49results about How to "Avoid setbacks" patented technology

The invention discloses a realization method for running of a hexapod robot. The realization method comprises the following steps: a camera module is controlled to rotate to be aligned with a target end point, and a translation path of the body centre of the robot is calculated by virtue of the coordinates of the target end point; a corresponding relationship between a foot coordinate system of each foot and a body coordinate system is established by virtue of a transform algorithm, and a translation path of the tail end of each foot is calculated; through a movement track of the tail end of each foot on the vertical plane of the translation path of the tail end of the foot, a corresponding rotation angle of each joint of the tail end of the foot on different coordinate points of the movement track is obtained, and a preset rotation angle of the joint is configured; and the robot is controlled to lift up two non-adjacent feet, run along the translation path of the tail end of each foot at the beginning, and always keep four feet touching the ground during running, wherein the two non-adjacent feet are lifted up, each joint of each foot is periodically rotated to the corresponding preset angle, and the tail end of each foot is lifted up and down on the translation path thereof. The hexapod robot disclosed by the invention is smooth and stable in gait, the head is rotated only and the body is fixed during steering, and the front surface of the robot is kept always straight forward, without angle distortion.

The invention discloses a control method and a system of an automatic transmission of a van. The method comprises the steps of obtaining the current speed of the van; determining the required gear according to the speed and gear corresponding relation corresponding to different bearing capacities and the current speed of the van; and adjusting the gear to the current gear. The required gear is determined according to the speed and gear corresponding relation corresponding to the different bearing capacities and the current speed of the van, when the bearing capacities are changed, the applicable speed and gear corresponding relation is determined first, and then the current required gear is determined according to the applicable speed and gear corresponding relation and the current speed,so that the problem of the change of the gear application range because the load change to the van is difficult to satisfy by a transmission system is effectively solved, the appropriate gear can be selected by the control method so as to reduce oil consumption, and the service life of the transmission, a clutch and an engine are prolonged.

The invention provides a torque distribution method and a torque distribution device for a hybrid electric vehicle, and belongs to the technical field of vehicles. The technical problem of how to improve the working efficiency of an engine when an existing hybrid electric vehicle runs on an urban road is solved. The method comprises the steps: starting an engine according to the opening degree ofan accelerator pedal, making the engine work under a steady-state high-efficiency working condition, and executing the engine steady-state torque under the working condition; setting a parameter tableof the engine target torque: when the driver demand torque is less than or equal to the engine steady-state torque, using the engine basic torque as the engine steady-state torque, otherwise, using the engine basic torque as the driver demand torque; looking up the parameter table to obtain the engine target torque, taking the negative torque of the motor as the execution torque of the motor whenthe steady-state torque of the engine is kept, and enabling the motor to be in a power generation mode to enable the engine to keep working under steady-state and high-efficiency working conditions.The working efficiency of the engine during urban road driving is improved.

The invention discloses a control method and a control system of a hybrid vehicle, the vehicle and a medium. The method comprises the steps of detecting an accelerator pedal treading action, and outputting an acceleration signal; in response to the acceleration signal, controlling an engine to increase the rotating speed, and controlling a motor to output the whole vehicle required torque to the wheel end; when detecting that the rotating speed of the engine reaches the rotating speed of the clutch input shaft corresponding to the target gear, controlling the clutch corresponding to the targetgear to be combined; distributing engine target torque according to the whole vehicle operating parameters and the whole vehicle required torque, and controlling engine output torque according to theengine target torque; and adjusting the motor output torque according to the engine output torque, so that the wheel end outputs the whole vehicle required torque. According to the control method ofthe hybrid vehicle, the rotating speed and the output torque of the engine can be controlled under the refueling working condition of the vehicle, the target gear clutch is combined, and the vehicle pause phenomenon caused by inconsistency of the rotating speed of the engine and the rotating speed of the target gear input shaft is avoided.

The invention discloses an electric-control rotary lifting type steel platform integral lifting device and a construction method thereof, belongs to the technical field of super high-rise building construction, and aims at solving the problems that in the integral steel platform lifting process, a lifting device is large in self weight and discontinuous in lifting and needs artificial assistance.The device is composed of a rotary lifting system, a steel platform system and a bottom supporting system. The construction method comprises the steps that combined installation of the rotary liftingsystem, the steel platform system and the bottom support system is completed; a motor is started to enable a rotary lifting wheel to start forward rotation, and the gravity load of the whole steel platform system is completely borne by the rotary lifting system for lifting preparation; then the motor is operated to complete the whole lifting of one standard layer of the steel platform system; thenan electric control system of the rotary lifting system is closed, so that the gravity load of the whole steel platform system is completely borne by the bottom support system; then the constructionof a reinforced concrete structure of one standard layer is completed; and finally, the next standard layer is lifted.

