121 results about "Spatial rotation" patented technology

A method and apparatus for producing with a gas discharge laser an output laser beam comprising output laser light pulses, for delivery as a light source to a utilizing tool is disclosed which may comprise a beam path and a beam homogenizer in the beam path. The beam homogenizer may comprise at least one beam image inverter or spatial rotator, which may comprise a spatial coherency cell position shifter. The homogenizer may comprise a delay path which is longer than, but approximately the same delay as the temporal coherence length of the source beam. The homogenizer may comprise a pair of conjoined dove prisms having a partially reflective coating at the conjoined surfaces of each, a right triangle prism comprising a hypotenuse face facing the source beam and fully reflective adjoining side faces or an isosceles triangle prism having a face facing the source beam and fully reflective adjoining side faces or combinations of these, which may serve as a source beam multiple alternating inverted image creating mechanism. The beam path may be part of a bandwidth measuring the bandwidths of an output laser beam comprising output laser light in the range of below 500 femtometers at accuracies within tens of femtometers. The homogenizer may comprise a rotating diffuser which may be a ground glass diffuser which may also be etched. The wavemeter may also comprise a collimator in the beam path collimating the diffused light; a confocal etalon creating an output based upon the collimated light entering the confocal etalon; and a detector detecting the output of the confocal etalon and may also comprise a scanning mechanism scanning the angle of incidence of the collimated light entering the confocal etalon which may scan the collimated light across the confocal etalon or scan the etalon across the collimated light, and may comprise an acousto-optical scanner. The confocal etalon may have a free spectral range approximately equal to the E95 width of the beam being measured. The detector may comprise a photomultiplier detecting an intensity pattern of the output of the confocal etalon.

In a pointing input system and method, a pointer applies a light spot on a screen, an array sensor shoots on the screen to generate a first data for an identification system to retrieve a second data therefrom, the second data includes the position information of the light spot for an information system to apply a correlated output on the screen. The second data is generated based on an optical distortion parameter and a spatial rotation and displacement parameter determined by an alignment procedure that comprises applying an input for alignment on the screen for the array sensor to shoot to generate an alignment data, and comparing the alignment data with a reference data.

The invention discloses a genetic algorithm-based calibration method for inertial / geomagnetic sensors, in particular to a method for calibrating an attitude tracking unit which integrates a three-axis micro-acceleration sensor, a three-axis micro-gyroscope sensor and a three-axis geomagnetic sensor. The method comprises the following steps of: (1) acquiring data of the sensors in an all-attitude state by using a self-designed two-axis non-magnetic turntable; (2) calibrating null shifts, scale factors and orthogonal parameters of the three-axis micro-acceleration sensor and the three-axis geomagnetic sensor by using the principle that the modulus values of data outputted by the three-axis micro-acceleration sensor and the three-axis geomagnetic sensor under static conditions are constant; (3) calibrating alignment parameters of the three-axis micro-acceleration sensor and the three-axis geomagnetic sensor by using the spatial rotation angle of a cross product vector of the data of the three-axis micro-acceleration sensor and the three-axis geomagnetic sensor; (4) calibrating the null drift parameter of the three-axis micro-gyroscope sensor based on the calibrated three-axis micro-acceleration sensor; and (5) calibrating the scale factor and the orthogonal parameter of the three-axis micro-gyroscope sensor based on the data of the three-axis micro-gyroscope sensor and a rotation angle provided by the turntable. The invention provides a fast and concise calibration method.

The invention discloses a multi-sound-source locating method based on a spherical microphone array, and the method comprises the following steps of firstly conducting spherical harmonics decomposition for high-order sound fields collected by a spherical microphone array, and building a noise-contained sound source signal model received by a spherical harmonics domain array; then expressing a covariance matrix of data received by the array; classifying the covariance matrix according to a subspace decomposition method to obtain two mutually-orthogonal signal subspace and noise subspace; utilizing the orthogonality of the signal subspace and the noise subspace to define a guide vector of the signal subspace, and extracting one characteristic vector of the noise subspace to build a space azimuth spectrum; and finally searching a spectrum peak position of an azimuth spectrum function, and determining a space azimuth of a sound source. The method utilizes a three-dimensional space rotary symmetric structure of the spherical microphone array to adequately sample the sound field, so that the operation quantity is remarkably reduced through the high-resolution spectrum estimation and dimensional-reduced noise subspace, the sound source azimuth is accurately estimated, and the method can be widely applied to the fields such as a voice signal processing field.

