9891 results about "Friction force" patented technology

The invention provides a mechanical arm control system and control method of a photovoltaic panel intelligent installation robot, and relates to the technical field of photovoltaic equipment installation. According to the method, a three-dimensional point cloud map is constructed, the curvature characteristics of the surface of an obstacle are recognized, meanwhile, a joint angle is fed back through a magnetic encoder, and normal pressure and tangential friction force are monitored through a sensor; when the normal pressure exceeds a threshold value, a reverse displacement compensation amount is calculated based on reverse dynamics, a compensation instruction is generated, and a safe approaching direction is determined in combination with curvature characteristics; and the joint angular velocity and the torque threshold are adjusted in real time through a nonlinear sliding mode control algorithm, a smooth joint target torque curve is generated, and it is ensured that the mechanical arm stably tracks the path and the tail end friction force is controlled. And in an abnormal condition, the system triggers an alarm and freezes the mechanical arm until the operator confirms the compensation strategy. The control precision and adaptability of the mechanical arm are improved, the photovoltaic panel is effectively prevented from being damaged, and the installation efficiency and reliability are improved.

An open and short circuit testing device and method. The device comprises a base (1), a support frame (2), a test board (5) and a placement frame (4). The test board (5) is slidably connected to the side opposite to the support frame (2), and the test board (5) moves downwards to drive a gear (14) to rotate; a limiting plate (17) is used for limiting reverse rotation of the gear (14); and a probe (26) is used for connecting to a circuit board to achieve testing. Under normal conditions, the friction force when the probe (26) is inserted into a wiring terminal (29) is less than the minimum elastic force of a second spring (25), when the probe (26) fails to be normally connected to the wiring terminal (29), the probe (26) is pressed downwards when a movable plate (23) moves downwards, the probe (26) is adjusted by means of the second spring (25) at the top of the probe (26), so that the probe (26) returns to normal, the pressure sensor (31) detects whether there is an abnormality, and when the second spring (25) at the top of the probe (26) is compressed, the pressure sensor (31) at the top of the second spring (25) measures an excessively large pressure value, i.e., indicating that a device abnormality occurs during the testing process rather than representing that there is necessarily a problem with the circuit board to be tested itself, thereby improving the accuracy of the testing result.

Disclosed is a low-precision incremental encoder-based method for ultra-low speed control of a servo system. According to the present invention, a fast speed observer in an ultra-low-speed working state is achieved, only a sampling speed and load torque in an M / T method need to be observed, and position information of an electric motor does not need to be observed, such that the structure of the observer is simplified, and calculation is simple and fast; moreover, the influence of a friction force and cogging torque on a speed change is considered, such that the speed observation precision is further improved. The fast speed observer can reduce hysteresis and measurement dead zones, such that the speed response and the speed control precision in a low-speed working state are greatly improved, the problem in a traditional observer of a large position deviation caused by nonlinear factors such as an external load is avoided, improving the stability and robustness of the system. According to the present invention, the processing of sampling measurement time at a medium-high speed and the processing of switching the observer at a low speed in the M / T method can optimize the speed measurement precision at both the medium-high speed and the ultra-low speed, and can better satisfy the requirements of apparatuses such as a radar on rotating speed control.

The invention relates to a multi-process forming judgment method based on two-way tensile limit strain, which comprises the following steps: on the basis of a deformation mechanism experienced during material forming, associating complex loading characteristics of a two-way tensile test with a complex deformation process of a part, and analyzing the loading history of a plate by utilizing a method of combining the test and simulation; the limit strain of the material in different deformation directions at different stages is ingeniously obtained, so that the forming result of the material is accurately judged; the method can ensure that the limit strain of the sheet cannot be influenced by bending stress and friction force, overcomes the technical problem that the existing method cannot meet the multi-process forming judgment of parts, greatly improves the accuracy and effectiveness of forming simulation analysis, is particularly suitable for occasions of multi-process forming analysis of metal sheet materials, and has wide application prospects. And the application requirements of engineering practice and scientific research work are widely met.

