244 results about "Leg type" patented technology

A deepwater windpower plant (DWP) has a tension leg-type floating platform with an evacuable base for adjusting its buoyancy for installation at ocean depths ranging from 40 meters up to 1.5 kilometers and more. The DWP has a typical offshore wind turbine assembled close to shore which is then towed to a desired installation site on the ocean, and held in place by a gravity anchoring base (GAB), to which an evacuable portion or space of the DWP platform is anchored. The GAB has upwardly extending mooring tethers and a power cable which are brought to the ocean surface by attached buoys. The GAB is sunk to the ocean floor at the installation site under controlled conditions so that the GAB lands flat on the ocean floor. As the GAB sinks to the ocean floor, the mooring tethers and power cable are pulled to the surface by their respective buoys. The GAB is loaded with heavy ballast material that can be dropped from barges on the ocean surface into the upwardly open GAB below the barges.

An assist device that applies an auxiliary driving force to a joint in parallel with a driving force of a joint actuator between a thigh portion and a crus portion, which are a pair of link members of a leg. The assist device generates the auxiliary driving force by use of spring device, such as a solid spring or an air spring. A member supporting a rod member connected to the spring device is provided with a device for transmitting a bending and stretching motion of the leg at the joint (a relative displacement motion between the thigh portion and the crus portion) to the spring device to generate an elastic force of the spring device, and for discontinuing the transmission of the bending and stretching motion to the spring device. This transmitting device is controlled in accordance with a gait of a robot. Thus, a burden on the joint actuator is reduced where necessary and favorable utilization efficiency of energy can be stably ensured.

The invention discloses a multi-rotator leg-wheeled multifunctional aerial robot and a motion planning method thereof. The robot comprises rotators A, B, C and D, rotator driving motors A, B, C and D, wall-climbing thighs A and B, wall-climbing legs A and B, hip joint driving motors A and B, knee joint driving motors A and B, a robot main body, a wall-surface running wheels A and B, a ground supporting rod, rotating supporting rods and a rigidity-strengthened ring. The motion planning process comprises the motion planning of the robot in flight state, the motion planning of the robot undergoing a change from the flight state to a wall climbing state, the motion planning of the robot in a wall climbing state, the motion planning of the robot crossing an obstacle during wall climbing, and the motion planning of the robot undergoing a change from the wall climbing state to the flight state. The robot realizes the fusion of a rotator type aircraft and a leg-wheeled movement mechanism, is simple in mechanical structure and easy to realize, and has the advantages of high stability, small volume, strong adaptability to wall surfaces, large obstacle crossing capacity, wide application range and the like.

The invention discloses a six-wheel-leg type serial-parallel hybrid robot. The robot comprises a carrying platform, a battery, a control system, a camera and three wheel-leg combined movable branched chains with six degrees of freedom; the battery, the control system and the camera are arranged on the carrying platform; the wheel-leg combined movable branched chains are arranged under the carrying platform; and the wheel-leg combined movable branched chain comprises a yaw joint, a yaw joint bracket, an upper pitch joint, a big leg, a middle pitch joint, a middle pitch joint bracket, an upper roll joint, a small leg, a lower pitch joint, a lower pitch joint bracket, a lower roll joint, a power wheel bracket and a power wheel. The invention provides the six-wheel-leg type serial-parallel hybrid robot with a simplified structure and good flexibility and rapidity.

The invention discloses an asymmetric wheel leg type all-directional moving chassis. The asymmetric wheel leg type all-directional moving chassis comprises a chassis frame, a controller, mechanical legs, Mecanum wheels, drivers and sensors, wherein the mechanical legs are hinged to the chassis frame and arranged at four directions of the chassis frame, the Mecanum wheels are mounted at the tail ends of the mechanical legs respectively and are driven by the independent drivers, and the drivers and angle sensors are connected with the controller. The drivers and the angle sensors on the mechanical legs are connected with the controller arranged in the middle of the chassis frame, and the controller receives signals of the sensors, sends out control commands and controls the drivers in a closed loop manner by the drivers. The horizontal sensors are fixed on the chassis frame and connected with the controller and are used for measuring inclination of the chassis frame. On the basis of all-directional moving, posture of the asymmetric wheel leg type all-directional moving chassis is automatically controlled, and the Mecanum wheels can adaptively move in all directions on various road conditions.

