197 results about "Wheel train" patented technology

The invention relates to the technical field of workpiece conveying, in particular to a gear train component machining, conveying and positioning system. Comprising a base and a lower conveying belt in transmission connection with the top of the base. The lower conveying belt is evenly and fixedly connected with the lower trays in the transmission direction. A limiting column is arranged on the upper surface of the lower tray; the center of the upper surface of the base is fixedly connected with a top base through a supporting plate. The lower surface of the top seat is in transmission connection with an upper conveying belt; the upper conveying belt is evenly and fixedly connected with the upper trays in the transmission direction. The lower surface of the upper tray is provided with upper supporting holes allowing the upper ends of the limiting columns to be inserted therein. The limiting columns are clamped into the upper supporting holes of the upper tray in the conveying process of the lower conveying belt, so that the upper ends and the lower ends of the limiting columns are positioned, and the limiting columns drive the stacked annular blanks to be more stable in the conveying process; and the situation that the limiting column is unstable due to impact force such as inertia is avoided.

The invention belongs to the field of vehicle reliability detection, and particularly relates to a real-time acquisition device and method for the axial force of a wheel connecting bolt. Comprising a wheel adapter plate, a data transmission slip ring, a large electric connector, a small electric connector, a flexible supporting assembly, a data acquisition unit and an axial force measuring bolt. A working strain gauge is embedded in an axial stress concentration area of the axial force measuring bolt, a temperature compensation strain gauge is pasted on a bolt head to form a half-bridge measuring circuit, and a strain signal rotating along with a wheel is transmitted to a fixed end data acquisition unit through a signal lead via a small electric connector and a data transmission slip ring. The acquisition unit can calculate real-time axial force according to a pre-stored calibration coefficient and output the real-time axial force to a vehicle-mounted terminal or a remote server in a wireless or wired mode. According to the method, the whole-course waveform data of the axial force of the wheel connecting bolt can be continuously obtained under any vehicle speed, load and temperature conditions, changes caused by dynamic impact and heat effect are accurately captured, and the precision and traceability of wheel train connection fatigue life prediction and safety evaluation are improved.

The invention provides a design method of a two-wheeled wheel-legged robot, which relates to the field of wheeled robots, and comprises the following steps: determining a machine body of the two-wheeled wheel-legged robot, adopting a leg four-bar mechanism as a leg configuration, and taking the leg four-bar mechanism and the machine body as a five-bar mechanism together, a universal leg rod length parameter calculation method is deduced based on a planar five-connecting-rod model, key geometric parameters are determined, and robot structure design is completed; establishing a wheel type motion dynamical model and a leg type jump phase motion dynamical model, deducing a universal motor model selection method, calculating driving wheel and joint motor parameters, and completing wheel train design and whole machine motion simulation; carrying out finite element analysis and lightweight design on the key parts; and finally, an LQR control strategy is adopted, and cooperative control verification is completed through analysis and simulation software. Wheeled efficient movement and leg type terrain adaptive capacity are fused, limitation of a single movement mode is broken through, and the environment adaptive boundary of the robot is expanded.

The invention relates to the technical field of grinding equipment, in particular to a double-sided grinding machine planetary gear train multi-station positioning mechanism which comprises a rack, a grinding table arranged above the rack and a sealing cover installed through a lifting mechanism and further comprises a sun gear and an outer gear ring which are concentrically distributed on the surface of the grinding table, and the sun gear is connected with a driving mechanism; an annular grinding disc arranged between the sun gear and the outer gear ring and a grinding disc arranged on the sealing cover form a closed grinding cavity; and the workpiece mounting mechanisms are arranged in the closed grinding cavity. By means of the spring and the sliding block linkage mechanism arranged in the planetary gear, the clamp can form floating clamping force in the radial direction and the axial direction. When abrasive dust accumulation on the two sides of the workpiece is not uniform, the vertical sliding block achieves axial displacement through elastic compensation of the first spring, the horizontal sliding block adjusts radial clamping force through the second spring, and it is guaranteed that the workpiece always keeps uniform contact pressure with the upper grinding disc and the lower grinding disc.

