</noscript> <script> function stop(){ return false; } document.oncontextmenu=stop; </script> <!-- nav --> <nav class="navbar navbar-default navbar-fixed-top"> <div class="container"> <div class="navbar-header"> <button type="button" class="navbar-toggle collapsed" data-toggle="collapse" data-target="#navbar" aria-expanded="false" aria-controls="navbar"> <span class="sr-only">五轴加工中心_五轴钻攻中心_铣车复合中心 | 宇匠数控Y&J</span> <span class="icon-bar"></span> <span class="icon-bar"></span> <span class="icon-bar"></span> </button> <div class="top-nav-right"> <ul class="navbar-right"> <li id="fat-menu" class="dropdown"> <a class="dropdown-toggleglyphicon glyphicon glyphicon-globe" data-toggle="dropdown" role="button" aria-haspopup="true" aria-expanded="false"></a> <ul class="dropdown-menu" aria-labelledby="drop3"> <li><a id="StranLink" name="StranLink">繁體</a></li> </ul> </li> <li class="glyphicon glyphicon-search" data-toggle="modal" data-target=".bs-example-modal-lg-search" aria-hidden="true"></li> </ul> </div> <!-- logo --> <a href="/" class="navbar-brand text-center"><img src="/bethel/upload/images/202410/17287383406658.png" class="img-responsive" alt="五轴加工中心_五轴钻攻中心_铣车复合中心 | 宇匠数控Y&J" /></a> <!-- logo end --> </div> <div id="navbar" class="navbar-collapse collapse"> <ul class="nav navbar-nav"> <li class="oen"><a href="/">网站首页</a></li> <li class="oen"> <a href="/bethel/cnc" target=" _blank">产品中心</a> </li> <li class="oen"> <a href="/bethel/XP" target=" _blank">选配展示</a> </li> <li class="oen"> <a href="/bethel/zp" target=" _blank">关于我们</a> </li> <li class="oen dropdown"> <a href="/bethel/NC" target=" _blank" data-toggle="dropdown" data-submenu="">技术文章<span class="caret"></span></a> <ul class="two dropdown-menu"> <li> <a title="五轴文章" href="/bethel/5-aix">五轴文章</a> </li> <li> <a title="问题解答" href="/bethel/wd">问题解答</a> </li> <li> <a title="数控文章" href="/bethel/news">数控文章</a> </li> </ul> </li> <li class="oen dropdown"> <a href="/bethel/route" target=" _blank" data-toggle="dropdown" data-submenu="">软件/视频<span class="caret"></span></a> <ul class="two dropdown-menu"> <li> <a title="视频教程" href="/bethel/course">视频教程</a> </li> <li class="dropdown-submenu"> <a title="软件下载" href="/bethel/Software">软件下载</a> <ul class="three dropdown-menu"> <li> <a title="UG下载" href="/bethel/UG">UG下载</a> </li> <li> <a title="PowerMill下载" href="/bethel/PM">PowerMill下载</a> </li> <li> <a title="Mastercam下载" href="/bethel/MC">Mastercam下载</a> </li> <li> <a title="CAD下载" href="/bethel/CAD">CAD下载</a> </li> <li> <a title="SolidWorks下载" href="/bethel/SW">SolidWorks下载</a> </li> <li> <a title="3Dmax下载" href="/bethel/3Dmax">3Dmax下载</a> </li> </ul> </li> <li> <a title="产品视频" href="/bethel/video">产品视频</a> </li> </ul> </li> <li class="oen"> <a href="/bethel/contact" target=" _blank">联系方式</a> </li> </ul> </div> </div> </nav> <script type="text/javascript"> //<!CDATA[ var bodyBgs = []; bodyBgs[0] = "/images/banner/s1.jpg"; bodyBgs[1] = "/images/banner/s2.jpg"; bodyBgs[2] = "/images/banner/s3.jpg"; bodyBgs[3] = "/images/banner/s4.jpg"; bodyBgs[4] = "/images/banner/s5.jpg"; var randomBgIndex = Math.round( Math.random() * 4 ); //输出随机的背景图 document.write('<style>.banner{background:url(' + bodyBgs[randomBgIndex] + ') no-repeat 50% bottom}</style>'); //]]> </script> <section> <div class="banner" style="height:160px;"> </div> </section> <!