7 results about "Friction cone" patented technology

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 discloses a maintenance step simulation method based on model fusion, and relates to the technical field of virtual maintenance. According to the method, a high-fidelity multi-physics field simulation environment is constructed by deeply fusing a three-dimensional geometric model with physical attributes such as density and friction coefficient and assembly logic; an obstacle avoidance path is planned by using a fast expansion random tree algorithm, and real-time calculation of the deformation of the flexible pipeline and the statics equilibrium state of parts is realized in combination with a mass spring model and a polyhedral friction cone theory. On the basis, a multi-dimensional evaluation system containing space gaps, view shielding and operation torque weights is constructed, feasibility confidence indexes of overhaul steps are quantitatively evaluated, and a virtual guide potential field and directed acyclic graph logic verification are assisted, so that an overhaul guide file conforming to physical rules and process specifications is finally and automatically generated. The problems that traditional simulation lacks mechanical verification and flexible body simulation is distorted are effectively solved, and the reliability of maintenance process design is remarkably improved.

According to the continuously variable transmission, the wobble wheel rubs the surface of the conical disc to transmit energy, the edge of the wobble wheel rubs different points on the surfaces of the conical discs of the driving wheel and the driven wheel at the same time, so that the stress points of the disc surfaces change, and different torques are formed. And the stepless speed change effect is achieved by changing the rotating speeds of the driving wheel and the driven wheel. Swinging of the wobble wheel is completed by alternate extrusion and relaxation of conical discs of the two wheels, extrusion and relaxation of the conical discs are completed by a hydraulic device, and the working principle of the wobble wheel can refer to the hydraulic device of the CVT. The wobble wheel transmits mechanical energy, so that the working efficiency of the continuously variable transmission is improved, and the defect that a steel belt transmits the mechanical energy is overcome. The working principle of the wobble wheel friction cone disc continuously variable transmission is similar to the working principle of a global circulation CVT (continuously variable transmission), and the difference is that the wobble wheel edge friction cone disc replaces a steel belt friction cone disc, so that the mechanical efficiency is greatly improved.

The invention discloses a novel spherical umbrella three-dimensional automatic transmission and a design method thereof, relates to the technical field of transmission, uses friction transmission as a power transmission mode, and particularly relates to a spherical umbrella arc cone friction continuously variable transmission which comprises a spherical umbrella friction assembly, a spherical frame assembly and a cambered surface friction assembly. The ball umbrella friction assembly comprises a driving shaft with a tooth force arm support, a tooth force arm support cover plate, meshing arms arranged in the circumferential direction of the tooth force arm support at intervals, an umbrella frame sliding support installed on the driving shaft, an umbrella frame sliding support cover plate and a spring connecting the tooth force arm support and the umbrella frame sliding support. The connecting rod is connected with the meshing arm and the umbrella stand sliding support, the meshing head is installed at the top of the meshing arm, the tooth force arm support is fixed to the driving shaft, the meshing arm and the tooth force arm support are connected through a spherical hinge, the connecting rod and the meshing arm are connected through a pin, and the connecting rod and the umbrella stand sliding support are connected through a spherical hinge; the ball rack assembly comprises a ball rack support, ball rack groove beams arranged in the circumferential direction of the ball rack support at intervals, a ball rack support cover plate fixed to the ball rack support and ball rack positioning rings connected with the other ends of the ball rack groove beams, and the ball rack assembly is connected with the driving shaft through keys and can rotate along with the driving shaft. The cambered surface friction assembly comprises a driven shaft and a friction frustum, and the generatrix of the friction frustum is an arc line formed by the movement track of the outer contact surface of the meshing head. Compared with the prior art, the speed reducer has the remarkable advantages of smaller volume, light weight, lower energy loss, smooth operation, large speed ratio degree, simplicity in maintenance and the like.

Provided is a friction cone clamping system (100, 200) with a rotationally symmetrical base body (110, 210), on which a friction cone attachment (120, 220) with a workpiece holder (123, 223) forming a friction cone is arranged, and with a centering element (130, 230) with a centering tip (131, 231), wherein the centering element (130, 230) is arranged parallel to the axis of symmetry of the rotationally symmetrical base body (110, 210) displaceably in an opening passing through the base body (110, 210) and the friction cone attachment (120, 220) concentrically to the axis of symmetry of the rotationally symmetrical base body (110, 210), which opening merges into the workpiece holder (123, 223), so that the centering element (120, 230) can be moved between an extended position in which the centering tip (131, 231) protrudes from the workpiece holder (123, 223) and a retracted position in which the centering tip (131, 231) is located within the workpiece holder (123, 223),in which the base body (110, 210) has at least one clamping means (115, 215, 216) which is designed and configured to centrally clamp the centering element (130, 230) at least in the extended position, so that a rotation of the base body (110, 210) is transmitted to the centering element (130, 230), a machine tool with such a friction cone clamping system and a method for machining a workpiece with such a machine tool.

The utility model relates to the technical field of glass grinding equipment, in particular to a tempered glass edge grinding device which comprises a frame body. A sliding seat; the straight edge grinding wheel, the round edge grinding wheel and the duckbilled edge grinding wheel are all connected with a driving mechanism in the frame body through transmission friction cone pulleys rotationally connected to the top of the sliding seat; electroplating a diamond friction block; and a positioning rod. Therefore, the grinding machine is reasonable in structure, and adopts an integrated design, a secondary regrinding structure, a precise positioning and stabilizing structure, a humanized operation design, an efficient driving system, space and maintenance optimization and other measures; and the operation efficiency, the maintenance and management convenience, the storage space utilization rate, the grinding quality, the operation convenience, the comfort and the flexible adaptability of the tempered glass edge grinding device are remarkably improved, and the using effect is good.

The invention provides a fruit picking method and device, computer equipment and a storage medium, and belongs to the field of agricultural picking. The method comprises the steps that under the condition that a clamping jaw picks fruits, magnetic field changes in the fruit contact process are obtained in real time, and three-dimensional contact force is determined through a pre-established mapping relation model from external force to magnetic field signals; based on the three-dimensional contact force, the maturity and the contact state of the fruits are estimated through a pre-established multi-field collaborative mapping model, and the multi-field collaborative mapping model comprises a viscoelastic contact mechanical model, a friction cone model and a damage energy model; according to the estimated maturity and the contact state, the clamping force compensation amount is calculated in combination with priori clamping force estimation and tactile feedback; the current clamping force of the clamping jaw is adjusted in real time based on the clamping force compensation amount, and stable grabbing and picking of fruits are achieved. Therefore, when the clamping jaws slightly slide or the softness changes, the force can be rapidly and smoothly adjusted, and stable grabbing and lossless picking are achieved.