33 results about "Elephant trunks" patented technology

The invention provides a grab bucket composite anti-swing control system based on angle feedback of a steel wire rope at the head of a trunk beam and a control method of the grab bucket composite anti-swing control system, and relates to the technical field of portal crane grab bucket anti-swing. The core problems of response lag, control strategy solidification and poor working condition adaptability of the open-loop anti-swing system are systematically solved. And on the basis of a closed-loop control strategy of swing angle prediction and multi-cycle compensation, the response delay of a traditional open-loop system is reduced, the swing trend is inhibited in advance through a feedforward prediction instruction, and the swing attenuation time of the grab bucket is reduced. Through cooperative compensation of the swing angle and the speed, the portal crane boom and the grab bucket are kept dynamically synchronous all the time, the repeated positioning precision is improved, the fineness of manual operation is matched, and meanwhile manual operation errors are avoided. Through a parameter self-adaption mechanism and a swing angle elimination frequency prediction function, the system can automatically adapt to various complex working conditions, the stable anti-swing effect can be kept without manually adjusting parameters, and the optimal balance of the portal crane between efficient operation and safety control is achieved.

The utility model belongs to metal wire production equipment technical field, concretely relates to a metal wire production is with fine extraction machine of protective structure, including fine extraction machine body, the fine extraction machine body front end surface middle part position department is equipped with elephant trunk winding drum. The utility model discloses through the mutual cooperation of mounting frame, hinge, baffle, positioning block, movable plug rod, vertical block, moving block and push rod, through the push rod, can let push rod drive moving block connected movable plug rod extrude the spring in vertical block, make movable plug rod one end separate out positioning groove, when through the hinge rotation baffle, let the positioning block of baffle slide into the positioning groove, then loosen the push rod, and the spring will through the elastic push movable plug rod and insert into the insertion hole on the positioning block, make the positioning block with baffle fixed on mounting frame, when baffle can cover the air hole on the side plate and carry out the sheltered protection, prevent fine extraction machine body not to use when the sundries in environment easy to pass through the air hole and enter the inside and accumulate.

The invention discloses a feeding elephant trunk control method which comprises the following steps: controlling first nitrogen sealing equipment, second nitrogen sealing equipment and third nitrogen sealing equipment to start running in response to a scrap steel adding trigger signal when a converter enters a scrap steel adding stage, so as to carry out nitrogen sealing operation on a feeding elephant trunk; controlling the second nitrogen sealing equipment and the third nitrogen sealing equipment to stop running in response to a blowing completion trigger signal in a blowing completion stage of the converter; and under the condition that the generation of the blowing completion trigger signal reaches a preset duration, the first nitrogen sealing equipment is controlled to stop running. Therefore, according to the embodiment of the invention, the low-pressure nitrogen consumption of the converter is reduced on the premise of ensuring the nitrogen sealing effect of the feeding chute, the nitrogen consumption is accurately controlled in each stage of converter smelting, the better sealing effect of the feeding chute is realized by using nitrogen as little as possible, the contents of flue gas, smoke dust, coal gas and the like leaked into the stock bin in the converter are reduced, and the service life of the converter is prolonged. And the gas production is improved.

The invention discloses an anti-blocking method, device and equipment for a fly ash conveying slope elephant trunk and a storage medium. According to the method, a vibrator is installed on the slope elephant trunk, and a gravity sensor is installed on each loading bucket of a bucket elevator so as to detect loading ash weight data after the loading buckets move to an ash loading position; the anti-blocking control module drives the vibrator to vibrate the pipe wall of the slope elephant trunk based on the ash loading weight data measured by the gravity sensors when a plurality of continuous ash loading weight data smaller than an ash loading weight threshold value exist. Therefore, due to the fact that the hopper of the bucket elevator is continuously loaded with ash at the output end of the slope articulated chute, when no fly ash is output at the output end of the slope articulated chute, it can be monitored that the weight of the hopper of the bucket elevator is abnormally low, and after a plurality of continuous abnormally-low weights of the hopper are monitored, it can be confirmed that the slope articulated chute is blocked by the fly ash; and therefore, the slope chute is dredged, smooth and safe operation of the system is guaranteed, and the production continuity is guaranteed.