-- 面包屑导航开始 --> <div class="container "> <nav class="sub_menu"> <ol class="breadcrumb"><span class="glyphicon glyphicon-list"></span> <li><a href="/">网站首页</a></li> <li><a title="技术文章" href="/bethel/NC">技术文章</a></li> <li><a title="数控文章" href="/bethel/news">数控文章</a></li> </ol> </nav> </div> <!--/sub_menu--><!-- 面包屑导航结束 --> <!-- 页面标题开始 --> <div class="title"> <h3><a>轨迹规划及其动力学优化小结<small></small></a></h3> </div> <!-- 页面标题结束 --> <hr class="featurette-divider"> <!-- 中部开始 --> <div class="container"> <!-- 正文 --> <div class="lead" id="print"> <p> <span style="line-height: 11pt; text-indent: 0pt; font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"> </span><span style="line-height: 11pt; text-indent: 0pt; font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">3.7</span><span style="line-height: 11pt; text-indent: 0pt; font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">本章小结</span></p> <p class="NewStyle18" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">本章使用三种方法对</span><span class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Delta</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">两自由度高速并联工业机器人进行了合理的轨迹规划， 分别是关节空间轨迹规划及其动力学优化、工作空间轨迹规划及其动力学优化、关节空 间和工作空间的混合轨迹规划及其动力学优化。</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle18" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">在关节空间的轨迹规划及其动力学优化中，旨在驱动电机不变的情况下，增加机器 人的速度和载荷，利用先进的</span><span class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Python</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">软件对机器人的轨迹进行深入分析，采用五次样条 函数对机器人的运动轨迹进行拟合，并将关节空间的动力学模型加入到轨迹规划中。生 成的拟合曲线表明，</span><span class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Delta</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">机器人在关节空间和工作空间内的位移、速度、加速度、加加 速度拟合曲线均连续、可导，各时间段的峰值力矩、峰值功率趋于同一数值，使得机器 人的工作循环时间周期更短、运行更加平稳，同时降低了驱动电机的峰值力矩和峰值功 率。当驱动电机不变时，可以有效的提高机器人的运行速度，增加有效载荷，不仅降低 了制造成本，而且提高了机器人的工作效率。</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle18" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">在工作空间的轨迹规划及其动力学优化中，旨在使得机器人的末端执行器拥有良好 的运动学和动力学性能，利用先进的</span><span class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Python</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">软件对机器人的轨迹进行深入分析，使用相 应的工作空间五次样条函数轨迹规划方法对</span><span class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Delta</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">机器人进行合理的轨迹规划，再利用 工作空间动力学优化模型和关节空间内的动力学优化模型分别对工作空间的轨迹规划 结果进行优化，从得到的结果可知，工作空间内的动力学优化数学模型极大地提高了工 作空间内末端执行器的的动力学性能，关节空间内的动力学优化数学模型极大地降低了 关节空间内所需驱动电机的动力学性能，可以根据实际要求选择以上的动力学优化模型， 或者采用两者共同存在的动力学优化模型对工作空间内的轨迹规划结果进行动力学优 化。</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle18" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">在关节空间和工作空间的混合轨迹规划及其动力学优化中，旨在充分利用关节空间 和工作空间轨迹规划各自的优点，以提高工作空间末端执行器的物体抓取和释放曲线段 工作空间拟合曲线与中间转运阶段的关节空间拟合曲线性能为目标，使用关节空间和工 作空间的五次样条函数混合轨迹规划法对</span><span class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Delta</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">两自由度机器人进行合理的轨迹规划， 并且利用相应的动力学模型进行轨迹优化，对提高机器人整体的运动学和动力学性能具 有很好的指导性意义。