60results about How to "Improve spatial freedom" patented technology

The invention discloses a terminal amidocyanogen star-shaped lactic and glycolic acid/polyethyleneglycol segmented copolymer, a preparation method, drug-loaded nano-micelle and application thereof. The preparation method of the terminal amidocyanogen star-shaped lactic and glycolic acid/polyethyleneglycol segmented copolymer: (1) glycolide, polyhydroxy activator, stannous octoate and lactide are added into a polymerized tube sealing for vacuumized nitrogen permutation and reaction, and terminal hydroxyl star-shaped lactic and glycolic acid can be obtained; (2) butanedioic anhydride is added for reaction to prepare terminal carboxyl group star-shapedl actic and glycolic acid; (3) the terminal carboxyl group star-shaped lactic and glycolic acid is dissolved in anhydrous toluene, then doublepointed amidocyanogen polyethyleneglycol, N and N'- dicyclohexylcarbodiimide are added for reaction, solvent is evaporated to dryness and aether is added for sedimentation to prepare the terminal amidocyanogen star-shaped lactic and glycolic acid/polyethyleneglycol segmented copolymer which can form about 100nm of micelle automatically in water solution. Hydrophobic nature drugs can be loaded in the caryon of the micelle and putamen surface of the micelle is rich of high activity and freedom terminal amidocyanogen arms that can couple with various bioactivators to achieve the effect of targeted release.

The invention discloses a large-scale reaction kettle distributed fault diagnosis method based on a sensor network. Each sensor node unit mainly comprises a detection module, a communication module and a calculation module. The method comprises the following technical steps that first, a cascade model of a large-scale reaction kettle system is built; second, a distributed fault diagnosis device based on the sensor network is built, and the information interaction relation between sensor nodes is determined; third, optimal diagnosis device parameters are designed, and the performance of the fault diagnosis device is optimized; fourth, a fault evaluation strategy is designed, and fault diagnosis is carried out according to difference signals generated by the diagnosis device. The fault diagnosis method has the advantages that power consumption and cost are low, and a distribution mode is adopted; a high degree of spatial freedom is achieved in the configuration process, maintenance and extension are convenient, the characteristics that large-scale chemical industry production is large in scale and continuous are met, and the problems that in industry application, a traditional centralized fault diagnosis scheme has constraints in layout and wiring and is poor in reliability are ameliorated.

Provided is a superconducting magnet device, wherein the superconducting magnet device can be miniaturized by miniaturizing a cooling chamber. Specifically provided is a superconducting magnet device comprising a cylindrical main former (13) on which a main coil (5) is wound, a cylindrical shield former (15) on which a shield coil (6) is wound and which is provided concentrically with the main former (13) so as to cover the outer side in the radial direction of the main former, a cylindrical external cylinder (18) which is provided concentrically with the main former (13) so as to cover the shield former (15), and a pair of end plates (14a, 14b) which forms a cooling chamber (2) by sealing the respective both ends in the axial direction of the main former (13) and the external cylinder (18); and is concentrically provided with annular positioning mechanisms that are in contact with the respective both ends in the axial direction of the main former (13), the shield former (15), and the external cylinder.

The invention discloses a radiation source positioning device and method based on a UAV (Unmanned Aerial Vehicle) platform loaded with a co-prime linear array. The invention relies on the UAV platform, fully combines the advantages of air detection maneuverability and high precision of array positioning, integrates the air search and positioning functions, utilizes a spectrum monitoring module tocollect the spectrum data in real time, performs signal processing on the received data of the loaded array, and combines the high-precision co-prime array spatial spectrum estimation algorithm to quickly search and accurately locate the incoming wave direction of the radiation source. The invention provides a new idea for the radiation source direction finding based on the air platform, can realize the high-precision positioning of the radiation source by using the UAV combined with the co-prime array, and aims to break through the limitations of the conventional radiation source searching and positioning method and overcome the key technologies thereof, so as to assist with radio monitoring and interference investigation.

The invention relates to a brake lining (2) for a disc brake, particularly for rail vehicles, comprising at least one carrier metal (3) having a plurality of friction segments (4) attached in a releasable manner to the carrier metal (3) and comprising a back part (1), wherein the carrier metal (3) is held via at least one holding element (6) on the back part (1). According to the invention, the back part (1) is a casting piece.

