163 results about "Motion accuracy" patented technology

The invention discloses an industrial robot predictive maintenance method and system based on multi-source data fusion, and the method comprises the steps: synchronously collecting vibration, current, temperature, acoustic and visual signals through multiple types of sensors, carrying out the filtering, correction and normalization processing, and constructing a multi-modal feature set; cross-modal alignment is realized through time compensation, after dimensionality reduction, a mechanical vibration group, an electrical performance group, a thermodynamic group and a motion precision group are divided, mahalanobis distances of the groups are calculated based on a historical health reference to serve as local anomaly degree scores, weights are dynamically adjusted according to the change rate, and the weights are combined into a preliminary health index. And introducing a nonlinear amplification mechanism to enhance high-value response, adaptively switching smooth intensity according to a degradation trend, and outputting a comprehensive health index. According to the method, comprehensive perception and dynamic evaluation of the operation state of the practical training platform are realized, multi-source heterogeneous information is effectively fused, the limitation of single signal monitoring is overcome, and the anomaly recognition accuracy is remarkably improved.

The invention discloses a motion precision compensation system and method of a numerical control precision automatic lathe, and aims to solve the problems that an existing precision compensation method depends on external calibration, production is interrupted, dynamic errors cannot be responded in real time, and the self-learning closed-loop capability is lacked. The method comprises the steps that servo current, spindle vibration and tool turret position signals are collected in real time; extracting signal features and inputting the signal features into a pre-training model to evaluate a rigidity degradation degree and predict a position deviation; querying a compensation parameter library according to an evaluation result; and injecting the compensation offset into a subsequent numerical control instruction in real time. The system comprises a multi-source signal acquisition module, an edge AI inference engine, a precision state evaluation model, a self-adaptive compensation parameter library and a CNC instruction injection interface. By the adoption of the technical scheme, online real-time precision sensing and self-adaptive compensation without external high-precision equipment and production interruption can be achieved, and machining size consistency and long-term stability are remarkably improved.

The invention discloses a three-axis moving part control method and system based on machine vision. The method comprises the following steps: obtaining a trajectory feature data set from a motion trajectory original data stream; analyzing the difference between the trajectory feature data set and a theoretical trajectory to obtain a deviation distribution report, and calculating the variation amplitude of deviation in combination with historical data and environmental fluctuation conditions to obtain a deviation value matrix; extracting spatial displacement and angle offset data from the deviation value matrix to obtain a basic adjustment amount, and calculating an initial parameter adjustment scheme of each axis in combination with a multi-axis cooperative control constraint condition to obtain a parameter optimization result; and fusing a compensation factor into the parameter optimization result, recalculating the compensation factor for the parameter of which the parameter adjustment result exceeds a preset precision range to obtain a final parameter adjustment scheme, and adjusting the motion parameter of each axis according to the scheme. The method can effectively improve the motion precision and stability of the multi-axis motion part.

The invention relates to the field of industrial robot control, in particular to a trajectory planning method for a self-adaptive vibration suppression mechanical arm. According to the method, a mechanical arm motion vibration signal is monitored in real time through a vibration sensor, and original data are preprocessed to obtain a cleaning vibration signal; calculating vibration characteristic parameters including frequency, amplitude and phase; based on a reinforcement learning algorithm, a reference trajectory is dynamically adjusted through a strategy network according to the vibration characteristic parameters to generate a vibration suppression trajectory, and a reward function takes the vibration parameters as input optimization network parameters; and finally, the vibration suppression track is converted into a joint movement instruction to drive the mechanical arm, and closed-loop control is formed. According to the self-adaptive vibration suppression method, self-adaptive vibration suppression independent of an accurate model is achieved, and the motion precision and stability of the mechanical arm under different working conditions are improved.

