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    • 39. 发明公开
    • STEERABLE DRIVE MECHANISM AND OMNIDIRECTIONAL MOVING VEHICLE
    • LENKARER ANTRIEBSMECHANISMUS UND ALLE RICHTUNGEN BEWEGLICHES VENTIL
    • EP2444301A1
    • 2012-04-25
    • EP10789475.0
    • 2010-06-15
    • National University Corporation Toyohashi University of Technology
    • TERASHIMA, KazuhikoONO, TakashiUENO, Yuuki
    • B62D7/14A61G5/04B62D9/00F16H1/14F16H37/02
    • B62D7/1509A61G5/046B60K7/00B60K7/0007B60K17/043B60K2007/0046B60K2007/0084B60Y2200/84B62D5/0418B62D7/026
    • Provided are a drive mechanism capable of improving stability of steering environment and operation rate of power sources, and an omnidirectional moving vehicle using this drive mechanism. The omnidirectional moving vehicle comprises a vehicle body (6), and a plurality of wheels (4a to 4d) at least two wheels of which are equipped with the steering drive mechanism. The drive mechanism comprises a rotatable steering unit (1), a wheel (4) supported by the steering unit, a drive member (2) rotating about an axis extending along a center axis of the steering unit, an output shaft (3) located at an offset position from the center axis of the steering unit and transmitting rotational force of the drive member to the wheel. The drive member comprises a first drive unit (22) driven in a forward rotation direction and a second drive unit (23) driven in a reverse rotation direction and located coaxially with the first drive unit. The output shaft is provided with a first output unit (71) to which driving force is transmitted from the first drive unit, and a second output unit (72) to which driving force is transmitted from a conversion unit for converting rotation of the second drive unit, is restricted by both the output units, and transmits rotational force obtained from the output units to the wheel.
    • 提供能够提高转向环境的稳定性和动力源的运转率的驱动机构,以及使用该驱动机构的全方位移动车辆。 全方向移动车辆包括车体(6)和至少两个车轮的多个车轮(4a至4d),其具有转向驱动机构。 所述驱动机构包括可转动转向单元(1),由所述转向单元支撑的轮(4),绕所述转向单元的中心轴线延伸的轴线旋转的驱动构件(2),位于 在与转向单元的中心轴线的偏移位置处,并且将驱动构件的旋转力传递到车轮。 驱动构件包括沿正向驱动的第一驱动单元(22)和沿反向旋转方向驱动并与第一驱动单元同轴定位的第二驱动单元(23)。 输出轴设置有从第一驱动单元传递驱动力的第一输出单元(71)和从转换单元传递驱动力的第二输出单元(72),用于转换第二驱动器的旋转 单元由两个输出单元限制,并且将从输出单元获得的旋转力传递到车轮。
    • 40. 发明公开
    • TILTING TYPE AUTOMATIC POURING CONTROL METHOD AND MEDIUM STORING TILTING CONTROL PROGRAM FOR LADLE
    • 自动化系统公司简介公司简介公司简介公司荣誉
    • EP2143514A1
    • 2010-01-13
    • EP08740730.0
    • 2008-04-21
    • Sintokogio, Ltd.National University Corporation Toyohashi University of Technology
    • NODA, YoshiyukiTERASHIMA, KazuhikoMIYOSHI, TakanoriOTA, KazuhiroSUZUKI, Makio
    • B22D41/06B22D46/00
    • B22D41/06B22D37/00B22D46/00
    • (Problems to be solved)
      This invention provides a method that enables molten metal that flows from ladles to drop precisely into a sprue of a mold.
      (Means to solve the problems)
      The input voltage that is to be supplied to each of the servomotors is controlled so that the molten metal that flows from the ladle drops precisely into a sprue of a mold, the respective servomotors tilting the ladle, moving the ladle backward and forward, and moving the ladle up and down,
      wherein the method comprises:
      obtaining a mathematical model covering the locus of the positions where the molten metal that flows from the ladle drops,
      solving the inverse problem of the mathematical model thus obtained;
      estimating the position where the molten metal drops from the term for the estimated flow of the molten metal and the term for the estimated position where the molten metal drops; and
      processing the data on the estimated position where the molten metal drops, whereby the pouring of the molten metal is effected by determining the electrical voltages to be supplied to the respective servomotors, which tilt the ladle, move the ladle backward and forward, and move the ladle up and down, and controlling the three motors based on the electrical voltages thus determined.
    • (待解决的问题)本发明提供一种能够使从水杓流出的熔融金属精确地落入模具的浇道中的方法。 (解决问题的手段)控制供给到各伺服电动机的输入电压,使得从钢包流出的熔融金属精确地落入模具的浇口中,各个伺服电动机倾斜钢包, 钢包向后和向前移动,并且上下移动钢包,其中所述方法包括:获得覆盖从钢包流出的熔融金属的位置的轨迹的数学模型,解决由此获得的数学模型的逆问题; 估计熔融金属从熔融金属的估计流量的术语下降的位置以及熔融金属滴下的估计位置的术语; 并且处理关于熔融金属的估计位置的数据,从而通过确定供给到各个伺服电机的电压来实现熔融金属的倾倒,倾斜钢包,向后并向前移动钢包 钢包上下,并根据这样确定的电压控制三台电机。