54results about How to "Realize attitude adjustment" patented technology

The invention belongs to the technical field of optical precision detection, and relates to a bilateral misalignment differential confocal detection method and device for the free-form curve topography, which can be used for nano-precision detection of the free-form curve topography. The device comprises an active air floating vibration isolation spring, an air floating vibration isolation base, an X-direction air floating guide rail, a gantry, a bilateral misalignment laser confocal fixed-focus trigger measurement system, a laser interference displacement measuring mirror group, a Y-directionair floating guide rail, a Z-direction air floating guide rail, a free-form surface sample attitude adjustment device, a reference flat-crystal attitude adjustment device and a laser interferometer.By the way of contour measurement of a gantry structure coordinate measuring machine (CMM), in combination with the high-precision planar flat crystal as a reference reflecting mirror, the influence of the straightness of the X-direction and Y-direction air floating guide rails on the high-precision detection of the surface contour of the free-form surface is reduced, so that the 21 errors of theCMM are reduced. A spherical air floating table with a three-point support structure is used to adjust the attitude of a free-form surface part to be tested, and the high-precision detection of the contour of the free-form surface part is realized.

The invention relates to the field of fine flattening of lands, in particular to a GNSS (global navigation satellite system) based intelligent flat shovel control system and method and a flat shovel device applying the control system. The system comprises a GNSS positioning unit and a height adjusting unit, wherein the GNSS positioning unit comprises a GNSS base station and a GNSS moving station. The GNSS base station is used for receiving GNSS signals and calculating and transmitting differential signals. The GNSS moving station is used for receiving the differential signals from the GNSS base station and calculating and transmitting spatial information. The height adjusting unit comprises a controller, an electro-hydraulic directional control valve and a hydraulic cylinder. The controller is used for receiving the spatial information output by the GNSS moving station and transmitting action commands to the electro-hydraulic directional control valve connected with the hydraulic cylinder. By the GNSS based intelligent flat shovel control system and method, the problems about limited operation range, low operation efficiency, failure in accurate operation on slopes, large error in large-range operation, poor environmental adaptability and the like of laser control on the flat shovel device are solved.

The present invention relates to an adaptive dynamics coordination control method of a space manipulator. On the basis of deep analysis of space manipulator system kinematics and dynamics characteristics, a typical space manipulator kinematical equation is subjected to augmenting, and a space manipulator 'extended kinematics equation' capable of description of the tail end motion of the space manipulator and the attitude motion of a spacecraft is obtained; and on the basis of deep excavation of the space manipulator system kinetic equation and angular momentum conservation equation characteristics, a spacecraft reference speed and a joint space reference speed are respectively defined, and a space manipulator adaptive dynamics coordination controller is designed on this basis. The adaptive dynamics coordination control method between the space manipulator and a pedestal spacecraft can control the motion of the space manipulator to reach the purpose of space manipulator tail end locus tracking and pedestal spacecraft attitude regulation at the same time in the condition that system parameters have nondeterminacy.

The invention belongs to the technical field of optical precision detection, relates to a free-form surface non-contact dimensionality-reducing error-separating detection method and device, and the method can be used for the nano-precision detection of the free-form surface part morphology and comprises the following steps of using a high-precision plane parallel plate as a standard reflector, reducing the influence of X-direction and Y-direction air floatation guide rail straightness to the high-precision detection of a free-form surface outline, thereby reducing 21 items of errors of a three-coordinate measuring machine; and using a non-contact height-measuring sensor to rapidly collect height information of the free-form surface outline. Adopting a method of adjusting the posture of a detected free-form surface part by using a spherical air floatation workbench with a three-point support structure, through adjusting the posture of the free-form surface part, thereby improving an inclination detection range of the free-form surface part outline. The device comprises an active air floatation shock-insulating spring, an air floatation shock-insulating substrate, an X-direction airfloatation guide rail, a Y-direction air floatation guide rail, a portal frame, the non-contact height-measuring sensor, a laser interference displacement measuring lens group, a Z-direction air floatation guide rail, a free-form surface sample posture adjusting device, a reference parallel plate posture adjusting device and a laser interferometer.

