97 results about "Motor movement" patented technology

The invention belongs to the cross technical field of rehabilitation engineering and neural engineering, and relates to a multi-modal signal fused fine exercise rehabilitation evaluation, regulation and control method and system, and each evaluation comprises the following steps: collecting a pressure distribution signal, a surface electromyogram signal and an electroencephalogram signal of a hand fine exercise; performing preprocessing, feature extraction and normalization processing on the three signals to obtain a pressure feature value, a surface myoelectricity feature value and an electroencephalogram feature value; calculating a conversion coefficient of a current rehabilitation stage based on the number of days that the fine motor function of the patient is damaged, and calculating weights of a pressure characteristic value, a surface myoelectricity characteristic value and an electroencephalogram characteristic value based on the conversion coefficient; performing weighted summation on the pressure characteristic value, the surface myoelectricity characteristic value and the electroencephalogram characteristic value to obtain an evaluation score; rehabilitation training parameters are regulated based on the assessment score and the number of days of impaired patient's fine motor function. According to the method, the limitation of traditional single-mode physiological signal evaluation can be broken through, and the comprehensiveness, the accuracy and the personalized adaptation capability of rehabilitation evaluation can be improved.

The embodiment of the invention provides a zero point learning method and device for a braking system, and relates to the technical field of motor control, and the method comprises the steps: obtaining a starting signal of braking voltage buildup zero point learning, the starting signal of braking voltage buildup zero point learning being generated based on vehicle power-on or vehicle power-off; the motor controls the piston to move forward from a target position by adopting a set moving method, the forward direction is the direction of the brake disc relative to the piston, and the set moving method is used for controlling the speed change of the piston; in the moving process, motor movement data of the motor are collected, real-time change data of the motor movement data are analyzed, if the real-time change data meet the set movement condition, the current position data, corresponding to the real-time change data, of the piston serves as the braking zero point, and the set movement condition is that when the motor passes through the braking zero point in the movement process, the current position data of the piston is changed into the braking zero point. The generated empirical data is obtained. According to the method, zero point learning and correction can be flexibly and conveniently carried out, and the driving safety is improved.

The invention relates to a vertical structure LED wafer thickness detection method and system and computer equipment. The method comprises the steps that a sample wafer is divided into a plurality of areas; calculating the initial wafer thickness corresponding to each region based on the motor movement data, obtaining the real wafer thickness of each region, training the initial thickness error optimization model based on the initial wafer thickness and the real wafer thickness, and obtaining a target thickness error optimization model; obtaining the final wafer thickness of each area of the to-be-measured wafer through the target thickness error optimization model; and calculating a thickness change value of the to-be-detected wafer based on each final wafer thickness, comparing the thickness change value and each final wafer thickness with a corresponding preset threshold value, and judging whether the to-be-detected wafer meets performance requirements or not based on a comparison result. According to the invention, the abnormal problems of scratch, fragment and pollution of products caused by manual measurement can be avoided, and the product yield can be improved.

The invention provides a personalized exercise prescription generation method based on an analytic hierarchy process, which comprises the following steps of: acquiring body index information, psychological state information, exercise preference information and exercise environment information of a user, determining a physiological health index, a psychological health index, environment suitability and user preference of the user according to the collected user information, and recommending a plurality of candidate exercises; constructing an analytic hierarchy process evaluation model based on four factors of a physiological health index, a psychological health index, environmental suitability and user preference of the user so as to comprehensively score candidate motions; an exercise prescription is generated for the user according to the comprehensive score of the candidate exercises, and parameters in the exercise prescription comprise recommended exercises, exercise intensity, exercise frequency and duration; and acquiring exercise execution data and tracking feedback data of the user, and adjusting parameters in the current exercise prescription.