The invention discloses a hanging basket motion control method and system based on operation state recognition, particularly relates to the technical field of bridge construction automation, and is used for solving the problem of poor synchronous control of hanging basket movement. According to the method, working conditions are accurately recognized through multi-source sensing data fusion and a finite-state machine, servo system parameter self-adaptive setting is achieved based on working condition parameter mapping, and an anti-interference movement track is generated by adopting a model prediction control algorithm fusing pose feedback and wind load feedforward; walking synchronization and platform stability are achieved through cross coupling control and posture closed-loop fine adjustment, emergency response is provided through the independent safety guarding thread, control and protection double closed loops are formed, and therefore the motion precision, the anti-interference capacity and the intrinsic safety level of the hanging basket under the variable-load and strong-disturbance working conditions are effectively improved, and the safety of the hanging basket is improved. And the energy consumption and the mechanical vibration frequency in the moving process of the hanging basket are reduced.

The invention relates to a side-hung rotating platform real-time counterweight device, a side-hung rotating platform and a control method, and belongs to the technical field of automation equipment. According to the application, the eccentric load torque of the load is monitored in real time, and the counterweight assembly driven by the linear motor is controlled to move according to the eccentric load torque, so that the counterweight force arm is dynamically adjusted, and the reverse counterweight torque is accurately generated to counteract the eccentric load torque. And when the movement compensation is insufficient, the number of the balancing weights can be increased, so that the balancing weight quality is improved. The motion precision can be effectively improved, the equipment is protected, and the stability is improved.

The embodiment of the invention relates to the technical field of robots, and discloses a control method for improving the humanoid degree of a robot, and the method comprises the steps: obtaining a surface electromyogram signal of a corresponding position through an electromyogram detection assembly disposed at a user, and carrying out the preprocessing of the obtained surface electromyogram signal, so as to obtain an electromyogram activity curve; performing feature extraction on the myoelectricity activity curve to obtain myoelectricity time sequence features, and inputting the myoelectricity time sequence features into an action sequence decoding model for recognition to output action categories and action sequences associated with the action categories; and matching with the to-be-executed machine joint state according to the action category and the action sequence associated with the action category, and if the matching is inconsistent, performing updating operation on the to-be-executed machine joint state according to a matching result. According to the scheme, it is ensured that the motion of the robot is highly consistent with the human motion, and the humanoid degree and motion accuracy of the robot are improved.

The invention belongs to the technical field of robot path planning, and particularly discloses a fixed margin removal robot grinding and polishing process and track synchronous planning method and system. Comprising the steps that a robot smooth end face grinding and polishing material removal profile is constructed; the machining allowance of the workpiece is determined, and the curved surface of the surface of the workpiece is subjected to curved surface reconstruction based on the maximum tolerance limitation; with the machining residual height and the smoothness of the technological parameters as targets, force-speed-position machining information of robot grinding is planned on the reconstructed curved surface, and discrete machining point positions and the technological parameters are obtained; expanding the reconstructed curved surface to a four-dimensional form, obtaining a composite track fusing a position component and a process component, and carrying out adaptive interpolation on the composite track to meet the process precision and the motion precision of a processing point; and obtaining a normal vector of the interpolated composite trajectory, and optimizing a tail end redundancy degree of freedom to obtain process parameters and processing poses of synchronous planning. According to the method, matching and optimization of a track field and a process field in robot grinding are achieved.

This invention relates to the field of vacuum transmission and sealing technology, specifically a multi-degree-of-freedom manipulator that penetrates the wall of a vacuum chamber, comprising a base flange, a linear drive rod, a welded bellows, a first coupling, and a second coupling. The base flange is installed on the outer wall of the vacuum chamber; the linear drive rod extends into the vacuum chamber through the base flange; the welded bellows is sleeved around the linear drive rod, with its fixed end sealed to the base flange; the first coupling is sealed and fitted around the outer circumference of the linear drive rod; the second coupling radially moves with the first coupling and is sealed to the moving end of the welded bellows, with its inner diameter larger than the diameter of the linear drive rod, forming a radial clearance. This invention eliminates the radial runout of the welded bellows through the radially moving fit between the first and second couplings, preventing it from interfering with the motion accuracy of the linear drive rod and simultaneously improving the fatigue life of the bellows.

The invention discloses cutting equipment for steel roller production, which is used for a to-be-cut steel roller, and is characterized by comprising a laser device, a cutting device, a cutting device and a cutting device, and the laser device is used for the to-be-cut steel roller; the motion platform is used for controlling the position movement between the steel roller to be cut and the laser; the roller restraining module is arranged on the moving platform and used for restraining and limiting the steel roller to be cut; and non-contact support is formed, so that mechanical friction is eliminated, and submicron-level motion precision is realized.

