86results about How to "Movement precision" patented technology

The invention discloses an immersive master-slave teleoperation anthropomorphic robot system with force feedback, a master end assembly comprises a seat, a master end control arm, a force feedback manipulator, a VR visual device, a data sensing glove and a master end controller, and the master end assembly is a master control end; the slave end assembly comprises a movable chassis, a movable trunk, a slave end mechanical arm, a slave end manipulator, a binocular camera and a slave end controller, and the slave end controller is in electric signal connection with the movable chassis, the movable trunk, the slave end mechanical arm, the slave end manipulator, the binocular camera, the six-dimensional torque sensor and the master end controller; the wireless controller is in electric signal connection with the master end controller and the slave end controller, the wireless controller has a slave end control mode and a force feedback teleoperation mode, and in the slave end control mode, the wireless controller controls the movable chassis to move; in the force feedback teleoperation mode, the master end control arm and the force feedback mechanical arm synchronously move with the slave end mechanical arm and the slave end mechanical arm correspondingly.

The invention provides an intelligent and accurate fruit picking method based on visual perception, relates to the field of fruit picking, and adopts a picking robot comprising a movable chassis (1), a walking mechanism (2), an industrial computer (3), a collecting frame (4), a picking mechanical arm (5), an end effector (6), a monocular vision camera (7), a binocular stereo camera (8) and a blowing assembly (9). According to the picking robot, through recognition of the binocular stereo camera (8), by means of blowing of the blowing assembly (9) and through a timestamp, the relative motion state between a picking point and sheltered fruits after blowing is obtained, and therefore sensing and precise clamping and shearing of the picking point in the motion state are achieved under the condition that the fruits are sheltered and subjected to complex motion after sheltering is removed; the picking efficiency is improved, the equipment damage probability is reduced, and the harvesting cost is controlled.

The utility model discloses a compact automatic assembling and detecting device. Comprising an automatic feeding device, an automatic assembling device, an automatic detecting device, a feeding robot for clamping parts from the automatic feeding device to the automatic assembling device, and a product transferring robot for transferring products assembled by the automatic assembling device to the automatic detecting device, the automatic assembling device comprises an assembling table, an assembling rotary disc arranged on the assembling table, a direct driving motor for driving the assembling rotary disc to rotate, a positioning carrier arranged on the assembling rotary disc, an automatic oil coating mechanism, an automatic overturning mechanism, a spring detection mechanism, a multifunctional overturning clamping jaw and a movable pressing mechanism, wherein the automatic oil coating mechanism, the automatic overturning mechanism, the spring detection mechanism, the multifunctional overturning clamping jaw and the movable pressing mechanism are arranged on the periphery of the assembling rotary disc. The floor area of an automatic assembly production line can be reduced; a direct driving motor is used as a transmission mode, the carrier moves accurately, and belt abrasion is avoided; the station number of the production line can be freely adjusted and can be set according to actual needs.

The invention relates to the technical field of experimental instruments, and discloses an oscillation driving device and a culture device. The oscillation driving device includes: a base plate; the motor is arranged below the bottom plate; the eccentric shaft assembly is arranged above the bottom plate, the eccentric shaft assembly comprises a rotating shaft and an eccentric shaft which are eccentrically arranged, and the rotating shaft penetrates through the bottom plate to be connected with the motor; the driving plate is arranged above the eccentric shaft assembly and is connected with the eccentric shaft; and the fixing mechanism is located between the driving plate and the bottom plate, a limiting part is limited by the fixing mechanism, and the limiting part is matched with the eccentric shaft assembly and / or the driving plate so that the eccentric shaft assembly can drive the driving plate to move along a preset track. Therefore, the oscillation driving device is directly driven by the motor, the transmission loss is reduced, and the noise is reduced.

The invention discloses a teaching experiment device for dendrobium officinale flavone extraction and concentration, and the device comprises a separation column which is vertically fixed on the side surface of a supporting frame, and the separation column is internally provided with a reaction liquid; a plurality of groups of sampling wheels are vertically arranged on the side, away from the supporting frame, of the separation column, the axes of the sampling wheels are vertically arranged, a driving assembly is arranged on the axis sides of the sampling wheels, and sampling grooves are formed in the upper portions of the sampling wheels; according to the invention, the sampling wheels are vertically arranged on one side of the chromatographic column, and each sampling groove can accurately enter different depth areas of the chromatographic column, so that sampling is carried out in different time periods of the concentration process. According to the device, a closed concentration environment and an automatic sampling mechanism are adopted, the problem of potential safety hazards caused by frequent opening and closing of the device is avoided, meanwhile, the experiment operation difficulty is reduced, the device is particularly suitable for being used in teaching experiments, and the safety of students can be effectively protected.

