112 results about "Differential motion" patented technology

The invention relates to the technical field of vehicle drive-by-wire function safety, and discloses a brake-by-wire and steering-by-wire fault reconstruction system and a vehicle redundancy architecture wherein a fusion diagnosis module is used for obtaining sensor parameters in a brake subsystem and a steering subsystem in real time through a plurality of sensors; the fault reconstruction module is used for performing multi-level fault reconstruction on the braking subsystem based on a three-level response mechanism according to the fault type and the fault severity level; performing redundancy control link dynamic switching on the steering subsystem; and the resource scheduling module is used for determining the energy distribution proportion of brake locking and steering differential motion according to the voltage of the shared emergency power supply. According to the embodiment of the invention, the global composite fault criterion library is constructed through the fusion diagnosis module, the multi-dimensional and cross-system combined diagnosis of the braking subsystem and the steering subsystem is realized, the complex fault mode can be effectively covered, the recognition and response capability of the system to multiple concurrent faults is improved, and the safety degree of the vehicle is further improved.

The invention belongs to the technical field of graphite production equipment, and particularly discloses uniformly dispersed mixing equipment for graphite cathode production, which comprises a kettle body, the bottom of the kettle body is communicated with a discharge pipe, and the surface of the kettle body is communicated with a feed pipe; by means of a transmission system composed of the driving ring, the outer gear ring, the gear and the inner gear ring, differential motion is generated between the first grinding block directly driven by the rotating shaft and the second grinding block driven by the rotating ring with the speed changed through the gear, and the differential motion forms strong shearing force in the staggered area of the first grinding block and the second grinding block; the first grinding block and the second grinding block can effectively cut soft aggregate formed by graphite and a coating agent, and meanwhile, the gap between the first grinding block and the second grinding block is gradually reduced along with the distance away from the rotating shaft, so that when materials move outwards under the centrifugal effect, the materials can be subjected to the stage treatment process from coarse crushing to fine grinding, the dispersion uniformity is remarkably improved, uneven coating is avoided, and the service life of the materials is prolonged. And abrasion to equipment caused by one-time excessive grinding is effectively reduced.

The invention discloses a self-adaptive bionic manipulator and a differential motion pulley block mechanism, which are composed of a shell, a palm, four fingers, a thumb and a connecting flange, and comprise a first driving mechanism, a second driving mechanism and a third driving mechanism, and the four fingers comprise an index finger, a middle finger, a ring finger and a little finger which are all novel tendon rope connecting rod hybrid driven bionic mechanical fingers; the three knuckles of the bionic mechanical finger are driven by the tendon ropes to move regularly, so that consistent bending and self-adaptive grabbing of the finger are achieved. A set of differential motion pulley block mechanism is installed on the palm, the first driving mechanism drives the differential motion pulley block mechanism and drives the four fingers to move, and the mechanism not only solves the problem that a pulley block occupies a large space of the palm, but also can reduce the overall weight and achieve light weight. A second driving mechanism and a third driving mechanism are installed on the thumb and control rotation and buckling of the thumb respectively. The robot can grasp objects in a self-adaptive mode, and is high in self-adaptability, high in anthropomorphic degree, ingenious in structure and efficient in transmission.

The invention discloses a speed planning method and device for enhancing the turning capacity of a wheeled robot and the robot. The speed planning method for enhancing the turning capability of the wheeled robot comprises the following steps: determining a kinematics relation of the wheeled robot during turning according to a chassis inverse kinematics model of a differential motion robot; calculating according to the kinematics relation and the physical characteristics of the outer side wheel to obtain the speed of the motion center; and calculating according to the preset curvature, the physical characteristics of the outer side wheel and the speed of the motion center to obtain the speed of the inner side wheel. The technical effects that the control performance and adaptability of the wheeled robot can be improved, and speed planning of the wheeled robot in the advancing process is achieved can be achieved.

