95results about How to "Achieve swing" patented technology

The three-movement and one-rotation parallel robot with the locking mode comprises a fixed platform and a movable platform, and a first kinematic chain, a second kinematic chain, a third kinematic chain and a fourth kinematic chain are arranged between the fixed platform and the movable platform; the first kinematic chain comprises a first revolute pair R11, a second connecting rod assembly, a fifth connecting rod assembly and an eighth revolute pair R18; the second connecting rod assembly is connected with the fixed platform through a first rotating pair R11, and the fifth connecting rod assembly is connected with the movable platform through an eighth rotating pair R18. A first branch chain and a second branch chain are further arranged between the second connecting rod assembly and the fifth connecting rod assembly, and the second connecting rod assembly and the fifth connecting rod assembly are connected through the first branch chain and the second branch chain. According to the robot, the robot can be switched to the locking mode through an auxiliary drive, the robot can keep the stable posture without locking drive in the mode, and the requirement that the movable platform has certain static bearing capacity and rigidity under the specific static configuration can be met.

The utility model belongs to the technical field of drilling and riveting machines, and discloses an upper actuator of an automatic drilling and riveting machine. The device comprises an AC swing head unit, the AC swing head unit comprises a C-axis driving motor, the driving end of the C-axis driving motor is connected with a cross beam, the two ends of the cross beam are provided with an A-axis driven end and an A-axis driving end respectively, and a multi-station sliding seat unit is connected between the A-axis driven end and the A-axis driving end; the multi-station sliding seat unit comprises a frame, a sliding seat is slidably connected to the interior of the frame, a drilling spindle mechanism, a gluing mechanism, a riveting mechanism, a target capturing camera, a milling mechanism and a pin inserting mechanism are linearly and sequentially arranged in the sliding seat, and a pressure foot unit is further fixedly connected to the outer side of the frame. The device can control each machining mechanism to move, is high in efficiency and accurate in moving position, has the capability of monitoring the working condition of each station in real time, and can effectively prevent machine collision in the machining process.

The invention discloses an ex-situ mixing remediation device for agricultural heavy metal contaminated soil. The ex-situ mixing remediation device comprises a box body as well as a crushing mechanism, a drying mechanism, a receiving mechanism, a spraying mechanism and a mixing mechanism which are sequentially arranged in the box body from top to bottom, the pair of drying mechanisms is arranged on the side wall of the box body in a mirroring mode, and the pair of bearing mechanisms is arranged on the side wall of the box body in a mirroring mode. Through the stirring mechanism and the swing mechanism arranged in the mixing and stirring mechanism, a good remediation effect can be achieved during mixing and stirring of soil and remediation liquid medicine; firstly, a stirring machine can swing and mix through a stirring arm and an adjusting arm when a main shaft rotates, and meanwhile, a scraping plate can lift soil on the bottom layer to the top layer to complete replacement and mixing; exchange and mixing of soil between the two stirring mechanisms can be achieved through the swing mechanism; furthermore, the material crushing mechanism can complete effective material crushing for the soil with relatively high viscosity, so that the defect that the clayed soil is easy to extrude into cakes by using a conventional crushing roller crushing mode is overcome.

The invention discloses a magnetic therapy coil assembly production device and method, belongs to the technical field of coil assembly production, and provides the following scheme: through reciprocating transmission between an overturning assembly and a third gear and reciprocating transmission between the third gear and a fifth gear, a screen frame is driven to swing through a rotating shaft; meanwhile, the screen frame and the shell swing to drive a sixth gear and a gear ring to perform reciprocating transmission, so that a rotating roller drives a first ball and a toothed plate to perform reciprocating motion through an arc-shaped groove, the toothed plate and a seventh gear perform reciprocating transmission, and a rotating shell drives a vibration assembly to perform reciprocating rotation; the second rolling balls and the convex balls generate extrusion motion, and the top discs can be driven to perform switching motion in cooperation with the springs, so that the coil can vibrate, comprehensive paint dipping of the coil can be kept, meanwhile, the paint dipping effect can be greatly improved by cooperation of swinging and vibration, and the finished product quality of the coil is improved.

