52results about How to "Reduce sideslip" patented technology

The invention relates to a orchard-used self-propelled independent steering and four-wheel driving power-driven orchard work vehicle comprising a frame structure, an single-wheel independent driving and independent steering mechanism, an overall steering and overall walking mechanism, a corner signal and revolving speed signal sensor and a central control unit and s storage battery. The frame structure is used for supporting other mechanical mechanisms and providing a chassis platform. The single-wheel independent driving and independent steering mechanism is provided with a direct current motor, a reducer and a direct current motor driver which are used for outputting corresponding revolving speed and torque needed in walking and controlling sense of rotation of car wheels, and is provided with a stepping motor, a stepping motor driver and a reducer which are used for steering independently. The overall steering and overall walking mechanism comprises four single wheel independent driving and independent steering structures same in structure. The corner signal and revolving speed signal sensor transmits signals to data acquisition cards to process and transmits back to computers to finish information feedback. The central control unit is used for controlling driving modes of each wheel. The storage battery is used for supplying power to all electric power mechanisms, driving mechanisms and control systems. The orchard-used self-propelled independent steering and four-wheel driving power-driven orchard work vehicle can realize overall movement by various driving modes and strong in topography adaptability.

The invention relates to a steering control system and a control method used for a multi-axle steering vehicle, in particular to a novel steering control system and a control method used for the multi-axle vehicle. The front wheels of the vehicle are controlled by a steering wheel by a mechanical device; a main controller only controls the rotation angle of the wheel of another axle. An auxiliary controller controls the rotation angle of the wheels of other axles. Besides the wheels of the front axle, other wheels of the axle are provided with rotation angle sensors which can realize the feedback control. The controller realizes the steering by controlling an electromagnetic proportion valve, so as to control a steering cylinder. The control method is characterized in that the conversion disposal to the multi-axle steering vehicle operation model is carried out; the control to the whole vehicle can be realized only by controlling the rotation angle of any two wheels of the axle after the model is disposed. The system and the method of the invention unify the multi-axle and two-axle steering vehicle control operation models, lead the steering control arithmetic of the multi-axle steering vehicle to be easily realized, solve the abrasion problem which is caused by the side sliding in the steering process of the tyres, and reduce the usage cost of the vehicle.

The invention provides an automotive front wheel independent-control and hydraulic-steering system having a redundancy function. The system is composed of a steering wheel module (21), a hydraulic transmission system (18), hydraulic steering execution modules (15), an electronic control module (13), a steering wheel (1), a steering shaft (2), a gear (19), a rack (3), pistons (20), hydraulic oil cylinders (4), oil pipes (6), a flow control valve (17), electric three-way valves (7), executing oil cylinders (8), magnetic control devices (9), compensation oil tanks (10), switch type control valves (14), steering cross pull rods (16), an electronic control unit (12), a turning angle sensor (22), a torque sensor (5) and electric control wiring harnesses (11). The system makes full use of the advantage of the variable hydraulic transmission direction and achieves independent steering and accurate control of front wheels. When the control system breaks down, turning wheels can be directly controlled by steering wheel power through hydraulic path connection, and the system has a fault-tolerant function.

The invention discloses a control method of differential drive steering and stability of an electric vehicle driven by a hub motor. By judging whether a phase track of a running vehicle exceeds the stability region or not, the vehicle in the stability region is regarded as a linear model, and the differential drive steering control of the linear model is conducted on the vehicle; the vehicle steering is actively intervened by using the generated direct yawing moment, and the vehicle outside the stable region returns to the stable state from the unstable state. According to the control method,combined control is adopted, thus a non-linear vehicle relying on the differential drive steering can well track the side slip angle and yaw rate of a reference model on the road surface with different adhesion coefficients within the allowable turning angle range of a steering wheel, the vehicle stability is effectively improved, and the traffic safety is ensured.

