103 results about "Five freedoms" patented technology

The invention provides a five-freedom exoskeleton type robot for healing upper limbs, which comprises a mounting deck used for mounting the robot. The mounting deck is provided with a lead rail, an erector is arranged on the lead rail and is provided with a height adjustment mechanism, a rotatable mounting arm is arranged on the erector by a rotatable axis. A healing mechanical arm body composed of a shoulder width, an upper arm, a forearm and a hand lever is installed on the rotatable mounting arm. Five freedom joints and five drive motors are respectively arranged on the rotatable axis of each joint; four torque sensors which are connected with the drive motors in a cascading way are respectively arranged on the parts of shoulder, elbow and wrist, wherein, the shoulder parts are provided with two torque sensors, the elbow part is provided with one torque sensor and the push-up part of the wrist part is provided with one torque sensor. The torque sensors that are taken as transfer devices and detecting devices are connected with a motor reducer and an executing mechanism. The robot provides single joint movement of each joint and three-dimension multi-joint compound movement for suffers as well as provides simple and basic movement training of daily life.

The invention provides a rectangular coordinate five-freedom welding manipulator, relating to a welding manipulator. The welding manipulator comprises an X-axial sliding table, an X-axial slide block, a Y-axial sliding table, a Y-axial slide block, a Z-axial sliding table, a Z-axial slide block, an A-axial motor seat connected to the Z-axial slide block, and a B-axial motor seat which is connected with the A-axial motor seat and can rotate in the vertical direction relatively to the A-axial motor seat, wherein an output rotating shaft of an A-axial servo motor in the A-axial motor seat is connected with an A-axial belt pulley; the A-axial motor seat is connected with a rotating shaft support plate; the A-axial motor seat and the B-axial motor seat are connected with each other through a B-axial rotating shaft which passes through an axial hole I on the rotating shaft support plate and an axial hole II of the B-axial motor seat; a B-axial belt pulley is connected to the B-axial rotating shaft; synchronous belts are connected with the A-axial belt pulley and the B-axial belt pulley; and a B-axial motor output rotating shaft for connecting a welding gun is arranged on the B-axial servo motor in the B-axial motor seat. The welding manipulator has wide welding range and high flexibility, and can weld dead angles positions of parts which cannot be easily welded by a conventional manipulator.

The invention relates to a five-freedom-degree hybrid robot which comprises a fixing frame, a moveable platform, a positioning head, a first branch chain, a second branch chain and a third branch chain, wherein the positioning head is connected with the tail end of the moveable platform; the first, second and third branch chains are same in structure; each of the branch chains comprises a first hinge, a second hinge, a connecting rod and a driving device arranged at one end of the connecting rod; the first branch chain and the second branch chain are symmetrically connected with the two sides of the upper end of the fixing frame through own first hinges; the third branch chain passes through the fixing frame, is located under the first branch chain and the second branch chain and is connected with the middle part inside the fixing frame through the own first hinge; one ends of the first, second and third branch chains away from the driving device are respectively connected with the moveable platform through the corresponding second hinges; moveable planes of the first branch chain and the second branch chain are located in a same plane or are two mutually parallel planes; and the moveable planes of the first branch chain and the second branch chain are vertical to the moveable plane of the third branch chain. The five-freedom-degree hybrid robot is conveniently controlled in real time, the rigidity of the mechanism is effectively increased and the size of a cantilever is reduced.

A five-freedom-degree initiative magnetic-suspension inertially stabilized platform comprises a platform frame system, a drive system, a shock reducing system, a magnetic-suspension support system, an inertial measurement system and a turning angle measurement system. The drive system achieves isolation of angular motion of an airplane according to a control instruction. The shock reducing system isolates high-frequency coil vibration of the airplane. The magnetic-suspension support system achieves five-freedom-degree full-initiative suspension of a direction frame, isolates low frequency vibration of airplane, reduces friction, improves carrying capacity and can initiatively control torsion of the direction frame and effectively improve the stabilizing precision of the platform. The inertial measurement system and the turning angle measurement system monitor platform angular motion information caused by airplane angular motion. The five-freedom-degree initiative magnetic-suspension inertially stabilized platform achieves application of an initiative magnetic-suspension technology in the inertially stabilized platform, effectively isolates the airplane angular motion and the vibration, improves the carrying capacity and the stabilizing precision and is suitable for aerial remote sensing, target tracking and the like.