The invention discloses a train wheel set rapid detection and maintenance positioning device and method for a train factory, and belongs to the technical field of train wheel set detection. A rotary jacking mechanism abuts against a wheel shaft of a wheel set to jack the wheel set up from a rail of a maintenance platform and drive the wheel set to rotate, and a rim detection assembly is arranged between the rail and the wheel; the wheel rim detection assembly can conduct continuous inspection and probing through a mechanical probe rod and an ultrasonic probe, the wheel side detection assembly is arranged on the rotary jacking mechanism and detects the side face of a wheel through a laser scanning detector, and the wheel rim detection assembly and the wheel side detection assembly transmit probing results to the upper computer. A mechanical model of wheels on the two sides is formed in the upper computer, a damage point is displayed, the upper computer controls a stepping motor of the rotary jacking mechanism to move, the damage point can be selected through a screen of the upper computer, the rotary jacking mechanism is controlled to rotate slowly, and finally the damage point stays at a probing point of an ultrasonic probe or a laser scanning detector. And maintenance personnel can identify suspicious damage points conveniently.

The invention relates to a multi-motor cooperative control method, system and device based on position and speed double feedback and a self-adaptive sliding mode and a medium, and relates to the technical field of multi-motor cooperative control. The multi-motor cooperative control method comprises the following steps: acquiring an actual position signal and an actual speed signal of each motor, and converting and calculating a position synchronization error and a speed synchronization error between the motors; calculating a position tracking error and a speed tracking error of each motor according to a preset reference position signal and a reference speed signal; fusing the weighted operation position synchronization error, the speed synchronization error, the position tracking error and the speed tracking error to construct a sliding mode surface function; iteratively optimizing the sliding mode surface function according to a preset fuzzy reasoning mechanism, outputting a self-adaptive adjustment amount, updating the original switching gain, and calculating a new switching gain; and calculating the final control quantity of each motor according to the new switching gain, the sliding mode surface function and the saturation constraint function, and outputting the final control quantity to a corresponding motor driver to drive the motor to move.

The invention discloses an automatic setting method for control parameters. The method comprises the following steps: acquiring a currently set rigidity level; controlling the motor to move according to the motion instruction; according to the currently set rigidity level, determining an optimal gain parameter which does not exceed the current rigidity level in a preset rigidity gain table; performing automatic inertia identification when the motor moves according to the movement instruction; and adjusting a gain parameter according to the identified inertia parameter to obtain a target rigidity level and a corresponding target gain parameter. The automatic setting of the gain parameter is realized through the automatically identified inertia parameter, and the requirements of the servo driver for debugging rapidity and stability are met; according to the invention, the gain parameter of the servo driver can be automatically and quickly set without manual participation, and the parameter setting efficiency of the servo driver is improved.

The application discloses a kind of depot train wheelset rapid detection and maintenance positioning device and method, belong to train wheelset detection technical field, rotating jacking mechanism will be contacted with wheelset axle and lift wheelset from the rail of maintenance platform, and drive its rotation, rail and wheel are provided with flange detection component, flange detection component can be continuously checked and explored by mechanical probe rod and ultrasonic probe, wheel side detection component is set on rotating jacking mechanism, wheel side detection component is detected to wheel side by laser scanning detector, flange detection component and wheel side detection component are transmitted to host computer, and the mechanical model of both sides wheel is formed in host computer and shows damage point, host computer controls the stepping motor movement of rotating jacking mechanism, damage point can be selected by host computer screen, and rotating jacking mechanism is controlled to rotate slowly, finally make damage point stay to the exploration point of ultrasonic probe or laser scanning detector, it is convenient for maintenance personnel to identify suspicious damage point.

