26results about How to "Precise motion control" patented technology

The invention provides an input and output feedback linearization method, device and equipment of a rope parallel robot, the method belongs to a full-closed-loop position control algorithm in the rope parallel robot, the working principle of the method is a technology for performing motion control on the robot by simultaneously using trajectory tracking control, and through improved control, the control precision is improved. By means of the method, accurate motion control over the robot can be achieved, the adaptive capacity of the robot facing external link influence factors can be effectively improved, robustness is improved, and quick response to trajectory planning control over the tail end load of the rope traction robot is achieved.

The invention discloses an underwater robot motion control method based on fuzzy active disturbance rejection control. As the basis of underwater robot motion control research, firstly, a kinetic model is established for an underwater robot; and then an active disturbance rejection controller is used as a basic controller. In order to avoid the problems of phase lag and long adjustment time caused by a tracking differentiator, the linear active disturbance rejection controller designed by the invention does not use the tracking differentiator (TD), and only keeps a linear extended state observer (LESO) and a linear state error feedback rate (LSEF). Finally, in order to adapt to the problem that the underwater robot faces control model change when executing different operation tasks, a fuzzy controller is added on the basis of the improved linear active-disturbance-rejection controller, parameters in the linear active-disturbance-rejection controller are dynamically adjusted through a fuzzy inference rule, and therefore the control model change is avoided. Therefore, optimal control parameters can be adjusted for robot motion control under different conditions.

The invention relates to a compliance control method for a heavy-load plastic forming robot. The compliance control method comprises the following steps: S1, establishing a kinematic model of the heavy-load plastic forming robot; s2, establishing a dynamic model of the heavy-load plastic forming robot; s3, a forming load real-time prediction model of the heavy-load plastic forming robot is established; and S4, establishing a compliance control model of the heavy-load plastic forming robot. According to the method, the approximate linear relation between the normal forming force and the contact area is disclosed, it is assumed that the friction forming force parameter in the continuous control period is constant, the forming load real-time prediction model is established, and stress can be rapidly predicted. Through real-time forming load calculation, forming feeding speed feedforward and servo motor three-loop control, the compliance control method for the heavy-load plastic forming robot is constructed, and the control precision of the heavy-load plastic forming robot can be effectively improved.

The application relates to the technical field of intelligent mobile devices, in particular to a differential horizontal rudder wheel assembly which comprises a walking motor module, a steering motor module, a planetary reducer module and an optimized mechanical connection assembly. The walking motor and the steering motor are both servo motors, high-torque output and accurate control are realized by combining the planetary reducer; the mechanical structure is compact, the installation height is 340 mm, and the integration degree is high; the wheel body is made of polyurethane material, can bear 1500 kg and is suitable for complex working conditions; NPN normally open proximity switches are configured to realize closed-loop control. The application can provide high-precision and high-performance driving, is suitable for automatic devices such as intelligent logistics vehicles and AGV trolleys, meets the demand of complex working conditions and improves the operation reliability.

The utility model provides an all-dimensional cleaning device for a PH meter. The all-dimensional cleaning device for the PH meter solves the problems that existing cleaning equipment is not comprehensive and thorough in PH meter cleaning, low in efficiency and the like. The device comprises a driving mechanism located on the upper portion and a cleaning mechanism located on the lower portion, the driving mechanism comprises a translation assembly, a lifting assembly is driven on the translation assembly, a rotating assembly is driven on the lifting assembly, and a PH meter is arranged on the rotating assembly; the cleaning mechanism comprises a cleaning tank, a spiral spray pipe is arranged in the cleaning tank, a spray-washing space is formed in the inner circumference of the spiral spray pipe, the spiral spray pipe is provided with a plurality of nozzles facing the spray-washing space, and the PH lowering meter extends into the spray-washing space. The all-dimensional cleaning device for the PH meter has the advantages of being efficient, comprehensive, accurate and automatic, the cleaning quality of the PH meter can be effectively improved, the manual operation cost is reduced, the overall efficiency of a production line is improved, and good adaptability and reliability are achieved.

