30results about How to "Control posture" patented technology

The permanent magnetic double crawler robot for washing hull surface has permanent magnets fixed onto its double crawler for adsorption onto hull surface and a remote control device to realize the overwater and underwater crawling and hull cleaning operation. The permanent magnetic double crawler robot is different from available hull surface cleaning machine (robot) in that it has adsorption and walking functions originated from the double crawler comprising driving chain wheel pair and permanent magnetic adsorption unit. The permanent magnetic double crawler robot is different from available wall-crawling crawler robot in that it has specific structure with two row of chain wheel pairs in each crawler resulting in improved smoothness and no crawler breaking fault and permanent magnetic adsorption unit suitable for hull surface operation. In addition, the robot is provided with three telescopic brush assemblies, etc. suitable for underwater operation.

The invention relates to a passive pull-out mechanism of a pull-off plug. The passive pull-out mechanism comprises an adjusting nut, a locking nut, an adjusting pull rod, a pull-off plug, a protection fork arm, and a mounting seat. An outer thread is formed at the adjusting nut and the adjusting nut and the locking nut are in threaded connection; and the adjusting nut is connected with the mounting seat. An inner thread is formed at the adjusting nut being in threaded connection with the adjusting pull rod. The protection fork arm sleeves the outer side of the adjusting pull rod and is connected with the pull-off plug by a bolt; and the pull-off plug is plugged with a tail of an effective load moving object. The mounting seat is installed at the bottom of an emission cylinder of the effective load moving object. The pull-out mechanism has advantages of simple structure, convenient installation, low cost, and easy implementation. With the mechanism, the attitude of the plug after shedding can be controlled effectively, so that reliable delocking and separation between the pull-off plug and the effective load can be realized.

The invention discloses a missile hanger separation mechanism. The missile hanger separation mechanism comprises a hanger, an explosive bolt, an actuator, a missile body and a location pin, wherein one end of the actuator is connected with the missile body through a second fastener, and the other end of the actuator is connected with the hanger through a first fastener; one end of the explosive bolt is connected with the missile body through a fourth fastener, and the other end of the explosive bolt is connected with the hanger through a third fastener; the hanger is fixed on the missile body through the location pin, and the contact surface of the missile body and the hanger is a separation surface; a U-shaped groove is formed in the upper end of the explosive bolt, and the central plane of the U-shaped groove is located on the separation surface; and a push rod and a combustion cavity are arranged on and formed in the actuator, the combustion cavity is filled with gunpowder, and the push rod carries out initial locking through a shear pin. The missile hanger separation mechanism disclosed by the invention is simple and convenient to install and maintain, high in action synchronization of initiating explosive devices, and capable of effectively controlling the posture of the hanger after flying away from the missile body, and guaranteeing no collision of the hanger with the missile body during the process of flying away from the missile body, thus improving the flying safety of a carrying aircraft and a missile.

The invention discloses an automatic and random grouping push control system of a shield tunneling machine. The automatic and random grouping push control system comprises a push oil cylinder reverse control device set and a plurality of push oil cylinder thrust control device sets, the signal control ends of the push oil cylinder thrust control device sets and the signal control end of the push oil cylinder reverse control device set are connected with an upper computer of the shield tunneling machine, and the upper computer sends signals to the push oil cylinder thrust control device sets and the push oil cylinder reverse control device set to adjust the push posture of the shield tunneling machine in real time by adjusting the maximum thrust of an oil cylinder. The shield tunneling machine can advance precisely along designed tracks, construction quality can be improved, and construction efficiency can be improved.

This continuously variable transmission (10) is obtained by winding, around a drive sheave (KS) and a driven sheave (JS), a continuously variable transmission belt (3) in which a plurality of metal elements (1) are stacked and supported on an endless ring (2). In at least one of the metal elements (1), flange parts (113a, 124a) are formed on a head part (11) positioned at an outer peripheral side of the endless ring (2) and a trunk part (12) positioned at an inner peripheral side of the endless ring (2). The continuously variable transmission (10) is provided with a fluid supply device (4) which, during movement of the continuously variable transmission belt (3) from the driven sheave (JS) to the drive sheave (KS), sprayed lubricating oil (4aw, 4bw) in a movement direction (the direction of arrow FB) of the continuously variable transmission belt (3), towards the flange parts (113a, 124a).

