13822 results about "Drive wheel" patented technology

Provided are an electric wagon and an electronically power assisted wagon. The electric wagon includes a wagon body including at least a foldable frame; a handle device connected to the wagon body; a walking assembly including at least driving wheels; a drive motor configured to drive the driving wheels to rotate; a power supply connection portion configured to be detachably connected to a battery pack for supplying power to the drive motor, and a controller electrically connected to at least the drive motor to control the drive motor to rotate.

The invention relates to the technical field of warehouse logistics equipment, and discloses an omni-directional intelligent mobile forklift control system. The system comprises a dynamic path planning module, an omnidirectional motion control module, a load stability monitoring module, an environment adaptive adjustment module and an intelligent obstacle avoidance decision module. The dynamic path planning module collects storage environment multi-dimensional spatial data and constructs a dynamic environment topological map; the omni-directional motion control module analyzes driving wheel parameters based on the map and generates an omni-directional motion composite motion instruction set; the load stability monitoring module collects a fork pressure distribution matrix and a cargo gravity center offset according to an instruction set, and calculates a stability compensation parameter; the environment adaptive adjustment module fuses illumination and slope data to generate a motion control constraint condition; and the intelligent obstacle avoidance decision module predicts a dynamic obstacle trajectory, outputs an obstacle avoidance path re-planning instruction and updates a map. The system can meet the requirements of modern intelligent warehousing.

The invention provides a vehicle anti-skid control method, device and system and a vehicle. According to at least one driving wheel of the vehicle, the chassis wheel speed, the actual wheel speed, the wheel end actual torque, the adhesion coefficient, the total wheel load, the target slip rate, the wheel radius and the vehicle speed are obtained; a feedforward control torque is determined according to an attachment coefficient, a total wheel load and a wheel radius, a wheel speed deviation is determined according to a target slip rate, a chassis wheel speed and an actual wheel speed, a torque deviation is adjusted through a vehicle speed, the attachment coefficient and the wheel speed deviation to obtain a feedback control torque, and the feedback control torque and the attachment coefficient are superposed to serve as an output torque for vehicle anti-skid control. Dynamic wheel load changes and wheel load changes caused by the vehicle on the ramp road surface are considered, the total wheel load is estimated in real time, feed-forward control is introduced to obtain the feed-forward control torque, feedback control is compensated, and the stability and accuracy of anti-skid control are enhanced when the ramp road surface and the loads change.

The invention provides a ship surface spraying device. The ship surface spraying device comprises a lifting driving source, a lifting transmission mechanism, a movable walking chassis assembly, a plurality of equipment rooms, a tower, a control tower capable of being installed on the tower in an up-down moving mode, a telescopic arm capable of stretching out and drawing back horizontally and spraying equipment. The walking chassis assembly comprises a walking chassis and a pair of driving wheels installed on the walking chassis in the walking direction perpendicular to the walking chassis, each driving wheel comprises a walking driving source installed on the walking chassis and a rotatable driving wheel body, and the walking driving sources are in transmission connection with the driving wheel bodies. The walking driving sources of the two driving wheels are mutually independent; the multiple equipment rooms, the lifting driving source and the tower are all fixedly installed on the top of the walking chassis, the lifting driving source is in transmission connection with the control tower through the lifting transmission mechanism, the inner end of the telescopic arm is installed on the control tower, and the spraying equipment is installed at the outer end of the telescopic arm. According to the spraying equipment, automatic spraying operation on the outer surface of the ship is achieved, and the spraying efficiency is high.

A “one-pedal rocking mode” for extricating an electric vehicle from a stuck condition is implemented by: receiving, via a human-machine interface (HMI) of the electric vehicle, an indication of a user selection to activate the one-pedal rocking mode; operating the electric vehicle in the one-pedal rocking mode responsive to detecting movement of an accelerator pedal of the electric vehicle; controlling at least one electric motor of the electric vehicle to: (i) apply a forward torque to corresponding drive wheels when the accelerator pedal is in a first pedal position that exceeds a forward threshold, (ii) apply a reverse torque to the corresponding drive wheels when the accelerator pedal is in a second pedal position that is less than or equal to the forward threshold; and exiting the one-pedal rocking mode by switching operations of the electric vehicle to a second operating mode responsive to detecting an exit condition.

