409 results about "Dual axis" patented technology

According to the unmanned aerial vehicle image small target detection method and device based on biaxial feature interaction, four context awareness interaction stages (CAI Stage) are cascaded, and each stage comprises two context awareness interaction blocks (CAI Blocks). And each CAI Block realizes feature extraction through a biaxial parallel architecture, and performs feature interaction by adopting a key element fusion module (KEF Module) to finally form a detection network with a self-adaptive multi-scale perception capability. According to the CAI-DETR provided by the invention, through an innovative architecture design and a feature interaction mechanism, the constructed biaxial one-dimensional convolution architecture decouples feature learning in horizontal and vertical directions, and calculation redundancy is greatly reduced while the receptive field coverage capability is ensured. The lightweight design enables the network to be more focused on the extraction of the essential features of the target, and especially for the ubiquitous tiny target in the unmanned aerial vehicle image, the coupling relationship between the local texture and the overall contour of the tiny target is enhanced through an adaptive sampling strategy.

A dual axis slider hinge has a fixing base, two sliders, two holders, and a link unit. The fixing base has two sockets and a positioning hole, and each of the two sockets has two straight tracks. Each of the sliders has two lateral sliding grooves, a holder connecting portion, and an inner sliding slot. The sliders are respectively mounted in the sockets, and the lateral sliding grooves engage with the straight tracks. Each of the holders has a connecting plug and a combining portion, and the connecting plug is pivotably connected to the holder connecting portion. The link unit has two connecting portions and a rotating portion. Each of the connecting portions has a connecting pin. The connecting pins are movably mounted in the inner sliding slots respectively, thereby synchronizing the two holders via the link unit to flip simultaneously.

The invention provides an omni-directional following type reversing support which comprises a supporting assembly, an adjusting assembly and a protection assembly, the supporting assembly is composed of a stand column, a transmission shaft is arranged on the side wall of the top of the stand column, the surface of the transmission shaft is movably sleeved with a sleeve, a linkage mechanism is arranged in the top end of the stand column, and the adjusting assembly is composed of a transverse plate and a photovoltaic plate. The bottom of the photovoltaic panel is connected with the transverse plate through a rotating frame, the rotating shaft is rotationally connected with the interior of the annular plate, the protection assembly is composed of a fixing base, a gear ring is arranged in the fixing base, and one end of the supporting plate is fixedly connected with a connecting gear. The angle of the photovoltaic panel is adjusted in a double-shaft adjusting mode, the omni-directional following function is achieved to improve the light conversion efficiency as much as possible, transmission with the adjacent reversing supports is achieved, synchronous control over the angles of the supports in the same row is achieved through connection of the sleeves, and synchronous control over the multiple supports is achieved; the driving mechanism can be used for driving the supporting plate to rotate and supporting the two sides of the photovoltaic panel, and the use strength of the reversing support is improved.

The invention discloses a method and a device for measuring orthogonality of an orthogonal rotary shaft system, and belongs to the technical field of orthogonal rotary shaft system detection. The orthogonal rotary shaft system comprises a first rotary shaft system and a second rotary shaft system; the method comprises the following steps: carrying out axis inclination angle rotation error measurement and attitude fine adjustment by using a CCD (Charge Coupled Device) double-axis autocollimator, and a cubic reference prism and a double-sided optical flat which are respectively fixed with a first rotation shaft system and a second rotation shaft system; setting a reference cross line XY through the double-sided optical flat by using a second rotary shaft system; the cross curve of the reflected light beam of the cubic reference prism is overlapped with the reference cross curve XY by adjusting the mounting positions of the two rotary shaft systems; and rotating the first rotating shaft system, recording an angular deviation value and calculating an orthogonality value of the two rotating shaft systems. According to the invention, the reference drift error of mutual aiming of the two autocollimators is eliminated, the interference of the rotation error of the shaft system on orthogonality measurement is eliminated, and the precision and reliability of the orthogonality measurement of the shaft system are improved on the whole.

