56results about How to "Control motion trajectory" patented technology

The invention relates to the field of film preparation, in particular to an arc ion plating arc source which controls the movement of arc pit with dynamic magnetic field. The dynamic controlled arc ion plating arc source is provided with a dynamic control magnetic field generator, a target and a target base; the target is arranged on the target base; the dynamic control magnetic field generator consists of a main control magnetic field generator and an auxiliary magnetic field generator; the main control magnetic field generator is arranged behind the target and is coaxial with the target; the auxiliary magnetic field generator is arranged around the main control magnetic field generator. In the invention, arc-shaped magnetic fields which are dynamically distributed are formed on the target surface with the help of the cooperation of the two magnetic field generators, so as to improve the discharge form and work stability of the arc pit, control the movement track of the arc pit, improve the erosion evenness and target utility rate of the target, reduce the emission of large target particles and prepare high-quality film.

The invention discloses a precise control method of a linear motion module. A motion control method based on S-shaped speed curve planning and synchronous planning of parabolic functions is adopted to precisely control the linear motion module; an acceleration maximum value and a speed maximum value of each motion shaft of a truss manipulator are input; an initial pose and a target pose of the truss manipulator are given to obtain a displacement variation of each motion shaft of the manipulator; time function nodes of each motion shaft are calculated; longest time nodes are selected as unified planning nodes to calculate actual maximum speed and maximum acceleration of each motion shaft; displacement, speed and acceleration functions at an acceleration phase, a deceleration phase and a constant-speed phase are respectively calculated according to the actual maximum speed and the maximum acceleration of each motion shaft; and the displacement of each motion shaft or discrete points on speed curves are output. The method can prevent the manipulator vibration or noise problem caused by sudden change of the speed or the acceleration, guarantees the motor motion precision, and can control the motion trajectory.

The invention provides an automobile rear motor type connecting rod integrated rear axle suspension comprising an integrated rear axle shell body. A guide mechanism is arranged on the integrated rear axle shell body. The integrated rear axle shell body includes an axle shell, a cover body, and axle shaft sleeves arranged at the two ends of the axle shell and connected with wheels. The guide mechanism includes a longitudinal connecting rod mechanism arranged on the side walls of the two ends of the axle shell and a transverse connecting rod mechanism arranged on the upper end of the axle shell. The automobile rear motor type connecting rod integrated rear axle suspension further comprises shock absorbers which are longitudinally arranged at the two sides of the axle shell, and elastic elements which sleeve the shock absorbers respectively. The shock absorbers are disposed at the back of the guide mechanism. According to the invention, the longitudinal and transverse connecting rods of the guide mechanism bear the longitudinal force and transverse force in the running process of an automobile body, and the elastic elements and the shock absorbers jointly bear vertical load. Therefore, the dynamic unsprung mass is reduced, the dynamic sprung mass is increased, kinetic energy is released effectively, and the smoothness and comfort of a whole automobile are improved.

The invention relates to a focused ion beam four-stage grid mesh system achieving fixed point removal and a method thereof. With the adoption of a three-stage spherical grid mesh, extraction, shaping and focusing of an ion beam of a wide-beam cold cathode ion source are realized, and a position of an ion beam focus can be adjusted according to the size of the spherical radius of the grid mesh; by changing a distribution map of small holes and the sizes of the small holes in the grid mesh, the size of a beam spot and the size of a beam current are adjusted; and through adjustment on electric potential of an accelerating grid, an ion motion trace can be controlled effectively, and loss and grid mesh loss in an ion motion process can be reduced. The fixed point removal on a processing surface can be realized, and the engineering application of an ion beam technology in China shall be pushed.

The invention provides a pot cover and a cooking utensil with the pot cover. The pot cover comprises a stainless steel inner cover, a lining cover and an outer cover, the lining cover is located between the stainless steel inner cover and the outer cover, a gap is formed between the lining cover and the stainless steel inner cover, a through hole penetrating through the lining cover to be communicated with the gap is formed in the lining cover, and the pot cover is further provided with a shielding piece for shielding the through hole. Through shielding of the shielding piece, insects can be prevented from entering the lining cover from the through hole, and the insect prevention effect is achieved.