The application relates to the technical field of workpiece conveying, in particular to a wheel train part machining conveying positioning system; the wheel train part machining conveying positioning system comprises a base, a lower conveying belt in transmission connection with the top of the base, lower trays uniformly and fixedly connected along a transmission direction of the lower conveying belt, limit columns arranged on the upper surface of the lower trays, a top base fixedly connected with the center of the upper surface of the base through a supporting plate, an upper conveying belt in transmission connection with the lower surface of the top base, upper trays uniformly and fixedly connected along a transmission direction of the upper conveying belt, upper supporting holes provided on the lower surface of the upper trays and used for inserting the upper end of the limit columns, and the like; in the conveying process of the lower conveying belt, the limit columns are clamped into the upper supporting holes of the upper trays, so that the upper end and the lower end of the limit columns are positioned, the limit columns drive the stacked ring-shaped blank parts to be more stable in the conveying process, and the unstable situation caused by the impact force of inertia and the like is avoided.

The invention discloses a four-way vehicle, and belongs to the technical field of logistics storage equipment. Comprising a frame, a jacking assembly, a primary wheel train and a secondary wheel train, the primary wheel train and the secondary wheel train are arranged on the frame and can be switched to drive the frame to walk in the transverse direction and the longitudinal direction respectively, the jacking assembly is arranged on the frame, and the jacking assembly is used for switching the primary wheel train and the secondary wheel train and picking and placing goods. The mother wheel train comprises a wheel box assembly, the wheel box assembly is connected with the vehicle frame and can vertically ascend and descend relative to the vehicle frame along the connecting position, the wheel box assembly comprises a wheel box base plate, a mother wheel, a first guide device and a second guide device, the first guide device and the second guide device each comprise a limiting bearing, the limiting bearings abut against the vehicle frame, and the wheel box base plate is connected with the mother wheel. When the roller box assembly ascends and descends relative to the frame, the transverse direction and the longitudinal direction of the roller box assembly are limited through the limiting bearings respectively; by the adoption of the dense warehouse for the four-way vehicles, the space utilization rate can be increased, and waste is avoided.

One aspect of the invention relates to a timepiece movement comprising: a calendar mechanism comprising a drive wheel with 31 stable positions driven in one step per day by a time train; a display mechanism of an in-year period driven by the driving wheel in a jump manner, the display mechanism including an in-year period indicator member and an in-year period gear train directly driven by the driving wheel, and the in-year period gear train is configured to drive the in-year period indicator member to rotate; a year cycle gear train including a year cycle drive wheel kinematically coupled in rotation with a year cycle adjustment wheel, the year cycle adjustment wheel being engaged with an indicator member of a period in the year cycle; and the annual period adjusting mechanism is configured to drive the annual period adjusting wheel to rotate through rotation of the winding handle shaft and change the indexing between the annual period driving wheel and the annual period adjusting wheel so as to adjust the display mechanism of the period in the annual period.

The invention provides a novel group sawing machine tensioning structure and a group sawing machine thereof, and relates to the field of rope sawing machines, the tensioning structure comprises a main body supporting assembly, a plurality of wheel sets, a pre-tensioning assembly and an adjusting assembly, the plurality of wheel sets form an isosceles trapezoid quadrilateral wheel train, the span of a driving wheel set and a driven wheel set is optimized, and no guide wheel is needed; the supporting wheel set is driven by the pre-tensioning assembly to swing so as to apply pre-tensioning force, the tensioning wheel set is driven by the adjusting assembly to move so as to conduct secondary tensioning, and the tensioning wheel set can be independently adjusted. The group sawing machine comprises the tensioning structure, a rack, a lifting mechanism and a control system. By optimizing the layout, the span between the driving wheel and the driven wheel is reduced, a guide wheel is omitted, meanwhile, the larger cutting height is achieved, and the effects that tensioning operation is convenient and fast, and the device can adapt to different plate thicknesses are achieved.