The invention belongs to the technical field of conveying devices and relates to the technical field of conveying devices. The conveying devices comprise a bottom frame, a frame is fixedly connected to the top of the bottom frame, a discharging assembly is fixedly installed on the frame, groove bodies are symmetrically formed in the frame, supporting plates are fixedly installed in the groove bodies, conveying belts are arranged on the supporting plates in a surrounding mode, and driving wheels are symmetrically arranged in the groove bodies. The two driving wheels are in transmission connection through a conveying belt, a driving mechanism for driving the conveying belt to move is arranged on the frame, and supporting blocks are arranged on the conveying belt in an array mode. In particular to a textile roller packaging and conveying device for textile processing, according to the textile roller packaging and conveying device for textile processing, the stability of a textile roller can be improved through an arranged negative pressure head, the textile roller can be conveniently and stably conveyed, a negative pressure state is formed in a negative pressure box, and when one end of the textile roller moves into a groove, the textile roller can be conveniently conveyed. And the negative pressure head can be attached to the spinning roller, and negative pressure can be generated to limit the position of the spinning roller, so that the stability of the position of the spinning roller is improved.

The invention discloses an air-ground multi-mode cross-domain robot system with a clutch structure and a control method. The air-ground multi-mode cross-domain robot system comprises a machine body, wings, clutch assemblies and rotor assemblies. The aircraft body drives the connecting rod mechanism through the steering engine to control the bilateral wings to move. Rotor driving motors, wheels and transmission gear sets are integrated on the wings, and motor power can be distributed to wheel driving shafts and propeller shafts. The clutch assembly is connected with a motor and a propeller shaft through a ratchet wheel meshing mechanism, and power on-off control is achieved, in the ground running process, a clutch is separated to stop rotation of a propeller, power is fully output to wheels to serve as driving wheels, and in the flight mode, the clutch is meshed to synchronously drive rotors and the wheels. According to the system, bimodal power distribution is achieved through a single motor, a driving wheel motor does not need to be additionally arranged, the structural complexity is effectively reduced, the moving speed and controllability are remarkably improved through the ground mode propeller static design, the advantage of cross-domain operation is achieved, and the system is suitable for complex task scenes.

The invention relates to the technical field of orchard automatic navigation deviation correction, in particular to an automatic navigation deviation correction system for an orchard track power platform. Comprising a chassis, a vehicle control unit, a navigation system vehicle-mounted computer, a laser radar, a navigation control box, a navigation antenna, a steering motor, a differential planetary mechanism, a rotating speed sensor, an edge architecture control box, a driving wheel assembly, a servo valve and a steering pump. The mode that the whole vehicle controller regulates and controls the servo valve to conduct deviation rectification is adopted, the deviation rectification response speed is high, the control precision is high, the high-speed operation working condition of the orchard power platform can be adapted, and the operation efficiency is improved; the swash plate plunger steering pump is adopted to drive the steering motor, the driving power is small, the heat balance stability is good, and the cost is low; the differential steering mechanism is adopted as a deviation rectifying executing mechanism, the transmission efficiency of the power platform is not affected, the steering line type is controllable, steering is stable, the overcorrection phenomenon is effectively avoided, the automatic navigation operation precision is effectively improved, and the automatic navigation deviation rectifying stability of the orchard power platform is improved.