The invention discloses a rolling bearing-rotor system damage vibration response quantitative calculation method. The method comprises the steps that the structure parameter and the initial parameter of a bearing-rotor system are acquired; according to the bearing parameters, a five freedom degree bearing model is established, and a bearing stiffness matrix of the bearing-rotor system is acquired; according to the geometric size and the material characteristic parameter of a subcomponent, a finite element model is established, and a rotor stiffness matrix, a rotor gyroscopic matrix, and an equivalent mass matrix caused by a centrifugal force are acquired; a dynamics model of the bearing-rotor system is established; a time-domain integral method is used to solve the bearing-rotor dynamics model, so as to acquire the displacement vibration response of the bearing-rotor system. According to the invention, based on the finite element dynamics model, quantitative calculation can be carried out on vibration response generated by single point or multi-point damage of inner and outer rings of a bearing, and a basis is provided for the analysis and the diagnosis of a fault mechanism of the rotor-bearing system.

The invention discloses an ultrasonic automatic detection system and detection method of a workpiece with clearance gridding-shaped multi-slope curve surfaces. The system comprises an ultrasonic wave flaw detector, a scanner as well as an industrial control computer, wherein a probe of the ultrasonic wave flaw detector is installed on a five-freedom-degree scanning support. Aiming at the problems that in the prior art, only the single curve surface can be detected, and the detection difficulty is high, an ultrasonic technique and a modeling technique are fused, and the automatic detection of a module with clearance gridding-shaped multi-slope curve surfaces is realized; the boundaries of the gridding-shaped multi-slope curve surfaces are recognized automatically by utilizing the ultrasonic detection and online real-time regulating technique on the basis of modeling, so that the probe is always vertical to the surface of the workpiece, thereby guaranteeing the authenticity, precision and reliability of the ultrasonic detection result; due to the integration of the ultrasonic wave technique, the modeling technique, the ultrasonic imaging technique and the ultrasonic wave automatic detection technique, the boundary recognition of a curve surface module is clear, the detection result is precise and reliable, the automation degree is high, and the man-machine interaction interface is friendly.

The invention relates to a five-freedom-degree parallel mechanism, in particular to a five-freedom-degree parallel mechanism variable in structure parameter and work space. The five-freedom-degree parallel mechanism comprises five drive branch mechanisms. According to the mechanism, five degrees of freedom of switching a two-rotation three-movement manner and a three-rotation two-movement manner can be achieved, and the switching conditions are easy to control; and the five-freedom-degree parallel mechanism has the beneficial effects of being adjustable in structure parameter, variable in movement performance, large in work space and high in work condition pertinence besides the beneficial effects of small errors, large bearing capacity, easy kinematics inverse solution and the like of a common parallel robot. One end of each drive branch mechanism is connected with a fixed platform, and the other end of each drive branch mechanism is connected with a movable platform.

The invention discloses a system and a method capable of estimating important heavy semitrailer motion status parameters including tractor and semitrailer roll angles, tractor and semitrailer mass center roll angles, tractor and semitrailer yaw velocities and the like, and providing accurate status parameters for a heavy semitrailer electric control system. The status estimating method comprises the steps of: measuring tractor and semitrailer wheel velocities by wheel velocity sensors at the positions of wheels; measuring a steering wheel corner by a corner sensor at the position of a steering wheel; measuring tractor and semitrailer longitudinal/lateral accelerations by longitudinal/lateral acceleration sensors at the positions of the tractor and semitrailer mass centers; according to the wheel velocity and the longitudinal acceleration, calculating the longitudinal vehicle velocity; based on a UKF (unscented Kalman filter) status estimator of a five-freedom heavy semitrailer kinetic model, carrying out time updating based on the model and measurement updating based on a UKF algorithm to obtain a real status value; and outputting the real status value of the heavy semitrailer to a heavy semitrailer status memory for making preparations for status estimation at next moment.