The invention discloses a six-freedom-degree chewing force control and monitoring system aiming at solving the problem that in the prior art, because the stress situation of all parts of teeth cannotbe monitored or controlled in the chewing process and accordingly the accuracy rate of chewing simulation is low, credibility of the chewing simulation result is low. According to the six-freedom-degree chewing force control and monitoring system, by achieving the six-freedom-degree movement of a mandibular movement platform and vertical movement of a maxillary installation platform, the chewing movement of human oral cavities is more accurately simulated, the stress situation of all the parts of the teeth is automatically monitored and controlled in the chewing process in real time, and therefore the accuracy rate of chewing simulation is increased, and the result credibility of chewing dental department detection can be high. The six-freedom-degree chewing force control and monitoring system is suitable for the technical field of parallel robots.

The present invention relates to an unmanned helicopter heading compensation route transition method. During the deflection process of an unmanned helicopter, a transverse path adopts lateral zero speed maintaining control; a heading path adopts yaw angle rate maintaining control; a yaw angle rate instruction is generated according to heading deviation containing a heading compensation quantity; the heading compensation quantity is determined according to real-time side deviation, a yaw angle rate upper limit corresponding to a current flight speed and a heading compensation quantity threshold, so that a yaw angle speed instruction and a roll angle instruction are obtained; and therefore, when the unmanned helicopter rotates too quickly when swerving due to disturbance, a heading compensation mechanism enables a compensation effect for reducing the speed of rotation; and when the helicopter rotates too slowly when swerving due to disturbance, the heading compensation mechanism continuously gives out heading compensation instructions, and the helicopter continues to complete swerving until the heading deviation and side deviation of the helicopter meet requirements. The heading of the helicopter is corrected through the side deviation, so that the unmanned helicopter can accurately track a target route and achieve precise tracking and control of the route.

The invention discloses shoe pads having a protection effect during strenuous exercise. Each shoe pad comprises a shoe pad body, wherein the shoe pad body sequentially comprises a shoe pad half sole, a shoe pad middle-rise part and a shoe pad heel from the front end to the rear end, 2-5 rings of annular grooves are arranged at the upper side of the shoe pad half sole, and 2-5 horizontal wavy grooves are formed at the positions, corresponding to the toes of the human body, of the shoe pad half sole; 3-5 C-shaped grooves are formed in each of two sides of the shoe pad middle-rise part; a plant fiber arch supporting cushion plate is arranged at the lower side of the shoe pad middle-rise part; 80-150 small holes are distributed at the lower side of the shoe pad body, so that an elastic net-shaped structure is formed; the shoe pad body comprises a bamboo carbon fiber layer, a first PU polyurethane foam layer and a second PU polyurethane foam layer in the sequence from top to bottom, and a half sole cushioning pad and a heel cushioning pad are arranged at the lower side of the first PU polyurethane foam layer. The shoe pads having a protection effect during strenuous exercise provided by the invention have good damping and foot protecting effects and good slip resistance, can prevent the ankles from being injured, and are good in breathability.

The invention belongs to the technical field of new material tire preparation, and relates to a preparation method of a graphene functional aviation tire. The technological process comprises the following five steps: preparing modified graphene, preparing compound tread rubber and sidewall rubber, preparing compound tread and sidewall, preparing a compound green tire and preparing an aviation tire. Based on specific functional characteristics of graphene material, on the basis of the modified graphene and a basic recipe of an aircraft tire in the prior art, 0.1 to 15 weight parts of modified graphene is added into the tread rubber and sidewall rubber separately, a plastic mixing and calendaring process is adopted, mould pressing bonding forming is carried out under high-temperature conditions with functional layers such as an air impervious liner, a buffer layer and a cord fabric according to a tire manufacturing basic technology, and finally the aviation tire is compositely prepared and obtained through subsequent fabrication processing of vulcanization; the technology is simple and practicable, the conventional production equipment is fundamentally utilized, large-scale technical transformation is not needed, the preparation method is applicable for the preparation of various types of aviation tires, and the preparation method is convenient for popularization and application.