The present invention discloses a vehicle clutch electric control system composed of an electric control switch and a clutch electric device, belonging to the technical field of vehicle clutch systems, comprising a gear lever and a clutch electric device, wherein a ball head is installed on the top of the gear lever, the top of the gear lever is covered with a covering software, an inner electrode contact is installed on one side of the gear lever, the bottom of the gear lever is paved with an electric control switch wire and is electrically connected to the clutch electric device through the electric control switch wire, the outer electrode contact is pressed to contact the inner electrode contact so that the circuit of the electric control switch wire is connected, the driving motor is driven to drive the vehicle's clutch plug-in push rod to generate an action to separate the clutch, and the driver can operate it. Compared with the traditional gear shifting method, the system solves the problems of complex clutch pedal operation, high driving labor intensity and poor comfort of manual transmission vehicles, while retaining the characteristics of fuel saving, economy, free takeover at any time, smooth power output and manual driving pleasure.

The utility model discloses a modularized multi-shaft cooperative control crossing frame mechanism, which relates to the technical field of crossing frames, and comprises a base, an adjusting mechanism is arranged above the base, the adjusting mechanism comprises a support frame and four servo motors, each servo motor is fixedly connected with the base, the output shaft end of each servo motor is fixedly connected with a threaded rod, and the threaded rod is fixedly connected with the base. The outer surface of each threaded rod is in threaded connection with a threaded block, each threaded block is in sliding connection with the base, the inner wall of each threaded block is hinged to a supporting rod through a pin shaft, and each supporting rod is hinged to the supporting frame through a pin shaft. According to the utility model, through the cooperative arrangement of the base and the adjusting mechanism, the height of the crossing frame can be controlled by adopting a multi-axis mode in the actual use process of the crossing frame, so that the operation difficulty of the crossing frame is simplified, the movement control of the crossing frame is more accurate, the synchronism is better, and the working efficiency is improved. And therefore, the convenience and stability of the crossing frame during use are improved.

Provided is a vehicle motion control device capable of performing highly accurate vehicle motion control in consideration of limits that will occur in actuators in the future. The vehicle motion control device includes: an actuator characteristic change estimation unit configured to estimate a characteristic change of an actuator at a future time from a current time; a controllable range estimation unit configured to calculate a controllable range of a vehicle motion from a characteristic change calculated by the actuator characteristic change estimation unit, a target track of a vehicle, and a current vehicle state; a vehicle motion planning unit configured to create a motion plan within a controllable range calculated by the controllable range estimation unit; an evaluation value calculation unit configured to calculate an evaluation value based on a motion plan created by the vehicle motion planning unit; and a determination unit configured to determine whether or not an evaluation value calculated by the evaluation value calculation unit is minimum. The controllable range estimation unit refers to a target track of the vehicle and calculates a controllable vehicle motion range at a future time in consideration of a characteristic including at least an output range of an actuator regarding a vehicle motion from a current time. The vehicle motion planning unit creates a motion plan with reference to a predetermined evaluation function within the controllable vehicle motion range calculated by the controllable range estimation unit.

This invention provides a fixture for high vacuum equipment and its design method. The fixture includes: a fixing part; a clamping part connected to the fixing part and capable of translation or rotation relative to the fixing part; a driving part, with its two ends connected to the fixing part and the clamping part respectively; and a temperature control part for regulating the temperature of the driving part. When the temperature of the driving part changes from an initial temperature to a target temperature, the length of the driving part changes from an initial linear length to a target linear length, driving the clamping part to translate relative to the fixing part from an initial linear position to the target linear position; or when the temperature of the driving part changes from an initial temperature to the target temperature, the length of the driving part changes from an initial arc length to a target arc length, driving the clamping part to rotate relative to the fixing part from an initial angular position to a target angular position. This fixture can ensure precise motion control while avoiding negative impacts on the airtightness of the high vacuum equipment.

The invention relates to a vehicle motion control method and device, electronic equipment and a storage medium. The method comprises the steps that whether a displacement signal of a vehicle is detected or not is determined; when the displacement signal of the vehicle is detected, determining a first numerical value of the square wave signal according to the target movement distance and the relationship between the number of the square wave signal output by a vehicle motor encoder and the vehicle movement distance; the torque applied to the vehicle motor is adjusted to be motion torque, so that the vehicle is kept in a motion state, and square wave signals output by a vehicle motor encoder are counted; in response to the fact that the count value of the square wave signal output by the vehicle motor encoder reaches the first value, the torque applied to the vehicle motor is adjusted; wherein the vehicle is driven by the motor to move. Accurate micro-distance motion control is realized.

