1191results about How to "Move quickly" patented technology

The invention discloses a rope-driven mechanical arm with a variable-stiffness joint module. The rope-driven mechanical arm comprises a base assembly, a shoulder assembly, a large arm assembly, an elbow assembly, a wrist static platform assembly, a wrist parallel mechanism assembly and a wrist movable platform assembly which are movably connected in sequence. The shoulder assembly comprises three variable stiffness joint modules which are orthogonally connected in sequence; the large arm assembly comprises a plurality of driving assemblies; the robot further comprises a wrist bending driving rope assembly, a wrist yawing bending driving rope assembly, a wrist rotation driving rope assembly and an elbow bending driving rope assembly. The multiple driving assemblies are connected with the wrist bending driving rope assembly, the wrist yaw bending driving rope assembly, the wrist rotation driving rope assembly and the elbow bending driving rope assembly correspondingly. The invention has the beneficial effects of inherent flexibility under the condition of low load and high rigidity under the condition of high load.

According to the reconfigurable flexible pressure sensor based on the magnetic ionic liquid drops and the preparation method of the reconfigurable flexible pressure sensor, the superparamagnetic nanoparticles and the ionic liquid drops are combined to prepare the magnetic ionic liquid drops which are high in fluidity and can be magnetically controlled, and the magnetic ionic liquid drops serve as a pressure sensitive layer of a pressure sensing device; and the flexible stretchable pressure sensor based on the magnetic ionic liquid drop array is constructed. The invention also provides a distributed / combined non-contact multi-element in-situ reversible reconstruction method of the flexible pressure sensor, and an external magnetic field is utilized to control the magnetic ion liquid drops in the sensor to carry out programmable low-resistance rapid movement and deformation between the super-hydrophobic interconnected microfluid channel and the chamber array. The spatial distribution, component / volume and geometrical shape changes of the magnetic ionic liquid drops in the array are regulated and controlled, and distributed / combined non-contact multi-element in-situ reversible reconstruction of the flexible stretchable pressure sensor in the performances of spatial resolution, sensitivity, detection limit, pressure response mode and the like is realized through one or more change combinations.

The invention relates to the technical field of machine tool machining, and discloses drilling equipment and a drilling process for nozzle pin hole machining, the drilling equipment comprises a support and a base, a drilling device and a lifting device are arranged on the support, a conveying device and a positioning device are arranged on the base, and a feeding conveying table and a discharging conveying table are arranged on the two sides of the base respectively; the drilling device comprises a control source, a plurality of drill bits and an adjusting part used for adjusting the positions of the drill bits, the lifting device comprises a first threaded rod and a transmission part, and the conveying device comprises a conveying belt and a moving part used for controlling the position of the conveying belt on the base. According to the drilling machine, the positions of the multiple drill bits are adjusted through the arrangement of the adjusting piece, workpieces are carried through the arrangement of the conveying belt, and therefore rapid machining and carrying of the workpieces are achieved, and the problems that when different workpieces are machined through a traditional drilling machine, matched cutter heads need to be frequently replaced, and the machining efficiency is high are solved. And machined workpieces need to be grabbed and placed through a mechanical arm, operation is complex, and the machining efficiency is affected.

The invention provides a container type solar power generation device which is convenient to deploy and low in cost. The container type solar power generation device is provided with a container, a folding track and a folding solar cell panel mechanism. Each photovoltaic panel unit in the folding solar panel mechanism comprises two cross arms, namely a cross arm I and a cross arm II, a connecting rod and a photovoltaic panel; the middle parts of the two cross arms are hinged; the upper end of the connecting rod is hinged to the photovoltaic panel. The lower end of the connecting rod is hinged to the rear lower portion of the first cross arm or the front lower portion of the second cross arm, and when the two cross arms rotate around the hinge point, the photovoltaic panel gradually changes from the vertical state to the horizontal state or the inclined state. In each rail unit in the folding rail, the rear end of a left longitudinal rod I and the front end of a left longitudinal rod II are hinged to a left retainer, a synchronizing mechanism is arranged between the rear end of the left longitudinal rod I and the front end of the left longitudinal rod II, and the rear end of the left longitudinal rod II is hinged to the left end of a cross rod; when the rail unit is in an unfolded state, a left rail formed by the first left longitudinal rod and the second left longitudinal rod is parallel to a right rail formed by the first right longitudinal rod and the second right longitudinal rod.