The invention provides a joint type portable feet limiter comprising a limiting pedal, a yaw adjusting joint mechanism, a deflection adjusting joint mechanism and a pitch adjusting joint mechanism. The yaw adjusting joint mechanism comprises a yaw indexing positioning unit. The limiting pedal is mounted on the upper portion of the yaw adjusting joint mechanism. The deflection adjusting joint mechanism is connected to the lower portion of the yaw adjusting joint mechanism. The deflection adjusting joint mechanism comprises a deflection indexing positioning unit. The pitch adjusting joint unit is connected to the lower portion of the deflection adjusting joint mechanism and comprises a pitch indexing positioning unit. A loading limiting mechanism, used for overload protection, and a rapid mounting connector mechanism, used for connecting with other equipment, are mounted on the pitch adjusting joint mechanism. By the use of the feet limiter, a supporting platform is provided for a spaceman to perform real-time pose adjustment in space, operation motions for large-angle pose adjustment are fewer, and physical exhaustion of the spaceman is avoided.

The invention provides a posture adjusting method for a shield tunneling machine. Jacks in adjacent areas are utilized to serve as compensation power units to be additionally arranged in subarea areasneeding to be compensated, so that the thrust demand is met. Further, in order to expand the compensation range of deviation, the two adjacent areas of the subarea areas needing to be compensated aredivided into the main compensation area and the auxiliary compensation area, and compensation is conducted through the main compensation area and/or the auxiliary compensation area according to the specific value of the deviation of the subarea areas needing to be compensated; specifically, on the basis of an original subarea area of pushing hydraulic oil cylinders of the shield tunneling machine, the adjacent hydraulic cylinder or multiple hydraulic cylinders in the adjacent areas are utilized to serve as the dynamic compensating hydraulic cylinders; and when the shield tunneling machine needs to be subjected to posture adjusting, according to the difference value between the actual thrust of each subarea area and a preset thrust of the subarea area, as for the subarea needing to be subjected to thrust compensation, one or more hydraulic cylinders which are adjacent to the subarea area needing to be compensated are selected from the main compensation area and/or the auxiliary compensation area adjacent to the subarea area needing to be compensated and are classified into the subarea area needing to be compensated, and the deviation pressure of the subarea area is compensated dynamically so as to realize posture adjusting.

The invention discloses an inverse compensation stable-attitude quadrotor unmanned aerial vehicle. The inverse compensation stable-attitude quadrotor unmanned aerial vehicle comprises a vehicle body, wherein four arms are fixedly connected to the vehicle body, a rotor wing is installed at the tail end of each arm, the arms are arranged in a pairwise opposite mode, every two opposite arms are located on the same straight line, and the positions where two opposite arms are connected with the vehicle body are higher than the positions where the other two opposite arms are connected with the vehicle body; a chamber channel is formed in each arm, the chamber channels of every two opposite arms are communicated through a pipeline arranged in the vehicle body to form parallel channels, and balancing blocks are arranged in the parallel channels and driven by driving devices arranged on the parallel channels. By the adoption of the inverse compensation stable-attitude quadrotor unmanned aerial vehicle, the problem that the vehicle shakes under continuous strong wind high in the sky is effectively solved, and the quality of an aerial photo is more stable.

The invention discloses a front leg mechanism of a composite wheel leg type wheelchair. The front leg mechanism of the composite wheel leg type wheelchair is characterized by mainly comprising a rear connecting plate position and posture adjusting mechanism, a front connecting plate position and posture adjusting mechanism, a power transmission mechanism, a variable transmission mechanism and a control system. The rear connecting plate position and posture adjusting mechanism comprises a box, a rear connecting plate, a spindle, a crank, a guide rod, a sliding block, a guide rod seat, a left screw, a left rack nut, an upper electromagnetic clutch, a left handle, a rear guide wheel, a front guide wheel and a lower shaft. The front connecting plate position and posture adjusting mechanism comprises a front connecting plate, a right screw, a right rack nut, a lower electromagnetic clutch, a right handle and an upper shaft. The power transmission mechanism mainly comprises a spindle, a middle small shaft, a lower small shaft, a front guide wheel, a rear guide wheel, a middle bottom wheel gear and an underneath bottom wheel gear. The variable transmission mechanism mainly comprises a nut, a spring, a middle bottom wheel gear, a friction plate, a rear guide wheel and an upper shaft. The control system mainly comprises a sensing detection module, a driving module and a timing module.