The invention discloses diesel engine slippage protecting equipment, method and system. The diesel engine slippage protecting equipment can comprise an acquiring device, a confirming device and a starting device, wherein the acquiring device is configured to acquire the rotating speed of a diesel engine; the confirming device is configured to confirm whether the rotating speed of the diesel engine exceeds a slippage protection rotating speed threshold value or not; and the starting device is configured to start exhaust brake when the rotating speed of the diesel engine exceeds the slippage protection rotating speed threshold value so as to realize slippage protection. The diesel engine slippage protecting equipment disclosed by the invention can realize the slippage protection of the diesel engine by automatically activating exhaust brake when slippage occurs independent of the control of a fuel system on oil spray.

The invention discloses an ABS / EBD comprehensive test system of an automobile, which is composed of a drum dynamometer 2 and a comprehensive tester 4, wherein the drum dynamometer 2 is fixedly installed on the foundation, two rear wheels of the comprehensive tester 4 are arranged on the drum of the drum dynamometer 2 according to the position requirement by longitudinal positioning; the drum of the drum dynamometer 2 rotates to drive two rear wheels 9 of the comprehensive tester 4 to rotate so as to carry out automobile ABS and EBD control comprehensive test research and performance test; the comprehensive tester 4 adopts three-wheel rack type structure, a front wheel 5 is installed on the rack of the comprehensive tester 4 to ensure the stability of the comprehensive tester 4; the controller 3 of the comprehensive tester 4 controls a brake 7 of two rear wheels 9 on the comprehensive tester 4 to brake; one rear wheel can be independently braked to carry out the development test research and performance test of the ABS system; two rear wheels can be simultaneously braked to distribute the braking force of two wheels, i.e. the development test research and performance test of the EBD system.

The invention relates to the technical field of grinding equipment, in particular to a semiconductor wafer grinding device with the cleaning function. The semiconductor wafer grinding device comprisessupporting rods, a top plate, a cleaning device and a fixing device. The supporting rods are arranged on the two sides of the bottom of the top plate. The inner sides of the supporting rods are provided with connecting rods. A fixed seat is arranged on the inner sides of the connecting rods. The fixing device is arranged on the top of the fixed seat. A motor is arranged on the upper side of the fixing device. The output end of the lower side of the motor is connected with a grinding disk. The cleaning device is arranged on the outer side of the grinding disk. The semiconductor wafer grindingdevice is provided with the fixing device, and the probability of side slipping of wafers in the grinding process is effectively reduced. The grinding quality can be improved through arrangement of rough grinding teeth and fine grinding teeth. The grinding disk and a first fixing block can be kept clean through the cleaning device. Through frequent cleaning, the grinding disk can be kept clean. Meanwhile, in the cleaning process, cleaning water can serve as cooling water for grinding silicon wafers to facilitate grinding on the silicon wafers.

The invention discloses a basketball sports insole. The basketball sports insole comprises an insole body, wherein the insole body comprises an insole half sole, an insole waistline and an insole heelpiece in sequence from front end to rear end, one side of the front end of the insole half sole is provided with an oval arch part, and the other side of the front end of the insole half sole is provided with a wavy gyrate groove; the outer edge of the insole waistline warp upward, both sides of the insole waistline are provided with C-shaped grooves respectively, and the lower side of the insolewaistline is provided with a plant fiber arch supporting gasket; the insole body comprises a nano-bamboo charcoal fiber layer, a first polyurethane foamed cotton layer and a second polyurethane foamedcotton layer in sequence from top to bottom, the lower side, corresponding to insole half sole, of the first polyurethane foamed cotton layer is provided with a half sole shock pad, the shape of thehalf sole shock pad corresponds to the shape of the wavy gyrate groove, and the lower side, corresponding to the insole heelpiece, of the first polyurethane foamed cotton layer is provided with a heelpiece shock pad. The basketball sports insole has the advantages that the shock absorption and foot protection effects are strong, the skid resistance is good, the ankle injury can be prevented, the breathability is good, and the durability is high.

