654 results about "Synchronism" patented technology

The invention relates to the technical field of cable production automation control, and provides a crosslinked cable production control method based on an improved PID (Proportion Integration Differentiation) control algorithm, which comprises the step of constructing an optimal reference model by establishing a cooperative control framework of temperature, pressure and traction speed and taking the temperature of a vulcanization pipe as a main control variable and the pressure and the traction speed of an extruder as slave control variables. A main controller tracks a temperature set value in real time, PID parameters are dynamically set according to technological parameters such as the thickness deviation of an insulating layer and the crosslinking degree of a material, and precise control is achieved through a three-ring cooperative coupling improved PID controller. A temperature control ring enables the steady-state error of the actual temperature and the set value to be converged to zero. The pressure and speed control loop converges the fluctuation amplitude to a process allowable range. The temperature stability, the pressure uniformity and the traction synchronism of crosslinked cable production can be improved, the process fluctuation and the defect rate are reduced, and the product quality and the production efficiency are improved.

The invention discloses a folding wing and rudder design method and an unfolding locking mechanism thereof. The locking mechanism comprises a connecting handle, an elastic torsional spring and a rotating shaft. A locking head and a connector are arranged on the two sides of the bottom of the folding wing or the folding rudder respectively; the design method comprises the steps of obtaining performance parameters, and determining specific indexes such as folding sizes and unfolding time of the folding wing and the rudder. And designing a structural model according to principles of generalization, reliability and the like, and determining geometric parameters of the wing and the rudder. Verifying the strength of parts of the locking mechanism, calculating a plurality of parameters of an elastic torsion spring, and analyzing the unfolding time and synchronism. Finally, consistency checking is conducted based on finite element simulation analysis, torque and bending moment are applied in ABAQUS software according to parameters, the structural strength of the folded rudder is analyzed, and it is ensured that the design meets the requirement. According to the folding wing and rudder design method, through the scientific design process and multi-principle comprehensive application, the high-performance requirement is met, meanwhile, the cost is effectively reduced, the reliability and maintainability of products are improved, and the remarkable beneficial effects are achieved.

The invention relates to the technical field of integrated control, in particular to a multi-energy valve integrated control method and system.The multi-energy valve integrated control method comprises the steps that operation records of a multi-energy valve are obtained, the energy supply rate, transmission delay and instantaneous pressure variation in each energy mode are calculated, and the displacement change rate and load torque deviation of a valve executing mechanism are obtained; and calculating an execution synchronization error under the multiple energy modes to obtain a multi-energy mode execution synchronization offset. According to the invention, by calculating the energy supply rate, transmission delay and instantaneous pressure variation in various energy modes and combining the displacement change rate and the load torque deviation of the valve actuating mechanism, the control capability of the execution synchronism of the energy modes is improved, and by combining the execution error brought by energy mode conversion, the trigger advance of a control signal is adjusted, so that the control accuracy of the energy modes is improved. The control signal time sequence is corrected, the coordination of energy scheduling is improved, the valve opening adjusting rate is optimized according to the fluid flow speed and pressure data, transient pressure impact is reduced, and the stability of the system is improved.

The invention discloses a mutual inductor digital output synchronism detection method and system, particularly relates to the field of electric power engineering detection, and is used for solving the problem of synchronism deviation concealment caused by phase-locked loop drift of digital output of an electronic mutual inductor in an intelligent substation. A uniform time frame is utilized to penetrate through the whole process, synchronization deviation is continuously mapped into a phase migration track, long-term drift and instantaneous jitter are analyzed on two scales by means of phase shift stacking quantity and pulse dispersion rate, two kinds of heterogeneous features are converted into a single drift tradeoff coefficient through Gaussian process regression, and a stability domain threshold value is dynamically revised according to the single drift tradeoff coefficient; after the threshold is triggered, the minimum adjustment amount is immediately issued to the phase-locked loop and is synchronously verified, so that the clock adjustment action and the drift monitoring are mutually nested; the protection device continuously receives the stable sampling sequence, the tripping misjudgment rate is remarkably converged, the inspection period is prolonged, and additional hardware investment is not needed.

