33 results about "Gravity compensation" patented technology

A cantilevered work platform and method with dynamic balancing counterweight are disclosed, belonging to the technical field of high-altitude work safety equipment. The platform includes a main boom, a telescopic boom, a personnel carrier frame, and a base. A dynamic center of gravity compensation device, consisting of a counterweight slide rail, a movable counterweight block, and a drive mechanism, is installed on the base. The counterweight block, linked to the pitch angle and telescopic stroke of the main boom via displacement sensors, moves in real-time along the slide rail in the opposite direction to counteract the variable overturning moment generated during operation. Simultaneously, a dual-rope self-locking fall arrest system, independent of the platform structure, is installed above the personnel carrier frame. This system includes two safety ropes anchored to high-level fixed points and corresponding speed difference controllers, directly connected to the worker's safety belt. This invention improves the overall anti-overturning stability of the machine by actively adjusting the counterweight position and ensures personnel safety even in the event of platform failure, significantly enhancing the reliability and safety of high-altitude operations.

The application discloses a horizontal hydraulic diaphragm pump and belongs to the technical field of diaphragm pumps. The horizontal hydraulic diaphragm pump comprises a power end, a hydraulic end, an auxiliary system and a control system. The hydraulic end comprises a hydraulic chamber adopting an asymmetric gradually changing cross section design, a gravity compensation type gradient rigidity composite diaphragm, a diaphragm chamber and an integrated intelligent exhaust device, the top of the hydraulic chamber is provided with a spherical crown gas collection concave cavity; the diaphragm is divided into a central flexible area, a transition buffer area and an edge rigid area along the radial direction, and a reinforcing framework is embedded in the lower semicircular area; the intelligent exhaust device comprises a bubble aggregation cavity, a gas-liquid separation microchannel group, a liquid level sensor and an exhaust electromagnetic valve. The auxiliary system comprises a double-cavity pre-pressing pulsation buffer, an air bag is arranged in a main buffer cavity, and a spring piston is arranged in an auxiliary buffer cavity. The control system adopts a pressure gradient self-adaptive reversing control and an iterative learning control algorithm to inhibit pressure pulsation, and solves the problems of asymmetric force bearing of the diaphragm, gas accumulation in the hydraulic chamber, large flow pulsation and reversing impact and the like under the horizontal arrangement.

This invention relates to the field of ultra-long profile processing technology and discloses a laser cutting equipment for ultra-long aluminum profiles for rail transit based on gravity compensation support. The equipment includes a gantry laser cutting machine with a base frame underneath. Supports are uniformly fixedly connected to the base frame, and a positioning mechanism is connected to each support. The positioning mechanism includes a base, which is a cavity structure with an opening at its upper end. This gravity compensation support-based laser cutting equipment for ultra-long aluminum profiles for rail transit effectively solves the problems in existing technologies where ultra-long H-shaped aluminum profiles are prone to bending and deformation after hoisting and placement on the machine frame due to insufficient flexural strength. This leads to deviation between the surface to be cut and the reference surface of the laser cutting head, causing quality problems such as beveled cuts and slag buildup. Furthermore, the bending deformation of the profile prevents it from effectively fitting with the machine frame, further exacerbating the decline in cutting quality.

This invention discloses a flexible cable-driven upper limb exoskeleton device and its control method for over-the-shoulder harvesting in agriculture. It employs a back-mounted drive and Bowden cable distal transmission architecture, and introduces a bidirectional cable chain mechanism to adaptively compensate for the instantaneous rotational center drift of the shoulder joint, eliminating human-machine kinematic interference. The perception layer uses a dual-node pure IMU scheme for the upper and lower arms, combined with a lightweight LSTM network and a majority-voting smoothing strategy to achieve low-latency, highly robust four-state action intention recognition. The control layer constructs a finite state machine scheduling architecture, mapping intention adaptive gravity compensation, position impedance, and zero-force following modes. Implicit state alignment and torque cross-gradient achieve non-disruptive switching between multiple modes. The underlying servo integrates fuzzy PID online tuning to suppress transmission nonlinearity. This invention significantly reduces the activation load on the deltoid and biceps muscles under lightweight design, making it suitable for long-duration over-the-shoulder harvesting operations in orchards.

