Method and device for measuring position and attitude in space

A method for measuring the space position and attitude of a target is characterized by use of said present invented large-size ball-rod instrument to measure distances, and includes such steps as measuring the distances from three fixed points on the rigid body moving in space to the three fixed point in a fixed coordinate system to obtian 9 central distances, reading them from the display of said ball-rod instrument or computer, listing 9 non-linear equations, and analyzing them to obtain the space position and attitude of said rigid body. Its advantages are simple method, low cost and high precision.

Non-circular gear-based variable transmission mechanism

The invention relates to a non-circular gear-based variable transmission mechanism. The mechanism is provided with a driving wheel, a plurality of driven wheels, transition gear teeth and transmission gear teeth, wherein the driving wheel and the plurality of driven wheels are fixedly arranged on a driving shaft and a driven shaft at a set included angle respectively, and have the same modulus of the gear teeth; the transition gear teeth and transmission gear teeth are positioned on a non-circular pitch curve between the adjacent driven wheels; the transition gear teeth and transmission gear teeth on the non-circular pitch curve are used for completing gear shifting of the driving wheel between the two adjacent levels of driven wheels, namely axial feed movement is applied to the driving wheel on the premise of keeping the rotating speed of the driving wheel invariable, so that the driving wheel can be meshed with the transition gear teeth, the transmission gear teeth and the transition ...

Translational gearing motor with improved structure

A translational gearing motor with improved structure is a low-speed large-torque motor integrating a motor with a speed reducer. 4 sets of magnetic poles are arranged in the axial direction, each setof magnetic poles consists of a rotor in the middle and stators at two sides, a coil winding is arranged on the stator, and after being electrified, the winding drives the rotor to move left and right so as to form a unidirectional drive magnetic pole. The four sets of magnetic poles are divided into two pairs with the installation directions vertically intersecting. A slide bush and a main shaftof a through hole in the middle of the rotor form a slide revolute joint and the main shaft is connected with a cycloid external gear through a connecting key. By controlling the working status of the windings of the four sets of magnetic poles, the rotor can be driven to drive the main shaft to generate translation of revolution mode in radial direction and to drive the cycloid external gear anda cycloid ...

Viewing device for forming stereo image by plane mirror

Poor reduction gear of few tooth of axial lever drive

The utility model discloses a poor reduction gear of few tooth of axial lever drive, include: and a support. The external tooth wheelset, it is established including the cover first external gear and second external gear that the number of teeth is equal that the outside relative up -down of support set up, the internal gear, its cover is established the external tooth wheelset outside and can with the meshing of external tooth wheelset, the bent axle, its input shaft and first crank arm and second crank arm that includes the power input, the lever, it is vice that its both ends and centre are equipped with 3 balls near one end, the input shaft passes through the lever drives first external gear or circular motion is to the second external gear, thereby drives interior gear revolve. The utility model provides a by the work scheme that the vice axial lever that bears of ball comes the interior meshed gear of drive, adopt vice this weak link of the present crankshaft bearing of replacement ...

Dual-roller walking unit for robot

Cycloidal pin wheel planetary reducer with modified structure

The invention relates to a cycloidal pin wheel planetary reducer with the modified structure. The modified structure is characterized in that denticles with the same moduli or similar modulus are arranged on the periphery of the profile of the cycloidal teeth of the external cycloidal gear and internal cycloidal gear of the reducer and on the periphery of the external profile of a pin wheel; as the denticles on the pin wheel are separately meshed with the denticles on the internal cycloidal gear and the external cycloidal gear, the tangential sliding between the pin wheel and the two cycloidal gears can be avoided in transmission process, wherein the profile of the denticles on the pin wheel is an involute, cycloid or circular arc, the profile of the denticles on the internal and external cycloidal gears is the conjugate profile of the denticles on the pin wheel; and the dimensional proportion of the denticles satisfies the requirement that the registration is more than one when the denticles ...

Structure improved ball shape robot omnibearing walking device

The spherical robot omnibearing walking device in improved structure includes spherical casing and walking transmission mechanism. The walking transmission mechanism includes one ring with two short support shafts, two support seats and one reducing motor on one of the seats. The reducing motor has its shaft connected via a shaft couple to one of the short support shafts to drive the ring. Inside the ring and on one seat in the direction perpendicular to the short support shafts, one long shaft is supported via bearing. One reducing motor set in the intersection between the long shaft and the ring drives the long shaft to rotate, and one balance weight is fixed to one short shaft set perpendicularly to an intermediate sleeve of the long shaft. Two balancing accumulator weights are set on the ring in the place opposite to the gravitational center of motor.