The invention discloses a robot, a mechanical arm and a mechanical arm detection control device and method, and belongs to the technical field of robots. The mechanical arm detection control method comprises the steps that S100, an actual torque signal of a motor unit is detected; s200, obtaining a detected actual torque signal of the motor unit, and processing and calibrating the actual torque signal to obtain an actual torque output by the motor unit; and S300, zero-force control is conducted on the mechanical arm according to the actual torque output by the motor unit and the mechanical arm compensation torque, and the mechanical arm compensation torque comprises the gravity torque of the mechanical arm, the joint friction torque of the mechanical arm and the inertia torque of the mechanical arm. The torque detection unit is directly integrated into the motor unit, installation and maintenance are simplified, the requirement for zero-force control of the mechanical arm is met, and controllability and safety of the robot are improved.

The invention discloses an automatic straw sampling device, wherein a drill bit is fixed on the head of a sampling tube, a collecting box is fixed on the sampling tube, a feeding device is installed on the sampling tube, a guiding device is installed on a fixed platform, and the fixed platform is installed on a supporting module. A power device comprises a rotary servo motor, a first coupling, a second coupling, a motor fixing bracket, an axial servo motor and a motor shaft sleeve. The rotary servo motor is fixed on a moving plate, the motor shaft sleeve is fixed on the motor shaft of the rotary servo motor through a key connection, the first coupling is connected to the motor shaft sleeve, the axial servo motor is fixed on the motor fixing bracket, the second coupling, the motor fixing bracket and the axial servo motor are fixed on the fixed platform, and the rotary servo motor is connected to the sampling tube through a gear transmission module. The automatic straw extraction device designed by the invention can replace traditional manual sampling, and solves the problems of high labor intensity and poor sampling environment of manual sampling.

The invention relates to the technical field of nuclear power plant equipment maintenance, in particular to a cutting tool for flexible blockages of a cold source water inlet passage of a nuclear power plant. The tool comprises a cutter installation beam, wherein grounding limiting pieces are installed on the two sides of the cutter installation beam; each cutting tool assembly comprises a rotating shaft, a tool mounting seat, a fixing rod, a cutting plate and a tool; a rotating shaft and two fixing rods are arranged between the two cutter mounting seats, and the rotating shaft is parallel to the fixing rods; one end of the rotating shaft penetrates through the right cutter mounting seat to be connected with an output inner hole of the speed reducer, and the other end penetrates through the left cutter mounting seat to be connected with the sliding bearing seat; a plurality of sets of cutting plates and cutters are sleeved on the rotating shaft and are arranged at intervals; holes are formed in the cutting plate, and the rotating shaft and the fixing rod penetrate through the holes to fix the cutting plate. The fixing rod is further sleeved with a cutting plate distance ring. The top surface of the cutter mounting seat is connected with the cutter mounting beam; the rotating directions of the two groups of cutting tool assemblies are opposite; and the speed reducer is connected with the driving motor and is mounted on the cutter mounting seat. The cleaning device is suitable for special working conditions of the cold source water inlet runner and is high in cleaning efficiency.

A material arranging device is fixed to a workbench and arranged at the output end of a conveying part and comprises a channel assembly, a sorting sensor set and at least one distribution mechanism, and the channel assembly is communicated with the conveying part and extends in the advancing direction of workpieces; the distribution mechanism is fixed above the transmission part and is movably arranged relative to the transmission part; the conveyed workpieces are divided through the channel assembly arranged at the output end of the conveying part, so that the requirement that the multiple overturning parts work at the same time is met; by means of the distributing mechanism arranged above the conveying part, the workpieces in the conveying process can be distributed, then conveying channels and parallel conveying of the multiple workpieces are achieved, parallel operation of multiple operation procedures is achieved, and the efficiency of the machining equipment is remarkably improved.

