4results about How to "Short arm" patented technology

The utility model relates to underwater equipment measurement technical field especially relates to a kind of device for measuring the mooring thrust of underwater propeller, including test pool and device main body, the device main body includes cover, hoisting frame, sensor and propeller;The cover is covered in test pool top;One end of hoisting frame is connected with cover, and the other end of hoisting frame is connected with sensor and extends into the test pool;Sensor is connected between the propeller and hoisting frame, and sensor can directly measure the horizontal direction thrust of propeller.Adapter support is connected between sensor and propeller, so that the thrust of propeller is directly transmitted to sensor.The utility model is simple in structure, can be directly measured, thrust value and sensor reading correspond, save intermediate conversion link, improve measurement efficiency and accuracy.

The application provides a robot walking control method and device, electronic equipment and storage medium, and belongs to the technical field of robot motion control. The method comprises the following steps: acquiring robot body perception data and relative displacement of a foot relative to a pelvis; determining a reference body height based on a fully extended leg height; the maximum value of the reference body height is less than the fully extended leg height; determining a target foot pitch angle according to the relative displacement; inputting the body perception data, the reference body height and the target foot pitch angle into a gait control model to obtain a control instruction; and controlling the robot to walk according to the control instruction. The application sets the reference body height slightly lower than the fully extended leg height, guides the robot to adopt a walking mode closer to straight knees to effectively shorten the force arm of the trunk weight to the knee joint axis center, and introduces a soft buffer mechanism through the linear mapping relationship between the target foot pitch angle and the relative displacement, so that the knee joint torque and energy consumption can be reduced, the motor overheating can be avoided, and the hardware mechanical loss can be reduced.

The application provides a lower plastic, an end cover assembly, an energy storage device and an electric equipment, which can improve the yield of the lower plastic, help to improve the production efficiency of the energy storage device, ensure that the overall structural strength of the lower plastic is large, avoid deformation of the lower plastic, and ensure good use reliability of the energy storage device. The lower plastic comprises a first lower plastic and a second lower plastic, and the first lower plastic and the second lower plastic are arranged in sequence along the length direction of the lower plastic, wherein the length l1 of the first lower plastic is greater than the length l2 of the second lower plastic, one end of the second lower plastic towards the first lower plastic is provided with an extension part, the extension part is located on one side of the thickness direction of the first lower plastic, and the extension part supports the first lower plastic.

The utility model relates to laser cutting technical field, specifically disclose a swing shaft mechanism and processing equipment, in this swing shaft mechanism, the displacement drive assembly includes the displacement output shaft along the first direction extension, and the end of displacement output shaft forms the displacement output end, and the displacement drive assembly is located in the base, first drive assembly has the first output shaft, and the first output shaft extends along the second direction, and can rotate around the own axis, and first drive assembly is located in the displacement output end, second drive assembly has the second output shaft, and the second output shaft extends along the third direction, and can rotate around the own axis, and second drive assembly is located in the first output end of first output shaft, and processing head is located in the second output end of second output shaft, and the displacement output end can act to drive first drive assembly and move and / or rotate between the first position and the second position, and drive second output end to be close to or away from the base, the above -mentioned setting has improved the end positioning and processing accuracy of processing head.