The invention provides a five-freedom-degree spraying robot. The five-freedom-degree spraying robot comprises a base, a lifting arm, a large arm, a small arm, a wrist part and an output shaft, wherein the lifting arm is capable of lifting up and down and horizontally moving relative to the base; a rotation axis of the large arm relative to the lifting arm, a rotation axis of the small arm relative to the large arm and a rotation axis of the wrist part relative to the small arm are same and are same and are parallel to an horizontal movement axis of the lifting arm relative to the base; a rotation axis of the output shaft relative to the wrist part and a rotation axis of the wrist part relative to the small arm are perpendicular to each other and are crossed with each other; a small arm motor, a wrist part motor and an output shaft motor are arranged at the front end of the large arm and are transmitted to the small arm, the wrist part and the output shaft via a one-stage or multi-stage synchronous belt; five motors are isolated in three sealed spaces; each sealed space adopts dynamic and static sealing strategy to ensure that electric gas is isolated with the outside flammable and explosive gases; high explosion resistance is achieved; mounting and driving manners of joint speed reducers are also optimized by the five-freedom-degree spraying robot; the five-freedom-degree spraying robot has the characteristics of simple structure, low cost, large operation space, high flexibility, high tail end positioning accuracy, convenience in wire layout, reliability in sealing and high explosion resistance.

A five freedom static electricity suspended variable capacity type micro - static electricity motor is used for MEMS systematical micro - execution unit and micro - inertia sensitive element etc field. It contains upper stator, lower stator, rotor, inner stator and outer stator, and suspend control system, wherein the upper and lower stator and inside and outside stator to form one closed intracavity, rotor suspend in annular intracavity geometrical center, utilizing axial direction radial boosting electrode to apply electrostatic force, through detecting capacitor differential variation between electrode and rotor to realize, through suspend control system to realize five freedom active static electricity suspension displacement detection, utilizing rotor salient pole and stator driving electrode to apply driving torque. Said invention provided micro - static electricity motor can restrict rotor all freedom of movement except rotating around the Z axis, not only eliminating mechanical contact induced moment of friction and raising working lives, but also providing larger driving moment and radial overload capacity, to obtain very high rotor speed.

The invention discloses a five-freedom-degree series-parallel lower limb rehabilitation robot, and belongs to the technical field of medical rehabilitation instruments. The five-freedom-degree series-parallel lower limb rehabilitation robot can achieve the attitude rotation around the X axis, the Y axis and the Z axis, conducts axial movement along the Y axis and the Z axis, and actually simulates multi-free-degree complex motions of human lower limb and foot walking. The five-freedom-degree series-parallel lower limb rehabilitation robot comprises a rack and two moving platforms, and a base and a support are connected in a series mode to form the rack. When a patient is in the early days of rehabilitation, the patient can keep balance with the help of a supporting frame and passively conduct rehabilitation trainings of lower limb joint motion. When the patient is in the later stage of rehabilitation, the patient can actively conduct the rehabilitation exercises of walking and the like with the help of handles frames, so that the rehabilitation trainings are more effectively and continuously provided for the patient. The five-freedom-degree series-parallel lower limb rehabilitation robot is comprehensive in functions, simple in structure, convenient to operate, and suitable for different training stages of different patients, so that the patient with lower limb walking function damaged can more effectively and continuously conduct the rehabilitation trainings.

