fixed point mechanism has double degrees of freedom of the rotating motion around the fixed point and the extending motion corresponding to the fixed point.

The invention discloses a double-degree integrated unbalanced data stream classification algorithm. The double-degree integrated unbalanced data stream classification algorithm includes a balanced data stream classification model prediction stage, a classification reliability evaluation stage and an unbalanced data stream classification model prediction stage. In the balanced data stream classification model prediction stage, firstly, a balanced data stream classification model predicts the classification of each data record. In the classification reliability evaluation stage, reliability evaluation is conducted on the classification results obtained in the balanced data stream classification model prediction stage, the classification results of the records with high reliability are directly sent back to a user, and the data records with low reliability need to be classified again in the unbalanced data stream classification model prediction stage. The method embodied in the double-degree integrated unbalanced data stream classification algorithm can be widely applied to applications such as computer-assisted clinical diagnosis and real-time intrusion detection, and the invention belongs to the field of artificial intelligence applications.

The invention relates to a double-degree-of-freedom robot shoulder joint steering engine. Mostly, the existing robot shoulder joint steering engine is single-shaft output, namely only one degree of freedom can be provided for a robot. The double-degree-of-freedom robot shoulder joint steering engine comprises an end cover and a shell. The end cover and the shell are connected through a screw to form a sealed space. The sealed space is internally provided with motors, a motor gear, a speed-reducing mechanism, a bearing, a control circuit board and an angle sensor. The motor gear is engaged with an input gear of the speed-reducing mechanism and an output shaft of the speed-reducing mechanism outputs power. The angle sensor is arranged on the output shaft. According to the double-degree-of-freedom robot shoulder joint steering engine, the two motors are arranged in the same sealed space. and the power is output in two directions at the same time through the gear speed-reducing mechanism arranged in the shell; and the control circuit board and the angle sensor, which are arranged at the inner part, can respectively control the output angles at the two directions, so that the robot shoulder joint steering engine has the capability of providing two degrees of freedom.

A lithography machine silicon wafer stage double-stage switching system adopting a cross guide rail is mainly used in a semiconductor lithography machine. The invention comprises a silicon wafer stage operating at a pretreatment work station, a silicon wafer stage operating at an exposing work station and two cross guide rail drive units, wherein each cross guide rail drive unit comprises an X-direction linear motor, a Y-direction linear motor and push rods used to push the silicon wafer stages to move; the cross guide rail drive units are caught up with the silicon wafer stages through a vacuum bearing to drive the silicon wafer stages to move within a large scope in X direction and Y direction. The invention adopts two double degree of freedom drive units, thereby greatly simplifying system structure and effectively reducing the requirements of synchronous control.

The invention provides a snake-shaped robot. The snake-shaped robot comprises a plurality of spherical joints (100), and connecting parts (200) for connecting two adjacent spherical joints (100), wherein each spherical joint (100) comprises an outer frame (10), a first moving oscillating part (20) and a second moving oscillating part (30); a hinging shaft central axis of each first moving oscillating part (20) and the hinging shaft central axis of the second moving oscillating part (30) are positioned in the same plane and vertical to each other. The snake-shaped robot is of a circular structure and is compact in structure; the first-stage transmission is performed through a gear; the last-stage transmission is performed through a worm and gear and the joint torque is outputted; therefore, the total output torque of the robot is multiplied, and the joint driving capacity is improved; the snake-shaped robot totally has 20 degrees of freedom, and is extremely high in redundancy, and high in moving capacity.

The invention relates to the technical field of vehicle chassis, and discloses a steering and roll linkage mechanism of a vehicle and a roll control method. The steering and roll linkage mechanism ofthe vehicle is composed of a roll mechanism and a steering mechanism. A certain angle is formed between the left and right steering arms and the left and right knuckles, which are fixedly connected with each other, the two mechanisms share the body and the main shafts of the left and right knuckles, and two dynamic parallelograms are linked with double degrees of freedom to achieve the independentcontrol of body roll and vehicle steering. In the driving course of the vehicle, steering and roll, independent roll or independent steering can be achieved, and the wheelbase of vehicle does not change. The vehicle body rolls when the method is applied to the steering of the vehicle, so that the vehicle automatically rolls at a certain angle to resist centrifugal force or overturning force whensteering or driving on an inclined road, so as to maintain a stable driving attitude.

