23 results about "Gravitational torque" patented technology

The utility model relates to an automatic door opening and closing mechanism and door box equipment, which can realize automatic door opening and closing of full angle and improve user experience. The automatic door opening and closing mechanism comprises: a hinge assembly, including a hinge base, a hinge support and a rotating shaft rotatably connecting the hinge support to the hinge base; a driving assembly, including a spring, a linkage connected to the end of the spring and a driving mechanism drivingly connected to the linkage; and a linkage assembly having a first or second flexible section simultaneously limitingly connected to the hinge support and the linkage; the first flexible section extends from the linkage to the hinge support in a forward direction to exert a first pulling torque on the hinge support opposite to the direction of the gravitational torque of the door body assembly; the second flexible section extends from the linkage to the hinge support in a reverse direction to exert a second pulling torque on the hinge support in the same direction as the gravitational torque; the linkage pulls the first or second flexible section when moving to automatically close or open the door.

The utility model provides a gravity compensation device and a robot. The gravity compensation device comprises a base, a connecting piece and a gravity compensation mechanism. The connecting piece is rotationally connected with the base, and the connecting piece is configured to be capable of being connected with a load of the robot; the gravity compensation mechanism is movably connected with the base and comprises an elastic structure, a mounting structure and a transmission part, the base and the mounting structure abut against the elastic structure, the mounting structure is movably connected with the base, and the mounting structure can move in the preset direction relative to the base so that the elastic structure can elastically deform. The transmission part is connected with the mounting structure; the connecting piece comprises a body part and a side wall part, the body part is rotationally connected with the base, the side wall part is arranged on the body part in a protruding mode, the inner wall, facing the rotating center of the body part, of the side wall part is in contact fit with the transmission piece, and the distances between different positions of the inner wall and the rotating center are different. According to the gravity compensation device and the robot, the structural design is reasonable, the gravitational torque of a load can be compensated, and the occupied space is small.

A rotating shaft apparatus is provided, where the rotating shaft apparatus includes an adapter member, a spindle, and a crank-slider mechanism. The adapter member is fixedly connected to a load. The spindle is fixedly connected to the adapter member. The crank-slider mechanism acts on the spindle to provide a torque. The torque partially or completely counteracts a gravitational torque of the load. A compression spring is disposed in the crank-slider mechanism. A spring force of the compression spring acts on the spindle, so that the spring force changes with rotation of the spindle.

The invention discloses a mechanical arm self-adaptive grabbing method based on geometric constraint and gravity optimization, and relates to the field of robot motion planning, and the mechanical arm self-adaptive grabbing method comprises the steps that three-dimensional point cloud data of a target object is acquired, and a smooth surface area is segmented through geometric feature analysis; candidate grabbing point pairs meeting normal vector parallel constraint and friction cone constraint are screened; generating a grabbing strategy including the target clamping force and the grabbing pose based on the candidate grabbing point pair; taking the grabbing pose as a target, and generating a motion track from the initial pose of the mechanical arm to the grabbing pose and with optimized joint load by introducing a path planning algorithm of a gravitational torque cost function; and the mechanical arm is controlled to move along the movement track, and control modes are automatically switched according to the distance and tail end force feedback till grabbing is completed. The stability, the energy efficiency and the safety of the grabbing operation of the mechanical arm in the unstructured environment are improved through geometric physical constraint screening of grabbing points, gravity optimization planning of a movement track and self-adaptive variable stiffness control.

The utility model discloses a monorail folding door with a buffering function, which comprises a top rail and a plurality of door plates mounted in the top rail, adjacent door plates are hinged to form a folding door plate, swing rods are hinged to the upper portion and the lower portion of one end of the folding door plate close to a wall, and the two swing rods are fixed at the upper end and the lower end of a connecting rod to form rigid connection. A rotating shaft seat and a pulley block are arranged at the top of the folding door plate, a buffer is arranged in the center of the top of a starting door of the folding door plate, and a trigger corresponding to the buffer is arranged in the top rail; the upper swing rod and the lower swing rod which are rigidly connected are arranged on one side, close to a wall, of the folding door plate, the upper portion and the lower portion of the folding door plate always keep synchronous rotation in the opening and closing process, the pulley block is arranged in the middle of the folding door plate, the folding door cannot generate gravity torsion, the opening and closing process is smoother, and the safety is improved. And the use feeling of the folding door is improved.

