729results about How to "Guarantee job security" patented technology

The invention discloses an unmanned plane flight control system. The unmanned plane flight control system comprises a main controller, an execution mechanism, a communication device and a ground station device. The master control system comprises a data collection module, a data processing module and a communication module. The data collection module is used for collecting measurement signals of various sensors and uploading the measurement signals to the data processing module. The data processing module can perform management and control on various flight modes and on an execution mechanismin the unmanned plane flight. The execution mechanism comprises a motor electric regulation device and a spraying device. The ground station device can perform track programming and can perform formation on multiple unmanned planes to carry out cooperated programming of multiple unmanned planes. The master controller realizes unmanned plane terrain simulation flight control, highly reliable faulttolerance control and autonomous obstacle avoidance control.

The invention discloses a passive equalization control system used for maintaining consistency of a battery pack. The system comprises a battery management system which is connected with the battery pack through a circuit to monitor capacity of each battery monomer in the battery pack in real time and is used for judging whether an obvious capacity difference exists or not; multiple equalization resistors which are connected in parallel with each battery monomer in the battery pack respectively, wherein each equalization resistor is connected in series with a normally open equalization switch; the battery management system is connected to each equalization switch respectively to control an on / off state of each equalization switch; when the difference between the capacity of one battery monomer and the capacities of other battery monomers is too great, the connected equalization switches are switched off to consume the electric quantity of the battery monomer. According to the invention, the electric quantity of the battery monomer with too high capacity is consumed by detecting the voltage of battery monomers in the battery pack and judging whether the difference between the capacity of the battery monomer and the capacities of the other battery monomers is too great, so that passive equalization control is realized, and system consistency of the battery pack is maintained.

The invention relates to a wheelchair and a method thereof. The wheelchair comprises a chair frame and a front lifting device and a rear lifting device which are arranged below the chair frame; the chair frame comprises a chair seat, a cushion part connected to the chair seat in a sliding mode, a pedal part rotatably connected to the front end of the cushion part, a first driving component used for driving the cushion part to slide and a second driving component used for driving the pedal part to rotate; the pedal part is provided with a telescopic end and a driving wheel set arranged at the front end of the telescopic end; the front lifting device is provided with a left front wheel set and a right front wheel set; the driving wheel set, the left front wheel set and the right front wheel set are driven through a hub motor; the chair seat is provided with a front driving component used for driving the front lifting device to rise and fall and a rear driving component used for driving the rear lifting device to rise and fall; the front driving component and the rear driving component are fixed to the chair frame. According to the wheel chair and the method thereof, the requirements of a user for lying and getting on or off the wheelchair can be met.

The invention relates to an engine oil cooling and filtering device used for cooling and filtering the engine oil in a lubrication system of an engine. The engine oil cooling and filtering device comprises an engine oil cooler and an engine oil filter, and is characterized in that the engine oil cooler and the engine oil filter are respectively arranged on an engine oil filter seat which is provided with an upper oil inlet of the engine oil filter seat, an upper oil outlet of the engine oil filter seat and an oil passage of the engine oil filter seat; the oil passage of the engine oil filter seat is respectively communicated with an oil passage of the engine oil cooler and an oil passage of the engine oil filter. A lower oil outlet of the engine oil filter seat is communicated with an oil inlet of the engine oil cooler; and a lower oil inlet of the engine oil filter seat is communicated with an oil outlet of the engine oil cooler. By combining the engine oil cooler and the engine oil filter into a whole with the engine oil filter seat, the engine oil cooling and filtering device can cool and filter engine oil at one time and has simple structure and convenient maintenance; furthermore, the engine oil cooling and filtering device not only can guarantee cooling effect, but also can facilitate the replacement of parts and later maintenance.