The invention relates to the technical field of mechanism science, in particular to a motion decoupling and position positive solution symbolization one-translation and one-rotation parallel mechanism which comprises a static platform and a movable platform, and a first simple branch chain and a second simple branch chain are connected between the static platform and the movable platform; the first simple branch chain is formed by connecting a first moving pair and a first rotating pair in series, and the second simple branch chain is composed of a second moving pair, a second rotating pair, a third rotating pair, a fourth rotating pair and a fifth rotating pair. Rotation of the movable platform around the axis of the first rotating pair is determined by input of the first moving pair and the second moving pair, motion decoupling is achieved, and a symbolic position positive solution is easy to obtain. The whole parallel mechanism is composed of seven kinematic pairs, the number of the kinematic pairs is relatively small, potential machining errors, assembling gaps and the number of abrasion points can be reduced, the error transmission path between the kinematic pairs can be reduced, errors accumulated on the movable platform can be reduced, and the output motion precision of the movable platform can be improved.

This utility model discloses a multi-degree-of-freedom motion platform and optical detection system, comprising: a base; a first moving component, which includes a first support platform, a first linear module, and a first air-bearing structure, wherein the first linear module is drivenly connected to the first support platform, and the first air-bearing structure blows air toward the base to create a gap between the first support platform and the base; and a second moving component, which includes a second support platform, a second linear module, and a second air-bearing structure, wherein the second linear module is mounted on the first support platform and drivenly connected to the second support platform, and the second air-bearing structure blows air toward the first support platform to form an air film between the first support platform and the second support platform. This utility model improves the motion accuracy and speed of the device by reducing the weight borne by the first linear module through the first air-bearing structure blowing air toward the base.

The application relates to an automatic feeding method of multi-specification plugs, belongs to the technical field of non-standard automation equipment, and solves the problem that the existing aircraft plugs cannot be automatically fed. The application comprises the following steps: making a plug assembly sequence list; filling the plugs and making a plug position information table; and connecting a plug feeding part and a support. The application can ensure the position accuracy and movement precision of the whole feeding device, multiple components work cooperatively, the automatic feeding of the plugs is realized, the jacking head cannot run out of range, the feeding device is prevented from malfunctioning, and the use safety is ensured.

This disclosure relates to improvements in adaptive motion vector difference resolution in intra-block copy mode. A method for video processing includes: determining an allowable set of motion precisions for motion information during a conversion between a current video block and a bitstream representation of the current video block, wherein the current video block is encoded in intra-block copy (IBC) mode, wherein the motion information includes at least one of motion vectors, motion vector predictions, and motion vector differences; and performing the conversion based on the determined set of motion precisions.

The utility model discloses an interactive hand clamping mechanism, which comprises an X-axis cross beam, an X-axis cross beam, an X-axis cross beam, a Y-axis cross beam, a Y-axis cross beam, a Y-axis cross beam and a Y-axis cross beam, the upper clamping hand module reciprocates along the X-axis cross beam in the upper clamping hand moving area; the upper clamping hand module comprises an upper clamping hand, an upper clamping hand X-axis translation seat and a Y-axis driving unit; the Y-axis driving unit drives the upper clamping hand to extend towards one side part of the X-axis cross beam to wait for materials and to retract to avoid one side part deviating from the X-axis cross beam; the lower clamping hand module reciprocates along the X-axis cross beam in the lower clamping hand moving area; the lower clamping hand module comprises a lower clamping hand, a lower clamping hand X-axis translation seat and a Z-axis driving unit for driving the lower clamping hand to move in the Z-axis direction relative to the lower clamping hand X-axis translation seat; and the Z-axis driving unit drives the lower clamping hand to ascend for material waiting and descend for avoiding. The structural compactness, the movement precision, the working stability and the structural reliability are improved.

