39results about How to "Achieve continuous motion" patented technology

The invention belongs to the technical field of intelligent robots and specifically provides a wall-climbing robot and a using method thereof. The vacuum suction wall-climbing robot comprises a box body (1), a transmission mechanism (2), guide mechanisms (3) and suction mechanisms (4). The transmission mechanism (2) comprises two synchronous belt sets (11) in square crossing. Each synchronous belt set (11) is driven by a motor (8). The suction mechanisms (4) are installed on the two ends of the synchronous belt sets (11). Each suction mechanism comprises an electric push rod (21) and a sucker group (25) arranged under the electric push rod (21), wherein the suction and the release of the sucker group (25) are controlled by a solenoid value. Through coordinated control of the motor at one end of each guide rail, the suckers and the solenoids for controlling the suction of the suckers, the motors can drive the guide rails to move linearly in certain directions; the solenoid valves for the suckers can achieve the suction and the release of the suckers, so that the robot can move continuously in the certain directions.

The invention provides a water-skipper-imitated water sports robot, and relates to the field of bio-robots. By the water-skipper-imitated water sports robot, the problem that a gliding state and a jumping state of the existing water robot cannot be freely switched over is solved. The water-skipper-imitated water sports robot comprises a rack, two direct-current motors, a worm wheel and gear speed-reduction assembly, a hinge pin, a cam assembly, a driving leg, a spring and a supporting leg, wherein the rack has a symmetric structure; the two direct-current motors are symmetric along a central axis of the rack; the worm wheel and gear speed-reduction assembly comprises a worm, a worm wheel, a first gear, a second gear, a third gear, a fourth gear and a fifth gear; the hinge pin comprises a first rotating shaft, a second rotating shaft, a third rotating shaft, a fourth rotating shaft, a fifth rotating shaft, a sixth rotating shaft, a supporting shaft, a rotating shaft and a connecting shaft; the cam assembly comprises a first cam base, a rotating body and a cam top cover; the driving leg comprises a cam connecting rod, an ear-shaped connecting piece, a driving leg rod and a driving leg foot; and the supporting leg comprises a first supporting leg rod, a first supporting leg foot, a second supporting leg rod and a second supporting leg foot.

The invention provides a continuously moving-type control rod hydraulic drive device of a nuclear reactor, which comprises a drive cylinder barrel, an internal sleeve, a runner sleeve, a lower end cover, a piston, a hollow piston rod, a servo tube, a leading screw, a shift-stopping assembly and a power source (a motor and a water pump). The control rod hydraulic drive device takes a refrigerant (water) in a pressure container of the nuclear reactor as a working substance, and the refrigerant (water) flows along a flowing channel formed internally therein after being pressurized by a water pump; the motor and the auxiliary moving servo tube of screw transmission are used for changing the width of a changeable choke formed between the end surface of the servo tube and the inner bottom surface of the hollow piston rod so as to change the pressure at two sides of the piston and drag a control rod fixedly connected with the outer end of the hollow piston rod to move. The control rod hydraulic drive device has the advantages that since no electron device required for solenoid drive exists, the requirement on working environment is not high; the continuous movement of the control rod can be realized; the drive device has simple structure and convenient processing and is easy for operation and programmed control; the limitation change range of the pressure and flow of working water is relatively wide, and the drive device has good safety and stability.

The invention discloses an automatic-adjustment multifunction wheel-type pipeline robot. The automatic-adjustment multifunction wheel-type pipeline robot is composed of driving units, energy units andworking units. The units can be used in series combination according to the requirements of actual working conditions. Transmission chains are cores of each driving unit, and the driving units are composed of motors, couplings, worm and worm gear transmission assemblies, gear synchronous belt assemblies and synchronous roller assemblies according to the power transmission direction. Auxiliary systems of the driving units are composed of disc-shaped supporting assemblies and roller-tensioning-wheel adjustment adaptive assemblies. The automatic-adjustment multifunction wheel-type pipeline robotcan be used for cable passing, defect inspection, repair, dredging and the like in various pipelines with a pipe diameter of 100mm or above such as petroleum pipelines and natural gas pipelines, andhas he characteristics of unit modularization, continuous and stable movement, high passing ability and capability of achieving pipeline liquid storage.

