36results about How to "Achieve pitch" patented technology

The invention discloses a high-speed high-efficiency tilt wing unmanned aerial vehicle. The aerial vehicle layout has higher pneumatic efficiency and control reliability, can realize high speed and high efficiency flight on the premise of ensuring vertical take-off and landing. The aerial vehicle comprises tilting rotors, tilting airfoils, a tail duct, fixed empennages, a body structure and an undercarriage, wherein the tilting rotors and the tilting airfoils can rotate along rotating shafts through an actuating mechanism, and the tilting rotors have a variable range; and the tail empennages are variable thrust vectoring ducts. The aerial vehicle goes through a vertical flight state, transitional flight state and straight-and-level flight state from taking-off to level flight. The tiltingrotors have tilting efficiency of vertical flight state and straight flight, and can be used for driving the aerial vehicle to fly at high speed; the tilting airfoils of the aerial vehicle are positioned in the washing areas of the tilting rotors, and have relatively high control surface efficiency; and the variable thrust vectoring ducts are used for providing control force to vertical flight, pitching and yawing of the aerial vehicle, and can be used for improving the control stability of vertical flight of the aerial vehicle.

The invention relates to a drilling machine, particularly relates to a mechanical single-arm type hydraulic roof-bolter adopting a hydraulic cylinder chain-type doubling mechanism. The mechanical single-arm type hydraulic roof-bolter comprises a power source of a hydraulic power system for providing hydraulic power, a sliding rail component fixedly arranged on the machine body of a development machine, a sliding table, a telescopic arm in with one end is hinged with the sliding table, a connecting seat of a drilling frame connected with the other end of the telescopic arm, and a drilling frame connected with the connecting seat. The power of the hydraulic system is provided by multiple modular gear pumps in a main pump station of the development machine, so that the power source of the hydraulic system does not need to be added additionally; a sliding and pulling part of the onboard roof-bolter adopts the hydraulic cylinder chain-type doubling mechanism to realize transmission, so that the puling part has compact structure and less weight; and the drilling box adopts a non-round planetary gear transmission hydraulic motor, and the pulling part of the drilling box adopts the hydraulic cylinder chain-type doubling mechanism to realize transmission, so that the drilling frame has a compact structure and light weight.

The invention discloses a snake robot with a digging function. During operation, firstly, a second shell keeps still, a first motor rotates, a first shell and a drill are driven to rotate by virtue of an output shaft, a linear motor push rod installed between box bodies extends to push the first shell to drill forwards, additionally, a helical blade on the surface of the second shell does not rotate and is used as a support piece so as to supply support reverse force, the first shell moves forwards at a distance s and then stops, the motor and the first shell keep still at this time, a second motor begins to rotate so as to drive the second shell to rotate, a linear motor output rod retracts to pull the second shell to move forwards, and the second shell moves forwards at the same distance s and then stops. When turning or pitching is needed, the output length of different linear motors can be controlled according to required turning and pitching angles, so as to realize the corresponding movement. The snake robot has the advantages of safety, reliability, simplicity and easiness in implementation, and the digging function of the snake robot is realized.

The invention belongs to the technical field of bionic robots, and particularly relates to a bionic eye, in particular to a three-degree-of-freedom bionic eye based on series-parallel control. According to the technical scheme, a substrate is fixed to a vertical bracket; the vertical bracket is fixed to a horizontal bracket; an eyeball is arranged on the substrate; leftward and rightward motion of the eyeball is realized through an upper four-bar mechanism; upward and downward motion of the eyeball is realized through a right four-bar mechanism; a third motor is arranged inside the eyeball; and the third motor is used for driving a sensor to rotate along an optical axis of the eyeball. Through a simple bar parallel mechanism, pitching and orientation rotation of a bionic eyeball can be realized, and spinning motion of the bionic eyeball along the optical axis is realized; higher positioning accuracy of the bionic eye can be realized through three-degree-of-freedom motion.

