28results about How to "No collision" patented technology

This invention discloses a method for matching rolls in the cutting hole field, belonging to the technical field of section steel rolling. It solves the technical problem that the upper and lower rolls are damaged due to collisions between the cutting edges during high-speed rotation. The method involves setting a first roll matching gap smaller than the cutting edge gap at both ends of the upper and lower rolls, and determining the diameters of both ends of the upper and lower rolls based on the first roll matching gap. The first roll matching gap is 0.5-2mm smaller than the cutting edge gap. When the upper or lower roll shifts during high-speed rotation, because the first roll matching gap is smaller than the cutting edge gap, the first roll matching gap of the upper and lower rolls will contact each other first, preventing collisions between the cutting edges and avoiding abnormal damage to critical positions such as the cutting edges.

The present disclosure provides a multi-unmanned vehicle target encirclement method based on MPC-APF control, which comprises the following steps: step 1: taking a rear axle-centered single vehicle model as a kinematics model, and constructing a vehicle motion state equation; step 2: establishing an artificial potential field APF in an environment, including a road boundary line APF and an obstacle APF; the obstacle APF is constructed by fusing the artificial potential field effects of the same direction and reverse motion obstacle vehicles on the unmanned vehicle; step 3: converting the target encirclement problem into a dynamic trajectory tracking problem, adding an APF penalty term designed based on an artificial potential field in an optimization objective function, and tracking and controlling a dynamic target trajectory by using model predictive control MPC according to the vehicle motion state equation. The present application can realize the encirclement of a dynamic target in a road environment with dynamic obstacles and avoid collisions with other social vehicles.

The invention belongs to the technical field of aircraft control, and particularly relates to a simulation test system and method for an aircraft obstacle avoidance algorithm. The invention discloses a simulation test system and method for an aircraft obstacle avoidance algorithm. The system comprises a virtual environment modeling device, a dynamics resolving device, an obstacle avoidance logic processing device, a physiological feature modeling device, a stress parameter mapping device, a comprehensive evaluation feedback device and a data monitoring device. According to the method, kinematic parameters are mapped into physiological stress parameters such as gravity overload and motion sickness, and an obstacle avoidance track is fed back and corrected according to a physiological comfort threshold, so that an obstacle avoidance path conforms to the tolerance limit of a human body on the premise of ensuring safety. According to the method, deep fusion of control engineering and aeronautical medicine is realized, obstacle avoidance assessment extends to the field of physiological tolerance from physical safety, the scientificity of simulation assessment of the manned aircraft is improved, and the risk of personnel disability caused by violent maneuver in real flight is reduced.

Proposed is an intermediate lever for a variable-lift valve train of an internal combustion engine, the upper portion of which has a pivot bearing, and the longitudinal middle section of which carries a rolling mechanism, which longitudinal middle section transitions on the underside into a base, which widens the intermediate lever at least on one side in the pivot direction thereof with a base bulge, and which has on the underside thereof a slide channel track for contact with a valve opener, wherein the intermediate lever has at the base bulge an abutment for the leg of a cam return spring, wherein the intermediate lever exists in the upper portion and the longitudinal middle section as a continuous flat, one-piece plate, wherein the pivot bearing is a bearing hole in the upper portion, wherein as a rolling mechanism two discs are provided in the longitudinal middle section, which discs each extend on a common shaft extending through it at the outer wall of the longitudinal middle section, and wherein the base is joined to the transversely thickened portion of the longitudinal middle section one piece below the discs.