</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><br clear="all" style="page-break-before:always;mso-break-type:section-break" /> </span></p> <p class="NewStyle18" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"> </p> <p class="NewStyle18" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"><span style="font-size:9.0pt;font-family:宋体;mso-ascii-font-family: "Times New Roman";mso-hansi-font-family:"Times New Roman";mso-bidi-font-family: "Times New Roman";mso-font-kerning:1.0pt;mso-ansi-language:EN-US;mso-fareast-language: ZH-CN;mso-bidi-language:AR-SA">本文采摘自“高速并联工业机械手臂分析设计与实现”，因为编辑困难导致有些函数、表格、图片、内容无法显示，有需要者可以在网络中查找相关文章！本文由伯特利数控整理发表文章均来自网络仅供学习参考，转载请注明！</span></p></div> <div class="blank30"></div> <!-- tag --> <div class="blank10"></div> 标签： <a href='/index.php?case=tag&act=show&tag=%E5%8A%A0%E5%B7%A5%E4%B8%AD%E5%BF%83' target='_blank'>加工中心</a> <a href='/index.php?case=tag&act=show&tag=%E6%95%B0%E6%8E%A7%E5%8A%A0%E5%B7%A5%E4%B8%AD%E5%BF%83' target='_blank'>数控加工中心</a> <a href='/index.php?case=tag&act=show&tag=CNC%E5%8A%A0%E5%B7%A5%E4%B8%AD%E5%BF%83' target='_blank'>CNC加工中心</a> <a href='/index.php?case=tag&act=show&tag=%E6%95%B0%E6%8E%A7%E6%9C%BA%E5%BA%8A' target='_blank'>数控机床</a> <a href='/index.php?case=tag&act=show&tag=%E9%AB%98%E9%80%9F%E5%8A%A0%E5%B7%A5%E4%B8%AD%E5%BF%83' target='_blank'>高速加工中心</a> <a href='/index.php?case=tag&act=show&tag=%E6%9C%BA%E6%A2%B0%E6%89%8B' target='_blank'>机械手</a> <a href='/index.php?case=tag&act=show&tag=%E6%9C%BA%E5%99%A8%E4%BA%BA' target='_blank'>机器人</a> <!-- 分类 --> <div class="blank10"></div> 分类： <a href='/bethel/type/jnc/type-1.html' target='_blank'>加工中心</a> <div class="blank30"></div> <!--自动调用自定义字段--> <div class="blank20"></div> <div class="blank30"></div> <!-- 投票 --> <script src="/index.php?case=vote&act=view&aid=974"></script> <!-- 自定义表单开始 --> <!-- 自定义表单结束 --> <div class="blank60"></div> <!-- 上下页开始 --> <div id="page"> <strong>上一篇</strong><a href="/bethel/news/show_973.html">关节空间和工作空间的混合轨迹规划</a> <div class="blank10"></div> <strong>下一篇</strong><a href="/bethel/news/show_975.html">Delta机器人控制系统简介</a> </div> <!-- 上下页结束 --> </div><!-- /container --> <!-- 相关文章开始 --> <div class="blank60"></div> <!-- 页面标题开始 --> <div class="title"> <h3><a><a href='/index.php?case=tag&act=show&tag=%E5%8A%A0%E5%B7%A5%E4%B8%AD%E5%BF%83' target='_blank'>加工中心</a> <a href='/index.php?case=tag&act=show&tag=%E6%95%B0%E6%8E%A7%E5%8A%A0%E5%B7%A5%E4%B8%AD%E5%BF%83' target='_blank'>数控加工中心</a> <a href='/index.php?case=tag&act=show&tag=CNC%E5%8A%A0%E5%B7%A5%E4%B8%AD%E5%BF%83' target='_blank'>CNC加工中心</a> <a href='/index.php?case=tag&act=show&tag=%E6%95%B0%E6%8E%A7%E6%9C%BA%E5%BA%8A' target='_blank'>数控机床</a> <a href='/index.php?case=tag&act=show&tag=%E9%AB%98%E9%80%9F%E5%8A%A0%E5%B7%A5%E4%B8%AD%E5%BF%83' target='_blank'>高速加工中心</a> <a href='/index.php?case=tag&act=show&tag=%E6%9C%BA%E6%A2%B0%E6%89%8B' target='_blank'>机械手</a> <a href='/index.php?case=tag&act=show&tag=%E6%9C%BA%E5%99%A8%E4%BA%BA' target='_blank'>机器人</a> <small>相关内容</small></a></h3> <p></p> <span>——</span> </div> <!-- 页面标题结束 --> <hr class="featurette-divider"> <div class="container list-container"> <!