公开(公告)号：US11573101B2

公开(公告)日：2023-02-07

申请号：US17733147

申请日：2022-04-29

Applicant: CHONGQING UNIVERSITY

Inventor： Huayan Pu ,  Yan Jing ,  Jinglei Zhao ,  Jun Luo ,  Yi Qin ,  Zhijiang Xie ,  Jie Ma

IPC: G01D5/20

Abstract: Disclosed is a quasi-zero stiffness absolute displacement sensor based on electromagnetic positive stiffness, and relates to the technical field of vibration measurement. The quasi-zero stiffness absolute displacement sensor comprises an eddy current displacement sensor unit, a negative stiffness unit, an intermediate connector, a positive stiffness unit, a bottom shell and a motion axis. The damping of the mechanism can be effectively reduced, the service life of the system is prolonged, and the mechanism size is reduced. By adjusting the number of layers of permanent magnets and coils in the electromagnetic positive stiffness unit and the electromagnetic negative stiffness unit and controlling the magnitude of current in the coils, electromagnetic force between the permanent magnets and the electromagnetic coils can be changed, the magnitude of positive stiffness and the magnitude of negative stiffness are adjusted, and control over the stiffness of the whole system is achieved.

公开(公告)号：US11808319B2

公开(公告)日：2023-11-07

申请号：US17373248

申请日：2021-07-12

Applicant: Chongqing University ,  Shanghai University

Inventor： Huayan Pu ,  Tong Wang ,  Qimin Li ,  Jinglei Zhao ,  Jun Luo ,  Jie Ma

IPC: F16F15/00 ,  F16F15/03 ,  F16F15/04

CPC classification number: F16F15/03 ,  F16F15/04 ,  F16F2222/06 ,  F16F2228/063 ,  F16F2228/066

Abstract: A horizontally arranged six-degree-of-freedom constant-stiffness mechanism is provided, and includes an upper platform, a bottom plate, three composite spherical hinges, spherical hinges, support rods, guide rail slider assemblies, and six electromagnetic adjustable stiffness units. Two ends of a shaft on which a permanent magnet is fixed in each electromagnetic adjustable stiffness unit are fixed to the bottom plate via shaft supports. Axially moving housings of electromagnetic adjustable stiffness units are fixed on sliders of the guide rail slider assemblies via slider backing plates respectively. Guide rail slider assembles are fixed on the bottom plate. Tops of the housings are mounted with the spherical hinges respectively. A bottom of the upper platform is uniformly mounted with the composite spherical hinges. One end of each support rod is threadedly connected to a corresponding one of the spherical hinges, and another end is connected with a corresponding one of composite spherical hinges.

公开(公告)号：US20230045158A1

公开(公告)日：2023-02-09

申请号：US17535747

申请日：2021-11-26

Applicant: Chongqing University ,  Shanghai University

Inventor： Huayan Pu ,  Yan Jing ,  Jinglei Zhao ,  Jun Luo ,  Yi Qin ,  Zhijiang Xie ,  Jie Ma

IPC: G01H11/02 ,  H02N15/00

Abstract: A magnetic suspension type sensing system for space full-degree-of-freedom absolute poses is provided. The system includes a reference platform, multiple quasi-zero stiffness supporting legs and a platform to be tested. The reference platform and the platform to be tested are connected in a spherical hinge mode through the multiple quasi-zero stiffness supporting legs. Each of the multiple quasi-zero stiffness supporting legs includes a lower end spherical hinge, a lower end cover, a positive stiffness unit, a negative stiffness unit, a shaft, a lower end shell, an upper end shell and an upper end spherical hinge.

公开(公告)号：US12271197B2

公开(公告)日：2025-04-08

申请号：US18096588

申请日：2023-01-13

Applicant: CHONGQING UNIVERSITY ,  SHANGHAI UNIVERSITY

Inventor： Huayan Pu ,  Lele Ding ,  Xuyang Zheng ,  Jun Luo ,  Jie Ma ,  Jing Huang ,  Yongbing Chen ,  Hongliang Liu ,  Anming Shen ,  Haonan Sun

IPC: G05D1/00

Abstract: A method and system for decomposing cross-domain path planning of an amphibious vehicle. The method includes: defining a starting point and a target point of cross-domain path planning by acquiring an amphibious map containing coastline information, constructing a candidate set of land-water transition points; setting a multilevel gradient search range on a coastline and a set number of iterations; determining a locally-optimal land-water transition point in each search range in a level-wise search mode; setting a heuristic search termination condition, and determining, based on the heuristic search termination condition, whether a current locally-optimal land-water transition point can be globally optimal; if yes, stopping searching, and determining a globally-optimal land-water transition point; if no, determining whether the range is completely traversed; if yes, stopping searching, and determining a globally-optimal land-water transition point; if no, continuing to traverse the range; finally performing global path planning based on the globally-optimal land-water transition point.

公开(公告)号：US11692607B2

公开(公告)日：2023-07-04

申请号：US17535747

申请日：2021-11-26

Applicant: Chongqing University ,  Shanghai University

Inventor： Huayan Pu ,  Yan Jing ,  Jinglei Zhao ,  Jun Luo ,  Yi Qin ,  Zhijiang Xie ,  Jie Ma

IPC: F16F15/00 ,  F16F15/03 ,  H02N15/00 ,  G01H11/02

CPC classification number: F16F15/002 ,  F16F15/03 ,  G01H11/02 ,  H02N15/00 ,  F16F2230/14

Abstract: A magnetic suspension type sensing system for space full-degree-of-freedom absolute poses is provided. The system includes a reference platform, multiple quasi-zero stiffness supporting legs and a platform to be tested. The reference platform and the platform to be tested are connected in a spherical hinge mode through the multiple quasi-zero stiffness supporting legs. Each of the multiple quasi-zero stiffness supporting legs includes a lower end spherical hinge, a lower end cover, a positive stiffness unit, a negative stiffness unit, a shaft, a lower end shell, an upper end shell and an upper end spherical hinge.