The invention discloses a device for dynamically and continuously preparing a high-temperature superconductivity belt material by a non-fluorine chemical solution sedimentation method, which mainly comprises a continuous coating device (4), a continuous drying device (6), a continuous heat treatment furnace (9), a rolling device (1) and an unrolling device (10). The device is characterized in that the rolling device (1) and the unrolling device (10) are driven by a servo motor; a guiding wheel (5) of a belt material (3) is arranged below a slit die outlet (17) in the continuously coating device (4), and a guiding wheel (3) of the belt material (3) is arranged behind the continuous drying device (6). In the invention, the continuous motion of the belt material among the continuous coating device, the continuous drying device and the continuous heat treatment device can be realized, so that the purpose of dynamically and continuously producing the belt material is achieved. Due to the device, the production process can be conducted under non-vacuum condition, and a fluorine exhausting device is not needed, the cost is low, and the process is simple, so that the device is suitable for industrial production.

The invention provides a plate limiting device and belongs to the technical field of machining. The plate limiting device comprises a conveying mechanism, a dust removal mechanism and a limiting mechanism. The dust removal mechanism is arranged between a front conveying assembly and a rear conveying assembly. A plate passage is arranged in a dust removal box of the dust removal mechanism. One end of a dust suction pipe is connected with the upper end of the dust removal box. The other end of the dust suction pipe is connected with a dust remover. A fixed limiting plate of the limiting mechanism is fixedly installed on a rack and located on the upper side of a conveyer belt. An adjusting plate is arranged on the outer side of a movable limiting plate vertically. The adjusting plate is provided with an adjusting U-shaped groove. A fixing support seat is fixedly arranged on the rack and located below the adjusting plate. A lock screw penetrates through the adjusting U-shaped groove to be in threaded connection with the fixing support seat. A roll wheel support seat is arranged below the movable limiting plate. A support roll wheel is arranged on the roll wheel support seat rotationally. The axis direction of the support roll wheel is perpendicular to the direction of the adjusting U-shaped groove. The plate limiting device can limit plates with various widths, and it is ensure that the plates do not shift in the conveying process.

The invention provides a relay apparatus, a data transmission device, a data relay method and a data transmission method. The relay apparatus can be used for transmitting data between networks different in security level, and comprises a transfer station, a first moving device and a second moving device; in use, the first moving device is used for collecting blank discs firstly, and then moving the blank discs to a burning optical drive in a first network region, and finally moving the discs burned by the burning optical drive to the transfer station; the second moving device is used for collecting the burned discs at the transfer station at this moment and moving the burned discs to a read-only optical drive in a second network region so that the read-only optical drive is capable of completing data reading and downloading. In this process, the first network and the second network are physically isolated from each other completely, so that the technical detect that the relay apparatus needs to be connected with the first network at one moment and needs to be connected with the second network at another moment in the prior art; as the first network and the second network are physically isolated from each other completely, the safety of data transmission is very high.

The invention relates to an apparatus having at least one tubular piezo element for the electromechanical positioning of a rotor on the inside of the piezo element. Said apparatus is characterized by at least one elastic friction means for applying a normal force onto the rotor, said friction means being connected to the piezo element. A method for controlling the apparatus is disclosed.

The invention provides an iron removing device, and belongs to the technical field of iron removing equipment. The iron removing device comprises an iron sucking mechanism and an iron scraping mechanism, wherein a guide roller of the iron sucking mechanism is rotationally arranged on a guide roller bracket; a transmission roller is rotationally arranged on a lower bracket; an iron removing belt is wound on the transmission roller and the guide roller; a first belt wheel is coaxially arranged at one side of the transmission roller, and is connected with a second belt wheel through a transfer belt; the second belt wheel is coaxially connected with an iron removing motor; an electromagnetic iron remover is mounted on the lower bracket; the tail end of a scraper of the iron scraping mechanism is mounted on a scraper mounting tank of the fixed bracket through a scraper mounting bolt and a scraper mounting nut; the front end of the scraper is positioned at one side of the transmission roller, and is near the iron removing belt without being contacted; and one end of an ejector rod is hinged to the middle side of the scraper, and the other end is mounted on an ejector rod mounting tank through an ejector rod mounting bolt and an ejector rod mounting nut. The iron removing device is excellent in iron removing effect, is adjustable in scraper angle, and is excellent in adaptability.

