28 results about "Compensating movements" patented technology

The invention relates to the technical field of machine tool control, in particular to a milling cutter positioning self-adaptive control method and system. Comprising the following steps: synchronously collecting structure state data and external environment parameters of a machine tool in a preset sampling period; based on the structure state data, the external environment parameters and thermal-structure and dynamic physical characteristic parameters of the machine tool, a positioning deviation prediction model is established in a preset look-ahead time window, and the future three-dimensional total positioning deviation of the milling cutter relative to the theoretical track is obtained; and a prospective compensation instruction opposite to the future three-dimensional total positioning deviation is generated according to the future three-dimensional total positioning deviation, and compensation motion of the milling cutter is achieved. The problem that in the prior art, in the long-time operation process of a machine tool, the actual position of a milling cutter deviates from a preset path due to an internal heat source, and an existing thermal error compensation model cannot accurately predict and deal with severe and local thermal shock caused by sudden change of an external environment, so that the machining precision is affected is solved.

The invention provides a welding method and system for cooperative control of a movable chassis and a mechanical arm of a movable welding platform, which can realize synchronous control of chassis movement and mechanical arm welding, and comprises the following steps: step 1, acquiring path information of a target welding seam to be welded and real-time pose information of the movable chassis in a global coordinate system in real time; 2, a unified system kinematics model of the chassis and the mechanical arm is established, and according to the unified system kinematics model, the target welding seam path is decomposed into a chassis target track of the movable chassis and a mechanical arm target track of the mechanical arm; step 3, controlling the mobile chassis to advance along the chassis target track; and 4, according to the deviation between the real-time pose information of the movable chassis and the chassis target track, the compensation motion needing to be executed by the mechanical arm is obtained through calculation in combination with the mechanical arm target track, and the mechanical arm executes the compensation motion.

The invention discloses a permanent magnet suspension type elevator motor stator and rotor assembling and air gap maintaining system and method. The system comprises a basic platform, a stator supporting and fine adjusting platform, a rotor hoisting and centering module, an air gap measuring device, a displacement detecting device and a central control module. The air gap measuring device collects multi-point air gap data in real time, and the central control module calculates the real-time eccentric state of the rotor relative to the stator according to the multi-point air gap data and generates a control instruction. In the assembling stage, the stator displacement driving device is driven to adjust the position of the stator, and static precise centering of the rotor in a stator cavity is achieved. In a load simulation or operation stage, the stator is driven to carry out following compensation motion, rotor displacement caused by the load is dynamically counteracted, and air gaps are automatically kept uniform. According to the invention, the technical problem of air gap maintenance in bearingless safe assembly and operation of the heavy permanent magnet motor is solved, and the assembly precision, the safety and the operation stability are remarkably improved.

The invention discloses a full-automatic intelligent stud welding system, and relates to the technical field of automatic welding equipment. The system comprises a crawler-type movable chassis, a multi-axis mechanical arm, a welding stud welding execution assembly, an automatic welding stud feeding system, an integrated motion control device and a welding power source device. The integrated motion control device cooperatively controls the movement of the chassis and the posture of the mechanical arm based on a coupling kinematics model, adopts a coarse-fine coupling positioning strategy, and eliminates the parking error of the chassis through a visual sensing module and an inverse kinematics solver. The system is further provided with a dynamic following welding algorithm, and relative static welding in a continuous moving state is achieved by generating a compensation motion vector opposite to chassis involved motion. In addition, the system integrates dynamic collision detection based on motor current monitoring and closed-loop feeding sequential control logic. The problems of low positioning precision and poor operation efficiency in large workpiece welding are effectively solved, and high-precision automatic operation in a complex environment is realized.

The invention provides an intelligent building inspection method and system based on wheel-foot combination and mechanical arm cooperation, and the method comprises the steps: constructing a mobile operation platform integrating a wheel-foot chassis and a six-degree-of-freedom mechanical arm, and collecting the environment and body state data of a building through a multi-mode sensor group; inputting the data into an edge calculation module, constructing a three-dimensional semantic map based on a multi-sensor fusion algorithm, and resolving a six-degree-of-freedom real-time pose; generating an optimal path covering a cross-layer area and a local dynamic obstacle avoidance strategy according to the inspection task; a moving posture closed-loop regulation and control mechanism is adopted, the chassis torque and the mechanical arm posture are cooperatively calculated based on model predictive control and a whole-body dynamics algorithm, and motion disturbance is compensated; and the target equipment state is recognized based on the visual language model, the mechanical arm is scheduled to execute refined operation, and end cloud data interaction is achieved. Through deep integration of software and hardware, the problems of poor cross-layer trafficability and lack of cooperation of dynamic and static operations in the prior art are solved.