The invention provides a finite element-based method for estimating pulling-out ultimate bearing capacity of a grouting screw anchor in gravelly soil, and relates to the technical field of civil structure engineering.A three-dimensional finite element model containing the grouting screw anchor and surrounding gravelly soil is established, model parameters cover the structure and material characteristics of the grouting screw anchor, and the grouting screw anchor and the surrounding gravelly soil are subjected to finite element modeling; a coordinate axis is established with the center of the anchor bottom as an original point for grid division, a stress concentration area is analyzed, principal stress is calculated to serve as critical bearing stress, vertical pull-out loads are applied step by step through a grouting pull-out test, a pull-out stress influence area is determined, soil stress of the area is analyzed, and soil binding power and friction force are calculated. And a grouting coefficient and a rock crack coefficient are generated, soil parameters are corrected, and the ultimate pulling bearing capacity of the grouting screw anchor is comprehensively obtained. According to the method, the pulling ultimate bearing capacity of the grouting screw anchor is accurately evaluated by establishing the three-dimensional finite element model and the graded loading experiment.

The invention discloses a manipulator clamping force control method and device based on motor driving, and relates to the field of intelligent manipulators. Comprising the following steps that the mass of a to-be-clamped object is obtained, and basic friction force is calculated; collecting object shape characteristic parameters such as the maximum boundary length, the outer surface area and the volume, and calculating a shape influence coefficient; then, acquiring surface characteristic parameters such as average curvature, irregularity and projection area, calculating a surface concave-convex coefficient, and generating a shape complexity index in combination with the shape influence coefficient; then, acquiring material characteristic parameters such as hardness and elastic modulus, determining and correcting a basic friction coefficient, and calculating friction force; and finally, the instantaneous speed of the clamping task of the manipulator is obtained, the impact load is calculated, the basic friction force is corrected based on the parameters, the accurate clamping force is obtained, and therefore the accurate control over the clamping force of the manipulator is achieved. According to the method, the clamping effect and safety are improved, and the method is suitable for various clamping scenes.

The utility model discloses a follow-up lead screw auxiliary supporting structure which comprises a guide rail matched with the guide rail and a supporting assembly capable of moving on the guide rail, the supporting assembly comprises a supporting block used for supporting a lead screw and a sliding block used for being connected to the guide rail in a sliding mode, the supporting block and the sliding block are arranged in a synchronous movement mode, and an elastic piece is arranged between the supporting block and the sliding block. The supporting surface of the supporting block elastically abuts against the peripheral surface of the lead screw and is in sliding connection with the peripheral surface of the lead screw, so that self-adaptive auxiliary supporting arrangement is formed for the lead screw, abnormal abrasion caused by too large friction force between the supporting block and the lead screw can be avoided, meanwhile, self-adaptive auxiliary supporting for the lead screw is achieved, and then the machining precision of a machine tool is guaranteed.

The invention provides a clamp for milling, drilling and tapping integrated machining equipment, and relates to the technical field of shaft workpiece machining clamps. Comprising two sets of clamping mechanisms and four sets of moving driving mechanisms, each set of clamping mechanism comprises two clamping units capable of being matched with each other for clamping, the moving driving mechanisms drive the first set of clamping mechanism and the second set of clamping mechanism to be away from each other, and the second set of clamping mechanism moves towards the end, to be polished, of the shaft workpiece. The friction force between the outer surface of the shaft workpiece and a driving roller of a second group of clamping mechanisms enables the driving roller to overcome the action of a third driving spring to move in the axial direction relative to a second central shaft, and the end part of a rod grinding tool is propped against a slope propping block; the bevel abutting block drives the tool bit of the rod grinding tool to stretch out of the guide hole so as to grind the outer surface of the shaft workpiece. According to the clamp for the milling, drilling and tapping integrated machining equipment, the outer surface of a shaft workpiece can be polished while the shaft workpiece is clamped, and therefore the clamping and positioning accuracy during milling, drilling and tapping machining is improved.