The utility model belongs to the technical field of illumination, and particularly relates to a trunk lamp capable of vertically swinging by 90 degrees through silica gel friction. The lower end of the inner side of the radiator is rotationally connected with the middle ring through a rotating shaft, the inner arc surface of the middle ring and the outer arc surface of the radiator are concentrically distributed, the silica gel is installed within the outline range of the inner arc surface of the middle ring, and the silica gel is used for being in relative friction with the outer arc surface of the radiator. The lower end of the inner side of the radiator is rotationally connected with the middle ring through the rotating shaft, the inner arc face of the middle ring and the outer arc face of the radiator are concentrically distributed, and the outer arc face of the radiator can coaxially rotate relative to the inner arc face of the middle ring in the process that the radiator rotates relative to the middle ring. Therefore, the silica gel is arranged in the outline range of the inner arc surface of the middle ring, and the outer arc surface of the radiator is relatively rubbed with the silica gel, so that the damping sense is favorably increased, and the radiator can be prevented from being directly rubbed with the middle ring, so that the abrasion of the radiator and the middle ring can be reduced, and the normal use of the trunk lamp is ensured.

The application relates to an elephant trunk continuous body mechanical arm which comprises a mounting base plate, a control device and bellows, the bellows are arranged in a plurality of arrays around the center circumference of the mounting base plate, form a driving section, any bellows is provided with an air pressure control assembly for controlling the air pressure in the bellows, a first positioning adjusting assembly for controlling the spacing between the bellows is arranged between the mounting base plate and one end of the plurality of bellows close to the mounting base plate, a plurality of driving sections are sequentially arranged along the array axis of the bellows, a second positioning adjusting assembly is further arranged between any two adjacent driving sections, an execution assembly is arranged at the end of the last driving section away from the mounting base plate, and a third positioning adjusting assembly is further arranged between the last driving section and the execution assembly; and the application further relates to a driving control method of the elephant trunk continuous body mechanical arm. The application has the effects of reducing local deviation and structural interference, improving bending continuity, posture stability and end execution precision.

The present application relates to the technical field of plant sample collection equipment, and particularly relates to a plant sample collection device based on an elephant trunk bionic structure; the structure is more flexible, can adapt to complex vegetation environment, and reduces the sample damage accident rate in the sample collection process; the plant sample collection device comprises multiple installation discs, multiple universal inertia connecting pieces, an adjusting driving piece for angle adjustment between two adjacent installation discs and a mechanical hand, the multiple installation discs are sequentially connected through the multiple universal inertia connecting pieces, the universal inertia connecting piece comprises a mounting seat, a ball body rotatably mounted in the mounting seat and an inertia adjusting piece, the inertia adjusting piece comprises a semi-annular frame rotatably mounted in the mounting seat, a sliding seat and a driving rod, the semi-annular frame is provided with a sliding hole, both ends of the sliding seat are provided with sliding rods, the sliding rods are slidingly installed in the sliding hole, a first spring is sleeved on the sliding rod, and a torsional spring is installed between the semi-annular frame and the mounting seat; the adjusting driving piece comprises multiple permanent magnets and multiple electromagnets.

The utility model discloses a long -type structure for cultural travel large -scale bionics beast, including head steel structure, nose main part steel structure part and nose head steel structure part, nose main part steel structure part includes the N motion joint that connects in proper order, and each motion joint includes deflector, pitch, deflection driver and pitch driver, and deflector is connected with the rotation of pitch, and deflection driver drives deflector to deflect motion relative to pitch, the pitch of N motion joint is connected with the deflector of N 1 motion joint, and the pitch driver of N motion joint drives the pitch to deflect motion relative to the deflector of N 1 motion joint. The utility model discloses through setting N motion joint realizes the action simulation of multiple degrees of freedom, has realized the swing of up and down and left and right and the rolling in the space different direction, has reached the excellent bionic effect and the high authenticity, can use to bionics elephant trunk to carry out the high -quality performance to satisfy the demand of cultural travel market.