The invention relates to the field of excavation equipment, in particular to a rock-breaking device for tunnel construction or roadway excavation. The device is provided with a turntable, a rock-breaking arm and a breaking hammer. One end of the rock-breaking arm is connected to the turntable, and the other end of the rock-breaking arm is connected to the breaking hammer. The turntable is installed on the carrier through the slewing bearing. The turntable is driven by a hydraulic cylinder or a hydraulic motor. The rock-breaking arm is a telescopic arm structure composed of a telescopic inner arm of the rock-breaking arm and a telescopic outer arm of the rock-breaking arm. The outer end of the telescopic outer arm of the rock-breaking arm is hinged with the rotary table, and the vertical pitch of the equipment can be realized under the push of the hydraulic cylinder; the end of the telescopic inner arm of the rock-breaking arm is hinged with the breaker, and it can be flexibly Adjust the impact angle of the breaking hammer. The present invention overcomes the shortcomings of the drilling and blasting method and the comprehensive tunneling method, realizes the purpose of tunnel construction and roadway excavation with a breaker, realizes rapid and efficient tunneling of superhard whole rock roadways without blasting, and avoids major accidents from the root happened.

The invention provides a humanoid robot and a two-degree-of-freedom modular humanoid robot joint thereof, and belongs to the technical field of humanoid robots. The two-degree-of-freedom modular humanoid robot joint comprises two groups of same driving and transmission mechanisms, wherein the driving and transmission mechanisms are characterized in that a motor shaft is connected with one end of a lead screw, a middle hole of a sliding block is meshed with the lead screw, a through hole in the lower end of the sliding block is connected with one end of a connecting rod I in a sleeving mode, the other end of the connecting rod I is connected with one end of a connecting rod II through a cross shaft assembly I, the other end of the connecting rod II is fixedly connected with a joint bearing assembly, and the joint bearing assembly is fixedly connected with the execution end of a U-shaped frame. According to the humanoid robot and the two-degree-of-freedom modular humanoid robot joint thereof, the rotational inertia of the mechanism can be reduced when the arm or leg joint of the humanoid robot moves, the structure is stable, the flexibility is high, and different types of lead screws can be selected according to different use requirements for targeted design.

The invention relates to a bionic body mechanism capable of realizing multi-directional bending. The bionic body mechanism comprises a front body assembly, a driving assembly, a bionic spine assembly and a back body assembly, wherein the front body assembly and the back body assembly adopt frame structures; the driving assembly comprises six motors which drive six fixed-length connecting rods respectively and are circumferentially distributed around the bionic spine assembly, and the driving assembly is fixedly connected with the front body assembly and the back body assembly through screws; the two ends of the bionic spine assembly are fixedly connected with the front body assembly and the back body assembly through screws respectively. The bionic body mechanism capable of realizing multi-directional bending simulates the body structure of four-footed organisms, can realize lateral bending and vertical bending, has a good bionic property and bending flexibility and overcomes the defect that traditional robot body structures cannot realize flexible and dynamic bending.

The invention provides a multichannel fitness bicycle, and belongs to the technical field of fitness equipment. The multichannel fitness bicycle includes a base, an electric rod cylinder assembly, a symmetrical connection rod, a symmetrical rear support, a symmetrical support, a seat assembly, a handlebar assembly, pedals, air springs, a magnetic powder brake and a control module; the electric rodcylinder assembly is movably connected to the base through a movable connection part, the symmetrical rear support is movably connected to the base through a movable connection part, and the air springs are mounted between the base and the two sides of the symmetrical rear support; the magnetic powder brake is arranged inside the symmetrical support, and a first central shaft penetrates the pedals, the symmetrical rear support, the symmetrical support and the magnetic powder brake from interior to exterior; the two ends of the symmetrical connection rod are movably connected to the electric rod cylinder assembly and the symmetrical support respectively; the seat assembly is mounted at the top of the symmetrical support, and the handlebar assembly is connected with the electric rod cylinder assembly; sensors mounted on the handlebar assembly and the pedals are electrically connected with the control module. The multichannel fitness bicycle has the advantages of being capable of achieving the functions of pitching, jolting and the like and integrating a heeling function.