Improved all-direction moving unit for spherical robot

An improved all-directional walking unit for spherical robot is composed of spherical shell and the walking drive mechanism in the shell. The said walking drive mechanism consists of a circular ring with two short supporting axles in diameter direction and two motors having small gears on their axles, two supporting seats for the said supporting axles, a big gear on one of two supporting seats for engaging with the gear on end of the said motor to drive it to rotate back and forth, two opposite bases, a long axle supported by said bases, and another big gear on the long axle for engaging the gear on another motor to drive it to rotate left and right.

Variable-structure two-state man carrying device

The invention discloses a variable-structure two-state man carrying device. The variable-structure two-state man carrying device comprises a bicycle body device, a driving device and a guiding device, wherein the bicycle body device comprises a frame, a driving wheel and driven wheel locating frame, a storage box and a rotational seat; a hollow box body is arranged under the center position of the frame and is internally provided with the driving device; the guiding device is divided into two parts, one part is used for realizing the guiding under a bicycle mode and comprises a handle, a bicycle stand, a collision bead pin, a driven wheel shaft and a driven wheel, and the guiding device of the part can stretch to be parallel to the frame under a wheelchair mode; the other part is used for realizing the guiding under the wheelchair mode and comprises a guiding pedal and a small wheel which is vertically and fixedly connected with the guiding pedal, and the guiding device of the part can ...

Vehicle wheel with variable wheel diameter

The invention discloses a vehicle wheel with a variable wheel diameter. The vehicle wheel comprises a vehicle wheel outer profile and a variable-diameter device used for driving the vehicle wheel outer profile to deform, wherein the vehicle wheel outer profile consists of a plurality of small blades which are connected crosswise with each other end to end; the variable-diameter device comprises an eccentric connecting rod of which one end is rotationally connected with the small blades, a bull gear which is fixedly connected with the eccentric connecting rod and a driving part used for driving the eccentric connecting rod and the bull gear to rotate around a central shaft. The vehicle wheel with the variable wheel diameter has the characteristic of telescopic outer profile, so the vehicle wheel can avoid barriers, enhances balancing capacity while running on a complicated ground surface, reduces accident rate and is easy to operate.

Six-freedom parallel mechanism with triaxial nearly orthogonal

Horizontal moving type engaging motor

The invention provides a translatory engaging motor, comprising a rotor fastened with two cycloid internal ring gears, wherein, four pins in large gaps are perforated into four through holes on the rotor; two ends of the pins are fixedly connected with a casing, the rotor and the cycloid internal ring gears fixedly connected with the rotor can move in a certain range of radial direction relative to the pins, thereby forming a parallel four-bar motion constraining mechanism. A stator is coaxial with an output shaft, and four coil windings of the stator are electrified according to the predetermined sequence to generate electromagnetic force, thereby driving the stator to translate around the output shaft, driving the fixedly connected cycloid internal ring gears and cycloid external gears fixedly arranged on the output shaft to generate engaging motion, and outputting the autorotation of the cycloid external gears; and the rotation of the external gears are transferred to the output shaft ...

Improved all-direction moving unit for spherical robot

Translational gearing motor with improved structure

A translational gearing motor with improved structure is a low-speed large-torque motor integrating a motor with a speed reducer. 4 sets of magnetic poles are arranged in the axial direction, each set of magnetic poles consists of a rotor in the middle and stators at two sides, a coil winding is arranged on the stator, and after being electrified, the winding drives the rotor to move left and right so as to form a unidirectional drive magnetic pole. The four sets of magnetic poles are divided into two pairs with the installation directions vertically intersecting. A slide bush and a main shaft of a through hole in the middle of the rotor form a slide revolute joint and the main shaft is connected with a cycloid external gear through a connecting key. By controlling the working status of the windings of the four sets of magnetic poles, the rotor can be driven to drive the main shaft to generate translation of revolution mode in radial direction and to drive the cycloid external gear and ...