-- 内容列表开始 --> <div class="news-list list-border list-border-w"> <div class="list-date"> <span>11</span> <p>2024-12</p> </div> <h4><a title="U600S五轴加工中心视频" href="/bethel/video/show-3042.html" target="_blank">U600S五轴加工中心视频</a></h4> <p>此视频详细介绍了U600S高性能五轴加工中心各种参数及说明！… <a href="/bethel/video/show-3042.html" target="_blank">[了解更多]</a></p> </div> <div class="news-list list-border list-border-w"> <div class="list-date"> <span>05</span> <p>2024-11</p> </div> <h4><a title="六角亭五轴加工工艺" href="/bethel/5-aix/show-2966.html" target="_blank">六角亭五轴加工工艺</a></h4> <p>本文以组合式六角亭模型为实例，分析工艺难点与加工可行性，指出该模型的加工难点是模型形状不规则和整体刚性差，并通过设计新的工艺方案解决加工难点，完成了模型整体的加工。新的加工工艺有助于提高加工效率和精度，为五轴数控加工提供了一个典型案例，对于五轴加工中心数控加工也具有指导作用和重要… <a href="/bethel/5-aix/show-2966.html" target="_blank">[了解更多]</a></p> </div> <div class="news-list list-border list-border-w"> <div class="list-date"> <span>05</span> <p>2024-11</p> </div> <h4><a title="自适应控制方法在混联五轴加工中心中的应用" href="/bethel/5-aix/show-2965.html" target="_blank">自适应控制方法在混联五轴加工中心中的应用</a></h4> <p>宇匠数控 备注：为保证文章的完整度，本文核心内容由PDF格式显示，如未有显示请刷新或转换浏览器尝试，手机浏览可能无法正常使用！本文摘要：通过对混联五轴加工中心自适应深度学习控制方法的 研 究，可 知 此 方 法 的 创 新 之 处 在 于：１）建 立 了 机 床 的 运 动 学 … <a href="/bethel/5-aix/show-2965.html" target="_blank">[了解更多]</a></p> </div> <div class="news-list list-border list-border-w"> <div class="list-date"> <span>05</span> <p>2024-11</p> </div> <h4><a title="五轴加工中心和五轴钻攻中心在机测量探头补偿" href="/bethel/5-aix/show-2959.html" target="_blank">五轴加工中心和五轴钻攻中心在机测量探头补</a></h4> <p>在机测量技术由于其成本低、检测效率高、无需二次装夹等优势被广泛用于零件加工测量当中，使得五轴加工中心和五轴钻攻中心，同时又兼具测量功能。在机测量系统的构成如图1所示，硬件部分主要是由高精度探头、信号接收器、机床整个本体，软件部分由机床控制系统、测量软件等组成[8]。待零件加工完成… <a href="/bethel/5-aix/show-2959.html" target="_blank">[了解更多]</a></p> </div> <div class="news-list list-border list-border-w"> <div class="list-date"> <span>05</span> <p>2024-11</p> </div> <h4><a title="五轴加工中心进给系统动态误差影响因素" href="/bethel/5-aix/show-2958.html" target="_blank">五轴加工中心进给系统动态误差影响因素</a></h4> <p>加工精度是影响机床性能和产品质量的主要难题，也是制约国家精密制造能力的重要因素。本文以五轴加工中心为对象，针对提升机床精度进行了研究。并且随着科技的发展，精密的仪器和零件在生产实践中占据的分量逐渐增加，在数控机床这种精密机器精度不断提高的同时，必须控制内外界环境的随机影响因素在… <a href="/bethel/5-aix/show-2958.html" target="_blank">[了解更多]</a></p> </div> <!-- 内容列表结束 --> </div> <!-- 相关文章结束 --> <!-- 页底推荐图文产品开始 --> <hr class="featurette-divider"> <!-- 页面标题开始 --> <div class="title"> <h3 class="wow bounceInDown" data-wow-delay="0.5s"><a href="/bethel/cnc">产品中心<small></small></a></h3> <span>——</span> </div> <!-- 页面标题结束 --> <div class="container"> <div class="blank30"></div> <!-- 中部开始 --> <div class="row"> <div class="col-xs-12 col-sm-3 col-md-3 col-lg-3"> <p></p> <p><a title="" href="/bethel/cnc" class="content-bottom-list-more">Learn more</a></p> </div> <div class="col-xs-12 col-sm-9 col-md-9 col-lg-9"> <div class="row"> <div class="post-masonry col-xs-12 col-sm-6 col-md-4 col-lg-4"> <a title="U260T五轴钻攻中心" href="/bethel/cnc/show_37.html" class="img-auto"> <img class="img-responsive" alt="U260T五轴钻攻中心" src="https://bethel.oss-cn-shenzhen.aliyuncs.com/U260T360360.png" onerror='this.src="/images/nopic.gif"' /> <h4><font style="color:;">U260T五轴钻攻中心</font></h4> </a> </div> <div class="post-masonry col-xs-12 col-sm-6 col-md-4 col-lg-4"> <a title="U260V五轴加工中心" href="/bethel/cnc/show_2722.html" class="img-auto"> <img