The invention relates to the technical field of pipeline welding, and discloses a thick-wall pipeline all-position laser automatic welding device and a matched welding method.The thick-wall pipeline all-position laser automatic welding device comprises a supporting base which is of a device foundation supporting structure, a first lifting table and a second lifting table are installed on the upper end face of the supporting base, and a closed-loop alloy steel rail is installed at the upper end of the first lifting table; and the closed-loop alloy steel track is a welding walking path of the laser welding equipment. According to the full-position automatic laser welding device for the thick-wall pipeline and the matched welding method of the full-position automatic laser welding device, precise adaptation is achieved through cooperation of a laser vision sensor and a multi-dimensional adjusting mechanism, the laser vision sensor collects weld joint contour data in real time, and when deviation is detected, a control system drives a longitudinal telescopic table and a double-shaft angle adjusting frame; the laser welding device is subjected to three-axis position adjustment and double-axis angle compensation, when the ovality of the pipeline causes deviation of a welding seam, the first longitudinal telescopic table can move in the direction perpendicular to the axis of the pipeline, and the double-axis angle adjusting frame synchronously adjusts the angle of a welding head.

The invention relates to the technical field of performance lighting equipment, in particular to a double-shaft omni-directional steering unmanned aerial vehicle laser lamp and a control method thereof. The unmanned aerial vehicle laser lamp structure comprises a transmission device and a motor, the unmanned aerial vehicle laser lamp structure can rotate by 360 degrees along the X axis and the Y axis, magnetic fluid sealing rings are adopted for packaging, high waterproofness can be achieved, the unmanned aerial vehicle laser lamp is hung below a four-axis or six-axis unmanned aerial vehicle, a space light beam system capable of freely rotating is formed, all-dimensional irradiation is achieved, and the rich three-dimensional light beam effect is created. In addition, the flight control system of the unmanned aerial vehicle can be compatible with a small unmanned aerial vehicle performance control system, so that the unmanned aerial vehicle can be accurately integrated with other unmanned aerial vehicles and cooperate with formation performance. The visual level of unmanned aerial vehicle light show is improved, compared with traditional unmanned aerial vehicle laser equipment, the system can flexibly adjust the height and the angle, the defect that existing unmanned aerial vehicle air show lacks space light beams is effectively overcome, and a more dynamic and immersive light and shadow effect can be constructed in the air in combination with fine control.

Various optical systems for use in a light pulse atomic interferometer (LPAI)-based one-, two-, or three-axis accelerometer or gyroscope are disclosed. As an LPAI accelerometer or gyroscope may employ many different laser beams to implement the LPAI functionality, ways of combining these different laser beams to thereby simplify the optical systems are desired. The cooling laser beam portion of the optical system may be simplified using one or more reflective grating chips. The Raman laser beam optics may be simplified using combiners and separators. For LPAI systems sensing along three axes, various optical switching schemes may be employed, including ones that generate variable data-rates with a primary sensing axis having a higher data-rate than the secondary sensing axes. Further, by combining various laser beams in a time-multiplexed manner, the number of optical fiber tethers to a sensor head may be reduced.

The invention relates to a disassembly-free online self-calibration double-shaft laser gyroscope strapdown inertial navigation implementation method, which designs a modulation working mode based on double-shaft rotation, according to the design, a double-shaft rotating mechanism is additionally arranged on an inertial navigation unit, and the inertial navigation unit respectively rotates around three gyroscope sensitive shafts by utilizing an outer horizontal shaft and an inner azimuth shaft; exciting a navigation error generated by a scale factor error and an installation error of the laser gyroscope; sensitive shafts of the three accelerometers are enabled to point to the sky respectively, and navigation errors generated by scale factor errors, installation errors and zero positions of the accelerometers are excited; and then obtaining the navigation errors by taking external reference information as a benchmark, establishing an error relation model between the navigation errors and parameters needing to be calibrated, and completing estimation of each calibration parameter by adopting a Kalman filtering algorithm, so as to realize disassembly-free online self-calibration of the double-shaft laser gyroscope strapdown inertial navigation.