The embodiment of the invention discloses a snow tire which comprises a tire surface, a tire side and a tire ring, wherein the tire side is connected with the tire surface and the tire ring, the tire surface is provided with pattern blocks which are staggered with one another, main grooves are formed among the staggered pattern blocks, the pattern blocks are N-edge blocks, N is an integer which is not less than 5, and the pattern blocks are provided with fine pattern grooves. The tire surface is provided with the N-edge pattern blocks, and the pattern blocks are provided with the fine pattern grooves, the shearing force and the friction force between the snow tire and the road are improved, and then the steering performance, the brake performance and the drive performance of the snow tire are enhanced; because the pattern blocks which are staggered and arranged on the surface of the tire, compared with the strip shaped distribution in the prior art, for the snow tire, the road holding force is enhanced, the lateral shearing force is stronger, the lateral balance performance of the tire is improved, and the lateral sliding of the tire is effectively reduced.

The invention relates to the technical field of wood processing, and discloses a plywood extrusion device uniform in stressing and capable of preventing deviation. The plywood extrusion device comprises a mounting frame, a compression rod is fixedly connected to the inner side of the bottom of the mounting frame, a movable gear is rotatably connected to the bottom of the compression rod, and sliding grooves are fixedly connected to the interiors of the two sides of the top of the mounting frame. And the bottom of the mounting frame is movably connected with a bottom plate. When the compression rod extrudes downwards, the movable gear is driven to move downwards, gear plates meshed with the movable gear drive the gear plates to move up and down in the sliding grooves, it is guaranteed that the gear plates on the two sides can extrude downwards and uniformly in an uneven mode, and meanwhile when the gear plates move downwards, an arc-shaped plate is driven to rotate along the midpoint of the arc-shaped plate. And a scraper is driven to scrape the surface of the plate, so that impurities or rubber blocks on the surface of the plate are cleaned up, and the effects of uniformly extruding the surface of the plate and preventing plate surface indentation from influencing quality and attractiveness are achieved.

The invention discloses a post-collision brake control system. A controller of the post-collision brake control system judges activation of a post-collision brake function; a whole vehicle CAN bus provides an ignition switch signal and a real-time vehicle speed signal for the controller; the collision sensor senses a collision signal and transmits the collision signal to a safety airbag ECU; the airbag ECU transmits the collision signal to the controller; under the condition that the braking function is activated after collision, the controller triggers the electronic hand brake deceleration function according to the collision signal; and the controller controls the electronic hand brake to decelerate the vehicle according to the vehicle speed, the braking deceleration MAP and the currentvehicle speed until the vehicle speed is reduced to a vehicle speed threshold value for switching between the braking mode and the parking mode, and then the controller continues to control the electronic hand brake to brake in the parking mode. The safety of a driver is improved.

The invention discloses an insole special for pregnant women. The insole includes an insole body, and the insole body includes an insole half sole, an insole center, an insole waist part and an insoleheel from the front end to the rear end in sequence; 4-10 transverse grooves and 2-10 vertical grooves are arrayed in the upper side of the insole half sole, and a half sole damping pad is arranged on the lower side of the insole half sole and is in a convex apex leaf shape; an egg-shaped convex surface is arranged on the upper side of the insole center and provided with an insole center dampingspiral groove; the two sides of the insole waist part are warped upwards separately, and an elastic foot protection part is arranged on the portion, corresponding to the human foot arch, of the lowerside of the insole waist part; a circular convex surface is arranged on the upper side of the middle part of the insole heel, the outer edge of the insole heel is warped upwards and is lower than thetwo warping sides of the insole waist part, and a heel damping pad is arranged on the lower side of the middle of the insole heel. The insole is excellent in damping foot protection effect, capable ofalleviating foot fatigue, great in antiskid performance and capable of achieving massage healthcare and preventing ankles from getting hurt.

The invention discloses a roller of a conveyor belt. The roller comprises a barrel body, a resisting part, a second rotating shaft and an assembling component, wherein the barrel body is sleeved by the conveyor belt; the resisting part is positioned to the first end of the barrel body, and the diameter of the resisting part is larger than that of the barrel body; the resisting part is used for resisting the conveyor belt to laterally slip, and is extended to the outside to form a first rotating shaft; the second rotating is outwards extended from the second end of the barrel body, and threads are arranged on the surface of an internal section of the second rotating shaft; the surface of an external section of the second rotating is smooth; a thread hole is formed in the centre of the assembly component, and the thread hole is matched with the second rotating shaft through the diameter; the assembly component is fixed to the second rotating shaft through the threads; the external section of the second rotating shaft is extended out of the thread hole of the assembly component; the outside diameter of the assembly component is larger than the diameter of the barrel body; and the assembly component is used for resisting the conveyor belt to laterally slip. According to the roller provided by the invention, one side of the roller is a fixed structure while the other side of the roller is a dismountable structure; the conveyor belt can be simply replaced by dismounting the assembly component, and the operation is convenient to carry out.