The invention discloses a wheel-foot robot, and relates to the technical field of robots, the wheel-foot robot comprises a head and neck assembly, a trunk assembly, two groups of upper limb assemblies, two groups of lower limb assemblies and two groups of wheel-foot moving bases, the wheel-foot robot is provided with stereoscopic vision, can sense the environment and recognize human beings, and two hands cooperatively execute operation tasks; precise torque sensors in the arm joints facilitate safe and sensitive interaction when physically cooperating with humans. The trunk is telescopic, and the working height can be increased. The whole robot has more than twenty degrees of freedom, has the movement functions of fast movement, agile obstacle avoidance, steady uphill and downhill, impact interference resistance and the like, is an ideal carrier for general artificial intelligence, and when the robot works in place, the jacking mechanism at the bottom of the wheel foot base can support the robot body, so that the robot can bear high-load or high-dynamic operation. The robot can be switched among a plurality of modes which are not limited to standing, squatting, moving and the like, and is suitable for a plurality of application scenes.

The utility model relates to the technical field of Bailey truss machining, and discloses a building Bailey truss supporting device which comprises a bearing frame, a set of fixing pieces are symmetrically installed at the top of the bearing frame, a supporting frame is fixedly arranged on the fixing pieces, a pushing and clamping mechanism is arranged on the supporting frame, and the pushing and clamping mechanism comprises a pushing rod arranged in the supporting frame and springs distributed on the two sides of the pushing rod. A plurality of rollers are arranged in the middle of the top end of the bearing frame at equal intervals. The rollers are arranged on the bearing frame, so that the bottom of the bailey truss can be supported, the sliding resistance of the building bailey truss can be reduced, the position of the bailey truss can be conveniently and rapidly moved during machining, and the machining efficiency is improved; the clamping distance of the positioning plate to the building bailey truss is adjusted by extruding the spring through the push rod to stretch out and draw back, the device can adapt to bailey trusses of different sizes and shapes, the construction efficiency is improved, meanwhile, the bailey truss can be effectively fixed, and the safety of the construction process is guaranteed.

The invention provides a following shot method and system based on smart big data, and relates to the technical field of data processing, and the method comprises the steps: obtaining real-time image data, scene environment parameter data and auxiliary behavior data of a target object; processing the data to generate key frame data, dynamic environment characteristic data, static background characteristic data and behavior characteristic data; calculating an initial position and a motion trend of the target object according to the key frame data and the behavior characteristic data in combination with dynamic environment characteristics, and generating motion prediction data; dividing an activity range of the target object according to the motion prediction data and the static background characteristics, and generating target area planning data; according to the target area planning data, shooting path data is formulated, and a preliminary shooting plan is generated; refining the initial shooting plan into a step-by-step shooting instruction set in a time period; continuously shot pictures and related dynamic data are stored as an extensible multi-dimensional data set; the intelligent effect of following shot is improved.

The invention belongs to the technical field of belt conveyor maintenance, and particularly relates to a belt conveyor carrier roller disassembly and assembly auxiliary operation robot for a coal mine. Comprising a walking part, a power assembly, a carrier roller replacement box, a cab, an auxiliary operation platform and a lifting mechanism, the auxiliary operation platform comprises a posture adjusting platform capable of adjusting the direction, the inclination angle and the height; two groups of sliding telescopic mechanisms with the same telescopic direction are carried on the posture adjusting platform, and are respectively a left sliding telescopic mechanism and a right sliding telescopic mechanism; an action terminal of the left sliding telescopic mechanism carries a belt lifting supporting mechanism, and an action terminal of the right sliding telescopic mechanism carries a multi-degree-of-freedom disassembly and assembly manipulator; the auxiliary operation robot for disassembling and assembling the carrier roller can realize mechanical carrier roller replacement operation under the non-stop state of the belt conveyor, improve the operation efficiency, reduce the operation intensity, ensure the continuity of the coal mining process and ensure the safety and reliability of the carrier roller replacement process.