The invention discloses a light-emitting and sound-producing toy ball, belongs to the technical field of toy balls, and aims to solve the problems that the playing method of a PVC toy ball in the prior art is relatively single, and the PVC toy ball can only be used as a common bouncy ball and lacks innovativeness and interestingness. Children are easy to feel boring in the playing process, and the entertainment value of the toy ball cannot be fully exerted. Comprising a movement group, an external waterproof ring, an internal waterproof ring, a ball body, a PVC (polyvinyl chloride) sleeve and a wrench, the movement group comprises an upper cover, a lower cover and an electronic movement; a mounting groove for mounting the movement group is formed in the ball body, and a PVC (polyvinyl chloride) sleeve is arranged in the mounting groove. And the upper cover is sleeved at the upper end outside the motor core. And the lower cover is sleeved at the lower end outside the electronic movement. And an external waterproof ring is sleeved outside the upper cover. And an internal waterproof ring is arranged on the inner wall of the lower cover. The light-emitting and sound-producing toy ball is rich in function, interestingness and attraction are enhanced, the situation that the toy ball is rapidly eliminated due to the single function is reduced, and the use value of the toy ball is improved.

The invention discloses a position correction method and system for an open-loop control motor, and belongs to the technical field of motor control. A travel switch is arranged at the initial position of a motor motion shaft in a matched mode, a zero point area of the initial position is set based on the detection range of the travel switch, and a controller is controlled based on the zero point area; setting a zero position of the motor at the moment when the motor drives the object to leave the initial point, and controlling the change of the travel switch when the object completely leaves the zero position; when the motor drives the object to return, the controller controls the object to move to a zero point area and performs position zero clearing through the travel switch, so that dangerous actions or destructive actions caused by continuous accumulation of position errors along with the motion of the motor are effectively avoided, and long-term accuracy of motion control is ensured. The control method is simple, convenient to implement and wide in application in the field of automation equipment, especially when a stepping motor or a servo motor works, errors are small, error accumulation is avoided, implementation is easy, the positioning function is achieved, and the position correction precision is high.

1. The name of this design product: Motor core housing (miniature). 2. Purpose of this design product: used to install motor movement. 3. The key point of the design of this product lies in the shape of the product. 4. The picture or photo that best illustrates the design points: three-dimensional picture.

The present application provides a method and related equipment for debugging facial movements of a bionic robot, and relates to the field of intelligent robot technology. The present application can automatically adjust the motor movement amplitude of a bionic robot to be debugged by using a manually fine-tuned reference bionic robot as a reference object, ensuring that the reference bionic robot and the adjusted bionic robot to be debugged can directly display the same or similar facial expression effects when performing the same facial movements, thereby effectively reducing the manual adjustment workload and the deviation in the robot's facial movement performance during the robot mass production process, and improving the robot's adjustment efficiency and the consistency of the robot's facial movement performance, thereby meeting the timeliness requirements and facial movement performance consistency requirements during robot mass production.

The present invention provides a hemispherical arc scanning test stand that can be used for laser confrontation testing, comprising at least two gear rings, the same number of gear ring bases, and at least the same number of cameras. The gear rings are semicircular structures, and the radii of different gear rings are different. Each gear ring is mounted on a gear ring base, and the gear ring bases are coaxially mounted and rotate around an axis driven by a motor. Each gear ring is equipped with at least one mounting base for mounting a camera. The mounting base is also equipped with a drive motor and a gear. The gear meshes with the gear ring and rotates under the action of the drive motor, driving the mounting base to move on the gear ring. During the movement, the camera always points to the center of the gear ring. The scanning device of the present invention has a large motion span, high positioning accuracy, and strong repeatability. It can simultaneously adjust the angle between the inner and outer rings and position the scanning device at any angle in the air, and can also ensure that the device always points to the center of the object to be tested.

The invention provides a motor movement control method and device and electronic equipment, and the method comprises the steps: driving a motor to move from a current position to a target position, and obtaining a detection position of the motor in a given detection stroke and a movement direction of the motor relative to the given detection stroke; based on the detection position and the moving direction of the motor, the compensation position of the motor in the given detection stroke is obtained, the motor is driven to move according to the compensation position, and the target object is made to move to the ideal position in the given transmission stroke. Therefore, according to the invention, the movement direction of the motor is judged, the detection position of the motor is identified, and the movement position of the motor is subjected to compensation calculation, so that the problem of consistency of return stroke control of the motor caused by a mechanical gap is improved, and the movement accuracy of the motor is improved.

