55results about How to "Improve postural stability" patented technology

A model's ZMP (full-model's ZMP) is calculated using a dynamic model (inverse full-model) 100c2 that expresses a relationship between a robot movement and floor reaction, a ZMP-converted value of full model's corrected moment about a desired ZMP is calculated or determined based on a difference (full-model ZMP's error) between the calculated model's ZMP and the desired ZMP, whilst a corrected desired body position is calculated or determined. Since the robot posture is corrected by the calculated ZMP-converted value and the corrected desired body position, the corrected gait can satisfy the dynamic equilibrium condition accurately.

The invention discloses a leg bouncing mechanism for a frog-type robot. A tension spring is sleeved on a guide rod. The tail end of the spring is connected with a hip joint, and the upper end of the spring is connected with a slider. The guide rod, the slider, an oblique support rod, a thigh and joints form a crank slider structure. The leg part consists of a thigh, a shank, a connecting rod and joints; and the leg structure comprises the combination of two four-rod mechanisms. The stretch and contraction of the leg mechanism can be adjusted by controlling the slide of the slider on the guide rod. The sole of the robot is arc-shaped, and an arch support is arranged on the sole. The mechanical structure of the invention simulates skeletons of a frog, optimizes the leg structure, improves the utilization ratio of energy of power elements, improves the flexibility of the mechanical structure, and improves the jumping ability of the robot.

A flexible polyurethane foam excellent in the vibration characteristics and the load-deflection characteristics, a process for producing the flexible polyurethane foam stably and inexpensively, and a seat for an automobile excellent in posture-stability performance and supported feeling with little bottom-hitting feeling, are provided. When a polyoxyalkylene polyol and a polyisocyanate compound are reacted in the presence of a urethane-forming catalyst, a blowing agent and a foam stabilizer, a predetermined amount of a compound of the following formula (1) is used: wherein the average of n is from 13 to 2,100.

The invention relates to a locust-simulating flying and jumping robot based on a metamorphic mechanism. The robot is mainly composed of a locust-simulating structure part and a mechanical transmission system part located in the locust-simulating structure part; the mechanical transmission system part comprises a bouncing system and a flapping-wing system; and the bouncing system comprises an extension spring energy storage module, a pulley reversing module, a cam adjusting meshing module, a first-level decelerating module and a leg second-level incomplete gear decelerating module. The invention further discloses a flying control method of the locust-simulating flying and jumping robot. The locust-simulating flying and jumping robot based on the metamorphic mechanism is low in energy consumption, and more stable by adoption of gear transmission, the posture stability of the robot during moving can be improved, and practicability and bio-imitability are higher; two motion modes of flying and jumping of the robot are coupled through the mechanical transmission system part and supplement each other, impact force of the robot in the landing stage is reduced, continuous jumping is achieved, and the motion position is more accurate.

A motor vehicle armrest includes an armrest body that is disposed on at least one side in a vehicle-width direction of a seat cushion so as to support of an arm of an occupant. The armrest body has an inflation portion that is inflated toward the occupant in the vehicle-width direction so as to support the occupant in the vehicle-width direction.

A locking arm 27 is supported by a fulcrum 31 attached to a body 28 and a pair of coupling portions 33, 34. When an operation portion 30 is pressed down, an engaging portion 29 located between the fulcrum 31 and the coupling portions 33, 34 is shifted vertically to a direction of coupling a connector 10 with a complementary connector 38. The coupling portions 33, 34 are made in parallel to the direction of coupling the connector 10 with the complementary connector 38. The pair of coupling portions 33 and 34 are formed as a pair of legs. A sliding groove 35 is formed between the pair of legs 33 and 34 so as to correspond to an engaging portion 44 of the complementary connector 38. The engaging portion 44 will be slid into the sliding groove 35. In such a configuration, the locking mechanism can remove backlash between a female connector and a male connector to provide high coupling accuracy.

