2results about How to "Increase movement rate" patented technology

A kinematics solving method of a cantilever type crushing device, comprising: establishing a link coordinate system of a three-link robot and a homogeneous transformation matrix of an end effector according to obtained DH parameters, and obtaining robot conversion equation sets according to link lengths of a boom, a stick and the end effector and motion pairs of each part; reading current driving space coordinates from displacement sensors of hydraulic cylinders; calculating current pose space coordinates by using the robot conversion equation sets, the link constraint equation sets and the current driving space coordinates; obtaining target pose space coordinates generated after the crushing device is moved to a target working position on the basis of the current pose space coordinates; and solving target driving space coordinates by using the robot conversion equation sets, the link constraint equation sets, the current and target pose space coordinates. The scheme can improve the control precision and motion rate of the cantilever type crushing device, and make the cantilever type crushing device motion more flexible.

The utility model discloses a traditional Chinese medicinal material active ingredient extraction device relates to traditional Chinese medicinal material extraction technical field, including broken grinder frame, broken grinding motor box, vibration frame, component extraction frame and stirring motor box, start stirring motor, heating element, temperature sensor and solenoid valve drive part, the output shaft of stirring motor drives stirring driving axle high -speed rotation through the shaft coupling, the component of first chain sprocket drive part is same with second chain sprocket drive part, the power of stirring driving axle is synchronous with stirring driven axle, and the ball bearing of driven axle is the friction resistance when reducing stirring driven axle rotation, ensures rotation steady, and the outer wall surface upside and downside of stirring driving axle and stirring driven axle are installed stirring piece, and stirring piece rotates with driven axle, simultaneously, the operator injects solvent mixture through the liquid injection pipe welding of component extraction frame left end upper side through -penetrating place, makes to medicine and solvent mixture and turns over, breaks partial concentration difference.