1074 results about "Rotary encoder" patented technology

The invention provides a filling control method and system based on online parameter identification. According to the method, the synchronous error data of each servo shaft in the multi-shaft servo system is acquired, the error time sequence matrix is constructed by the synchronous error data according to the time sequence, and the displacement feedback data of each servo shaft in the multi-shaft servo system is acquired in real time through the high-precision rotary encoder; a dynamic compensation signal is generated according to the deviation between the displacement feedback data and a preset track, online estimation is carried out on mechanical vibration disturbance of the multi-axis servo system based on the error time sequence matrix, a disturbance parameter estimation value is obtained, the dynamic compensation signal and the disturbance parameter estimation value are fused, and a servo synchronous compensation amount is generated; according to the technical scheme, through fusion of real-time parameter identification and dynamic compensation, the filling precision and efficiency are remarkably improved, meanwhile, the manual debugging complexity is reduced, and a reliable solution is provided for high-stability production under multiple working conditions.

The invention provides a liquid pumping apparatus, system and method for increasing the flow of fluid in a gravity feed network. The invention provides an in-line main pipe with upstream and downstream portions flanking a manifold that houses a check valve. One or more branch pipes may form a fluid bypass around the manifold. Each branch pipe includes a pump configured to accelerate the fluid in at least partially the same direction as the downstream flow. A sensor may be adapted to measure a parameter related to the liquid level in the main pipe. A rotary encoder may be adapted to measure the flow rate in the main pipe as a proportional function of the check valve angle, under gravity flow conditions. A control system may energize the pumps when the liquid level in the main pipe is above a predetermined threshold according to the parameter.

The invention provides a real-time monitoring system and method for sorting of a digital twin-driven Delta mechanical arm. According to the system, firstly, a physical experiment platform is built, and a virtual model is built through SolidWorks, 3DMAX and Unity 3D. A communication framework is designed, and wireless communication of the PLC, the sensor, the mechanical arm, the conveying belt and the digital twin system is achieved. Positive and inverse kinematics analysis and Cartesian space trajectory planning are carried out on a Delta robot, and a related algorithm is packaged into an MATLAB function and compiled into a DLL library for C # calling. The system collects joint angle data in real time based on a rotary encoder, transmits the joint angle data to a digital twin system through an OPC UA protocol, and drives a virtual mechanical arm model after resolving, so that high-precision and low-delay virtual-real synchronous pose reconstruction is realized. In addition, the system also develops a collision detection function based on a bounding box algorithm, and performs visual detection by using camera calibration and a YOLO model.

The invention provides a device and a method for on-line detection and precise regulation and control of the sowing depth and the sowing amount of a peanut precision seeder. An ultrasonic distance measuring sensor, an optical fiber counting sensor, a double-shaft tilt angle sensor, a linear displacement sensor, a photoelectric rotary encoder and the like are used for acquiring operation information such as the seeding depth, the seeding quantity, the seeding machine tilt angle, the expansion amount of an electric cylinder telescopic mechanism, the machine tool speed and the seeding frequency of a seeding machine in real time; through digital signal processing and conversion, STM32F103ZE single-chip microcomputer processing, control algorithm optimization, on-line detection of the seeding depth and the seeding condition of the seeder, real-time adjustment of the seeding depth and real-time reseeding, real-time accurate regulation and control of peanut seeding are realized, and it is ensured that peanut seeding meets the requirements for consistency of the seeding depth and the seeding distance; meanwhile, the whole sowing process is more automatic and efficient, manual intervention is not needed, manpower and material resources are saved, and good economic benefits are achieved.

