977 results about "Tractive force" patented technology

The invention relates to the technical field of automatic driving, in particular to a driving control method and system for an unmanned electric tractor, and the method comprises the following steps: obtaining humidity data to generate a state diagram, judging slip to trigger traction adjustment based on the state diagram, analyzing a slope recognition risk to generate a slope parameter, and reading a braking force to judge, coordinate and generate a distribution instruction. According to the method, the humidity difference is obtained through multi-point soil humidity monitoring, distribution characteristics are extracted, accurate sensing of the state of an operation area is achieved, the wheel rotating speed and traction force signals are combined, slipping is recognized in advance, the traction force is dynamically adjusted, and the driving force is kept stable; based on joint analysis of gradient change and vehicle state, slope risk is recognized in advance, optimization control is performed, braking force of front and rear wheels is dynamically distributed, slippage caused by unbalance is avoided, safety of complex terrains is improved, and vehicle stability, path control precision and energy utilization efficiency are improved through cooperation of multi-dimensional data perception and dynamic prediction.

The invention belongs to the technical field of mechanical transmission, and discloses a conductor ring and magnetic resistance array composite permanent magnet thrust bearing and a damping force calculation method. The conductor ring and magnetic resistance array combined type permanent magnet thrust bearing realizes the bearing of non-contact magnetic thrust through the combination of the eddy current ring and the magnetic group array. When thrust from a propeller at the stern end of a propulsion shafting acts, the rotor magnetic group array axially moves, axial traction force is generated between the rotor magnetic group array and the stator magnetic resistance array to counteract the thrust action from the axial direction, meanwhile, the magnetic group array cuts the vortex ring, induction damping is generated on the surface of the vortex ring, damping force is formed, and the vortex ring is driven to rotate. And therefore, the longitudinal vibration during transmission of the propulsion shafting is reduced, and the propulsion shafting system is more silent and stable during operation. In addition, the damping force calculation method does not need complex three-dimensional structure modeling and grid division, is simple in solution, high in universality and short in calculation time consumption, and has high engineering application practical value.

The invention relates to a locomotive coupler calibration test bench, and the test bench comprises a pressurization device which is used for providing the two ends of a to-be-tested coupler with opposite acting forces; the hoisting device is adjacent to the pressurizing device; the protection device is located on the outer side of the pressurizing device, and the protection device is configured to be switched between a first state for shielding the whole area of the pressurizing device and a second state for exposing at least part of the area of the pressurizing device. After the to-be-tested car coupler is hoisted to the pressurizing device through the hoisting device, acting force in opposite directions can be provided for the two ends of the to-be-tested car coupler through the pressurizing device, a conventional mode of applying traction force through locomotive traction is replaced, the force application control precision in the car coupler force calibration process is improved, and then the calibration result precision is improved; and train operation safety is guaranteed. Moreover, in the test process, the precision of the calibration result can be prevented from being influenced by foreign objects through the protection device, and meanwhile, the operation safety of testers is improved.

The invention provides a new energy vehicle flying protection method based on a vehicle comprehensive control system and a medium. The new energy vehicle flying protection method comprises the following steps that vehicle state parameters are continuously collected; based on the vehicle state parameters, judging whether the vehicle enters a flying state or not; after it is confirmed that the vehicle enters the flying state, power pre-adjustment and vehicle body posture pre-adjustment are conducted on the vehicle; when the vehicle lands, traction control and stability control are cooperatively executed, so that stable grounding and posture stability are achieved. According to the integrated design, the advantages of system redundancy and cooperative control are brought into full play, the problems of information islands and control conflicts possibly existing in a traditional independent protection system are solved, the whole vehicle control system can form unified control resultant force, and the control effect and the system reliability are improved.