The invention discloses an airflow and air bubble spinning device for preparing a magnetic ordered nano composite material and a method for spinning by utilizing the device. The airflow and air bubble spinning device comprises a liquid storage groove, an air bubble spraying pipe, a glass pipe, an air bubble generator, an air spraying pipe, an airflow generator, a receiving device arranged above the air bubble spraying pipe, a bracket platform which is fixedly connected with the receiving device, a magnetic control device mounted on the bracket platform and a liquid feeding device, wherein one end of the glass pipe is communicated with the air bubble generator and the other end of the glass pipe is communicated with the interior of the air bubble spraying pipe; the air spraying pipe is arranged on the side face of the air bubble spraying pipe and is connected with the airflow generator. In a spinning process, air bubbles are formed on the surface of a polymer solution containing magnetic nano-particles; after rising and breaking, the air bubbles are further subjected to stretching and thinning with airflow as power to form a lot of disordered magnetic nano fibers; and the disordered magnetic nano fibers do regular movement in a magnetic field control region generated by the magnetic control device to form a lot of ordered magnetic nano fibers and the ordered magnetic nano fibers are collected on the receiving device.

The invention discloses a hybrid-propulsion underwater vehicle.A vehicle sealing cabin is in the shape of a flat oval, each of the front portion and the rear portion of a cabin body is of a steamlined structure, four flapping wing driving devices are symmetrically mounted on the side walls of the vehicle, a battery, a voltage conversion module and an AD / DA module are fixed in the sealing cabin respectively, a posture sensor module and a PC104 control mainboard are positioned at two ends of the battery, a BD module is mounted on one side of the PC104 control mainboard and positioned behind the AD / DA module, a GPS (global positioning system) positioning module is positioned on the rear portion of the sealing cabin, a water sac is fixed on the front portion of the sealing cabin, an electromagnetic valve and a water pump are connected through a cable and positioned between the water sac and the sensor module, the water pump is communicated to the outside of the sealing cabin body through a silicone tube, and a sonar is mounted at the front end of the sealing cabin.A mode combining flapping wing propulsion and gliding propulsion is adopted, and little energy is consumed in the process of long-distance navigation through reasonable structural layout and changing in movement mode of flapping wings, so that energy resource utilization rate is increased.

The invention discloses an intelligent vehicle system capable of picking up balls automatically. The system comprises a vehicle, a table tennis ball identification module, a motion control module, a ball picking device, a table tennis container and the like. The vehicle is a motion platform of the system and can automatically move under the control of the motion control module; the table tennis ball identification module is composed of a camera and an image processing module, and position information of a table tennis ball is provided for the motion control module; the motion control module controls the motion direction and speed of the vehicle according to the position information of the table tennis ball; an absorbing device is arranged in front of the ball picking device and generates attractive force through an exhaust motor to absorb table tennis balls within the absorbing device range, and the ball picking function is achieved; the table tennis ball container stores picked table tennis balls, and when the table tennis balls reach a certain number, the table tennis balls can be discharged at the set area. According to the system, the positions of the table tennis balls in the area can be found, automatic picking can be achieved, the physical power of athletes picking up the balls is greatly relieved, the time of the athletes picking up the balls is greatly shortened, high efficiency and convenience are achieved, and operation is easy.