This invention relates to the field of insulating aluminum busbar technology, and in particular to an insulating aluminum busbar for high-voltage connection in a power battery system, its preparation method, and its application. An insulating aluminum busbar for high-voltage connection in a power battery system includes: a three-dimensionally bent aluminum alloy substrate; a ceramic insulating layer, which covers the outer surface of the three-dimensionally bent aluminum alloy substrate and is metallurgically bonded to it; and two conductive ends, which are located at both ends of the three-dimensionally bent aluminum alloy substrate, with a nickel sheet fixedly connected to each conductive end and covered with a heat-shrink tubing. This application achieves metallurgical bonding between the ceramic insulating layer and the aluminum substrate, resulting in extremely strong bonding and solving the problem of coating peeling. The two conductive ends located at both ends of the substrate ensure the conductivity of the high-voltage connection and provide secondary protection for the welded area through the heat-shrink tubing, improving connection reliability.

The invention relates to the technical field of ocean platform pipeline design, in particular to an ocean platform pipeline laying method based on reinforcement learning, and the method comprises the following steps: S1, dispersing a pipeline laying region into a three-dimensional grid matrix according to the physical size of an actual cabin of an ocean platform, and marking a pipeline starting point, a pipeline ending point and an impassable region; s2, performing Q-Learning algorithm parameter initialization configuration, defining an action space adaptive to the linear movement characteristics of the ocean platform pipeline, constructing a Q value matrix adaptive to three-dimensional space coordinates and actions, and performing initialization; s3, entering a training round, and continuously updating the value evaluation matrix by dynamically adjusting a greedy criterion, a multi-dimensional reward mechanism and a time sequence difference learning rule; and S4, after the training is completed, starting from the starting point based on the converged Q value matrix, selecting an optimal action through a greedy to generate a final pipeline path, and improving the quality and search efficiency of pipeline laying on the ocean platform.

The utility model discloses a combined chemical barrel which comprises a barrel body, a groove is formed in the top of the barrel body, a sealing cover is arranged in the groove, a handle is installed in the groove, and assembling mechanisms are fixedly installed on the four side walls of the barrel body. The assembling mechanism comprises a hollow combination box and two combination blocks which are fixedly installed on the outer wall of the can body, first round holes are formed in the two combination blocks, and second round holes are formed in the outer walls of the two sides of the hollow combination box. According to the chemical barrel assembling device, the grooves and the assembling mechanisms are arranged, two chemical barrels can be stacked up and down conveniently, meanwhile, the combined rod on one chemical barrel can be inserted into the first round hole in the combined block of the other chemical barrel by rotating the hand wheel, and therefore the two chemical barrels can be combined and connected with each other; and the two chemical barrels cannot be rubbed or collided in the transportation process, so that the service life of the two chemical barrels is guaranteed.

This invention discloses a force-saving damping device and a sliding door. The force-saving damping device is disposed between a first object and a second object. The second object slides relative to the first object in a first direction to close or slides in a second direction opposite to the first direction to open. It includes a blocking member, a damping member, a swinging member, and a linkage mechanism. The blocking member is pushed by the second object to slide in the same direction during the partial closing phase. The damping member buffers the second object when the blocking member slides in the first direction. The swinging member has a blocking surface and swings between a first state and a second state. In the first state, the blocking surface is adapted to be pushed in the second direction, and in the second state, the blocking surface is no longer pushed by the second object. When the swinging member slides in the second direction, it enters the second state from the first state, and vice versa. The linkage mechanism is placed between the blocking member and the swinging member, so that the blocking member and the swinging member are linked in the same direction and the stroke of the swinging member is greater than the stroke of the blocking member. This force-saving damping device makes opening the door easier.

The utility model provides an engine which comprises an air cylinder, a piston and a cylinder cover, the piston is movably arranged in the air cylinder, and a protruding part gradually protruding inwards in the radial direction is formed on the edge of the top of the piston. The cylinder cover is installed on the cylinder, a combustion chamber is defined by the cylinder cover, the cylinder and the piston, a matching part surrounding the combustion chamber is formed on the surface, facing the combustion chamber, of the cylinder cover, and the protruding part is configured to respond to the piston to move upwards to the upper dead center to be in clearance fit with the matching part.