The utility model relates to the technical field of production equipment of wire or cable overhead installation devices, and particularly discloses an automatic assembly system for a spacer wire clamp. A base in the assembly system comprises a plurality of bearing seats, and the bearing seats are connected with a bearing seat through displacement suites. The displacement suite comprises a driving device and a displacement control device for controlling the displacement amount of the object bearing seat. And the object bearing seat is provided with a limiting external member for fixing the spacer wire clamp. An automatic pin pressing device, an automatic welding device and an automatic polishing device are sequentially arranged along the moving path of the object bearing seat, and the automatic devices and the displacement suite are all connected with a master control device. Parameters such as displacement distance of the object bearing seat and the like are accurately controlled, so that the spacer wire clamp placed on the object bearing seat can be quickly and accurately moved into a processing area of each automatic device, and the processing accuracy of the spacer wire clamp is improved; and meanwhile, it is guaranteed that all the steps are tightly connected, and the machining speed of the spacer wire clamp is increased.

The invention discloses a welding manipulator with multiple degrees of freedom, and relates to the technical field of welding manipulators, the welding manipulator comprises a working frame, the outer wall of the working frame is fixedly connected with an X-axis motor, the output end of the X-axis motor is fixedly connected with an X-axis screw rod, and the outer wall of the X-axis screw rod is in threaded connection with an X-axis cross beam; by arranging an X-axis cross beam, a Y-axis cross beam and a lifting frame, the X-axis cross beam slides to drive a welding machine welding gun at the bottom end of a linkage block to slide synchronously, then the Y-axis cross beam slides to drive the welding machine welding gun at the bottom end of the linkage block to slide synchronously, and then a Z-axis motor works to drive a welding machine welding gun at the bottom end of the lifting frame to slide synchronously through a Z-axis lead screw; the Z-axis positioning operation of the welding gun of the welding machine is achieved, then the rotating motor works to drive the welding gun of the welding machine at the bottom end of the rotating base to rotate so that the welding gun of the welding machine can move to the welding area of the welding part quickly, the positioning speed of the welding gun of the welding machine is high, and the multi-degree-of-freedom welding operation of the welding part is achieved.

The invention discloses a steel structure welding device and method for hull structure construction, and particularly relates to the technical field of welding, the steel structure welding device for hull structure construction comprises a walking unit and an annular outer gear ring, the annular outer gear ring is concentrically arranged outside the walking unit in a sleeving mode to complete welding guiding, and a welding arm is movably arranged on the annular outer gear ring. Following switching of the welding unit and the processing unit is completed through dynamic sensing of the sensing mechanism, so that the welding unit and the processing unit can rapidly move to the preset position of a machining area, repeated debugging is avoided, meanwhile, the purification mechanism can complete active limitation at the limiting position in the switching process of the welding unit and the processing unit, and the welding efficiency is improved. And by means of the design of the control piece, follow-up opening and closing can be completed with the welding unit and the processing unit, the purification precision is guaranteed, meanwhile, the processing unit in the running state can complete the active cleaning action of the processing unit, and the good cleaning state is guaranteed.

The invention discloses an assembly type storage shelf convenient to transport, and belongs to the technical field of transportation storage shelves, the assembly type storage shelf convenient to transport comprises a bottom plate, a plurality of placing plates are sequentially, uniformly and equidistantly arranged at the upper end of the bottom plate from top to bottom, the placing plates are mutually connected through steel wire ropes, and two bidirectional lead screws are symmetrically and rotatably connected to the upper end of the bottom plate; the two bidirectional lead screws are in transmission connection through a belt wheel, a rotating assembly used for driving the bidirectional lead screws to rotate is installed on the bottom plate, two movable blocks are symmetrically connected to the rod walls of the bidirectional lead screws in a threaded mode, and driving rods are hinged to the upper ends of the movable blocks. The defects in the prior art are overcome, the multiple containing plates can be unfolded, stored and stacked through mutual cooperation of the bottom plate, the containing plates, the steel wire rope, the two-way lead screw, the movable block, the driving rod, the motor, the limiting sleeve, the fixing rod and other structures, adjustment can be conducted according to the requirements of goods, operation is easy and convenient, manual labor is reduced, and the working efficiency is improved. Therefore, the applicability of the device is improved.

The invention discloses a manufacturing method for an automatic polishing system for a complex special-shaped thin-wall skin. The manufacturing method comprises the following steps that (1) a polishing head module is designed; (2) a six-axis robot is arranged; (3) designing a supporting vehicle module; (4) planning a polishing path; and (5) starting a polishing working procedure. The intelligent machining design concept is added, the force control technology, the vision technology, the software technology and the like are fused in grinding equipment, the automatic robot technology, the grinding automatic alignment planning technology, the automatic photographing positioning technology and the like are specifically included, and automatic grinding of the thin-wall skin of the aviation product is achieved; in the grinding process, attitude force / position mixed control compensation is carried out according to contact force of the tail ends of the grinding heads and product contact parts, accuracy and stability of the contact force of the grinding heads are guaranteed, meanwhile, self-adaptive stretching and retracting can be carried out according to contour features of the surfaces of the products, rapid movement between the grinding heads and the contact surfaces is achieved, and the grinding efficiency is improved. And the grinding head is quickly replaced and mounted through the design of a positioning buckle.