The invention relates to an electro-hydraulic hybrid crawler-type multifunctional operation-level underwater robot which comprises a crawler traveling module, a robot frame and an electric drive propeller module, the crawler traveling module is flexibly connected to the two sides of the robot frame through an adjustable connecting rod, and the electric drive propeller module comprises a horizontal propeller and a vertical propeller. An operation tool module and a mechanical arm module matched with the operation tool module are installed on the front side of the robot frame, and a hydraulic system module used for driving the crawler belt advancing module to move is installed on the rear side of the robot frame. According to the underwater robot, foreign matter attached to the surface of an underwater structure is cleaned, polished, subjected to defect detection and repaired through the carried different operation tool modules and the carried manipulator module, existing manual underwater cleaning operation can be replaced, therefore, the cleaning efficiency is greatly improved, an excellent hydrodynamic structure and electro-hydraulic dual-driving force are adopted, and the underwater robot can be used for cleaning the surface of the underwater structure. And the robot can play a role in intervention operation of various underwater production systems.

The invention discloses a 3D-printed folding type wing loitering munition. The 3D-printed folding type wing loitering munition comprises a munition body, front wings and back wings; the front wings and the back wings are both of a symmetrical structure and adopt a serial wing layout mode; the front wings are located on the upper portion of the munition body, the back wings are located on the lowerportion of the munition body, and the front wings and the back wings are located at the limiting positions of the munition body; and the left portions and the right portions of the front wings and the back wings are connected with the munition body through elastic folding and unfolding mechanisms separately, the front wings can be backwards and longitudinally folded into the munition body, and the back wings can be forwards and longitudinally folded into the munition body. According to the 3D-printed folding type wing loitering munition, the serial wing layout mode that the front wings are arranged on the upper portion, and the back wings are arranged on the lower portion is adopted, therefore, the loading capacity of the loitering munition is increased, and influences of the front wingson air flow generated by the back wings are reduced; and the folding type wings are driven by the elastic folding and unfolding mechanisms to be unfolded, the wings can be passively and longitudinallycontracted to the munition body, enough elastic potential energy is stored, the wings can be stably fastened, the wings can be quickly released when catapult unfolding is conducted, operation is convenient and fast, and the safety and the reliability are achieved.

The invention discloses an unmanned aerial vehicle attitude control system, a flight control system and an attitude control method. The unmanned aerial vehicle attitude control system is used for controlling pitching, yawing and rolling of an unmanned aerial vehicle, and comprises a main control system, a rudder system and a feedback system; the steering system is provided with at least three steering engines, the at least three steering engines are arranged at the tail of the unmanned aerial vehicle in a centralized mode, a rudder piece rotating shaft of each steering engine in the at least three steering engines is designed to be arranged in the mode of intersecting with the central axis of the tail of the unmanned aerial vehicle, and the included angles between any two adjacent rudder piece rotating shafts are equal. A rudder sheet driving control circuit of each steering engine in the rudder system is in signal connection with the main control system, and the rudder sheet of each steering engine in the rudder system is controlled by a corresponding attitude control instruction sent by the main control system to cooperatively rotate so as to enable the unmanned aerial vehicle torealize pitching, yawing and rolling motions required by attitude control; and the rudder system further comprises a steering engine positioning module.

The invention relates to a movable robot based on a paper folding structure and a snake-like robot. The movable robot comprises a motion module, a front load module and a rear load module; the motion module comprises a folding outer pipe and at least two folding inner pipes which are arranged in the folding outer pipe and are of the paper folding structure; the front load module and the rear load module are provided with one-way wheels; one or both of the front load module and the rear load module are provided with a drive module; the drive module is connected with the ends of the folding inner pipes; and synchronous or asynchronous torsion control over all the folding inner pipes is achieved through the drive module, and the movable robot can conduct peristaltic displacement in a specific posture. Compared with the prior art, the bionic robot capable of flexibly moving is designed through the folding tubular structure, the designed bionic robot can achieve stretching and bending motion under the drive of shape memory alloy or a motor, the overall size is smaller, the weight is lower, the drive efficiency is higher, and the effective load ratio is larger.

