Direct-embedded heating pipeline insulating layer non-evacuation process, slurry matching and equipment thereof

The invention provides a direct-embedded heating pipeline insulating layer non-evacuation process, slurry matching and equipment thereof, belonging to the direct-embedded heating pipeline insulating layer non-evacuation process, slurry matching and equipment thereof in municipal engineering. A road surface does not need to be evacuated, two ends of an outer protective steel pipe are hole-drilled at the position of two adjacent inspection wells of an original pipeline, which are arranged on the ground, damaged powdery waste heat insulating material is exhausted by high-pressure air flows, an injection device is used for leading slurry of the heat insulating material to be injected between the outer protective steel pipe and a working steel pipe, after being solidified, an original pipeline heat supplying system is used for heating and solidification, so as to form a new heat-insulating layer. The slurry injection device comprises a bottom plate, a slurry injection cylinder, a hopper, a hydraulic ...

Bidirectional ball-passing count and display device for ball bed high temperature gas-cooling stack ball-passing loading/unloading system

The invention relates to the detection technique used for a high temperature gas-cooling reactor fuel ball, in particular to a double-direction counting and display device of a ball-bed high temperature gas-cooling reactor ball-handling system. The device consists of a signal pre-treating unit, a wave-shape transforming unit, DSP ball counting unit, a counting pre-setting unit, a display unit and a memorizing unit. The signal pre-treating unit converts a voltage signal V out output by the ball checking device into opposite-direction two-way simulative voltage signals, Va1 and Va2, with high signal to noise ratio. The wave-shape transforming unit receives a dynamic threshold value and converts the Va1 and Va2 into digital signals Vd1 and Vd2. The DSP ball counting unit respectively collects and comprehensively check the analog and digital two groups of signals to judge the ball and ball directions. The invention realizes a double-direction ball counting and the functions of present counted ...

Circuit interface for high-speed CCD camera

The invention discloses a circuit interface for high speed charge coupled device (CCD) camera, belonging to the field of data transmission device, adopting USB2.0 as an interface between high speed CCD camera and computer, where the USB2.0 is connected with a CPLD (complex programmable logic device) as control sensor; the USB2.0 is connected with data/address bus of a MCU, and the I/O port of the CPLD is connected with DMA of the USB2.0 to implement high speed transmission between the CPLD and the USB2.0. In addition, a FIFO is extended from a USB2.0 interface chip, thus omitting a collection card, reducing the cost and enhancing the system reliability; besides, avoiding the data loss in the USB2.0-based transmitting course.

Multi-functional multi-specimen sealing gasket service life evaluation testing apparatus

The invention relates to a multi-functional multi-specimen sealing gasket service life evaluation testing apparatus which comprises a gasket loading and load measuring system (56) and a medium given system (51). The apparatus is characterized in that the air given end of the medium given system (51) is connected with the air inlet end of a medium sealing system (53), the medium sealing system (53) is positioned inside of a temperature controlling and measuring system (54), a cooling thermal insulation system (57) is placed above the medium sealing system (53), and a leakage rate measuring system (55) is positioned on one side of the temperature controlling and measuring system (54); the medium sealing system (53), the temperature controlling and measuring system (54) and the cooling thermal insulation system (57) are connected respectively through stress bolts (14) of the gasket loading and load measuring system (56); and a data acquisition and control system (52) is respectively and electrically ...

Coupling underactuated integrated bionic hand device

The invention relates to a coupling underactuated integrated bionic hand device, belonging to the technology field of humanoid robots; the bionic hand device comprises a thumb, a forefinger, a middle finger, a third finger, a little finger and a palm. The device comprises five individually controlled fingers and fifteen joint freedom degrees and is driven by six motors, and the device realizes the functions of highly simulating the appearance of a human hand and grabbing action and is suitable for the humanoid robot. The forefinger, the middle finger, the third finger, and the little finger adopt modular structures, and the commonality of parts is strong. All fingers utilize a connecting rod and a spring piece to form a coupling driving mechanism and an underactuated driving mechanism which are integrated, thereby comprehensively realizing special effect of integrating the coupling and underactuated self-adaption grabbing process. In the grabbing process, the device is turned by a coupling ...

Magnetically absorbing wall-climbing robot crawler

Clearance magnetic adsorption type two-dimensional grinding force test system

The invention provides a clearance magnetic adsorption type two-dimensional grinding force test system, relating to an experimental facility for testing a grinding force in a machining process. The test system comprises a traction device, a magnetic-conducting rail platform, a lifting processing device, a magnetic adsorption moving mechanism and a data acquisition system. The traditional grindingforce measuring equipment is usually realized by adopting a grinding machine and a two-dimensional or multi-dimensional force testing sensor, the experimental facility is complex and cost is high. The clearance magnetic adsorption type two-dimensional grinding force test system provided by the invention can be used for carrying out grinding and data acquisition and processing simultaneously, has the advantages of compact structure, small volume, convenience for dismounting and regulating and lower cost, and is applicable to a grinding force testing experiment.