The invention discloses a variable pesticide application control system and method based on an improved beetle antennae algorithm for optimizing fuzzy PID (Proportion Integration Differentiation). According to the system, the error between the actual flow and the theoretical flow of the corn and soybean nozzles and the error change rate are obtained to serve as fuzzy PID input, PID parameter correction values are obtained through quantization factor mapping, membership function division and fuzzy rule table reasoning, dynamic adjustment of controller parameters is achieved through scaling factor mapping, and therefore the nozzle flow is accurately adjusted. In order to overcome the defects that traditional fuzzy PID parameters are difficult to set and an optimization algorithm is prone to falling into local optimum, the invention provides an improved beetle antennae optimization method which comprises the steps that Logistic chaos initialization, dynamic step size attenuation, guide direction disturbance and a simulated annealing mechanism are introduced, a multi-index weighted fitness function of a root-mean-square error, overshoot and response time is combined, and the optimal parameter of beetle antennae is obtained. And realizing global optimization. According to the method, the response speed, the control precision and the robustness of the variable pesticide application system are effectively improved.

The application discloses an elephant trunk robot and relates to the technical field of robots, which comprises a base and an elephant trunk body, one end of the elephant trunk body is connected with the base, and the other end is connected with an executing mechanism; the elephant trunk body comprises a main beam with a bending self-recovery function and a plurality of partitions, the plurality of partitions are coaxially arranged at intervals along the extension direction of the elephant trunk body and have diameters decreasing in sequence; a plurality of pneumatic springs are uniformly distributed in the circumferential direction between adjacent partitions; the main beam coaxially penetrates through the plurality of partitions and is connected with the plurality of partitions; the application adopts the pneumatic springs as the executing elements of the bending action joints, has simple structure, light weight, good weather resistance, convenient combination and replacement, lower manufacturing cost and can be manufactured in large quantities; in the natural state, the main beam is used for the shape of the elephant trunk body, and in the working process, the main beam is used for limiting the bending angle of the action joints, so that the service life of the joints is not affected by excessive bending.

The utility model provides a disc system which comprises a disc, a feeding elephant trunk, a feeding conveying mechanism, a material distributing mechanism and a rotating driving mechanism, the disc is arranged in a non-rotating mode, the feeding elephant trunk is arranged above the disc in a non-rotating mode and located on the radial inner side of the disc, the feeding conveying mechanism is located between the feeding elephant trunk and the disc, and the material distributing mechanism is located between the feeding elephant trunk and the disc. The rotary driving mechanism is used for receiving materials falling from the feeding articulated chute and conveying the materials to a discharging opening of the feeding conveying mechanism in the circumferential direction so that the materials can fall onto the disc through the discharging opening, and the rotary driving mechanism is in driving connection with the feeding conveying mechanism and the material distributing mechanism and drives the feeding conveying mechanism and the material distributing mechanism to synchronously rotate around the center of the disc; the material falling opening and the material distributing mechanism are kept relatively static in the circumferential direction, and the material distributing mechanism paves materials falling onto the disc from the material falling opening to the disc in the process of rotating around the center of the disc. In this way, the inner side feeding mode can be achieved under the condition that the disc and the feeding articulated chute do not rotate.