This invention relates to the field of straddle-type monorail vehicle operation simulation testing technology, and discloses a method and apparatus for simulating the operation of straddle-type monorail vehicles. The method involves adjusting the test bench to match the vehicle's wheel system, applying a vertical load to simulate vehicle weight using an axle load-simulating actuator, and achieving longitudinal and lateral fixation through a traction rod and pulley system. An onboard detection system acquires track irregularity displacement signals and track spectra from the actual track, which are then imported into a vibration simulation system to drive a vibration simulation device to reproduce the vehicle's operating state. Stability parameters are tested using sensors to complete the overall vehicle vibration reliability test. The corresponding apparatus includes a test bench foundation, a reaction frame, a loading gantry, and a vibration simulation system. This invention can accurately simulate actual operating conditions, achieve fault reproduction and extreme condition assessment, and effectively improve the realism and efficiency of the test.

A kind of planetary gearbox fault diagnosis method based on circuit resonator belongs to the field of planetary gearbox fault diagnosis. Including the following steps: piezoelectric sheet is connected in parallel with inductor, and an LC resonant circuit is formed. Then the piezoelectric sensor is pasted on the planetary gearbox shell, so that the piezoelectric sheet and the box are coupled as a whole. The time domain voltage signal between the capacitor ends in the resonant circuit when the planetary gearbox is running is collected, and then it is analyzed by resonance demodulation. No need to locate the resonance band through a series of algorithms, because the resonance frequency of the resonant circuit is known. The envelope order spectrum of the resonance band is obtained, and compared with various fault characteristic frequencies, so as to realize fault diagnosis. It can effectively avoid the interference of corresponding running of fixed shaft gear train and other components, and accurately extract the fault characteristics of planetary gear train.

The application discloses a wheel-leg balance robot design capable of active jumping and a control method thereof. The wheel-leg balance robot design is based on a planar parallel five-bar mechanism, and comprehensively considers the leg structure design and wheel train structure design of the wheel-leg balance robot suitable for active jumping. A plurality of sensor modules are adopted for sensing, so that the robot can autonomously perform the jumping function on a complex obstacle road section. Meanwhile, the wheel diameter and the motor torque are matched and designed, so that the robot has strong passability. The joint motor connection structure is improved to improve the design strength of the leg structure. An inverted pendulum model containing a wheel-leg hybrid structure is used to fit the robot movement, an LQR control algorithm is adopted to process the nonlinear system through piecewise linearization, and reference input is added to realize trajectory tracking.

The invention discloses a guide frame zero position adjusting device and method for a side forced guiding guide rail type rubber wheel train, and the device comprises a four-wheel positioning mechanism which is used for carrying out the four-wheel positioning of four walking wheels; the first axial length adjusting mechanism is arranged on the steering synchronous rod and used for adjusting the angle of the walking wheel; the ray emission instrument is detachably arranged on the outer side face of the wheel hub of the walking wheel, and the ray emission instrument is used for emitting rays parallel to the outer side face of the walking wheel; the second axial length adjusting mechanism is arranged on the steering pull rod and used for adjusting the angle of the guide frame. Positioning adjustment of the walking wheels and the guide wheels of the rubber wheel trains with different heights and different axle distances is achieved, the abrasion problem of the walking tires and the guide wheels is solved, and the running stability of the trains is improved.

The application relates to a dynamic and static dual-purpose conversion device and a wheel train robot, which can solve the problem that the existing wheel train robot cannot adapt to increasingly complex application scenarios. The dynamic and static dual-purpose conversion device comprises a rack, a wheel train conversion mechanism, a sliding shaft fixed to the rack, a rotating shaft staggered with the sliding shaft, a sliding piece slidably arranged on the sliding shaft, a wheel train component rotatably arranged on the rack through the rotating shaft, and a conversion connecting rod hinged with the sliding piece and the wheel train component respectively, the wheel train component has a rolling shaft perpendicular to the rotating shaft, and a conversion driving mechanism is arranged on the rack, and the conversion driving mechanism is connected with the sliding piece to drive the sliding piece to slide along the sliding shaft, so that the wheel train component is switched between a rolling state and a static state through the conversion connecting rod.