Flexible part crank block type parallel coupling underactuated robot finger device

The invention discloses a flexible part crank block type parallel coupling underactuated robot finger device, and belongs to the technical field of anthropomorphic robot hands. The device comprises a base, a near joint shaft, a first finger segment, a far joint shaft, a second finger segment, a connecting rod, a drive plate, a motor, a flexible part and a spring. The device can achieve the transmission effect combining coupling rotation and underactuated rotation, can realize anthropomorphic grasp through coupling, and also has the underactuated adaptive function. The whole finger has the advantages of concise structure, low manufacturing and processing cost, natural decoupling by utilizing block moving contact mode, no need of power consumption of the motor and high energy utilization rate. A crank block mechanism of the second finger segment can realize large-angle rotation of the second finger segment by moving very short distance of an active block. The device is similar to a human ...

Robot anthropomorphic multi finger band device

An anthropomorphic multi-finger hand device for robot is composed of palm, thumb, forefinger, middle finger, ring finger, little finger, root joint for thumb and the root joints for other fingers. The root joints are active ones driven by motors. Each finger has three joints, and the joints have 11 degrees of freedom in total. All the other joints are under-driven ones. Its advantages are highly integrated level, easy control, small size and light weight.

Underactuated drive finger device of hand-imitating cascaded connection of robot

Flexible part crank block type parallel coupling underactuated robot finger device

The invention discloses a flexible part crank block type parallel coupling underactuated robot finger device, and belongs to the technical field of anthropomorphic robot hands. The device comprises a base, a near joint shaft, a first finger segment, a far joint shaft, a second finger segment, a connecting rod, a drive plate, a motor, a flexible part and a spring. The device can achieve the transmission effect combining coupling rotation and underactuated rotation, can realize anthropomorphic grasp through coupling, and also has the underactuated adaptive function. The whole finger has the advantages of concise structure, low manufacturing and processing cost, natural decoupling by utilizing block moving contact mode, no need of power consumption of the motor and high energy utilization rate. A crank block mechanism of the second finger segment can realize large-angle rotation of the second finger segment by moving very short distance of an active block. The device is similar to a human ...

Universal prism device shortening lens axial length

A universal prism device shortening lens axial length belongs to the technical field of optical systems and comprises a prism component and a shell. The prism component comprises an entrance prism, anemergent prism, at least one transition piece and at least two intermediate prisms. The universal prism device adopts the combination of a plurality of rectangular prisms, filter lenses and polarizers as well as modular design, thus being convenient for assembly and low in cost, realizing comprehensive functions of reducing system axial size, filtering and adjustable light decreasing, and corresponding series combination modes are also provided; the universal prism device can be universally used in various imaging systems and used for shortening the axial sizes of the imaging systems or actively and effectively utilizing the periphery spaces of the imaging system; and the device realizes imaging systems with flexible volume elasticity and is beneficial to the imaging systems to obtain better ...

Under drive mechanical finger device of connecting rod

Curve welding gap magnetic catch type device with follow moving and position and orientation adjusting of welding gun

The invention discloses a curve welding gap magnetic catch type device with follow moving and position and orientation adjusting of a welding gun, belong to the technical field of welding. The device comprises a frame, a transverse opening and closing mechanism, an elevator mechanism, more than three vertical guide rods, a rotating shaft, a first motor, a second motor, a welding gun clamping drum, three universal wheels and a permanent magnet. The device has the advantage that the automatic adaptation of the welding gun to the curvature of the curve and the follow moving of the welding gun, as well as the adjusting function of the position and the angle of the welding gun when welding a workpiece with complex spatial curve through using the combination of the three-point fixing principle of the curve welding tangential plane, the gap catch mechanism of the permanent magnet, and the multi-freedom movement mechanism; and simultaneously, the device is simple and compact in structure, flexible ...

Coupling under-actuated integrated three-joint robot finger device

The invention provides a coupling under-actuated integrated three-joint robot finger device, which belongs to the technical field of robot hands. The device comprises a base, one motor, three finger segments, four joint shafts, one motor, eight connecting rods, four spring pieces and the like. The invention utilizes the connecting rods and the spring pieces to form a coupling transmission mechanism and an under-actuated transmission mechanism which are integrated and are in sleeved connection with the three finger segments so as to comprehensively realize the special effect of integrating a three-joint finger coupling-grabbing process with an under-actuated self-adaptive grabbing process. The finger device adopts a coupling mode for rotation before touching objects, can grab the objects in a pinching way, can adopt an under-actuated self-adaptive mode to rotationally grab the objects after touching the objects, and automatically adapts to the size and shape of the grabbed objects so as ...