A seabed stone laying and ramming operation engineering ship is characterized in that a stone storage yard is arranged in the center of a main deck of the engineering ship, a stone commissioning vehicle is located in the stone storage yard, the two sides of the stone storage yard are each provided with an elephant trunk stone laying device and a vibration ramming device, and the elephant trunk stone laying devices and the vibration ramming devices are located on the broadside of the engineering ship; an articulated chute of the articulated chute stone paving equipment extends downwards to the seabed, a vibrating bar of the vibrating ramming equipment extends downwards to the seabed, and a distance exists between the articulated chute stone paving equipment and the vibrating ramming equipment. Three full-revolving propellers are arranged on the stern of the engineering ship side by side, and two side thrusters and a control device are arranged on the bow of the engineering ship. The engineering ship travels at a constant speed and performs stone paving and ramming operation at the same time, the operation needs to be stopped only when all stones in a stone storage yard are used up, the continuous operation of offshore stone paving and ramming is truly achieved, and the operation efficiency is greatly improved.

The utility model provides a kneading machine capable of preventing paste adhesion of a blanking articulated chute, which comprises an articulated chute body, a liquid spraying module, a liquid storage and circulation module, a control module and a monitoring module, and liquid is sprayed to form a liquid film on the inner wall of the articulated chute, so that adhesion of high-temperature viscous materials is prevented, and online automatic cleaning is realized. The device has the advantages of being high in cleaning efficiency, stable in operation, safe, environmentally friendly and the like, and is suitable for cleaning the discharging elephant trunk of industrial equipment such as a kneading machine.

The utility model discloses an elephant trunk zipper puller which comprises a puller body and an elephant trunk, the puller body comprises an upper wing plate, a lower wing plate and a guide column, the elephant trunk comprises a first end and a second end, the second end is provided with a buckling part, a groove is formed in the position, corresponding to the buckling part, of the upper wing plate, and the buckling part is embedded in the groove. And the groove comprises a first side surface for limiting the buckling part to move along the direction of the first end and two second side surfaces for limiting the buckling part to move left and right. According to the utility model, the trunk is riveted and embedded into the groove, so that the buckling part of the trunk can be embedded into the groove during buckling, firm connection can be kept for a long time, and the trunk is positioned and limited by the groove, so that the trunk is not easy to deform due to stress on two sides during use, and the pulling piece is prevented from falling off; the utility model can be manufactured on a large scale, adapts to changes of different trends, adapts to different pull tabs, is more convenient and faster to manufacture, and greatly reduces the production cost.

The utility model relates to the field of metering bin equipment, in particular to a micro powder bin discharging interlocking automatic device which comprises a bin body, a weighing module is arranged on the bin body, a discharging portion, a gas purging system, an electric control system and a time control switch are arranged at the bottom of the bin body, the discharging portion comprises a discharging port and a reducing elephant trunk connected with the discharging port, and the gas purging system is connected with the reducing elephant trunk. The gas blowing system comprises a gas storage tank and a gas spraying main pipe, a gas spraying pipe I and a gas spraying pipe II of which nozzles are positioned at the upper part of the discharging opening and are distributed on two sides in the discharging part as well as a gas spraying pipe III and a gas spraying pipe IV of which nozzles are positioned at the lower part of the discharging opening and are distributed on two sides in the discharging part are arranged between the gas spraying main pipe and the discharging part; the electric control system comprises a power source, an electromagnetic valve and a gate valve arranged on the reducing elephant trunk. The material outlet in the micro powder bin can be effectively dredged, a pipeline is not blocked, smooth discharging is guaranteed, the material conveying time is shortened, the production efficiency is improved, and the labor capacity of workers is reduced.

The utility model belongs to the technical field of take-up machines, and particularly relates to a synchronous transmission device for a trunk take-up machine, which comprises a base, support plates are mounted on two sides of the upper surface of the base, connecting columns are rotatably connected to the surfaces of the support plates, a first motor is fixedly connected to the inner wall of each connecting column, and a second motor is fixedly connected to the inner wall of each connecting column. And one end of the connecting column is fixedly connected with a fixing frame. The motor I is started to drive the screw rod to rotate, and the screw sleeve is in threaded connection with the screw rod, so that the screw rod can drive the screw sleeve to move, the screw sleeve drives the sliding sleeve connected with the screw sleeve to linearly slide on the outer wall of the fixed cylinder, and the sliding sleeve drives the fixed plate on the outer wall to move along with the sliding sleeve when moving, so that the connecting frame can be driven to move; when the connecting frame moves, the abutting block can be driven to move, so that the abutting block drives the I-shaped block to move on the inner wall of the through groove, the abutting block can abut against the inner wall of the take-up roller, and the take-up roller can be conveniently and rapidly mounted or dismounted.

