531results about How to "Avoid colliding with each other" patented technology

The invention provides a robot scheduling method and apparatus. The method comprises the following steps: according to a current work task, selecting a robot to be scheduled; obtaining initial node coordinates and destination node coordinates of the robot to be scheduled in a corresponding three-dimensional coordinate system in a work place; according to the initial node coordinates and the destination node coordinates, a moving speed of the robot to be scheduled and a time table about planned nodes which a robot moves past in the work place, planning a movement path of the robot to be scheduled; and triggering the robot to be scheduled to execute a work task according to the movement path. According to the invention, a mode of demonstrating the work place in the form of nodes and the movement path in the form of time through the three-dimensional coordinate system is employed, and according to states of all nodes within preset time between initial nodes and destination nodes of robots, centralized scheduling is performed on the robots in the work place, such that mutual bumps between the robots is avoided, and at the same time, the flexibility of the control mode of the robots is improved.

The invention relates to the technical field of coordinated dispatching for AGVs, in particular to an AGV dispatching system. According to the AGV dispatching system, multiple AGVs are flexibly dispatched, collision of the AGVs is avoided, the problem of singleness of the traveling path of the multiple AGVs is solved, it is avoided that more navigation tracks need to be additionally arranged, cost is reduced, and production efficiency is improved. The AGV dispatching system comprises a calling module, a communication module, a vehicle-mounted control module and an upper computer module. The calling module is used for sending calling signals to the communication module when the AGVs are needed by a certain station. The communication module receives the calling signals and then sends the calling signals to the vehicle-mounted control module. The vehicle-mounted control module receives the calling signals and then controls the AGVs to move to the station where the calling signals are sent. The vehicle-mounted control module sends position signals to the communication module in the working process. After receiving the position signals, the communication module sends the position signals to the upper computer module for position display.

The invention relates to the technical field of AGVs and particularly relates to an AGV scheduling system. The system comprises several AGVs and a scheduling center 1 which can communicate with the AGVs. Each of the AGVs comprises a vehicle-borne signal transmitting module 101, a vehicle-borne signal receiving module 102 and a vehicle-borne controller 103. The scheduling center 1 comprises a signal receiving module 11, a storage module 12, a calculation module 13 and a signal transmitting module 14. Through the above modules, the AGVs are scheduled, all AGVs in a field can be flexibly scheduled, the collision of the AGVs is avoided, at the same time an AGV can be selected nearby to go to a site according to the site, the production efficiency is improved, and the cost is saved.

The invention provides a method of receiving a paging message in a communication system based on machine type communication. The method of receiving a paging message in a communication system based on machine type communication uses an (E)PDCCH scheduling mode to transmit a paging message. The method comprises the following steps: C) receiving the scheduling information transmitted on an (E)PDCCH, wherein the scheduling information at least includes the first indication information, and is used for assisting user equipment to determine to receive a sub-band of a PDSCH of the paging message; D) calculating a paging occasion, and determining the sub-band based on the paging occasion and the first indication information; and E) receiving the paging message on the sub-band. The method of receiving a paging message in a communication system based on machine type communication can improve the transmission efficiency of the paging message for MTC (Machine Type Communication) in Release 13, and can avoid mutual collision between paging messages while providing the coverage range.

The invention discloses a cable pay-off device for power construction. Vertical posts are arranged at two ends of a bottom plate, a guide rail is arranged at one side of each vertical post, an air cylinder is fixedly arranged on the bottom plate, a first sliding block is arranged at an upper end of a piston rod of the air cylinder, upper ends of the vertical posts at two sides are connected by a top plate, two ends of a second connection rod are placed on the first sliding block, a plurality of cable discs are arranged on the second connection rod, a plurality of second supports are arranged at one side f the top plate, a first rotation shaft is arranged on the second supports, a plurality of winding wheels are movably arranged on the first rotation shaft, the numbers of the first windingwheels are equal to the numbers of the cable discs, and the first winding wheel slides among the second supports along an axial direction of the first rotation shaft. The cable disc is jacked up by the air cylinder, the cable disc is prevented from being contacted with ground, so that the friction between the cable disc and the ground is prevented, and the cable pay-off difficulty is reduced; andmoreover, multiple groups of cable discs are arranged on the second connection rod and are used for unwinding, the labor intensity of a worker is reduced, and the cable laying efficiency is greatly improved.

