23 results about "Curvilinear motion" patented technology

The invention discloses a welding system for electromechanical equipment manufacturing, and relates to the technical field of pipe fitting welding and positioning. A rotary limiting part is arranged on one side of a horizontal guide table in the length direction of the horizontal guide table, an arc-shaped guide groove is formed in the side, opposite to the rotary limiting part, of a welding bearing table, a rotary driving part is arranged between the welding bearing table and the arc-shaped guide groove, and a linkage part penetrating through an inner cavity of the rotary driving part is fixed to one side of a pipe pushing part. The linkage part is sleeved with a movable guide base matched with the arc-shaped guide groove, and the rotary driving part is used for pushing the pipe conveying mechanism to do linear motion or curvilinear motion, so that two first pipe fittings in the horizontal direction are attached and positioned, or the first pipe fittings and the second pipe fittings in the vertical direction are attached and positioned. Through the design of the arc-shaped guide groove, the rotary driving part, the limiting channel, the rotary limiting part, the pipe fitting conveying mechanism and the pipe fitting positioning mechanism, the positioning mode between different pipe fittings can be adjusted and controlled according to different application scenes, and the application range of the device is widened.

The invention discloses a compact type universal driving unit of an anti-explosion AGV. The compact type universal driving unit comprises a main body frame, a left driving assembly, a right driving assembly, a rotating shaft, trundle supports and auxiliary trundles. The rotating shaft is perpendicular to the center of the body frame, the left driving assembly and the right driving assembly are symmetrically installed on the left side and the right side of the body frame, and each driving assembly is mainly composed of a driving wheel, a wheel bearing, a transmission unit, a speed reducer and an explosion-proof motor. The upper end of the rotating shaft is connected with a trundle support through a rotating shaft bearing, and an auxiliary trundle is arranged at the tail end of the trundle support. Linear motion, curvilinear motion, in-situ radius rotation motion and rapid steering of the anti-explosion AGV in any direction are achieved, meanwhile, the problem that multiple wheels make contact with the ground is solved through the swing suspension system, the anti-explosion AGV has the advantages of being compact in structure, easy to wire, high in adaptability, safe and reliable, and the problem of the anti-explosion AGV in the aspect of a driving unit is solved.

The invention relates to a precise docking motion control method based on laser correction, and belongs to the field of robot navigation and path control. Comprising the following steps: S1, calculating a curve target point position of a curve track; s2, recording odometer data of a starting point and constructing a local map by taking the starting point as an original point; s3, calculating a curve track from the starting point to the curve target point; s4, performing coordinate mapping on the current point odometer data; s5, calculating an actual look-ahead distance and obtaining a look-ahead point from the curve track; s6, calculating the linear velocity and the angular velocity of the curvilinear motion; s7, the robot moves according to the linear velocity and the angular velocity of the curvilinear motion until the robot reaches a curve target point; s8, calculating the angular velocity of the linear motion according to the position of the recharging seat; and S9, the robot moves according to the linear velocity and the angular velocity of the linear motion until the robot reaches the recharging seat. Accurate docking of the mobile charging robot can be realized without relying on map or environment modification in advance, and the movement efficiency and the control precision are effectively improved.

The invention relates to a transferring mechanism and a sole pressing machine, and belongs to the field of sole pressing machines, the transferring mechanism comprises a swing arm mechanism and a clamp, the swing arm mechanism comprises a driving part and a rocker arm in transmission connection with the driving part, the rocker arm is hinged to the upper end of the clamp, and the driving part drives the rocker arm to swing to drive the clamp to move around the swing center of the rocker arm; and the upper end and the lower end of the clamp are kept relatively static in the moving process. The transfer mechanism has the advantages that the transfer mechanism can drive the clamp to do curvilinear motion on the vertical plane to transfer shoes from one station to another station, the transfer path is greatly smaller than that of a traditional XYZ three-axis transfer mechanism, the transfer speed is high, consumed time is short, and the transfer efficiency and the production efficiency of the sole pressing machine are effectively improved.

