34results about How to "Achieving coordinated movement" patented technology

The invention discloses an elastic passive folding and twisting wing. The elastic passive folding and twisting wing comprises a main wing and an aileron, wherein the aileron is elastically connected with the main wing, and the flapping motion lags behind the flapping motion of the main wing during movement; during the flapping movement, the main wing and the aileron are deformed to change the angle of attack of the wing, thereby achieving passive twisting of the wing in the flapping process. By controlling 'flapping' of a single degree of freedom, during the premise of not adding the complexity of a mechanical mechanism and control system, the synergetic movement of 'flapping-folding-twisting' is achieved, the aerodynamic efficiency is effectively improved, and an aircraft is closer to real bird flying in the bionics.

The invention discloses a bionic flapping wing propulsion test platform and belongs to the field of bionic tests. The bionic flapping wing propulsion test platform comprises two motion modules, two air floating guide rails and an air floating guide rail bracket; the air floating guide rail bracket is used for supporting the whole test platform, and the two air floating guide rails are fixed to twoends of the air floating guide rail bracket in parallel; the two ends of the motion module are respectively and slidably connected with the two air floating guide rails, so that horizontal translation and rotation of bionic flapping wings are achieved; the two motion modules are used for achieving the flapping wing motion of an imitation ray; each motion module comprises two stepping motors for controlling horizontal translation and rotation of the clamping the flapping wings, so that independent motion of single motion module and coordinated motion of multiple motion modules are achieved; the movement of the ray can be simulated more realistically, and the moving part is supported through the air floating guide rails, so that the free movement of the test platform in the propelling direction is achieved, and the precision of a whole propelling device is improved; and when the bionic flapping wing propulsion test platform is suitable for other bionic flapping wing propulsion experiments, the experimental effect can be achieved by directly increasing the number of the motion modules.

The invention discloses an accelerator console control mechanism. The accelerator console control mechanism comprises an accelerator handle (1) and a flexible shaft connector (9). The accelerator console control mechanism is characterized in that an accelerator lever (2) is fixedly mounted under the accelerator handle (1), a sliding block A(3) is fixedly connected to the lower part of the accelerator lever (2), and the sliding block A(3) can be mounted on a guide rail A(4) in a sliding and sleeving manner; a sliding block B(5) is fixedly connected to a position under the sliding block A(3), and can be mounted on a guide rail B(6) in a sliding and sleeving manner; a sliding block C(7) is fixedly connected to the lower part of the guide rail B(6), and can be mounted on a guide rail C(8) in a sliding and sleeving manner; the flexible shaft connector (9) is fixedly connected to the sliding block C(7); the center line of the guide rail A(4) and the center line of the guide rail C(8) are straight lines on different surfaces. The accelerator console control mechanism disclosed by the invention is simple in structure, high in efficiency, comfortable, convenient to operate, time-saving and labor-saving, and is suitable for an accelerator handle to manipulate and control the state of an aircraft engine.

The invention discloses a pushing device for machining production. A pushing device body is included. A supporting base is arranged at the bottom of the center of the inner end of the pushing device body. A conveying frame is fixedly connected to the upper end of the supporting base. The outer end position of the conveying frame is connected with a pushing piece. A first pushing frame is arrangedon one side of the inner end of the pushing piece. The side end of the first pushing frame is connected with a second pushing frame through a rotation shaft. The top end positions of the first pushingframe and the second pushing frame are in sliding connection with a front frame. A supporting frame is arranged at the center of the inner end of the first pushing frame. The side end of the supporting frame is provided with a motor. The inner end position of the motor is rotationally connected with a cam. The front end position of the cam is provided with a limiting block. The side end positionof the cam is in contact connection with a first folding rod. The side end position of the first folding rod is movably connected with a center rotation rod. According to the pushing device for machining production, through the arrangement of the pushing piece, the purpose of inner end pushing is achieved.