This application discloses a motion accuracy compensation system and method for CNC Swiss-type lathes, aiming to solve the problems of existing accuracy compensation methods that rely on external calibration, interrupt production, cannot respond to dynamic errors in real time, and lack self-learning closed-loop capabilities. The method includes: real-time acquisition of servo current, spindle vibration, and turret position signals; extraction of signal features and input into a pre-trained model to assess the degree of stiffness degradation and predict position deviation; querying a compensation parameter library based on the assessment results; and real-time injection of the compensation offset into subsequent CNC commands. The system includes a multi-source signal acquisition module, an edge AI inference engine, an accuracy status assessment model, an adaptive compensation parameter library, and a CNC command injection interface. By adopting the above technical solution, this application can achieve online real-time accuracy perception and adaptive compensation without external high-precision equipment or production interruption, significantly improving machining dimensional consistency and long-term stability.

The application belongs to the technical field of automatic assembly, and particularly relates to a compact nut automatic tightening equipment. The compact nut automatic tightening equipment comprises a tool lifting system, a tool horizontal feeding system, an indexing positioning system, a tightening core system and a supporting system. The tool horizontal feeding system, the indexing positioning system and the tool lifting system are sequentially connected from top to bottom. The tightening core system is connected with the horizontal feeding system. The tool lifting system is used for completing lifting movement of the tightening core system. The tool horizontal feeding system is used for completing horizontal feeding of the tightening core system. The indexing positioning system is used for completing rotation indexing of the tightening core system. The tightening core system is used for completing power closed-loop output of tightening. The supporting system is used for completing support of the bottom blade disc axis surface of the engine rear shaft by the tightening core system. The application has the characteristics of high automation degree and high motion precision, avoids manual misoperation, and guarantees the consistency, high tightening precision and high tightening efficiency of each nut.

This invention relates to a humanoid robot, specifically a parallel rotating mechanical joint based on a ring-shaped guide rail, mimicking the rotation of a human neck. The aim is to provide a parallel rotating mechanical joint based on a ring-shaped guide rail to achieve three degrees of freedom in the movement of a biomimetic human neck joint while ensuring high rigidity and motion accuracy. Furthermore, the joint features a simplified structure, good support performance, and sufficient movement space for the neck joint. The technical solution is a parallel rotating mechanical joint based on a ring-shaped guide rail, characterized by: a head motion platform, a neck ring-shaped guide rail base, and three PSS (Personal Stability Support) link branches connected in parallel between the head motion platform and the neck ring-shaped guide rail base; the center of the head motion platform and the center of the neck ring-shaped guide rail base are connected by a composite rotating shaft.

The invention discloses a structural parameter optimization method of a Stewart platform, and belongs to the technical field of parallel robots. The method comprises the following steps: firstly, establishing a mathematical model of a Stewart platform, carrying out degree-of-freedom analysis on the platform, and establishing a kinetic equation based on a positive and inverse kinematics relationship and a Lagrange method; then determining an optimization target which covers a working space, rigidity, motion precision and stability; on this basis, a particle swarm optimization (PSO) algorithm is adopted to carry out global optimization on key parameters such as branch length, platform layout, driver position and the like, and a fitness function is utilized to comprehensively evaluate platform performance; and finally, inputting an optimization result into finite element analysis (FEA) and multi-body dynamics simulation (MBD) software for verification. Experimental results show that the working space of the Stewart platform can be remarkably expanded, the motion precision and rigidity of the Stewart platform are improved, stress distribution is improved, and the overall stability is enhanced. The method breaks through the limitation of traditional empirical design and single-target optimization, has the advantages of high optimization efficiency, high global search capability and high convergence speed, is suitable for scenes such as flight simulators, precision machining and spaceflight test platforms, and has wide engineering application value.

The application discloses an underwater serial-parallel hybrid manipulator with motion redundancy, comprising an end effector, a two-degree-of-freedom 2R serial mechanism, a six-degree-of-freedom 2-RRRPRS-RRRPRRU motion-redundant parallel mechanism and a base mounting rack; the serial-parallel hybrid mechanism improves the motion accuracy, structural stiffness and reliability of the underwater manipulator while ensuring sufficient working space. The motion-redundant design is realized by adopting a planar five-link two-degree-of-freedom mechanism and a swing rod, and the parallel mechanism can avoid singular configurations through coordinated control of multiple driving elements in a branch. The motion-redundant design can avoid singular configurations of the parallel mechanism, expand the working space of the parallel mechanism, improve the motion performance of the underwater manipulator, increase the dexterity of the mechanism and improve the structural stiffness and load-carrying capacity of the mechanism, so that the underwater manipulator can better adapt to the complex and changeable working environment underwater.