A leg type diaphragm wall construction method of the invention belongs to the architecture construction technique field, which comprises: determining each axis control point; constructing guide walls; preparing mud slurry of walls mud for walls protection to stabilize the groove walls; constructing grooves; constructing legs; processing the diaphragm steel reinforcement cage; processing legs steel reinforcement cage which is aligned and connected to the diaphragm steel reinforcement; installing the steel reinforcement cages; selecting joints; installing joints and grouting the underwater concrete guide pipe and cleaning holes; grouting the underwater concrete; uplifting the joint pipe; grouting the wall bottom. The method can be applied in the ground with fluctuating and hard rock surface and in the ground which cannot satisfy the anti-displacement and anti-turning requirements, has good properties of soil and water blocking, anti-seepage and endurance, has positive action on the super-deep foundation pit bearing and enclosing with high economy benefit, and can greatly save cost with small noise and pollution compared with the whole diaphragm wall construction.

The invention relates to a wheel-legged robot chassis suspension device. The wheel-legged robot chassis suspension device comprises a wheel type moving driving mechanism, a wheel type moving mechanism, a leg type traveling mechanism, a leg type traveling driving mechanism and a steering mechanism; the wheel type moving mechanism and the leg type traveling mechanism share three pairs of wheels, each wheel is respectively connected with the wheel type moving mechanism and the leg type traveling mechanism through a tire steering base arranged on the corresponding wheel, an angle sensor is arranged on the upper side of a hub of each wheel, and the phase difference between the angle sensors installed on every two adjacent hubs is 180 degrees; the wheel type moving driving mechanism and the leg type traveling driving mechanism are independent from each other and arranged at the two ends of a wheel-legged robot chassis respectively. Compared with the prior art, the wheel-legged robot chassis suspension device combines a leg type mechanism and a wheel type mechanism, integrates the advantages of the leg type mechanism and the wheel type mechanism, is good in obstacle crossing performance, adaptability and stability, achieves a cushioning effect, and does not need to be adjusted by means of an addition control mechanism; the leg type mechanism and the wheel type mechanism coordinate to work together, the speed is high, maneuverability is good, and control is simple.

The invention belongs to the field of renewable energy technologies and ocean equipment and particularly relates to a floating type wave energy-wind energy comprehensive utilization platform. The floating type wave energy-wind energy comprehensive utilization platform comprises a floating type foundation, a wind turbine, swing plates, damping plates, anchor chains, guide rails, rotary shafts and generators. A floating type foundation body is connected to a holding power anchor through the tension leg type anchor chains to be fixed to the bottom of an ocean, and the front swing plate and the rear swing plate are symmetrically installed on the floating type foundation and face toward the incoming direction of waves; the wind turbine and a tower frame are installed in the center of the floating type platform. The platform is characterized in that the floating platform faces toward the incoming direction of the waves, the front swing plate and the rear swing plate rotate in a reciprocating mode under the action of the waves to driven the generators to generate power, and the power and the power generated by the wind turbine under the wind action are complemented. The design that the double guide rails are fixed, and the front swing plate and the rear swing plate work at the same time is adopted, the distance between the swing plates is adjusted according to conditions of the waves so that the stability of the floating type platform can be improved, and the floating type platform is suitable for deepwater areas and meanwhile is high in reliability and easy to install and move.

The invention relates to a portable moving device with a wheel-leg hybrid advancing function and belongs to the technical field of the robot or unmanned ground vehicle. Using a special design of the vehicle wheel structure, the portable moving device of the invention enables the vehicle wheels to unfold to a leg type state and to fold to a wheel type state, so that the wheel-leg hybrid advancing function is realized, thereby giving the device adaptability to complex terrain.

The invention relates to a bionic leg with three-dimensional force perception and spatial surface self-adaptive ability, which belongs to the field of application of robot technology. The bionic leg comprises a robot base (1), a hip joint, a thigh (3), a knee joint, a crus and a foot, wherein the hip joint comprises a No.I hip joint control actuator (2), a hip joint control actuator bracket (4) and a No.II hip joint control actuator (5); the knee joint comprises a knee joint control actuator (7) and a knee joint control actuator bracket (6); the crus comprises a connecting plate (8) and a three-dimensional force sensor (9); and the foot comprises a return spring (10), a globe joint and a sole (14). The bionic leg can be applied to the integrated design of a human leg part of multiple degrees of freedom microminiature leg-type robot which has three-dimensional contact force detection and the ability of a self-adaptive spatial surface adhesion sole.