The application discloses a spot color formula prediction method based on an enhanced elephant trunk search algorithm, and comprises the following steps: acquiring the absorption spectrum of a base color and a spot color, calculating the molar concentration of the base color by using a least square method, and obtaining the base color composition quantity of the spot color; constructing an enhanced elephant trunk search algorithm; calculating the molar concentration of the base color by using the enhanced elephant trunk search algorithm, and predicting the spot color formula. The spot color formula prediction method based on the enhanced elephant trunk search algorithm narrows the base color search space by using the least square method, reduces the search workload, and improves the search speed; by constructing the enhanced elephant trunk search algorithm, the search range is increased suddenly, the possibility of the algorithm falling into a local optimum is reduced, the elephant search direction is corrected, the search direction behavior intervention is realized, the search ability and the search speed of the algorithm are improved, and finally the color matching efficiency and the accuracy are improved.

1. Name of the designed product: elephant trunk lamp. 2. Use of the designed product: for indoor lighting. 3. Design points of the designed product: in shape. 4. Picture or photo best showing the design points: perspective view 1.

The utility model relates to the technical field of feed processing and storage, in particular to a crushing-reducing buffer articulated chute for a pellet feed silo, which comprises a through tube body and a plurality of buffer plates arranged in the tube body, the plurality of buffer plates are arranged at intervals along the axial direction of the tube body, blanking ports are arranged on the buffer plates, and the blanking ports are communicated with the tube body. The pipe body is provided with blanking ports, the blanking ports in the adjacent buffer sheets are staggered, the pipe body is provided with a plurality of overflow ports, one overflow port is correspondingly arranged above each buffer sheet, and the pipe body and the buffer sheets have flexibility; the utility model provides a breakage-reducing buffer articulated chute for a pellet feed silo, which is simple in structural design, low in cost and convenient to install and transport, and the breakage rate and the powder content are obviously reduced.

The invention provides an integrated bionic trunk multi-joint fly boom frame assembly and an intelligent overhead working truck, and relates to the technical field of overhead working trucks. According to the fly boom frame, the multiple sections of supporting frameworks are sequentially connected through the hinges, the structure that the fly boom frame alternately swings around the first axis and the second axis which are perpendicular to each other is arranged, and cooperative control of the swing driving mechanism is matched, so that the fly boom frame can simulate multi-degree-of-freedom bending motion of a trunk; and flexible and accurate pose adjustment of the working platform in a three-dimensional space is realized. The working range is obviously enlarged, more complex space trajectories can be covered, and the robot is suitable for various high-altitude working scenes and particularly shows excellent obstacle avoiding operation capacity when crossing obstacles such as pipelines, eaves and trees. Platform inclination caused by the posture change of the arm support can be effectively compensated through the leveler, it is ensured that the operation platform is always in a horizontal state, and therefore the operation stability and safety are greatly improved, and the precision of high-altitude operation is guaranteed.

The invention discloses an anti-cracking and anti-caking silo structure which comprises a silo body, a silo cone hopper, a silo trouser-shaped articulated chute, a heating pipe and a heating pipe wrapping round pipe, the silo cone hopper is arranged at the lower end of the silo body, the silo trouser-shaped articulated chute is arranged at the lower end of the silo cone hopper, and the heating pipe wrapping round pipe is arranged at the lower end of the silo cone hopper. A heating pipe wrapping round pipe is arranged at the connecting position of the silo cone hopper and the silo trouser-shaped elephant trunk, the heating pipe wrapping round pipe is fixedly connected with the bifurcation position of the silo trouser-shaped elephant trunk, a heating pipe is arranged in the heating pipe wrapping round pipe, and compared with the prior art, potential safety hazards and the phenomenon that an outlet is blocked can be reduced.

