5results about How to "Optimize motion trajectory" patented technology

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.

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 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.