509 results about "Inertia" patented technology

The invention provides a virtual reality three-dimensional space data correction method, which comprises the following steps of: firstly, acquiring an image, depth and inertia measurement data of a virtual reality terminal, and a pose, a speed and a force feedback signal of an interaction body, and carrying out time sequence alignment under a unified time reference; an interaction event is identified through collision detection, and parameters such as a contact point, a normal direction, a relative speed, a penetration depth and a contact duration are extracted. Then, physical consistency constraints including no penetration, contact stability, friction consistency, momentum conservation and energy non-increase are constructed, and geometric consistency, depth consistency and physical consistency residual functions are established in the local contact area; and solving surface normal, depth, scale, pose, calibration parameters and other corrections through a robust nonlinear optimization method so as to update the point cloud, the grid and the calibration model. According to the method, the consistency and the stability of geometric modeling and physical interaction in the virtual reality scene can be remarkably improved, and the immersion and the interaction precision are improved.

The invention discloses a synchronous adjustment control method and system for an upper roller and a lower roller of a leveler based on servo feedback, and relates to the technical field of leveler control and adjustment. The synchronous adjustment control method and system for the upper roller and the lower roller of the leveler based on servo feedback comprises the steps that S1, servo execution data, displacement feedback data and input data in the operation process of the leveler are collected and preprocessed, and a standardized servo state data set is constructed; s2, performing difference evaluation on time response and stress states of the upper roller and the lower roller, and executing differential adjustment of a lifting motor and displacement correction of a supporting screw rod; s3, performing stability analysis on synchronous execution consistency of the upper roller and the lower roller, and synchronously adjusting a driving signal; and S4, comprehensively evaluating the synchronous coordination degree of the leveling process, and dynamically adjusting the servo rotating speed pressing force and the signal triggering time sequence to keep synchronous and stable operation. The problems that in the high-frequency-rhythm feeding and leveling task, non-cooperative inertia exists in the action of the upper roller and the lower roller, and a stable closed loop cannot be formed through short-rhythm adjustment are solved.

The invention discloses a single-axis mechanical accelerometer and a measuring method, and relates to the technical field of accelerometer measuring equipment.The single-axis mechanical accelerometer comprises a base and a dome shell installed on the base, a first cavity is formed in the base, and an I-shaped balancing weight capable of axially sliding is installed in the first cavity; a first spring is mounted between the I-shaped balancing weight and the cavity bottom of the first cavity; a conical sleeve capable of sliding in the radial direction is installed in the dome shell, a transverse shaft is inserted into the conical sleeve in a penetrating mode, the two ends of the transverse shaft are fixedly connected to the inner wall of the dome shell, the transverse shaft is sleeved with a second spring, one end of the second spring is fixedly connected to the transverse shaft, and the other end of the second spring is fixedly connected with the conical sleeve. An alarm triggering module is installed on the dome shell, and through the synergistic effect of an I-shaped balancing weight-spring inertia system and a conical sleeve triggering mechanism, the acceleration detection and alarm functions of a pure mechanical structure are achieved.

The invention relates to the technical field of ship underwater positioning, in particular to a dynamic space positioning method and system for a sensor chain body of a ship drag chain, and the method comprises the steps: dispersing the drag chain into a plurality of hinged rigid sections in a two-dimensional inertial reference system, connecting the sensor chain body to the tail end, and taking the motion of a ship as a traction point boundary; according to the given traction speed, the initial pitch angle, depth and tension distribution are obtained through static balance; calculating local speeds in the sections according to translation and rotation states of upstream nodes of all the sections, obtaining distributed hydrodynamic loads in combination with fluid parameters, establishing moment balance equations at all the upstream nodes, and forming a second-order ordinary differential equation set with a pitch angle as an unknown quantity; and numerical solution is carried out under a unified time step length, and the mass center positions of each node and a sensor chain body are obtained according to geometric recursion, so that dynamic positioning in an inertial reference system is realized. According to the invention, the precision and reliability of underwater target motion analysis and target tracking can be improved.

