326results about How to "Guaranteed motion accuracy" patented technology

The cerebral operating robot system based on optical tracking and closed-loop control for receiving medical image information, detecting and determining disease focus position, assisting operation plan and performing operation guidance is one closed-loop pose measuring and real-time feedback controlling robot system comprising one computer, one five-freedom robot, one optical tracking device and one passive marker. The passive marker is mounted in the end of the five-freedom robot, and the five-freedom robot includes one mechanical arm and one mechanical arm controller. The operation plan assisting and operation guiding software includes a digital image inputting and pre-treating module, a disease focus extracting and 3D reconstructing module, an operation planning module, and an operation executing module. The present invention has the advantages of raised precision, low cost, simplified calibration process, etc.

The invention relates to a three-chain six-freedom parallel flexible hinge micro motion device, wherein it comprises base platform, movable platform, driver on the base platform, and three support rods via flexible joints connected to the driver and movable platform. Said driver comprises three flexible plates on the base platform and piezoelectric ceramic driver connected to the flexible plates; three flexible plates are integrated processed, while each plate is connected to two piezoelectric ceramic drivers in right angle. The invention has compact structure and low installment error.

The invention discloses a high-speed screw and screw pair comprehensive examination test bed comprising a granite base, a floating guide rail and linear guide rails. The floating guide rail and the linear guide rails are arranged on the granite base parallelly. A linear guide rail holding plate is arranged on the linear guide rails, and the lower side of the linear guide rails is connected with a linear motor arranged on the granite base. A floating guide rail holding plate used for mounting a probe system is arranged on the floating guide rail and is connected with the linear guide rail holding plate through a connecting mechanism. By the aid of the test bed, a function of testing the features such as geometric accuracy, positioning accuracy, backlash, driving speed and acceleration, natural frequency, vibration mode, damping, and static and dynamic stiffness, friction torque and fatigue in the high-speed screw and screw pair and a function of testing stability in the high-speed screw and screw pair can be realized, and the rapid and accurate evaluation on most performance parameters of a precision ball screw can be given.

The invention discloses a claw beam lifting mechanism for a forging manipulator, applied to forging industry. The claw beam lifting mechanism mainly comprises a front lifting part, a rear lifting part, a synchronous connector rod, a lifting cylinder, a pitching cylinder and a buffering part, a front fixing shaft in the front lifting part, a rear fixing shaft in the rear lifting part and the lower end of the lifting cylinder are respectively connected with a large machine frame through hinges, the synchronous connecting rod is arranged overhead and always moves in a range above a connecting line of a front fixing hinge point and a rear fixing hinge point of a claw beam lifting and pitching mechanism and the large machine frame, front ends of two buffering cylinders are respectively connected with tow front lifting connecting rods through hinges, the rear ends of the two buffering cylinders are respectively articulated with two ends of a compensating beam, and the middle part of the compensating beam is connected with the middle part of the large machine frame by a hinge through a beam fixing shaft. The claw beam lifting mechanism has novel and scientific design concept, reasonable stress application, high movement precision, simple structure, low manufacturing cost and is convenient to install, adjust and maintain. The invention not only reduces the manufacturing cost of the lifting mechanism under the condition of ensuring the movement precision, but also thoroughly solves the problems that the front fixing shaft and a shaft sleeve matched with the front fixing shaft are worn easily and a side plate of a machine needs to be thickened specifically.

The invention relates to a safe type adjustable rigidness mechanical joint of a magnetic rheologic fluid clutch in the technical field of machinery, which includes a power mechanism, a transmission mechanism, an output mechanism, a drive sensing part and a changeable rigidness mechanism; the transmission mechanism is connected with the output mechanism; the changeable rigidness mechanism is just the magnetic rheologic fluid clutch; the magnetic rheologic fluid clutch is connected with the power mechanism and the transmission mechanism; the drive sensing part relates to a servo motor driver and a motor sensor. The motor driver realizes to adjust a joint speed by a speed ring by the feedback of a coder and a self-current ring is used for controlling the motor to output current; thereby controlling the magnetic field intensity in the clutch and then controlling the joint rigidness and the transferring moment of the clutch. Both the rigidness and the speed of the invention have controllability, which can realize the safety of the joint simultaneously when maintaining the property of the joint. The safe type adjustable rigidness mechanical joint of the invention can protect the safety of the motor, a mechanical arm and a person once a collision happens, which can realize the conversion between rigidness and flexibility of the joint and ensure the moving precision of the tail end.

