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30 results about "Moment equilibrium" patented technology
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Robot direct teaching control method based on moment balance
ActiveCN103425100AReduce labor intensityIncrease flexibilityTotal factory controlProgramme total factory controlSimulationElectric machinery
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.
Owner:NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
Gravity center measurement instrument based on moment balance principle
InactiveCN103575470AGuaranteed measurement accuracySimple structureStatic/dynamic balance measurementLine of actionRectangular coordinates
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.
Owner:NORTHEAST FORESTRY UNIVERSITY
Lower-bound analysis method of ultimate toppling failure bearing capacity of jointed rock slope under action of seismic force
ActiveCN107341285AAutomatically judge slip damageClimate change adaptationDesign optimisation/simulationResearch ObjectSlope stability analysis
The invention provides an analysis method of ultimate toppling failure bearing capacity of a jointed rock slope under the action of seismic force, and belongs to the technical field of rock slope stability analysis. According to the method, the jointed rock slope is used as a research object to calculate horizontal or vertical seismic inertial force of rock centroids according to a principle of a pseudo-static method, that is, the seismic inertial force is a function of slope height, rock centroid height and seismic parameters; normal force, shear force and bending moments of internal force of structural surfaces of rocks are used as unknown quantities to establish force and moment balance equations of the rocks; at the same time, yield conditions of toppling failure of the rocks, shear slips of the structural surfaces and tensile detachment are established, overload coefficients of external loads are combined, and a linear mathematical programming model of the lower-bound method of the ultimate bearing capacity of the jointed rock slope on which the toppling failure occurs under the action of seism is established; and finally, a simplex method is adopted to solve ultimate status of the toppling failure of the slope, and an ultimate load or strength reserve coefficient corresponding to a toppling failure mode can be obtained.
Owner:KUNMING UNIV OF SCI & TECH
Control method and device for preventing engineering machine from overturning, and engineering machine
ActiveCN105292082AImprove securityVehicle fittings for liftingPosition/direction controlGravitationMoment equilibrium
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.
Owner:ZOOMLION HEAVY IND CO LTD
Method and device for adjusting balance according to force moment
PendingCN107414823AStable stateImprove work efficiencyProgramme-controlled manipulatorStable stateEngineering
The invention discloses a method and device for adjusting balance according to force moment. The method comprises a balancing main body, a mechanical arm and a force moment balancing device. The method comprises the steps that the weight of grabbing objects of the mechanical arm is detected, and the real-time force moment of the mechanical arm is converted; and an adjusting angle of the force moment balancing device is calculated according to the real-time force moment; the force moment balancing device is controlled to move according to the adjusting angle. According to the method and device for adjusting the balance according to the force moment, a specific method is utilized to allow a robot provided with the mechanical arm or a manipulator, an unmanned aerial vehicle or other device to keep balance when the mechanical arm is moving, during using, force moment difference generated in the moving process of the mechanism arm is balanced by utilizing a special weight layout structure and being matched with the device for adjusting the balance according to the force moment so that the whole system can have a stable state and a higher working efficiency.
Owner:深圳市拓灵者科技有限公司
Method of measuring mass center height of automobile
InactiveCN103162905AExact centroid heightAccurate measurementStatic/dynamic balance measurementMeasurement deviceTruck
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.
Owner:HENAN UNIV OF SCI & TECH
Method for traction control of multi-wheel-distributed hybrid power system
ActiveCN109572447AGuaranteed accuracyImprove anti-slip control effectHybrid vehiclesSpeed controllerAdhesion coefficientRoad surface
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.
Owner:JILIN UNIV
Torque balance momentum law experimental device
The invention discloses a torque balance momentum law experimental device. The experimental device comprises a water storage tank and a working water tank arranged over the water storage tank, wherein the bottom opening of the working water tank is communicated with the water storage tank; the side wall of the working water tank is provided with a nozzle, a speed-adjustable water pump is arranged in the water storage tank; the outlet end of the speed-adjustable water pump is connected with the nozzle by a water pipeline; the water pipeline is provided with a flowmeter; a fulcrum is arranged over the working water tank, an L-shaped lever is arranged on the fulcrum; a corner end of the L-shaped lever extends into the working water tank; the head of the corner end of the L-shaped lever is provided with a striking plate corresponding to the nozzle; the other end of the L-shaped lever is connected with one end of a support bar by an adjustable nut; a level bubble is arranged on the L-shaped lever, the other end of the support rod presses an electronic scale, and the striking plate is a flat or a spindle shell or a hemispherical shell. In the invention, a self-circulation water system is utilized, a method of lever torque balance is initiated, and a high precision electronic scale is initially adopted to directly measure the momentum force, thereby the torque balance momentum law experimental device is visual and intuitive. The invention is convenient to teach without the influence of the external force, and the data is more actual and reliable.