The invention discloses a direct visual field testing device, which relates to the technical field of testing and comprises a video auxiliary device and a marker device, the video auxiliary device realizes three-dimensional positioning and real-time video acquisition of preset eye spots through a height adjusting mechanism, an angle adjusting mechanism and a holder adjusting mechanism; the marker device realizes accurate adjustment and stable positioning of a marker in a test area through a height adjusting rod, a knuckle bearing and laser-assisted positioning; the direct visual field testing device is suitable for accurate measurement of the visual field range of a driver, can efficiently collect and record testing data, has the advantages of being convenient to operate, high in adaptability, high in precision and the like, and is widely applied to the fields of vehicle design, driving training, safety research and the like.

The invention discloses an electric cylinder long shaft piece three-dimensional position adjusting and supporting device, and relates to the technical field of electric cylinder assembling, the electric cylinder long shaft piece three-dimensional position adjusting and supporting device comprises a rack, two sets of supporting mechanisms used for supporting an electric cylinder long shaft piece are movably arranged on the rack side by side, and the distance between the two sets of supporting mechanisms can be adjusted; the supporting mechanism is movably provided with a supporting frame, the supporting frame is provided with a clamping and supporting station used for clamping the long shaft part of the electric cylinder, and the supporting frame is provided with a moving executing mechanism used for adjusting the clamping and supporting station in the X direction, the Z direction and the Y direction; the moving execution mechanism comprises an X-direction moving execution assembly, a Y-direction moving execution assembly and a Z-direction moving execution assembly. The clamping and supporting stations of the two sets of supporting mechanisms are matched to drive the electric cylinder long shaft part to be subjected to position adjustment in a three-dimensional space, adjustment of the central axis of the part in the electric cylinder part assembling process is facilitated, and the assembling efficiency and precision are improved.

The invention relates to the technical field of thrust bearings, in particular to a preparation method of a tin-based babbitt metal bushing and the tin-based babbitt metal bushing. The preparation method of the tin-based babbitt metal bushing comprises the following steps that a transition layer containing tin is arranged on the surface of a thrust pad, plate-strip-shaped tin-based babbitt metal is arranged on the transition layer, pressure and ultrasonic waves are applied to the surface of the plate-strip-shaped tin-based babbitt metal, and welding is completed through ultrasonic pressure welding. According to the method, the tin-containing transition layer is arranged on the surface of the thrust pad, the thrust pad bushing is rapidly prepared through ultrasonic pressure welding, and element diffusion and hydrogen element escape among the bushing, the transition layer and the steel backing and atomic lattice distortion and electron movement between the babbitt metal bushing and the transition layer are promoted through the coupling effect of extrusion force and high-frequency vibration; the plate-strip-shaped tin-based babbitt metal is welded to the surface of the thrust pad to form the bushing, the prepared babbitt metal bushing coating is uniform and compact, the preparation technology is greatly simplified, and environment friendliness is achieved.

The utility model discloses a novel humidity sensor, which comprises a shell and a bottom box, and a humidity sensing module is fixedly arranged in the shell. The beneficial effects of the utility model are that when using, staff can start the electromagnet and the temperature sensing module through the switch, the electromagnet is started to attract the iron ring through magnetic force, the iron ring moves upwards to pull the side cylinder to move upwards, the side hole is opened, ventilation is carried out, external air enters the housing, and the humidity sensing module detects the air humidity; when the humidity sensing module is not used, the switch is turned off, the electromagnet is powered off, the spring rebounds, the inner rod and the side cylinder are pulled to reset, and the side hole is closed, so that external air is prevented from entering the shell, and the situation that the humidity sensing module is damaged and the service life is affected due to the fact that humid air continuously affects the temperature sensing module is avoided; the device is quick in action, high in working efficiency, simple in structure, low in manufacturing cost and use cost and very convenient to use.

