102results about How to "Improve motion smoothness" patented technology

The invention discloses a method for self-adaptive subsection interpolation of NURBS curve under the real-time look-ahead whole-process accelerated and decelerated control. The NURBS curve is presented by a matrix form and is pre-processed; the self-adaptive speed adjusting arithmetic is adopted for the NURBS curve, thus obtaining the parameters meeting the interpolation precision requirement such as feeding speed and the like; the curve is segmented at all maximum curvatures of the curve; speed planning is carried out on all the segmented curves by an S-curve accelerated and decelerated control method, thus obtaining the changing time of the speed curve at all accelerated and decelerated stage; according to the interpolation period and the changing time of all accelerated and decelerated stage, the feeding speed of all interpolation periods and coordinates of corresponding interpolation points are obtained; and according to the coordinates of the interpolation points and the feeding speed, the control signal given value is generated. The invention can realize the look-ahead processing of the NURBS curve during the whole interpolation process, leads the real-time interpolation process to be quick and effective, leads the whole interpolation movement process to be smooth and stable, has wide applicable range and has important significance to the development of the high-speed high-precision numerical control system.

A wearable lower-limb assistance exoskeleton comprises a left-side leg (A), a right-side leg (C) and an object carrier (B). A left first connecting rod (A1) is matched with an inserting rod (B1) to fixedly connecting the left-side leg (A) with the object carrier (B), and a right first connecting rod (C1) is matched with the inserting rod (B1) to fixedly connecting the right-side leg (C) with the object carrier (B). Lower limbs on two sides totally have two rotating degrees of freedom, and the lower limb on each side has one degree of freedom, so that hip joints, knee joints and ankle joints can rotate around the frontal axis. A left motor (A20) and a right motor (C20) are controlled by a bionic intelligent control program to realize walking gaits of the wearable lower-limb assistance exoskeleton. By the wearable lower-limb assistance exoskeleton, physical ability consumption of a person can be effectively reduced. The wearable lower-limb assistance exoskeleton is used for lower-limb assistance, can be used for soldier fighting equipment for military use and can also be used in the field of lower-limb rehabilitation.

The invention relates to a helical involute gear and a processing method thereof. The helical involute gear is characterized in that a tooth surface molded line is a helical involute which is a curve spread by a rack type line straightly moving along the pitch circle tangent line and pure-rolling with a gear pitch circle. The helical involute gear has clear and easy drive principle, can ensure the drive continuity and the drive uniformity, and can realize surface meshing with large meshing area so that the bearing capacity is strong; the helical involute gear has long meshing line and large superposition coefficient, especially, an inclined helical involute conical gear is easy to implement speed reduction at high speed ratio. The helical involute conical gear can realize the expansion processing, thereby having high processing accuracy, low processing cost and high processing tooth surface hardness, improving the motion stability of the gear and the bearing capacity, and prolonging the service life. Meanwhile, processing equipment required by the helical involute gear can be conveniently processed by utilizing the method, thereby solving the difficulties of large processing difficulty and high cost of a gear drive pair with intersecting axes.

The invention relates to an open-type static pressure rotating table for controlling floating degree and a manufacturing method thereof. The open-type static pressure rotating table is characterized in that: a column on the lower part of a rotary table body and the inner hole of a large gear ring forms clearance fit by a coaxial basic hole system; the large gear ring and the table are arranged ona slide carriage, and the bottom surface of the large gear ring with high planeness and roughness and a static pressure oil chamber on the upper surface of the slide carriage form a hydrostatic pressure guide rail pair; an additional axial thrust bearing structure arranged on a centering structure provides preloads for hydrostatic pressure guide rails of the table; and the bottom surface of the large gear ring is assembled and ground correctly according to design requirements till plane precision, and the upper surface of the static pressure oil chamber on the slide carriage is scraped by facing-up simultaneously to ensure the fit accuracy of the upper and lower hydrostatic pressure guide rails. In the open-type static pressure rotating table, the thrust bearing structure is adopted on the basis of a common centering shaft structure, so the initial preloads of the hydrostatic pressure guide rail pair are controlled effectively and the floating degree of the open-type static pressure rotary table is controlled effectively, the rigidity of an oil film is increased, and the motion stability, motion accuracy and unbalance load-resistant capacity of the open-type static pressure rotarytable are improved.