The invention discloses a non-intermittent motion three-dimensional packaging machine. The non-intermittent motion three-dimensional packaging machine comprises a packaging device, and the packaging device is connected with a feeding device and a discharge device; the packaging device comprises an upward moving channel and a lateral moving channel; an upward pushing mechanism is arranged at the lower end of the upward moving channel; the upper end of the upward moving channel is connected with the lateral moving channel; a lateral pushing mechanism is arranged at one end of the lateral movingchannel; a paper supporting mechanism is arranged next to the lateral pushing mechanism; and an upward pressing chute and a downward pressing chute are formed in the two side walls of the lateral moving channel separately. According to the non-intermittent motion three-dimensional packaging machine, packaging of an entire material is achieved by controlling motion of the to-be-packaged material inall directions, packaging of different stages can be carried out on multiple materials at the same time, and packaging efficiency is improved; the entire packaging machine is in a continuous motion mode, so that the acceleration, deceleration and waiting time of the machine during intermittent motion is shortened; and besides, the entire machine can achieve multi-dimensional action through one active force, packaging precision is improved, and packaging cost is greatly reduced.

The invention discloses a continuous material conveying device. The device comprises a material box for storing materials. The device is characterized in that a conveyor belt is vertically arranged in the material box, wherein one end of the conveyor belt is positioned in the material box while the other end of the conveyor belt is positioned above the material box; a plurality of conveying plates are obliquely arranged at intervals on the conveyor belt; a conveying rail is obliquely arranged above the conveyor belt, and the obliquing angle of the conveying rail is not less than the obliquing angles of the conveying plates; one side of the conveying rail is close to the side edge of the conveyor belt; a baffle plate, which is arranged below the conveying rail, is positioned at the side edge of the conveyor belt and used for preventing the materials from falling off from the conveying plates.

The invention discloses a sensor-carrying device for plane guided wave online detection of the defects of a base plate of a vertical-type metal storage tank, which relates to the technical fields of supersonic wave measurement and pipeline systems. The sensor-carrying device comprises an outer frame, a support mechanism, an adsorption mechanism, a movement mechanism, a dismounting mechanism and a sensor fixing mechanism. The support mechanism and the sensor fixing mechanism are fixed at the lower part of the outer frame. The adsorption mechanism, the movement mechanism and the dismounting mechanism are fixed in the outer frame. The support mechanism, the adsorption mechanism and the movement mechanism allows the sensor-carrying device to be balancedly supported on an outer edge plate of the storage tank and to move along the outer edge plate. In detection, the sensor-carrying device is arranged on the outer edge plate (2) of the storage tank and is adsorbed on a storage tank wall plate (3). The sensor-carrying device provided by the invention enables continuous movement of a sensor to be realized, provides the pressure for tightly pressing the sensor on the outer edge plate and improves detection efficiency.

The invention discloses a laser cutting equipment for transporting, cutting and collecting metal pipes. The laser cutting equipment comprises a machine body, a feeding cavity used for transporting themetal pipes is formed in the machine body, an inlet cavity communicating with the feeding cavity is formed in an upper side wall body of the machine body, a feeding device used for transporting the metal pipes one by one is arranged in the feeding cavity, and the feeding device comprises a slope fixedly arranged on a protruding platform wall body of the right side of the feeding cavity. The lasercutting equipment is provided with the feeding device, a first rotating shaft and a second rotating shaft can be driven to rotate by a driving worm gear, so that a conveying table is driven to feed the metal pipes one by one, the working efficiency is effectively improved, and cutting and transportation of the metal pipes can be continuously carried out; and the laser cutting equipment is provided with a clamping device, a pressing table can be pressed down through the metal pipes, and therefore a clamping block is driven to clamp the metal pipes.