The invention provides an end effector for grabbing and overturning a cylindrical workpiece and a control method, and relates to the technical field of automatic assembly of the cylindrical workpiece, the end effector comprises a shell, a clamping jaw assembly and a rolling assembly, the rolling assembly comprises motors, a driving roller and a driven roller, the motors are arranged on a first clamping jaw and a second clamping jaw respectively, and the driving roller is arranged on the shell. The first end of the driving roller is connected with an output shaft of a motor, the driven rollers are in meshed connection with the driving roller through a gear set, and the gear set used for meshed connection is arranged between the driven rollers; a hydraulic cylinder in the clamping jaw assembly stretches out and draws back to drive a clamping jaw to move, the clamping jaw grabs or releases a cylindrical workpiece, high reliability and stability are achieved, the grabbing efficiency of the cylindrical workpiece is improved, a motor in the rolling assembly drives a driving roller to rotate, meanwhile, a driven roller is made to rotate through gear meshing, and the grabbing efficiency of the cylindrical workpiece is improved. By means of friction force between the rolling wheels and the surface of the cylindrical workpiece, the cylindrical workpiece rotates to a specified installation angle to be installed.

The invention discloses a dynamic tension control method for a dry-method winding and unwinding system, solves the problems of high overshoot, long coil diameter sudden change adjustment time and large steady-state fluctuation in low-speed operation of the dry-method winding and unwinding system under a high-speed reversing working condition, and belongs to the technical field of composite material equipment development. The method comprises the steps of collecting data of a winding and unwinding system, identifying total rotational inertia and friction torque on line according to the data, obtaining a friction compensation item according to the friction torque, and obtaining a rotational inertia feed-forward item according to the total rotational inertia; the method comprises the following steps of S1, inputting the tension error and the tension error change rate of the winding and unwinding system into a fuzzy PID controller to obtain a PID parameter real-time adjustment amount, updating a PID parameter, and then obtaining a PID feedback control amount at the current moment k by using the PID controller and the tension error, and S3, synthesizing a friction force compensation item, a rotational inertia feed-forward item and the PID feedback control amount into a final control amount of the winding and unwinding system.

The invention relates to the technical field of damping and shock absorption, in particular to a damping-adjustable composite shock absorption system for textile printing and dyeing equipment, which comprises a bottom plate and a top plate, a first shock absorption unit and a movable plate are mounted between the bottom plate and the top plate, and a first buffer spring is fixedly connected between the top plate and the movable plate; a second damping unit is installed between the movable plate and the bottom plate. During damping, vibration is buffered through telescopic deformation of a first buffer spring and a second buffer spring, oil liquid is pushed to flow in backflow oil pipes through vertical movement of a first piston rod, vibration energy is consumed through friction force between the oil liquid and the backflow oil pipes, and vibration of a machine body is restrained; the different backflow oil pipes are switched to be communicated with the oil storage cavity through the switching mechanism, the longer the backflow oil pipes are, the larger the on-way resistance when oil passes through the backflow oil pipes is, the higher the damping force is, and the damping device can be conveniently installed on textile printing and dyeing equipment with different vibration intensities for damping.

The invention relates to the field of transmission towers, and discloses a tension type transmission tower buffer connecting device which comprises a supporting frame, a plurality of isolation assemblies are symmetrically arranged on the upper surface of the supporting frame, sliding seats are slidably connected into the isolation assemblies, and connecting rods are fixedly connected to the outer surfaces of the sliding seats. A belleville spring set is arranged between the outer surface of the sliding base and the inner wall of the isolation assembly, the belleville spring set is arranged on the outer surface of the connecting rod in a sleeving mode, and a telescopic rod and a first spring are fixedly connected between the outer surface of the sliding base and the inner wall of the isolation assembly. A primary buffer layer is formed by the belleville spring set and the first spring, axial impact force can be absorbed without sliding of the sliding seat during daily wind vibration and wire slight galloping, meanwhile, vibration can be restrained through the huge static friction torque of the fan-shaped friction face and the friction ball in the omnidirectional damping assembly, the circuit is kept stable, and slight load impact is effectively dealt with.

The invention discloses equipment and a method for detecting the strength of an annular section of a large-diameter TA31 pipe, and relates to the technical field of pipes. According to the annular section strength detection equipment for the large-diameter TA31 pipe, through the design of a composite mechanism, the pipe is placed in the processing mechanism, the pipe space is restrained through the limiting mechanism, the pipe is prevented from moving in the inspection process, danger to workers is avoided, and therefore normal operation of the equipment is kept; the fixing mechanism controls the pipe to rotate and rub with the processing mechanism, so that the effect of cleaning the surface of the pipe is achieved, the situation that stains on the surface of the pipe affect the detection effect is avoided, a hydraulic rod controls a pressing plate to extrude the surface of the pipe, and the detection effect on the annular section strength of the pipe is achieved; therefore, the friction force on the surface of the pipe is increased, the pipe is prevented from shaking in the downward pressing process, and the operation stability is improved.

