1141 results about "Pendulum" patented technology

The invention relates to the technical field of engineering control, in particular to a hoisting control method of a safe and portable hoisting cage, which comprises a hoisting pre-stage, data pre-acquisition and analysis before hoisting, a hoisting control stage and hoisting landing control. In the prior art, position closed-loop control mainly depends on a stroke encoder and a position sensor, dynamic swing deviation caused by wind disturbance is difficult to accurately pre-judge and counteract in real time, and the defects of control lag and insufficient response exist. According to the scheme, the motion trail and posture of the cage are predicted in advance based on simple pendulum dynamic model numerical solution and the Runge-Kutta method, high-precision deviation detection is carried out in combination with a virtual-real vision calibration technology and AR enhanced display, a cage motion state control model based on feedforward prediction is established, trail prediction errors are greatly compressed, and the accuracy of the motion state of the cage is improved. The forward-looking inhibition of the movement of the cage, especially wind-induced swinging, is realized, and the accuracy and the response speed of an active swinging inhibition measure are obviously improved.

The proposed invention relates to the furniture industry and can be used for controlling rocking devices, such as beds and chairs with pendulum mechanisms. An external control device for a device for actuating a pendulum mechanism is proposed. The technical result achieved by the claimed invention, in addition to the fulfillment of its intended purpose, is that of overcoming the disadvantages of the prior art and, in so doing, providing universality by permitting installation on both side-to-side and back and forth pendulum mechanisms, as well as providing for ease of use with both side-to-side and back and forth pendulum mechanisms, and also providing for ease of installation and allowing more precise control of a pendulum mechanism.

The proposed invention relates to the furniture industry and can be used for controlling rocking devices, such as beds and chairs with pendulum mechanisms. A pendulum mechanism is proposed. The technical result achieved by the claimed invention, in addition to the fulfillment of its intended purpose, is that of overcoming the disadvantages of the prior art and, in so doing, providing universality by permitting installation on both side-to-side and back and forth pendulum mechanisms, as well as providing for ease of use with both side-to-side and back and forth pendulum mechanisms, and also providing for ease of installation and allowing more precise control of a pendulum mechanism.

The invention relates to a marking and / or leveling device (1) comprising a light source (4) disposed on a pendulum (3) that can pivot relative to a housing (2). According to the invention, means are provided for accelerating (9) the pendulum (3) and / or a pendulum bearing (8) in a pulsing manner.

The invention discloses a linkage differential measurement system and method suitable for micro thrust calibration. The system comprises a linkage differential measurement rack, a liquid metal radio frequency coaxial cable connector arranged on the rack, and a mass center precise regulation and control device arranged on the rack. The linkage differential measurement system provides micro-Newton-level micro thrust except environment common-mode noise; the method comprises the following steps: a torsional pendulum inclination angle control module controls a torsional pendulum inclination angle # imgabs0 #; the centroid position deviation calculation module is used for calculating centroid position deviation; judging whether the offset s of the current centroid position is less than 10 [mu] m or not; the mass center position adjusting module is used for adjusting the mass center position; the gravitational wave micro-thrust calibration torsional pendulum solves the problems that the gravitational wave thruster needs to calibrate thrust noise besides calibrating thrust, high rigidity of a coaxial cable can generate interference on motion of the gravitational wave micro-thrust calibration torsional pendulum, and the gravitational wave micro-thrust calibration torsional pendulum has extremely high requirements on sensing precision of mass center regulation and control.

The invention belongs to the field of precision measurement, and particularly discloses a six-degree-of-freedom ground simulation test device and method for checking mass in-orbit release, and the device comprises a vacuum unit which is used for simulating a space vacuum environment; the second-stage pendulum unit is arranged in the vacuum unit and used for achieving six-degree-of-freedom movement of the inspection mass, the second-stage pendulum unit comprises a first-stage pendulum body connected to the interior of the vacuum unit in a suspended mode, the inspection mass is connected to one transverse end of a suspension connection point of the first-stage pendulum body in a suspended mode, and the other transverse end of the suspension connection point of the first-stage pendulum body is connected with a balancing mass; the locking and releasing unit is arranged in the vacuum unit and is used for locking and releasing the inspection mass; and the detection unit is used for detecting displacement and deflection of the inspection mass. According to the testing device, the six-degree-of-freedom ground simulation test of in-orbit release of the inspection mass can be carried out.