The invention belongs to the technical field of sports equipment, and discloses a riding training vehicle which comprises a base. The frame is connected with the base; the frame is connected with a handle and a saddle; the first connecting part of the frame and one end of the lifting rod are rotationally connected with the base respectively; an adjusting button for adjusting the damping and angle of the vehicle body is arranged on the handle; the pedal is connected with the frame; the driving wheel is connected with the pedal, and the pedal is treaded to drive the driving wheel to rotate; the inertia wheel is connected with the driving wheel; the driving wheel rotates to drive the inertia wheel to rotate; the damping motor is connected with the frame and applies resistance to the driving wheel; the brushless generator is arranged on the frame and electrically connected with the inertia wheel, and the inertia wheel rotates to drive the brushless generator to generate electricity; the controller is electrically connected with the brushless generator, and the adjusting button, the lifting rod and the damping motor are electrically connected; the hollow rotary encoder is electrically connected with the adjusting button and the controller, and an adjusting signal of the adjusting button is transmitted to the controller. Riding without plugging in is achieved, and convenience is provided for a user.

The invention relates to the technical field of sorting control, in particular to a logistics sorting control system and method.The system is characterized in that a parcel triggering module records a chain plate displacement point as an initial position when a parcel passes through, the displacement amount of a chain plate is calculated by calling a pulse signal of a rotary encoder when a sprocket rotates by one circle, and initial displacement information of the parcel is obtained; and carrying out difference comparison on the initial displacement information of the parcel and the sorting target point distance to generate real-time position information of the parcel. According to the invention, by recording the initial displacement information of the parcel on the conveyor belt chain plate and combining the pulse signal of the rotary encoder, the motion trail of the parcel can be tracked in real time, the calculation precision is higher than time, the position information of the parcel is updated in real time after the distance difference value of the parcel and the sorting target point is compared, the position feedback in the sorting process is more accurate, and the sorting accuracy is improved. Therefore, sorting errors caused by position errors are reduced.

The invention relates to the technical field of hoisting equipment intelligent control based on multi-sensor cooperation, and discloses a hoisting equipment intelligent control method based on multi-sensor cooperation. A control unit reads and stores parameters such as air density, windward projection area, wind load arm length, arm section rotational inertia, rated output force of a hydraulic cylinder, sampling period and the like, and static self-inspection and dynamic calibration are performed on a wind speed sensor, a rotary encoder and a pressure sensor respectively; multiple paths of wind speeds are collected in parallel during operation, fused wind speeds are obtained through weighted fusion after abnormities are removed, and the wind load torque is calculated and limited by combining the windward area and the force arm length; reading two continuous encoder angle differences, performing amplitude limiting, calculating an angular velocity and kinetic energy, performing adaptive adjustment according to kinetic energy deviation, and performing amplitude limiting on a damping coefficient to generate a damping torque; and the amplitude-limited wind load torque and damping torque are synthesized into total control torque, and after amplitude limiting, the total control torque is converted into amplitude-limiting hydraulic cylinder operation output force which is issued and executed by a control unit.

An omnidirectionally orientable vehicle comprising a main body, arms extending radially therefrom and orientable propulsion modules. Each propulsion module is coupled to an arm and comprises at least three propulsion units rigidly attached to the propulsion module. Each propulsion module is coupled to the arm by interposition of a rotary junction formed by a first revolute joint coupled to the arm and a second revolute joint attached to the propulsion module and perpendicularly coupled to the first revolute joint. The first revolute joint allows the propulsion module to rotate around the arm and the second revolute joint allows the propulsion module to rotate around an axis perpendicular to the arm providing the propulsion module with two DOF relative to the main body. The vehicle comprises rotary encoders located in proximity to the revolute joints and configured to monitor the orientation of the propulsion modules relative to the main body.

A motor broadly includes a rotor, a flywheel, and an encoder assembly. The rotor is rotatable about an axis and includes a rotor shaft. The flywheel is fixed to the rotor shaft and is rotatable with the rotor shaft. The encoder assembly includes a magnetic sensor assembly and a sensed magnetic element supported by the flywheel.