The invention discloses an under-actuated prosthetic hand capable of reproducing a hand grasping function; the under-actuated prosthetic hand is provided with an interphalangeal drive mechanism and a thumb drive mechanism in a palm; finger bodies take pulleys as main parts, and transmission mechanisms arranged in fingers are sequentially and alternately wound on all the pulleys of the fingers by steel wire ropes; joints in the fingers are in flexible coupling by elastic components; the interphalangeal drive mechanism adopts two motors to drive four fingers and multiple degrees of freedom of the fingers in a synergetic way; a thumb body takes a pulley as a main part, the transmission mechanisms in the finger bodies take transmission ropes as transmission mediums, the interphalangeal drive mechanism adopts a gear component for transmission matching, and the four degrees of freedom of the thumb can be controlled by two motors. After the under-actuated prosthetic hand is adopted, self-adaptive grasping of various objects can be accurately completed, and the rich grasping operation function of a human hand can be reproduced; the under-actuated prosthetic hand has the characteristics of being compact in structure, smaller in size, lighter in weight, convenient to control, accurate in grasping action, and the like.

The invention relates to the field of cleaning equipment, in particular to a bridge guardrail multi-angle cleaning machine, and discloses a bridge guardrail multi-angle cleaning machine which comprises a bottom plate. The machine is characterized in that the two ends of the two sides of the bottom plate are respectively and fixedly connected with a vertical plate, one end of the upper side of thebottom plate is fixedly connected with a first square rod, the lower part of each vertical plate is respectively hinged with wheels, one set of symmetrical vertical plates are respectively and fixedlyconnected with a first motor, output shafts of the symmetrical first motors respectively penetrate through the vertical plates, output shafts of the symmetrical first motors are respectively and fixedly connected with the corresponding wheels, a moving mechanism is arranged on the upper side of the bottom plate, and a cleaning mechanism is arranged on the upper side of the bottom plate. Multi-angle cleaning of a bridge guardrail is facilitated.

The invention relates to a multidirectional control method for eliminating image rotation in a multi-detector fusion scanning imaging system, and relates to the field of imaging technology. It solves the problem of using a servo motor to drive a 45° scanning mirror and multiple imaging detectors to move cooperatively to eliminate image rotation in a fusion imaging system of multiple detectors with different spectral bands. In the imaging system, after the light passes through the 45° scanning mirror, the beam splitter distributes the beam to each imaging component for imaging. The single-motor command tracking controller receives the scanning mirror rotation command, and controls the rotation of the scanning mirror servo motor and multiple imaging detector servo motors respectively; The effective driving torque is used to provide torque information for the multi-directional controller. The invention achieves the purpose of derotation by controlling the cooperative movement among multiple imaging components through an algorithm without adding additional derotation optical components.

The invention discloses a hydraulic adjustment-type variable compression ratio engine, which comprises a cylinder body (11) and a crankcase (2) in which a crankshaft (1) is arranged; the crankshaft (1) is provided with a crank B (28) for converting thermal energy released by combustion of fuel gas in the cylinder body (11) into mechanical energy produced by rotation of the crankshaft (1); an intermediate body (3) is connected between the cylinder body (11) and the crankcase (2); a hydraulic system connecting the cylinder body (11) with the crankcase (2) is arranged in the intermediate body (3); the hydraulic system is connected with a hydraulic adjustment device; the crankshaft (1) is also provided with a crank A (26); and a hydraulic piston A (20) is driven through a connecting rod A (24) to act on the hydraulic system. The compression ratio of the engine can be adjusted according to changes of rotating speed and load; under a working condition of low speed and small load, thermal efficiency of a gasoline engine is improved by increasing the compression ratio; and under a working condition of high speed and heavy load, in-cylinder pressure and in-cylinder temperature are reduced by reducing the compression ratio, and the gasoline engine is protected from a phenomenon of detonation.

The invention discloses a solar-powered diving bionic observation and weeding imitation crab robot, which comprises a main body, crab claws, crab legs and a mimetic waterproof casing. The crab legs and the crab claws are respectively arranged on both sides of the main body. Crab claws comprise a third tong arm fixed on both sides of the front part of the main body, a second tong arm hinged at the end of the third tong arm, and a first tong arm hinged at the end of the second tong arm , the end of the first pincer arm is provided with crab claw weeding shears, and the inside of the crab claw is provided with a shear extension mechanism and a reset mechanism, and the shear extension mechanism is used to drive the crab claw weeding shears to open and merge at the same time. The crab claws are extended inwardly, and the reset mechanism is used to restore the crab claws to their original positions. The invention ensures the least disturbance to the crabs, avoids the influence on the growth and reproduction of the crabs, and timely removes the aquatic plants that grow too fast through the weeding shears of the crab pincers, thereby ensuring that the breeding environment is suitable for the growth and reproduction of the crabs.

