30 results about "Moment equilibrium" patented technology

A robot direct teaching control method based on moment balance is characterized in that current values of joint motors of a robot under some specific poses and moving states are calculated through measurement and modeling, and an analytic expression of the current values required by balancing of the gravity and the friction of joints under any pose and any moving state of the robot is obtained. During robot teaching, the current values calculated through the analytic expression are directly utilized to control the joint motors to enable the robot to be located under the environment similar to the environment without gravity and friction, and direct teaching can be conducted on the robot at the moment. The method has the advantages of being simple in control, low in system cost, convenient to operate and the like.

Disclosed is a gravity center measurement instrument based on the moment balance principle. The instrument is composed of a supporting plate, six pressure sensors distributed on the periphery of the supporting plate, a mechanical transmission structure, a zooming circuit and a single-chip microcomputer. An intersection point of the gravity vertical of an object to be measured and the supporting plate and the face of the supporting plate is worked out based on the moment balance principle; component force of the G[total] of the supporting plate and the object at each coordinate of a space rectangular coordinate system established on the plate is worked out, and therefore direction vectors of the G[total] are acquired; equations about gravity action lines of the object are worked out based on the space geometry principle; when more equations about the gravity action lines are acquired after the object and the supporting plate rotate to a certain position, the G[total] (x[total], y[total] and z[total]) of the object and the supporting plate is worked out based on the fact that the gravity center passes through all the gravity action lines, and the gravity center G[object] (x[object], y[object] and z[object]) of the object to be measured can be worked out with combination of M[object] and M[plate] based on the fact that G[object], G[plate] and G[total] are located in the same line. In this way, the production of an automatic and computerized instrument which is simple in structure and convenient to operate is achieved on the premise that measurement accuracy in solving the gravity center of the object is guaranteed.

The invention discloses a control method and device for preventing an engineering machine from overturning, and an engineering machine. The method comprises the following steps of: obtaining the positions of all supporting legs of the engineering machine and the supporting force of all the supporting legs; obtaining the gravity of the whole machine according to the supporting force of each of the supporting legs; calculating out the center-of-gravity position of the whole machine according to moment equilibrium; determining the overturning side; obtaining a safety coefficient according to the corresponding relation between the moment from the chassis of the whole machine to the overturning side and the moment from the center of gravity of the whole machine to the overturning side; and locking the engineering machine when the safety coefficient is smaller than the minimum value of the set range value. The method disclosed by the invention has the beneficial effects that the safety coefficient is obtained in real time, and whether the engineering machine can overturn or not is judged through the comparison of the safety coefficient and the set range value, so that the engineering machine can be detected in real time; in addition, whether the engineering machine can overturn or not can also be judged when the supporting legs are not completely unfolded, so that the safety of the engineering machine is improved.

The invention discloses a method and device for adjusting balance according to moment, wherein the method includes a balance main body, a robot arm and a moment balance device, including the steps of: detecting the weight of the object grasped by the robot arm, and converting the weight of the robot arm The real-time torque; according to the real-time torque, calculate the adjustment angle of the torque balance device; according to the adjustment angle, control the torque balance device to move. The present invention utilizes a specific method to keep a robot, unmanned aerial vehicle or other device with a mechanism such as a mechanical arm or a mechanical arm in balance when the mechanical arm is active, and cooperates with the device to adopt a special weight layout structure to balance the mechanical arm during the movement process. The generated torque difference makes the whole system have a stable state and higher working efficiency.

The invention relates to a method of measuring the mass center height of an automobile, and belongs to the technical field of automobile measurement. According to the variation relationship between the position of a mass center and loading of a front shaft and a rear shaft in the braking process of the automobile and the principle of moment equilibrium, moment of finishing points of front wheels and the ground of the automobile before and after braking is taken, a moment equilibrium model is built, shaft loading data before and after braking and acceleration in the process of braking are collected, and the accurate mass center height of the automobile is obtained through calculation. Different from an existing static automobile mass center height measurement method, the method of measuring the mass center height of the automobile does not need lifting and hanging mechanisms and an additional measurement device, and is capable of accurately measuring not only a double-shaft automobile, but also a large-size bus, a truck and a multi-shaft automobile.