class="img-responsive" alt="U260V五轴加工中心" src="https://bethel.oss-cn-shenzhen.aliyuncs.com/U260V360360.png" onerror='this.src="/images/nopic.gif"' /> <h4><font style="color:;">U260V五轴加工中心</font></h4> </a> </div> <div class="post-masonry col-xs-12 col-sm-6 col-md-4 col-lg-4"> <a title="U350V五轴加工中心" href="/bethel/cnc/show_2724.html" class="img-auto"> <img class="img-responsive" alt="U350V五轴加工中心" src="https://bethel.oss-cn-shenzhen.aliyuncs.com/U350V360360.png" onerror='this.src="/images/nopic.gif"' /> <h4><font style="color:;">U350V五轴加工中心</font></h4> </a> </div> </div> </div> </div><!-- /row --> </div><!-- /container --> <div class="blank60"></div> <!-- 页底推荐图文产品结束 --> <!--footer start--> <div class="footer"> <div class="footer-top ptb-100"> <div class="container"> <div class="row"> <div class="col-md-3 col-sm-6 col-xs-12"> <div class="single-footer contact"> <div class="footer-title"> <h3>联系我们</h3> </div> <div class="contact-action mb-15"> <span><i class="zmdi zmdi-pin"></i></span> <p>东莞市虎门镇南栅民昌路美视达工业园D栋</p> </div> <div class="contact-action mb-15"> <span><i class="zmdi zmdi-email"></i></span> <p>jiale@yujiangcnc.com<br>cnc@yujiangcnc.com</p> </div> <div class="contact-action"> <span> <i class="zmdi zmdi-phone"></i> </span> <p>0769-88622691<br>15814747355</p> </div> </div> </div> <div class="col-md-3 col-sm-6 col-xs-12"> <div class="single-footer widget"> <div class="footer-title"> <h3>关注官方微信</h3> </div> <img src="/upload/images/201703/14908026145903.jpg" class="weixin" onerror='this.src="/images/nopic.gif"' /> </div> </div> </div> </div> </div> <div class="footer-bottom text-left"> <div class="container"> <div class="row"> <div class="col-md-12 col-sm-12 col-xs-12"> <div class="copyright"> <p>Copyright © <a title="五轴加工中心_五轴钻攻中心_铣车复合中心 | 宇匠数控Y&J" href="/">五轴加工中心_五轴钻攻中心_铣车复合中心 | 宇匠数控Y&J</a></p> <p> </p> <p><a rel="nofollow" href="https://beian.miit.gov.cn" rel="nofollow" target="_blank">粤ICP备16019757号</a> <a rel="nofollow" href="https://beian.miit.gov.cn" rel="nofollow" target="_blank">工信部</a> <a href="/index.php?case=archive&act=rss&catid=2">Rss</a></p> </div> </div> </div> </div> </div> </div> <!--footer end--> </div> <!-- video --> <div class="container-fluid"> <div class="modal fade bs-example-modal-lg-video" tabindex="-1" role="dialog" aria-labelledby="myLargeModalLabel"> <div class="modal-dialog modal-lg"> <div class="modal-content"> <div class="modal-header"> <button type="button" class="close" data-dismiss="modal" aria-label="Close"><span aria-hidden="true">×</span></button> <div class="blank5"></div> </div> <div class="row"> <div class="col-lg-1"></div> <div class="col-lg-10"> <div class="input-group"> <div class="index-video"> <embed src="" quality="high" width="100%" height="100%" align="center" allowScriptAccess="always" allowFullScreen="true" mode="transparent" type="application/x-shockwave-flash"></embed> </div> </div> </div> <div class="col-lg-1"></div> </div> </div> </div> </div> <!-- video end --> <!