摘要：【中文】本发明公开了多模式移动机器人，包括支架平台、两移动支链和两辅助支链；辅助支链和移动支链相对支架平台整体呈X形分布；移动支链包括第一上杆、第一下杆及车轮，第一上杆的一端与支架平台通过转动副I枢接，第一上杆的另一端与第一下杆的一端通过转动副II枢接，第一下杆的另一端连有车轮；辅助支链包括第二上杆、第二下杆及末杆，一第二上杆的一端与支架平台通过转动副III枢接，第二上杆的另一端与两根第二下杆的一端通过转动副IV枢接，两根第二下杆的另一端与末杆通过转动副V枢接；转动副I、转动副II、转动副III、转动副IV、转动副V及车轮均通过独立驱动件驱动。本发明的机器人兼具高移动速度和优秀越障能力，应用前景好。 【EN】The invention discloses a multi-mode mobile robot, which comprises a support platform, two mobile branched chains and two auxiliary branched chains, wherein the support platform is provided with a support platform; the auxiliary branched chain and the movable branched chain are distributed in an X shape relative to the whole support platform; the movable branched chain comprises a first upper rod, a first lower rod and wheels, one end of the first upper rod is pivoted with the support platform through a revolute pair I, the other end of the first upper rod is pivoted with one end of the first lower rod through a revolute pair II, and the other end of the first lower rod is connected with the wheels; the auxiliary branched chain comprises a second upper rod, second lower rods and a last rod, one end of the second upper rod is pivoted with the support platform through a revolute pair III, the other end of the second upper rod is pivoted with one end of each of the two second lower rods through a revolute pair IV, and the other end of each of the two second lower rods is pivoted with the last rod through a revolute pair V; revolute pair I, revolute pair II, revolute pair III, revolute pair IV, revolute pair V and wheels are all driven by independent driving pieces. The robot has high moving speed and excellent obstacle crossing capability, and has a good application prospect.

摘要：【中文】本发明公开了一种适用于非结构化地形的多运动模式移动并联机构及步态控制方法，包括上平台、下平台、虎克铰组件和连杆；其中，上平台和下平台之间间隔性的相对平行设置，在上、下平台的端部安装虎克铰组件，并与虎克铰组件转动连接；在每个虎克铰组件远离上、下平台的一端安装舵机，且在上、下平台相同一端的虎克铰组件之间安装连杆。步态控制方法包括全姿态滚动模式、变宽度滚动模式、切换模式和侧滚模式。本发明有益效果是：适应性好，极具应用前景；整体采用并联机构，与传统的开链机构相比，具有结构简单、刚度好，承载能力高的优点。可折叠多运动模式移动并联机构，机构中的舵机可以采用分时控制，可实现不同模式间的自由切换。 【EN】The invention discloses a multi-motion-mode mobile parallel mechanism suitable for unstructured terrain and a gait control method, wherein the mechanism comprises an upper platform, a lower platform, a hook hinge assembly and a connecting rod; the upper platform and the lower platform are arranged in parallel at intervals, and the end parts of the upper platform and the lower platform are provided with a Hooke hinge assembly and are in rotary connection with the Hooke hinge assembly; a steering engine is arranged at one end of each hook joint component far away from the upper platform and the lower platform, and a connecting rod is arranged between the hook joint components at the same end of the upper platform and the lower platform. The gait control method comprises a full-posture rolling mode, a wide-width rolling mode, a switching mode and a side rolling mode. The invention has the beneficial effects that: the adaptability is good, and the application prospect is good; the whole parallel mechanism is adopted, and compared with the traditional chain opening mechanism, the chain opening mechanism has the advantages of simple structure, good rigidity and high bearing capacity. The foldable multi-motion mode mobile parallel mechanism can realize free switching among different modes by adopting time-sharing control of a steering engine in the mechanism.

摘要：【中文】本发明公开了一种自动旋转焊接装置和焊接方法，由伺服控制系统、旋转平台、焊接系统和万向调节支架组成；所述伺服控制系统由步进电机和涡轮传动机构组成，作为执行系统，步进电机通过涡轮传动机构，带动旋转平台转动；旋转平台的中部设置有凹槽，凹槽的边缘处为梯级扩径结构。所述焊接系统，由焊接主机与焊枪组成；所述调节支架，包括上段和下段，上段和下段之间通过螺纹连接，通过螺纹调节支架的高度。该装置将焊件放置平台之上，调节焊枪位置，即可实现自动旋转焊接，从而保证整体焊接质量，进而降低人员劳动力。 【EN】The invention discloses an automatic rotary welding device and a welding method, which consists of a servo control system, a rotary platform, a welding system and a universal adjusting bracket; the servo control system consists of a stepping motor and a turbine transmission mechanism and is used as an execution system, and the stepping motor drives the rotary platform to rotate through the turbine transmission mechanism; the middle part of the rotary platform is provided with a groove, and the edge of the groove is of a step expanding structure. The welding system consists of a welding host and a welding gun; the adjusting bracket comprises an upper section and a lower section, the upper section and the lower section are connected through threads, and the height of the adjusting bracket is adjusted through threads. The device is on with weldment place the platform, adjusts welder position, can realize the autogiration welding to guarantee whole welding quality, and then reduce personnel's labour.

