2results about How to "Achieve balance control" patented technology

The utility model relates to a kind of dynamic cone balancing device of conical crusher, including ring disc and hydraulic cylinder, the four around integral moulding of ring disc has hinge seat, one end of hydraulic cylinder is hinged with hinge seat, the other end of hydraulic cylinder is hinged with dynamic cone inner wall, the bottom mouth of ring disc is inserted with bottom cover, the top mouth of ring disc is screwed with top cover, the disc body of ring disc is equipped with the inner oil passage of through inner and outer wall, the outer end port of inner oil passage is embedded with external connection pipe, the external connection pipe is communicated with hydraulic cylinder by connecting pipe and outer oil passage;By ring disc, top cover and bottom cover constitute internal cavity, by the communication internal cavity and hydraulic cylinder of inner oil passage and outer oil passage, by the damping flow of hydraulic oil, realize the upper stability of dynamic cone, reduce the vibration influence and unbalanced motion of dynamic cone, to realize the balance control of dynamic cone, and the whole device does not need external device drive, by internal hydraulic oil communication movement, realize passive balance and shock absorption.

The application discloses a lower limb auxiliary driving mechanism and a robot, which comprises a thigh assembly and a lower leg assembly connected with the thigh assembly, and a connecting end of a thigh connecting piece two and the lower leg assembly forms a knee joint. In the application, a constant force load mechanism is arranged on the thigh assembly, constant tension of a spring is converted into a compensation torque acting on the knee joint, so that the compensation torque can directly offset part or all of the bending moment generated by the weight of the lower limb on the knee joint, thereby realizing accurate compensation of the static load of the knee joint, reducing the driving burden when the joint maintains a posture, and the constant force load spring serves as a parallel auxiliary execution mechanism and jointly bears the load of the knee joint with a motor driving system. Through the parallel sharing mode, the joint load originally borne by the motor can be reasonably distributed, the motor works in a relatively stable and high-efficiency interval more, peak load is reduced, current impact is reduced, and overall driving efficiency is improved.