436results about How to "Achieve freedom of movement" patented technology

The invention discloses a reality augmenting based panoramic video interaction method. The reality augmenting based panoramic video interaction method comprises the steps that video data of a real scenery are acquired through a panoramic camera shooting device and input into an image processor to be processed; the image processor coverts the video data into continuous single-frame images, and successive sequence relation of each single-frame image is recorded; an interaction heat area is selected in each single-frame image, and coordinates and a range of the interaction heat area are set; the image processor converts the single-frame images into a panoramic image three-dimensional scenery according to the successive sequence relation; the panoramic image three-dimensional scenery is transmitted to a terminal device; the terminal device confirms a projection range according to a view angle when the panoramic camera shooting device acquires the real scenery, converts the panoramic image three-dimensional scenery into a spherical panoramic image and outputs the spherical panoramic image to a screen of the terminal device to be displayed. The invention further discloses a reality augmenting based panoramic video interaction system. The panoramic continuous browsing experience is improved and man-machine interaction is achieved.

The invention relates to a gait analysis method based on a plantar pressure. The gait analysis method comprises the steps of: (1) collecting plantar pressure signals through four pressure sensors; (2) carrying out gait phase analysis for the collected plantar pressure signals, comparing the total value of pressures collected by the four pressure sensors with a preset threshold value, the planta is in a swing phase when the total value of the pressures collected by the four pressure sensors is less than the preset threshold value, otherwise, the planta is in a supporting phase; (3) judging whether the gait phase analysis result is switched with the previous gait phase analysis result or not according to the plantar pressure signals, and entering into the next step at the point in time if the switching of gait phases happens; (4) carrying out an lower limb movement mode analysis based on the gait phases within the switching time of the gait phases; and (5) judging whether the gait analysis needs to be stopped or not according to a lower limb movement mode analysis result, and returning to the step (1) if not. The gait analysis method based on the plantar pressure, disclosed by the invention, can supply abundant human body movement information for the control of intelligent lower artificial limbs, and can be widely applied to the field of gait mode recognition.

The invention discloses an test device of a high-speed main axle dynamic performance integrative test. The device comprises a main axle which is arranged on a main axle positioning pedestal; the main axle positioning pedestal is fixedly connected with a main axle mounting plate; the main axle mounting plate is fixed and limited by limiting and fixing components at the two side edges that is in parallel with the axial direction of the main axle; the main axle mounting plate is connected with a casting base table by a dense ball supporting structure, so that the main axle mounting plate is free in the horizontal plane; the main axle mounting plate is provided with a vibration test part; the casting base table is provided with a vibration frame; the front end of the main axle is connected with an HSK test head; the main axle mounting plate that is opposite to the HSK test head is provided with a sensor support saddle which is provided with a sensor end cover; the sensor support saddle can be connected with three displacement sensors by an index plate arranged on the sensor support saddle; the sensor end cover that is perpendicular to the end surface of the HSK test head can be connected with one displacement sensor. By using the test table, a plurality of test programs can be finished simultaneously, thus greatly improving the integration degree and utilization flexibility of the high-speed main axle performance test.

The invention discloses a multiphase dielectric layer capacitive pressure sensor with a microstructure and a preparation method thereof. The pressure sensor comprises the components of two flexible electrodes which are oppositely arranged, wherein at least one in two opposed surfaces of the two flexible electrodes has the microstructure which is formed by a plurality of projections and / or recessed parts; and a multiphase dielectric layer which is arranged between the two flexible electrodes, wherein the multiphase dielectric layer comprises a micro-ball dielectric layer which is formed by a plurality of micro-balls that can freely move and air and / or flexible polymer that are filled in the micro-ball dielectric layer. The multiphase dielectric layer capacitive pressure sensor with the microstructure has advantages of small thickness, high softness, etc. The multiphase dielectric layer capacitive pressure sensor can be machined to various shapes and has advantages of wearability and adhesiveness. The multiphase material is used as the dielectric layer, thereby improving device sensitivity and reducing least measurement pressure.