The invention relates to the technical field of agricultural machinery, in particular to a rotary gravity center regulating crawler platform for hills and mountains, which sequentially comprises a crawler chassis assembly, a gravity center regulating assembly and a functional module mounting platform from bottom to top, the gravity center adjusting layer is installed on the chassis rack and located in the space between the crawler belts on the two sides, the gravity center adjusting layer is composed of a supporting base, a slewing bearing module, a linear lead screw module, a battery balancing weight and a machine shell, and the balancing weight is preferably a power battery pack; and the functional module mounting platform is fixed at the upper end of the gravity center adjusting assembly. By adjusting the angular and radial distribution of the counterweights, the center-of-gravity position of the whole machine under the working conditions of cross slopes, longitudinal slopes and obstacle crossing is changed, the stability and driving safety of the crawler belt platform in complex terrains of hills and mountains are improved, and the crawler belt platform can be provided with different functional modules according to operation objects. The method is suitable for various hilly and mountainous region agriculture and engineering application scenes.

The invention relates to the technical field of roller coating hyperbolic aluminum plate machining control, in particular to an edge auxiliary traction system and method for longitudinal large-curvature forming of a roller coating hyperbolic aluminum plate. The edge auxiliary traction system comprises a clamping pre-deformation unit, when a main stretcher is started, a traction clamping jaw pulls down at a basic speed, and a dynamic proportional relation between the edge stretching speed and the central stretching speed is established; during stretching, when the displacement increment reaches a threshold value, the traction force is proportionally distributed according to the distance from the center line, the pull-down force is updated in real time, when the strain deviation exceeds the limit, a deviation area is positioned through a multi-modal array, the traction speed and the pull-down force of the area are increased, and the local curvature radius reaches a critical range, a reinforced traction mode is started; speed and plastic flow phase locking and grain orientation regulation and control are achieved, traction force is maintained till stress is released in the pressure maintaining stage, the longitudinal large-curvature forming precision of the roller-coated hyperbolic aluminum plate is improved, wrinkles and cracks are reduced, and the method is suitable for machining of the high-precision hyperbolic aluminum plate.

According to several aspects, a method for controlling an electric vehicle is provided. The method may include adjusting an operation of one or more electric motors of the electric vehicle to induce a loss of traction of a first wheel of the electric vehicle on a first side of the electric vehicle. The method further may include adjusting an operation of an electric steering system of the electric vehicle to induce a yaw motion of the electric vehicle. A direction of the yaw motion is away from the first side of the electric vehicle.

The invention relates to the technical field of AR (Augmented Reality), in particular to an intelligent exhibition hall guide information method and system based on the AR technology, and the method comprises the following steps: traversing a scene graph of a 3D model based on a user triggering instruction and the 3D model of an exhibit, recognizing a grid object without child nodes as an independent part, and storing the independent part in the scene graph; reading the axial constraint and the surface fitting constraint associated with each part, and reversing the direction vector of the axial constraint; according to the method, the initial disassembly vector of each part is reversely calculated based on the internal axial and surface fitting constraints of the exhibit 3D model, and a dynamic decomposition view conforming to the mechanical logic and the assembly sequence is provided. Furthermore, in an iterative solution loop, the overlapping volume of a part bounding box is detected in real time, a repulsive force is applied, and a traction force is generated by introducing a virtual plane parallel to a user viewpoint, so that a layout in which all parts are clearly visible and do not shield each other can be dynamically generated.

A vehicle with vehicle traction enhancement system providing increased tractive force is disclosed. The traction enhancement system includes a thruster. The thruster includes a prime mover and an air pressure generator. The traction enhancement system further includes an energy storage to provide energy for the prime mover. The thruster is mounted on vehicle chassis structure, body, and / or suspension, substantially vertical to the vehicle to provide an upward thrust to the vehicle to increase the reactive downward normal force to provide the enhanced tractive force.

The invention relates to the technical field of bridge construction, in particular to a bridge super-long stay cable penetrating construction method, which comprises the following steps of: presetting a monitoring point position at a super-long stay cable, installing a tilt angle sensor to obtain pitch and roll angles of a segment, and fixing a tension sensor to measure initial tension at a cable end. A pitch angle, a roll angle, a three-dimensional coordinate and initial tension data are collected in real time at a preset point position of the stay cable, a dynamic response cable body attitude and stress model is constructed in combination with a designed linear control point and an anchoring point space coordinate, traction force distribution and traction point position combination are optimized, synchronous or asynchronous cooperative loading of multiple traction forces is achieved, and the traction force distribution and the traction point position combination are optimized. And in the cable penetrating process, cable body posture control and mechanical response balance are kept. Sensing data and a target parameter interval are continuously compared, a stress closed-loop control mechanism is formed by adjusting a traction force value and a loading rate in real time, and the risks of stress concentration and linear deviation expansion are avoided.