The invention relates to the technical field of bridge steel plate welding, and discloses bridge steel plate welding equipment facilitating feeding and discharging, feeding and discharging conveying mechanisms are arranged on welding table bodies, alignment mechanisms are arranged on the welding table bodies, and a sliding rail structure is arranged between the two welding table bodies; two sets of fixing mechanisms with lifting functions are arranged at the lower end of the sliding track structure, a welding mechanism is arranged on the inner side of the sliding track structure, a tensioning assembly is arranged on the upper portion of the welding mechanism, and a driving assembly is arranged on the connecting face of the welding mechanism and the track. According to the welding device, plates can be welded through the plasma welding gun, driving wheels in the driving assembly can enable the welding mechanism to move along the sliding rail structure, so that thick steel plates such as bridge steel plates are welded, the vertical position of the welding gun can be adjusted through the fixing mechanism and the lower rotating cylinder, and the welding effect is improved.

The invention relates to the technical field of photovoltaic supports, and discloses a photovoltaic mounting support which comprises a plurality of cross beams, a plurality of oblique beams erected on the cross beams and a plurality of supporting piles supported at the bottoms of the cross beams, and further comprises a carrying robot movably carried on the oblique beams. The carrying robot comprises a robot body, an adsorption assembly installed at the bottom of the robot body and moving wheel sets located on the two sides of the robot body. Mounting steps for mounting a photovoltaic panel are formed on two side walls of the oblique beam, and a track for the moving wheel set to walk is arranged at the top of the oblique beam; the adsorption assembly comprises a lifting disc fixedly installed at the bottom of the robot body and a plurality of suction cups. The sucker is fixedly connected with the lifting disc through a support arm; the moving wheel set comprises a plurality of self-driven wheels matched with the track and a connecting frame connected between the self-driven wheels and the robot body. The photovoltaic panel can be automatically transferred and carried to a designated area on the support, and the labor intensity of workers is reduced.

The invention discloses a data and knowledge dual-drive wheel set multi-parameter comprehensive state evaluation method and system, and belongs to the technical field of railway vehicle maintenance. The method comprises the following steps: firstly, constructing a mapping relation between geometric parameters and dynamic performance indexes through sampling and dynamic simulation, and carrying out global sensitivity analysis to screen key dynamic performance indexes; secondly, determining subjective and objective weights of the indexes in combination with an analytic hierarchy process and an entropy weight method, and introducing a dynamic optimization model based on a Bellman equation to generate a final combined weight; then, constructing a multi-dimensional state space division model by applying adaptive kernel density estimation and fuzzy C-means clustering, and determining the probability density and membership function of each index under different health levels; and finally, performing simulation prediction on the target wheel set, inputting a predicted value into the state space model, fusing a dynamic combination weight and a D-S evidence theory, calculating a comprehensive health index, and outputting a grading result, so that the health state of the wheel set can be accurately and efficiently evaluated.

The invention discloses a full-automatic intelligent port inspection robot system and method. The system mainly comprises an unmanned vehicle and an unmanned aerial vehicle which are autonomously coordinated. The unmanned vehicle platform comprises a vehicle body, an omni-directional driving wheel set arranged at the bottom of the vehicle body, and a multi-source sensing system, a 5G / Beidou dual-mode communication module, an emergency equipment cabin, an edge computing controller and an intelligent charging system which are arranged on the vehicle body, and real-time data interaction is achieved between the communication module and the unmanned aerial vehicle as well as between the communication module and the port central dispatching system. According to the invention, it is ensured that the robot system can complete core inspection tasks such as container three-dimensional scanning, container body state monitoring and storage yard path planning in an all-weather manner, automatic docking of the unmanned aerial vehicle and the unmanned vehicle with emergency equipment is realized, and a'sensing-decision-execution 'closed-loop system is formed; the functions of high-precision visual identification, multi-mode environment perception, dynamic obstacle avoidance planning, convenient replacement of unmanned aerial vehicle equipment, intelligent charging and the like are integrated, the port inspection efficiency can be remarkably improved, and the new-generation intelligent port equipment of the emergency response process can be optimized.