The application discloses a kind of unmanned aerial vehicle for inspection of bucket wheel machine, it is related to unmanned aerial vehicle technical field, including fuselage and the gimbal of being arranged at the bottom of fuselage, and detection module is detachably connected on the gimbal, the bottom of the fuselage is provided with gravity center adjusting mechanism for adjusting the gravity center of fuselage;The gravity center adjusting mechanism includes annular cover fixedly connected at the bottom of fuselage, and the center of the annular cover is concentric with the central axis of fuselage.This kind of unmanned aerial vehicle for inspection of bucket wheel machine, by the gravity center adjusting mechanism of the bottom of fuselage, can be according to gravity center deviation, by liquid supply mechanism, supply into liquid cavity of different directions in annular cover, dynamically adjust the liquid amount in each liquid cavity, realize the gravity compensation of different directions of fuselage;While extrusion mechanism in liquid cavity can limit liquid, inhibit liquid to shake, provide stable counterweight state for unmanned aerial vehicle, effectively improve the stability of flight attitude and the reliability of inspection operation.

The application discloses a cable stranding machine with eccentricity compensation function and relates to the technical field of cable preparation. The stranding machine comprises a unwinding unit, the unwinding unit comprises a gravity compensation assembly, symmetrical fixing plates are arranged on the pressing unit, a carrier plate is slidably installed on the fixing plate, a unwinding assembly and a pay-off assembly are arranged on the carrier plate, a driving motor is arranged on the pressing unit, a lead screw is installed on the driving motor, a sliding plate is slidably installed on the lead screw, the sliding plate is connected with the carrier plate, electric jacks are installed on both sides of the sliding plate perpendicularly to the fixing plate, a top plate is installed on the electric jack, a pressure sensor is arranged on the unwinding drum of the unwinding assembly, when the wire amount decreases on the unwinding drum of the unwinding assembly, the pressure sensor can control the driving motor to run, the sliding plate is driven to move through the lead screw, the carrier plate drives the unwinding assembly to move synchronously, and automatic compensation of the traction gravity center is realized.

The application is suitable for the technical field of device control, and provides a robot control method and device, a mechanical arm and a storage medium, including: acquiring first attitude data corresponding to a base where a mechanical arm of a robot is located; determining first deviation data corresponding to the base according to the first attitude data and a coordinate conversion matrix between the mechanical arm and the base where the mechanical arm is located; and controlling the mechanical arm based on a gravity compensation coefficient corresponding to the first deviation data. The above method can determine the gravity compensation coefficient according to the first attitude data, and then control the mechanical arm through the gravity compensation coefficient, offset the influence on the control accuracy of the robot caused by non-horizontal placement, realize automatic compensation of placement deviation, and improve the control precision and accuracy of the robot.

The application relates to a mechanical arm and a robot. The mechanical arm comprises a base, a bearing mechanism rotatably arranged on the base, the bearing mechanism comprising a first connecting rod, a second connecting rod and a third connecting rod, a first end of the first connecting rod being rotatably connected to the base at a first rotation point, a third end of the second connecting rod being rotatably connected to the base at a second rotation point, the third connecting rod being rotatably connected to a second end of the first connecting rod and a fourth end of the second connecting rod, and the third connecting rod being used for bearing a load, and a gravity compensation mechanism rotatably arranged on the base, the gravity compensation mechanism being rotatably connected to the first end, the gravity compensation mechanism comprising an elastic piece, and the elastic piece being stretched or contracted to compensate for the gravity of the load on the bearing mechanism when the bearing mechanism rotates relative to the base. The gravity moment on the balanced mechanical arm can be effectively compensated, and the safety of the robot is improved.

The purpose of this disclosure is to provide a multimodal sensing robot adaptive force-controlled servo operation system and control method, including: a distributed real-time acquisition unit, an intelligent decision-making unit, and a robotic arm execution unit; wherein, the distributed real-time acquisition unit is used to collect the status information of any online unit of the industrial robot and acquire sensing data; the intelligent decision-making unit interacts with the distributed real-time acquisition unit to output control commands based on the sensing data; the robotic arm execution unit interacts with the intelligent decision-making unit to complete adaptive servo operation based on drive commands; this disclosure utilizes distributed joint torque sensing and a gravity compensation strategy based on a feedforward current mapping table, combined with... PID The admittance-parallel composite force control algorithm achieves high-precision dynamic tracking of contact force, controlling the tracking error within ±0.5. N Within this range, control precision has been greatly improved.