The application relates to a Mecanum wheel mobile platform capable of self-adaptive center of mass balance, which comprises a bearing platform, a Mecanum wheel system, a counterweight adjusting system and a controller, the Mecanum wheel system comprises a plurality of Mecanum wheel mechanisms, the plurality of Mecanum wheel mechanisms are symmetrically installed below the bearing platform, the counterweight adjusting system comprises a plurality of counterweight adjusting mechanisms corresponding to the number of the Mecanum wheel mechanisms, the plurality of counterweight adjusting mechanisms are uniformly installed above the bearing platform, the controller is arranged on the bearing platform and is electrically connected with each Mecanum wheel mechanism and counterweight adjusting mechanism, so as to dynamically adjust the rotating speed of each Mecanum wheel by controlling the current output, meanwhile, the position of the counterweight block on the bearing platform is adjusted by each counterweight adjusting mechanism according to the current signal, so as to self-adaptively balance the center of mass of the whole Mecanum wheel mobile platform. The application can effectively realize self-adaptive center of mass balance of the Mecanum wheel mobile platform during movement, has wide application range and low realization cost.

The invention relates to the technical field of food machinery, in particular to a baking tray dry type cleaning device. The device comprises a rack, a chain transmission mechanism, an annular rail, a feeding mechanism, a brush mechanism, a blowing mechanism and a discharging mechanism, the annular rail is provided with a plurality of wheel trains in transmission connection with the chain transmission mechanism, and the wheel trains are provided with material receiving pieces used for receiving baking trays; from the brush mechanism to the inlet of the blowing mechanism, the guide angle of the annular track is bent from the horizontal state to the vertical state so as to drive the material receiving piece to be switched from the horizontal state to the vertical state; the annular track keeps a vertical guide angle at the blowing mechanism; from the outlet of the blowing mechanism to the discharging mechanism, the guide angle of the annular rail is bent from the vertical state to the horizontal state so as to drive the material receiving piece to be switched from the vertical state to the horizontal state. According to the scheme, horizontal sweeping and vertical sweeping of the baking tray can be achieved, and the baking tray sweeping device has the advantages that the automation degree is high, the manual labor intensity is reduced, and the cleaning efficiency is improved.

The invention provides an under-actuated wheel type structure chassis robot and a working method, and relates to the technical field of chassis robots, the under-actuated wheel type structure chassis robot comprises a carriage, a driving mechanism arranged in the carriage and a driving wheel train connected with the driving mechanism through a rocker arm mechanism; wherein the rocker arm mechanism comprises a rocker arm, and a first driving synchronous shaft, a single-sided tooth synchronous belt and a driving shaft which are arranged in the rocker arm; one end of the first driving synchronizing shaft is connected with the driving mechanism, and the other end is connected with one end of the driving shaft through a single-sided tooth synchronous belt; the other end of the driving shaft is connected with the driving wheel train; the driving wheel train comprises a plurality of wheels which are arranged in a triangular shape, and the wheels are connected with the driving shaft through a retainer; the rocker arm mechanism is further connected with the compartment through a damper. Through an under-actuated structure, the three wheels rotate around the driving shaft while being driven by the double-sided tooth synchronous belt to rotate, and good obstacle crossing performance and rough road trafficability of the robot are guaranteed.

The application discloses a pipeline detection device based on a tetrahedron type wheel system, which mainly comprises three parts of a supporting mechanism, a variable-diameter mechanism and a motion mechanism. The supporting mechanism is composed of a supporting rod and a plate and is used for fixing and connecting other mechanisms. The variable-diameter mechanism can drive four wheels to change positions and then change the diameter of a pipeline determined by the mechanism. The motion mechanism is composed of two driving wheels, two driven wheels and related driving and supporting components. Through the operation of the variable-diameter mechanism and the cooperation of different working states of the device, the device can adapt to the working conditions of different pipeline diameters to meet the operation requirements of pipeline detection. The problems of complex structure and control of the pipeline detection equipment are solved, the manufacturing cost is reduced, and the redundant constraint problem caused by too many wheel sets is solved.

The invention relates to a timepiece comprising a mechanical movement and an adjusting device for adjusting the travel time difference, the adjusting device comprising a rotary movable part and an adjusting movable part capable of controlling the angular position of the rotary movable part. The adjustment device further comprises a lever provided with a connecting gear train, the lever being rotatable by a user-actuated button between a disengaged position and a coupled position, in which the adjustment movable is kinematically connected to the movable on the correction device via the connecting gear train, and in which the adjustment movable is kinematically connected to the movable on the correction device via the connecting gear train. The correction device comprises a control spindle equipped with a crown to enable actuation of the movable part, or an adjustment movable part kinematically connected to a driving movable part of an indicator via a connecting gear train, said driving movable part being drivable by the correction device when correcting the data displayed by the indicator, the travel time difference of the timepiece can be adjusted by moving the lever to the coupled position by actuating the button, translating the crown to move the control spindle to a given axial correction position, and then rotating the crown.