The invention relates to the technical field of quick valves, in particular to an air quick valve which comprises a valve body, a valve seat and a valve element, a valve cavity is formed in the valve body, the valve body comprises a shell and an installation island located in the valve cavity, the installation island is connected with the shell into a whole through an upper connecting part and a lower connecting part, and the air quick valve further comprises a first cylinder body installed on the shell; a stepped hole is formed in the mounting island, or a containing cavity is formed in the mounting island, gas is input into the first cavity and the fourth cavity through an external gas source, and the gas directly enters the first cavity and acts on the first piston; when the valve is opened, the gas source does not supply gas, the valve element is driven to move through the acting force of a medium on the valve element, the valve element is driven to move through the acting force of the medium on the valve element, and the valve element is driven to move through the acting force of the medium on the valve element. And the first piston and the second piston are enabled to move in the stepped hole.

The invention relates to the technical field of putty powder production and crushing, and discloses impact crushing equipment based on putty powder production, the impact crushing equipment comprises a crusher, the crusher comprises a main frame, a fixed jaw plate, an outer frame and a movable jaw plate, a crushing cavity is formed between the fixed jaw plate and the movable jaw plate, the main frame is also provided with a driving assembly and a controller, the driving assembly acts on the movable jaw plate, and the controller is connected with the fixed jaw plate. The movable jaw plate is driven to move away from or close to the fixed jaw plate in a reciprocating mode, and hammering mechanisms are symmetrically arranged on the front position and the rear position of the main machine frame. According to the impact crushing equipment based on putty powder production, the hammering mechanism and the control mechanism are arranged, impact force applied by a hammer head is utilized, marble blocks can be further crushed, the clamped marble blocks are loosened, and therefore the clamping and blocking phenomenon caused by the fact that the marble blocks are large in size or irregular in shape can be eliminated; and moreover, through vertical reciprocating hammering of the hammer head, the blocking condition can be quickly handled, so that the manual handling time is further shortened.

The invention relates to magnetic ring pressing equipment and a pressing method.The magnetic ring pressing equipment comprises a feeding translation mechanism, a raw material weighing and feeding mechanism, a centrifugal stirring mechanism, a cup cover tightening mechanism, a vacuumizing mechanism, a granulation mechanism, a magnetic ring pressing mechanism, a servo press mechanism and a baking mechanism which are sequentially arranged, and further comprises a first transfer robot and a second transfer robot; a first transfer platform and a second transfer platform are arranged between the first transfer robot and the second transfer robot, a first cup body grabbing tool is arranged on the first transfer robot, and a magnetic ring grabbing tool, a granulation extrusion tool and a second cup body grabbing tool are arranged on the second transfer robot; and the granulation extrusion tool of the second transfer robot is matched with the primary granulation tool and the secondary granulation tool to perform primary granulation and secondary granulation. The first carrying robot and the second carrying robot are used for carrying work, and automatic pressing of the magnetic ring is conveniently and rapidly achieved.

The invention relates to the field of phenolic resin adhesives, and particularly discloses a preparation method of a phenolic resin adhesive for a bamboo oriented strand board, which comprises the following steps: (1) phenol activation: adding phenol and a basic catalyst aqueous solution into a reaction kettle, and activating to form an intermediate state of phenate negative ions; (2) addition stage: adding a high-concentration formaldehyde reactant into the reaction kettle, and carrying out heat preservation reaction to generate hydroxymethyl phenol; (3) heating and replenishing: heating to 80 + / -2 DEG C, keeping the temperature, replenishing the formaldehyde aqueous solution into the reaction kettle, and keeping the temperature for 20-25 minutes; (4) polycondensation stage: adding a basic catalyst aqueous solution, heating to 90 + / -2 DEG C, and carrying out heat preservation reaction; and (5) terminating the reaction: after the heat preservation reaction, detecting the viscosity, cooling, and discharging to obtain the adhesive. The phenolic resin with the solid content of 60% or above can be prepared, the adhesive has excellent bonding performance, and the prepared shaving board is excellent in mechanical strength.

The utility model discloses a metal product clamp with high positioning precision, which comprises a mounting frame, a lifting plate is slidably connected in the top end of the mounting frame, a support is mounted at the top end of the lifting plate, a bidirectional screw is rotatably connected in the support, and a forward and reverse motor is mounted at one end of the bidirectional screw; a fixing mechanism is arranged in the support, and a lifting mechanism is arranged in the mounting frame. Wherein the fixing mechanism comprises mounting plates symmetrically mounted in the support, clamping plates are mounted on one sides of the mounting plates, extrusion plates are symmetrically and slidably connected to the interiors of the clamping plates, and telescopic rods are symmetrically mounted between the extrusion plates and the clamping plates, so that the effect of quickly adjusting and fixing according to the thickness of the metal product can be achieved; and the clamping effect of metal products of various specifications can be achieved, the phenomenon that the metal products shake up and down in the machining process can be effectively avoided, and therefore the positioning accuracy of the device is greatly improved.