The invention discloses a continuous type slide plate detachment line. The continuous type slide plate detachment line comprises a circular rail and a driving mechanism, wherein the rail consists of an inner bearing rail, a guide rail and an outer bearing rail which are respectively in a circle shape and are sequentially arranged from interior to exterior; a plurality of slide plates are sequentially arranged along the length direction of the rail, and respectively comprise a support framework, a support plate, a support wheel and a guide wheel, each support plate is arranged on the upper surface of the corresponding support framework, each support wheel and each support wheel are arranged on the lower surface of the corresponding support framework, each support wheel is matched with the corresponding inner bearing rail and outer bearing rail, and each guide wheel is matched with the corresponding guide rail; the driving mechanism is used for driving the slide plates to cyclically move along the rail. The continuous type slide plate detachment line has the advantages that by arranging the circular rail, the different detachment and installation sections can be matched with the different rail sections; by driving the sequentially arranged slide plates to move along the rail, the continuous movement is realized, the arrangement of middle connection equipment and brake equipment is avoided, and the infrastructure cost and operation cost are reduced.

The invention relates to a hybrid excitation permanent magnet reluctance linear motor type control rod driving mechanism, awhich belongs to the technical field of linear motor application. The hybrid excitation permanent magnet reluctance linear motor type control rod driving mechanism comprises a driving rod, a stator arranged around the driving rod, and a pressure-resistant shell arranged between the driving rod and the stator.The stator comprises a plurality of stator iron cores arranged at intervals along the axial direction of the driving rod, the inner side surface of the stator iron core is provided with an annular groove, and a holding coil is embedded in the annular groove. Annular auxiliary grooves are formed between the adjacent stator iron cores, stator windings and permanent magnets are embedded in the annular auxiliary grooves, and the magnetizing directions of the adjacent permanent magnets are opposite. The stator winding is connected with a three-phase sine alternating-current power supply, the holding coil is connected with a direct-current power supply, and power-off or power-on states can be kept respectively. The continuous movement of the driving rod is realized, and the power control precision of the nuclear reactor is improved.

The invention relates to a clock movement provided with a positioning device. The movement comprises a movement seat, a date dial wheel and a calendar wheel, the date dial wheel is rotatably arrangedon the movement seat, the calendar wheel is coaxially and movably arranged above the movement seat, the calendar wheel is magnetic, and a magnetic sheet is arranged between the movement seat and the calendar wheel. A driving mechanism used for driving the magnetic sheet to move back and forth is arranged on the movement seat, a pushing mechanism used for driving the calendar wheel to step in one direction when the calendar wheel falls down is arranged on the movement seat, and a positioning mechanism used for positioning the calendar wheel is arranged on the movement seat. In the rotating process of a hour hand movement, the date dial wheel rotates for a circle, the magnetic sheet is sequentially driven to leave from the magnetic field below the calendar wheel and then enter, the calendarwheel falls under the action of gravity and is driven to step by one grid in a character moving direction of a disc surface, and after the magnetic sheet enters the magnetic field again, the calendarwheel rises and is limited to rotate, and character moving work of the calendar wheel is completed. A torque force applied to the movement is reduced, and the service life of the movement is prolonged.

The invention discloses an electric multifunctional oral cavity mouth gag. The mouth gag comprises a control part and a movable part shell detachably connected with the control part through a fixing rod. The mouth gag has multiple functions, can simultaneously realize active and passive opening-closing continuous movement of an oral cavity and accurate maintenance of the opening degree, and has multiple purposes of auxiliary opening treatment, training rehabilitation, auxiliary maxillofacial repair design and the like; the operation is simple, continuous movement, positioning movement and fixed maintenance of oral cavity supporting plates are achieved only by operating a button switch with one hand, the operation time is shortened, and the result precision is improved; and the mouth gag ishigh in universality, the supporting plates of different sizes or structures can be flexibly replaced according to the characteristics of patient groups, the mouth gag can be used for patients of different groups, and meanwhile the operability of the mouth gag is improved.