A brake fluid pressure control apparatus for a vehicle includes a parameter calculation unit configured to calculate a rollover detection parameter; and a steering maneuver determination unit configured to determine whether an abrupt steering maneuver is made. The parameter calculation unit is configured to calculate a first composition roll angle as the rollover detection parameter, by combining at a predetermined weight assignment ratio a first roll angle equivalent to an actual roll angle with a second roll angle obtained using a parameter which changes with a phase earlier than the first roll angle, and to calculate the first composition roll angle by changing the weight assignment ratio such that a weight of the second roll angle is higher when the steering maneuver determination unit determines that an abrupt steering maneuver is made than when the steering maneuver determination unit determines that the abrupt steering maneuver is not made.

The invention discloses a control system for distributed-type independent-driving vehicles with the posture adjusting capability. The control system comprises a plurality of sensors, an information sensing system, an actuator, a secondary controller, and a vehicle control system. The sensors are used for detecting current road surface parameters and current vehicle parameters; the information sensing system is used for obtaining road surface information and vehicle information according to the current road surface parameters and the current vehicle parameters; the actuator is used for outputting the road surface information and the vehicle information to the distributed-type independent-driving vehicles with the posture adjusting capability; the secondary controller is used for controllingthe actuator to drive the vehicles according to vehicle wheel torque signals and suspension stroke signals; and the vehicle control system is used for receiving decision instructions input by a driver or an intelligent decision system and obtaining the vehicle wheel torque signals and the suspension stroke signals according to the decision instructions and the obtained road surface information and vehicle information so as to control the secondary controller to control the actuator to drive the vehicles. According to the control system, the vertical posture control capability of the vehiclesis additionally achieved, the posture stability of the vehicles is greatly improved, and the motion stability of the vehicles is effectively improved.

A model's ZMP (full-model's ZMP) is calculated using a dynamic model (inverse full-model) 100c2 that expresses a relationship between a robot movement and floor reaction, a ZMP-converted value of full model's corrected moment about a desired ZMP is calculated or determined based on a difference (full-model ZMP's error) between the calculated model's ZMP and the desired ZMP, whilst a corrected desired body position is calculated or determined. Since the robot posture is corrected by the calculated ZMP-converted value and the corrected desired body position, the corrected gait can satisfy the dynamic equilibrium condition accurately.

The invention relates to ''an ocean robot attitude control method, an ocean robot attitude control device and an ocean robot attitude control system''. The ocean robot attitude control method disclosed by the invention utilizes a probabilistic neural network PID control algorithm improved based on a bacterial foraging optimization algorithm, controls errors between expected numerical values and anactual underwater pitch angle, a course angle as well as a depth and of an ocean robot, and realizes the control over a propeller. The ocean robot attitude control method combines the probabilistic neural network with PID control, has good self-adaptive control and anti-interference capability, optimizes the probabilistic neural network based on the bacterial foraging optimization algorithm, improves the self-learning ability and accelerates the self-learning speed of the algorithm, and enables the ocean robot to achieve high attitude stability quickly.

The invention discloses a tree barrier clearing aerial robot provided with rope suspended tools. The aerial robot comprises platform supports and operating tools, wherein the platform supports are symmetrically connected to a body, multiple rotor assemblies are connected to the platform supports, the bottom of the body is connected to a tool frame through a rope, tool motors are fixedly connectedto the tool frame, and output shafts of the tool motors are connected with the operating tools. The rotor assemblies and the naturally suspended horizontal operating tools connected with the rope aremounted on the body, the robot is suitable for performing 'haircut' type large-area rapid clearing from the top of a tree barrier from top to bottom or from one side of the tree barrier from outside to inside, is high in operation efficiency, avoids high-voltage power transmission lines in the position where an operator can contact the tree barrier in a short distance and is safer to operate, theclearing operation efficiency can be effectively improved, and the operation risk is reduced; the flexible rope is used for suspending the tools, vibration and impact of the operating tools are automatically isolated, and the attitude control stability of the aerial robot is effectively improved.

A motor vehicle armrest includes an armrest body that is disposed on at least one side in a vehicle-width direction of a seat cushion so as to support of an arm of an occupant. The armrest body has an inflation portion that is inflated toward the occupant in the vehicle-width direction so as to support the occupant in the vehicle-width direction.