The application provides a double linear gripper control method. The double linear gripper control method comprises the following steps: setting a dynamic collision distance M; obtaining initial positions and target positions of two linear grippers; calculating a shortest distance N in a movement process of the two linear grippers according to given motor movement parameters of the two linear grippers, and judging a size relationship between the distance M and the shortest distance N; and adjusting the motor movement parameters of the two linear grippers when N<=M. The application solves the problem that the double linear grippers are prone to collision in the prior art.

The present application discloses an improved motor control method and controller, which belongs to the field of motor control technology. The method includes obtaining the real-time position of the mover when the motor is running; calculating the difference between the real-time position and the pre-stored expected position to obtain position error information; calculating the adjustment item based on the position error information and a predetermined adjustment coefficient; adjusting the expected current value of the motor using the adjustment item to obtain the adjusted expected current value; calculating the difference between the adjusted expected current value and the real-time current value to obtain a current error signal; and controlling the motor movement based on the current error signal. The present application optimizes the controller structure and introduces a new adjustment item, which can increase the stability of the system, obtain a better expected current value, and suppress the residual jitter of the motor system.

The disclosure relates to a method for operating a linear motor system, in particular a long-stator or planar motor system, comprising a stator with numerous drive coils and at least one shuttle carrying drive magnets and moving relative to the stator. An electromagnetic field is generated by energizing selected drive coils to interact with the drive magnets and move the shuttle. To improve efficiency and motion control, a motion control unit determines at least one drive variable from a predefined movement profile and / or target movement values and from actual movement values for a given time step. Based on the drive variable, the motion control unit selects the drive coils to be energized and determines their energization to move the shuttle in a desired motion. An artificial intelligence method is used at least for determining which drive coils are energized and how they are energized, using the drive variable input.

The utility model relates to the technical field of rehabilitation training equipment, in particular to a lower limb exercise training device which comprises a bottom plate, vertical plates are fixed to the positions, close to the two sides, of the outer wall of the top of the bottom plate through bolts, and a transverse rod is horizontally fixed to the outer walls of the tops of the two vertical plates. A vertical rod is installed in the center of the outer wall of the bottom of the transverse rod, the bottom end of the vertical rod is installed on the outer wall of the top of the bottom plate, and strip-shaped grooves are formed in the outer walls of the two sides of the vertical rod. Vertical grooves are formed in the outer walls of one sides of the two vertical plates correspondingly, and the two driving mechanisms are installed in the two vertical grooves correspondingly; a connection mechanism; the foot of a patient can be conveniently driven to reciprocate, the lower limbs of the patient can be driven to move without force of the patient, the movement amplitude is adjusted through the moving distance of the electric sliding rail, and therefore blood circulation of the lower limbs of the patient is fully promoted.

The invention relates to a motor vehicle lock assembly for a locking element (3) of a motor vehicle (4), wherein the motor vehicle lock assembly (1) comprises a motor vehicle lock (5) with a locking mechanism (6) with a latch (7) and a pawl (8), wherein the motor vehicle lock assembly (1) comprises a drive assembly (10) with a motor (11) which can generate motor movements in a first motor direction and a second motor direction, wherein the drive assembly (10) comprises a first flexible traction element (12), wherein the motor movements in the first motor direction generate traction movements of the first flexible traction element (12).It is proposed that the drive arrangement (10) has a second flexible traction element (13), that the motor movements in the second motor direction generate traction movements of the second flexible traction element (13), and that at least two of the functions “lifting the pawl”, “tightening the latch” and “pushing the locking element” are divided between the first and the second flexible traction element (13).