The invention discloses a winding device and method for alloy steel wire machining, and relates to the technical field of alloy steel wire production, the winding device comprises a first frame body, a second frame body and a winding disc for winding a steel wire and further comprises a winding part, the winding part is installed on the first frame body and used for winding the steel wire, and the winding part comprises a positioning assembly and a winding assembly; the positioning assembly is used for positioning the winding discs of different sizes, and the winding assembly is used for driving the winding discs to rotate so as to wind the steel wires. The device has the advantages that friction force generated between the device and a rubber wheel in the guiding and winding process can be reduced to zero, so that the tension control precision is improved, meanwhile, the wire feeding and discharging angle between a steel wire and the rubber wheel is controlled in the guiding process, it is guaranteed that the steel wire is fed and discharged smoothly, the tension control stability is kept, and the production efficiency is improved. And the tension control is more accurate and stable.

The invention discloses intelligent bent pipe punch forming equipment and method, and relates to the technical field of pipe fitting punch forming, the intelligent bent pipe punch forming equipment comprises a machine body and a pipe blank, the machine body is provided with a die mechanism, a pushing mechanism and an elbow core rod provided with a first quick release assembly, and the die mechanism comprises an upper die and a lower die which are fixed to the machine body; the upper die and the lower die are respectively provided with forming runners which are matched with each other, and the tube blank is placed in the forming runner of the lower die. By arranging the pressure feedback mechanism and the lubricating oil spraying mechanism, the friction force between the pipe blank and the elbow core rod is converted into the pressure value change in the pressure detection cavity and transmitted to the piezoelectric sensor, the piezoelectric sensor feeds back the pressure value to the control unit, and the control unit can control the rotating speed of the oil pump according to the pressure value. The larger the friction force between the pipe blank and the elbow core rod is, the higher the rotating speed of the oil pump is, the more lubricating oil is sprayed out of the oil spraying holes, the intelligent degree of lubrication is improved, and the stamping effect is guaranteed.

According to the tower foot welding and positioning device of the power transmission and transformation iron tower, a supporting steel plate and a reinforcing steel plate are both placed at the upper end of a machining table, two fixing assemblies are symmetrically arranged on the machining table, each fixing assembly comprises two bases arranged in a bilateral symmetry mode and a first sliding groove, and the supporting steel plate is placed between the two bases; a first sliding block in sliding fit with the first sliding groove is arranged at the lower end of the base, the supporting plate can drive the clamping plate to slide by pushing the supporting plate, and therefore the clamping plate can drive the reinforcing steel plate to move on the two sides of the supporting plate, the bottom end of the limiting rod can make contact with the machining table, and through friction force between the limiting rod and the machining table, the reinforcing steel plate can be clamped. And the bottom plate can be limited, so that the positions of the supporting plate and the clamping plate can be fixed, the position of the reinforcing steel plate can be finely adjusted conveniently, and the welding precision of the tower foot can be guaranteed.

The invention provides a shoe sole wear resistance detection device, and belongs to the technical field of wear resistance detection, the shoe sole wear resistance detection device comprises an instrument body and a shoe sole sample formed by punching a shoe sole, and further comprises a simulation detection assembly and a dust removal cleaning assembly; under the guidance of the guide ring, the first support arm can periodically move up and down, the process simulates the dynamic change of the pressure borne by the sole in different gait stages when a person walks, and in combination with the rotation of the sole sample, not only is the vertical pressure change simulated, but also the friction force in different directions can be simulated through relative sliding. The stress state of the shoe sole in the walking process is restored, so that the detection is closer to the actual use scene; the dust removal system is driven by the power of the detection device to operate, so that all-directional coverage of the whole abrasion area is realized, the retention time of dust in the detection area is reduced, dust interference can be avoided, the state of a sole sample before and after detection is only influenced by abrasion of a grinding wheel, and the detection result more truly reflects the abrasion resistance of the sole.

