19results about How to "Optimize motion trajectory" patented technology

The invention discloses a seven-degree-of-freedom mechanical arm inverse kinematics solving method, system and device based on numerical iteration. The method comprises the steps that S1, a D-H kinematics model of a mechanical arm is established based on a joint configuration of the seven-degree-of-freedom mechanical arm; s2, calculating a Jacobian matrix according to the joint angle sequence; s3, introducing a weight matrix to suppress the joint speed at the edge of the joint range; s4, introducing a damping factor, and calculating to obtain an optimized Jacobian pseudo-inverse matrix; s5, the pose error between the expected tail end pose and the current tail end pose of the tail end actuator of the mechanical arm is calculated; s6, converting the pose error into a joint angle adjustment amount by using the optimized Jacobian pseudo-inverse matrix to obtain a joint angle iterative formula; and S7, based on the pose error, the joint angle of each rotating joint of the mechanical arm is determined through a numerical iteration method. According to the method, the problem of unstable solution of a traditional analytical method under the singular configuration can be avoided, and the calculation efficiency and the numerical stability are improved.

The invention relates to the technical field of flat wire stator head twisting equipment control, and discloses a process calculation method and system of flat wire stator head twisting equipment and the head twisting equipment, and the method comprises the steps: obtaining a plurality of setting parameters of a head twisting process input by a user; calculating according to the plurality of setting parameters to obtain an operation result; inputting an operation result into a point set formula of each layer of the torsion head module to obtain a data set, wherein the point set formula comprises a parameter equation and a compensation equation of spatial displacement; and writing the data set into a control file of a preset path, and performing a head turning process on the flat copper wire after the flaring process based on the control file. According to the invention, the motion trail of the equipment is approximate to the motion trail of the copper wire bending point, the copper wire is prevented from being scratched due to large relative displacement between the head twisting die and the copper wire bending point, the process trail of the product equipment and the model changing calculation can be quickly carried out, the device can adapt to the production of flat wire products with different specifications, the production efficiency is improved, and the production cost is reduced. The processing time is reduced.

The invention relates to the technical field of vehicles, and particularly discloses a combined type air suspension system and a vehicle, the combined type air suspension system comprises a vehicle frame, a plate spring assembly, a connecting shaft, a longitudinal thrust assembly and a gas elastic piece, the plate spring assembly comprises a plate spring body, a front support and a rear support, and the plate spring body is provided with a front spring eye; the front spring eye is rotatably arranged on the front support, a plurality of connecting positions are arranged on the front support, and the plate spring body is provided with a rear spring eye which is rotatably arranged on the rear support. The connecting shaft is arranged on the plate spring body, the longitudinal thrust assembly comprises a longitudinal thrust rod and a base, the base is arranged at the connecting position of the plate spring body and the connecting shaft, one end of the longitudinal thrust rod is rotationally connected with the base, and the other end of the longitudinal thrust rod can be selectively rotationally connected with or separated from any connecting position. The gas elastic piece is arranged between the base and the frame, so that the motion trail of the connecting shaft can be finely adjusted, the guiding characteristic is improved, and the transverse vibration of the whole system is reduced.

The invention provides an unmanned ship positioning method and system for an automatic refueling robot, and relates to the technical field of data processing, and the method comprises the steps: obtaining the global position information, local position information and environment dynamic parameters of an unmanned ship, extracting static feature data and dynamic interference feature data, carrying out the self-adaptive correction of basic positioning data, and carrying out the self-adaptive correction of the basic positioning data; the method comprises the steps of generating ship motion trend prediction information, calculating a docking preparation path of the unmanned ship according to a preset geometric model of a target docking point, generating a real-time control instruction according to the docking preparation path, and collecting relative position information, water flow disturbance information and obstacle information of a refueling interface in real time when the unmanned ship reaches the target docking point. Parameters needing to conduct fine adjustment on the posture of the refueling mechanical arm are calculated, a refueling mechanical arm posture fine adjustment instruction is obtained, and the refueling mechanical arm posture fine adjustment instruction is used for adjusting the rotation angle, the horizontal position and the vertical height of the refueling mechanical arm; the intelligent degree and accuracy of refueling are improved.