This utility model discloses a device for forming and packaging insulating cotton, specifically relating to the field of insulating cotton processing technology. It includes a platform with a packaging base mounted on its surface. A forming frame with an opening is mounted on the top of the packaging base. A lower heating forming plate, fitted to the top of the packaging base, is located inside the forming frame. An upper heating forming plate, movable in height, is located on the top of the forming frame. An opening baffle, movable in height, is located at the opening of the forming frame. This utility model effectively solves the adhesion problem between the insulating cotton and the heating forming plate and eliminates internal stress in the finished product by reciprocating and striking the stripping rod. The servo push rod and telescopic rod work together, and the limiting structure ensures precise component movement, resulting in uniform heat setting. A protective cover prevents cotton lint from entangled in the transmission components. An airflow cooling design shortens the processing cycle. Parameters can be adjusted according to the specifications of the insulating cotton to adapt to different needs, thus improving overall processing efficiency and finished product quality.

The invention relates to an insulation fixing device for live replacement of a drop-out fuse, which belongs to the technical field of power maintenance devices and comprises a clamping mechanism, a linkage mechanism, a driving mechanism and a connecting rod mechanism. The clamping mechanism comprises a fixed cover and a movable cover which are matched with each other, a plane connecting mechanism is arranged on the back side of the fixed cover, a bearing support I and a bearing support II are arranged on the plane connecting mechanism, and a bearing support III and a bearing support IV are arranged on the back side of the movable cover; the linkage mechanism comprises a first movable arm and a second movable arm; the driving mechanism comprises a shell, and a steering engine, a steering engine control module, a battery and a supporting frame are arranged in the shell. The connecting rod mechanism is provided with an installation groove used for installing an insulation operation rod. Through automatic driving and insulation design, safe replacement of the drop-out fuse in an electrified state is realized, and the reliability and maintenance efficiency of a power system are improved.

The utility model discloses a cleaning mechanism of a forming machine, which belongs to the technical field of forming machine cleaning and comprises a forming machine body and a cleaning mechanism main body arranged on the forming machine body. The cleaning mechanism body comprises a cleaning piece used for cleaning the forming machine body, a driving piece used for driving the cleaning piece to move and a mounting frame used for mounting the driving piece. A mounting plate is arranged on the forming machine body, and the mounting frame is detachably connected with the mounting plate; the output end of the driving part is in transmission connection with the cleaning part so as to drive the cleaning part to reciprocate in the direction parallel to the to-be-cleaned surface of the forming machine body. Compared with a manual cleaning mode and a traditional mechanical cleaning mode, the cleaning mechanism of the forming machine with the structure has the advantages that the cleaning efficiency is greatly improved, the cleaning time is shortened, and continuous and stable operation of the forming machine is guaranteed.

The utility model discloses a valve mechanism of micro -fluidic chip, including the upper valve disc of installing in the inside of micro -fluidic chip, the integral molding of a plurality of connecting columns of upper valve disc bottom end and the integral molding of a plurality of connecting column bottom end lower valve seat, the inside of lower valve seat is provided with a plurality of both ends all through to the arc drainage cavity of lower valve seat outside. Upper valve disc, lower valve seat in the utility model are driven by outside micro -motor and rotate in micro -fluidic chip, and the arc drainage cavity in lower valve seat is communicated with the corresponding flow passage in micro -fluidic chip, and the elastic retreat -stopping structure, the anti -slip groove maintain the rotation angle of upper valve disc, lower valve seat.

The invention provides a screw locking system and method based on tool intelligence and an air conditioner outdoor unit production line, and relates to the technical field of electric appliance assembly. The screw locking system based on the body intelligence comprises a base; the pressing executing mechanism is used for applying pressing force to the top cover of the air conditioner outdoor unit, so that the top cover is aligned with the screw hole position of the shell; the locking execution mechanism is used for executing screw locking operation; the visual perception module is used for acquiring three-dimensional visual information of the air conditioner outdoor unit; the control module is configured to determine a locking track of the locking execution mechanism for the current air conditioner outdoor unit based on the three-dimensional visual information obtained by the visual perception module; and the pressing executing mechanism is controlled to apply pressing force, and the locking executing mechanism is controlled to execute screw locking along the locking track. According to the intelligent screw locking system and method based on the tool body and the air conditioner outdoor unit production line, the problems that when an air conditioner outdoor unit is assembled, the screw locking efficiency is low, the labor intensity is high, and the quality consistency is poor are solved.