The invention relates to a marine bearing swing test device. The test device comprises a swing inclination test device. The swing inclination test device comprises a test bench. The marine bearing swing test device comprises a space loading inverted bearing experiment table. The space loading inverted bearing experiment table comprises a driving motor, a transmission shaft, an unloading mechanism,a test shaft, a flexible loading device and a bearing support group. The lifting mechanism comprises a flexible part, a first telescopic cylinder and a second telescopic cylinder, one end of the flexible part is connected with the driving end of the first telescopic cylinder, the other end of the flexible part is connected with the suspension assembly, and the driving end of the second telescopiccylinder is supported in the middle of the flexible part; the bearing support set comprises a left bearing support and a right bearing support, the right bearing support faces one side of the transmission shaft, bearings are arranged in the left bearing support and the right bearing support respectively, the bearing in the left bearing support is movably assembled, and the bearing in the right bearing support is fixedly assembled. According to the invention, the flexible change of the load applying direction is realized, and the accuracy of the test result is ensured.

The invention relates to a concrete spreader boom, which comprises a first spreading rod and a second spreading rod, wherein a delivery pipeline is connected between the first spreading rod and the second spreading rod. The concrete spreader boom is characterized in that a first horizontal slewing mechanism is arranged at the tail end of the first spreading rod, a slewing head capable of slewing horizontally is arranged on the first horizontal slewing mechanism, and the front end of the second spreading rod is movably connected with the slewing head so that the second spreading rod can slew vertically. The invention further provides a concrete spreader provided with the concrete spreader boom. The concrete spreader boom is simple in structure, and joints of various sections of the boom can pitch and slew simultaneously. Cost of the concrete spreader utilizing the concrete spreader boom is controlled well.

The invention provides a high-flexibility seven-degree-of-freedom wheel-foot robot leg structure which comprises a hip joint module, a thigh, a knee joint, a shank, an ankle joint module and a wheel type movement module which are sequentially connected from top to bottom, under hybrid driving of a hydraulic driving unit and a servo motor, the hip joint can achieve yawing, yawing and pitching movement, and the leg structure can be used as a leg structure of a seven-degree-of-freedom wheel-foot robot. The knee joint can achieve pitching motion, the ankle joint can achieve pitching motion and turnover motion of the wheel along the axis of the connecting bearing, and the wheel type motion module can achieve rotation motion of the wheel along the axis. The leg structure of the wheel-foot robot has seven degrees of freedom, the overall flexibility is higher, the movement speed is higher, the adaptability to complex environments is higher, movement is more stable, the power-to-weight ratio is higher, the overall weight and size of the robot are smaller, and the practicability is higher.

The invention relates to a rifle rack structure, and particularly provides a full-electric driving type assault rifle rack. The rack is characterized in that a fixing rack is used for fixing a rifle; the tail part of the fixing rack is movably connected with the top of a triangular bracket through a fixing hinge pin; the fixing rack rotates relative to the triangular bracket through the fixing hinge pin; the assault rifle rack further comprises an electric push rod used for controlling pitching action of the rifle, a rotating motor used for controlling horizontal rotation direction of the rifle, and a speed reducing rotary disc matched with the rotating motor for utilization; one end of the electric push rod is movably connected with the head part of the rifle fixing rack; the other end of the electric push rod is movably connected with the speed reducing rotary disc; the speed reducing rotary disc is connected with the bottom of the triangular bracket through bolts; and a connecting base plate is connected with the speed reducing rotary disc through bolts. According to the assault rifle rack, the shooting accuracy is improved on the basis that the rifle action is achieved, the structure is relatively simple, the rack is easy to maintain, the weight is relatively low, the cost is relatively low, the pitching action is achieved through the electric push rod, the rotation action is achieved through the motor and the speed reducing rotary disc, and the shooting accuracy is improved through a vibration-proof spring.

A double-layer support for flight vehicle assembling, transporting and docking comprises an upper support (1), a lower support (2), a lifting device and a connecting mechanism (6). The lifting device comprises a front lifting unit (3) and two rear lifting units, and the two ends of each lifting unit are a fixed end and a variable end; the fixed end of the front lifting unit (3) is fixedly connected with the lower support (2), and the variable end of the front lifting unit (3) is fixedly connected with the front end of the upper support (1) through the connecting mechanism; the two rear lifting units are symmetrically arranged on the two sides of the centers of the rear ends of the upper support (1) and the lower support (2), and the fixed end and the variable end of each rear lifting unit are connected with the upper support (1) or the lower support (2) through the connecting mechanism (6).

