58 results about "Inertial effect" patented technology

In all applications of force, all components, internal or external, moving or otherwise, have inertia associated with their mass and geometry. The inertia of the components, internal or external, moving or otherwise, is detrimental to the precision and / or accuracy of the force being applied by and / or to the system, whether the force is applied internally or externally to the system. A motorbased system and / or a method involves mitigating and / or reducing force errors caused by the inertia of the components, internal or external to the system, moving or otherwise, in systems built for the application of force, the forces being internal or external to the system. This is achieved, in part, by addressing the inertial effects of components in the load-application path, including a motor and / or other force-generating devices, force transmitting elements, and carriers of force between a motor and those elements that contribute to force error due to inertial effects.

The invention discloses a transfer structure and a carrying device.The transfer structure comprises a lifting mechanical arm, a load base and a rotating base, the load base comprises a rotating platform and a load platform connected to the lower portion of the rotating platform through a plurality of floating assemblies, and the load platform is detachably connected with an external cargo carrying mechanism; the rotary base comprises a rotary connecting piece and a base plate platform fixed relative to the lower portion of the rotary connecting piece, and the rotary connecting piece is rotationally connected with the lower end of the lifting mechanical arm through a horizontally-arranged load fixing shaft and drives the rotary base to rotate along with rotation of the lifting mechanical arm so that the base plate platform can be kept in the horizontal state. According to the transfer structure, the inertia effect of the cargo mechanism and cargoes carried by the cargo mechanism in the lifting movement, horizontal movement or horizontal rotation process due to the gravity of the cargo mechanism can be relieved, then the displacement of the cargoes relative to the cargo mechanism is reduced, tidy and ordered stacking and loading are facilitated, the bag falling rate is reduced, and the loading efficiency is greatly improved.

The utility model discloses a general formwork dismantling device of prefabricated component of assembly type building concrete, including main body pole, first limit disc, second limit disc, impact column, handle, reinforcing block, drag hook subassembly, the one end fixed reinforcing block of main body pole, is installed with drag hook subassembly on reinforcing block, drag hook subassembly is by bolt, nut, first board body, second board body, connecting rod, hook constitutes, and one first board body is equipped respectively on the both sides of reinforcing block, is equipped with first through -hole on first board body, is equipped with second through -hole on reinforcing block, the utility model discloses through the cooperation of impact column and limit disc, when the high -speed motion impact of impact column hits first limit disc, the whole device can produce very big tension under the inertial effect of impact column, so that the device can use smaller force to produce bigger tension to the pouring mould, so that the pouring mould can conveniently carry out the dismantling, and the operator need not directly contact with the pouring mould, and the operator can obtain better security guarantee when disassembling.

A MEMS tri-axial accelerometer is provided with a sensing structure having: a single inertial mass, with a main extension in a horizontal plane defined by a first horizontal axis and a second horizontal axis and internally defining a first window that traverses it throughout a thickness thereof along a vertical axis orthogonal to the horizontal plane; and a suspension structure, arranged within the window for elastically coupling the inertial mass to a single anchorage element, which is fixed with respect to a substrate and arranged within the window, so that the inertial mass is suspended above the substrate and is able to carry out, by the inertial effect, a first sensing movement, a second sensing movement, and a third sensing movement in respective sensing directions parallel to the first, second, and third horizontal axes following upon detection of a respective acceleration component. In particular, the suspension structure has at least one first decoupling element for decoupling at least one of the first, second, and third sensing movements from the remaining sensing movements.

The invention relates to the technical field of metal material modeling, in particular to a metal anisotropy dynamic mechanical property GRU-VFM collaborative modeling method based on the inertial effect. According to the method, a special-shaped test piece impact experiment is carried out, and external loads borne by a test piece in the impact process do not need to be measured; only time sequence strain field and acceleration field data in a test piece deformation process need to be synchronously collected, a double-branch GRU network model for time sequence feature extraction is constructed, and a neural network loss function is designed based on a virtual field method principle. And the advantages of the virtual field method indirect regulation and control network stress prediction capability and the full-field data deep information mining capability of machine learning are fully exerted. After the network is trained, the created material mechanics constitutive model can realize accurate prediction of a material dynamic stress field according to actually measured strain field-acceleration field data, and can be used for carrying out finite element numerical simulation based on neural network material constitutive.