The invention discloses a double-shaft tracking device, a double-shaft tracking support and a photovoltaic street lamp, the double-shaft tracking device comprises a base bottom plate, a pitch angle adjusting assembly, an azimuth angle adjusting assembly and a rotation supporting assembly, the pitch angle adjusting assembly comprises a first driving mechanism, a first turbine, a first connecting rod shaft and a gear transmission mechanism; the azimuth angle adjusting assembly comprises a second driving mechanism, a second turbine and a second connecting rod shaft; the first driving mechanism is used for driving the first turbine to rotate, the first turbine is connected with one end of the first connecting rod shaft, the other end of the first connecting rod shaft is connected with the gear transmission mechanism, and the gear transmission mechanism is connected with the rotary supporting assembly; the second driving mechanism is used for driving the second turbine to rotate, the second turbine is connected with one end of the second connecting rod shaft, and the other end of the second connecting rod shaft is connected with the rotating supporting assembly; the first connecting rod shaft penetrates through the second connecting rod shaft; the device is compact in structure in the height direction and high in space utilization rate.

The invention relates to the technical field of aerospace equipment detection, and discloses an intelligent detection device and method for defects of the inner wall of a complex porous shell. The double-shaft rotating platform is arranged on the base, a hydraulic shell clamping tool is arranged on the double-shaft rotating platform, and the double-shaft rotating platform can drive the hydraulic shell clamping tool to rotate in the horizontal direction and the vertical direction; a precise ball screw guide rail is arranged at the moving end of the six-degree-of-freedom mechanical arm; the detection assembly is slidably connected with the precision ball screw guide rail, and the end of the detection assembly is provided with a camera. Through the synergistic effect of the double-shaft rotating platform and the six-degree-of-freedom mechanical arm, the detection assembly can correspond to any hole channel of the to-be-detected hydraulic shell, and then comprehensive detection of the hole channel of the to-be-detected hydraulic shell is achieved; meanwhile, the precise ball screw guide rail is used for controlling the detection assembly to precisely feed along a straight line, so that precise image acquisition can be carried out on a complex pore channel, and the comprehensiveness and accuracy of pore channel defect identification are improved.

The invention relates to the technical field of optical three-dimensional measurement and metering, and discloses a single-camera three-dimensional coordinate measurement method and system based on full-field distance measurement, and the method comprises the following steps: S1, building a calibration field containing a control point, shooting an image of the calibration field through a monocular camera, extracting the image coordinate of the control point, carrying out the camera calibration, and obtaining a calibration field; obtaining internal parameters and external orientation parameters of the camera; and S2, controlling the laser range finder to aim at the control point in the calibration field through the non-orthogonal double-axis turntable. Submillimeter-level high-precision measurement can still be realized under the condition of a short baseline, and the problems that the precision in the depth direction is insufficient, the baseline requirement is long, parameters are easy to drift and the like in traditional stereoscopic vision measurement are effectively solved. By introducing a non-orthogonal double-shaft turntable and a visual guidance laser aiming mechanism, autonomous, rapid and accurate measurement of multiple measurement points in a large field of view is realized, and the automation degree and reliability of measurement in a complex environment are remarkably improved.

The invention discloses an intelligent laser collimation system, which realizes automatic collimation of a laser beam through cooperative control of double reflectors, a high-precision electric actuator and an SAC reinforcement learning algorithm, adopts a cage type integrated structure design of double reflectors and a coaxial connecting rod, realizes rigid constraint and rapid alignment of a light path, and improves the accuracy of laser collimation. A reflector double-axis precise automatic adjusting mechanism based on a miniature electric actuator is developed, an SAC reinforcement learning algorithm is applied to an optical collimation system for the first time, a dynamic reward function design based on light spot offset is proposed, a double-reflector cooperative control model, a light spot offset real-time feedback mechanism and a self-adaptive parameter adjusting strategy are creatively adopted, and the optical collimation system is optimized. Alignment and collimation of laser beams are achieved, a geometric parametric modeling method based on a reflector is developed, related offset can be obtained through theoretical calculation without additional detection through geometric parametric modeling, the adjustment precision is improved to the micron order, and the operation complexity is remarkably reduced.