The invention relates to a five-freedom full suspension vertical shaft disc type wind-driven generator. The wind-driven generator comprises a first generator stator installed on the inner wall of a shell, a second generator stator, a permanent magnet offsetting type axial magnetic suspending bearing stator A and a permanent magnet offsetting type axial magnetic suspension bearing stator B, wherein a main shaft is provided with a first generator rotor A, a first generator rotor B, a permanent magnet offsetting type axial magnetic suspension bearing rotor, a second generator rotor A and a second generator rotor B; and the two ends of the main shaft extend out from the two ends of the shell, and are respectively installed with a fan blade and a displacement sensor. The wind-driven generator provided by the invention utilizes two permanent magnet type axial magnetic suspending bearings to realize the suspension of the rotor on four axial freedoms, and utilizes a permanent magnet offsetting type axial magnetic suspending bearing to realize the suspension of the rotor on the axial freedom, so that the full suspension of the rotor is realized, the cut-in wind speed is reduced, the structure of a magnetic suspending bearing system of the wind-driven generator is simplified, and the efficiency of energy conversion is improved.

The invention relates to a wind-driven generator, in particular to a magnetic levitation wind-driven generator with a vertical shaft inner rotor. The magnetic levitation wind-driven generator comprises three parts, namely a stator (1), a rotor (2) and a wind wheel device (3). A five-freedom degree magnetic levitation state is built by adopting the repelling force between an upper radial magnetized permanent magnet ring array (23) of the rotor and an upper radial magnetized permanent magnet ring array (12) of the stator, the repelling force between a lower radial magnetized permanent magnet ring array (25) of the rotor and a lower radial magnetized permanent magnet ring array (14) of the stator, and the repelling force between an axial magnetized permanent magnet (17) of the stator and an axial magnetized permanent magnet (28) of the rotor; dynamic adjustment on the radial position of the rotor (2) is carried out by adopting an upper radial adjusting coil (11) and a lower radial adjusting coil (15). According to the magnetic levitation wind-driven generator, the problem of difficulty in realizing stable magnetic levitation of the wind-driven generator with low power consumption is solved; the magnetic levitation wind-driven generator has the advantages of being low in start-up wind speed, reliable in operation and the like; a foundation is laid for light air start-up and breeze power generation.

The invention provides a space five-freedom-degree motion heavy-load trolley docking platform, and relates to the technical field of calender equipment. Space five-freedom-degree motion requirements of a heavy-load module framework in the docking process can be met, and the docking precision of the docking platform can meet bolting requirements. The docking platform comprises a Z-axis 360-degree rotating device, a Y-axis translation device, an X-axis translation device, a Y-axis rotating device, an X-axis rotating device, a supporting bottom plate, supporting feet and supporting trundles, wherein the supporting bottom plate is mounted at the bottom of a trolley. The Z-axis 360-degree rotating device is located on the uppermost portion of the docking platform, module 360-degree rotation canbe achieved, and therefore gaps on the two sides of a docking module are adjusted. The Y-axis translation device and the X-axis translation device are located below the Z-axis 360-degree rotating device, and front-and-back and left-and-right motion of the docking module can be achieved. By means of the Y-axis rotating device and the X-axis rotating device, it can be achieved that the docking module swings along the rotating centers in the front-and-back direction and the left-and-right direction, and therefore the high-low difference of the docking module is adjusted.

The invention relates to a five-freedom-degree magnetic suspension motor with a brake function and a control method thereof. Parking and brake functions of the five-freedom-degree magnetic suspension motor are respectively completed by a magnetic suspension bearing. When wind speed is too low, the electric energy consumed by the magnetic suspension bearing is greater than the electric energy generated by a wind driven generator, so a central processing unit controls a power supply module so that the power supply module switches off the power supply of a magnetic suspension bearing electric control system, and the magnetic suspension bearing stops working (parks). When the wind speed is two high, in order to protect the generator, the central processing unit sends instructions to a thrust magnetic bearing electric control system, the axial suspension position of a motor rotor is moved to a brake sheet and tightly approaches to the brake sheet through the thrust magnetic bearing, and the brake action (brake) is realized. When the wind speed meets the electricity generation requirement, the magnetic suspension bearing normally works, and the motor rotor is ensured to operate in a suspension state. The magnetic suspension motor integrates three functions of contactless support, parking and brake, the magnetic suspension motor is adopted, so that the structure of the wind driven generator can be simplified, and the electricity generation efficiency of the wind driven generator is effectively improved.