The heavy truck radiator grille assembly comprises a grille main body and a cover plate which are connected with each other, the grille main body is provided with an installation opening, the cover plate is arranged on the inner side of the installation opening, and the cover plate is connected with the grille main body through an elastic connecting piece; the cover plate is provided with a plurality of evenly-distributed ventilation holes, a plurality of baffles are arranged on the back face of the cover plate, the number of the baffles is equal to that of the ventilation holes, the baffles and the ventilation holes are in one-to-one correspondence, the baffles and the ventilation holes are arranged oppositely, and gaps are formed between the baffles and the ventilation holes. Airflow enters a vehicle through the ventilation holes, the baffle can slow down the flow speed of the airflow and change the flow direction, water carried in the airflow is separated from the airflow under the inertia effect and falls down under the gravity effect, and therefore the amount of water entering the vehicle is reduced, and the failure rate of the vehicle is reduced.

The invention relates to the field of equipment control, and provides a force output control method and device, computer equipment and a storage medium, the method is applied to force output equipment, the force output equipment comprises a motor and a winding mechanism connected with the motor, and the winding mechanism is used for winding a rope; the method comprises the following steps: acquiring acceleration information of a rope for executing winding or releasing operation; determining inertial weight information for simulating an inertial effect according to the acceleration information; target control parameters of the motor are determined according to the inertial weight information and preset basic weight information, and the motor is controlled to output resistance according to the target control parameters. The existence of inertia is simulated through the motor, the simulation effect of strength output is improved, and therefore the training effect and training experience of a user are improved.

The utility model relates to the technical field of textile machinery, in particular to a cone yarn storage device which comprises a base and a frame, the frame is arranged above the base, a driving mechanism is arranged in the frame, two second supports are fixedly connected to the lower portion of the frame, lifting mechanisms are arranged in the second supports, and the lifting mechanisms are arranged on the lower portion of the frame. And the interior of the frame is rotationally connected with a second rotating rod through a bearing. The motor drives the first rotating rod to rotate, the first rotating rod drives the first disc to rotate, the first disc drives the protruding block and the pin rod to rotate, the pin rod moves into the sliding groove and drives the grooved wheel to rotate through the sliding groove, when the pin rod moves out of the sliding groove, the grooved wheel just rotates by 90 degrees, and at the moment, the outer wall of the protruding block is located in the groove; the grooved wheel is prevented from rotating under the inertia effect, the grooved wheel drives the second rotating rod to rotate when rotating, the second rotating rod drives the second disc to rotate, the second disc drives the yarn storage rods to rotate, and the other yarn storage rod is rotated to the position below the guiding device.

The present invention provides a positioning mechanism for automatic feeding of a coil winding machine, which relates to the technical field of coil winding machines and includes: a workbench, on the left side of which there is a moving frame; on the upper right side of the workbench there is a mounting column; on the mounting column there is a driving seat; on the mounting column there is a rotating frame. Since the automatic winding and positioning effect of the coil is poor, there will be a deviation situation, resulting in the copper wire arrangement not being tight and neat enough. Moreover, when rotating and winding, due to the inertial effect, the copper wire is likely to become scattered, reducing the quality of the coil winding. In addition, during the rotating and winding process, the feeding of the copper wire is not stable enough, and it is extremely easy to become scattered and knotted, reducing the efficiency of automatic feeding, and solving the problems that in the existing motor stator coil winding machine during use, when rotating and winding, due to the inertial effect, the copper wire is likely to become scattered, reducing the quality of the coil winding. In addition, during the rotating and winding process, the feeding of the copper wire is not stable enough, and it is extremely easy to become scattered and knotted, reducing the efficiency of automatic feeding.

