121results about How to "Simplify control difficulty" patented technology

The invention discloses a robust controller of a permanent magnet synchronous motor based on a fuzzy-neural network generalized inverse and a construction method thereof. The construction method of the invention comprises the following steps of: combining an internal model controller and a fuzzy-neural network generalized inverse to form a compound controlled object; serially connecting two linear transfer functions and one integrator with the fuzzy-neural network with determined parameters and weight coefficients to form the fuzzy-neural network generalized inverse, serially connecting the fuzzy-neural network generalized inverse and the compound controlled object to form a generalized pseudo-linear system, linearizing a PMSM (permanent magnet synchronous motor), and decoupling and equalizing the linearized PMSM into a second-order speed pseudo-linear subsystem and a first-order current pseudo-linear subsystem; and respectively introducing an internal-model control method in the two pseudo-linear subsystems to construct the internal model controller. The robust controller of the invention has the advantages of overcoming the dependence and local convergence of the optimal gradient method on initial values and solving the problems of randomness and probability caused by using the simple genetic algorithm, obtaining the high performance control, anti-disturbance performance and adaptability of the motor and simplifying the control difficulty, along with simple structure and high system robustness.

The invention provides a preparation method and application of a polycarboxylate water reducer containing a phosphate group. According to the preparation method, the defects that the structure and the molecular weight of the water reducer cannot be accurately controlled due to the chain transfer action of the phosphate group can be overcome. The preparation method comprises the steps that an unsaturated polyether macromonomer, unsaturated carboxylic ester and unsaturated alcohol are subjected to a copolymerization reaction in organic solvent to obtain a polycarboxylate water reducer pre-polymer; phosphorylated modification is performed on the polycarboxylate water reducer pre-polymer; on the condition that an acid aqueous solution exists, a carboxylic ester group on a product obtained after phosphorylated modification is hydrolyzed, and the organic solvent is removed; neutralization is performed to obtain the polycarboxylate water reducer containing the phosphate group; the unsaturated polyether macromonomer does not contain hydroxyl, phosphorylated modification is achieved through the step that an alcoholic hydroxyl group in the polycarboxylate water reducer pre-polymer and a phosphate esterification reagent are subjected to an esterification reaction, and the using amount of the phosphate esterification reagent is sufficient to completely esterify the alcoholic hydroxyl group in the polycarboxylate water reducer pre-polymer.

The invention provides a preparation method and application of a polycarboxylate superplasticizer containing phosphate groups. The preparation method can overcome the defect that due to the chain transfer effect of the phosphate groups, the structure and molecular weight of the superplasticizer can not be accurately controlled. The preparation method includes the steps that firstly, unsaturated polyether macromonomers and unsaturated anhydride are subjected to a solution copolymerization reaction in an organic solvent to obtain a polycarboxylate superplasticizer prepolymer; then, the polycarboxylate superplasticizer prepolymer is subjected to phosphorylation modification to obtain the polycarboxylate superplasticizer, wherein the unsaturated polyether macromonomers do not contain OH, phosphorylation modification refers to that anhydride groups in the polycarboxylate superplasticizer prepolymer and a phosphorylation reagent are subjected to an amidation reaction to obtain the polycarboxylate superplasticizer containing the phosphate groups, molecules of the phosphorylation reagent contain one or more phosphate groups and amino capable of participating in the amidation reaction, and the molar ratio of unsaturated anhydride participating in the solution copolymerization reaction to the phosphorylation reagent is 1:(0.01-0.5).

The invention discloses a hydrothermal synthesis method of LiFePO4 of anode material of lithium ion battery with one-dimensional nanometer structure, which comprises the steps of: 1. respectively adding lithium hydroxide solution and phosphoric acid, evenly adding iron source solution with a certain speed, wherein the molar ratio of the proportion of the added materials Li: Fe: P is 3.0:1.0:1.0-1.15, stirring 10-30 for minutes, adding pH value adjusting agent, leading the initial pH value of a reaction system to be 6.5-8.0, and reacting for 60-480 minutes at 40-180 DEG C; 2. filtering, washing and drying resultant; and 3. packing carbon. The hydrothermal synthesis method can take raw material solution for generating ferrous sulfate as iron source, produces a product with good performance by adjusting the pH value of the reaction system and controlling the feeding speed, eliminates working procedures for crystallizing and drying the ferrous sulfate and the like, is good for reducing water electricity consumption, and has less equipment investment, simple and controllable technology and good batch stability of the product.