The present invention provides a measurement apparatus for obtaining a suitable position on a suspension where a more miniature magnetic head slider is to be mounted to the suspension, the apparatus including a front camera having a photographing optical axis within a plane parallel to a plane of extension of a suspension and directed to the suspension, and a side camera having a photographing optical axis within the parallel plane and which is different from that of the front camera. Coordinates of a top portion of a convex surface of a dimple formed in the suspension are obtained with these cameras. The resultant coordinates and coordinates of the deepest portion of a recess surface of the dimple are correlated with each other, whereby in actual mounting of the magnetic head slider, the deepest portion of the recess surface of the dimple which is readily recognized is measured.

A brake fluid pressure control apparatus for a vehicle includes a parameter calculation unit configured to calculate a rollover detection parameter; and a steering maneuver determination unit configured to determine whether an abrupt steering maneuver is made. The parameter calculation unit is configured to calculate a first composition roll angle as the rollover detection parameter, by combining at a predetermined weight assignment ratio a first roll angle equivalent to an actual roll angle with a second roll angle obtained using a parameter which changes with a phase earlier than the first roll angle, and to calculate the first composition roll angle by changing the weight assignment ratio such that a weight of the second roll angle is higher when the steering maneuver determination unit determines that an abrupt steering maneuver is made than when the steering maneuver determination unit determines that the abrupt steering maneuver is not made.

The present invention relates to a chair with separate but interconnecting lumbar and thoracic supports. A back support is physically divided into a lumbar support and a thoracic support. The lumbar support is formed to be curvable, and the lumbar and thoracic supports are configured to be interconnecting. Thus, when a sitter tilts his / her upper or lower back backward for rest or tension relief, the lower back area of the sitter is comfortably brought into contact with and supported by the lumbar support with a backward tilt of a relatively large angle, and at the same time, the upper back area of the sitter is comfortably brought into contact with and supported by the thoracic support with a backward tilt of a relatively small angle. Therefore, the lumbar and thoracic supports share the task of comfortably supporting the lumbar vertebra and thoracic vertebra respectively. In addition, the chair has high posture stability without falling backward when a sitter tilts his / her upper and lower back far backward, and also has an elegant look.

The invention discloses an unmanned aerial vehicle with modular flexible configuration inhabitation contacts, and relates to the field of aviation. The unmanned aerial vehicle can realize inhabitationonly by adjusting the relative poses of an undercarriage and the unmanned aerial vehicle, does not need to integrally change the flight state of the unmanned aerial vehicle, and is quick and simple to operate. The unmanned aerial vehicle comprises an unmanned aerial vehicle body, an undercarriage, an inhabitation contact module, an additive manufacturing module and a camera. The undercarriage isinstalled at the bottom of the unmanned aerial vehicle body, the undercarriage is composed of one or more pairs of mechanical arms, the undercarriage is movably connected with the unmanned aerial vehicle body, and an inhabitation contact module is installed on the undercarriage. The camera and the additive manufacturing module are further mounted at the bottom of the unmanned aerial vehicle body,and the operation range of the additive manufacturing module covers the mounting and moving range of the undercarriage. Stable contact with a surrounding structure is established through the inhabitation contact module, the unmanned aerial vehicle can slow down or completely stop some rotor wings after inhabitation is stable, the task operation flexibility of the unmanned aerial vehicle is greatlyimproved, and the operation time of the unmanned aerial vehicle is greatly shortened.

The invention belongs to the technical field of vehicle shock absorption, and particularly relates to an impact acceleration sensitive valve. The impact acceleration sensitive valve is installed on abottom valve between a working cavity and a compensation cavity of the shock absorber, and adopts a spring mass system composed of a compressed spring and a slide block for sensing impact loads on a vehicle from the pavement, and thus the purpose of judging the working condition is achieved; a hole between the slide block and a valve rod is utilized for achieving communication of a high-pressure cavity of the shock absorber, unloading of the high-pressure cavity of the shock absorber can be achieved when the shock absorber meets intense impact of the pavement, so that impact transmitted to a vehicle body by the shock absorber is reduced, and the requirement of different working conditions for damping is met. According to the impact acceleration sensitive valve, a favorable condition is created for symmetric design of damping of the shock absorber. Compression damping is increased, stretching damping is lowered, the improvement of the posture of a vehicle is facilitated, a suspension isrestored in time, and the smoothness and handling stability of the vehicle are comprehensively improved. The impact acceleration sense valve is compact in structure, high in manufacturability and controllable in cost.