The invention relates to a servo press-fitting deformation compensation method and system, and the method comprises the steps: obtaining a deformation function of a rack of servo press-fitting equipment, and the deformation function is defined as a function relation between a press-fitting force borne by the rack and a motor feedback position fed back by a servo motor encoder; in the servo press-fitting process, data of the press-fitting force and the feedback position of the motor are obtained in real time, and a position force trend curve is determined based on the data; translating the deformation function according to the motor feedback position obtained in real time, calculating a theoretical intersection point position based on the translated deformation function and the potential force trend curve according to a target position set for servo press fitting, and calculating a deformation compensation amount according to the theoretical intersection point position and the set target position; and controlling the servo motor to perform compensation motion according to the deformation compensation amount. According to the invention, the positioning precision of servo press-fitting operation can be effectively improved.

Drive train (1) for use in a drive arrangement (2) for a flap (3) of a motor vehicle (4) with a body (5), wherein the drive train (1) has a drive (7) by means of which an opening movement of the flap (3) from a closed position to an open position can be effected, wherein the drive (7) has a drive unit (8) and two drive connections (9) for connecting the drive (7) to the flap side and the body side, wherein the drive train (1), in particular the drive (7), has a compensating arrangement (17) which enables a change in length (18) of the drive train (1), wherein the change in length (18) of the drive train (1) can be effected by the compensating arrangement (17) by moving at least two train components (13) of the drive train (1) from an operating position to a compensating position relative to each other in the course of a compensating movement, characterized in thatthat the compensating arrangement (17) has a restoring unit (19) and that the compensating movement of the string components (13) that can be moved relative to each other takes place against a restoring force of the restoring unit (19) and that, in the course of a restoring movement, the string components (13) that can be moved relative to each other from the compensating position towards the operating position can be moved relative to each other and that the restoring movement of the string components (13) that can be moved relative to each other takes place with the restoring force of the restoring unit (19).

The invention discloses a time-varying load dynamic compensation motion control method and system based on UVW kernel alignment, and belongs to the technical field of precision machine.The time-varying load dynamic compensation motion control method based on UVW kernel alignment comprises the following steps that S1, a motion model is established, firstly, the motion model of a UVB platform is established, the motion model comprises motion equations and kinematics equations of all axes, and the motion equations of all the axes are calculated; meanwhile, key parts of the motion model are subjected to structure optimization, a foundation is laid for deformation error analysis and compensation, and the foundation is used for achieving dynamic compensation; s2, load change is monitored, load change information borne by the UVW platform is obtained in real time based on the sensing monitoring technology, and the obtained load change information serves as the basis of dynamic compensation. By optimizing the mechanical structures of key components of the motion model, the structural performance of the UVW platform can be improved, the material use amount is reduced, the machining technology is simplified, and the cost is reduced. The manufacturing cost is reduced, so that the flexibility of an operation model is improved, and deformation errors caused by self-weight are reduced.

A rail base comprises a base body and three rails, the rail base body is rigidly fixed to the installation position of large marine equipment of a ship so that the three-sliding-rail type wave compensation platform and a ship body can be rigidly fixed, and the rail base body provides a motion rail for a compensation device and maintains relative stability of an operation platform; the compensation device comprises three supporting legs, three pulleys and three hydraulic cylinders, the supporting legs are completely attached to the track through the pulleys, so that the compensation device makes direct contact with a track base, the hydraulic cylinders and the operation platform are connected through mechanical hinges to maintain stable, and the angle and height of the operation platform are adjusted through the adjustable platform according to work needs. The stability of the operation platform is improved, the precise compensation effect is achieved, the multi-angle and different-height operation mode is achieved, and compensation movement in multiple directions can be achieved.

