32results about How to "Movement principle is clear" patented technology

The invention relates to a hydraulically-driven four-foot robot which belongs to the field of robots. The robot comprises a machine body (1) and four legs arranged on the machine body, wherein each leg consists of a first hydraulic cylinder body (2), a first hydraulic cylinder telescopic rod (3), a first parallelogrammic I connecting rod (4), a first parallelogrammic II connecting rod (5), a pelvic part (6), a second hydraulic cylinder body (7), a second hydraulic cylinder telescopic rod (8), a second parallelogrammic I connecting rod (9), a second parallelogrammic II connecting rod (10), thighs (11), a third hydraulic cylinder body (12), a third hydraulic cylinder telescopic rod (13), a third parallelogrammic I connecting rod (14), a third parallelogrammic II connecting rod (15), a crus (16), a spring (17), telescopic feet (18) and a soles (19). A telescopic four-connecting-rod joint transmission mechanism based on a parallelogram is adopted by the joint design of the hydraulically-driven four-foot robot, the joint control is simplified, and the moving performance of the foot type robot joints is improved.

The invention discloses a soft bionic fish based on a combined structure of cables and spacers, which comprises a fish body, a fish tail and pectoral fins; the fish body, fish tail and pectoral fins each comprise a plurality of sheet-like bodies arranged at intervals and Cables; cables are used to connect the plates and to move the tail and pectoral fins of the fish. The present invention utilizes the advantages of fast response and large driving force of the cable-driven soft robotic fish to manufacture soft bionic fish. Compared with rigid bionic fish, the overall structure of the bionic fish is more in line with the soft body of natural fish, and its movement mode is simple. , which is more in line with the natural fish movement.

This is a bionic locomotion method based on MPF ​​multi-pairs parallel pectoral fin bionic ray robot, which belongs to the research field of robots. The main structure of its main body includes a carbon fiber main body base plate, control component box, resin printing shell, water pressure sensor, gyroscope, camera; the pectoral fin structure includes pectoral fin leaves, L-shaped brackets, U-shaped brackets, bearings, steering gear brackets, Flange, underwater steering gear. The robot has high flexibility, and adopts wireless remote control to perform bionic swimming, so as to realize the rapid adjustment of the motion path. The MPF motion model research of the simulated ray, while achieving maneuverability and stability, improves the propulsion efficiency, and explores the motion control mechanism of the bionic fish robot under different MPF motion parameters. It has important research significance and application value for concealment and camouflage, underwater exploration, underwater rescue and other fields.

The invention relates to a motion bionic mechanism for simulating a jumping beetle jumper and a jumping method thereof, belonging to the application field of robot technology. Including main fixed plate (9), bottom plate (6), moving slider (10), nut (11), DC motor (2), front spring (7), rear spring (8), lanyard slider (5) , pull up the left thin wire (13), pull up the right thin wire (14), pull down the left thin wire (15), pull down the right thin wire (16), wireless control circuit board (4) and battery (12). The invention simulates the bone fragment mutual limit and muscle energy storage characteristics in the jumper, designs a limit mechanism with a lanyard slider and a spring energy storage structure, simulates the movement mode of the jumper, and realizes the imitation jump The machine mechanism has superior jumping ability and strong environmental adaptability. The invention has simple structure, clear motion principle and convenient motion realization.

