488results about How to "Contact stability" patented technology

The invention provides a zipper simulation method and related equipment, a zipper comprises a tooth chain and a puller, the method comprises the following steps: obtaining dynamic performance parameters of the puller pulling the tooth chain, and generating a simulation pulling process corresponding to the pulling process according to the dynamic performance parameters; obtaining simulation penetration depths and initial penalty coefficients between simulation structure contact surfaces of the simulation zipper corresponding to the simulation pulling process and the pulling process; updating the initial penalty coefficient according to the depth change of the simulation penetration depth; according to the simulation penetration depth and the updated initial penalty coefficient, obtaining the normal force of the contact surface of each simulated structure; according to the friction coefficient and the relative sliding speed, obtaining a dynamic friction coefficient between the contact surfaces of the simulated structures; according to the normal force and the dynamic friction coefficient, the zipper light sliding force in the simulation pulling process is obtained, and the detection accuracy and calculation efficiency of the normal force (the component of the contact force) of the microscopic contact behavior between the puller and the toothed chain and the zipper light sliding force can be improved.

The invention relates to the technical field of solar cells, and particularly discloses a back contact cell, a back contact cell string, a cell assembly and a photovoltaic system.The back contact cell comprises first grid lines and second grid lines which are alternately arranged in the first direction; the first Pad points and the second Pad points are alternately arranged in the second direction, the first Pad points are connected with the first grid lines, and the second Pad points are connected with the second grid lines; wherein the first grid line comprises a first grid line body and a third grid line, and the first grid line body and the third grid line are connected into an integrated structure; along the first direction, the third grid line is arranged at the corresponding first pad point, and the width of the third grid line is greater than that of the first grid line body. The problem of welding tension in the prior art can be solved, and the connection reliability between the welding strip and the fine grid is improved.

The invention relates to a bidirectional automatic seedbed and potted flower transfer device and method. The bidirectional automatic seedbed and potted flower transfer device comprises a conveying mechanism, a lifting mechanism, a push-pull mechanism, a grabbing mechanism, a conveying mechanism and a control system. The conveying mechanism comprises a seedbed frame, a motor, a chain, a transverse conveying supporting wheel and a chain wheel, the lifting mechanism comprises an air cylinder, a telescopic rod and a supporting rod supported on an air cylinder shaft and the telescopic rod, the push-pull mechanism comprises a push plate, a small air cylinder, a moving frame, a rail and a motor, and the grabbing mechanism comprises a portal frame and a mechanical arm. The conveying mechanism comprises a guide frame, an angle iron rail and a belt conveyor; the control system comprises a controller, a limit switch, a proximity switch, a magnetic reed switch and a photoelectric counter and is used for monitoring the position of the seedbed, accurately starting and stopping the seedbed and counting flowers. Bidirectional orderly automatic transfer of potted flowers entering and moving out of a cultivation greenhouse can be achieved, the working efficiency is improved, and the labor intensity is reduced.

The invention belongs to the technical field of power switch cabinets, and particularly provides a switch cabinet with a stroke measurement function, which comprises a cabinet body, a handcart, a stroke measurement assembly and an attitude detection assembly, and is characterized in that the stroke measurement assembly comprises a first range finder and a current detector, the first range finder is arranged on the handcart, and the current detector is arranged on the handcart; and the current detector is connected between the moving contact mechanism and the bus. And the handcart is pushed forwards until the current detector is electrified, and the distance S1 measured by the first range finder is recorded. The handcart continues to be pushed until the handcart reaches a preset working position, the distance S2 measured by the first distance meter is recorded, and the difference between the two distances is the contact stroke of the contact. According to the invention, the stroke measurement assembly can measure the contact stroke of the contact, and the attitude detection assembly can detect the position attitude of the moving contact mechanism, so that the problem of poor contact of the contact can be found and processed in time, the frequency and cost of equipment overhaul and maintenance can be reduced, and the operation stability of a power grid can be improved.

