62results about How to "Full range of motion" patented technology

The present invention is directed to methods of mounting a light source, such as, for example a high-efficiency, high-power solid state light source (e.g., a LED) within a handle of an endoscope. One of the methods of the present invention includes removing a portion of a package surrounding the light source to expose a light source chip, positioning the exposed light source adjacent to a chassis within the handle and in contact with an end of a light guide bundle, translating the light source with the exposed light source chip about the end of the light guide while measuring light output from an illumination (i.e., distal) end of the light guide bundle with a photodetector, and securing the exposed light source to the chassis at a position in which maximum light output is measured.

The present invention relates to a bionic robot movement structure capable of regulating four feet. It mainly includes top reference flat plate, four legs, four feet, driving device and sensing device, and is characterized by that on the top reference flat plate four symmetrical regulating grooves in which its four legs can be respectively moved are cut, between four legs and top reference flat plate the davit-mounting type structure is adopted, and the thighs and shanks can be respectively driven by their respective driving device and can be moved along their respective fulcrum. Said invention is simple in structure, and can have extensive application range.

The present invention is directed to methods of mounting a light source, such as, for example a high-efficiency, high-power solid state light source (e.g., a LED) within a handle of an endoscope. One of the methods of the present invention includes removing a portion of a package surrounding the light source to expose a light source chip, positioning the exposed light source adjacent to a chassis within the handle and in contact with an end of a light guide bundle, translating the light source with the exposed light source chip about the end of the light guide while measuring light output from an illumination (i.e., distal) end of the light guide bundle with a photodetector, and securing the exposed light source to the chassis at a position in which maximum light output is measured.

The miniature double three-foot walking robot driven by marmen driver includes body moving mechanism, combined biasing SMA driver and walking mechanism. Six symmetrically-arranged legs are cross-combined into two groups, they are respectively connected on two layer three-fork supporting frame by means of respective base board, supporting bar of leg is connected with cross supporting frame and canbe turned round its base board, the marmen wire is connected between the top of supporting bar and bottom end, and two groups of legs are respectively connected with marmen spring and general biasingspring. Said invention utilizes the marmen driven to make the robot implement steering movement, linear movement and omnibearing movement.

A walking mechanism for the cleaning robot is composed of a mechanical main body, a drive system consisting of 3 drive units comprising drive motor, motor holder, linking axle and moving wheel, and a sensor system consisting of an infrared sensor group comprising 10-15 pairs of infrared sensors arranged at the front and back edges of main body and an ultrasonic sensor group comprising the ultrasonic sensors arranged at left and right edges of main body. Its advantage is omnibearing moving.

The invention discloses a pipeline cleaning robot and a control method. The pipeline cleaning robot comprises a base, a horizontal rotating disc, a spraying rod rotating seat, a spraying rod, a left side step motor, a right side step motor, a horizontal step motor, a curvature step motor, a vertical step motor, a spray rod rotating step motor and a control system, wherein a man-machine interaction system is arranged in the control system and sends instructions to a two-shaft and four-shaft moving control card, and each step motor arranged in the pipeline cleaning robot is respectively controlled through sending out pulses via the two-shaft and four-shaft moving control card, so each position of the spray head is regulated, and the pipeline cleaning is completed. A manual control method is characterized in that an operation interface of the man-machine interaction system is adopted, manual operation or input is carried out, the operation angle of each step motor is controlled, and the pipeline cleaning is completed in an artificial control way. The automatic control method has the advantages that the cleaning parameters are input, the operation of each step motor is automatically controlled through the control system, the pipeline cleaning is completed in an automatic control way, and the operation is very simple.

The invention relates to a compact AGV (Automated Guided Vehicle) driving and steering integrated device which comprises a diving module, an independent steering module and a transmission module, wherein the driving module comprises a driving motor and a driving wheel; the transmission module comprises a supporting seat and a secondary retarding mechanism; the secondary retarding mechanism comprises a transmission gear wheel and a gear shaft; the gear shaft is rotatably mounted in the supporting seat; the transmission gear wheel is fixedly mounted on the gear shaft; the gear shaft is provided with outer teeth; the outer teeth are meshed with an inner gear ring of the driving wheel; a thin-wall bearing is mounted in the driving wheel; an inner ring of the thin-wall bearing is fixedly mounted on the supporting seat; an outer ring of the thin-wall bearing is fixed on the driving wheel with the inner gear ring; a transmission pinion is mounted on an output shaft of the driving motor; the transmission pinion is meshed with the transmission gear wheel; the independent steering module is mounted on the supporting seat. The invention provides the compact AGV driving and steering integrated device which has a simplified structure, a reduced volume and excellent flexibility.

