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1061results about How to "Adjustable structure" patented technology

Systematic calibration method of welding robot guided by line structured light vision sensor

The invention relates to a systematic calibration method of a welding robot guided by a line structured light vision sensor, which comprises the following steps: firstly, controlling a mechanical arm to change pose, obtaining a round target image through a camera, accomplishing the matching of the round target image and a world coordinate, and then obtaining an internal parameter matrix and an external parameter matrix RT of the camera; secondly, solving a line equation of a line laser bar by Hough transformation, and using the external parameter matrix RT obtained in the first step to obtain a plane equation of the plane of the line laser bar under a coordinate system of the camera; thirdly, calculating to obtain a transformation matrix of a tail end coordinate system of the mechanical arm and a base coordinate system of the mechanical arm by utilizing a quaternion method; and fourthly, calculating a coordinate value of a tail end point of a welding workpiece under the coordinate of the mechanical arm, and then calculating an offset value of the workpiece in the pose combined with the pose of the mechanical arm. The systematic calibration method of the welding robot guided by the line structured light vision sensor is flexible, simple and fast, and is high in precision and generality, good in stability and timeliness and small in calculation amount.
Owner:JIANGNAN UNIV +1

Trans-1,4-polydialkene composite rubber and preparation methods thereof

The invention relates to a polydialkene composite rubber of trans-1,4- structure and preparation methods thereof. The composite rubber consists of 10 to 80 mass percent of trans-1,4-polyisoprene and 20 to 90 mass percent of trans-1,4-butadiene-isoprene copolymer, wherein over 90 percent of structural units of all dialkenes in the composite rubber have trans-1,4-structures. The first preparation method comprises the following steps of: homopolymerizing isoprene to obtain trans-1,4-polyisoprene by adopting a Ziegler-Natta catalysis system consisting of MgCl2 supported titanium and organic aluminum compound, and then adding butadiene to synthesize the trans-butadiene-isoprene copolymer. The second preparation method comprises the following steps of: adding mixed monomers of butadiene and isoprene into a polymerization device at the same time, performing copolymerization to obtain the butadiene-isoprene copolymer of the trans-1,4-structure, and continuously polymerizing the isoprene to obtain the trans-1,4-polyisoprene after the butadiene with high polymerization speed is completely consumed. The used polymerization device is a stirring reaction kettle or a screw extruder. The composite rubber has excellent performance such as low rolling resistance, low generated heat, abrasion resistance, particularly fatigue break increment resistance and the like, and is suitable for dynamically used rubber products such as tyres, vibration absorption materials and the like.
Owner:SHANDONG HUAJU POLYMER MATERIALS CO LTD

Preparation method of titanium dioxide/active carbon composite nanofibrous membrane

The invention provides a preparation method of a titanium dioxide / active carbon composite nanofibrous membrane, characterized by comprising the following specific steps: dissolving polyacrylonitrile powder in N, N-dimethyl formamide; mixing titanium hydroxide gel with the polyacrylonitrile solution to obtain electrostatic spinning stock solution, and performing electrostatic spinning to get the composite nanofibrous membrane; placing the composite nanofibrous membrane in an electrically heated drying cabinet for being pre-oxidized; soaking the composite nanofibrous membrane in phosphoric acid or potassium hydroxide solution, washing the solution to be neutral by distilled water, and drying the composite nanofibrous membrane in the drying cabinet; and then, under nitrogen protection, heating up to 450-550 DEG C, and cooling to room temperature to get the titanium dioxide / active carbon composite nanofibrous membrane. The preparation method improves combination firmness between fibers and active ingredients of a photocatalyst, and also improves charge capacity of the fibers; the titanium dioxide / active carbon composite nanofibrous membrane is high in photo catalytic activity, good in absorption effect, reproducible and simple in a reproduction method, and can use sunlight, so that operations are easy and operation cost is low.
Owner:DONGHUA UNIV

Fast decoupled flow calculation method for power systems

The invention discloses a fast decoupled flow calculation method for power systems, which comprises the following steps of: inputting original data and initializing voltage; forming an admittance matrix; forming correction equation coefficient matrixes B' and B'' and performing factor table decomposition; performing P-theta iteration, and correcting a voltage phase angle; performing Q-V iteration, and correcting voltage amplitude; judging whether the iteration is converged; and calculating node power and branch power. The method requires that the P-theta iteration and the Q-V iteration are all converged in the same iteration and the iteration process is finished, so that the algorithm frame is simpler, and the flow is clearer. The sparse matrix technology is not adopted, so the matrix elements are convenient to access and calculate, and the programming is simple; the correction equation coefficient matrixes are stored according to n order, number change of nodes is avoided, and the programming difficulty is reduced; and the calculation amount is reduced through reasonable logic judgment, the calculation speed is obviously improved and the requirement of scientific research can be completely met. The fast decoupled flow calculation method also can process power systems with a plurality of balance nodes.
Owner:DALIAN MARITIME UNIVERSITY

Water-soluble polymer/graphene composite fiber as well as preparation method and application thereof

The invention relates to water-soluble polymer/graphene composite fiber as well as a preparation method and application thereof. The cross section of the fiber is special-shaped, the surface of the fiber is of an orientated micro-fiber-shaped structure, the strength of the fiber is greater than 100 MPa, the elongation at break is greater than 2%, and the conductivity of the fiber is greater than 0.1 S/cm. The preparation method comprises the following steps: preparing a composite spinning liquid, extruding into a coagulating bath for curing, drafting, leading out of the coagulating bath, drying, and coiling, thereby obtaining the water-soluble polymer/graphene composite fiber; and finally reducing by using a chemical or physical method, thereby obtaining the water-soluble polymer/graphene composite fiber. The cross section of the composite fiber provided by the invention is of a special-shaped structure, the surface of the fiber is of a rich groove micro structure, the strength and the toughness of the fiber are greatly improved when being compared with those of pure graphene fiber, and good conductivity is still maintained, so that the water-soluble polymer/graphene composite fiber has a wide application prospect in the fields such as anti-electrostatic and conductive fabrics, electromagnetic wave absorption and shielding fabrics, energy storage devices, sensors and water treatment.
Owner:DONGHUA UNIV

Preparation method for mesoporous silicon oxide hollow microspheres with magnetic nanoparticles embedded in shell layers

The invention relates to a preparation method for mesoporous silicon oxide hollow microspheres with magnetic nanoparticles embedded in shell layers. In the invention, the magnetic nanoparticles are prepared by using a coprecipitation method, are subjected to oleic acid surface modification and then are dispersed in normal octane; an oil phase constructed by styrene monomer, cetane, normal octane dispersion of the magnetic nanoparticles, alkoxysilane and a silane coupling agent is mixed with a water phase which dissolves a surfactant; a fine emulsion liquid droplet system is obtained through pre-emulsification and fine emulsification processes; controlling formation of silicon oxide and phase separation of organic and inorganic components in the system to obtain a template with a nested structure during free radial polymerization of the liquid droplets by adding a base catalyst; based on the template, generating a raw material by taking long-chain alkyl silane coupling agent and alkoxysilane as mesoporous silicon oxide; performing one-step ablation to remove an inner core of a polymer and a pore forming agent; or by taking a cationic surfactant as the pore forming agent, removing the pore forming agent and the inner core of the polymer through a solvent dissolving method and obtaining the magnetic/mesoporous silicon oxide hollow composite microspheres. The composite microspheres have large specific surface area and good magnetic operability and can be used for application fields of biomedicine, environment, water treatment and the like.
Owner:SUZHOU WIN BIO TECH CO LTD
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