The invention relates to the field of robot invention, and particularly to an automatic glass cleaning robot which comprises an engine base, a first translation mechanism, a second translation mechanism, an adsorption mechanism and a cleaning mechanism, wherein the first translation mechanism and the second translation mechanism are respectively installed on the engine base; the cleaning mechanism is installed on the second translation mechanism; the adsorption mechanism is installed on the first translation mechanism and the second translation mechanism respectively; the first translation mechanism matches the adsorption mechanism to realize the movement of the robot towards a first direction; the second translation mechanism matches the adsorption mechanism to realize the movement of the robot towards a second direction; the second translation mechanism matches the adsorption mechanism and the cleaning mechanism to realize the glass cleaning function of the automatic glass cleaning robot; and the first direction and the second direction are vertical to each other. The automatic glass cleaning robot provided by the invention can realize the free movement of the robot along two vertical directions, the operation is easy and saves both time and labor, the cleaning effect is good, the structure is simple, and the manufacturing cost is low.

The invention relates to a small movable crane, which comprises a hoisting device, a counterweight device, a movable pedestal, leading screw supports, and support assemblies. A Y-shaped hoisting hanger of the hoisting device comprises an upper support and a lower support, wherein each end of the upper support is provided with a fixed pulley; the bottom of the lower support is fixed to a rotating shaft, which is inserted into a rotating seat. The rotating seat is fixedly mounted on the center of the movable pedestal; and the counterweight device is arranged at one side of the lower support of the hoisting hanger and is provided with a hand-operated capstan. A steel wire rope is transited via two fixed pulleys, and one end of the steel wire rope is provided with a hook. Every two of the four leading screw supports are symmetrically arranged at front and rear sides of the inner sides of two frames of the movable seat; every two of the four support assemblies are symmetrically arranged at front and rear sides of the outer sides of two frames of the movable seat; and each corner of the movable seat is provided with an omni-directional wheel. The small movable crane has advantages that the crane is small, exquisite, light and convenient, is flexible to move, and is safe and reliable; a large amount of physical power is saved for a maintenance person; the maintenance speed is greatly improved; and an emergency rescuing function of a reaction pool is provided.

The invention provides a spherical hinge universal rotary motor, and a manufacturing method and an operating method thereof. The motor comprises a stator body made of a permanent magnet, wherein the permanent magnet is magnetized into a plurality of magnetic poles, the stator body is internally provided with a rotor body, the rotor body is provided with multiple layers of armatures, two adjacent layers of armatures are provided with a spacer layer therebetween, the multiple layers of armatures and the multiple layers of spacer layers are fixedly connected through a bolt, the bolt is connected with a rotor shaft, and the rotor body is of a spherical shape. A first layer of coils is wound on a rotor core of the armature, and the first layer of coils is wound on a rotor core of an armature at the same layer. The invention further provides a manufacturing method and an operating method of the motor. The motor provided by the invention can rotate in various directions, and comprises rotation around a Z-axis and oblique rotation relative to the Z-axis. The spherical hinge universal rotary motor is divided into a type with an air pump assembly mechanism and a type without the air pump assembly mechanism according to the air supply mode, and is widely applied to intelligent bionic robots to act as a joint component.

The invention relates to an image acquisition device, in particular to a digital acquisition device used for digitally acquiring a large indoor image. The digital acquisition device can ensure that a base can freely move on a plane formed by two guide rails through arranging two mutually vertical plane guide rails, a vertical guide rail is arranged on the base to ensure that digital recording equipment can freely move on the vertical guide rail, thus the digital recording equipment moves in six dimensionalities. The invention has the advantages of enabling the size of the data acquired by the digital recording equipment to be only limited by the length of the guide rails and greatly enlarging the data acquisition space. The requirement for large two-dimensional and three-dimensional data acquisition can be met.