The invention relates to a multibar bearing and motion guiding mechanism of a tilt-up door. In a rectangular coordinate system, two multibar mechanisms are arranged in two planes parallel to plane YZ to restrain the connecting bar in the Z axis direction, and the top restraint is arranged in two planes parallel to plane XY and pressed at the top of the door leaf; the counterforce of the top restraint balances the door opening thrust force and component force of the preserved force on two sides in the Y axis direction, to enable the door leaf to make translational motion first; after the door leaf translates in the X axis direction and releases the restraint, the door leaf is tilted up under the function of the resultant force of the door opening thrust force and the preserved force on two sides. The mechanism has the advantages that the problem that the tilt-up door can not rotate because of the interference of the boundary of the interface area between the tilt-up door and the vehicle body is solved, The motion track of the door leaf is effectively controlled, and the collision between the door leaf and the side of the vehicle body in the door opening process is avoided. The mechanism also has the advantages that the installation is convenient, the reliability is high, and the mechanism is suitable for various vehicles with complex outlines. The dimension of the multibar mechanism is only required to be adjusted to adapt to the interface conditions of the specific outlines of the vehicles.

The invention discloses a hanging basket device and construction method for outer slope construction. The device comprises a hanging basket main body and two supports installed on a roof, wherein thesupports are connected to two ends of the hanging basket main body by a first steel wire rope and a second steel wire rope; a first lifting machine and a second lifting machine are disposed on the hanging basket main body and connected to the first and second steel wire ropes respectively; the device also comprises a third support erected on the roof, a third lifting machine is disposed on the hanging basket main body, and an outer pulley mechanism is disposed outside an outer slope and on the third support; and contraction and release of a third steel wire rope are controlled by the third lifting machine, the third steel wire rope passes through the third support and then passes through two outer pulley mechanism to form a Y-shaped fork, and tail ends are fixed on two ends of the hangingbasket main body respectively. When horizontal motion is needed, the third steel wire rope is contracted, so the hanging basket main body can be pulled away from the outer slope; and through release of the steel wire rope, the hanging basket main body can get close to the outer slope under gravity.

The invention provides a fixed-length cutting control device. A motion controller is mainly provided to be connected with a server of a cutting unit; meanwhile, an encoder arranged on a transmission mechanism of a feeding unit is also provided; the encoder is used for collecting a speed parameter of the part, outputting the speed parameter to a processing module to record the speed parameter and feeding back the speed parameter to the motion controller; in addition, the motion controller is further used for receiving a control parameter input by a human-computer interface; by using the motion controller, the motion track of the feeding unit is controlled according to a relation between motion perimeter of a cutting knife and a cutting length set by the human-computer interface, so as to achieve a fixed-length cutting purpose.

The invention discloses a hemiplegic upper limb rehabilitation training device. The training device comprises a handle grasping mechanism, a handle control mechanism, an auxiliary sliding mechanism and a counterweight block. The handle grasping mechanism is arranged on the handle control mechanism, the counterweight block is arranged on the handle grasping mechanism, and the handle control mechanism slides on the auxiliary sliding mechanism. The hemiplegic upper limb rehabilitation training device combines the handle control mechanism with the auxiliary sliding mechanism, patients can choose apromotion slide way to train flexion and extension according to different functional obstacles, motion trails can be effectively controlled, and deviation of the motion trails due to abnormal muscletone can be prevented, and in addition, the patients can insert fingers to finger holes of the handle grasping mechanism to effectively prevent the fingers from moving and slipping off. The hemiplegic upper limb rehabilitation training device is simple in structure, light in weight, convenient to use, safe and reliable, and can be operated by the patients themselves to reduce the workload of medical staff, and is suitable for widely popularization and application.

The invention provides a full-automatic curve polishing and grinding device and process. The device comprises a six-axis mechanical arm, a clamp, grinding mechanisms, a machine table mechanism, feeding mechanism, and a protection cover and is characterized in that the six-axis mechanical arm is arranged on the machine table mechanism; the tail end of the machine table mechanism is connected with the clamp; two sides of the right surface of the six-axis mechanical arm are provided with the grinding mechanisms and the feeding mechanism corresponding to the grinding mechanisms; the two feeding mechanisms are arranged between the two grinding mechanisms; the back side of the six-axis mechanical arm is provided with a conveyor belt used for automatically conveying mobile phone shells; a dust collection port is arranged between one grinding mechanism and one feeding mechanism; and the two dust collection ports communicate with a dust collection box below a table surface of the machine table mechanism.The full-automatic curve polishing and grinding device and process have following beneficial effects: problems such as poor quality of polishing and grinding and inefficiency are solved; dust generated by grinding is prevented from causing occupational diseases by carrying out manual and remote operation; and efficient and cost-effective full-automatic polishing and grinding operation for plastic injection parts is achieved.

