14results about How to "Guaranteed dynamic stability" patented technology

The invention relates to the field of machining, and discloses a robot milling path planning method and system considering the tool nose frequency response characteristic, a medium and equipment, and the method comprises the steps that a robot rigidity model is established, and the rigidity value of the tail end of a robot is calculated; constructing a main shaft system model, and solving to obtain a tool nose frequency response function; calculating the inherent frequency of the tool nose under different rigidity configurations based on a tool nose frequency response function, and calculating the rigidity weight coefficient of the tail end of the robot so as to construct a rigidity direction optimization index SDOI; and on the basis of the rigidity direction optimization index, a robot milling path planning model is constructed, and a milling path containing the optimal rigidity characteristic of the robot is obtained. According to the method, the tool nose frequency response change characteristic is taken as an entry point, the weight coefficient of the influence degree of the robot tail end rigidity on the tool nose inherent frequency is established, then the robot rigidity direction optimization index SDOI is constructed to serve as the basis for making the milling path, and the stability and the machining efficiency of the milling process are ensured.

The invention provides a damping device, a workpiece table system and photoetching machine equipment. The damping device comprises an inner frame, a damper, an outer frame, a balance mass block and a bottom frame. A mask table, an objective lens unit and a workpiece table platform are arranged on the inner frame, and the workpiece table platform supports the workpiece table micro-motion part; an inner frame is arranged on the shock absorber; the shock absorber is arranged on the outer frame, the outer frame is further used for arranging the lighting unit, and the outer frame is used for being arranged on a foundation. The bottom frame is arranged on a foundation; a balance mass block is arranged on the bottom frame; and the balance mass block is used for arranging a workpiece table coarse moving part. According to the configuration, the dynamic stability of the photoetching machine vibration damping framework can be improved, the bearing requirement of the vibration damper is reduced, and the design difficulty and cost of the vibration damper are reduced.

The invention relates to the technical field of universal testing machines, in particular to a clamping device for a universal testing machine. Comprising a machine body with an upper cross beam and a lower cross beam, clamps are arranged on the upper cross beam and the lower cross beam respectively, at least one clamp comprises a shell with an opening in the upper end, a transmission block driven by a lifting mechanism is installed in the shell and provided with a wedge-shaped groove with an opening in the upper end, and a left clamping block and a right clamping block are installed in the wedge-shaped groove. The left side surface of the left clamping block and the right side surface of the right clamping block are consistent with the left surface and the right surface of the wedge-shaped groove in inclination angle, and the width of the lower bottom of each clamping block is smaller than 1 / 2 of the width of the lower bottom of the wedge-shaped groove and larger than 1 / 2 of the width of an upper end opening of the wedge-shaped groove. Transverse connecting structures are arranged on the two sides of the upper portions of the two clamping blocks, transverse guide grooves are formed in the upper end of the shell, and the outer ends of the transverse connecting structures are located in the transverse guide grooves and matched with springs in the transverse guide grooves. According to the invention, universal, efficient and reliable clamping of various samples is realized, and the accuracy and repeatability of testing are improved.

The utility model relates to a kind of rear subframe structures of five connecting rod suspension system, comprising: longitudinal beam, two longitudinal beams are longitudinally extended along the first direction and are symmetrically spaced along the second direction;Front crossbeam is connected with the front section of longitudinal beam;Rear crossbeam is spaced apart along the first direction with front crossbeam, and the rear end of two longitudinal beams is respectively penetrated and connected in rear crossbeam;Support assembly is used to install five connecting rod, and it includes front lower arm support, front upper arm support, camber arm support, toe arm support and rear upper arm support symmetrically arranged on two longitudinal beams;Two front longitudinal reinforcing plates are connected to front crossbeam at front end, and connected to camber arm support at rear end;Transverse stiffener beam is respectively connected to two camber arm supports at both ends, and connected to rear crossbeam at rear end;Rear longitudinal reinforcing plate is connected to transverse stiffener beam at front end, and connected to rear crossbeam at rear end.The utility model has the beneficial effect of realizing high overall stiffness / modality, high bending / torsional stiffness, high local dynamic stiffness and excellent space utilization.