The invention discloses a multi-device high real-time control method based on an RS485 (Recommended Standard 485) bus. The system comprises two RS485 communication channels, one RS485 communication channel is used for generating a periodic synchronization pulse, the other RS485 communication channel is used for transmitting data, slave scanning and time sequence synchronization between each slave and a host are realized through the periodic synchronization pulse and a phase-locked loop of each slave, and each slave is connected with the host after a fixed delay duration of a periodic synchronization pulse signal. And starting to send data not exceeding the preset quantity. The method has the beneficial effects that the host and all the slaves are ensured to send data by using respective time slices in one communication period without conflicts, the synchronism of the data is ensured, the utilization rate of the bus is improved, and more data can be transmitted in unit time.

The utility model relates to the technical field of circuit breaker structures, in particular to a rotating shaft structure of a double-breakpoint molded case circuit breaker, which is characterized in that a rotating shaft main body is of an integral structure design, a contact groove is formed in the rotating shaft main body along the radial direction, the middle part of a moving contact is inserted into the contact groove, and two ends of the moving contact penetrate out along an opening of the contact groove; the static spring shaft and the moving spring shaft are used for being in butt joint with the static contact, the static spring shaft and the moving spring shaft are located on the two sides of the moving contact respectively, the two ends of the contact spring are connected to the static spring shaft and the moving spring shaft respectively, and the moving spring shaft is pulled through elastic tension of the contact spring so that the two sides of the moving contact can abut against the inner side wall of the contact groove respectively. Due to the integral structure design of the rotating shaft main body, the three-phase synchronism of the molded case circuit breaker is consistent, the limit breaking capacity and the operation breaking capacity of the circuit breaker are greatly improved, the safety and the reliability of the circuit breaker in operation are improved, and the electrical life of the circuit breaker is prolonged.

The invention relates to an intelligent pushing monitoring system for a steel grid beam, and the system is characterized in that a data processing module constructs a processing system covering a data collection-washing-storage full link, and provides a high-confidence data base for an intelligent deviation rectification module; through synchronous monitoring of steel grid beam pushing distance, attitude parameters, guide beam front end elevation, temporary pier settlement and transverse and longitudinal corners by the geometric monitoring module, and through combination of data acquisition of stress deformation of key components by the structure monitoring module, omnibearing real-time monitoring of spatial geometric parameters and mechanical states in a construction process is realized. The intelligent deviation rectifying module receives the preprocessed geometric monitoring parameters in real time, automatically generates a jack stroke adjusting instruction and directly issues and executes the jack stroke adjusting instruction, one-key adjustment is achieved, the defects of operation delay and deviation rectifying discontinuity caused by manual calculation and segmented adjustment are overcome, the pushing synchronism control precision is effectively improved, and the working efficiency is improved. The stress balance of the beam body in the pushing process is guaranteed from the system level, and the safety risk is reduced.

The invention relates to the technical field of badge production, in particular to badge production equipment with foam sticking and film tearing functions, which comprises a machine table, a linear circulating conveying mechanism, a plurality of upper cover carriers, a lining paper supply mechanism, a picture supply mechanism, a lower cover pin mounting and foam sticking machine, a lower cover feeding station, a press-fitting forming device and a multi-station synchronous feeding manipulator. The assembly of the upper cover assembly and the assembly of the lower cover assembly are synchronously carried out, pin assembly, foam pasting and film tearing are completed on line, the automation degree is high, the badge production efficiency is greatly improved, the labor intensity and the labor cost for producing badges with foam are reduced, the structural layout is reasonable and compact, and the production efficiency is improved. All feeding and transferring actions can be completed only through the multi-station synchronous feeding mechanical arm and the multi-station synchronous transferring mechanical arm, the using number of the mechanical arms is reduced, the production and manufacturing cost is reduced, and feeding and transferring synchronism is good.