The invention provides a double-degree-of-freedom active vibration reducing device and a control method; a flexible structure can decouple vibrations in vertical and horizontal directions, and uses a vibration reducing control algorithm for realizing active vibration reducing control to achieve the vibration requirement of nanoscale machining equipment; the mechanism using the active vibration reducing device and the control algorithm can achieve a vibration reducing effect with the vibration amplitude of 10-20 dB; the influence of the vibration on the dynamic performance of a lithography machine is preferably reduced; the imaging quality of a projection objective lens is guaranteed; and the precision of a photolithography process is improved.

The invention provides a six-degree-of-freedom locating regulating device for an optical element. The six-degree-of-freedom locating regulating device comprises a lens cone, three groups of regulating branched chains for performing double-degree-freedom regulation and a supporting mirror frame for supporting the optical element, wherein the lower surface of the supporting mirror frame is separately connected with the output ends on the upper parts of the regulating branched chains, the mounting surfaces on the lower ends of the regulating branched chains are fixedly connected with the upper surface of the len cone ; under driving of each regulating branched chain, the mirror frame can generate two-degree-of-freedom displacement, and drives the optical elements to realize six-degree-of-freedom precise displacement regulation; by controlling feeding amount of six drivers, regulation on six-degree-of-freedom movement and rotation of the optical element is realized; and the six-degree-of-freedom locating regulating device has real-time displacement regulating ability, and can meet six-degree-of-freedom displacement precise regulation needs when the photoetching objective lens is debugged and maintained. The invention further provides a projecting objective lens provided with the six-degree-of-freedom locating regulating device and a photoetching machine.

The invention discloses a dual-degree-of-freedom electric auxiliary fruit picker and a fruit picking assembly. The fruit picking assembly includes: a picking unit, including a parallelogram movable cutter head, a cutter head shearing drive mechanism, and a movable cutter head located in the parallelogram. The receiving pocket below the cutter head, wherein the cutter head shearing drive mechanism is used to drive the parallelogram movable cutter head to reciprocate between the rectangular unfolded state and the linear folded state; and the separation unit, including fruit drop The hose and the pipe separation mechanism, wherein one end of the fruit drop hose is connected to the receiving pocket, and the other end is connected to the pipe separation mechanism, wherein the pipe separation mechanism includes at least two separation pipes for Yu sorted the picked fruits according to their size. The invention realizes fruit picking positioning, fruit branch separation, falling and sorting processes at one time, improves work efficiency, and greatly reduces the damage rate of fruits in the picking process.

The invention discloses an assembly line gluing robot which comprises a fixed base, a rotary table, a high-pressure glue pipe and a spray nozzle. The fixed base and a control cabinet are connected with each other through shock absorbers. The rotary table and a rocker arm are connected with each other through a supporting arm. A rotary shaft is arranged on the supporting arm. A rotary cylinder is installed on the inner side of the supporting arm. The spray nozzle and the rocker arm are connected with each other through a cross arm. The cross arm is connected below the high-pressure glue pipe. A workbench is arranged below the spray nozzle. According to the assembly line gluing robot, a large-area fixed bottom plate and the shock absorbers are adopted by the bottom of a robot body, when the robot works, noise pollution is avoided, operation is stable, small-area gluing is conducted on an assembly line, a double-degree-of-freedom structure is adopted, spraying is easy and convenient, the gluing time for a single object is short, and the working efficiency is greatly improved; automatic operation can be completed through free programming; and operation is easy and convenient, manual operation is replaced, and the injury of paint to human health is reduced.