The invention discloses a device for collecting and treating garden leaves, which comprises a collection box for broken leaves, a second telescopic device, a universal wheel, a leaf suction cover, a slant plate, a cylinder and a leaf suction pipe. The directional wheel realizes the free movement of the equipment. By setting the suction vane cover, the suction surface of the suction vane pipe is larger, which improves the effect and efficiency of the suction vane, and improves the practicability of the equipment. The slant plate is used to avoid suction of the suction vane The leaves in the pipe enter the exhaust fan without affecting the suction of the exhaust fan. The cylinder is used to drive the pressing plate to move downward in the broken leaf collection box, and then the broken leaves in the broken leaf collection box are compacted. By setting the second telescopic device for Adjust the distance between the bottom of the shell and the ground, and then realize the adjustment of the distance between the suction leaf cover and the ground, thereby realizing the adjustment of the suction force of the leaf suction pipe on the leaves on the ground, and improving the effect of the leaf suction pipe on the leaves. Improve the practicality of the equipment.

The invention provides a file access system and a file access method. The file access system is structured such that two translation tracks are arranged and the distance between the two translation tracks is suitable for mounting dense file racks, and the length directions of the translation tracks are arranged along the X direction; a portal frame is arranged on the two translation tracks and canbe driven by a first driving mechanism to translate along the two translation tracks; a lifting device is mounted on the portal frame, and the length direction of a cross beam is mounted on the lifting device along the Y-axis direction and is driven by the lifting device to move along the Z-axis direction; a file access device arranged on the cross beam comprises a manipulator for accessing files, wherein an access terminal is in communication connection to the first driving mechanism, the lifting device, a traction mechanism and the file access device. Files are accessed automatically through the file access system, and the file access device can move freely in the X, Y and Z directions. The file access system is simple in structural design, flexible in manipulator and high in practicality.

The invention discloses a feeding rack for an animal husbandry. The feeding rack comprises a first motor, a first booster pump, a sealing plug, a filter net, a second booster pump and an installation plate. A screw rod is driven to rotate to achieve lifting of a connecting rod on the screw rod by using rotation of the motor, thereby achieving control on lifting of the installation plate; the stability of the installation plate while lifting is improved through arranging a sliding sleeve; water in a cleaning water tank passes through a water guide pipe and is ejected from a cleaning nozzle to clean a feeding trough by using the first booster pump, sewage generated by cleaning the feeding trough is discharged through a water outlet hose by unplugging the seal plug, impurities in the sewage are filtered through arranging the filter net, and the sewage filtered in a sewage collecting tank is conveyed to the cleaning water tank by using the second booster pump, so that cyclic utilization of a water resource is achieved, the feeding rack is energy-saving and environment-friendly and adjustment of the height of the feeding trough is achieved through controlling lifting of the installation plate.

The invention discloses a disinfecting device with a drying function for a medical instrument. The disinfecting device comprises a third water pump, a motor, heating resistance wires, exhaust fans, adisinfecting cabinet and a top plate. A disinfectant solution in a solution storage tank is enabled to enter a water storage box through a solution guiding pipe by utilizing the third water pump and then is further sprayed through spray nozzles so as to disinfect the medical instrument on the top part of a placement plate, and the placement plate is driven to rotate by utilizing rotation of the motor, so that the purpose of comprehensively disinfecting the medical instrument is realized, the disinfecting efficiency and a disinfecting effect of the medical instrument are increased, and the environment friendliness of equipment is increased; the heating resistance wires are utilized for heating air in a heating tank, and the exhaust fans are utilized for enabling the heated air in the heating tank to be further blown out through air outlets of an air outlet box after entering the air outlet box through an air guiding pipe, so that the purpose of heating the air in the disinfecting cabinet is realized, and the purpose of drying the disinfected and washed medical instrument is further realized.

The invention provides water quality monitoring equipment for aquaculture. The water quality monitoring equipment comprises a left floating body, a right floating body, a support seat arranged on theleft floating body and the right floating body, a plurality of water quality sensors arranged on the lower end surface of the support seat, a waterproof cover arranged on the support seat as well as alifting motor, a control device and a power supply device which are arranged in the waterproof cover, wherein the lifting motor controls lifting and dropping of a lead screw with the lower end vertically penetrating through the support seat, the bottom end of the lead screw is connected with a plurality of cleaning sleeves, each cleaning sleeve is arranged on the corresponding water quality sensor in a sleeving manner, and the cleaning sleeves can slide on the outer side walls of the water quality sensors with the vertical movement of the lead screw; the water quality sensors and the liftingmotor are connected with the control device, and the power supply device supplies power to the whole equipment. The water quality monitoring equipment for aquaculture has the function of cleaning surfaces of the water quality sensors at fixed period, so that the normal operation of the water quality sensors is guaranteed, and the service life of the equipment is prolonged.