The smart torque simulation device includes: a bracket; a shaft center; a winding wheel which having a winding wheel spinning encoder; an outer flywheel which an outer flywheel spinning encoder, the winding wheel and the outer flywheel are relatively coupled with a magnetic plate and a magnet; an inner flywheel with a field magnet, the inner flywheel has a power transmission relationship with the outer flywheel; a coil set, having a coil fixing frame which has an armature coil, and the armature coil is coupled to the field magnet of the inner flywheel, the armature coil has an electric current regulator; and a control system, receiving a winding wheel spinning data from the winding wheel spinning encoder and receiving an outer flywheel spinning data from the outer flywheel spinning encoder, and then sending an armature electric current control data to the electric current regulator.

The invention relates to the technical field of electric transplanting machines, and discloses an electric transplanting machine and a plant spacing self-adaptive adjustment and path dynamic correction method thereof. The electric transplanter comprises a rack, and a seedling conveying mechanism, a transplanting mechanism, a walking mechanism and a control system which are mounted on the rack. A rotary encoder A is arranged on the seedling conveying mechanism to reflect the seedling dropping speed of the electric transplanter, a rotary encoder E is arranged on the walking mechanism to reflect the advancing speed of the electric transplanter, and a rotary encoder C is arranged to reflect the advancing speed of a walking crawler belt on the left side of the electric transplanter. A rotary encoder D is arranged to reflect the forward speed of a right walking crawler belt of the electric transplanter, and an ultrasonic sensor is arranged to monitor the distance between the two walking crawler belts and the two sides of a ridge in real time; the self-adaptive adjustment of the plant spacing and the dynamic correction of the path can be realized in the advancing process of the electric transplanter, so that the plant spacing uniformity and the row spacing uniformity of the electric transplanter during operation can be effectively improved.

A surgical tool includes a drive housing removably coupled to a tool driver of a robotic surgical system, a shaft extending from the drive housing, an end effector arranged at an end of the shaft, and a computer system. The computer system is programmed to send a command signal to a motor of the tool driver to drive rotation of a drive shaft mounted within the drive housing, monitor torque and rotational motion of the motor with a torque sensor and a rotary encoder, respectively, in communication with the computer system, measure an unexpected change in the torque or the rotational motion of the motor with the torque sensor or the rotary encoder when the surgical tool is manually bailed out by manually rotating the drive shaft and backdriving the motor, report the unexpected change as a bailout signal, and disable the surgical tool once the bailout signal is received.

An image forming apparatus includes a transfer portion configured to transfer a toner image onto the sheet, a fixing unit configured to fix the toner image transferred by the transfer portion on the sheet, a detection unit arranged between the transfer portion and the fixing unit in a sheet conveyance direction and configured to detect a bending amount of the sheet nipped by the transfer portion and the fixing unit, and a control unit configured to control a conveyance speed of the sheet conveyed by the fixing unit based on a detection result of the detection unit. The detection unit includes a pivot portion configured to pivot when pressed by the sheet nipped by the transfer portion and the fixing unit, and a rotary encoder configured to output a pulse signal in accordance with a pivot amount of the pivot portion.

The invention discloses a novel photoelectric coding measuring method for a multistage coarse high-precision translation rotating platform. The invention relates to the fields of engineering measurement technology, precision machining and the like, and solves the problem that the measurement precision of an existing photoelectric translation rotary encoder needs to be improved. The camera is fixed on the rotating or translating device, and an encoding device of the encoder is fixed on the immovable rack; an encoding device of the encoder consists of an encoding array and a fine measurement light spot which are uniformly distributed; in the rotation or translation process of the motion device, collecting an encoding array image of an encoder and a precise measurement light spot image through a camera; identifying a coarse precision absolute position measurement value of the rotation angle according to the coding array image; according to the number of displacement pixels in a precise measurement light spot image, a coarse-precision absolute position measurement value is subdivided to the measurement precision which is one of the total number of column pixels of a camera, a high-precision measurement value of a rotation angle or a translation amount is calculated according to a gravity center algorithm, and the photoelectric coding measurement precision can be remarkably improved.