A high-precision AGV driving and steering integrated device comprises a driving module and an independent steering module, wherein the driving module comprises a driving wheel, a traveling motor and aresolver; the integrated device further comprises a transmission module; and the transmission module comprises a support seat and a two-stage deceleration mechanism, wherein the independent steeringmodule is mounted on the support seat. The AGV driving and steering integrated device comprises a driving wheel, a traveling motor and a resolver. The steering reducer is installed vertically parallelto the steering motor, which greatly reduces the height between the independent steering module and the ground, and reduces the requirement of AGV for road smoothness. the invention also provides a high-precision AGV driving and steering integrated control method. The invention provides the high-precision AGV driving and steering integrated device with good flexibility, simplified structure, goodstability and easy control and a control method thereof.

The invention discloses an unmanned vehicle reinforcement learning training environment construction method and a training system thereof, and belongs to the field of robot navigation and the field ofrobot simulation platforms. The method comprises the following steps: constructing a real scene and simulation scene data set; enhancing a data set; training an image domain conversion algorithm andstoring a model; and establishing an API interface of the simulation environment model and the reinforcement learning algorithm. During training in a simulation environment, a camera on the unmanned vehicle model collects an observed simulation environment image, the simulation environment image is converted into a simulated real scene image through an image domain conversion network, the simulated real scene image serves as a state to be input into a reinforcement learning network, and an action instruction is output through decision making and issued to the unmanned vehicle model of a simulation end. In practical application, the unmanned vehicle camera collects real scene pictures in reality, and the simulated real scene pictures input by the reinforcement learning algorithm in trainingare very similar to the real scene pictures, so that the trained algorithm can be directly migrated or migrated to a real scene after fine adjustment.

A sphere-wheel compound transformable mobile robot comprises a spherical shell, a framework in the spherical shell, a sphere driving device, a spherical shell expansion transforming device and a wheel-type driving device. The sphere driving device, the spherical shell expansion transforming device and the wheel-type driving device are arranged on the framework in the spherical shell. The spherical shell is formed by a plurality of flat radial elastic materials, two ends of the elastic material are fixed on the framework in the spherical shell, and the bending transformation of the elastic materials of the spherical shell is realized by the spherical shell expansion transforming device, so that the role shifting between the spherical and wheel-type robots is realized. When the spherical shell is in the state of sphere or similar sphere, the mobile robot moves through the rolling of the sphere; when the spherical shell is in the state of cylinder or similar cylinder, the robot moves through wheel-type driving. The characteristics of the spherical robot and the wheel-type robot are mixed in the sphere-wheel compound transformable robot, and the robot has different movement models and good movement characteristics and can adapt to different road conditions, so that the robot has wide application prospect.

The invention discloses a method and device for activating lipid and blood glucose reduction through gastrocnemius passive movement. The device is provided with a bottom plate, a leg fixing frame is fixed to the rear end of the bottom plate, leg fixing bands and an ankle joint fixing band are arranged on the leg fixing frame, pedals are hinged to connecting positions of the bottom plate and legs, one or more pedals are arranged, and a driving device for driving the pedals to ascend or descend is arranged between each pedal and the bottom plate and comprises an air bag located between each pedal and the bottom plate, the upper and lower surfaces of the air bags are connected with the pedals and the bottom plate respectively, the air bags are connected with gas pipes, and the gas pipes are connected with a pressure-adjustment automatic charging and discharging gas pump. Compared with the prior art, the device is simple in structure and convenient to use, contracting and loosening of the gastrocnemius can be achieved, the effect of the gastrocnemius pump can be achieved, backflow of lower limb blood can be promoted, deep venous thrombosis can be effectively prevented, and circulation of lower limb blood can be improved.

The invention provides a modular all-directional mobile robot used for environmental perception. The modular all-directional mobile robot comprises a robot body, a Mecanum wheel-type moving module, a sensing module, an interactive module and a controller. The Mecanum wheel-type moving module supports the robot body. The sensing module includes a posture estimation submodule, a three-dimensional environmental perception submodule and a power management module. The controller is used for receiving sensing module signals, and a motion control instruction is sent to the Mecanum wheel-type moving module after data processing so that the robot body can move. The interactive module includes a wireless router and a mobile phone terminal and is used for achieving motion control and state monitoring of the robot body by the mobile phone terminal. The modular all-directional mobile robot used for environmental perception solves the problem of unilateral wheel suspension happening to a mobile robot with Mecanum wheels in the obstacle crossing process, and the problem of accelerated wearing of the wheels caused accordingly is avoided.