The invention provides a method for traction control of a multi-wheel-distributed hybrid power system, and aims to improve the robustness of the method for the traction control under different road surface conditions. The method comprises the steps of firstly utilizing a GPS satellite positioning system to obtain an accurate vehicle speed as important input for the calculation of slip ratio, secondly calculating the wheel slip ratio and utilization adhesion coefficients according to the relationship between the vehicle speed and a wheel rotation speed and a wheel moment equilibrium equation, then using a database and a road surface recognition method to obtain the optimal wheel slip ratio, and finally performing the traction control.

The invention discloses a novel electronic balance, which takes an acceleration sensor as a main component and measures the weight of a tested object through a moment equilibrium principle. The novel electronic balance structurally comprises a micro-processing controller, the acceleration sensor, a pulling force sensor, a balancing relay, a motor relay, an LCD (Liquid Crystal Display) and a mechanical structure, wherein the acceleration sensor can measure the inclination angle of a force arm of the balance; and the balancing relay and the motor relay can adjust the balance of the force arm. The novel electronic balance disclosed by the invention has the advantages of novel design, simple structure, unique measuring method, reliable performance, high accuracy, small size and higher popularization and application value.

The invention discloses a robot joint moment balancing device. The robot joint moment balancing device comprises an eccentric cam, a plurality of balance oil cylinders, a hydraulic oil pump, an angleencoder and a PLC, wherein the central shaft of the eccentric cam is fixedly connected with the output end of a RV speed reducer; a robot arm is fixed on the eccentric cam; the balance oil cylinders are arranged on the two sides of the eccentric cam in an axisymmetric manner along the symmetric axis of the eccentric cam; the movable ends of the balance oil cylinders are abutted to the outer contour of the eccentric cam; the hydraulic oil pump is connected with the balance oil cylinders through oil delivering pipelines, and is used for driving the balance oil cylinders to act; the angle encoderis used for detecting angle signals of the eccentric cam or the robot arm; and the PLC is used for receiving angle signals transmitted by the angle encoder, and controlling the hydraulic oil pump toact. The robot joint moment balancing device has the effects that the structure is compact, the occupied space is small, equilibrant moment can be adjusted freely, and dynamically changes along with change of a rotating angle of a big arm, and moment equilibrium in a total working range can be realized.

The invention discloses a method for measuring the weight of a railway freight car. A single boxcar serves as a unit, and the method for measuring the weight of the railway freight car is achieved. The bottom of the single boxcar is provided with four sensor supporting parts and laser ranging sensors which are installed on the sensor supporting parts respectively. The method includes the steps that firstly, the four laser ranging sensors conduct first-time ranging before the boxcar is loaded, and after the boxcar is loaded, the four laser ranging sensors conduct second-time ranging; then, the displacement variable quantity of the four laser ranging sensors during two-time ranging is converted into weight; finally, by moment equilibrium calculation, the weight of the carry freight of the single boxcar is obtained. The method for measuring the weight of the railway freight car is convenient to operate and low in cost, and can not only conveniently and rapidly measure the weight of a tested object, but also be higher in automation degree and accurate in measuring result and meet weight measuring requirements of various occasions.

The invention relates to a moment equilibrium controller in redundant actuation system, wherein a power supply management module supplies power to a communication protocol module and a control module via a printed circuit, the control module and the communication protocol module as well as the communication protocol module and a high-speed communication physical interface module are both interconnected via the printed circuit, and the control module realizes external communication via the communication protocol module and the high-speed communication physical interface module; the working frequency of the control module is not less than 10MHz, the communication protocol module needs to be matched with a high-speed communication physical interface which is reserved by a servo driver of the redundant system, and the maximal baud rate of the high-speed communication physical interface is not less than 100kHz. The control module and the communication protocol module adopt DSP chip TMS320F28335 from TI Corp. or SOPC single chip machine C8051F040 from Cygnal Corp. The high-speed optical coupling isolation chip adopts 6N137 and the bus physical drive chip adopts TJA1050T.

