Abstract: A method for detecting a surface welding quality of friction stir welding includes: acquiring a continuous surface depth image of a welding seam; intercepting a surface depth image segment of the welding seam with a proper step size, and dividing the intercepted surface depth image segments of the welding seam into a front reference region, a thinned region and a rear reference region; judging whether flatness of the front reference region is less than a threshold, and if yes, taking a height of the front reference region at this point as a latest reference height; if no, judging whether the flatness of the rear reference region is less than the threshold, and if yes, taking a height of the rear reference region at this point as the latest reference height; if no, taking the reference height of previous depth image segment as the latest reference height; and calculating a difference.

Abstract: A method for detecting a surface welding quality of friction stir welding includes: acquiring a continuous surface depth image of a welding seam; intercepting a surface depth image segment of the welding seam with a proper step size, and dividing the intercepted surface depth image segments of the welding seam into a front reference region, a thinned region and a rear reference region; judging whether flatness of the front reference region is less than a threshold, and if yes, taking a height of the front reference region at this point as a latest reference height; if no, judging whether the flatness of the rear reference region is less than the threshold, and if yes, taking a height of the rear reference region at this point as the latest reference height; if no, taking the reference height of previous depth image segment as the latest reference height; and calculating a difference.

Abstract: The present invention discloses a planar articulated robot and an inner rotor joint device, including a base, a first inner rotor joint device provided on the base, a first mechanical arm driven by the first inner rotor joint device, and a manipulator connected to the first mechanical arm, wherein the first inner rotor joint device comprises a rotating shaft fixedly connected to the first mechanical arm and extending along a longitudinal axis, a low-speed rotor assembly located on an outer periphery of the rotating shaft, a high-speed rotor assembly located on an outer periphery of the low-speed rotor assembly, a magnetizing ring located between the low-speed rotor assembly and the high-speed rotor assembly in a circumferential direction, a stator core located on an outer periphery of the high-speed rotor assembly with a certain gap therebetween in the circumferential direction, and a casing covering an outer periphery of the stator core and fixedly connected to the stator core, and a coil is wound around the

Abstract: Disclosed is a triboelectric nanogenerator-based biochemical droplet reaction device, which includes a reaction generating part and a power generation part. The power generation part includes a triboelectric component and a rectifier circuit. The triboelectric component includes a drive electrode, a substrate, a first friction electrode, a first friction material, a second friction material, and a second friction electrode arranged in sequence from top to bottom. A gap exists between the first friction material and the second friction material. The first friction electrode is connected to the first friction material. The second friction electrode is connected to the second friction material. The drive electrode, the first friction electrode, and the second friction electrode are all connected to the rectifier circuit. Also disclosed is a reaction method.

Abstract: Disclosed is a triboelectric nanogenerator-based biochemical droplet reaction device, which includes a reaction generating part and a power generation part. The power generation part includes a triboelectric component and a rectifier circuit. The triboelectric component includes a drive electrode, a substrate, a first friction electrode, a first friction material, a second friction material, and a second friction electrode arranged in sequence from top to bottom. A gap exists between the first friction material and the second friction material. The first friction electrode is connected to the first friction material. The second friction electrode is connected to the second friction material. The drive electrode, the first friction electrode, and the second friction electrode are all connected to the rectifier circuit. Also disclosed is a reaction method.

Abstract: The present invention discloses a piezoelectric ultrasonic microinjection device based on a flexible hinge mechanism. The device includes: a cover, a flexible hinge mechanism, a base, a screw cap and an end cap fixedly assembled together, the base being provided with a pump interface; and a micropipette fixedly mounted in the base, the screw cap and the end cap and extending outward, the micropipette being in communication with the pump interface; wherein the flexible hinge mechanism comprises a housing, a piezoelectric ceramic package module encapsulated in the housing, a central shaft fixedly mounted with the piezoelectric ceramic package module and the base, and a vibration output shaft extending from the piezoelectric ceramic package module into the central shaft, a plurality of flexible hinge beams being disposed between the central shaft and the housing.

Abstract: The present invention discloses a planar articulated robot and an inner rotor joint device, including a base, a first inner rotor joint device provided on the base, a first mechanical arm driven by the first inner rotor joint device, and a manipulator connected to the first mechanical arm, wherein the first inner rotor joint device comprises a rotating shaft fixedly connected to the first mechanical arm and extending along a longitudinal axis, a low-speed rotor assembly located on an outer periphery of the rotating shaft, a high-speed rotor assembly located on an outer periphery of the low-speed rotor assembly, a magnetizing ring located between the low-speed rotor assembly and the high-speed rotor assembly in a circumferential direction, a stator core located on an outer periphery of the high-speed rotor assembly with a certain gap therebetween in the circumferential direction, and a casing covering an outer periphery of the stator core and fixedly connected to the stator core, and a coil is wound around the

Abstract: The present invention discloses a piezoelectric ultrasonic microinjection device based on a flexible hinge mechanism. The device includes: a cover, a flexible hinge mechanism, a base, a screw cap and an end cap fixedly assembled together, the base being provided with a pump interface; and a micropipette fixedly mounted in the base, the screw cap and the end cap and extending outward, the micropipette being in communication with the pump interface; wherein the flexible hinge mechanism comprises a housing, a piezoelectric ceramic package module encapsulated in the housing, a central shaft fixedly mounted with the piezoelectric ceramic package module and the base, and a vibration output shaft extending from the piezoelectric ceramic package module into the central shaft, a plurality of flexible hinge beams being disposed between the central shaft and the housing.

Abstract: A graphical instruction data processing method and apparatus, and a system are disclosed, to help reduce a quantity of transmitted graphical instruction data, and lower a requirement on bandwidth. Aspects of the disclosure provide a method for processing graphical instruction data. The method includes obtaining, by a server device in a cloud interactive system, graphical instruction data of a frame, and determining whether the frame satisfies a key frame setting condition. Further, the method includes when the frame is determined to fail to satisfy the key frame setting condition, comparing the graphical instruction data of the frame with graphical instruction data of a current key frame, to obtain differential data, and sending the differential data to user equipment in the cloud interactive system. The user equipment reconstructs the graphical instruction data of the frame according to the current key frame and the differential data.

Abstract: A graphical instruction data processing method and apparatus, and a system are disclosed, to help reduce a quantity of transmitted graphical instruction data, and lower a requirement on bandwidth. Aspects of the disclosure provide a method for processing graphical instruction data. The method includes obtaining, by a server device in a cloud interactive system, graphical instruction data of a frame, and determining whether the frame satisfies a key frame setting condition. Further, the method includes when the frame is determined to fail to satisfy the key frame setting condition, comparing the graphical instruction data of the frame with graphical instruction data of a current key frame, to obtain differential data, and sending the differential data to user equipment in the cloud interactive system. The user equipment reconstructs the graphical instruction data of the frame according to the current key frame and the differential data.