The invention discloses a compression type piezoelectric sensor, and belongs to the technical field of sensors. The sensor comprises a base, an elastic limiting block, a sensing stacking body, a mass block and a pre-tightening nut. The elastic limiting block is arranged at the bottom of the first mounting groove of the base and is used for buffering impact and realizing partial load protection; the mass block and the pre-tightening nut form a spherical pair through a convex spherical surface and a concave spherical surface which are matched with each other, the sphere center of the spherical pair is located in the center of the lower surface of the base, and multi-dimensional impact force can be decoupled and converted into pure compression force in the axial direction of the piezoelectric element. The impact resistance and the measuring range of the sensor are remarkably improved through the elastic limiting structure, accurate sensing and decoupling of multi-dimensional force are achieved through the spherical pair, the dynamic sensitivity is enhanced by means of the inertia effect of the mass block, and therefore stable and accurate force measurement is achieved under the large-range, high-dynamic and complex-direction impact working conditions.

The invention relates to the technical field of aerodynamics, in particular to a mass center eccentricity-based spinning flyer dynamic stability quantitative analysis method. The method comprises the following steps: constructing a six-degree-of-freedom dynamic model containing a mass center eccentricity additional inertial effect; determining a test working condition, performing simulation under the test working condition, and obtaining aerodynamic torque data of the asymmetric flow field; obtaining an interpolation table for the test condition based on the asymmetric flow field aerodynamic torque data; carrying out coupling simulation based on the six-degree-of-freedom kinetic model and the interpolation table of the test working conditions, and outputting state parameters of the spinning flyer; and quantitative indexes are extracted based on the state parameters of the spinning flyer. According to the method, dynamic simulation can be realized through interpolation coupling, the stability rule of the spinning flyer is quantified according to mechanisms, and quantitative analysis is effectively and accurately performed on the dynamic stability of the spinning flyer.

The utility model discloses a high-precision CBN cutter replacing device with a positioning structure, relates to the technical field of replacing devices, and aims to solve the problems that in the prior art, when a cutter is replaced, the cutter cannot be accurately positioned and stopped due to the inertial effect, and the accurate replacing work of the cutter is affected. A cutter replacing mechanism is arranged in the cutter box, the cutter replacing mechanism comprises a cutter head, a cutter holder and a cutter body, a connecting ring groove is formed in the lower end face of the cutter head, a positioning ring cavity is formed in the cutter head along the upper portion of the connecting ring groove, and a positioning mechanism is arranged in the positioning ring cavity; the positioning mechanism comprises a pressing disc and a transmission rod, the lower end of the transmission rod penetrates through the connecting ring groove and extends to the position below the cutter disc, the positioning mechanism can vertically ascend and descend, and a center shaft is fixedly installed in the cutter disc.

The utility model discloses a carburetor oil saving device and an engine. Comprising an air inlet pipe, the air inlet pipe comprises an air inlet rubber pipe, a filter and an air inlet tuning pipe, the filter and the air inlet tuning pipe are connected to the two ends of the air inlet rubber pipe in a sealed mode respectively, the air inlet tuning pipe is connected with an air inlet of the carburetor in a sealed mode, and the length L of the air inlet pipe meets the following formula: L = 30a / 4pi n, positive pressure waves for inhibiting the atomized gasoline from being sprayed outwards are generated through the aerodynamic effect of the air inlet pipe. According to the daily cruise speed range, the length of the air inlet harmonic pipe in the carburetor oil-saving device is designed through the rotating speed of an engine, so that atomized gasoline sprayed out of the carburetor is suspended in a pipe cavity of the air inlet pipe in the working process of the engine and cannot escape into the air. Atomized gasoline of the carburetor is recycled through positive pressure waves generated by the air inlet inertia effect, and the effects of reducing oil consumption and prolonging the endurance of an engine are effectively achieved.