The application discloses a kind of limited space trajectory planning method considering vehicle volume, comprising: first, construct two-dimensional occupancy grid map and adopt multiple circle surrounding rectangular frame model to parameterize the representation of vehicle;Using non-uniform B spline curve parameterization reference trajectory and constructing optimization problem;Along the trajectory, calculate minimum safety distance point by point to locate interference control point, generate curvature flat weight of Gaussian distribution with interference point as center, and negatively correlate coupling between flat weight and preset reference weight, obtain the reference weight after dynamic relaxation;Construct joint objective function including smoothing cost, weighted obstacle avoidance cost and weighted deviation cost, iteratively update trajectory control points by calling numerical solver through inner and outer double-loop architecture.The application can output collision-free, high-order smooth and dynamic feasible trajectory, improve the safety, smoothness and solution robustness of trajectory planning in limited space.

The forklift frame positioning tool comprises a drive axle mounting hole positioning assembly (2), an inclined oil cylinder positioning assembly (3) and an air cylinder positioning assembly (4) which are mounted on an operation bedplate (1). Coaxiality confirmation and open gear keeping of drive axle mounting holes in a frame are achieved through the drive axle mounting hole positioning assembly (2). The inclined oil cylinder positioning assembly (3) is used for positioning an inclined oil cylinder seat and ensuring the opening distance; the frame is fixed through the air cylinder positioning assembly (4), and follow-up demolding is facilitated. According to the forklift frame positioning tool, accurate positioning and gear opening positioning control over a drive axle mounting hole and an inclined oil cylinder mounting base can be achieved.

The present application relates to the technical field of trajectory planning of nonlinear underactuated electromechanical systems, and particularly relates to a multi-unmanned aerial vehicle cooperative hoisting system constraint space crossing trajectory planning method and system. The method comprises the following steps: based on a polyhedral volume constituted by the hoisting system and a hoisting rope tension, a hoisting system crossing formation optimization model under a constraint space is constructed to obtain an optimal formation of the hoisting system crossing the constraint space; a circumscribed sphere center and a radius under the optimal formation of the hoisting system crossing the constraint space are calculated; based on the circumscribed sphere center and the radius, a trajectory planning model of the hoisting system crossing the constraint space based on time optimization is constructed by considering dynamic constraints, driver constraints and flight path point constraints; based on the relative position relationship among the circumscribed sphere center, the unmanned aerial vehicle and the load, the trajectory planning model of the hoisting system crossing the constraint space is adopted to obtain a trajectory of the hoisting system crossing the constraint space; and under the guidance of the trajectory of the hoisting system crossing the constraint space, a load transportation task is completed.

The utility model discloses quantitative filling equipment for lucid ganoderma beverage processing, and relates to the technical field of beverage filling equipment, the quantitative filling equipment comprises a shell, a base, a storage tank, a filling pipe, a supporting table, a turntable and a filling bottle, the base is fixedly mounted at the middle end in the shell, and the storage tank is fixedly mounted in the middle of the top end of the shell; a supporting table is movably installed in the middle of the top end of the base, a rotating disc is movably installed in the middle of the top end of the supporting table, the bottom end of the rotating disc is located at the top end of the supporting table, the rotating disc is in a gear shape, and a plurality of notches are formed in the top end of the rotating disc in a surrounding mode. According to the quantitative filling equipment for processing the lucid ganoderma beverage, the multiple notches of the rotating disc are equal in length and radian and are uniformly distributed, so that the accuracy of bottle positioning in the filling process is ensured, and the filling speed and quantity can be conveniently adjusted.

