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.

A provisional desired motion trajectory of an object is determined based on a moving plan of the object. Then, it is determined whether a robot leg motion can satisfy a necessary requirement. The requirement is related to a position / posture relationship between the object and the robot, and a determination of whether the requirement can be satisfied is made at a future, predetermined step. A restrictive condition related to robot leg motion is satisfied at each step up to the predetermined number of steps. If the requirement is satisfied, then a desired gait is generated on the basis of the provisional desired motion trajectory. Otherwise, a desired gait is generated on the basis of a desired motion trajectory of the object according to a corrected moving plan.

Based on a detected or estimated value of an actual posture of a predetermined part, such as a body 3, of a robot 1 and a deviation the actual posture from a posture of a desired gait, a posture rotational deviation's variation is determined as the temporal variation of the deviation, and the position of the robot 1 (for example, the position where the robot comes into contact with a floor) is estimated on the assumption that the robot 1 rotates about a rotation center by the rotational deviation's variation. In addition, in accordance with the difference between the estimated position and the estimated position of the robot 1 determined by an inertial navigation method using an accelerometer or the like, the estimated position of the robot 1 determined by the inertial navigation method is corrected, thereby improving the precision of the estimated position.

A legged mobile robot gives up a normal walking motion and starts a tumbling motion when an excessively high external force or external moment is applied thereto and a behavior plan of a foot part thereof is disabled. At this time, the variation amount ΔS / Δt of the area S of a support polygon of the body per time t is minimized and the support polygon when the body drops onto a floor is maximized to distribute an impact which acts upon the body from the floor when the body drops onto the floor to the whole body to suppress the damage to the body to the minimum. Further, the legged mobile robot autonomously restores a standing up posture from an on-floor posture thereof such as a supine posture or a prone posture.

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.

In a foot of a legged mobile robot, deformation of the foot is absorbed by a first concavity and the position and shape of a ground-contact portion hardly change. Accordingly, variation in a resistive force against the moment about the yaw axis can be reduced and a spinning motion can be prevented. In addition, when the foot is placed on a bump or a step, a flexible portion deforms and receives it, and a frictional retaining force is generated between the flexible portion and the bump. Thus, the foot is flexibly adapted to the road surface, and sliding caused by the bump and excessively fast motion are prevented. Accordingly, the foot can be adapted to various kinds of road surfaces such as surfaces having bumps and depressions, and the attitude stability can be increased.

In a foot of a legged mobile robot, deformation of the foot is absorbed by a first concavity and the position and shape of a ground-contact portion hardly change. Accordingly, variation in a resistive force against the moment about the yaw axis can be reduced and a spinning motion can be prevented. In addition, when the foot is placed on a bump or a step, a flexible portion deforms and receives it, and a frictional retaining force is generated between the flexible portion and the bump. Thus, the foot is flexibly adapted to the road surface, and sliding caused by the bump and excessively fast motion are prevented. Accordingly, the foot can be adapted to various kinds of road surfaces such as surfaces having bumps and depressions, and the attitude stability can be increased.

A wheel leg type mobile robot with a flexible trunk is composed of the robot trunk, a front wheel leg device and a rear wheel leg device. The robot trunk is formed by connecting two isomorphic joint modules. Each joint module is composed an outer U-shaped frame, an inner U-shaped frame, an overturning steering gear, rotating shafts, a steering gear output disc, a direct-current motor, a direct-current motor output gear, a rotating gear, a bearing and a rotating disc. The overturning steering gear is fixed in the outer U-shaped frame and drives the inner U-shaped frame to be overturned up and down, and the direct-current motor output gear is meshed with the rotating gear to drive the rotating disc. The front wheel leg device comprises a steering gear box, steering gears, steering gear output discs, universal wheels and legs. The rear wheel leg device and the front wheel leg device are basically identical and only different in leg orientations, four steering gears and the steering gear box are fixedly connected through screws, and the universal wheels and the legs are respectively fixedly connected with steering gear rotating shafts. The wheel leg type mobile robot with the flexible trunk is simple in structure, can continuously move when overturned, and has high environment adapting capability.