The invention discloses a novel efficient stacker used for warehousing logistics. The novel efficient stacker comprises a conveyor belt unit, a stacking moving unit and a stacking travelling unit, wherein the stacking travelling unit consists of a horizontal moving mechanism, a lifting mechanism and an S-shaped guide rail; a systeml controls the horizontal moving mechanism and the lifting mechanism to separately regulate in the vertical direction and the horizontal direction along the S-shaped guide rail until the stacking travelling unit is positioned in front of a storage rack storage position; the stacking moving unit is of a double-rack gear mechanism, and comprises a third motor, a supporting flat plate, a middle plate and a goods carrying plate; and the system controls the third motor to drive the supporting flat plate, the middle plate and the goods carrying plate to move relatively. The novel efficient stacker realizes intelligent precise operation, greatly improves productionefficiency, saves cost, and is high in practicability.

The invention discloses a spider-shaped glass cleaning robot and belongs to the field of intelligent robots. The robot includes a housing, four walking components, attaching components, a cleaning component and an intelligent identification control system; the cleaning component is arranged in the housing, the intelligent identification control system is installed on the top of the housing, the attaching components are positioned on the two sides of the exterior of the housing, and the four walking components are installed on the four corners of the housing respectively. Through the walking components with multiple degrees of freedom, the robot can walk more conveniently and flexibly; suckers I arranged on the lower portions of the walking components achieve an auxiliary attaching and supporting function. Through four vacuum spring suckers II, the whole robot can be tightly attached to the surface of glass for work, three cleaning discs rotate at the same time, and therefore the speedof cleaning the glass is higher. The robot is reasonable in structure, reliable and wide in application range.

The invention discloses a six-leg walking robot in parallel connection driven by rotation. The six-leg walking robot comprises a frame and six driving legs in parallel connection, wherein the six driving legs in parallel connection are uniformly distributed on the frame and symmetrically mounted, each of the driving legs in parallel connection has three freedom degrees relative to the frame, and the frame has six freedom degrees in three-dimensional translation and three-dimensional rotation under the coordination of the six driving legs in parallel connection; each of the driving legs in parallel connection comprises a driving mechanism in parallel connection and a leg mechanism, which are connected through an equivalent spherical hinge alpha, wherein the driving mechanism in parallel connection adopts a three branched hinge structure, and the leg mechanism adopts a four rod structure. The six-leg walking robot disclosed by the invention is simple and flexible in structure, light in mechanisms, stable to walk, good in adaptability and suitable for high-speed heavy-load transportation operation under non-structural topographic conditions.

The invention discloses machine tool equipment for round pipe machining, and belongs to the technical field of mechanical equipment. The machine tool equipment comprises a base; a feeding mechanism, amaterial conveying mechanism and a machining mechanism are fixedly connected to the surface of the base; two symmetrically-arranged guide grooves are formed in the surface of the base, the surface ofthe base is slidably connected with the material conveying mechanism through the two guide grooves, a driving main push rod is fixedly connected to the surface of the base, and the movable end of thedriving main push rod is fixedly connected with the material conveying mechanism; and the material conveying mechanism comprises a longitudinal moving base and two symmetrically-arranged material conveying frame bodies, and the bottom face of the longitudinal moving base is in sliding connection with the base through the two guide grooves. According to the machine tool equipment for round pipe machining, through the design of the feeding mechanism, the material conveying mechanism and the machining mechanism, the device can automatically finish surface sanding and grinding operation of pipe fittings in batches, and through automatic implementation of batch operation, the automation degree of the device and the machining efficiency of the pipe fittings are effectively improved.

A roper's glove is of knitted construction and designed to reduce bulk in the knuckles so as to allow a high degree of flexibility and a full range of motion in gripping and handling a rope. Most of the glove is of normal knit construction, but across knuckles the knitting courses are formed of a substantially lighter and less bulky feeder yarn to provide flexibility. Preferably about five such courses comprising the lighter feeder yarn are included at each knuckle, separated by several normal knitting courses. With reduced bulk in the knuckles, when the hand is closed around a rope the user has better contact with the rope for enhanced feel and control.