The invention relates to a flapping wing airship. The flapping wing airship comprises an gasbag, an auxiliary gasbag, a pod, a double-flapping wing mechanism, a tail rod, a tail wing, a rudder and an elevator, wherein the outer surface of the gasbag is provided with the pod, the tail rod, the tail wing, the rudder and the elevator; the auxiliary gasbag is located in the gasbag; the pos is located at the bottom of the gasbag; the tail rod is located at the tail part of the gasbag; the double-flapping wing mechanism is arranged on the tail rod; the double-flapping wing mechanism comprises flapping wing pieces, a root part shaft and a cardan joint; the root part shaft is connected to the tail rod through the cardan joint. Through the adoption of the structure, the flapping wings of the double-flapping wing mechanism can change the sizes of incidence angles of the flapping wings along the rotation of the root part shaft, and the direction in actual flying can be adjusted more freely. In addition, the double-flapping wing mechanism can achieve changing of drive angles through the cardan joint, thus the flapping wing airship can change flight angles more freely and conveniently, movements of pitching, veering and the like of the airship can be quickly achieved, and the flight efficiency of the flapping wing airship is sharply improved.

The invention discloses an offshore gallery bridge which comprises a base, and a rotary mechanism used for driving a rotary platform is arranged above the base. A control cab used for offshore bridge operation is arranged on the rotary platform; a protective fence is arranged on one side of the control cab; according to the offshore gallery bridge, a passive wave compensation system and an active wave compensation system can effectively calculate and compensate rolling, pitching and heaving motions of a ship caused by sea conditions, so that the safety of transfer personnel is well ensured; rotation of the main arm and the telescopic arm can be achieved through cooperation of the rotary mechanism and the rotary platform, pitching of the main arm and the telescopic arm can be achieved through the pitching hydraulic cylinder, meanwhile, relative contraction and other motions can be achieved between the main arm and the telescopic arm, and motion feedback signals come from an attitude sensor or a landing cone at the end of the telescopic arm. The arm end is kept static relative to the landing point; and the telescopic arm end of the gallery bridge can be provided with a small hoisting mechanism, and the cargo transfer function is achieved.

The invention relates to the technical field of VR application, in particular to an industrial VR inspection robot. Comprising a robot body, robot power rod mounting bases are arranged on the two sides of the robot body, front power rod connecting rods are arranged on the robot power rod mounting bases, rear power rods are arranged on the portions, located on the robot power rod mounting bases, of one sides of the front power rod connecting rods, and rear wheel power motors are arranged on the rear power rod connecting rods; a rear wheel is arranged at one end of an output shaft of the rear wheel power motor, a front power rod is arranged at one end of the front power rod connecting rod, a front wheel power motor is arranged on the front power rod, and a front wheel is arranged at one end of an output shaft of the front wheel power motor. The industrial VR inspection robot provided by the invention can continuously work for 24 hours, is simple in structure and good in damping performance, and uses double cameras to generate VR images, and meanwhile, the cameras are controllable.

An aero-engine mounting vehicle capable of achieving multi-degree-of-freedom posture adjustment comprises an engine support, a slewing bearing, a platform, three electric mechanisms, a chassis and Mecanum wheel mechanisms. The aero-engine mounting vehicle capable of achieving multi-degree-of-freedom posture adjustment has advantages and positive effects that through three-degree-of-freedom movement of the mounting vehicle, precise actions such as pitching, rolling and the like of an aero-engine can be achieved, and therefore efficiency, precision and safety of aero-engine assembling are improved.

The invention relates to the technical field of medical detection equipment, and in particular relates to a flow cell mechanism adjusting device of a urine visible component analyzer. The device comprises a mounting base, a first linear motion mechanism, a first lifter, a second lifter, a third lifter, a fourth lifter, a second linear motion mechanism, a flow cell mechanism and a controller, the first linear motion mechanism is arranged on the mounting base along the axis; the lifters are vertically mounted at four corners of the top end of a sliding working part of the first linear motion mechanism; the top working ends of the lifters are fixedly connected with four corners of the bottom of the second linear motion mechanism; the flow cell mechanism is fixedly arranged at the top end of the sliding working part of the second linear motion mechanism, the first linear motion mechanism, the first lifter, the second lifter, the third lifter, the fourth lifter and the second linear motionmechanism are all electrically connected with the controller, and the device controls the displacement of the flow cell through the controller, so that automatic adjustment is realized, and the operation is simple.