This invention relates to the field of defect identification technology, and more particularly to an image positioning and recognition system based on UAV inspection of wind turbine blades. The system includes an image positioning and recognition center, a data acquisition module, a detection preparation module, a flight control module, an attitude dynamic management module, a detection data module, a defect type identification module, a positioning visualization module, and an operation display module. This invention uses image recognition and blade sway amplitude for dual verification, initiating detection only when there is no impact or only a slight impact and the sway amplitude meets the standard, ensuring the rationality of the detection initiation conditions. During detection, analysis is performed from two dimensions: hovering position and hovering attitude, avoiding abnormal detection data caused by UAV position deviation or attitude anomalies. After screening out effective defect areas, accurate defect type identification is achieved. Furthermore, through coordinate transformation, an intuitive 3D model of the defective blade is generated, providing precise guidance for maintenance work and significantly reducing maintenance troubleshooting costs.

The application discloses a lens coupling device driven by a synchronous belt and a coaxial spherical parallel mechanism, and relates to the technical field of lens coupling, which comprises a three-axis moving device, a base, a movable platform, three branch chain assemblies, three groups of synchronous belt driving assemblies and a clamping device, the base is in transmission connection with the three-axis moving device; each branch chain assembly comprises a first transmission member and a second transmission member, the first transmission member is in rotational connection with the second transmission member and forms a rotation axis A, the first transmission member is in rotational connection with the movable platform and forms a rotation axis B, and the second transmission member is in rotational connection with the base and forms a rotation axis C; the rotation axis A, the rotation axis B and the rotation axis C can be prolonged to intersect at a point in space, and the point is defined as a motion center point, and the motion center points in the three branch chain assemblies are coincident. The lens coupling device driven by the synchronous belt and the coaxial spherical parallel mechanism can improve the efficiency of adjusting the lens coupling position, and can also improve the lens coupling precision.

The invention discloses a power grid enterprise power purchase and sale joint strategy optimization method and system based on MADDPG, and the method comprises the steps: constructing a power purchase decision model of a power grid company in a spot market and a supply model of the power grid company at a user side, and considering the power supply deviation loss of the power grid company, and obtaining a joint decision objective function of the power grid company; and on the premise that the intelligent agents are trained through a multi-intelligent-agent algorithm, optimal strategies for power purchase and load prediction are given respectively, and a reinforcement learning algorithm MADDPG is adopted, so that the objective fact that a power grid company is difficult to obtain all user information is met, and meanwhile, a large amount of calculation power consumed by modeling prediction is avoided; through mutual strategy approximation of the two agents, the dynamic stability of the agent training process is ensured, and the algorithm efficiency and the model solving effect are improved.

The utility model discloses an energy storage type heat supply system based on middle-deep layer interference-free geothermal energy, which comprises a water replenishing unit, a middle-deep layer geothermal well, a heat pump unit, a water segregator, a water collector and an energy storage unit, and the energy storage unit comprises an energy storage water tank and a heat exchanger; a heat supply pipeline of the heat pump unit is provided with a heat supply main pipe, a first branch and a second branch, the first branch is communicated with the water segregator, the second branch is communicated with the energy storage water tank, and a heat storage water return pipe of the energy storage water tank is communicated with a heat supply water return main pipe of the heat pump unit; the energy storage water tank is further provided with a heat release pipeline, and the heat release pipeline flows back to the energy storage water tank. Water supply of the heat pump unit is divided into two paths, one path is directly connected with the water segregator, and user return water flows back to the heat pump unit through the water collector and can be used for peak electricity heat supply; heat storage can be achieved, heat supply and heat storage can be achieved at the same time in the valley electricity period, heat supply can be conducted through stored heat in the peak electricity period, the system is ingenious, and the operation energy consumption of the whole system is reduced.

The invention discloses a small Mecanum wheel AGV vibration reduction structure and vibration reduction method.The small Mecanum wheel AGV vibration reduction structure comprises a vehicle frame connecting plate, a wheel carrier connecting plate, a connecting guide mechanism, a middle buffering mechanism and a linear guide mechanism, and through combination of the buffering mechanism and the guide mechanism, simplified design is achieved on the structure. According to the vibration reduction structure, by flexibly increasing or reducing the number and the positions of the buffering mechanisms, the rigidity and damping can be adjusted in a self-adaptive mode according to different loads and road surface conditions, and the stability of the AGV on load fluctuation and uneven road surfaces is ensured. In addition, the structure adopts central symmetry arrangement, the load balance is remarkably improved, the stability of sensitive goods in the carrying process is guaranteed, the number of parts is reduced, the assembly difficulty is lowered, a good vibration reduction effect is achieved on the basis of the compact structure, the assembly efficiency and daily maintenance convenience of the AGV are greatly improved, and the production cost is reduced. And the requirements of simple and convenient operation and convenient maintenance in an industrial environment are met.