The invention discloses a satellite thrust eccentric moment control device and method. The device comprises: a base plate, a controller, a mass block, a driving unit in a first direction, a driving unit in a second direction, and an angular velocity measurement unit; a controller, a mass block, and a mass block. The first-direction driving unit and the second-direction driving unit are arranged on the bottom plate, and the mass moves in the first direction and / or the second direction driven by the first-direction driving unit and / or the second-direction driving unit. The angular velocity measurement unit is used to measure the angular velocity parameters of the satellite and send the angular velocity parameters to the controller; the controller is used to control the action of the first direction drive unit and / or the second direction drive unit according to the angular velocity parameters. The satellite thrust eccentric moment control device and method of the present invention change the position of the center of mass by driving the mass block to move, so that the thrust vector moment passes through the center of mass, eliminates the eccentric moment, and reduces the influence of the propulsion system on the attitude of the satellite. The algorithm structure is simple, and the controller has high reliability.

The invention provides a plane scanning type image acquisition micro device. The plane scanning type image acquisition micro device comprises two motors, a fixed frame, two first-stage connecting rodpieces, two second-stage connecting rod pieces, an image acquisition device, an assembly piece and a fixed piece, wherein the motor is fixedly arranged on the fixed frame; the motor drives the connecting rod piece to move, the tail end of the second-stage connecting rod piece is made to do two-dimensional motion by controlling the rotating angle of the motor, and therefore grating type continuousimage acquisition is achieved through the image acquisition device fixed to the tail end of the second-stage connecting rod piece through the fixed piece.

The invention discloses a sensor-carrying device for plane guided wave online detection of the defects of a base plate of a vertical-type metal storage tank, which relates to the technical fields of supersonic wave measurement and pipeline systems. The sensor-carrying device comprises an outer frame, a support mechanism, an adsorption mechanism, a movement mechanism, a dismounting mechanism and a sensor fixing mechanism. The support mechanism and the sensor fixing mechanism are fixed at the lower part of the outer frame. The adsorption mechanism, the movement mechanism and the dismounting mechanism are fixed in the outer frame. The support mechanism, the adsorption mechanism and the movement mechanism allows the sensor-carrying device to be balancedly supported on an outer edge plate of the storage tank and to move along the outer edge plate. In detection, the sensor-carrying device is arranged on the outer edge plate (2) of the storage tank and is adsorbed on a storage tank wall plate (3). The sensor-carrying device provided by the invention enables continuous movement of a sensor to be realized, provides the pressure for tightly pressing the sensor on the outer edge plate and improves detection efficiency.

The invention discloses a high-precision flexible hinge wriggling robot which comprises a front foot deformation mechanism, a trunk wriggling mechanism, a rear foot deformation mechanism and the like. The front foot deformation mechanism and the rear foot deformation mechanism based on the notch type flexible hinge mechanism are similar in structure and are symmetrically distributed relative to the trunk wriggling mechanism, and the two sets of electromagnets are located at the two ends of the front foot deformation mechanism and the rear foot deformation mechanism respectively. The front foot deformation mechanism and the rear foot deformation mechanism work alternately through charging and discharging of the piezoelectric ceramic and on-off of the electromagnet to drive the trunk creeping mechanism to store and release deformation energy, the front foot deformation mechanism or the rear foot deformation mechanism is driven by the piezoelectric ceramic, and micro-nano-scale real-time advancing and retreating can be achieved. And the urgent requirements in the fields of micro-nano positioning, operation and the like with position change requirements can be met.

The invention discloses a two-state variable stiffness compliant joint and an operation method thereof. The joint is composed of an input shaft, an output outer ring and a stiffness adjustment mechanism. The input shaft is placed at the center of rotation of the output outer ring and is firmly connected to the input disc; two elastic reeds are installed between the input disc and the output outer ring, one end of each elastic reed is connected to the output outer ring through a bearing, and the other end is connected to the output outer ring. The small bevel gear shaft is fixedly connected, and the small bevel gear shaft is connected to the input plate through bearings; the stiffness adjustment mechanism is fixedly connected to the large bevel gear through the stiffness adjustment motor; the large bevel gear is connected to two small bevel gears that are fixedly connected to the elastic reed engage. The invention has good impact resistance and flexible dynamic characteristics, belongs to active variable stiffness compliant joints, and can be used for joints and drivers of various robots such as bionics, service and rehabilitation.