The invention belongs to the field of electric power construction tools and in particular relates to ratchet type insulation wire clamping pincers used for high-voltage electrified wire construction. The ratchet type insulation wire clamping pincers comprise a first insulation rod and a second insulation rod. A block type chuck and a hook-like chuck are respectively arranged on top ends of the two insulation rods. The ratchet type insulation wire clamping pincers also comprise a ratchet assembly. The ratchet assembly comprises a gear part, a back support and a locking piece. A ratchet, a handle part and a pawl are arranged in the back support. The locking piece comprises a top block and a press spring. The top block is in the same direction with the unidirectional locking direction of the pawl relative to the unidirectional locking direction of the ratchet. The top block is arranged on a moving route of the handle part or the pawl. A matching surface used for matching the handle part or the pawl is arranged on the top block. The pressing force direction, relative to the matching surface, of the handle part or the pawl is opposite to the elastic restoring force direction of the press spring. The pincers is highly practical and convenient and quick to use; and high safety during working is ensured while high-efficient hot-line work is ensured.

The invention provides an ultrafine powder full-automatic bag feeding and bag expanding packaging machine which comprises a bag taking mechanism and a bag opening mechanism. During loading, a packaging bag is adsorbed between the bag taking mechanism and the bag opening mechanism through suction cups. The bag taking mechanism comprises a servo motor, multiple first electric cylinders and bag taking suction cups arranged at the ends of the first electric cylinders correspondingly. The first electric cylinders are connected with a shaft of the servo motor. The servo motor drives the first electric cylinders to rotate. The bag taking suction cups are driven by the first electric cylinders to move and suck the un-opened packaging bag. The bag opening mechanism comprises multiple horizontally-arranged second electric cylinders and bag opening suction cups arranged at the ends of the second electric cylinders correspondingly. In the bag opening state, the multiple first electric cylinders and the second electric cylinders are firstly extended, the two sides of the packaging bag are adsorbed by the bag taking suction cups and the bag opening suction cups correspondingly, the first electric cylinders and the second electric cylinders are retracted, and the packaging bag can be opened; and during loading, a discharging pipe moves downwards to be inserted into the opened packaging bag. The ultrafine powder full-automatic bag feeding and bag expanding packaging machine is high in work efficiency and good in reliability, and the problems about grabbing, bag opening and bag expanding feeding of the packaging bag can be solved.

The invention discloses a visual anti-collision control method for an industrial robot arm. The visual anti-collision control method for the industrial robot arm comprises the following steps of 1, establishing a three-dimensional system of coordinates of the working space where the mechanical arm is located; 2, establishing an Elman network based recognition model of a to-be-grabbed object target; 3, establishing an optimal mechanical arm grabbing path model based on a multinuclear support vector machine; 4, collecting the target image of the to-be-grabbed object in real time and identifyingobject category; and 5, determining the gravity center of the object based on the object category, obtaining the grabbing terminal coordinates, obtaining the optimal mechanical arm grabbing path, anddriving the mechanical arm to grab the object. By means of the method, an ideal trace that no collision is caused, the dynamic characteristic meets the margin requirement, and the trace length and movement time are short is figured out in a calculating mode for the mechanical arm to grab the target object, the production efficiency is greatly improved, meanwhile, the personnel cost is reduced, andbenefits are brought to factories.

The invention relates to a brazing and casting process of a metal ceramic composite lining board. The brazing filler metal adopted by the process comprises the following ingredients by weight percent: 10-70% of Cu powder, 20-70% of Ti powder and 5-20% of surface active elements. The process comprises the following steps of: adding 10-20% of ceramic particles serving as a wetting enhanced phase into the brazing filler metal to prepare a composite brazing filler metal, cleaning a metal layer and a ceramic layer by using an organic solvent cleaning agent, fixedly assembling the metal layer and the ceramic layer in a sequence of the ceramic layer, the composite brazing filler metal, the metal layer, the composite brazing filler metal, the ceramic layer, the composite brazing filler metal and the metal layer, placing the fixedly-assembled metal layer and ceramic layer in a vacuum brazing furnace for brazing, after brazing, placing a metal ceramic layer and a metal matrix into a casting die, pouring liquid steel and casting. The prepared metal ceramic composite lining board has the advantages of good toughness, high wear-resisting property and high corrosion-resisting property, and meanwhile, the metal ceramic layer occupies a small part of the lining board and is low in cost, thus improving the production efficiency, saving the production halt and change time and comprehensively increasing the economic benefit for the industries of cement, metallurgy, mine, electricity and the like.

