17 results about "Rigid body rotation" patented technology

The utility model discloses a torsion bar elastic restraint spherical steel support which comprises a longitudinal spherical steel support, the longitudinal spherical steel support comprises a fixed support bottom plate located at the bottom, a support bottom basin is arranged on the support bottom plate in a sliding mode, a torsion bar assembly for restraining and limiting is arranged on the support bottom plate, and the longitudinal spherical steel support comprises a longitudinal spherical steel support body. The torsion bar assemblies are arranged on the two opposite side faces of the support bottom basin. Horizontal movement of the pin shaft end of the torsion arm is restrained through the side plate slide way, rigid rotation of the torsion arm is achieved when the support moves, and the torsion arm rotates to drive the torsion rod spring to twist; a connecting rod assembly is removed, so that the structure is more compact; and the direction of external force is parallel to the axis of the fixing bolt, so that the stress of the bolt is optimized, and the bridge support is more suitable for the application scene of the bridge support.

The present invention relates to a trolley-type landing gear with a retractable rotating frame, comprising a strut buffer, a frame, wheels, shock absorber cylinders, a double parallelogram mechanism, a retractable actuator cylinder, and a strut coordination rod; the frame is equipped with wheels at the front and rear. By utilizing the inherent characteristics of the motion adder of the double parallelogram mechanism, the present invention isolates the translational and rotational motions of the frame from each other, so that the translational motion of the frame only drives the strut buffers, and the rotational motion of the frame only drives the shock absorbers. The rigid body rotation of the frame is transmitted to the shock absorber via the double parallelogram mechanism and does not affect the strut buffer. In other words, the shock absorber not only performs the function of shock absorption but also performs the function of retracting and extending the landing gear, achieving both functions using a single mechanism.

The utility model discloses a connecting structure with a swing self-resetting function, which relates to the technical field of quakeproof structure systems with recoverable functions and comprises an upper structure and a foundation. A support mounting layer is formed between the bottom of the upper structure and the top of the foundation; the support installation layer comprises a buttress fixed to the top face of the foundation, a vertical tension and compression elastic support is connected between the buttress and the bottom face of the upper structure, and the vertical tension and compression elastic support does not restrain horizontal lateral movement of the upper structure, only provides tension and compression bearing capacity and does not bear any shear bearing capacity in the horizontal direction. According to the connecting structure with the swing self-resetting function, different from a traditional horizontal shearing shock insulation principle, the upper structure generates rigid body rotation around the vertical tension and compression elastic support at the center, and the upper structure is allowed to integrally swing within the range allowed by the design; energy is absorbed and dispersed through deformation of the vertical tension and compression elastic support, residual displacement after an earthquake can be effectively controlled, and great economic significance and social value are achieved.

Provided is a connecting structure with three-dimensional shock absorption and energy absorption buffering. During an earthquake, a rotational connecting device enables an upper structure to only undergo a rigid body swiveling around the rotational connecting device and rock as a whole within a design-allowed range. Further, energy is absorbed and dispersed through deformation and energy dissipation of vertical connecting devices to mitigate earthquake impact on the upper structure. The above device achieves earthquake resistance and shock absorption, effectively reducing damage and destruction to the upper structure under strong earthquakes. The connecting structure has strong self-centering capability and is capable of effectively controlling its residual displacement after earthquake, thus preventing further damage to the upper structure and facilitating its repair. With earthquake resistant capability of the upper structure enhanced by the connecting structure, seismic performance requirements on design of the upper structure are lowered, thereby offering economic benefits.

Yaw estimation systems and methods for an earthmoving machine and control architecture to receive roll and pitch input from an engine end frame (EEF) inertial motion unite (IMU) and from a non-engine end frame (NEEF) IMU, estimate a yaw articulation angle of the NEEF relative to the EEF by at least two different estimation methods based on the received roll and pitch input, fuse the at least two different estimation methods to generate an updated yaw articulation angle, calculate a yaw articulation rate based on the received roll and pitch input, integrate as an integration the updated yaw articulation angle and the yaw articulation rate, generate a real-time yaw articulation angle estimate of the NEEF relative to the EEF based on the integration, and operate the earthmoving machine based on the real-time yaw articulation angle estimate.