A main vehicle carrier for a precise instrument comprises a traction vehicle head (1) and a semitrailer body (2), wherein the semitrailer (2) is formed by a main vehicle carrier body containing an air suspension system having a damping air sac (8), a damping platform (3) containing a damping air sac (8) and mounted on the semitrailer body (2) and a traction pinboard device (7) arranged on a traction part between the traction vehicle head (1) and the semitrailer body (2) and containing a damping air sac (8); three-grade damping is conducted via the damping platform (3), the traction pinboard device (7) and the damping air sac (8) in the main vehicle carrier body, so vibration energy produced during driving of the main vehicle carrier body can be absorbed and released by the damping air sac (8); transportation of precise instruments by a motor vehicle can be avoided, so movement stability performance of the main vehicle carrier body can be improved and use precision of the precise instruments can be guaranteed.

The invention discloses a novel electric multifunctional oral cavity mouth gag. The mouth gag comprises a main body shell, wherein the main body shell is divided into a front area and a rear area; andan upper supporting plate is arranged at the top of the outer side of the front area, a lower supporting plate is arranged on the middle lower portion of the outer side of the front area in a slidingmode, sliding rails used for sliding rods to be installed are arranged on the two sides of the inner side of the front area, and the lower supporting plate is detachably installed on the sliding rods. The mouth gag has multiple functions, can simultaneously realize active and passive opening-closing continuous movement of an oral cavity and accurate maintenance of the opening degree, and has multiple purposes of auxiliary opening treatment, training rehabilitation, auxiliary maxillofacial repair design and the like; the operation is simple, continuous movement, positioning movement and fixedmaintenance of the oral cavity supporting plates are achieved only by operating a button switch with one hand, the operation time is shortened, and the result precision is improved; and the mouth gagis high in universality, the supporting plates of different sizes or structures can be flexibly replaced according to the characteristics of patient groups, the mouth gag can be used for patients of different groups, and meanwhile the operability of the mouth gag is improved.

The exercise diagnosis and treatment bed comprises a bottom frame and a bed body arranged on the bottom frame, the bed body comprises bed board assemblies and driving modules, the bed board assemblies are spaced from one another and used for supporting part of preset parts of a human body, and the driving modules are used for being connected with and supporting the bed board assemblies respectively; the driving module comprises a first driving mechanism, a second driving mechanism and a third driving mechanism; the first driving mechanism, the second driving mechanism and the third driving mechanism are used for driving the bed board assembly to rotate around the second rotating shaft, the third rotating shaft and the first rotating shaft respectively; and the control module is used for controlling the first driving mechanism, the second driving mechanism and the third driving mechanism. The driving modules are independently controlled on the basis of the control module, so that the driving modules can adaptively adjust left-right rotation, front-back rotation and plane rotation of the bed board assemblies on the basis of set logic, continuous movement of functions such as flexion and extension, lateral bending and rotation of the lumbar vertebra and the cervical vertebra of a patient is achieved, and the purpose of exercise treatment is achieved.

The invention discloses a pervious-to-light and breathable bin for continuous surface forming 3D printing, and an operation method. The pervious-to-light and breathable bin for continuous surface forming 3D printing comprises a bin body, a bin cover, a gas supply connector, a gas exhaust connector and breathable film. The bin body is of a cylindrical structure with the two ends open, the breathable film is arranged at one end of the bin body in a sealing manner, the bin cover is arranged at the other end of the bin body in a sealing manner, and a sealed space is formed. The gas supply connector and the gas exhaust connector are arranged on the bin cover and both communicate with the sealed space. The gas supply connector is connected with a gas supply system. According to the pervious-to-light and breathable bin for continuous surface forming 3D printing, and the operation method, in the printing process, through control on the gas supply system, a gas atmosphere with pressure intensity of a certain range and a certain gas concentration is formed in the sealed space, a uniform solidification dead zone of tens of micrometers to hundreds of micrometers is formed between a printed part and a gas permeation module by accurately controlling gas in the bin, it is avoided that the printed part adheres to the gas permeation module above, it is achieved that a printing platform continuously moves in the Z axis direction, and the efficiency of photocuring 3D printing is greatly improved.