Flexure structures, assemblies incorporating flexure structures, and methods utilizing flexure structures to support objects are provided. A flexure structure as disclosed can be formed monolithically from a single piece of material, includes a center aperture to accommodate at least portions of other elements or structures, allows for rotation of a supported object in two axes with very little translational movement of the supported object, provides mounting fixtures on opposite sides of the flexure structure, and has a relatively high load capacity. Flexure structures include base mounts that can each be joined to a first side of an interconnect structure by flexure blades, and object mounts that are each joined to a second side of the interconnect structure by flexure blades. The flexure structure can be a generally annular structure, with the center aperture formed or defined at least in part by the interconnect structure.

The invention discloses a photovoltaic power generation double-shaft tracking device which comprises a base, a stand column rotationally arranged on the base, a cross beam rotationally arranged on the stand column and a mounting frame arranged on the cross beam, and a solar cell panel is arranged on the mounting frame; a cleaning mechanism is arranged on the mounting frame and comprises a pair of racks, a dust collection barrel, a pair of rotating shafts, a supporting plate, a water storage barrel, a plurality of dust collection pipe sets, a plurality of water spraying pipe sets and a plurality of cleaning brushes. According to the photovoltaic power generation double-shaft tracking device, the outer surface of the solar cell panel can be efficiently cleaned, meanwhile, the solar cell panel cannot be scratched and damaged, and it is guaranteed that sunlight is fully absorbed by the solar cell panel.

The invention relates to the technical field of dredging devices, in particular to a river channel dredging device and method for hydraulic engineering. Comprising a fixing frame, the fixing frame is provided with a multi-beam depth finder, a microcontroller and an angle-adjustable carrying frame, the carrying frame is provided with a double-shaft motion platform, the double-shaft motion platform is connected with a desilting frame capable of synchronously horizontally and vertically reciprocating, and the microcontroller is in data connection with the multi-beam depth finder and adjusts the reciprocating frequency and the reciprocating stroke of the desilting frame. A bidirectional buffering anti-collision mechanism is installed on the desilting frame and connected with a positioning seat. The device has the advantages that through linkage of the multi-beam depth finder, the microcontroller and the double-axis motion platform, the problem that a traditional device lacks real-time monitoring and dynamic adjustment is solved, the multi-beam depth finder captures sludge thickness distribution, river bottom terrain and obstacle positions in real time, and after data is directly transmitted to the microcontroller, real-time monitoring and dynamic adjustment are achieved. And the horizontal and vertical reciprocating frequency and stroke of the desilting frame can be accurately adjusted.

The invention discloses an intelligent assembling method of a glass reference mirror, which utilizes an intelligent mechanical arm to complete the assembling of the glass reference mirror, utilizes a set of six-degree-of-freedom intelligent mechanical arm to complete the accurate position control of the glass reference mirror, and utilizes two sets of double-shaft photoelectric autocollimators to measure the orientation of the reference mirror. The position of the mechanical arm is adjusted through a central control closed-loop algorithm, and the glued surface of the reference mirror is aligned with the reference mirror mounting surface of the inertial attitude sensor, so that the reading of a reference collimator is the lowest, namely the precision is the highest, and the actual measurement precision can be within 15 seconds of arc. Meanwhile, by using the system, the thickness of the epoxy adhesive layer can be controlled through a known reference surface, and the temperature cycle of-35 DEG C to 70 DEG C can be resisted when the thickness of the adhesive film is 0.20 mm to 0.60 mm through test verification.

1. The name of the product of this design: Dual-axis linkage three-in-one wireless charging speaker (S10). 2. Purpose of this product: used for charging mobile phones, headphones, and watches, and can be connected to Bluetooth to be used as a Bluetooth speaker. 3. The design key point of this appearance design product lies in the shape. 4. The picture or photo that best illustrates the key points of the design: main view.