The utility model discloses an interventional robot slave end device adopting a convergence driving module, which comprises a linear track group, and a first port control module, the convergence driving module and a first clamping rotating mechanism are sequentially arranged on the linear track group through a plurality of module fixing seats respectively. The first port control modules, the convergence driving modules and the first clamping and rotating mechanisms are sequentially arranged in the length direction of the linear rail set from front to back, and the module fixing seats can drive the corresponding first port control modules or the convergence driving modules or the first clamping and rotating mechanisms to reciprocate during reciprocating motion to achieve delivery of intervention consumables. The convergence driving module converges at least two rear intervention consumables and then penetrates into the front intervention consumables at the same time. Convergence of the guide wires and / or the guide pipes is achieved through the convergence driving module, and therefore the multiple guide wires and the multiple guide pipes cooperatively move in place to enter a target object and work.

This utility model provides a sunroof with a floating guide, comprising: a sunroof assembly including a front crossbeam and a rear crossbeam arranged in parallel; a side strip frame is fixedly provided on the side edge of the rear crossbeam, and a guide is movably installed between the rear crossbeam and the side strip frame; the guide includes: a Z-axis limiting base plate, an X-axis contact rib, a connecting plate, and a support spring; the Z-axis limiting base plate is used to limit the freedom of the side strip in the Z-axis direction; one end of the support spring is fixedly connected to the rear crossbeam to provide elastic floating support for the guide; the side strip frame includes a rotating mechanism mounted on the rear crossbeam, the rotating mechanism being used to roll up and release the side strip, the side strip passing through the guide area and being driven to connect with the sunroof sunshade, the movement of the side strip controlling the unfolding and retraction of the sunshade. The guide can dynamically adjust its position according to the movement of the side strip or external interference, reducing impact and stress concentration, and improving the durability of the overall structure.

The utility model relates to mouse chip processing technical field especially is a mouse chip processing frock clamp, including base, be provided with frock mechanism on the base and be used for chip clamping positioning, frock mechanism includes: adjusting assembly, including the side seat fixed in the left and right ends of base top, the both ends side seat are fixed with the balance bar, the first sliding seat, second sliding seat, third sliding seat and fourth sliding seat are installed in proper order on the balance bar from left to right and slide, two left short connecting frames are pivoted to the first sliding seat top, two left long connecting frames are pivoted to the second sliding seat top and with left short connecting frame pivot connection, two right long connecting frames are pivoted to the third sliding seat top and with left long connecting frame pivot connection, two right short connecting frames are pivoted to the fourth sliding seat top and with right long connecting frame pivot connection, the synchronous accurate clamping of multiple stations has been realized, ensures the action consistency of each clamping point, guarantees the clamping strength even, especially suitable for the batch processing demand of high-precision mouse chip.

The invention provides a lock cylinder of an addition lock and an opening method. The lock cylinder comprises a lock cylinder body, a rotary lock cylinder installed in the lock cylinder body, a key inserted into the rotary lock cylinder, a pressing block assembly and a plurality of addition assemblies, wherein the pressing block assembly and the addition assemblies are installed in the lock cylinder body and abut against the key. Through the double locking mechanism of the pressing block assembly and the addition assembly, the technical unlocking difficulty of the lock cylinder is increased, the design of addition beads and elastic blocks in the addition assembly enables the movement action of the lock cylinder part to be accurate, and the design of pressing blocks and rolling bodies in the pressing block assembly enables the action to be flexible and friction to be reduced when a key is inserted. Correct positions of components in the lock cylinder are ensured, and the design of a side column and a brake bolt in the addition assembly achieves the purpose of controlling the mechanical structure aspect of the second unlocking condition.

This application discloses an assembly device for an electric motor rotor. The assembly device includes a tie rod, a pressure plate, a nylon positioning sleeve, and a first adjusting nut. The rotor is fixed to the connecting portion of the tie rod via the nylon positioning sleeve, pressure plate, and first adjusting nut. The tie rod also includes a guide portion for guiding the rotor fixed to the connecting portion into the stator cavity of the electric motor. This assembly device can support and guide the rotor, thereby enabling precise and safe assembly of the rotor and stator, improving work efficiency.

The present application relates to an electromagnetic tripping device and a DC switch device. The electromagnetic tripping device triggers a switch action by electromagnetic force, and includes: a main coil and a main iron core; a main push rod, which can move between a main push rod extension position and a main push rod retracted position along the central axis of the main coil, and the main push rod triggers a switch action at the main push rod extension position; a control coil and a control iron core, the control coil can receive current to generate a control magnetic field; the control push rod, which can move between a control push rod extension position and a control push rod retracted position along the central axis of the control coil, wherein the control iron core can push the control push rod from the control push rod retracted position to the control push rod extension position under the action of the electromagnetic force of the control magnetic field, and wherein, the control push rod drives the main push rod from the main push rod retracted position to the main push rod extension position during the process of the control push rod moving from the control push rod retracted position to the control push rod extension position. This scheme improves the operating reliability of the electromagnetic tripping device.