The invention discloses a self-adaptive constant-force vibration reduction mechanism base and a robot, and belongs to the technical field of specialized robots. Two sets of buffer units and vibration reduction units are arranged at the front end and the rear end of the base correspondingly; driving wheels are arranged on the buffer unit and the vibration reduction unit; the buffer unit comprises a horizontal buffer structure, a vertical buffer structure and a support; the horizontal buffer structure is slidably connected with the support in the vertical direction; the top of the vertical buffer structure is hinged to the support, and the bottom is fixedly connected with the driving wheel; the support is fixedly connected with the base; the vibration reduction unit comprises a rotating support and a constant force component. According to the self-adaptive constant-force vibration reduction mechanism base and the robot, the problems that in the prior art, a vibration reduction mechanism cannot completely avoid vibration generated by a wheel type moving device in the vertical direction when the wheel type moving device moves on an uneven road surface, and consequently bolt looseness, wire harness interface looseness, material fatigue strain and the like occur can be effectively solved; and therefore, the wheel type moving device has a fault in the operation process and cannot stably operate, and the like.

The invention discloses a magnetoacoustic coupling detection system and method for pipeline defect detection, and relates to the technical field of pipeline nondestructive detection. The system comprises a pipeline defect detection module, a magnetofluid driving module, an auxiliary moving module, a signal acquisition module, a data processing module and a data transmission module. The pipeline defect detection module comprises a magnetic flux leakage detection unit and an ultrasonic detection unit; the magnetofluid driving module comprises magnetofluid and an electromagnetic excitation device; the auxiliary moving module comprises a plurality of driving wheels tightly attached to the inner wall of the pipeline. The signal acquisition module comprises a data acquisition unit and a data storage unit; and the data processing module is used for processing the acquired magnetic excitation parameters, the magnetic leakage signals and the sound wave sensing data. According to the invention, the technical problems of low defect identification precision, complex use of a coupling agent, insufficient real-time data processing capability and the like existing in a single detection mode in the prior art can be solved.

The invention discloses a self-balancing type light steering wheel for complex terrains. The self-balancing type light steering wheel comprises a wheel carrier, a steering assembly, a driving assembly and a suspension system. The steering assembly drives tires to steer through a motor via a three-stage gear pair. The driving assembly drives tires through a motor and a speed reducer; the suspension system is connected between the driving mounting plate and the wheel carrier and comprises a parallel connecting rod mechanism and symmetrically arranged spring suspension units, self-adaptive buffering is achieved through a compression spring and a fisheye knuckle bearing, and it is ensured that the tire continuously touches the ground on a rugged road surface; the driving speed reducer is integrated in the tire, the driving motor is arranged between the wheel carrier and the tire, and the whole steering assembly does not exceed the turning radius of the tire. The device is compact in structure, has good terrain adaptability and motion stability, and is suitable for an outdoor mobile robot system.

The utility model relates to the technical field of cleaning equipment, in particular to a cleaning robot which comprises a robot body and an advancing assembly, the advancing assembly comprises a driving wheel, a supporting unit and an obstacle crossing wheel, the obstacle crossing wheel is arranged on the supporting unit, the supporting unit can rotate around the driving wheel, and the obstacle crossing wheel is arranged on the robot body. The driving wheels are arranged on the machine body so that the advancing assembly can be switched between an advancing state and an obstacle crossing state, and when the advancing assembly is in the advancing state, the driving wheels abut against the ground so as to drive the machine body to advance; when the advancing assembly is in the obstacle crossing state, the supporting units drive the obstacle crossing wheels to make contact with the ground, the driving wheels are made to break away from the ground, the obstacle crossing wheels drive the robot body to advance, and the obstacle crossing capacity of the cleaning robot is improved.

A cargo device, cargo management system and method of managing cargo are provided. A cargo device includes a platform having a top side configured to support cargo thereon; a cassette attached to the platform, the cassette configured to engage with at least one corresponding rail in a surface, and electrically communicate with the at least one corresponding rail to receive power and / or data related to the cargo from a controller to actuate the wheels, the cassette, or both; and wheels attached to the platform, the cassette, or both, the wheels being configured to move the platform along the surface. One or both of the cassette and the wheels are retractable based on the data such that the cassettes are moved between an engaged position with the corresponding rail and a disengaged position with the corresponding rail.

