237results about How to "Small rotation angle" patented technology

The invention discloses a picking method and picking robot device aiming at fruits which are in size of an apple and is similar to a sphere. The picking robot device comprises a mechanical actuating device, control system hardware and control system software. The mechanical actuating device comprises a picking mechanical arm, an underactuated manipulator, an electric sliding table and an intelligent mobile platform, wherein the control system hardware comprises an IPC (industrial personal computer), a motion control card, a data acquisition card, an AHRS (attitude and heading reference system), a coder, a monocular camera, a binocular camera, a force sensor, a slipping sensor and the like. During operation, the IPC fuses information of the coder, the AHRS, monocular camera components and an ultrasonic sensor to enable the mobile platform to independently navigate and avoid obstacles. A binocular vision system collects images of mature fruits and obstacles and extracts the characteristics of the images so as to realize obstacle avoidance of the mechanical arm and fruit positioning. Finally, the IPC fuses the information of the force sensor, the slipping sensor and the position sensor, thereby further reliably gripping the mature fruits and separating the fruits from fruit branches.

A multifunctional striding type mower comprises a mower frame, a steering system, a braking system, a front suspension frame used for supporting front wheels, a rear axle used for supporting rear wheels and a seat supporting frame mounted on the mower frame, wherein the steering system and the braking system are mounted on the mower frame. A generator set is arranged on the mower frame below the seat supporting frame and electrically connected with a generator control panel. A mode changeover switch and a power output interface are arranged on the generator control panel. A travel driving motor is mounted on the rear axle used for supporting the rear wheels. An electric mowing cutter disc is arranged below the mower frame, is connected with a cutter disc lifting system which is arranged on the mower frame, and is hung below the mower frame. A mowing driving motor is mounted on the electric mowing cutter disc. A travel driving motor controller, a mowing driving motor controller and the generator set are all controlled by an electrical control system. The multifunctional striding type mower integrates multiple functions including power generation, mowing, carrying and traveling, and is low in cost.

The invention discloses a multi-nozzle 3D spray-head, a printing method and a 3D printer. According to the method, a spray-head and a printing platform are adopted for printing, a plurality of nozzles are arranged on the spray-head, the spray-head comprises a spray-head seat and nozzle seats, the spray-head carries out 3D printing on the printing platform, the nozzles carry out relative motions in the x, y, z directions on the printing platform, and through the rotation of the nozzle seats or the spray-head seat relative to the printing platform respectively, at least two nozzles are enabled to move along corresponding printing paths respectively. By adopting the method provided by the invention for printing, the printing efficiency of the printer can be effectively improved, not only the printing of a printing path with small curve radius is facilitated, but also the rotational angles of the nozzle seats are reduced, the speed of the multiply nozzles following various curvature printing paths is increased, the load of a nozzle seat driving device or a driving device for the rotation of the printing platform is reduced, and various requirements in actual application are met.

The invention discloses an auxiliary picking device for picking fruit aloft. The picking device includes a tong, a handle and a connecting rod for connecting the tong and the handle, wherein the connecting rod is composed of an inner rod and an external rod sleeved outside the inner rod; one end of the handle is provided with a baffle, and one end of the inner rod is fixedly connected with the baffle, and meanwhile, the bottom of the tong is hinged with the other end of the inner rod and one end of the external rod; when the tong is under a rest state, the other end of the external rod is abutted against the baffle. The picking device adopts a structure with two sections of flexible rods, and when the inner rod and the external rod are reversely pulled, the tong is pushed to close by the external rod, therefore a fruit body is completely grasped; otherwise, the tong is opened to release the fruit body. By using the two sections of flexible rods to cooperate to grasp, the movement of closure and opening is stable and highly reliable. Since the auxiliary picking device adopts a strap and a baseboard provided with a cardan joint and a picking track, instead of repetitively raising up the picking device, users only need to appropriately control the picking device to move in the picking track then adjust the height of the picking device at disposal to pick fruit. Therefore, pickers' labor intensity is decreased, and the picking efficiency is improved.

A connector includes a plug and a socket that are connected and integrated to each other at one end. The plug and socket each have another end to which a connection line may be respectively connected, whereby the connection lines connected respectively to the plug and socket are connected to each other. The plug of the connector includes a plug body for connecting to the connection line on one end thereof and having a fitting recess on the other end thereof, a plug holder shaped in a substantially cylindrical form and configured to be freely rotatably fitted over the plug body without slipping off an outer peripheral surface of the plug body, and a stopper fitting biased outward along a shaft center direction and configured to be freely rotatably fitted over the plug body and separately slidable in the shaft center direction. The socket of the connector includes a socket body for connecting to the connection line at one end thereof and a socket holder shaped in a substantially cylindrical form. The socket body has an insertion portion protrusively provided on the other end portion. The insertion portion of the socket body is configured so as to fit into the fitting recess of the plug body. The socket holder is configured to be freely rotatably fitted over the socket body without slipping off the socket body such that the socket holder rotates in an opposite direction with respect to the plug holder.