The invention discloses a long wall alternate type coal mining method which comprises the following steps: the reasonable mining band width of the long wall alternate type coal mining method and the coal pillar size retained among mining bands are determined, and the working face adopts a single hydraulic prop and a metal articulated top beam; the working face adopts alternate mining, i.e. a coalpillar is retained when a mining band is mined, and the coal pillar is retained or 2 to 3 mining bands form a mining section; a temporary coal pillar is retained among the mining bands; a rigid isolation coal pillar is retained among the mining sections; and the long wall alternate type coal mining method is a mining method for arranging the working face on the long wall and propelling in an alternate way to prevent through thickness integral cutting and falling of covering rock. The method has the effect of improving the mining rate of an original house pillar type mining method to 60-70 percent from 20-30 percent; the working face propelling distance of the method is more than twice of a tool post type method, and the moving frequency of the working face is reduced to less than half; themining rate of a mining area is improved, and a top plate large-area collapsing catastrophe is prevented by top plate small-area disaster-free falling by the liming and isolating effect of the coal pillar on the covering rock.

The invention discloses a temporary advanced support device, and belongs to the technical field of mine support. The device comprises a single hydraulic supporting column and an expanding top beam, wherein the expanding top beam is a connecting rod mechanism mainly composed of a machine frame, upper connecting rods, a top beam frame, supporting rods, a supporting frame and lower connecting rods, the middle of the supporting frame is fixedly provided with a supporting base rod, the top beam frame is provided with a connecting rod, the lower portion of the machine frame is symmetrically provided with a pair of the upper connecting rods in a hinged mode, the lower ends of the upper connecting rods are hinged to the connecting rod at hinging points b, the upper ends of the supporting rods are hinged to the top beam frame at hinging points c, the lower ends of the supporting rods are hinged to the supporting frame at hinging points d, one end of each lower connecting rod is hinged to the corresponding upper connecting rod, the other end of each lower connecting rod is hinged to the supporting base rod, and front projections of the hinging points c, the hinging points b and the hinging points d are on the same inclined line when the top beam is completely expanded. The temporary advanced support device is easy to operate, large in support coverage area and convenient to retract, expand and support, and the weight of the product is reduced.

The invention discloses a full-automatic double-work-station circumference welding machine, comprising a power source, a framework, a welding gun arm, a control box and two trays. Cylinder compaction units are disposed above the two trays respectively, and a continuous speed regulation electric motor and a worm-gear speed reducer are mounted under the trays respectively. A double-work-station welding set is used to enhance working efficiency greatly. The invention is provided with a reasonable design, the speed of welding can be adjusted by the continuous speed regulation electric motor, and the welding quality can be adjusted at the same time. The auto control system is designed according to electronic cam principle and is provided with good stability, for controlling each acting member by an electronic sensor to form a circulating device, thereby automatic circulation effect is realized.

The invention discloses a cold backup double-machine switching circuit, which comprises a host machine part and a backup machine part corresponding to the host machine part on circuit structure, wherein the host machine part comprises a host machine power supply circuit, a host machine switch relay and a host machine secondary power supply converter which are connected in turn; the output of the host machine secondary power supply converter is connected with the input of a host machine CPU controller and the input of a dog bite and backup electromechanical circuit respectively; the output of the host machine CPU controller is connected with a switch-off backup electromechanical circuit and is in bidirectional signal connection with a host machine cold / hot start mark circuit at the same time; and the output of the switch-off backup electromechanical circuit is connected with a host machine remote measuring switching circuit. The host machine switch relay and the backup machine switch relay are connected with direct instructions respectively, wherein the direct instructions comprise host-on backup-off instruction and backup-on host-off instruction; the output of the dog bite and backup electromechanical circuit and the output of the switch-off backup electromechanical circuit are connected with the backup machine switch relay; and the output of the dog bite and host electromechanical circuit and the output of the off host electromechanical circuit are connected with the host machine switch relay.