The invention provides a snake-like joint for a surgical robot, a surgical instrument and an endoscope. The snake-like joint has at least one degree of freedom, and the snake-like joint comprises at least one joint connector pair and a flexible structure, wherein each joint connector pair comprises a first joint connector at the lower end and a second joint connector at the upper end; the first joint connectors comprise first substrates, and first bumps and first grooves are arranged on the first surfaces of the first substrates; the second joint connectors comprise second substrates, and second bumps and second grooves are arranged on the second surfaces of the second substrates; the first surfaces and the second surfaces are oppositely arranged; the first bumps are arranged in the second grooves and are capable of rotating relatively to the second grooves; the second bumps are arranged in the first grooves and are capable of rotating relatively to the first grooves; and under the control of the flexible structure, the joint connector pair is swung. Planar rotation or spatial rotation is achieved, so that structural complexity is reduced.

Disclosed is an electronic device having wireless communication functions via a pair of antennas. The device can function under two operating states, both with an omni-directional radiation pattern in the horizontal plane. This is accomplished by an antenna pair mounted separately thereon, the first antenna thereof being omni-directional in the horizontal plane when the device is operative under the first operating state, and the second antenna thereof being omni-directional in the horizontal plane when the device is operative under the second operating state. Also included in the device are a wireless communication module for encoding and decoding signals that are transmitted and received, respectively, during wireless communication through the antenna pair; a RF switch coupling the wireless communication module to the first antenna and second antenna for switching between the first antenna and second antenna; and a trigger switch for detecting the transition of the electronic device between the first operating state and second operating state that causes rotation in space of the antenna pair, and for triggering the RF switch in responsive thereto. The RF switch switches to the first antenna as the electronic device transitions to the first operating state, and the RF switch switches to the second antenna as the electronic device transitions to the second operating state.

The invention discloses a charging robot and a charging mechanical arm thereof. The charging mechanical arm comprises a moving arm and an adjusting arm, and the moving arm and the adjusting arm are connected with each other. The moving arm comprises at least two arm sections in a same moving plane, and each arm section is capable of rotating in the moving plane relative to the adjacent arm sectionto drive the adjusting arm in translational motion in the moving plane. The adjusting arm comprises a base, a mounting portion and an adjusting device, the mounting portion is used for being connected with a charging gun, and the adjusting device is used for driving the mounting portion to rotate around at least one of an X-axis, a Y-axis and a Z-axis relative to the base. By the charging adjusting arm, large-area movement of a charging gun in the moving plane can be realized while spatial rotation of the charging gun can be realized as well, a large moving space is available for the charginggun, the charging gun can be adjusted according to requirements to a position suitable for an electric vehicle to realize a charging process, adjusting the position through driving of the electric vehicle in a charging process is avoided, and convenience in implementation is achieved.

The invention discloses a method for estimating a spatial rotation non cooperative target spindle based on vision SLAM (Simultaneous Localization And Mapping), and relates to a method for estimating the spatial rotation non cooperative target spindle. In order to solve the problems of an existing method that estimation accuracy is poor, a calculation condition is restricted, interferences broughtsince other fragments are in the presence in a picture shot by a camera are not considered, and the estimation error of the rotation non cooperative target spindle is large, the method comprises the following steps that: 1: obtaining a trained YOLO target detection model; 2: establishing a k-ray tree dictionary; 3: estimating a per-frame rotation matrix and a translation matrix; 4: processing eachframe of image collected by a RGBD camera, and stopping collecting images by the RGBD (Red, Green and Blue-Depth) camera until a detection result shows that two-time loopback is obtained or appointedtime or frames are achieved; and 5: ensuring that the fit normal of a spatial plane is the slope of the non cooperative target spindle and the center of circle of a spatial circular arc is a point through which the non cooperative target spindle passes. The method is used for the field of spaceflight on-orbit service.

A transmitter usable for wireless communication includes a plurality of transmit antennas. Each transmit antenna transmits a transmit signal. The transmitter also includes means for introducing time shifts to each of a plurality of spatial stream signals and means for operating on each of the plurality of spatial stream signals with a spatial rotation vector matrix, thereby mapping each of the plurality of spatial stream signals to one of the transmit signals.