The invention discloses a pipe network flow closed-loop regulation-oriented double-body valve coordination control system and method, and relates to the technical field of data acquisition control. The double-body valve coordination control system and method for pipe network flow closed-loop regulation comprises the following steps that S1, a double-body valve data set is collected to be subjected to segmented scaling normalization processing; s2, fragmented recombination and time sequence consistency screening are carried out, and quality scoring is carried out; s3, a double-body valve adjusting instruction is generated for combined control, and a control strategy state is output; and S4, establishing an associated index for each sampling time slice, and performing integrated version archiving and playback recalculation. The synchronization, stability and traceable operation and maintenance capability of cooperative closed-loop adjustment of the double-body valve are effectively improved, and the problems of asynchronization and mutual interference in cooperative control of the double-body valve are solved.

The invention relates to a telescopic storage rack, belongs to the technical field of hydraulic driving devices and multi-layer storage rack structures, and mainly solves the problems that an existing storage rack is poor in interlayer synchronism, strenuous in operation and insufficient in long-term stability. The device comprises at least two storage layers, each storage layer is formed by connecting a first frame body and a second frame body in a crossed and sliding mode, and connecting rods of the first frame body and the second frame body penetrate through sliding holes of U-shaped pieces of the opposite side to form a telescopic structure. The hydraulic synchronous driving mechanism comprises a double-acting hydraulic cylinder, a manual hydraulic pump, a two-way control valve and a hydraulic locking valve, the hydraulic cylinder is transversely fixed to the inner side of the first frame body end part, a piston rod is hinged to the second frame body end part, and an oil way is connected to a rodless cavity and a rod cavity of the hydraulic cylinder through a high-pressure hose; the two-way control valve switches the oil flow direction to achieve synchronous stretching and retracting, and the hydraulic locking valve closes an oil way. The device is compact in structure, stable in operation and suitable for high-precision synchronous adjustment scenes such as medical equipment and laboratory operating tables.

The invention provides a tee joint cold-pushing one-time forming device and a tee joint cold-pushing one-time forming process, and belongs to the technical field of three-pushing pipes. A three-way rack; the three-way cold pushing table is arranged at the upper end of the three-way rack; the three-way pipe placing groove is formed in the upper end of the three-way cold pushing table; the three-way forming groove is formed in the lower inner wall of the three-way pipe placing groove; the number of the hydraulic fixing devices is two, and each hydraulic fixing device comprises a clamping pressurizing block, a three-way pipe hydraulic clamping block, a three-way pipe fixing ring, a first oil groove, a front pushing block, a hydraulic oil connecting groove, a second oil groove, an oil groove partition plate, an oil groove communicating hole, a clamping inserting rod, an oil groove plugging block, a sliding-in sleeve and a sealing ring; the linearity and synchronism of the clamping action are effectively guaranteed, and deviation or clamping stagnation in the clamping process is prevented.

The invention relates to the technical field of rolling equipment, in particular to a linkage adjusting mechanism for roller spacing and pressure detection, an adjusting method and a three-roller machine, the adjusting mechanism achieves precise adjustment of the roller spacing through linkage of a supporting seat, a bearing seat, a connecting rod assembly and a linear driving part, and pressure is monitored in real time through a pressure sensor on a connecting rod. The three-roller machine is integrated with the adjusting mechanism and further comprises a rotation driving mechanism for driving the rollers to rotate and a feeding and discharging component. According to the adjusting method, by fixing or driving the linear driving piece and the bearing seat, roller distance adjustment and pressure real-time monitoring are achieved. The device solves the problems that traditional equipment is low in adjusting precision, lags behind pressure detection and the like, has the advantages of being good in adjusting synchronism, timely in pressure feedback and wide in application range, and can be used for material rolling and dispersion machining.

The invention discloses a centering adjusting mechanism which comprises a base plate, a guide unit is arranged on the base plate, the guide unit is in sliding connection with a plurality of positioning assemblies, each positioning assembly comprises a positioning block and a connecting shaft, a rotating disc is rotationally connected to the base plate, a plurality of driving inclined grooves are formed in the rotating disc, and the driving inclined grooves are connected with the positioning blocks. The connecting shafts are connected into the corresponding driving skewed slots, the positioning blocks are located on the side, away from the base plate, of the rotating disc, and each driving skewed slot comprises a contraction end relatively close to the side of the center of the rotating disc and an expansion end relatively away from the side of the center of the rotating disc. And the extension direction of the driving chute is staggered with the guide direction of the guide unit. According to the centering adjusting mechanism, when products with different sizes are placed, all the positioning blocks can be synchronously adjusted, so that the adjusting synchronism is improved, and the adjusting efficiency can be improved to the maximum extent.