Vehicle fault warning robot

The invention relates to a vehicle fault warning robot. The vehicle fault warning robot comprises a drive device, a warning device, an auxiliary supporting device and an electric control device, wherein the drive device comprises a synchronous belt, front wheels, rear wheels and four steering engines, the warning device comprises a battery, an LED strip lamp, a warning mark and a soleplate, the auxiliary supporting device comprises an auxiliary supporting plate, a rear wheel, a rotating shaft, a synchronous belt, a synchronous belt pulley, a driving belt pulley and steering engines, and the electric control device comprises a control card, a battery and a wireless module. The vehicle fault warning robot has characteristics that the vehicle fault warning robot is of a hinge-type structure when not in use and is in a first form, when a vehicle has a fault, the robot can be woken by utilizing a mobile phone through the wireless module, the auxiliary supporting device is unfolded, the robot ...

Dual-roller walking unit for robot

A dual-roller walking unit for robot is composed of left and right rollers, two motors for the said two roller, and drive unit. If features that the mass center of robot is under the connecting line of the centers of two roller for higher stability. Its advantages are high stability and cross-country power, small turn radius, and flexible steering.

Double-rotor radial driving meshing motor

The invention provides a double-rotor radial driving meshing motor with low speed and large torque, which adopts magnetic poles with double-rotor structures to prevent occurrence of magnetic circuits coupling among all magnetic poles and reduce difficulty of magnetic field analysis; the opposite movement of an inner rotor and an external rotor not only can multiply electromagnetic force but also can neutralize inertia force and reduce vibration; a plurality of eccentric shafts are used for binging a translational mechanism which is composed of rotors, a rotor fixed bracket and a support so as to cause the radius of revolution running to be completely restricted, thereby preventing sliding displacement among gears and improving transmission efficiency. Furthermore, stators and the rotors of the motor of the invention are fixedly connected with an external gear and an internal gear circle respectively so as to form a reducer gear meshing transmission mode to reduce the speed, thus indeed ...

Omnibearing walking mechanism of spherical robot

The omnibearing walking mechanism of spherical robot includes a spherical casing and a walking mechanism, and the walking mechanism includes two linear support shafts with one end in the position of maximum diameter in the casing and the other end supported by the bearing pedestal in the center of the easing; one linkage shaft, which penetrates the central bearing pedestal, is perpendicular to the two support shafts and is suspended in the center of the casing; two opposite connecting plates at two ends of the linkage shaft, two opposite motors on the inner side of the connecting plates and integrated with the linkage shaft and the connecting plates; two small cylindrical gears fixed to the motors separately; and one driving gear system comprising one cone gear pair and one cylindrical gear pair.

Automatic knife replacing device for food cutter

The invention discloses an automatic knife replacing device for a food cutter. The automatic knife replacing device comprises a first knife rest, a second knife rest, a third knife rest, a drive device and a control device, wherein the second knife rest and the first knife rest form an angle of 180 degrees; the third knife rest and the first knife rest form an angle of 270 degrees; a plurality of working stations and an empty station are arranged on each of the first knife rest and the second knife rest; a plurality of knives with the same intervals are arranged on each working station of the first knife rest and the second knife rest, and the interval is different from the interval of knives on other working stations; the first knife rest, the second knife rest and the third knife rest are driven by a slot wheel mechanism. When the automatic knife replacing device needs to cut vegetables of different sizes, incomplete gears are driven by an electromagnet to be engaged, and the knife rests ...

Transverse flux permanent magnetic motor and method for manufacturing stator thereof

Disclosed are a transverse flux permanent magnetic motor and a method for manufacturing a stator thereof. The motor is axially equipped with two or three phases of electromagnetic induction components, and each phase of electromagnetic induction component consists of a stator and a rotor. An iron core of the stator is assembled by a left portion, a middle portion and a right portion, and jointing surfaces of the three portions of the iron core of the stator are conical surfaces utilizing a motor shaft as a symmetrical shaft. The left portion and the right portion of the iron core of the stator are formed by overlapping a plurality of annular silicon steel plates with the same outer diameter and then processing further, the middles of the left portion and the right portion are respectively provided with a through hole with symmetrical tooth profile on the periphery, the outer appearances of the left portion and the right portion are respectively a conical surface which is inclined to the ...

Stracture improved ball shape robot omnibearing walking device

The spherical robot omnibearing walking device in improved structure includes spherical casing and walking transmission mechanism. The walking transmission mechanism includes one ring with two short support shafts, two support seats, one large gear on one of the seats, one motor mounted on the ring and one small gear mounted on the motor shaft to drive the meshed large gear. The long shaft inside the ring and borne on to the two seats via bearing has one large gear mounted on one end and one perpendicular short shaft hinged to the middle part. The short shaft has one motor acting also as the balance weight fixed to the end, and the small gear on the motor shaft meshes with to rotate the large gear on the long shaft. One balancing accumulator weight is set on the ring in the place opposite to the gravitational center of motor.