The invention discloses an infrared thermal-wave detecting system for a vacuum low-temperature environment. The infrared thermal-wave detecting system comprises an internal infrared detecting part, external measuring equipment and power supply equipment, wherein the internal infrared detecting part can be arranged in the vacuum low-temperature environment; the external measuring equipment and the power supply equipment are connected by a network data transmission cable and are arranged outside the vacuum low-temperature environment; the internal infrared detecting part comprises a thermal control cabin, an infrared thermal imager and a cloud platform; the infrared thermal imager is arranged in the thermal control cabin in a sealed manner, and the lower part of the infrared thermal imager is supported on the rotatable cloud platform penetrating through the bottom part of the cloud platform; the cloud platform is coated with heating fins for transferring heat for the infrared thermal imager and a plurality of layers of insulating materials; germanium glass is arranged in a position of the thermal control cabin, which is right opposite to a lens of the infrared thermal imager, so as to receive infrared rays of the vacuum low-temperature environment and carry out temperature measurement, and the measurement result is in electric communication with external measuring equipment by the network data transmission cable. The infrared thermal-wave detecting system has the advantages that not only is the problem of non-contact temperature measurement in a vacuum container solved, but also the reasonable thermal control design ensures working safety of the system in the low-temperature environment.

The invention discloses a safe distance calculation method for the electrified operation of a transformer substation. The method comprises the following steps of carrying out data acquisition by utilizing a laser radar point cloud, and subjecting point cloud data to classification treatment, wherein during the data classification, the point cloud data are subjected to the intelligent analysis andcalculation or the manual calculation of electrified wires, ground equipment facilities and electrified operation safety distances. According to the calculation method of the invention, electrified wires and equipment safe operation distances are comprehensively detected, so that the working safety of the personnel during the construction process in the transformer substation is ensured. The operation risk is reduced, and the requirements of the construction safety specification in the transformer substation are met. The above safe distance calculation method for the electrified operation of the transformer substation is different from existing universal point cloud segmentation algorithms, wherein the characteristics of the transformer substation are fully considered. The method is aimingat target features, such as the features of wires, equipment and the like in the transformer substation, and serves as a special treatment method for the surface features of the transformer substation.

The invention discloses a check valve comprising a valve seat and a valve flap, in particular, the check valve comprises a damper arranged on the inner cavity wall of the valve seat, wherein the end part of the damper are connected with the valve flap through a flexible element. The damper produces reverse resistance to the valve flap when the valve flap approaches the closed position of the valve flap; the closing speed of the valve flap is slowed down, and the impact force to the sealing surface of the valve seat is reduced. The check valve has a simple structure, can effectively eliminate the impact and water hammer between the valve flap and the sealing seat, and prevents the media leakage in the valve cavity.

The invention provides a temperature-controllable power battery module group, comprising an upper cover, a battery module group, a temperature-controlled fluid heat radiating device, a heat-conducting patch and a lower framework. The battery module group is arranged on the lower framework, the upper cover covers on the upside of the battery module group, the lower framework is connected with the upper cover through bolts, and the battery module group is fixed between the upper cover and the lower framework; the temperature-controlled fluid heat radiating device is arranged at a bottom surface of the battery module group; and the heat-conducting patch is attached between the temperature-controlled fluid heat radiating device and the battery module group. According to the invention, temperature-controlled media is injected into the temperature-controlled fluid heat radiating device in the entire battery module so as to realize the heat transfer for the lower surface of a battery module and balance the temperature of each battery monomer, and thus the effect of making the power batteries capable of working at a proper temperature stably is achieved, the service lives of the power batteries are prolonged, and the working safety of the power batteries is guaranteed. The module is fixed by combining the upper cover and the lower framework, and the temperature-controllable power battery module group has the characteristics of simpler structure, low manufacture cost, high strength in fixing a battery pack, convenience for mounting and dismounting.