The invention discloses a double-end self-adaptive flexible relay elastic sheet pressing device and an assembling machine thereof, the double-end self-adaptive flexible relay elastic sheet pressing device comprises a pressing mechanism and a jig, and the pressing mechanism is arranged at the output end of a pressing cylinder; the jig is horizontally arranged below the pressing mechanism; the press-fit mechanism comprises a press-fit support, a connecting base, a lifting sliding base and a press-fit assembly. The press-fit support is of a box-shaped structure, and a vertically-extending sliding cavity is formed in the press-fit support. The lifting sliding seat is embedded in the sliding cavity in a sliding mode, and the connecting seat is fixed to the top of the lifting sliding seat; the number of the press-fit assemblies is two, and the two press-fit assemblies are horizontally arranged at the bottom of the lifting sliding base in a spaced mode and connected through a horizontally-arranged self-adaptive spring. According to the invention, efficient and accurate installation of the relay frame body and the moving terminal is realized, the installation efficiency and precision are effectively improved, meanwhile, a self-adaptive two-way synchronous linkage flexible clamping function is achieved, the clamping stability of the relay shell during assembly is ensured, the synchronism and efficiency of opening and closing of the carrier are improved, and the energy consumption of opening and closing is reduced.

The invention provides a communication method and a communication device. The method comprises the steps that a reference signal is received, the reference signal comprises a first sub-signal and a second sub-signal, the first sub-signal is located in front of the second sub-signal, the reference signal comprises X OOK symbols, the X OOK symbols comprise X1 first symbols and X2 second symbols, the signal amplitude of the first symbols is larger than or equal to a first threshold value, and the signal amplitude of the second symbols is larger than or equal to a second threshold value; the signal amplitude of the second symbol is smaller than or equal to a second threshold value, X is an integer larger than 0, X1 and X2 are integers larger than or equal to 0, and X1 + X2 = X. In the application, the reference signal comprises two parts which are respectively called the first sub-signal and the second sub-signal, so that a receiving end can estimate the signal amplitude mean value of the reference signal or the second sub-signal according to a part of signals in the reference signal, namely the first sub-signal, so that the receiving end can execute direct current removal operation based on an estimation result, and the direct current removal efficiency is improved through the direct current removal operation. And the synchronization performance of the reference signal is improved.

The invention discloses an intelligent synchronous control and deviation correction method for pushing slippage of a large-span truss roof, and belongs to the technical field of building engineering construction. The system comprises a multi-sensor fusion monitoring module and a distributed hydraulic pushing execution module, displacement, stress and attitude data are collected in real time, structural response is pre-judged in combination with a digital twinning technology, pushing parameters are dynamically adjusted based on an algorithm, and millimeter-level synchronous precision and active deviation correction are achieved. And meanwhile, in order to effectively control the central axis position deviation in the truss sliding process, a guide frame and a limiting pulley are arranged on the outer side of the lattice column tower to prevent the structure from being damaged due to overlarge deviation. The technical problems of poor synchronism, deviation correction lagging and structural instability in traditional pushing slippage are solved, and the construction safety and efficiency are remarkably improved.

The invention provides a multi-motor cooperative control system based on an open-source real-time operating system, and relates to the technical field of multi-motor control, the system calculates a target rotating speed through an upper computer controller, and ensures that a rotating speed instruction can be simultaneously sent to a plurality of dynamometers by using a real-time controller. By means of the EtherCAT high-speed communication protocol, the system can synchronously transmit instructions with extremely low delay, and it is guaranteed that all the drivers receive and execute the same operation instructions at the same moment. In addition, by setting consistent acceleration and deceleration time and PI control parameters of a speed loop and a current loop in the driver, the synchronism and response performance of the system are further optimized. The invention aims to realize high-precision synchronous operation.