Viewing device for forming stereo image by plane mirror

A stereoscopic image viewer made of two plane mirror for viewing static picture or the dynamic image on screen is composed of 4, or 2, or 1 plane mirror and features that said image is a virtual one formed by overlapping two images taken from an object in different directions.

Omnibearing walking mechanism of spherical robot

Six-freedom parallel mechanism with triaxial nearly orthogonal

A six-freedom parallel mechanism with nearly orthogonal three axes is composed of static table body, movable table body and 6 drive rods which can stretch out and draw back in length and are pivoted to static and movable table body via the ball hinges at their both ends. It featurs that said 6 drive rods are respectively in or thogonal or nearly orthogonal at X, Y and Z directions, two for each direction. Said movable table body can be positioned at the central space position of 6 drive rods or their upper or lower parts. When it is at the central position, X, Y and Z axes are decoupled, so resulting in simple regulation, easy control and wide application.

Double-rotor radial driving meshing motor

The invention provides a double-rotor radial driving meshing motor with low speed and large torque, which adopts magnetic poles with double-rotor structures to prevent occurrence of magnetic circuits coupling among all magnetic poles and reduce difficulty of magnetic field analysis; the opposite movement of an inner rotor and an external rotor not only can multiply electromagnetic force but also can neutralize inertia force and reduce vibration; a plurality of eccentric shafts are used for binging a translational mechanism which is composed of rotors, a rotor fixed bracket and a support so asto cause the radius of revolution running to be completely restricted, thereby preventing sliding displacement among gears and improving transmission efficiency. Furthermore, stators and the rotors of the motor of the invention are fixedly connected with an external gear and an internal gear circle respectively so as to form a reducer gear meshing transmission mode to reduce the speed, thus indeed integrating ...

Vehicle wheel with variable wheel diameter

The invention discloses a vehicle wheel with a variable wheel diameter. The vehicle wheel comprises a vehicle wheel outer profile and a variable-diameter device used for driving the vehicle wheel outer profile to deform, wherein the vehicle wheel outer profile consists of a plurality of small blades which are connected crosswise with each other end to end; the variable-diameter device comprises an eccentric connecting rod of which one end is rotationally connected with the small blades, a bull gear which is fixedly connected with the eccentric connecting rod and a driving part used for driving the eccentric connecting rod and the bull gear to rotate around a central shaft. The vehicle wheel with the variable wheel diameter has the characteristic of telescopic outer profile, so the vehiclewheel can avoid barriers, enhances balancing capacity while running on a complicated ground surface, reduces accident rate and is easy to operate.

一种用于空间全位置和姿态的测量方法及其装置

... 一种用于空间全位置和姿态的测量方法及其测量装置，该测量方法是利用本发明的专用大尺寸球杆仪测量空间运动刚体(即运动坐标系)上的三个固定点相对于某固定坐标系中的三个定点的距离，得到两者之间3×3共9个中心距的长度数值；再从该球杆仪上的数显表或与该球杆仪相连接的计算机上读出上述9个中心距的长度数值，根据该9个长度参数列出9个非线性方程组，并采用詹重禧法解析该9个非线性方程组，即可求得上述待量测的物体的空间位置和姿态。该测量方法操作步骤简单易行，无需价格昂贵的仪器，经济实用，能够获得精度较高的三个欧拉角的测量值。该测量方法对于并联机床/机械人的运动学标定具有重要的应用价值。 ...

Parallel mechanism of formed by circular pair, circular pair and spherical pair

The invention refers to a parallel connection mechanism made up of cylindrical pair, cylindrical pair and spherical pair. It includes static platform, kinetic platform and kinetic chain made up of plural cylindrical pair, cylindrical pair and spherical pair. The invention improves the classic parallel connection mechanism. It changes the kinetic chain controlling the distance between two points of the classic parallel connection mechanism to the kinetic chain that can control the distance between the point and the line or the plane. Thus, it can realize the adjustment the location between two steel bodies. The parallel connection mechanism is novelty structure, simply to normal solution, agility to choose the driving location, easily to be controlled and can make several kinds of different structure by changing many different kinds kinetic chain of other kinetic pair. The invention is a parallel connection mechanism that has latent application prospects in location driving and adjustment ...