The invention discloses an elastic passive folding torsion wing, which comprises a main wing and an aileron, the aileron is elastically connected to the main wing, and the flapping action of the aileron lags behind that of the main wing when it moves; in the flapping motion , the main wing and the aileron are deformed to change the angle of attack of the wing, thereby realizing the passive twisting of the wing during flapping. The present invention realizes the cooperative movement of "swapping-folding-twisting" without increasing the complexity of the mechanical mechanism and the control system by controlling the single degree of freedom "swapping", which effectively improves the aerodynamic efficiency and makes the aircraft more bionic. Close to the flight of real birds.

The invention relates to a random coupling and multi-load laying method for autonomous underwater vehicles. The random coupling and multi-load laying method has the advantages that single adjacent random coupling is introduced in order to overcome the shortcoming of requirements on simultaneously establishing complicated coupling relations between an AUV (autonomous underwater vehicle) and all peripheral neighbors in movement procedures of existing methods; each AUV only needs to establish a coupling relation with a single neighbor in a movement procedure, and the multiple AUVs can cooperatively move by the aid of time-variant target switching on the basis of movement states of the neighbors; the difficulty in implementing cooperation between the AUVs can be simplified, and the integral safety and sailing precision of AUV systems can be improved; AUV movement cooperation procedures can be simplified, cooperation targets can be switched over by each individual in real time according to the movement states of the neighbors, and accordingly the movement flexibility of the systems can be improved while cooperative computation burden is relieved.

The invention discloses a gear hobbing machine. The gear hobbing machine comprises a base, a fixed base, gear hobbing mechanisms and a control system, wherein the fixed base which is used for fixing agear to be machined is rotatably arranged in the centre of the base; each gear hobbing mechanism comprises a right-angle sliding seat, a motor, a transmission gear group, hydraulic rods, sliding blocks and hobbing cutters; the control system comprises a master control unit, a displacement amount processing unit, a right-angle sliding seat control unit and a hydraulic rod control unit; according to the gear hobbing machine, two groups of the right-angle sliding seats are arranged and telescopically movable hydraulic rods are arranged on the right-angle sliding seats, so that simultaneous machining of the four hobbing cutters can be realized simultaneously by matching the movement of the right-angle sliding seats and the hydraulic rods; moreover, the machining size can also be changed by moving the right-angle sliding seats; automatic machining operation is realized through intelligent control of the control system; the structure is simple; and the machining precision is high.

The invention provides a multi-robot collaborative motion control method, which uses a two-dimensional grid graph to represent the robot work area, decomposes the work area into blocks, and uses a collaborative control algorithm and a real-time heuristic algorithm to enable each robot to find the total cost Less, meet the total CTL and can move to the next position of the target position, avoid static obstacles in real time, and reach the target position through coordinated movement. The present invention does not need a solver to solve the problem, and considers the solution of the simplified problem from the perspective of the grid method and CTL and LTL. The grid-based map representation method divides the entire environment into several grids of the same size. There is no need to know the global environment information in advance, and each robot can only perceive the environment information within the sensor range and communicate with the robot within the communication range. It overcomes the defects that the centralized control easily leads to the lack of robustness and scalability of the system, and realizes the coordinated movement of multiple robots.

The invention discloses a two-way separation device for flame retardant processing, comprising a main body of the separation device, a connection seat is provided at the bottom of the inner end of the main body of the separation device, and a first separation frame, a second separation frame, and a second Separation frame, the 3rd separation frame and the 4th separation frame, the central position of described connecting seat is fixed with baffle plate, the bottom of described first separation frame, the 2nd separation frame, the 3rd separation frame and the 4th separation frame A first separation plate is provided at the end position, a second cylinder is provided at the bottom of the inner end of the third separation frame, a push rod is provided at the front end of the second cylinder, and a second cylinder is provided at the inner end side of the push rod. A cylinder, the front end of the push rod is connected with a fixed frame, the bottom of the fixed frame is rotatably connected with a clamping plate, and the front end of the clamping plate is connected with a contact wheel. The present invention is a two-way separation device for flame retardant processing, through the setting of the first separation frame, the second separation frame, the third separation frame and the fourth separation frame, the purpose of inner end separation is realized.