The invention discloses an inner system for controlling the gestures of an underwater robot, comprising a main controller connected with an adjustment mechanism, a gesture sensor, and an upper computer controller, wherein the adjustment mechanism is a balance adjustment mechanism arranged inside the underwater robot, and comprises a gravity slider, a double-shaft drive motor, a worm, a guiderail,a slide bar, a limit switch and a mechanism platform; the double-shaft drive motor is connected with the worm to drive the worm to rotate bidirectionally; the worm drives the slide bar to perform planar movement through the transmission of a lead screw; one end of the slide bar is connected with the lead screw of the worm and penetrates the gravity slider, while the other end thereof is connectedwith the guiderail by a slider and drives the gravity slider to move in a plane so as to realize the gravity adjustment of the underwater robot and control the transverse swing and longitudinal incline gestures of the underwater robot. The control system for gestures can be widely applied to the gesture control of the underwater robot.

The invention relates to a construction method for crossing rivers with shield tunneling piles in powder soil stratum, including: material preparation; specific measures for pile foundation cutting by shield tunneling: pile cutting construction control, monitoring control, construction control for crossing rivers, and construction of unknown obstacles Measures, pipeline protection measures; shield propulsion parameter setting; construction measures for crossing the river; control technology after the shield passes through the pile foundation; monitoring frequency control; inspection control in the cave. The beneficial effects of the present invention are: the method is simple in steps, reasonable in design, simple and convenient in construction, low in investment cost, and strong in practical engineering operations; the method of the present invention can improve the efficiency of tunneling under the tunnel, and control the attitude of the shield machine, thereby It reduces the possibility of accidents in the tunnel and lays a favorable foundation for the subsequent successful crossing; it has high practical value and good use effect. Compared with the existing tunnel construction method of underpassing, it shortens the construction period and greatly reduces the construction cost.

The invention discloses a vibrating type leveling device for suction bucket foundation. A bucket cover is covered on a bottom plate, a plurality of vibrating mechanisms are uniformly distributed at the same periphery of the bottom plate which is positioned in the bucket cover; two bottom plate negative-pressure openings are formed in the bottom plate in the vibrating mechanisms; a two-way angle sensor is mounted on the center of the bottom plate; a positive pressure opening, a wire outlet and a bucket cover negative pressure opening are formed in an upper surface of the bucket cover, the positive pressure opening is connected with a plurality of solenoid valve input openings in a solenoid valve control module respectively, a plurality of solenoid valve output openings are connected to pneumatic connectors of the respective vibrating mechanisms respectively; the bucket cover negative pressure opening is connected with the two bottom plate negative-pressure openings through the solenoid valve control module; a signal wire of the two-way angle sensor and a control wire of each solenoid valve are connected to a programmable logic controller through the wire outlet in the bucket cover. The vibrating type leveling device not only can control the gesture of the bucket foundation, but also can weaken friction resistance between the bucket foundation and a soil body, improves penetration depth, and can detect the inclination degree of the bucket foundation in real time and can control the penetration gesture of the bucket foundation.

The invention discloses a combined ship stabilizer based on a two-dimensional vector propeller and moving a heavy object, and relates to the ship stabilizer. Rolling propellers are connected with direct-current power motor shaft couplings through propeller swing rods, the direct-current power motor shaft couplings are connected with power motors through power motor brackets, and the power motor brackets are connected with swing motors through the direct-current power motor shaft couplings. The power motor brackets are installed on direct-current motor supporting platforms, rear power propellerbrackets are connected with front-back moving ship propellers, and guide rail heavy objects are installed on guide rails. The guide rails are installed on a profile platform, the direct-current motorsupporting platforms are installed on the left and right sides of the guide rails, and the front-back moving ship propellers which are used for a hull moving forth and back are installed on the two sides of the rear part of the swing motor. The profile platform is installed in close proximity to the direct-current motor supporting platforms on both sides, swing motor shaft couplings are connectedwith the swing motors, the swing motors are arranged on swing motor supporting platforms, and connecting pieces between the hull and a profile plate are arranged on the profile platform.

Provided in the invention is a method for calculating the gear cutting movement trajectory of a splitting type equal-base bevel gear wheel. On the basis of the theory of the equal-base circular-curvebevel gear wheel, a splitting type gear cutting processing coordinate system is established according to characteristics of tooth surface forming and each instantaneous cutter position attitude of thetooth surface is analyzed; calculation and coordinate conversion are carried out by a cutter axis vector and a cutter core coordinate, so that a cutter position under a wheel blank coordinate systemis obtained. Each instantaneous cutter position during gear cutting processing is calculated by combining the structural layout of a general machine tool and an installation position relationship between a split wheel blank and a machine tool; and then post-processing is carried out to obtain an expression function of a machine tool motion coordinate during numerical control gear cutting is obtained. According to the invention, a problem that processing can not be carried out when the revolution center of the split type wheel blank of the equal-base bevel gear wheel falls beyond the general numerical control machine tool and thus is not overlapped with a certain revolution axis of the machine tool is solved.