The invention relates to the technical field of large-scale structure space pose online compensation, and discloses an adjustment positioning system and method based on laser tracking, and the method comprises the steps: laying a plurality of laser tracking targets, and building an observation model with the pose and deformation separated; solving to obtain a rigid body posture estimation value and a deformation state estimation value; an executor instruction is updated, and a posture adjustment executor is driven to carry out posture adjustment; the die length of the deformation state estimation value is detected, and an unloading force balance fine adjustment process is triggered; judging whether the adjustment reaches the target precision or not; a laser tracking target is arranged and an observation model is introduced, measurement points collected by a laser tracker are modeled as superposition of rigid body poses and finite-dimensional deformation, rigid body rotation, rigid body translation and deformation modal coefficients are estimated, the poses and deformation can be separated from each other in the aspect of mechanism, and the measurement precision is improved. And the positioning precision and the installation and adjustment reliability of the high-precision optical installation and adjustment station are improved.

The invention discloses an integrated initialization method of an inertial navigation RTK (Real-Time Kinematic) receiver, which comprises the following steps of: straightening a measuring rod, and enabling a rod tip of the measuring rod to be stably contacted with a certain fixed point on the ground; under the condition that the rod tip is kept to be in contact with the ground, holding the top end of the rod body by hand to enable the rod body to swing repeatedly so as to fully excite each shaft error of the IMU sensor, and acquiring angular velocity and specific force data output by the MEMS-IMU in the repeated swing process; and constructing a system state equation and a measurement updating equation based on the angular velocity and specific force data, and synchronously completing initial attitude alignment, velocity initialization and field calibration of sensor errors of the IMU through a filtering estimation algorithm. According to the method, the rod tip of the measuring rod continuously contacts with the fixed point on the ground, the rod body is controlled to swing in a specific mode, and the integrated estimation and initialization of the navigation state and the sensor error are realized by utilizing kinematics constraint generated by the rigid body rotation motion of the rod body around the fixed point.

The invention provides a non-contact dynamic torque measuring device and a torque testing method. The non-contact dynamic torque measuring device comprises a sensor body, an amplifying shaft and a non-contact displacement sensor, the sensor body is coaxially sleeved outside the amplification shaft, two ends of the sensor body are fixedly connected with the amplification shaft, and the sensor body axially comprises sleeve bodies at two ends, a gridding sleeve in the middle and a central disc located in the middle of the gridding sleeve; the gridding sleeve comprises a plurality of gridding ribs which are arranged in parallel in the circumferential direction and twisted in the same rotating direction, due to the fact that the coupling effect exists in the anisotropy, longitudinal deformation and torsional deformation of the gridding sleeve, torsion angles at the two ends can be converted into axial displacement of the center disc under the condition that rigid body rotation of the rotating shaft is eliminated, and the rotation direction of the rotating shaft is changed. Torsional deformation is converted into axial displacement of the center disc, non-contact dynamic torque measurement is achieved through the non-contact displacement sensor under the condition that an external sliding ring is not needed, and measurement precision, reliability and non-interference performance are guaranteed.

This disclosure provides a robust pedestrian autonomous navigation method based on online clustering of motion matching factors. Step S1: Determine candidate fusion times using the gyroscope's sensitive angular velocity magnitude; Step S2: Employ a rigid body rotation model to uniformly describe foot landing motion under different dynamic conditions, constructing a foot kinematic model; Step S3: Establish a foot kinematic / micro inertial navigation integrated navigation model within a Kalman filtering framework; Step S4: Construct innovative non-orthogonal factors and residual factors as motion matching factors to characterize the degree of matching between the current foot kinematic model information and the actual motion state; Step S5: For candidate fusion times, propose an online clustering method using motion matching factors to decide whether to fuse inertial navigation information and kinematic model information, thereby achieving robust pedestrian autonomous navigation. Using this invention can improve the ease of use of the system, as well as the navigation and positioning accuracy and robustness under different speeds of motion.