The invention belongs to the technical field of additive manufacturing, and discloses a method and device for improving 3D printing quality, the device is used for being matched with an FDM 3D printing system, the device comprises a printing platform (4), a containing cavity (5), a temperature control system, an annular ultrasonic auxiliary system (3), a liquid circulation system and an infrared liquid level detector (8), and the containing cavity (5) is provided with an ultrasonic generator (53); the annular ultrasonic auxiliary system (3) comprises an annular support (31), an ultrasonic array module (32), a spray header module (33) and a lifting mechanism (34). According to the 3D printing device, the assemblies are improved, and 3D printing can be effectively improved through the overall arrangement of the containing cavity, the temperature control system, the annular ultrasonic auxiliary system, the liquid circulation system and the infrared liquid level detector. The device is flexible in structure, high in synchronism and excellent in local treatment capacity, and the surface smoothness and structural integrity of the FDM 3D printing piece can be remarkably improved.

A synchronization mechanism, a rotating shaft mechanism, and an electronic device are provided. The synchronization mechanism in this application may be applied to an electronic device such as a mobile phone, a tablet computer, a tablet computer accessory, or a wearable device. The synchronization mechanism includes a base, a slider, an elastic component, and a first swing arm and a second swing arm that are on two sides of the slider. A helical surface elastically abuts against an abutting portion under an action of the elastic component, so that the first swing arm and the second swing arm rotate at a same angle relative to the base. The elastic component can enable the helical surface and the abutting portion to be always in an abutting state during rotation of the swing arms, so that rotation synchronization of the swing arms on the two sides is improved.

The invention relates to the technical field of motor driving control, and discloses a motor driving method with low delay response. The method comprises the steps of collecting real-time operation parameters such as motor speed data, position data and current data, determining a low-delay control model based on the parameters, generating a dynamic adjustment instruction by using the model and applying the dynamic adjustment instruction to a motor driving system, and executing feedback calibration operation according to motor response data so as to update the model. Parameters are collected in real time, and an adaptive control model is constructed, so that a control instruction can be changed along with the running state of the motor, and the lag of an intermediate link is reduced; the dynamic adjustment instruction directly acts on the driving system, and the response speed is increased; the feedback calibration criterion compensates performance drift through continuously optimizing the model, and ensures that the motor keeps stable dynamic performance under different working conditions. The method can enhance the response capability of the motor in the scenes of load sudden change, speed switching and the like, improve the synchronism of multi-motor cooperation, reduce mechanical wear, and is suitable for various motor types and application scenes.

The invention discloses a wireless cooperative control system and method for an equipment cluster, relates to the technical field of equipment cooperative control, and is used for solving the problem of how to realize a PTP-like slave synchronization mechanism and timestamp re-calibration filtering through software so as to eliminate the influence of clock drift, cross-domain time synchronization errors and wireless jitter. By introducing time synchronization middleware, especially a time delay decomposition engine, complex end-to-end wireless communication time delay can be accurately decomposed into a fixed component and a random jitter component, modeling and estimation are carried out based on observable features, the precision and robustness of wireless time synchronization are remarkably improved, and the time synchronization efficiency is improved. And the influence of the uncertainty of the wireless channel on the synchronization performance is overcome.

The invention belongs to the technical field of power electronics, and particularly relates to a high-synchronization control device and method for IGBT series valve driving signals, and the device comprises a main control case which is used for issuing an unlocking instruction and a modulation wave to a valve control main control board when all IGBT series valves are powered on; the valve control master control board is used for modulating the modulation wave to obtain a PWM signal and sending the PWM signal to the valve control slave control board; after a handshake signal responded by the valve control slave control board is received, an unlocking instruction is sent to the valve control slave control board; the valve control slave control board is used for responding a handshake signal to the valve control master control board when receiving the PWM signal; and after an unlocking instruction is received, the IGBT series valve is controlled to act through the control subunit controller according to the PWM signal. According to the technical scheme provided by the invention, the synchronism of PWM signal modulation is ensured, the high synchronism requirement of all IGBT devices is met, and the control precision of the IGBT series valve is improved.

