公开(公告)号：US11965620B2

公开(公告)日：2024-04-23

申请号：US17635967

申请日：2021-01-04

Applicant: SOUTHEAST UNIVERSITY

Inventor： Aiguo Song ,  Tianyuan Miao ,  Bincheng Shao ,  Baoguo Xu ,  Guangming Song ,  Bo Xu ,  Shuang Liu ,  Jihai Min

IPC: F16L55/28 ,  B25J11/00 ,  F16L101/30

CPC classification number: F16L55/28 ,  B25J11/008 ,  F16L2101/30

Abstract: The present invention discloses a pipeline patrol inspection robot having variable tracks and a control method therefor. The pipeline patrol inspection robot of the present invention includes a robot body, track assemblies symmetrically disposed on a left side and a right side of the robot body, and a movement driving mechanism. The robot body is connected to the track assemblies on the left side and the right side by track fixtures, and track angle adjusting mechanisms are respectively connected between the robot body and the track assemblies on the left side and the right side. By means of the present invention, a track camber angle can be adjusted. In addition, each track angle adjusting mechanism is independent, and has desirable flexibility to adapt to different pipeline environments.

公开(公告)号：US11607815B2

公开(公告)日：2023-03-21

申请号：US17609446

申请日：2021-01-29

Applicant: SOUTHEAST UNIVERSITY

Inventor： Aiguo Song ,  Bincheng Shao ,  Huijun Li ,  Hong Zeng ,  Baoguo Xu

IPC: B25J13/08 ,  B25J13/02 ,  B33Y80/00

Abstract: The present invention provides a two-degree-of-freedom rope-driven finger force feedback device. The two-degree-of-freedom rope-driven finger force feedback device includes a hand support mechanism, a thumb movement mechanism, an index finger movement mechanism, and a handle mechanism. The hand support mechanism includes a motor, a motor shaft sleeve, a sliding rail, and an inertial measurement unit (IMU) sensor. The thumb movement mechanism includes a long rotary disc, a torque sensor, an angle sensor, a thumb sleeve, a pressure sensor, two links, a thumb brace, and a thumb fixing ring. The handle mechanism includes a cylindrical handle, a pressure sensor, a flexible fixing band, and a slider. Torque is driven between the rotary disc and the motor by using a rope. The handle mechanism is movable forward and backward and is capable of automatic restoration. By means of the present invention, the problems of the high costs of a conventional finger force feedback device and the unadjustable characteristic of the conventional finger force feedback device are overcome. The device can be tightly worn and has a self-adaptive degree of freedom. Rope driving can ensure a gentle, smooth, and real feedback force. By means of the mounted sensors, information such as a hand posture, a rotation angle and a grip force of a thumb and an index finger, and a contact force of a middle finger can be transmitted in real time.