The invention discloses a kinetic energy output method and device based on hydraulic pressure, and the core of the technical scheme is an equal-volume differential composite cavity hydraulic driving module which comprises a double-acting double-rod hydraulic cylinder, a double-rod hydraulic cylinder and a single-rod hydraulic cylinder, piston rods at the left end and the right end of the double-acting double-rod hydraulic cylinder are fixedly connected with piston rods of the other two hydraulic cylinders respectively, the fixed connection positions are always located in the auxiliary cylinder barrel in the back-and-forth stroke, a gap is formed between the large piston rod and the inner wall of the auxiliary cylinder barrel, and near-end hydraulic cylinder cavities on the left side and the right side of the main cylinder form two equal-volume differential motion composite cavities. When the piston rod moves left and right, the volumes of near-end cavities of the two hydraulic cylinders are equal in increment and decrement, and the total volume of the composite cavity is not changed; the differences between the cross sectional areas of the pistons and the piston rods of the three hydraulic cylinders are equal; the difference between the cross sectional areas of the large and small piston rods is equal to the net area of differential driving force of the composite cavity; hydraulic pressure is circularly switched through the two-position four-way reversing valve, and kinetic energy of the piston rod is differentially driven by the composite cavity to be circularly output.

The invention provides a 3D visual mechanical gripper which is suitable for sorting and gripping disordered supplied workpieces such as motor rotors. The gripper comprises a three-dimensional sensing unit, a reconstruction and recognition unit, a gripping feasibility scoring unit, a differential motion inner supporting / outer clamping integrated end effector, a hand-eye calibration and online compensation unit, a motion planning and monitoring unit and a three-dimensional visual human-computer interface. A high-quality point cloud is obtained, instance segmentation and attitude estimation are utilized to establish a grabbing reference coordinate system, a grabbing feasibility scoring field is constructed based on a friction cone, an anti-torque, a centroid force arm and uncertainty, probabilistic optimization of a grabbing pose is achieved, and an end effector adopts a differential mechanism to achieve rapid switching between an outer clamping mode and an inner supporting mode. The problem that an existing visual mechanical gripper cannot meet the disordered gripping requirement of complex workpieces such as motor rotors is solved.

The invention relates to the technical field of fluid pollution tests, in particular to a composite fluid pollution test device which comprises a machine table and a partition plate fixed to the machine table, and a storage tank is fixed to the partition plate. The guide pipes are connected to the pumping cylinder and are symmetrically arranged, and hollow rods which are symmetrically arranged are axially arranged in the pumping cylinder in a sliding mode; the piston discs are installed in the pumping cylinder in a sliding and sealing mode and are symmetrically arranged, and a pressure conveying mechanism connected with the hollow rod is arranged in the pumping cylinder; the translation guide mechanism is arranged on the partition plate and connected with the hollow rod, the translation guide mechanism can drive the two piston discs to execute differential motion through the hollow rod and the pressure conveying mechanism, pressure fluctuation changes are formed in the pumping cylinder, and after a solution is sucked into the pumping cylinder through a guide pipe, the solution is pumped into the pumping cylinder through the guide pipe. And mixing and pumping the solution.

A coaxial drive unit is provided with a motor coaxial with a first axis. The drive unit has a differential that is coaxial with the first axis and includes a differential gear set for differential torque transmission to paired axles, an output shaft driven by the motor to rotate about the first axis and having a through-hole that allows one of the paired axles to reach the differential from an exterior. A transmission shaft is rotatable about a second axis parallel with the first axis and in mesh with both the output shaft and the differential to transmit the torque from the motor to the differential, a clutch is disposed between the motor and the differential gear set to limit a differential motion or disconnectably connect the output shaft with the differential, and an actuator is disposed above the first axis and configured to drive the clutch.

The invention relates to a constraint-driven five-axis machining singular area tool path local deformation optimization method. In order to solve the problem that the machining quality is reduced due to the fact that a cutter shaft vector enters a singular area to cause abrupt change of rotation shaft motion, the method comprises the steps that based on an A-C double-turntable five-axis machine tool kinematics model, a singular phenomenon mechanism is revealed through a differential motion relation, and the singular area is defined as a conical area meeting the condition that a cutter shaft vector component Tk is larger than or equal to epsilon k (epsilon k = cos5 degree is approximately equal to 0.9962); identifying a cutter axis vector point set entering a singular region in a cutter path, and expanding transition points along the path to construct a sequence to be optimized; interpolating the rotation angular displacement of the sequence by adopting a B spline curve; establishing an optimization model taking a minimum angle jerk integral square norm (guaranteeing motion stability) and a minimum cutter axis vector deviation (maintaining machining precision) as double targets; and solving an optimal B spline control point through a sequential quadratic programming (SQP) algorithm under a non-singularity constraint machine tool kinematics constraint (angular velocity / acceleration limitation) and a motion continuity constraint (C2 continuity at a connection point), and generating a smooth optimized tool path avoiding a singular region. By means of the optimization method, smoothness optimization of the tool path and stability of machine tool movement are achieved, machining errors are effectively controlled, and the method is suitable for five-axis high-precision machining of complex curved surfaces in the fields of aerospace, mold manufacturing and the like.