The present invention discloses a wheel slip calculation method, device, electronic device and storage medium. The method comprises: calculating the absolute speed of the physical wheel relative to the reference wheel in the X and Y directions of the vehicle body based on the component speeds of the reference wheel center translation speed in the X and Y directions of the vehicle body and the component speeds of the relative linear speed of the physical wheel relative to the reference wheel caused by rigid body rotation in the X and Y directions of the vehicle body; calculating the maximum and minimum values ​​of the absolute speeds of the physical wheel relative to all reference wheels in the rotational direction based on the absolute speeds of the physical wheel relative to the reference wheel in the X and Y directions of the vehicle body; and calculating the real-time slip rate of the wheel based on the maximum and minimum values ​​of the absolute speeds of the physical wheel center and the rotational direction of the physical wheel relative to all reference wheels. The algorithm has high versatility and can ensure the normal implementation of the vehicle's anti-skid and anti-lock braking functions, thereby improving the vehicle's driving safety.

The application provides an experimental device and a use method for quantitatively studying a rigid body rotating gyroscope, which comprises a support rod vertically arranged, a connecting seat mounted on the upper end of the support rod through a precession bearing and capable of rotating horizontally around the support rod, a crossbar with a middle part mounted on the connecting seat through a pitching bearing, the crossbar being capable of oscillating up and down in the vertical direction, a rotating wheel rotatably mounted on one end of the crossbar, a weight slidably and detachably mounted on the crossbar between the other end of the crossbar and the connecting part with the pitching bearing, a first driving mechanism connected with the rotating wheel and used for driving the rotating wheel to rotate, and a second driving mechanism connected with the weight and used for driving the weight to reciprocate along the length direction of the crossbar. The method is a use method of the device for studying the gyroscopic motion of the device, the device can adjust the rotating speed of the rotating wheel, the mass of the weight and the length of the force arm, continuously adjusts the rotating angular velocity and the gravity moment, and can be well used for quantitatively studying the motion law of the rigid body rotating gyroscope.

The present invention discloses a swinging self-resetting anti-seismic / vibration structure that is easy to regulate as a whole, and is composed of an upper structure, a support installation layer, and a foundation. Different from the traditional horizontal shear isolation principle, the upper structure generates a rigid body rotation around the rotating hinge support, and the upper structure swings as a whole within the range allowed by the design, and absorbs and disperses energy through the deformation of the vertical tension and compression supports and energy dissipation devices. This structural system is particularly suitable for structures with large rigidity because it can adapt to the deformation requirements of the structure under extreme loads, while reducing the dependence on the ductility design of general building structures. This structural system can effectively combine earthquake resistance and shock absorption technologies, and provide a new shock absorption design concept for reducing damage and destruction under strong earthquakes, which is innovative and practical. Due to its recoverable function and energy consumption, it can effectively control the residual displacement after an earthquake, and has great economic significance and social value.

A method for measuring the rotation angle of a rigid body based on a visual-inertial combined algorithm belongs to the field of rigid body angular motion parameter measurement. The method involves constructing a rectangular target as a reference plane for an industrial camera; the target base is fixedly placed in front of the rotation axis of the rigid body being measured. A cross slide rail drives the rectangular target to achieve small-angle pitch rotation around a horizontal rotation axis. A rigid body connector is installed and fixed at the end of the rotating rigid body, connecting the rigid body to the measurement module. During the rotation of the rigid body, feature images, primarily of the target, are acquired at a preset frequency, and angle calculations are performed. An inertial measurement unit acquires inertial data during the rotation of the rigid body at a predetermined frequency and performs angle calculations. An optimization algorithm is used to fuse inertial and visual sampling data to correct the zero-point drift of the inertial measurement unit, improving the measurement accuracy of the rigid body rotation angle. This invention is applicable to the measurement of dual-axis angular motion.