The invention discloses an intelligentized mobile vehicle-mounted remote crop digital image acquisition system and a method thereof, belonging to the field of intelligentized agricultural machinery. The system consists of a client, a server and digital image acquisition and processing equipment. Under the action of a controller of the digital image acquisition and processing equipment, the digital image acquisition and processing equipment can freely move in horizontal and vertical directions and perform 360-degree omnibearing rotation, and accurately acquires a position image of a crop object, the image is decoded and compressed, then is transmitted to the server by a 3G wireless module, and is stored in a data processing module on a mainboard of the controller; or the acquired image is directly analyzed and processed by the controller. The intelligentized mobile vehicle-mounted remote crop digital image acquisition system is high in intelligentization degree, low in cost, good in equipment mobility and capable of accurately acquiring and wirelessly transmitting images of different parts of the crop in an omnibearing and multi-angle way, and provides a basis for analyzing crop growth information, plant disease and insect pest information and other information.

The invention belongs to the field of electric automobile battery changing and relates to a full-automatic battery changing robot for an electric automobile. The battery changing robot comprises a movable chassis, wherein a main robot body is installed on the chassis, a battery changing jig is installed in the main robot body, the main robot body comprises a main frame and a lifting device. The bottom end of the main frame is fixed to the chassis, and the lifting device is installed at the top end of the main frame. The lifting device is connected with the battery changing jig. The battery changing jig comprises a jig lifting frame, a jig body, a pallet fork and a push-and-pull mechanism. The jig lifting frame is connected with the lifting device. The jig body is connected with the jig lifting frame through a direction turning mechanism. The pallet fork is connected with the jig body through a pitching mechanism. The push-and-pull mechanism is installed on the pallet fork, and a battery unlocking mechanism is arranged on the push-and-pull mechanism. The full-automatic battery changing robot achieves rapid and full-automatic change of batteries on two sides of the electric automobile, the battery changing efficiency is greatly improved compared with traditional semi-automatic change or single-shaft one-by-one motion, and the battery changing success rate is high.

The invention provides a foot-driven lower limb rehabilitation training device, and relates to the technical field of medical rehabilitation equipment. The training device comprises a fixing device and a driving device, wherein the fixing device comprises a lower leg fixing piece; a heel fixing plate is arranged behind the lower part of the lower leg fixing piece; the lower part of the lower leg fixing piece is provided with a foot fixing plate, the left side or the right side of the foot fixing plate is hinged with a foot ankle connecting plate through a first hinge shaft, and the first hingeshaft is parallel to the left side and the right side edge of the foot fixing plate; a connecting shaft is disposed between the heel fixing plate and the ankle connecting plate, and the upper end ofthe connecting shaft is fixed to the heel fixing plate, and the connecting shaft is perpendicular to the first hinge shaft. The training device realizes the freedom of movement of the ankle joint in the sagittal plane, the coronal plane and the cross section, and is more suitable for normal human movement with simple structure and great comfort.

The invention discloses a laser accurate drilling method and device of a fiber composite aircraft panel. The method comprises the following steps: after selecting panel installing the positioning mode, adjusting the spatial attitude of the panel; adopting the laser tracking measurement method to search a pre-locating hole according to technological requirements; using the pre-locating hole as datum to determine the position of connection holes to be prepared according to the technological requirements; adopting the laser ranging method to measure the panel normal direction in the area of the connection hole, coinciding the normal direction with the centre line of laser beam; and adjusting the size and displacement of laser processing beam according to the size and arrangement requirements of the connection holes, thus realizing the connection hole preparation of the fiber composite aircraft panel. The method of the invention can realize accurate positioning according to assembly requirements without producing deviated holes or inclined holes; the cutter can not be wore in the drilling process, cutting acting force can not be generated, the problems of drawing, layering, fibre breakage, cutting residual stress and deformation caused by drilling can be overcome, and the high-quality surface of holes can be formed.

