Abstract: The present disclosure provides a collaborative robot arm and a joint module. The joint module includes a housing, a driving assembly, and a multi-turn absolute encoder. The joint module detects the angular position of the output shaft and records a number of rotating revolutions of the output shaft only by means of the multi-turn absolute encoder. The multi-turn absolute encoder includes a base, a bearing, a rotating shaft, an encoding disk, and a circuit board, the encoding disk is rotatably connected with the base by the rotating shaft and the bearing, the circuit board is fixedly connected with the base, and the reading head on the circuit board detects the angular position of the output shaft cooperatively with the encoding disk, making the multi-turn absolute encoder be an integrated structure. The base and the rotating shaft are detachably connected with the housing and the output shaft respectively.

Abstract: A drive structure of a desktop robotic arm is disclosed, including a base and a turntable. The base is internally provided with a turntable drive motor and a turntable drive shaft, the turntable drive motor is drive-connected to the turntable drive shaft, and the turntable drive shaft is drive-connected to the turntable. The turntable is provided with an upper arm drive motor and a forearm drive motor. The turntable drive motor, the upper arm drive motor and the forearm drive motor are all servo motors with absolute value encoders. According to the drive structure of the desktop robotic arm, by using servo motors as the drive motors for controlling the turntable, an upper arm and a forearm, for which the absolute value encoders are correspondingly configured, control accuracy and driving power can be improved. Further, the present invention also discloses a desktop robotic arm and a robot.

Abstract: An integrated joint module includes a housing, a driving assembly, a speed reduction assembly, a braking assembly and an encoding assembly. The housing includes a first housing and a second housing, an annular supporting platform is arranged on an inner side of the first housing. The driving assembly includes an output shaft, a stator embedded in the annular supporting platform, and a rotor connected with the output shaft and arranged on an inner side of the stator, the speed reduction assembly and the braking assembly are connected with two ends of the output shaft. The encoding assembly is arranged on a side of the braking assembly away from the driving assembly and connected with the output shaft, the second housing is sleeved on the encoding assembly and connected with the first housing. The integrated joint module helps to simplify the structure of the joint module and reduce the cost.

Abstract: Disclosed are an instant dissolving device by mass transfer and stretching with a cleaning structure and a dissolving method thereof. The dissolving device consists of a liquid inlet, a stretching repetition unit and a mass transfer unit, the stretching unit is sequentially composed of an upper fixed fluted disc, a movable fluted disc and a lower fixed fluted disc all with a plurality of through holes, and the upper fixed fluted disc and the lower fixed fluted disc are fixed to the dissolving device housing; the polymer gel solution is formed into a “uniform” solution after passing through the mass transfer unit. The dissolving device in the present invention is easy to install, and achieves instant dissolution of the polymers and improves the dissolution efficiency through the joint action of forced stretching and mass transfer by high gravity.

Abstract: Disclosed are an instant dissolving device by mass transfer and stretching with a cleaning structure and a dissolving method thereof. The dissolving device consists of a liquid inlet, a stretching repetition unit and a mass transfer unit, the stretching unit is sequentially composed of an upper fixed fluted disc, a movable fluted disc and a lower fixed fluted disc all with a plurality of through holes, and the upper fixed fluted disc and the lower fixed fluted disc are fixed to the dissolving device housing; the polymer gel solution is formed into a “uniform” solution after passing through the mass transfer unit. The dissolving device in the present invention is easy to install, and achieves instant dissolution of the polymers and improves the dissolution efficiency through the joint action of forced stretching and mass transfer by high gravity.

Abstract: A method for preparing an artificial core includes steps of: (1) preparing materials: dividing quartz sand of different particle sizes into multiple groups, adding a cementing agent into all the groups, and thoroughly stirring to obtain quartz sand mixtures with different permeabilities; (2) assembling a mold: assembling the mold into a cuboid with a hollow sand-filling groove inside; (3) wetting the mold: spraying water onto a bottom surface of the sand-filling groove with a fine water nozzle to wet the mold; (4) filling with sand: placing separators in the mold to divide the sand-filling groove into multiple parts corresponding to a group quantity of the quartz sand; sequentially pouring the quartz sand mixtures into the mold in an order from large to small particle sizes; then removing the separators, and flattening a surface of the quartz sand mixtures; (5) compacting; and (6) firing for molding and de-moulding.