The invention relates to space coordinate measurement of large engineering and large machines and workpieces, and provides a large three-dimensional coordinate measuring system, which can be used on an engineering or production site, has high measurement accuracy, safe and reliable working and large measurement range, can detect the internal and external characteristics of a detected object and can meet the requirement for large size measurement in various engineering and production. The technical scheme adopted by the invention is as follows: the large three-dimensional coordinate measuring device with laser tracking comprises a measuring machine, a laser tracker and a calculation control system as well as a laser interferometer for measuring linear displacement, wherein the measuring machine is provided with a horizontal arm capable of doing x-direction movement and a main shaft capable of doing z-direction movement; the other end of the horizontal arm is provided with a corner prism; one end of the main shaft is provided with a measuring head rotating body which is provided with a measuring head; the other end of the main shaft is provided with a target and an angle measuring device; and a temperature measuring element which is used for carrying out temperature compensation is stuck on the main shaft. The invention is mainly applied in three-dimensional coordinate measurement.

The invention relates to a precise support rod type three-directional punching machine tool. The precise support rod type three-directional punching machine tool comprises a transmission shaft, an eccentric wheel arranged on the transmission shaft, a connecting rod with one end sleeving the eccentric wheel, an upper slide block arranged at the other end of the connecting rod, a horizontal punching device connected with the upper slide block, and a driving device connected with the transmission shaft. The precise support rod type three-directional punching machine tool adopts the eccentric wheel mode to drive the upper slide block to work; meanwhile, the horizontal punching device is connected with the upper slide block; the upper slide block is used for driving; one set of driving device is only adopted; and the precise support rod type three-directional punching machine tool is simple in structure, is lower in requirement on torque input by the driving device, and saves electricity.

A ground workpiece, a grinding wheel main shaft and a grinding wheel grinding tool are involved in a precise grinding method for large-caliber axisymmetric aspheric surfaces. The ground workpiece is fixedly arranged on a rotating working table. The top face of the ground workpiece is an aspheric surface. The grinding wheel main shaft is arranged on a y-axis feed slide base connected with an x-axis feed slide base. The grinding wheel grinding tool is fixed to the grinding wheel main shaft. The precise grinding method is characterized in that the rotating central line of the grinding wheel main shaft is controlled by a three-axis linkage control model to coincide with the normal of a grinding point on the generatrix of the aspheric surface all the time so that principle errors caused by grinding feed movement tracks can be avoided and the movement precision can be ensured; The aspheric surface is ground through the end face of the grinding wheel grinding tool so that the grinding ratio can be increased; and meanwhile, loss of the grinding wheel grinding tool is compensated for through a real-time detection method so that the grinding efficiency can be improved. A movement mechanism is simple, the grinding efficiency is improved, the grinding accuracy is ensured, and the precise grinding method can be suitable for grinding paraboloids of revolution, hyperboloids of revolution, ellipsoids of revolution and other large axisymmetric aspheric surfaces.

The invention discloses a bottom pre-tensioning type stick-slip driving cross-scale precision motion platform which comprises a base, a friction oscillator, an oscillator driving source and a sliding block, wherein a pre-tensioning force adjustment structure for providing pre-tensioning force is arranged between the bottom of the sliding block and the base; the pre-tensioning force adjustment structure comprises a V-shaped spring for providing the pre-tensioning force and an adjustment screw used for adjusting the V-shaped spring; the V-shaped spring is mounted on the base in a compression and deformation manner through the adjustment screw; the pre-tensioning force adjustment structure is used for adjusting the pre-tensioning force; a stick-slip effect occurs between the sliding block and the friction oscillator; and the sliding block performs cross-scale precision motion. According to the bottom pre-tensioning type stick-slip driving cross-scale precision motion platform, an adjustment manner of the pre-tensioning force of the motion platform is greatly simplified, and processing and assembly are facilitated, so that the output performance of the stick-slip driving cross-scale precision motion platform is effectively improved, the motion precision and consistency of the stick-slip driving cross-scale precision motion platform can be guaranteed simply and effectively, and the motion platform is suitable for batch production.