The invention discloses an automatic changing device for the fiber material of a 3D printer and the 3D printer. The automatic changing device comprises an outer frame and a liftable inner frame which is arranged in the outer frame, wherein more than two first positioning mechanisms which are used for detachably fixing printing nozzles are arranged on the outer frame; a nozzle fixing plate which can move along the plane on which the inner frame is located is arranged on the inner frame; a clamping space for elastic locking and positioning is formed between each sunk screw and a corresponding spring base on the nozzle fixing plate; each printing nozzle is provided with a connection plate; each printing nozzle is matched with the nozzle fixing plate through the bottom plate of the corresponding connection plate to form a spliced printing head, and is matched with the corresponding first positioning mechanism on the outer frame through the side plate of the corresponding connection plate to form a standby printing head, so that free switch between work and standby of the printing heads is realized; the bottom plates are vertical to the side plates, so that the positioning direction of standby warehousing of the printing nozzles and the positioning direction of loading of the printing nozzles are separate from each other, and do not interfere with each other; reliability of automatic fiber material changing is improved; and the splicing structures are applicable to printing nozzles of different sizes.

The invention relates to a system and method for dynamically detecting VR operation spaces and reconstructing parameterized virtual scenes. The system consists of a laser radar unit, a three-dimensional space imaging unit, a scene virtual unit and a virtual scene reappearance unit. By adoption of the system and method, the free movement of VR using objects in operation spaces can be realized, the existing operation mode restrained in special fixed seats, special fixed platforms and the like is dispensed, three-dimensional space entity composite parameters such as absolute distance parameters, relative distance parameters, time parameters and the like of dynamic and static entities in VR operation spaces can be captured, the VR operation spaces can be virtualized to user appointed virtual scenes according to the obtained three-dimensional space entity composite parameter information, and meanwhile, the data fusion and interactive game experience among a plurality of VR using objects can be realized. The system disclosed by the invention is simple in structure, simple and convenient to operate and excellent in performance, and is suitable for the capturing and virtualization experiences of three-dimensional space entity composite parameters of various VR operation spaces.

The invention discloses a swimming pool bottom automatic cleaner. The swimming pool bottom comprises a shell body, a driving device which is installed in the shell body and a precipitating filter (7). A fixing plate upper cover (2) and a fixing plate lower cover (5) are installed in the shell body. The fixing plate upper cover (2) and the fixing plate lower cover (5) can collectively form a cavity with water outlets and a rotating device (14) is installed in the cavity. The water outlets comprise a first water outlet (16), a second water outlet (18), a third water outlet (19) and a fourth water outlet (17), wherein the first water outlet (16), the second water outlet (18), the third water outlet (19) and the fourth water outlet (17) are respectively located on the front portion, the back portion, the left portion and the right portion of the shell body. The rotating device (14) enables water flow to be discharged from the first water outlet (16), the second water outlet (18), the third water outlet (19) or the fourth water outlet (17). The swimming pool bottom automatic cleaner has the advantages of being capable of achieving automatic steering of the cleaner, capable of improving cleaning efficiency of the swimming pool bottom automatic cleaner, capable of further reducing energy consumption, simple and reasonable in structure, convenient to use and flexible in operation.

The invention discloses a building material lifting device for a construction site. The building material lifting device comprises a base, universal wheels, a hydraulic cylinder, a motor and a supporting rod. The universal wheels are arranged at the bottom of the base, so that free movement of the building material lifting device is achieved, when building materials are lifted to a specified height, the hydraulic cylinder is utilized to drive the hydraulic rod to extend, further a push plate is pushed to move on a placing plate, so that automatic unloading of the building materials placed at the top of the placing plate is achieved, manual unloading of the building materials placed at the top of the placing plate is not needed, a lot of manpower is saved, the working intensity of construction workers is greatly relieved, and the efficiency of building construction is improved; and when the building materials on the high position needs to be conveyed to the low position, firstly the building materials are placed at the top of the placing plate, further a threaded rod is driven to rotate in the counter-clockwise direction by utilizing reversing rotation of the motor so that a slidingblock can move downwards on the threaded rod, and further the building materials placed at the top of the placing plate are driven to descend.

