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公开(公告)号：US11752819B2
公开(公告)日：2023-09-12
申请号：US17287491
申请日：2020-09-04
申请人： SHANGHAI UNIVERSITY
发明人： Yi Sun , Longteng Zhang , Huayan Pu , Min Wang , Yan Peng , Jiheng Ding , Jun Luo , Shaorong Xie
CPC分类号： B60F3/0007 , B60F3/003 , B63G8/001 , B63G8/04 , B63G8/08 , B63H19/08 , B63H21/17 , B63H23/02 , B63H23/32 , B63G2008/004
摘要： A wheel-legged amphibious mobile robot with a variable attack angle, which belongs to the technical field of robot structure technology. The robot includes three parts: motion unit, body trunk and power unit. As a key structure, the motion unit mainly includes a moving mechanism, a wheel assembly, a telescopic mechanism and a transmission device. The robot drives the telescopic mechanism to reciprocate linearly through a gear and rack set, and pushes “legs” to expand and retract, so as to realize a mutual switching between a wheeled mode and a gait mode. Under transmission of bevel gear set, the blades can rotate at any same angle at the same time, to change the attack angle and realize the steering. The robot provided by the present disclosure can effectively adapt to a complex and harsh amphibious environment, and meet a series of operation requirements such as rapid movement, obstacle climbing, underwater steering.
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公开(公告)号：US11808317B2
公开(公告)日：2023-11-07
申请号：US17893228
申请日：2022-08-23
申请人： Shanghai University
发明人： Yi Sun , Ben Lu , Huayan Pu , Min Wang , Jiheng Ding , Wenchuan Jia , Yan Peng , Jun Luo
CPC分类号： F16F13/007 , F16F2222/12 , F16F2224/02 , F16F2224/0208 , F16F2224/043 , F16F2228/066 , F16F2230/0052 , F16F2232/08
摘要： A squeeze mode giant electrorheological fluid damper is disclosed. The squeeze mode giant electrorheological fluid damper comprises a support, a container and a connecting structure, wherein the support comprises a bottom plate, guide shafts and a top plate, the guide shaft is vertically fixed on the bottom plate, and the top plate is slidably arranged on the guide shaft; the container comprises a container body and two spiral spring pieces coaxially arranged in the container body, the container body is fixed on the bottom plate, the bottoms of the two spiral spring pieces are fixed to the bottom of the container, the two spiral spring pieces are not in contact with each other and are spaced by 180°; the top of the connecting structure is fixedly connected with the top plate, and the bottom of the connecting structure is fixedly connected with the tops of the two spiral spring pieces.
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公开(公告)号：US11726108B2
公开(公告)日：2023-08-15
申请号：US17754368
申请日：2021-08-27
申请人： Shanghai University
发明人： Huayan Pu , Peng Jiang , Jiheng Ding , Yi Sun , Min Wang , Yan Peng , Jun Luo , Shaorong Xie
IPC分类号： G01P21/00
CPC分类号： G01P21/00
摘要： The present disclosure relates to a signal conditioning system for improving low-frequency measurement performance of an acceleration sensor. The signal conditioning system includes: a charge integration circuit, a high-pass filter circuit, a lead-lag network, an anti-aliasing filter circuit, and a gain adjustment circuit. An input terminal of the charge integration circuit is connected to the acceleration sensor, an output terminal of the charge integration circuit is connected to an input terminal of the high-pass filter circuit, an output terminal of the high-pass filter circuit is connected to an input terminal of the lead-lag network, an output terminal of the lead-lag network is connected to an input terminal of the anti-aliasing filter circuit, and an output terminal of the anti-aliasing filter circuit is connected to an input terminal of the gain adjustment circuit.
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4.发明申请公开(公告)号：US20220282766A1
公开(公告)日：2022-09-08
申请号：US17687415
申请日：2022-03-04
申请人： Shanghai University
发明人： Huayan Pu , Xuan Fang , Min Wang , Yi Sun , Jiheng Ding , Yan Peng , Shaorong Xie , Jun Luo
摘要： The present disclosure discloses a Stewart vibration isolation platform with Macro Fiber Composite (MFC) plates. The vibration isolation platform includes: an upper load platform, a lower foundation platform, a controller, and a plurality of single-leg vibration isolation unit groups arranged between the upper load platform and the lower foundation platform. Each of the single-leg vibration isolation unit groups includes two single-leg vibration isolation units. The single-leg vibration isolation unit includes a first diaphragm spring and a second diaphragm spring. An MFC actuator and an MFC sensor are respectively arranged on two sides of the first diaphragm spring and the second diaphragm spring. The MFC actuators and the MFC sensors are all connected to the controller.