According to the technical scheme, the wafer turnover device comprises a machine body, a mechanical arm is installed on the machine body, a supporting rod is installed at the tail end of the mechanical arm, a fixing frame is installed on the supporting rod, an adjusting piece is rotationally connected to the fixing frame, a rubber film is installed at the bottom end of a fixing disc, and a sliding disc is connected to the machine body; a spraying strip is connected to the sliding disc, a rolling rod is installed on a rotating shaft of the second motor, and an adhesive tape is installed on the rolling rod; according to the invention, by controlling the rotation of the adjusting sheet, the large-size wafer can be conveniently adsorbed, the adjustment is convenient, gas enters the inner part of the outer ring through the through hole and is slowly sprayed out from the blowing hole, so that the rubber film is blown to bulge, the softness of the rubber film is ensured, the diameter of the outer ring is large, and the large-size wafer can be conveniently adapted; and a certain gap exists between the outer ring and the rubber film under the action of air pressure, so that the rubber film is relatively soft, damage to the wafer is avoided, dust on the surface of the wafer is removed by ion wind, the dust is adhered to an adhesive tape, and secondary adhesion is avoided.

The invention relates to the technical field of railway line flaw detection, in particular to railway line automatic comprehensive flaw detection equipment which comprises two steel rails and a flaw detection car and further comprises a C-shaped mounting plate, a buffer assembly, a waist detection mechanism and a bottom detection mechanism. A first fixing rod is transversely arranged in the C-shaped mounting plate, fixing sleeves are slidably connected to the two ends of the first fixing rod correspondingly, and balance assemblies are arranged at the ends, away from each other, of the two fixing sleeves correspondingly. The device has the advantages that different detection assemblies are arranged for different detection areas, so that steel rail detection of different parts is more efficient and accurate, it is ensured that different types of defects can be detected, the detection period is shortened, the balance assembly and the buffer assembly cooperate with each other to enable the head detection assembly to keep a dynamic balance state, and the detection efficiency is improved. The probe is effectively protected from vibration damage, and the adaptability of the probe to the change of the steel rail and the detection stability of the probe are improved.

The invention relates to the technical field of cable branch boxes, and discloses a cable branch box which comprises a box body and a box door, the box door is rotatably connected to the box body, a placement groove is formed in the box body, a through hole communicated with the placement groove is formed in the box body, and an elastic plate used for completely blocking the through hole is arranged on the through hole. According to the device, the through hole is blocked through the elastic plate, so that small animals are difficult to directly pass through the through hole to enter the placement groove; when a worker cuts the elastic plate, the cable enters the placement groove through the elastic plate, and the elastic plate abuts against the outer surface of the cable, so that the elastic plate can limit the distance between the cable and the through hole, thereby reducing the possibility that a small animal climbs into the placement groove along the cable, and further reducing the damage of the small animal to the electrical component.

The invention relates to a switch assembly and a temple switch, and relates to the technical field of vehicle accessories. The switch assembly includes: a housing; the action reed is movably connected in the shell; the pin comprises an inserting part used for being connected with an external circuit and an abutting part used for being connected with the action reed, and the inserting part is inserted into the shell and extends out of the shell; the linkage rod extends to the outer side of the shell and is movably connected with the shell, and the linkage rod drives the action reed to move under the action of external driving force, so that the action reed is propped against or separated from the propping part of each pin to realize connection or disconnection between the pins; the reset piece is located in the shell, and the reset piece forces the action reed to slide in one direction, so that the action reed always has the trend of moving towards the abutting part or moving away from the abutting part. The circuit has the effects of good contact stability and high switching precision.

The invention discloses a continuous forming bending machine for H-shaped steel, and relates to the technical field of bending machines. The device comprises a machine base, racks are symmetrically and fixedly arranged on the two sides of the upper portion of the machine base in the width direction, first motors used for providing driving force are vertically and downwards arranged on the tops of the racks, and a frame is linearly and movably arranged at the center line position of the upper portion of the machine base in the width direction along the surface in a reciprocating mode; a traction assembly capable of pulling H-shaped steel to reciprocate is arranged in the rack and comprises a core rod, the core rod is vertically arranged in the rack, the upper end and the lower end of the core rod are connected with the core rod through bearings, and supporting discs in threaded connection with the core rod are arranged on the upper portion of the core rod at intervals in the axis direction of the core rod. The two supporting discs are in threaded connection with the core rod and abut against one side of an H-shaped steel web. Through the arrangement of the traction assembly, the traction clamping distance of H-shaped steel is adjusted, and therefore clamping traction operation of H-shaped steel of various models is achieved.