The invention relates to a hand, in particular to a flexible self-adaption under-actuated robot hand. The flexible self-adaption under-actuated robot hand comprises fingers and a wrist; the wrist includes a skeleton, a direct-current motor, a potentiometer and a winch; the direct-current motor is fixedly connected to a motor mounting surface of the skeleton; the potentiometer is fixedly connected to a potentiometer mounting surface of the skeleton by penetrating through an output shaft of the motor; the winch is fixedly connected to the tail end of the output shaft of the motor; multiple fingers are provided; and the fingers are embedded in clamping grooves of the skeleton or multiple clamping grooves through convex blocks of rotating bodies. The flexible self-adaption under-actuated robot hand is assembled at the tail end of an industrial robot for assisting mechanical assembly or mechanical manufacturing process and finishing automatic workpiece loading / unloading; and the fingers can flexibly adapt to geometric shapes of products, and realize automatic adjustment according to the geometric shapes of workpieces to realize stable grabbing.

The invention provides an electronic expansion valve. The electronic expansion valve comprises a valve body, a nut assembled on the valve body, a screw rod movably assembled in the nut, a valve needle arranged inside the screw rod and a magnetic rotor arranged on the periphery and covering a part of the nut, and further comprises a movable check ring and a fixed stop block; the screw rod is fixed to a connecting plate; the magnetic rotor is fixedly connected to the upper end of the screw rod through the connecting plate and drives the screw rod to move vertically in a reciprocating mode; the control valve needle adjusts the opening degree of a valve port located at the bottom of the valve body; the movable check ring is arranged in the magnetic rotor in a sleeved mode and is fixedly connected to the connecting plate; a first stop lug is arranged at the first end, close to the nut, of the movable check ring; and the fixed stop block is integrally formed at the upper end part of the outer periphery of the nut and is matched with the movable check ring to form a circumferential limit. The electronic expansion valve can solve the problems that in the prior art, the stop position precision of stop structures of electronic expansion valves is low and screw rods are difficult to move in place.

The invention discloses a driving support for a robot used for aiding minimally invasive surgery, wherein a base part comprises a frame and an upright post; a connecting surface which is provided with an opening is arranged on one side of the upright post; the upright post is connected with a rectilinear motion module; a lead screw and a slide seat are connected to the rectilinear motion module; an adjusting frame part comprises an adjusting frame, a guide rail seat, a first sliding guide rail which is connected to the guide rail seat, and a slider; the lower part of the guide rail seat is provided with a three-step lug boss; a bearing structure and the adjusting frame are sleeved on the central lug boss in turn; one end of the adjusting frame is inserted into the opening of the connecting surface; a beam part comprises a beam; one side of the beam is connected with the slide seat, and an input wheel and an output wheel the upper part of which is provided with a cylindrical lug boss are arranged on the other side of the beam; the first slider is fastened and fixedly connected with the input wheel; a telescopic body part comprises a telescopic seat; the bottom of the telescopic seat is provided with a hole; and the cylindrical lug boss is inserted into the hole at the bottom of the telescopic seat. The driving support guarantees the motion precision, the system rigidity and the safety of the robot.

The invention discloses a stick-slip driving cross-scale precise motion platform which comprises a base, a friction vibrator, a vibrator driving source and a sliding block, wherein the friction vibrator is mounted on the base; the vibrator driving source is mounted between the friction vibrator and the base and provides a driving force for the friction vibrator; the sliding block is connected with the friction vibrator in a sleeving manner, and contacted with the friction vibrator to generate a friction force; a pretightening force adjustment structure for providing a pretightening force is arranged between the side surface of the sliding block and the base, and used for adjusting the magnitude of the friction force; a stick-slip effect is generated between the sliding block and the friction vibrator; and the sliding block makes cross-scale precise motion. According to the stick-slip driving cross-scale precise motion platform, an adjustment mode of the pretightening force of the motion platform is simplified greatly; processing and assembling are facilitated; the output performance of the stick-slip driving cross-scale precise motion platform is further improved effectively; the motion precision and the consistency of the stick-slip driving cross-scale precise motion platform can be guaranteed simply and effectively; and the stick-slip driving cross-scale precise motion platform is suitable for mass production.