The invention relates to a chassis structure of a vehicle based on corner modules and a control system, the chassis structure of the vehicle comprises the corner modules corresponding to four wheels of the vehicle respectively, in each corner module, a wheel side motor driving assembly is used for directly driving the wheel corresponding to the corner module, and the wheel side motor driving assembly is used for directly driving the wheel corresponding to the corner module. The 90-degree two-way steering execution system is used for driving wheels corresponding to the angle module to realize positive and negative 90-degree steering; the wheel side motor driving assembly and the 90-degree bidirectional steering execution system are separately arranged; the suspension and supporting structure is used for keeping geometric stability of the suspension when the wheels corresponding to the angle modules steer and buffering road impact. The electronic mechanical braking unit is used for achieving braking of wheels corresponding to the angle modules. In this way, synchronous control over steering, driving, vibration reduction and braking of the vehicle in different running modes can be achieved through cooperative work of the angle modules in the wheels of the vehicle, and a vehicle chassis has higher flexibility and more scene adaptability in the running process of the vehicle.

The invention relates to the technical field of transformers, in particular to a high-safety transformer which comprises a transformer body and a monitoring mechanism, and the monitoring mechanism comprises a processor, a base, a control core, a driving wheel and a visual assembly. The base is provided with a containing cavity, an input flow channel and an output flow channel, the input flow channel and the output flow channel extend to the containing cavity, and the other ends of the input flow channel and the output flow channel communicate with an oil tank. A filtering assembly is arranged in the output flow channel, and the visual assembly is embedded in the inner wall of the output flow channel. The control core is rotationally matched with the containing cavity and provided with a radial through hole, and a control rod is arranged in the radial through hole in a sliding fit mode. The driving wheel is rotatably matched with the base. One end of the control rod is eccentrically hinged to the driving wheel. The visual component is used for acquiring image data of the surface of the filter component, and the processor is used for evaluating the impurity content in the insulating oil according to the impurity quality of the surface of the filter component. According to the utility model, the automatic monitoring of the insulating oil can be realized in the operation process, prompts can be given out in time, and the safety supervision strength is effectively improved.

A reciprocating type pull rod driving apparatus, including a housing, a shaft rod, a driving wheel, a chain, and an operating assembly. One end of the shaft rod extends to the housing. The driving wheel is arranged on the shaft rod. The chain is meshed with multiple engagement teeth of the driving wheel. The operating assembly is connected to the chain and configured to operate the chain to drive the driving wheel to rotate. A distance between a radial outer end edge of the driving wheel and an inner wall of the housing is greater than or equal to a thickness of the chain, and a quantity of driving wheel teeth that the chain is meshed with is less than a half of a total quantity of teeth.

A computer implemented method for controlling at least one driven and / or braked wheel of a heavy-duty vehicle includes configuring a default inverse tire model and a boost inverse tire model, where each inverse tire model represents a respective relationship between longitudinal wheel slip and longitudinal wheel force at the wheel, where the boost inverse tire model is associated with a higher maximum obtainable wheel slip value for the wheel compared to the default inverse tire model, obtaining a motion request indicative of a desired longitudinal force to be generated by the wheel, selecting the boost inverse tire model as active inverse tire model in response to detecting a boost signal and selecting the default inverse tire model as active inverse tire model otherwise, and controlling the at least one driven and / or braked wheel in dependence of the motion request and based on the active inverse tire model.