The mechanical overspeed monitoring system comprises a fastening ring, the fastening ring is connected with a main shaft, an overspeed pendulum and a balancing weight are installed on the fastening ring, the overspeed pendulum and a hydraulic switching valve are installed oppositely, and the states of the overspeed pendulum and the hydraulic switching valve are monitored by a high-speed camera; the hydraulic switching valve and the high-speed camera are electrically connected with the mechanical overspeed monitoring host, and the mechanical overspeed monitoring host is electrically connected with the vibration collecting system and the rotating speed collecting system. The system has the beneficial effects of improving the monitoring accuracy, ensuring the stable operation of the system, improving the equipment safety, facilitating fault diagnosis and maintenance and the like, can effectively ensure the safe, stable and efficient operation of the water-turbine generator set, and provides powerful technical support for the long-term stable operation of the set.

The utility model discloses a plastic film pendulum bob type impact testing machine which is characterized in that the plastic film pendulum bob type impact testing machine comprises a base, a plurality of supporting rods are arranged on the base, the supporting rods are all connected with the same driving part, lifting parts are arranged in the supporting rods, the driving part is connected with the lifting parts, and the lifting parts are arranged on the base. The driving part comprises a pendulum bob mechanism rotationally connected to the driving part around a rotating shaft and an electromagnet located at the same horizontal position with the rotating shaft, a fixing device used for fixing a film is arranged on one side of the supporting rod and comprises a lifting device, a control device is arranged below the base, and the control device is connected with the rotating shaft. The utility model has the advantages that the lifting devices are arranged on the driving part and the fixing device, so that the highest point of the pendulum bob and the height position of the fixing part are adjustable, and the impact force of the punch is improved by utilizing the conversion of gravitational potential energy.

The sorting friction structure comprises a driving motor, a driving shaft, a lower bottom plate, a middle floating plate, an ascending top plate, a jacking cam, a transverse moving cam, a vertical jacking plate, a horizontal follow-up plate, a balance wheel assembly and a chain plate, a plurality of first magnets are arranged on the ascending top plate, the jacking cam and the transverse moving cam are arranged on the driving shaft, the vertical jacking plate is connected with the ascending top plate, and a plurality of second magnets are arranged on the horizontal follow-up plate. The horizontal follower plate is connected with the middle floating plate, the balance wheel assembly comprises a plurality of balance wheel units, balance wheel driven components matched with the balance wheel driving components are arranged on the balance wheel units, the balance wheel units penetrate through the ascending top plate, and second magnets are arranged at the tops of the balance wheel units which ascend and descend along with ascending and descending of the ascending top plate; the multiple first magnets and the multiple balance wheel units are arranged in a one-to-one correspondence mode, the first magnets are arranged on the terminal sides of the corresponding balance wheel units in the cargo conveying direction, and the first magnets and the second magnets repel each other. Compared with the prior art, the problem that the sorting wheel and the balance wheel interfere with each other in the prior art is solved.

The invention discloses an anti-impact quartz flexible accelerometer swing beam and a design method, relates to the technical field of accelerometer structure design, and solves the problem that the swing beam is easy to break when the existing swing assembly is sensitive to strong impact and high vibration in the directions of a swing shaft and an output shaft. The invention provides a shock-resistant quartz flexible accelerometer pendulum beam which is assembled in a pendulum assembly of a quartz flexible accelerometer comprising a quartz pendulum piece and a coil assembly, the quartz pendulum piece comprises a pendulum beam, a pendulum tongue and a pendulum piece outer ring, and the coil assembly comprises a coil framework and a coil winding. The swing beam comprises a reinforcing boss arranged on the surface of the swing beam.