This invention relates to the field of power output device technology, specifically a power output device and method based on the generation of gravitational torque by the magnetic force of permanent magnets. The device includes a first magnetic repulsion device that sequentially pushes the weight of the permanent magnet passing its position upwards to one end of the sliding track near the center of the rotating wheel due to the repulsive force generated by the opposing magnetic poles, maintaining an overall torque difference between the weights of the permanent magnets on both sides of the rotating wheel. A second magnetic repulsion device sequentially pushes the weight of the permanent magnet passing its position upwards to one end of the sliding track away from the center of the rotating wheel due to the repulsive force generated by the opposing magnetic poles. This invention has a simple structure, is easy to process, and has low manufacturing and usage costs. By utilizing the principle of like pole repulsion of permanent magnets, the relative position of the weight of the permanent magnet on the rotating wheel changes with the center of the rotating wheel, thereby generating an overall torque difference between the weights of the permanent magnets on both sides of the rotating wheel. Under the action of gravity and the torque difference, the weight of the permanent magnet generates torque on the rotating wheel or shaft, causing the rotating wheel or shaft to rotate continuously.

The utility model discloses a shower door without a ground guide rail, which comprises a top rail and a movable door hung in the top rail, swing rods are arranged at the top and the bottom of one side of the movable door, one ends of the two swing rods are hinged on the movable door, and the other ends of the two swing rods are respectively fixed at the upper end and the lower end of a connecting rod, so that the two swing rods are rigidly connected. A rotating shaft seat is mounted in the middle of the top of the movable door, a pulley block is connected to the rotating shaft seat, a buffer is connected to the pulley block, and the buffer is arranged in a rail groove of the top rail after assembly; the swing rods are arranged at the top and the bottom of the movable door and form rigid connection through the connecting rods, the swing rods at the top and the bottom rotate synchronously when the movable door is opened, the situation that the movable door is not opened smoothly due to uneven force application during pushing is avoided, the pulley block is installed in the middle, and the movable door cannot generate gravity torsion in the opening and closing process of the movable door. The movable door is opened more smoothly, and the use feeling of the shower door is improved.

This robot control device controls the operation of a robot arm having a joint portion. The robot control device comprises: a gravitational torque calculating unit that calculates gravitational torque (τg2) for the joint portion; a sign determining unit that determines the positive / negative sign of a velocity component of the joint portion; and a backlash correction value calculating unit that calculates a backlash correction value to be added to a position command for the joint portion. The backlash correction value calculating unit calculates a gravity correction coefficient (kgc) on the basis of the absolute value (|τg2|) of the gravitational torque (τg2), and calculates the backlash correction value on the basis of the positive / negative sign of the velocity component and the gravity correction coefficient (kgc).

The invention provides a multistage rotor assembly method based on cooperative regulation and control of a geometric axis and a mass center axis, and belongs to the technical field of rotor assembly. In order to solve the problems that rotors need to be assembled / disassembled repeatedly in the existing rotor assembly process, the efficiency is low, and collaborative optimization of geometric accuracy and dynamic performance is difficult to achieve fundamentally, the method comprises the steps that mass center information of a k-level rotor under global coordinates is obtained; according to the direction and position information of the k-stage rotor in the global coordinate system, calculating the total gravitational torque of the multi-stage rotor assembly; rotor pose information is analyzed, and a multistage rotor geometric error transfer model is established; based on a rotor geometric error transfer model, the multi-stage rotor centroid coaxiality under the rotary coordinate system after assembly is obtained; establishing a multi-objective optimization equation of the coaxiality and the total gravitational torque; and solving the multi-objective optimization equation by using a non-dominated sorting genetic algorithm fused with a simulated annealing mechanism to obtain an optimal assembly phase group, and assembling the multistage rotor based on the optimal assembly phase group.