The invention discloses a municipal environmental protection device. The municipal environmental protection device comprises an inner bucket, an outer bucket and a support unit matched with the innerbucket, wherein the bottom of the outer bucket is provided with a lifting mechanism for driving the support unit to move up and down, and a balance weight matched with the lifting mechanism; the sidewall of the outer bucket is provided with a fastening switch matched with the balance weight; the upper portion of the outer bucket is provided with a circle of green plant planting chamber, which iscomposed of a housing, a baffle arranged on the housing, and a water absorbing sponge arranged inside the housing. According to the municipal environment protection device, the water absorbing spongearranged inside the housing can further achieve good water storage and reduce water evaporation, and the upper portion of the housing is provided with the baffle to further reduce water evaporation, thereby ensuring no rapid evaporation of a water source supplied for green plants as well as avoiding withering of the green plants.

The invention discloses a method for controlling the movement of a robot based on what you see is what you get. S1: through the video camera set on the eggshell robot, collect the picture when the eggshell robot is moving, and, through the GPS set on the eggshell robot The positioning device collects the positioning information of the eggshell robot during the movement; S2: connects the video information and positioning information collected by the eggshell robot to the background server; S3: the background processor passes the processed video signal and positioning signal through The signal transmitting module sends the signal to the remote terminal; S4: After receiving the signal, the mobile terminal of the mobile phone processes the video information and positioning information by running the server, and calculates the robot motion trajectory calculated by the above two information through the calculation module; S5 : Send the robot motion track calculated above to the robot driving wheel control circuit through a signal. The inventive method is simple and easy to realize.

The invention discloses a processing technology and a device of surface ink jet printing, used for realizing printing of complex curved surfaces. The technology comprises the following steps: controlling the motion track of the printing spray nozzle according to the curved surface characteristic information of the surface of the object to be processed; and in the motion process of the printing spray nozzle, spraying the printing ink on the surface of the object to be processed through the printing spray nozzle.

The invention discloses a programmable lattice magnetic field control system which comprises a remote control unit, a main control unit, a driving unit and a magnetic control unit, and the magnetic control unit comprises a plurality of magnetic core coils. The remote control unit obtains a control instruction and converts the control instruction into a magnetic field control file, the main control unit converts the magnetic field control file into a digital switch control signal, and the driving unit generates a current control signal of the magnetic core coil according to the digital switch control signal so as to control the on-off state of current in the magnetic core coil. The magnetic control unit controls a resultant magnetic field generated by the magnetic core coil according to the current control signal so as to drive the motion trail of the magnetic control robot on a magnetic control table. According to the technical scheme, the circuit control signal of the magnetic core coil can be generated according to the control instruction, then the adjustable synthetic magnetic field generated by the magnetic core coil is controlled, the motion trail of the micro-robot can be controlled, and the control capacity of the micro-robot is improved.

The invention discloses a straight grinder, which comprises a first casing, the left end of the first casing is fixedly connected with a second casing, and the right end of the first casing is fixedly connected with a third casing, so A motor is installed inside the first casing, and the end of the output shaft of the motor is connected to a transmission shaft through a coupling, and the end of the transmission shaft runs through the right end surface of the third casing, and the right end of the transmission shaft is fixedly connected to a The shaft is connected, and a first bearing is fixedly connected to the inside of the third housing. The invention can control the movement trajectory of the whole sander during grinding, so that it moves and grinds linearly, so that the grinding of linear weld scars is more accurate and can save working time. On the one hand, the work efficiency is effectively improved, and on the other hand, the The surface that does not need to be polished also improves the quality of the workpiece product. In addition, the addition of a switchable abrasive belt grinding method makes the device more comprehensive and enhances the overall functionality of the device.