The invention relates to the technical field of galvanometer control, and discloses a two-dimensional galvanometer scanning system transition track generation method, system and device and a medium. The method comprises the following steps: training a strategy-based reinforcement learning model to obtain a trained model; obtaining an initial pose and a target pose; inputting the initial pose and the target pose into a trained model for reasoning to obtain poses of a plurality of intermediate nodes until the position of the target pose is reached; and forming a transition track according to the intermediate node. According to the method, a reinforcement learning mode is adopted, transition curve parameters are dynamically explored based on the trained model, and a transition curve with shorter time consumption and smaller speed change rate is given, so that the influence of the inertia of the galvanometer on a scanning track is reduced, and it is ensured that a laser beam can form a high-precision and high-quality scanning pattern on the surface of a target.

The invention discloses an inspection equipment motion control method and system for a dynamic disturbance environment, and relates to the technical field of anticorrosion detection, main cable swing and inspection equipment attitude data are collected to establish a dynamic corresponding relation, and according to the relation, the gravity center is regulated in a segmented manner, and the attachment direction is adjusted in real time to form inertia compensation; dynamic rhythm control is implemented in combination with an inertia compensation result to establish a time dislocation relationship; the sensing detection rhythm is synchronously regulated and controlled, and acquisition windows are unified; and dynamically rearranging a sampling sequence according to a detection time sequence, and fusing an attitude balance state and a time dislocation result to form a closed detection path. According to the invention, by dynamically sensing the swinging of the main cable and carrying out gravity center regulation and inertia compensation, the attitude stability and the advancing reliability of the inspection equipment under strong gust are improved; meanwhile, the detection rhythm and path planning are unified, a continuous closed detection path is formed, and the space-time consistency and long-term stability of anti-corrosion detection data are guaranteed.

The invention provides a one-key alignment method for heavy-load equipment in multiple scenes, which comprises the following steps of: acquiring a gravity direction component of an equipment body, and establishing a magnetic attitude reference coordinate of the equipment body by combining the reading of a tilt angle sensor and a horizontal reference plane of an optical ranging unit and a calibration point. Capturing the spatial distribution information of the mark points, calculating the offset of the current attitude of the equipment relative to the horizontal reference plane according to the geometric constraint among the mark points, and generating an initial attitude mapping matrix; and reading the angular velocity and the acceleration of the inertial navigation system, determining the deviation between the inertial attitude and the visual attitude, and generating a combined attitude calculation result. The hydraulic cylinder and the rotating table are driven to be synchronously adjusted according to the deviation value between the current attitude of the equipment and the target mounting point, the change trend of the attitude angle is monitored, and suppression feedback is triggered to adjust the fusion weight of the sensor. And calling a micro-motion mechanism to execute a fine pose adjustment instruction, monitoring a pose error in real time, and generating a pose locking report when the pose error is within a tolerance range.

The invention belongs to the technical field of petroleum and natural gas drilling engineering, and relates to a rotary steering test method and system for simulating underground drilling fluid circulation in a workshop. The method comprises the following steps: firstly, determining a dynamic fingerprint and a tolerance band of a circulation channel of a target well section, wherein the dynamic fingerprint comprises a time domain step and a frequency domain phase index; constructing a test loop of a series-connected adjustable hydraulic dynamic equivalent module, wherein the module comprises a containing cavity, a throttling unit and an inertia pipe unit to regulate and control flexibility, damping and inertia; applying flow disturbance and collecting flow pressure data to obtain a current dynamic fingerprint; comparing the tolerance band to iteratively adjust module parameters until the fingerprint reaches the standard; and after locking the parameters, carrying out function testing. The problem that traditional testing is disjointed with underground working conditions can be solved, testing accuracy and reliability are improved, testing cost is reduced, and testing requirements of different well sections are met.

The invention relates to the technical field of material conveying equipment, and discloses an intelligent anti-blocking method and system for material conveying, and the method comprises the steps: obtaining a motor current sequence, and extracting a feature vector of a current blocking state; initializing a particle swarm, carrying out particle swarm iterative optimization, and in each iteration, calculating a population distribution entropy based on the current positions of all particles; when the stagnation degree exceeds a stagnation degree threshold value, generating a disturbance term; calculating a blockage risk penalty term for each particle; the inertia weight is calculated for each particle, and the inertia weight is obtained by subtracting a blockage risk penalty term from a basic weight after the basic weight is adjusted through population distribution entropy and then adding a disturbance term; updating the speed and the position of each particle by using the inertia weight; and after iteration is ended, a control parameter corresponding to the global optimal particle is output, and a material conveying system is adjusted. According to the method, the influence that premature convergence is easy to fall into a local optimal defect in a standard particle swarm algorithm can be reduced, and the operation stability of the whole system can be improved.