The present invention belongs to the technical field of agricultural product planting equipment, and discloses a Chuanxiong planting machine, wherein Chuanxiong Ling seeds are picked up by a material taking component, and the Chuanxiong Ling seeds are unloaded to a feeding mechanism through the material taking component, and the feeding mechanism transfers the Chuanxiong Ling seeds to a guide member and is located in a compartment; a material taking component moves the Chuanxiong Ling seeds in the compartment along the extension direction of the guide member into the planting component, and the planting component plants the Chuanxiong Ling seeds entering therein into the soil in sequence; there is a first height between the unloading position of the material taking component and the feeding mechanism, and the Chuanxiong Ling seeds are turned over by their own weight in the first height so that their buds face upward. The present invention enables Chuanxiong Ling seeds to be transported as a single species in a state where the buds face upward, and enables Chuanxiong Ling seeds to be planted in a single species planting mode during the planting process, so that the Chuanxiong planting machine ensures the survival rate of Chuanxiong Ling seeds on the basis of having a high planting efficiency.

The invention discloses automatic milling machining equipment for motor shaft manufacturing, and relates to the technical field of motor shaft machining, the automatic milling machining equipment comprises a machining table and further comprises a fastening device, a U-shaped frame is fixedly installed at the top of the machining table, a servo motor is fixedly installed on the front side of the U-shaped frame, a lead screw is fixedly installed at the output end of the servo motor, and the fastening device is fixedly installed on the top of the machining table. A sliding frame is slidably mounted on the inner wall of the U-shaped frame, the sliding frame is in threaded connection with the lead screw, a V-shaped plate is fixedly mounted on the inner wall of the U-shaped frame, a placing plate is fixedly mounted at the top of the machining table, and the fastening device comprises an electric push rod, a fastening plate, a connecting plate, a connecting rod, a square plate, a connecting spring and a positioning plate. The positioning plate moves to be in contact with the columnar workpiece and extrudes and positions the columnar workpiece, and the position of the columnar workpiece can be effectively controlled through the positioning plate before milling through pre-positioning, so that the size error or the surface unevenness caused by position deviation is avoided.

The invention provides a chip module, a developing box, a processing box and an electrophotographic imaging device, the chip module comprises a mounting base, a forced pushing block and a chip assembly, the mounting base is provided with a guide groove, the forced pushing block is slidably mounted in the guide groove, the guide groove penetrates through the mounting base in the forced pushing direction of the forced pushing block, the chip assembly comprises a substrate and a contact elastic sheet group, and the contact elastic sheet group is arranged on the substrate. The base plate is installed on the installation seat, the contact elastic piece set is installed on the base plate and electrically connected with the base plate, a part of the contact elastic piece set is located at the downstream end of the guide groove in the forced pushing direction, and when the forced pushing block is pushed to move in the forced pushing direction, the forced pushing block can push the contact elastic piece set to elastically deform back to the guide groove. And enabling the contact elastic sheet group to be in contact with a contact pin group in the electrophotographic imaging equipment. A processing box is arranged in the electrophotographic imaging equipment, the processing box comprises a developing box, the developing box is provided with the chip module, and the chip module can ensure that the chip assembly is stably and electrically connected with an electric contact pin in the electrophotographic imaging equipment and does not hinder the installation of the developing box.