Embodiments of the invention provide a battery pack self-discharge detection method, which is used for detecting self-discharge of a battery pack which is composed of a plurality of single battery bodies. The battery pack self-discharge detection method comprises the steps of: respectively detecting a voltage of each of the single battery bodies when the battery pack satisfies a first condition, wherein the voltage of each single battery body serves as a first reference voltage of each single battery body; respectively detecting a voltage of each of the single battery bodies when the battery pack satisfies a second condition, and the voltage of each single battery body serves as a second reference voltage of each single battery body; and determining that a self-discharge failure occurs in the single battery body corresponding to a first detection result when the first detection result obtained through calculation is greater than a first preset value. The battery pack self-discharge detection method can ensure that a faulty single battery body can be determined as soon as possible when the self-discharge failure of the battery occurs, thereby ensuring operation safety of the entire battery pack.

A refrigerator defrosting heater and a control method thereof are provided. The refrigerator defrosting heater is characterized in that a main heater and an auxiliary heater are arranged in group and controlled independently, the main heater is a defrosting heater for an evaporator, and the auxiliary heater is a defrosting heater consisting of a defrosting tray and a drainage pipe. The control method comprises: the main heater and the auxiliary heater are started synchronously to defrost when the defrosting operation is initiated; the main heater is stopped when the evaporator is defrosted completely, while the auxiliary heater continues working; the auxiliary heater is stopped when the defrosting tray and the drainage pipe are defrosted completely; and the whole defrosting process is ended. The invention is particularly suitable for the use in an air-cooling refrigerator and can efficiently prevent the drainage pipe from being blocked by ices and reduce the energy consumption.

The invention belongs to the field of electric thrust and particularly relates to a micro-cathode electric arc thruster applied to a micro-nano satellite. The micro-cathode electric arc thruster is mainly applied to power systems of small satellites such as the micro-nano satellite. According to the micro-cathode electric arc thruster, aiming at solving the problem that an existing micro-nano satellite is not provided with a propelling system, through the vacuum cathodic electric arc discharging principle, an integral electric thruster structure is designed. The thruster structure is mainly composed of a shell 1, a cathodic working medium 2, a spring 3, a ceramic cylinder 4, a base 5, fixing nuts 6, nut fastening bolts 7, an anode 8, a conductive coating film layer 9 and a magnetic coil 10. When a preset voltage is achieved between a cathode and the anode, cathode spots conduct discharging, spreading is gradually conducted, and the cathodic working medium is continuously subjected to ionization corrosion to form a stable plasma plume. The plasma plume is sprayed outwards under the effect of an applied magnetic field to form needed counteractive thrust. The micro-cathode electric arc thruster is small in overall structural size and low in weight.

The invention discloses a transmission vibration reducing structure of a crane lifter. The transmission vibration reducing structure comprises a lifter body, a dual-folding type lifting frame fixed on the lifter body, and a supporting table fixed at the upper end of the lifting frame; the lifting body is provided with a rolling wheel. The transmission vibration reducing structure is characterized in that the lifter body comprises a hydraulic cylinder used for providing power source, a first bottom plate and a second bottom plate; multiple vibration reducing devices are arranged between the first bottom plate and the second bottom plate, and each of the vibration reducing devices comprises a first cushion ring, a vibration reducing spring and a second cushion spring which are arranged in order; the first bottom plate and the second bottom plate are fixed together by crossing through the vibration reducing devices by a bolt. The transmission vibration reducing structure of the crane lifter is simple in structure, strong in practicability, convenient to lift, and good in vibration reducing effect, and the like.

The invention discloses an electric-power line detection method and system based on millimeter wave radar decision tree classification. The electric-power line detection method based on millimeter wave radar decision tree classification includes the steps: utilizing a millimeter wave radar carried on an unmanned plane to acquire a radar image of an electric-power line; transformation of coordinates: utilizing a method of transformation of coordinates to transform the radar image of the electric-power line to a rectangular plane coordinate system from a polar coordinate system; image processing by block: taking the distance in the image as the standard, setting a threshold, and blocking the image according to the set threshold; utilizing Hough transformation to detect the linear segments existing in the image blocks; obtaining a candidate linear segment set; and utilizing a decision tree classification model to classify the linear segments in the candidate linear segment set so as to detect the position of the electric-power line. The electric-power line detection method and system based on millimeter wave radar decision tree classification have the advantages of being able to effectively detect the electric-power line target in real time and being relatively low in the false alarm probability.