The invention discloses a double-inertia elastic position servo system and a control method thereof, and the method comprises the steps: taking a motor speed as the input of a second-order linear expansion state observer in an active disturbance rejection controller, introducing a speed observation error, reconstructing internal and external disturbances, and observing the motor speed and the internal and external disturbances. The structure of the observer is simplified, the response speed of the system is improved, system internal and external disturbances including time-varying elastic disturbances caused by elastic deformation of the transmission mechanism are observed in real time, the time-varying elastic disturbances are compensated in combination with state error feedback, and the resonance problem is suppressed. According to the double-inertia elastic position servo system and the control method thereof, the system structure is simplified, the response speed of the system is increased, the anti-interference capacity of the system is improved, meanwhile, the inherent problems of mechanical resonance, position tail end buffeting and the like of the double-inertia elastic position servo system are effectively solved, and high-precision position servo control is achieved.

The invention belongs to the technical field of multi-variable measurement, and particularly relates to a forklift structure health state assessment method and system. The method comprises the steps that a plurality of strain type force sensors are symmetrically installed on the root portion of a left pallet fork and the root portion of a right pallet fork of the forklift, and the strain type force sensors are used for collecting stress signals of the left pallet fork and the right pallet fork in the three-dimensional space in real time; the six-degree-of-freedom motion state data of the forklift are collected in real time through an inertia measurement unit installed on a forklift main body, and the six-degree-of-freedom motion state data comprise linear accelerations in three orthogonal axial directions and angular velocities around the three orthogonal axial directions. According to the system, a high-bandwidth strain sensing array is deployed at the root of a pallet fork, the six-degree-of-freedom motion state of the whole vehicle is synchronously obtained, a dynamic disturbing force online decoupling mechanism based on a rigid-flexible coupling dynamic model is constructed, and the dependence of a traditional weighing technology on a static working condition is fundamentally broken through.

The invention provides a bridge vortex-induced vibration and flutter control TMDI parameter optimization method, which comprises the following steps of: according to a selected inertia mass ratio, obtaining optimal values of parameters under a control target by adopting a GBO optimization algorithm, wherein the optimal values are a TMDI mass ratio, a frequency ratio and a damping ratio; according to the optimization algorithm, the target function Fs converges to the minimum individual, namely the minimum TMDI mass ratio, and the minimum TMDI mass ratio and the corresponding optimal parameter, namely the optimal combination parameter. The invention further provides equipment, a storage medium and a program product. Compared with the prior art, the method has the advantages that the most economical TMDI optimization parameters can be obtained while effectiveness and robustness are considered.

The invention discloses a model prediction control method for efficient power generation of a floating eagle type wave power generation device, and belongs to the technical field of renewable energy utilization. The method comprises the following steps: firstly, establishing a kinetic model of the floating eagle-type wave power generation device and a motion model of an eagle-type wave-absorbing floater, and converting into a state space form; acquiring data through a wave test sensor to predict future wave excitation, determining an optimization scheme with maximization of average capture power as a target, applying PTO torque, motion range of the wave absorbing floater and speed constraint, and performing rolling solution to obtain optimal control torque; and finally, data are acquired through hardware such as an inertial measurement unit and a wave measurement buoy, and the PTO system is driven to apply control torque after the data are processed by the main controller.

The invention relates to the field of transformer overload control, in particular to a method and system for dynamically evaluating the overload capacity of a transformer, and the method comprises the steps: firstly, precisely extracting load step features and eliminating interference through a high-precision collection and sliding window differential verification technology; then, operating a finite-state machine based on a fluid dynamics principle, and switching among three modes of steady-state coupling, inertial decoupling and linear recovery according to load change; especially, a decoupling mode is entered during load impact, adiabatic temperature rise is utilized to deduce and replace lagged actually measured top oil temperature, and the problem of calculation distortion of a traditional model during oil flow lagging is effectively solved. In addition, the system executes double-thread calculation of the standard model and the inertial sensing model in parallel, outputs the final hot spot temperature through the maximum arbitration logic, and deduces the remaining allowable operation time according to the final hot spot temperature so as to generate a protection control signal. According to the invention, the evaluation accuracy and the operation safety of the transformer under the short-time overload condition are obviously improved.