The invention discloses a working condition variable reciprocating friction and wear tester based on a double-degree-of-freedom flexible hinge. The tester comprises a worktable, a holder, a supportingframe, an upper test piece, a lower test piece, the double-degree-of-freedom flexible hinge, a loading cylinder, strain gauges I, strain gauges II, a force sensor, a hydraulic loading and control system, a controller and a reciprocating motion assembly. The upper test piece is driven by the reciprocating motion assembly. Positive pressure is applied through utilization of the loading cylinder. Friction is generated between the test pieces. The double-degree-of-freedom flexible hinge is forced to deform through utilization of the friction. Deformation is transformed into electric signals through utilization of the strain gauges I and the strain gauges II. Further the controller computes magnitude of friction force. Magnitude of the positive pressure and liquid pressure difference between two ends of a friction pair between the test pieces are sensed and controlled in real time through utilization of the hydraulic loading and control system, the controller and the force sensor. According to the tester, friction load, friction pair end face liquid pressure difference and friction speed can be dynamically adjusted, friction force under variable working condition can be measured dynamically in real time, and stability is relatively high.

The invention discloses a method for milling titanium alloy fan blade profiles, which aims to improve precision and milling quality of the titanium alloy fan blade profiles, and comprises steps: 1) parts are clamped by adopting a clamping mode which positions tenon double-degree surfaces and bottom surfaces; and 2) the parts are processed in half precision after being roughly processed, enables the allowances of the parts to be uniform, part blade profiles are finely processed in segments by adopting a ball-end mill after being processed in half precision, are measured on a machine tool on line to guarantee tool setting precision by adopting standard tool setting blocks or digital display setting tools during the process, control closing and tightening force of a processing center hole, and adjust closing and tightening force of machine tool double drivers according to structures and wall thicknesses of blades.

The invention discloses a hinge type double-degree-of-freedom modular mechanical arm for an EAST device. The hinge type double-degree-of-freedom modular mechanical arm comprises a parallelogram connecting rod mechanism consisting of two U-shaped clamp joint ends, double horizontal connecting rods and a mechanical arm barrel, and a pitching driving rod, a yawing driver and a yawing driving pulley which are matched with the parallelogram connecting rod mechanism, wherein a pitching driver along diagonal lines of the parallelogram connecting rod mechanism is arranged in the mechanical arm barrel; one end of the pitching driver is hinged together with an upper hinge hole of one of the U-shaped clamp joint ends and the double horizontal connecting rods; the yawing driver is arranged in the mechanical arm barrel below the pitching driver; the yawing driver is connected with the yawing driving pulley through a steel wire rope; the other end of the pitching driver is hinged together with a lower hinge hole of the other U-shaped clamp joint end and the mechanical arm barrel. The overall size of the hinge type double-degree-of-freedom modular mechanical arm is reduced greatly; the hinge type double-degree-of-freedom modular mechanical arm is compact in structure, and can run conveniently in an EAST assembly internal complicated geometric environment; meanwhile, the driver is sealed in a sealing cavity, so that the running requirement in a high-temperature and high-vacuum severe environment can be met.

The invention relates to a double-degree-of-freedom robot hip joint steering engine. The existing robot hip joint steering engine is single-shaft output, namely only one degree of freedom can be provided for a robot. The double-degree-of-freedom robot hip joint steering engine comprises an end cover and a shell. The end cover and the shell are connected through a screw to form a sealed space. The sealed space is internally provided with motors, a motor gear, a speed-reducing mechanism, a bearing, a control circuit board and an angle sensor. The motor gear is engaged with an input gear of the speed-reducing mechanism and an output shaft of the speed-reducing mechanism outputs power. The angle sensor is arranged on the output shaft. According to the double-degree-of-freedom robot hip joint steering engine, the two motors are arranged in the same sealed space, and the power is output in two directions at the same time through the gear speed-reducing mechanism arranged in the shell; and the control circuit board and the angle sensor, which are arranged at the inner part, can respectively control output angles at the two directions, so that the robot hip joint steering engine has the capability of providing two degrees of freedom.