The invention discloses a traction stretching motion state monitoring method based on signal processing, and relates to the technical field of signal processing, and the method comprises the following steps: collecting traction force, electrocardio, displacement and conductivity signals, carrying out normalization and filtering processing, extracting phase and amplitude components, and constructing a signal spectrum containing track change and time sequence characteristics; establishing a structure response mapping relation to generate a self-evolution feature map, and aligning the self-evolution feature map with the amplitude component to form a channel-level feature matrix and a multi-channel feature representation map; structural path perception convolution mapping is adopted, a path dissipation factor is introduced to extract deep features, direction enhancement is achieved in combination with an energy constraint factor and a scheduling matrix, and an energy adjustment feature map is obtained; finally, the features are spliced according to time steps to form a high-resolution sequence, signal optimization is achieved through iterative training, and the state recognition accuracy and stability are improved.

An elevator tractive drive system including a plurality of wheels coupled to an elevator cab. The plurality of wheels are configured to compress into one or more shaft-mounted rails and / or one or more interior shaft wall surfaces. The plurality of wheels are powered by one or more motors coupled to a transmission configured to deliver regulated torque to the plurality of wheels. The system includes various sensors to measure parameters related to kinematics of the cab and / or the plurality of wheels, parameters related to a mass or a weight of the elevator cab and any payload and / or parameters related to compressive forces generated at a wheel-rail or wheel-shaft interface. A controller is configured to receive input from each of the sensors and activate the at least one actuator and / or motors, to generate or adjust regulated compressive force and associated tractive force delivered at the wheel-rail interface and / or the wheel-shaft interface.

The invention discloses a tractor tilling depth adjusting method and device, and belongs to the technical field of agricultural machinery. The method comprises the steps that the transmission speed ratio is determined according to the wheel rotating speed and the engine rotating speed of the tractor; determining the output power of the engine according to the engine speed; according to the engine rotating speed, the output power, the accessory consumption power and the transmission speed ratio, the maximum traction force capable of being provided by the tractor is determined; the tilling depth of the plough is adjusted according to the pulling force of the plough on the tractor, the maximum traction force and the set tilling depth. According to the embodiment of the invention, the tilling depth can be automatically adjusted according to the load change in the tilling operation process of the tractor, the problem of serious speed reduction of an engine is avoided, the tilling depth adjusting efficiency is improved, and the tilling operation efficiency is improved.

The embodiment of the utility model provides a dental instrument which comprises a shell-shaped body, the shell-shaped body is provided with a plurality of tooth containing cavities and a traction part, the traction part is of a cavity structure formed by protruding and extending from the surface of the shell-shaped body to the far-tooth direction, and the traction part and the edge of the shell-shaped body are arranged in a spaced mode; the side surface of the traction part is provided with an opening structure used for hanging a traction piece, the side surface of the traction part is further provided with a reinforcing ridge formed by protruding or recessing part of the side surface, one end of the reinforcing ridge is adjacent to the free end of the traction part, the other end of the reinforcing ridge is far away from the free end of the traction part, and the whole reinforcing ridge is roughly arranged in the protruding and extending direction. Through the arrangement, the anti-bending section coefficient of the side surface of the traction part under the action of traction force can be effectively improved, so that the deformation resistance of the side surface of the traction part in the traction direction is improved.

The invention relates to a rail transit technology, in particular to a train adhesion sensing method and system. When the train system works in a traction, coasting or electric braking working condition, starting an adhesion sensing mode, configuring an adhesion sensing shaft, and detecting the speed of the train; when the train speed is larger than a first train speed threshold value, the current of the adhesion sensing shaft is controlled, so that the traction force or the electric braking force of the adhesion sensing shaft is balanced with the adhesion force of the adhesion sensing shaft; the traction force or the electric braking force of the adhesion sensing shaft is calculated, and the adhesion coefficient of the adhesion sensing shaft is calculated according to the traction force or the electric braking force; the adhesion coefficient of the adhesion sensing bogie is calculated according to the adhesion coefficient of the adhesion sensing shaft, and the adhesion coefficient of the whole train is calculated according to the adhesion coefficient of the adhesion sensing bogie. According to the method, the adhesion condition of the wheel track in the train operation process is sensed in real time, compared with an existing operation design according to a fixed adhesion coefficient, accurate line state information is provided for train operation, and the safety and efficiency of train operation control are improved.