Line-shaped laser vertical rotation type three-dimensional appearance measuring apparatus and method thereof

The invention relates to a device and a method for measuring a horizontal laser vertically rotary three-dimensional shape, and belongs to the technical field of computer vision measurement. The device comprises a base, a camera, a horizontal laser, a motor, a rotational axis, an angle measuring element, a driving circuit, a switching circuit and a controller, wherein the camera and the horizontallaser are fixedly connected with the rotational axis of which a central line is positioned in a laser plane of the horizontal laser; the included angle between an observation plane formed by the central line of the rotational axis and a focal center of a lens and the laser plane is between 80 and 100 DEG; and the included angle between the central line of the rotational axis and an optical axis of the lens is between 40 and 50 DEG. The device can detect edge information in various directions, realize high-precision measurement of the three-dimensional shape of object surfaces, and avoid the inconvenience ...

High-temperature comprehensive property evaluation experimental device of sealing spacer

The invention relates to a high-temperature comprehensive property evaluation experimental device of a sealing spacer, comprising a spacer loading system, a flange lifting separation system, a spacer deformation measuring system, a heating and temperature control measuring system, a cooling heat insulation system, a medium setting system, a medium sealing and leakage rate measuring system and a data acquisition system. The invention has the advantages of high parameter, convenient experiment, compact structure of a whole experimental machine, small occupying area, and the like, takes a low-pressure area as a leakage measuring cavity, enhances the measuring precision of the pressure of the leakage measuring cavity and also effectively avoids the problem of pipeline leakage caused by takinga high-pressure area as a leakage cavity so that the measurement of the sealing property of the spacer is more accurate; and in addition, the flange lifting separation system can solve the problem ofthe ...

Under-driven adaptive mechanical finger

An under-driven adaptive mechanical finger has the first and the second knuckles, active plate and under-driven joint consisting of big gear axle, duplicate gear axle, small gear axle and spring linked between two knuckles. The said three gear axles are sleeved on the first bnackle. Its advantages are no need of own driver, lifelike appearance similar to human finger, small size, simple structure, light weight, low requirement to control system, and several degrees-of-freedom.

Tendon-channel under-driven mechanical finger device

Multi-body magnetic adsorption type adaptive wall climbing robot

The invention discloses a multi-body magnetic adsorption type adaptive wall climbing robot and belongs to the technical field of special robots. The robot comprises a main body device, at least one slave body device, at least one mechanical arm and a working tool arranged on each slave body device, wherein the main body device comprises a main body frame, a movable mechanism and a main body magnetic adsorption device; the slave body device comprises a slave body frame, a slave body magnetic adsorption device and at least one auxiliary supporting wheel; and each mechanical arm comprises at least five connecting rods, at least two active joints and at least two passive joints. The invention provides a wall climbing robot which flexibly moves and steers on a magnetized wall surface at full positions spatially, is adaptive to a spatial curved surface and can perform welding, gouging, cutting, grinding, milling, detecting, cleaning or spraying work. The robot has wide processing range, high ...

Sub-threshold CMOS temperature detector

The invention provides a sub-threshold CMOS temperature detector. The CMOS temperature detecting circuit comprises a starting circuit used for generating a starting voltage (VN), and a proportional to absolute temperature (PTAT) current generator coupled to the starting circuit and used for generating a PTAT current. The starting voltage conducts the PTAT current generator and the PTAT current generator uses the sub-threshold characteristic of the CMOS to generate the PTAT current. A PTAT voltage generator coupled to the PTAT current generator receives the PTAT current, and generates a PTAT voltage and a reverse PTAT voltage (VBE). A comparator circuit coupled to the voltage generator compares the reverse PTAT voltage with a first alarm limit and a second alarm limit which are defined by the generated PTAT voltage, and generates an alarm signal based on the comparison result.

Coupling underactuated integrated bionic hand device

The invention relates to a coupling underactuated integrated bionic hand device, belonging to the technology field of humanoid robots; the bionic hand device comprises a thumb, a forefinger, a middle finger, a third finger, a little finger and a palm. The device comprises five individually controlled fingers and fifteen joint freedom degrees and is driven by six motors, and the device realizes the functions of highly simulating the appearance of a human hand and grabbing action and is suitable for the humanoid robot. The forefinger, the middle finger, the third finger, and the little finger adopt modular structures, and the commonality of parts is strong. All fingers utilize a connecting rod and a spring piece to form a coupling driving mechanism and an underactuated driving mechanism which are integrated, thereby comprehensively realizing special effect of integrating the coupling and underactuated self-adaption grabbing process. In the grabbing process, the device is turned by a coupling ...