The utility model relates to the technical field of titanium alloy processing, in particular to a surface treatment device for titanium alloy plate processing, which comprises a base, the top of the base is fixedly connected with an L-shaped plate, one side of the L-shaped plate is provided with a sliding groove, the outer side of the L-shaped plate is fixedly connected with a first motor, and an output shaft of the first motor extends into the sliding groove and is fixedly connected with a gear. Two first sliding blocks are slidably connected into the sliding groove, racks are fixedly connected to one sides of the first sliding blocks, and the racks are connected with the gears in an engaged mode. The device has the beneficial effects that the device can adapt to different specifications, the production flexibility is greatly improved, orders of various plates with different sizes can be accepted, the requirements of customers can be better met, the market competitiveness is enhanced, the treatment requirements of the plates with different sizes can be quickly met, and the market demand change can be quickly met; compared with a traditional device, the operation quality and the use efficiency are greatly improved.

The invention relates to the technical field of industrial robots, in particular to a linear rotation actuator and a wafer processing device. Comprising a rotating module, a linear motion module and a connecting piece, a rotating assembly comprises a first rotating driving piece and a rotating assembly, the outer ring of the rotating assembly is sleeved with the first rotating driving piece, the rotating assembly is in transmission connection with the first rotating driving piece, and one end of the rotating assembly is sleeved with a first bearing; the linear motion module comprises a second rotary driving part and a linear motion assembly, the second rotary driving part is arranged on the outer ring of the linear motion assembly in a sleeving mode, the linear motion assembly comprises a transmission nut and a lead screw, the transmission nut is in transmission connection with the second rotary driving part, and one end of the lead screw is sleeved with a second bearing; the connecting piece is connected with an outer ring of the first bearing and an outer ring of the second bearing, and the first bearing and the second bearing are arranged in the connecting piece in a layered mode. The problem that in the prior art, a linkage assembly of a linear rotation actuator is not high in linkage efficiency and precision is solved.

The utility model relates to an automatic tray jacking device which comprises a support, a linear lifting module is arranged on the support, a rotor of the linear lifting module is connected with a mounting plate, and a secondary tray jacking assembly is arranged on the mounting plate. The linear lifting module drives the charging tray secondary jacking assembly to perform primary jacking action; the charging tray secondary jacking assembly is used for carrying out secondary jacking action; the support is further provided with a tray telescopic assembly. The tray telescopic assembly is arranged above the charging tray secondary jacking assembly; the charging tray secondary jacking assembly is used for jacking the charging tray on the tray telescopic assembly from bottom to top; anti-toppling assemblies are arranged on the two sides of the tray telescopic assembly correspondingly. The linear module and the air cylinder are combined, so that automatic jacking of the charging tray can be completed, the advantages of the linear module and the air cylinder can be brought into full play to achieve efficient, accurate and reliable motion control, and the linear module and the air cylinder have the advantages of being high in precision and stability, high in response speed, high in bearing capacity, flexible in motion control, high in reliability and the like.

The invention relates to the technical field of radiation-resistant electronics, in particular to a radiation-resistant pan-tilt camera system based on an FPGA (Field Programmable Gate Array). The system comprises a holder, a camera, a driving circuit, an irradiation-resistant reinforced SRAM type FPGA, a current sensor, an encoder and a remote control end. The image acquisition and processing module and the motor feedback control module adopt a triple redundancy design; the holder control and calculation module supports selection of a single-mode redundancy circuit and a triple-mode redundancy circuit. The system is good in anti-radiation performance, rapid and accurate in holder control, and high in reliability and stability.

The invention discloses a method and a system for automatically cleaning dust removal equipment based on machine vision, and relates to the technical field of automatic cleaning. The method comprises the steps that all pollution sources in a to-be-cleaned area are obtained, and pollution point locations are marked; a three-dimensional coordinate system with the dust removal equipment as the center is established, the pollution point positions are converted into the coordinate system of the dust removal equipment in the to-be-cleaned area, and stain coordinates are obtained; marking cleaning coordinates corresponding to the stain coordinates according to the operation range of the dust removal equipment; the method comprises the following steps: acquiring an image shot by a camera of the dust removal equipment, extracting stain coordinates in the image, and if it is obtained through image analysis that pollutants exist at the stain coordinates, driving the corresponding dust removal equipment to reach the cleaning coordinates corresponding to the stain coordinates, and executing dust removal operation. According to the control method, fixed-point cleaning of the dust removal equipment is achieved, the labor cost is reduced, and the cleaning efficiency is improved.