The invention discloses a high-precision flying shear, which belongs to the field of metal cutting, and comprises a portal frame, and a pinch roll is rotatably arranged on the portal frame; a first rotating roller and a second rotating roller are rotationally mounted on the portal frame, and cutters are mounted on the outer walls of the first rotating roller and the second rotating roller; a driving mechanism for driving the first rotating roller and the second rotating roller to rotate is arranged on the portal frame; two mounting frames are symmetrically arranged on the inner side wall of the portal frame; in the process that the pinch roll drives the plate to move, under the action of friction force, the heat dissipation plate moves along with the to-be-sheared plate, in the process that the heat dissipation plate moves along with the plate, the turbulent flow mechanism drives air around the heat dissipation holes to flow, the flow speed of the air around the heat dissipation holes is increased, and therefore the to-be-sheared part can be cooled; the temperature difference between the to-be-sheared part and the cutter is reduced, the thermal-mechanical coupling effect is relieved, the probability of uneven deformation in the shearing process is reduced, the probability of generation of wave-shaped edge defects is obviously reduced, and therefore the shearing quality is improved.

The invention belongs to the field of rock-soil drilling equipment, and discloses a highway construction rock drilling sampling device which comprises a rack, a sampling device and a sampling device, the drill rod assembly is arranged on the rack and comprises an inner shaft rod and an outer sleeve rod, and the inner shaft rod is rotationally sleeved with the outer sleeve rod; the first driving mechanism at least drives the outer sleeve rod to rotate; and the drill bit assembly is connected with the drill rod assembly. Through the drill rod assembly and the drill bit assembly, a sampling component and a drilling component of the drill bit assembly are matched with a limiting tooth part through a movable ratchet assembly, state switching of the sampling component and the drilling component can be achieved, and when the drilling component is reversely screwed out after drilling, a movable tightening piece can be driven to move by rotating relative to the sampling component; and the movable tightening part of the sampling component can tighten and clamp the sample, so that the friction force in the sampling process can be increased, the sample is not easy to fall off, the structure is simpler, and the operation is easy.

The invention belongs to the technical field of metal stamping dies, and particularly relates to a metal stamping die demolding structure which comprises a stamping base, a stamping frame fixed to the surface of the stamping base and a stamping hydraulic cylinder fixed to the surface of the stamping frame. A stamping base is arranged over the stamping die, a lubricating top die assembly is arranged above the stamping base, the lubricating top die assembly is arranged, lubricating oil can be smeared and sprayed to the surface of the stamping base and the interior of the stamping die, and therefore the friction force between the surface of the stamping base and the interior of the stamping die in the subsequent stamping process is reduced; the phenomenon that metal raw materials are damaged due to friction caused by forced stamping without lubrication is avoided, demolding after the metal raw materials are stamped is also facilitated through the lubrication effect, a metal blank formed through stamping can be pushed to be loosened, the rapid demolding effect is achieved, manual demolding is not needed, the labor intensity of manual demolding is reduced, and the demolding efficiency is improved.

A testing device for a current-carrying friction and wear performance of a flexible rolling friction pair, including a base plate, supporting profiles, and guiding rail sliders, and a screw assembly, and a movable supporting plate, and a fixed supporting plate, and first bearing supports, and a slider supporting plate, during the testing process, friction moment and friction force of the flexible rolling electrical contact component can be obtained by monitoring dynamic torque of rotating wheel, which is wide applicability, which allows simultaneous online monitoring of multiple experimental variables such as friction performance, current-carrying capacity, preload, friction force, and temperature; and at the same time, there is no need to adjust, assemble, or test multiple objects for the rolling ring structure; the testing process can be completed by only adjusting and testing the key electrical contact test piece, significantly simplifying the testing structure and method while reducing testing costs.

The invention discloses a device and a method for testing wear resistance of a coating material in a high-temperature environment, and relates to the technical field of coating material testing, and the device comprises a workbench, a friction force loading mechanism, a test force loading mechanism, a high-temperature heating system, a force detection unit and a computer. The friction force loading mechanism provides stable friction force, the test force loading mechanism accurately applies test force, the high-temperature heating system creates a high-temperature environment, and the force detection unit detects force data in real time and transmits the force data to the computer for processing and analysis. The second driving mechanism is unique in structure and can accurately control test force loading, the circulating cooling unit is further arranged to protect the transmission shaft, the high-temperature furnace meets different temperature requirements, inert gas can be introduced to prevent high-temperature oxidation, and compared with a vacuum testing machine, the manufacturing cost can be greatly reduced. The problem that an existing detection device cannot accurately test the wear resistance of the coating material in a high-temperature environment is solved, and powerful support is provided for research, development and application of the coating material in the fields of aerospace and the like.