The invention discloses a mass center regulation and control device and method suitable for micro-thrust calibration torsional pendulum, the mass center precise regulation and control device comprises a double-bottom-plate torsional pendulum base arranged in a vacuum tank, the base is provided with a supporting frame, a pivot and a torsional pendulum, and the supporting frame supports the torsional pendulum through the pivot; the torsional pendulum inclination angle control mechanism is arranged on the driving side of the double-bottom-plate torsional pendulum base, and the mass center position adjusting mechanism is arranged on the double-bottom-plate torsional pendulum base and connected with one end of the torsional pendulum. The controller is arranged outside the vacuum tank; the method comprises the following steps: judging whether the offset s of the current centroid position is less than 10 microns or not, if so, finishing fine adjustment, and if not, continuing to control a torsional pendulum inclination angle # imgabs0 #, and then calculating the offset of the centroid position until the offset s is less than 10 microns; according to the invention, the torsional pendulum inclination angle control resolution of 5 [mu] rad level can be realized, and the centroid positioning precision of 1 [mu] m level can be synchronously reached; 1 [mu] m-level mass center position adjusting resolution can be achieved, and it is ensured that the deflection distance of the torsional pendulum mass center from a rotating shaft is not larger than 10 [mu] m.

The invention provides a graded variable-damping variable-rigidity pendulum type damping device and a vibration attenuation configuration method, the device comprises a damping mounting frame, a single mass block, a vertical guide piece, a nonlinear damping unit, a rigidity adjusting unit and a linear damping unit, and a lower permanent magnet assembly or a lower conductor assembly of the linear damping unit and the single mass block are horizontally limited and vertically decoupled. The method comprises the steps that the swing arm swing length, the horizontal limit displacement and the vertical limit displacement of a single mass block and the optimal damping ratio of a linear damping unit are determined, an optimal damping coefficient determined through the optimal damping ratio is set as a basic damping coefficient, and a nonlinear damping coefficient is increased and adjusted through a nonlinear damping unit on the basis of the basic damping coefficient; and the preset horizontal displacement and the preset vertical displacement of the single mass block are configured according to the horizontal limit displacement of the single mass block. The damping device has the advantages that the damping coefficient is stable when the amplitude is small, and sufficient damping can be provided under extreme conditions.

The utility model belongs to the field of testing devices, and particularly relates to a ship balance testing device, which comprises a device main body, the inner wall of the device main body is provided with a swing structure, the swing structure comprises a rotating shaft, the surface of the rotating shaft is arranged on the inner wall of the device main body, the surface of the rotating shaft is fixedly connected with the surface of a pointer rod, and the pointer rod is fixedly connected with the device main body. The surface of the pointer rod is provided with positioning teeth, and the inner wall of the pointer rod is fixedly connected with a fluorescent strip. According to the ship balance testing device, when a swing structure needs to be adjusted according to a ship body, if the ship body is small, a handle is pulled towards two ends, so that the handle pulls a fixed block to be separated towards two ends, a reed is compressed, and the balance weight pendulum is pushed upwards, thereby reducing a force arm of a pointer rod, and enabling the swing amplitude of the pointer rod to be small; if the ship body is large, the balance weight pendulum is pulled down, so that the force arm of the pointer rod is increased, the swing amplitude of the pointer rod is large, and the detection precision of the detection device is improved.