The invention provides a movable chip seat assembly and a developing cartridge, in the movable chip seat assembly, a body is provided with a first chute along a first direction; the cover body is provided with a second sliding groove in the first direction and provided with a first inclined wall and a second inclined wall in the second direction. A first movable column and a second movable column are arranged on the two side faces of the mounting frame respectively, one end of the elastic piece in the first direction is connected with the mounting frame, and the other end of the elastic piece is connected with the cover body. In the mounting process of the developing box, the first movable column and the second movable column slide in the first sliding groove and the second sliding groove in the first direction respectively; and in the taking process of the developing box, the two sides of the mounting base body rotate into the first inclined wall and the second inclined wall by taking the first movable column and the second movable column as centers respectively, and slide in the first inclined wall and the second inclined wall in the second direction. The movable chip seat assembly provided by the invention is ingenious in structural arrangement, so that the developing box is smoothly loaded and unloaded, the chip is stably contacted with a printer contact pin, and the printing use of the developing box is ensured.

The invention relates to the field of drilling rotary guiding, in particular to a pushing type rotary guiding system which comprises a rotary cylinder and a drill bit installed at the lower end of the rotary cylinder. A supporting cylinder is hinged to the upper end of the rotary cylinder, an annular ring is arranged on the inner wall of the supporting cylinder, and a main shaft is rotationally arranged in the annular ring; when the main shaft rotates, the inner gear ring rotates along with the main shaft, and the transmission cylinder is driven to rotate through the transmission gear; the driving shaft in the transmission cylinder drives the driving gear to be meshed with the swing gear under the cooperation of the construction plate and the construction groove, so that rotation of the rotating shaft is achieved, and finally the drill bit is driven to swing, and therefore external hydraulic equipment is not needed, the complexity and the size of the system are reduced, and meanwhile the cost and the maintenance difficulty are reduced.

The present invention relates to the field of hot-rolled coil detection technology, and in particular to a detection device and method for hot-rolled coil of wheel steel, comprising a support frame, a guide wheel is installed on the side of the support frame, a pressing assembly fixedly connected to the support frame is provided on the side of the guide wheel, a transmitter fixedly connected to the support frame is provided above the pressing assembly, and a receiver fixedly connected to the support frame is provided on one side of the blocking plate; the present invention irradiates the surface of the coil by the arranged transmitter, and when the surface of the coil is smooth, its light is reflected normally, and once a defect occurs on the surface of the coil, the light is irradiated on the defective area, and the light is reflected to the inside of the receiver under the action of the defective area, and an alarm lights up at this time to remind the staff that there is a defect in this area. This detection method does not require manual hand-held irradiation on the hot-rolled coil and then careful identification, which greatly reduces the staff's eye fatigue intensity and can perform continuous detection.

The invention relates to the technical field of on-machine measurement control, and discloses a V-shaped groove guide rail on-machine machining measurement system and method. The control end of the measuring body is connected to the driving end of a machine tool through a controller, and the measuring end of the measuring body and a grinding wheel of the machine tool are placed in a V-shaped groove of a guide rail to be measured in parallel. The measuring body comprises a sensor and two groups of contraction measuring rod assemblies; the two groups of contraction measuring rod assemblies are correspondingly arranged at the two ends of the sensor respectively and are connected to the control end of the controller through the sensor; and the measuring ends are measuring balls arranged at the end parts of the two groups of telescopic measuring rod assemblies. According to the invention, through integration of measurement and processing functions, real-time measurement can be carried out without interruption of the processing process, so that the overall efficiency of measurement and processing is significantly improved. By means of the mode of measuring and machining at the same time, the conversion time between measuring and machining in a traditional method is shortened, and the production process is accelerated.

The utility model provides a contact resistance thermal printing head, and belongs to the technical field of additive manufacturing. A pressure sensor is arranged at the upper end of the printing head, a copper electrode compresses a spring in the printing process, the spring transmits pressure to the pressure sensor, the pressure sensor transmits pressure information to a controller, the controller outputs a control signal to a pressure motor, and the pressure motor pushes a sliding block to move, so that the compression amount of the spring is changed; the spring pushes the copper electrode of the printing head to be directly pressed on the metal raw material, and stable pressure control in the printing process is achieved. A copper electrode tip in the printing head is connected with an alternating power supply, the alternating power supply is connected with the printing head, the metal raw material and the substrate through wires to form a closed loop, and contact resistance thermal printing is achieved.