The present invention is directed to a switch device that includes a first switch portion that is configured to rotate a first angular amount in a first direction about a first fixed axis of rotation and has a first pivot arm length. The first and second switch are coupled to the interface portion. The second switch portion rotates a second angular amount in a second direction and has a second pivot arm length. The second angular amount is greater than the first angular amount and a function of the first pivot arm length and the second pivot arm length. A set of switch contacts includes at least one fixed contact and a movable contact separated by a predetermined minimum distance that is a function of the first pivot arm length and the second pivot arm length.

The invention provides a method for multispectral image registration and a device for the multispectral image registration. The method comprises determining characteristic points in a reference image A and a to-be-registered multispectral image B, calculating a main direction of the reference image A and a main direction of the to-be-registered multispectral image B, enabling the reference image A to rotate in the main direction of the reference image A, enabling the to-be-registered multispectral image B to rotate in the main direction of the to-be-registered multispectral image B, extracting characteristic points after rotation, performing filtering on the characteristic points after the rotation, calculating an edge region EOH descriptor of each characteristic point, matching the characteristic point, which has the minimum Euclidean distance of the EOH descriptor from a to-be-matched characteristic point in the to-be-registered multispectral image B, in the reference image A with the to-be-matched characteristic point, and performing registration on the reference image A and the to-be-registered multispectral image B according to the matched characteristic points in the reference image A and the to-be-registered multispectral image B. The method for the multispectral image registration and the device for the multispectral image registration which are provided in the invention improve a registration effect of a multispectral image in the rotation condition, and improve registration precision of the multispectral image.

The invention relates to an extrusion device for shortening a blank friction flow path, which is suitable for continuous extrusion equipment. The extrusion device is characterized in that a blank friction flow path shortening device constituted by a wrap angle adjusting mechanism and an auxiliary blank gripping mechanism is arranged on a frame, and the wrap angle adjusting mechanism comprises a gripping wheel position adjusting component and an extrusion cavity position adjusting component; and the auxiliary blank gripping mechanism comprises a bending guide roller I, a bending guide roller oil cylinder I, a bending guide roller II and a bending guide roller oil cylinder II, so that the blank friction flow path can be shortened and the rotational angle of a blank can be reduced. According to the extrusion device disclosed by the invention, by adjusting the positions of a gripping wheel and an extrusion cavity, the blank flow path can be shortened, and the rotational angle of the blank can be reduced, so that the extrusion device can further reduce the extrusion load and deformation temperature of metal, not only save energy, but also prolong the service life of a tool and a mold; and particularly, the control of the deformation temperature can be realized by adjusting the blank flow path, which is very beneficial to preparation of high-performance nonferrous metal extruded products with fine-grained structures.

The invention relates to cleaning equipment, in particular to special equipment for rapidly cleaning an insulator of an electrified railway. The equipment comprises a brush head part and a drive part, wherein the drive part can drive the brush head part to rotate along the axis of the insulator; and the brush head part is provided with a plurality of cylindrical brushes which can be inserted in the clearance of every two adjacent umbrella leaves of the insulator, can rotate around the axes per se, and can wipe the surfaces of the umbrella leaves. According to the invention, the drive part can drive the brush head part to rotate along the insulator, the brushes arranged on the brush head part can be inserted between different umbrella leaves to wipe all the umbrella leaves, and as long as the brush head part rotates around the axis of the insulator for one circle or even less than one circle, cleaning to the whole insulator can be realized with superhigh cleaning speed and without the need of water source and ascent of maintenance workers. The cleaning equipment is suitable for rapidly cleaning the insulators used in electric transmission lines of the electrified railway.

The invention relates to a novel valve element assembly. The valve element assembly alone has main functions such as the water controlling function, the water guiding function, the support function and the like of a water faucet, thereby enabling the shell (the body) of the faucet to be unnecessary to be in contact with water flow and is used only for configuration decoration. The valve element assembly mainly comprises a pedestal, valve plates, a valve element pressing cap and an extended water guiding hose, and optionally comprises an added component (a filter, an electric heater or the like) at a water outlet end of the valve element assembly or the like. The valve plates (or together with the valve element pressing cap) control the water flow and form an independent sealed water channel, and the functions of switching and changing the water flow can be realized by only using movable valve plates to seal a switching rotating shaft between water inlet valve plates and water outlet valve plates. The water flow is guided to the faucet through the connection of the extended water guiding hose and a water outlet of the valve element assembly (or a water outlet of the added component)and flows out. To add multiple functions and meet other design requirements, the added component (such as, the filter, the electric heater or the like) can be additionally connected to the water outlet end of the valve element assembly. Then a water outlet of the same type (a lug boss type water outlet or a connection hole type water outlet) is designed on the added component, which facilitates the connection with the extended water guiding hose. The valve plates are designed into tri-dimensional valve plates, planar valve plates and double acting valve plates, all of which are applicable toa bathroom faucet and a basin faucet.