The utility model discloses a light end effector for high-speed reciprocating carrying, which comprises an assembly mounting plate assembly body, an effector mounting rack and four lower probing suction assemblies, the assembly mounting plate assembly body comprises a carbon fiber mounting plate, four corners of the carbon fiber mounting plate are respectively provided with a vacuum tube mounting hole, and the vacuum tube mounting holes are communicated with the actuator mounting rack. A first vacuum pipe joint, a cylinder mounting hole and two linear bearings are arranged on the periphery of each vacuum pipe mounting hole; each downward-probing suction assembly comprises a pen-shaped air cylinder, an assembly installation frame, a sponge suction cup and two guide rods, and the four downward-probing suction assemblies are arranged at the four corners of the carbon fiber installation plate in a one-to-one correspondence mode. According to the light end effector for high-speed reciprocating carrying, the load of the mechanical arm can be reduced and the motion trail of the mechanical arm can be optimized in an auxiliary mode by adopting light materials to be combined with the unit lifting set, so that the overall carrying speed is increased, and the carrying speed is 2-4 times that of a conventional end effector under the same working condition.

The invention discloses a tool path planning method and system for numerical control machining of a face gear, belongs to the technical field of gear machining, and solves the problems that multiple sets of tool interference and path optimization constraints are not considered and introduced in an existing method, and frequent pause and adjustment are caused in the machining process due to unreasonable tool interference and paths. The method comprises the steps of determining a machining mode of a to-be-machined gear based on parameters of the to-be-machined gear, detecting and adjusting an interference path of a milling cutter, outputting a primary adjustment path after primary adjustment, adjusting the milling posture of the milling cutter, and outputting a secondary adjustment path after secondary adjustment. According to the method, the initial machining path of the milling cutter in the multi-head cutter set is determined through a path calculation algorithm, and the optimal path without interference of the milling cutter is obtained. The milling precision of the milling cutter is guaranteed, collision or interference among multiple groups of milling cutters during machining is avoided, and the efficiency of the milling cutter is improved.

The invention discloses ecological restoration soil dressing conservation spray-seeding equipment which comprises a base, an auxiliary adjusting mechanism and a uniform feeding mechanism, a stirring bin is fixedly connected to the top surface of the base, a spray-seeding device is fixedly connected to the top surface of the base, a protection bin is fixedly connected to the top surface of the base, and a partition plate is rotatably connected to the interior of the stirring bin; the auxiliary adjusting mechanism is arranged on the inner surface of the stirring bin, the uniform feeding mechanism is arranged on the top surface of the base, and the auxiliary adjusting mechanism can adjust the included angle of a rotating shaft, so that a second stirring shaft generates more effective shearing force and friction force in the movement process, the material mixing speed is increased, and the mixing efficiency is improved; the uniform feeding mechanism can control the feeding time and the feeding amount of the grass seeds, so that uniform and timed feeding is achieved, timed and quantitative grass seeds are added, it can be ensured that the feeding amount of the grass seeds is accurate, the excessive or insufficient condition is avoided, and therefore the production efficiency is improved.

The invention discloses a mining pipe grabber pipeline grabbing method based on multi-sensor fusion, a mining pipe grabbing robot is used for grabbing a pipeline, the mining pipe grabbing robot comprises a mechanical arm, a control unit and a driving unit for driving the mechanical arm to act, and a depth camera is arranged at the tail end of the mechanical arm; the pipeline grabbing method comprises the following steps of S1, model configuration, S2, hand-eye calibration, S3, coarse positioning, S4, fine positioning, S5, path planning, S6, motion control and S7, grabbing operation. By fusing data of various sensors such as the depth camera, the laser radar, the encoder and the pressure sensor, accurate positioning and grabbing of the pipeline are achieved, and the working efficiency and safety are improved.

The present invention relates to the field of precision polishing, and in particular to an intelligent anti-damage precision polishing brush system and method. It includes: scanning and collecting height data of each contact point on the surface to be polished, calculating the average height of the surface to be polished, and calculating the overall roughness and local roughness of the surface to be polished; using an intelligent polishing force distribution algorithm to calculate the local polishing force, and using a contact time dynamic control algorithm to dynamically adjust the polishing time of each contact point during the polishing process; using a polishing brush motion trajectory optimization algorithm to optimize the polishing brush motion trajectory; using a comprehensive damage assessment algorithm to calculate the comprehensive damage degree, and deciding whether to end the polishing process based on the judgment of the comprehensive damage degree and the maximum damage threshold and the roughness difference. It solves the technical problem that in traditional polishing technology, only the overall roughness is relied on for surface quality assessment, and the difference in local microscopic features of the surface cannot be captured, resulting in the inability to accurately identify defects or uneven areas.