The invention discloses a base type marine environment data monitoring platform, and belongs to the technical field of monitoring platforms. The base type marine environment data monitoring platform comprises a floating ball, an equipment fixing frame, a communication buoy, an underwater winch, a monitoring device, a control unit, an acoustic releaser and a ballast anchor. The equipment fixing frame is arranged at the top of the ballast anchor through the acoustic releaser, and a connecting head at one end of the acoustic releaser is detachably connected with the anchor body of the ballast anchor. The other end of the acoustic releaser is fixedly connected with the bottom of the equipment fixing frame. The separation of the equipment fixing frame and the ballast anchor is realized throughcontrolling the acoustic releaser to be separated from the anchor body. The floating ball is arranged at the top of the equipment fixing frame. The communication buoy, the underwater winch, the monitoring device and the control unit are respectively arranged in the equipment fixing frame. According to the invention, not only the posture stability in the laying process can be improved, but also theadsorption force of the platform on the seabed can be increased. Moreover, the bottom seating stability of the platform is improved, so that the platform is not affected by currents, floating objects, fishing nets and the like.

The invention discloses a diversion device for improving posture stability of an underwater dragged body. The dragged body is dragged by a measuring ship, and the diversion device is dragged behind the dragged body and comprises a conical diversion pipe with a big inlet and a small outlet and enabling water flow to be stabilized. By arranging the conical diversion pipe, a relative steady-flow area can be realized at the inlet of the conical diversion pipe, the posture stability of the underwater dragged body can be enhanced better. Both the inlet and the outlet of the conical diversion pipe can be adjusted in size, especially the inlet can be adjusted in real time, and size of an opening of the conical diversion pipe can be controlled according to speed of the ship and water flow to enable the dragged body to be constantly in the steady-flow area, so that the posture stability of the dragged body is enhanced greatly. The diversion device is wide in application and can be widely applied in underwater measuring of seas or lakes.

The object of the invention is to make it possible to fill connecting fasteners of various thicknesses in a single kind of fastener magazine. A connecting fastener is such that the thickness of a connecting band (13a, 13b) is increased or decreased according to the stem diameter of a screw (12a, 12b), whereby the width of the connecting fastener (11a, 11b) as seen in the direction of travel thereof is made constant, and the connecting band (13a, 13b) is brought into engagement with a longitudinal guide groove (5a) formed in the fastener passageway of the fastener magazine (5) of a screw fastening machine. This makes it possible to stably hold the connecting fasteners (11a, 11b) of various stem diameters at a given height, thus improving the versatility of the fastener magazine.

The invention discloses a cross-medium aircraft based on bionic morphing wings, and belongs to the field of cross-medium aircrafts. According to the bionic variant wing, the bird wing is used as a bionic object, the bird wing is simulated in the aspect of the overall structure of the wing, and the bionic variant wing can be subjected to complex configuration change through rigid-flexible combination, so that the cross-medium aircraft can adapt to different working conditions through active configuration change of the wing and passive deformation of feathers when flying in the air; the resistance of the cross-medium aircraft in the water entering process is reduced by folding the wings backwards before the aircraft enters the water, meanwhile, the attitude stability in the water entering process is improved, and the sailing resistance can be reduced and lift redundancy can be avoided through the backward folding state of the wings when the aircraft sails in the water; the duct of the underwater propeller is arranged in the aircraft body, after the cross-medium aircraft enters water, the internal space of the duct and the wings can be rapidly filled with water, rapid change of the average density of the aircraft is simply and conveniently achieved, and the requirement for the average density of the aircraft in underwater navigation of the cross-medium aircraft is met.