The invention provides a dry adhesion and claw four-wheel-foot-paddle-driven multiphibious robot and a motion method thereof and belongs to the field of robots. A body main body of the dry adhesion and claw four-wheel-foot-paddle-driven multiphibious robot comprises a front foot supporting frame (3), N series-connected body Z-axis steering engine and a rear foot supporting frame (18); a head neckstructure comprises a head Y-axis steering engine (2) and a camera (1); a tail structure comprises a tail X-axis steering engine (26), a tail X-axis steering engine U-shaped connecting piece (27), M series-connected tail Z-axis steering engines and a tail fin (31); and each foot structure consists of a foot Y-axis steering engine, a supporting block, a supporting wheel and a wheel foot paddle. Thedry adhesion and claw four-wheel-foot-paddle-driven multiphibious robot can satisfy self-adaptive requirements of a non-structural topographic water surface-land surface under a natural environment;and meanwhile, the dry adhesion and claw four-wheel-foot-paddle-driven multiphibious robot can adopt dry adhesion to perform large slope wall surface climbing on a smooth surface and can also adopt aclaw to perform large slope wall surface climbing on a rough surface; and the dry adhesion and claw four-wheel-foot-paddle-driven multiphibious robot and the motion method thereof can be used as a dryadhesion and claw four-wheel-foot-paddle-driven multiphibious robot on an all terrain multiphibious cross-country mobile platform under the natural environment and the motion method thereof.

A variable-structure quadruped robot structure interconverting creeping motion and vertical motion belongs to the robot technology application field. The robot structure comprises a body (A) and four limbs installed on the body, wherein each limb has the same structure and comprises a first steering engine (1), a second steering engine frame (3), a second steering engine (4), a thigh support (7),a third steering engine (9), a shank support (10), an ankle connection plate (12), a bidirectional connecting piece (13), a vertical support ball head (14) and a creeping support ball head (15); the output axis of the first steering engine (1) is parallel with the central axis of the body (A); the output axis of the second steering engine (4) is vertical to the output axis of the first steering engine (1); and the output axis of the third steering engine (9) is parallel with the output axis of the second steering engine (4). The robot can realize interconversion between creeping motion and vertical motion, thus improving the obstacle negotiation capability under complex environment and providing multiple motion modes for efficient and stable motion.

The invention belongs to the technical field of robots, and discloses a foot-type robot leg structure. The foot-type robot leg structure comprises a crank and rocker mechanism, a rocker of the crank and rocker mechanism is connected with a driving device and is driven by the driving device; and a crank of the crank and rocker mechanism is connected with moving feet, and the moving feet is driven by the crank to swing. The invention further discloses a foot-type robot of the leg structure of the foot-type robot. Movement controlling of the leg of the robot is realized by matching of the crank and rocker mechanism and the driving device. Compared with the prior art, the limitation to leg movement performance of the robot from the movement performance of an input part and expansion amount of a hydraulic cylinder is overcome, the movement speed of the leg is increased, and movement space of the leg is enlarged. The foot-type robot leg structure and the foot-type robot with same are simple in structure, clear in movement principle, and convenient to realize movement.

The invention relates to an insect bouncing behavior and a mechanical observation method, belonging to the application field of robot technology. The present invention includes two sets of mechanical structures, and each set of mechanical structures includes a support platform, a horizontal adjustment rod, an angle adjustment device, a weak force strain beam, and a platform. The behavior observation part of the system includes X-direction, Y-direction and Z-direction cameras, which respectively shoot the bouncing movement process of the measured insect from three directions, and transmit the data to the host computer. The mechanical observation part of the system includes weak force strain gauges attached to the weak force strain beams, and a laser rangefinder aligned with the platform for measuring its tiny displacement; the host computer can calculate the take-off and landing impact forces and accelerations of the measured insects. The invention has the advantages of simple structure, clear motion principle and convenient motion realization.

The invention relates to a test system and method for gecko aerial statue adjusting and landing motions and belongs to the field of biomimetic motion test. The system comprises a landing plate (8) and a sliding beam (14) and further comprises a three-dimensional force sensor array (9), a high-speed camera, a computer control terminal (18) and a force sensor data acquisition system (6) which are arranged on the landing plate (8). A gecko staying space formed by a transparent plate (13), a left turning plate (17) and a right turning plate (19) is formed below the sliding beam. By means of the system and the method, gecko aerial moving posture regulation and landing buffering biomimetic mechanism researching can be developed effectively, and a new posture control and landing collision biomimetic method is provided for gecko space robot posture regulation and landing research.