The invention relates to a motor vehicle lock, wherein the motor vehicle lock (1) has an opening drive (7) for lifting a pawl (6) and an opening element (8), wherein the opening drive (7) drives the opening element (8) in an opening operation, which acts on the pawl (6) and lifts the pawl (6), wherein the opening drive (7) has a motor (10) which, during the opening operation, generates motor movements in a first motor direction (11) starting from a neutral position, wherein the motor vehicle lock (1) has a spring element (12) which assists the opening drive (7) in lifting the pawl (6) during the opening operation.It is proposed that in a force-opening operation the opening drive (7) drives the opening element (8) which acts on the pawl (6) and lifts the pawl (6), that in a first section of the force-opening operation the motor (10) generates motor movements in a second motor direction (13) and subsequently in the first motor direction (11), that in a subsequent second section of the force-opening operation the motor (10) performs an opening operation, that in the first section of the force-opening operation a storage element (14) is charged or activated which releases energy stored in the second section of the force-opening operation to the pawl (6) and thus assists the opening drive (7) in lifting the pawl (6).

1. Name of the product in this design: Graphical User Interface for Operation and Maintenance Management of Electronic Equipment. 2. Purpose of this design: An electronic device. 3. The key design feature of this product is its graphical user interface. 4. Images or photos that best illustrate the design points: Interface change state diagram 4. 5. Purpose of the graphical user interface: The graphical user interface of this product is used to view the operating status of the equipment, take over the equipment, and perform fault diagnosis, maintenance and debugging of the equipment. 6. Human-computer interaction method of graphical user interface: The main view is the main interface of the operation and maintenance management APP; select "Scan QR code" in the main view, and the interface jumps to interface change state diagram 1; after scanning the device QR code, the interface jumps to interface change state diagram 2; select any one of the multiple cards in interface change state diagram 2, and the interface jumps to interface change state diagram 3; select "Connect device" in interface change state diagram 3, and after successful connection, the interface jumps to interface change state diagram 4; select "Start takeover" in interface change state diagram 4, and the interface jumps to interface change state diagram 5. When it is necessary to perform operation and maintenance management on the equipment under takeover, select "Operation and Maintenance Management" on the left side of the interface change state diagram 5, and the interface will jump to the interface change state diagram 6. If you need to view alarm information, swipe down on the interface change state diagram 6 to jump to the interface change state diagram 7. When it is necessary to debug and manage the equipment under control, select "Debugging Management" on the left side of the interface change state diagram 7, and the interface will jump to the interface change state diagram 8. When it is necessary to set parameters for the top cover of the equipment to be connected, select "Top Cover" and "Parameter Configuration" in the interface change state diagram 8 in sequence, and the interface will jump to the interface change state diagram 9. When it is necessary to control the motor movement of the top cover of the equipment to be controlled, select "Motor Movement" in Interface Change State Figure 9, and the interface will jump to Interface Change State Figure 10.

We provide the system. [Solution] Means for receiving information regarding body shape and constitution, A means for analyzing motor movements from images or videos, A means for generating an optimized exercise instruction menu based on the results of exercise analysis, A means of providing the generated exercise instruction menu to the user, A means of updating the exercise instruction menu based on the image or video data received again, A means of evaluating and providing feedback on user behavior in real time, A system that includes this.

A computer-based education system and method for teaching a user with fine motor coordination impairment to recognize characters. Software residing on a user computing device includes first code containing characters displayable on the display and second code containing sounds playable on the speaker, each of the sounds corresponding to at least one of the characters. The software causes the user computing device to: display at least a portion of the characters in a spaced-apart arrangement each at least at a minimum size with at least a minimum space provided between the displayed characters, the minimum size and the minimum space being large enough to enable user selection by the user with fine motor coordination impairment of one of the characters using substantially only gross motor movements; and play on the speaker the sound that corresponds to the character selected by the user.