In order to solve the problem that the gravity of the existing moving automobile cannot be converted into the traction force of the automobile, the automobile gravity conversion device comprises hubs of symmetrical baffles which are connected on the circumferential cambered surface, and two semicircular inner tubes which are not communicated with each other in air pressure, and the two semicircular inner tubes are respectively communicated with an air cylinder; the two air cylinders are symmetrically and oppositely arranged and fixedly installed in the hub, pistons in the two air cylinders share a rack connecting rod and are meshed with a sector tooth swing rod with a rotating point fixedly installed on the hub, the sector tooth swing rod is hinged to a connecting rod, the connecting rod is hinged to an L-shaped rotating rod, the rotating point is assembled on the bottom face of the hub, the L-shaped rotating rod penetrates through the hub, and a gear is fixedly installed at the inner end of the L-shaped rotating rod. Therefore, the two half inner tubes alternately and indirectly touch the ground due to rotation to generate'air pressure difference ', and a piston in the cylinder reciprocates to be linked with a gear for transmission, so as to assist the running of an automobile in advance of the power of an engine.

The invention discloses end cover back-to-back pressure test detection equipment and method, and relates to the technical field of detection. The equipment comprises a detection tool, a pressing mechanism, a posture adjusting mechanism and a traction mechanism, the detection tool comprises an outer supporting structure and a test winding drum. Connecting flanges are arranged at the two ends of the test winding drum. The pressing mechanisms are symmetrically arranged at the two ends of the test winding drum and can support and push the end cover to be tested; the posture adjusting mechanism is arranged corresponding to the pressing mechanism and can adjust the end cover to be tested to be parallel to the connecting flange; the traction mechanism is arranged corresponding to the pressing mechanism, can move along with the pressing mechanism and applies traction force towards the pressing mechanism to the side face of the to-be-tested end cover. The device can reduce the operation difficulty, improve the installation precision, enhance the sealing effect, and ensure the pressure detection accuracy.

The invention discloses a multi-speed steering system, a control method and a wheeled vehicle, the system comprises an input shaft, an output shaft, a four-wheel drive clutch and a multi-speed steering clutch, the four-wheel drive clutch and the multi-speed steering clutch are coaxially arranged on the input shaft, and when the four-wheel drive clutch is in a combined state, power of the input shaft is transmitted to the output shaft at a first transmission ratio; when the multi-speed steering clutch is in the combined state, the power of the input shaft is transmitted to the output shaft at a second transmission ratio, and the second transmission ratio is smaller than the first transmission ratio; the combination state of the four-wheel-drive clutch and the multiple-speed steering clutch is configured to be in one-to-one correspondence with the two-wheel-drive mode, the normal four-wheel-drive mode, the multiple-speed steering mode and the fault four-wheel-drive mode of the system. The transmission efficiency, the reliability and the working condition adaptability can be remarkably improved while the steering flexibility and the traction force are guaranteed.

A vehicle travelling control method, comprising: when it is detected that a vehicle is travelling in a slippery environment, acquiring a first target torque associated with a hydraulic braking system of the vehicle, and acquiring a second target torque associated with a drive electric motor of the vehicle (S101); decomposing the second target torque, so as to obtain a first sub-torque and a second sub-torque (S102); and controlling the hydraulic braking system on the basis of the first target torque and the first sub-torque, and controlling the drive electric motor on the basis of the second sub-torque (S103). Further disclosed are a vehicle driving control apparatus, a braking system and a vehicle. The method deploys the torque reduction control over a drive electric motor by means of decomposing a torque associated with the drive electric motor, thereby improving the torque reduction precision of the drive electric motor and protecting the drive electric motor; and the method implements travelling control over a vehicle by means of coordinating the control over the drive electric motor and the control over a hydraulic braking system, thereby improving the precision of traction control over the vehicle and the precision of travelling control over the vehicle, and thus ensuring the travelling safety of the vehicle.