The invention relates to an electrolytic maching method for a blisk through an oblique swinging mode of a spatial swivel feeding composite workpiece, which is applied to the electrolytic machining of a blade grid passage of the blisk. The electrolytic machinging method is characterized in that aiming at different types of blisks, a Z-direction rotation and X-direction oblique swinging numerical control rotating platform drives a workpiece to rotate to an optimized angle which is obtained by simulation computing around the X axle before machining is started, and a minimum blade covering angle is sought; a tool is used for feeding along Y-axle and Z-axle space tracks during a machining process, meanwhile, a Y-direction numerical control rotating platform drives the tool to rotate along the Y axle, the Z-direction rotation and X-direction oblique swinging numerical control rotating platform drives the workpiece to swing along the Z axle according to a simulation optimization rule, and the electrolytic machining of the blade grid passage of the blisk is completed through the spatial swivel feeding composite workpiece oblique swinging mode of the tool. According to the electrolytic machining method disclosed by the invention, the allowance difference of machining the blade grid passage can be obviously reduced, the machining accuracy of the blade grid passage of the blisk is increased, and the foundation is laid for realizing of the machining accuracy of a follow-up blade molded surface; the electrolytic machining method can also be applied to the electrolytic machining of a complex surface diffuser and cartridge receiver type parts.

The invention discloses a co-prime array direction or arrival estimation method based on interpolation virtual array covariance matrix subspace rotation invariance, and mainly solves the error of direction or arrival estimation caused by information loss due to the heterogeneity of the virtual array and the base mismatch problem of the predefined space grid points in the prior art. The implementation steps are that a co-prime array is established; the co-prime array receives the signal to perform modeling and calculates the equivalent virtual signal; an interpolation virtual array is constructed and the virtual domain signal statistics is initialized; the optimization problem based on nuclear norm minimization is designed and solved so as to reconstruct the interpolation virtual array covariance matrix; the signal subspace of the interpolation virtual array covariance matrix is formed; two virtual subarray signal subspaces having rotation invariance are constructed; the transformationmatrix of the two virtual subarray signal subspaces is calculated; and the closed-form solution of direction or arrival estimation is formed. The degree of freedom and the accuracy of direction or arrival estimation can be enhanced and the method can be used for passive location and target detection.

The invention provides a three-dimensional geological structure model angular point grid dissection method considering folds. The spatial morphological characteristics of the folds and the regulation of isoclinal lines in Ramsey fold classification are fully considered on the basis of a three-dimensional geological structure model, and angular point grid dissection of the geological structure model is performed with an angular point grid acting as a spatial metadata model and a stratigraphic structure model acting as layer control. Planar grid dissection is performed through the projection range of trend lines and the geological structure model in an XOY plane. Spatial rotation is performed on the multivalued surface stratums of the folds included in the geological model. Vertical grid dissection is obtained through growth of projection points on a curved surface along an inclination angle and other isoclinal line directions according to certain step length, and resetting is performed through inverse matrix transformation after completion of dissection. The spatial coordinates of the corresponding points are calculated through transverse and vertical grid dissection, and the spatial metal-model is constructed according to the coordinates and topological information and visually displayed so that transformation from the three-dimensional geological structure model to the angular point grid meta-model considering the folds is realized.

The invention belongs to the field of laser interference measurement, and relates to a quadrature error-free double-path polarization interference and double-Wollaston prism light-splitting type homodyne laser vibration meter. An interference part generates double paths of linear polarization reference light and linear polarization measurement light whose polarization directions are orthogonal and light paths are overlapped through a quarter-wave plate and a polarization-eliminating beam splitter NBS, and in a detection part, reference light and measurement light generate four paths of photoelectric signals with a phase difference of 90 degrees through two Wollaston prisms whose spatial rotation angles around light beams form a specific relation, thereby obtaining an outstanding characteristic of inhibiting a nonlinear error from a light path structure and in principle. The quadrature error-free double-path polarization interference and double-Wollaston prism light-splitting type homodyne laser vibration meter provided by the invention adopts less optical elements to realize four-channel homodyne quadrature laser interference measurement, can effectively solve the problems in an existing technical scheme that polarization leakage and polarization aliasing exist in the light paths, a direct current biased error and a non-quadrature error exist in an output signal, and a nonlinear error of a measurement result is obvious, and thus has remarkable technical advantages in the field of ultra-precise vibration measurement.

