3results about How to "Avoid excessive loads" patented technology

The application relates to the technical field of robot motion control, and discloses a real-time cooperative control method and system for robot parkour motion, wherein the method comprises the following steps: acquiring a trunk angular velocity and a joint angular velocity in an air flight stage, calculating an angular momentum residual error vector and inputting the vector into a causal convolution time series prediction network to generate a landing posture deviation estimation vector; calculating a double-leg asymmetric impact force pre-distribution vector based on the vector; pre-calculating a joint impact wave propagation prediction parameter table; generating a double-leg differential cascading buffer pre-scheduling scheme by a dynamic programming algorithm and preloading the scheme to joint impedance controllers; and performing online correction on upstream joint parameters according to real-time torque feedback after landing.

This invention provides a mechanically mounted walnut vibratory harvesting device and method to solve problems such as poor equipment mobility, limited coverage of single vibration source fruit removal, low fruit removal efficiency and collection rate, and insufficient adaptability of the harvesting head posture during the harvesting process of tall walnut trees in mountainous areas. It includes a connecting frame, a harvesting head body, a worm gear-type horizontal rotating mechanism for adjusting the horizontal clamping direction of the harvesting head body, a swinging mechanism for driving the harvesting head body to swing left and right, and a rope vibration device. The harvesting head body includes a clamping mechanism at the front end and an eccentric block-type excitation mechanism. The clamping mechanism is used to clamp the trunk or lateral branches, the eccentric block excitation mechanism is used to apply clamping low-frequency, large-amplitude main vibration, the worm gear-type horizontal rotating mechanism is used to maintain the stable positioning of the harvesting head body after horizontal angle adjustment, and the rope vibration device applies auxiliary vibration to the tree through a rope, allowing the main vibration and auxiliary vibration to alternate or be timed to complete the walnut vibratory harvesting.

The utility model relates to the technical field of construction waste recovery, and particularly discloses a crushing device for construction waste recovery, which comprises a box body, and a crushing mechanism is arranged in the box body. The crushing mechanism comprises first crushing rollers, second crushing rollers and third crushing rollers, the first crushing rollers, the second crushing rollers and the third crushing rollers are rotationally connected between the left end and the right end in the box body from top to bottom in sequence, every two crushing rollers form a group, and the distances between the two first crushing rollers, the two second crushing rollers and the two third crushing rollers are sequentially decreased; two first baffles, four second baffles and two third baffles are fixedly connected between the left end and the right end in the box body, and the opposite sides of the two first baffles and the two third baffles abut against the outer walls of the two first crushing rollers and the outer walls of the two third baffles correspondingly. Through the arrangement of the multiple groups of crushing rollers, the crushing work can be dispersed to different stages and rollers, the situation that a single roller bears an overlarge load is avoided, step-by-step crushing is achieved, the crushing efficiency is improved, crushed stones and powder can be conveniently separated at the same time, and use is convenient.