The invention discloses a multi-row type omnidirectional wheel. The multi-row type omnidirectional wheel comprises hubs and driven wheels, wherein the hubs are arranged in a manner of two or more rows inside and outside and are alternately staggered at an angle of 22.5 degrees to ensure that at least one small wheel of the omnidirectional wheel is in contact with the ground surface. An outer hub bracket and an inner hub bracket are directly matched and connected through a hub center. A support shaft is mounted in a U-shaped groove of each hub; each two support shafts are connected with each other to form a regular octagonal shaft chain; each support shaft is provided with a spindle body driven wheel; and the joints of the shaft chains are fixed through cover plates with barbs. Each driven wheel adopts an integral structure of vulcanizing each bearing sleeve and rubber at the outer ring of each spindle body, so that motion precision of the omnidirectional wheel is guaranteed. According to the invention, insertion type structures are designed on the inner hubs and the outer hubs, so that multi-row parallel installation can be realized, bearing capability of the omnidirectional wheel is improved efficiently. The multi-row type omnidirectional wheel, disclosed by the invention, has the advantages of overcoming the defect of an overlarge gap between adjacent small wheels of the traditional omnidirectional wheel, improving driving smoothness of driving wheels and guaranteeing vibration precision of a robot at runtime.

The invention discloses a motor, a cradle head comprising the motor and an air vehicle comprising the cradle head, wherein the motor comprises a base, a rotating shaft, a stator component, a first bearing, a stator bearing and a rotor component used for driving an outer member to rotate; the rotating shaft is provided with a first end part, a second end part and a middle part for connecting the first end part and the second end part; the base is connected onto the first end part through the first bearing; the rotor component is connected to the middle part; the stator bearing, the rotor component and the first bearing are arrayed in sequence in the axis direction of the rotating shaft; the stator component is connected onto the rotating shaft through the stator bearing. According to the motor, the cradle head and the air vehicle, provided by the invention, the torsion transmitted to the outer member produced by the rotating shaft can be reduced, the motional smoothness of the outer member can be improved, at the same time the time consumption of movement on the rotating shaft can be reduced, and the speed of the outer member responding to the motor is increased.

The invention discloses a cable-stayed bridge cable detection robot system which comprises a machine frame. Multiple power climbing mechanisms are arranged on the machine frame and are distributed in the peripheral direction, each power climbing mechanism comprises a power mechanism and two climbing mechanism bodies, the two climbing mechanism bodies are vertically arranged and are connected through a synchronous drive mechanism, each climbing mechanism body comprises rolling wheels capable of rolling on cables, the rolling wheels of one climbing mechanism body are driven to rotate by the corresponding power mechanism, and the synchronous drive mechanism can drive all rolling wheels of the two vertically-arranged climbing mechanism bodies to synchronously rotate. The machine frame comprises multiple sub supporting frames, each power climbing mechanism is installed on the corresponding sub supporting frame, every two adjacent sub supporting frames are connected through a connecting device, and the distance between every two adjacent sub supporting frames can be adjusted through the corresponding connecting device. The cable-stayed bridge cable detection robot system has very high adapbility and can work on the cables different in diameter, the sub supporting frames are connected by using the connecting devices, and overall size adjustment of the robot system is facilitated.