Electromagnetic direct driven robot finger apparatus

The invention discloses a robot finger device driven directly by electromagnetism, which belongs to the technical field of anthropomorphic robots. The finger device comprises a single-joint finger device and a multi-joint finger device. The single-joint finger device comprises a first finger section, a second finger section and an electromagnetically driven joint body arranged in the first finger section, wherein the electromagnetically driven joint body comprises a joint shaft, a pinion-rack meshing mechanism, a coil, a spacing sleeve, an iron core and a spring piece. The device comprehensively realizes a special joint body driven directly by electromagnetism by using the coil, the magnetic finger sections, the pinion-rack meshing mechanism and the spring piece. The device drives fingers to bend by using induced magnetic force, has short transmission chain, small movement gap, achieves stable grab, realizes finger bending and large grabbing force with smaller volume, is compact and reliable ...

Direct-embedded heating pipeline insulating layer non-evacuation process, slurry matching and equipment thereof

The invention provides a direct-embedded heating pipeline insulating layer non-evacuation process, slurry matching and equipment thereof, belonging to the direct-embedded heating pipeline insulating layer non-evacuation process, slurry matching and equipment thereof in municipal engineering. A road surface does not need to be evacuated, two ends of an outer protective steel pipe are hole-drilled at the position of two adjacent inspection wells of an original pipeline, which are arranged on the ground, damaged powdery waste heat insulating material is exhausted by high-pressure air flows, an injection device is used for leading slurry of the heat insulating material to be injected between the outer protective steel pipe and a working steel pipe, after being solidified, an original pipelineheat supplying system is used for heating and solidification, so as to form a new heat-insulating layer. The slurry injection device comprises a bottom plate, a slurry injection cylinder, a hopper, ahydraulic ...

CCD vidicon exposal time sequence controller for sampling welding image

Testing method of leakage rate of high-temperature sealing gasket and testing device thereof

The invention relates to a testing method of the leakage rate of a high-temperature sealing gasket and a testing device thereof, which establishes the corresponding testing method of the leakage rateof the high-temperature sealing gasket. The testing method and the testing device thereof perfect the testing method of the leakage rate of the high-temperature gasket, have reasonable structure, ensure the high precision in measuring the pressure of a leakage detecting cavity, and overcome the problem of large experimental error because the leakage detecting cavity is not tightly sealed, so the leakage rate test of the high-temperature gasket can be realized easily. The structure of the leakage detecting cavity is improved, and the testing method of the leakage rate of the high-temperature gasket by using a low-pressure region as the leakage detecting cavity is established. The invention plays a positive role in researching the sealing performance of the high-temperature gasket and promoting ...

Crank block type flexible piece parallel coupled under-actuated finger device

The invention discloses a crank block type flexible piece parallel coupled under-actuated finger device, which belongs to the technical field of anthropomorphic robot fingers. The device comprises a pedestal, a proximal joint shaft, a first finger section, a far joint shaft, a second finger section, a dial plate, a connecting rod, a flexible piece and a spring piece. The device achieves the transmission effect of tightly combining coupled rotation and under-actuated rotation, can couple anthropomorphic grab, and has under-actuated adaptive function. The whole finger has a compact structure, and the manufacturing and machining costs are low; and the coupled transmission and the under-actuated transmission are organically fused, natural decoupling is realized in an active contact mode of a slide block, the decoupling does not consume motor power, and the utilization rate of energy is high. With a similar appearance as a human finger, the device can be used as a finger of a robot hand or a ...

Double-joint wheel type parallel coupling under-actuated bio-simulation mechanical finger device

The invention relates to a double-joint wheel type parallel coupling under-actuated bio-simulation mechanical finger device, which belongs the technical field of anthropomorphic robot hands. The device comprises a base, a motor, a speed reducer, a proximal joint axis, a middle finger part, a distal joint axis, a distal finger part, a pinion and rack coupling transmission mechanism, a wheel type under-actuated transmission mechanism and a plurality of spring pieces. By adopting the motor, the pinion and rack coupling transmission mechanism and the plurality of spring pieces, the device comprehensively integrates a coupled catching effect and a self-adaptation under-actuated catching effect, wherein when a finger does not touch an object, each joint simultaneously rotates in a coupling mode, so the device has a high anthropomorphosis and simultaneously can realize motions of pinching and holding of a distal end; and when the finger touches the object, each joint rotates in a under-actuated ...