The invention provides a shuttle vehicle positioning system and a control method. A radio frequency code reader and a groove type photoelectric switch are installed at the bottom of a shuttle vehicle. Code carriers and a location identification chip are installed close to a rail. The code carriers are arranged in the positions, 3-4 m away from a loading table and an unloading table, of the rail correspondingly. The code carriers and the location identification chip are arranged in the positions of the loading table and the unloading table. The location identification chip corresponds to the groove type photoelectric switch in position. The code carriers are arranged on the rail at an interval of 3-4m. Different numbers are set for the code carriers. The shuttle vehicle is installed on the operation rail. A programmable controller communicates with an industrial control computer on the ground through a wireless communication device. The industrial control computer communicates with the programmable controller installed on the shuttle vehicle through the wireless communication device. The programmable controller is connected with the radio frequency code reader and the groove type photoelectric switch through a port of the programmable controller. According to the shuttle vehicle positioning system and the control method, accurate positioning is achieved through combination of the radio frequency code reader and the groove type photoelectric switch, and the positioning system is stable, reliable, high in precision, low in cost and wide in application range.

The invention relates to a kitchen appliance, in particular to a micro-grinding soymilk maker. The soymilk maker comprises a motor, a grinding device and a control device, wherein the grinding device comprises a movable grinding disc and a fixed grinding disc, the motor is used for driving the movable grinding disc to operate, and the soymilk maker is characterized in that shearing parts which are mutually staggered and matched are arranged on the movable grinding disc and the fixed grinding disc, and the linear velocity of the shearing parts is 7m / s-60m / s. The invention provides the soymilk maker which can thoroughly grind soybeans and make soymilk capable of being directly drunk without filtering, and the soymilk maker is simple in structure, stable in performances, safe and reliable.

The invention discloses a packing box which comprises partition plates. Each partition plate comprises an upper membrane, a lower membrane and a frame, and each upper membrane and the corresponding lower membrane are fixed onto the corresponding frame and are separated from each other by a preset distance. The packing box has the advantages that packed fruits are clamped by the partition plates in up-down directions when packed, or can be directly clamped by the upper membranes and the lower membranes of the partition plates; each fruit is packed by the two corresponding membranes, and the upper membranes and the lower membranes have certain elasticity and tension and can elastically deform, so that the fruits can be fixed, and the fruits on the same layer can be prevented from being collided with one another; the partition plates are separated from one another by set distances, and the upper membranes and the lower membranes are separated from one another by the preset distances, so that a buffer region can be formed, and the fruits on upper and lower layers can be prevented from being collided with one another in transportation procedures.

The invention relates to a robot, in particular to a hexapod bionic robot. The hexapod bionic robot comprises an upper bottom plate, a lower bottom plate, a fire extinguisher, an upper cover, obstacle avoidance sensors, a controller and six legs, wherein a robot body is formed by the upper bottom plate and the lower bottom plate; the upper cover is mounted on the upper bottom plate; the controller is mounted in the upper cover; the robot body is octagonal; a pair of opposite edges of the robot body are two tips respectively, and the other six edges are respectively positioned on two sides so as to form side waists; the first leg is mounted at one end of one side waist, the second leg is mounted in the middle of the side waist, and the third leg is mounted at the other end of the side waist; the fourth leg is mounted on the other side waist and symmetrical to the first leg, the fifth leg is mounted on the side waist and symmetrical to the second leg, and the sixth leg is mounted on the side waist and symmetrical to the third leg; the fire extinguisher is mounted at one tip of the robot body; each obstacle avoidance sensor is mounted between every two adjacent legs. The hexapod bionic robot provided by the invention has high adaptive capability to environment, can realize real-time obstacle avoidance and can reasonably plan walking routes; the robot body is stable, and legs are flexible and varied to move; the hexapod bionic robot can be adapted to various terrains, different speeds and different load requirements.