This invention belongs to the field of robotics and discloses an integrated vision-based independent robot force-controlled end effector and control method. It includes a body component, a floating execution module, a drive unit, a tool mounting unit, a vision detection system, a force sensing unit, an attitude detection module, and a control unit. The body component is connected to the floating execution module via the drive unit. The tool mounting unit is connected to the end of the floating execution module. The force sensing unit detects the axial force on the force transmission path. The attitude detection module is connected to the floating execution module to acquire spatial attitude data. The vision detection system collects local topographic data of the target working surface. The control unit calculates the actual contact force between the tool and the target surface based on the axial force and spatial attitude data, generates a contact force compensation value based on the local topographic data, and generates control commands based on a preset contact force. This achieves full-attitude gravity compensation without relying on external robotic arm data and adaptive, precise force control for complex curved surfaces.

The present application belongs to the technical field of lower limb training robot, and specifically discloses a robot lower limb training method, comprising the following steps: step 1, fitting a hip joint rotation angle change curve, a center of gravity up and down position change curve and a center of gravity forward speed change curve according to gait information of a human body; step 2, using a gravity compensation PD control algorithm to control rotation of an exoskeleton motor according to the hip joint rotation angle change curve; using a PD control algorithm with weight reduction bias to control rotation of a lifting motor according to the center of gravity up and down position change curve; and using a PI control algorithm to control rotation of a bottom wheel according to the center of gravity forward speed change curve; the present application provides a robot and a lower limb training method capable of improving human-computer interaction compliance.

The utility model relates to the technical field of commodity vending machine discloses a cylindrical helical self -gravity compensation position commodity vending machine, including, bearing mechanism, including the cylinder and the hinge in the cylinder outside by solenoid valve control openable and closable baffle, gravity compensation position mechanism, including the cylindrical cylinder of installation in the inner chamber of cylinder, the utility model discloses a double helix conveying system that constitutes by first spiral guide rail and second spiral guide rail, and the rotation clamping of first variable -pitch compression spring and second variable -pitch compression spring are matched, realize the helical self -gravity compensation of commodity, and the efficiency of replenishment is effectively promoted, and the cylindrical modeling of cylinder and customizable shell break through the traditional square cabinet body limit, make the equipment have functional and design aesthetic feeling, and the multistage buffer system that buffer block and spacing baffle constitute ensures the reduction of breakage rate when the special-shaped commodity is transported, and the gravity compensation position mechanism of modular design supports 3 5 layer flexible configuration, and can adapt to the different scene demand such as shopping mall, scenic spot.

Diaphragm wall cutter (1) comprising: a milling frame (2) for receiving at least one component of the diaphragm wall cutter (1), characterized by a center of gravity compensation device (3) for varying the center of gravity in the diaphragm wall cutter (1) in order to avoid tilting of the suspended diaphragm wall cutter (1).

The application discloses a kind of unmanned aerial vehicle guidance methods, device, equipment and medium based on recursive sliding mode, it is related to unmanned aerial vehicle flight control technical field, including: the guidance channel of unmanned aerial vehicle is decomposed into horizontal channel and vertical channel;Target recursive sliding surface is respectively constructed in horizontal channel and vertical channel, and equivalent control item is constructed according to target recursive sliding surface, and switch compensation item of sliding mode controller is generated according to external disturbance;In vertical channel, the gravity compensation item of unmanned aerial vehicle is determined, and the angle of descent bias control amount is calculated according to the angle of descent constraint of unmanned aerial vehicle;Equivalent control item, switch compensation item, gravity compensation item and angle of descent bias control amount are superposed to obtain target guidance instruction, and target guidance instruction is used to guide unmanned aerial vehicle.By generating switch compensation item according to external disturbance, dynamic robust suppression to target maneuver and environmental disturbance is realized, and the precision of unmanned aerial vehicle guidance is improved.