Storing card control device and related protection method thereof

The invention discloses a controlling device used for storing a storage card, which comprises a bus, a detection circuit and an alignment circuit. The bus is used as a signal transmission line between the controlling device and the storage card, and provided with a power source signal line used to provide power source signals to the storage card; the detection circuit is used to detect the operation state of the controlling device, and generates a notice signal when the operation state exceeds a preset operation scope; the alignment circuit is coupled with the bus and the detection circuit and adjusts current on the power source signal line without shutting down the power source signals according the notice signal, the operation state of the controlling device is made within the preset operation scope.

Under driving mechanical finger device capable of shape self adaptation

A shape-adaptive under-driven mechanical finger for robot is composed of a first finger segment, an under-driven joint and a second finger segment. The under-driven joint consists of an active slide block inlaid in the first finger segment, a joint gear axle fixed to the second finger segment, a rack bar fixed to the said active slide block and matched with the said gear, and a spring between thefirst finger segment and the active slide block. It can grasp objects with different shapes.

Line-shaped laser vertical rotation type three-dimensional appearance measuring apparatus and method thereof

The invention relates to a device and a method for measuring a horizontal laser vertically rotary three-dimensional shape, and belongs to the technical field of computer vision measurement. The device comprises a base, a camera, a horizontal laser, a motor, a rotational axis, an angle measuring element, a driving circuit, a switching circuit and a controller, wherein the camera and the horizontal laser are fixedly connected with the rotational axis of which a central line is positioned in a laser plane of the horizontal laser; the included angle between an observation plane formed by the central line of the rotational axis and a focal center of a lens and the laser plane is between 80 and 100 DEG; and the included angle between the central line of the rotational axis and an optical axis of the lens is between 40 and 50 DEG. The device can detect edge information in various directions, realize high-precision measurement of the three-dimensional shape of object surfaces, and avoid the inconvenience ...

Crank block type flexible piece parallel coupled under-actuated finger device

The invention discloses a crank block type flexible piece parallel coupled under-actuated finger device, which belongs to the technical field of anthropomorphic robot fingers. The device comprises a pedestal, a proximal joint shaft, a first finger section, a far joint shaft, a second finger section, a dial plate, a connecting rod, a flexible piece and a spring piece. The device achieves the transmission effect of tightly combining coupled rotation and under-actuated rotation, can couple anthropomorphic grab, and has under-actuated adaptive function. The whole finger has a compact structure, and the manufacturing and machining costs are low; and the coupled transmission and the under-actuated transmission are organically fused, natural decoupling is realized in an active contact mode of a slide block, the decoupling does not consume motor power, and the utilization rate of energy is high. With a similar appearance as a human finger, the device can be used as a finger of a robot hand ora ...

High speed video frequency collecting system

The present invention discloses a kind of high speed video acquisition system in image sensing and recording technology. The high speed video acquisition system consists of high speed video camera, computer and software, and adopts USB2.0 as digital video transmission protocol. The high speed video camera converts the light signal into digital video signal fed to the computer via USB2.0 data interface; and the computer sets the operation parameters of the high speed video camera by means of its software and acquires digital image from the high speed video camera for storing and operation. Adopting USB2.0 as digital video transmission protocol can omit PCI video acquisition card, and this results in optimized system structure, raised system reliability and lowered cost. The computer and the high speed video camera transmit data through one USB cable and this raises system flexibility and platform compatibility.

High-temperature comprehensive property evaluation experimental device of sealing spacer

The invention relates to a high-temperature comprehensive property evaluation experimental device of a sealing spacer, comprising a spacer loading system, a flange lifting separation system, a spacerdeformation measuring system, a heating and temperature control measuring system, a cooling heat insulation system, a medium setting system, a medium sealing and leakage rate measuring system and a data acquisition system. The invention has the advantages of high parameter, convenient experiment, compact structure of a whole experimental machine, small occupying area, and the like, takes a low-pressure area as a leakage measuring cavity, enhances the measuring precision of the pressure of the leakage measuring cavity and also effectively avoids the problem of pipeline leakage caused by takinga high-pressure area as a leakage cavity so that the measurement of the sealing property of the spacer is more accurate; and in addition, the flange lifting separation system can solve the problem ofthe ...

Universal prism device shortening lens axial length

A universal prism device shortening lens axial length belongs to the technical field of optical systems and comprises a prism component and a shell. The prism component comprises an entrance prism, an emergent prism, at least one transition piece and at least two intermediate prisms. The universal prism device adopts the combination of a plurality of rectangular prisms, filter lenses and polarizers as well as modular design, thus being convenient for assembly and low in cost, realizing comprehensive functions of reducing system axial size, filtering and adjustable light decreasing, and corresponding series combination modes are also provided; the universal prism device can be universally used in various imaging systems and used for shortening the axial sizes of the imaging systems or actively and effectively utilizing the periphery spaces of the imaging system; and the device realizes imaging systems with flexible volume elasticity and is beneficial to the imaging systems to obtain better ...