The invention provides a cartridge-type medicine-loading device and a method thereof. The invention is characterized in that the lateral sides of a lifting board is connected with a connecting board by a large nylon cushion and a small nylon cushion respectively; the front end and the rear end of the connecting board are connected to a linear vertical slide respectively; the linear vertical slide serves the function of guiding and improves the motion steadiness of the lifting mechanism; the middle part of the connecting board is connected with a synchronous belt by a connecting piece of the synchronous belt and a clamping board of the synchronous belt; driven by a motor, the synchronous belt drives the lifting board to move upwards and downwards; and a medicine-prodding mechanism is connected with the top part of the lateral board of a rack and used for prodding medicine in order that the medicine can glide down smoothly. Aiming at the problem that the medicine-loading capacity of the existing medicine-loading manipulator for one time is low, the invention is capable of loading medicine in bulk, and automatically and smoothly feeding the medicine into the medicine storage tank of a medicine storehouse; and the invention has the advantages of novel structure and large labor-saving capacity, reduce the medicine-loading frequency of the same medicine and reduce the labor intensity of pharmacists.

The invention relates to a star-wheel speed reducer, which belongs to speed reducer technology field, comprising an input shaft, output shaft, gears, geared ring and a through cover, characterized in that the reducer casing is provided with the input shaft, output shaft, gears, geared ring. The input shaft is equipped with an eccentric sleeve, which is provided with double axial bearings, the eccentric sleeve is provided with two eccentric bearings equipped gears, the two gears are externally connected with tooth rings, the two gears are fixed on an even-carrying plate and the output shaft, the even-carrying plate is provided with a bearing, and a sealing ring is provided between the output shaft excircle and the through cover. The invention is provided with advantages of simple structure, smaller volume, high bearing capacity, low production cost, high transmission accuracy, convenient assemblage and combined application with other types of speed reducers, which can be widely used in speed reducer industry.

The invention discloses a four-legged bionic robot platform based on biological characteristics. The four-legged bionic robot platform comprises a trunk and four lower limbs. The four lower limbs areevenly and symmetrically distributed at the four corners of the lower portion of the trunk, and the structures of the four lower limbs are identical. The trunk comprises four driving units, a trunk bottom plate used for supporting the driving units, a depth visual apparatus and a laser radar. The lower limbs comprise ankle joints, foot soles and leg parts. The upper ends of the leg parts are fixedly connected with the driving units, and the lower ends of the leg parts are rotatably connected with the upper ends of the ankle joints. The lower ends of the ankle joints are rotatably connected with the upper ends of the foot soles. According to the four-legged bionic robot platform, the adaptability and anti-jamming ability of a bionic leg-foot-type robot to different terrains can be improved,the stability and reliability of making contact with the ground are enhanced, a robot deep vision technology is fused to make a reasonable path plan on the travelling track of the robot, a laser radar technology is fused to further enhance the interaction ability between the robot and the environment, the mechanical complexity of the trunk and the lower limbs is simplified, the control difficultyis lowered, and the control accuracy is improved.

The invention discloses a buffering / walking integrated hexapod lander and a gait control method thereof, belongs to the technical field of deep space star catalogue detection mechanisms, is composed of a mechanical structure, a control system and gait planning, and has two functions of stable landing and flexible roaming. The mechanical structure is composed of a hexagonal frustum type body and six buffering / driving integrated three-degree-of-freedom leg and foot mechanisms which are symmetrically distributed according to the center of a regular hexagon. The control system consists of a main control module and a special motion controller and is used for controlling the position of each driving motor in each buffering / driving integrated three-degree-of-freedom leg-foot mechanism so as to realize quasi-static walking of the lander; the gait planning adopts a stable and efficient 3-3 gait which is more matched with the hexapod configuration, and the smooth fluctuation track of the centroid of the body is realized through the motion control of each buffer / drive integrated three-degree-of-freedom leg and foot mechanism.