1. The name of the design product: measurement device for improving the motion accuracy of parallel mechanism. 2. The use of the design product: high-precision positioning measurement. 3. The design points of the design product: in shape. 4. The picture or photo that best indicates the design points: front view.

The invention relates to a control method and system for guaranteeing the motion precision retentivity of a robot. The control method comprises the steps that a function for controlling actual control input of a controller of the robot is constructed based on actuator faults and saturation of the robot; a robot power model representing the relation between actual control input and external disturbance and the motion state of the robot is constructed; constructing a state tracking error function of the robot based on the expected pose and the expected speed, and constructing a robot trajectory tracking control model for realizing disturbance self-compensation and fault self-repairing based on the state tracking error function and a robot power model; designing a nonsingular fast terminal super-spiral sliding mode controller based on an adjustable barrier function, and calculating to obtain a control rule of a robot controller in combination with a robot trajectory tracking control model; the motion robustness of the robot can be improved, and the high precision of motion of the robot is kept.

This application belongs to the field of robot automated assembly technology, and discloses a method, device, equipment, and medium for motion compensation of a robot linear axis. The method includes: acquiring endpoint information of the robot's linear axis and position vectors of three target balls; obtaining pose error based on the position vectors and endpoint information of each target ball; performing B-spline fitting on the pose error to obtain a compensation function; acquiring sampling data of each target ball when the robot moves in multiple approach directions; obtaining the robot's approach direction error curve based on the sampling data of each target ball; and obtaining posture motion compensation based on the approach direction error curve and the compensation function. This application can compensate for systematic errors in linear axis deformation and systematic errors in motion anisotropy, thereby improving the robot's motion accuracy.

The invention provides a crossed ball guide rail workbench five-degree-of-freedom motion error analysis method, which comprises the steps of establishing a skin surface model based on part tolerance information and plane feature information, obtaining displacement spinor through constraint registration simulation, establishing a Jacobian matrix based on an assembly structure, and constructing a Jacobian skin surface model in combination with spinor information, calculating to obtain pose offset information of left and right guide rails and a slide rail in the guide rail pair, determining a space pose of a guide rail system in a global coordinate system by combining an actually measured raceway shape error, substituting the space pose into a crossed ball guide rail error model established based on a Hertz contact theory and static balance, and obtaining a five-degree-of-freedom motion error of the slide table through iterative solution. And finally, carrying out key error sensitivity analysis by adopting Monte Carlo simulation and a difference method. According to the method, the error transmission relation from the base to the working table function point can be accurately analyzed, the influence degree of the part tolerance on the motion precision is revealed, and an important reference basis is provided for design and assembly of the precise working table.

The invention discloses an industrial robot track evaluation method, a cutting method, equipment and a storage medium. The evaluation method comprises the following steps: obtaining cutting line data of a to-be-cut shell-shaped appliance; establishing a quality evaluation function according to the motion parameters of the industrial robot and the cutting line data, wherein the quality evaluation function is used for representing the degree of deviation possibly generated when the industrial robot moves along at least one position in the cutting line; the quality evaluation function is related to the motion precision of at least one joint of the industrial robot; according to the quality evaluation function, at least one piece of evaluation data of the industrial robot on the cutting line is determined, and the at least one piece of evaluation data is used for the industrial robot to cut the shell-shaped appliance along the cutting line. According to the evaluation method provided by the invention, the motion performance is evaluated based on the deviation and the motion precision, and accurate processing optimization references of corresponding positions and corresponding joints can be provided.