The invention discloses a parallel machine tool capable of realizing five-axis machining. The parallel machine tool comprises a tool body, a front parallel mechanism, a rear parallel mechanism, a serial connecting rod group, a two-degree-of-freedom worktable and an end executor, wherein the front parallel mechanism and the rear parallel mechanism have basically the same structures and respectively comprise two upright posts which are symmetrically arranged, a moving platform and two branched chains connected between the upright posts and the moving platform; the two branched chains have the same structural forms; each branched chain is provided with a linear driving unit; the moving platforms of the front parallel mechanism and the rear parallel mechanism are connected with the serial connecting rod group through two parallel hinges to form a space parallel closed loop mechanism; the space parallel closed loop mechanism realizes two moving degrees of freedom and two rotating degrees of freedom of the end executor through four driving units; the two-degree-of-freedom worktable comprises a linear sliding table and a rotating table arranged on the sliding table. The parallel machine tool disclosed by the invention can realize five-axis or six-axis linking and has better five-axis processing capability.

The invention relates to an ultrasonic flaw detection system for automatically detecting an airplane hub. The ultrasonic flaw detection system comprises a plurality of idler wheels, a plurality of supporting rods, a workbench, a power supply, a control device, a display screen, a fixing tray, a rotator, a first motor, a screw rod, a second motor, a mobile station, two connecting shafts, a fixing plate, a stretching arm, a spraying device, an ultrasonic probe, a third motor and a rotating shaft. The ultrasonic flaw detection system for automatically detecting the airplane hub has the advantages that the free movement of the ultrasonic probe on upper, lower, left and right directions at 360 degrees in the space is realized through the movement of the rotator, the screw rod, the mobile station and the stretching arm and the driving of the motor; an all-dimensional multilayer stereoscopic automatic detecting structure is really formed; the system can be moved through the idler wheels according to different occasions, so that a detected part can be detected by the system in the optimal working position; and the spraying device and the ultrasonic probe can be flexibly converted and used through the rotating shaft and the circular work flow of firstly spraying a coupling agent and then using the probe for detecting is realized, so that the spraying and detecting integration is realized.

The invention relates to a connecting and separating method of a chassis and a car compartment of an integral-separated-type driverless car. When the movable car compartment and the integrated chassisof the car are connected or separated, a supporting mechanism arranged in a car compartment bottom plate of the movable car compartment in a telescopic mode can support the movable car compartment, the movable car compartment can be separated from the ground to facilitate the random movement of the integrated chassis under the movable car compartment, so that the movable car compartment and the integrated chassis are connected or separated, the whole operation process does not need other equipment to assist, time and effort are saved, and the intelligence and convenience of the use of the integral-separated-type driverless car are improved.

The invention belongs to the technical field of parcel distribution of logistics enterprises, and particularly discloses an omni-directional intelligent rapid sorting unit. The omni-directional intelligent rapid sorting unit comprises a machine frame, a conveying mechanism and driving systems are arranged on the machine frame, the conveying mechanism is formed by uniformly arranging a transverse omni-directional wheel unit and a longitudinal omni-directional wheel unit, the omni-directional wheel unit each is composed of at least one omni-directional wheel, the transversely-arranged omni-directional wheels and the longitudinally-arranged omni-directional wheels are arranged on the same plane, and the driving systems comprise the transverse driving system used for driving the transversely-arranged omni-directional wheels to rotate and the longitudinal driving system used for driving the longitudinally-arranged omni-directional wheels to rotate. The invention further discloses a packagerapid distributing platform. The package rapid distributing platform is formed through splicing by taking the omni-directional intelligent rapid sorting unit as a module. The omni-directional intelligent rapid sorting unit and the package rapid distributing platform have the beneficial effects that the working efficiency and the working reliability of distributing equipment are further improved onthe premise of automation, intelligentization and modularization.

