3results about How to "Sinking smoothly" patented technology

The invention discloses a sinking control method and a related device, and the method is applied to an underwater robot, and comprises the steps: obtaining the body posture information of the underwater robot, and determining the relative position relation between a water inlet of the underwater robot and the water surface; motor control parameters matched with the relative position relation and the fuselage attitude information are determined, and a motor is controlled to operate according to the determined motor control parameters, so that water flow is driven by the motor to enter the underwater robot shell; and if it is detected that the underwater robot meets a preset sinking completion condition, determining that the underwater robot completes sinking. The control parameters of motor operation are adaptively adjusted based on the posture information of the machine body and the position relation of the water inlet relative to the water surface, so that water flow can effectively enter the shell of the robot in different posture states, the water filling process in the shell is accelerated, and the overall weight of the robot is increased; rapid and stable sinking of the underwater robot is achieved, and the underwater entering efficiency and the use stability of the underwater robot are improved.

The utility model discloses a nut screening device which comprises an installation frame, and the installation frame is connected with a first discharging hopper, a screening mechanism and a controller. The screening mechanism comprises a mounting frame, bearing seats, rotating rollers and a limiting plate set, the mounting frame is connected with the mounting frame, the multiple bearing seats are symmetrically arranged at the two ends of the mounting frame, and the mounting frame is provided with an adjustable feeding assembly and a second discharging hopper; a plurality of rotating rollers are obliquely mounted between the bearing seats at the two ends, and gaps are reserved between the rotating rollers; the rotating roller is divided into a plurality of screening guide grooves by the limiting plate groups; and the controller is electrically connected with the adjustable feeding assembly. According to the nut screening device, the nut flow is controlled through adjustable feeding, the inclined roller structure is matched, screening blind areas caused by vibration attenuation and accumulation are reduced through self-weight rolling and gap screening between the rollers, the screening efficiency and precision of oil-containing nuts can be effectively improved, and meanwhile material adhesion and blocking are avoided.

The utility model discloses a planetary bidirectional stirring head for cement mixing pile construction, including hollow outer pole, the hollow inner pole is nested in the outer pole, the bottom fixed docking of outer pole is on the casing of gear box, and the inner pole inserts gear box inside and is fixed docking with the vertical main shaft of gear box, and the vertical main shaft is as the stirring main shaft, and is the hollow shaft of closed cone shape for the end, and the inner tube is coaxial fixed docking with the vertical main shaft top and the inner chamber is through, and the vertical main shaft is vertically provided with straight plate blade and the grouting pipe that communicates with the inner chamber of vertical main shaft, and the vertical main shaft has the auxiliary shaft through gear box switching, and the auxiliary shaft is as the auxiliary stirring axle, and is equipped with the auxiliary stirring blade on the auxiliary stirring axle. This stirring head can realize bidirectional stirring, and the structural form that the main stirring axle is combined with the auxiliary stirring axle has stronger stirring capacity and anti -bore -drill characteristic, especially when handling high water content silt, high plastic clay, contains thin sand interlayer or organic matter soil and so on complex stratum, has obvious advantage, and the quality of more guarantee is formed in a pile.