A hanger includes three rods connected end-to-end at roughly 90-degrees to form a U-shaped hook. The lengths of the rods are preconfigured for a compatible post to enable the hook to engage the post by sliding the hook about the outer perimeter of the post with a slight gap between rods and surfaces of the post such that two of the rods will engage opposing surfaces of the post due to a gravitational torque on the rods, pinching the post between the engaging rods and thereby holding the hanger in place on the post. A load may be suspended from a load arm extending from one of the engaging rods, and may thereby augment the torque and pinching force. The point the load arm extends from the engaging rod is roughly at the midpoint of the post.

The utility model provides a plate positioning device for high and low die cavities. The plate positioning device comprises a flange assembly, a pressing plate assembly and a supporting plate assembly. The flange assembly is limited at each edge of the high and low die cavities to prevent the horizontal deviation of the plate; the pressing plate assembly comprises a pressing plate, a pressing plate connecting base and a pressing plate driving mechanism, the pressing plate driving mechanism is connected with the pressing plate and can drive the pressing plate to rotate, and the pressing face of the pressing plate can be pressed on the upper surface of the edge of the plate covering the high-position molded surface area; the supporting plate assembly comprises a supporting plate, a supporting plate connecting base and a balancing weight, the supporting plate is rotatably connected to the supporting plate connecting base, the end, away from the plate, of the supporting plate is connected with the balancing weight, and the end, close to the plate, of the supporting plate is provided with a protruding supporting part; under the driving of the gravity torque of the balancing weight, the supporting part extends out of the front face of the supporting plate connecting base and supports the suspended part of the plate covering the low-position molded surface area. According to the utility model, the efficient avoidance and accurate positioning in the stamping process can be realized while the stable support of a plate in a low-position area is ensured.

This invention discloses a method for compensating the gravitational torque of an electric side door under vehicle tilt conditions. The method specifically includes: constructing an attitude correction matrix based on the vehicle's lateral and longitudinal tilt angles; using the attitude correction matrix to correct the initial hinge axis vector and the initial door normal vector to obtain the corrected hinge axis vector and the corrected door normal vector; rotating the corrected door normal vector with the corrected hinge axis vector as the rotation axis and the door opening angle as the rotation angle to obtain the current door normal vector; projecting the door gravity vector onto the direction of the current door normal vector to obtain the door normal gravity component, and calculating the current door gravitational torque based on the center of gravity arm; calculating a compensation current based on the current door gravitational torque and motor transmission parameters, and superimposing the compensation current onto the motor target current to control the electric side door's operation or hovering. This invention enables the electric side door to maintain stability and consistency in the opening, closing, hovering, or braking processes under different slope conditions.

The present application relates to the technical field of earth gravity torque converter, and discloses an earth gravity torque converter technology, which comprises two main shafts with parallel misplacement and lever type three-core pendulum bob two-main diameter height coincidence. The two-main diameter, one-bend diameter of the three-core lever pendulum bob are in parallel misplacement state, and the middle part is in eight-shaped excess state. The big ends of the two main shafts are opposite and are installed with stress flanged discs. The stress flanged discs are uniformly distributed with lever type three-core pendulum bob bearing seats on the periphery. The even number of lever type three-core pendulum bobs are uniformly distributed in parallel state. The middle bend diameter can be installed with counterweight iron to increase the gravity amplitude. The two main shafts are connected in series by chains or gears to ensure stable operation and power output at any shaft end. The whole machine is turned over by 90 degrees, the pendulum bob is in the state of vertical ground, and the machine set loses the working operation. In the operation process of the machine set, no any energy is added, no pollution is caused, no time is refused, and the machine set is not affected by the natural environment and climate.

The invention relates to the technical field of transformer monitoring, and discloses an oil-immersed power transformer monitoring device which comprises a supporting bottom frame, one side of the supporting bottom frame is fixedly connected with a first supporting plate, the top of the first supporting plate is fixedly connected with a monitoring box, and the monitoring box is internally provided with two sets of anti-vibration assemblies. The two sets of symmetrically arranged second supporting plates serve as initial force bearing units to transmit loads to the monitoring box, the structure arranged at the top of the second supporting plates forms multi-degree-of-freedom buffering, and through linkage cooperation of multi-stage hinge structures, the self-resetting characteristic of friction damping and gravitational torque between the rotating shafts is utilized, so that the self-resetting performance of the rotating shafts is improved. Multi-dimensional vibration is decomposed into harmless micro-amplitude swing step by step, finally, stable posture keeping of the monitoring meter body in a complex vibration environment is achieved, and a dynamic balance biomechanical mechanism is achieved through multi-joint flexible connection in the working process. And vibration interference of different frequencies and directions is effectively isolated through self-adaptive deformation of a mechanical structure.