The invention relates to the technical field of computers, provides a photographing method and terminal equipment, and aims to solve the problem of long photographing time in a panoramic photographing process. The method comprises the steps that under the condition that the terminal equipment is in a panoramic shooting mode, a shooting operation input by a user is received, in response to the shooting operation, images shot by N cameras in the folded state of the foldable display screen are obtained, N is an integer larger than or equal to 3, synthesis processing is conducted on the images shot by the N cameras, and a panoramic image is obtained. The foldable screen of the terminal equipment is provided with N folding areas; a camera is arranged on each folding area; the shooting range of the terminal equipment can be ensured, the rotation angle can be reduced, the images shot by the camera in any two adjacent folding areas in the images shot by the N cameras have the overlapped area, the panoramic image can be obtained without rotating the terminal equipment by a large rotation angle, the shooting time is shortened, and the panoramic shooting efficiency is improved.

Disclosed is a picking manipulator mechanical device. The device comprises a picking robot tail-end executor, a fruit conveying mechanism, a mechanical executing device and a control system; the mechanical executing device comprises a wheeled intelligent moving platform, a picking mechanical arm, an underactuated picking manipulator and an electric sliding platform; the wheeled intelligent movingplatform comprises a caterpillar-band chassis, a chassis surface, a control box, a motor control cabinet, a fruit collecting box and a side-surface baffle, the chassis surface is cooperatively arranged at the upper portion of the crawler belt chassis, and one end of the chassis surface is provided with the control box; the motor control cabinet is fixed in the middle of the wheeled intelligent moving platform; the fruit collecting box is located between the picking mechanical arm and the motor control cabinet. The working efficiency is improved, and the problems are solved that by manual picking, for fruits the growth positions of which exceed the height of a worker, a ladder is needed for operation, the efficiency is low, the operation is dangerous, and picking is more difficult; pickingof various kinds of fruits is facilitated, the device is safe, flexible and efficient, and the labor cost for harvesting the fruits is reduced.

The invention discloses a planetary circle cutting device. The planetary circle cutting device comprises a base and spin cutting devices. The top of the base is fixedly connected with one end of a lifting device. The other end of the lifting device is fixedly connected with an operation board. A through hole is formed in the top of the operation board. A motor is fixedly installed in the through hole. The spin cutting devices comprise planetary gears. One side faces of the planetary gears are welded to spin cutting cutter rods. The ends, far away from the planetary gears, of the spin cutting cutter rods are welded to spin cutting blades. The number of the spin cutting devices is five, and the five spin cutting devices are arranged at equal intervals with a center gear as the center in a surrounding manner. According to the planetary circle cutting device, the circle cutting work can be finished as long as the cutting blades rotate by 72 degrees, the rotating angle of the cutting blades is reduced, accordingly, the rotating time is shortened, the cutting speed is effectively increased, the production efficiency and yield of workpieces are increased, time and labor are saved, and operation is easy.

The invention discloses a turning-plate type sorting system comprising a track and further comprising a feeding area located beside the track, detecting equipment located on the track and a grid opening area located beside the track. The track is slidably provided with at least one bidirectional turning-plate trolley with a turning plate capable of turning over towards two directions for unloading; and the bidirectional turning-plate trolleys are connected with driving devices driving the bidirectional turning-plate trolleys to slide along the track. In the turning-plate type sorting system, the bidirectional turning-plate trolleys can sort bidirectionally and can be combined with the track to realize synchronous work of multiple trolleys; by controlling the discharging position and discharging direction of each bidirectional sorting trolley, multi-path sorting can be effectively realized under the limited site condition, the problem of disturbance caused by travelling paths of a conventional trolley is avoided, and the requirement on the site is low; meanwhile, the multiple trolleys synchronously sort in multiple paths, and thus the sorting efficiency is greatly improved; and by combining feeding, detecting and sorting openings, automatic operation of the whole sorting process can further be achieved, and the turning-plate type sorting system is advantageously matched with other sorting equipment for being used through the design of discharging grid openings.

