15 results about "Active force" patented technology

Provided are a suspension system and an active force control method, relating to the technical field of suspensions. The suspension system comprises a first constant flow source (401), a second constant flow source (402), a first damping valve (403), a second damping valve (404), a shock absorber (405), and a liquid container (406). The shock absorber (405) comprises a first liquid cavity (4051) and a second liquid cavity (4052) separated by a piston. The first constant flow source (401) and the second constant flow source (402) are used for outputting liquid at a constant flow rate. The liquid container (406) is used for storing or replenishing liquid flowing in the system. An outlet of the first constant flow source (401) is connected to a first end of the first damping valve (403) and the first liquid cavity (4051). A second end of the first damping valve (403) is connected to the liquid container (406), and the liquid container (406) is connected to an inlet of the first constant flow source (401). An outlet of the second constant flow source (402) is connected to a first end of the second damping valve (404) and the second liquid cavity (4052). A second end of the second damping valve (404) is connected to the liquid container (406), and the liquid container (406) is connected to an inlet of the second constant flow source (402). A suspension system having a high operating bandwidth without additionally significantly increasing unsprung mass can be implemented.

This invention relates to the field of mechanical parts casting technology, and more particularly to a mechanical parts casting and forming equipment. The technical solution includes: a frame, and a moving mold I, a fixed mold, and a moving mold II that can slide relative to the fixed mold mounted on it. The moving mold I is driven by a hydraulic rod. The equipment also includes a connecting assembly, a driving assembly, a linkage assembly, an ejection assembly, a transmission assembly, and a clamping and ejection assembly that are sequentially linked. In this invention, the moving mold I, as the sole active force source during mold opening and resetting, first pulls the driving assembly through the connecting assembly, forcing the moving mold II to retract and complete a secondary mold opening. The action of the driving assembly is then transmitted to the ejection assembly through the linkage assembly, ejecting the casting from the moving mold II. Simultaneously, the displacement of the moving mold I drives the transmission assembly, which in turn drives the clamping and ejection assembly to rotate to the ejection position, automatically clamping and receiving the ejected casting. Through pure mechanical linkage, multiple processes are integrated into a single continuous action, improving the efficiency and reliability of demolding and part removal.

The utility model relates to the field of leg exercise and rehabilitation, and discloses a rehabilitation device with a child leg exercise function, which comprises a bottom plate, the bottom plate is fixedly connected with a movable plate, the movable plate is fixedly connected with a limiting strip I, the top of the limiting strip I is slidably connected with a support frame, the middle part of the inner side of the support frame is rotatably connected with a fixed column, and the fixed column is fixedly connected with the movable plate. First rotating shafts are fixedly connected to the two sides of the fixing column, first foot pads are fixedly connected to the outer sides of the first rotating shafts, a second limiting strip is fixedly connected to the first supporting plate, a sliding assembly used for adjustment is slidably connected to a groove in the outer side of the second limiting strip, and a pushing column is fixedly connected to the outer side of the sliding assembly. The pushing column is fixedly connected with a second foot pad. According to the utility model, a child treads on the foot pad I forcefully to rotate the foot pad I, so that the effect of active force exercise is realized, and the child puts both feet on the foot pad II to be driven to move back and forth, so that the effect of passive force exercise is realized, and therefore, the multifunctional effect is realized.

This application provides a control method, device, and vehicle for a fully active suspension. The fully active suspension includes multiple sub-suspensions. The control method includes: acquiring the internal pressure of the air springs of the sub-suspensions; calculating the sprung mass based on the internal pressure and a pre-stored effective cross-sectional area of ​​the air springs; acquiring the vertical vibration acceleration at the current moment at the sub-suspension; calculating the theoretical active force based on the sprung mass and the vibration acceleration; and sending a control command based on the theoretical active force to apply the theoretical active force to the sub-suspensions. The control method, device, and vehicle for the fully active suspension provided by this application are simple and convenient, and can quickly and effectively calculate the theoretical active force to ensure that the actual active force of the sub-suspensions reaches the theoretical active force, thereby reducing vehicle vibration, improving vehicle ride comfort, and providing a superior user experience.

The invention relates to an exoskeleton control method based on a man-machine dynamics model and a lower limb exoskeleton device. The method comprises the following steps: selecting a program mode of an exoskeleton; in the following mode, joint movement data and active torque of a wearer are collected to construct a database; in the power assisting mode, a human leg-trouser body-exoskeleton dynamic model is established based on the database, and online parameter identification is carried out; kinematics parameters of all links are calculated through forward kinematics; establishing a system state space equation by combining dynamics and kinematics parameters; judging the real-time motion state of the wearer by using a deep learning neural network, and generating a corresponding expected control rule; and the exoskeleton is driven and cyclically executed, so that self-adaptive control in continuous motion is realized. The exoskeleton device comprises a thigh supporting part, a shank supporting part and a flexible buffering belt which are combined with the pants body, and dynamic fitting and force transmission between a man and a machine are achieved. High precision of the exoskeleton is achieved, and the naturalness and efficiency of assistance are improved.