The invention relates to a force feedback main manipulator and a puncture surgery robot system. The manipulator comprises a base, an operating device, a posture adjusting device and a force feedback device. The base is provided with a mounting end face. The operating device comprises a connecting rod, a hinge part and a handle, the hinge part is located at one end of the connecting rod, the connecting rod is hinged to the mounting end face through the hinge part, and the end, away from the hinge part, of the connecting rod is arranged away from the mounting end face. The handle is slidably mounted on the connecting rod in the axial direction of the connecting rod. The posture adjusting device comprises a posture transmission assembly and a depth transmission assembly, the posture transmission assembly and the depth transmission assembly are both connected with the operating device, and the posture adjusting device and the force feedback device can help a doctor to transmit corresponding adjusting actions of the handle to an auxiliary manipulator in real time and feed back contact force with an object when the auxiliary manipulator conducts the corresponding adjusting actions. Therefore, a more real feeling of simulating a puncture operation during actual needle holding is provided for a doctor, the success rate of an operation is increased, and the life safety of a patient is ensured.

The invention belongs to the technical field of unmanned vehicle chassis, and particularly relates to an unmanned vehicle chassis structure with a telescopic rocker arm suspension. The unmanned vehicle chassis structure comprises a vehicle body and four suspension systems. The four suspension systems are arranged at the front corner, the rear corner, the left corner and the right corner of the vehicle body. Each suspension system comprises an electric wheel assembly, a wheel edge independent steering assembly, a telescopic rocker arm assembly and a rocker arm driving and elastic damping systemassembly. Through large-angle swinging and large-stroke stretching and retracting of telescopic rocker arms, lifting, pitching and side tilting of the vehicle body can be adjusted, the ability of passing trenches and crossing obstacles can be greatly improved, and the climbing stability and the side-tilting slope passing ability are improved; and in combination with wheel edge independent steering, centripetal steering can be achieved, and reasonable steering radius requirements can be met.

The invention discloses a spherical fruit and vegetable posture automatic adjustment method and device based on computer vision. The device comprise a camera, three avoidance stepper motors, a single-chip microcomputer controller and a computer, wherein angles among rotating wheels of the three stepper motors are 120 degrees; the camera is arranged directly above center shafts of the three steppermotors and is connected to the computer; one end of the single-chip microcomputer controller is connected to the computer; and the other of the single-chip microcomputer controller is connected to the three stepper motors. The method comprises the following steps of: imaging spherical fruit and vegetables through the camera; judging the position coordinates of horizontal planes where the fruit and vegetable heads are positioned by the computer through images; respectively working out the radiuses of the fruit and vegetables and needed rotating angles; controlling the three stepper motors to rotate through the single-chip microcomputer controller so as to cause the center shafts of the spherical fruit and vegetable to be upward and vertical to the horizontal plane, thus realizing the automatic adjustment of the spherical fruit and vegetable. Particularly, a green onion or the stem of an apple is adjusted through rotation so as to provide good postures for the automatic hilum cutting ofthe green onion and the automatic bagging of the apple in the next step.

The invention discloses a pan-tilt equipment control method and device, equipment and a storage medium. The method comprises the steps that: position information of an unmanned aerial vehicle and position information of a target area are obtained; a pitch angle and a horizontal angle of the unmanned aerial vehicle is determined relative to the target area according to the position information of the unmanned aerial vehicle and the position information of the target area, wherein the horizontal angle is an included angle between a first direction and a second direction determined according to a connecting line of a projection point of the unmanned aerial vehicle relative to the ground and the target area; according to the pitch angle and the horizontal angle, a target rotation angle of the pan-tilt equipment is determined; and the actual rotation angle of the pan-tilt equipment is adjusted according to the target rotation angle of the pan-tilt equipment. According to the prior art, signals provided for a target area are unstable when an unmanned aerial vehicle flies, and as a result, a blind area exists. With the pan-tilt equipment control method and device, equipment and storage medium adopted, the above problem can be solved.

The invention relates to a swing pipe machine for spools. The swing pipe machine comprises a rack (1) and is characterized in that a conveying rack (3) is mounted in the middle of the rack (1), a hopper (2) is arranged at one end of the rack (1), a conveyor belt (6) is arranged on one side of the hopper (2), an upper belt wheel (4) is mounted at the upper end of the conveying rack (3), a lower belt wheel (5) is mounted at the lower end of the conveying rack (3), the conveyor belt (6) is mounted on the upper belt wheel (4) and the lower belt wheel (5), a discharge port (8) is formed in the upper end, near the upper belt wheel (4), of the conveying rack (3), a plurality of uniformly distributed partition plates (9) are arranged on the discharge port (8), the external end of the discharge port (8) directly faces a swing pipe rotating wheel (15), and a rotating wheel shaft (16) is fixedly arranged on the axis of the swing pipe rotating wheel (15). The swing pipe machine is reasonable in structure and high in degree of automation, can straighten out and place the spools automatically, and avoids the condition that gaps among the spools are relatively large in the placing process.

