41 results about "Compensating movements" patented technology

The invention relates to a drive train 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 (6) 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 (6) has a drive unit (7) and two drive connections (8) for connecting the drive (6) to the flap side and the body side, wherein the drive train (1) has a compensating arrangement (10) with two compensating components (11) which enables a change in length of the drive train (1), wherein the change in length of the drive train (1) can be effected by the compensating arrangement (10) by moving the compensating components (11) of the drive train (1) relative to each other from an operating position to a compensating position during a compensating movement.wherein the drive train (1) has a locking arrangement (12) which is adjustable to a release state and a locking state, wherein in the locking state the locking arrangement (12) locks the compensating components (11) in at least the direction of movement of the compensating movement and wherein in the release state the compensating components (11) are released by the locking arrangement (12). It is proposed that the compensating movement by the locking arrangement (12) can be interrupted by moving the locking arrangement (12) from the release state to the locking state during the compensating movement, or can be continued uninterrupted by the locking arrangement (12) remaining in the release state during the compensating movement, in particular due to inertia.

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 relates to the technical field of robot flexible operation and intelligent control, and discloses a modeling uncertainty-oriented dexterous hand collaborative grabbing control method and system, and the method comprises the following steps: S1, building a dexterous hand system dynamics model; s2, virtual coupling is introduced among multiple fingers of the dexterous hand system to construct a communication topological structure; a collaborative grabbing error is defined, and a corresponding potential energy function is constructed; s3, designing a gradient descent distributed control law based on time-varying gain; s4, motion gravity change is processed through a gravity item integral compensator, and kinematics parameter uncertainty is compensated based on a time-varying gain Jacobian matrix adaptive law; and S5, integrating the distributed control law in the step S3 and the adaptive processing mechanism in the step S4, so that the dexterous hand system realizes collaborative grabbing control within the preset time of the user. The method is accurate in control and flexible in response, and can realize efficient, robust and quick response control of the grabbing task in collaborative operation of small-batch customized products.

Hoisting arrangement including an upper carrier (32), a lower carrier (34), hoisting lines (38) and a line reconfiguration member (58). The upper carrier (32) is attachable or forms part of a jib (24) or boom (22) of a crane (16), the lower carrier (34) is selectively connectable (37) to a load (36) and is jointly suspended from the upper carrier, and the lines (38) interconnect corresponding pairs of upper and lower line connections on the upper and lower carriers, respectively. The line reconfiguration member is repositionable between the upper and lower carriers to change an operational configuration between a first mode wherein the lines are independently extendable and retractable in oblique directions to operate as positioning mechanism with at least four degrees of freedom, and a second mode wherein the lines extend predominantly parallel and are jointly extendable and retractable in vertical direction to operate as heavy load hoisting mechanism.

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.

A feeder vessel for the onshore-to-offshore transport of elongate wind turbine objects with a motion compensating carrier assembly having a motion compensated platform for receiving and retaining the elongate object, and a motion compensation mechanism. The motion compensation mechanism includes extendable actuators which passively compensate motions of the platform out of a neutral position, and winches driving carrier cables such that traction by the respective carrier winch counteracts an extension of at least one of the carrier actuators. The winches are embodied as active motion compensation winches to compensate movements of the platform.

The invention relates to a drive train (1) of a wind turbine, comprising a rotor (2) with a shaft (3), a main bearing (4) supporting the shaft (3), a gearbox (5) which is connected to the shaft (3), and a generator (6) connected to the gearbox (5). In order to subject the gearbox to the lowest possible load even if the main bearing does not ensure precise mounting of the shaft, the invention provides that the gearbox (5) and the generator (6) are elastically mounted relative to the main bearing (4), such that the gearbox (5) and the generator (6) can perform compensating movements relative to the main bearing (4) in the axial direction (a) and / or radial direction (r) to the shaft (3) and / or pivoting movements about an axis perpendicular to the axial direction (a).

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 relates to a drive unit (1) for a vehicle (100) comprising an electric machine (2) with a rotor shaft (3), a transmission (4) with at least a first shaft (5) and a switching element (6) arranged radially inside the rotor shaft (3), an elastic spring element (7) arranged on the switching element (6), and a guide element (8) arranged spatially between the rotor shaft (3), the elastic spring element (7), and the switching element (6), and configured to guide the switching element (6) in the rotor shaft (3) during a switching operation, wherein the switching element (6) is configured to connect at least the first shaft (5) to the rotor shaft (3) in a rotationally fixed manner in a first switching position in order to feed a drive power of the electric machine (2) into the transmission (4), wherein the elastic spring element (7) is configured toto center the switching element (6) in the rotor shaft (3) when the electrical machine (2) is not under load and to enable a compensating movement of the switching element (6) in the rotor shaft (3) when the electrical machine (2) is under load.