A kind of hanging force design method for space manipulator ground test gravity compensation, comprising the following steps: obtaining kinematics parameters and dynamics parameters of manipulator;Obtain the installation parameters and mass parameters of the hanging tooling of gravity compensation system;Derive the mathematical model of the torque of each rotary joint of manipulator under the action of gravity environment and gravity compensation system in any arm type;Select several typical task configurations of manipulator;According to the mathematical model of joint torque of manipulator and the typical task configuration of manipulator, design the objective function, and determine the optimal hanging force of gravity compensation system by using mathematical optimization method.

The application relates to the field of robot control and discloses a live working robot load gravity compensation method, equipment and a storage medium, the method comprises the following steps: constructing a gravity compensation model according to the position relationship of each joint of a robot system; designing an installation angle optimization model with error sum of squares as a constraint index based on the installation angle of a force sensor; collecting multiple sets of mechanical arm pose and force data under experimental conditions; solving the installation angle optimization model by using the multiple sets of mechanical arm pose and force data under the experimental conditions based on an improved PSO method to obtain the optimal installation angle of the force sensor; installing the force sensor through the optimal installation angle, and performing gravity compensation on the mechanical arm end through the gravity compensation model under actual working conditions to obtain accurate external environment contact force. The application has the beneficial effects that all gravity compensation parameters can be calculated at high speed and effectively, and higher-precision and higher-efficiency gravity compensation is realized.

The application discloses a dual-mode pneumatic gravity compensation device and relates to the technical field of gravity compensation, which comprises a load-bearing arm, one end of the load-bearing arm is used for being connected with a required compensation load, and the other end of the load-bearing arm is connected with a first load arm; a first gear is fixed on the first load arm, and a first pulley is arranged on the first gear; a second gear is engaged with the first gear, a second pulley and a third pulley are arranged on the second gear, the first pulley and the second pulley are connected through a first rope, the third pulley is located at the center of the second gear, and the third pulley is coaxially fixed with the second gear, and the third pulley and the second pulley are connected through a second rope; a cylinder body is provided with a fourth pulley at the telescopic end of the cylinder body, and the third pulley and the fourth pulley are connected through a third rope; and a rotary driving device is provided with a torque sensor connected with an output shaft of the rotary driving device. The application has two working modes of active and passive, and is suitable for different working conditions and performance requirements.

The micro-gravity simulation test system for fine operation of a space dexterous arm in a narrow area comprises a space dynamics target machine, a ground test system console, a motion simulator console, a wireless communication module, an optical darkroom, a distributed infrared measurement camera, a sunlight simulation device, a service star motion simulator, a target star motion simulator, a suspension type micro-gravity simulation system and a marble air floatation table; the light illumination condition and the micro-gravity condition in the space environment can be simulated simultaneously, and the actual operation environment of the space dexterous arm is simulated with high fidelity. The micro-gravity compensation scheme combining the air floatation system and the suspension mechanism can provide more accurate gravity compensation in more directions without being limited by the interference collision between the ropes and the mechanism. The rope winding and unwinding devices for horizontal and vertical motions are designed, and the contradiction between the high gravity compensation accuracy of the dexterous arm and the narrow space operation is considered, so that the dexterous arm end can be deeply operated in the narrow space of the sailboard slit.

A kind of disc-shaped balance block tension spring gravity compensation mechanism, it belongs to the technical field of robot compensation.The gravity compensation mechanism includes balance block with balance linear groove, shaft end connecting plate for transmitting torque to shaft, structural reinforcement plate for increasing structural stability, and lock nut and screw for compression.When mechanical arm rotates, balance block drives spring deformation so that spring force changes accordingly with the movement of mechanism, the varying gravitational potential energy of mechanical arm is converted into elastic potential energy, and complete gravity balance effect is achieved in the effective working space of mechanical arm joint.The gravity compensation mechanism is different from traditional linkage mechanism, can realize nonlinear complete balance, has high precision, and can greatly reduce the energy consumption required for mechanical arm to maintain horizontal state, so that the attitude of cloud platform is more stable.