This utility model relates to the field of machining fixtures, specifically to a rotary displacement stage. The rotary displacement stage includes: a base; a worktable for supporting the workpiece to be rotated, the worktable being coaxially arranged with the base and rotatable relative to the base around an axis; a swing arm, one end connected to the worktable, the other end extending radially away from the worktable to form a free end; and an angle control component, the main body of which is mounted on the base, the output end of which abuts against the free end of the swing arm, the output end of the angle control component being axially movable relative to the base to drive the swing arm to swing. The rotary displacement stage provided by this utility model, by converting the linear motion of the angle control component into the curvilinear motion of the worktable, can improve adjustment accuracy compared to directly manually rotating the worktable, achieving high-precision auxiliary adjustment of the microlens array rotation angle.

A detection apparatus (100), comprising a sensing assembly (101), a movable part (10) and a fixed part (20), wherein at least some of components of the sensing assembly (101) are payloads (103); the movable part (10) is configured to be connected to the payloads (103); one of the movable part (10) and the fixed part (20) comprises at least part of a magnetic field generation structure (30), and the other comprises a coil structure (40); when the coil structure (40) is energized, the magnetic field generation structure (30) can cooperate with the coil structure (40) to generate a driving force, such that the movable part (10) can perform a reciprocating curved motion in a first movement space (51), thereby driving at least some of the payloads (103) to perform a reciprocating motion in a second movement space (52) outside the first movement space (51), the first movement space (51) is located on the inner side or the outer side of the fixed part (20) and is configured to allow the movable part (10) to perform the reciprocating curved motion; and the second movement space (52) is formed by extending in a movement direction of the movable part (10), and / or a central angle corresponding to the first movement space (51) is less than 360°. The control response speed of the driving device (102) can be increased, thereby further improving the detection accuracy. The present application further relates to a movable platform.

The invention discloses a damping-adjustable vibration attenuation control method for a bogie of a high-speed motor train unit, which can be suitable for the design of bogies with built-in and external axle boxes: the operation condition of a train is determined according to the operation condition data in the running process of the train; a control strategy is adopted according to the train speed; compression damping force of a primary / secondary vertical shock absorber of a front bogie of the train, compression damping force of a primary / secondary vertical shock absorber of a rear bogie of the train, damping force of a centripetal side vertical shock absorber and damping force of a centrifugal side vertical shock absorber in curvilinear motion of the train under the ultrahigh road condition are subjected to compression damping force of a primary / secondary vertical shock absorber of a rear bogie of the train. The damping force F < inner 1 > of the primary vertical shock absorber on the curve radius center side when the train does curvilinear motion under the non-ultrahigh road condition and the damping force F < outer 1 > of the primary vertical shock absorber far away from the curve radius center side when the train does curvilinear motion are adjusted; the vibration reduction control of the bogie of the high-speed motor train unit is realized.

The invention discloses a motion control parameter generation method and device, equipment and a medium. The method comprises the following steps: acquiring a moving distance, a moving performance priority and moving constraint information of a one-way moving object; determining motion upper limit information of the one-way motion object according to the motion constraint information; determining a priority proportion according to the movement distance, the movement performance priority and the movement upper limit information; according to the motion upper limit information and the priority proportion, motion control information is determined, and the motion control information is used for controlling the one-way motion object to move by the moving distance in the single direction according to the S-shaped motion curve. According to the embodiment of the invention, the adaptability of motion control parameters and application scenes can be improved.