The invention discloses a lead clamping device, a lead wire hanging device and a quick installing tool. The lead clamping device comprises a fixed clamp plate, a limiting plate, a guide rod and an installing base frame which are connected with the fixed clamp plate, a first elastic element and a second elastic element which are arranged at the two sides of the guide rod in a sleeving way, and a flexible clamp plate which slidably sleeves the guide rod. The installing base frame is provided with a driving mechanism which is used for driving the flexible clamp plate to slide relative to the fixed clamp plate and an electromagnetic unlock mechanism which is used for locking the position of the flexible clamp plate and unlocking the position in case of electrification. The first elastic element is used for biasing voltage to the fixed clamp plate, and the second elastic element is used for biasing voltage to the flexible clamp plate so that the flexible clamp plate is enabled to have the operation trend away from the fixed clamp plate. Multiple parts attached to the insulating rod can be removed so that the insulation performance is better, the length of the insulating rod can be arbitrarily extended and the work safety can be further guaranteed.

The invention discloses a multifunctional cooking utensil. The multifunctional cooking utensil comprises an upper shell and a lower shell, an air inlet and an air outlet are formed in the upper shell;a air guide cover r is arranged below the upper shell; a cold air cavity is defined between the upper shell and the air guide cover; the air inlet and the air outlet are communicated with the cold air cavity; a motor and a cold air fan are arranged in the cold air cavity; the cold air fan is fixedly connected with a motor shaft of the motor; a hot air fan and a heating element are arranged belowthe air guide cover; a motor shaft penetrates through the air guide cover and then is fixedly connected with the hot air fan; a containing cavity is formed in the lower shell body, a container is arranged in the containing cavity, the multifunctional cooking utensil further comprises a steam generation device for providing steam for the container. The cold air cavity is hermetically separated fromthe containing cavity; and a steam exhaust channel is formed in the upper shell, a first communicating opening of the steam exhaust channel communicates with the containing cavity, a second communicating opening of the steam exhaust channel communicates with the outside, and the second communicating opening is located in the upper shell and is formed in the side different from the side provided with the air inlet.

The invention relates to an automatic blocking control system and an automatic blocking control method. The automatic blocking control system comprises station subsystems and vehicular subsystems, wherein the station subsystems are mounted on various stations along railways, and the vehicular subsystems are mounted on trains running on the railways. Each vehicular subsystem is provided with a satellite positioning receiving device, a vehicular computer, a special vehicular display and a vehicular modem, and the vehicular modem is connected with a vehicular 400M radio station. Each station subsystem is provided with a station 400M radio station, a station modem, a station computer, a special station display, an acquiring device and a driving device, wherein the acquiring device and the driving device are connected with station relay equipment. Complicated equipment easy to fail is omitted, transporting capacity is improved and safety is guaranteed by 'three-point logic judgment' and other corresponding measures, and investment is saved greatly. Besides, time for mounting equipment is shortened greatly due to the fact that only the vehicular subsystems and the station subsystems arerequired to be mounted.

The invention discloses a battery module and a vehicle with the same. The battery module comprises a battery cell which is provided with a battery cell end part; a rupture disk arranged at the batterycell end part; a heat insulation plate arranged on one side, deviating from the battery cell, of the rupture disk, wherein a pressure relief channel is formed between the rupture disk and the heat insulation plate; and a thermal runaway detection element used for detecting a thermal runaway signal in the pressure relief channel. According to the invention, the rupture disk is arranged at the battery cell end part of the battery cell; when thermal runaway occurs in the battery cell, the high-temperature and high-pressure thermal runaway air flow breaks through the rupture disk, enters the pressure relief channel and is discharged to the outside of the battery module through the pressure relief channel; and in the process, the thermal runaway air flow will pass through the thermal runaway detection element and the thermal runaway detection element can detect a thermal runaway signal, so that safety control measures are taken on the battery cell. In addition, the pressure relief channelcan enable the thermal runaway air flow to be discharged out of the battery module along a specific path, so that the influence of the thermal runaway air flow on other battery cells is reduced.