The invention relates to an accelerometer chip, and provides an all-quartz biaxial resonant accelerometer chip structure in order to solve the problems of poor environmental adaptability, poor sealing performance, poor stability and the like of an existing accelerometer chip, the all-quartz biaxial resonant accelerometer chip structure comprises a mounting base, an upper shell and a lower shell, and a resonant chip is arranged on the upper surface of the mounting base in the upper shell. A sealing cover is arranged on the resonance chip; a resonance circuit is arranged on the lower surface of the mounting base in the lower shell; the resonance chip comprises a chip mounting plate and four mass blocks arranged on the chip mounting plate, and every two mass blocks are symmetrically arranged along the center of the chip mounting plate; a resonant beam is pasted on each mass block, and push-pull supporting structures are arranged at the edges of the two opposite sides of each mass block; through holes are formed in the positions, corresponding to the two ends of each resonant beam, of the mounting base and the resonant circuit, binding posts penetrate through the through holes, one end of each binding post penetrates through the mounting base to be connected with the corresponding resonant beam, and the other end of each binding post penetrates through the corresponding resonant circuit to extend downwards.

The utility model discloses a double-shaft rotary table system with an encoder installation structure, which comprises an encoder, an encoder mandrel, an encoder base assembly and a locking nut, the inner end of the encoder mandrel is fixedly connected with a rotary mandrel of the double-shaft rotary table system, the encoder base assembly is fixedly connected with a base of the double-shaft rotary table system, and the locking nut is fixedly connected with the encoder mandrel. The outer end of the encoder mandrel extends out of the end of the double-shaft rotary table system and then is provided with the encoder, a rotary inner ring of the encoder is fixedly connected to the outer end of the encoder mandrel in a sleeved mode, and the shaft section, located between the encoder and the end of the double-shaft rotary table system, of the encoder mandrel is rotationally arranged on the encoder base assembly in a sleeved mode through a bearing. The end portion of the outer end of the encoder mandrel is connected with a locking nut, the inner end of the locking nut tightly presses a rotating inner ring of the encoder, and the encoder is fixedly connected to the encoder base assembly. According to the double-shaft rotary table system, installation of the encoder can be achieved, and installation can be achieved in an axial and circumferential double-fixing mode.

A phase difference sheet including a substrate and a phase difference film as a tilt film, wherein, in a biaxial refractive index ellipsoid exhibiting a refractive index anisotropy, of three principal refractive indexes nx, ny, nz, the principal refractive index in the length direction of a columnar structure, i.e., the X-axis direction, is nx, the principal refractive index in the major axis direction of an ellipse perpendicular to the X-axis, i.e., the Y-axis direction, is ny, and the principal refractive index in the minor axis direction, i.e., the Z-axis direction, is nz, the following conditional expression (1) is satisfied, and, in a case where the incident angle of a direction tilted to the X-axis side with the normal as a reference is positive, the phase difference of incident light at an incident angle of +30° is Re(+30), the phase difference of incident light at an incident angle of -30° is Re(-30), and the ratio of Re(+30) to Re(-30), i.e., the phase difference ratio, is Re(30) ratio, the following conditional expression (2) is satisfied, ny > nx > nz (1), Re(30) ratio = Re(30) / Re(-30) = 1.1 to 4.0 (2).

The application discloses a three-freedom-degree large-stroke fast-tool-servo device, which comprises a workbench, a voice coil motor, a Z-direction displacement transmission mechanism, a three-axis connecting mechanism, an X-direction driving platform, a Y-direction driving platform, a tool holder and a tool. The three-axis connecting mechanism comprises a three-axis connecting plate and a three-axis connecting frame, and the three-axis connecting plate is connected with the three-axis connecting frame through X-axis and Y-axis flexible hinges around the three-axis connecting plate. The flexible hinges are provided with Z-axis flexible hinge points. The double-axis flexible hinges are provided with at least one X-axis flexible hinge point and one Y-axis flexible hinge point. The Z-direction displacement transmission mechanism, the three-axis connecting mechanism and the driver connecting rod are designed in an integrated mode. The piezoelectric ceramic driver is adopted. The three-freedom-degree active cutting of the tool can be realized, the large-stroke output capacity is achieved, the machining process of a complex optical surface can be efficiently completed, the displacement errors in multiple directions can be compensated, and the cutting force disturbance problem is solved.