The embodiment of the invention discloses an erecting control system for a rocket launched on the sea. The erecting control system for the rocket launched on the sea comprises a control module, a tilt angle sensor, a rotary encoder and an erecting frame. The first input end of the control module is in communication connection with the output end of the tilt angle sensor; the second input end of the control module is in communication connection with the output end of the rotary encoder; the input end of the tilt angle sensor is in communication connection with the erecting frame; the input end of the rotary encoder is in communication connection with the erecting frame; the marine launching angle is adjusted through the tilt angle sensor and the rotary encoder, relying on a launching ship is not needed, the launching cost is reduced, the launching maneuverability is improved, the launching period is shortened, the device can be suitable for different types of rockets, and high marine launching flexibility, good task adaptability and high launching economical efficiency are achieved.

The invention relates to a double-layer coating sheet thickness measuring device and a use method, the double-layer coating sheet thickness measuring device comprises a double-layer coating die head and a drying device, the double-layer coating die head comprises an upper die, a middle die, a lower die, a first material conveying channel and a second material conveying channel, one side of a coating assembly is provided with an X-ray thickness gauge, one side of the drying device is provided with a dual-energy ray thickness gauge, and the X-ray thickness gauge is provided with an X-ray thickness gauge. The dual-energy ray thickness gauge comprises a rack, a first upper sliding rail, a first lower sliding rail, a first sliding block, an X-ray generator, a second sliding block, an X-ray detector, a beta-ray detector, a beta-ray generator, a first turning roller and a second turning roller. A back roller is arranged on one side of the double-layer coating die head and provided with a rotary encoder, the first conveying channel is provided with a first conveying pipe, the first conveying pipe is provided with a first booster pump, the second conveying channel is provided with a second conveying pipe, and the second conveying pipe is provided with a second booster pump. And the surface density of the double-layer coated pole piece and the ratio of the carbon element to the silicon element can be fed back. The device is convenient to use and has a wide market prospect.

The invention belongs to the technical field of civil engineering, and particularly relates to a civil engineering material elevator which comprises a movable base and a shear fork hydraulic elevator, the shear fork hydraulic elevator is assembled on the movable base, and a workbench is fixedly installed at the top of the shear fork hydraulic elevator; the working table further comprises fixing seats, multi-stage push rods and anti-falling mechanisms, the fixing seats are symmetrically and fixedly connected to the left side wall and the right side wall of the movable base, the multi-stage push rods are fixedly installed at the tops of the fixing seats and located on the two sides of the shear fork hydraulic elevator, and the anti-falling mechanisms for preventing the working table from falling suddenly are arranged on the multi-stage push rods. Through the combination of the rotary encoder and the double-shaft motor, when abnormal falling of the workbench is detected, quick response can be made, the winding drum is controlled to rotate reversely to tension the steel cable, and the workbench is prevented from continuously falling, so that the situation that the workbench falls suddenly is effectively prevented, and the safety of workers and goods is ensured.

The invention belongs to the technical field of coal mine drilling robot control, and particularly relates to a full-autonomous drilling control system and method for a coal mine drilling robot, and the system comprises the coal mine drilling robot, a drilling load sensing module, a drilling process controller, and a drilling system installed on the coal mine drilling robot. The drilling system comprises a drill rod rotation module, a drill rod feeding module and a drill rod clamping module; the drill rod rotation module comprises a hydraulic motor and a speed reducer, and the hydraulic motor is responsible for lifting power and controlling the drilling speed; the drill rod feeding module comprises a hydraulic cylinder and a guide rail. The drill rod clamping module comprises a front vice and a rear vice. The drilling load sensing module comprises a drilling pressure sensor, a rotary encoder, a drilling displacement sensor and a drilling load solver, the drilling load solver classifies and defines drilling loads based on a support vector machine, and then drilling load sensing under different coal rock conditions is achieved.