Coupling under-actuated integrated three-joint robot finger device

The invention provides a coupling under-actuated integrated three-joint robot finger device, which belongs to the technical field of robot hands. The device comprises a base, one motor, three finger segments, four joint shafts, one motor, eight connecting rods, four spring pieces and the like. The invention utilizes the connecting rods and the spring pieces to form a coupling transmission mechanism and an under-actuated transmission mechanism which are integrated and are in sleeved connection with the three finger segments so as to comprehensively realize the special effect of integrating a three-joint finger coupling-grabbing process with an under-actuated self-adaptive grabbing process. The finger device adopts a coupling mode for rotation before touching objects, can grab the objects in a pinching way, can adopt an under-actuated self-adaptive mode to rotationally grab the objects after touching the objects, and automatically adapts to the size and shape of the grabbed objects so as ...

Under driving mechanical finger device capable of shape self adaptation and high under driving mechanical finger device

Predicting method of leakage rate of bolted flange connection structure with anti-loosing washer

The invention relates to a predicting method of the leakage rate of a bolted flange connection structure with an anti-loosing washer. Aiming at the defect that the leakage rate of the prior bolted flange connection structure with the anti-loosing washer can not be predicted, by establishing the deformation compatibility equation of the bolted flange connection with the anti-loosing washer and calculating the pretightening force and the working stress of a gasket, and according to the tightness principle, the predicting method of the leakage rate of the bolted flange connection structure with the anti-loosing washer is established, so that the prediction of the leakage rate of the connection structure is realized. The predicting method of the invention has simple calculation principle and method and accurate prediction result, and can be widely applied to the prediction and calculation of the leakage rate of the connection structure in the circumstance of high temperature and high pressure ...

Multi-body magnetic adsorption type adaptive wall climbing robot

The invention discloses a multi-body magnetic adsorption type adaptive wall climbing robot and belongs to the technical field of special robots. The robot comprises a main body device, at least one slave body device, at least one mechanical arm and a working tool arranged on each slave body device, wherein the main body device comprises a main body frame, a movable mechanism and a main body magnetic adsorption device; the slave body device comprises a slave body frame, a slave body magnetic adsorption device and at least one auxiliary supporting wheel; and each mechanical arm comprises at least five connecting rods, at least two active joints and at least two passive joints. The invention provides a wall climbing robot which flexibly moves and steers on a magnetized wall surface at full positions spatially, is adaptive to a spatial curved surface and can perform welding, gouging, cutting, grinding, milling, detecting, cleaning or spraying work. The robot has wide processing range, high ...

Rack crank slide block type parallel coupling under-driving robot finger device

The invention relates to a rack crank slide block type parallel coupling under-driving finger device which belongs to the technical field of impersonating robot hands and comprises a base, a near joint axis, a first finger section, a far joint axis, a second finger section, a link, a dial, a motor, a rack and a spring part. The device realizes a transmission effect with the combination of coupling rotation and under-driving rotation, realizes impersonating catching by coupling, and also has an under-driving self-adaptive function. The whole finger has compact structure and low manufacturing and processing costs. Natural decoupling is realized in a movable contact mode of a slide block, without power consumption of the motor and with high utilization rate. A crack slide block mechanism of the second finger section can move by a short distance by a driving slide block to realize the large-angle rotation of the second finger section. The shape of the device is similar to that of a human finger ...

Double DSP built-in control system for visual feedback during soldering process

The invention discloses a double DSP embedded type welding process visual feedback control system for welding seam tracking and welding quality control in welding automation, comprising a DSP image processing module, a DSP feedback control module, a power and reset module, a visual interface module, an analog video coding module and a USB control module. The DSP image processing module extracts the eigenvalues of a welding region image transmitted from the video interface module and transmits to the DSP feedback control module, the DSP feedback control module outputs corresponding signals according to the eigenvalues, and finishes close-loop control of welding seam tracking and welding quality. By this invention, welding seam tracking and welding seam shaping control can be carried out without a host computer.

