Beijing Siling Robot Technology Co., Ltd.

Agile Robots Se

Beijing Research Institute of Chemical Engineering and Metallurgy China National Nuclear Corporation

Xuebin Su

Qian Wang

Zhaopeng Chen

Peng Li

Fabian Wappler

Lin Shi

Daniel Duerr

Hanqi Zhu

Yuechao Zhao

Baishi Hu

Yuechao Zaho

Genmao Zhou

Hao Qin

Lizhi Yang

Zhiming Du

Zhimin Gao

Weimin Que

Georg Stillfried

Po Li

Zhaokun Li

Yahui Tan

The invention discloses a modular robot joint, encoder reading head position adjustment mechanism and method for adjusting the position of an encoder reading head, the encoder reading head position adjustment mechanism is disposed on one side of the encoder reading head bracket, and includes a lower support and a upper support, the lower support and the upper support are connected to each other and positioned by a positioning connecting member, the upper support is pressed tightly against the lower support by a pressing connecting member, the encoder reading head is fixed to the upper surface of the upper support and is opposite to the encoder magnetic ring, the encoder magnetic ring is fixed to the motor shaft or the hollow shaft, the distance between the lower support and the upper support can be adjusted by adjusting the pressing connecting member and positioning connecting member, so that the axial distance between the reading head and the magnetic ring can be adjusted to a predetermined value, the processing accuracy of related parts on the dimensional chain is reasonably reduced, and the processing cost is reduced too, and the relative distance between the reading head and the magnetic ring is easy to adjust when the robot joint is assembled and debugged, thus achieving good technical results.

Modular robot joint, encoder reading head position adjustment mechanism and method for adjusting the position of an encoder reading head

The invention relates to a mechanical arm joint which comprises a hollow shaft and a brake assembly, a motor assembly, a harmonic reducer assembly, an output assembly, a housing assembly, and a measurement assembly which are disposed outside the hollow shaft, the measurement assembly includes a torque sensor, and the torque sensor is provided inside the housing assembly and fixed to the housing assembly, the torque sensor is fixed to the harmonic reducer assembly at the same time. The torque sensor is provided in the joint, so as to ensure that the torque sensor is not damaged by external impacts during assembling and maintaining of the joint and the mechanical arm. The power cables and signal cables are connected to the circuit board at the right end of the joint from the side of the joint instead of through the joint center hole, so that the torque sensor cable and other cables in the joint are arranged separately, therefore the signal of the torque sensor does not interfere with the signal in other cables, and it is beneficial to the torque sensor signal transmission due to the length of cable is shorter, and the joint structure is more compact because of the diameter of joint center hole becomes smaller due to the number of the cables passed through the joint center hole decreases.

Mechanical arm joint

Mechanical arm

The present invention discloses an in-situ leaching method and system. The ISL mining method provided by the present invention includes: constructing a vertical guiding well into an ore body; constructing a horizontal well towards the vertical guiding well, where the horizontal well includes a vertical section and a horizontal section; one end of the horizontal section is connected to the vertical section, and the other end of the horizontal section is connected to the vertical guiding well; constructing a plurality of vertical extraction wells towards the horizontal section; and simultaneously injecting lixiviant into the vertical section and the vertical guiding well by means of pressurized injection, and extracting leachate through the vertical extraction well. The ISL mining method and system provided by the present invention accomplish the injection through a horizontal well.

In-situ leaching mining method and system

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Beijing, China

Xuebin Su