The invention provides a feeding device for a keyboard automation assembly robot. The feeding device comprises a working platform, a pneumatic rotating platform arranged at the center of the working platform, a working platform arranged on the top face of the pneumatic rotating platform, a discharging device fixed above the working platform through a support and a pushing device. A plurality of jigs and taking plates are evenly distributed on the periphery of the working platform. The number and the position of the jigs and the taking plates are in one-to-one correspondence. The taking plates are located on the inner sides of the corresponding jigs, and the pneumatic rotating platform drives the working platform to rotate horizontally. When the pneumatic rotating platform drives the working platform to rotate to the processing work position, an outlet of the discharging device corresponds to one taking plate under the discharging device in position, and materials in the discharging device are pushed to the taking plate through the pushing device. The automatic feeding device for the keyboard automation assembly robot continuously provides materials for the keyboard automation assembly robot, enables the taking plates and the jigs to be installed on the same working platform and ensures relative position accuracy and piling accuracy.

The invention discloses an image plane focusing mechanism used for a push-broom type aero remote sensor, belonging to mechanical structure design of aerial photography technology. The focusing mechanism comprises a worm gear box assembly, a cam assembly, a roller assembly, a precision linear guide rail, a focal plane assembly and a sensor shell. The worm gear box assembly and the cam assembly are arranged on the sensor shell and are connected through a worm gear and a cam gear; the precision linear guide rail is arranged on the sensor shell; the focal plane assembly is arranged on the precision linear guide rail through a linear bearing; and the roller assembly is arranged on the focal plane assembly and is connected with a hyperbolic cam through a big roller and a small roller. Through forward-backward movement of a driving detector along an optical axis, a superposition of a receiving plane of a detector and a focal plane of an optics system is realized, thereby achieving the purpose of image plane focusing. The invention has the advantages of relative simple structure, sufficient strength and rigidness, and high motion accuracy and positional accuracy, wherein the motion accuracy of the focal plane assembly is not larger than 20 secconds, and the positional accuracy of the focal plane assembly is not larger than 0.02 mm.

The invention discloses a precise control method of a linear motion module. A motion control method based on S-shaped speed curve planning and synchronous planning of parabolic functions is adopted to precisely control the linear motion module; an acceleration maximum value and a speed maximum value of each motion shaft of a truss manipulator are input; an initial pose and a target pose of the truss manipulator are given to obtain a displacement variation of each motion shaft of the manipulator; time function nodes of each motion shaft are calculated; longest time nodes are selected as unified planning nodes to calculate actual maximum speed and maximum acceleration of each motion shaft; displacement, speed and acceleration functions at an acceleration phase, a deceleration phase and a constant-speed phase are respectively calculated according to the actual maximum speed and the maximum acceleration of each motion shaft; and the displacement of each motion shaft or discrete points on speed curves are output. The method can prevent the manipulator vibration or noise problem caused by sudden change of the speed or the acceleration, guarantees the motor motion precision, and can control the motion trajectory.

The invention relates to a redundant drive five degrees of freedom parallel machine tool with a large rotation angle. The redundant drive five degrees of freedom parallel machine tool with the large rotation angle includes a fixed platform, a movable platform for installing a main shaft head and a first driving branch, a second driving branch, a third driving branch and a fourth driving branch forconnecting the fixed platform and the movable platform, the structures of the first driving branch and the second driving branch are similar, and the first driving branch includes a hooke hinge, a servo driving unit, a revolute pair and a compound sphere hinge; the third driving branch includes a hooke hinge, a servo driving unit and a compound sphere hinge, the fourth driving branch includes a revolute pair, a servo driving unit, a hooke hinge and a revolute pair, and the movable platform of a machine tool and the four driving branches are hinged to form a space closed-cycle parallel mechanism; and the three-dimensional translation and the two-dimensional rotation of the space can be achieved by controlling six servo motors to drive the four branches. The redundant drive five degrees offreedom parallel machine tool with the large rotation angle has the advantages that the branch structures are simple and compact, the orientation workspace is large, the flexibility is high, the rigidity is large, and the singular configuration can be prevented, and can be used for high-speed, high-precision and efficiency machining for free-form surface in complex space.