The invention discloses a positioning method of a suspension rail type immersed tunnel inspection platform, which is characterized in that the inspection platform is suspended on a rail of a rail structure in a walking manner, the inspection platform is provided with two clamping driving wheel mechanisms symmetrically arranged on two sides of the rail, and the clamping driving wheel mechanisms can adjust the wheel diameters of driving wheels; an inspection platform auxiliary marking system is designed, and a two-dimensional code label is arranged on the bottom surface of the track corresponding to each detection point; when the inspection platform runs to a detection point position, reading absolute position information of the two-dimensional code label and label information of the detection point position, calculating a deviation between an absolute position obtained by reading the two-dimensional code label and a current displacement amount obtained according to data of the rotary encoder, and then according to the deviation, determining whether the detection point position is a detection point position or not; the wheel diameter of the driving wheel is adjusted by adjusting the pressure of the driving wheel of the clamping driving wheel mechanism on the rail, so that the moving position of the inspection platform is corrected, and the positioning precision of the inspection platform is remarkably improved.

The invention discloses a photovoltaic panel automatic installation method, device and equipment and a storage medium. Comprising the following steps: after a sucking disc sucks a target photovoltaic panel, controlling a working device to rotate by a specified angle through a rotary encoder so as to enable the working device to reach an installation preparation position; compensation and correction are performed through the movable arm inertia measurement unit and the bucket rod inertia measurement unit, so that the working device is close to the mounting position; and according to the obtained confirmation instruction, the sucker is controlled to loosen the adsorption of the target photovoltaic panel so as to complete the installation of the photovoltaic panel. The working device is controlled to rotate to the installation preparation position through the rotary encoder, and the installation efficiency and precision are improved. Compensation and correction are carried out through the inertia measurement units of the movable arm and the bucket rod, the complex installation environment can be effectively dealt with, the working device can be accurately close to the installation position, the installation adaptability is enhanced, the installation quality of the photovoltaic panel is guaranteed, and the later maintenance cost is reduced. The sucker is loosened according to the confirmation instruction to complete installation, installation accuracy can be ensured, operation safety is improved, and safety accident risks are reduced.

The invention relates to a multi-point synchronous hoisting control system and method for a prefabricated part, which are used for solving the technical problem of instability of a hoisting system caused by asynchronous multi-hoisting-point hoisting of the current prefabricated part. Comprising a speed measurement module, an acceleration measurement module, a data acquisition module and a data processing module. The speed measurement module is mounted on a hook pulley block, adopts a rotary encoder to measure the rotating speed, calculates the rope winding speed of the hoisting system through the rotating speed of the pulley block, and is connected with the data acquisition module through a data line; the acceleration measurement module adopts a three-axis acceleration sensor and is used for measuring accelerations in the X direction, the Y direction and the Z direction, the three-axis acceleration sensor is installed on a lifting hook of each lifting point in a magnetic attraction mode, and the measured accelerations are transmitted to the data acquisition module in a wireless mode; the data acquisition module is mounted on a lifting arm of a lifting system, and transmits measured data to the data processing module through a data line of a corresponding path at regular time; and the data processing module controls synchronous lifting of the multiple lifting points according to the speed difference relation between the lifting points.

A device 30 for controlling fluid flow in a flexible tube 10 comprises two rotatable bobbins 22, 32, a motor 56, an encoder 64 and a processor 202 (Figure 8). Each bobbin comprises a tube-engaging surface portion having a shape that changes around at least part of a circumference of the bobbin. The motor comprises a rotor 62 (Figure 4) mechanically coupled to the bobbins such that operation of the motor causes rotation of the bobbins. The encoder is mechanically coupled to the rotor and configured to measure an angular displacement of the rotor. The processor determines a target angular displacement of the rotor, receives a measurement signal indicative of the angular displacement of the rotor from the encoder, and outputs a motor control signal to set the angular displacement of the rotor as measured by the encoder to the target angular displacement.