The invention relates to road transport vehicles, in particular to a braking vane provided with rubber bumps and a manufacture method of the braking vane. The braking vane comprises a vane body, wherein a criss-cross grid is arranged in the vane body, a plurality of bumps are arranged on the vane body, screw holes for fixing or clamping grooves are formed in four corners of the vane body, the braking vane is arranged at the bottom of a vehicle through a fixing frame by the aid of bolts or the clamping grooves and is operated to lift and drop through a hand brake rod, and a braking function is realized through resistance of friction between the rubber bumps of the braking vane and a pavement.

The invention discloses a smart steering mechanism for a car. The smart steering mechanism comprises an isosceles triangle steering pull rod, an adjusting rod, a left driven steering rocker, a right driven steering rocker, a steering push rod and a steering shaft center fixedly connected to a car chassis. The driven steering rockers are symmetrical. By the smart steering mechanism, lateral sliding of steering wheels is avoided, operability and safety are increased, car wheel abrasion is reduced, and travelling resistance and fuel consumption are reduced.

The invention relates to a road traffic vehicles, in particular to a rubber braking plate and. The braking plate comprises a plate body, wherein the plate body comprises a reinforcing layer and a wear-resisting layer, wherein grids which are longitudinally and transversely staggered are arranged in the reinforcing layer; the wear-resisting layer is arranged on the upper surface of the reinforcing layer; grooves are formed in the wear-resisting layer; fixing screw holes or buckle clamping grooves are arranged in the plate body; the braking plate is arranged on the bottom of a vehicle by virtue of a holder; the braking plate is operated to lift by virtue of a hand brake rod; and the rubber braking plate achieves the braking effect by virtue of friction resistance with a road surface.

The invention relates to the technical field of unmanned aerial vehicles, and discloses a planning and control method for landing of an unmanned aerial vehicle in a crosswind environment, which comprises the following steps: S1, acquiring parameters of a lateral course motion state, parameters of a longitudinal motion state and environmental parameters of the aircraft through an airborne sensor; s2, predicting the landing time of the aircraft according to the data collected by the airborne sensor, and judging the starting time of trajectory planning; s3, the lateral deviation distance, the lateral deviation speed, the roll angle and the course angle of the unmanned aerial vehicle at the beginning of trajectory planning serve as initial planning parameters, terminal state constraint parameters of the aircraft are determined according to aircraft use limitation, and the transverse and lateral flight trajectory of the unmanned aerial vehicle is planned by adopting an MPC planning algorithm in combination with the current wind speed and wind direction of the aircraft; and S4, taking the planning result as an instruction of a transverse course trajectory tracking and attitude controller, and designing a corresponding controller algorithm to track a reference instruction generated by planning. According to the invention, a proper control law is designed to track a generated flight state trajectory instruction.

The invention relates to a tread pattern structure of a special all-steel radial tire for a rainy season, and belongs to the technical field of tread patterns. The tread pattern structure comprises aplurality of groups of curve pattern blocks which are bilaterally symmetrical; the curve pattern blocks of each group are arrayed in a herringbone shape; a guide direction formed by each group of thecurve pattern blocks is the same. By adopting the tread pattern structure provided by the invention, the problem that the road gripping force of the all-steel radial tire is not enough in the rainy season or on a wet and slippery road surface is solved, the safety performance of vehicles in a process of driving in rainy days or on the wet and slippery road surface is improved, and potential safetyhazards of sideslip, long braking distance and the like, caused by the fact that the road gripping force of the tire is not enough, are reduced.