The invention discloses a foot end slip detection and compensation method for a six-wheeled composite robot, and relates to the technical field of anti-slip of robot movement. The method mainly comprises the three steps that firstly, a sliding detection model is built based on a long short-term memory (LSTM) network model, and the model predicts the sliding amount of each foot end only by taking error information of an actual motion state and an expected state of a fuselage as input; secondly, according to the predicted slip amount, obtaining an instantaneous steering center and a compensation rotation angle generated by slipping of the robot through geometric calculation; and finally, according to the calculated steering parameters, the robot is controlled to execute pure rolling steering motion, a supporting polygon is reconfigured through the strategy that the non-slipping swing legs fall down and the slipping legs are lifted up, and motion errors are compensated in real time. The method has the beneficial effects that the hardware cost is low, the system is light in weight, the real-time performance and the self-adaptability are high, and the motion stability of the robot on the complex terrain can be effectively improved.

The invention relates to a drive arrangement for a flap (2) of a motor vehicle (3), comprising a first drive train (5) with a first drive (6) having a body-side and a flap-side first drive connection (7) for an opening movement of the flap (2) and a second drive train (9) for an emergency opening movement of the flap (2), wherein the first drive (6) has a spindle-spindle nut drive (15) with a spindle (16) and spindle nut (17) for performing linear drive movements along a geometric spindle axis (18) between a retracted position and an extended position of the drive, and wherein the spindle nut (17) is axially secured on both sides to a spindle guide tube (19) in which the spindle (16) is axially guided during the linear drive movements, and the spindle guide tube (19) is connected to one of the first drive connections (7,8) and the spindle (16) is axially fixed to the other of the first drive connections (7, 8). It is proposed that the spindle nut (17) remains in a first axial position relative to the spindle guide tube (19) in the axially secured state during an opening movement of the flap (2) and, in the course of an emergency opening movement, performs an axial compensating movement relative to the spindle guide tube (19) from the first axial position to a second axial position relative to the spindle guide tube (19).

Disclosed are a posture control apparatus and method for a rehabilitation exercise robot. The posture control apparatus for a rehabilitation exercise robot according to the present invention includes: a sensing unit which senses the posture of a user; an output unit for outputting feedback information for correcting the posture of the user; and a processor which collects the joint positions of the user on the basis of sensing information sensed by the sensing unit, determines whether the posture of the user is a compensatory movement on the basis of the joint positions, generates feedback information according to the determination result, and outputs the feedback information through the output unit.

A guide device for guiding at least one cable placed in a protective hose, in particular of a joint arm robot, includes a guide unit having a fastening element for securing the protective hose, and a static support. The fastening element is movable along the support to allow a compensating movement of the protective hose and the at least one cable guided therein. A sensor device is configured to measure the movement of the protective hose and thus detect movement data of the protective hose. A proper operation of the guide device is therefore monitored. In particular, the protective hose is monitored for damage. A retrofit kit for forming the guide device, and a method for monitoring a movement of a protective hose of a guide device, are also provided.

The invention relates to a motor vehicle lock for an adjustment assembly (4) of a motor vehicle, with a locking mechanism (5) which has a pawl (7) for locking engagement with a locking contour (8), and with a scanning arrangement (9) for scanning a touch contour (10), wherein the scanning arrangement (9) has a touch switch (11) and a transmission arrangement (12) mounted separately from the touch switch (11) between the touch contour (10) and the touch switch (11), which has a sensing arm (13) for interaction with the touch contour (10) and a switching arm (14) for interaction with the touch switch (11).It is proposed that the transmission arrangement (12) has an elasticity that allows a compensating movement (15) between the sensing arm (13) and the switching arm (14) and that a deflection of the sensing arm (13), which is due to the interaction between the sensing contour (10) and the sensing arm (13), can generate a deflection of the switching arm (14) and a compensating movement (15) via the transmission arrangement (12).

The invention relates to the technical field of machining, and discloses a visual sense and force sense fused collaborative robot tool self-adaptive passivation method which comprises the steps that when it is detected that a collaborative robot grabs a tool, three-dimensional feature information of the tool is extracted; obtaining the current contour of the wheel brush, and calculating the abrasion loss; determining a target attitude and a target position; operating the joint torque observer, and estimating the current contact force between the tail end of the robot and the wheel brush; moving to a target position in a target posture, and when the current contact force reaches the initial contact force, performing main movement along the edge line direction; if a force error exists between the current contact force and the target passivation force, generating a dynamic compensation motion instruction by using a PID algorithm, and planning the motion of the collaborative robot by combining the main motion and the compensation motion; according to the high-precision constant-force passivation method, machine vision and collaborative robot force perception are combined, high-precision constant-force passivation is achieved, the efficiency is improved, and the labor cost is reduced.