The invention provides an engineering structure vibration monitoring robot with deformable wheels. The engineering structure vibration monitoring robot comprises a vehicle body, an acceleration measuring element, a wheel convertible mechanism and a rotary joint mechanism. The acceleration measuring element is mounted on the bottom surface in the vehicle body; the wheel convertible mechanism comprises an outer hub, an inner hub and a plurality of tire blocks, the inner hub is rotationally connected with the outer hub, and the tire blocks are evenly arranged in the circumferential direction of the outer hub; the inner hub and the outer hub rotate relatively to drive the tire blocks to swing, so that the tire blocks are gathered and dispersed to form a wheel structure and a leg structure respectively; and the free end of the rotary joint mechanism is connected with the wheel convertible mechanism, and the rotary joint mechanism can drive the wheel convertible mechanism to swing through rotation of the rotary joint mechanism so that the wheel convertible mechanism can make contact with or be separated from the ground. According to the robot, the wheel convertible mechanism is arranged, so that the robot can intelligently switch motion modes, adapt to uneven road surfaces and climb stairs, and the use scene of the robot is expanded.

The utility model discloses a double eccentric arc surface processing and polishing device of a contact type backstop, which relates to the technical field of processing and polishing devices and comprises a working base station, two longitudinal positioning plates are mounted on the working base station along the length direction of the working base station, two transverse sliding frames are arranged on the working base station along the width direction of the working base station, and polishing rolling shafts are arranged in the transverse sliding frames. Workpiece bodies are arranged between the two longitudinal positioning plates, the length of the polishing rolling shaft is matched with the length of the workpiece bodies, and eccentric blocks are arranged between the longitudinal positioning plates and the workpiece bodies. Aiming at the grinding process of the special-shaped wedge block in the contact type backstop, the whole process only comprises a single rotating process, the rotating center of the special-shaped wedge block takes one circle center point in the special-shaped wedge block as a rotating point, and then the two groups of grinding rolling shafts are matched with the rotating process in a motion form; the method specifically comprises a static linear motion mode and a dynamic linear motion mode, and aims to simplify the polishing process and shorten the consumed time in the single polishing process.

The invention relates to the field of rail transit, in particular to rail detection and maintenance equipment for urban rail transit, the rail detection and maintenance equipment is applied to a rail and comprises a rail car and processing mechanisms arranged at the front end of the rail car, the rail is composed of two parallel steel rails, and each steel rail is provided with one processing mechanism. The processing mechanism comprises a detection assembly and a maintenance assembly, the rail car is provided with a rack for installing the detection assembly and the maintenance assembly, the maintenance assembly is located between the detection assembly and the rail car, and the maintenance assembly comprises rolling wheels matched with the steel rails and a rotary driver used for driving the rolling wheels to rotate. The foreign matter on the steel rail is detected through the detection assembly, the maintenance assembly is started, the scraping strip and the surface of the steel rail are continuously rubbed to remove the foreign matter in the rotating process of the driving roller, the scraping strip can be more stably attached to the surface of the steel rail along with the synergistic effect of the rubber mat and the pressure adjusting assembly, and the cleaning efficiency is improved.

The invention provides a target tracking compensation control method and system for a surgical robot in a dynamic breathing environment, and the method comprises the steps: collecting an ultrasonic image of a patient in real time, and carrying out the self-adaptive admittance control algorithm based on force feedback; force control output is adjusted in a self-adaptive mode according to the contact force between the ultrasonic probe and the skin surface and the change of the displacement and speed state of the ultrasonic probe, rigidity parameters of an admittance control model are adjusted in real time, constant contact force between the ultrasonic probe and the skin surface is kept, and it is ensured that the ultrasonic probe and the body surface keep stable contact force and meanwhile adapt to the dynamic change of the body surface; a focus is continuously identified and positioned by utilizing a real-time ultrasonic image through template matching and a dynamic template updating algorithm, real-time position information of an internal focus target spot is obtained and serves as a target pose, the motion compensation amount of a puncture mechanical arm is calculated, the track of a puncture needle point and the motion of the target spot are kept synchronous, and the target pose is accurately positioned. And target tracking and compensation control in a dynamic breathing environment are realized. Target tracking compensation control of the surgical robot can be carried out.