The invention relates to a hydrogen storing cylinder hoisting device used for fuel car production. The hydrogen storing cylinder hoisting device comprises a transverse beam (1), a sliding block (2) and a chain (3), the bottom of the transverse beam (1) is provided with a sliding groove (11), sliding block positioning mechanisms are arranged on the sliding groove (11) at intervals, the top of the sliding block (2) is in sliding connection with the sliding groove (11), and the two ends of the chain (3) are connected with the bottom of the sliding block (2). Compared with the prior art, rubber bearings are connected together through a manner of the chain, the device is used more flexibly, the application scope is wide, the buffer effect on cylinders is achieved in the rubber bearing hoistingprocess, the cylinders can be better protected, and the side slippage phenomenon is reduced.

The invention discloses a snowfield sports insole which comprises an insole body. The insole body comprises an air-permeable warm-keeping layer, a polyurethane foamed plastic layer, a heating layer and a plant fiber layer sequentially from top to bottom; a first accommodating cavity, a second accommodating cavity and a third accommodating cavity are sequentially formed in the lower side of the plant fiber layer from the front end of the insole body to the rear end of the insole body, and memory foamed plastic is inlaid in the accommodating cavities correspondingly; a plurality of convex particles with the flat tops are arrayed on the upper side of an insole half sole; a plurality of spiral grooves are formed in the egg-type convex face of the upper side of an insole core and the circular convex face of the upper side of the middle of an insole heel correspondingly; and a plurality of convex particles with the flat tops are arrayed on the side, corresponding to the inner side of a footsole of the human body, of an insole middle waist. The snowfield sports insole has high shock absorption and foot-protecting effects and is good in air permeability, and thus breeding of bacteria andfungi can be avoided; the foot and the insole can be firmly attached, and the insole is not liable to slide; and the heating function is achieved, so that heat supplying of the feet is ensured, in addition, blood circulation can be promoted obviously, and the massage health-care effect is achieved.

The invention discloses an anti-rolling safety cover plate of a water pipe for municipal watering. An included angle between the outer side walls of a V-shaped plate is 128 degrees; an included anglebetween the inner side walls of the V-shaped plate is 90 degrees; a rubber pad is fixedly adhered to the outer walls of the V-shaped plate; a plurality of latticed protective lines are distributed onthe rubber pad; when flowers and plants are watered through the water pipe in municipal administration, the water pipe is covered by the V-shaped plate, and therefore, the phenomenon that the water pipe is damaged due to the rolling of a passing vehicle is effectively prevented; when the vehicle rolls on the V-shaped plate, the vehicle rolls on the cover plate of the V-shaped plate; non-slip devices on the V-shaped plate are stressed, and therefore, the V-shaped plate slides down along sliding rods until the surface, contacting with the ground, of the V-shaped plate is contacted with the ground; the contact surface of the V-shaped plate and the ground and rubber pads on the lower surfaces of anti-sliding plates contact with the ground, so that the friction force between the anti-rolling safety cover plate of the water pipe and the ground is improved; and meanwhile, connecting rods exert obliquely downward forces on the anti-sliding plates, so that the phenomenon of the sideslip of theanti-rolling safety cover plate of the water pipe is alleviated.

The embodiment of the invention discloses a snow tire which comprises a tire surface, a tire side and a tire ring, wherein the tire side is connected with the tire surface and the tire ring, the tire surface is provided with pattern blocks which are staggered with one another, main grooves are formed among the staggered pattern blocks, the pattern blocks are N-edge blocks, N is an integer which is not less than 5, and the pattern blocks are provided with fine pattern grooves. The tire surface is provided with the N-edge pattern blocks, and the pattern blocks are provided with the fine pattern grooves, the shearing force and the friction force between the snow tire and the road are improved, and then the steering performance, the brake performance and the drive performance of the snow tire are enhanced; because the pattern blocks which are staggered and arranged on the surface of the tire, compared with the strip shaped distribution in the prior art, for the snow tire, the road holding force is enhanced, the lateral shearing force is stronger, the lateral balance performance of the tire is improved, and the lateral sliding of the tire is effectively reduced.