The present application relates to a scanning device of a laser radar and a method for optimizing the structure of the scanning device. The scanning device includes a substrate, a scanning mirror, a driving ring, a fast axis and a slow axis; at least one of the fast axis and the slow axis is a stress equalization structure, and the stress equalization structure includes a single-axis structure or a dual-axis structure. A driving hole is provided on the substrate, the scanning mirror is connected to the driving ring through the fast axis, the driving ring is connected to the substrate through the slow axis, and the scanning mirror is arranged at the center of the driving ring, which is arranged at the center of the driving hole. The above-mentioned device optimizes the structure of the traditional fast axis or slow axis into a stress equalization structure, so that the deformation mode of the fast axis or slow axis is transformed from a torsional mode to a bending mode, thereby reducing the stress magnitude in the stress concentration area during the cyclic motion process, and keeping the stress away from the fatigue failure stress threshold, thereby greatly improving the durability of the non-silicon scanning mirror and thereby improving the working life of the device.

The present disclosure provides a kind of inertial motion measurement double-axis rotation excitation enhancement method and system based on observability analysis.First, the system state space model of introducing double-axis rotation mechanism is constructed, the normalized observability analytical expression of sensor error under zero speed condition is derived based on Gramian matrix eigenvalue decomposition;Accordingly, the attitude condition of error observability maximization is determined, and the optimal rotation excitation strategy including a series of optimal observation positions is set;In the process of inertial navigation positioning assisted by zero speed update ZUPT, in non-zero speed interval, based on the optimal rotation excitation strategy, the IMU is sequentially guided to each optimal observation position by controlling double-axis rotation mechanism, to solve the problem of low error state observability caused by single carrier attitude in zero speed correction.The present application can realize full state high-precision estimation of three-axis accelerometer bias and gyroscope zero bias, effectively improve the precision and robustness of autonomous motion measurement in complex environment.

The invention belongs to the technical field of marine rescue searchlighting, and discloses a marine rescue searchlighting system with biaxial orientation control and gyroscope stable light beam projection, which comprises a searchlight, a life jacket and a controller, the searchlight and the controller are arranged on a rescue boat; the searchlight is provided with an orientation control module, a gyroscope and an LED light source module. The life jacket is provided with a detector used for detecting a drowning state and a lifesaving positioner used for acquiring lifesaving coordinates and outputting a survival signal; the controller is provided with a communication element, a positioning element, a ship body position module and a control module, the communication element is used for receiving survival signals of the lifesaving positioner and conducting signal processing and transmission, the positioning element is used for obtaining the accurate position of the rescue ship, and the ship body position module is used for monitoring the posture and the motion state of the ship body in real time and controlling the ship body to move. And the control module drives the searchlight to work according to the acquired signals of the communication element, the positioning element and the ship body position module.

The utility model discloses a drill rod machining anti-flutter device which comprises a bottom frame mechanism, the top of the bottom frame mechanism is fixedly connected with an anti-flutter mechanism, the bottom frame mechanism comprises a bottom plate, the four edges of the top of the bottom plate are fixedly connected with sliding groove bins respectively, and the tops of the inner sides of the sliding groove bins on the left side and the right side are fixedly connected with connecting plates. Through the synergistic effect of the bottom frame mechanism and the anti-flutter mechanism, when a double-shaft motor is started, a conical tooth is meshed with a second conical tooth to drive a rotating rod to rotate, then through cooperation of a lifting rod transmission gear and a tooth block, vertical movement of a lifting rod is achieved, and in the process, a flexible adjusting space is provided for machining of a drill rod, and the machining precision of the drill rod is improved. And the drill rod is adjusted to the proper height according to the machining requirement through stable lifting of the lifting rod, it is ensured that the drill rod is located at the optimal position in the machining process, the machining precision and stability are improved, the whole lifting process is stable and reliable, and the chatter phenomenon caused by improper height adjustment is avoided.