The invention belongs to the ocean wave energy power generation technology, and particularly discloses a suspended hammer floating type wind-wave combined generator set and a cooperative control method.The combined generator set comprises a semi-submersible floating type platform, a wind power generation device is arranged on the upper portion of the semi-submersible floating type platform, and the semi-submersible floating type platform is anchored by three anchor chains; three power generation sleeves are hinged to the interior of the semi-submersible floating type platform, the lower end of each power generation sleeve is correspondingly installed at the upper end of a variable-length damping inclined supporting rod, the lower end of each damping inclined supporting rod is hinged to a suspension hammer through a universal joint, and the power generation sleeves, the damping inclined supporting rods and the suspension hammer jointly form an inverted-triangular-pyramid-shaped wave energy power generation device. The wind power generation device and the wave power generation device are both controlled by the control system. Through the action of the lower suspension hammer wave energy device, the action of flexibly adjusting the motion response of the upper semi-submersible floating platform and the lower suspension hammer wave energy device is achieved, and the motion response and the borne load of the floating wind generating set are effectively improved.

The invention provides a pendulum type vibration absorber composite loading device in a test state, which comprises a pendulum type vibration absorber 1, a transverse support frame 2, a transverse actuator 3, a transverse force column 4, a longitudinal force column 5, a longitudinal actuator 6, a longitudinal support frame 7, a bottom plate 8, a stress application rod 9, a stress application rod guide key groove 10 and a force column sliding groove 11, a main blade swing type vibration absorber is fixed at the position of a blade bushing, a rotating shaft, a rocker arm and a rocker arm mounting bolt structure adopt false parts, the mounting needs to simulate a real mounting environment, a shell bears a low-cycle load, a low-cycle fatigue test is carried out, and the direction of the rocker arm is parallel to the direction of a blade; the support frame 2 is fixed on the bottom plate 8 through a bolt, keeps the horizontal state of the transverse actuator 3, is provided with a bolt hole, and firmly connects the transverse actuator 3 through the bolt; and the transverse actuator 3 is an action execution part for the test system to carry out a loading test and receive a control command.

The invention provides a swing type tuned mass damper which comprises a mass unit, a swing arm unit and an energy consumption unit, the mass unit comprises an upper mass block and a lower mass block, the upper mass block is in swing connection with a controlled structure through the swing arm unit, and the lower mass block is in swing connection with the controlled structure through the energy consumption unit. The lower mass block can be horizontally and movably supported on the controlled structure through a horizontal guide assembly; the energy dissipation unit comprises a linear damping assembly and a nonlinear damping assembly, the linear damping assembly is arranged at the bottom of the lower mass block, the nonlinear damping assembly comprises linear dampers symmetrically arranged on the two sides of the mass unit, and the upper mass block and the lower mass block are connected through the linear dampers. The vibration damper has the advantages that the occupied space is reduced under the condition of the same mass unit vibration frequency and effective mass, and the vibration damping effect is good.

The utility model discloses a mechanical heeling meter, which relates to the technical field of inclination angle measuring devices and comprises a meter shell, an observation port arranged at the front end of the meter shell and a transmission mechanism, and the transmission mechanism comprises a driving wheel and a driven wheel which are arranged in the meter shell; the driving wheel is in transmission connection with the driven wheel; the transmission ratio of the driving wheel to the driven wheel is not less than 1; the pendulum driving assembly comprises a connecting piece and a hammer body; the hammer body is positioned on one radial side of the driving wheel; the hammer body is in transmission connection with the driving wheel through a connecting piece and can drive the driving wheel to rotate relative to the meter shell through the gravity distance effect. An indication assembly; the indicating assembly comprises a dial and a pointer matched with the dial to indicate the inclination angle. The dial and the pointer are arranged at the front part of the meter shell and correspond to the observation opening; the pointer is coaxially and fixedly installed on the driven wheel. The inclination angle measuring device can improve inclination angle measuring precision and has the advantages of being compact and small in structure and convenient to install.