The utility model relates to the technical field of deep foundation pit pouring, and discloses an elephant trunk pouring structure for quickly pouring a deep foundation pit, which comprises a base fixedly connected to the bottom of a pipeline; the rotating shaft is rotationally connected to the top of the base; the gear I is fixedly connected to the outer side wall of the rotating shaft; the frame is fixedly connected to the top of the base; the motor I is arranged on the frame; the second gear is fixedly connected to an output shaft at the bottom of the first motor, and the second gear is meshed with the first gear; and the guide chute is fixedly connected to the top of the rotating shaft and is positioned below the discharge hole of the pipeline. Concrete is conveyed to a right-end discharging opening through a pipeline and falls on the material guide groove, a worker starts a first motor, the first motor drives a second gear to rotate, the second gear drives a first gear meshed with the second gear to rotate, the first gear achieves rotation of the material guide groove through a rotating shaft, and therefore the orientation of the material guide groove is changed; and concrete can be conveniently poured in different areas through the material guide groove, and the concrete pouring uniformity is improved.

The utility model belongs to the technical field of material conveying, and particularly relates to an anti-blocking device for a blanking elephant trunk. An anti-blocking device for a discharging articulated chute comprises the discharging articulated chute, a screening mechanism is arranged in the discharging articulated chute, and the discharging articulated chute is communicated with a settling chamber; the discharging elephant trunk serves as a material conveying channel and guides materials to flow downwards from one position to another position. Materials reach the screen through the discharging chute, when the materials pass through the screen and the size of the materials is smaller than that of screen holes, the materials can pass through the screen and finally reach the settling chamber, and the materials are treated in the settling chamber. The materials which cannot pass through the screen mesh can have a certain sliding speed on the screen mesh due to the fact that the screen mesh is arranged in an inclined mode, the materials enter the material guide groove along the screen mesh, the materials stay in the material guide groove for a short time, and the materials finally enter the collecting barrel through the first connecting pipe to be collected.

The utility model relates to the technical field of blast hole intelligent charging, and discloses a spherical surface hole-facing distributing device for an intelligent mixed charging explosive truck, which comprises a bottom frame, a telescopic support leg, a vertical support leg, a rotary table, a winding drum, a telescopic arm support, a telescopic arm, a tail end holder and a trunk mechanism, the tail end of the material conveying pipe is rapidly moved to the position near a blast hole through a large-range telescopic and rotating mechanism, the tail end of the material conveying pipe is accurately aligned to the blast hole through a small-range telescopic and rotating mechanism, the phenomena that the mechanism overshoot and swings and is difficult to align to the blast hole are prevented, a pitching swing mechanism can achieve secondary leveling of a holder, the calculated amount of an intelligent hole searching processor is reduced, and the working efficiency is improved. And the multi-degree-of-freedom adjusting holder can pull the tail end of the material conveying pipe to achieve spherical hole alignment, and hole alignment can be conducted on blast holes in complex mine terrains.

A first pipe section and a second pipe section are arranged, the second pipe section comprises an inner layer, an outer layer and a releasable elastic support located between the inner layer and the outer layer, and the upper end of the outer layer is separated from the inner layer to form a skirt edge, so that the far end of the second pipe section can be connected with a descending aorta firstly; according to the initial form of the far end of the second pipe section, the inner layer, the outer layer and the releasable elastic support between the inner layer and the outer layer are in a contracted state, after the far end of the second pipe section is placed in the descending aorta, the elastic support is released to open the descending aorta, the outer layer and the descending aorta are tightly attached under the supporting and pressing effects of the elastic support, and therefore the descending aorta is expanded. Therefore, suturing is not needed temporarily, blood perfusion circulation can be carried out only by clamping the upper end of the inner layer, and then the skirt edge is turned outwards and then is sutured and fixed with the descending aorta. Therefore, the double-layer elephant trunk stent artificial blood vessel which can be quickly matched with a descending aorta incision and is beneficial to shortening the circulation stopping time is provided.