A timepiece movement comprising: an environmental physical variable measuring device comprising an element configured to mechanically deform under the action of a change in physical variable; a physical variable measurement value indicating train kinematically connected to the measuring device to be rotated under the action of a change in physical variable; a physical variable maximum value indicating mechanism comprising a physical variable maximum value display train with a maximum value display wheel, the indicating mechanism comprising a physical variable maximum value indicating member integral with the maximum value display wheel; a drive mechanism configured to progressively drive the maximum value display train during a rise in physical variable; an indexing mechanism for indexing positioning of the maximum value display train at each advance and comprising a blocking member cooperating with an indexing wheel assembly; wherein the indexing wheel assembly is kinematically connected to the maximum value display wheel by a gear train T1, T2 and the gear train T1, T2 has a multiplication ratio between the maximum value display wheel and the indexing wheel assembly.

The utility model relates to a material box storing and taking device which is used for being installed on a storage rack. The material box storing and taking device comprises a storing and taking cargo carrying table, a lifting assembly and a transverse moving assembly. The transverse moving assembly is connected with the lifting assembly. The transverse moving assembly comprises a first transverse guide rail, a second transverse guide rail and a transverse driving assembly, the transverse driving assembly comprises rolling wheels and rolling wheel driving pieces, and the rolling wheels and the rolling wheel driving pieces are installed on the top of the first transverse guide rail and / or the top of the second transverse guide rail. An elastic adjusting assembly capable of enabling the rolling wheels to be continuously attached to the first transverse guide rail or the second transverse guide rail is arranged between the two rolling wheels, and the elastic adjusting assembly is connected between the two rolling wheels through a beam piece so that the rolling wheels can conduct self-adaptive adjustment. The material box storing and taking device is ingenious in structure, the stability of the storing and taking cargo carrying table in the moving process can be effectively guaranteed, and the probability of the phenomena such as moving clamping stagnation or wheel train slipping is reduced. The goods shelf also has the advantages.

This utility model discloses a power communication equipment room inspection device, including a track and a moving device installed in the equipment room. The track consists of a vertical plate, an upper horizontal plate, and a lower horizontal plate. The moving device is equipped with a camera for real-time monitoring. The moving device holds the vertical plate with a drive wheel and is equipped with four auxiliary wheels, including a mounting plate and a conical auxiliary wheel, which roll on the lower horizontal plate. The adjusting wheel structure includes a connecting plate and a conical adjusting wheel, which rolls under the upper horizontal plate to ensure stable contact. The adjusting device adjusts the height of the adjusting wheels through screws, lifting plates, etc., to adapt to different track conditions. The correction wheel structure includes a mounting frame and a correction wheel, which presses against the front end face of the lower horizontal plate to prevent deviation. All wheel systems use rubber tires to enhance friction and durability. This device is stable in operation, highly adaptable, and efficient in inspection, significantly improving the reliability and efficiency of equipment room inspections. It is suitable for various power communication equipment rooms and has broad application prospects.

The utility model belongs to the technical field of automobile parts, disclose a new type of sliding door locking actuator mechanism assembly, it includes base and the cover board that cooperates with base, still includes setting on the base drive mechanism, support subassembly and lock tongue, support subassembly is fixed on the base, lock tongue slidingly connected on support subassembly, drive mechanism cooperates with lock tongue, and drives lock tongue to move on drive mechanism and realizes locking or unlocking, still be equipped with the noise reduction spare of lock tongue adaptation on the base. The utility model's noise reduction spare can reduce the noise, and the use comfort is good, and the emergency unlocking structure can be in outside through corresponding tool and emergency unlocking structure cooperation realizes manual unlocking, and the overall practicality is strong, the symmetrical layout of wheel system and lock tongue can reduce production cost, simplify production management, improve assembly efficiency and strengthen product versatility, set up waterproof adhesive tape in the end outer periphery of the shaft exposure base and cover board to prevent the internal component, further strengthened the practicality of use.