This invention discloses a smart ring gesture recognition interaction method and system, belonging to the field of human-computer interaction. The method includes: acquiring bone conduction vibration signals through a piezoelectric sensing module, determining whether the energy is concentrated within a preset bone conduction frequency range, and if so, waking up an inertial measurement module; acquiring spatial motion data and performing gravity compensation to obtain a net motion vector; extracting the peak time of the bone conduction vibration signal and the start time of the net motion vector, performing time correlation comparison within a sliding time window, and identifying a valid gesture if the time interval is within a preset threshold; extracting features from the net motion vector of the valid gesture, identifying the gesture category through a classifier, and matching the interaction command. This invention employs a dual-modal correlation mechanism of bone conduction vibration and spatial motion, effectively reducing the false trigger rate, and significantly reducing power consumption through event-driven wake-up, making it suitable for low-power wearable devices such as smart rings.

The application discloses an ultra-high layer outer wall cleaning unmanned vehicle dynamic gravity center compensation system and a hierarchical power adaptation method, and belongs to the technical field of unmanned vehicle high-altitude operation. The system operation height interval is 120m-600m, and the system comprises a posture sensing module, a gravity center solving module and a hierarchical power execution module. The posture sensing module integrates an RTK positioning unit, realizes accurate height determination and hierarchical switching, collects wind speed, inclination, liquid level, height and flight attitude data in real time, solves the gravity center deviation vector caused by liquid sloshing, converts the gravity center deviation vector into a motor speed instruction and directly drives the physical attitude correction of the vehicle body, divides the operation height into a 120m-450m six-axis gravity center compensation section and a 450m-600m eight-axis strong disturbance attitude stabilization section based on meteorological rules, and can be matched with a multi-chamber anti-sloshing structure to form software and hardware cooperation. The application solves the industry pain points of gravity center instability and poor power adaptability of a large water volume cleaning unmanned vehicle in a high-altitude strong wind environment, has the advantages of real-time compensation, hierarchical regulation and control, safety risk avoidance and the like, is not simple superposition of the prior art, has outstanding creativity and practicality, and can be widely applied to ultra-high layer outer wall automatic cleaning engineering operation.

The application discloses a virtual reality-based visual field defect personalized visual training system and relates to the field of visual training. When visual training is performed, a trainee performs visual training according to a corresponding generated visual training video on a display device through a head-mounted VR glasses. In the process of performing visual training according to the generated visual training video, a cloud data analysis platform performs gravity compensation and motion energy integration according to head acceleration data. When the motion energy integration is greater than an energy threshold, the display device is controlled to pause the visual training video for a set time. According to reaction time and success rate of different sites determined according to handle button event data, a scene generation and video processing module is controlled to dynamically adjust the visual training video. The application can realize personalized customization and dynamic adjustment of training content, and has the characteristics of simple operation, low training cost and good training effect.

The application provides a gravity-adjustable lower limb exerciser and a control method thereof, and belongs to the field of rehabilitation equipment. The control method comprises the following steps: S1, a preparation stage, establishing a static torque-gait phase reference curve obtained by a user under the driving of the lower limb exerciser; S2, a training stage, comprising S21, the user walks under the assistance of the gravity compensation torque of the lower limb exerciser, and the real-time driving torque of the lower limb exerciser on the user is obtained; S22, the real-time static torque corresponding to the real-time gait is obtained based on the static torque-gait phase reference curve; S23, the active force torque of the user is obtained based on the real-time driving torque and the real-time torque to be compensated, the lower limb exerciser provides a gain assist torque based on the active force torque, and the real-time torque to be compensated at least comprises the real-time static torque. The control method of the lower limb exerciser can accurately separate the active force of the user, accurately stimulate the active force of the user, and help the user restore the movement ability.

This invention discloses a bending-shear composite loading test device for asymmetric I-beams, comprising a fixed end, a test piece, and a load end. The fixed end is rigidly connected to the root of the test piece, simulating real service conditions, via a reaction plate connected to a fixed reference object and a base box with a constrained space. The device is adaptable to test pieces with varying cross-sectional changes. The test piece and the load end are connected by a flange-connected transition assembly. This assembly is compatible with multiple test pieces through a replaceable thickness-compensated adaptation structure. A fully enclosed clamping system, a double-shear connection structure, and a matrix bolt group design ensure uniform transmission of the bending-shear composite load. A gravity compensation structure is provided on the top surface. This invention is highly versatile, eliminating stress concentration and self-weight interference, accurately reproducing real service conditions, and significantly improving test stability, structural reliability, and the engineering reference value of the test data.