The present invention relates to a liquid silicone injection molding machine, comprising a frame, a mold clamping module disposed on the top of the frame, a glue injection module mounted on the mold clamping module, and a controller for controlling the mold clamping module to perform mold clamping and glue injection. The mold clamping module comprises a mold clamping assembly, a mold clamping drive assembly for driving the mold clamping assembly to perform mold clamping, an electronic mold opening and closing scale disposed on the mold clamping assembly and connected to the controller, a positioning assembly for positioning the mold clamping assembly, and a mold ejection mechanism for ejecting the product produced by the mold clamping assembly. The glue injection module comprises a glue injection drive assembly for driving a gun barrel to perform glue injection via a mixing assembly, an electronic glue injection scale, a pressure sensor, and a rotary encoder disposed on the glue injection drive assembly and electrically connected to the controller. The controller is mounted on the frame via a mounting cantilever. The liquid silicone injection molding machine provided by the present invention can enhance user satisfaction with the glue injection experience by improving glue injection accuracy, while also improving glue injection efficiency and product quality.

The utility model discloses a hoisting device of a crane, which comprises a mounting frame, vertical plates fixed on the left side and the right side of the upper end of the mounting frame, a hoisting shaft rotationally connected between the vertical plates and a motor fixedly mounted at the left end of the left vertical plate, the output end of the motor is connected with the hoisting shaft, and the right end of the hoisting shaft penetrates through the right vertical plate and is fixedly provided with a driving gear. When the winding shaft of the winding device of the crane rotates, the driving gear can be driven to rotate, the number of turns of rotation of the driving gear is detected through the rotary encoder, so that the number of turns of rotation of the winding shaft is detected, and when the winding shaft rotates by multiple turns to put down a lifted object, the rotation of the winding shaft reaches a threshold value set in the controller, so that the lifting object is put down. The controller can control the electric push rod to push the sliding block so as to drive the movable frame and the brake seat to synchronously move leftwards, so that the brake seat and the brake pad are rubbed to achieve a damping effect, and therefore, when goods are unloaded, the buffering and speed reducing effects are achieved on the goods, and damage to the winch caused by too large impact is avoided.

The invention relates to a wheel rail adhesion-creep sliding behavior and steel rail corrugation comprehensive measurement device and method. The wheel rail adhesion-creep sliding behavior and steel rail corrugation comprehensive measuring device comprises a left fixing frame, a right fixing frame, a linear driving motor, a lead screw transmission assembly, a lead screw sliding block, a mounting plate, a vertical loading platform, a configuration block, a rotary driving motor, a measuring wheel, a first rotary encoder, a torque sensor, a second rotary encoder and a laser displacement sensor. The creep rate can be calculated according to the moving speed of the vertical loading platform and the rotating linear speed of the measuring wheel, the adhesion coefficient can be calculated according to the pressure loaded to the steel rail and the torque generated when the measuring wheel rotates, and steel rail wavy abrasion (steel rail corrugation) data can be measured through the laser displacement sensor. The method has the beneficial effects that the corrugation data of the steel rail can be obtained while the adhesion-creep sliding curve of the wheel rail is detected, so that the collaborative analysis of the relation between the adhesion-creep sliding curve and the corrugation state of the steel rail is realized.

The invention belongs to the technical field of quasi-zero stiffness vibration isolators, and particularly discloses a self-adaptive adjustment quasi-zero stiffness vibration isolator and a control method. Comprising a base and a bearing plate, and a plurality of positive stiffness units are arranged between the base and the bearing plate to provide basic support; the negative stiffness unit is arranged below the bearing plate, the two ends of the negative stiffness unit are connected with the adjusting structure through the moving unit capable of moving in the length direction of the driving unit, the adjusting structure is composed of a lead screw and an adjusting motor, the projection length of the negative stiffness unit in the horizontal direction can be changed, and therefore continuous adjustment of the negative stiffness is achieved. The vibration isolator is further provided with an acceleration sensor, a relative displacement sensor and a rotary encoder, and the sensors are connected with a processing unit to form a real-time monitoring and feedback control system. The low-frequency vibration isolation device can keep stable low-frequency vibration isolation performance under the condition change, and is suitable for high-precision equipment and complex industrial vibration environments.