The utility model relates to a laboratory teaching aid, which comprises a ball body and a bottom frame, the bottom frame is provided with a demonstration board used for displaying the motion trail of the ball body and a curve track used for limiting the motion trail of the ball body, the curve track is formed by splicing a plurality of sub-tracks, each sub-track can be detached independently, and each sub-track can be detached independently. Wherein one sub-track comprises a ball inlet, and the other sub-track comprises a ball outlet. According to the teaching aid, the motion trail of a ball can be displayed through the demonstration board, the relation between curvilinear motion, linear motion and the speed direction of the ball can be displayed on the demonstration board under the condition that whether external force exists or not by disassembling the sub-tracks, and different forms of linear and curvilinear motion trails can be observed in actual operation through direct demonstration and observation. Therefore, students' understanding of kinematics concepts is deepened.

The invention belongs to the technical field of numerical control, and provides a five-axis machining control method and system based on a motion controller, and the method comprises the steps: obtaining a continuous motion sequence of a rotating shaft, obtaining and marking a tiny reverse motion segment through the motion sequence, and deleting the tiny reverse motion segment. Extracting end point parameters and starting point parameters of front and back movement sections adjacent to the tiny reverse movement section, reconnecting the end point parameters and the starting point parameters to generate an S-curve movement section, obtaining an updated tool nose point track through a forward kinematics mechanism, and comparing the updated tool nose point track with an original tool nose point track to obtain track deviation; and performing effectiveness judgment on the S-curve motion section by combining a third threshold value, performing local smooth optimization according to a judgment result to obtain an optimized S-curve motion section, and controlling five-axis machining through the optimized S-curve motion section. According to the method, the S-curve motion section is optimized to replace tiny reverse motion, and the forward kinematics is combined for track verification to optimize five-axis machining control, so that the machining precision can be improved.

The invention provides a homogenizing device and method based on dynamic trajectory control and application, and the homogenizing device comprises a homogenizing tank, a driving controller, a driving shaft and a stirring assembly; the bottom of the driving shaft is fixedly connected with the stirring assembly and extends into the homogenizing tank; the top of the driving shaft is fixedly connected with the driving controller, and the driving controller can drive the driving shaft to perform lifting, rotating and curvilinear motion in a three-dimensional space, so that the stirring assembly can cover the whole space in the homogenizing tank. According to the homogenizing tank, it can be ensured that particles in all areas in the homogenizing tank can be subjected to equal acting force, lifting and curvilinear motion are combined, the space in the whole homogenizing tank can be stirred more efficiently, and the dead-angle-free and efficient homogenizing effect is achieved.

The application relates to a method for tracking a main AUV from an AUV based on a sliding mode adaptive control, which decouples the motion of the AUV into horizontal plane motion and longitudinal plane motion, simultaneously considers the influence of non-constant interference and sea current during the motion of the AUV, designs a control law through a sliding mode adaptive control method, and estimates the sea current velocity on line, so as to guide the AUV to the tail of a target AUV to perform distance tracking. Finally, through tracking simulation of linear motion and curve motion of the target AUV respectively, the feasibility of the AUV long-distance guiding and tracking method is verified. Through adaptive control, the influence of parameter error on the stability of the system is eliminated, the sliding mode adaptive control method can estimate the sea current velocity, the system has certain anti-interference ability, and the robustness of the system is also indicated.

This application relates to a trajectory generation device, which includes a guide rail module, two motion modules, and a trajectory generating component. The two motion modules are reciprocally slidably mounted on the guide rail module, and are spaced apart. The trajectory generating component is movably connected to the two motion modules via two connecting rods, and during the movement of the two motion modules, the trajectory generating component can perform linear and curvilinear movements in a planar space. The trajectory generation device provided in this application, through the movement of the two motion modules on the guide rail module, realizes the preset trajectory drawing action of the trajectory generating component. This reduces the motion jitter of the trajectory generating component, improves the response rate of the trajectory generating component during trajectory drawing, separates the linear and curvilinear movements of the trajectory generating component, facilitates control of the drawn trajectory, and has a simple structure, improving energy efficiency while reducing usage and maintenance costs.