The invention provides an autonomous propulsion type soft robot main body, which comprises a pipe body, wherein the inner part of the pipe body is provided with, in the axial direction, a pipe body cavity and: at least one propulsion structure, wherein the at least one propulsion structure includes a first driving unit, a second driving unit and a third driving unit which are fixedly and uniformlyarranged on the peripheral wall of the pipe body cavity in the axial direction of the pipe body and relative to the axial center of the pipe body cavity, the first driving unit, the second driving unit and the third driving unit can respectively extend or contract in the axial direction of the pipe body; at least two supporting structures, wherein at least one propulsion structure is arranged between every two adjacent supporting structures, the supporting structures are fixedly connected with the propulsion structures and are arranged on the outer peripheral wall of the pipe body cavity, andis used for fixing at least one end of the main body of the autonomous propulsion type soft robot on the cavity, thereby providing support for the main body of the autonomous propulsion type soft robot. The autonomous propulsion type soft robot main body can reduce the harm to the human body cavity and reduce the operation risk.

The invention discloses a self-moving granary detecting device and a detecting method thereof, belongs to the field of granary grain mildew detecting equipment, and particularly relates to a detecting device which can move freely in a granary. The self-moving granary detecting device is characterized in that a detector and a guiding device are included, the detector is provided with an outer shell (3), the bottom of the outer shell (3) is connected with a transparent cover (1), the top of the outer shell (3) is connected with the guiding device, a circuit board (10) is fixedly arranged in the middle inside the detector, an image capture device and an internal environment detection device are mounted on one side, facing the transparent cover (1), of the circuit board (10), and a wireless transmitting device is mounted in the middle of the circuit board (10); one side of the outer portion of the guiding device is connected with a recovery device, and the recovery device is used for driving the detector to achieve self moving. By means of the self-moving granary detecting device and the detecting method thereof, image capture at any position inside the granary can be achieved, the device can move freely in grain heaps, and thus the grain mildew condition can be detected rapidly and accurately.

The invention discloses a double-acting gradually-advancing type prestress plate four-axis pulse electromagnetic shape adjusting and nature adjusting device. An electromagnetic coil is installed on a piston rod of a middle hinged shaft hydraulic cylinder, and the electromagnetic coil can have the movement of rotating around the axis of the electromagnetic coil, moving along the axis of the electromagnetic coil, moving along the Y axis of space and swinging by four degrees of freedom through a horizontally-moving and swing driving assembly. A plate feeding frame assembly is used for positioning a plate through a plate clamping assembly installed on the plate feeding frame assembly, and the plate can be driven to move along the X axis of the space. A flexible die and a frame pressing assembly are matched for bending and pre-loading the metal plate and bearing the pulse electromagnetic force generated during work of the electromagnetic coil. The movement that the plate gradually advances in the length direction of the plate and the movement that the electromagnetic coil gradually advances and adjusts the shape in the width direction of the plate can be sequentially executed alternately, the function of the pulse electromagnetic force generated by the electromagnetic coil on the whole curved surface of the plate is achieved through the cooperation of the two movements, and the shape adjusting function and the nature adjusting function are achieved on the metal plate having a certain initial prestress state.

The invention discloses a wrist rehabilitation therapy robot based on spatial parallel drive. According to the system, the core of six-degree-of-freedom motion is a parallel mechanism, and the parallel mechanism mainly comprises an upper platform, a lower platform, six drive supporting legs, upper hinges and lower hinges, wherein the upper hinges and the lower hinges are connected with the supporting legs, the upper platform and the lower platform. In addition, the system further comprises six-dimensional force sensors, a doctor glove, a patient glove and a computer-control system, wherein the doctor glove and the patient glove are used for fixing wrists. The wrist rehabilitation therapy robot based on spatial parallel drive is used for rehabilitation therapy of postoperation of wrist joint diseases, postoperation of sports injuries and wrist postoperation.