The invention discloses a model prediction-based doubly salient permanent magnet synchronous motor direct torque control method. The model prediction-based doubly salient permanent magnet synchronous motor direct torque control method comprises the following steps that: stator current and rotor angular speed of a doubly salient permanent magnet synchronous motor are acquired; under eight groups of inverter switching vector signals, and based on the stator current and the rotor angular speed, the output current of the motor at a next moment of each kind of inverter switching vector is predicted according to constraint relationships between current variation quantity, micro components and voltage, current under eight kinds of switching states; based on a direct torque control theory, motor torque and motor magnetic flux linkage at the next moment of each kind of inverter switching vector can be further predicted; and related voltage vectors are selected reasonably with realizing minimum total quantity of the torque and the magnetic flux linkage adopted as a target, and therefore, the operation of an inverter can be controlled real time. With the model prediction-based doubly salient permanent magnet synchronous motor direct torque control method of the invention adopted, switching frequency and loss can be effectively decreased, and torque fluctuation of the motor can be decreased.

The invention relates to a formation method of a long pipe-shaped part with partial embossment and solves the problems of poor strength and stiffness, complex processes and high cost due to the adoption of a present production method that a pipe with partial embossment is first formed and then assembled and welded into a long pipe-shaped part with partial embossment. The method of the invention is that: firstly, both ends of a pipe (1) are sealed by a sealing device (2); secondly, a small-sized mold is designed according to the shape of the partial embossment; thirdly, a heating device (6) is used for heating the mold; fourthly, the pipe (1) is injected with high-pressure liquid or high-pressure gas through a channel (7) on the sealing device (2); fifthly, when the pipe inside a mold cavity of the mold is completely deformed and matched with the mold cavity, the long pipe-shaped part with partial embossment is then obtained. The invention is characterized by small size of the mold, equipment table and tonnage. Compared with the traditional formation method, the part produced by the method has the advantages of low cost, good overall performance and surface quality.

The invention belongs to the pearlescent pigment preparation process field, particularly relating to a preparation process of mica titanium pearlescent pigment. The process of the invention comprises adopting titanium tetrachloride solution which is partially transformed into titanyl sulfate, ferric trichloride solution and ferrous chloride solution or mixed solution of titanium salt and iron salt as deposition agent, adopting carbamide as neutralizing agent, wherein carbamide adopts the way of filling in batch, and hydrolyzing titanium salt, iron salt or mixed salt of titanium salt and iron salt to prepare mica pearlescent pigment. The process of the invention has the advantages of simple making art and easy operation, and the mica pearlescent pigment product which is prepared has even and compact titanium dioxide, di-iron trioxide film structure on the surface of the product, silver white product has high whiteness and strong pearlescent effect, and neon or color product has saturated color and strong pearlescent effect.

The invention relates to an unmanned mowing vehicle outdoor navigation and control method based on the GPS-RTK technology and belongs to the technical field of mobile vehicle navigation and control. According to the unmanned mowing vehicle indoor navigation and control method based on the GPS-RTK technology, by means of the mode that GPS-RTK base stations and mobile stations are established, centimeter-level positioning data is acquired, and the navigation real-time performance and precision of an unmanned vehicle are greatly improved. Real-time position information and a planned route are subjected to contrast calculation, and a reasonable unmanned vehicle tracking algorithm is obtained. Meanwhile, the control difficulty of the unmanned mowing vehicle is simplified through establishment of a four-wheel drive front wheel steering type motion model.