The utility model provides a safety inspection alarm device for concrete bridge construction. The safety inspection alarm device comprises a track, a walking assembly, an intelligent inspection assembly and a power assembly, the walking assembly comprises a U-shaped frame, a bearing of the U-shaped frame is connected with a wheel shaft of a set of wheels, each wheel is embedded in the track, and the U-shaped frame is connected with symmetrical vertical rods. The utility model relates to the technical field of alarm, in particular to a safety inspection alarm device for concrete bridge construction. Aiming at the defects in the prior art, the utility model develops the safety inspection alarm device for concrete bridge construction, and the inspection alarm device can conveniently move along one side of a bridge, so that an industrial camera swings in a space, and the structure states of the bottom of the bridge and a bridge pier column can be detected in time, and cracks, corrosion and the like can be found; by adopting the distance measuring sensor, bridge bottom deformation detection is achieved, branches, plastic cloth and the like blocking the industrial camera are processed in time, and the situation that detection of the industrial camera is hindered is avoided.

The utility model provides a biotechnology containing device which comprises a reciprocating motion structure, the reciprocating motion structure comprises a servo motor and a swing structure, the servo motor is arranged in a side plate, the output end of the servo motor is provided with a rotating wheel, one side of the rotating wheel is provided with a guide column, and the other side of the rotating wheel is provided with a rotating shaft. And the swinging structure is arranged between the driven gear and the rotating wheel. By means of the reciprocating motion structure, when the motor drives the rotating wheel to rotate, the rotating wheel drives the rotating rod to swing in a reciprocating mode through the guide column and the guide groove, the rotating rod drives the rotating block to move in a reciprocating mode through the driving gear and the driven gear, and the rotating block drives the supporting rod arranged in the rotating block to swing; the supporting rod drives the test tube containing cells to swing left and right, so that the cells in the test tube are prevented from precipitating to the bottom.

The utility model discloses a separate discharge cylinder of ball mill and ball mill belongs to tea processing equipment technical field. A kind of ball mill is used for the grinding of tea, including frame, grinding assembly and discharge cylinder;Frame middle is provided with grinding work area, to divide frame into left and right two side frame bodies;Swing arm is provided on the grinding work area of frame, and both ends of swing arm are rotatably connected with frame;Grinding assembly is installed and set on swing arm;Grinding assembly includes grinding cylinder;The top of grinding cylinder is provided with inlet and outlet opening and is penetrated;Grinding cylinder is hollowly provided with grinding cavity, to be used for carrying tea and grinding ball for grinding, carry out the grinding of tea;Discharge cylinder is used for after grinding, and can be detachably embedded in inlet and outlet opening, to separate grinding ball and ground tea powder;So set, can realize the grinding of tea, and the separation of tea powder and grinding ball.

The utility model discloses a residual egg liquid cleaning mechanism which comprises a cleaning assembly which can be contained in a container so as to clean the inner wall of the container. The displacement assembly can drive the cleaning assembly to move; the cleaning assembly comprises a spraying part, and the whole spraying part is parallel to the axis of the container and is connected with an external cleaning liquid storage system; a fourth power device; the whole cleaning brushes are parallel to the axis of the container, the multiple sets of cleaning brushes are arranged in the circumferential direction of the spraying part at equal angles, and the multiple sets of cleaning brushes are driven by a fourth power device to rotate in the circumferential direction of the cleaning brushes; the cleaning device can act on the inner wall of the whole container, manual participation is not needed in the whole cleaning process, the cleaning efficiency is improved, meanwhile, the spraying part can spray cleaning liquid to the cleaning brush to flush the cleaning brush, the cleaning liquid is attached to the cleaning brush, the cleaning brush attached with the cleaning liquid cleans the inner wall of the container, and the cleaning effect can be improved.

Ankle joint gait assisting robot, including sagittal plane main drive mechanism, coronal plane landing walking mechanism and small leg wearing binding device, the small leg wearing binding device is fixed above the sagittal plane main drive mechanism through bolt nut, the coronal plane landing walking mechanism is located below the sagittal plane main drive mechanism, the foot support output connecting rod of the sagittal plane main drive mechanism is connected with the quick locking structure of the coronal plane landing walking mechanism.The present application is as portable general ankle rehabilitation exercise assisting equipment, on the basis of plantar flexion dorsiflexion, it is assisted with landing walking function;In order to facilitate landing walking and cooperate with other lower limb training equipment, it is equipped with flexible landing shoe sole mode.