The invention discloses a control system for distributed-type independent-driving vehicles with the posture adjusting capability. The control system comprises a plurality of sensors, an information sensing system, an actuator, a secondary controller, and a vehicle control system. The sensors are used for detecting current road surface parameters and current vehicle parameters; the information sensing system is used for obtaining road surface information and vehicle information according to the current road surface parameters and the current vehicle parameters; the actuator is used for outputting the road surface information and the vehicle information to the distributed-type independent-driving vehicles with the posture adjusting capability; the secondary controller is used for controllingthe actuator to drive the vehicles according to vehicle wheel torque signals and suspension stroke signals; and the vehicle control system is used for receiving decision instructions input by a driver or an intelligent decision system and obtaining the vehicle wheel torque signals and the suspension stroke signals according to the decision instructions and the obtained road surface information and vehicle information so as to control the secondary controller to control the actuator to drive the vehicles. According to the control system, the vertical posture control capability of the vehiclesis additionally achieved, the posture stability of the vehicles is greatly improved, and the motion stability of the vehicles is effectively improved.

The invention provides a method and device for adjusting the load gravity center of a cradle head, the cradle head and a storage medium. The method for adjusting the load gravity center of the cradle head comprises the steps that the output torque of a rotating shaft of the cradle head is detected; whether a load is in a gravity center balance state relative to the rotating shaft or not is determined according to the output torque of the rotating shaft; when it is determined that the load is not in the gravity center balance state relative to the rotating shaft, the torque adjusting amount of a balance weight object is determined according to the output torque, and the torque adjusting amount of the balance weight object is used for making the load in the gravity center balance state relative to the rotating shaft; and indication information for adjusting the center of gravity of the load is output according to the torque adjustment amount of the balance weight object.

The invention discloses a four-wing flying car comprising a car body. A front duct and a rear duct are symmetrically arranged at the front end and the rear end of the car body; the medial axes of the front duct and the rear duct are perpendicular to the ground. A front propeller is arranged in an inner cavity of the front duct. A rear propeller is arranged in an inner cavity of the rear duct. The front propeller and the rear propeller are both connected with a driving mechanism arranged in the car body. A suspension beam is horizontally arranged on the car body and is perpendicular to the length direction of the car body. A left transmission mechanism is arranged at the left end of the suspension beam. A left propeller is connected on the left transmission mechanism. A right transmission mechanism is arranged at the right end of the suspension beam. A right propeller is connected on the right transmission mechanism. A left inclined rotating mechanism is arranged on the left transmission mechanism. A right inclined rotating mechanism is arranged on the right transmission mechanism. According to the four-wing flying car, large lift force can be provided for the flying car, the balance of the flying car at the time of flying in the air can be also improved, and safety performance is improved.

The invention belongs to the technical field of polar observation devices, and discloses a sea ice growth observation system, comprising: a buoy and a sea ice observation subsystem. The sea ice observation subsystem includes a plurality of groups of sea ice thickness sensors corresponding to one another along the vertical direction, and the plurality of groups of the sea ice thickness sensors are arranged at intervals on the outer periphery of the buoy. Beneficial effect: The buoy can float on the sea all the year round. When the temperature drops to the freezing condition, the sea water located in the concave grooves can freeze, and at the same time, the friction between the new sea ice and the buoy when the sea ice freezes is increased. The freezing strength of the sea ice when it grows can resist the influence of waves and currents on the freezing of the buoy, improve the attitude stability of the buoy when the new sea ice grows, and improve the accuracy of the new sea ice observation.

This application discloses a release paper tape processing device for laboratory specimen test tubes, which includes a device casing, a tape winding device, an operating device, and a clutch device; the device casing includes a casing body, a paper output opening, a hand dial side hole, etc. ; The tape winding device is used to wind and release the release tape, and the tape winding device includes a tape reel, an intermediate wheel group, and an output wheel group; the action device is provided with a pair, and the clutch device front, Each is equipped with an action device, which is used to perform embossing or cutting actions on the release tape, and the action device includes an auxiliary rotating element, an active rotating element, a torque adjustment device, a connecting rod assembly, a torque The locking device; the clutch device is used to realize the transmission connection of the two action devices; the clutch device includes: a clutch collar, a rotating assembly, an extruding element, and a locking insert.

Disclosed is a method for measuring data for fitting an ophthalmic lens in a frame for a individual, including the following steps: a) placing the individual in a natural posture; b) displaying a visual target with adjustable position in the field of view of the individual; c) having the individual equipped with the frame adjust the position of the visual target in order to place it straight ahead from him; d) determining the intersection, with a surface representative of the lens once placed in the frame, of the line of sight of the individual looking at the visual target with its adjusted position and determining the data based on the intersection determined.