The utility model relates to a hydraulic drive axle testing device which comprises a hydraulic axle, a power transmission mechanism and an uphill and downhill simulation mechanism. The power transmission mechanism is used for providing driving force for the hydraulic bridge to enable the hub to rotate. The uphill and downhill simulation mechanism comprises a plurality of movable balancing weights and a connecting mechanism, the movable balancing weights are rotationally connected to the hub through the connecting mechanism, and the rotating central axis of each movable balancing weight is parallel to the rotating central axis of the hub. According to the invention, the inertia effect and the centrifugal force change of the movable balancing weight are utilized to form a periodic additional load in the rotation process of the hub, so that the uphill and downhill working conditions are simulated. The movable balancing weight can freely swing around the axis of the movable balancing weight to dynamically change the load of the drive axle, so that the test device can simulate the running states of vehicles with different gradients. In addition, the device can further comprise a static balancing weight used for providing additional mass adjustment and optimizing inertia characteristics.

The present invention relates to a displacement-amplified inertial absorber passive damping device, belonging to the field of engineering vibration control. It includes a ball screw assembly, a smart energy-absorbing and energy-dissipating assembly, and a connecting assembly for connection. It can adjust the magnitude of the inertial effect by adjusting the size and position of the mass block according to the nature of the structure to be installed. When the peak acceleration of the rotation of the mass block does not exceed the trigger limit, the mass block will not contact the friction energy-dissipating plate under the constraint of the spring, and at this time the device mainly absorbs energy; when the peak acceleration of the rotation of the mass block exceeds the trigger limit, the centrifugal force of the mass block is greater than the spring tension and slides out of the initial gap along the slide, and then contacts the friction energy-dissipating plate. At this time, the device begins to enter the energy-absorbing and energy-dissipating mechanism, and as the rotational speed increases, the greater the centrifugal force, the greater the pressure of the mass block on the friction energy-dissipating plate, and the better the energy-dissipating effect. The present invention can significantly reduce the vibration between structures caused by wind loads, human-induced loads, vehicle-induced loads, and seismic loads.

The invention relates to the field of structural design and impact dynamic modulation of sports equipment and handheld impact tools, and discloses an inertia-elasticity coupling modulation assembly based on controlled micrometric displacement and a dynamic regulation and control method thereof. The assembly can be embedded into an internal cavity of sports equipment or a tool and comprises a mass block, an elastic body or an elastic element, a limiting structure and an optional guide structure. The mass block generates controlled micro-displacement relative to the main body structure due to the inertia effect when high-speed impact or impact operation occurs to equipment or tools, and the elastic body or the elastic element is driven to deform in a controlled range and generate elastic restoring force, so that transient dynamic response of the impact process is participated in a millisecond-level time scale, and the impact force is generated. And the time distribution, the energy transfer mode and the transient stability of the structure of the impact force are modulated. Through the inertia-elasticity coupling modulation mechanism, on the premise that the original geometric structure and macroscopic mass distribution of equipment or tools are not obviously changed, the force output consistency in the impact process can be improved, transient torsion and local deformation sudden change caused by eccentric impact are restrained, and the impact strength of the equipment or tools is improved. And the stability and the fault tolerance of the equipment or the tool under the impact working condition are improved. The assembly has various structural forms and adjustable parameters, is suitable for handheld impact tools such as tennis rackets, badminton rackets, squash rackets, baseball bat, golf clubs, hammers, axes and the like, and has good universality and industrial application prospects.

This invention relates to a crankshaft having a crank pin with a continuously variable offset based on the rotational operating speed of a tool, in order to provide high torque under high loads and higher speeds as the load decreases. The crankshaft includes a crankshaft base, a crank pin slider, and a biasing member. The crankshaft base is connected to the tool's drive mechanism, the crank pin slider has a crank pin connected to the tool's output, and the biasing member biases the crank pin slider relative to the crankshaft base. As the crankshaft's rotational speed increases, inertial effects on the crank pin slider cause it to move to a larger offset position against the biasing member, allowing for increased tool output speed. This allows a power ratchet-type tool to operate with variable torque and speed based on torque loads.