A seawater piston motor low in pulsation belongs to the technical field of hydraulic application and comprises a swash plate, an even number of piston shoes, a piston, a cylinder shaft, a valve plate, an end cover, a casing, a miniature check valve and the like. Damping holes are formed in an upper stop point and a lower stop point of the valve plate and in the end cover. The miniature check valve is arranged between the damping hole of the lower stop point of the valve plate and the damping hole of the end cover. When a high-pressure piston cavity finishes water sucking, and the upper stop point position is reached, high-pressure water in the piston cavity enters the damping hole of the end cover through a damping hole to flow into the inlet position of the check valve. Then the check valve is opened, and the high-pressure water enters a low-pressure piston cavity through the damping hole at the lower stop point position. The high-pressure piston cavity conducts pre-depressurizing, and the low-pressure piston cavity conducts pre-pressurizing. Under the condition of combining the pressures, a pre-pressurizing and a pre-depressurizing effect of the piston cavity is approximately equal to half of the pressure difference of an axial piston motor high-pressure oil draining kidney-shaped groove and a low-pressure oil sucking kidney-shaped groove, pressure impact at the piston motor transition area is reduced, motor output rotating speed and torque pulse are reduced, and the stability is improved.

A physiotherapeutic apparatus includes a bed, a sliding mechanism, and a connecting rod combination; the bed has thereon a threaded rod, an actuating device for causing rotation of the threaded rod, and a circuit controller for controlling motion of the actuating device; the bed has two lateral rails, and a lengthways-extending rail, which are parallel to the threaded rod; the sliding mechanism has rolling wheels thereon, which fit in and roll along each one of the rails for increasing motion smoothness and steadiness, preventing tilting and reducing wear; a threaded sleeve is secured to the sliding mechanism and positioned around the threaded rod so that rotation of the threaded rod will cause forward and backward motion of the sliding mechanism; the connecting rod combination is foldable and used to fix a user's lower limbs, and it is pivoted to the bed and the sliding mechanism two ends thereof.

The invention discloses a fancy yarn production method. The fancy yarn production method comprises suspending a roller wound with core yarns through a suspender, making space around the core yarn roller for covering the core yarns with covering yarns, and pulling the core yarns out of the roller and winding the core yarns onto a winding mechanism; enabling the covering yarns to bypass the core yarn roller and to spin around and cover the core yarns to form fancy yarns; outputting the fancy yarns through the winding mechanism in a winding mode. According to the fancy yarn production method, a covering yarn roller does not need to be entirely driven to rotate and can conveniently achieve high-speed rotation, so that the working efficiency can be improved, and high-speed processing can be achieved.

The invention discloses a hydraulic control one way valve and relates to a hydraulic control valve. The hydraulic control one way valve is characterized in that the middle of the hydraulic control one way valve is provided with a main hole; the underside is provided with an oil inlet hole A and an oil outlet hole B; free flow can be formed between the hole A and the hole B; and a hydraulic control port X and an oil drain port Y are also arranged on a valve body. Two sides of the valve body are closed by an end cover and a valve cover; and pressure oil between the end cover and the valve body and between the valve cover and the valve body is kept unleaked outside through a sealing ring and a retaining ring. The inside of the valve body is manufactured with two main flow passage holes by a foundry method in order that the hole A and the hole B are communicated with the main hole respectively. The hydraulic control one way valve has the advantages that the hydraulic control one way valve is optimized and is added with opening pressure in order that the valve has wider application; a right end cover adopts screw thread connection so as to simplify a structure; the structure can increase the oil control cubage and greatly increase oil through amount; and the pre-opening function of the valve can effectively reduce impact vibration and improve the smoothness of motion so as to increase the service life of the valve.

The invention discloses an asymmetric quartic curve flexible acceleration and deceleration planning method, and belongs to the field of numerical control machining motion control. The method comprises: firstly, constructing a new acceleration and deceleration control model; providing a detailed algorithm implementation scheme; performing algorithm implementation by adopting a method of combining classified discussion and loop iteration. Meanwhile, the problem that the algorithm is time-consuming and unstable under different precision requirements is solved by adopting a constant-speed compensation method. On the basis of no complex function operation, flexible parameter control and stable and reliable calculation, the problem that a traditional S-shaped curve jerk has a step is solved, themotion stability of numerical control machining is improved, and a feasible and practical acceleration and deceleration planning scheme is provided for a numerical control system.