This utility model relates to the technical field of shrink tubing, and more particularly to a shrink tubing heat shrinking device. Its technical solution includes a heat shrink box body, an outer rod, a mounting rod, and an inner rod. The rear surface of the heat shrink box body has a material inlet, and a fixed door is hinged to the rear surface of the material inlet. A handle is welded to the rear surface of the fixed door. A worktable is welded to the lower surface of the heat shrink box body, and support legs are welded to the lower surface of the worktable. A base plate is welded inside the support legs. A support rod is fixed to the inner wall of the heat shrink box body, and mounting rods are movably inserted into both outer ends of the support rod. An outer rod is fixed to one outer end of the mounting rod, and an inner rod is movably inserted into one outer end of the outer rod. A fixed rod is fixed to one outer end of the inner rod, and connecting rods are movably inserted into both outer ends of the fixed rod. A first hydraulic cylinder is installed on the inner wall of both the fixed rod and the support rod. This utility model facilitates the expansion of the shrink tubing.

The utility model provides a clamping device with linkage structures. The clamping device comprises a first mounting plate, three clamping mechanisms and three linkage mechanisms, the three clamping mechanisms are evenly distributed on the lower end face of the first mounting plate, every two adjacent clamping mechanisms are connected through a linkage mechanism, and the bottoms of the clamping mechanisms are used for clamping workpieces. The clamping mechanism comprises a radial driving device, an axial driving device, a moving frame, a vertical plate, a second mounting plate and a clamping jaw structure, the radial driving device is arranged on the lower end face of the first mounting plate, the output end of the radial driving device is connected with the moving frame, the axial driving device is arranged on the moving frame, and the output end of the axial driving device is connected with the vertical plate; the second mounting plate is arranged on the vertical plate, and the clamping jaw structure is arranged on the second mounting plate. According to the clamping device with the linkage structure, the problem that the clamping jaw inclines due to the fact that an air cylinder of a clamping device in the related technology is inconsistent in vertical movement is solved.

This disclosure provides a robot control method, apparatus, device, and computer-readable storage medium. The method estimates the Jacobian matrix of robot motion based on real-time acquired robot motion data and establishes an optimization problem for a specific task based on physical constraints on the joint angular velocities and accelerations of each joint of the robot. This determines the control information for the robot's joint angular velocities, thereby achieving precise control of the robot's motion. This method enables fast and accurate robot motion control based on data-driven approaches even when the robot model structure is unknown or inaccurate, reducing computational costs and control errors caused by inaccurate structural information, and effectively reducing joint angular deviations during task execution. Furthermore, by limiting the robot's joint angular acceleration, it solves the problem of discontinuous speed or even motor damage caused by excessively large joint angular acceleration.

Provided is a vehicle motion control device capable of performing highly accurate vehicle motion control in consideration of limits that will occur in actuators in the future. The vehicle motion control device includes: an actuator characteristic change estimation unit configured to estimate a characteristic change of an actuator at a future time from a current time; a controllable range estimation unit configured to calculate a controllable range of a vehicle motion from a characteristic change calculated by the actuator characteristic change estimation unit, a target track of a vehicle, and a current vehicle state; a vehicle motion planning unit configured to create a motion plan within a controllable range calculated by the controllable range estimation unit; an evaluation value calculation unit configured to calculate an evaluation value based on a motion plan created by the vehicle motion planning unit; and a determination unit configured to determine whether or not an evaluation value calculated by the evaluation value calculation unit is minimum. The controllable range estimation unit refers to a target track of the vehicle and calculates a controllable vehicle motion range at a future time in consideration of a characteristic including at least an output range of an actuator regarding a vehicle motion from a current time. The vehicle motion planning unit creates a motion plan with reference to a predetermined evaluation function within the controllable vehicle motion range calculated by the controllable range estimation unit.

The utility model discloses a novel embedded LSR laser speckle removing module, which comprises a main body base, a first elastic sheet, a second elastic sheet, a magnet group and a coil group, a base through hole is arranged in the middle of the main body base, the first elastic sheet is provided with two first elastic arms, the second elastic sheet is provided with two second elastic arms, and the coil group is arranged in the base through hole. The extending direction of the first elastic arm is perpendicular to the extending direction of the second elastic arm. The magnet group comprises two first driving magnets and two second driving magnets, and the coil group comprises two first driving coils and two second driving coils; the first elastic sheet is positioned on the upper end side of the main body base; the tail end parts of the first elastic arms are respectively screwed on the upper surface of the main body base; the second elastic piece is located on the lower end side of the main body base. The tail end of each second elastic arm is screwed to the lower surface of the main body base. The first elastic sheet is provided with a first optical diffusion sheet, and the second elastic sheet is provided with a second optical diffusion sheet. By means of the structural design, the device has the advantages of being novel in structural design and accurate in motion control.