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公开(公告)号：US12013237B2
公开(公告)日：2024-06-18
申请号：US17121648
申请日：2020-12-14
发明人： Huayan Pu , Jinglei Zhao , Jun Luo , Jiyun Zhao , Qinghua Kong , Jiheng Ding , Min Wang , Yi Sun , Zong Li , Long Bai , Yan Peng , Shaorong Xie
摘要： The present invention discloses a quasi-zero-stiffness (QZS) based six-degree-of-freedom (6-DOF) absolute displacement and attitude measurement device. A lower end coil and an upper end coil are respectively charged with currents in the opposite directions; The electromagnetic field and the magnetic fields of an upper magnet and a lower magnet per se are mutually acted to produce an electromagnetic stiffness opposite to the stiffness of a spring. The stiffness of the whole leg is close to zero stiffness. When the to-be-measured platform generates space motion, the reference platform is in the stationary state. At this point, the deformation amounts of the six legs can be measured by laser displacement sensors. The six deformation amounts are respectively inputted into the displacement and attitude resolver, and by forward kinematic solution of the 6-DOF device, the displacement and the attitude of the to-be-measured platform can be obtained.
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公开(公告)号：US20230062689A1
公开(公告)日：2023-03-02
申请号：US17893228
申请日：2022-08-23
申请人： Shanghai University
发明人： Yi Sun , Ben Lu , Huayan Pu , Min Wang , Jiheng Ding , Wenchuan Jia , Yan Peng , Jun Luo
IPC分类号： F16F13/00
摘要： A squeeze mode giant electrorheological fluid damper is disclosed. The squeeze mode giant electrorheological fluid damper comprises a support, a container and a connecting structure, wherein the support comprises a bottom plate, guide shafts and a top plate, the guide shaft is vertically fixed on the bottom plate, and the top plate is slidably arranged on the guide shaft; the container comprises a container body and two spiral spring pieces coaxially arranged in the container body, the container body is fixed on the bottom plate, the bottoms of the two spiral spring pieces are fixed to the bottom of the container, the two spiral spring pieces are not in contact with each other and are spaced by 180°; the top of the connecting structure is fixedly connected with the top plate, and the bottom of the connecting structure is fixedly connected with the tops of the two spiral spring pieces.
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公开(公告)号：US20220357358A1
公开(公告)日：2022-11-10
申请号：US17754368
申请日：2021-08-27
申请人： Shanghai University
发明人： Huayan Pu , Peng Jiang , Jiheng Ding , Yi Sun , Min Wang , Yan Peng , Jun Luo , Shaorong Xie
IPC分类号： G01P21/00
摘要： The present disclosure relates to a signal conditioning system for improving low-frequency measurement performance of an acceleration sensor. The signal conditioning system includes: a charge integration circuit, a high-pass filter circuit, a lead-lag network, an anti-aliasing filter circuit, and a gain adjustment circuit. An input terminal of the charge integration circuit is connected to the acceleration sensor, an output terminal of the charge integration circuit is connected to an input terminal of the high-pass filter circuit, an output terminal of the high-pass filter circuit is connected to an input terminal of the lead-lag network, an output terminal of the lead-lag network is connected to an input terminal of the anti-aliasing filter circuit, and an output terminal of the anti-aliasing filter circuit is connected to an input terminal of the gain adjustment circuit.
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公开(公告)号：US11493107B2
公开(公告)日：2022-11-08
申请号：US17362996
申请日：2021-06-30
发明人： Huayan Pu , Wenyuan He , Wenjiang Wu , Min Wang , Jun Luo , Jiheng Ding , Yi Sun , Long Bai , Yan Peng , Shaorong Xie
摘要： The present disclosure provides a single-degree-of-freedom (SDOF) magnetic damping shock absorber based on an eddy current effect, comprising a lower plate, a ring-shaped magnet a, a ring-shaped magnet b, an aluminum cylinder, a bottom copper sheet, a copper sheet, a top copper sheet, a bearing seat, a linear bearing, a bearing end cap, a load, a piston shaft, a stepped shaft, a fixed collar, a coil spring, a lower clamping shaft, and fixing screws. When the shock absorber is working, the ring-shaped magnet a keeps stationary at the lower end and the ring-shaped magnet b reciprocates in the vertical direction. Both magnets are arranged in a mutual attraction manner. Under the action of a time-varying electromagnetic field generated by the relative movement of the ring-shaped magnet b, the copper sheet arranged between the two ring-shaped magnets generates eddy current damping. The movement of the ring-shaped magnet b is inhibited.
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公开(公告)号：US20220003532A1
公开(公告)日：2022-01-06
申请号：US17121648
申请日：2020-12-14
发明人： Huayan Pu , Jinglei Zhao , Jun Luo , Jiyun Zhao , Qinghua Kong , Jiheng Ding , Min Wang , Yi Sun , Zong Li , Long Bai , Yan Peng , Shaorong Xie
摘要： The present invention discloses a quasi-zero-stiffness (QZS) based six-degree-of-freedom (6-DOF) absolute displacement and attitude measurement device. A lower end coil and an upper end coil are respectively charged with currents in the opposite directions; The electromagnetic field and the magnetic fields of an upper magnet and a lower magnet per se are mutually acted to produce an electromagnetic stiffness opposite to the stiffness of a spring. The stiffness of the whole leg is close to zero stiffness. When the to-be-measured platform generates space motion, the reference platform is in the stationary state. At this point, the deformation amounts of the six legs can be measured by laser displacement sensors. The six deformation amounts are respectively inputted into the displacement and attitude resolver, and by forward kinematic solution of the 6-DOF device, the displacement and the attitude of the to-be-measured platform can be obtained.
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