The invention discloses a platform action mechanism for alpine regions, the platform action mechanism comprises a crawler travelling device, the track travelling device comprises a main wheel, a first wing wheel and a second wing wheel which are oppositely arranged on the two horizontal sides of the main wheel, wherein the diameter of the first wing wheel and the diameter of the second wing wheel are smaller than that of the main wheel, and a crawler belt which is arranged on the outer edges of the main wheel, the first wing wheel and the second wing wheel and is driven by the main wheel to operate, and a first driving device used for driving the main wheel to operate is arranged on the main wheel. A crawler deformation device used for driving the first wing wheel to move so as to change the shape of the track into a triangle is arranged between the main wheel and the first driving device, and a posture transformation device used for changing the relative position of the second wing wheel and the main wheel so as to change the motion posture of the platform action mechanism is arranged between the main wheel and the first driving device. By arranging the crawler deformation device, the shape of the crawler is changed from the rhombus to the triangle, the trafficability of the robot under the snowfield pavement is higher, and the environment adaptability is higher by matching the rhombus state with the posture conversion device.

The invention relates to a double-shaft integral sun tracking driving device for eliminating the off-axis error. The device comprises a transmission box body and a U-shaped upright post support seat, wherein the two ends of the transmission box body are fixed onto the U-shaped upright post support seat through flanges; one end of the transmission box body is connected with the flange and is provided with a fixed component; a rotating shaft is arranged at the two sides of the transmission box body; a transmission component is arranged on the rotating shaft; each of the two ends of the rotating shaft is provided with a heliostat support frame; a first driving mechanism and a second driving mechanism are arranged on a transmission box bottom plate arranged in the transmission box body; the first driving mechanism runs around the fixed component; the second driving mechanism drives the transmission mechanism to operate. The double-shaft integral sun tracking driving device has the advantages that the structure is simple; the design is reasonable; the double shafts of a heliostat, i.e., a virtual shaft and the rotating shaft are designed into a coplanar crossing state, so that the centrifugal distance of the two shafts of the heliostat is zero; in addition, the rotating shaft and the heliostat support frames are directly and fixedly connected; the distance between the gravity center of the heliostat and the crossing point of the two transmission shafts is greatly reduced, so that the eccentric distance between the gravity center of the heliostat of the type and the rotating shaft is effectively reduced.

The invention discloses an off-line detection device and detection method for an assembly machine, comprising an installation platform and a detection device, the installation platform includes a vertical beam and a base, the base includes two base beams and a connecting plate of the base beam, and the assembled The method for offline detection of the assembly machine by the offline detection device of the machine comprises the following steps: Step 1, installing the assembly machine on the offline detection device of the assembly machine: installing the assembly machine separated from the cantilever of the shield body on the offline detection of the assembly machine on the device, and fixedly connect the assembly machine to the vertical beam through bolts; step 2, carry out functional testing of the six degrees of freedom of the assembly machine lifting, assembly machine pitch, assembly machine deflection, assembly machine translation, assembly machine rotation, and assembly machine roll . The invention realizes the off-line detection of the assembly machine, improves the maintenance quality of the assembly machine, reduces labor intensity, and improves construction efficiency.

The invention is suitable for the technical field of a spacecraft and provides a spacecraft flight control method, system and device. The spacecraft includes multiple separate propulsion systems, wherein each propulsion system correspondingly controls at least one flight parameter of the spacecraft. The method comprises steps that current flight parameters of the spacecraft are obtained; the correction amount of the current flight parameters is calculated based on predetermined flight parameters; according to the correction amount, the corresponding propulsion system is controlled for performing parameter correction of the spacecraft. The method is advantaged in that the correction amount of the current flight parameters is calculated based on the current flight parameters of the spacecraft and the predetermined flight parameters, the corresponding propulsion system is controlled for performing parameter correction of the spacecraft, the multiple separately distributed propulsion systems can together complete power requirements of the entire spacecraft, design complexity and cost of the propulsion systems are reduced, moreover, each propulsion system can achieve the optimal conditions.