The invention relates to a push-in protective grounding plate for an insert, which comprises a plane part extending perpendicular to the insertion direction of the insert and a two-piece holding part formed on the plane part, wherein the two-piece holding portion is configured for holding the spring and the protective conductor and includes a first holding portion and a second holding portion. The invention also relates to a protective grounding assembly comprising the push-in protective grounding plate and an insert comprising the protective grounding assembly. Therefore, simple, rapid, reliable and shock-proof connection of the protective conductor is realized, the protective grounding plate is suitable for installation of a hard conductor and a soft conductor, and the protective grounding plate is simple in structure and easy to manufacture.

The utility model relates to the technical field of freshwater aquaculture, in particular to a tail water treatment device for freshwater aquaculture. According to the technical scheme, the device comprises a box body, the top of the box body is connected with a box cover in a covering mode, connecting grooves are formed in the two sides of the top of the box body, connecting blocks are slidably connected to the inner walls of the connecting grooves, and the same first sieve plate is fixedly connected between the opposite faces of the two connecting blocks; a second sieve plate is arranged in the box body below the first sieve plate, the aperture of the first sieve plate is larger than that of the second sieve plate, a cleaning mechanism is arranged at the top of the first sieve plate, a fixing mechanism is arranged at the top of the box cover, and a mounting mechanism is arranged outside the box body; according to the sedimentation tank cleaning device, the phenomenon that a large number of impurities are accumulated when impurities in water are directly discharged into the sedimentation tank for sedimentation is avoided, and therefore the labor amount during sedimentation tank cleaning operation is greatly reduced.

The utility model relates to the technical field of gauge measurement, and discloses a high-precision measuring device for a high-speed rail track gauge, and the device comprises a gauging rule, one end of the gauging rule is fixedly connected with a fixed seat, and the other end of the gauging rule is slidably connected with a sliding seat; two groups of walking mechanisms are arranged below the fixed seat, a group of walking mechanisms is arranged below the sliding seat, and each walking mechanism is used for enabling the gauging rule to move on a rail; the traveling mechanism below the fixed seat is clamped on a rail through a clamping assembly, the clamping assembly comprises at least two clamping blocks, the position of at least one inner side clamping block can be adjusted to adapt to the rail and keep stable, a conductive block is arranged on the inner side of each clamping block, and the conductive blocks are connected with conductive heads. By arranging the clamping assembly, dynamic self-adaptive clamping of the rail is achieved, stable contact between the gauging rule and the rail in the measurement process is ensured, and the stability and accuracy of measurement are remarkably improved.

The invention discloses a deicing robot for power transmission line inspection, and relates to the technical field of power equipment. The deicing robot for power transmission line inspection comprises a robot support, a bearing track frame, a walking unit, a deicing unit, an inspection camera box body, a cleaning protection unit, a spraying unit and a transmission unit, and through the design of the transmission unit, power of the deicing unit drives the cleaning protection unit and the spraying unit; the robot support and the bearing track frame form a robot framework, the walking unit is used for controlling the robot to walk on the power transmission line, the deicing unit is used for removing ice blocks on the power transmission line, and the inspection camera box is used for inspecting and observing the working condition of the robot in real time. The cleaning protection unit is used for ensuring that the view field of a camera in the inspection camera box body is clear, and the spraying unit is used for spraying protection liquid on the cable, so that secondary freezing of the cable is avoided, and the cable is protected.

The utility model relates to a TDS (Total Dissolved Solids) water quality detection pen which comprises a pen main body, a power supply, a display screen, keys, a circuit board, a metal terminal and a probe, the circuit board is fixed in the main body; the power supply is arranged at the pen tail of the main body and is electrically connected with the circuit board; a display opening is formed in a pen body of the main body; the display screen is electrically connected with the circuit board and is fixed at the display opening; the probe is fixedly arranged at the pen point of the main body, one end of the metal terminal is electrically connected with the circuit board, and the other end is electrically connected with the probe; the pen body of the main body is further provided with a key opening close to the display opening, and the key is electrically connected with the circuit board and fixed at the key opening. The surface of the main body pen body is further provided with a clamping groove comprising a display opening and a key opening, the surface of the main body pen body is further provided with a transparent cover plate which is clamped in the clamping groove, and the cover plate is provided with a through hole for the key to pass through.