A liftable five-freedom-degree millimeter wave detecting device testing platform comprises a three-dimensional moving guide rail device, a rotary device and a pitching mechanism. The three-dimensional moving guide rail device comprises a first moving guide rail mechanism, a second moving guide rail mechanism and a third moving guide rail mechanism which are capable of respectively simulating movement of a millimeter wave detecting device in Y-axis direction, X-axis direction and Y-axis direction of a rectangular coordinate system. A shell of the rotary mechanism is fixedly connected with the lower end of a third guide rail in the third moving guide rail mechanism. The rotary mechanism can rotate around the Z-axis. The pitching mechanism can realize vertical pitching and pitching of any angles. By the platform, whether the millimeter wave detecting device can accurately detect, identify, track and the like or not under different background conditions, different heights and different weather, and debugging and detection of the millimeter wave detecting device is facilitated greatly.

A five-freedom-degree accurate positioning device of an acoustic transducer used for a magnetoacoustic coupling imaging experiment comprises a base plate, a water groove formed in the base plate, an acoustic transducer position adjusting frame located in the water groove and a sample carrying disk, wherein an acoustic transducer installing frame is connected to the acoustic transducer position adjusting frame in a sliding mode, the acoustic transducer position adjusting frame is connected with acoustic transducer scanning driving devices through connecting plates, the acoustic transducer scanning driving devices are arranged on the base plate and used for driving the acoustic transducer installing frame to horizontally move in the X axis direction and the Y axis direction, to vertically move in the Z axis direction and to rotate along the Z axis, the sample carrying disk is connected with a carrying disk rotation driving device through a waterproof cover mechanism arranged on the bottom face in the water groove and a rotary supporting pillar perpendicularly connected to the end, away from the sample carrying disk, of a waterproof cover frame, and the carrying disk rotation driving device is arranged on the base plate and used for driving the sample carrying disk to rotate along the Z axis. According to the five-freedom-degree accurate positioning device of the acoustic transducer used for the magnetoacoustic coupling imaging experiment, the acoustic transducer can be accurately positioned and controlled in five-freedom-degree motions including horizontal movement, rotation and the like, multiple scanning modes can be achieved, and sound source positioning accuracy and sound source positioning stability are guaranteed.

A constant-Jacobian parallel mechanism comprising five-freedom-degree branches comprises a fixed platform, a movable platform and three branches connected with the fixed platform and the movable platform. The first branch is five-freedom-degree branch PPRU structure and comprises a first movement pair, a second movement pair, a first rotating pair and a first universal hinge. The second branch is a five-freedom-degree branch PRPU structure and comprises a third movement pair, a second rotating pair, a fourth movement pair and a second universal hinge. The third branch is a five-freedom-degree branch CRU structure and comprises a first cylinder pair, a third rotation pair and a third universal hinge. The constant-Jacobian parallel mechanism comprising the five-freedom-degree branches can achieve spatial three-dimensional movement of the movable platform, when movement pairs of the first movement pair, the third movement pair and the first cylinder pair are used as driving input, the feature that the Jacobian matrix is constant is achieved, indexes, relevant to the Jacobian matrix, describing the movement performance and the force transmission performance of the mechanism also keep constant, the problems of control, path planning and the like of the parallel mechanism are solved, and much convenience is brought to analysis and design of the mechanism.

The invention aims at overcoming the defects in the prior art and provides a new parallel connection robot structure. Position and pose conversion of two movement and three rotation of a workbench in a work space is achieved. The parallel connection mechanism should have the beneficial effects of overcoming the strange position and shape of the mechanism and improving the movement and force transmission performance of the mechanism. As shown by the abstract drawing, according to the overall structure of the mechanism, four branch chains are distributed between a fixed platform and a movable platform, two branch chains containing central symmetry rotating rods 2 are completely consistent in structure, two branch chains containing arc sliders are roughly the same, only the arc radiuses of the sliders is different, and when the two branch chains move on the fixed platform, the two arc sliders cannot generate interference. The parallel connection mechanism with the five freedom degrees of two movement and three rotation is simple in structure and easy to produce and machine, and can be applied to the fields of machining platforms of five axis linkage machine tools, position and pose adjustment of some important precise instruments, simulation platforms and the like.