The utility model discloses a lifting device and a cleaning robot, the lifting device is connected with an operation assembly, and the lifting device comprises a driving assembly and a connecting assembly. Wherein the driving assembly is connected to the connecting assembly. The lifting device is provided with a lifting part and a transmission part, the lifting part rotates relative to the transmission part, and the friction inertia between the transmission part and the operation assembly is smaller than the self-weight inertia of the operation assembly, so that differential motion is formed between the transmission part and the operation assembly; or, the friction inertia between the lifting part and the operation assembly and the transmission part is smaller than the self-weight inertia of the lifting part and the operation assembly, so that differential motion is formed between the lifting part and the operation assembly and the transmission part, and the lifting part and the operation assembly ascend or descend under the action of the differential motion.

To achieve optimal LSD control.SOLUTION: A differential comprises: a casing; a differential gear set that is housed and supported in the casing, has first and second side gears connected to an output shaft and differentially distributes torque to them; a clutch that is interposed between the casing and the first side gear and frictionally brakes the first side gear relative to the casing to limit a differential motion between the first side gear and the second side gear; an actuator that applies pressing force to the clutch to control the differential motion; and an electronic control unit electrically connected to the actuator, the electronic control unit being configured to calculate a demand torque value from the input torque, compare a wheel load with a threshold value to determine a correction value, correct the demand torque value with the correction value to calculate a demand value, and control an electric power to be supplied to the actuator according to the demand value.SELECTED DRAWING: Figure 6

The utility model discloses a control surface control mechanism of a V-tail unmanned aerial vehicle, which comprises a pair of control surface main bodies which are arranged in a V shape, and the included angle between the two control surface main bodies is 90 degrees; the main shaft is vertically arranged on the end faces of the ends, close to each other, of the control surface main bodies; and the control assembly is used for controlling the pair of main shafts to rotate synchronously. The utility model has the following advantages and effects: after being assembled, the control mechanism is completely hidden in the fuselage of the aircraft, so that the flight resistance is not additionally increased; differential motion and homodromous motion of the two control surface main bodies are respectively driven by the same motor, so that the deflection consistency of the control surface main bodies on the two sides can be ensured.

The application belongs to the field of agriculture and specifically relates to a differential belt type aigan orderly separator and method. A seed box serves as a container for filling aigan and ensures that aigan is fully supplied during seeding. The separator device utilizes the differential motion of the belt to achieve orderly separation and delivery of aigan. The inclination angle and gap of the belt are precisely adjusted by a tensioning device and adjusting bolts, ensuring that aigan can be accurately seeded under different land conditions. The design of the brush plate and baffle can effectively prevent aigan from leaking from the seed box, maintaining the stability of the seed delivery. The gap adjusting device, through components such as the sliding block, guide shaft and support seat, enables flexible adjustment of the gap between the belts, adapting to aigan seeds of different sizes. The application has the advantages of strong adaptability and high seeding efficiency by controlling the speed and direction of the belt to scatter tightly wound aigan and orderly seed, and is particularly suitable for automated aigan seeding operations.

The invention relates to the technical field of wastewater treatment, and discloses an explosive production wastewater treatment system which comprises a water inlet system used for conveying to-be-treated explosive production wastewater and provided with a microbead adding system; the pretreatment unit comprises a separation tank body, a plurality of magnetic separation elements arranged in the separation tank body, and a differential driving device for driving the magnetic separation elements to do differential motion; the fine processing unit comprises a non-magnetic shell and a magnetic filter element array arranged in the non-magnetic shell, the magnetic filter element array comprises a plurality of magnetic filter elements arranged in parallel, and an electromagnetic coil is arranged on the periphery of each magnetic filter element; the wastewater diversion control system comprises a concentration detection device and a flow regulation device, the technical problem that a single magnetic separation system cannot cope with explosive production wastewater concentration and composition fluctuation is effectively solved, the continuous and stable operation capacity and the treatment efficiency of the explosive production wastewater treatment system are improved, and the operation and maintenance cost is reduced.