The utility model discloses a paste collecting device which comprises a paste collecting box, a semi-cylindrical structure is integrally formed at the bottom of the paste collecting box, supporting frames are arranged on the two sides of the paste collecting box in a rotating mode, and a swing motor for driving the paste collecting box to swing is fixed to the outer wall of one supporting frame. Two symmetrical stirring assemblies are arranged in the paste collecting box, and a driving mechanism for achieving rotation of the two stirring assemblies is arranged in the paste collecting box. The stirring assembly comprises a rotating rod, a plurality of equidistant stirring rods are evenly fixed to the outer wall of the rotating rod, a gear is fixed to the end, close to the inner wall of the paste collecting box, of the rotating rod, and a rack meshed with the gear is fixed to the inner wall of the paste collecting box. Through the structural arrangement, the stirring assembly can move up and down and rotate, the paste collecting box can swing, the good stirring effect is achieved, and the viscosity at different heights is detected under the action of the viscosity sensor.

The invention discloses an antibacterial aromatic fiber preparation device and process, the antibacterial aromatic fiber preparation device comprises a mixing tank, a filter, a long pipe, a winding wheel, a servo motor, a fixed spinneret plate and a bath lotion box, the mixing tank is installed on the outer side of the bath lotion box through a support, a large fluted disc is arranged in the bath lotion box, the side edge of the large fluted disc is rotatably connected with a belt wheel, one side of the belt wheel is connected with a movable rod, and the movable rod is connected with the filter. A front rod on the movable rod is in lap joint with the movable spinneret plate on one side of the fixed spinneret plate, the movable spinneret plate is connected to a guide rod of the fixed spinneret plate in a sliding mode, inclined frames are placed on the guide rod in the moving direction of the fixed spinneret plate in a crossed mode, and a top ring is arranged on the inclined frame on each side. When the spinning solution is sprayed out towards the fixed spinneret plate, the movable frame can drive the front frame to rotate, so that the fibers are pulled to move again, the pulling force during fiber forming can be reduced in the process, the appearance range of skin cores is reduced, and the quality of the fibers is improved.

This utility model discloses a helical spring receiving rack, relating to the field of spring manufacturing technology. The helical spring receiving rack includes a frame with a constraint space. The constraint space has an inlet on the side near the discharge end and an outlet on the side away from the discharge end. Helical springs extending from the discharge end of the spring machine enter the constraint space through the inlet. The constraint space constrains and restricts the helical springs extending from the discharge end and completed winding, thus preventing the helical springs away from the discharge end from swaying excessively due to the rotational force of the spring machine's rotating mechanism when rotating synchronously with it, which could lead to deformation. The constraint space not only restricts the swaying of the helical springs but also supports them, preventing sagging or deformation due to their own weight. This significantly improves the production quality and stability of the helical springs.

The utility model belongs to the technical field of stamping dies, and discloses an automatic part taking mechanism of a precision stamping die, which comprises a support, a cross rod is rotatably connected to the inner wall of one side of the support through a deep groove ball bearing, a connecting frame is arranged at one end of the cross rod, a stamping die is arranged at the top end of the connecting frame through a bolt, and an overturning assembly is arranged on one side of the connecting frame. A cleaning assembly is arranged at the bottom end of the connecting frame. Air in the filter cartridge is pumped out through the air pump, negative pressure is formed in the filter cartridge, the filter cartridge sucks scraps attached to the inner wall of the stamping die through the scrap suction pipe, the problem that the scraps on the inner wall of the stamping die cannot be automatically cleaned after a stamping part is ejected out is solved, follow-up stamping is facilitated, the scraps are blocked by a filter element in the filter cartridge, and the stamping efficiency is improved. And the filter element is replaced by dismounting the sealing cover after cleaning for multiple times.