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 present invention relates to the technical field of non-electric variable control, specifically an optimized system for the mechanical picking movement trajectory of fresh cut peonies based on automatic control. The system includes a pneumatic pressure acquisition module that installs a pneumatic pressure sensor inside the cylinder to obtain the internal pressure value of the cylinder and establish a pneumatic pressure regulation characteristic table. In the present invention, the pneumatic pressure acquisition and feedback mechanism enables the picking tool to adjust the force in real time, avoiding uneven force caused by pneumatic pressure fluctuations. It improves the stability during the picking process, ensures the contact accuracy between the picking force and the target object, and reduces the physical damage to peonies. During the picking process, by dynamically adjusting the position and trajectory of the picking tool, the deviation can be corrected in real time, ensuring the precise movement of the tool to dock with the target object and reducing the error in the operation. In addition, through the combination of displacement monitoring and pneumatic pressure output commands, the movement trajectory can be automatically compensated during the movement process, improving the picking efficiency.

The invention relates to a coupling arrangement for a drive train (2) for connecting a drive (3) to a flap (6) or body (4) of a motor vehicle (5), wherein the coupling arrangement (1) has a first coupling element (7) for connection to the drive (3) and a second coupling element (8) for connection to the flap (6) or body (4) and can be brought into a coupled and a decoupled state, wherein the coupling elements (7, 8) are decoupled from one another in the decoupled state and can be moved relative to one another in the course of a compensating movement and are coupled to one another in the coupled state, wherein the coupling arrangement (1) has a locking arrangement (11) with a locking element (12), wherein the coupling elements (7, 8) are coupled to one another in the coupled state of the coupling arrangement (1) by the locking element (12) in such a way that the compensating movement is prevented, and wherein the coupling elements (7,8) are released by the locking element (12) in the uncoupled state of the coupling arrangement (1). It is proposed that the locking arrangement (11) have a locking element actuation (13) and that the locking element (12) is reversibly moved during an unlocking movement effected by the locking element actuation (13) such that the coupling arrangement (1) is moved from the coupled state to the uncoupled state, subsequently enabling the compensating movement.

The utility model relates to the technical field of automatic carrying equipment, and discloses an automatic carrying manipulator double-arm connecting structure which comprises a first speed multiplication body, a second speed multiplication body and a bearing, the bottom of the first speed multiplication body and the bottom of the second speed multiplication body are both connected with a first transition plate, and a connecting frame is arranged between the first speed multiplication body and the second speed multiplication body. According to the double-arm connecting structure, after the first speed multiplication body and the second speed multiplication body have errors in the X direction, the side edge of the connecting frame can rotate around the transition connecting assembly under the support of the corresponding transition connecting assembly, so that errors which are difficult to avoid in motion control are compensated, and in a similar way, the speed multiplication body and the second speed multiplication body can be effectively controlled. When the first speed multiplication body and the second speed multiplication body have errors in the Y direction, the errors are counteracted through guiding of the first mounting holes and the corresponding limiting rods, and then when the first speed multiplication body and the second speed multiplication body have errors in the Z direction, the errors can be counteracted through rotation between the transition connecting assembly and the first transition plate.

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 present invention discloses a two-axis inertial stabilization device, comprising: a stabilization platform; an inertial unit, arranged on the third side of the stabilization platform; a control module, arranged on the fourth side of the stabilization platform, and its input end is connected to the output end of the inertial unit; a rolling motor module, arranged on the first side of the stabilization platform; and the input end of the rolling motor module is connected to the first output end of the control module; a pitching motor module, arranged on the second side of the stabilization platform, and perpendicular to the rolling motor module; and the input end of the pitching motor module is connected to the second output end of the control module. This system solves the problems of low response frequency, limited compensation angle range, and single-direction stability of the existing stabilization platform. By using a set of vertically arranged motion compensation mechanisms, compensating motions are performed in the horizontal and vertical directions, so that the stabilization device provides stability in the horizontal and vertical directions for the load device in a shaking environment, and provides a stable working environment for the load device.

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.