The invention relates to a five-degree-of-freedom pose adjustment mechanism and belongs to the electromechanical equipment field. The five-degree-of-freedom pose adjustment mechanism is composed of a lifting platform, a rotation platform, a rolling platform, a translation platform, a test bench base and a pitch platform. The five-degree-of-freedom pose adjustment mechanism of the invention is characterized in that the lifting mechanism comprises lifting driving motors, a lifting platform, couplings, lifting guide rail sliders and ball screws and is mainly used for carrying load and a variety of kinds of operating load; the lifting driving motors are connected with the couplings; the lifting platform is connected with the lifting guide rail sliders; the lifting platform is made of a stainless steel material; and the ball screws are connected with the lifting guide rail sliders through transmission nuts. With the five-degree-of-freedom pose adjustment mechanism of the invention adopted, the reliability and motion precision of the pose adjustment mechanism under a vacuum and low-temperature environment can be guaranteed.

The invention discloses a coaxial powder feeding sprayer capable of automatically adjusting light spots and powder feeding positions. The sprayer can be used for the field of laser cladding and mainly structurally comprises a connecting cylinder, a sprayer body, a variable light path system, an adjustable powder feeding position system and a nozzle, a cooling water jacket and a mounting lug of a four-linkage mechanism are arranged outside the nozzle, and an internal protective gas inlet is formed in the upper end of the nozzle. All movable portions of the sprayer are driven by a servo motor, and rotary motion is transformed into linear motion of a slider through a ball screw. According to the coaxial powder feeding sprayer, the diameter of the light spots and the powder feeding positions can be continuously changed, positions of the light spots can be adjusted, so that the light spots are overlapped with powder flow converging focuses, the sprayer effectively solves the contradiction between cladding efficiency and cladding accuracy in laser cladding, and laser cladding process of complicated curved surfaces can be achieved.

This invention discloses a magnetic suspension micromovement system including a laser nano microshift and microangle measuring instruments, two measuring mirros, movement platform, laser heterodyne nano interferometer, four permanent magnets array, four sets stator winding, three capacitance transducers, DAC, a computer, ADC, under the precise measurement and control of capacitance transducer, laser nano microshift and microangle measuring instrument, laser heterodyne nano interferometer, the movement platform is suspended by interaction of electromagnetic force generated between permanent magnet array and related stator winding inserted into the platform bottom surface and generates siz free degrees nano grade movement.

The invention discloses a symmetric spatial three-dimensional micro manipulator with a three-stage motion amplifying mechanism. The micro manipulator is small in size, compact in structure, stable andreliable in clamping force and high in movement precision. The micro manipulator is composed of a base and a plurality of amplification clamping modules, wherein each amplification clamping module comprises a piezoelectric ceramic driver, a bridge type displacement amplification mechanism, two lever displacement amplification mechanisms, a Z-shaped beam displacement amplification mechanism, two flexible guide mechanisms and a clamping jaw; the piezoelectric ceramic driver is arranged between the base and the movable end of the bridge type displacement amplification mechanism; and the piezoelectric ceramic driver drives the movable end of the bridge type displacement amplification mechanism, the output end of the bridge type displacement amplification mechanism drives the input ends of thelever displacement amplification mechanisms, the output end of each lever displacement amplification mechanism drives the input end of the Z-shaped beam displacement amplification mechanism, and theoutput end of the Z-shaped beam displacement amplification mechanism is fixedly connected with the clamping jaw. The micro manipulator is compact in structure, stable and reliable in clamping force, low in cost and high in movement precision.

The invention provides a portable retractable 3D printer which comprises a retractable rack, a parallel arm transmission mechanism, a feeding mechanism, a printing head and a platform assembly, wherein the feeding mechanism is fixed at the top of the retractable rack; the printing head is arranged inside the retractable rack, and connected with the retractable rack through the parallel arm transmission mechanism; the platform assembly is arranged at the bottom of the retractable rack; the retractable rack adopts a frame structure composed of corner pieces and retractable rods; each retractable rod comprises a supporting rod sleeve; one end of each supporting rod sleeve is fixed on one corresponding corner piece; the other end of each supporting rod sleeve is connected with a corresponding supporting rod through a corresponding linear bearing and a corresponding bearing seat; the other end of each supporting rod is fixed on the other corresponding corner piece; and locking bolts are used for locking the retractable rods and fixing the lengths of the retractable rods. The portable retractable 3D printer provided by the invention adopts a three-dimensional triangular framework, thereby being stable and reliable in structure; the portable retractable 3D printer is made of a material being high in rigidity, light in weight and long in service life, and can be extended and retracted randomly; and when the portable retractable 3D printer is retracted, the occupied area is greatly reduced and the carrying is convenient. Therefore, the portable retractable 3D printer has a good application prospect.