A main vehicle carrier for a precise instrument comprises a traction vehicle head (1) and a semitrailer body (2), wherein the semitrailer (2) is formed by a main vehicle carrier body containing an air suspension system having a damping air sac (8), a damping platform (3) containing a damping air sac (8) and mounted on the semitrailer body (2) and a traction pinboard device (7) arranged on a traction part between the traction vehicle head (1) and the semitrailer body (2) and containing a damping air sac (8); three-grade damping is conducted via the damping platform (3), the traction pinboard device (7) and the damping air sac (8) in the main vehicle carrier body, so vibration energy produced during driving of the main vehicle carrier body can be absorbed and released by the damping air sac (8); transportation of precise instruments by a motor vehicle can be avoided, so movement stability performance of the main vehicle carrier body can be improved and use precision of the precise instruments can be guaranteed.

The invention discloses a satellite thrust eccentric torque control device and method. The device comprises a bottom plate, a controller, a mass block, a first direction driving unit, a second direction driving unit and an angular velocity measuring unit. The controller, the mass block, the first direction driving unit and the second direction driving unit are arranged on the bottom plate. The mass block is driven by the first direction driving unit and / or the second direction driving unit to move in a first direction and / or a second direction. The angular velocity measuring unit is used for measuring an angular velocity parameter of a satellite and sending the angular velocity parameter to the controller. The controller is used for controlling the first direction driving unit and / or the second direction driving unit to act according to the angular velocity parameter. According to the satellite thrust eccentric torque control device and method, the mass center position is changed by moving the mass block to move, the thrust vector torque is made to penetrate through the mass center, eccentric torque is eliminated, and influences of a propelling system on the satellite posture are reduced; and the algorithm structure is simple, and the controller is high in reliability.

The invention discloses a high-precision flexible hinge peristaltic robot, which comprises a forefoot deformation mechanism, a trunk peristalsis mechanism, a hindfoot deformation mechanism and the like. The structure of the forefoot deformation mechanism based on the notch flexible hinge mechanism is similar to that of the hindfoot deformation mechanism. Regarding the torso peristalsis mechanism, the two sets of electromagnets are located at both ends of the forefoot and hindfoot deformation mechanisms, respectively. Through the charging and discharging of the piezoelectric ceramics and the power-on and power-off of the electromagnet, the forefoot deformation mechanism and the hindfoot deformation mechanism work alternately, driving the torso peristalsis mechanism to store and release the deformation energy, and the forefoot deformation mechanism or the hindfoot deformation mechanism is driven by the piezoelectric ceramics. It can realize real-time advance and retreat at the micro-nano level, and can meet the urgent needs of the fields of micro-nano positioning and operation with position change requirements.

The invention belongs to the field of coaxial reflecting telescope regulating mechanisms and particularly relates to a six-degree-of-freedom secondary mirror regulating mechanism based on stacked piezoelectric blocks. The mechanism comprises a bottom plate, regulating units and a top platform used for carrying a secondary mirror, wherein the regulating units are arranged between the bottom plate and the top platform. The mechanism is characterized in that each regulating unit comprises a first combined flexible hinge, a lever amplifying device, a fixed frame, straight beam type flexible hinges, one stacked piezoelectric block and a second combined flexible hinge, wherein one end of the first combined flexible hinge is connected with the top platform, and the other end of the first combined flexible hinge is connected with the lever amplifying device; the lever amplifying device is connected with the fixed frame through the straight beam type flexible hinges; the stacked piezoelectric block is fixedly mounted in the fixed frame; one end of the second combined flexible hinge is connected with the fixed frame, and the other end of the second combined flexible hinge is connected with the bottom plate. By the adoption of the mechanism, the purposes of high-precision positioning of the secondary mirror and quick and active vibration isolation can be achieved.