This invention provides a sloshing-controlled liquid tank, comprising a liquid tank body. The interior of the liquid tank body is divided into several compartments by multiple vertically intersecting sloshing-controlled chamber walls. The peripheries of the multiple sloshing-controlled chamber walls are perpendicularly fixed to the inner wall of the liquid tank body. Each longitudinal sloshing-controlled chamber wall has at least one sloshing-controlled hole. When multiple sloshing-controlled holes are provided, they are arranged vertically and alternately on the same longitudinal sloshing-controlled chamber wall. In each longitudinal compartment of the liquid tank body, there is a sloshing damper that moves horizontally within its compartment along a direction perpendicular to the longitudinal sloshing-controlled chamber wall. The sloshing damper is arranged on the same horizontal central axis as the unique sloshing-controlled hole or the uppermost sloshing-controlled hole. A damper is provided in the unique sloshing-controlled hole or the lowermost sloshing-controlled hole. The sloshing-controlled liquid tank of this invention dissipates the kinetic energy of the sloshing liquid in three stages: spatial partitioning, upper-level turbulence, and lower-level damping, thereby suppressing liquid tank sloshing and making it suitable for multi-section liquid tanks and complex working conditions.

This invention discloses a stacking and encapsulation module, a stacking and encapsulation machine, and a method thereof. The stacking and encapsulation module and machine include a machine base and a feeding mechanism, a stacking mechanism, a film encapsulation mechanism, an adhesive tape application mechanism, and a transfer and positioning mechanism mounted on the machine base. The feeding mechanism automatically feeds the electrode sheets and separator and precisely positions them on all four sides. The stacking mechanism alternately stacks the positive and negative electrode sheets and separator and has a separator alignment function. The film encapsulation mechanism achieves uniform film encapsulation of the battery cell through synchronous rotation. The adhesive tape application mechanism uses constant pressure adhesive application and indexing rotation to complete multi-sided edge sealing. The transfer and positioning mechanism achieves three-sided centering positioning of the battery cell. The encapsulation method includes feeding and positioning, alternating stacking, rotating film encapsulation, constant pressure adhesive application, and transfer and positioning steps. This invention features high integration, high positioning accuracy, stable operation, and high automation, significantly improving battery cell quality and production efficiency, and is suitable for large-scale production of form-fit lithium batteries.

This invention relates to the field of metal processing technology and discloses a horizontal machining center for a high-precision planetary reducer planetary carrier. The center includes a fixed base with a movable component mounted on it. The movable component includes a rotating shaft and a movable plate. A connecting rod is fixedly connected to the lower surface of the rotating shaft, and a handle is fixedly connected to the lower surface of the connecting rod via a locking pin. A rotating disk is fixedly connected to the upper surface of the rotating shaft. A first guide groove is provided inside the movable plate, and a first fixed post is provided inside the first guide groove. This invention enables synchronous position adjustment and rapid locking of multiple sets of positioning blocks. Simultaneously, the locked positioning blocks and positioning bolts form a double limit on the positioning plate, preventing slight loosening of the positioning bolts due to cutting vibration during machining, thus preventing the positioning plate from sinking and improving the machining accuracy of the planetary carrier. Furthermore, the handles at the front and rear ensure that rotation does not cause collisions during use.

The application provides a temporary support pre-pressing device, which comprises a temporary support body, a vertical frame is arranged on the top of the periphery of the temporary support body, vertical plates are fixed on the two sides of the vertical frame, a limiting mechanism is arranged on the two sides of the vertical plate perpendicular to the vertical frame, two pressing cylinders are symmetrically arranged between the two vertical plates, the pressing cylinders are in extrusion contact with the top surface of the temporary support body, the positions of the half gears of the pressing cylinders are opposite to the positions of the bidirectional tooth plates in initial engagement, so that the moving directions of the two pressing cylinders are opposite, the two pressing cylinders move synchronously to the two sides of the top surface of the temporary support body, the half gears on the surface of the sliding plate and the bidirectional tooth plates are spaced by a certain distance, the movement of the two groups of bidirectional tooth plates does not collide and does not interfere with each other, the structure occupies a smaller space compared with the prior art, is suitable for any scene, and the pre-pressing of the top of the temporary support is more uniform compared with manual operation, the stress on the top surface of the temporary support is uniform during pre-pressing, so that the flatness of the temporary support is maintained.