The present application relates to a kind of dragon-shaped biped walking robot and walking method, head (20), trunk (30), arm (40), hand (50), tail (60), leg (70) and foot (80), the bottom of the tail (60) is equipped with tail support wheel (1);Leg (70) and foot (80) are all equipped with rudder. Tail (60) is increased with a support point for keeping balance, the front two feet are respectively through the support of the roller on each side to make its relative movement, the foot on the other side is through the force exerted to rear and thus reaches the function of making its whole forward movement, innovatively combines each action, although the two feet that contact with ground are not left ground, but can make the machine forward or backward or turn can various movements;It can make robot move like humanoid robot, the gravity center is stable in the process of movement, and will not be tilted.

The utility model relates to the technical field of remote monitoring of the Internet of Things, in particular to a remote monitoring device of the Internet of Things, which comprises a bottom supporting seat of the remote monitoring device of the Internet of Things and a recognizer, and is characterized in that the bottom supporting seat of the remote monitoring device of the Internet of Things is a power connection device with a plurality of mechanical motion structures; the recognizer is installed at the top of the bottom supporting seat of the Internet of Things remote monitoring device and electrically connected with the bottom supporting seat of the Internet of Things remote monitoring device, and the bottom supporting seat of the Internet of Things remote monitoring device comprises an Internet of Things remote monitoring device rotating structure, an Internet of Things remote monitoring device supporting frame, a rotating mechanism and a connecting rod. The internet of things remote monitoring device is provided with a plurality of motion joints, can complete rapid capture and automatic angle adjustment of an identified object under the control operation of an object personnel identification lens and each motor, has better intelligent and automatic working efficiency, and can adapt to more complex and diversified working environments of personnel.

The invention relates to a method for identifying a vehicle (22) in a traffic area by means of a traffic monitoring system having a transmitter for a signal (20), a receiver for receiving a signal (28) reflected by an object, and a control unit, a reflector (24) for the signal (20) being arranged on the vehicle (22) moving in the traffic area, the reflector (24) being pivotable about at least one axis, the reflection characteristic of the signal (20) depends on the direction; the method has the following steps: moving the reflector (24) about the at least one axis in a movement pattern associated with the vehicle (22), the movement pattern generating a defined signal characteristic of the signal (28) reflected by the reflector (24); acquiring, with a receiver, the signal (28) reflected by the reflector (24); a vehicle (22) is identified if a signal characteristic of the signal (28) reflected by the reflector (24) received by the receiver corresponds to a signal characteristic associated with the motion pattern and stored in the traffic monitoring system.

To provide an ascending walking assist device which is easy to install and enables a person to walk up a slope easily and safely. SOLUTION: An uphill walking assist device 1 that assists walking uphill on a slope 10 has a long handrail means 2 that is placed along the slope 10, and a reciprocating motion means 3 that is connected to the handrail means 2 and moves the handrail means 2 back and forth along the slope 10 at a distance approximately the length of a human stride. The handrail means 2 is made up of a rope 21, and the reciprocating motion means 3 may be made up of a crank section 31 having the upper end of the rope 21 connected to its tip, and a rotary drive section 32 that pivots at the base end of the crank section 21 and rotates the tip of the crank section 31 in a circular motion to move the rope 21 back and forth.