The present invention provides the making process of homogeneous superparamagnetic polymer microballoon. Nanometer Fe3O4 grain prepared in coprecipitation process has its surface coated with oleophilic layer to form hydrophobic Fe3O4 magnetic fluid, and the magnetic fluid is dissolved in hydrophobic olefin monomer and oil soluble initiator via stirring to form homogeneous dispersive oil phase fluid. The oil phase fluid is crushed and dispersed into homogeneous oil drops in a spouting suspension polymerization process so as to form homogeneous O / W suspension in water phase. Under certain polymerizing temperature, oil drop is cured fast and constant temperature polymerized into homogeneous size superparamagnetic polymer microballoon. The superparamagnetic polymer microballoon has size of about 10 micron, specific saturation magnetic intensity of 15-20 emu / g, homogeneous magnetic content, stable chemical property and latent application in biological separation.

The invention provides a constant tension highline maritime adaptive control and supply system and supply method. The system comprises a constant tension highline maritime supply subsystem and a constant tension highline maritime adaptive control subsystem; the constant tension highline maritime adaptive control subsystem is used for driving and controlling an outer index winch (3), an inner index winch (4), a highline winch (5) and a wave compensation device (6), so that a crane device (7) moves between a supply ship and a receiving ship. The system and the method have the advantages: (1) a highline adopts constant tension adaptive control, so that manual intervention s not needed in the supply process, vibration of goods on cableways is reduced and the supply efficiency is improved; and (2) wave compensation is performed on the highline by adopting a wave compensation technology, so that tension constant double closed-loop control of the highline is kept, relative movements of the two ships are compensated, safe and stable hoisting and landing of goods when the ships swing are ensured, and mutual collision between the goods and the decks of the working ship is prevented.

A path optimization AGV carrying system based on a Dijkstra algorithm is disclosed. The system comprises a workshop, an AGV dolly, a wireless communication module and an upper computer operating the Dijkstra algorithm. The system is characterized in that ground in the workshop paved with a color band track and is provided with a plurality of stations located at station positions; the color band track is used by the AGV dolly to read ground color band path information through an optical sensor (7) so as to realize navigation; and the AGV dolly is mainly formed by a vehicle frame (3), a controller module (1), an obstacle avoidance system, a driving mechanism, an elevating mechanism, a driven wheel (10), a wireless communication module and a touch screen (2). A color band tracking mode and an RFID label positioning mode are realized. And usage of the touch screen 2 can provide great convenience for a field staff to debug. The technical scheme is suitable for a multi-AGV carrying system, problems of AGV mutual collision and conflicts can be avoided, and the system is operated according to an optimal route; and during actual usage, a few of persons can complete cargo transportation, cost is reduced and work efficiency is increased.

The invention provides a method and device for controlling lots of robots to stop emergently. The method comprises the steps of setting multiple position points and position marks corresponding to the position points in the work site of the robots and setting corresponding recognizers on the bottoms of the robots; judging whether all the robots in the site need to be controlled to stop emergently according to breakdown signals when the breakdown signals reported by the robots are monitored; if yes, distributing the position points in the site for the robots for serving as the respective emergency stop positions according to the current position and the moving speed of each robot; controlling each robot to move to the corresponding emergency stop position and controlling each robot to sop moving after each robot is moved to the corresponding emergency stop position. According to the invention, when some robots in the site break down, all the robots in the site can be controlled to stop emergently, and therefore the robots breaking down can be prevented from colliding with other robots, and mutual collision between the robots in the site can be avoided.