-- search --> <div class="container-fluid"> <div class="modal fade bs-example-modal-lg-search" tabindex="-1" role="dialog" aria-labelledby="myLargeModalLabel"> <div class="modal-dialog modal-lg"> <div class="modal-content"> <div class="modal-header"> <button type="button" class="close" data-dismiss="modal" aria-label="Close"><span aria-hidden="true">×</span></button> <div class="blank5"></div> </div> <div class="row"> <form name='search' action="/index.php?case=archive&act=search" onsubmit="search_check();" method="post"> <div class="col-lg-1"></div> <div class="col-lg-10"> <div class="input-group"> <input type="text" name="keyword" class="form-control" placeholder="请输入查询信息！"> <span class="input-group-btn"> <button class="btn btn-default" name='submit' type="submit">Go!</button> </span> </div> </div> <div class="col-lg-1"></div> </form> </div> </div> </div> </div> <!-- search end --> <div class="servers"> <!--[if (gte IE 7)|!(IE)]><!--> <!-- 在线客服 --> <style type="text/css"> .izl-rmenu{position:fixed; right:0; margin-right:20px; bottom:0px; padding-bottom:0px; z-index:999; } .izl-rmenu .sbtn{width:72px; height:73px; margin-bottom:1px; cursor:pointer; position:relative;} .izl-rmenu .btn-qq{background:url(/template/CmsEasy_V_408/skin/images/servers/metro_color/r_qq.png) 0px 0px no-repeat; background-color:#6da9de;color:#FFF;} .izl-rmenu .btn-qq:hover{background-color:#488bc7;color:#FFF;} .izl-rmenu .btn-qq .qq{background-color:#488bc7; position:absolute; width:160px; left:-160px; top:0px; line-height:73px; color:#FFF; font-size:18px; text-align:center; display:none;} .izl-rmenu .btn-qq a {color:#FFF;font-size:14px;} .izl-rmenu .btn-wx{background:url(/template/CmsEasy_V_408/skin/images/servers/metro_color/r_wx.png) 0px 0px no-repeat; background-color:#78c340;} .izl-rmenu .btn-wx:hover{background-color:#58a81c;} .izl-rmenu .btn-wx .pic{position:absolute; left:-160px; top:0px; display:none;width:140px;height:140px; max-width: 200%;} .izl-rmenu .btn-phone{background:url(/template/CmsEasy_V_408/skin/images/servers/metro_color/r_phone.png) 0px 0px no-repeat; background-color:#fbb01f;} .izl-rmenu .btn-phone:hover{background-color:#ff811b;} .izl-rmenu .btn-phone .phone{background-color:#ff811b; position:absolute; width:160px; left:-160px; top:0px; line-height:73px; color:#FFF; font-size:18px; text-align:center; display:none;} .izl-rmenu .btn-ali{background:url(/template/CmsEasy_V_408/skin/images/servers/metro_color/r_ali.png) 0px 0px no-repeat; background-color:#B8860B;} .izl-rmenu .btn-ali:hover{background-color:#808000;} .izl-rmenu a.btn-ali,.izl-rmenu a.btn-ali:visited{background:url(/template/CmsEasy_V_408/skin/images/servers/metro_color/r_ali.png) 0px 0px no-repeat; background-color:#B8860B; text-decoration:none; display:block;} .izl-rmenu .btn-wangwang{background:url(/template/CmsEasy_V_408/skin/images/servers/metro_color/r_wangwang.png) 0px 0px no-repeat; background-color:#FFD700;} .izl-rmenu .btn-wangwang:hover{background-color:#DAA520;} .izl-rmenu a.btn-wangwang,.izl-rmenu a.btn-wangwang:visited{background:url(/template/CmsEasy_V_408/skin/images/servers/metro_color/r_wangwang.png) 0px 0px no-repeat; background-color:#FFD700; text-decoration:none; display:block;} .izl-rmenu .btn-skype{background:url(/template/CmsEasy_V_408/skin/images/servers/metro_color/r_skype.png) 0px 0px no-repeat; background-color:#FF69B4;} .izl-rmenu .btn-skype:hover{background-color:#8B008B;} .izl-rmenu a.btn-skype,.izl-rmenu