The invention discloses a quadruped robot platform which comprises a body module and a leg module. The quadruped robot platform is characterized in that the leg module is arranged as a planer five-rod mechanism flexible leg and comprises a pitching driving joint module, a connecting rod mechanism module and a toe module, wherein the pitching driving joint module comprises a rigidity-variable driving flexible joint, a driving motor, a harmonic reducer and a synchronous belt; the harmonic reducer and the driving motor thereof are mounted on a same supporting frame; one harmonic reducer is integrated with the rigidity-variable driving flexible joint to be taken as an output; the toe comprises a three-dimensional mechanic sensor, a three-dimensional mechanic sensor bracket and an arch; the connecting rod mechanism has 10 hinge points of (A), (B), (C), (D), (E), (F), (G), (H), (R) and (I); the 10 hinge points are utilized to hinge the connecting rods into a conventional four-connecting-rod mechanism, a four-connecting-rod mechanism with a spring rod and a planer pentagonal five-connecting-rod mechanism.

The invention provides a space mechanical arm suspension microgravity simulation method, and belongs to the field of simulation experiments, wherein the method comprises the steps: S1, installing a space machine, and controlling a six-degree-of-freedom table to move to a test starting position on an air floatation platform; S2, adjusting the alignment position according to the target point of thesix-degree-of-freedom table; S3, controlling a mechanical swing arm to move, and connecting a suspension assembly with a suspension point; S4, controlling an omnidirectional mobile platform to move along with the six-degree-of-freedom platform; S5, controlling a space mechanical arm to be unfolded; S6, after the space mechanical arm completes the test, controlling the space mechanical arm to moveto an original folded state; S7, after the six-degree-of-freedom table moves to the parking position, closing an air source, and supporting and fixing the six-degree-of-freedom table; and S8, ending the test of disassembling a suspension assembly. The action of the gravity of the mechanical arm on the posture of a spacecraft when the mechanical arm is unfolded is eliminated, meanwhile, more motionfreedom degrees and motion ranges of the mechanical arm are reserved, and the unfolding range of the space mechanical arm is adapted to in a large range.

The invention provides a closed-loop control system of a photocuring rapid forming 3D printer. The closed-loop control system comprises a rack, a Z-axis lifting system, a motor, a sliding block, a bracket, a work platform, a controller, a motor driver, a ruler and a reading head. The controller is connected with an electrical driver. The motor driver is connected with the motor. The reading head is connected with the motor driver or the controller. When the reading head and the motor driver are connected, the motor driver calculates the reading difference value according to the feedback reading value of the reading head to send correction pulses to the motor. When the reading head is connected with the controller, the controller calculates the reading difference value according to the feedback reading value of the reading head, and then the motor driver is controlled to send correction pulses to the motor. The reading head feeds the actual position reading value back to the controller or the motor driver, the controller or the motor driver sends the correction pulses to the motor after calculating the difference value between the actual position reading value and the theoretical position reading value, and the moving precision and the positioning precision of the Z-axis lifting system are guaranteed.

The invention discloses a closed type optical grating linear displacement sensor structure for an ultra-precise machine tool. The closed type optical grating linear displacement sensor comprises a metal optical grating ruler, a first stop block, a second stop block, a fundamental plane shell, a non-fundamental-plane shell, a reading head and a reading head support. The metal optical grating ruler is integrally fixed to the fundamental plane shell through an elastic adhesion agent. The first stop block and the second stop block are fixed to the two ends of the metal grating ruler. The non-fundamental-plane shell is fixed to the fundamental plane shell through screws. Sealing strips are fixed to the inner side of the upper edge of the fundamental plane shell. The two ends of the fundamental plane shell seal a ruler base of the metal optical grating ruler through fixing and adjusting blocks in the shell. The reading head is inlaid in the reading head support. A gap exists between the reading head and the metal optical grating ruler. After the optical grating linear displacement sensor is debugged, the position and the precision of the reading head are locked through a reading head fixing frame. According to the closed type optical grating linear displacement sensor structure for the ultra-precise machine tool, the precision of the optical grating linear displacement sensor is improved, the metal optical grating ruler and the shells are made of stainless steel materials, and the expansion coefficients of the stainless steel materials are identical with that of an ultra-precise machine tool body.