The invention relates to a composite rotor craft. The composite rotor craft comprises a craft main body, an energy device, a plug-in connector and a control device, wherein the craft main body comprises a main propeller and a plurality of auxiliary propellers; the main propeller comprises a main rotor I, a main rotor II and a main duct; the main rotor I and the main rotor II are fixed in the main duct through a main duct supporting frame; the part, in the main duct, of the outer edge of the main duct supporting frame is provided with a plurality of vertical connecting rods; cantilevers are outward and horizontally arranged at the bottoms of all the vertical connecting rods; the auxiliary propellers are arranged at the outer ends of all the cantilevers. The composite rotor craft has the benefits that the integration of various rotor flight modes is adopted, the flight efficiency is greatly improved, the flexibility of the craft is greatly improved, and the flight stability and reliability are also greatly improved; an advanced flight control mode is adopted, a plurality of rotors can be simultaneously controlled and adjusted, the control difficulty of the craft is greatly reduced, and the flight efficiency of the craft is improved.

The invention, which belongs to the electromechanical technology field, provides a realization method applied to an unmanned aircaraft control terminal. The control terminal system is composed of a hand-controlled control panel, a tablet computer, and a wireless data link transmission radio station. The hand-controlled control panel provides a function of real-time control on aircraft flight for control personnel; the design of a key rocking bar is similar to the design of a remote controller of an ordinary model plane, wherein the design of the remote controller of the ordinary model plane is familiar to general control personnel, so that it is convenient for the control personnel to understand how to the use the hand-controlled control panel and to user it. According to the invention, beneficial effects of the provided realization method are as follows: because a function for displaying a flight state and a flight path of an aircraft and a hand-controlled control function are integrated into one, it is convenient for control personnel to carry out contrast operation; therefore, a flight stability augmentation control system with low cost can be used to replace an expensive self-driving flight control system that is generally employed by an unmanned aircraft system; and meanwhile, a convenient and visual control auxiliary function can be provided to the greatest extent; the control difficulty is simplified; working efficiency is improved; and a work burden is reduced.

The invention discloses an InAlN / AlGaN enhanced-type high-electron mobility transistor and a manufacturing method thereof, so as to solve the problems that the prior enhanced-type device is complicated in manufacturing technology, the control difficulty is large, and the threshold voltage of the transistor is low. The device comprises, from bottom to top, a substrate, an AlN nucleation layer, a channel layer and an AlN interface insertion layer; the insertion layer is provided with a barrier layer and a source and drain region ohmic contact; the barrier layer is provided with an insulated gate dielectric layer; a gate electrode is arranged on the insulated gate dielectric layer; the source and drain region ohmic contact is provided with a source electrode and a drain electrode; the barrier layer adopts In0.17Al0.83N material; the channel layer adopts AlxGa<1-x>N material, and the x component in Al occupies 5% to 20%; and the insulated gate dielectric layer is Al2O3 formed by barrier layer oxidation. The device of the invention can be applied to an electronic device in fields such as a digital circuit and a high-voltage power switch, and has the advantages of high threshold voltage, simple manufacturing technology, and high repeatability.

Provided is an intelligent grinding machine. The intelligent grinding machine comprises a cross beam. A mechanical arm acting along a horizontal guide rail is arranged on the cross beam. A workpiece platform, a thickness detection device, an overturning arm and a magnetic disk are arranged below the cross beam in sequence. A grinding wheel device is arranged laterally above the magnetic disk. A workpiece guide rod is arranged on the workpiece platform. A lifting guide rail is arranged on the mechanical arm. An air cylinder is installed on the mechanical arm and drives an electromagnetic chuck to rise and fall along the lifting guide rail. A spring used for buffering is arranged above the electromagnetic chuck. According to the intelligent grinding machine, the air cylinder is arranged on the mechanical arm for driving lifting and is matched with the spring used for buffering, so that the structure of the mechanical arm is simplified, and especially the control mode is simplified; the action precision is controlled through the upper limiting point and the lower limiting point of the air cylinder, accordingly, the control difficulty is greatly simplified, and particularly the height position of the machine does not need to be precisely controlled due to the mode of using spring for buffering; the horizontal driving of the mechanical arm is conducted through a synchronous belt, especially the synchronous belt is adopted for fixing, and the cost of the equipment is reduced through the movement mode of a driving wheel.