The invention discloses a method and a system for testing release intention response characteristics in a man-machine handover task of a collaborative robot, and belongs to the technical field of robot performance test and evaluation. Comprising the steps of controlling an end effector of a tested robot to clamp a standard test load and keeping the standard test load at a preset position; external traction force monotonically changing along with time is applied to the load through an external traction device; an original time domain signal of external traction force is collected in real time, and a driving current signal of a tail end joint of the robot is synchronously collected; filtering the collected signals, and calculating intention trigger impulse; based on the time difference of the traction force peak moment, the driving current sudden change moment and the load physical separation moment, the cascade lag time is solved; and based on the intention trigger impulse and the cascade lag time, generating a quantitative index representing the dynamic release performance of the robot. According to the method, the problem that the existing test only pays attention to the static force threshold and ignores the dynamic process characteristics is solved, and objective and quantitative evaluation of the robot release intention response characteristics is realized.

This invention discloses a traction device and a maintenance culvert for a deep-sea submersible undergoing maintenance. The traction device includes: a first traction assembly disposed on both sides of the axis of the maintenance culvert and movable along the axis of the maintenance culvert; a traction rope for connecting the first traction assembly to both ends of the deep-sea submersible and driving the deep-sea submersible to move within the maintenance culvert via the first traction assembly; and a second traction assembly for providing traction force to both sides of the deep-sea submersible after it has been pulled into position by the first traction assembly, to prevent the deep-sea submersible from swaying. By applying force to both ends of the deep-sea submersible using the traction rope via the first traction assembly, the deep-sea submersible can be dragged within the maintenance culvert, thereby reaching a designated position within the maintenance culvert. Simultaneously, the second traction assembly provides traction force to both sides of the deep-sea submersible to prevent swaying and ensure stable positioning of the deep-sea submersible.

This invention discloses an auxiliary device for emergency repair of overhead lines and its usage method, relating to the field of overhead line emergency repair technology. In this invention, the cable is clamped by a first clamping device and a second clamping device (using multiple clamping devices). Compared to solutions that do not use clamping devices or only use a single clamping device, this further improves the problem of cable swaying. Furthermore, after the second clamping device clamps the cable, it can provide an upward traction force to the cable, improving the problem that the cable's traction force is entirely provided by the transfer terminal, leading to easy breakage at the connection point between the cable and the transfer terminal. Moreover, when the first clamping device clamps the cable, it can also provide an upward traction force to the cable, further reducing the burden on the second clamping device and the transfer terminal.

This utility model discloses an anti-loosening fastening device for tractor units, belonging to the field of tractor unit technology. The anti-loosening fastening device includes a front connecting plate and a rear connecting plate. A movable combined arm is installed at the rear end of an adjusting frame, and a viscous damper is installed between the two movable combined arms. Hydraulic dampers are installed between the front and rear connecting plates and the adjusting frame. This utility model solves the problem that existing tractor unit fastening devices become loose due to vehicle vibrations, failing to maintain a stable working state. By connecting the hydraulic damper and the viscous damper, this utility model achieves a good connection between the front and rear connecting plates. During tractor turning, the front and rear connecting plates are subjected to tension and traction forces, causing movement. During this movement, the hydraulic damper and the viscous damper limit movement and reduce vibration, effectively achieving an anti-loosening effect.

The application discloses a kind of train traction and brake performance prediction method, comprising: constructing dynamic model and curve model;Select PSO, GA or LSTM to obtain basic resistance parameters by processing idle stage data;Using sliding window average method to process traction stage and brake stage data to obtain train acceleration data, according to the transformation relationship of ATO current corresponding traction force and brake force, train acceleration data, basic resistance parameters and dynamic model, obtain the full traction force and brake force data of train;Using sliding window Z score processing technology to process full traction force and brake force data;According to full traction force data and using subsection particle swarm algorithm or weighted genetic algorithm to obtain traction characteristic curve parameters;According to full brake force data, fully connected neural network and balanced loss fitting to obtain brake characteristic curve parameters;According to traction characteristic curve parameters, brake characteristic curve parameters and curve model, obtain the traction characteristic curve and brake characteristic curve of train.