摘要：【中文】本发明公开了一种封闭自启动式节能星空玻璃天窗，属于汽车天窗设备领域，一种封闭自启动式节能星空玻璃天窗，包括天窗架和天窗外框，天窗架下端固定连接有天窗滑轨，天窗滑轨上电性连接有两个触点分支导线，天窗架前侧设有固定玻璃触点，固定玻璃触点与两个触点分支导线均固定连接，可以实现对星空玻璃天窗的星空显示结构的控制方式进行改进，使星空显示结构在天窗玻璃处于封闭状态时才处于工作状态，减少星空显示机构的能源浪费，同时改变星空天窗的内部组成，减小天窗内外温度差造成的天窗玻璃的损伤和使用时的危险性，降低天窗玻璃内外侧的温差变形量，减小天窗玻璃的应力变形，提升天窗对车身的密封效果。 【EN】The invention discloses a closed self-starting energy-saving starry sky glass skylight, which belongs to the field of automobile skylight equipment and comprises a skylight frame and a skylight outer frame, wherein the lower end of the skylight frame is fixedly connected with a skylight slide rail, the skylight slide rail is electrically connected with two contact branch leads, the front side of the skylight frame is provided with a fixed glass contact which is fixedly connected with the two contact branch leads, the control mode of a starry sky display structure of the starry sky glass skylight can be improved, the starry sky display structure is in a working state when the skylight glass is in a closed state, the energy waste of the starry sky display mechanism is reduced, the internal composition of the starry sky skylight is changed, the damage of the skylight glass caused by the temperature difference between the inside and the outside and the danger in use are reduced, and the temperature difference deformation of the inside and the outside of the skylight glass is reduced, reduce skylight glass's stress deformation, promote the sealed effect of skylight to the automobile body.

摘要：【中文】本发明属于智慧交通基础设施技术领域，具体来说，涉及到一种面向自动驾驶车辆视觉系统快速识别的路面感知标线涂料及其制备方法，所述涂料按照总量100份计算，由以下质量份的原料组成：10‑25份成膜物质、15‑25份钛白粉、1‑7份热塑性树脂、1‑7份增塑剂、5‑15份预处理后的荧光粉、20‑55份填料、0‑2份添加剂、溶剂余量，上述原料按照一定顺序混合均匀后得到路面感知标线涂料。本申请提供的路面感知标线相比较于传统标线涂料，具有持久反光能力强、耐候性好、耐磨、高抗污性等优点，提高了夜晚、雨雾等复杂环境下的标线辨识度，确保了自动驾驶车辆行车安全。 【EN】The invention belongs to the technical field of intelligent traffic infrastructure, and particularly relates to a pavement perception marking coating facing to quick recognition of an automatic driving vehicle vision system and a preparation method thereof, wherein the coating is prepared from the following raw materials in parts by mass according to 100 parts of the total weight: 10-25 parts of film forming substances, 15-25 parts of titanium dioxide, 1-7 parts of thermoplastic resin, 1-7 parts of plasticizer, 5-15 parts of pretreated fluorescent powder, 20-55 parts of filler, 0-2 parts of additive and the balance of solvent, and the raw materials are uniformly mixed according to a certain sequence to obtain the pavement sensing marking paint. The application provides a road surface perception marking compares in traditional marking coating, has advantages such as lasting reflection of light ability reinforce, weather fastness good, wear-resisting, high antipollution, has improved marking discernment degree under the complex environment such as night, rain fog, has ensured the driving safety of automatic drive vehicle.

摘要：【中文】本发明属于飞行器领域，具体为一种提高测试安全性的火工品插头连接状态自动识别电路。包括任务计算机、电气执行模块、火工品及分离插座；其特征在于：在电气执行模块靠近火工品的一端设置接地信号a和火工品联锁信号b，同时在火工品上设置火工品内部接地信号a′和火工品内部联锁信号b′，所述火工品内部接地信号a′和火工品内部联锁信号b′处于短接状态；在任务计算机上设置一路AD采集通道，采集电气执行模块靠近火工品端的火工品联锁信号b。解决了地面测试流程检查中，测试软件无法对火工品插头的连接状态进行自动判断，而可能导致的安全问题。 【EN】The invention belongs to the field of aircrafts, and particularly relates to an automatic identification circuit for a plug connection state of an initiating explosive device, which is used for improving test safety. The system comprises a task computer, an electric execution module, initiating explosive devices and a separation socket; the method is characterized in that: the method comprises the following steps that a grounding signal a and an initiating explosive device interlocking signal b are arranged at one end, close to an initiating explosive device, of an electrical execution module, meanwhile, an initiating explosive device internal grounding signal a 'and an initiating explosive device internal interlocking signal b' are arranged on the initiating explosive device, and the initiating explosive device internal grounding signal a 'and the initiating explosive device internal interlocking signal b' are in a short-circuit state; and arranging an AD acquisition channel on the task computer, and acquiring an initiating explosive device interlocking signal b of the electrical execution module close to the initiating explosive device end. The problem of ground test flow inspection, test software can't carry out automatic judgement to the connection state of initiating explosive device plug, and the safety that probably leads to is solved.