Owner:ZHEJIANG UNIV
Novel electronic balance
InactiveCN102798453AInnovative designSimple structureProgramme controlComputer controlLiquid-crystal displayEngineering
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.
Owner:DABAIKE LAB EQUIP ENG JIANGSU
Robot joint moment balancing device
ActiveCN108890695ACompact structureSmall footprintProgramme-controlled manipulatorEngineeringReducer
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.
Owner:ANHUI UNIVERSITY OF TECHNOLOGY AND SCIENCE
Method for measuring weight of railway freight car
PendingCN106768238AEasy to measureSimple and fast operationWeighing apparatus using elastically-deformable membersSpecial purpose weighing apparatusLaser rangingTime range
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.
Owner:沈阳风驰软件股份有限公司
Moment equilibrium controller in redundant actuation system
InactiveCN101895243ASimple system architectureSimple structureMultiple ac dynamo-electric motors controlOutbound communicationSupply management
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.
Owner:CHINA ELECTRONICS TECH GRP CORP NO 14 RES INST
Excavator weighing method and system
ActiveCN113010979AEasy qualityAccurate massGeometric CADSoil-shifting machines/dredgersSlant angleExcavator
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.
Owner:WEICHAI POWER CO LTD +1
A quasi-static uniaxial compression test method and device
ActiveCN105300799BEasy to manufactureReduce surface frictionMaterial strength using tensile/compressive forcesUniaxial compressionEngineering
The invention discloses a quasi-static uniaxial compression experiment method and device for a compression test piece with a groove structure. The experimental device includes a compression fixture and a test piece. The compression fixture includes a compression platen at the top, a base support plate and a clamping portion for clamping the test piece; the test piece is a plate-shaped bone-type test piece, and the bone of the test piece There is a groove on one side of the reduced part of the profile; the top end of the test piece rests on the compression platen, the bottom end of the test piece rests on the base support plate, and the clamping part avoids the groove and is clamped on the upper and lower ends of the test piece . The invention also discloses an experimental method using the experimental device, according to the mechanism of moment balance between the bending moment and the normal force exerted by the back anti-bending plate on the groove part to suppress the buckling of the specimen, only in the The back side is supported laterally, while the groove on the front side is exposed, which is suitable for various strain measurements, and solves the problems of complicated processing technology, high cost, and difficult data measurement of the existing quasi-static uniaxial compression device.
Owner:DALIAN UNIV OF TECH
Hydrofoil boat wave climbing control method
ActiveCN109398594AReduce water outputReduce water hitDesign optimisation/simulationSpecial data processing applicationsTime domainOptimal control
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.
Owner:HARBIN ENG UNIV
Center of buoyancy measuring apparatus and method of irregular underwater vehicle
ActiveCN108007642AHigh measurement accuracyAccurate measurementStatic/dynamic balance measurementNuclear energy generationMeasurement deviceMarine engineering
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.
Owner:中船重工西安东仪科工集团有限公司
Design method for reasonable bridge forming state of self-anchored suspension bridge
PendingCN114036801AFew structural parametersImprove computing efficiencyGeometric CADSuspension bridgeClassical mechanicsMechanics
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.
Owner:SHANGHAI MUNICIPAL ENG DESIGN INST GRP
Touch input device
ActiveUS10394379B2Facilitates force generationFacilitates shear forceInput/output processes for data processingHuman–computer interactionShear force
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.
Owner:HYUNDAI MOTOR CO LTD
A method for measuring the height of the center of mass of a vehicle
InactiveCN103162905BExact centroid heightAccurate measurementStatic/dynamic balance measurementMeasurement deviceTruck
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.
Owner:HENAN UNIV OF SCI & TECH
Method for measuring torque of folding missile wing
ActiveCN112985675AEasy to operateEasy to observeMeasurement of force applied to control membersClassical mechanicsEngineering
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.
Owner:HEBEI HANGUANG HEAVY IND
Movement support arm moment balancing device
PendingCN109654173AEasy to installSmall amount of expansion and contractionToothed gearingsGearing detailsGear wheelGear train
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.
Owner:NO 27 RES INST CHINA ELECTRONICS TECH GRP
A dancing wheel detection mechanism capable of variable tension adjustment and control
A dancing wheel detection mechanism capable of variable tension adjustment and control, especially for the precise adjustment and control of variable tension during the layer-changing winding of optical fiber windings. It uses a stepping motor to drive the miniature ball screw transmission pair to make the position of the floating code change precisely in the length direction of the pendulum, and uses an angle sensor to detect the position of the pendulum, so that the pendulum remains in a horizontal position under the state of torque balance ;By changing the position of the floating code and the precise detection and control of the horizontal balance position of the swing rod, the tension of the optical fiber after layer-changing winding can reach a new stable value requirement, thus realizing the automatic adjustment and control of the variable tension of the optical fiber winding during layer-changing winding , which can eliminate the stress and strain difference between the inner and outer layers due to the increase in the number of layers of optical fiber windings, and finally realize the equal stress winding of the inner and outer layers of optical fiber windings, thereby significantly improving the signal transmission performance and stability of optical fiber windings.