This invention discloses a three-axis rotation assistive device for VR, belonging to the category of VR motion-sensing simulation devices. The device includes a support frame, a three-axis rotation mechanism, and a seat assembly. The three-axis rotation mechanism is composed of nested horizontal rotation, left-right rotation, and pitch rotation mechanisms. The horizontal rotation mechanism uses a conical bearing assembly, combining rotational transmission and vertical support to achieve 360° rotation. The left-right and pitch rotation mechanisms employ a modular drive system using arc-shaped tracks, gear racks, and rollers, eliminating the need for a gearbox. The maximum swing angle for both left-right and pitch rotation is 30°. This invention designs the range of motion based on human posture recognition, avoiding the risk of inversion, reducing torque and power requirements, resulting in a compact and lightweight structure, precise control, convenient maintenance, and improved safety and comfort, making it suitable for home VR motion-sensing scenarios.

A kind of mechanized bolt fastening device for narrow space assembled building module and its using method, comprising: spanner chassis, the top of spanner chassis is fixedly installed with inverted L frame, first gear is rotated by reduction drive assembly, then the first gear of rotation synchronously drives first transmission rod and first rocker at the bottom of first transmission rod, so that transmission rod produces swing, then the transmission rod of swing is driven again in the action of first limiting rod, second limiting rod and sliding groove, drives ratchet spanner and spanner sleeve to move in 30 ° active range and continuously tightens bolt, so that the overall use of the device is light, meet in narrow range Construction, and can be translated and taken out, meet the functional requirements of once living of full renovation building, can achieve module building with hoist and install, improve connection efficiency, reduce operation time, shorten project construction period, greatly reduce on-site construction, improve overall assembly rate.

This invention discloses an online rapid detection device for cable conductor resistance, comprising a fixed-position detection system and a moving-position detection system. The fixed-position detection system includes a main body and a control mechanism. The control mechanism includes a control box, a rotating hinge fixedly mounted on the top of the control box, a box cover rotatably connected to the control box via the rotating hinge, a sealing plate fixedly connected to the front of the box cover, a signal control board embedded in the front of the box cover, a display screen embedded in the top of the control box, control keys fixedly mounted on the top of the control box, a base fixedly connected to the bottom of the control box, and an alarm mechanism provided at the bottom of the main body. The invention features a lower clamp fixedly connected to the top of the main body, and upper and lower clamps that can be fixed to the outside of the cable, allowing the resistance detection board to fit snugly against the cable. This facilitates real-time monitoring of the cable resistance, simplifies installation, improves installation efficiency, and enhances monitoring convenience.

The application discloses a skin care device, which comprises a first care end, a rotating part and a color sensor; the first care end is used for being attached to or close to the skin to be treated, so that the skin care device can care the skin to be treated; the rotating part is rotatably installed on the first care end, and the rotating part is partially exposed outside the first care end, so as to roll on the skin to be treated; the rotating part is provided with a target color block; and the color sensor is used for detecting the target color block, so as to detect the rotating information of the rotating part. In the application, the target color block on the rotating part is detected by the color sensor, the rotating information of the rotating part can be detected, the position of the skin care device on the skin to be treated can be determined through the rotating information, the skin care device can more accurately care each region on the skin to be treated, and finally the care effect of the skin care device is improved.

The utility model discloses a transverse driving device suitable for a needle plate of a flat knitting machine. The transverse driving device comprises a motor, a rocker arm, a left sliding rod, a right sliding rod, at least one left limiting hole and at least one right limiting hole, an output shaft of the motor is connected with a first end of a rocker arm, the axial direction of the output shaft is perpendicular to the length direction of the rocker arm, a second end of the rocker arm is connected with a right sliding rod, the right sliding rod is connected with the right part of the needle plate, and the length directions of the right sliding rod and the rocker arm are parallel to the base plane of the needle plate; the right limiting hole is formed in the horizontal direction, the right sliding rod penetrates through the right limiting hole to be connected with the right portion of the needle plate, and the right sliding rod can only do transverse reciprocating motion in the width range of the right limiting hole in the vertical direction. The left limiting hole is formed in the horizontal direction, the left sliding rod penetrates through the left limiting hole to be connected with the left portion of the needle plate, the left sliding rod can only do transverse back-and-forth movement in the width range of the left limiting hole in the vertical direction, the working requirement for transverse high-speed back-and-forth movement of the needle plate is met, and stability is achieved. The utility model further discloses the flat knitting machine comprising the transverse driving device.

