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Method and robot for performing fire source location and fire extinguishment based on binocular vision

The invention relates to a robot for performing fire source location and fire extinguishment based on binocular vision. The robot includes a front end camera module, an image acquisition module, a data processing and control module, a fire extinguishing device module, a wireless transmission module and a robot carrier; the front end camera module is composed of an infrared thermal imaging instrument and a low-illumination visible light camera; the image acquisition module analyzes infrared thermal imaged images, and transmits infrared and visible light images corresponding to a certain region to the data processing and control module if finding that the region accords with fire source characteristics; the binocular ranging unit of the data processing and control module performs 3D coordinate positioning on the region, and transmits positioned 3D coordinates to a control unit; and the fire extinguishing device module comprises a fire extinguishing gun for spraying fire extinguishing materials. With the method and robot for performing fire source location and fire extinguishment based on binocular vision provided by the invention adopted, the robot can replace people to perform dangerous chemical warehouse supervision, intelligent analysis on fire source locations and accurate fire extinguishment on fire sources.
Owner:CHINA ACAD OF SAFETY SCI & TECH

Pin type plug seedling transplanting end effector

InactiveCN102696322AAdjustable angleAdjustable gripTransplantingEngineeringActuator
The invention discloses a pin type plug seedling transplanting end effector, which belongs to the field of agricultural machinery. The pin type plug seedling transplanting end effector consists of a shell back plate, an electromagnet, an electromagnet push rod, two horizontal in-groove slide blocks, two swing link slide blocks, two swing links, two slide bushings, two pins, two upper bolt and nuts and two lower bolts and nuts, wherein the electromagnet is electrified to drive the electromagnet push rod to extend out so as to drive the swing links to swing; and the pins extend out towards the diagonal lower side along a straight line determined by the fixed slide bushings through sliding of the swing link slide blocks so as to be plugged into plug holes to pick up a seedling. When a seedling heap is clamped by the pin type plug seedling transplanting end effector to reach a seedling placement position, the pin type plug seedling transplanting end effector descends to plant the seedling heap into soil, the electromagnet is powered off, and the spring in the electromagnet drives the electromagnet push rod to automatically reset, so that the two pins are driven to retract into the slide bushings in reverse directions, and the seedling heap is pressed by the bottom ends of the slide bushings; and thus, the seedling heap is prevented from being brought out again by friction force when the sliding pins retract to guarantee the quality of transplantation. The movement direction of the pins of the pin type plug seedling transplanting end effector is fixed, so that good force transfer characteristic is guaranteed, and the pins are inserted into the soil smoothly; the angle for inserting the pins into the soil and the clamping opening are adjustable, so that good universality is achieved; and thus, smooth insertion for picking up and placing the seedlings during transplantation of various plug seedlings is realized with a simple structure.
Owner:JIANGSU UNIV
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