The invention provides a variable-volume bionic fish main body structure, a bionic finish and a motion regulation method and belongs to the field of robots. The variable-volume bionic fish main body structure comprises a body supporting plate 11, a fish tail assembly, an attitude adjusting assembly and a volume adjusting assembly. The attitude adjusting assembly comprises a nut counterweight block(20), a first screw rod (21) and an attitude adjusting motor (23); and by making the nut counterweight block (20) move forwards and backwards, the bionic robot fish is adjusted to bend forwards and backwards. The volume adjusting assembly comprises a nut slide block (34), a second screw rod (35), a volume adjusting motor (36), a variable-volume connecting rod assembly which is positioned on the left side of the body supporting plate (11), and a variable-volume connecting rod assembly which is positioned on the right side of the body supporting plate (11); and by making the nut slide block (34) move forwards and backwards, the volume change of the bionic robot fish is adjusted by using a first connecting rod and a second connecting rod so that the buoyancy is changed to realize a rising and descending function. By controlling a steering engine (14) to rotate, a fish tail (12) swings from side to side. The variable-volume bionic fish main body structure has the advantages of simple structure, clear motion principle and convenient motion realization.

The invention relates to a pultrusion production traction device and method of fiber reinforced composite material curved profiles. The traction device is provided with a rack platform; a rack is provided with two rows of slide rails distributed in a fan shape; each slide rail is provided with a vertical roller; the rollers can move along the slide rails; the two rows of rollers are arranged alongthe circular curve; two guide blocks are arranged between the rollers; and the guide blocks conduct plane movement along the track formed by the rollers under pushing of a jack. The guide blocks areconnected with a chuck through vertical connection shaft to form a traction portion jointly, the vertical connection shafts can drive the chuck to rotate, and the chuck is composed of an upper clamping board, a lower clamping board and a vertical guide rail. Through plane movement of the guide blocks and the rotation of the vertical connection shafts, the chuck can conduct plane rotation along thecircular curve. At the same time, by moving the two rows of rollers and the rotation speed of the vertical connection shafts, the radius of the circular curve track can be adjusted, and the effect offorming needed curved profiles through various uninterrupted circular curve profiles is achieved. The movement principle is clear, the applied production device is simple and convenient to use, and the pultrusion production traction device and method are suitable for pultrusion production of curved bent profiles of different types.

The invention discloses a telescopic four-link joint transmission mechanism based on parallelogram, belonging to the technical field of robots. The telescopic four-link joint transmission mechanism comprises a first rigid body (1), a second rigid body (2), a third link (3) and a fourth link (4), wherein one end of the first rigid body (1) is hinged with one end of the second rigid body (2); one end of the third link (3) is hinged with the middle of the first rigid body (1); the other end of the third link (3) is hinged with one end of the fourth link (4); the other end of the fourth link (4) is connected with the middle of the second rigid body (2) by a hinge; four hinge joints form the parallelogram; the first rigid body (1) is provided with a fifth hinge joint (9); and a linear sliding pair is hinged between a third hinge point (7) and the fifth hinge joint (9). Compared with the pure telescopic four links, the mechanism has more stable motion output, improves the motion performanceof foot-type robot joints and provides a mechanism innovation and optimization mode for designing the foot-type robot joints with lightweight mechanism and efficient movement.

The invention provides a linear ejection mechanism adopting continuous rotary driving, a polyhedral robot with the same and a movement method and belongs to the field of robot technology application.The linear ejection mechanism comprises a compression rod (c11), a spring (d11), a sleeve (e11), a steering engine (g11), a battery (h11), a connecting pipe (i11), a special-shaped sheave (j11), a groove sliding rod (k11), a groove sliding sleeve (m11), a screw (n11), a control component (p11) and a rope (q11). The multiple linear ejection mechanisms are mounted on a porous ball (a) to form the polyhedral robot. The polyhedral robot has high movement stability, meets the self-adaption requirement of the surface of a nonstructural landform under the natural environment, has the anti-overturningcapacity and omnibearing travelling capacity, and can serve as an all-landform off-road moving platform under the natural environment.