The utility model discloses a magnetic leveling device of a pendulum bob type laser demarcation device, which comprises a hanging bracket and a pendulum body hung in the hanging bracket, a magnetic damping body consisting of a plurality of magnets is arranged on the hanging bracket according to a Halbach array, and a magnetic field which is made of non-magnetic conductive materials and can cut magnetic lines in a magnetic field generated by the magnetic damping body is arranged on the pendulum body. The utility model aims to provide a damping piece which adopts two different forms of Halbach arrays to generate magnetic damping, and compared with the existing common magnet arrangement scheme, the magnetic flux is obviously enhanced, so that a stronger magnetic damping effect is generated, and the magnetic damping effect is improved. The magnetic leveling device can effectively prevent the swinging body from swinging excessively, so that the leveling time is effectively shortened, the leveling speed and precision of the laser demarcation device are further improved, and the working efficiency is remarkably improved.

The utility model discloses a special tool clamp device for a full-automatic metal Charpy impact sample, which relates to the technical field of material detection, and is characterized in that when the special tool clamp device is used, the sample is placed on the upper surface of a sliding seat and is attached to the surfaces of two bosses of a countermeasure seat, and when a pendulum bob impacts, the sample is broken, so that the sample is not damaged. The residual kinetic energy of the pendulum bob impacts the surface of the buffer pad, meanwhile, the force unloading seat slides in the groove, the force unloading seat presses the first piston through the jacking column, the first piston presses liquid in the piston cylinder into the secondary energy absorption chamber through the bent pipe, and the second piston is driven to press the spring, so that the spring greatly buffers the instant impact force, and the impact force is reduced. Meanwhile, the hydraulic cylinder slides on one side of the frame plate during impact, so that the length of the tension spring pulled by the hydraulic cylinder is changed, kinetic energy of the pendulum bob can be absorbed, direct hard contact is avoided, large impact force can be absorbed and buffered through the structure, meanwhile, it can be guaranteed that the whole is not affected by impact, and good sample positioning precision is guaranteed.

The invention relates to the technical field of automatic warehouse logistics, in particular to a stacking machine platform automatic leveling and winding drum rope winding prevention device which comprises a horizontal moving platform, a vertical frame installed on the surface of the horizontal moving platform, a lifting frame installed on the vertical frame in a sliding mode, an objective table arranged on the lifting frame, a winding drum and a steel wire rope. One end of the steel wire rope is connected with the lifting frame, and the other end is wound on a winding drum driven by a motor. According to the gravity sensing mechanism, the inclination angle of the cargo platform is converted into mechanical displacement through a pendulum bob and a sliding block structure; the gravity center adjusting mechanism transmits pressure through a hydraulic medium to drive a balancing weight to move so as to adjust the gravity center, and the cargo table recovers to be horizontal. And the cable guide mechanism is linked along with the balancing weight through the movable guide wheel group to dynamically compensate the path length difference of the steel wire ropes on the two sides, so that the cooperative control of leveling and winding prevention is synchronously realized, and the stability, safety and reliability of equipment operation are remarkably improved.

The invention provides a heeling angle measuring device and a heeling angle measuring method for a ship inclination test. The heeling angle measuring device for the ship inclination test comprises a supporting bracket, a reduction gear set, a pendulum bob, a pointer and a side magnet strip, the supporting bracket comprises a bottom plate and a side plate which is perpendicular to the bottom plate and fixed to the bottom plate, a shell of the reduction gear set is fixed to the rear end face of the side plate, and the pendulum bob is fixedly connected to the lower portion of an output shaft of the reduction gear set. An input shaft of the reduction gear set penetrates through a through hole of the side plate and then is fixedly connected with a pointer on one side of the front end face of the side plate, a dial is arranged on the front end face of the side plate to observe the rotation angle of the pointer, a side face magnet strip is fixed to the front end face of the side plate, the supporting support is made of non-metal materials, and the side face magnet strip is used for making the pendulum bob swing still. According to the heeling angle measuring device for the ship inclination test, the accuracy of ship heeling angle measurement can be improved, and meanwhile the size of the heeling angle measuring device is small.

