36results about How to "To achieve a balanced effect" patented technology

The invention provides a fan hub balancing structure which comprises a hub body. The hub body is provided with a top, a side portion extending outwards from the periphery of the top and a lip portion. The lip portion is connected with the lower end of the side portion and provided with at least one unnecessary weight portion. The unnecessary weight portions are located on the lip portion and balance portions are formed on the lip portion after the unnecessary weight portions are removed. The fan hub balancing structure has the beneficial effects that the balance effect is achieved for hub body, and construction is convenient.

The invention discloses an unmanned aerial vehicle self-balancing picking device based on the principle of leverage and a control method thereof. Platform, rear pole main body, counterweight box, scissors mechanism, weight sensor and fruit branch clamping mechanism; when in use, first fix the device on the drone, search for the target through the image collected by the binocular vision camera and fine-tune the position of the drone , and then through the central control to control the electric fruit picking device to perform the picking operation and the work of the ball screw sliding table. The calculation results are used to adjust the telescopic length to basically balance the sudden increase in the weight of the sudden increase in the front-end load mutation fruit picked by the UAV, so as to ensure the stability of the UAV. The invention is suitable for use in the fields of fruit harvesting and pruning in forest orchards.

The invention discloses a horizontal grab bucket device with a grab track being a straight line. The horizontal grab bucket device comprises a fixed base, a movable base, a left grab bucket body, a right grab bucket body, a first connecting rod and a second connecting rod; the first connecting rod and the second connecting rod are hinged, the first connecting rod is hinged to the movable base, and the second connecting rod is hinged to the fixed base; hinge points include A, B and D; the upper portion of the left grab bucket body and the upper portion of the grab bucket body are both hinged to the movable base, and hinge points include B' and E; the bucket tip of the left grab bucket body is C; AD is parallel to B'C, and the sum of AD and DB is B'C; and the horizontal grab bucket device further comprises a power mechanism used for directly and indirectly driving the first connecting rod to rotate by a set angle, a driving mechanism capable of guaranteeing that during running, AD and B'C keep parallel all the time and a synchronizing mechanism enabling the right grab bucket body and the left grab bucket body to synchronously and reversely move. According to the principle, complicated simulation work is not needed in the design process, and the grab track can be the straight line through a pure mechanical structure.

One or more embodiments of this specification provide a current polarity-based midpoint potential balance control method and device, including: collecting the three-phase current polarity on the AC side of the three-level inverter, and dividing the three-level vector space; According to the position of the large sector, obtain the midpoint current value; obtain the voltage difference between the upper and lower capacitors on the DC side; obtain the polarity of the balance factor according to the voltage difference and the midpoint current value; adjust the voltage difference to obtain the balance factor The size of the balance factor; according to the polarity of the balance factor and the size of the balance factor, the balance factor is obtained; the balance factor is introduced into the seven-segment SVPWM algorithm, and the action time of the positive and negative small vectors is adjusted to adjust the midpoint of the three-level inverter Potential for balance control. The present invention only needs to collect the three-phase current on the AC side of the three-level inverter and the upper and lower capacitor voltage signals on the DC side, without additionally collecting the three-phase voltage, and does not need to discuss the small sector to which the reference voltage belongs to solve the midpoint potential balance Control more complex problems.

The invention discloses a rotary commodity shelf. The rotary commodity shelf comprises a perpendicular rotating mechanism. The perpendicular rotating mechanism is composed of a vertical track, a transmission chain and shouldering arms. The transmission chain is installed on the inner side of the vertical track. The upper end and the lower end of the transmission chain are provided with gear discs. First bevel gears are installed inside shaft holes of the gear discs. Shouldering arms are evenly and transversely arranged on the vertical track. Each shouldering arm is composed of a first assembly, a second assembly and a limiting shaft, wherein the limiting shaft is movably installed between the first assembly and the second assembly, the left and right ends of the limiting shaft are each provided with a small bevel gear, a limiting groove is formed in the portion, close to the small bevel gear at the right end, of the limiting shaft, a pair of through holes are formed in the same axis of the first assembly and the second assembly, a second bevel gear is installed between the through holes, and the second bevel gear is installed inside the corresponding shouldering arm through a rotating shaft. According to the rotary commodity shelf, the vertical space is reasonably utilized, the placement efficiency in space is improved, the angle of a placement plate is adjustable, the balance is good, and objects are convenient to take.

The present invention relates to a kind of MMC control method under the unbalanced grid voltage based on Lyapunov function, and the method comprises the following steps: (1) establishing MMC mathematical model; (2) obtaining MMC switching function steady-state value according to MMC mathematical model; 3) Determine the fluctuation of the MMC switching function based on the Lyapunov function; (4) Determine the control value of the MMC switching function according to the steady state value of the MMC switching function and the fluctuation of the MMC switching function, and control the work of the MMC according to the switching function control value. Compared with the prior art, the invention has the advantages of fast response speed, strong robustness, simple system structure, clear physical meaning, low cost, easy realization and the like.

Provided is a floating type three-point suspension device. A horizontal sensor (14) is installed on the upper portion of a gearbox and connected with a hydraulic control valve (7). A left guide groove (8) and a right guide groove (4) are both of a hollow structure, the upper end of the left guide groove and the upper end of the right guide groove are connected to the left end and the right end of a suspension beam respectively, and the lower end of the left guide groove and the lower end of the right guide groove are connected to the upper portion of a rack. A left hydraulic oil cylinder (11) and a right hydraulic oil cylinder (3) are arranged in the left guide groove and the right guide groove respectively, the fixed end of the left hydraulic oil cylinder and the fixed end of the right hydraulic oil cylinder are connected with the left end and the right end of the suspension beam respectively, and the telescopic end of the left hydraulic oil cylinder and the telescopic end of the right hydraulic oil cylinder are connected with a left movable sliding block (9) and a right movable sliding block (5) respectively. A left suspension plate (10) and a right suspension plate (6) are connected to the left movable sliding block and the right movable sliding block respectively. The floating type three-point suspension device is simple in structure, mechanical-electric-hydraulic integration is achieved, influences caused by an uneven earth surface on working of an agricultural machine can be better avoided, the working effect of the agricultural machine can be improved, and meanwhile the service life of the agricultural machine can be prolonged.

The present invention provides a method for avoiding frequent interruption to occupy excess CPU resources in a real-time operation system, the method includes: a threshold is provided for each type interruption respectively, the threshold is a maximum ratio of the interruption time generated by the CPU allowance the type interruption to the whole interruption time; when the interrupt of the type is coming, CPU judges the ratio of the interruption time generated by the type interruption to the whole interruption time achieving the threshold set corresponding to the type interruption or not, ifyes, shielding the type interruption; if not, continuous executing the interruption process. The invention leaves from the whole global of occupying condition of CPU resource, planning the CPU occupation of the interruption, and actively processing interruption and inhibition, effectively inhibiting frequent interruption, avoiding the excess occupation of CPU resource, achieving the effect of balancing utilization of system CPU resource.