The present invention relates to an active system configured to apply an active force to a portion of a firearm designed to contact a body of the firearm's operator, to reduce the perceived recoil of the firearm. The active system includes an actuation element capable of generating an active force, and systems for powering and selectively operating the actuation element.

The utility model relates to the field of main power control radial floating polishing devices, in particular to a main power control radial floating polishing device which comprises a fixed shell. The upper portion of the fixed shell is in transmission connection with a driving shaft, the end, located in the fixed shell, of the driving shaft is in transmission connection with a transmission assembly, the end, located in the fixed shell, of the grinding shaft is in transmission connection with the lower portion of the transmission assembly, and when the grinding tool deviates, the hollow shaft can be driven to move in the deviation direction; a guide strip perpendicular to the deviation direction can drive a sliding shaft at the end of the guide strip to move in the deviation direction, at the moment, when the sliding shaft slides, the sliding shaft extrudes the spring towards the side the same as the deviation direction, and then the extrusion force on the spring when the grinding shaft deviates is detected through a pressure sensor; and the mechanical arm is controlled to move in the same direction as the deviation direction of the grinding shaft according to the obtained data, so that the radial deviation generated by the grinding shaft is repaired, and the surface of the workpiece is prevented from being damaged by the grinding tool.

The invention relates to the technical field of ocean engineering equipment, in particular to a pile leg cooperative stress structure which comprises a platform, a pile leg and a force release type wave-resistant cooperative assembly, the force release type wave-resistant cooperative assembly comprises a center fixing frame, a traction frame, a force dispersing column, a wave-resistant frame and a pile shoe, the pile leg is fixedly connected with the platform and located on one side of the lower portion of the platform, and the traction frame is fixedly connected with the pile leg. The center fixing frame is fixedly connected with the platform and located below the center of the platform, the center fixing frame is arranged on one side of the pile leg, the traction frame is fixedly connected with the pile leg and located on one side of the pile leg, the force dispersing column is fixedly connected with the pile leg and located below the side, away from the traction frame, of the pile leg, and the wave resisting frame is fixedly connected with the pile leg. The pile legs are fixedly connected with the traction frame and located above the sides, away from the traction frame, of the pile legs, the pile shoes are fixedly connected with the pile legs and located below the pile legs, and by additionally arranging the force release type wave-resistant collaborative assembly, active stress collaboration among the pile legs is achieved, load distribution is optimized, and the anti-overturning capacity and operation safety of the self-elevating ocean platform are improved.

The wheelchair self-locking structure comprises a seat frame assembly and a self-locking piece, the seat frame assembly is used for supporting a cushion and comprises at least one first supporting piece, and the self-locking piece is provided with a first connecting part, a second connecting part and a third connecting part which are connected with a backrest, the first supporting piece and a rear frame respectively; and the clamping part is arranged between the second connecting part and the third connecting part, and when the wheelchair cushion bears load, the seat frame assembly moves downwards under the action of gravity, so that the first supporting piece is driven to be automatically clamped with the clamping part of the self-locking piece. The self-locking piece is introduced into a traditional structure, locking is triggered through the gravity of a user, forward leaning of the backrest can be effectively prevented when the main locking mechanism accidentally loses efficacy without depending on the active force of the user, the using safety and reliability of the folding wheelchair are greatly improved, and the folding wheelchair is particularly suitable for weak or disabled users.

This invention relates to a rehabilitation training method, apparatus, equipment, medium, and program product. The method includes acquiring initial state data of a target subject, obtaining impedance configuration parameters from a rehabilitation training institution based on the initial state data, and controlling the rehabilitation training institution to perform passive limb training on the target subject based on the impedance configuration parameters. During the passive training phase, real-time state data and real-time torque data of the target subject are collected, and an active force characterization value is calculated based on the real-time torque data. A bilateral movement deviation value is also calculated based on the real-time state data. The real-time state data collected during the passive training phase is used to assess the degree of motor completion. When the assessment result reaches the stage transition standard, the rehabilitation training institution is switched to an active assisted training mode to continue training until a training end command is received. This invention enables the matching of training resistance and movement trajectory with the patient's real-time force exertion ability and motor coordination.