This invention provides a three-dimensional nano-vibration damping gimbal and a nano-measurement system. The vibration damping gimbal is used to detect and counteract the vibration of an end effector, whereby the vibration characterizes the relative vibration between the end effector and the sample. The vibration damping gimbal comprises an accelerometer, an XYZ three-degree-of-freedom (XYZ) drive unit, and a gimbal controller. The gimbal controller is electrically connected to both the accelerometer and the XYZ drive unit. The accelerometer, integrated on the end effector, detects the XYZ displacement of the end effector, obtains a vibration signal, and sends the vibration signal to the gimbal controller. The gimbal controller generates a corresponding drive signal based on the vibration signal detected by the accelerometer and sends it to the XYZ drive unit. The XYZ drive unit is also mechanically connected to both the end effector and the robot end effector, and drives the end effector to generate a compensating motion based on the received drive signal. This compensating motion is used to counteract the vibration.

The invention relates to a guide device (20) for guiding at least one cable (14) located in a protective hose (16), in particular of an articulated arm robot (2), having a guide unit (28) with a fastening element (34) for fastening the protective hose (16) and a fastening support (24), the fastening element (34) being displaceable along the support (24), in this way, the protective hose (16) and the at least one cable (14) guided therein can be moved in a compensated manner. Furthermore, a sensor device (26) is arranged for measuring a movement of the protective hose (16) and obtaining movement data (M) of the protective hose (16) therefrom. In this way, the normal operation of the guiding device (20), in particular the damage condition of the protective hose (16), is monitored.

The invention discloses an active follow-up dispensing device based on non-contact distance measurement, and belongs to the technical field of automatic equipment. The device comprises a dispensing execution mechanism, a non-contact distance measurement module, a motion control module and a main controller, the non-contact distance measuring module is installed on the side of a dispensing needle nozzle of a dispensing execution mechanism and used for measuring the distance between the needle nozzle and the surface of a workpiece in real time in the dispensing process, the main controller receives distance data, compares the distance data with a preset ideal working distance and generates a control instruction in real time, and the motion control module controls the dispensing execution mechanism according to the instruction. According to the automatic glue dispensing device, the problems of poor glue dispensing consistency, wire drawing, glue breaking and the like caused by uneven workpiece surfaces, clamp errors or workpiece warping are effectively solved, and the automatic glue dispensing device has the advantages that the automatic glue dispensing device is simple in structure, convenient to operate and high in practicability. And the dispensing quality and the production efficiency are improved.

In the field of mechanical power transmission technology, we provide a pressing and lifting mechanism. [Solution] The coordinated action of the locking member 1, the first elastic member 2, and the release member 3 ensures secure locking and easy release to an external device. The guide slope provided on the locking end 11 automatically rotates the locking member simply by pushing in the external device, allowing for quick attachment by pushing alone, thus eliminating the need for additional operation. The symmetrical arrangement of the two locking members, along with the transmission cooperation between the release parts at both ends of the release member and the drive end 12, enables synchronous locking and release, resulting in a balanced locking force and high reliability. The release part slides in cooperation with the transmission slope on the transmission arm via the release slope, resulting in high transmission efficiency. The lever 5 drives the release member through the movable connection between the arc-shaped projection 51 and the arc slot, compensating for differences in the motion trajectory and providing a variety of operating methods. The entire mechanism is modularized, making it highly adaptable and easy to operate.

Methods and systems for compensating for motion of an object (24) suspended from a hoist device (16) movably mounted on a vessel (10) associated with a target frame of reference and moving relative to an external frame of reference. The system includes a winch (38) connected to the vessel and a hauling cable (39) interconnecting the winch (38) with an object to apply tension. The system comprises an attitude sensor (45) for measuring the attitude (82) of the object and a control device (50) for actuating the winch to adjust the length of the haulage rope, for calculating a target attitude of the object with a non-zero offset relative to a target frame of reference, and for determining the attitude of the object based on a determined error between the target attitude of the object and an instantaneous attitude. The winch is dynamically actuated (75) to adjust the length of the tow rope to cause the object to assume a target attitude as the vessel moves relative to the external frame of reference.