The invention relates to robots and in particular relates to a six-leg two-arm bionic robot. A robot body comprises an upper bottom plate and a lower bottom plate; a fire extinguisher is arranged on the robot body; six legs are also arranged on the robot body; an upper cover is arranged on the upper bottom plate; obstacle avoidance sensors are arranged at the periphery of the upper cover and are connected with a control system in the upper cover; a base is connected on the upper cover; a rotation arm waist part is arranged on the base and rotates around the center line vertical to the base; the top of the rotation arm waist part is hinged with a stretching arm trunk; the top of the stretching arm trunk is hinged with an upper arm shoulder part; the upper arm shoulder part is respectively hinged with a left arm and a right arm; a camera is also arranged on the upper arm shoulder part; a temperature sensor and a mechanical claw are arranged on the left arm; and a saw blade is arranged on the right arm. According to the six-leg two-arm bionic robot, the robot body is stable, the rotation space of the legs is large, many functions are integrated on the two arms, obstacles in the advance process can be removed, simultaneously remaining fire can be cleared, and the personnel and material rescue in various disasters can be completed by replacing a tail end actuator.

The invention discloses an unmanned aerial vehicle formation reconstruction system and method based on an ant colony algorithm and an artificial potential field method. The system comprises a target distribution module, a path planning module and a ground station module. A swarm intelligence optimization algorithm is adopted to improve a selection strategy of a standard ant colony algorithm, and the global search capability and search precision of the algorithm are improved; and when the scale of an unmanned aerial vehicle group is large, a global optimal solution can be searched with higher probability. An improved artificial potential field method is adopted in the path planning process, a problem that collision is possibly caused because a gravitational field is too large in the initialmoving stage of the unmanned aerial vehicle is solved through improvement of a gravitational field formula, and a problem that a target cannot be reached in the process that the unmanned aerial vehicle gets close to the target point is solved through improvement of a repulsion field. If the unmanned aerial vehicle sinks into the local minimum point, an escape force is additionally applied to thecurrent unmanned aerial vehicle to help the current unmanned aerial vehicle get rid of the local minimum point, and a problem that the artificial potential field method sinks into local optimum easilyis effectively solved by adopting a local minimum point escape strategy. The system and method are high in calculation speed.

The invention relates to a microflow chip comprising synthesized channel and two beam focusing ball tracks, in which two exits of beam focusing ball tracks converge at the entrance of the synthesized channel, each beam focusing ball track comprises prepolymer microsphere track, discontinuous phase track and two continuous phase channels, the said two continuous phase channels distribute on both sides of the discontinuous phase track, the prepolymer microsphere track, discontinuous phase track and continuous phase channels evenly have ingate and exit and the exits of the discontinuous phase track and continuous phase channels converge at the ingate of the synthesized channel. The invention also provides a method for preparing polymer microsphere using the said microflow chip: injecting two continuous phases from ingates of continuous phase channels of two beam focusing channels, injecting discontinuous phase from discontinuous phase channels of beam focusing channels, then obtaining polymer microsphere from the synthesized channel exit. The invention can exactly prepare controllable polymer microsphere with coincidence sizes.

The invention discloses a bottle-shaped material automatic rotation and conveying device, which includes a frame assembly and a transmission assembly. The frame assembly includes a base, a bracket, a material guide sleeve, a transfer seat and a support seat. Set on the rear side of the base, the material guide sleeve is set on the bracket; there is a material guide space inside the material guide sleeve, the top and bottom openings of the material guide space, bottle-shaped materials are introduced into the bottom opening through the top opening of the material guide space In the transfer seat on the front side; the above-mentioned support seat is set on the front side of the transfer seat, the transmission assembly is arranged on the support seat, and is rotatably connected to the support seat through a torsion spring, and the bottle-shaped material slides into the transmission assembly through the transfer seat. Turn the transfer assembly outwards and stretch the torsion spring until the bottled material is placed vertically. The invention is used between the material conveying belt and the filling mechanism to carry out self-adaptive and sequential rotation of the material, thereby realizing filling automation and continuity, and effectively improving the filling efficiency.