The invention relates to a manipulator trajectory planning method based on a sorting process. The manipulator trajectory planning method based on the sorting process is implemented through the following steps of according to the concrete sorting process, predefining the maximum speed and the accelerated speed of each joint and each degree of freedom of a parallel manipulator, and adopting as constraint conditions during the following trajectory optimizing process; on the basis of basic path points of picking-placing actions of the sorting process, carrying out time-optimal interpolation trajectory optimization, and obtaining an optimal trajectory of an operation space of the parallel manipulator; and mapping the optimal trajectory of the operation space of the parallel manipulator into a joint space, carrying out interpolation trajectory optimization, and obtaining an optimal trajectory of a joint space of the parallel manipulator.

The invention discloses a novel motor-driven mechanical stretching device. The improved novel motor-driven mechanical stretching device comprises a left side component and a right side component whichare symmetrical, the left side component comprises a leg stretching mechanism, a seat plate linkage mechanism and a backrest mechanism, the seat plate linkage mechanism comprises a front mounting piece, one end of the front mounting piece is pivoted to the front portion of a bottom connecting rod, the other end of the front mounting piece is pivoted with a first front rotating piece, the middle of the front mounting piece is pivoted with a second front rotating piece, the other end of the second front rotating piece is pivoted with a side connecting rod piece, the front end of the side connecting rod piece is pivoted with the middle of the first front rotating piece, the rear end of the side connecting rod piece is pivoted with a rear rotating piece which is pivoted with a rear mounting piece, the other end of the rear mounting piece is pivoted to the rear end of the bottom connecting rod, and the rear rotating piece and the front rotating piece I are pivoted with an assembling side plate simultaneously. The problems that an existing seat plate linkage mechanism is complex in structure, large in number of parts, high in manufacturing cost and high in clamping stagnation risk are solved.

The invention relates to a guide rail mechanism, which comprises a frame, a gear, a rack and a guide rail, wherein the rack is positioned above a pair of rollers, and the guide rail is parallel to the rack. A guide wheel matched with the guide rail is mounted on the guide rail and is coaxial with the gear. The guide rail is separated from the rack and is parallel to the rack, and the guide wheel coaxial with the gear runs along the guide rail, so that deviation and derailment in the prior art are avoided, and the gear is more accurately engaged with the rack. As a groove matched with the guide rail is arranged on the outer circumferential surface of the guide wheel, the guide wheel can change angles while running along the guide rail, movement stability of a power assisting ladder is improved, and safety of passengers is ensured.

The invention belongs to the technical field of solar energy, and particularly discloses a horizontal rotating mechanism and a heliostat system. The horizontal rotating mechanism comprises a fixing seat, a rotary seat, a rotary disc, a first rotary arm, a second rotary arm, a horizontal driving assembly; the rotary seat is connected with the fixing seat in a pin joint mode; the rotary disc is arranged above the rotary seat, and is fixedly connected with the rotary seat; the first rotary arm is arranged on one side of the rotary seat, and one end of the first rotary arm is connected with the rotary disc in a pin joint mode; the second rotary arm is arranged on the other side of the rotary seat, one end of the second rotary arm is connected with the other end of the first rotary arm in a pinjoint mode, and the other end of the second rotary arm is connected with the fixing base in a pin joint mode; and the horizontal driving assembly comprises a push rod and a push rod driving assemblywhich are connected with each other, the push rod driving assembly drives the push rod to move in the axial direction of the push rod, one end of the push rod is connected with the push rod driving assembly, the other end of the push rod is connected with the first rotary arm, and the push rod driving assembly is connected with the fixing seat in a pin joint mode. According to the horizontal rotating mechanism and the heliostat system, the horizontal rotating range can be expanded, and the horizontal rotating stability can be improved.