The invention relates to the technical field of valves, and discloses an ultralow-temperature LNG top-mounted hard sealing floating ball valve which comprises a valve body, a valve rod and a valve ball arranged in the valve body, a mounting seat is arranged at the top of the valve body, the valve rod penetrates through the mounting seat, an adjusting seat is fixedly mounted at the bottom end of the valve rod, a mounting cavity is formed in the inner side of the valve body, and the valve ball is arranged in the mounting cavity. The valve ball is movably arranged in the mounting cavity, a sliding groove is formed in the top end of the valve ball, and the adjusting seat is slidably arranged in the sliding groove; through the arrangement of the adjusting assembly, when the valve is opened, the adjusting assembly can drive the adjusting block to move, so that the adjusting block pushes the valve ball to move in the direction away from the valve seat, the valve ball is separated from the valve seat, the valve ball does not make contact with the valve seat when starting to rotate, and the friction force generated when the valve ball rotates is reduced; and relative friction between the valve ball and the valve seat is avoided, so that abrasion between the valve seat and the valve ball is reduced, and the service life of the valve ball and the service life of the valve seat are remarkably prolonged.

The invention discloses a combined sealing device frictional wear and external leakage test bed and a test method thereof, and aims to solve the problem that the existing device cannot accurately know the sealing wear. The test bench comprises a rack, a test piece, a stay wire sensor, an oil pipe and a hydraulic system, wherein an oil tank is arranged in the rack. The test piece comprises a test sealing assembly and a plunger, and the stay wire sensor is connected with a sealing combination structure. During testing, the hydraulic system drives the plunger and the sealing assembly to move relatively, the pull wire sensor measures displacement, friction force is calculated by combining pressure data to reflect abrasion, and the oil groove collects leaked oil. According to the invention, comprehensive testing of friction, wear and leakage is realized, sealing performance and wear rules under multiple working conditions can be analyzed, the structure is convenient to observe and operate, and optimization of the sealing structure is facilitated.

The invention discloses a fan unit blade root ultrasonic pretightening force monitoring method, and relates to the technical field of fan units, and the method comprises the following specific steps: carrying out ultrasonic fastening stress coefficient calibration on a fan unit blade root bolt material, applying axial tension to a plurality of sample bolts made of the same material, and determining the blade root ultrasonic pretightening force of the fan unit under each tension value; according to the method for monitoring the ultrasonic pretightening force of the blade root of the fan unit, the transmission speeds of ultrasonic waves in the sample bolt in different stress states are measured by utilizing ultrasonic detection equipment, and the accuracy of monitoring data can be remarkably improved; according to the method, the ultrasonic fastening stress coefficient of a bolt material is calibrated, high-precision real-time monitoring of the pretightening force of the bolt is realized by utilizing the linear relation between the ultrasonic wave spreading in the bolt and the stress, the influence of friction force on torque measurement is eliminated, and the misjudgment of pretightening force attenuation caused by temperature and vibration factors is also avoided.

The embodiment of the invention relates to the field of motors, and provides a motor, a camera module and electronic equipment. The motor comprises a lens carrier, a frame, a magnetic attraction mechanism and two sliding rail mechanisms, and the two sliding rail mechanisms are diagonally arranged between the frame and the lens carrier on a plane perpendicular to the optical axis direction of the lens and used for providing a sliding supporting face for movement of the lens carrier in the optical axis direction so as to reduce friction force. The magnetic attraction force generated by the magnetic attraction mechanism is used for making the lens carrier abut against the sliding rail mechanism. The two slide rail mechanisms are arranged diagonally and are uniform in structure distribution, so that the stress of the lens carrier is uniform, the stability of the structure is facilitated, the requirement of the motor for magnetic attraction force is reduced, the requirement of automatic focusing for driving force is reduced, the power consumption and the cost are reduced, the miniaturization design of the motor is facilitated, and the service life of the motor is prolonged. And the design difficulty is integrally simplified.

