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40results about How to "Simplify Control Design" patented technology

Portable multiple freedom small-sized explosive process intelligent mobile robot system

The invention relates to a minitype portable type intelligent mobile robot system with multiple degrees of freedom used for treating small explosives. The system comprises a mechanical movement part and an electric control part and is characterized in that the robot system comprises a control unit module, a moving platform module, an energy source module, a mechanical arm module, a picture sensor module and a remote control module; wherein, each independent functional module is mutually connected by adopting a standard mechanical interface; an embedded type computer APM 7 as a main controller is adopted among all the CPU and the Ethernet or CAN bus as a master controller is adopted and each CPU is connected by Ethernet or a CAN bus; all central processing units adopt standard TCP / IP or protocol communication and the body and arm of the robot are respectively provided with a camera. The robot system is light in weight and convenient in carrying; the robot is provided with 12 degrees of freedom and can be run autonomously and can be carried out by remote video control by adopting the mechanical arm which can remove explosive substance with 8 degrees of freedom; the robot system can be run in all weathers and in all terrain and can be applied to the field of actual combat.
Owner:上海中为智能机器人有限公司

Mining intrinsic safety robotic explorer based on eccentric wheel and leg type combination

The invention discloses a mining intrinsic safety robotic explorer based on eccentric wheel and leg type combination. The mining intrinsic safety robotic explorer comprises an explorer body, a fixed axle is arranged on the explorer body, the ends, on the left and right sides of the explorer body, of the axle are provided with driving wheels respectively, and the driving wheels are eccentric wheels. According to the mining intrinsic safety robotic explorer, the eccentric wheels are adopted as the driving wheels, compared with an existing crawler-type and leg type walking device, the problems that energy loss is high, efficiency is low and a mechanism and a control system are complex are avoided, and the roles that the robot can flexibly move, is easy to move and the like can be brought into full play. Meanwhile, the eccentric wheels enable the explorer body to be farther away from the ground and enable the eccentric wheels to vertically move in the forward moving process, and the movement is similar to leg bending movement during leg type walking, so that the mining intrinsic safety robotic explorer has the advantage of leg type walking, and has the stronger complex terrain adaptability compared with a traditional wheel type driving robot.
Owner:CHINA COAL TECH & ENG GRP CHONGQING RES INST CO LTD +1

Loading and unloading equipment and method for oil pump housing processing

The invention provides loading and unloading equipment for oil pump housings. The loading and unloading equipment for the oil pump housings comprises a loading frame and an unloading frame, wherein aloading tray is arranged on the loading frame; an unloading tray is arranged on the unloading frame; a first positioning fixture is arranged on one side of the loading frame; a second positioning fixture is arranged on one side of the unloading frame; the first positioning fixture and the second positioning fixture are respectively used for positioning the front and the back of an oil pump housing; a clamping tool is arranged at the end part of a mechanical arm and can clamp the oil pump housing from the front or the back; a transfer frame is further arranged between the loading frame and theunloading frame; and a support seat for enabling the oil pump housing to be erected is arranged on the transfer frame. According to the loading and unloading equipment for the oil pump housings provided by the invention, the oil pump housings are automatically loaded and unloaded, the oil pump housings are turned over in the feeding process through transition by the transfer frame, and the assembly line layout and the control design are simplified, so that the production efficiency and the quality are improved, and the production cost is reduced.
Owner:SHAODONG INTELLIGENT MFG INNOVATIVE INST

Vehicle having automatic stabilization device

The invention provides a vehicle having an automatic stabilization device. The vehicle includes a chassis, a vehicle body, wheels and an active stabilization device; the vehicle body is provided withsupporting slide rails; the wheels match the supporting slide rails through wheel columns and supporting slide seat holes arranged on the top ends of the wheel columns; the bottom of the vehicle bodyis provided with chassis pedestals; the chassis pedestals are in rotating hinged joint with a chassis main shaft; the two ends of the chassis main shaft are provided with chassis columns; the active balancing device includes a vehicle body balance driving system and two sets of suspension systems; the vehicle body balance driving system is arranged between the vehicle body and the chassis and matches the chassis main shaft; the vehicle body balance driving system includes a balance motor and a deceleration transmission device; the rotating shaft of the balance motor is connected to the rotating shaft of the deceleration transmission device; the deceleration transmission device is arranged between the vehicle body and the chassis main shaft; and the suspension systems are connected to the vehicle body and the wheel columns. The vehicle body and the wheels can be in automatic tilt, so that the vehicle can still guarantee high whole vehicle stability and security with a narrow size.
Owner:上海领景智能科技有限公司

Half-bridge modular multilevel single-phase inverter and modulation method

The invention provides a half-bridge modular multi-level single-phase inverter and a modulation method. The half-bridge modular multi-level single-phase inverter comprises a capacitor bridge arm and amodular multi-level bridge arm, the modular multi-level bridge arm comprises a two-port sub-module and a multi-port sub-module, each of the capacitor bridge arm and the modular multilevel bridge armcomprises a direct-current positive end point, a direct-current negative end point and an alternating-current end point; the direct-current positive electrode end point of the capacitor bridge arm isconnected with the direct-current positive electrode end point of the modular multi-level bridge arm and is connected with the positive electrode of the direct-current power supply; the direct currentnegative terminal of the capacitor bridge arm is connected with the direct current negative terminal of the modular multilevel bridge arm and is connected with the negative electrode of the direct current power supply; the alternating-current endpoints of the capacitor bridge arms and the alternating-current endpoints of the modular multilevel bridge arms jointly form an alternating-current output port of the single-phase inverter. According to the novel nearest level approximation modulation strategy provided for the topology, accurate topology output can be achieved, and effective work of the system is maintained.
Owner:SHANGHAI JIAO TONG UNIV