The invention discloses a secondary ejection mechanism and a mold adopting the same, and relates to the technical field of molds. The mold comprises an upper mold and a lower mold, wherein an ejectorpin plate, an ejector pin and a secondary ejection mechanism are arranged between the lower mold and a mold bottom plate, the secondary ejection mechanism comprises a fixed cover plate connected withan upper ejector plate, and limiting grooves are formed in the fixed cover plate; a sliding block is arranged in the lower layer ejector plate, and an elastic piece is arranged between the sliding block and the lower layer ejector plate; a guide rod penetrates through the fixed cover plate, and the guide rod is fixedly connected with the mold bottom plate, and a sliding groove is formed in the guide rod. The upper ejector plate drives the lower ejector plate to synchronously move, so that one-time ejection operation is achieved; the sliding groove extrudes the sliding block into the lower layer ejector plate, the upper layer ejector plate moves independently, and the secondary ejection action is realized. The secondary ejection structure is simple while the secondary ejection action is achieved, convenient to implement and beneficial to reducing the processing production cost.

The invention relates to a high-precision parameter path interpolation method and system, and the method comprises the steps: S1, segmenting a parameter curve path based on the curvature monotonicity of the parameter curve path according to a critical curvature value point and a curvature extreme point, and solving the arc length of each segment; s2, respectively planning the speed of each segment by adopting a jump-bounded S curve acceleration and deceleration algorithm; s3, based on the arc length of each segment and the speed of each segment, performing cubic spline fitting to obtain an arc length-to-time spline and a parameter-to-arc length spline; s4, in the interpolation process, the arc length corresponding to the actual feeding step is obtained through the arc length pair time spline, corresponding parameters are obtained through the parameter pair arc length spline, and therefore the coordinate increment of interpolation is calculated. According to the method, the output feeding acceleration fluctuation can be remarkably suppressed, and the interpolation precision is improved.

The invention discloses a load pressure self-adaptive control hydraulic system, a control method and a pre-grooving machine. The load pressure self-adaptive control hydraulic system comprises an oil supply main path and a feedback auxiliary path. The oil supply main path comprises an electromotor, a balance valve set, a shuttle valve, an oil pump control valve, an oil tank, an oil pump, a filter, an electro-hydraulic directional valve and a motor, wherein the oil tank, the oil pump, the filter, the electro-hydraulic directional valve and the motor are connected in sequence. The oil pump control valve is suitable for controlling the oil discharge amount of the oil pump. The feedback auxiliary path comprises a throttling valve and an inverse-proportional relief valve. One end of the throttling valve is communicated with the liquid discharge end of the filter, the other end of the throttling valve is communicated with one end of the inverse-proportional relief valve, and the other end of the inverse-proportional relief valve is communicated with the oil tank. According to the load pressure self-adaptive control hydraulic system, the throttling valve and the inverse-proportional relief valve constitute the feedback auxiliary path, and thus the oil pump can be made to be in a constant pressure state, and the control requirements for torque self-adaption and flow self-following are met; accordingly, the motion stability of equipment can be improved, and the reliability of the equipment is improved.

The invention discloses a batch stamping system which comprises a workbench, and a paper feeding mechanism, a conveying mechanism and a stamping mechanism are sequentially arranged on the workbench. A pair of guide rails are vertically arranged on the upper end face of the workbench, and the pair of the guide rails are distributed on the two sides of the conveying mechanism. The stamping mechanism comprises a supporting rod vertically and slidably connected with the pair of the guide rails, a clamping assembly used for clamping a stamp is arranged at the lower end of the supporting rod, and a driving mechanism used for driving the supporting rod to vertically reciprocate is arranged on the workbench. By arranging the stamping equipment capable of carrying out continuous automatic operations and further carrying out continuous stamping operations on the files through the stamping equipment, the workloads of accountants are relieved, and meanwhile the stamping efficiency can be improved.

The invention provides a robot claw for supporting ceramic products. The robot claw is mounted at a moveable end of a robot and is used for carrying the ceramic products. The robot claw comprises a bracket, a connecting plate, a supporting frame and a driving device, wherein the bracket is connected with the moveable end of the robot; the connecting plate, the supporting frame and the driving device are connected with the bracket; the driving device is arranged on the connecting plate and is connected with the supporting frame; the supporting frame is driven to move by the driving device; the supporting frame is moveably connected with the connecting plate. The robot claw for supporting ceramic products provided by the invention is simple in structure and high in universality and flexibility and can be used together with the robot for firmly supporting, carrying and unloading the ceramic products in various shapes or structures without manual intervention and assistance, so that the carrying efficiency of the ceramic products is increased and the completeness of the ceramic products is effectively ensured.