The invention provides a path planning method, system and equipment for underwater rock drilling operation of a high-frequency breaking hammer, and relates to the technical field of underwater rock drilling. A multi-source data modeling technology and a position indicator area positioning technology are fused, microscopic details of a rock drilling target are complemented through optical data, equipment motion constraints are calibrated through position indicator data, and three-dimensional environment modeling of a macroscopic operation area in combination with the microscopic rock drilling target and the equipment motion constraints is achieved; a multi-objective optimization model is constructed, and an objective function for aggregating the path length, the path fluctuation, the energy consumption and the breaking hammer slip rate is a composite cost function; solving a global optimal operation path corresponding to the composite cost function by adopting IPSO; obtaining the global optimal path through speed updating mechanism optimization, adaptive inertia weight adjustment, asynchronous change learning factor setting and natural selection population iteration; the data volume and the calculation complexity of environment modeling are reduced, and the accuracy and the practicability of environment perception and modeling are improved.

The invention discloses a multi-degree-of-freedom flying mechanical arm aerial operation stability control method and system, and relates to the technical field of aircraft control. The method comprises the steps that attitude information and current contact force of a flying mechanical arm are obtained; constructing an attitude control model according to the attitude information; constructing an impedance model according to expected inertia, damping, a stiffness matrix, a tail end pose, a tail end speed, a tail end acceleration, a tail end reference trajectory, the current contact force and the expected contact force; calculating a joint control moment according to the impedance model; calculating a comprehensive performance index according to the attitude control model and the impedance model; and according to the comprehensive performance index and the joint control torque, stable control over the flying mechanical arm is conducted. The attitude control model and the impedance model can be combined to calculate the comprehensive performance index so as to adjust the control parameters of the flying mechanical arm, so that stable control of the flying mechanical arm is realized, and the control precision and the flight stability are improved.

The invention discloses an automatic setting method for control parameters. The method comprises the following steps: acquiring a currently set rigidity level; controlling the motor to move according to the motion instruction; according to the currently set rigidity level, determining an optimal gain parameter which does not exceed the current rigidity level in a preset rigidity gain table; performing automatic inertia identification when the motor moves according to the movement instruction; and adjusting a gain parameter according to the identified inertia parameter to obtain a target rigidity level and a corresponding target gain parameter. The automatic setting of the gain parameter is realized through the automatically identified inertia parameter, and the requirements of the servo driver for debugging rapidity and stability are met; according to the invention, the gain parameter of the servo driver can be automatically and quickly set without manual participation, and the parameter setting efficiency of the servo driver is improved.

The invention relates to the technical field of unmanned aerial vehicle control, in particular to a transition control method of a tailstock type unmanned aerial vehicle, which comprises the following steps of: establishing an inertia, airframe and airflow coordinate system, and constructing a longitudinal dynamic model based on the coordinate system; calculating a velocity trajectory by adopting a polynomial and deriving, solving coefficients by combining initial and conversion completion conditions, and generating velocity, acceleration and jerk trajectories; related variables are calculated according to the kinetic model and the speed trajectory; an expected airspeed and a pitch angle are tracked through an airspeed controller and a pitch angle controller respectively, and an accelerator control quantity and a pitch control quantity are output; and when the conversion time exceeds a specified value, judging whether mode conversion is completed or not according to whether the actual airspeed reaches the cruise airspeed, and if not, continuously tracking parameters. According to the technical scheme, the speed trajectory is smooth and controllable, it is ensured that the unmanned aerial vehicle with any takeoff weight safely completes mode conversion, and the problem that stable and reliable flight mode conversion cannot be achieved for the tailstock type unmanned aerial vehicle with any takeoff weight is solved.