This utility model relates to the field of aircraft parts processing technology, specifically to an aircraft parts processing positioning device, comprising: a worktable, a groove formed on the upper outer wall of the worktable, a slider slidably connected to one side of the inner wall of the groove, a connecting groove formed on both outer walls of the slider, a toothed block fixedly connected to the lower outer wall of the slider, a gear movably connected to the lower end of the slider, a connecting member movably connected to one side of the outer wall of the gear, a connecting block movably connected to the outer wall of the connecting member away from the gear, a second cylinder connected to the lower end of the connecting block, and a limit rod movably connected to one side of the inner wall of the gear. This utility model solves the problems of existing aircraft parts processing positioning devices having simple structure, single positioning method, lack of flexible adjustment mechanism, inability to adapt to different shapes and specifications of aircraft parts, and poor versatility.

The invention relates to a direct current transmission line single-ended traveling wave protection method based on a fault voltage first traveling wave area ratio. The method comprises the following steps: S1, determining an internal and external fault identification criterion of a forward region; s2, establishing a protection starting criterion; s3, establishing a fault direction criterion; s4, establishing a fault pole selection criterion; and S5, determining a protection scheme. According to the method, internal and external faults can be identified and accurately distinguished within 1ms, high sensitivity and reliability are still achieved under the high-resistance fault condition, and meanwhile good robustness is achieved under noise interference and parameter change of the current limiting reactor.

The utility model provides a flip socket opening and closing mechanism, which belongs to the technical field of automation equipment and comprises a supporting mechanism. Comprising a bottom plate, a supporting column fixedly installed on the side wall of the bottom plate, a first sliding rail fixedly connected to the side wall of the bottom plate, a translation motor installed on the side wall of the bottom plate in a matched mode, a translation lead screw fixedly installed at the output end of the translation motor, and a moving block connected to the surface of the translation lead screw through threads. The moving mechanism comprises a fixing plate fixedly installed at the end of the supporting column and a second sliding rail fixedly installed on the side wall of the fixing plate. Through cooperation of the supporting mechanism and the moving mechanism, high-precision positioning and automatic cover turning operation of a workpiece are achieved, the translation motor is adopted to drive the lead screw to drive the bearing assembly to be accurately positioned, and the moving stability is ensured in combination with the double-sliding-rail design; the cover turning assembly is controlled through linkage of a driving motor and a lifting motor, so that an opening and closing pressing plate achieves multi-degree-of-freedom accurate movement, and stable and impact-free movement is ensured by matching with an elastic contact design.

This utility model relates to the field of self-unloading coal slag, and discloses a self-unloading coal slag box, including a frame, a hopper mounted on the frame, a discharge port at the bottom of the hopper, a discharge plate slidably mounted at the discharge port at the bottom of the hopper, a pneumatic device mounted on the frame at the discharge port, the pneumatic device being connected to the discharge plate and used to drive the discharge plate to open and close at the discharge port, and a dust removal device being mounted at the sliding connection between the discharge port and the discharge plate, the dust removal device being used to discharge the coal slag at the discharge port, and the discharge plate and the dust removal device being linked. The pneumatic device is connected to the discharge plate, and the discharge plate can be directly controlled by the pneumatic device, thereby controlling the opening and closing of the discharge port. When the coal slag box is unloading or after unloading and the device structure is restored, the coal slag embedded in the gaps or grooves is automatically removed, avoiding the jamming problem caused by the accumulation of coal slag. This design significantly improves equipment reliability, reduces the frequency of manual cleaning, avoids equipment failure, simplifies the operation process through the linkage design, and improves efficiency.

The application discloses a motion control method and device based on visual guidance, and comprises the following steps: acquiring image information of a human body cavity; pre-processing the image; obtaining a cavity center of the human body cavity according to the pre-processed image information; obtaining a motion control strategy of a bronchoscope according to the cavity center; and adjusting the position and posture of the bronchoscope by a trachea cannula robot according to the motion control strategy, so that the bronchoscope moves towards the cavity center. The technical scheme of the application improves the efficiency and safety of a trachea cannula operation.