The application provides a gravity-adjustable lower limb exerciser and a control method thereof, and belongs to the field of rehabilitation equipment. The control method comprises the following steps: S1, a preparation stage, establishing a static torque-gait phase reference curve obtained by a user under the driving of the lower limb exerciser; S2, a training stage, comprising S21, the user walks under the assistance of the gravity compensation torque of the lower limb exerciser, and the real-time driving torque of the lower limb exerciser on the user is obtained; S22, the real-time static torque corresponding to the real-time gait is obtained based on the static torque-gait phase reference curve; S23, the active force torque of the user is obtained based on the real-time driving torque and the real-time torque to be compensated, the lower limb exerciser provides a gain assist torque based on the active force torque, and the real-time torque to be compensated at least comprises the real-time static torque. The control method of the lower limb exerciser can accurately separate the active force of the user, accurately stimulate the active force of the user, and help the user restore the movement ability.

The invention discloses a bracket-free invisible appliance functional yin-yang functional body accessory system which comprises a mechanical functional body entity with a smooth and continuous three-dimensional free-form surface, and a continuous and smooth wave-shaped curved surface structure protruding outwards is integrally formed on the side wall of a single mechanical functional body. Functional decoupling is achieved through the spatial geometry of the convex part. The convex part forms an active force application face used for active force application, and an undercut retention structure used for passive retention is formed below the convex part. The functional bodies can be used in pairs, a yin-yang functional body layout is formed to form a couple, the organic form and layout of the functional bodies are based on a patient personalized three-dimensional finite element model, the functional bodies are formed through automatic growth by taking a preset force system as a target through a topological optimization algorithm, and the wavy structure of the accessory is subjected to optimization design. According to the invention, accurate, efficient and completely personalized six-degree-of-freedom control can be provided for complex tooth movement, and the predictability and clinical effect of treatment are remarkably improved.

A suspension system and active force control method are provided, relating to the field of suspension technology. The suspension system includes a first constant current source (401), a second constant current source (402), a first damping valve (403), a second damping valve (404), a shock absorber (405), and a liquid container (406). The shock absorber (405) includes a first liquid chamber (4051) and a second liquid chamber (4052) separated by a piston. The first constant current source (401) and the second constant current source (402) are used to output a constant flow rate of liquid. The liquid container (406) is used to store or replenish the liquid flowing in the system. The outlet of the first constant current source (401) is connected to the first end of the first damping valve (403) and the first liquid chamber (4051). The second end of the first damping valve (403) is connected to the liquid container (406), and the liquid container (406) is connected to the inlet of the first constant current source (401). The outlet of the second constant current source (402) is connected to the first end of the second damping valve (404) and the second liquid cavity (4052). The second end of the second damping valve (404) is connected to the liquid container (406), and the liquid container (406) is connected to the inlet of the second constant current source (402). This enables a suspension system with a high operating bandwidth without significantly increasing the unsprung mass.

The invention discloses a wheel leg self-adaptive force-position coupling control method and system, a medium and equipment, and relates to the field of robot control, and the method comprises the steps: carrying out the real-time estimation of interaction force and torque generated during the movement of a mechanical arm of a double-wheel leg-single arm robot, and determining the disturbance compensation amount generated by the movement of the mechanical arm; the method comprises the following steps: determining an actual state of a trunk attitude on the basis of a trunk dynamic model in combination with a disturbance compensation amount, introducing model predictive control MPC, determining an expected state of the trunk attitude, determining a cost function between the expected state and the actual state of the trunk attitude according to the expected state and the actual state of the trunk attitude, and determining an optimal wheel-leg active force distribution result according to the cost function; and according to a wheel-leg dynamical model used for describing the relation among the wheel-leg joint angle, speed and driving torque, the optimal wheel-leg active force distribution result is converted into leg-wheel joint torque, so that whole-body dynamic adjustment of the double-wheel-leg-single-arm robot is carried out.

The invention discloses an anti-pinch insulation tool for quickly opening a cover plate. The invention relates to the field of electric power tools, and discloses a clamping part, a synchronous adjusting mechanism, a load sensing unit and a force adjusting unit, the clamping part comprises a first clamping arm and a second clamping arm which are crosswise hinged through a hinge shaft, and the lower end of the first clamping arm and the lower end of the second clamping arm are respectively provided with a clamping part used for clamping the edge of a cover plate; the synchronous adjusting mechanism is arranged at the hinge shaft and is used for driving the clamping parts of the first clamping arm and the second clamping arm to synchronously move towards each other or away from each other so as to adjust the clamping width; the load sensing unit is used for acquiring dynamic load information of the first clamping arm and the second clamping arm in the clamping process in real time; the force adjusting unit is used for applying adjustable compensation acting force to at least one clamping arm. The method has the beneficial effect that the technical span from passive mechanical synchronization to active force field balance is realized.