The invention discloses an H-shaped steel pouring buffering device, and relates to the technical field of H-shaped steel body pouring buffering, the H-shaped steel pouring buffering device comprises an H-shaped steel body, a fixing seat and an auxiliary assembly, a wing plate of the H-shaped steel body is provided with a mounting hole, the fixing seat is arranged at the mounting hole, fixing cylinders are arranged on the fixing seat, a limiting rod is arranged between the two fixing cylinders, and sliding blocks are arranged at the two ends of the limiting rod; the sliding blocks are connected with the interiors of the fixing barrels in a sliding mode, first compression springs are fixedly arranged between the two fixing barrels, two sets of spiral grooves are formed in the fixing barrels, and embedded balls are arranged on the outer sides of the sliding blocks. When the wing plates are subjected to external impact, due to the fact that the sliding blocks are matched with the spiral grooves through the embedded balls, the external force for concrete vibration is instantly applied, and the lasting time is short; the sliding block cannot obtain enough momentum to overcome friction resistance and inertia effect, so that the wing plate is prevented from being too large in amplitude, and if the sliding block slides in the fixed cylinder, the wing plate can quickly recover to the initial position under the action of the first compression spring.

This invention relates to the field of electronic information technology, and in particular to a low-overshoot, high-sensitivity coupled piezoelectric effect shock wave pressure sensor, comprising a piezoelectric measuring element, a plastic damping layer, a variable-thickness elastic layer, a constraint substrate, and leads; the variable-thickness elastic layer, the plastic damping layer, and the piezoelectric measuring element are sequentially bonded together from top to bottom to form a vibrating element; the constraint substrate has a blind-hole structure, with an inner step constructed around the top of the constraint substrate, and the vibrating element is embedded in the inner step to form a circumferentially fixed constraint boundary; a cylindrical deformation cavity is provided at the bottom of the inner step to provide space for the plastic flexural deformation of the vibrating element under the action of a shock wave. This invention can suppress the central inertial effect and peak overshoot phenomenon, and utilizes the high stiffness and strong plastic damping characteristics of the metal thin film to improve the sensor's frequency response and pressure measurement duration, solving the problems of insufficient measurement pulse width of the viscoelastic stiffness layer and damping layer on the descending edge of the pressure curve and electrical relaxation of the piezoelectric device.

The invention relates to the technical field of micro-electro-mechanical system sensors, and discloses a micro-resonance gas sensor with adjustable inherent frequency and a feedback control method thereof, and the micro-resonance gas sensor comprises a sensor structure, an excitation detection circuit and a packaging structure. The excitation detection circuit is connected with the sensor structure to form a closed loop, and the excitation detection circuit comprises a feedback regulation unit and a triple frequency signal separation module. The feedback adjusting unit extracts a vibration signal of the cantilever beam type micro-silicon resonator and generates feedback exciting force opposite to the vibration acceleration, and the feedback exciting force generates a negative inertia effect to reduce the equivalent mass of the cantilever beam type micro-silicon resonator. By introducing the negative inertia effect, the working frequency and sensitivity of the sensor are improved on the premise that the physical size is not reduced; stray capacitance interference is filtered by using a frequency tripling signal separation technology, so that the signal-to-noise ratio is improved; and the dynamic electronic tuning of the sensitivity and the working point of the sensor is realized by adjusting the feedback gain.

Elastic couplings for drive trains must meet high demands in numerous applications and be capable of application-specific optimization. At high speeds, the requirements become even more stringent, for example, regarding heat management, service life, and inertia effects. An elastic coupling device for drive trains is provided, comprising a first coupling side that can be coupled to a first section of the corresponding drive train and a second coupling side that can be coupled to a second section of the drive train. At least one elastic coupling section is formed between the first and second coupling sides, which is formed by a lattice structure of three-dimensional space cells extending at least in the radial direction and bridging at least one axial section of the coupling device without additional components.This allows for an advantageous compromise, particularly regarding material usage and variability in defining the elastic properties. The present invention further relates to a drive train with at least one such elastic coupling device installed therein, as well as a method for manufacturing such an elastic coupling device, and the use of a lattice structure for providing one / the elastic coupling section.