The invention provides a control method for maximum transmission power of a hybrid double-feed-in direct current power transmission system, which belongs to the field of hybrid direct current power transmission control of an electric power system. According to the method, firstly, a double-feed-in direct current power transmission system model is established, a per-unit value of the hybrid double-feed-in direct current power transmission system is selected and rated operating condition parameters are determined, and the model is solved. Through utilization of a linear relation between a voltage at an alternating current bus of a flexible direct current transmission VSC system and a current flowing from a VSC system converter station to the alternating current bus and equivalent impedance of a tradition direct current power transmission LCC side receiving end grid, two parameters are subjected to linear combination to obtain a virtual point voltage, and through fixed virtual point voltage control of a PI link, the VSC system automatically adjusts the output power for a change of the equivalent impedance of the LCC side receiving end grid, so that the hybrid double-feed-in direct current power transmission system outputs the maximum power under the strength of the receiving end grid. The method has the characteristics of reducing the control difficulty and improving the power transmission capability of the hybrid double-feed-in direct current power transmission system under the same strength of the receiving end grid.

The invention provides a high-safety fuel cell electrolytic bath system and a working method thereof. The system comprises a fan, an air heat exchanger, an electric heater, an air-gas heat exchanger, a water tank, a water pump, a steam generator, a gas heat exchanger, a mixer and an SOEC stack. By arranging the air-gas heat exchanger, heat exchange is carried out on water vapor on the anode side and high-temperature air heated by the electric heater on the cathode side, the temperature of the water vapor is further increased, and high-temperature water vapor is formed. Compared with the prior art, a circulating pump and an anode electric heater are omitted, parts are reduced, and potential safety hazards are avoided. A high-temperature circulating pump or an ejector is adopted, water vapor in anode tail gas is recycled, the utilization rate of the water vapor is increased, and the efficiency of an SOEC system is improved.

The invention provides a hydro-thermal synthesis method for nano LiFePo4. The method comprises the following steps: step 1, a lithium hydroxide solution and phosphoric acid are added to an autoclave, an iron source solution is then added, and a reaction system is heated to 150-170 DEG C from 40 DEG C at the speed of 4-8 DEG C / min; step 2, heat is preserved for 2 h at the temperature of 150-170 DEG C and reduced to 70-80 DEG C, a filter cake and mother liquor are obtained through filtering, the filter cake is washed and dried in vacuum, and grey white LiFePo4 powder is obtained; step 3, the LiFePo4 powder obtained in the step 2 and a carbon source are mixed uniformly in the mass ratio being 100: (15-20), the mixture is roasted for 4 h at 700 DEG C with inert gas shielding, and a carbon coated LiFePo4 product is obtained. The high-rate discharge ability of the product is improved, the capacity cycling retention rate of the product is increased, equipment investment is little, the process is simple and controllable, and the batch stability of the product is good.

The invention provides a motor vehicle automatic shift system device. The motor vehicle automatic shift system device is characterized in that accelerator motion control, clutch motion control and shift motion control in the motor vehicle shifting process are integrated into one automatic shift device, and all operation of automatic shifting can be completed only by manipulating a motor and a magnetic valve. Not only complexity of an automatic shift manipulating mechanism and difficulty of control can be simplified, but also reliability can be improved, and product cost can be lowered.

The invention discloses an uninterrupted power supply system and method with the mixture of a fuel cell and a super capacitor. The system comprises mains supply, a power conversion system, a backup power supply and a load. The fuel cell and the super capacitor are used as a backup power supply, when the mains supply is cut off, the small-capacity long-life supercapacitor can instantaneously supplypower to the load, a condition that the fuel cell directly drives the load to carry out cold start is avoided, the response time of the uninterrupted power supply system is reduced, and the safety and life of the fuel cell are improved. A mature average current mode, constant frequency control and voltage outer loop current inner loop double-closed-loop control are used by an active power factorcorrection circuit, the system has the advantages of a small volume, low power consumption, high efficiency, a high power factor, small total harmonic distortion an high safety and reliability, the uninterrupted power supply for a long time can be ensured, the control of a power tube of the invention is simple to realize, the numbers of diodes and power tubes are small, the cost is low, the efficiency is high, and the safety and reliability are high.