According to an embodiment, a light emitting device package includes: a thermally-conductive substrate having at least two mounting regions on which chips are mounted and at least one bending region; a light emitting device module including a light emitting device arranged on one surface of the mounting region; and a driving device module including a driving unit arranged on the other surface opposite to the one surface of the mounting region.

The invention discloses a sparsity-based spread coprime linear-array angle estimation method, relates to the field of spatial spectrum estimation, and can be applied to the fields such as wireless communication, sonar and positioning. The sparsity-based spread coprime linear-array angle estimation method comprises the steps of carrying out vectorization processing on a covariance matrix of an array receipt signal, and obtaining a receipt signal of a virtual linear array; carrying out grid classification on an angle space to be measured, obtaining an overcomplete redundant dictionary of an angle, and converting a data model into a sparsity expression form; and on the basis, constructing a 1 norm convex optimization problem, and utilizing an orthogonal matching pursuit algorithm for obtaining direction of arrival estimation. According to the sparsity-based spread coprime linear-array angle estimation method provided by the invention, the advantage of high spatial freedom degree can be obtained by utilizing a spread coprime linear array, and meanwhile, a compressed sensing technology is used for fully utilizing all virtual arrays produced by the spread coprime linear array, so that the spatial freedom degree is improved, and meanwhile, high angle estimation precision is further realized.

The invention discloses a human torso mechanical exoskeleton device used for connectin connecting appendicular exoskeleton mechanisms. The humantorso mechanical exoskeleton device comprises shoulder joint exoskeleton multi-bar mechanisms, a vertebral column joint exoskeleton mechanism with dual six-axis platforms and hip joint exoskeleton multi-bar mechanisms which are sequentially connected from top to bottom; structures of the shoulder joint exoskeleton multi-bar mechanisms are the same as those of the hip joint exoskeleton multi-bar mechanisms; and the top and the bottom of the vertebral column joint exoskeleton mechanism with dual six-axis platforms are fixedly connected to the middle of the bottoms of the shoulder joint exoskeleton multi-bar mechanisms and the middle of the tops of the hip joint exoskeleton multi-bar mechanisms separately. According to the human torso mechanical exoskeleton device disclosed by the invention, pressure of heavy objects carried on the back of the human is sufficiently relieved, good assistance is provided, and weight of heavy objects carried on the back is greatly increased, and therefore, the human torso mechanical exoskeleton device is suitable for assisting the old to climb stairs and travel, and also can be used for rehabilitation on patients by virtue of medical apparatuses and instruments.

The invention discloses a square pipeline welding gear gripper comprising a manipulator, gripper main bodies and a sliding structure. Each gripper main body comprises size regulating structures, a right clamping arm, an actuator, a left clamping plate, a right clamping plate, gears, a rotating shaft, a link rod I, a link rod II, connecting pins, a left clamping arm and U-shaped connectors; the sliding structure comprises a guide rail, a fixed sliding block and a movable sliding block; the gripper main bodies are arranged in pairs and can be slid on the sliding structure, and the upper ends ofthe right clamping arm and the left clamping arm are provided with the size regulating structures; the ends of the clamping arms are both connected to one end of the link rod I, and the middle parts of the clamping arms are both connected to one end of the link rod II; the gears are arranged between the left clamping plate and the right clamping plate, and one end of the rotating shaft is connected to the actuator; and the gripper main body on one side is connected to the fixed sliding block through the U-shaped connectors, and the gripper main body on the other side is connected to the movable sliding block of which the bottom end is slid on the guide rail. The square pipeline welding gear gripper is applicable for the clamping requirements of square pipelines of different sizes, and is higher in degree of freedom and high in stability.

The invention discloses a microwave correlated imaging method based on a radar rotating emission array and relates to the technical field of radar information acquisition and processing. The microwave correlated imaging method comprises the step 1 of setting a radar rotating emitting antenna, the step 2 of setting the detection surface of the radar and dividing the detection surface into a plurality of detection units, the step 3 of obtaining time delay, the step 4 of obtaining a steering vector by use of the time delay to obtain an array manifold matrix, the step 5 of setting an echo signal vector, the step 6 of establishing a radiation field vector, the step 7 of establishing the correlation form of an original echo vector under M pulses received by the radar and the radiation field vector, the step 8 of solving the objective function of an objection reflection coefficient vector under the constraint condition of the objective function to obtain the objection reflection coefficient vector, and the step 9 of obtaining a rearranged objection reflection coefficient vector matrix, namely the imaging matrix of an objection. The microwave correlated imaging method based on the radar rotating emission array is capable of improving the space-time randomness and the spatial freedom of the radiation field and realizing high resolution image of a large-scene objection.