The invention discloses a buoy type wave observation method and device based on a GNSS and an accelerometer, and relates to the technical field of marine environment monitoring, and the method comprises the steps: collecting positioning data and inertial motion data, constructing a reference acceleration through the positioning data, carrying out the dynamic real-time zero offset compensation of the acceleration, correcting the attitude of a buoy according to the angular velocity information, and carrying out the real-time zero offset compensation of the acceleration. Wave motion parameters are calculated by using a multi-order spectral moment, a horizontal velocity component is extracted, the main wave direction of waves is estimated through a maximum entropy spectrum method, and the main wave direction and the wave motion parameters are jointly packaged and transmitted through a dual-mode communication link. Through multi-source synchronous acquisition, GNSS dynamic zero offset compensation, attitude correction, wave direction calculation and parameter inversion, the problem of low accuracy and reliability of observation data caused by long-term drifting of the wave observation buoy is cooperatively solved, and meanwhile, the maintenance difficulty and cost of the wave buoy are reduced. A core algorithm is realized through an edge processing architecture, so that the cost of a single buoy is greatly reduced, and possibility is provided for large-scale high-density networking.

The invention relates to the field of automatic balance weight forklifts, in particular to an automatic balance weight forklift control method and system based on multi-source data, and the method comprises the steps that the multi-source data of a sensor are obtained; compensating the weighing value of the left pallet fork and the weighing value of the right pallet fork according to the real-time attitude angle of the forklift, and generating an equivalent left weighing value and an equivalent right weighing value under the horizontal reference system; calculating a static gravity center offset component and a dynamic inertia offset component; performing addition or weighted summation on the static gravity center offset component and the dynamic inertia offset component to obtain a dynamic gravity center offset; inputting the real-time center-of-gravity offset into a balance controller, and judging whether the absolute value of the center-of-gravity offset reaches or exceeds a preset stable safety threshold value or not by the balance controller; and if so, triggering a balance control strategy. Through hierarchical feature construction and physical constraint fusion of multi-source data, high-precision and low-delay dynamic gravity center estimation is realized, so that the effect of dynamically adjusting a forklift control strategy is achieved.

The invention relates to the technical field of roller way conveying, and particularly discloses a heavy roller way conveying line which comprises a conveying frame, a plurality of driving rollers and a driving source for driving the driving rollers are arranged on the conveying frame, workpieces are arranged on the driving rollers, and a plurality of steel plates spaced from the driving rollers are arranged on the conveying frame. The steel plate is provided with a plurality of power-off resistance stopping parts which are distributed at equal intervals, each power-off resistance stopping part comprises a fixing frame, a stopping part is arranged in each fixing frame, and an electromagnet is arranged between each stopping part and the inner side of the corresponding fixing frame. According to the heavy roller way conveying line, in the conveying process of workpieces, no matter the workpieces suddenly run at any position and are affected by power failure, the nearest blocking component in front of the workpieces does not ascend, the second blocking component in front of the workpieces ascends, so that enough buffering distance is reserved for the workpieces, and the situation that the workpieces are blocked and stopped due to inertia influence is avoided; and the device is damaged due to collision.

The application discloses a double-station cooperative glass numerical control groove milling equipment and relates to the milling technical field.The equipment comprises a numerical control machine tool main body and two groove milling units arranged on the numerical control machine tool main body.Each groove milling unit comprises a moving seat and a rotating driving assembly arranged on the moving seat.The bottom of the rotating driving assembly is provided with a milling cutter.In the application, a reverse conical funnel-shaped liquid collecting cover which rotates synchronously with the milling cutter is arranged to wrap the cutting area, effectively isolating the radial annular airflow generated by the high-speed rotating cutter.Meanwhile, after the cooling liquid is sprayed from the nozzle, the cooling liquid enters a spiral flow guide groove which is opposite to the rotating direction of the cutter, and forms a downward converging spiral liquid film under the constraint of airflow inertia and the groove wall, guiding the milling end of the cutter, so that the problem that the cooling liquid is blown away from the cutting area by the centrifugal airflow is solved, and the cooling liquid is ensured to efficiently act on the core area.