A differential motion device has: an endless component forming an endless path, wherein the endless component has: a first path segment located inside; a second path segment located outside; and a connecting path segment connecting the first path segment and the second path segment; a first drive roller engaging with the first path segment; a second drive roller engaging with the second path segment; a first drive motor rotating the first drive roller; a second drive motor rotating the second drive roller; a control unit controlling the first drive motor and the second drive motor; and a movable pulley unit comprising: a movable pulley engaging with the connecting path segment and moving linearly along a first axial direction and / or rotating with a movement of the first path segment and the second path segment;a first moving component that moves along the first axial direction with a linear movement of the movable pulley; and a second moving component that is held by the first moving component and moves with a rotation of the movable pulley.

The utility model relates to the technical field of garbage recycling, in particular to a discharging mechanism of a dehydrator. The shell cover detachably covers the upper part of the shell; the feeding hole is formed in the shell cover and is vertically formed in the vertical direction of the shell; the discharging hole is formed in the lower end of the shell; the screen is rotationally arranged in the shell and is used for separating water in garbage; the centrifugal rotating assembly is rotationally arranged in the machine shell and used for driving garbage in the screen to do centrifugal motion, and the differential motion assembly is arranged in the machine shell and used for driving the screen and the centrifugal rotating assembly to do differential rotation. The anti-abrasion assembly is arranged on the inner wall of the machine shell and located below the screen, and the water collecting tank is fixedly arranged in the machine shell and surrounds the outer wall of the screen. The device aims at reducing the abrasion effect of garbage discharged out of the centrifugal cylinder on the inner wall of the machine shell as much as possible.

The invention discloses a multi-stage film evaporator for removing low-boiling-point substances in polyether, and relates to the technical field of evaporators, the multi-stage film evaporator comprises an evaporator body, a feed port, a discharge port and a differential mechanism, the feed port is fixedly connected to the upper right end of the evaporator body, the discharge port is fixedly connected to the upper portion of the front end of the evaporator body, and the differential mechanism is fixedly connected to the lower portion of the front end of the evaporator body. The top of the evaporator body is fixedly connected with a differential mechanism, the differential mechanism is arranged, through differential motion among a vibration mechanism, two sets of second adjusting mechanisms and a scraper, strong shear force is generated in the early stage, polyether molecular chain winding is rapidly broken, escaping of low-boiling-point substances is accelerated, and product degradation caused by excessive shear in the later stage is avoided; and a uniform film is maintained to promote deep devolatilization, so that the optimal balance of efficiency and quality is realized, and the technical limitation of traditional fixed rotating speed is broken through.

This invention discloses a method for laser positioning and coordinated motion control of an industrial robot, comprising the following steps: establishing a two-wheel differential motion model; establishing a two-wheel differential odometry model; odometry measurement; and velocity decomposition. This method designs a motion model for the embedded control portion of the laser AGV mobile chassis, an odometry measurement algorithm, a speed control error model, an odometry error model, and a trajectory deduction based on motor encoder data. This method achieves precise description and control of robot motion, reduces robot speed control error, further reduces yaw angle error in speed following control and yaw angle error in odometry following control, and improves the accuracy of robot speed control and measurement, thus having value for widespread application.

The invention discloses a central fulcrum shaft sprinkling irrigation mechanism capable of expanding a sprinkling track. The central fulcrum shaft sprinkling irrigation mechanism comprises a universal connecting assembly, an expansion angle arm, a steering assembly and a plurality of irrigation additional nozzles installed on the expansion angle arm. The first end of the universal connecting assembly is connected with the center support through the main rotating arm and communicated with the main pipeline, the second end of the universal connecting assembly is connected with the expansion angle arm, and the steering assembly is installed at the tail end of the expansion angle arm and supported on the ground. The differential-driven double-wheel independent steering assembly is adopted, differential motion is formed in real time according to the angle of the main rotating arm and the position feedback of the expansion angle arm, the spraying boundary is expanded from a circle to an approximate rectangle or polygon, the problem of corner blind areas is effectively solved, and the irrigation coverage rate and the land utilization rate are remarkably increased. The central fulcrum shaft main machine and the expansion angle arm are flexibly connected through the universal joint, torque can be buffered, the device adapts to terrains, the structure is compact and reliable, and an efficient and low-cost precise irrigation scheme is provided for a large rectangular farmland.