The invention provides a multi-coordinate system collaborative 3D printer. The multi-coordinate system collaborative 3D printer comprises a stepping motor, an electromagnetic base plate, a thermal bed, a six-axis mechanical arm, a tray frame, an iron disc and a spray head mechanism; and the spray head mechanism comprises an extrusion material stepping motor, a spray head, a cooling fan, a verticaladjusting mechanism and a horizontal adjusting mechanism. A permanent magnet and an electromagnet are contained in the electromagnetic base plate, and demagnetization and magnetization are controlledby controlling the current flowing through the electromagnet. Compared with an existing 3D printer, the multi-coordinate system collaborative 3D printer has the advantages that the rotation freedom degree of the base plate is increased through the six-degree-of-freedom mechanical arm and the electromagnetic permanent magnet composite device, the three-dimensional solid forming of a planar cube under general conditions can be realized, and flexibly converting in a cartesian coordinate system, a column coordinate system and a spherical coordinate system can be realized, the printing precision of the arc surface and the spherical surface can be improved, and a new idea is provided for printing an arc and spherical surface combination. The equipment operation is simple, the application rangeis wide, and equipment conditions are created for high-precision printing.

The invention provides a flexible training device and method for row-based pneumatic riveting of an airplane, relates to the field of assembling and manufacturing of aerospace, and aims at realizing the row-based riveting operation skill training of airplane riveting workers, nondestructive detection for the riveting quality, simulating of the row-based riveting conditions of an airplane body, skill assessment and other work tasks. The device and the method are characterized in that the pose of a robot can be adjusted to simulate the riveting of different positions of the airplane body, and single-nail riveting or row-based nail riveting can be selected; a lead screw is driven through a stepping motor to realize clinging or separating of an emulation board, and thus riveting nails can be clamped or removed; and the riveting quality is detected and assessed after simulating the riveting. The device and the method are simple to operate, low in cost, and high in efficiency; any sections of the airplane body can be simulated; the degree of freedom is high; the riveting operation simulation is high in similarity relative to the actual working condition; the skill training efficiency ofthe riveting workers can be effectively improved; and the time of the riveting workers adapting to the actual production conditions is reduced.

The invention provides a flexible training device and training method for aircraft annular pneumatic riveting, and relates to the field of aerospace assembly manufacture. The device and the training method can be used to achieve the work tasks of an aircraft riveting worker such as circular riveting operation skill training, non-destructive detection of riveting quality, simulation of fuselage annular riveting conditions and skill assessment. The riveting of different positions of an aircraft fuselage is simulated by modulating the posture of a robot, and it is possible to select single-rivetriveting or multi-rivet annular riveting. A stepper motor is used to drive a turntable to rotate to fit a slider to or separate the slider from a riveting simulation board so as to clamp or take out arivet. After the riveting simulation, the riveting quality can be detected and evaluated. The flexible training device and training method in the invention have the advantages of simple operation, low cost and high efficiency, can simulate any annularly riveted section of the fuselage, have a high degree of freedom and a high fitting degree between the riveting operation simulation and actual working conditions, and can effectively improve the efficiency of the technical training of the riveting worker and shorten the time for the riveting worker to adapt to the actual production conditions.

The invention relates to a space plane adjusting device, comprising a stand (1) on which four supporting devices (12) are arranged. The supporting device (12) comprises a support frame (2), the end part of the support frame (2) is provided with a servo motor (3), and a ball screw (4) connected with the output end of the servo motor (3) is positioned in the support frame (2). A linear guide rail (5) is also arranged on the support frame (2), a support sliding plate (6) which is connected with the linear guide rail (5) in a sliding mode is internally provided with a screw matched with the ball screw (4), and a support table (7) is arranged on the support sliding plate (6). A roller (9) arranged on a support slide bar (8) is matched with a groove (10) on the support table (7), and the support slide bar (8) is fixedly connected on a part support frame (11). The four supporting devices (12) are arranged at the four corners of the stand (1). The invention has the advantages of simple and skillful structure, convenient and quick operation and capability of enabling a workpiece to move in the longitudinal direction and rotate in all directions, and the like.