The invention provides a robot which can move stably at all terrains. The robot can move in a complex terrain environment, and movement of a sliding platform on a linear guide rail is maintained. The robot can carry corresponding functional components and can complete corresponding functions, for example, a fighting part can be carried by a platform on the upper portion, and the robot can be used as a military robot. The robot comprises a rotating part A, a rotating part B, a connecting part C, a connecting part D, the platform E and the linear guide rail F, the rotating part A and the rotating part B are identical, and the connecting part C and the connecting part D are identical. The linear guide rail F is connected with the C and the D through shaft sleeves (16), the linear guide rail F can rotate around a plane thrust bearing (7), and the A and the B can be pulled and held by the F during foot lifting. The C and the D are fixed onto a leg carrying platform (10) through a bearing support (8) so as to achieve connection of the C and the A and connection of the D and the B. The moving platform E achieves movement of the center of gravity, after movement of the center of gravity is completed, the leg on the rotating part A or the rotating part B is lifted up so as to achieve foot lifting, the D or the C is rotated to achieve stepping, after rotation is completed, the lifted leg falls so as to achieve foot falling, and finally movement is achieved.

In a legged mobile robot (10) having a motor (42) that rotates the ankle joint (26R (26L)) about a right-and-left axis of the robot (26RY (26LY)) and a speed reducer (58) that reduces speed of an output of the motor, wherein the motor is disposed at a same position as the knee joint (22R (22L)) or at the thigh link (16R (16L)) such that the speed reducer is disposed at the shank link. With this, it becomes possible to reduce the weight of the distal end of the leg (12R (12L)) can be reduced, whereby enabling to reduce the inertial force generated in the leg during movement or locomotion of the robot.

The invention discloses a single-leg structure for a wheel-leg type robot in leg-arm mixing operation. A cockroach is simulated by applying bionic mechanism principles, and front three joints, namely a buttock joint, a hip joint and a knee joint, are arranged; rear three operating joints are respectively a first ankle joint, a second ankle joint and a third ankle joint; steering engines of the three front joints are directly connected with femur parts and drive the femur parts to rotate; a driving motor of the first ankle joint also adopts a direct-driving manner; for the rear two joints, because of the limit to the total length of a single leg and a demand for preventing motion interference, the second ankle joint is driven by adopting worm wheels and a worm; the third ankle joint uses gears to transmit power; a rolling wheel is arranged between the knee joint and the first ankle joint, and the switchover between a wheel rolling mode and a walking mode can be realized. The single-leg structure disclosed by the invention has the advantages that a tail end can form various postures, and many postures can be adopted when the robot stands or walks; whether the robot performs single-leg-arm mixing operation or double-leg-arm coordination, many route planning methods can be selected, and the flexibility is high.

The invention relates to a design of a wheel leg type moving foot of a multi-joint chain link type robot based on modularization. In system composition, the moving foot and a robot body are in an open chain structure relationship and totally have five active degrees of freedom, and each active degree of freedom can be completed by the driving of a steering engine or direct current servo motor. In structural design, the moving foot is in a crank arm structure, and is provided with four rotational joints and one wheel foot. By the front crank arm and rear crank arm of the leg and the wheel type design of the moving foot, the multi-joint chain link type robot has the advantages of good geography adaptability of a leg-type robot and strong mobility of a wheel-type robot, and a landing end of the moving foot can be landed in any position in a three-dimensional space of a reachable area of the moving foot. By a bevel gear at the end part of a moving output shaft of the steering engine, radial load directly borne by a motor can be avoided, and the service life of the motor is prolonged. By the special curvature design of a bearing small wheel at the bottom of the moving foot, the bending angle of the leg when the robot moves laterally horizontally just makes the landing point of the small wheel tangential with the ground so as to realize efficient gait walking.

The invention discloses a horizontal-motion rotating leg type stair cleaning robot and a stair go-up-and-down method. The robot comprises a machine body, horizontal-motion rotating leg mechanisms which are symmetrically distributed on the two sides of the machine body and comprise supporting legs and rotating arms, and a distance measuring and approaching sensor. The stair go-up-and-down method includes the steps that when the robot goes up the stairs, the machine body is supported by the supporting legs through the rotating arms and horizontally rotates to the upper step, and the rotating arms continuously rotate till the supporting legs are taken back to the two sides of the machine body; when the robot goes down the stairs, the supporting legs are driven by the machine body to horizontally rotate to the lower step by rotating the rotating arms, the machine body is supported up from the current step, the rotating arms continuously rotate till the machine body falls back to the lower step and the supporting legs are taken back to the two sides of the machine body. The step-missing and colliding conditions are avoided through the distance measuring and approaching sensor, and reliable operation is guaranteed. The horizontal-motion rotating leg type stair cleaning robot and the stair go-up-and-down method have the advantages that the stair go-up-and-down action is simple and efficient, the structure is compact, back-and-forth cleaning on the stepping face of the stairs is facilitated, the function for sweeping the flat ground is also taken into consideration, and the application range of the robot is widened.