The invention discloses a Tai Chi cloud hand teaching assisting device and relates to the technical field of fitness equipment. The Tai Chi cloud hand teaching assisting device is capable of improving exercise effect and simplifying learning processes. The device comprises a control table, a main carrier, a rotary table installed on the main carrier in a rotary mode, a swing frame arranged on the rotary table in a pivoted mode, a cloud hand plate installed on the swing frame in a rotary mode, a handle installed on the cloud hand plate, rotary motors for driving the rotary table to rotate, and a swing motor for driving the swing frame to pivot, wherein a main motor is arranged on the swing frame, a plate side driving gear meshed with an output shaft of the main motor is coaxially fixed on the cloud hand plate, and control signal output ends of the controller are connected to the control ends of the motors respectively. The device is suitable for assistance of hand motion teaching during fitness exercising.

The invention discloses a variable-load broacher counterweight system, which comprises a servo motor, a counterweight cylinder, a digital signal processor and an electrical servo valve, wherein the servo motor drives a broacher worktable by the aid of a lead screw, and the counterweight cylinder is connected with the broacher worktable through a connecting rod. An air source is connected with the electrical servo valve, the servo motor is connected with the digital signal processor through an ammeter, the digital signal processor is connected with the electrical servo valve and controls openness of the electrical servo valve by outputting voltage signals, the electrical servo valve is connected with the counterweight cylinder, and a synchronous mechanism is arranged between the servo motor and the counterweight cylinder. The variable-load broacher counterweight system has the advantages that fluctuation of the current of the servo motor is continuously monitored, and when the detected current of the servo motor steps, the thrust of the counterweight cylinder is timely adjusted by a pneumatic counterweight device to balance load fluctuation caused by tension change and to suppress vibration during machining.

The invention discloses a filter core fixing sleeve. The filter core fixing sleeve comprises a fixing sleeve; the fixing sleeve is composed of a slide rail, a terminal point site, and two anti-withdrawing points; the slide rail is arranged on the internal side of the fixing sleeve, and is used for filter core sliding; the terminal point site is the filter core device moving terminal position, andis used for ensuring movement of filter core devices in an effective zone; the two anti-withdrawing points are used for preventing random withdrawing of filter core devices. The filter core fixing sleeve is mainly used for controlling filter core device movement tack, realizing movement of filter cores in an effective space, and realizing effective control on a starting position; after installation, the two anti-withdrawing points are adopted to prevent random withdrawing of filter core devices; ribs on the periphery of the fixing sleeve are adopted to increase the strength of the fixing sleeve, and ensuring using strength and service life of the fixing sleeve under pressure effectively; the surface of the fixing sleeve is provided with an arrow sign to show installation direction, so thatinstallation efficiency is increased effectively.

The invention discloses a CT (Computed Tomography) bed motion control method based on time sequence track points. The method comprises steps of receiving the first section of track point data; receiving a starting motion instruction and controlling a motor to enter the motion state and execute the first section of track point data; feeding state word data with motor starting time information back; receiving the second section of track point data based on the state word data; receiving track running data; and controlling the motor to carry out corresponding track motion. According to the method, the influences of network delay on motor running precision are eliminated and the control precision is improved. The invention also discloses a CT (Computed Tomography) bed motion control system based on time sequence track points.

The invention discloses a straight grinding machine. The straight grinding machine comprises a first shell, the left end of the first shell is fixedly connected with a second shell, the right end of the first shell is fixedly connected with a third shell, a motor is installed inside the first shell, and the tail end of an output shaft of the motor is connected with a transmission shaft through a coupler; and the tail end of the transmission shaft penetrates through the right end face of the third shell, the right end of the transmission shaft is fixedly connected with a connecting shaft, and the interior of the third shell is fixedly connected with a first bearing. According to the straight grinding machine, the motion trail of the whole grinding machine in the grinding process can be controlled so that the grinding machine can move linearly for grinding, and therefore linear welding scars can be ground more accurately, the working time can be saved, on the one hand, the working efficiency is effectively improved, on the other hand, the face which does not need to be ground is protected, and the quality of workpiece products is improved; in addition, the switchable abrasive belt grinding mode is added, so that the device is more comprehensive in function, and the overall functionality of the device is enhanced.