Embodiments of the present disclosure relate to a vehicle shifting method, apparatus, and vehicle. The gearshift method of the vehicle comprises the following steps: when the vehicle is in a running state, when a gearshift instruction is received, judging whether the current torque of the motor is greater than a preset torque; when the gearshift instruction is received, judging whether the currenttorque of the motor is greater than a preset torque; If the current torque of the motor is greater than a preset torque, controlling the motor to perform a torque reduction operation within a presettime period; A current gear of the vehicle is switched to a target gear according to the result information of a torque reduction operation performed by the motor within a preset time period. The technical solution provided by the embodiments of the present disclosure solves the problem that the prior art vehicles are prone to be frustrated during the shifting process.

A ratchet-type tensioner, comprising: a housing; a plunger supported by the housing for movement in opposite advancing and setback directions, the plunger having rack teeth provided thereon, and being arranged to advance with respect to the housing along the advancing direction for applying tension to a traveling transmission medium engaged with rotating members; and a ratchet mechanism capable of restricting the plunger from setting back due to a reaction force acting in a setback direction from the transmission medium; said ratchet mechanism comprising: a ratchet-receiving hole provided within the housing; a ratchet element slidable in the ratchet-receiving hole and movable in a sliding direction transverse to the advancing and setback directions; ratchet teeth on the ratchet element engageable with the rack teeth of the plunger; and a ratchet-biasing means for biasing the ratchet element in an engaging direction along the sliding direction so that the ratchet teeth engage with the rack teeth; said ratchet mechanism being capable of restricting the plunger from being set back by a reaction force acting in a setback direction from the transmission medium; said rack teeth having a concave-convex form and being composed of stop surfaces facing in the setback direction and sliding surfaces facing in the advance direction, said sliding surfaces being inclined relative to the sliding direction and facing in a disengaging direction opposite from the engaging direction; each of said sliding surfaces having an entry starting location which the ratchet teeth first engage when starting to enter the rack teeth, and an entry ending location where the engagement of the ratchet teeth with the rack teeth ends; each said sliding surface being a curved surface, all of said curved surface, between said entry starting location and said entry ending location of said sliding surface, bulging in the advancing direction of the plunger and in the disengaging direction of the ratchet element from an imaginary reference plane intersecting said entry starting location and said entry ending location of said sliding surface and perpendicular to another imaginary plane to which the advancing and setback direction of the plunger and the sliding direction of the ratchet element are parallel; and at least a part of said curve midway along said curve between the entry starting location and the entry ending location is convex.

The invention discloses a ramp parking control method, device and equipment and a storage medium, and the method comprises the steps that a vehicle drives into a ramp, and a parking control instruction is received; when it is determined that the vehicle meets the parking condition, the parking control instruction is sent to the control module; and the locking signal returned by the control module is received, and the first torque output by the driving motor is cancelled. Therefore, when the vehicle is driven into the ramp and the vehicle locking signal is determined to be received, the vehicle is locked, that is, the vehicle stably stays on the ramp, the torque output by the driving motor is cancelled, and the vehicle is prevented from sliding on the ramp. For example, the parking control instruction is a P-gear engaging instruction, torque is cancelled only when a vehicle locking signal is received, the NVH problem caused by knocking of a pawl and a ratchet wheel during P-gear engaging is avoided, or the situation that the vehicle slides on a slope when the pawl cannot be clamped into the ratchet wheel is avoided; the parking control instruction is an instruction generated when the electronic parking is started, the torque is cancelled only when the vehicle locking signal is received, and slope sliding and pause when locking of the electronic parking is not completed are avoided.