The invention discloses a device for detecting the spraying quality of a steel structure, and the device comprises a tail end telescoping mechanism which is used for adjusting the vertical position of a tail end actuator; the stand column rope outlet mechanisms are evenly distributed on the outer side of the tail end telescopic mechanism, the flexible rope ends of the stand column rope outlet mechanisms are connected with the top end of the tail end telescopic mechanism, and the stand column rope outlet mechanisms are used for adjusting the horizontal position of the tail end actuator; the tail end anti-swing mechanisms are uniformly distributed and fixedly arranged at the top end of the tail end telescopic mechanism, so that the flexible cable always keeps a certain pre-tensioning force in the pulling process; the tail end posture adjusting mechanism is used for adjusting the circumferential posture and the pitching posture of the tail end actuator; the camera is used for performing phase detection on the to-be-detected part; and the gravity compensation mechanism is used for outputting elastic compensation force matched with the gravitational torque generated by the tail end posture adjusting mechanism. The device can give consideration to large output torque, high motion precision and environmental interference resistance, so that the end effector is light in load and more flexible in attitude adjustment, and efficient and stable detection is realized.

The invention discloses a humanoid robot instep ball picking reinforcement learning control method based on DCM constraint optimization, and the method employs a PPO Lagrangian algorithm, and minimizes the cost generated after the robot picks a ball and falls while guaranteeing the maximization of the total reward, thereby reducing the falling times in the ball picking process of the robot. A motion divergence-external force disturbance-based instability model is designed, a foot falling anti-interference strategy based on DCM dynamic constraint and external force disturbance compensation is developed, and stable foot falling of the humanoid robot after the ball picking action is achieved; based on the principle of multi-rigid-body dynamics, a zero moment point is solved in real time by solving a balance equation of centroid acceleration inertia moment and gravity moment, a reinforcement learning reward function is designed in combination with support domain boundary constraint, the stability of single-foot support of the humanoid robot in a challenging task is enhanced, and finally stable control over the specified challenging position is achieved. Compared with other methods, the method has the advantage that the challenge accuracy can reach 95% or above.

The invention provides a rotating joint, a mechanical arm and a surgical robot. The rotational joint includes a housing and an output member. The housing includes a first housing portion and a second housing portion. The first housing portion and the second housing portion are spaced apart and arranged opposite to each other in a first direction. The output member is located at a gap between the first housing portion and the second housing portion. The output member is rotatably connected to the housing about a first axis parallel to the first direction. According to the rotating joint, the output component is arranged at the interval of the first shell part and the second shell part, so that the symmetry of gravitational torque distribution on the two axial sides of the output component is improved, and the requirement for the output torque of the rotating joint can be lowered.

This utility model relates to the field of surgical robot technology, and discloses a robotic arm and a surgical robot. The robotic arm includes a rotating shaft, a linkage assembly, and a balancing assembly. The rotating shaft extends along a first direction, and a connector is fixedly provided on one side of the rotating shaft; the linkage assembly is rotatably connected to the rotating shaft, and a guide wheel is provided on the linkage assembly, with the guide wheel located between the center of mass of the rotating shaft and the linkage assembly; the balancing assembly includes a spring and a pull rope, with one end of the spring fixedly connected to the linkage assembly and the other end connected to the connector via the pull rope. During the rotation of the linkage assembly within a preset angle range, the first segment of the pull rope located between the guide wheel and the center of mass is collinear with the vertical connecting line. The spring's stiffness coefficient allows the spring force relative to the rotating shaft to generate a balancing torque that can balance the gravitational torque that the linkage assembly needs to balance, improving the operator's operating comfort and simplifying the robotic arm assembly process.