The invention provides a finger-wrist integrated soft gripper. The finger-wrist integrated soft gripper comprises a left pneumatic soft finger, a right pneumatic soft finger, a left adjustable supporting arm, a right adjustable supporting arm, a main arm, a pneumatic soft wrist and an installing panel; the left pneumatic soft finger and the right pneumatic soft finger each adopt a double-layer airbag plate structure, and two-way bending deformation is achieved when different air bags are inflated; the pneumatic soft wrists each adopt an air bag array cylindrical structure, biaxial two-way bending deformation is achieved when different air bags are inflated, and therefore the attitude angles of the left pneumatic soft finger and the right pneumatic soft finger are changed; the left adjustable supporting arm and the right adjustable supporting arm clamp the left pneumatic soft finger and the right pneumatic soft finger respectively and are connected with the main arm through hinges, andthe left adjustable supporting arm and the right adjustable supporting arm mesh with each other through a gear to adjust the field angles of the left adjustable supporting arm and the right adjustable supporting arm and keep the symmetry; the upper surfaces of the pneumatic soft wrists are connected with the installing panel, and the lower surfaces of the pneumatic soft wrists are connected withthe main arm; and the installing panel is installed on an operation machine to be used as an end executor. The finger-wrist integrated soft gripper can be suitable for food classification and encasement operation on a production line, fruit picking in agriculture and disabled patient nursing in medical treatment.

The invention belongs to the technical field of hot rolling equipment, and provides a roller bed replacement auxiliary device. The roller bed replacement auxiliary device comprises a supporting base and a rotating support, wherein the rotating support is fixed to the supporting base in a rotatable mode. By the adoption of the hot rolling line roller bed replacement auxiliary device, the operation of replacement and maintenance of roller barrels in the narrow limited roller bed space is achieved.

The invention belongs to the technical field of unmanned boat surveying and mapping application, and particularly relates to an auxiliary stabilizing device for measuring equipment of a small-sized surveying and mapping unmanned boat and an auxiliary stabilizing method. The device comprises an electric push rod rotatably connected with the unmanned boat; the electric push rod is provided with a first L-shaped push rod body and a second L-shaped push rod body which are perpendicular to each other; crank rocker mechanisms are connected to the tail ends of the first L-shaped push rod body and thesecond L-shaped push rod body, and each crank rocker mechanism comprises a connecting rod and a rocker; a planetary gear set is connected to the bottom of each connecting rod; a hull is provided witha stepping motor connected with the planetary gear sets; each planetary gear set is provided with an angle sensor connected with the corresponding stepping motor; the hull is internally provided withan industrial personal computer connected with the angle sensors and the stepping motors, and the industrial personal computer is connected with an inertial navigation part in the hull. According tothe auxiliary stabilizing device, the rotation angles of the stepping motors are controlled by the industrial personal computer, the synchronous deviation of the measuring equipment due to the posturechange of the hull is eliminated, so that the measuring equipment always perpendicularly points to the sea bottom, and the relative stability of the measuring equipment is improved.

A turnover tool of a low-speed and large-torque motor stator comprises a substrate, wherein the substrate and a stator core form detachable matching connection, and a hanging lug is arranged on a panel of an outer side of the substrate. The turnover tool is simple in structure and is connected with the stator core in a matching way during application, the turnover tool is arranged at an avoidanceposition of a coil at a stator end part and is used with a hanging device in a matching way, gesture adjustment of a stator is conveniently achieved, and meanwhile, damage to the coil caused by collision of the stator end part also can be prevented.

The invention relates to the technical field of road lighting, and discloses an integrated solar LED street lamp. A screw rod is fixedly mounted on an output shaft of a power machine I, and a screw rod sleeve hole is formed in one side of a supporting plate II and is in sleeving connection with the screw rod in a matched manner. When the power machine I works and drives the lead screw to rotate, the supporting plate II gets close to a supporting plate I, and due to the fact that the included angle a between a connecting piece I and a connecting piece II is 120 degrees, when a jacking device isextruded, the end, close to a jacking shaft, of a jacking piece can move upwards and jack up a two-way rotating hinge, the two-way rotating hinge moves upwards synchronously along with the jacking piece, and a main photoelectric plate is inclined; and meanwhile, due to the fact that the two-way rotating hinge moves upwards and an adjusting device II moves, the supporting effect cannot be achieved, a side photoelectric plate I and a side photoelectric plate II are inclined at the same time, and air pressure sundries such as leaves and dust on the main photoelectric plate, the side photoelectric plate I and the side photoelectric plate II fall off.