The invention relates to a multi-degree-of-freedom composite wave energy converter, and belongs to the technical field of wave power generation. Comprising a mounting frame and a power generation assembly, and the power generation assembly comprises an electromagnetic power generation unit, a nanometer friction power generation unit and a piezoelectric power generation unit; the electromagnetic power generation unit comprises a gravity pendulum and an electromagnetic generator; the gravity pendulum is rotationally mounted on the mounting frame around the gravity center axis of the wave energy converter, and one end of the gravity pendulum is connected with a rotor of the electromagnetic generator; the nanometer friction power generation unit comprises a plurality of power generation parts made of friction materials, the power generation parts are installed on the installation frame, and under the action of external force, the power generation parts move relatively to generate electric energy; the piezoelectric power generation unit comprises a piezoelectric generator and a water flow turbine; a rotor shaft of the piezoelectric generator is connected with the water flow turbine, a rotor of the piezoelectric generator is made of piezoelectric materials, and magnets are arranged on the rotor and a stator respectively. The multi-degree-of-freedom wave capturing device can comprehensively and efficiently capture waves in multiple degrees of freedom, and is high in energy conversion efficiency and wide in application range.

The embodiment of the invention relates to the technical field of automobile calibration devices, in particular to a holding assembly, a laser gradienter, calibration equipment and a calibration system. The laser level meter comprises a box body, a swing body and a holding assembly, and the holding assembly comprises a holding mechanism and a sliding block. The pendulum body is installed in the box body, the holding mechanism is installed in the box body, the holding mechanism can hold the pendulum body, the sliding block is installed on the box body and connected with the holding mechanism in the box body, the sliding block can slide relative to the box body, the sliding stroke of the sliding block comprises a locking position and an unlocking position, and the sliding block is used for controlling the holding mechanism to hold the pendulum body when sliding to the locking position. And when the swing body slides to the unlocking position, the control of the holding mechanism is stopped, so that the holding mechanism loosens the swing body. According to the laser level meter, the sliding block is matched with the holding mechanism, so that the swinging body is effectively protected when the laser level meter is not used or transported, the risk that the swinging body is damaged due to collision with other parts is reduced, the reliability of the laser level meter is improved, and the service life of the laser level meter is prolonged.

The invention relates to an express balance wheel sorting machine control method and device and a sorting machine, and aims to improve the cargo posture stability and transmission efficiency in the logistics sorting process. The method comprises the following steps: receiving goods sorting path information, and generating a synchronous control instruction including swing wheel disc angle deflection, goods linear speed and a four-wheel belt transmission mechanism; the deflection angle of each swing wheel disc is calculated in real time, and on the premise of ensuring stable conveying of goods and balanced stress of each roller, the optimal rotating speed of a driving wheel is dynamically solved by adopting a multi-target dynamic optimization model on the basis of transmission balance among the driving wheel, a tensioning wheel and a driven wheel, so that the vibration torque of each belt is minimum, and the transmission efficiency is maximized. The control device is composed of a path information receiving module, a control instruction generating module, a swing wheel disc angle control module, a linear speed control module and a shearing vibration control module, efficient, low-energy-consumption, cooperative and intelligent control and stable transmission of the multi-swing-wheel disc sorting mechanism in the sorting process are achieved, and the multi-swing-wheel disc sorting mechanism is suitable for a logistics automatic sorting system.

The invention relates to the technical field of pendulum impact testing machines, in particular to PC material impact resistance detection equipment and a detection method.The PC material impact resistance detection equipment comprises a rack, a base, a sample seat, a swing arm, a pendulum, a motor and a sample, a separation structure is arranged at the top of the rack, and the sample seat is provided with an automatic fixing structure; the separating structure is used for overcoming the counter-acting force of a motor rotor, the automatic fixing structure automatically fixes a PC material sample through rotating force generated by a motor, an electromagnetic sliding block moves outside an electromagnetic sliding rail, the motor is driven to retreat through movement of the electromagnetic sliding rail, and at the moment, an inserting rod moves in an inserting groove. After the motor moves, the first gear and the second gear are separated from the meshing state and are not affected by counter-acting force, and then the detection precision of the pendulum bob on the sample is improved.