The application provides a balanced energy-saving ball mill, which comprises a rack, a drum, a driving mechanism and a counterweight device. The drum is rotatably installed on the rack, and the driving mechanism is used for driving the drum to rotate. The counterweight device comprises a counterweight mechanism which is engaged with the gear ring. The counterweight mechanism and the driving gear are respectively located on two sides of the drum. When the grinding ball in the drum falls to a critical point, the recoil force generated by the gear ring on the driving gear is counteracted by the traction force generated by the counterweight mechanism on the gear ring. The balanced energy-saving ball mill has the advantages of compact structure, low manufacturing cost, provided traction force, avoidance of secondary force of the motor, improvement of energy utilization rate and suitability for popularization and use.

The invention relates to a method for controlling a motor vehicle comprising two axles provided with a power train, comprising the following steps:-acquiring a total torque (CT) to be generated; -ascertaining a maximum traction or deceleration potential for each powertrain; -distributing the total torque as specific setpoints, each of which is assigned to one of the power trains; and-controlling the powertrain according to the specific setpoint. According to the invention, in the assigning step, a driving mode is selected from a plurality of driving modes; -determining a prevention value for a first of the specific setpoints, which prevention value makes it possible to priori prevent the wheel from slipping on the ground; defining a range of values that can be used for a first specific setpoint as a function of the prevention value and as a function of the potential, according to the driving mode; and-determining the specific setpoints such that the value of the first specific setpoint is within the range of values.

According to the multi-motor driving structure device for the electric loader, the first walking motor, the second walking motor and the working motor are integrated in the gearbox, the space utilization rate of a driving assembly is increased, the driving assembly is tightly arranged, and the space utilization rate is increased; the working motor conducts transmission through the first output gear, the two first reduction gears and the two first output shafts, and power of the working motor is transmitted to drive the steering pump or the working pump to work. According to the scheme, the two walking motors are arranged and include the first walking motor and the second walking motor, and in addition, the first walking motor and the second walking motor are in transmission through the two second output gears, the variable gear, the walking output gear and the walking output shaft to drive the loader to move; by controlling one of the walking motors to rotate or controlling the two walking motors to rotate together, the speed of the loader during movement is achieved, the traction force is adjusted, and the operation requirement of the loader can be met after two-stage speed reduction and torque increase of the change gear are adopted.

The present application provides a chassis module and a traveling robot. The chassis module comprises a frame, two first wheels, two second wheels, a first driving member, and a second driving member. The two first wheels are mounted at two ends of the frame, respectively, along a length direction of the chassis module, and at least one first wheel is configured as an omnidirectional wheel. At least one first wheel has a transmission connection with the first driving member. The two second wheels are mounted at two ends of the frame, respectively, along a width direction of the chassis module. The two second wheels each have a transmission connection with the second driving member. In this way, when the traveling robot encounters a situation in which the chassis module is lifted, more wheels can be brought into contact with the ground with a greater probability. By means of controlling the first driving member to drive the first wheels to rotate, the first wheels can provide traction for the traveling robot, so that the traveling robot can drive away from a trapped position and provide off-road performance. Moreover, when the traveling robot turns in place, the rotation of the first wheels can improve the stability of in-place steering.

The invention discloses an electronic traction control method and device of an extended-range tractor and a storage medium in the technical field of agricultural tractors. The method comprises the steps that the final output vehicle speed is calculated according to the first positioning speed, the second running speed, the third estimation speed and the fourth motor speed; calculating actual slip rates of the four wheels according to the final output vehicle speed and the wheel speeds of the four wheels; based on the current road adhesion coefficient obtained in real time and a pre-constructed road mu-lambda characteristic database, the optimal slip rate of the four wheels is obtained; calculating a slip rate difference value and a slip rate difference value change rate based on the optimal slip rate and the actual slip rate; when the actual slip rates are all smaller than the preset minimum slip rate, torque required by a driver is output; and when the change rate of the slip rate difference value exceeds a preset change rate threshold value, outputting a correction torque output by a fuzzy PID control framework. The technical problem of working condition limitation caused by dependence on tilling depth adjustment in the prior art can be solved.