The invention discloses a hydraulic hybrid power transmission system with a self-adaption switching function, and belongs to the field of power transmission. The hydraulic hybrid power transmission system comprises an engine, a high-pressure energy accumulator, a low-pressure energy accumulator, a constant-pressure variable pump, a hydraulic transformer, a fixed-displacement hydraulic motor and two hydraulic-control one-way valves. When a vehicle needs to switch between driving / braking conditions, after the control angle of the hydraulic transformer is changed, the two hydraulic-control one-way valves are controlled through the cross feedback of system pressure, so that the self-adaption switching between driving / braking conditions is realized; therefore, the control complexity and the control difficulty of the hydraulic hybrid power transmission system are reduced.

The invention discloses a multi-degree-of-freedom magnetohydrodynamic propulsion type underwater suspended particle cluster system which consists of a plurality of particle units, and after the particle units form the cluster system, formation operation can be performed to simulate behaviors of various crowds of a fish flock, a bird flock and the like.

The invention discloses logistics sorting equipment and an article conveying method. The logistics sorting equipment can control the operation of each conveyor in a regional manner through firstly increasing a transverse distance among articles and then adopting a longitudinal distancing device composed of a plurality of conveyors which are distributed in the form of a matrix and have independentpower, and the operation of one conveyor does not affect the other conveyors, so that interference of conveying among the articles at different positions can be effectively simplified, control logic is simplified, and control precision is improved; meanwhile, images acquired by an image acquisition device are used for providing control basis, so that compared with a photoelectric sensor, the provided data range is wider, conveying for all the articles on the longitudinal distancing device can be better planned integrally, and higher flexibility and efficiency are achieved; and meanwhile, a centering conveyor is arranged after separation, the articles output one by one can be output onto subsequent equipment at a unified position, so that simplification for the structure and control difficulty of the subsequent equipment is benefited.

The invention relates to a single-channel and vertical inclined well modular ventilation system in a long and large tunnel. The single-channel and vertical inclined well modular ventilation system isformed by splicing and combining one or more of a first ventilation module, a second ventilation module, a third ventilation module and a fourth ventilation module, and is used for satisfying requirements for ventilation of the long and large tunnel through real-time monitoring of ventilation parameters in the tunnel, dynamic intelligent calculation and fan operating state adjustment. Compared tothe prior art, the single-channel and vertical inclined well modular ventilation system has the advantages of modular design, low energy consumption, dynamic intelligent control, energy-saving tunneloperation, rapid transformation of normal and fire working conditions, and the like.

The invention discloses a redundancy fault-tolerant PWM method. First, based on a modular series inverter control strategy, a modulating wave signal of each submodule is determined; then according to the number of redundancy submodules contained in modular series inverter topology, the amplitude of a triangular carrier of each submodule is determined; and finally, according to the modulating wave signals of the submodules and corresponding triangular carrier signals, control pulse signals of submodules are determined, thereby controlling the switching states of the submodules. The invention also discloses a modular series inverter based on the modulation method. In the method, the number of triangular carriers is equal to that of the submodules, when redundancy submodules exist, circulative allocation of carriers is not needed, thereby simplifying control difficulty of submodule switching devices, at the same time, reducing unnecessary switching states, and reducing the switching freuqnecy of submodules; and when a fault occurs in a submodule of the inverter, a traditional switching process of a normal submodule and a redundancy submodule is not needed, thereby reducing disturbance caused to a system.