The invention relates to a head posture estimation interest point detection method fusing depth and gray scale image characteristic points. The method comprises the following steps: extracting the characteristic points of a depth image; extracting the characteristic points of a gray scale image; fusing the characteristic points of the depth image and the gray scale image. The characteristic point detected on the basis of the depth image and the characteristic point detected on the basis of the gray scale image are combined to form certain characteristic points which are positioned accurately and are high in robustness, thereby inheriting the advantage of the detection of different characteristic points of the depth image and the gray scale image, and realizing maximum and rapid detection of characteristic points with great surface variations in the depth image and a pupil area with a great gray scale value in the gray scale image. In particular, a calculation mode for correcting a calculated Haar-like characteristic value in the depth image is provided, the finally-extracted characteristics have certain spatial rotation invariability, and the true values of human face characteristic points can be approached under the situation of large-angle rotation, thereby increasing the final characteristic point detection accuracy, and shortening the detection time.

The invention discloses a three-phase short circuit current calculating method for a double-fed motor. The method comprises calculating the stator side equivalent reactance after short circuit; calculating and obtaining the stator side linkage initial value and the rotor side linkage initial value before short circuit according to the stator side equivalent impedance after short circuit and the double-fed aerogenerator electromagnetic transient equation under the space rotating coordinates; calculating and obtaining the transient stator side linkage and the transient rotor side linkage according to the stator side linkage initial value and the rotor side linkage initial value before the short circuit; calculating and obtaining the stator side current according to the transient stator side linkage and the transient rotor side linkage; and obtaining the short circuit for A-phase, B-phase and C-phase, the short circuit current instantaneous maximum value and the short circuit current periodic component effective value by performing transformation of coordinates for the stator side current. The three-phase short circuit current calculating method for a double-fed motor is higher in calculating accuracy.

The invention belongs to the technical field of vibration measurement with laser, and relates to a quadrature error-free single-path circular polarization interference and double-Wollaston prism light-splitting type homodyne laser vibration meter. An interference part generates a single path of circular polarization reference light and circular polarization measurement light whose polarization directions are orthogonal and light paths are overlapped through two quarter-wave plates and a polarization-eliminating beam splitter NBS, and in a detection part, reference light and measurement light generate four paths of photoelectric signals with a phase difference of 90 degrees through two Wollaston prisms whose spatial rotation angles around light beams form a specific relation, thereby obtaining an outstanding characteristic of inhibiting a nonlinear error from a light path structure and in principle. The quadrature error-free single-path circular polarization interference and double-Wollaston prism light-splitting type homodyne laser vibration meter provided by the invention adopts less optical elements to realize four-channel homodyne quadrature laser interference measurement, can effectively solve the problems in an existing technical scheme that polarization leakage and polarization aliasing exist in the light paths, a direct current biased error and a non-quadrature error exist in an output signal, and a nonlinear error of a measurement result is obvious, and thus has remarkable technical advantages in the field of ultra-precise vibration measurement.

A method and apparatus for a layered rotational graphics driver are described. A rotation driver is loaded. The rotation driver is layered between a graphics device interface and a display driver. The rotation driver allocates a first memory space and the display driver allocates a second memory space. An image is rendered into the first memory space. The image has a first orientation within the first memory space. The image is rotated from the first memory space into the second memory space. The image has a second orientation within the second memory space. The image is displayed in the second orientation from the second memory space.

The invention belongs to the field of numerical control machine tool measurement technology study and particularly relates to a five-axis numerical control machine tool space error distinguishing method. According to the method, a ball bar instrument error measuring device with one end fixed to a main shaft of a five-axis numerical control machine tool and the other end fixed to the center of a rotating working table is put up; a space error measuring model is set up; a model test is set up, by means of compensation work at different angles of a ball bar instrument, the theory bar length of the ball bar instrument of the numerical control machine tool and the actual bar length displayed by the ball bar instrument are read, data is taken into the space error measuring model, the angle errorfactor and the rotating error factor of a rotating shaft of the five-axis numerical control machine tool are distinguished, the ball bar instrument is changed from XOY single plane motion into spacemulti-plane motion, and the distinguishing range of the ball bar instrument is converted from plane rotation into space rotation.

The invention relates to an unsupported 3D printing method based on a dynamic slicing algorithm. The unsupported 3D printing method comprises the following steps: extracting a neutral skeleton point set of a model according to triangular patch data in an STL document of the model; performing curve fitting on the neutral skeleton point set to obtain a neutral skeleton curve; selecting a slicing point on the neutral skeleton curve of the model and calculating a tangent vector of the point, wherein the slicing direction is always perpendicular to the Z-axis direction of a five-axis 3D printer through real-time control on the spatial rotation of a five-axis 3D printing receiving platform; finally generating a G code identified by the five-axis 3D printer to realize spatial printing. The unsupported 3D printing method provided by the invention mainly focuses on the unsupported printing of a cantilever structure with continuous holes or grooves, simultaneously avoids external and internal supporting structures of cantilever mechanism printing parts, reduces the printing supply and time, avoids the stripping support post-treatment process and improves the flexibility of an unsupported printing process.