The present application relates to a kind of inertial energy storage methods.A kind of inertial energy storage method uses inertial energy storage device, with the cavity of fluid being contained, kinetic energy recovery device and the transmission member driven by the pressure of fluid in cavity, the method includes: fluid in cavity is accelerated;Fluid in cavity is applied deceleration resistance by kinetic energy recovery device, so that fluid in cavity is decelerated;During the deceleration of fluid in cavity, the kinetic energy of fluid deceleration is recovered by kinetic energy recovery device;Wherein, using the acceleration effect of fluid in cavity, the pressure of fluid in cavity is increased from first pressure to second pressure according to the velocity variation rate and movement state of fluid;Before the step of kinetic energy recovery device recovery kinetic energy ends, additionally by transmission member, the fluid pressure energy generated by fluid under the action of second pressure is obtained, wherein, first pressure is less than second pressure.

The invention discloses a gyro accelerometer dynamic error modeling and calibration method considering angular motion of a base, and belongs to the field of dynamics and control. The implementation method comprises the following steps: establishing kinematics and dynamics equations of the PIGA under the triaxial angular motion of the base, and deducing a complete error model comprising a static error term, a dynamic error term and a nonlinear error term; constructing a kinetic equation including inertia tensor, a moment balance equation and servo loop influence; quantitatively analyzing the influence of the angular motion parameters of the base on PIGA output errors; based on three-axis turntable experimental design, dynamic response of each axis of the PIGA is excited through single-axis, double-axis and three-axis angular velocity input, and error model coefficients are separated and calibrated; error model parameters are calibrated by adopting a mode of combining a least square method and other data fitting algorithms; angular velocity and angular acceleration terms are separated based on direction cosine matrix transformation, and error coefficient aliasing is avoided; dynamic response data are fitted through a least square method, and all error coefficients are calibrated at a time.

The application belongs to the technical field of numerical control processing, in particular to a turning equipment for precise metal structural parts, which comprises an adjusting part, a modified seat, an annular metal part arranged at the axis of the upper surface of the modified seat, a rotating part arranged in the interior of the modified seat and used for twisting the placed annular metal part, and a butt joint part arranged at the axis of the modified seat. The device modifies the modified seat of the bearing metal part, so that the counterweight shaft cylinder can drive the heavy metal part to rotate centrifugally without being blocked by friction due to excessive pressure, thus avoiding the problems of serious wear or difficulty in rotation of the bottom of the counterweight shaft cylinder. Since the mass of the metal part is large and the rotational inertia is also large, a certain time is needed for deceleration and stopping. At this time, the lower pressure suction cylinder can perform suction and pressure work on the annular rotating groove, and the embedded rolling ball applies resistance to the rotation of the counterweight shaft cylinder, thereby promoting the deceleration of the metal part and reducing the adverse effects caused by inertia.

The invention discloses an explosive-proof rod mechanism started in place based on inertia, and belongs to the technical field of fuze explosive-proof mechanisms. The explosive-proof rod mechanism comprises a body, an explosive-proof part and a guide pin part; the body is internally provided with a shaft hole used for the explosion-proof part to move in the axial direction, and the explosion-proof part comprises an explosion-proof rod and a spring. The explosion-proof rod comprises an explosion-proof tube shell, a detonating grain is arranged in the explosion-proof tube shell, and a curve groove extending from the top to the bottom is formed in the side face of the explosion-proof tube shell. A guide pin component is arranged in the body, and a guide pin of the guide pin component extends into the curve groove in an explosion-proof state and can move out of the curve groove and extend out to clamp the explosion-proof rod after the explosion-proof component moves in place; and the body is also provided with an electric detonator. The invention further discloses a safety system of the explosion-proof rod mechanism. The movement time of the explosion-proof part is prolonged, the explosion-proof part is prevented from instantly moving in place under the large overload condition, meanwhile, the in-place self-locking function is achieved, a safety system of the explosion-proof rod mechanism is locked through a two-stage safety mechanism, and safety and reliability are achieved.