The invention provides a sewing machine, a needle bar crank of the sewing machine and a design method of the needle bar crank. The design method comprises the following steps: establishing a dynamic model of the needle bar crank in dynamic simulation software, and establishing a simulated mass center of the needle bar crank; setting a plurality of groups of parameter conditions, adjusting the simulated mass center according to the plurality of groups of parameter conditions in dynamics simulation software, and calculating the inertia force of the needle bar crank to the front bearing seat under different parameter conditions. The inertia force meeting the set condition is selected from the inertia force of the needle bar crank on the front bearing seat under the condition of different parameters, and the needle bar crank is designed according to the parameter condition corresponding to the inertia force. According to the technical scheme, the parameters of the mass center of the needle bar crank are simulated and adjusted through the dynamic simulation software, the parameter conditions enabling the inertia force of the needle bar crank mechanism to meet the set conditions are selected, the optimal needle bar crank can be rapidly designed according to the parameter conditions, then vibration and noise generated when the sewing machine works are weakened and improved, and the working efficiency of the sewing machine is improved. And the motion precision and stability of the sewing machine are improved.

The utility model relates to a kind of portal frame and machine tool, comprising: first crossbeam and reinforcing square tube, the cavity is formed in the first crossbeam inside, the first crossbeam extends horizontally, the reinforcing square tube extends longitudinally, the reinforcing square tube is inserted into first crossbeam longitudinally and is fixedly connected with first crossbeam.The first crossbeam of the utility model is divided into multiple segments by reinforcing square tube, the first crossbeam part of the lateral two sides of reinforcing square tube is different segment, the lateral two ends of segment are supported by support structure, and the lateral length of segment is shorter than first crossbeam, so the middle part of segment is more difficult to produce bending deformation due to external force or dead weight, the first crossbeam of multiple segments is also more difficult to produce deformation, and the movement accuracy of the drive mechanism installed on the first crossbeam is improved, and the machining accuracy of workpiece is finally improved.

The invention provides a precise motion control system and a control method thereof, and relates to the technical field of automatic control. The system comprises a visual track acquisition and characterization unit, a multi-source working condition perception and data fusion unit, a resonance characteristic mining and parameter mapping unit and an online parameter injection and controller reconstruction unit. The method comprises the following steps: acquiring an optical mark point image at a motion tail end, generating actual track data by adopting a sub-pixel edge extraction algorithm, synchronously acquiring multi-source working condition information such as load current, temperature and working position, performing data fusion, and dynamically outputting controller parameters according to real-time working conditions by utilizing a parameterized prediction model. And finally, the parameters are injected into a digital filter through a dynamic link library to realize online reconstruction of the controller. The problem that the motion precision of a fixed parameter control system is reduced due to mechanical resonance when working conditions change is solved, adaptive adjustment of parameters of a motion controller is achieved, and the track precision and the operation stability of a precise motion system are remarkably improved.

The invention discloses a hinge and electronic equipment, and belongs to the technical field of electronic equipment. The hinge comprises a supporting seat and at least two overturning assemblies. In the folding or unfolding process of the hinge, the first sliding piece of the driving rod in the overturning assembly slides in the first arc-shaped sliding groove of the first overturning part, so that the first overturning part and the driving rod can be normally connected, and then the whole overturning assembly can normally move relative to the supporting base. Therefore, additional parts do not need to be arranged between the driving rod and the first overturning part to guarantee the normal movement of the whole overturning assembly, the number of the parts in the overturning assembly is reduced, the movement precision of the overturning assembly is improved, and then the overall movement precision of the hinge is improved.

The utility model discloses an actuator and a vehicle. The actuator comprises a first shell and a second shell, one end of the second shell is arranged in the first shell in a sleeved mode, the second shell and the first shell can move relatively in the first direction, and the second shell and the first shell are matched in a guiding mode at the sleeved position of the second shell and the first shell. According to the actuator, the second shell and the first shell are in guiding fit at the sleeving position of the second shell and the first shell, so that the first shell and the second shell can do relative linear motion, the problems of shaking, deviation and the like of the actuator due to lack of guiding capacity are avoided, the motion precision and stability of the actuator are improved, and the service life of the actuator is prolonged. The full-active real-time adjusting function of the actuator is improved, the actuator can rapidly and accurately adjust the relative position or state of the first shell and the second shell according to needs, and therefore the requirements of different application scenes are met.