a.btn-skype:visited{background:url(/template/CmsEasy_V_408/skin/images/servers/metro_color/r_skype.png) 0px 0px no-repeat; background-color:#FF69B4; text-decoration:none; display:block;} .izl-rmenu .btn-web{background:url(/template/CmsEasy_V_408/skin/images/servers/metro_color/r_web.png) 0px 0px no-repeat; background-color:#008a46;} .izl-rmenu .btn-web:hover{background-color:#00663a;} .izl-rmenu a.btn-web,.izl-rmenu a.btn-web:visited{background:url(/template/CmsEasy_V_408/skin/images/servers/metro_color/r_web.png) 0px 0px no-repeat; background-color:#008a46; text-decoration:none; display:block;} .izl-rmenu .btn-top{background:url(/template/CmsEasy_V_408/skin/images/servers/metro_color/r_top.png) 0px 0px no-repeat; background-color:#666666; display:none;} .izl-rmenu .btn-top:hover{background-color:#444;} </style> <script language="javascript" type="text/javascript"> $(function(){ var tophtml="<div id=\"izl_rmenu\" class=\"izl-rmenu\"><div class=\"sbtn btn-qq\"><div class=\"qq\"><a rel=\"nofollow\" target=\"_blank\" href=\"tencent://Message/?Uin=631033431&websiteName=https://www.yujiangcnc.com/=&Menu=yes\">客服一</a></div></div><div class=\"sbtn btn-wx\"><img class=\"pic\" src=\"/upload/images/201703/14908026145903.jpg\" onclick=\"window.location.href=\'http:\'\"/></div><div class=\"sbtn btn-phone\"><div class=\"phone\">15814747355</div></div><div class=\"sbtn btn-top\"></div></div>"; $("#top").html(tophtml); $("#izl_rmenu").each(function(){ $(this).find(".btn-qq").mouseenter(function(){ $(this).find(".qq").fadeIn("fast"); }); $(this).find(".btn-qq").mouseleave(function(){ $(this).find(".qq").fadeOut("fast"); }); $(this).find(".btn-wx").mouseenter(function(){ $(this).find(".pic").fadeIn("fast"); }); $(this).find(".btn-wx").mouseleave(function(){ $(this).find(".pic").fadeOut("fast"); }); $(this).find(".btn-phone").mouseenter(function(){ $(this).find(".phone").fadeIn("fast"); }); $(this).find(".btn-phone").mouseleave(function(){ $(this).find(".phone").fadeOut("fast"); }); $(this).find(".btn-top").click(function(){ $("html, body").animate({ "scroll-top":0 },"fast"); }); }); var lastRmenuStatus=false; $(window).scroll(function(){//bug var _top=$(window).scrollTop(); if(_top>200){ $("#izl_rmenu").data("expanded",true); }else{ $("#izl_rmenu").data("expanded",false); } if($("#izl_rmenu").data("expanded")!=lastRmenuStatus){ lastRmenuStatus=$("#izl_rmenu").data("expanded"); if(lastRmenuStatus){ $("#izl_rmenu .btn-top").slideDown(); }else{ $("#izl_rmenu .btn-top").slideUp(); } } }); }); </script> <div id="top"></div><![endif]--> <!-- 短信 --> </div> <div class="servers-wap"> <div class="blank20"></div> <div class="blank20 "></div> <style type="text/css"> /*底部导航*/ .foot_mp{ clear:both; padding:5px 0px; text-align:center; position:fixed; bottom:0; left:0; width:100%;} .foot_mp a{ text-align:center; display:inline-block; width:18%; max-width:100px; color:#F2F2F2;text-decoration: none; font-size:0.75em; font-weight:normal;} .foot_mp a:hover{ color: #FFF; text-decoration: none; } /*/底部导航*/ .ico_p,.ico_m,.ico_l,.ico_f,.ico_g{ background: url(/template/CmsEasy_V_408/skin/images/wap/ico_p.png) no-repeat center top; padding-top: 50%; font-size: 1.0em; color: #A29A8F; text-align: center; display: block; } .ico_m{background: url(/template/CmsEasy_V_408/skin/images/wap/ico_m.png) no-repeat center top; } .ico_l{background: url(/template/CmsEasy_V_408/skin/images/wap/ico_l.png) no-repeat center top; } .ico_f{background: url(/template/CmsEasy_V_408/skin/images/wap/ico_f.png) no-repeat center top; } .ico_g{background: url(/template/CmsEasy_V_408/skin/images/wap/ico_g.png) no-repeat center top; } .ico_p,.ico_m,.ico_l,.ico_f,.ico_g{background-size: 50%;} </style> <!--foot_m--> <footer class="foot_mp mp_show"> <a href="tel:15814747355"><i class="ico_p"></i><b>电 话</b></a> <a href="sms:15814747355"><i class="ico_l"></i><b>短信</b></a> <a href="mqqwpa://im/chat?chat_type=wpa&uin=631033431&version=1&src_type=web" id="btn_fenxiang"><i class="ico_f"></i><b>QQ号码</b></a> <a href="/wap"><i class="ico_m"></i><b>首页</b></a> </footer> <!--/foot_m--> </div> <script type="text/javascript" src="/js/common.js"></script> <script> var _hmt = _hmt || []; (function() { var hm = document.createElement("script"); hm.src = "https://hm.baidu.com/hm.js?639fccf47bd22c6c08b91e427f608189"; var s = document.getElementsByTagName("script")[0]; s.parentNode.insertBefore(hm, s); })(); </script> <script>window._bd_share_config={"common":{"bdSnsKey":{},"bdText":"","bdMini":"2","bdMiniList":false,"bdPic":"","bdStyle":"0","bdSize":"16"},"slide":{"type":"slide","bdImg":"6","bdPos":"right","bdTop":"100"},"image":{"viewList":["qzone","tsina","tqq","renren","weixin"],"viewText":"分享到：","viewSize":"16"},"selectShare":{"bdContainerClass":null,"bdSelectMiniList":["qzone","tsina","tqq","renren","weixin"]}};with(document)0[(getElementsByTagName('head')[0]||body).appendChild(createElement('script')).src='http://bdimg.share.baidu.com/static/api/js/share.js?v=89860593.js?cdnversion='+~(-new Date()/36e5)];</script> <!-- Placed js at the end of the document so the pages load faster --> <!-- All js plugins included in this file. --> <script src="/template/CmsEasy_V_408/skin/js/bootstrap.min.js"></script> <!-- Just to make our placeholder images work. Don't actually copy the next line! --> <script src="/template/CmsEasy_V_408/skin/js/holder.min.js"></script> <!-- IE10 viewport hack for Surface/desktop Windows 8 bug --> <script src="/template/CmsEasy_V_408/skin/js/ie10-viewport-bug-workaround.js"></script> <script src="/template/CmsEasy_V_408/skin/js/bootstrap-submenu.js"></script> <script src="/template/CmsEasy_V_408/skin/js/docs.js"></script> <!--[if lt IE 9]><!--> <script src="/template/CmsEasy_V_408/skin/js/ie/html5shiv.min.js"></script> <script src="/template/CmsEasy_V_408/skin/js/ie/respond.min.js"></script> <![endif]--> <script src="/template/CmsEasy_V_408/skin/js/jquery.nivo.slider.pack.js"></script> <script src="/template/CmsEasy_V_408/skin/js/owl.carousel.min.js"></script> <script src="/template/CmsEasy_V_408/skin/js/plugins.js"></script> <script src="/template/CmsEasy_V_408/skin/js/main.js"></script> <script src="/template/CmsEasy_V_408/skin/js/bootstrap-submenu.js"></script> <script src="/template/CmsEasy_V_408/skin/js/docs.js"></script> <script type="text/javascript"> $('#bootstrap-touch-slider').bsTouchSlider(); </script> </body> </html>