The invention discloses a rotary assembled RGV which comprises a frame, a walking driving system, a power supply system, a control system and a rotary supporting platform. The rotary supporting platform is provided with an electromagnetic adsorption supporting block, a slewing bearing, a driving motor and a rotary encoder, 360-degree rotation and accurate positioning of the frame can be achieved, and the frame is fixed through electromagnetic adsorption force. The walking driving system is provided with a mechanical clutch mechanism, and manual pushing emergency movement is supported. And the power supply system adopts non-contact power supply, so that the flexibility and safety are improved. The safety protection system comprises a laser radar and an electronic safety contact edge, and the protection range can be automatically adjusted according to the workpiece size. The addressing positioning system is combined with RFID, a rotary encoder and a magnetic induction switch, and the positioning precision reaches + / -2mm. The control system supports three modes of single-machine remote control, automatic operation and system linkage. The problems that a traditional RGV is difficult in posture adjustment, low in positioning precision and poor in collaboration are solved, the assembling flexibility, efficiency and safety are improved, and the method is suitable for an engineering machinery general assembly line.

The intelligent haemorrhoids ligation device comprises a gun body, a quick-change connector, a pull strip, a push block, a rotary cutter, a battery, a first control circuit board, a motor, a lead screw, a rotary encoder, a sliding block and a second control circuit board, the pull strip is clamped in the push block, the push block is clamped on a push pipe, the rotary cutter is fixed to the front end of the push block, and a tensioning knot of a ligation ring penetrates through the rotary cutter and then is clamped on the pull strip; the battery is connected with the first control circuit board and the second control circuit board, the first control circuit board is connected with the motor, the motor is connected with the lead screw, the lead screw is clamped with the sliding block, and the sliding block is connected with the push pipe. The second control circuit board is connected with a rotary encoder, and the rotary encoder is fixed to the lead screw. The sliding block is connected with the rear end of the brace, and when the lead screw pushes the sliding block to slide front and back, the brace moves front and back. The intelligent haemorrhoids loop ligature device can realize automatic control of lesion site adsorption, lesion site loop ligature, loop ligature ring tightening and loop ligature ring cutting.

The invention discloses a control method and system of a hydraulic mechanical arm, electronic equipment and a medium, and belongs to the technical field of mechanical arm control technologies. The control method comprises the steps that the rotary encoder is used for detecting the rotary angle of the rotary platform; the lifting angle of the movable arm is detected through the movable arm angle sensor; the telescopic length of the telescopic arm body is detected through a telescopic arm length sensor; detecting the angle of the bucket rod by using the bucket rod angle sensor; and if a control instruction is received, current pose information is generated according to the rotation angle, the movable arm lifting angle, the telescopic length and the bucket rod angle, and control operation corresponding to the control instruction is conducted on a target valve set according to the current pose information. The hydraulic mechanical arm can achieve high-precision automatic control.

The utility model provides an encoder mounting structure and a wind generating set. And the encoder mounting structure is used for connecting the rotary encoder and the variable-pitch motor. The encoder mounting structure comprises an outer fixing sleeve and an inner fixing sleeve, the outer fixing sleeve is sleeved on the periphery of the inner fixing sleeve, and the inner fixing sleeve is sleeved on the periphery of the rotating shaft. A counter bore is formed in a rotating shaft of the rotary encoder in the axial direction, a rotating shaft of the variable-pitch motor is embedded in the counter bore, and the rotating shaft is fixedly connected with the counter bore. The variable pitch motor is provided with a brake, two ends of the outer fixing sleeve are respectively connected to the brake and the rotary encoder, a brake end face of the brake is provided with a positioning groove, one end, facing the brake end face, of the outer fixing sleeve is provided with a positioning bulge, and the positioning bulge is clamped in the positioning groove. According to the encoder mounting structure, the rotary encoder is connected with the variable pitch motor, and the joint of the main shaft and the rotary shaft has high connection stability in the axial direction and the radial direction of the main shaft.