The present invention relates to a natural escapement for a watch movement, which includes a balance wheel mechanism that moves from a first extreme position through an intermediate rest position to a second extreme position and vice versa, with the balance wheel plate being adjusted on the axis of the balance wheel. The escapement further includes a first escapement wheel pair driven by a wheel pair of the watch movement train, which in turn drives a second escapement wheel pair. The first and second escapement wheel pairs form a kinematic chain that cooperates with an anchor escapement fork. The anchor escapement fork also includes first and second safety levers, which are arranged such that in the absence of the balance wheel mechanism, the second escapement wheel pair causes the anchor escapement fork to pivot by acting on the second safety lever, so as to ensure the locking of the first escapement wheel pair by pressing against a part of the anchor escapement fork that ensures the function of the locking pallet. The first and second safety levers do not impede the normal operation of the escapement, during which the anchor escapement fork is pivoted by the balance wheel plate. The present invention also relates to a watch movement including such a natural escapement.

The invention provides a valve hall wall profiled steel sheet construction robot and method, and relates to the technical field of building construction automation, and the robot comprises a body structure, a moving mechanism, a mounting mechanism, a sensing and recognition system and a control system. The body structure adopts a collaborative design of a vertically arranged truss and a wheel train; the moving mechanism comprises a body moving mechanism and an unmanned trolley, the body moving mechanism accurately moves along the vertical wall surface of the valve hall, and the SLAM unmanned trolley constructs a map to move and transport steel plates along with the truss in real time; the mounting mechanism is used for hoisting, positioning and fixedly mounting the profiled steel sheet through a three-degree-of-freedom screw turning device and a hoisting mechanical claw; the perception and recognition system recognizes the installation position of the profiled steel sheet through the machine vision and the deep learning technology, and self-positioning and path planning are achieved in combination with the SLAM technology. The construction efficiency of the profiled steel sheet can be effectively improved, the labor intensity of workers and the high-altitude operation risk are reduced, and intelligent construction is achieved.

The invention belongs to the technical field of robots, and discloses a multi-degree-of-freedom co-driven humanoid five-finger dexterous hand and a control method, the multi-degree-of-freedom co-driven humanoid five-finger dexterous hand comprises a palm back plate, a palm front panel and five fingers, the five fingers adopt modular design and have completely same structures, each finger has three active degrees of freedom and one passive degree of freedom, and each active degree of freedom and the corresponding passive degree of freedom are in parallel. Wherein three active degrees of freedom are respectively a base joint bending degree of freedom, a base joint side-sway degree of freedom and a middle joint bending degree of freedom and are cooperatively controlled by three servo motors at the bottom of the finger, and one passive degree of freedom is a far joint bending degree of freedom and is realized by a planetary gear train under-actuated mechanism in the finger. A space wheel train mechanism is introduced, the humanoid five-finger dexterous hand is designed, mutual coupling control over the three active freedom degrees of base joint bending, base joint side swing and middle joint bending is achieved, each active freedom degree is cooperatively controlled by three motors, the finger space is simplified, and the output force is increased.

The utility model relates to the technical field of reconnaissance robots, in particular to a crawler-type reconnaissance robot capable of swinging arms, which comprises a chassis, a power component, a loading component and a swinging arm component, the power component is positioned inside the chassis, the loading component is assembled on the chassis, and the swinging arm component comprises a walking driving wheel, a swinging arm shaft, a supporting plate, a crawler belt and a thrust wheel. The four walking driving wheels are arranged on the two sides of the chassis in a pairwise opposite mode, the swing arm shaft penetrates through the center of each walking driving wheel, one end of each swing arm shaft is connected with the power assembly, the other end of each swing arm shaft is connected with the supporting plate, the end, away from the swing arm shafts, of the supporting plate is connected with the thrust wheel, and the track is arranged on the outer sides of the thrust wheel and the walking driving wheels in a sleeving mode. During arm swinging, the four swing arm motors and the swing arm speed reducer are directly connected with the swing arm shafts, the swing arm shafts rotate to drive the supporting plates to rotate, the thrust wheels move downwards, the robot is erected, arm swinging of the wheel train is achieved, the four wheels can swing arms independently, and trafficability and stability are high.