The invention relates to the technical field of conveying equipment, in particular to a four-direction moving rail intelligent conveying trolley which comprises a bearing assembly and a conveying trolley body. The position changing assembly comprises a storage bin arranged on the inner wall of the conveying trolley, a fixing frame arranged on the outer side of the storage bin, a first adjusting plate arranged on the inner wall of the fixing frame and a second adjusting plate arranged on the outer wall of the storage bin; and the discharging assembly comprises a discharging plate arranged on the inner wall of the material storage bin, a synchronous wheel arranged on the outer wall of the material storage bin and a synchronous belt arranged on the end face of the synchronous wheel. The storage bin can be taken out of the trolley by starting the position changing assembly so as to ensure that enough space is provided for personnel to conduct discharging, meanwhile, differential motion of the discharging plate relative to the storage bin can be synchronously achieved by starting the discharging assembly, and personnel discharging is assisted.

The utility model relates to an automatic bottle rotating device which can adapt to bottle rotating of filling bottles of different bottle types. The at least one conveying line is used for conveying the filling bottles in the first horizontal direction X; the at least one bottle twisting mechanism and the at least one conveying line are arranged in a one-to-one correspondence mode, each bottle twisting mechanism comprises a first transmission belt and a second transmission belt which do differential motion, and the first transmission belt and the second transmission belt are arranged in the second horizontal direction Y in a spaced mode; the lifting adjusting mechanism is arranged on the rack and comprises a first lifting driving assembly, a second lifting driving assembly driven by the first lifting driving assembly to work and a cross beam, and the cross beam is connected with the first lifting end of the first lifting driving assembly and the second lifting end 521 of the second lifting driving assembly; the cross beam stretches across the conveying line in the second horizontal direction Y and is connected with the bottle rubbing mechanism, and the second horizontal direction Y is perpendicular to the first horizontal direction X.

A differential used for distributing input torque, is provided with: a casing to receive the input torque; a differential gear set supported by the casing for differentially distribute the input torque to first and second side gears; a clutch interposed between the casing and the first side gear to limit differential motion between the first side gear and the second side gear; an actuator to exert a pressure force on the clutch to control the differential motion; and an electronic control unit configured to calculate a locking rate from a selected differential torque ratio, calculate a requesting torque from a product as a result of multiplying the input torque by the locking rate, and control an electric power to be input to the actuator on the basis of the requesting torque.

The utility model relates to the technical field of wire cutting equipment, in particular to a single-side transfer multi-wire cutting machine. The utility model provides a unilateral transfer multi-wire cutting machine, including cutting machine main part, lifting mechanism, cutting subassembly, pay-off subassembly, take-up subassembly, the cutting machine main part is square frame structure, the lifting mechanism is provided on the both sides of cutting machine main part, the cutting subassembly is provided in the cutting machine main part through the lifting mechanism, the pay-off subassembly is provided with pay-off subassembly, take-up subassembly is provided in the cutting machine main part. By means of the single-side transfer structure, a set of lifting structure for controlling the roller support is omitted, and the control mode is relatively simple along with the change of the structure. Angle inclination of a cutting line and a cut object can be achieved without a material platform swinging mode or overall inclination of the cutting frame, and the cutting progress is accelerated.

The utility model relates to the technical field of laser light guide arms, and discloses a differential connection structure and a laser light guide arm thereof, comprising connection blocks which are symmetrically arranged; the differential assembly is arranged between the connecting blocks and used for limiting rotation of the connecting blocks, the differential assembly comprises composition blocks and ratchet gears, the composition blocks are arranged between the connecting blocks and abut against the connecting blocks, the symmetrical ratchet gears are arranged in the composition blocks, one ratchet gear is fixedly connected with the composition block, and the other ratchet gear is fixedly connected with the other ratchet gear. According to the differential assembly, the mode that a nut conducts differential motion in the past is abandoned, so that the problem of thread slipping caused by long-time use of the nut is solved, the position of the light guide pipe body is adjusted by means of meshing state conversion between the ratchet gears, and the light guide pipe body can be adjusted conveniently. And therefore, the service life of the device is prolonged.