The invention belongs to the technical field of intelligent agriculture, and particularly relates to a lightweight operation method for an agricultural phenotype acquisition holder system. Comprising the following steps: S1, carrying out mass and position calibration on various sensors, connecting pieces and accessories mounted on a holder, and establishing a multi-source load mass distribution model; s3, modeling gravitational torque caused by the eccentric load; s4, introducing a disturbance perception and feed-forward compensation mechanism; s5, constructing a control parameter adaptive adjustment mechanism considering the stability precision and the energy consumption level; and S6, establishing a determination and closed-loop maintenance mechanism of a lightweight operation state. The equivalent rotational inertia and the driving burden are remarkably reduced, the attitude adjustment energy consumption is effectively reduced, the energy utilization efficiency is improved, the dynamic response performance and the attitude stability quality of the system are improved, and the adaptive capacity and the operation reliability under the multi-sensor cooperative working condition are enhanced; and the comprehensive performance of the system is improved on the premise that the structural strength is not obviously reduced.

This utility model relates to the field of buffer structure technology, and discloses an opening and closing lid structure and container. The opening and closing lid structure includes: a lid body, an elastic element, and a buffer assembly installed on the lid body and / or shell; the buffer assembly includes at least two buffer blocks; the resultant torque of the buffering torque of the buffer assembly, the gravitational torque of the lid body, and the elastic torque of the elastic element remains constant or close during the opening stroke, so that the change of the resultant torque on the lid body is gradual during the opening process, the opening speed is more stable, and the container is prevented from jumping when automatically opening, thus improving the user experience.

The utility model discloses a novel industrial silicon furnace charge pipe blanking turning plate structure and relates to the field of industrial silicon smelting. A vertical through opening is formed in the center of a valve body and used for conveying materials, rotating shafts are symmetrically installed on the two sides of the valve body, cranks are connected to the inner sides of the rotating shafts, valve rods are connected to the outer sides of the rotating shafts, and the cranks and the valve rods form obtuse angles; the valve rod is provided with a sliding groove for installing a slidable heavy hammer. Through interaction of gravity torque of the heavy hammer, material gravity and vibration torque, opening and closing of the valve plate are achieved through transmission of the rotating shaft, the crank and the valve rod to control discharging. The baffle prevents materials from overflowing, and the structure with the wide upper portion and the narrow lower portion optimizes flow guiding. Compared with the prior art, efficient smoke sealing is achieved through normally-closed gravity flap valves, an injection fan is omitted, by taking nine discharging pipes of a single furnace as an example, 173 kw.h and 448 kw.h of power consumption can be reduced every year, about 74 yuan and 583 yuan of electric charge can be saved every year, meanwhile 120-decibel noise pollution is eliminated, the operation and maintenance process is simplified, electrical potential safety hazards are reduced, discharging control is optimized, and production efficiency and safety are improved.

This utility model relates to a smoke baffle driving structure and a range hood. The smoke baffle driving structure includes a housing with an air intake; a smoke baffle hinged to the housing for opening or closing the air intake, the smoke baffle being divided into a first baffle portion and a second baffle portion around its own rotation axis; a balancing component disposed in the portion with the smaller gravitational torque; and a driving component disposed within the housing with its movable end hinged to the smoke baffle for driving the opening and closing of the smoke baffle. By adding a balancing component to the portion with the smaller gravitational torque to act as a counterweight, the two portions of the smoke baffle are brought as close as possible to a state of gravitational balance, reducing the gravitational force that the driving component needs to overcome when driving the smoke baffle to open and close, thereby reducing the driving power.

The invention discloses a gravity vehicle circulation driving engine and a power generation and control method thereof. The gravity vehicle circulation driving engine comprises an engine supporting mechanism system, a first-stage and second-stage or multi-stage circulation track, a gravity vehicle, a starting and braking system, an intelligent control system and the like. Under the synergistic effect of the gravity of the gravity vehicles, the gravity vehicles do circulating reciprocating motion along the circulating track, gravitational torque difference and torsion difference are generated on the left side and the right side of the center shaft of the engine, and the gravitational torque difference and the torsion difference drive the large rotating disc of the engine and the center shaft of the engine to rotate stably, continuously and efficiently and output power outwards. In the whole power generation and use process, fossil energy such as coal, petroleum and natural gas and nuclear materials do not need to be consumed, no waste water, waste gas and waste are discharged, unstable natural force such as wind power, hydraulic power, sea waves, tides and solar energy does not need to be used, and the ecological environment cannot be affected at all.