The present invention relates to a robot foot and leg combined with a dry adhesion and hook claw, a robot and a movement method, and belongs to the technical field of robot application. The machine foot includes a damping and shock-absorbing telescopic sleeve (9), a damping and shock-absorbing telescopic rod (10), a shock-absorbing spring (15), and N hook paws (11) symmetrically installed at the lower part of the damping and shock-absorbing telescopic rod (10); The upper end of the damping and shock-absorbing telescopic rod (10) is installed in the damping and shock-absorbing telescopic sleeve (9), and the shock-absorbing spring (15) is installed in the damping and shock-absorbing telescopic sleeve (9) and between the upper end of the damping and shock-absorbing telescopic rod (10). The above-mentioned hook pawl (11) consists of an elastic sole surface (11-1), a fixed hook (11-2), and M pieces of dry adhesive material (11-3). The invention simulates the action mechanism of insect dry adhesion and hook claw, adapts to smooth and rough surfaces at the same time, and realizes the self-adaptive and stable adhesion function when the robot foot and the ground force act.

The invention discloses curve profile pultrusion production traction equipment and method based on a traction speed differential motion. The equipment comprises multiple slide rails mounted on a frame; the slide rails are arranged at intervals in a fan form; rollers are mounted on the slide rails; the rollers are distributed in two rows; each row of the rollers are arranged along the same sectionof arcs; first traction chucks and second traction chucks are arranged between two rows of the rollers, and move along rails formed by the rollers; the first traction chucks are positioned in outletsof curing molds; in the moving process of the traction chucks, through ejecting speed differential motions of jacks and limitations of the rollers, the traction chucks are rotated in a planar mode along round curves; and meanwhile, through movement of the rollers on the slide rails, the radiuses of the round curves are adjusted to continuously produce bent profiles with different curvature radiuses so as to realize needed curve profiles formed by multiple round curve profiles. The production equipment is simple and convenient, and is suitable for pultrusion production of bent curve profiles with different types.

The invention discloses a cube rod mechanism achieving space three-freedom-degree class ball joint rotation through liner driving, and belongs to the technical field of robots. The cube rod mechanism comprises an X-axis first rigid body a1, an X-axis second rigid body a2, an X-axis third rigid body a3, an X-axis fourth rigid body a4, a Y-axis first rigid body c1, a Y-axis second rigid body c2, a Y-axis third rigid body c3, a Y-axis fourth rigid body c4, a Z-axis first rigid body b1, a Z-axis second rigid body b2, a Z-axis third rigid body b3, a Z-axis fourth rigid body b4, a first base d1, a second base d2, an auxiliary rigid body e1, a first telescopic rod La, a second telescopic rod Lb and a third telescopic rod Lc. The cube rod mechanism is simple in structure, strong in decoupling performance, and simple, clear and reliable in motion.

The invention relates to a pultrusion production traction device and method for fiber enhanced composite bent sectional materials based on the traction rate differential motion. The traction device iscomposed of two traction chucks and a rack track. Each traction chuck is composed of a sliding clamping plate, a fixed clamping plate, a vertical guide rail, a sliding connecting piece and a jack. The rack track is a circular curve track and is internally provided with roller shafts, and the motion direction of the traction chucks can be limited. In the traction chuck motion process, through thejack jacking pushing speed differential motion and the rack track limitation, the traction chucks can do plane rotation along the circular curve, and needed bent sectional materials are produced. According to the pultrusion production traction device and method, the motion principle is clear, the equipment structure is simple and feasible, and the pultrusion production traction device and method can be applicable to pultrusion production of bent sectional materials different in radius.