The invention provides a wheel-leg hybrid hexapod robot. The robot comprises a vehicle frame, a brake system and six wheel sets; the brake system comprises a motor, a brake movement mechanism and a brake pump; the brake movement mechanism comprises a fixed frame and a transmission mechanism; the transmission mechanism comprises a screw rod transmission mechanism and a transmission guide mechanism;each wheel set comprises a wheel train, a wheel train steering system, a gait motion system and an H rod system; each wheel train steering system comprises a servo motor, a fixing seat, a fastening plate, a first short shaft, a coupler, a second short shaft, an upper bow plate, a lower bow plate and a bearing seat; each gait motion system comprises a gait adjusting structure and a buffering structure; each gait adjusting structure comprises a push rod motor, a rotating connecting plate, an upper rotating plate, a lower rotating plate, a push rod support, a rotating shaft, a bearing seat and afixing plate; and each buffering structure comprises a supporting frame, a damping fork, an upper connector, a lower connector, a buffering connector, an upper connecting rod, an H connecting rod, adamper and a limiting strip. According to the invention, the robot can be used for highly difficult operation such as investigation and rescue.

The invention discloses a thermal power generating unit deaerator water level control method, device and system and a storage medium. The control method comprises the following steps: acquiring data of a deaerator water level disturbance test; establishing a deaerator water level transfer function model according to the data of the deaerator water level disturbance test; establishing a generalizedcontrol model according to the deaerator water level transfer function model; and optimizing the generalized control model, and determining control parameters of the generalized control model. According to the embodiment of the invention, the deaerator water level transfer function model and the generalized control model are established, and the control parameters of the generalized control modelare determined, so that the problem that the response speed of the deaerator water level in the condensed water throttling frequency modulation process is relatively low is solved, and quick controlon the deaerator water level in the condensed water throttling frequency modulation process is realized.

The invention provides a miniature press. The miniature press comprises a frame, an oil tank, a cylinder, a hydraulic cylinder, a pressure boosting device, a sliding seat, a lifting block and an electrical control device, wherein the pressure boosting device comprises a pressure boosting cylinder, a first gas channel and a first oil channel. The cylinder and the pressure boosting cylinder are mounted on a mounting plate of the oil tank in a sleeve mode and then are fixed in the frame. The hydraulic cylinder is mounted on the sliding seat which is fixed on a T-shaped groove of the frame. A piston rod of the hydraulic drags the hydraulic oil in the pressure boosting cylinder to push the hydraulic cylinder to move forward and backward. A lead screw is arranged in the middle of rails of the T-shaped groove, and a hand wheel is arranged at the top of the lead screw. The hand wheel rotates to drive the lead screw to rotate to further drive the sliding seat to move vertically, and accordingly the hydraulic cylinder fixed on the sliding seat can slide vertically. The movement range of the hydraulic cylinder can be increased by adjusting the height of the sliding seat. Meanwhile, the piston rod of the hydraulic drags the hydraulic oil in the pressure boosting cylinder to push the hydraulic cylinder to move forward and backward. Therefore, the full range movement of the hydraulic cylinder is achieved.

The invention discloses a special-purpose adjustable limb rehabilitation device used for the neurology department. The device comprises a limb rehabilitation device body, leg fixing blocks, arm driving supports and a seat. The limb rehabilitation device body is equipped with an annular track, a mounting groove for the leg fixing blocks, a column, seat elevating tracks, a seat, joint driving motorsA, binding band grooves, arm towing grooves A, arm towing grooves B, horizontal direction driving motors, a joint driving motor B, a column position adjusting track, a column locking bolt, joint connection buckles, arm placing grooves, motor connectors, leg-sleeving grooves, gear connection bearings, driving motors for the leg fixing blocks and elevating track clamp grooves. The annular track isinstalled at the bottom of the limb rehabilitation device body such that legs of a patient can be driven by the leg-fixing blocks on the annular track to move back and forth. Additionally, the arm driving supports enable arms to swing in vertical and horizontal directions. Due to reasonable design, arms and legs of the patient can move in all directions, which is conducive to rapid recovery of thepatient.