The present application relates to the technical field of energy storage electric box, in particular to an energy storage electric box protection structure and an energy storage electric box, the protection structure comprises four fixed support feet for supporting the electric box, two fixed support feet located on the same side are slidingly installed on a first pair of centering assemblies, the two first pair of centering assemblies are slidingly installed on a second pair of centering assemblies, the second pair of centering assemblies are fixedly installed on a sliding inner box, the sliding inner box is slidingly installed inside a fixed outer box, and the fixed outer box is provided with a buffer unit and an auxiliary support plate at both ends in the moving direction of the sliding inner box, the buffer unit is used for buffering the sliding inner box subjected to inertial movement, the auxiliary support plate located on one side in the moving direction of the sliding inner box is used for exerting a supporting force on the electric box fixed on the fixed support feet, so that the energy storage electric box is prevented from being tilted due to inertial effects during acceleration and braking during transportation, and friction and collision on the bottom surface, top corner and side surface of the energy storage electric box are also avoided.

The invention relates to the technical field of power generation devices, in particular to a power generation device utilizing gravity inertia, and is characterized in that telescopic stand columns are uniformly arranged along a central loop line between the inner side and the outer side of an annular track, and every two adjacent telescopic stand columns are connected through a chain; the gear is in sliding key connection with the power shaft and is matched with the chain to rotate; first flywheels of the same structure are symmetrically arranged at the two ends of the power shaft and connected with the power shaft through ratchet wheels. The alternating-current generator is a two-way output shaft generator, shafts at the two ends of the alternating-current generator are each provided with a second flywheel with a planetary gear, and the first flywheel and the second flywheels are in differential connection through a belt. The telescopic stand columns are alternately arranged in a high-low mode, so that the chain moves up and down to drive the gears on the generator car to rotate, gravitational potential energy is converted into kinetic energy, the kinetic energy is efficiently transmitted to the alternating-current generator by combining the inertia effect of the flywheel, full utilization of gravity and inertia is achieved, and the energy conversion efficiency is improved.

The invention discloses a stripping kettle trap applied to ultrahigh molecular weight polyethylene synthesis. The stripping kettle trap comprises a trapping tank, an exhaust port is formed in the top end of the trapping tank, a liquid outlet is formed in the bottom end of the exhaust port, an air inlet is formed in the position, close to the bottom end, of one side of the trapping tank, and a dynamic stopper is rotationally installed in the trapping tank. According to the invention, a multi-stage composite separation design of filtration of the dynamic stopper, the static stopper and the filter screen is adopted. According to the dynamic stopper, high-speed inlet air is subjected to primary inertial separation through a rotating first baffle, and large-particle-size particles and liquid drops are effectively intercepted; then, the gas enters a static stopper, the gas is forced to flow back and forth in multiple directions through a special flow channel formed by a gas guide frame and a movable second baffle, residual small particles and fine liquid drops repeatedly impact and are attached to the surface of the baffle by utilizing an inertia effect, and efficient cascade trapping of the multi-scale particles and liquid drops is realized; and finally, the discharged gas is ensured to be clean through fine filtration by a filter screen at an exhaust port.

The present invention discloses an electrorheological damper with a liquid inertance, which relates to the technical field of vibration isolation and suppression. It includes a liquid inertance module and a giant electrorheological damping module arranged coaxially. The liquid inertance module and the giant electrorheological damping module are connected by studs. The liquid inertance module can generate an inertial effect and drive the shear of the giant electrorheological fluid inside the giant electrorheological damping module to achieve a damping effect. The electrorheological damper with a liquid inertance provided by the present invention integrates the characteristics of an inertance element, realizes good low-frequency vibration isolation performance, and at the same time, by introducing a giant electrorheological fluid, the damping force of the damper can be adjusted online by changing the external voltage, greatly improving the broadband vibration isolation performance of the damper.

The embodiment of the present application relates to a kind of fluid flow channel equivalent method for the vibration resistance test of nuclear reactor assembly.It includes: obtaining the target test condition of test object, wherein the target test condition is determined according to the object characteristics corresponding to test object;Target test structure is selected for the vibration resistance test of test object using target test condition, and the mechanism parameter corresponding to target test structure is set;Fluid inertia effect simulation test is carried out on test object using target test structure, and the mechanical parameter of test object in fluid inertia effect simulation test is obtained.The fluid flow channel equivalent method for the vibration resistance test of nuclear reactor assembly provided in the application embodiment can select test condition in advance by the characteristics of test object, and select corresponding test structure and parameter by test condition, so as to obtain accurate mechanical parameter in the aspect of vibration resistance performance of nuclear reactor assembly by equivalent method without designing test environment according to real environment completely.