The invention relates to a maritime renewable energy transfer device which comprises an ocean platform and a wave energy generator, wherein the wave energy generator is arranged on the platform surface of the ocean platform, preferably, the wave energy generator comprises a wave floating body and a mechanical driving and generating component; the mechanical driving and generating component is arranged on the platform surface; the wave floating body comprises a floating body and a straight rack gear arranged on the floating body; the mechanical driving and generating component comprises a straight rack gear limiting component, a first rotating shaft and a first gear arranged on the first rotating shaft; the floating body is positioned below the platform surface; the straight rack gear passes through the platform surface from bottom to top and is meshed with the first gear; the straight rack gear limiting component supports a limiting straight rack gear; and the ocean platform is a tension leg type ocean platform. The invention also provides a maritime renewable energy transfer system for using wind power and wave power to generate power in a combined grid. The invention is ingeniously designed, can effectively utilize maritime renewable energy and provide energy for ocean development away from the land, and is safe, stable and reliable and convenient for engineering implementation and daily maintenance.

The invention provides a double-triangular suspension frame wheel leg type all-terrain mobile robot. The robot includes a wheel leg robot body, a radar system arranged on the wheel leg robot body andfour wheel leg robot single legs symmetrically arranged at the front, rear, left and right portions of the wheel leg robot body, wherein each wheel leg robot single leg comprises an actuator, a triangular bracket connected with the actuator, a damping spring connected with the triangular bracket, a double-transverse-arm suspension frame connected with the damping spring, a steering motor connectedwith the double-transverse-arm suspension frame, a wheel leg body connected with the steering motor and a driving wheel which is connected with the wheel leg body and provided with a hub motor; the middle point of each triangular bracket is connected with the wheel leg robot body, and the two ends of each triangular bracket are connected with the corresponding actuator and the corresponding spring separately; each double-transverse-arm suspension frame includes an upper suspension frame control arm and a lower suspension frame control arm, one end of each upper suspension frame control arm and one end of each lower suspension frame control arm are hinged to the side surface of the wheel leg robot body, the other end of each upper suspension frame control arm and the other end of each lower suspension frame control arm are hinged to the corresponding steering motors, and the damping springs are connected with the upper suspension frame control arms. By adopting a four-wheel drive pattern, the robot can run within an angle of 360 degrees in different directions.

The invention relates to a three-leg type lander buffer mechanism. The three-leg type lander buffer mechanism comprises a working platform, a cabin fixedly connected to the lower end of the working platform, three leg pads which are arranged symmetrically below the cabin, three identical main landing legs which are connected between the working platform and the leg pads symmetrically, and six identical auxiliary landing legs which are symmetrically connected between the cabin and the leg pads. Each main landing leg comprises a first rod and a second rod, wherein the first rod and the second rod are connected from top to bottom, and are connected through a first prismatic pair. Each auxiliary landing leg comprises a third leg and a fourth leg, wherein the third leg and the four leg are connected from top to bottom, and are connected through a second prismatic pair. The three-leg type lander buffer mechanism has the advantages that the multi-dimensional buffer function can be achieved when a lander is landing, and the shock borne by the working platform is reduced; the working platform of the mechanism has the dual-rotation one-translation motion output function so that the working platform can be adjusted to be stable; the three-leg type lander buffer mechanism is compact in structure, easy to control and applicable to the place with a complicated landing site and a wide impact frequency range.

The invention relates to a double-leg type medical leg massage manipulator. The double-leg type medical leg massage manipulator comprises L-shaped base poles, the bottom ends of the two L-shaped base poles are symmetrically arranged at the back of an L-shaped base frame; two leg massage devices are symmetrically mounted on the upper end surface of the L-shaped base frame; each leg massage device comprises a massage base plate welded on the left side surface of the upper end of the L-shaped base frame, a hydraulic cylinder IV is mounted on the inner wall of the massage base plate, a massage moving block is mounted at the top end of the hydraulic cylinder IV, a linear sliding rail II is mounted on the left end surface of the massage moving block and is mounted on the left side surface of the upper end of the L-shaped base frame through a screw, the left end surface of the massage moving block is limited by the linear sliding rail II, so that the left end surface of the massage moving block can stably move back and forth on the linear sliding rail II, and a linear sliding rail III is mounted on the lower end surface of the massage moving block and on the bottom surface of the upper end of the L-shaped base frame through a screw. The manipulator can perform automatic and uniform lifting massage function on the legs, and a new approach is provided for leg massage.