The invention relates to the technical field of feed processing equipment, and particularly discloses a dust-free feed mixer, comprising a frame. The frame is fixedly provided with a motor and a mixing tank, the output end of the motor is fixedly connected with a rotating shaft, and the rotating shaft is fixedly connected with a plurality of stirring blades; a first sliding plate is connected intothe mixing tank in a sliding manner, the mixing tank is communicated with an exhaust pipe, filter gauze is fixedly installed in the exhaust pipe, the rotating shaft is coaxially fixedly provided witha plurality of blades; the mixing tank is communicated with a cylinder body, and the cylinder body is internally fixedly connected with a partition plate which divides the cylinder body into a storage chamber and a feeding chamber and is provided with a first feeding port, and the first feeding port is hinged with a rotating plate; the feeding chamber is internally connected with a piston in a sliding manner, a connecting rod is fixedly connected between the piston and the first sliding plate, the feeding chamber is provided with a blanking mechanism, and the rotating shaft is coaxially fixedly connected with a cam for starting the blanking mechanism. According to the dust-free feed mixer, a feed additive can be automatically added according to the weight of feed added into the mixing tank, and the uniformity of feed mixing is enhanced.

The invention discloses a high-pressure disinfection and cleaning integrated machine. The high-pressure disinfection and cleaning integrated machine comprises an ozone generator, a conveying belt, a cleaning tank, high-pressure nozzles, a water tank body, a cleaning fluid storage tank, an ultrasonic generator and a filtering device, wherein the cleaning tank is arranged in the water tank body, an inlet and an outlet are arranged at two ends of the water tank body, and the conveying belt is arranged in the inlet and the outlet. With the adoption of the conveying belt, mutual collision and manual carrying of cleaning articles are avoided, the labor intensity is reduced, and the cleaning efficiency is increased; the high-pressure nozzles and the cleaning fluid storage tank are adopted for washing fruits and vegetables by the aid of water flow, the cleaning effect on the articles is improved, water recycling is realized, and energy is saved; by means of the ultrasonic generator, tiny bubbles are formed on the water surface and break instantly once meeting attachments, and the attachments on the surfaces of the articles fall off; the disinfection and sterilization functions are realized by the aid of the ozone generator, and the high-pressure disinfection and cleaning integrated machine is applicable to cleaning of the articles.

The invention discloses an antistatic collection box for a circuit board, which comprises a collection box body and a track type rack arranged in the collection box body. The collection box body comprises a bottom plate, a cover plate and a strut for fixedly connecting the bottom plate and the cover plate; and the track type rack encircles an accommodating cavity for placing the circuit board. The antistatic collection box is structurally characterized by also comprising a space partitioning device for partitioning the accommodating cavity into two space areas; and the space partitioning device comprises a rod body, a spring and a positioning clamping pin; and the positioning clamping pin is fixed on the upper part of the rod body, the top end of the spring is fixed on the lower part of the rod body, and the bottom end of the spring can stretch freely. The antistatic collection box has the advantages of fully utilizing the space in the box by inserting two circuit boards into the same groove layer of the track type rack at the same time, avoiding mutual collision between the two circuit boards in the same groove during inserting and transporting, preventing sensitive components on the circuit board from being damaged, and meanwhile shortening the adjustment time and the complex adjustment process.

The invention includes an apparatus (01) and a method for handling articles (02). The apparatus (01) includes a first conveyor (03) for the supply of articles (02), a second conveyor (04) for the supply of outer packagings (05), and a third conveyor (06) for the discharge of outer packagings items (07). The apparatus also includes a placing surface (08) formed by a section (62, 60) of the third conveyor (06) and arranged between the first conveyor (03) and the second conveyor (04). A transfer device (09) for the transferring of supplied outer packagings (05) from the second conveyor (04) to the placing surface (08), and a transplacing device (10) for transferring articles (02) from the first conveyor (03) into outer packagings (05) having been transferred onto the placing surface (08) are also included. The method includes placing articles (02) into outer packagings (05) staged on a placing surface (08), where the articles (02) are supplied from one or more article flows of articles (02). The outer packagings (05) are supplied independently of the articles (02) in a transport direction (41) and are transferred onto the placing surface (08) individually or groupwise transversely to the transport direction (41). The outer packaging items (07) are discharged independently of the supply of articles (02) and outer packagings (05) in parallel to the transport direction (41) and in the direction of the transport direction (41) or opposite to it.

