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160 results about "Ball-catching" patented technology

A 500-year-old tradition, the ball-catching festival is said to have its roots in the legend of the dragon god (ryujin) offering two balls to the Empress Jingu (170-269). It takes place at Hakozaki Shrine City, Higashi-ku,Fukuoka City, Japan.

Vehicle-mounted mechanical arm ball pickup system based on SLAM and ball pickup method of ball pickup system

The invention discloses a vehicle-mounted mechanical arm ball pickup system based on SLAM and a ball pickup method of the ball pickup system. The ball pickup system comprises a visual sub-system, a central processing sub-system, a driving sub-system, a ball catching sub-system and an energy sub-system, wherein the visual sub-system, on the basis of an SLAM technology, is used for constructing a field raster map and acquiring real-time positional information of a robot main body of the ball pickup system; the central processing sub-system is used for covering the raster map so as to find out atarget ball, and is used for planing a ball pickup movement track in accordance with relative positions of the target ball, an obstacle in the visual field and the robot main body and for transmittinga movement command; in addition, the central processing sub-system, as the robot main body reaches a target ball pickup position, is used for sending a ball catching command; the driving sub-system is used for driving the robot main body to move to the target position in accordance with the movement track; the ball catching sub-system is used for implementing a preset ball catching action after the ball catching command is received; the energy sub-system is used for offering power supply to the other sub-systems; and the central sub-system comprises a force control program based on a zero force control method and is used for compensating gravity force and friction force caused by movement in a ball catching process, so that control over ball catching force is achieved.
Owner:SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV

Welding fume recycling-purifying device

The invention relates to a welding fume recycling-purifying device. The welding fume recycling-purifying device comprises a frame and a fume recycling-purifying device which is fixedly arranged on the frame, wherein the fume recycling-purifying device comprises a shell, and a turbulent ball catching layer, a fume filtering layer, a fume adsorption layer and a fume ventilation layer which are distributed in sequence in the shell from bottom to top; gaps are reserved among the turbulent ball catching layer, the fume filtering layer, the fume adsorption layer and the fume ventilation layer; the turbulent ball catching layer, the fume filtering layer and the fume adsorption layer are detachably connected to the inside of the shell. Compared with the prior art, the welding fume recycling-purifying device has the advantages of low design cost, simple structure and good fume recycling-purifying effect; waste fume produced by welding is absorbed by comprehensively utilizing turbulent ball catching, glass fiber filter element board filtering and active carbon adsorption, and reaches an emission standard after being purified; meanwhile, a sound-attenuation board with a certain oblique angle is arranged, so that noise can be reduced in the running process of a fan; the welding fume recycling-purifying device has a compact structure and a high automation degree, and is convenient and easy to operate.
Owner:平湖拓伟思自动化设备有限公司

Downhole multipath variable displacement circulating debris-carrying tool

The invention relates to a horizontal well construction tool, in particular to a downhole multipath variable displacement circulating debris-carrying tool. A secondary circulating nipple, a primary circulating nipple and a ball catching cylinder of the tool are sequentially connected with one another; the primary circulating nipple comprises an upper joint I, an external cylinder and a lower joint I; the upper joint I, the external cylinder and the lower joint I are sequentially connected with one another; an end cap is arranged on the inner wall of the upper end of the upper joint I; a reducing ball seat and a center cylinder are sequentially arranged in the upper joint I; and two bypass water holes I are symmetrically formed in the lateral wall of the upper joint I. According to the downhole multipath variable displacement circulating debris-carrying tool, opening or closing the bypass water holes is achieved by pitching a plurality of times when a horizontal section is drilled; a plurality of circulating paths are provided; double-side circulation of the closed main water hole and single-side circulation or double-side circulation of the interconnected main water hole can be achieved; the annular velocity is increased; annular large-displacement flushing is achieved; and the roles of retarding debris accumulation and clearing accumulated debris are achieved; and the cleaning effect of boreholes is improved.
Owner:BC P INC CHINA NAT PETROLEUM CORP +1
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