The invention relates to a double-degree-of-freedom linkage rope-driven joint group of a flexible mechanical arm. The joint group comprises rigid pillars, one-direction bent flexible bodies, linkage ropes, driving ropes and first and second wire access bodies. The rigid pillars and the one-direction bent flexible bodies are alternately connected in the axial direction, the first wire access bodiesare arranged on the peripheral outer walls of the rigid pillars, and the second wire access bodies are arranged on the peripheral outer walls of the one-direction bent flexible bodies. The one-direction bent flexible bodies are linked with the rigid pillars by the linkage ropes through the first and second wire access bodies, forming a movement joint group. Besides, the driving ropes drive the joint group to move through the first wire access bodies, the number of motors distributed on all joints of the flexible mechanical arm is reduced, the mass of the mechanical arm is reduced, the rigidity and load capability of the mechanical arm are improved, the response speed of the flexible mechanical arm is rapid, and the action is stable. At the same time, by arranging the bent direction of theone-direction bent flexible bodies and the distribution mode of the linkage ropes and the driving ropes, the double-degree-of-freedom equal-curvature bending of the flexible mechanical arm is realized.

The invention relates to a double-degree-of-freedom robot wrist joint steering engine. Mostly, the existing robot wrist joint steering engine is single-shaft output, namely only one degree of freedom can be provided for a robot. The double-degree-of-freedom robot wrist joint steering engine comprises an end cover and a shell. The end cover and the shell are connected through a screw to form a sealed space. The sealed space is internally provided with motors, a motor gear, a speed-reducing mechanism, a bearing, a control circuit board and an angle sensor. The motor gear is engaged with an input gear of the speed-reducing mechanism and an output shaft of the speed-reducing mechanism outputs power. The angle sensor is arranged on the output shaft. According to the double-degree-of-freedom robot wrist joint steering engine, the two motors are arranged in the same sealed space, and the power is output in two directions at the same time through the gear speed-reducing mechanism arranged in the shell; and the control circuit board and the angle sensor, which are arranged at the inner part, can respectively control output angles at the two directions, so that the robot wrist joint steering engine has the capability of providing two degrees of freedom.

The invention discloses a double-degree-of-freedom rotating shaft bracket with positioning function, comprising a supporting device, two sides of which are respectively hinged with a left supporting frame and a right supporting frame which are connected with a first component through a left positioning shaft and a right positioning shaft which have consistent shaft axis; through the positioning shafts, the bottom part of the supporting device is hinged with a supporting frame which is connected with a second component; the end part of the right positioning shaft is provided with a limit boss; a spring, the right supporting frame, a shaft sleeve and a locking nut are respectively connected onto the right positioning shaft in a penetrating way; and the locking nut is externally provided with a handle. The product ensures that the first component and the second component can rotate in double-degree-of-freedom, and simultaneously the simple positioning structure of positioning shafts is also adopted, leading the first component to be in a fixed state relative to the second component, thereby being capable of being widely used in the hinge and installation of electronic products, electrical appliances and furniture.

Disclosed is a double-degree of freedom aeroelasticity experiment measuring device, comprising a square framework, a top end fixing mechanism, a wing torsion mechanism and a wing side moving mechanism. The top end fixing mechanism is disposed at the top end of the square framework to fix one end of the wing. The wing torsion mechanism is disposed at the bottom end of the square framework, correspondingly disposed to the top end fixing mechanism for axial twisting and fixing the other end of the wing. The wing torsion mechanism is disposed at the wing side moving mechanism for driving the wing to move linearly. The invention is advantageous in that the response of angle of attack variation of a two-dimensional aeroelasticity system oscillation aerofoil and the response of bouncing motion displacement can be effectively measured, and the result is accurate and error is small; the installation method of spring is simple, stiffness factor of two directions of the system can be conveniently changed, and parameterization research can be conducted.