The invention relates to the field of engineering machinery, and discloses an excavator weighing method and system, and the method comprises the steps of obtaining detection parameters which comprise a bucket rod inclination angle, the thrust of a bucket oil cylinder, and a connecting rod inclination angle; on the basis of the stress balance principle, according to the detection parameters and the triangular geometric parameters of all the parts, performing stress analysis on a third hinge point formed at the hinge joint of the first connecting rod and the output end of the bucket oil cylinder, and obtaining the acting force of the first connecting rod acting on the third hinge point through calculation; on the basis of the moment balance principle, according to the acting force, the mass of the bucket, the triangular geometric parameters of all the components, the detection parameters and the position parameters of the calibration mass center of the materials in the bucket, performing stress analysis on a first hinge point formed at the hinge position of the bucket rod and the bucket, and obtaining the mass of the materials in the bucket through calculation. According to the invention, the mass of the material can be simply and accurately obtained through calculation based on the triangular geometric parameters of each component only by detecting the inclination angle of the bucket rod, the inclination angle of the connecting rod and the thrust of the bucket oil cylinder.

The invention provides a hydrofoil boat wave climbing control method and relates to the field of control strategies, specifically to a hydrofoil boat wave climbing control method. The hydrofoil boat wave climbing control method comprises the following steps of (1) establishing an ocean wave height sequence model and a predication sequence; (2) establishing a force and moment equilibrium linear equation; (3) measuring the height of a hull relative to a sea level; (4) calculating a deviation value of the hull following the waves; (5), judging hydrofoil water outlet and hull water striking situations; (6) designing a finite time-domain optimal control performance index, selecting a decision variable, calculating desired flap deflection angle needed by controlling, and controlling a longitudinal displacement height of a hydrofoil boat; and (7) repeatedly executing the whole optimizing process within an ocean wave period. According to the hydrofoil boat wave climbing control method, by forecasting an ocean wave sequence, a discrete segmental control method is designed to update control output in real time, and therefore, the hydrofoil boat tracks wave height change of a high ocean condition in time to reduce hydrofoil water outlet and hull water striking.

The invention provides a center of buoyancy measuring apparatus and method of an irregular underwater vehicle. The irregular underwater vehicle is arranged underwater, the vehicle achieves balance under the common effect of the self buoyancy, the self gravity, the gravity of a fixedly-connected tool, and a sensor acting force, a reference coordinate system is established by regarding a certain point of the center of buoyancy measuring apparatus as the origin, buoyancy and center of buoyancy parameters of the vehicle are obtained through calculation according to the static equilibrium principleand the static moment equilibrium principle through acquisition of output signals of weighing sensors by employing a three-point measuring method.

The invention provides a design method for the reasonable bridge forming state of a self-anchored suspension bridge. The design method comprises the following steps S1, determining the overall arrangement of the self-anchored suspension bridge preliminarily; s2, appointing dead load bending moments at the concerned sections of m + n-2 main beams; s3, according to the dead load bending moment, building m + n-2 moment balance equations, and obtaining m pairs of sling force and n support reaction force by combining one vertical force balance equation and one moment balance equation of the main beam structure; s4, according to the sling force, performing solving through a segmented catenary method, and obtaining the horizontal component force and the vertical component force of the beam end main cable force; s5, updating the horizontal component force and the vertical component force of the beam end main cable force into the static equilibrium equation set; and S6, circulating the steps S3, S4 and S5 until the horizontal component force converges, and obtaining the internal force parameters of the self-anchored suspension bridge. By specifying the concerned section bending moment and depending on the static balance condition, the structure parameters needing to be determined are reduced in the reasonable finished bridge state determination process, and the calculation efficiency is improved.

A touch input device includes a first sensor having a first surface to which a touch is input, and a second surface opposing the first surface, and a second sensor connected to the second surface of the first sensor, and spaced apart from the first sensor in a vertical direction, wherein the first sensor measures a first position of the touch input to the first surface, wherein the second sensor measures a force caused by the touch input to the first surface of the first sensor, and calculates a second position by applying the force measured by the second sensor to force and moment equilibrium equations, when a distance between the first position and the second position is greater than or less than a threshold, the touch input to the first surface of the first sensor is determined to be a shear force or a sliding gesture, respectively.