The invention relates to a pulseless connecting rod type continuously variable transmission which comprises a hollow shell. A power input shaft capable of rotating around the axis of itself and a power output shaft capable of rotating around the axis of itself are arranged in the shell in parallel. One end of each shaft stretches out of the shell. A support is arranged in the shell and provided with a connecting body, and the connecting body is driven by the power input shaft to rotate. The two ends of the connecting body are fixedly connected with diameter adjusting wheels respectively. Sliding grooves formed in the radial direction of the diameter adjusting wheels are processed in the diameter adjusting wheels. The sliding groove in one diameter adjusting wheel is perpendicular to the sliding groove in the other diameter adjusting wheel. A diameter adjusting mechanism is arranged in the connecting body and used for driving power transmission mechanisms. According to the continuously variable transmission, the pulsation phenomenon is thoroughly eliminated, it is guaranteed that the continuously variable transmission works stably and reliably, and pausing is prevented from happening during vehicle running. Meanwhile, steel cables wound on backstops are adopted as connecting transmission pieces, the phenomenon of slipping in the high-speed rotating process is avoided, and the stability of the transmission is further improved.

The invention provides a variable valve timing system, which comprises an electromagnet, a hydraulic valve and a camshaft adjuster, wherein the electromagnet comprises a valve core assembly, a substrate, a magnetic-isolating inner cover and an electromagnetic coil part which are coaxially arranged; the electromagnetic coil part comprises a skeleton and a coil; the skeleton sleeves the outside of the magnetic-isolating inner cover; the coil is wound on the skeleton; the valve core assembly and the substrate are arranged in the magnetic-isolating inner cover along the axial direction; the valve core assembly comprises a valve core and a post rod connected to the valve core; a conical part with an outer conical surface is arranged at one end, close to the valve core, of the substrate, and an accommodating part for accommodating the valve core is arranged at the end; a guide through hole is also arranged in the axis of the substrate; and the post rod is arranged in the guide through hole in a sliding manner. The variable valve timing system provided by the invention is stable in operation and high in reliability.

A gait planning method for improving the walking stability of a six-legged robot. The method comprises: moving: lifting two non-adjacent legs, and initiating movement of the two legs along translation paths of the terminal ends of the legs, the translation paths being parallel to a line connecting a center of a body of the robot and a destination point, wherein during moving, there are always four legs contacting the ground and two non-adjacent legs being lifted, and joints of each leg are periodically rotated to corresponding predetermined angles, such that the terminal end of each leg is lifted up and lands on the translation path thereof; and turning: rotating a camera module of a head portion of the robot to a direction directly facing a target destination, and then performing the basic moving operation. By employing the method, the present invention prevents the robot from moving in a staggering, rigid or leaning manner, and enables a smooth and stable gait. In addition, upon rotating, only the head portion needs to be rotated rather than the body, thus enabling the robot to always move in a straight line facing forwards without twisting, and achieving fast change of the forward direction without moving the legs or fast movement toward a specified direction.

The present invention provides a presser foot mechanism and a sewing machine with the same. The presser foot mechanism is used for enabling a presser foot assembly on the sewing machine to press cloth; the presser foot mechanism comprises a presser foot rod assembly, a presser foot arm and the presser foot assembly; the pressing foot rod assembly pushes the presser foot assembly to press the cloththrough the presser foot arm; the presser foot rod assembly is provided with an arc-shaped pressing surface; and the pressing foot rod assembly is in moving contact with the presser foot arm throughthe arc-shaped pressing surface to reduce the wear of the presser foot rod assembly and / or the presser foot arm. The presser foot mechanism solves the problem that parts of the sewing machine part areeasy to wear in the prior art.

Embodiments of the present disclosure relate to a vehicle gear shifting method, device, and vehicle; wherein, the vehicle gear shifting method includes: when the vehicle is in a driving state, when a gear shift command is received, judging whether the current torque of the motor is greater than preset torque; if the current torque of the motor is greater than the preset torque, control the motor to perform a torque reduction operation within a preset duration; according to the result information of the motor performing a torque reduction operation within a preset duration, the The vehicle's current gear shifts to the target gear. The technical solution provided by the embodiments of the present disclosure solves the problem that the existing vehicle is prone to stuttering during gear shifting.

The invention discloses a drive control circuit, a drive control method, a circuit board and an air conditioner. The drive control circuit includes a switch assembly, a first inverter module and a switching transition assembly, and the three-phase winding is between a star connection state and a delta connection state. The inter-switching needs to switch the states of the first switch group and the second switch group respectively. By setting the switching transition component, the three-phase winding is provided with the second drive to keep the three-phase winding running before the switching of the first switch group and the second switch group. Voltage, so that after the first switch group and the second switch group are switched, the working state of the three-phase winding will not change, and the motor can still maintain stable operation to ensure smooth switching and avoid the three-phase winding being subjected to voltage shocks during switching. Frustration or braking to realize switching the connection state of the motor without stopping the machine.