The invention discloses a needle bed structure of a computerized flat knitting machine, and belongs to the technical field of knitting machinery. The needle bed structure comprises a needle bed body, a group of needle grooves and at least one insert groove are formed in an area from one end of the needle bed body to the other end at intervals in the length direction and form a cross relation, and an insert is inserted into the insert groove. The needle bed structure is characterized in that magnetic stripes are arranged at the bottom of the insert groove and in the length direction of the insert groove, the lower parts of knitting needles of a knitting needle assembly attract the magnetic stripes, and the upper parts of the knitting needles are in contact with the insert. The needle bed structure has the advantages that the magnetic stripes are arranged at the bottoms of the needle grooves, and the magnetic stripes attract the knitting needles of the knitting needle assembly, so that moving stability of the knitting needles in the needle grooves can be remarkably improved, and the knitting effect of a knitting mechanism is ensured.

The invention relates to the field of mold processing, and discloses a pushing device. The pushing device comprises a driving cylinder, a pushing plate and a guiding assembly. A pushing rod of the driving cylinder is connected with the pushing plate. The guiding assembly comprises a guiding shaft, a linear bearing, a fixing plate, a fixing sleeve, a sealing ring and a spring structure. The drivingcylinder is connected with the first end of the fixing plate. The second end of the fixing plate is connected with the linear bearing. The linear bearing sleeves the guiding shaft. One end of the guiding shaft is connected with the pushing plate through the fixing sleeve. The sealing ring is arranged between the fixing sleeve and the guiding shaft. The spring structure sleeves the guiding shaft and is located between the fixing plate and the pushing plate. The pushing device has the advantages of being simple in structure, reliable in work and stable in motion, can accurately and stably pusha mold loading vehicle to prevent vibration, shaking, tilting and the like of the mold loading vehicle.

The invention discloses a cycloidal speed reducer capable of automatically compensating the back clearance, which relates to the technical field of transmission machinery and solves the technical problem on how to eliminate the back clearance. The speed reducer comprises an input shaft, an internal gear ring, two cycloidal gears, and a plurality of pins; the two cycloidal gears are respectively mounted on the input shaft through two eccentric bearings, and the pins respectively pass through pin holes of the two cycloidal gears; two groups of internal teeth are formed on the internal gear ring,wherein the tooth profiles of the left group of internal teeth are inwardly inclined from the left to the right, and the tooth profiles of the right group of internal teeth are inwardly inclined fromthe right to the left; the tooth profiles of external teeth of the left cycloidal gear are inwardly inclined from the left to the right, and moreover, the external teeth of the left cycloidal gear are engaged with the left group of internal teeth of the internal gear ring; the tooth profiles of external teeth of the right cycloidal gear are inwardly inclined from the right to the left, and moreover, the external teeth of the right cycloidal gear are engaged with the right group of internal teeth of the internal gear ring; and two elastic compensating washers for applying pretightening force on the two cycloidal gears are respectively sleeved on the left end and right end of each pin. The speed reducer provided by the invention can automatically eliminate the back clearance.

The embodiment of the invention discloses a robot motion control method and device, electronic equipment and a medium. The method comprises the steps that acquired path points are analyzed, and robot control compensation instructions are obtained, wherein the robot control compensation instructions comprise position compensation instructions and / or speed compensation instructions; a position loop and / or a speed loop of a servo three-loop feedback control system are / is compensated according to the robot control compensation instructions; and a robot is controlled to move based on the compensated servo three-loop feedback control system. By executing the technical scheme, the technical effect of improving the response speed, the track precision, the motion stability and other dynamic characteristics of the industrial robot can be achieved.