The invention discloses an initial phase determination method and device for planetary gear train vibration signal separation, equipment and a medium, is applied to the technical field of planetary gear trains, and provides the method for determining a band-pass filtering range based on the rotation frequency of a planet carrier and the rotation frequency of a planet gear in order to solve the technical problem that existing initial phase determination is inaccurate. Filtering the original vibration signals collected by the sensor in at least one planet carrier cycle period based on the band-pass filtering range to obtain at least one group of filtered vibration signals; wherein the cycle period of the planet carrier is the time for a planet gear to rotate a circle along the inner gear ring from the position, closest to the sensor, on the inner gear ring; determining an initial phase of planet wheel vibration signal separation according to the at least one group of filtered vibration signals; in the using process, the accuracy of the initial phase of planet wheel vibration signal separation can be improved, and fault diagnosis can be more accurately carried out on planet wheel teeth.

The invention belongs to the technical field of bridge deck slab replacement, and discloses a bridge deck slab rapid replacement method, a bridge deck slab is replaced in a single-piece mode through bridge deck slab rapid replacement equipment, and the bridge deck slab rapid replacement equipment comprises a main beam, a front supporting leg, a rear supporting leg, a front beam, a rear beam, a front beam crane, a rear beam crane, a first supporting frame, a second supporting frame and a wheel train. The bridge deck rapid replacement method comprises the steps that a main beam, a front beam and a rear beam are supported by a single-line bridge, and the bridge deck on the outer side is replaced through a front beam hanger and a rear beam hanger; a wheel train is pushed in the direction perpendicular to the driving direction of the bridge, the main beam, the front beam and the rear beam are supported by the single-line bridge, and the bridge deck in the middle position is replaced by the front beam hanger and the rear beam hanger; the wheel train is pushed in the direction perpendicular to the driving direction of the bridge, the main beam is supported by the single-line bridge, the front beam and the rear beam are jointly supported by the single-line bridge and the adjacent-line bridge, and bridge decks on the inner sides of the front beam crane and the rear beam crane are replaced; according to the bridge deck slab rapid replacement method, the adjacent line bridge supporting equipment is utilized, a support does not need to be arranged under a beam, and driving under the beam is not affected.

The invention relates to the field of mobile robots, and provides a switchable chassis and a wheel-track type robot, the switchable chassis comprises a frame, a track system moving assembly, a wheel system moving assembly and a switching assembly; the track system moving assembly comprises at least two track assemblies arranged on the two sides of the vehicle frame correspondingly. The wheel train moving assembly comprises movable wheels arranged on the frame; the switching assembly comprises a driving mechanism and a connecting rod mechanism driven by the driving mechanism, the connecting rod mechanism is arranged in the frame, the connecting rod mechanism is connected with the movable wheels, and the driving mechanism drives the movable wheels to ascend and descend so as to achieve switching of the grounding state between the crawler belt assembly and the movable wheels. The switchable chassis can be freely switched in the moving wheel or crawler belt advancing mode, the effect of adapting to all terrains is achieved, the number of power elements can be reduced, the structure is simplified, and conditions are provided for reducing the mass of the robot chassis.

The automatic double-wheel wire laying and switching device of the present invention includes a frame, a fixed wheel system, a movable device, and a switching device. The fixed wheel system is installed below the top of the frame. The movable device is arranged below the fixed wheel system. The movable device includes a rocker arm and a mounting frame. One end of the rocker arm is fixedly connected to the frame, and the other end is fixedly connected to the mounting frame. A first wire passing wheel, an encoder, and an induction switch are provided on the mounting frame. A rotating wire deflecting mechanism is provided below one side of the rocker arm away from the frame. The rotating wire deflecting mechanism has a hollow wire passing rotating shaft. The fixed part of the encoder is fixedly connected to the mounting frame, and the rotating part of the encoder is connected to the hollow wire passing rotating shaft. The switching device is a cylinder. The cylinder body of the cylinder is fixed on the frame, and the extending end of the cylinder is hinged to the rocker arm. The rocker arm can be driven by the cylinder to switch back and forth above the first spool station and above the second spool station. The present invention greatly reduces the labor intensity of workers and improves the product quality and production efficiency.