The invention discloses a displacement chromatography hydrogen isotope separation device which comprises a rack as well as a cooling part, a separation column, an air supply part, an air collection part, a lifting part and a driving part. By adopting the displacement chromatography hydrogen isotope separation device disclosed by the invention, different adsorption functions that hydrogen and hydrogen isotope are replaced and separated by using a separation material can be achieved, the lifting part is driven by the driving part to precisely control the lifting position of the separation column, and then the separation column can be descended or lifted off the cooling part, so that adsorption or desorption of hydrogen isotope by the separation material under different temperature conditions can be achieved, a high retention rate of deuterium-tritium isotope in the separation material can be ensured, and a deuterium-tritium isotope gas obtained through final separation and selection is relatively high in purity; compared with the prior art, the device needs no parts for introducing deuterium or separating deuterium, meanwhile deuterium and tritium do not need to be replaced by introducing hydrogen after the separation material is in saturation adsorption of hydrogen, and in addition, the device is simple in structure, low in energy consumption rate, simple in process and low in cost.

The invention relates to the technical field of livestock breeding, and discloses a fish feed feeding device for livestock breeding. The fish feed feeding device for livestock breeding comprises a mixing box. The left side of the top of the mixing box communicates with a feeding hopper, the top of the mixing box is fixedly connected with a first motor, an output shaft of the first motor is fixedlyconnected with a rotary rod through a coupler, a first bearing is embedded into the top of the mixing box, the inner ring of the first bearing and the surface of the rotary rod are fixedly sleeved, the surface of the rotary rod is fixedly connected with stirring blades, and the portion, located below the stirring blades, in the mixing box is fixedly connected with an annular fixing plate. By means of a screening plate vibrating up and down, fish feed is screened, the situation that particles of the fish feed are large is avoided, meanwhile, the screened fish feed is thrown out and cast into afish pond by a feeding box through centrifugal force, and the situation that as the fish feed is cast in an excessively-concentrated manner, fishes collide with one another and are hurt is avoided.

The invention discloses a bearing feeding device and an automatic feeding method. The bearing feeding device comprises a rack, a storage assembly and a feeding disc, wherein a positioning seat is arranged on the rack, and a first through hole is formed in the positioning seat; the storage assembly comprises a storage barrel, a penetrating rod and a first bolt, the storage barrel is arranged on thepositioning seat, the side wall of the storage barrel is provided with an opening groove, and the first bolt is inserted into the lower end of the penetrating rod in the radial direction of the penetrating rod; and the feeding disc is rotationally connected with the rack, and the feeding disc is provided with a trough. By using the bearing feeding device, the penetrating rod penetrates through abearing string, the first bolt is inserted into the lower end of the penetrating rod, then the bearing string and the penetrating rod are put into the storage barrel together, the first bolt is pulleddown, the feeding disc is rotated clockwise so that the front end of the trough can be located below the first through hole, one bearing at the lowest end in the storage barrel can fall into the front end of the trough, and the feeding disc is rotated anticlockwise so that the bearing can be sent to a bearing press mounting position, so that automatic feeding is achieved, and working efficiency is improved.

The invention relates to an anti-collision rail car system, which comprises a plurality of rail cars and a master control system. The rail cars run simultaneously on an independent track, the master control system are used for remotely monitoring the rail cars, the rail cars comprises a first detection module and a control module, the first detection modules are used for obtaining position information of the rail cars through detecting a plurality of crossbeams on the track, and the control modules are used for transmitting the position information to a control system and controlling the rail cars according to feedback of the master control system. The first detection modules can obtain the position information of the rail cars through detecting the number or properties of the crossbeams on the track and comprise a magnetic proximity switch, a counting unit and a conversion unit, the magnetic proximity switches are used for detecting whether the track is provided with the crossbeams, the counting unit is used for calculating the number of the crossbeams according to the ON / OFF states of the magnetic proximity switches, and the conversion units are used for converting counting results of the counting unit into the position information. When the anti-collision rail car system is adopted, multiple cars can run simultaneously on the independent track, dynamic interference and real-time adjustment of the cars can be achieved, and collision of the cars can be avoided.