Owner:CHANGCHUN EQUIP TECH RES INST
Excavator weighing method
PendingCN114877978AEliminate weighing errorsEliminate cumulative error effectsMechanical machines/dredgersMaterial check-weighingGravity centerExcavator
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.
Owner:XCMG EXCAVATOR MACHINERY
Curvature-variable double parabolic plate rear support moment parallel structure
ActiveCN103307775BReliable and smooth mirror motion trackingGuaranteed uptimeSolar heating energySolar heat devicesEngineeringParaboloid
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.
Owner:北京绿贝区块链科技有限公司
A flow distribution pair for a torque-balanced water hydraulic axial piston pump
ActiveCN103696956BBalance eccentric load momentReduce friction and wearPositive displacement pump componentsPump controlAudio power amplifierBalanced flow
A torque-balanced flow distribution pair for water hydraulic axial piston pumps mainly comprises a floating liner plate, a floating bushing, a flow distribution disk, three eddy current micro-displacement sensors, an amplifying and conditioning circuit, a control unit and a power amplifier, wherein the floating bushing is mounted on one end of a floating disk, a ring-shaped electromagnet is mounted on the other end of the floating disk, and a circular electromagnet is correspondingly mounted in the low-pressure flow distribution area of the flow distribution disk. The hydraulic backward thrust of the low-pressure flow distribution area of the torque-balanced flow distribution pair can be automatically compensated, so that the stress between the two end surfaces of the flow distribution pair is more uniform, consequently, the unbalanced loading torque of the high-pressure flow distribution area is balanced, the abrasion of the low-pressure flow distribution area and the leakage flow of the high-pressure flow distribution area are reduced, not only can the volumetric efficiency and service life of a water hydraulic axial piston pump be increased and prolonged, but also the torque-balanced flow distribution pair is highly universal and is highly convenient to dismount, mount, replace and maintain, and the torque-balanced flow distribution pair is applicable to swashplate or angle type valve plate flow distribution hydraulic axial piston pumps with pure water as working medium.
Owner:BEIJING UNIV OF TECH
A Calculation Method of Dynamic Load Information for Exoskeleton Robot
ActiveCN109746901BReduce workloadStore fewer variablesProgramme-controlled manipulatorForce equilibriumExoskeleton robot
The invention discloses a dynamic load information calculation method for an exoskeleton robot. The dynamic load information calculation method comprises the steps that 1, a six-dimensional force / moment sensor is arranged between an elbow joint and an end effector, and the force and moment information of the load is measured; angle sensors are arranged at the joints of the upper limb exoskeleton;2, the force and torque data of the load and the angle data of each joint are collected; 3, the driving torque of each joint is calculated according to the angle data of each joint and the inertia tensor matrix, and then the driving torque and the force and moment date of the load are utilized to construct a force and moment balance equation of the position at which the six-dimensional force / moment sensor is located through a d'alembert's principle; 4, the equilibrium equation of two force with the largest change and the equilibrium equation of two moments with the largest change under no-loadcondition are selected; and 5, the four equations obtained in step 4 are solved, and the load weight m and the position information x<m>, y<m> and z<m> of the load center of gravity relative to the six-dimensional force / moment sensor are obtained. The dynamic load information calculation method can quickly and effectively calculate the dynamic load information of the exoskeleton robot.
Owner:BEIJING INSTITUTE OF TECHNOLOGYGY
Torque balance momentum law experimental device
Owner:ZHEJIANG UNIV
Integral lifting and sliding type protective airtight door
ActiveCN100554635CSolve the airtight problemSolve the problem of uneven compressionSealing arrangementsWing arrangementsEngineeringMechanical engineering
Owner:ENG DESIGN RES INST OF SECOND ARTILLERY PLA
Rotary drilling machine with automatic counterweight device
InactiveCN108301763ACan't solveSolve the problem of counterweightConstructionsCounterweightsEngineeringMechanical engineering
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.
Owner:重庆邦略投资有限公司
Curvature-variable double parabolic plate rear support moment parallel structure
ActiveCN103307775AReliable and smooth mirror motion trackingGuaranteed uptimeSolar heating energySolar heat devicesEngineeringParaboloid
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.
Owner:北京绿贝区块链科技有限公司
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