The invention discloses a partly-corrected symmetrical uniform linear array based narrow-band near-field signal source positioning method. The method includes: dividing an array into two overlapped and symmetrical subarrays, supposing that phase and amplitude gain of part of sensors of the array are given, and utilizing a spatial rotary invariant technology to estimate to obtain a direction-of-arrival angle of a near-field signal prior to utilizing the estimated direction-of-arrival angle and a multiple-subspace signal classification technology to solve distance information of the near-field signal. Calculated amount is lowered and estimated performance is improved from two aspects including firstly, a low-dimension cost function is constructed when the direction-of-arrival angle is estimated and secondly, a two-dimensional estimation problem is transformed into two one-dimensional estimation problems when the near-field direction-of-arrival angle and the distance are estimated.

The invention relates to an identification method for a space target rotation state based on a binocular vision. The method comprises the steps that a binocular camera is arranged at an optional position P nearby a target; two optional mark points namely A and B on the target serve as characteristic points; a direction vector of a rotation axis is calculated; projections of the mark point A and the mark point B on a rotation plane are calculated; an rotation angle of the operating target is calculated; an angular rotation speed is calculated; and identification results of an angular rotation speed vector of the target and a rotation axis equation of the target are obtained. The method has the benefits that the method has the characteristics of less calculated amount, high identification speed, high identification precision, and easiness in realization; the deficiency that the existing method cannot identify the target rotation axis is overcome; and the method can be used for identifying rotation states of space targets, such as a self-rotation satellite and an uncontrolled rotation satellite, lays a foundation for close-range space operation on the space rotation targets, and has great utilization potentiality.

The invention relates to the field of spaceflight, in particular to a gradient lattice structure for additive manufacturing and a design method thereof. The embodiment of the gradient lattice structure comprises multiple stages of layered lattices sequentially connected in the preset direction, and each stage of the layered lattices comprise at least one lattice cell unit; and each lattice cell unit comprises multiple rod parts, the multiple basic rod parts intersect at one point, and the lattice cell unit has the triple or quadruple or sextuple spatial rotation symmetry in the preset direction of the intersection points. In the preset direction, the gradient of the configuration of each lattice cell unit in each stage of the layered lattices is increased relative to the configuration of each lattice cell unit in the last stage of the layered lattices. The gradient of the configuration of each lattice cell unit in each stage of the layered lattices is increased relative to the configuration of each lattice cell unit in the last stage of the layered lattices, therefore, the strength and the rigidity of the layered lattices are improved step by step, and performance gradient changesof the whole gradient lattice structure are achieved.

A rotor for a rotary electric machine includes a rotor core being rotatable around a rotational axis. The rotor core includes a plurality of steel plates stacked in a stacking direction. Each of the plurality of steel plates includes a plurality of magnet insertion piece holes, a plurality of through piece holes, a radially inner side annular ring, a radially outer side annular ring, and a plurality of ribs. The plurality of magnet insertion piece holes are provided at every first circumferential space. The plurality of magnet insertion piece holes constitute a plurality of magnet insertion holes in a state in which the plurality of steel plates are stacked in the stacking direction while the plurality of steel plates are rotated by the first circumferential space at every timing at which a predetermined number of the plurality of steel plates are stacked in the stacking direction.

The invention discloses a space rotating angle measuring method based on a double-shaft obliquity sensor. The method is to establish a physical model between a sensor and a rotating shaft through a measuring module formed by a double-shaft sensor according to three unknown space angles formed based on an installation mode of the sensor and a spatial relation among the rotating shafts, so as to obtain a calculation method of the three unknown installing angles, so that the rotating angle around the space rotating shafts is detected. According to the traditional technology of detecting an angle through an obliquity sensor, the rotating shafts of a detected object must be levelly arranged, and the sensor and the measuring module also must be kept in level state, all the operations are hard to implement in engineering; compared with traditional technology, the method disclosed by the invention has the advantages that the space rotating angle measuring method can be achieved only if the module is arranged not close and vertical to the level, thereby the space rotating angle measuring method is beneficial for the application in engineering.