The application provides a model prediction motion planning method and system for controlling obstacles of underwater vehicles, and relates to the technical field of safe collision avoidance motion planning of underwater vehicles in narrow waterways. The application generates a neural reachability field through a deep neural network to realize global path guidance, constructs a dynamic obstacle avoidance map in combination with a nonlinear control barrier function (CBF), and embeds a modifier consistent with the International Regulations for Preventing Collisions at Sea to ensure safe intersection and compliance with the rules. The safety distance of the application is 2-3 times higher than that of the traditional technology, the minimum distance of multiple underwater vehicles in cooperation is 0.82 meters, and the real-time requirement is 0.2 seconds, which significantly enhances the motion planning capability and compliance of underwater vehicles in a dynamic environment.

This utility model provides a low-noise mahjong machine, belonging to the technical field of mahjong machine technology; it includes a mahjong table, with a shuffling assembly rotatably connected to the bottom of the inner cavity of the mahjong table, a base fixedly connected to the bottom of the mahjong table, a No. 1 motor fixedly connected to one end of the inner side of the base, and a drive gear fixedly connected to the output end of the No. 1 motor. The drive gear meshes with the bottom end of the shuffling assembly. Inner grooves are formed around the inside of the mahjong table, and a cleaning assembly is rotatably connected to the inner side of each inner groove. This utility model, by setting up the cleaning assembly, allows a bidirectional screw to drive the inner screw sleeves on both sides, and pushes the surrounding push plates inward through a transmission rod. This allows the push plates to push the mahjong tiles above the table into the mahjong table, eliminating the need for manual pushing and improving the automation performance of the mahjong machine. Furthermore, the side grooves on the outer sides of adjacent push plates prevent collisions between the four push plates, facilitating the operation of the cleaning assembly.

The robot rotation control method provided in the embodiments of the present disclosure comprises: obtaining each obstacle avoidance area of a robot; when the robot rotates in a rotation direction, obtaining a detection result of an external environment of the robot, and determining obstacles in each obstacle avoidance area according to the detection result; when there are at least two obstacles in each obstacle avoidance area, calculating an angle difference between each obstacle and the robot, wherein the angle difference is an angle required for the robot to rotate from a current pose in the rotation direction to collide with the obstacle; and determining an obstacle with the smallest angle difference with the robot as a target obstacle, so as to avoid the target obstacle, thereby achieving obstacle avoidance based on the angle difference, improving the accuracy of obstacle avoidance and the safety of robot operation.

A trajectory generation method based on deep reinforcement learning for training game coefficients. The advantages of this invention are as follows: By organically combining deep reinforcement learning and game theory trajectory planning, this invention achieves automated and intelligent optimization of game coefficients. It automatically learns the sensitivity coefficient α in the game objective function using algorithms such as DQN, completely replacing traditional manual parameter tuning methods and significantly reducing development costs and time. A reward function centered on the vehicle's forward distance guides the vehicle to pass quickly, while introducing penalty terms such as collision and acceleration to enhance safety and comfort. The generated trajectory outperforms manually tuned results in terms of traffic efficiency, safety, and smoothness. Simultaneously, it preserves the interpretability of the game theory model; the optimized α value has a clear physical meaning and can dynamically adjust the driving style according to the real-time environment, improving the system's scene adaptability and generalization robustness.