The utility model discloses a wear-resistant concrete pouring elephant trunk which comprises an elephant trunk body, a first flange is fixedly arranged on the outer wall of one side of the elephant trunk body, a replacement structure is fixedly arranged on the inner wall of the elephant trunk body and comprises a dismantling plate, and hollow fixing columns are fixedly arranged on the two sides of the upper end of the dismantling plate. A first screw is arranged in the hollow fixing column, a reserved hole is formed in the lower end of the portion, located at the lower end of the first screw, of the elephant trunk body, the lower end of the first screw penetrates through the reserved hole, a first nut is fixedly arranged on the outer wall of the first screw, and a second flange is fixedly arranged on the outer wall of one side of the elephant trunk body. Limiting plates are fixedly arranged on the outer walls of the sides, close to the second flanges, of the dismounting plates. According to the abrasion-resistant concrete pouring articulated chute, the abrasion degree of concrete to the inner wall of the articulated chute body can be reduced, and long-time use of the articulated chute body can be better guaranteed.

Elephant trunk underwears

The utility model relates to the technical field of agricultural fertilization, and discloses a fertilization mechanism for agricultural technology planting, which comprises a blanking frame, a cover plate is slidably connected in the blanking frame, the lower surface of the blanking frame is fixedly connected with a discharge pipe, a connecting pipe is fixedly connected in the discharge pipe, one end of the connecting pipe is fixedly connected with a feeding pipe, and the other end of the connecting pipe is fixedly connected with a discharging pipe. A handle is fixedly connected to the upper surface of the feeding pipe, a connecting cylinder is fixedly connected to the lower surface of the feeding pipe, a clamping assembly used for replacement is installed at one end of the connecting cylinder and comprises a single-groove elephant trunk, the interior of the single-groove elephant trunk is connected to one end of the connecting cylinder in a threaded mode, and a double-groove elephant trunk is arranged on one side of the outer wall of the single-groove elephant trunk. According to the utility model, the elastic connecting plate is matched with the clamping block, the clamping block is matched with the clamping groove when the single-groove articulated chute or the double-groove articulated chute is mounted, so that the quick mounting effect is realized, and the connecting assembly is additionally arranged, so that the dismounting becomes simple.

This invention discloses a biomimetic soft gripper based on an elephant trunk, comprising: a flexible mechanism and at least two soft pneumatic actuators. The flexible mechanism has a notch and an internal cavity. The at least two soft pneumatic actuators are disposed within the cavity of the flexible mechanism and are evenly arranged along the circumference of the wall of the notch. Each soft pneumatic actuator is connected to a first air tube. After each soft pneumatic actuator draws negative pressure, it bends towards and compresses the wall of the notch. This invention can effectively adapt to objects of different shapes during gripping and improves gripping stability.

This invention relates to a method for measuring the yaw angle and speed of a gantry crane based on lidar, comprising the following steps: S1, a lidar capable of scanning 180 degrees vertically is installed on the rotating platform of the crane, enabling the lidar to acquire point cloud data in front; S2, the point cloud data obtained by the lidar scan is subjected to pass-through filtering and statistical filtering, and then Euclidean clustering is performed on the filtered data to obtain clustered point cloud clusters of the elephant trunk beam and the grab bucket; S3, the coordinates (X, Y, X) of the end point P of the elephant trunk beam are obtained based on the clustered point cloud cluster data. P Y P Z P The coordinates (X) of the grab's center of mass Q. Q Y Q Z Q S4. Obtain the horizontal swing angle θ of the suspended load using the coordinates of P and Q; S5. Monitor the coordinates of P and Q in real time as the luffing mechanism moves, and obtain the horizontal velocity v of P and Q at each moment. P v Q This invention offers high measurement accuracy and strong anti-interference capabilities, achieving a measurement precision of 10mm, and can perform accurate measurements even in harsh environments such as ports.