The invention relates to the technical field of aircrafts, in particular to a propeller and a wheel paddle assembly of an aircraft automobile by adopting the propeller. A rotary telescopic type propeller is adopted and comprises paddle blades, a paddle shaft and a sliding groove sleeve assembled on an aircraft and driven to rotate by a driving mechanism; the top end of the paddle shaft is fixedlyassembled and connected with the paddle blades, the sliding groove sleeve slidably sleeves the middle of the paddle shaft, so that the paddle shaft performs forward and reverse lifting motion relativeto the sliding groove sleeve; folding paddle blades are adopted in the paddle blades and comprise two auxiliary paddles symmetrically arranged on the two sides of the top end of the paddle shaft, a main paddle in pin joint with the outer ends of the auxiliary paddles and a torsional spring, wherein two ends of the torsional spring are separately connected with the auxiliary paddles and the main paddle and used for folding and shrinking the propeller; and when the paddle shaft rotates, after centrifugal force of the main paddle overcomes twisting force of the torsional spring, the paddle blades can automatically rotate and be unfolded. Compared with the prior art, rotary telescopic type is adopted in the propeller, volume reducing is facilitated, propeller is applied to folding paddles, and thus, the folding paddles are unfolded through inertial rotation.

The invention discloses a polycarboxylate superplasticizer containing a phosphate group as well as a preparation method and application of the polycarboxylate superplasticizer. The polycarboxylate superplasticizer containing the phosphate group is obtained by free radical copolymerization of an unsaturated phosphoric acid monomer, an unsaturated carboxylic acid monomer and a polyether macromonomer, wherein the unsaturated phosphoric acid monomer is obtained by carrying out a ring-opening reaction on an unsaturated compound containing an epoxy group and a phosphorylation reagent. The preparation method is simple and easy to operate, does not need to use an organic solvent, and is quick in reaction and relatively high in conversion rate. Besides, according to the preparation method of the polycarboxylate superplasticizer containing the phosphate group, an existing solution polymerization process of the superplasticizer does not need to be changed, only phosphorylation modification needsto be carried out on polymerization monomers in the superplasticizer, the modification process of the superplasticizer is simplified, and the control difficulty of the superplasticizer is lowered.

The invention discloses a vehicle heat pump air conditioning system with heating and refrigerating functions. The vehicle heat pump air conditioning system comprises an air conditioning compartment body, a compressor, a liquid accumulator, a condenser, condenser fan sets, an evaporator, evaporator fan sets and an expansion valve; the air conditioning compartment body is arranged in a driving cab, a hot air generating area and a cold air generating area are formed in the air conditioning compartment body, the condenser and the condenser fan sets are installed in the hot air generating area, and the evaporator, the evaporator fan sets and the expansion valve are installed in the cold air generating area; the upper end of the air conditioning compartment body is provided with a face blowing air opening and a defrosting air opening, one side of the air conditioning compartment body is provided with an air inlet opening, a first air exhausting opening and a second air exhausting opening, and the lower end of the other side of the air conditioning compartment body is provided with a foot blowing air opening; the air inlet opening is communicated with the hot air generating area and the cold air generating area through two independent channels respectively; a first air exhausting valve, a second air exhausting valve, a defrosting valve, a face blowing valve, a temperature-controlled valve and a foot blowing valve are arranged in the air conditioning compartment body; the compressor and the liquid accumulator are arranged in an engine room. The vehicle heat pump air conditioning system still can work normally on the condition that the temperature is lower.

The invention discloses an online rapid pickling device and method for a condenser in a power plant. The online rapid pickling device comprises a pickling liquid distribution device and a servo motor which are arranged outside a condenser water chamber, wherein an underwater positioning device for accurately positioning and a rapid filler for injecting pickling liquid are arranged in the condenser water chamber; the servo device is connected with the underwater positioning device; the pickling liquid distribution device is connected with the rapid filler; the servo device is used for transmitting a command to an underwater vertical positioning device in order to drive the rapid filler on a vertical coupler support to arrive at a specified area; a propeller on the support is used for driving the rapid filler to move forwards to be in hermetical butt joint with a condenser tube plate; the liquid distribution device is used for supplying pickling liquid to the rapid filler; the rapid filler is used for filling the pickling liquid into a plurality of rows of condenser heat exchange tubes in a covered area; after set cleaning and soaking time is reached, the rapid filler is separated from the condenser tube plate under the driving action of the propeller, and moves to a next area according to a set program for cleaning continually. By adopting the online rapid pickling device and method, the cleaning time is shortened greatly, the equipment running reliability is enhanced, and the cleaning cost of the condenser is lowered.