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 relates to a six foot wheel leg type climbing biomimetic robot. The robot comprises a front trunk part, a middle trunk part, a rear trunk part, front wheel leg assemblies, middle wheel leg assemblies and rear wheel leg assemblies, wherein the front trunk part, the middle trunk part and the rear trunk part are connected in sequence; the front wheel leg assemblies, the middle wheel leg assemblies and the rear wheel leg assemblies are arranged on the two sides of the front trunk part, the two sides of the middle trunk part and the two sides of the rear trunk part respectively; the distance between the front trunk part and the middle trunk part and the distance between the rear trunk part and the middle trunk part are adjustable; the front wheel leg assemblies, the middle wheel leg assemblies and the rear wheel leg assemblies are driven by a first motor, a second motor and a third motor respectively, and the rigidity of wheel legs of the front wheel leg assemblies, the middle wheel leg assemblies and the rear wheel leg assemblies is adjustable; a battery pack supplies power to the first motor, the second motor and the third motor. From the technical scheme, it can be known that both the maximum spanning ditch width and the maximum climbing step barrier height of equipment can be changed by adjusting the inter-axis span and the wheel leg rigidity of the robot; on the premise of satisfying climbing usage requirements, the optimum motion parameters, for adapting to the environment, of the robot can be obtained, and therefore the error-tolerant rate of the robot in the climbing process is greatly increased.

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 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.

A wind energy-wave energy integration power generation structure based on a floating type tension leg platform comprises a floating type tension leg wind power generation structure and a wave power generation device. The floating type tension leg wind power generation structure comprises a wind turbine, a tower structure, a tension leg type supporting platform structure and a matching power transmission system. The wave power generation device is arranged on the water surface of the tower structure, and the wave power generation device is in coupling connection with the outer side face of the tower structure through a slide way type contact device. The wind energy-wave energy integration power generation structure has the advantages that the structure is reasonable and stable in structural design, the technology is mature in the construction scheme, the supporting platform structure and the power transmission system are shared, construction cost of independently using the wind turbine and the wave power generation device is reduced, the tension leg structure is favorable for optimal control of movement and improvement of utilization efficiency of wave energy. A system of the wind energy-wave energy integration power generation structure can be widely applied to development of deep water wind energy-wave energy resources.

The invention provides a six degree-of-freedom foot / leg type lower limb rehabilitation training robot and a control method thereof, belonging to the technical field of rehabilitation engineering. The robot provided by the invention comprises a fixing frame, a treadmill, an adjustable panel and exoskeleton mechanical legs, wherein the adjustable panel is connected with one end of the thigh exoskeleton through the hip joint exoskeleton, the other end of the thigh exoskeleton is connected with one end of the shank exoskeleton through the knee joint exoskeleton, and the other end of the shank exoskeleton is connected with a pedal plate through the ankle joint exoskeleton; and a weight reduction system is connected with the adjustable panel, and an electric cylinder between the thigh exoskeleton and the hip joint exoskeleton, an electric cylinder between the thigh exoskeleton and the shank exoskeleton and an electric cylinder between the shank exoskeleton and the pedal plate are respectively connected with a control system through a driver. The control method comprises the following steps of: inputting physical characteristic parameters of a patient; reading a pre-stored text document,and writing information in global variables; and judging whether the driver is in a 'PWM (Pulse-Width Modulation) disenabling' state and an 'Operation' key is pressed down, if so, writing the information in the driver, and otherwise, waiting.

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.

A leg type mobile robot includes a foot joined to a distal end of a leg through a second joint. The foot includes a foot flat portion having a ground contact end of the foot, a movable portion joined to the second joint and configured to be movable in a first direction with respect to the foot flat portion, a shock absorber comprising first and second end portions allowed to move closer to or away from each other in a second direction, the first end portion of the shock absorber being joined to a first point of the movable portion, and a motion direction conversion mechanism configured to convert a motion of the movable portion in the first direction to a motion of the second end portion of the shock absorber in the second direction with respect to the first point of the movable portion.