The application provides a data sending method, a data receiving method, network equipment and terminal equipment. A diversity gain can be obtained to a greater degree, quality of a received signal isimproved, and reliability of data transmission is improved. The method comprises the steps that: the network equipment carries out transmission diversity preprocessing on one piece of modulation symbol stream to obtain at least one piece of transmission diversity spatial stream; the network equipment carries out pre-coding polling on the at least one piece of transmission diversity spatial streamto obtain at least one piece of pre-coded data stream, wherein each of the at least one piece of transmission diversity spatial stream corresponds to at least two different pre-coding vectors; and the network equipment sends the at least one piece of pre-coded data stream to first terminal equipment.

The invention discloses a Taylor expansion-based augmented co-prime array rapid DOA estimation method, which is characterized in that DFT spectrum coarse estimation and Taylor expansion fine estimation are combined to process virtualized signals so as to achieve rapid DOA estimation. The method comprises the following steps: sampling a received signal through an augmented co-prime array, calculating a covariance matrix of the received signal, and carrying out vectorization operation and redundancy elimination operation on the covariance matrix to obtain a received signal of a virtualized uniform array; carrying out DOA coarse estimation through a DFT spectrum search method; and finally carrying out accurate DOA estimation through a Taylor expansion method. The method has the advantages that a complex phase search process in a traditional DFT method fine estimation process can be effectively avoided, a DFT coarse estimation result is directly substituted into a Taylor expansion to solve high-precision DOA estimation, and the calculation cost is lower; and when the array size is large, DOA estimation with higher precision than that of a traditional DFT method can be obtained, and the method has important practical value.

The invention disclose a snake-shaped robot snake body joint with a three-direction steering engine orthogonal connection structure. The snake-shaped robot snake body joint comprises an X-direction steering engine, a Y-direction steering engine and a Z-direction steering engine, wherein the X-direction steering engine and the Y-direction steering engine are arranged on snake body supports, and theZ-direction steering engine is connected with the two snake body supports, the X-direction steering engine and the Y-direction steering engine are fixed on two sections of snake bodies respectively,the X-direction steering engine is fixedly arranged at the front part of the snake body support, output shafts of the X-direction steering engine and the Y-direction steering engine are in the horizontal direction and can rotate along the horizontal X-direction and the horizontal Y-direction, the Z-direction steering engine is fixedly arranged at the rear part of the snake body support, and an output shaft of the Z-direction steering engine is vertical and perpendicular to the direction of the snake body support and can rotate in the vertical direction in a double-face mode. According to the snake-shaped robot snake body joint with the three-way steering engine orthogonal connection structure, each snake body support is provided with two output shafts based on the orthogonal direction, each snake body support is provided with the X branch direction and the Y branch direction in the horizontal direction, motion driving of two degrees of freedom can be completed at the same time, high angle swinging performance and turning performance are achieved, the structure is simple and stable, and expansion and maintenance are easy.

The invention discloses an automatic feeding and discharging mechanism for a five-axis grinding machine. The mechanism comprises the five-axis grinding machine for part machining and an automatic feeding and discharging device arranged at the side of the five-axis grinding machine, wherein the automatic feeding and discharging device comprises a first clamping part arranged at the side of the five-axis grinding machine, a second clamping part arranged the side of an output shaft of the grinding machine and a material tray used for placing materials, the materials are transferred between the second clamping part and the material tray through the clamping or placing operation of the first clamping part, and the second clamping part transfers the materials between the output end of the five-axis grinding machine and the first clamping part. By adopting the technical scheme, material feeding operation and material taking operation are completed through cooperation of two mechanical arms, the time of automatic feeding and discharging can be shortened by half, the production process can be accelerated, the industrial automation level is improved, and the working efficiency is improved.

The invention provides a multi-base-station cooperation communication method based on user pairing and belongs to the technical field of wireless communication. The method includes that base stations obtain channel information between each base station and each user according to uplink pilot signals of the users to the base stations or channel information which is fed back to the base stations by the users; the base stations perform pairing on base station antennae and user antennae according to the obtained channel information, and an antenna set which performs allied signal processing is determined; the users in each base station set are grouped, and virtual multiple input multiple output (MIMO) is formed to perform information transmission. The communication method is based on multi-base-station cooperation, communication qualities of community edges can be effectively improved, the space freedom degree is improved through introduction of more antennae, flexible antennae configuration is supported, communication combination partition can be adjusted according to different channel conditions, meanwhile, by means of user pairing, a high order MIMO system can be formed with low costs, and communication qualities can be further improved.