The invention relates to the technical field of scraper conveyors, in particular to a scraper conveyor chain fault monitoring method and system, and the method comprises the steps: obtaining a first sensor monitoring signal and a second sensor monitoring signal at two chains of a scraper conveyor; determining a synchronism index between the two chains according to the multi-dimensional time domain characteristics of the first sensing monitoring signal and the second sensing monitoring signal; under the condition that the synchronism index is lower than a first threshold value, the matching degree between the multi-dimensional time domain feature of the current operation period of the single-side chain and the multi-dimensional historical time domain feature of the historical operation period of the single-side chain is determined, and under the condition that the matching degree of the single-side chain is lower than a second threshold value, it is determined that the single-side chain has a chain breakage fault; and according to the speed change trend of the chains on the two sides of the scraper conveyor in the current operation period, whether the scraper conveyor has a double-chain broken chain fault or not is determined. According to the invention, the reliability of monitoring the chain breakage fault of the chain of the scraper conveyor is improved.

The utility model relates to a rope arranging device for a hydraulic winch, which is mounted on a base of the hydraulic winch and comprises a rope arranging mechanism which is positioned on one side of a winding drum along the radial direction and is used for guiding a cable to be arranged, and a moving mechanism which is parallel to the axis of the winding drum is connected onto the rope arranging mechanism. The rope arranging device is characterized by further comprising a transmission mechanism located on one side of the winding drum in the axial direction, and the transmission mechanism can be connected with a driving source of the winding drum and the moving mechanism, so that when the winding drum rotates, the moving mechanism can synchronously drive the rope arranging mechanism to move in the axial direction of the winding drum. The rope arranging device has the advantages that the rope arranging device is connected with the driving source and the moving mechanism through the transmission mechanism, the winding drum and the rope arranging assembly can be driven at the same time only through one driving source, and the synchronism between the winding drum and the rope arranging assembly is improved; the situation that due to the fact that the rope arranging assembly or the winding drum is blocked, the cables are arranged irregularly on the winding drum is avoided, and therefore the cables are arranged more orderly on the winding drum.

The invention provides a cluster synchronous jacking and underpinning method and system based on a control algorithm, and relates to the technical field of constructional engineering reinforcement and renovation. The method comprises the steps that displacement and stress of each jacking point at each moment in the jacking process are obtained; the displacement and stress deviation of each jacking point at each moment and the displacement deviation between the jacking points are calculated; jacking points needing to be regulated and controlled are screened according to the deviation; and the jacking point needing to be regulated and controlled is regulated and controlled based on a proportional integral differential control algorithm and the deviation until jacking is completed. By monitoring the state of each jacking point in real time, when the deviation of each jacking point exceeds the precision range or the synchronous error between the jacking points exceeds the allowable range, the displacement and stress of each jacking point are controlled by regulating and controlling the hydraulic device through the proportional integral differential control algorithm; the precision and synchronism of the jacking point in the jacking process are effectively improved, automatic jacking point regulation and control are achieved, and the stability and safety of the jacking process are ensured.

The invention relates to the technical field of electronic component processing equipment, in particular to a terminal pin bending device, which realizes synchronous and symmetrical bending of pins on two sides of an electronic device through synchronous opposite movement of two groups of bending modules arranged in mirror symmetry, ensures complete synchronism of bending movement on two sides, and improves the processing efficiency. Meanwhile, the bending module is provided with an extrusion part, a check block is arranged at the bottom of the material disc, guide sliding grooves are symmetrically formed in the two sides of the check block, and the guide sliding grooves are matched with the extrusion part, so that it is ensured that the pins are evenly stressed in the bending process, and the pins are effectively prevented from being deformed and damaged; in addition, a linear conveying assembly is arranged to achieve accurate positioning and conveying of the trays; the jacking assembly drives the bending assembly to ascend and descend stably, and mutual interference among multiple mechanisms is avoided. The lifting module is used for quickly lifting and positioning the charging tray; the downward pressing mechanism applies stable downward pressing force to the electronic device, displacement of the electronic device in the bending process is prevented, and the bending quality is ensured.