The application discloses a pendulum motor with a flywheel (12), where the flywheel (12) is a rotary-inertial element of the pendulum motor that accumulates a torque, where further this accumulated torque through the working axis of the motor (14 or 15) can be used with the necessary force selected to drive selected load mechanisms (generators or similar energy consumption / transformation devices) at moments of time. The torque from the rotating flywheel (12) to the load can be generated through a mechanical speed reducer and / or clutch (18) at selected time periods or moments.

The present invention relates to the technical field of energy impact testing machines, and discloses an electric lifting and pendulum low-energy impact testing machine, including a base, a placing table is provided on the base, an impact test block is placed on the placing table, the placing table is composed of a pair of trapezoidal plates distributed front and back, a fixed card block is provided on the top of the placing table, the impact test block is placed in the fixed card block, and an automatic calibration mechanism for the test block that can be automatically raised and lowered is provided at the bottom of the placing table. Compared with the prior art, the beneficial effects of the present invention are: without the need for a manual hand-held calibrator, the calibration block can be automatically moved to the calibration position, and then the impact test piece can be quickly calibrated, the operation is convenient, and the degree of automation of the device is improved; the quick docking mechanism can make the whole process simpler, and only the push-pull rotation pressing block is required to achieve the connection and fixation of the pendulum, which improves the installation efficiency; the release and withdrawal pin and the lifting and fixing of the pendulum can be achieved through a pneumatic withdrawal pin mechanism, which enhances the overall intelligence and automation of the equipment.

Disclosed in the present invention is a rolling robot, comprising: a housing, which is formed in the shape of a revolving body; two supporting hubs, which are fixed to two sides of the housing; a main supporting structural member, which extends horizontally in a left-right direction in the housing and is connected to the two supporting hubs by means of bearings at two ends of the main supporting structural member; a gravity pendulum, which is connected to the main supporting structural member and is swingable in the left-right direction; a rotating mass block, which is rotatably connected to the main supporting structural member about a rotating axis extending horizontally in a front-back direction when the rolling robot is stationary; a main driving electric motor, which is configured to drive the main supporting structural member, the gravity pendulum and the rotating mass block to rotate in the front-back direction; a gravity pendulum driving electric motor, which is configured to drive the gravity pendulum to swing in the left-right direction; and a rotating mass block driving electric motor, which is configured to drive the rotating mass block to rotate in the left-right direction. In the present invention, the control difficulty of the rolling robot is reduced, high-speed movement can be realized, and jitter of the rolling angle hardly occurs.

The invention discloses a novel pendulum bob impact device and a test method, the device adopts a motor driving rotation mode to rotate a pendulum bob to a specified height, and the repeatability and the accuracy of an experiment result are improved; in the falling process of the pendulum bob, the motor is used for driving the pendulum bob to rotate and energize; the cam structure is arranged to control the motor to be separated from the pendulum bob driving mechanism when the pendulum bob is about to impact the to-be-tested sample, so that the pendulum bob impacts the to-be-tested sample based on inertia and gravity, the control difficulty of experimental equipment can be reduced, the impact effect is closer to the actual impact condition, and the damage and fault risk of the motor can be reduced; in addition, the gel ice and snow plate is arranged around the sample to be tested, so that the actual temperature of the sample to be tested is controlled, and the impact effect at low temperature can be simulated.

Provided relates to a rotary drive ratchet used in a wire grip or tensioner and, more specifically, to an automatic direction switching pendulum-type rotary drive ratchet for an indirect live wire, which is configured to adjust, when winding or unwinding a wire grip or tensioner, the forward or backward rotation of a pendulum drive shaft by means of the operation of an automatic reversing pawl and a pendulum drive shaft operation plate in accordance with a reciprocating motion of a pendulum without the operation of a direction switching lever, so as to enable the forward or backward reversing rotation of the pendulum drive shaft to be automatically performed by means of operating a rotary lever using a stick for an indirect live wire without a separate rotational direction switching operation.