The invention discloses a robot three-degree-of-freedom wrist device. The robot three-degree-of-freedom wrist device comprises flange plates, connecting rods, supporting rods, cross shafts, cylindrical straight gears, driving bevel gears, driven bevel gears, side plates, surrounding plates, guide wheel sets, a first steel wire rope, a second steel wire rope, a third steel wire rope, a fourth steelwire rope, a first motor, a harmonic reducer, a motor frame and rotating holes, wherein the guide wheel sets are fixedly connected to the outer walls of the surrounding plates in a distributed mode;and the side plates are symmetrically and fixedly connected to the inner walls of one sides of the surrounding plates. The robot three-degree-of-freedom wrist device is simple in structure and convenient to use; through cooperative use of the cross shafts, the cylindrical straight gears, the driving bevel gears, the driven bevel gears, the guide wheel sets, the steel wire ropes, the first motor and the harmonic speed reducer, the structure is simple; and through user-friendly appearance structural design, pitching, deflection and rotary motion of the wrist device are achieved, the flexibilityand the operation space of the robot wrist device are improved, and use is convenient.

The invention provides an arch frame installation trolley double-remote-control control system. The control system comprises a left remote controller receiver, a right remote controller receiver, a microcontroller, a left working arm proportional valve, a hanging basket arm proportional valve, a right working arm proportional valve and two remote controllers used for controlling the arch frame installation trolley. The left remote controller receiver, the right remote controller receiver, the microcontroller, the left working arm proportional valve, the hanging basket arm proportional valve and the right working arm proportional valve are installed on an arch frame installation trolley. Output ends of the left remote controller receiver and the right remote controller receiver are connected with the microcontroller through signal lines; the output end of the microcontroller is connected with the left working arm proportional valve, the hanging basket arm proportional valve and the right working arm proportional valve through signal wires; real-time communication is carried out on the right remote controller receiver and the left remote controller receiver which are installed on thearch frame installation trolley through the two remote controllers; and communication data is uploaded to the microcontroller, pitching, rotation and stretching of a working arm and leveling and rotation of a clamp located on the working arm are achieved, wireless double remote control over the arch frame installation trolley is achieved, installation quality of a steel arch frame can be improved, and installation time can be saved.

The invention discloses a timely speed regulation internal gear planetary gear train mechanism of a multi-rotor unmanned aerial vehicle, whichbelongs to the technical field of unmanned aerial vehicles. The timely speed regulation internal gear planetary gear train mechanism of the multi-rotor unmanned aerial vehiclecomprises rotors, a planetary gear train, an engine, a speed regulation motor and aworm, wherein an output shaft of the speed regulation motor is in transmission connection with one end of the worm, and the worm is meshed with an inner gear ring of the planetary gear train; an output shaft of the engine is in one-way or fixed connection with a center wheel of the planetary gear transmission mechanism, and the rotors are in one-way or fixed connection with the middle of a tie bar of the planetary gear train. The problem that the rotating speeds of all engines of an oil-driven multi-rotor unmanned aerial vehicle are difficult to keep consistent is solved.

The invention discloses an erector off-line detection device and detection method. The erector off-line detection device comprises an installation platform and a detection device. The installation platform comprises stand beams and a base. The base comprises two base beams and a base beam connection plate. The method for carrying out off-line detection on an erector through the erector off-line detection device comprises the following steps: 1) arranging the erector to the erector off-line detection device; enabling the erector separated from a shield body cantilever to be installed to the erector off-line detection device, and enabling the erector to be fixedly connected with the stand beams through bolts; and 2) carrying out erector lifting, erector pitching, pitching deflection, erector translation, erector rotation and erector rolling six degree-of-freedom function detection. The erector off-line detection device and detection method realize off-line detection of the erector, improves maintenance quality of the erector, reduces labor intensity and improves construction efficiency.