The invention discloses a steering control method for assisting vehicle stability and an automobile. The method comprises the steps that after triggering conditions and activation conditions are met, steering wheel force needing to be corrected is calculated according to the current vehicle state, and the corrected steering wheel force obtained through calculation is superposed to a steering system to conduct correction control on the direction of the steering system. The power-assisted steering system has the advantages that steering control is added on the basis of power-assisted steering, obvious mechanical vibration and noise cannot be generated, the dynamic stability of a vehicle can be effectively kept, and the riding experience and the driving safety are improved. When the road surface between the left side and the right side of the vehicle is unbalanced, the stability of the vehicle can be ensured by automatically applying the correction force, so that the vehicle can stably and reliably run.

The application discloses a high-temperature environment wind power torsion-resistant flexible cable and belongs to the technical field of cables.The high-temperature environment wind power torsion-resistant flexible cable comprises an outer sheath, a protection mechanism arranged in the outer sheath, and a buffer mechanism arranged in the protection mechanism.The buffer mechanism comprises a mounting component, buffer elastic blocks and a buffer filling material.The mounting component is arranged in the outer sheath, the buffer elastic blocks are arranged in multiple numbers, the multiple buffer elastic blocks are arranged in the mounting component, the multiple buffer elastic blocks are uniformly distributed, and the buffer filling material is arranged in the mounting component.The high-temperature environment wind power torsion-resistant flexible cable significantly improves the torsion fatigue life, avoids stress concentration, and converts the concentrated torsion force applied from the outside into uniform and orderly deformation and energy dissipation of internal components through the synergistic effect of the buffer elastic blocks and the filling material, thereby avoiding local overload, enabling the cable to withstand long-term alternating torsion cycles that are much higher than those of a conventional structure, and greatly prolonging the service life.

The utility model relates to the technical field of oil pumping units, in particular to an oil pumping unit sling torsion releasing device. Comprising a beam hanger body, long grooves are formed in the two ends of the beam hanger body, stepped grooves are formed in the upper groove walls and the lower groove walls of the long grooves, large-diameter grooves of the stepped grooves are close to the centers of the long grooves, bearings are installed in the large-diameter grooves of the stepped grooves, inner taper sleeves are installed in inner rings of the bearings, the inner edges of the inner taper sleeves are inner conical surfaces, and rotating pieces are inserted into the inner taper sleeves; the steel wire rope penetrates through the stepped groove and is fixedly connected with the rotating piece. According to the utility model, through integration of the stepped groove and the bearing, steel wire ropes of various specifications are compatible, and the problem of adaptability caused by a complex structure in a traditional scheme is avoided. Detail design such as anti-skid lines and convex edge limiting further reduces the risk that the steel wire rope is disengaged from the groove and slips, the operation safety of equipment is improved, and the steel wire rope is particularly suitable for high-load and high-frequency vibration oil field operation environments.

This invention provides a method and system for random-delay UAV formation control based on an event-triggered mechanism, belonging to the field of UAV formation control technology. The invention establishes a global inertial coordinate system and normalizes the original motion state to a standard motion state; it defines the true value of lumped disturbance using heterogeneous dynamic constraint equations; it designs a nonlinear disturbance observer with auxiliary variables to calculate the estimated value of lumped disturbance approximating the true value; it constructs a full-state coupled dynamic event-triggered mechanism to calculate a dynamic triggering threshold that includes a minimum interval protection term and is negatively correlated with the disturbance magnitude; it corrects neighbor nodes with random communication delays based on the estimated value of lumped disturbance to obtain the predicted neighbor motion state; it uses a stable manifold neural network to infer the optimal costate vector and combines it with disturbance feedforward compensation to generate physical control commands. This invention improves the formation's anti-interference capability while reducing communication load.

This invention discloses an energy-saving motor based on an intelligent ventilation system, comprising a motor body, a fan shroud on the rear end cover of the motor body, and n ventilation holes (n>1) evenly distributed circumferentially on the rear end cover; each ventilation hole is provided with a ventilation component; each ventilation component includes a fixed frame, a sliding frame, and a wind-blocking block; the fixed frame covers the ventilation hole, the sliding frame is slidably connected to the fixed frame, and a ventilation opening is opened on the sliding frame, with an adjustment component provided on each ventilation opening; a wind-blocking block is connected to the inner side of the sliding frame and is located in the corresponding ventilation hole; a mounting ring is provided on the inner side of the motor body, and the rotating shaft passes through the center of the mounting ring; each sliding frame is connected to the mounting ring on the outer side via a telescopic rod. This invention ensures the stability of the rotor rotation while maintaining airflow cooling effect during high-intensity operation of the motor body.