Fuel ball bidirectional ball-passing test device of butt assembly type ball bed high temperature gas-cooled reactor

Rack crank slide block type parallel coupling under-driving robot finger device

The invention relates to a rack crank slide block type parallel coupling under-driving finger device which belongs to the technical field of impersonating robot hands and comprises a base, a near joint axis, a first finger section, a far joint axis, a second finger section, a link, a dial, a motor, a rack and a spring part. The device realizes a transmission effect with the combination of coupling rotation and under-driving rotation, realizes impersonating catching by coupling, and also has an under-driving self-adaptive function. The whole finger has compact structure and low manufacturing and processing costs. Natural decoupling is realized in a movable contact mode of a slide block, without power consumption of the motor and with high utilization rate. A crack slide block mechanism of the second finger section can move by a short distance by a driving slide block to realize the large-angle rotation of the second finger section. The shape of the device is similar to that of a human finger ...

Crawler for magnetically adsorbed wall-climbing robot

The caterpillar track for magnetic adsorption type wall-climbing robot comprises changeable magentic adsorption units, chain, driving and driven chain wheels, shifting wheel, chain wheel axles, strainer and connecting plate, in which several changeable magnetic adsorption units are arranged according to the polarization direction of magnetic poles and the shifting bar positions are uniformly alternatively arranged on the chain, four shifting wheels and driving and driven chain wheels are coaxially mounted on the chain wheel axles, and the axial position of shifting wheel is defined by regulating sleeve. The maximum adsorption force of the invented adsorption unit can be up to 25 kgf, and the minimum adsorption force of adsorption unit of caterpillar track when it is separated from wall surface is 0.9 kfg.

Multi-functional multi-specimen sealing gasket service life evaluation testing apparatus

The invention relates to a multi-functional multi-specimen sealing gasket service life evaluation testing apparatus which comprises a gasket loading and load measuring system (56) and a medium given system (51). The apparatus is characterized in that the air given end of the medium given system (51) is connected with the air inlet end of a medium sealing system (53), the medium sealing system (53) is positioned inside of a temperature controlling and measuring system (54), a cooling thermal insulation system (57) is placed above the medium sealing system (53), and a leakage rate measuring system (55) is positioned on one side of the temperature controlling and measuring system (54); the medium sealing system (53), the temperature controlling and measuring system (54) and the cooling thermal insulation system (57) are connected respectively through stress bolts (14) of the gasket loading and load measuring system (56); and a data acquisition and control system (52) is respectively and electrically ...

Double-joint wheel type parallel coupling under-actuated bio-simulation mechanical finger device

The invention relates to a double-joint wheel type parallel coupling under-actuated bio-simulation mechanical finger device, which belongs the technical field of anthropomorphic robot hands. The device comprises a base, a motor, a speed reducer, a proximal joint axis, a middle finger part, a distal joint axis, a distal finger part, a pinion and rack coupling transmission mechanism, a wheel type under-actuated transmission mechanism and a plurality of spring pieces. By adopting the motor, the pinion and rack coupling transmission mechanism and the plurality of spring pieces, the device comprehensively integrates a coupled catching effect and a self-adaptation under-actuated catching effect, wherein when a finger does not touch an object, each joint simultaneously rotates in a coupling mode, so the device has a high anthropomorphosis and simultaneously can realize motions of pinching and holding of a distal end; and when the finger touches the object, each joint rotates in a under-actuated ...

Steel plate surface magnetic adsorption lift type grinding device

The invention relates to a steel plate surface magnetic adsorption lift type grinding device and belongs to the technical field of industrial robots. The steel plate surface magnetic adsorption lift type grinding device comprises a machine frame, a first motor, a grinding wheel, a grinding wheel lifting mechanism, a vertical guide device, a horizontal guide device, a tail end sliding block and an adsorption unit, wherein the machine frame comprises an upper plate and a lower plate; an output shaft of the first motor is connected with the grinding wheel through a transmission mechanism; the grinding wheel is arranged on the tail end sliding block; the grinding wheel lifting mechanism comprises more than one lifting connecting rod groups; and one end of each lifting connecting rod group is hinged with the tail end sliding block and the other end of each lifting connecting rod group is hinged with the horizontal guide device. The grinding wheel lifting mechanism controls the grinding wheel ...

4-(2'-n-butyl-4,5-disubstituted-2,4'-bis-imidazole-3'-methyl) benzoic acid derivative

The invention discloses a 4-(2'-n-butyl-4,5-disubstituted-2,4'-bis-imidazole-3'-methyl) benzoic acid derivative, belonging to the technical field of compounds. The invention aims to design and synthesize a 4-(2'-n-butyl-4,5-disubstituted-2,4'-bis-imidazole-3'-methyl) benzoic acid derivative and provide application of the derivative as a medicament to the treatment of hypertension diseases. The derivative is expressed by a structural general formula (I) shown in the specifications, wherein R1 and R2 refer to H, fatty alkyl with 1-3 carbon atoms, fatty alkoxy with 1-3 carbon atoms or halogen; and M is an alkali metal. The compound disclosed by the invention has high anti-hypertension activity, and is applied to the treatment of diseases such as hypertension, hypertension-related diseases, including angina, cardiac failure and the like.