The invention relates to a double-station alternating reciprocating type transfer platform which comprises a first bearing moving device, a second bearing moving device and a curvilinear motion guide piece. A power transmission assembly in the first bearing moving device acts, so that a first connecting piece displaces, and a first bearing platform is driven by a second connecting piece to displace in the same direction as the transmission direction of the power transmission assembly; the flexible transmission assembly synchronously drives the second bearing platform to drive the second bearing moving device to move in the direction opposite to the transmission direction of the power transmission assembly, in the movement process, the second connecting piece enables the first bearing platform to actively avoid the second bearing platform through the curvilinear motion guiding piece, and double-station alternate reciprocating operation is achieved. According to the invention, the power source is reduced to one, and the number of sensors is correspondingly reduced, so that the control complexity is reduced, the delay time in operation and the waiting time which is useless for efficiency are reduced or eliminated, and the efficiency is further improved.

The object is tilted only when traveling around a curve. [Solution] The conveying device (100) comprises a trolley (2) having a traveling section (6) that travels and a belt conveyor (7) on which articles (200) are placed, the belt conveyor (7) being arranged on the traveling section (6) and connected to the traveling section (6) in a tiltable manner, and a displacement rail that applies an external force to the belt conveyor (7) so as to tilt the belt conveyor (7) when the trolley (2) is traveling on a curve.

This invention belongs to the field of biomimetic robotics, and specifically relates to a mechanism for achieving curvilinear motion. It includes a hip joint frame with two lumbar rotation power sources mounted on it. The output ends of these lumbar rotation power sources are connected to a swinging component. A main shaft is rotatably connected to the hip joint frame, and a bushing is fixedly connected to the main shaft. The swinging component is connected to the bushing, and a support fork is fixed to the main shaft. The invention also includes a differential rotation power source and a torso structure. The differential rotation power source includes a cross ring, which is rotatably connected to the support fork. Two torso rotation power sources are rotatably connected to both sides of the cross ring. The output ends of the two torso rotation power sources are respectively connected to the torso structure. The housing of the torso rotation power source is rotatably connected to the cross ring. A large gear is fixed to the housing of the torso rotation power source, and a small gear is rotatably connected to the cross ring. The large gear and the small gear mesh. This invention provides a mechanism for achieving curvilinear motion by simulating the movements of the human waist.

A curvilinear electromagnetic pump is configured to follow a curve, such as by coupling multiple linear pump segments together that are offset by an angle with respect to each other. The curvilinear electromagnetic pump can curve within two dimensions, or within three dimensions. The curvilinear electromagnetic pump allows for more efficient arrangement of components and systems within a nuclear reactor vessel and allows a significantly reduced reactor vessel height as compared to a linear pump arranged vertically. The curvilinear electromagnetic pump may follow the curvature of the reactor vessel wall and may be entirely disposed near the bottom of the reactor vessel.

A detection device (100) comprises a sensing assembly (101), a movable part (10) and a fixed part (20); at least part of the sensing assembly (101) is a load (103); the movable part (10) is configured to be connected with a load (103); one of the movable part (10) and the fixed part (20) comprises at least a partial magnetic field generating structure (30), and the other comprises a coil structure (40); when the coil structure (40) is powered on, the magnetic field generating structure (30) can cooperate with the coil structure (40) to generate driving force, so that the movable part (10) can make reciprocating curvilinear motion in the first movable space (51), and at least part of the load (103) is driven to make reciprocating motion in the second movable space (52) outside the first movable space (51). The first moving space (51) is positioned on the inner side or the outer side of the fixed part (20) and is used for the reciprocating curvilinear motion of the moving part (10); the second movement space (52) is formed by extending the movement direction of the movable part (10), and / or the central angle corresponding to the first movement space (51) is smaller than 360 degrees, so that the control response speed of the driving device (102) can be improved, and the detection precision is further improved. The invention further relates to the movable platform.