Vehicle having active balancing device

The invention provides a vehicle having an active balancing device. The vehicle includes chassis, a vehicle body, wheels and an active balancing device; two sets of the chassis are in opposite arrangement along the longitudinal axis direction of the vehicle; each chassis includes a chassis main shaft and a chassis column, the chassis main shafts are cylinder bodies extending along a direction parallel to the longitudinal axis direction of the vehicle and are provided with chassis pedestals, the chassis columns are vertically arranged on one ends of the chassis main shafts, and the vehicle bodyis connected to the chassis through the chassis pedestals; the active balancing device includes vehicle body balance driving systems matching the chassis main shafts, the vehicle body balance drivingsystems include motors, decelerators and shaft couplings; the shaft couplings are arranged on the other ends of the chassis main shafts; the decelerators are connected to the shaft couplings, and themotors are connected to the decelerators; and two sets of suspension systems are in opposite arrangement along the longitudinal axis direction of the vehicle, and are connected to the corresponding chassis and the vehicle body. The wheels and the vehicle body can be in automatic synchronous tilt, so that the vehicle can still guarantee high whole vehicle stability and security with a narrow size.
Owner:上海领景智能科技有限公司

Vehicle having active stabilization device

The invention provides a vehicle having an active stabilization device. A chassis is installed under a vehicle body; wheels are installed on the chassis; the chassis includes a chassis main shaft, a front chassis column and a rear chassis column; the chassis main shaft extends along a direction parallel to the longitudinal axis direction of the vehicle; the front chassis column and the rear chassis column are respectively and vertically arranged on the two ends of the chassis main shaft; the chassis main shaft is provided with at least one chassis pedestal; the vehicle body is rotatably connected to the chassis through the chassis pedestals; an active stabilization device includes a vehicle body balance driving system and two sets of suspension systems in opposite arrangement along the longitudinal axis direction of the vehicle; the vehicle body balance driving system matches the chassis main shaft to connect the vehicle body and the chassis; two wheels are installed on each set of thesuspension systems; and each set of the suspension systems is installed on the chassis and connected to the vehicle body. The wheels and the vehicle body can be in automatic synchronous tilt, so thatthe vehicle can still guarantee high whole vehicle stability and security with a narrow size.
Owner:上海领景智能科技有限公司

A Dimension Reduction Method for Converter Multidimensional Frequency Domain Impedance

The invention discloses a dimensionality reduction method for multi-dimensional frequency-domain impedance of a converter, which includes: taking the grid-connected point as the system division point, respectively establishing the positive and negative sequence impedance models of the converter and the AC grid; The positive and negative sequence impedance models of converters are multi-dimensional impedance models, and there is coupling, analyze the coupling characteristics of the multi-dimensional impedance model, and establish the control system of the multi-dimensional impedance model, including: positive sequence path, negative sequence path and the coupling between the two The closed-loop analysis of the control system established above is carried out to obtain the equivalent positive and negative sequence impedance models of the converter under the positive sequence independent external disturbance and the negative sequence independent external disturbance, and the equivalent positive and negative sequence impedance models of the AC grid. Negative sequence impedance model. The dimensionality reduction method of the multi-dimensional frequency-domain impedance of the converter of the present invention can simplify stability evaluation and model verification without affecting accuracy.
Owner:上海中绿新能源科技有限公司

Portable mining intrinsically safe detection robot body based on parallel kinematic mechanism control

ActiveCN104176148BImproved ability to overcome obstaclesSimple walking control designSpeed controllerElectric propulsion mountingIntrinsic safetyElectricity
The invention discloses a portable mine intrinsic safety robotic explorer body controlled by a parallel movement mechanism. The portable mine intrinsic safety robotic explorer body comprises a machine body, wherein a first travelling wheel set is arranged on the left side of the machine body; a second travelling wheel set is arranged on the right side of the machine body; a first motor set and a second motor set are further arranged on the machine body; each of the first motor set and the second motor set comprises at least two motors, and the rotors of the motors are coaxially connected in series. According to the invention, as the rotors of the motors for driving travelling wheels on the same side of the machine body are coaxially connected in series, the same travelling wheel is driven by multiple motors together; therefore, when crossing a barrier, a robotic explorer is enabled to still have sufficient power to cross the barrier or get out of a trap on the condition that only a few travelling wheels are in contact with the ground, and the barrier-crossing and trap removal capacity is greatly improved; in addition, the motors for driving the same travelling wheel are connected with the same controller, and the controller can send a unified control signal to the motors, so that the parallel control on all motor is realized, and the robot travelling control design is simpler.
Owner:CHINA COAL TECH & ENG GRP CHONGQING RES INST CO LTD +1

Novel footboard structure

The invention relates to a novel footboard structure. The novel footboard structure comprises a skeleton, andan upper footboard and a lower footboard, which are arranged on the skeleton in parallel, wherein the upper footboard and the lower footboard are separately connected onto the skeleton in a rotating manner, the lower footboard is connected with a drive assembly driving the lower footboard to rotate, a control assembly controlling the upper footboard and the lower footboard to rotate synchronously is arranged between the lower footboard and the upper footboard, and the drive assembly is connected with a clutch. The novel footboard structure has the advantages that the skeleton is provided with the upper footboard and the lower footboard, and the upper footboard and the lower footboard are connected with the skeleton in a rotating manner, so that compared with the existing single footboard, the application range is wide; the overall attractiveness of a vehicle body can be improved due to the rotating connection; the novel footboard structure is applicable to a recreational vehicle relatively large in a lift-off distance and convenient for passengers to get on and off the vehicle; the universality is improved; by arranging the clutch, the circuit control design can be simplified, and the hand injury safety potential hazard can be effectively prevented.
Owner:HANGZHOU HENGHONG MASCH CO LTD
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