The invention discloses an anti-tilting dual protection device of a hanging basket. The anti-tilting dual protection device of the hanging basket is provided with two sets of rope clamping mechanisms,and a safety rope and a working rope penetrate the rope clamping mechanisms correspondingly. A swing arm mechanism is in transmission connection with the two rope clamping mechanisms at the same time. When the anti-tilting dual protection device moves, the swing arm mechanism simultaneously triggers the two rope clamping mechanisms, and the two rope clamping mechanisms synchronously move to clampthe ropes penetrating the rope clamping mechanisms. During running, when protection of any one set of rope locking device loses efficacy, including that a safety lock loses efficacy or a steel wire rope is broken, the protection of the other set of rope locking device is still effective, and the anti-tilting reliability of the hanging basket is greatly improved. An arranged guide wheel and the swing arm mechanism are coaxial, constraint is formed on the horizontal shifting of the working rope, the tilting rotating center of a suspended platform coincides with the rotating center of the swingarm mechanism, and the effects of external factors on the rope locking angle of the safety lock are eliminated. The anti-tilting dual protection device of the hanging basket has the remarkable advantages of being high in rope locking precision, simple in structure, reliable in action and low in cost and is suitable for being widely applied in the double-hanging point hanging basket.

The invention discloses a car storing and taking method applicable to a stereo garage. The method comprises the following steps that: a, a driver drives a car to be parked to run onto a rotating carrying plate arranged in a movable ascending and descending rotating device, and an ascending and descending mechanism arranged in the movable ascending and descending rotating device is controlled to drive the rotating carrying plate to ascend, so that the height of the rotating carrying plate is higher than the height of a platform for parking a car; b, firstly, a telescopic bridging carrying plate arranged in the movable ascending and descending rotating device is controlled to extend out and to realize the lap joint in a position of an entrance of the platform for parking the car, and then, the rotating carrying plate is controlled to rotate onto the telescopic bridging carrying plate; and c, the car runs onto a parking platform; after the car stably stops, the driver goes onto the rotating carrying plate from the parking platform; then, the rotating carrying plate and the telescopic bridging carrying plate are sequentially withdrawn; next, the ascending and descending mechanism is controlled to drive the rotating carrying plate to descend; the driver leaves away from the rotating carrying plate; the car storing process is completed; and the steps are converse in the car taking process. The car storing and taking method has the advantages that the full-process support on the rotating carrying plate can be formed in the car storing and taking processes, and the car storing and taking processes are fast and stably completed.

The invention discloses watercourse sludge desilting treatment equipment. The device comprises an equipment main body, wherein a first steel channel and a second steel channel are correspondingly fixed on the same side outer wall of the equipment main body from bottom to top, and a mud scraping cavity is fixedly arranged at the top of an inner cavity of the equipment main body; and the mud scraping cavity comprises a front mudguard and a rear mudguard, a movable top cover is arranged on the top of one side of the mud scraping cavity, a first connecting rod which is longitudinally arranged is fixedly connected to the upper end surface of the movable top cover, and a second connecting rod is hinged to one end, far away from the movable top cover, of the first connecting rod. According to thewatercourse sludge desilting treatment equipment, the mud scraping cavity and a filtering belt can be cleaned without dismounting the equipment, so that the cleaning of the equipment is more convenient, and meanwhile, the time cost for cleaning the equipment is saved; and sludge in a sludge inlet pipe is optimized and stirred through a bidirectional motor, the stirring efficiency of the sludge isensured while the use number of stirring blades is reduced, the manufacturing cost of the equipment is saved, and fine sand in the sludge can be effectively prevented from being adsorbed on the surface of the filtering belt so as to affect the water filtering efficiency of the filtering belt.

The invention provides a six-shaft helical bevel gear mill machining tool which comprises a tool body. A vertical column and an X-directional linear guide rail are arranged on the upper end face of the tool body, a Y-directional linear guide rail is arranged on the lateral side of the vertical column, and a sliding plate is slidably and fittingly connected to the Y-directional linear guide rail. A Z-directional linear guide rail perpendicular to the Y-directional linear guide rail is arranged on the sliding plate and slidably and fittingly connected with a workpiece box, and a workpiece is fixedly connected to a workpiece shaft which is arranged in the workpiece box. A toolbox is arranged on a tool saddle which is slidably and fittingly connected to the X-directional linear guide rail, and the tool saddle is connected with the toolbox through a rotary table bearing. A tool shaft is arranged on the side wall of the toolbox, and a tool is fixedly connected onto the tool shaft which is driven to rotate by a third driving mechanism. The six-shaft helical bevel gear mill machining tool is simple and compact in structure, convenient to assemble, fine in manufacturability, safe, reliable, short in movement stoke, low in abrasion, small in occupied area, low in cost, high in machining efficiency, high in stability, low in error and high in gear machining precision.

A lockup clutch in a hydrodynamic torque converter has an axially movable piston which can be pressed against a contact face of a flange of the converter housing in a switching position via at least one friction facing. At least one of the structural component parts of the flange of the converter housing or the piston serves as a carrier for a deformation element axially arranged between it and the other structural component part. The deformation element is connected with the carrier on at least one radial side and is in a working connection with the carrier at least at the other radial side via an elastic supporting device. The deformation element extends at least within the area of extension of the friction facing.