The invention provides a pile foundation seismic response analysis method and system considering a transverse inertial effect, a storage medium and application of the pile foundation seismic response analysis method and system. Aiming at the problem that a pile-soil coupling vibration model in the prior art neglects the fractional order viscoelasticity characteristic of unsaturated soil and the transverse inertia effect of an uncoupled pile body, the invention provides a large-diameter end-bearing pile seismic response analysis model based on a fractional order viscoelasticity constitutive structure. A fractional derivative is introduced to describe the stress relaxation characteristic of an unsaturated soil skeleton, a Rayleigh-Love beam theory is combined to characterize the transverse deformation effect of a pile body, and a pile-soil coupling vibration control equation under the action of earthquake P waves is constructed. Laplacian transformation, potential function decomposition and operator decomposition methods are adopted to realize equation dimensionality reduction solution, a pile-soil interface continuous condition and a boundary constraint condition are synthesized, a theoretical analytical solution of vibration response in a frequency domain is obtained, and a theoretical basis is provided for aseismic design of a pile foundation in an unsaturated land area.

Gravity and robot motion compensation of force and torque measurements from the robot's F / T sensors. Attachment tool weight W is obtained from user input or through parameter identification. tool and the vector from the origin of the F / T sensor body CF to the center of gravity of the tool. During robot operation, the rotation matrix from the F / T sensor body CF to the inertial reference frame is obtained from the internal inertial measurement unit or from the forward kinematics data of the robot based on W tool The instantaneous values ​​of and are used to compensate for gravity, using the force and torque measurements resolved from the transducer output by the F / T sensor. Additional information is obtained for inertia compensation, including: the attached tool mass m; the angular velocity of the F / T sensor body CF; the angular acceleration of the F / T sensor body CF; and the inertia tensor I defined within the F / T sensor body CF, which includes all moments of inertia and products of inertia. Based on m, and I, the force and torque measurements are compensated for inertial effects.

The embodiment of the application provides a temperature control method, device, medium and equipment, the method obtains the working environment temperature value of a target area; calculates the temperature difference value between the working environment temperature value and a preset temperature value; determines the driving parameter value for adjusting the opening degree of an electronic expansion valve according to the temperature difference value and a preset parameter determination algorithm; and dynamically controls the opening degree of the electronic expansion valve according to the driving parameter value, so that the descending speed of the working environment temperature value is in a stable or tending-to-stable state before triggering the closing of the electronic expansion valve. The embodiment gradually adjusts the opening degree of the electronic expansion valve, effectively alleviates the inertia effect of the refrigerant, and until the descending speed of the working environment temperature is in a stable or tending-to-stable state, thereby avoiding the problem of continuous temperature drop caused by the inertia effect of the refrigerant after the compressor is closed.

The utility model relates to the technical field of cutting devices, and discloses a cutting device for sock production, which comprises a mounting connecting seat, a cutting mechanism main body is mounted at the top of the mounting connecting seat in a matched manner, a cutting conveying belt is mounted at the top of the mounting connecting seat in a matched manner, and a metal support is fixed on one side of the mounting connecting seat; the device is provided with a limiting supporting mechanism, the two sides of cloth are physically restrained by a feeding shaft in the feeding process through a lower limiting sleeve and an upper limiting sleeve, the situation that the cloth transversely shifts due to uneven tension or the inertia effect is avoided, the feeding stability is improved, and meanwhile sock production cutting is facilitated; the device is provided with the stabilizing mechanism, after the supporting connecting base is fixed to the top of the metal support, fixing of the reinforcing baffle and the connecting plate is conveniently completed, reinforcing supporting on the outer side of the supporting connecting base is reinforced through the connecting plate, and the assembling stability of the supporting connecting base is improved.