The invention relates to the technical field of drilling equipment, in particular to an impact composite drill bit which comprises a drill bit body, a rotating shaft, a center wheel and main blades, a mounting groove with an upward opening is formed in the center of the upper end of the drill bit body, the horizontally-arranged rotating shaft is rotatably mounted in the mounting groove, and the center wheel is fixedly mounted on the outer side of the middle of the rotating shaft. The impact composite drill bit is reasonable and compact in structure, during use, the lower end of the impact composite drill bit is connected with a pipe string and then descends into a target position in a well, when the drill bit body makes contact with a rock stratum, the center wheel starts to rotate, the section of the center wheel is an arc triangle, and when the center wheel rotates, the high point and the low point of the section triangle of the center wheel are continuously switched; the main cutting teeth on the main cutter wings can impact the rock stratum along with conversion of the high point and the low point, the rock stratum crushing effect is achieved, the working efficiency of the impact composite drill bit is improved, the friction force in the center of the impact composite drill bit can be reduced when drilling is conducted in the mudstone stratum, and therefore the drilling efficiency is improved.

The invention discloses a stacking robot based on material transportation, and relates to the technical field of material stacking. The device comprises a mounting frame, a transverse plate is slidably connected to the inner side of the top of the mounting frame in a limiting mode, a hydraulic rod is fixedly mounted in the middle of the top of the mounting frame, the bottom end of the hydraulic rod is fixedly mounted to the center of the top end of the transverse plate, and first rotating shafts are rotatably connected to the interior of the transverse plate in a front-back symmetrical limiting mode; and gears are fixedly mounted on the peripheries of the middle parts of the front and rear rotating shafts. According to the stacking device, materials can be elastically clamped, the clamping force can be mastered more easily, the materials can be effectively clamped under the condition that the materials are not damaged, the materials clamped between the clamping plates can be horizontally moved up and down, the stacking stability and precision are improved, the clamping friction force between the stacking device and the materials can be adjusted according to the distribution of the weight of the materials, and the stacking efficiency is improved. Inclined movement of the materials due to uneven weight distribution is avoided, and normal proceeding of subsequent material clamping and stacking is facilitated.

The invention relates to the technical field of information, in particular to a method and system for accurately controlling friction force of a support rotating shaft in the design field of the support rotating shaft, and the method comprises the steps: obtaining the rotating frequency and load size data of the support rotating shaft under different postures as the basis of subsequent analysis; according to the change trend of the wear degree, establishing a mapping relation between the geometrical shape and a friction force value, and fitting a mapping function through geometrical characteristics and friction force experiment data; a multi-objective optimization algorithm is adopted, material performance and a surface treatment process are combined, an optimal parameter combination of the geometrical shape is solved, and an objective function is friction force uniformity and wear rate minimization; generating a rotating shaft geometric structure with uniformly distributed friction force values through the optimal parameter combination, and ensuring that geometric characteristics meet preset friction force and wear requirements; according to the control model and the constraint conditions, the optimal friction value range of the rotating shaft under different working conditions is calculated, and it is ensured that the friction value is within a preset threshold value.

The invention relates to the technical field of tool magazines, and discloses a tool pouch turnover device of a chain belt type tool magazine, which comprises a frame body, a driving chain belt is arranged in the frame body, a plurality of swing plates are equidistantly arranged on the driving chain belt, one end of each swing plate is fixedly connected with a tool pouch, and the other end of each swing plate is provided with a tool reversing wheel. A tool reversing air cylinder is arranged outside the driving chain belt, a tool reversing block is fixedly connected to the telescopic end of the tool reversing air cylinder, a storage box is arranged on one side of the tool reversing air cylinder, lubricating oil is stored in the storage box, an oil squeezing box is arranged between the storage box and the tool reversing air cylinder, and a connecting pipe is communicated between the top end of the oil squeezing box and the bottom end of the storage box. According to the device, lubricating oil can be automatically sprayed to the tool reversing wheel clamped in the tool reversing block, the tool reversing wheel and the inner wall of the tool reversing block are lubricated, the lubricating oil does not need to be manually smeared, the friction force between the tool reversing wheel and the tool reversing block is greatly reduced, and clamping or abnormal sound is avoided.