The utility model discloses an optimized assembling structure of an automatic air valve assembling machine. The innovative point is that a rotary multi-station design and an optimized brush mechanism motion trail are integrated. The structure comprises a base, a first positioning disc, a second positioning disc, an air valve positioning seat, an air valve, a brush mechanism, a support and an air cylinder. A plurality of air valve positioning seats are arranged on the first positioning disc, air valves are clamped on the air valve positioning seats, and welding parts face outwards. The second positioning disc is provided with a support and a brush mechanism and is driven by an air cylinder. And the cylinder rod stretches to control the brush to be in contact with the air valve welding part. By means of the design, the false welding treatment efficiency is remarkably improved, multi-position displacement of the brush mechanism is avoided, mechanical abrasion is reduced, and the welding quality and reliability of the air valve are improved. The utility model is not only suitable for the automobile industry, but also can be widely applied to other industrial fields, and has great practical value and development prospect.

The utility model provides a kind of low failure rate's inoculant rough breaking system, it is related to inoculant rough breaking system technical field, including support frame, the top of support frame is equipped with workbench, the top of workbench is equipped with support plate, the one end of support plate is equipped with conical feeding bin, the both sides inner wall of conical feeding bin is connected and is equipped with a group of jaw plate, the outer wall on one side of conical feeding bin is connected and is equipped with driving motor, the output of driving motor is connected and is equipped with crushing roller in conical feeding bin to inside.The device can effectively crush inoculant, optimize material motion trajectory, and under the action of jaw plate, reduce wear, so that the system crushing efficiency is better, indirectly improves crushing efficiency.

The invention relates to the technical field of industrial waste, in particular to a preparation device and method for industrial waste based geopolymer, the preparation device comprises a shell and a controller, a driving cavity is formed in the shell, a motor is arranged in the driving cavity, and a first gear is coaxially and fixedly connected to an output shaft of the motor; a first connecting rod is rotatably connected to the first connecting rod; a third connecting rod is hinged to the second connecting rod; a first push rod is hinged to one end of the third connecting rod; a second push rod is rotatably connected to the bottom end of the first push rod; an output shaft of the motor is coaxially and fixedly connected with a stirring assembly. According to the invention, the milling plate and the stirring assembly are integrated in the shell and are driven by the motor as a driving force, so that the technological process is simplified, the cost is reduced and the efficiency is improved.

The invention relates to an axial magnetic field analysis method for a traveling wave tube composite period focusing system, the system comprises first pole shoes arranged along the axial direction, magnetic steel arranged between the first pole shoes, and a plurality of second pole shoes arranged between the first pole shoes, and a non-zero magnetic potential difference exists at a gap between a first pole shoe head and a second pole shoe head; the method comprises the following steps: determining direct magnetic circuit magnetic conductance and gap magnetic circuit magnetic conductance of each magnetic circuit between adjacent pole shoes; determining the magnetic resistance of each magnetic circuit in the composite period focusing system according to the direct magnetic circuit magnetic conductance and the gap magnetic circuit magnetic conductance of each magnetic circuit; determining a magnetic potential distribution function at the radial position r = r1 of the focusing system according to the magnetic resistance of each magnetic circuit, wherein r1 is the inner diameter of the first pole shoe and the inner diameter of the second pole shoe; determining radial magnetic potential distribution of the focusing system by taking a magnetic potential distribution function of the focusing system at a radial coordinate r = r1 as a boundary condition, wherein r is greater than 0 and less than r1; and calculating the axial magnetic field distribution of the composite period focusing system. According to the method, the calculation precision of the axial magnetic field is improved, and the simulation design process is simplified.

This application provides a wafer cassette transfer device for a vertical furnace, comprising: a support platform for receiving wafer cassettes transported by an overhead crane; a telescopic arm including a first robotic arm and a second robotic arm rotatably connected, the extension length and angle of which are adjusted in the telescopic direction of the support platform, and retracting vertically into the space below the support platform when the support platform is extended; the lifting end of the first robotic arm is connected to a lifting mechanism, which drives the telescopic arm to move up and down in the lifting direction to lift the wafer cassette from the support platform; the clamping end of the second robotic arm is provided with a clamping mechanism to clamp the wafer cassette placed on the support platform; and a wafer cassette detection mechanism is located at the front end of the support platform along the extension direction and extends into the periphery of the target position inside the vertical furnace. The telescopic design of the telescopic arm reduces the floor space required, improves safety through sensors, and is applicable to different types of wafer cassettes, improving transmission efficiency and offering strong adaptability.