The invention discloses a wheelchair humanoid robot controlled by humanoid mechanical arms. The wheelchair humanoid robot comprises a chassis, a robot trunk, the two mechanical arms and a control calculation unit. The chassis comprises four independent driving wheels; a wheelchair seat is arranged on the robot trunk; the mechanical arm is a seven-axis mechanical arm and comprises three tail end joints and an operation tail end. The control calculation unit is provided with an operation control moving mode; in the operation control movement mode, the control calculation unit senses the operation intention of a user on the operation tail end by collecting data of the joint position sensor and the force feedback sensor, generates a movement command of the chassis through mapping of the operation intention, and converts the movement command into a wheel speed control command of the independent driving wheels. The tail end joint of the mechanical arm serves as a sensing and input device, the independent driving wheel chassis serves as an execution device, and the whole system has the advantages of being high in freedom degree, natural in interaction, safe, smooth and high in space adaptability through cooperation of the two devices.

The utility model discloses a rail type gravity energy storage external driving station which comprises driving station assemblies symmetrically arranged on the two sides of a rail. The driving station assembly comprises a supporting platform, a supporting frame arranged on the supporting platform in a sliding mode, a motor arranged on the upper side of the supporting frame, a reduction gearbox arranged at the output end of the lower portion of the motor and a driving wheel connected with an output shaft of the reduction gearbox, the supporting frame is connected with a tensioning device, and a rail train is arranged on the rail to run. A driving plate is arranged on the outer side of the rail train wheel set, and when the rail train travels to the driving station assembly, driving wheels on the driving station assembly are in friction connection with the driving plate under the action of a tensioning device. According to the utility model, the external driving station is not limited by space, a high-power motor and a large-size friction wheel can be arranged, a stable power driving source is provided for the rail train, the number of the driving stations arranged on the rail is reduced, the cost is reduced, and the maintenance and operation adjustment of the driving station are also facilitated.

The invention provides a cleaning method and device of a cleaning robot, the cleaning robot, equipment and a medium, and relates to the technical field of cleaning equipment. Comprising the steps that in the process that a cleaning robot cleans a to-be-cleaned area, under the condition that it is detected that a heavily-polluted area exists, the smudginess area of the heavily-polluted area is determined; if the dirty area is larger than the preset threshold value, the robot is controlled to advance in an advancing mode so as to clean at least part of the heavily-dirty area through a mop assembly; if the dirty area is smaller than or equal to the preset threshold value, the robot is controlled to advance in a backward mode so as to clean at least part of the heavily-dirty area through the mop assembly, and the robot can push dirt out of the heavily-dirty area and pollute the adjacent area when the robot moves backward for cleaning, so that the large-area heavily-dirty area is cleaned in the previous mode, and the cleaning efficiency is greatly improved. Dirt is prevented from being pushed to an uncleaned area, pollution diffusion is prevented, small-area heavily-polluted areas are cleaned in a reverse advancing mode, driving wheels are prevented from making contact with the dirt or diffusion, and the cleaning effect is improved.

The invention belongs to the technical field of speed reducers, and particularly relates to a multi-point meshing compound planetary gear speed reducer, a driving wheel set and a robot driving module. Wherein the multi-point meshing compound planetary gear reducer is provided with a sun gear serving as power input; the duplex planet gears are uniformly distributed around the sun gear, the duplex planet gears are composed of first planet gears and second planet gears, and the sun gear is meshed with the first planet gears; an intermediate planet gear exists between any two adjacent second planet gears in the circumferential direction, and each intermediate planet gear is meshed with the two adjacent second planet gears at the same time; an inner gear ring is arranged on a machine shell of the speed reducer, and the inner gear ring is meshed with the intermediate planet wheel. An existing planetary reducer has defects in the torque transmission capacity and the bearing capacity, a combined structure of a duplex planet wheel and an intermediate planet wheel is adopted, the intermediate planet wheel forms a multi-point meshing relation in the transmission process, loads are evenly dispersed, and the torque transmission capacity and the bearing capacity of the reducer are improved.