The invention discloses a belt conveyor with a telescopic head. The belt conveyor comprises a frame with one end arranged into a truss body, a walking mechanism arranged at the bottom of the frame, a guide mechanism arranged on the truss body and the frame and a gear and rack transmission device driving the frame to move in the truss body. A bearing support roll is fixed at the upper end of the frame, a head roller is fixed on the head portion of the frame, a first redirection roller is fixed on the tail portion of the frame, and a second redirection roller is fixed at the bottom of the truss body. Due to the fact that the head of the belt conveyor can be retreated, collision between the head and a moving device can be avoided, and the operation efficiency of the moving device is improved. In addition, the blanking central position of the head is adjustable, and the off tracking problem of a sealing-tape machine is solved.

The invention discloses a method for detecting drop strength of green pellets under a motion state and belongs to the technical field of iron mine pellets. The method comprises the following steps: 1) selecting the pellets, namely selecting M 10-18mm green pellets; 2) detecting the dropping of the pellets, switching on a motor control switch of a detection device, rotating a driving motor to drive a base plate to rotate, causing the green pellets fall onto the base plate from a pellet loading part of the detection device, recording the falling times as i, detecting the surfaces of the green pellets, recording the quantity of the green pellets with cracks on the surfaces at the No.i time as mi, and when Sigma mi is less than M, causing the green pellets without cracks fall onto the base plate from the pellet loading part till Sigma mi is equal to M; and 3) treating the drop strength with data, wherein the formula is as shown in the specification. According to the method disclosed by the invention, the simultaneous detection for a plurality of green pellets can be realized and the detection for the drop strength of green pellets under the motion state also can be realized.

The invention discloses a blanked material transmission guiding mechanism and a transmission method of blanked materials. The blanked material transmission guiding mechanism comprises a plurality of guiding wires with smooth surfaces and twisted to rotate, a sliding way formed by surrounding of the guiding wires and a plurality of fixing rings which are fixedly surrounded on the periphery of the guiding wires. The sliding way is provided with a material inlet and a material outlet, wherein the material inlet is higher than the material outlet. The material inlet of the blanked material transmission guiding mechanism is connected with a product output end of a last work station and can receive products from the last work station. The material outlet of the blanked material transmission guiding mechanism is connected with a product input end of a next work station and can transmit the products to the next work station. The blanked material transmission guiding mechanism can achieve smooth turning and stable sliding of the products and avoids conditions of collision, sliding rail blocking and deviation from the rail.

The invention discloses a combined anti-collision mechanism for an underwater robot, which includes an underwater vehicle body, collision plates, cutting gears and drainage plates; the outer ring of the underwater robot body is provided with a waterproof shell, a cutting placement plate is arranged on the outer side of the turntable, and a first insert groove and a second insert groove are arranged at the end of the surface of the cutting placement plate, the outer end of the first insert groove is provided with a second insert groove, the center point of the cutting gear is connected with thecutting placement plate through a rotating shaft, the outer surface of the cutting placement plate is provided with a second rotating groove, and the flow guide plate is fixed between the collision prevention plates. A first damping spring, the shock absorber plate, the first rotating shaft and the collision avoidance plate in a combined anti-collision mechanism for an underwater vehicle- are arranged so that when the external object collides with the underwater vehicle, the top end of the shock absorber plate and the top end of the waterproof shell contact each other, thereby cushioning theimpact force of the external object and minimizing the injury of the external object and the underwater vehicle. The shock absorber plate comprises a shock absorber plate, a first rotating shaft and acollision avoidance plate.