The invention discloses a method for measuring the torque of a folding missile wing. According to the method, the moment balance principle is used for measurement, a strain gauge and a processing circuit are not needed, the operation and observation are convenient, the calculation process is simple, the eccentric moment coupling effect is not introduced, and under the coupling effect of torsional moment of a torsional spring, the friction moment and the moment acting on the missile wing by the missile body limiting surface and the condition that the torsional moment of the torsional spring is always larger than the friction moment, the torsional moment of the torsional spring and the friction moment cannot reach a balance state of the two moments, on the basis that the applied external moment reaches the first-time multi-moment balance, the applied external moment is continuously increased to break the first-time multi-moment balance, then the applied external moment is reduced until the second-time multi-moment balance is achieved; two times of multi-moment balance is established by applying the measurable external moment for three times, and synchronous measurement of various moment combinations of the torsional moment of the torsional spring and the friction moment at any position in the rotation process of the folding missile wing is realized.

The invention discloses a movement support arm moment balancing device. The movement support arm moment balancing device comprises a shell, an output flange and an input flange, wherein the output flange and the input flange are arranged on the shell; the shell is formed by closing a side cover plate and a shell bottom with a cavity; and a transmission mechanism is also arranged in the cavity andcomprises a planet carrier, a spring, a spring guide groove, and a bearing. Equipment such as a motor and an angle encoder can be conveniently installed through the concise flange design; a circular moment balancing device with a spring mechanism can realize the balancing of arbitrary angles and loading moment through the spring design; a sun wheel planetary gear train is further adopted for reducing the expansion and contraction quantity of a spring, thereby allowing the loading wide-angle movement; and the guide groove is formed in the spring to prevent the spring from deforming in other directions and cause the spring to be easily replaced. The movement support arm moment balancing device can accurately balance the movement support arm moment and has relatively high environmental adaptability.

The invention discloses an excavator weighing method, which comprises the following steps of: regarding a bucket filled with materials as a whole, and assuming a gravity center OG3 for the whole in a space coordinate; at a specific moment when a working device is static, moment balance equations are simultaneously listed for two different points by using the known quantity and the acquisition quantity, and the influence of hypothetical gravity center OG3 on solving of the weight G of a bucket filled with materials is eliminated after simultaneous listing. The total weight difference value of the materials and the bucket before and after the materials are unloaded is calculated, and the accumulative error influence of the residual materials in the bucket on the accumulative unloading amount is eliminated.

The invention provides a rotary drilling machine with an automatic counterweight device in order to solve the problem that a counterweight mechanism cannot conduct weight counterbalance in time. The rotary drilling machine comprises a travelling mechanism, a manipulating mechanism, a drilling bucket mechanism and a mooring rope and further comprises a counterweight mechanism, the drilling bucket mechanism is connected with the counterweight mechanism through the mooring rope, and the counterweight mechanism comprises a sliding table and a counterweight box slidably arranged with the sliding table and further comprises a first pulley, a second pulley and a third pulley, wherein the first pulley and the second pulley are arranged at the front end and the rear end of the sliding table correspondingly, and the third pulley is arranged over the second pulley. The mooring rope passes through the first pulley, the second pulley and the third pulley in sequence and then is connected with the counterweight box, and thus the structure that the drilling bucket mechanism downwards falls to drive the counterweight box to slide backwards along the sliding table is constituted. According to the rotary drilling machine with the automatic counterweight device, the mooring rope is directly connected with the counterweight mechanism, the effect that the torque of the front end and the rear end ofa manipulating table is balanced is achieved, and automatic weight counterbalance is achieved.

The invention discloses a curvature-variable double parabolic plate rear support moment parallel structure. The structure comprises a base frame, a balance beam, a mirror unit, a jacking rod, a pull rod and a limiting rotating shaft, wherein the mirror unit is mounted on the balance beam through the limiting rotating shaft; the upper part of the mirror unit is connected with the balance beam through the jacking rod; the lower part of the mirror unit is connected with the balance beam through the pull rod; the balance beam is fixedly mounted on the base frame; the connection point of the balance beam and the base frame is the fulcrum of the base frame; the integral structure formed by the balance beam, the mirror unit, the jacking rod, the pull rod and the limiting rotating shaft has a zero resultant moment on the fulcrum of the base frame. According to the invention, a relevant support device is arranged according to the moment equilibrium principle to drive two parabolic solar reflectors; meanwhile, a limiting rotating shaft structure is arranged to connect the two parabolic reflectors, reliability and stability in mirror motion tracking are achieved through the support device during the operation of the device, adaptability to parabolic mirrors of different curvatures and different opening sizes is achieved through the limiting rotating shaft structure, and the support device is not only simplified but also enabled to operate effectively and reliably.