The utility model discloses a kind of anti-sticking type discharge structures for rotor sand mixer, it is related to sand mixer discharge technical field, including sand mixing machine main body and being set in sand mixing machine side and with the discharge pipe of sand mixing machine main body inside intercommunication, discharge door of closed sand mixing machine main body and discharge pipe is arranged in the discharge pipe, the end of discharge pipe is fixedly connected with discharge shell, discharge impeller is rotatably arranged in the inside of discharge shell, intermittent mechanism for driving discharge impeller intermittent rotation is installed on the outer wall of discharge shell, scraper for cleaning discharge impeller is arranged in discharge shell, gear transmission assembly is arranged between scraper and gap mechanism to realize differential motion. The utility model is through arc-shaped discharge plate intermittent rotation and scraper differential cleaning, after arc-shaped discharge plate rotation, ration discharging, while discharging, scraper can contact arc-shaped discharge plate to remove sand, blockage rate reduces, solve the frequent blockage problem caused by sand accumulation in traditional discharge port.

The embodiment of the invention provides an intelligent book storing and taking system and method. The system comprises a two-wheel differential motion chassis, a five-degree-of-freedom mechanical arm, a clamping device and a storing device. Wherein the two-wheel differential motion chassis is used for freely moving in a library so as to adapt to different environments and terrains; an advanced control algorithm is adopted to realize accurate speed control and direction control; the five-degree-of-freedom mechanical arm positions the book position through a depth camera and moves, so that the book is accurately positioned by the clamping device; the clamping device rotates along with the stories to clamp the books in different placing states and swing and stir the books up and down, so that the books are pulled out, and through the system, the intelligent storing and taking speed and accuracy are improved.

A power transmission device is provided with a casing drivingly coupled to the power source to create a rotation about an axis, and a differential gear set supported by the casing to rotate with the casing about the axis. The differential gear set includes a pair of side gears capable of making a differential motion from each other, a friction section interposed between the casing and the differential gear set, or internal to the differential gear set, to frictionally limit the differential motion, a disconnect device coupled to one of output shafts for connectably disconnecting one of the side gears from the one of the output shafts, and a cam structure coupled directly or indirectly to the friction section to convert a torque in a direction for accelerating the rotation into a thrust force in an axial direction to exert the thrust force on the friction section.

To provide a control device for a vehicle differential motion limiting device that suppresses sliding of a differential motion limiting clutch, and heat generation or durability reduction caused by such sliding.SOLUTION: With an electronic control device 60, when a differential motion occurs on right and left driving wheels 16, 18 because of occurence of sliding of a differential limitation clutch 46 exceeding a torque capacity of the differential motion limiting clutch 46, a pressing load (engagement pressure) on the differential motion limiting clutch 46 is reduced and a differential motion limiting torque is reduced during braking of either of the driving wheels 16, 18 with either of wheel brakes 52, 54. By doing so, sliding of the differential motion limitation clutch 46, heat generation and durability reduction caused by such sliding are suppressed when the driving wheel on the high torque side of the driving wheels 16, 18 is braked using either of the wheel brakes 52, 54.SELECTED DRAWING: Figure 1

A granular dampening component for use with an earth-boring tool that includes an inner portion and an outer portion that at least partially surrounds the inner portion. A granular material is disposed between the inner portion and the outer portion. The granular material configured to transfer torque from the outer portion to the inner portion and configured to dissipate energy based on differential motion of the granular material.

The invention discloses a mower zero steering method and system based on handle control, belongs to the technical field of intelligent control of mowing equipment, and aims to solve the problem of poor steering control maneuverability of a hand-push mower. A starting instruction of the driving unit is generated according to the starting switch signal, the driving unit is controlled to start, and the walking unit linearly moves; receiving a left steering switch signal or a right steering switch signal; according to the left steering switch signal or the right steering switch signal, a corresponding differential motion instruction is generated, a driving unit is controlled to drive a walking unit to conduct left steering or right steering, and a steering angle is received; and when the steering angle reaches 180 degrees, a differential operation stop instruction is generated, so that the walking unit is switched from differential motion to linear motion. Automatic control and zero steering control of the mower are achieved through interaction with the handle, more labor can be saved when a user uses the mower, and good user experience is obtained.