The present application relates to a kind of rotary multi-station abrasive belt machine and working method, belong to polishing equipment field.The present application includes abrasive belt machine base, its structural characteristics are in that:still include abrasive belt machine rotary table and the abrasive belt machine main body of at least one quantity, the abrasive belt machine main body is fixedly arranged on abrasive belt machine rotary table, the abrasive belt machine rotary table rotation is arranged on abrasive belt machine base, so that there is multiple stations in the rotation process of abrasive belt machine rotary table, the abrasive belt machine main body includes abrasive belt machine rack, driving wheel, abrasive belt, support guide structure and tensioning assembly, the driving wheel, support guide structure and tensioning assembly are all arranged on abrasive belt machine rack, and driving wheel, support guide structure and tensioning assembly are driven by abrasive belt, the quantity of the support guide structure is at least one, so that when abrasive belt passes through driving wheel, support guide structure and tensioning assembly can form multiple trends.

The present disclosure relates a power transmission system (100) for a work machine (50). The work machine is defined by drive wheels (14) for driving the work machine and a power take off (PTO) shaft (18) for driving a plurality of implements attached to the work machine. The system (100) comprises a first prime mover (10), a second prime mover (16), a first gear (20), a second gear (22), an engaging unit (24) and a switch. The engaging unit (24) is configured to be operatively mounted on the PTO shaft (18). The engaging unit (24) is configured to be displaced on the PTO shaft (18) from an idling configuration to an engaging configuration based on the satisfaction of a predetermined set of conditions. The system provides the compact assembly without any additional requirement of any external transmission assembly. Also, it makes the coupling response quick and provides smooth and noise free shifting and coupling of gears.

The invention relates to the field of intelligent traffic control, discloses an intelligent control method and system for a bidirectional driving wheel type sightseeing train, and aims to solve the problems of low efficiency, poor safety, weak adaptability and the like caused by dependence on a fixed track, path solidification and control lag of a traditional sightseeing train. According to the method, a dynamic environment map is constructed by deploying a front-back symmetric multi-mode sensor array and fusing laser radar, vision, millimeter wave radar and inertial data; an improved mixed A star algorithm is adopted to plan a global collision-free trajectory, high-precision tracking is realized in combination with model prediction control, bidirectional autonomous operation, multi-vehicle intelligent cooperation and full-scene adaptive control under a trackless condition are realized, and the traffic efficiency, safety and intelligent level of a scenic spot are remarkably improved.

The invention discloses a dynamic modeling tracking control method for a self-adaptive fiber placement compaction mechanism, and belongs to the technical field of specific model calculation systems, and the method comprises the following steps: S1, building a kinematic model of the self-adaptive fiber placement compaction mechanism; s2, establishing a workpiece surface model, and solving tangent point coordinates and position coordinates of the driving wheel, the driven wheel and the ground; s3, according to the force balance equation and the moment balance equation of each rod, the relation between each bearing reaction and the external force is solved; s4, establishing a dynamic model of the driving device; and S5, error analysis and optimization are carried out, and it is ensured that the main pressure is within the fluctuation range. According to the device, it can be ensured that the rollers output constant compaction force when the abrupt change molded surface structure is laid, and the forming defect caused by uneven compaction force is avoided.

The utility model provides a mine branch draw shaft drilling transmission mechanism, belongs to the technical field of mine construction, and is used for drilling a plurality of parallel blast holes in the branch draw shaft construction process. The transmission mechanism comprises a drilling power source and a universal coupling, a plurality of transmission wheels are rotationally arranged on the drilling base plate, and transmission structures are arranged on the peripheries of the transmission wheels; the transmission wheels comprise at least one driving wheel and a plurality of driven wheels, the positions of the driving wheels are fixed, the positions of the driven wheels on the drilling base plate can be adjusted, penetrating shaft holes are formed in the centers of the driven wheels, the sections of the shaft holes are polygonal, and the shaft holes are in sliding fit with the drilling rod. The driving wheel and the driven wheel synchronize power through a transmission structure, and power is transmitted between the driving wheel and the drilling power source through a universal coupling. The mechanism effectively solves the problem of drilling parallel blast holes in branch draw shaft construction, improves the construction efficiency and accuracy, has the advantages of simple structure, convenience in operation, high adaptability and the like, and remarkably improves the automation level of mining.