The utility model discloses a kind of benzalkonium chloride hydration law production tail gas treatment purification device, it is related to tail gas treatment purification technical field, the utility model discloses the included angle of the gas outlet and the gas outlet nozzle is greater than 0 ° with the one end of distribution pipe, when the gas outlet nozzle is actually manufactured, it is guaranteed that the opening angle of gas outlet meets the range requirement of greater than 0 ° and less than 60 °, the included angle of the gas outlet and the gas outlet nozzle is greater than 0 ° with the one end of distribution pipe, it is guaranteed that bubble can be discharged from gas outlet at certain angle, instead of being discharged in parallel with the axial direction of gas outlet nozzle, so it is more conducive to the front flow of bubble to the movement track of gas outlet nozzle, and then collide and break with gas outlet nozzle, further optimize the movement track and breaking effect of bubble in alkaline reagent, improve the contact effect of tail gas and alkaline reagent, improve tail gas purification efficiency, so that HCl and CO2 Gas is fully absorbed by alkaline solution, avoid certain pollution to environment.

The invention relates to the field of workpiece machining, and particularly discloses a workpiece burr cleaning method and device and a medium. The method comprises the steps that in response to a received burr cleaning request, all to-be-cleaned areas and workpiece feature information and technological parameters of to-be-cleaned workpieces are determined; based on the workpiece feature information and the process parameters, determining a burr risk index corresponding to the to-be-cleaned area; the position and direction of a machining coordinate system are determined according to the workpiece feature information; obtaining a tool path source file of the to-be-cleaned workpiece, and optimizing a machining tool path to obtain a cleaning numerical control program; and the to-be-cleaned workpiece is cleaned based on the cleaning numerical control program. By analyzing the geometrical characteristics and cleaning requirements of the parts, an optimized brush movement track can be quickly generated; and the motion trail is further optimized through post-treatment, high efficiency and quality of the cleaning process are ensured, and therefore precise control and the best effect of cleaning burrs through the brush are achieved.

The present invention discloses an impeller of a ring-type flaker, comprising a wheel shell, blades and bolts, wherein the wheel shell is welded by a wheel ring, a wheel plate, a shaft sleeve, a cone liner and a plurality of blades, the blades are evenly arranged along the circumference of the wheel ring, the two sides of the blades are respectively welded to the wheel ring and the wheel plate, the projection of any blade in the axial direction of the impeller is in a curved shape, and the blades are composed of a combination of an arc plate and a straight plate, wherein the straight plate part of the blade is arranged in a radial radial shape, and the inner side of the arc of the arc plate part follows the direction of rotation of the impeller. The beneficial effect of this structure is that the aerodynamic characteristics of the impeller are optimized, the stirring effect of the impeller on the airflow is reduced when the impeller rotates at high speed, the aerodynamic noise of the air in the high-speed rotating impeller is reduced, and the operating energy consumption is reduced; the movement trajectory of the feeding wood chips in the impeller is optimized, the friction of the wood chips when sliding on the blades is reduced, the wear of the blades is reduced, the situation that the wood chips are broken by the blades is reduced, and the efficiency of the impeller feeding wood chips is improved.

The utility model relates to a wall switch which comprises a rear seat, hardware installed on the rear seat, a swing rod triggering the hardware with the hardware, a pressing plate limiting the motion trail of the swing rod and a key connected with the swing rod. The guide rod extends into the guide sliding rail and can move in the direction limited by the guide sliding rail. The utility model provides a wall switch, which creatively designs a brand-new limiting structure of a swing rod, specifically, a guide sliding track is used as the limiting structure of the swing rod, and the accurate control of the motion range of the swing rod is realized.

The invention discloses an unmanned ship berthing control method based on stage scheduling and constraint model prediction, relates to the technical field of unmanned ship autonomous control, and is used for obtaining a control sequence of an unmanned ship autonomous berthing process and completing the unmanned ship autonomous berthing process including information acquisition and autonomous berthing operation. Dividing the berthing process into an approaching section, an alignment section and a berthing section according to the distance between the unmanned ship and the berth, generating a plurality of candidate paths in the approaching section and the alignment section, screening out an optimal path from the candidate paths based on a comprehensive path cost function, constructing a predictive control model in the berthing section, generating an optimal control sequence by adopting a rolling time domain optimization method, and obtaining the optimal control sequence. And generating a control instruction based on the optimal path and the optimal control sequence, sending the control instruction to an unmanned ship execution mechanism, and controlling the unmanned ship to complete autonomous berthing. According to the method, the berthing precision and safety are improved, and the robustness in a complex environment is enhanced.