The invention relates to a contact bridge (1) for connecting a first busbar (4') to a second busbar (4"), wherein the contact bridge (1) comprises a first jaw (8') for at least partially receiving the first busbar (4'), a second jaw (8") facing away from the first jaw (8') for at least partially receiving the second busbar (4") and a spring assembly (50), the first jaw (8') and the second jaw (8") each being configured to be openable against the spring assembly (50), wherein the first jaw (8') is connected to the second jaw (8") in an electrically conductive and motion-transmitting manner. This ensures that a compensation movement required to overcome a positional tolerance between the busbars (4', 4") can be distributed evenly between the first jaw (8') and the second jaw (8"). Furthermore, the invention relates to a housing (84) for such a contact bridge and to a connector (2) having such a contact bridge.

Embodiments of the disclosure are directed to a structure operable to perform compensation movements. The structure includes a flexure system that includes an outer member (OM) flexure system associated with an outer member; and an inner member (IM) flexure system associated with an inner member. The OM flexure system includes OM flexures having first OM flexure endpoints, and the IM flexure system includes IM flexures having first IM flexure endpoints. The structure further includes a common flexure endpoint that includes the first IM flexure endpoints co-located with the first OM flexure endpoints. The IM flexures include a first IM flexure mechanically coupled to the inner member, and the OM flexures include a first OM flexure mechanically coupled to the outer member. The compensation movements include the inner member and the outer member moving with respect to one another.

The invention relates to a motor vehicle lock for an adjustment assembly (4) of a motor vehicle, having a locking mechanism (5) which has a pawl (7) for locking engagement with a locking contour (8), and having a sensing arrangement (9) for sensing a contact contour (10), wherein the sensing arrangement (9) has a contact switch (11) and a transmission arrangement (12), which is mounted separately from the contact switch (11), between the contact contour (10) and the contact switch (11), which sensing arrangement has a contact arm (13) for interaction with the contact contour (10) and a switching arm (14) for interaction with the contact switch (11). It is proposed that the transmission arrangement (12) has an elasticity which permits a compensating movement (15) between the contact arm (13) and the switching arm (14), and that a deflection of the switching arm (14) and a compensating movement (15) can be produced via the transmission arrangement (12) by way of a deflection of the contact arm (13) which is caused by the interaction between the contact contour (10) and the contact arm (13).

The invention relates to a method for controlling a drive (1) for a flap (2) of a motor vehicle (3), wherein the drive (1) is controlled by means of a control arrangement (4), wherein the drive (1) can be coupled to the flap (2) or the body (8) of the motor vehicle (3) via a coupling arrangement (7), wherein the coupling arrangement (7) has a first coupling element (9) for connection to the drive (1) and a second coupling element (10) for connection to the flap (2) or the body (8) of the motor vehicle (3), wherein the coupling arrangement (7) can be brought into a coupled state and into a decoupled state, wherein the coupling elements (9, 10) are decoupled from each other in the decoupled state and can be moved relative to each other in the course of a compensating movement, wherein the coupling elements (9, 10) are coupled to each other in the coupled state in such a way that the compensating movement is prevented.It is proposed that a test routine be carried out by means of the control arrangement (4) under control of the drive (1), in which sensor values ​​with regard to the control of the drive (1) are classified by comparison with a test specification to determine whether the coupling arrangement (7) is in the coupled state or decoupled state.

The present disclosure generally relates to techniques for compensating motion when using a computer system.

A motion system includes a motion hardware system and a motion control system configured to control the movement of the motion hardware system. The hardware system includes a motion stage, a platform supporting the motion stage, and a machine frame resting on a ground surface. The platform includes a base and an active vibration isolation system arranged between the base and the machine frame. The active vibration isolation system includes actuators to provide together at least three degrees-of-freedom actuation of the base. The motion control system includes a feedforward control having a vibration isolation system controller for controlling the at least three DOF actuation of the active vibration isolation system to compensate, by exerting a counteracting force on the base, for expected reactions forces exerted by the motion stage on the base when operating. The feedforward control includes a memory for storing a string of characters defining the motion equations based on the topology of the motion stage, and a processing unit for processing the string of characters to compute the counteracting force.