摘要：【中文】本发明是一种便于移动的聚氨酯发泡搅拌装置，包括底座和固定在底座上的原料液罐、搅拌罐和研磨箱，研磨箱位于搅拌罐上方，所述底座的底部设有移动机构，原料液罐有若干个，原料液罐内设有第一搅拌机构，原料液罐连通有进液管，进液管末端连通入搅拌罐的顶壁，进液管下方的搅拌罐内设有散料机构，搅拌罐内设有第二搅拌机构，搅拌罐顶部设有升降机构。本发明在使用时，对发泡原料搅拌更均匀，发泡搅拌装置容易移动，方便车间使用。 【EN】The invention relates to a polyurethane foaming stirring device convenient to move, which comprises a base, and a raw material liquid tank, a stirring tank and a grinding box which are fixed on the base, wherein the grinding box is positioned above the stirring tank, the bottom of the base is provided with a moving mechanism, the raw material liquid tanks are provided with a plurality of raw material liquid tanks, a first stirring mechanism is arranged in each raw material liquid tank, the raw material liquid tanks are communicated with a liquid inlet pipe, the tail ends of the liquid inlet pipes are communicated with the top wall of the stirring tank, a material dispersing mechanism is arranged in each stirring tank below the liquid inlet pipe, a second stirring mechanism is arranged in each stirring tank, and the tops of. When the foaming stirring device is used, the foaming raw materials are stirred more uniformly, and the foaming stirring device is easy to move and convenient to use in a workshop.

摘要：【中文】本发明公开了一种基于多元回归的机器人关节几何误差补偿方法：采用理想关节变量的多元线性函数构建驱动关节误差补偿函数；采用有限位形下的末端位姿误差检测数据估计驱动关节误差补偿函数的系数，并通过显著性检验确定驱动关节误差补偿函数的系数；采用驱动关节误差补偿函数修正驱动关节的理想指令，实现机器人末端位姿误差的补偿。本发明直接用简单的多元线性函数的线性映射来预测关节几何误差源对末端位姿误差的影响，可补偿由随位形变化误差源引起的末端位姿误差，进而有利于提高机器人末端执行器的几何精度。 【EN】The invention discloses a robot joint geometric error compensation method based on multiple regression, which comprises the following steps: constructing a driving joint error compensation function by adopting a multivariate linear function of an ideal joint variable; estimating coefficients of a driving joint error compensation function by adopting end pose error detection data in a finite shape, and determining the coefficients of the driving joint error compensation function through significance test; and the ideal instruction of the driving joint is corrected by adopting a driving joint error compensation function, so that the terminal pose error of the robot is compensated. The method directly uses the linear mapping of the simple multivariate linear function to predict the influence of the joint geometric error source on the terminal pose error, can compensate the terminal pose error caused by the position-dependent deformation error source, and is further favorable for improving the geometric precision of the robot terminal actuator.

摘要：【中文】本发明涉及一种改性碳纳米管、环氧导电胶及其制备方法。所述改性碳纳米管的制备方法包括以下步骤：(1)将多壁碳纳米管、浓硒酸和高锰酸钾混合，进行酸化氧化反应；所述多壁碳纳米管、浓硒酸和高锰酸钾的质量比为9～11：10～20：0.5～10；(2)将步骤(1)所得反应产物与醇类有机溶剂混合，再与环氧类硅烷偶联剂进行表面改性反应，得改性碳纳米管；所述多壁碳纳米管、醇类有机溶剂与环氧类硅烷偶联剂的质量比为9～11：30～300：3～10。本发明方法制备得到的改性碳纳米管与环氧树脂具有良好的相容性，可显著提高环氧导电胶的导电导热性能和力学性能。 【EN】The invention relates to a modified carbon nanotube, epoxy conductive adhesive and a preparation method thereof. The preparation method of the modified carbon nano tube comprises the following steps: (1) mixing the multi-walled carbon nano-tube, concentrated selenic acid and potassium permanganate, and carrying out acidification and oxidation reaction; the mass ratio of the multi-walled carbon nanotube to the concentrated selenic acid to the potassium permanganate is 9-11: 10-20: 0.5 to 10; (2) mixing the reaction product obtained in the step (1) with an alcohol organic solvent, and then carrying out surface modification reaction with an epoxy silane coupling agent to obtain a modified carbon nanotube; the mass ratio of the multi-walled carbon nanotube to the alcohol organic solvent to the epoxy silane coupling agent is 9-11: 30-300: 3 to 10. The modified carbon nanotube prepared by the method has good compatibility with epoxy resin, and can remarkably improve the electric and heat conductivity and mechanical properties of the epoxy conductive adhesive.