The present invention describes a curvilinear helical actuator that converts curvilinear helical motion into rotational motion. The actuator comprises a helical conduit, a helical crosshead piston unit, a sliding crank pin, a crank, and an output shaft. Fluidic pressure drives the piston unit within the helical conduit, generating a curvilinear motion, which is then transferred as rotational motion to the crank via the crank pin that is connected to the crank using a sliding joint. The actuator features configurations for dual opposing pistons, single acting without spring, and single acting with spring, enhancing control for applications such as prosthetic limbs and robotics. Additionally, it supports extended motion ranges exceeding 360 degrees. Its compact design and efficient motion conversion make it suitable for medical devices, aerospace, automotive, and manufacturing industries, providing precise and reliable motion control.

This invention relates to the field of experimental equipment technology and discloses an improved experimental device for exploring the direction of velocity in curvilinear motion. The device includes a flat plate with adjustable bases screwed into its four bottom corners via horizontal adjustment screws. A coordinate grid and angle disk are etched on the upper surface of the plate for position calibration and angle reading. Two parallel curved grooves are arranged longitudinally on the plate, with a flexible horizontal curved track inserted vertically into each groove. A placement slot is provided on the plate, and an axle is vertically installed in the center of the slot. The axle's axis is vertically positioned within a cylindrical storage chamber, and the end of the flexible horizontal curved track is wound around the axle. This invention improves the success rate and data consistency of experiments, reduces operational difficulty, and solves the problems of unstable initial velocity, high resistance, difficulty in demonstrating at arbitrary points, and low success rate associated with traditional methods. It also strengthens learners' correct physical understanding that "the velocity of curvilinear motion is along the tangent direction of the curve."

The translation single-tool swing arm structure comprises a mounting frame, a swing frame and a transverse cutter assembly, the swing frame is driven through a power shaft and an eccentric wheel, and the cutter assembly achieves elliptic curve motion in combination with the fulcrum effect of a fulcrum shaft. Meanwhile, the structure has an adjustable design, such as height and position adjustment of the fulcrum shaft, length replacement of the connecting rod and the like, so as to adapt to different size requirements. The technical effects that the cutting precision and stability are improved, and the structural suitability and operation flexibility are enhanced are achieved.

The invention relates to the technical field of driving training auxiliary equipment, in particular to a mooring structure for multi-scene driving training, which comprises a frame for defining a driving training area, sliding components (including trapezoidal track rods and I-shaped track rods), spring-shaped mooring lines and conductive rotating rings, the sliding assembly slides along the frame rail, the mooring line is connected with the vehicle and the sliding assembly, the conductive rotating ring prevents the mooring line from being wound when the vehicle steers or does curvilinear motion, and the position sensor is matched with the driving motor to achieve accurate synchronization of the sliding assembly and vehicle motion. The structure can adapt to various core training scenes by changing the form of the frame track, the spring mooring line provides flexible constraint to prevent vehicle collision, the two sliding assemblies are selected as required, trainees are effectively assisted in standard operation, and the training efficiency is improved.

The invention discloses a piezoelectric driving structure design with rotational degree of freedom, and relates to the technical field of tight driving, the piezoelectric driving structure design comprises a base, a stator and a mover, the stator comprises a hinge assembly and a piezoelectric stack, the hinge assembly comprises a first hinge member and a second hinge member, and the mover comprises a rotor capable of rotating. The first hinge component is of an asymmetric flexible hinge structure, the middle of the second hinge component is sunken towards a driving groove of the first hinge component, and the defect that the driving foot protrudes outwards to waste space is overcome. The first hinge structure is arranged on the rotor, so that the driving foot can move in the direction away from the bottom of the driving groove, the driving foot can move towards the side with the small deformation quantity due to different deformation quantities generated on the two sides of the first hinge structure, then the driving foot generates curvilinear motion, and due to the fact that the driving foot abuts against the rotor, the rotor rotates around the axis of the rotor according to the stick-slip principle.