The utility model belongs to the technical field of unmanned aerial vehicles, and discloses a grabbing device, a grabbing unmanned aerial vehicle and an unmanned aerial vehicle grabbing system.The grabbing device comprises a main machine body and a grabbing assembly, the grabbing assembly comprises two grabbing arms, one ends of the two grabbing arms are both rotatably connected to the main machine body, rotating shafts of the two grabbing arms are coaxially arranged, and the rotating shafts of the two grabbing arms are coaxially connected to the main machine body; the other end, away from the rotating shaft, of each grabbing arm is provided with a hanging piece forming an included angle with the grabbing arm, the two grabbing arms can rotate around the rotating shaft so that the two hanging pieces can get close to or get away from each other, when the grabbing assembly is in the grabbing state, the two hanging pieces are connected, the hanging part is hung to the two hanging pieces, and the hanging part is hung to the two hanging pieces in the vertical direction. And the middle shafts and the rotating shafts of the two hanging pieces are positioned in the same vertical plane. According to the grabbing device, the rotational inertia of the grabbing arm can be reduced, it is guaranteed that the grabbing assembly keeps the grabbing state under the gravity action of the object to be grabbed, the object to be grabbed is prevented from falling off, deformation and breakage of the grabbing arm are avoided, and the grabbing reliability and safety of the grabbing unmanned aerial vehicle are guaranteed.

The invention relates to a coaxial rotating eccentric vibrator. A hydraulic motor drives two groups of eccentric blocks capable of reversely rotating around the same axis to rotate, and inertia force generated by rotation of the eccentric blocks is synthesized to enable a rotating shaft to generate linear vibration in a certain radial direction. The device is composed of a hydraulic motor 1, a flange plate 2, a box body 3 and an internal excitation part. A shaft output spline hole 17 of the hydraulic motor 1 is connected with a shaft head spline of the rotating shaft 5, and the hydraulic motor 1 is fixed to the box body 3. The flange 2 is fixed at the bottom of the box 3. The tool can be installed on the flange plate 2 to form a vibration tool for use. The vibrator can also be installed on other machinery equipment through the flange plate 2 to be used as a vibration source. The machine is compact in structure, easy to manufacture, concentrated in inertia force and suitable for the field with the requirement for linear vibration of inertia.

The invention discloses a method for optimizing a front guide groove of a bar flying shear. The method comprises the following steps that a honeycomb-shaped supporting structure is arranged on a guide groove base body for structural strengthening; a wear-resistant layer is arranged on the working surface of the reinforced guide groove base body; an adjustable guide part is additionally arranged in the rolled piece outlet area of the guide groove so as to guide the motion trail of the rolled piece before the rolled piece enters the flying shear; a quick dismounting and positioning mechanism is arranged between the guide groove and the mounting base, so that the guide groove can be conveniently replaced and reset; a cooling device is arranged on the guide groove and used for cooling the working area of the guide groove to restrain thermal deformation; a vibration reduction part is additionally arranged between the guide groove and the mounting base, and an adjustable inertia balance unit is arranged, so that the vibration level in the operation of the guide groove is reduced; a state monitoring unit is arranged on the guide groove and used for collecting parameters reflecting the working state of the guide groove in real time and conducting abnormal early warning. By innovatively improving the structure and the material of the guide groove, the problem of shearing deviation caused by the fact that a traditional guide groove is prone to abrasion and deformation is solved.

The invention provides a cylindricity measuring instrument high-precision vertical column motion assembly. The cylindricity measuring instrument high-precision vertical column motion assembly comprises a column, a lifting seat, a driving assembly, a counterweight assembly and a bearing assembly. The driving assembly is used for driving the lifting seat to move up and down; the counterweight assembly is connected with the lifting seat through a cable and can reduce the moving inertia of the lifting seat; the bearing assembly is arranged on the lifting seat and comprises a first bearing assembly and a second bearing assembly, and the first bearing assembly and the second bearing assembly are oppositely arranged on different surfaces of the lifting seat respectively; a bearing mounting plate is arranged on the side wall of the lifting seat, the bearing mounting plate is provided with a fixed end and a free end, the fixed end is fixedly connected with the lifting seat, a gap is formed between the free end and the side wall of the lifting seat, and a cantilever structure is formed; the first bearing assembly is installed at the free end, and the first bearing assembly is tightly attached to the side wall of the stand column through the free end. The high-precision vertical column movement assembly of the cylindricity measuring instrument is compact in structure, stable in operation, high in precision and capable of effectively improving the measuring precision.