The invention discloses a torque configuration method for a driver of a multi-row-hole laser perforating device, the device comprises a drum-shaped wheel and a scanning unit driven by an independent driver, and the scanning unit is of a coaxial rotary body structure and comprises a hollow shaft, a forming optical assembly and a focusing optical assembly. The method comprises the steps that S1, a rotational inertia calculation formula is matched according to the structure of each component, a single component model is established, the total inertia is the sum of the components, and meanwhile the size, the material and the rotational inertia threshold value of each component are limited; s2, determining operating parameters such as the maximum rotating speed of 8000rpm and the like of the scanning unit; and S3, based on the model and the parameters, inertia torque is calculated according to the rigid body rotation law, and the rated torque of the driver is calculated by combining the friction torque, the transmission coefficient and the safety coefficient, so that the rated torque is smaller than or equal to 5.8 Nm, and the motor power is smaller than or equal to 5.5 KW. According to the method, accurate configuration of the torque of the driver is achieved, the method is suitable for low-torque and small-power drivers, the device installation adaptability is improved, and energy consumption and cost are reduced.

The invention relates to the technical field of speed reducer dynamic performance testing, and discloses a speed reducer dynamic torsional rigidity test analysis method and system, and the method comprises the steps: obtaining a test operation state time sequence table; constructing a relative torsion motion state quantity; calculating a transient dynamic torsional rigidity time sequence; carrying out segmented statistical analysis on the transient dynamic torsional rigidity time sequence in combination with start-stop stage constraints; and outputting a dynamic torsional rigidity test analysis result. The technical problems that in the prior art, the torsional rigidity of the speed reducer is tested and analyzed mainly based on simple starting and stopping conditions, particularly under unstable working conditions such as frequent starting and stopping and positive and negative rotation switching, the result is easily influenced by rigid body rotation and transient disturbance, and the real dynamic torsional rigidity characteristic of the speed reducer cannot be accurately tested are solved. Due to the fact that unsteady state start-stop working condition construction and relative torsion state quantity construction are introduced, the accuracy and stability of the dynamic torsion rigidity test result of the speed reducer are improved.

This invention belongs to the field of flight control and fault diagnosis technology for flying-wing unmanned aerial vehicles (UAVs), and relates to an active identification method for the performance loss of multiple control surfaces in flying-wing UAVs. The method superimposes a single, mutually exclusive set of orthogonal multi-sine excitation signals with distinct frequencies onto the closed-loop control commands of the six trailing-edge control surfaces of the flying-wing UAV; it collects three-axis angular velocities, obtains the three-axis torque coefficients through numerical differentiation and inverse kinematics of rigid body rotation; constructs three-channel regression models for roll, pitch, and yaw; and uses a recursive least squares equation error method with a forgetting factor to identify the control derivatives of each control surface online; normalizes the identified control derivative values ​​of each control surface in the three torque channels to obtain channel-by-channel performance coefficients; pre-determines the set of torque channels participating in the voting according to the physical main control action of each control surface; weights the selected channels within a sliding window using the reciprocal of the coefficient of variation as the weight; and uses a dual criterion of coefficient of variation and drift criterion for convergence determination, outputting the final performance coefficients.

The invention belongs to the field of helicopter rotor dynamics analysis and design, and discloses a flexible blade structure dynamics system calculation method. A helicopter rotor is of a typical flexible cantilever beam structure with a high aspect ratio, the basic motion characteristic of the helicopter rotor is that large-range rigid body rotation and elastic deformation coexist, the helicopter rotor is a typical rigid-flexible coupling system, and the deformation rule is very complex. For such systems, the dynamics behaviors of the systems are generally described by adopting a multi-body system dynamics theory based on Cartesian coordinates. From the form, the kinetic equation of the flexible blade is generally DAEs with a second-order differential form. In order to ensure the calculation precision of system response and structural dynamic characteristics and solve the defect of constraint default existing in a traditional direct integration method, the invention provides a DAEs solving method which adopts a simple and easy-to-implement default correction strategy to accurately correct the generalized displacement and the generalized speed of the system, so that the accuracy of the system response and structural dynamic characteristics is improved. Therefore, the accurate solution of the blade structure dynamics DAEs is realized.