The invention discloses a compensation control method for an input filtering capacitive current of a CRM Boost PFC converter, belongs to the field of AC-DC power conversion, and aims at solving the problem that the input filtering capacitance tends to cause distortion of the input current in a traditional control method. Instant values of input and output voltages are sampled, the input filteringcapacitive current i<Cin> is calculated in real time, compensation time t<c> corresponding to a condition that a freewheeling diode is used in a main circuit and compensation time t<c> corresponding to a condition that a synchronizing rectification switch tube is used in the main circuit are calculated, conduction time of a power device is adjusted in real time to compensate the input filtering capacitive current, and the input current THD is reduced. The input filtering capacitive current is discretized on the basis of a digital controller, it is not required to establish a hardware circuit for detecting the input filtering capacitive current and the input voltage phase lock, and the circuit cost and the control difficulty are reduced greatly.

The invention provides a strawberry picking robot based on a Raspberry Pi, and belongs to the technical field of agricultural harvest machinery. The strawberry picking robot comprises a mobile platform module, a coordinate type mechanical arm module, a picking mechanism module, a control module and a vision module, wherein the mobile platform module is located on the bottommost layer of the picking robot and is used for driving the picking robot to move forwards in a strawberry greenhouse; the coordinate type mechanical arm module is arranged on the slight left side above a chassis and is usedfor enabling the picking mechanism module to be close to a mature strawberry fruit; the picking mechanism module is arranged on the coordinate type mechanical arm module and is used for picking the strawberry fruit; and the control module and the vision module are arranged on the chassis, the vision module is used for collecting a strawberry image, and the control module is used for processing the image and controlling the motion of the picking robot. The strawberry picking robot is capable of fully-automatically working in the strawberry greenhouse and recognizing, positioning and picking the mature strawberry.

The invention relates to a no-accessory constant-strength repair welding method based on pumpback type friction stir welding. The method includes the steps of firstly, selecting a proper ordinary stirring head and friction stir welding process parameters; secondly, making a preparation for implementing repair welding; thirdly, determining the welding trajectory; fourthly, offsetting the welding trajectory to one side line for welding; fifthly, offsetting the welding trajectory to the other side line of the symmetric line for welding; and sixthly, polishing a welding joint. No additional materials need to be added and no specific repair welding tools are needed in the repair welding process of the method, and the method is suitable for repair welding under various conditions and is convenient to operate. No key joints exist in the surface of the welding joint formed after repair welding, the strength of the joint is equivalent to the strength of an original welding joint, and the constant-strength repair welding can be realized.

The invention relates to the technical field of machining, and discloses a disc supply device. The tray supplying device comprises a tray separating assembly, a lifting assembly and a feeding assembly, the tray separating assembly comprises a tray separating part, the tray separating part can move in the horizontal direction, and the tray separating part is configured to have a receiving state in which the tray separating part is inserted into the lower portion of any one of the multiple stacked trays and a separating state in which the tray separating part is separated from the trays; the lifting assembly comprises a first driving part and a second driving part, the first driving part can drive the second driving part to ascend and descend, and the output end of the second driving part is connected to the disc dividing assembly and can drive the disc dividing assembly to ascend and descend; the feeding assembly is arranged below the tray distributing assembly and comprises a feeding carrying table capable of moving in the horizontal direction, and the feeding carrying table is used for bearing the trays. According to the tray feeding device, the trays can be provided for the tray feeding device without shutdown, the production efficiency is improved, operation is convenient, the control difficulty is simplified, and use convenience and practicability are improved.