The invention discloses a method for treating an articular cartilage defect and a magnetically marked cell targeted transplantation controlled magnetic focusing instrument special for the method. The characteristic that superparamagnetic iron oxide (SPIO) marked stem cells have magnetic property is utilized, and the transmission path of the stem cells is controlled under the action of magnetic forces in different directions and SPIO, so that the stem cells are accurately transplanted to a position with a cartilage cell defect, and the aim of treatment is fulfilled; meanwhile, after the special magnetic focusing instrument is adopted, the motion path of the SPIO marked stem cells can be conveniently and accurately controlled by controlling the power-on condition, current size (magnetic force size) and magnetic force direction of each magnetic coil, and interlink among the cells in the vertical direction can be promoted under the action of the magnetic forces and the SPIO, so that a bracket-free three-dimensional stem cell lamellar tissue engineering structure is constructed. The instrument has a simple structure and is convenient to control and easy and convenient to operate.

The invention discloses a municipal cleaning device. The municipal cleaning device comprises an inner bucket body, an outer bucket body and a supporting piece used in cooperation with the inner bucketbody. A lifting mechanism and a balance weight piece are arranged at the bottom of the outer bucket body. The lifting mechanism is used for driving the supporting piece to go upwards or downwards. The balance weight piece is used in cooperation with the lifting mechanism. A buckle switch used in cooperation with the balance weight piece is arranged on the side wall of the outer bucket body. According to the municipal cleaning device, because the supporting piece and the lifting mechanism are arranged to raise the inner bucket body, it is avoided that a sanitation worker has to stretch the hands into an outer bucket body when taking out an inner bucket body, the inner bucket body can be directly upwards lifted out, the garbage can be conveniently poured out, and the arranged balance weightpiece can drive the lifting mechanism to work along with the movement of the balance weight piece; and because the buckle switch is arranged, the lifting mechanism can be controlled to work by controlling the balance weight piece to move downwards, the control manner is simple and convenient to carry out, and control can be realized only by pressing the buckle switch.

The invention discloses an electromotor and permanent magnet series connection type vascular stent tube material inner wall magnetic particle grinding and polishing machine. The electromotor and permanent magnet series connection type vascular stent tube material inner wall magnetic particle grinding and polishing machine comprises a rotating magnetic pole movement transmission device, a rotatingmagnetic pole device, a vascular stent tube material clamping and feeding device, a machine base and a numerical control system. A pair of permanent magnet magnetic poles which are opposite in positive pole and negative pole are arranged in a magnetic pole roller of the rotating magnetic pole device, micro grooves are formed in the surfaces of the magnetic poles, and the size of a magnetic gap isadjusted by a threaded rod. Guide bases which are same in shape and size are installed at the two ends of the rotating magnetic pole device. The electromotor and permanent magnet series connection type vascular stent tube material inner wall magnetic particle grinding and polishing machine can conduct inner wall surface layer removal and polishing operation on vascular stent tube materials with different materials, different lengths and different hole diameters, quickly removes defect layers which exist on the inner wall surfaces, and remarkably reduces the frequency of the phenomenon that after vascular stents are implanted into blood vessels, the toxic and side effects, blood flow object deposition, thrombi, vascular restenosis, blockage and other phenomena happen on patients. Meanwhile,the electromotor and permanent magnet series connection type vascular stent tube material inner wall magnetic particle grinding and polishing machine is suitable for uniform trace removal and mirrorpolishing machining of the inner wall surfaces of various ultra-thin and ultra-long tube materials.