The invention discloses automatic drilling equipment for elevator guide rails, and relates to the technical field of elevator guide rails, the automatic drilling equipment comprises a main supporting table and a limiting mechanism, the main supporting table is provided with a supporting mechanism, a stabilizing mechanism and the limiting mechanism, the stabilizing mechanism is provided with a hole distance adjusting mechanism, and the hole distance adjusting mechanism is provided with double-end drilling mechanisms in a front-back symmetry mode; the limiting mechanism comprises a guide piece, a ball, a fixing assembly for clamping and fixing drilling operation and a second locking assembly. The main supporting table and the supporting mechanism are used for supporting cooperation, the double-head drilling mechanism and the limiting mechanism are used for machining cooperation, and only one end is drilled each time, so that the overall occupied space of the equipment is conveniently reduced, and the manufacturing cost of the equipment is reduced; through cooperation of the stabilizing mechanism, the hole distance adjusting mechanism and the double-head drilling mechanisms, the drilling positions of the two double-head drilling mechanisms are synchronously and rapidly adjusted at equal intervals according to the width of a guide rail to be drilled before drilling.

The invention relates to the technical field of pressure detection, in particular to a bone fascia chamber pressure detector based on multi-dimensional detection and a measuring method.The bone fascia chamber pressure detector comprises a lifting plate and transverse guide rails fixed to the lifting plate and symmetrically arranged, and a supporting plate and a sliding plate are slidably installed in the transverse guide rails; the distance adjusting and controlling assembly is arranged on the supporting plate, and a bearing plate is connected to the distance adjusting and controlling assembly; the pressurizing rotating mechanism is arranged on the bearing plate, a first electrode plate is connected to the pressurizing rotating mechanism, and a follow-up attaching mechanism is further arranged on the bearing plate; the bearing assembly is arranged on the lifting plate, a bracket and a fixing plate are connected to the bearing assembly, a fixing sleeve is fixed to the fixing plate, a rotating ring is fixed to the end of the fixing sleeve, and an arc-shaped groove is formed in the rotating ring; the follow-up turnover mechanism is arranged on the fixing plate and connected with the bearing assembly, the electrode plate can be controlled to be attached to a patient at a certain pressure through the pressurizing rotating mechanism and the follow-up attaching mechanism, and it is ensured that the detection result is accurate.

The utility model relates to the technical field of tea garden trimmers, in particular to an electric bilateral trimmer for a tea garden. According to the technical scheme, a storage battery is installed on a rack, a steering shaft is rotatably installed on the rack, a handle is welded to the top end of the steering shaft, a front fork is inserted into the bottom end of the steering shaft, and a front wheel is rotatably installed on the steering shaft through the front fork; trimming blades are slidably installed on the two sides of the rack through a first connecting plate and a second connecting plate, sawteeth are arranged at the bottom ends of the trimming blades, a motor is fixed to the second connecting plate through a support, the support penetrates through the trimming blades and is fixedly connected with the motor, and an eccentric shaft is arranged at the output end of the motor; and the motor stirs the trimming blade through the eccentric shaft, so that the trimming blade performs lifting motion. The electric bilateral trimmer for the tea garden integrates the advantages of maneuverability, stability, flexibility, efficiency, humanization and the like, so that the electric bilateral trimmer for the tea garden is more suitable for complex trimming requirements in a tea garden environment.

The invention discloses an automatic calibration method and device based on fine inspection camera edge finding and a storage medium, which are used for improving the calibration efficiency and avoiding artificial errors when a fine inspection camera aligns with a mark point. The method comprises the following steps: obtaining a fixed offset through advanced teaching; according to the fixed offset, the picture center of the fine detection camera falls into a calibration plate through a motion control assembly, and a calibration point is arranged in the calibration plate; the motion control assembly controls the fine detection camera to carry out edge finding motion so as to collect a characteristic pattern of the calibration plate, the linear edge and the angular point of the inner frame of the calibration plate are identified according to the characteristic pattern, and the fine detection camera is guided to carry out edge finding motion and angular point alignment; determining a first mechanical coordinate at the moment; according to the physical parameters of the calibration plate and the first mechanical coordinate, determining a second mechanical coordinate when the picture center of the fine detection camera is aligned with the center of a calibration point on the calibration plate; and calculating an affine transformation relation according to a pre-collected third mechanical coordinate and a pre-collected second mechanical coordinate, and completing calibration.