The invention discloses a 5-degree-of-freedom parallel machine tool and relates to the field of machine tools. The invention is characterized in that a pedestal 1 and a working table 4 are connected by five identical movement branched chains 2 and a restriction branch 3; wherein, five identical movement branched chains 2 respectively consist of a servomotor 5, a ballscrew nut pair 6 and a fixed-length rod 7 with spherical hinges on both sides; and the restriction branch 3 consists of a slide rail 10, a restriction rod 9 and a hook joint 8. Driven by five servomotors 5, the invention can realize three movements and two rotations of the working platform 4. The invention has the advantages of simple structure, high precision, large rigidity, decoupling of poses of initial assembly, good processing and assembling performance, low inertia in the movement of the movement branched chains, and the like and can be used for the processing of spacial curved surfaces ( sharpeners, impellers, polishing, and hte like.).

The invention belongs to the technical field of automobile testing, and particularly relates to a five-freedom-degree automobile seat vibration test table capable of carrying out automobile seat smoothness tests and comfort subjective and objective evaluation tests. The test table comprises a machine body part A, a control system B and an upper computer C, wherein the control system B is connected with the machine body part A, the upper computer C is connected with the control system B, the machine body part A comprises a clamp module, a motive power module and a bottom support module, the motive power module is arranged under the clamp module, and the bottom support module is arranged under the motive power module. The five-freedom-degree automobile seat vibration test table provided by the invention is obviously superior to the existing single-freedom-degree seat test table in the aspects of precision, structure, installation, maintenance, environment pollution, noise and performance testing, the limitation of hydraulic motive power sources is overcome, in addition, the test table can be used for carrying out smoothness tests and comfort subjective and objective evaluation tests on an automobile seat, and the development time of the automobile seat is shortened.

The invention discloses a 3D sewing device which comprises a base. A first guide rail, a second guide rail and a third guide rail which are perpendicular to one another are arranged on the base and are connected with one another through slide blocks in a sliding mode. A horizontal rotating table is installed on the slide block of the third guide rail and provided with a horizontal rotating disc which is driven by a first indexing motor. A perpendicular rotating table is installed on the horizontal rotating disc and provided with a perpendicular rotating disc which is driven by a second indexing motor. A sewing machine head is installed on the perpendicular rotating disc. The movements in five freedom degrees such as the up-down movement, the left-right movement, the front-back movement, the horizontal rotation and the perpendicular rotation of the sewing machine head can be achieved, and the requirement for the overlapping in the point tangent direction on the space curve is met.

The invention relates to a multi-freedom-degree hydraulically-driven mechanical hand used for carrying in workshops. The mechanical hand has five freedom degrees and comprises a hand clamping mechanism, a wrist rotation mechanism, a telescopic arm mechanism and a machine body mechanism. The machine body mechanism comprises a base, a rotation cylinder, a lifting cylinder and a rotation arm. The rotation cylinder is arranged on the lifting cylinder. The hand clamping mechanism comprises grippers and a linear clamping hydraulic cylinder for driving the grippers to do clamping movement. The telescopic arm mechanism is a double-guide-rod telescopic arm structure. The wrist rotation mechanism is arranged at the front end of the telescopic arm mechanism and used for connecting the hand clamping mechanism with the telescopic arm mechanism and achieving rotation movement of the hand clamping mechanism. The hydraulically-driven mechanical hand can achieve space movement of five freedom degrees, overcomes the defects of an existing mechanical hand, is simple in structure, has the performance of controllability, adjustability, excellent performance, output flexibility and the like, can conduct operation under more environments instead of manual work, and improves the work efficiency.