Application system for potential, kinetic and air energy of vehicle

The invention relates to a novel energy development and utilization, disclosing a vehicle potential and pneumatic system, comprising the vehicle potential and pneumatic application method and the device, characterized in that: utilize the potential energy produced in the bumping of the vehicle to drive the piston air pump (air compressor) and thus produce the high pressure pneumatic energy which can be conveniently used. The piston air pump (air compressor) is arranged between the vehicle body and the wheel shaft. Both ends (one end) of the pump (air compressor) are (is) connected with the vehicle body and the wheel shaft. The pump (air compressor) is connected by the high pressure windpipe and the air storage tank, which is connected by the high pressure windpipe and other air sets. The invention can effectively reduce the energy consumption of the vehicle operation, share the pressure of the vehicle damping system, prolongs the service life of the vehicle damping system and enhance the ...

Storing card control device and related protection method thereof

The invention discloses a controlling device used for storing a storage card, which comprises a bus, a detection circuit and an alignment circuit. The bus is used as a signal transmission line betweenthe controlling device and the storage card, and provided with a power source signal line used to provide power source signals to the storage card; the detection circuit is used to detect the operation state of the controlling device, and generates a notice signal when the operation state exceeds a preset operation scope; the alignment circuit is coupled with the bus and the detection circuit andadjusts current on the power source signal line without shutting down the power source signals according the notice signal, the operation state of the controlling device is made within the preset operation scope.

CLASS-D AUDIO AMPLIFIER

The present disclosure relates to a class-D audio amplifier. When the system is powered on, an auxiliary power amplifier and an auxiliary feedback circuit constitute an auxiliary close loop so that a control loop is established in advance. The auxiliary close loop is disconnected after various circuit modules reach their steady operation points, and the system operates at a normal state. A soft start circuit is provided for suppressing noise which occurs when the system is powered on. Thus, the class-D audio amplifier suppresses POP noise at an output terminal when the system is powered on. 1. A class-D audio amplifier , comprising:a loop filter configured to receive and filter an audio signal and provide a first audio signal;a PWM modulation circuit being electrically coupled to said loop filter, and configured to receive said first audio signal and compare said first audio signal with a triangular wave signal and provide an audio PWM signal;a power amplifier being electrically coupled to said PWM modulation circuit, and configured to receive and amplify power of said audio PWM signal and provide an output voltage;an auxiliary power amplifier configured to start to operate when said system is powered on and stops operating after said system is powered off; anda soft start circuit configured to suppress noise interference from a control loop when said system is powered on,wherein an output voltage of said power amplifier is not fed back to an input terminal of said loop filter, or said power amplifier is disabled, when said auxiliary power amplifier is active.2. The class-D audio amplifier according to claim 1 , further comprising an auxiliary feedback circuit which connects said auxiliary power amplifier to or disconnects said auxiliary power amplifier from said system.3. The class-D audio amplifier according to claim 2 , wherein said auxiliary power amplifier is connected between an input terminal and an output terminal of said loop filter through said auxiliary ...

Brake device of film sticking machine of film coating line

本实用新型提供了一种镀膜线贴膜机制动装置，包括电磁制动组件和柔性连接组件；所述柔性连接组件设置在胶辊和电磁制动组件之间，用于连接电磁制动组件和胶辊；所述电磁制动组件包括带有电磁线圈的磁轭、连接轴、制动片，所述磁轭为环形，磁轭的轴线位置设有轴孔，所述连接轴设置在轴孔内，磁轭的轴孔内侧设有轴承，所述连接轴设置在轴承内侧；所述连接轴的一端设有制动块，所述制动片通过导向柱轴向移动，所述制动片为衔铁片，所述制动片与磁轭之间还设有推动弹簧。本实用新型所述的镀膜线贴膜机制动装置可以实现对胶辊的瞬间电磁制动，能够完全避免贴膜机自动运行过程中出现的倒转卷膜隐患，操作便捷、安装简单、成本低。

Class-D audio amplifier

The present disclosure relates to a class-D audio amplifier. When the class-D audio amplifier is powered on, an auxiliary power amplifier and an auxiliary feedback circuit constitute an auxiliary close loop so that a control loop is established in advance. The auxiliary close loop is disconnected after various circuit modules reach their steady operation points, and the class-D audio amplifier operates at a normal state. A soft start circuit is provided for suppressing noise which occurs when the class-D audio amplifier is powered on. Thus, the class-D audio amplifier suppresses POP noise at an output terminal when the class-D audio amplifier is powered on.