The invention discloses a portable gesture identification system and a portable gesture identification method. The system comprises a sensor armlet, a gyroscope glove and a data processor, wherein thesensor armlet is used for acquiring a movement signal of arm muscles and an arm spatial rotation signal of an arm in a target gesture execution process, and sending the movement signal and the arm spatial rotation signal to the data processor; the gyroscope glove is used for acquiring a finger spatial rotation signal of each joint of a finger in the target gesture execution process and sending the finger spatial rotation signal to the data processor; and the data processor is used for extracting target distinguishing characteristic data corresponding to an initial point and an end point of atarget gesture according to the movement signal, the arm spatial rotation signal and the finger spatial rotation signal, matching the target distinguishing characteristic data with distinguishing characteristic data corresponding to gestures in a pre-stored gesture classification set, and determining a gesture category corresponding to the target gesture according to a matching result. According to the above-mentioned method and system, the reliability is high, the gesture can be effectively identified, and high practicability is provided.

The invention discloses a space rotation surface measurement method by using a micro triangle gravity coordinate as an object point. The method comprises the steps of: constructing a coordinate system according to the space rotation surface; determining the measurement range of the space rotation surface; and selecting a plurality of polar radii Rs in the range; aiming at each polar radius R, constructing a plurality of micro triangles to calculate the plane normal vector, and calculating the gravity coordinates, and the gravity is regarded as an object point, using sub-degree method to measure each curve in the space rotation surface; generating datum file consistent with the professional software to read; and analyzing the value range of the equilateral triangle height d through the standard ball experiment. Adopting the method that the gravity coordinates are regarded as the object point can measure the space rotation surface, and the measuring precision is high.

The invention provides a wearable smart ring capable of capturing three-dimensional postures of the four limbs of a human body. The wearable smart ring comprises a joint wearable fixing device worn at a joint position of a human body, wherein an upper connecting rod fixing block and a lower connecting rod fixing block are respectively fixed on an upper connecting rod and a lower connecting rod at the joint position of the human body; an upper connecting rod shaft is connected with the upper connecting rod fixing block; the lower connecting rod shaft is connected with the lower connecting rod fixing block; a joint encoder is used for detecting the joint rotating angle of the human body, a flange is connected with the upper connecting rod shaft, and a rotating shaft is connected with the lower connecting rod shaft; an upper connecting rod gyroscope is used for detecting the spacial rotating direction at the upper connecting rod of the human body; and a joint fixing device end wireless CAN bus is connected with the joint encoder and the upper connecting rod gyroscope respectively and used for transmitting signals of the upper connecting rod gyroscope and signals of the joint encoder. The wearable smart ring has the characteristics of accurate joint angle measurement, precise and timely angle reading, high adaptability, long transmission distance, real-time transmission and the like and effectively solves the problem of data reading delay.

The invention relates to a fatigue solving method of a car frame under the effect of spatial rotation moments. The method comprises the following steps that: a finite element model of a car frame structure under a permanent load is built, and a static solving result under the permanent load is output according to the finite element model; a moment load is exerted on the car frame, and translational constraints in three directions (X, Y and Z) are exerted in positions of support legs; under the condition that the support counter force in the three directions (X, Y and Z) in the positions of the support legs does not generate a negative value, the static solving result of change loads only including the moment load is output, and the static solving result is loaded into a fatigue solving work condition; and then, according to the rotating sequence of the space moment load, the car frame material attribution, a material processing method and a fatigue solving method, the car frame is subjected to fatigue cycle solving, and the fatigue service life and the load cycle amplitude are output. The fatigue solving method has the beneficial effects that the permanent load and the spatial rotation moment load are processed in different steps, so the fatigue solving result of the car frame under the condition of coexistence of the spatial rotation moment and the permanent load is obtained.

The invention relates to a bidirectional adjustable cylindrical welding anti-deformation fixture which comprises a rotary table, a central compressing component and more than three groups of movable supporting components, wherein the central compressing component is arranged on the rotary table, the rotary table is in a rotation state around the central compressing component, the more than three groups of movable supporting components are uniformly distributed on the rotary table around the central compressing component, and the central compressing component props against the more than three groups of movable supporting components so that the movable supporting components are simultaneously extended outwards or simultaneously retracted. According to the bidirectional adjustable cylindrical welding anti-deformation fixture disclosed by the invention, the central compressing component drives the movable supporting components to prop against and fix a cylinder workpiece, and the rotary table capable of rotating in plane and space drives the cylinder workpiece to rotate in two directions by supporting the movable supporting components so that the cylinder workpiece is located and welded; in addition, the bidirectional adjustable cylindrical welding anti-deformation fixture disclosed by the invention has the advantages of simple structure, convenience in operation, low cost and good welding effect; and the welded workpiece has less possibility of deformation.