The invention belongs to the technical field of robot equipment, and particularly relates to a humanoid robot and a sole structure of the humanoid robot. The sole structure comprises a rigid connecting piece which comprises a main body plate piece and a connecting part, the connecting part is arranged on the main body plate piece, and the connecting part is used for being connected with the ankle connecting end of the humanoid robot; the first layer plate is fixedly connected with the main body plate, the end part of the first layer plate exceeds the end part of the rigid connecting piece in the first direction, and the part, exceeding the end part of the rigid connecting piece, of the first layer plate can be bent and deformed in the rotating direction; the second layer plate is connected to the side, away from the rigid connecting piece, of the first layer plate, the second layer plate is a part made of a flexible material, the contour shape of the projection of the second layer plate is consistent with the contour shape of the projection of the first layer plate in the second direction, and the projection of the first layer plate is located in the projection of the second layer plate. By applying the technical scheme, the problem that the sole structure of the current humanoid robot does not have the characteristic that the front sole can be bent and deformed is solved.

The invention relates to a force and position mixed sensing and control system and method for cataract ophthalmologic surgery. The method comprises the steps that a first adjusting parameter is calculated according to position and posture change data, collected by a position and posture collecting module, of an eyeball position and posture at the first moment; acquiring an actually measured contact force at a first moment acquired by a force sensor; acquiring puncture depth data of the surgical instrument at a first moment based on a pose acquisition module; inputting the puncture depth data into a preset puncture force model to obtain a predicted contact force; operating parameters of an admittance controller are adjusted according to the force error value of the actually measured contact force and the predicted contact force; outputting a second adjustment parameter based on the admittance controller according to the actually measured contact force; and inputting the initial operation instruction, the first adjustment parameter and the second adjustment parameter into a preset instruction adjustment model to generate a target operation instruction at a second moment. The ophthalmic surgical robot can adapt to diversified surgical scenes with high precision and low interference, and meanwhile, the operation accuracy and smoothness of the ophthalmic surgical robot and the safety of the ophthalmic surgery are considered.

This invention provides a phased array testing device and method for fillet welds in pipe fittings, belonging to the field of non-destructive testing technology for pressure-bearing components. It can at least partially solve the problems in existing technologies such as difficulties in pre-treatment of fillet welds in confined spaces, inconsistencies in the positions of the pre-treatment zone and the testing zone, and unstable coupling in composite curvature regions. The invention includes: a shared motion platform with an installation interface at its front end, a guide component on one side, and a support component on the other side; a pre-treatment head and a testing head are respectively connected to the shared motion platform through the same installation interface. The pre-treatment head includes a grinding assembly and a limiting structure, and the testing head includes a phased array sensing unit and a coupling structure. By sharing the same installation interface and guiding reference, this invention achieves positional consistency between the pre-treatment zone and the testing zone, improving the feasibility and repeatability of in-service testing in confined spaces.

The utility model relates to the technical field of edge banding machine, disclose a kind of edge banding machine for plastic bag processing, including processing platform, the top middle fixed connection of processing platform has bearing frame, the top both ends of bearing frame are fixedly connected with fixed plate, one side of the fixed plate is penetrated and rotationally connected with driving roller, one end of driving roller is fixedly connected with worm wheel, one side of the fixed plate is penetrated and rotationally connected with transmission rod, one end of transmission rod is fixedly connected with worm, and worm and worm wheel are engaged connection, the other end of transmission rod is penetrated and slidingly connected with rocker, the top of bearing frame is penetrated and slidingly connected with evenly distributed slider. In the utility model, the linkage between driving roller, worm wheel, transmission rod, worm, slider, connecting block, slide bar, connecting rod, slide plate, first gear, second gear and transport roller can meet the demand of plastic bag edge banding width fine control.