The invention relates to the technical field of automobile repairing equipment, in particular to an automobile elevator. The automobile elevator comprises main elevating platforms, auxiliary elevatingplatforms, a working platform and foot ladders; the main elevating platforms are arranged side by side and fixedly installed on the ground; the auxiliary elevating platforms are mounted at the middleends of the two main elevating platforms separately; the working platform is fixedly installed on the sides, away from each other, of the two main elevating platforms; the foot ladders are arranged at the two ends of the main elevating platform; and one ends of the foot ladders are hinged to the main elevating platforms. The automobile elevator is suitable for vehicles with different axle bases,after an automobile is elevated by the elevator, a scissor-type elevating mechanism completes self locking under the action of gravity, second locking bodies at the two ends of a telescopic approach bridge naturally lock the automobile on an elevating plate under the gravity action, maintenance workers can wear safety ropes and move to a foot platform through the foot ladders, then the safety ropes are locked on sliding rods, and the personal safety of the maintenance workers is guaranteed from multiple aspects.

The invention discloses an intelligent calculating method for a mechanical arm movement planning group, which comprises the following steps: step 1, constructing a three-dimensional coordinate systemof the working space of the mechanical arm; step 2, constructing a target recognition model of an object to be captured based on the fuzzy neural network; step 3, constructing a mechanical arm based on the limit learning machine to grab an optimal path model; step 4, acquiring object image recognition object categories to be captured in real time; step 5; determining the center of gravity of the object based on the object category, obtaining the coordinate of the grabbing end point, acquiring the optimal path of the mechanical arm, and driving the mechanical arm to grab the object; The methodadopts an intelligent algorithm to calculate an ideal track with free collision, dynamic characteristic meeting allowance requirements and short track length and time for a mechanical arm grabbing target object, it greatly improves the production efficiency, saves the personnel cost and brings benefits to the factory.

The invention discloses a manhole cover opening and closing movement device which comprises a frame; the two opposite sides of the frame are respectively provided with a rolling device which comprises a step-shaped wheel axle and a wheel axle bracket; the step-shaped wheel axle comprises two cylindrical surfaces with unequal excircle diameters; the smaller cylindrical surface is matched with the upper surface of the frame in a contacting way; the step-shaped wheel axle is provided with an inner hole and is connected with the wheel axle bracket by a pin shaft arranged in the inner hole; the upper part of the rolling device is provided with a catching module; the rolling device is connected with the catching module by a hoisting module; the frame has an angle iron welding structure; the wheel axle bracket of the rolling device has a channel steel structure; a channel steel wall is provided with a screwed hole which is connected with a screw rod by screw thread; the outer edge of the frame is respectively provided with an opening block groove I and an opening block groove II; the position of the opening block groove II is matched with that of the rolling device; and the opening block groove I and the opening block groove II are matched with the screw rod. The manhole cover opening and closing movement device is simple and reliable in structure, convenient to assembled and disassemble and move and suitable for lifting and moving a detection manhole cover which is heavy and inconvenient in traffic.

The invention belongs to the technical field of tower crane control information processing and discloses a safety monitoring method and system for a tower crane jacking system. Inclination state analysis and numerical simulation of the jacking system under a wind load, jacking sleeve frame numerical simulation modeling and analysis under multiple loads, jacking sleeve frame contact equilibrium dynamic detection and regulation thereof, and reliability assessment and a fault diagnosis method of the tower crane hydraulic jacking system are included. According to the safety monitoring method and system, sleeve frame contact equilibrium state detection technology of the tower crane jacking system under variable loads is analyzed, and real-time monitoring and early warning of an equipment operation state can be achieved. Dynamic characteristics analysis and operation stability enhancement technology of the tower crane jacking hydraulic system is analyzed, dangerous accidents can be avoided,and the service life of a tower crane can be prolonged. Reliability assessment and fault diagnosis technology of the tower crane jacking system is analyzed, and operation safety of the tower crane inan installation / disassembly link can be ensured effectively. Through the safety monitoring method and system, the stress condition analysis and dynamic monitoring problems of the sleeve frame under the operation condition of a jacking mechanism are solved.