A heliostat includes a reflector that has at least one segment arranged in a segment assembly and that defines a reflecting surface; a rigid spaceframe structure that includes a plurality of struts joined at nodes, the plurality of struts supporting the segment assembly so as to hold the reflecting surface in a concave toroidal shape; a dual-axis mount constructed and arranged to support and orient the rigid spaceframe structure and the segment assembly so as to reflect sunlight incident on the reflecting surface toward a distant receiving surface, the dual-axis mount including at least two drives; at least one mechanical linkage coupled to at least one drive of the dual-axis mount and configured to change a relative position of at least two nodes of the rigid spaceframe structure in synchronization with motion of the at least one drive, and thereby changing a shape of the rigid spaceframe structure and the reflector.

The invention discloses a chip for a biaxial quartz vibrating beam accelerometer based on four groups of resonant beams. The chip comprises a mounting plate, a circular mass block; the mass block and the mounting plate are connected through the four flexible supporting sheets; the second through hole is a stress isolation and wire outlet hole, and the second through hole is circular and is arranged at the central position of the mass block; and each group of resonant beams comprises two resonant beams which are oppositely arranged on the upper surface and the lower surface of the mass block, and the included angle between each resonant beam and the adjacent flexible supporting sheet is 45 degrees. The included angle between the four groups of resonant beams and the flexible supporting sheet is 45 degrees, so that the acceleration measurement in the X direction and the Y direction can be realized; because each group of resonant beams comprises an upper resonant beam and a lower resonant beam, the sensitivity of the accelerometer is improved by the differential output design of the resonant beams in different groups; when acceleration is input in any direction, the flexible supporting sheet can generate linear displacement, and the mechanical environment adaptability of the chip is effectively improved.

The utility model belongs to the technical field of petroleum drilling equipment, and particularly relates to an automatic cladding welding device for a high-wear-resistance steel tooth roller bit, which comprises a double-shaft positioner, a six-shaft manipulator, a cooling-water machine, a manipulator programming touch screen window, a master console, a laser gun, a manipulator control cabinet, a laser and two powder feeders, the powder feeder is connected with the laser gun through a pipeline, powder is fed into the laser gun through argon, the laser gun is installed at the tail end of the six-axis mechanical arm, the double-axis positioner is located on one side of the six-axis mechanical arm, the six-axis mechanical arm is electrically connected with the mechanical arm control cabinet through a line, and the mechanical arm control cabinet is electrically connected with the powder feeder through a line. The mechanical arm control cabinet is electrically connected with the mechanical arm programming touch screen window through a circuit, and the mechanical arm control cabinet is electrically connected with the double-shaft positioner through a circuit. According to the utility model, automatic hardfacing of the steel-tooth roller bit, a large-size roller bit and a medium-size roller bit (more than 6 inches), especially a small-size steel-tooth roller bit, is realized.

The invention discloses a double-shaft solar wing control method and device giving consideration to flexibility suppression, and belongs to the technical field of spacecraft control. The method comprises the following steps: respectively calculating nominal angles of an A axis and a B axis according to a unit vector of the sun in a satellite orbit system; wherein the nominal angle of the B axis is determined according to a flexible vibration suppression interval after discretization processing; the flexible vibration suppression interval is an angle avoiding interval set for avoiding the resonant frequency; calculating control errors of the A axis and the B axis according to the nominal angles and the rotation angle measurement values of the A axis and the B axis; and according to the satellite imaging state and the state of the double-axis solar wing, the rotation of the A axis and the rotation of the B axis are controlled by using the control error so as to eliminate the sun alignment error of the double-axis solar wing. According to the invention, the resonance interval between the driving frequency and the axial vibration frequency can be avoided, and the resonance risk is reduced.