The invention discloses an omnidirectional lithium battery pack industrial welding robot and relates to the technical field of welding robots. The omnidirectional lithium battery pack industrial welding robot comprises a welding base. Support frames are arranged on two sides of the upper end of the welding base. A top frame is arranged at the top ends of the support frames. A motor frame is arranged on the middle portion of the lower end of the welding base. A vertical motor is arranged at the lower end of the motor frame. Vertical screw rods are connected to an output shaft of the vertical motor through belt transmission mechanisms. Threaded blocks are connected to the middle portions of the vertical screw rods through a threaded structure. Lifting blocks are arranged at the rear ends ofthe threaded blocks. Horizontal guide rods are arranged between the upper ends of the lifting blocks and between the lower ends of the lifting blocks. A moving block is arranged in the middle of the horizontal guide rods. A horizontal screw rod is connected to the middle of the moving block through an internal threaded hole. A fixing rack is arranged in the middle of the front end of the moving block. A back-and-forth moving box is arranged in the middle of the fixing rack. By means of the omnidirectional lithium battery pack industrial welding robot, the omnidirectional movement of a weldinghead in back-and-forth, left-and-right and up-and-down directions is realized, a lithium battery does not need to be moved in the welding process, and the welding quality and the welding efficiency are greatly improved.

The invention discloses a full-automatic loading vehicle comprising a travelling trolley, a lifting device, a visual locating and guiding device and an abutting and loading device; the travelling trolley comprises a frame and four mecanum wheels arranged in the front and at the rear of the frame; the lifting device comprises a lifting cylinder, parallel lifting rods and a bracket platform; the visual locating and guiding device is a special industrial camera for acquiring an image; and the abutting and loading device comprises a rotary supporting and fixing device, an upper platform, a lower platform and electric servo cylinders. By using the full-automatic loading vehicle, full-automatic operation can be performed; due to the adoption of a six-degree-of-freedom platform, multidirectional movement is realized, the height and inclination angle of workpiece equipment are regulated precisely, and the loading or unloading work of workpieces on the equipment is finished; meanwhile, all-dimensional movement in a way such as advancing, transversely moving, obliquely moving, rotating and a combination thereof can be realized; and the full-automatic loading vehicle is flexible and convenient in operation in a limited and narrow space and high in working reliability.

The invention discloses a ball-wheel steering handlebar-free self-balancing bike. The bike comprises a frame, a front ball-wheel steering device and a rear wheel driving device, the front ball-wheel steering device comprises a ball wheel arranged on the basis of a front bike ball rack and a ball-wheel driving mechanism driving the ball wheel to rotate left and right, the front bike ball rack is installed at the front end of the frame, the ball wheel driving mechanism comprises a single-row omnidirectional wheel arranged on the top of a ball cover, the single-row omnidirectional wheel penetrates through an opening formed in the ball cover and makes vertically tangent and frictional contact with the hemisphere surface on the ball wheel, and the single-row omnidirectional wheel turns to a pancake motor; the rear wheel driving device comprises a rear wheel installed in a fork body of a rear fork, the rear fork is installed at the rear end of the frame, and a walking pancake motor is arranged on the fork body of the rear fork to drive a rear wheel. Accordingly, handlebar-free structural design is adopted, the lateral dimension of the bike body is reduced, the bike body is small in size,the road trafficability is good, flexible omnidirectional motion can be achieved within a small space range, and the wide application prospect is achieved in the fields of forest operation, acrobatics entertainment, security patrol and the like.

The invention discloses a fruit tree picking robot. The robot comprises a rack, a collecting frame with an opening is arranged in the rack, a plurality of Mecanum wheels are arranged at the bottom end of the rack, a picking arm joint structure is installed on the rack, and a picking device is installed at the tail end of the picking arm joint structure. The picking arm joint structure comprises a waist joint structure and a plurality of rotating joint structures, and the waist joint structure comprises a waist joint, a waist rotating disc and a first driving device for driving the waist rotating disc to rotate in the horizontal plane. The Mecanum wheels are adopted to reduce the influence caused by land unevenness, and the picking arm joint structure and the picking device are adopted to adapt to picking and cutting of grape vines with different heights. When mechanical analysis is adopted to set clamping force to adapt to most grape bunches, and to set the parameters of a first transmission gear, a second transmission gear, a large gear and a small gear, the picking robot has enough strength and rigidity.

The invention discloses a correctable massage device. The correctable massage device includes a board main body, a supporting frame, an automatic reset switch, a photoelectric proximity switch and other components. An abdominal board adopts the automatic reset switch for sensing a supination motion and adopts the photoelectric proximity switch for sensing a get-up motion, and then counting is carried out by sensing the two kinds of motions. Therefore, the massage device has the technical advantages that the quality of sit-up is improved, wrong motions during training are corrected, and cheating during a sit-up test is avoided.