The utility model relates to the technical field of tea set storage devices, in particular to a combined tea set storage box. A combined tea set storage box comprises a containing bowl with an open containing cavity, an elastic fixing claw assembly clamped in the containing cavity and a top cover rotationally connected with the top of the containing bowl. The assembly with the elastic claw hooks is arranged, the small teacups can be clamped into the elastic claw hooks by applying force to the small teacups, so that the small teacups can be located in the bowl and stacked and fixed in order, the positions of the small teacups are stabilized, deviation and collision are avoided, the top cover is rotationally connected with the containing bowl, and the top cover is fixed more stably through the stepped bowl opening design; the elastic fixing claw assembly is detachably connected with the containing bowl, the elastic limiting plate is obliquely arranged on the inner wall of the containing bowl, and in the process of applying force downwards to the elastic fixing claw assembly, the limiting protruding edge on the side edge is clamped in the limiting groove, so that the position is fixed, and the elastic fixing claw assembly can be rapidly disengaged by applying force upwards by a user.

The application discloses an assembly unit based on a wire-controlled robot, which comprises a wire-controlled execution system, a guiding assembly system and a ground execution system. The wire-controlled execution system can be flexibly arranged according to the size of a working space and comprises a control system, a truss, a rope, a base and an end effector. The end effector is connected with a tooling fixture, a camera and a sensor, can execute linear motion and circumferential rotation motion, and utilizes a deep SARSA algorithm to perform path planning on the wire-controlled execution system and solve a motion trajectory. The guiding assembly system comprises a control system and a laser projection device, can provide accurate positioning, guiding and verification of parts, and the ground execution system comprises a control system, an intelligent carrying robot and an assembly robot. The assembly robot is equipped with a camera and a sensor and can provide intelligent auxiliary assembly. The combined operation of the three systems is suitable for most assembly scenes and can improve the automation and intelligent level of an assembly process.

The application relates to the powder filling technical field, and particularly discloses a packaging metering and discharging device, which comprises a material bin, a metering motor, a metering screw rod, stirring fan blades arranged in the material bin, a stirring motor arranged above the material bin, a vertical downward discharge port arranged at the bottom of the material bin, and the metering screw rod is vertically arranged in the discharge port. The technical problem that the powder quantity fluctuates and the metering is not accurate enough is solved by arranging the stirrer in the material bin to enhance the flowability of the oily powder and pressurize the metering screw rod to feed the material.

The utility model relates to the recessed roller electroplating technical field especially relates to a kind of electroplating equipment for the surface metal plating layer of forming recessed roller, including the electroplating tank of positioning recessed roller, a pair of anode plate is arranged in electroplating tank, anode plate bottom is formed with the bottom plate that extends inward horizontally, bottom plate is formed with multiple interlaced arrangement guide grooves and guide blocks along length direction;The guide groove of left side bottom plate is transversely aligned with the guide block of right side bottom plate;Electroplating tank is also provided with adjusting mechanism for adjusting the distance between two anode plates;The spacing of two anode plates is adjusted by adjusting mechanism;Since the spacing of two anode plates is adjusted, the sliding fitting mode of bottom plate and bottom plate between guide groove and guide block, ensure that recessed roller bottom surface can also be electroplated, so that the distance of recessed roller left and right sides and below and anode plate is same, ensure that the path of ionization ionization is basically same, can optimize the metal plating layer thickness after electroplating, improve the quality of electroplating.

The utility model discloses a bearing box transportation fixing tool which is arranged between a wood bracket and a bearing box and comprises a long batten, a plurality of positioning pipes are arranged on the upper end face of the long batten and connected with positioning holes in the bearing box in an inserted mode, and the bearing box is limited. A plurality of limiting grooves are formed in the lower end face of the long batten and abut against the limiting wood rafts on the wood bracket correspondingly. The fixing tool is optimally designed by utilizing an original transportation wood bracket structure and a bearing box body structure, and the bearing box and the wood bracket are fixed through the fixing tool, so that a pipe body at the bottom of the bearing box can be prevented from being collided in the transportation process; the bearing box and the wood support can be fixed in relative positions by using channel steel (namely a limiting groove) and a steel pipe (namely a positioning pipe), and meanwhile, the contact area between the bearing box and the wood support is indirectly increased, so that the bearing box and the wood support do not generate relative displacement.