The invention provides a cloud synchronization method, electronic equipment, a storage medium and a chip, and relates to the technical field of cloud synchronization, when second electronic equipment synchronizes a file to a cloud server, the cloud server stores a file type of the file and a cloud side unique identifier; and when the first electronic equipment synchronizes the file from the cloud server, comparing the cloud-side unique identifier of the cloud-side synchronization file with the cloud-side unique identifier of the local synchronization file to obtain different files, and determining a processing mode (such as a write-in mode and deletion of the local file) of each different file according to the file type and the attribute information. Through the cloud synchronization mode, the difference file (the file which is not synchronized from the cloud server by the first electronic equipment) in the cloud side synchronization file (the file which has been synchronized by the cloud server due to change) is obtained, the data volume of the difference file is small, and the process is simple; in addition, due to the fact that the processing modes of the different files are determined according to the file types and the attribute information, synchronism is better.

The invention relates to the technical field of electronic component processing equipment, in particular to a two-way bending mechanism which is characterized in that through precise matching of an inclined guide sliding groove and bending execution pieces, when a driving module drives a movable base plate to move, the two bending execution pieces are guided by the guide sliding groove to accurately and synchronously move towards each other or away from each other; not only are the synchronism and the stability of bidirectional bending actions ensured, but also deviation or deformation of the pins in the bending process can be effectively avoided; due to the arrangement of the elastic element, the bending execution piece has an automatic reset function, and the continuous operation efficiency is improved; due to the combined design of the limiting plates and the supporting ribs, the bending stroke is accurately controlled, and stable bearing is provided; according to the pin bending machine, through cooperation with the product conveying assembly, the height-adjustable jacking module and the downward-pressing fixing module, full-process automatic operation from automatic product conveying to precise positioning and stable bending is achieved, the machining precision and production efficiency of pin bending are greatly improved, and the pin bending machine is particularly suitable for pin machining of high-density and large-batch electronic components.

The invention relates to a high-precision tail end path control method for improving the multi-axis synchronization performance of a robot, and the method comprises the steps: building an incidence matrix of a Cartesian space path error and a joint space tracking error of each axis, and constructing a collaborative coupling error which is linearly combined by the joint space tracking error and a multi-axis synchronization error, according to the joint space tracking errors of all the shafts, balance scaling matrixes of all the shaft systems under different characteristics are established and used for adjusting control commands of all the shafts, the cooperative coupling errors are corrected, and the cooperative coupling errors containing the characteristics of all the shafts are obtained; three-ring cascade control is designed to track target torque, speed and position set by the robot; and a synchronous controller of an RBF neural network dynamic model is designed, so that a robot multi-axis cooperative system is established, and high-precision tail end path control of multi-axis synchronization performance is realized. According to the method, the robot path error problem is converted into the motion synchronization problem, multi-axis coordination control is achieved, and therefore the contour precision is improved.

The invention discloses an ejector pin device, and relates to the technical field of semiconductor process equipment. The thimble device comprises a thimble mechanism and a lifting mechanism; the ejector pin mechanism comprises an ejector pin base and an ejector pin fixed on the ejector pin base; in the lifting mechanism, a lifting shaft is fixedly connected to an ejector pin base, a movement base is fixed to the output end of a lifting driver, the lifting shaft is movably connected to the movement base and can ascend and descend along with the movement base, a damping piece is arranged between the lifting shaft and the movement base, and the damping piece can provide resistance for the lifting shaft so as to resist external deflection force borne by the lifting shaft. According to the ejector pin device, deflection of the ejector pin base and the lifting shaft has synchronism, the moving base is arranged at the output end of the lifting driver, and the damping piece is arranged between the moving base and the lifting shaft to resist deflection force borne by the lifting shaft, so that deflection of the lifting shaft can be reduced or avoided; deflection of the ejector pin base fixed to the lifting shaft can be compensated synchronously, and therefore the operation precision of the ejector pin is improved.