This invention discloses a PC-based integrated vision-motion logic control method, device, and storage medium, relating to the field of industrial automation control technology. The method includes the following steps: establishing a three-buffer ring array and a global atomic index in the physical memory of a multi-core PC; utilizing CPU atomic instructions to achieve data interaction between the vision process and the PLC core; the PLC periodically comparing frame tokens, and when visual data lag is detected, automatically entering inertia compensation mode to generate virtual target coordinates and calculate inertial drift to ensure motion continuity; real-time calculation of crash warning values ​​and jamming risk indicators, based on which a multi-level linkage multi-dimensional adjustment algorithm dynamically adjusts the PLC control cycle and process parameters to achieve proactive defense and adaptive adjustment of the system. This invention solves the problem of control cycle breakage and discontinuous mechanical motion oscillation caused by significant fluctuations in the visual recognition time of non-standard agricultural products.

The present invention relates to the field of industrial automation systems, and discloses a two-dimensional position comparison system for motion control. The system comprises: a software motion controller, in which a non-real-time operating system and a real-time operating system are arranged; a motion control kernel, a position comparison parameter setting unit and a position comparison data processing unit are arranged in the real-time control system; a two-dimensional comparison module, in which the two-dimensional comparison module is connected to the software motion controller for communication, and in which a network connection chip, a bus control chip, an MCU microprocessor, an FPGA programmable logic processing unit and a position comparison unit are arranged; a driver, in which a network interface chip is externally connected to a driver; a motor, in which the driver is connected to the motor for communication, and the motor is connected to the FPGA programmable logic processing unit for communication; and a target to be controlled, in which the target to be controlled is connected to the position comparison unit for communication. The present invention can realize high-precision and high-efficiency motion control.

Embodiments of the present disclosure relate to a method and apparatus for synthesizing four-dimensional content, an electronic device, and a storage medium. The method includes determining a plurality of three-dimensional Gaussian points on a three-dimensional model of a spatial object; dividing the plurality of three-dimensional Gaussian points into a plurality of component units, wherein a component unit is a constituent part of the three-dimensional model; determining a corresponding physical attribute of each component unit in the plurality of component units; and controlling the plurality of three-dimensional Gaussian points to move according to the corresponding physical attribute, to synthesize four-dimensional content of the spatial object. Thus, the physical rationality and control accuracy of the four-dimensional content can be improved.

The utility model discloses a material taking and placing module. The material taking and placing module comprises a Y-axis driving module, an X-axis driving module arranged at the output end of the Y-axis driving module, a variable-pitch material suction module arranged at the output end of the X-axis driving module and a cover plate taking assembly. The variable-pitch suction module comprises a first mounting plate, a first Z-axis driving module arranged on the first mounting plate, a driving mechanism and a first sliding assembly which are arranged at the output end of the first Z-axis driving module, a plurality of suction cup modules arranged on the first sliding assembly and a variable-pitch plate arranged at the output end of the driving mechanism. A plurality of guide groove holes are formed in the pitch changing plate, each suction cup module is further provided with a cam roller, and the cam rollers are correspondingly arranged in the guide groove holes and can roll along the guide groove holes; the cover plate taking assembly comprises a second mounting plate, a second Z-axis driving module arranged on the second mounting plate, second sliding assemblies arranged on the two sides of the second Z-axis driving module, a fixing base arranged at the output end of the second Z-axis driving module and slidably connected with the second sliding assemblies, and a plurality of material taking mechanisms arranged on the fixing base.

The invention discloses a muscle-driven miniature underwater robot and a construction method thereof. The muscle-driven miniature underwater robot structurally comprises a high-elasticity shell film, and high-elasticity driving fins, bullfrog hind limb muscle tissues, a microcontroller, silver needles, a circuit board packaging film and wires are arranged in the high-elasticity shell film; the bullfrog hind limb muscle tissue is attached to the surface of the high-elasticity driving fin, and the bullfrog hind limb muscle tissue drives the high-elasticity driving fin to deform. And the silver needle is fixed at a set excitation position of the bullfrog hind limb muscular tissue and is connected with the microcontroller through a wire. The microcontroller is arranged at the tail part of the robot; and a circuit board packaging film is arranged outside the microcontroller. The high-elasticity driving fin comprises a first composite material and a second composite material; and the first composite material is wrapped in the second composite material. By simulating an aquatic organism swimming mechanism, high energy density, accurate motion control and economic manufacturing can be realized.