Key module (10) include a case (11), a movement mechanism (15) comprising a plunger (16) and a return spring (17), wherein the plunger (16) is movable relative to the housing (11) between a rest position and an actuating position, a contact piece (18) fixed in the housing (11), and a contact element (19) made of a U-shaped bent contact spring material with a first leg (20) and a second leg (21), wherein the first leg (20) is fixed in the housing (11) and the second leg (21) is arranged freely in the housing (11) opposite the contact element (18), wherein contact piece (18) and contact transmitter (19) cooperate in forming an electrical contact, in that in the actuating position of the plunger (16) the second leg (21) of the contact transmitter (19) is biased against its first leg (20) against the contact piece (18) and in the rest position of the plunger (16) the second leg (21) of the contact transmitter (19) is lifted by the plunger (16) against the bias from the contact piece (18) and thus the electrical contact is interrupted, characterized by the fact that the plunger (16) has a main body (22) which executes the movement of the plunger (16) and a moving body (23), wherein the main body (22) has a bottom (24) and a top (25) opposite the bottom (24) in the direction of actuation and a recess (26) laterally between the bottom (24) and the top (25), into which the moving body (23) is inserted and is rotatably mounted on a base (28) of the recess (26) opposite an opening (27) of the recess (26) about an axis of rotation (29) perpendicular to a provided direction of movement (30) of the main body (22), wherein the recess (26) defines a movement space (31) for the moving body (23) with an upper stop (32) on the side of the top (25) of the main body (22) and a lower stop (33) on the side of the bottom (24) of the main body (22), in which the moving body (23) is rotatable between the upper stop (32) and the lower stop (33), wherein the plunger (16) for lifting the second leg (21) of the contactor (19) from the contact piece (18) rests against the second leg (21) via its moving body (23), wherein the moving body (23) has a guide profile (34) which interacts with a control profile (35) of the second leg (21), wherein the control profile (35) of the second leg (21) comprises a control cam (36) which protrudes towards the guide profile (34) of the moving body (23), wherein the guide profile (34) forms a projection (37) and on the side of the projection (37) facing the underside (24) of the main body (22) a recess (38), wherein in the rest position of the plunger (16) the moving body (23) rests against the lower stop (33) and the control cam (36) rests in the recess (38) on the moving body (23) and the second leg (21) of the contactor (19) is lifted against the preload from the contact piece (18) and thus the electrical contact is interrupted, wherein when the plunger (16) moves from the rest position towards the actuating position, the moving body (23) is first moved towards the upper stop (32) and the control cam (36) continues to rest in the recess (38) on the moving body (23) and the second leg (21) of the contactor (19) continues to be lifted against the preload from the contact piece (18) and thus the electrical contact remains interrupted, as the plunger (16) continues to move, the moving body (23) initially rests against the upper stop (32) and the control cam (36) slides out of the recess (38) to a vertex (39) of the projection (37), and subsequently the control cam (36) passes over the vertex (39) of the projection (37), thereby abruptly moving the moving body (23) to the lower stop (33) and generating a striking noise, and simultaneously the guide profile (34) following the vertex (39) of the projection (37) releases the control cam (36), and thus the second leg (21) of the contactor (19) rests against the contact piece (18) due to the preload and the electrical contact is closed.

The invention provides an omni-directional inspection robot, and relates to the technical field of inspection robots, the omni-directional inspection robot comprises a robot main body and at least one driving wheel mechanism arranged on the robot main body; two guide sliding blocks are arranged on the second guide shaft, and buffer springs are arranged between the guide sliding blocks and the shaft fixing seat; connecting arms are hinged to the guide sliding blocks, one ends of the connecting arms are hinged to the guide sliding blocks, and the other ends of the connecting arms are hinged to the motor base. A robot main body of the omni-directional inspection robot is provided with a driving wheel mechanism, and a fixing plate of the driving wheel mechanism is connected with the robot main body; the two guide sliding blocks tend to be close to each other through the buffer springs, then the motor base tends to move away from the fixing plate, when the driving wheel jolts, the guide sliding blocks move towards the shaft fixing base, the buffer springs can play a role in buffering, and trafficability is improved.

The present disclosure relates to a motion state switching device and a biped robot. The motion state switching device comprises a housing, a movable member and a limiting mechanism. The housing is provided with a sliding channel and a receiving cavity, and the sliding channel extends along a set direction. The movable member is slidably arranged in the sliding channel along the set direction, and at least part of the movable member is arranged in the receiving cavity. The limiting mechanism is arranged in the receiving cavity and is used to limit the movement of the movable member in the sliding channel. The motion state switching device comprises a first working state and a second working state. In the first working state, the limiting mechanism and the movable member are separated. In the second working state, the limiting mechanism and the movable member are in contact, so that the relative position of the movable member and the sliding channel remains fixed. In this way, the motion state switching device can be switched between different working states with high efficiency, and the structure is simple and the cost is low.