The invention discloses a flexible leg structure with a plane five-rod mechanism. The flexible leg structure is characterized by comprising a pitching drive joint, a foot tip and a connecting rod mechanism. The pitching drive joint comprises a variable stiffness driving flexible joint, a drive motor, two harmonic reducers, a supporting frame, a synchronous pulley and a synchronous belt. The foot tip comprises a three-dimensional mechanical sensor, a three-dimensional mechanical sensor support and a foot arch. The bottom of the three-dimensional mechanical sensor is connected with the three-dimensional mechanical sensor support. The bottom of the three-dimensional mechanical sensor support is connected with the foot arch. The connecting rod mechanism comprises ten hinge points (A), (B), (C), (D), (E), (F), (G), (H), (R) and (I). Connecting rods are hinged to a conventional four-rod mechanism, a four-rod mechanism with a spring rod and a plane pentagon five-rod mechanism through the ten hinge points. The hinge points (A), (R) and (I) are used for fixing the connecting rod mechanism to the pitching drive joint.

The invention discloses a longitudinal grinding machine for welding a rail welding seam. The machine comprises a grinding machine main body, a running and driving device and a frame, wherein the grinding machine main body is divided into an upper grinding wheel head area and a lower grinding wheel head; the upper grinding wheel head area comprises an oscillation motor A, a grinding wheel head motor A, a transverse motion mechanism A, a transverse fine tuning mechanism A, a lift fine tuning motion mechanism A, a longitudinal motion mechanism A, a longitudinal fine tuning mechanism A and a grinding wheel head component A; and the lower grinding wheel head area comprises an oscillation motor B, a grinding wheel head motor B, a transverse motion mechanism B, a transverse fine tuning mechanism B, a lift fine tuning motion mechanism B, a longitudinal motion mechanism B, a longitudinal fine tuning mechanism B and a grinding wheel head component B. The longitudinal grinding machine has the advantages that the mobile grinding machine performs one-time longitudinal grinding on the welded rail head and the welding seam at the bottom of the rail by adopting a machine tool, so the problems of grinding quality and accuracy of the railway welded rail can be effectively solved, the moving route can be determined according to a variation range of the welding rail seams on the welding rail production line, and longitudinal fine tuning can be carried out so as to meet the requirement of application in production lines.

The invention discloses a double-shaft positioner mechanical structure. The double-shaft positioner mechanical structure comprises a base, a roll-over table and a worktable, and also comprises a horizontal servo motor and a horizontal RV reducer driven thereby and a vertical servo motor and a vertical RV reducer driven thereby, wherein one end of the roll-over table is mounted on an output shaft of the horizontal RV reducer, and the other end is supported on a bearing of the base; the vertical RV reducer is mounted on the roll-over table, and an output shaft of the vertical RV reducer is provided with a rotating seat; the worktable is fixed on the rotating seat and is driven to rotate when the vertical servo motor rotates; and the roll-over table is provided with a conductive block, the conductive block is connected with a ground wire, and the upper surface of the conductive block is always in contact with the lower surface of the worktable. According to the invention, the servo motors and the high-accuracy RV reducers are used to ensure the moving accuracy, so that workpieces fixed on the worktable can be accurately positioned, thereby ensuring welding quality.

The invention provides a constant-speed elliptical track laser precision machining method of an oblique cone circular table. The constant-speed elliptical track laser precision machining method comprises the steps that (1) an oblique cone circular table workpiece is clamped on a rotary table by a profiling clamp; (2) a machining head is mounted above the surface of the oblique cone circular table and has two freedom degrees of motion; and (3) the machining head is controlled to clockwise move in the Wx direction at the VX speed and move in the Wz direction at the VZ speed starting from the initial position point A of an elliptical cone curve, the oblique cone circular table workpiece rotates around the center axis of a right circular cone at the angular speed W(t), and meanwhile laser beams are output to start laser machining, wherein laser machining is any process technology for doing linear motion on the surface of the workpiece based on the focusing laser beams. According to the constant-speed elliptical track laser precision machining method, motion planning of the laser machining head is quite easy and convenient; and meanwhile complex constant-speed cone curve motion track planning is converted into precise variable-speed motion planning of the rotating speed of the single rotary table, and the precise machining track and the stable machining process quality can be obtained.