The invention belongs to the technical field of packaging equipment, and discloses a packaging machine which comprises a bag feeding mechanism, a feeding mechanism, a station rotating mechanism, a conveying mechanism and a heat sealing mechanism, the feeding mechanism is used for feeding in the first direction, the station rotating mechanism comprises a rotary base body and a station assembly arranged on the rotary base body, and the conveying mechanism is used for conveying materials in the first direction; the rotary base body is driven by the rotary driving mechanism to rotate intermittently, the station assembly is used for placing packaging bags, and the bag feeding mechanism and the feeding mechanism are arranged at different stations of a conveying path of the station rotating mechanism respectively. Through rotation, the station assemblies used for containing packaging bags on the station assemblies can be switched to the corresponding stations so that the station assemblies can be connected with the bag feeding mechanism and the feeding mechanism in sequence for bag feeding and feeding, faster action is achieved, the working efficiency is improved, and the labor intensity of workers is lowered. And the problems of poor heat sealing quality and poor sealing effect caused by dislocation of the bag opening in the heat sealing process can be avoided through the conveying mechanism.

The invention belongs to the technical field of recycling equipment, and particularly relates to a closed waste paper conveying device and a using method, the closed waste paper conveying device comprises a rack, supporting legs are fixedly connected to the two sides of the lower end of the rack, a conveying belt is arranged on the rack, and a closed material collecting mechanism used for controlling the falling range of waste paper is further arranged on the rack. According to the waste paper collecting device, the closed material collecting mechanism and the bearing mechanism are utilized, a cavity can be formed under mutual cooperation of first closed cloth, second closed cloth, a material collecting plate and a baffle, when waste paper moves to the other end of the conveying belt from one end of the conveying belt, the waste paper can be gradually collected into the cavity along the material collecting plate, and the falling range of the waste paper is limited; the waste paper can only fall into the waste paper collecting box, so that the situation that due to the fact that the width of the opening of the waste paper collecting box is smaller than the width of the conveying belt, when the waste paper falls into the waste paper collecting box, part of the waste paper falls out of the waste paper collecting box, and the waste paper collecting effect is affected is avoided.

The invention relates to the technical field of low-carbon olefin hydration, and discloses a low-carbon olefin hydration catalyst and a preparation method thereof, and a method for producing a low-carbon alcohol aqueous solution. The low-carbon olefin hydration catalyst comprises a resin white ball matrix, an adsorption layer and a reaction layer, the adsorption layer is grafted on the outer surface of the resin white ball matrix, and the reaction layer is grafted on the inner surface of the resin white ball matrix; the adsorption layer contains a phenoxy group, an amido group, a pyrrolyl group and a furyl group; the reaction layer contains phenoxy, amido, sulfonic acid group, phosphate group, pyrrolyl and furyl. The low-carbon olefin hydration catalyst can improve the contact effect of water and olefin, promote the movement of hydration equilibrium and reduce the superposition loss of olefin.

The invention discloses a catalyst adding device and method for carbon dioxide and ethane coupling in the technical field of catalyst adding devices.In the coupling reaction process of carbon dioxide and ethane, a laminate, an adding pipe and a discharging pipe are utilized, and in the reaction process of the carbon dioxide and the ethane, the carbon dioxide and the ethane can be added into the catalyst adding device. The deactivated catalyst can be automatically discharged and added, the replacement speed is high, the manual workload is reduced, the reaction in the reaction tower does not need to be stopped, the situation that the reaction needs to be stopped and the reaction tower is opened when the catalyst is replaced, the replacement time is long, and the reaction process of carbon dioxide and ethane is affected is avoided; in the process of discharging the catalyst by utilizing a scraping frame, the catalyst quickly rolls into a discharging pipe, so that the catalyst is prevented from being accumulated in a storage cavity, and in the process of adding the catalyst, the scraping frame moves to scrape the catalyst in the storage cavity, so that uniform distribution of the catalyst is facilitated; and the subsequent full contact of carbon dioxide with ethane and the catalyst is facilitated.