The invention relates to a device and method for realizing coordinated movement of a weight-reduction vehicle and a lower-limb robot through communication, including a controller for realizing the coordinated movement control of the lower-limb robot and the weight-reduction vehicle; the controller includes a gait information collection module, Speed ​​control module, motor drive module; The described gait information acquisition module is used to receive the gait information sent by the lower limb robot in real time; The described speed control module is calculated according to the gait information of the lower limb robot when the lower limb robot starts The speed of the weight-reducing vehicle and send the speed information to the motor drive module; the motor drive module receives the speed information of the weight-reducing vehicle sent by the speed control module and drives the weight-reducing vehicle to follow the lower limb robot in a straight line. The invention utilizes the inertial displacement generated when the overall system of the lower limb robot and the weight-reducing vehicle stops moving to overcome the system error generated by the open-loop control, and finally realizes the coordinated movement of the weight-reducing vehicle and the lower-limb robot.

The invention discloses a human-simulated type plane multi-joint robot based on belt transmission. According to the human-simulated type plane multi-joint robot based on belt transmission, connecting shafts are arranged at the connecting positions of all motion parts and fixedly connected with the corresponding motion parts of the human-simulated type plane multi-joint robot, and each connecting shaft is provided with a movable belt wheel and a fixed belt wheel. Motors are connected with the movable belt wheels and the fixed belt wheels through belts. The movable belt wheels and the fixed belt wheels of the different connecting shafts are connected through belts. According to human-simulated type plane multi-joint entertainment robots commonly used in exhibitions and on other occasions, a gear transmission manner and other transmission manners in original design are replaced through the belts so that all the control motors can be installed on a base, loads on the motion parts of the robot are reduced, the structural design difficulty of the robot is lowered, and meanwhile the robot moves more flexibly.

The invention discloses a driving multi-stage matching restriction mechanism, comprising a restriction device, a central position of the restriction device is rotatably connected with a driving device, and the restriction device comprises a first restriction member, a connecting frame and a second restriction member. The first restricting member is arranged on one side of the inner end of the restricting device, the side end position of the first restricting member is inserted into the connecting frame, and the side end position of the connecting frame is inserted into the second restricting member. The second restricting member includes a contact portion, a first cylinder, a first base plate, a second base plate and a second cylinder, the contact portion is provided at the center of the inner end of the second restricting member, and one end of the contact portion is installed There is a first cylinder, the other end of the contact portion is mounted with a second cylinder, and the lower end of the first cylinder is fixedly connected with the first bottom plate. The present invention is to drive a multi-stage cooperating restriction mechanism, and the purpose of symmetrical drive restriction at the inner end is achieved through the setting of the restriction device.

The invention relates to a film pressing mechanism for square products. The film pressing mechanism comprises a frame, a film pressing seat with a middle film pressing groove is arranged on the frame, and limiting plates matched with the film pressing seat are arranged on the film pressing seat and positioned on front and rear sides of the groove respectively. A film sending device, an ejection device and a film pressing device are matched with the film pressing groove of the film pressing seat and arranged on the frame. The film pressing device comprises a pressing block above the film pressing groove, the pressing block is arranged on a pressing lift seat which is connected with a matching block through a pressing connection rod, and the matching block is matched with a pressing crank wheel which is connected with a power driving part. Since the film pressing seat with the middle film pressing groove serves as a product carrier, the limiting plates are arranged on two sides of the groove respectively, and the pressing crank wheel and the connection rod can serve as power parts for reciprocation of the pressing block, a moving range of the pressing block can be limited, excessive pressure can be avoided, and accordingly films and products can be protected from being damaged under pressure.

The invention relates to the technical field of engineering machinery, in particular to a milling machine control system and control method. The control system includes a vibration signal detector and a back pressure valve, the vibration signal detector is arranged on the scraper, and the back pressure valve is connected to the first lift cylinder; the controller can collect the vibration signal detected by the vibration signal detector, and can The received vibration signal adjusts the back pressure of the back pressure valve to realize the function of automatic pressure regulation, especially through logic control, it can realize the automatic diagnosis, preliminary elimination and alarm function of the fault in the working condition of the scraper, and form an anti-deformation protection for the scraper . The control system also includes a first displacement detector. The controller can calculate and convert the displacement A detected by the first displacement detector into the displacement B of the second lift cylinder, and control the action of the reversing valve of the second lift cylinder to make the second lift cylinder The oil cylinder drives the conveying device to lift or lower the displacement B to realize the coordinated movement of the second lift cylinder and the first lift cylinder.