The invention provides a three-degree-of-freedom surface-movable robot finger unit device, and belongs to the technical field of robot hands. The three-degree-of-freedom surface-movable robot finger unit device comprises two finger sections, four bevel gears, a left half shaft, a right half shaft, a left joint driver, a right joint driver, a left joint transmission mechanism, a right joint transmission mechanism, a longitudinal shaft, a longitudinal moving driver, a longitudinal moving transmission mechanism, a skin layer and the like. A joint double-degree-of-freedom orthogonal rotation function is fulfilled, namely the device can be bent around a joint shaft and rotate around the longitudinal shaft, and a surface longitudinal moving function is also fulfilled. The device is suitable to be mounted on a finger of a robot, functions of fingers of a humanoid robot are expanded, and in a movement process, adjacent fingers cannot intervene. The device is provided with a finger surface capable of moving multi-dimensionally, by surface movement, an object can relatively move or deform, the device is suitable for picking up objects, and is particularly suitable for picking up flat objects and deformable objects, and positions and postures of a grabbed object can be adjusted. The device is compact in structure, small in size, easy to control and suitable for being mounted on a hand of the robot.

The invention discloses a variable-diameter adjustable bottom support device suitable for processing of a large-aperture reflector. The variable-diameter adjustable bottom support device suitable forprocessing of the large-aperture reflector comprises a working table, three sliding blocks, three single-degree-of-freedom flexible hinges, a series of length-adjustable lever assemblies, a series oflength-adjustable and angle-adjustable triangular plate assemblies, a certain amount of double-degree-of-freedom flexible hinges and mounting interfaces thereof, and a proper amount of flexible supporting rods and supporting pas, wherein the working table is provided with three sliding ways and is used as a foundation piece of a whole system; the table board of the working table is circular; the typical diameter of the working table is 4 m; the three sliding ways are uniformly distributed in the radius direction at intervals of an angle of 120 degrees; and the three sliding blocks are mountedin the sliding ways. By overlapped assembling of a series of standard assemblies, a Whiffletree supporting system in various levels and points can be realized. Compared with the traditional supportingsystem, the variable-diameter adjustable bottom support device has the advantages that lots of time, labor and materials are saved, the efficiency and economy of processing of reflectors are greatlyimproved, and flexibility and extensibility are high.

The invention relates to a distribution photometric measurement method and a distribution photometric measurement system based on a phase-locked amplifier. The provided measurement method can be used to eliminate noise signal interference, and the provided measurement system has the characteristic of simple structure. According to the technical scheme, the distribution photometric measurement method based on a phase-locked amplifier comprises the steps as follows: (1) a light chopper is placed; (2) a photoelectric detector is connected to a phase-locked amplifier; (3) the phase-locked amplifier is connected to a computer; (4) a measured sample is placed and fixed in a to-be-measured station of a distribution photometer; (5) the devices go into a work state; (6) the spindle of the distribution photometer rotates; (7) a weak light signal is detected from noise; (8) the distribution photometer runs in real time by controlling a double-degree-of-freedom turntable; and (9) the flux is calculated. The distribution photometric measurement system based on a phase-locked amplifier comprises a distribution photometer host, a photoelectric detector, and a computer. The front end of the photoelectric detector is equipped with a light chopper, and the light chopper is connected to a modulator. The system is further configured with a phase-locked amplifier.

The invention discloses a tilting-type automatic pruning and tree-felling robot capable of transforming between two degrees of freedom and a single degree of freedom. The tilting-type automatic pruning and tree-felling robot comprises a sensor, a lifting hydraulic cylinder, a drive motor, a pruning and tree-felling saw component, a traveling gear, a base plate, a rack, a drive connecting rod, a transmission connecting rod, a triangular support, an output connecting rod, a pin roll, a hydraulic cylinder and a Hooke joint. The pruning and tree-felling robot is capable of carrying out automatic intelligent operation and omnibearing adjustment, flexibly transforming among three different structure states of two double degrees of freedom and the single degree of freedom, has the characteristics of a large work space, high accuracy and high dynamic stability, and is capable of achieving automatic operation of tree pruning, trimming, tree felling and dimensioned segmental cutting in a complicated environment.