The application discloses a ground verification system and verification method for millimeter wave radar navigation, and the ground verification system comprises a millimeter wave radar subsystem, a radar gravity compensation system, a dynamics module, a millimeter wave radar echo simulation system, a six-degree-of-freedom motion control system and a navigation solution and evaluation module. The millimeter wave radar subsystem is used for measuring the relative distance and angle between the tracked targets; the radar gravity compensation system is used for simulating a weightless environment; the dynamics module generates position and attitude simulation information; the millimeter wave radar echo simulation system transmits echo signals; the six-degree-of-freedom motion control system controls the movement of a test signal transmitting antenna; and the navigation solution and evaluation module evaluates the navigation results. The ground verification system and verification method for millimeter wave radar navigation simulate the on-orbit environment on the ground, verify the complete application of the millimeter wave radar subsystem in the semi-physical test of the aircraft, and evaluate the navigation precision of the millimeter wave radar subsystem.

A multi-degree-of-freedom gravity compensation robot comprises a mounting base, a mechanical arm mounted on the mounting base, the mechanical arm comprising a base arm and an operating arm connected with each other in rotation, the base arm and the operating arm each comprising a plurality of shaft bodies connected in sequence along an axial direction thereof, each shaft body corresponding to a degree of freedom, and each shaft body further being drivingly connected with a driving device; a limiting assembly is arranged at a connection between the base arm and the operating arm, for limiting a rotation angle between the base arm and the operating arm, preventing the mechanical arm from being damaged due to overlarge action or surrounding equipment; a gravity compensation module is further arranged at the base arm, effectively balancing the gravity of the mechanical arm, significantly improving the stability of the mechanical arm in operation, and reducing the power of the driving device in operation; a controller is further included, the controller being signal-connected with each driving device, the controller controlling the movement of each shaft body by controlling each driving device, realizing multi-degree-of-freedom adjustment of the mechanical arm, and improving the operation precision, flexibility and safety of the mechanical arm.

This invention belongs to the field of mechanical manufacturing technology and discloses a method and system for gravity compensation of a six-dimensional force sensor in robot processing. It uses Euler angles and robot inverse kinematics to obtain the sensor's pose during deburring, performs preliminary gravity compensation through static methods, and divides the robot's deburring workspace using the constraint that the robot's flange joint does not reach the extreme value of the joint angle during continuous movement. A Latin hypercube sampling algorithm is used to obtain a dataset of systematic errors in gravity compensation, and a long short-term memory network is used to train a predictive model for systematic errors in gravity compensation. This solves the problems of anisotropy of the six-dimensional force sensor reference value and poor accuracy of traditional gravity compensation methods during robot deburring.

The application discloses a kind of electromechanical compound constant force system control method based on model predictive control, including including following steps: S1, training set data acquisition;S2, based on BP neural network establishes the dynamics model of system;S3, the data collected in step S1 is input into the dynamics model of system to complete model training;S4, model predictive control controller design, the state of electromechanical compound constant force system is identified using the model trained in step S3, and the optimal control force is calculated.The application adopts the above-mentioned electromechanical compound constant force system control method based on model predictive control, improves the constant force output precision and response speed of electromechanical compound constant force spring support, and further realizes high-precision vertical gravity compensation, improves the authenticity of spacecraft ground simulation.

This invention provides a drag compensation method and device for a robotic arm. The method includes: setting the driver mode and parameters of the robotic arm; filtering the motion state of the robotic arm; calculating the drag compensation current of the robotic arm based on the motion state, the drag compensation current including gravity compensation current, friction compensation current, and impedance compensation current; correcting the drag compensation current according to the drag position limit, speed limit, and torque limit of the robotic arm to obtain the drag drive current of the robotic arm; and driving the robotic arm according to the drag drive current. This invention comprehensively considers the gravity, friction, and impedance of the robotic arm to calculate the compensation current, and further corrects the compensation current according to the drag position limit, speed limit, and torque limit, thereby making the compensation current sent to the driver more accurate and enhancing the safety factor. It eliminates the need for external equipment, improving drag performance while controlling costs.