The invention provides an automatic iron oxide removing device, and relates to the technical field of iron oxide removing. A housing is mounted at the upper end of the supporting frame through bolts, a hole plate is fixed to the bottom of the housing, two bases are mounted on the hole plate, two supporting plates are fixed to the bases, a first rotating rod and a second rotating rod are coupled between the two supporting plates, and a first clamping plate is mounted on the second rotating rod. A second clamping plate and a third clamping plate are mounted on the second rotating rod; a rust remover is sprayed to the surface of a steel plate through a spray head, a first rotating rod and a second rotating rod can rotate by operating a first motor to rotate, swing of the spray heads is achieved, the spray heads on the first rotating rod and the second rotating rod evenly spray the upper end face and the lower end face of the steel plate, and rust and the rust remover fully react; and then high-pressure air blowing is conducted on the steel plate through the air spraying head, iron rust slag obtained after reaction with the rust remover is blown away, iron oxide on the steel plate is removed, manpower is saved, and efficiency is high.

The present invention discloses a layered storage rack, which relates to the technical field of storage racks, and comprises a base frame, a first side frame and a second side frame are vertically mounted on the base frame, a plurality of first connecting shafts arranged at intervals along the length direction of the first side frame are vertically fixedly mounted in the first side frame, a plurality of first gear sleeves arranged at intervals along the axial direction of the first connecting shaft are rotatably mounted on the first connecting shaft, and a blocking rod is mounted on the first gear sleeve along the radial direction; a plurality of adjusting rods facing the first gear sleeve are horizontally slidably mounted in the first side frame, and a first rack meshing with the facing first gear sleeve is provided on the adjusting rod; a power assembly driving the adjusting rod to reciprocate is mounted on the first side frame. The present invention solves the technical problem that the trough beams in the prior art cannot be efficiently layered and stored. The present invention can automatically separate the trough beams after stacking layer by layer, improve the efficiency of layered storage of the trough beams, and make the layered trough beams storage stable.

The utility model relates to the technical field of agricultural irrigation equipment, and provides an intelligent agricultural irrigation device which comprises a bottom plate, the top of the bottom plate is fixedly connected with two reinforcing rods, the tops of the two reinforcing rods are fixedly connected with a fixing plate, a rotating shaft is movably embedded in the inner surface of the fixing plate, and the rotating shaft is fixedly connected with the bottom plate. The device comprises a rotating shaft, the outer surface of the rotating shaft is movably sleeved with a plurality of collecting boxes, the outer surfaces of the collecting boxes are fixedly connected with spraying pipes, the outer surfaces of the spraying pipes are each provided with two first sliding grooves, the sides, close to the first sliding grooves, of the spraying pipes are each provided with a second sliding groove, and the outer surfaces of the spraying pipes are each provided with a spraying head. According to the device, the time delayed by dismounting bolts is avoided, the working efficiency is improved, the irrigation time is shortened, the use experience feeling of a user is reduced, meanwhile, swinging of a container object is achieved, then water sprayed out of a spray head swings, the working area is increased, the irrigation time is further shortened, and the labor intensity of the user is reduced.

The utility model discloses a wool yarn immersion cleaning and drying device which comprises a water tank, a drain valve is installed on the outer wall of the water tank, two symmetrical first rotating rollers are installed on the inner wall of the water tank, two second rotating rollers are rotationally arranged on the two sides of the top of the water tank respectively, and a swing plate is rotationally arranged on the inner wall of the water tank. A swing mechanism for achieving swing of the swing plate is mounted on one side of the outer wall of the water tank, a mounting frame is mounted at the top of the water tank, an air heater is mounted on the mounting frame, an air outlet cover is mounted at the bottom of the mounting frame, and the swing mechanism is connected with the air outlet cover through a pulling mechanism. The swinging arm swings to achieve swinging of the swinging plate, water in the water tank is effectively vibrated, wool yarn is better flushed, the wool yarn is better rinsed through the design, meanwhile, when the swinging arm swings, the connecting rod pulls the pull rod to move, the pull rod drives the air outlet cover to swing, and the wool yarn is better rinsed. And the wool is blown to the wool yarns in a large range.

The present invention discloses a burn plastic surgery skin tensioning device and a method for using the same, comprising a circular plate 1, characterized in that: the circular plate 1 is fixedly connected to symmetrical cross bars, the symmetrical cross bars are respectively fixedly connected to electric push rods, the push rod ends of the symmetrical electric push rods are respectively fixedly connected to supporting circular plates, the circular plate 1 is fixedly connected to a group of evenly distributed vertical grooves, each of the vertical grooves is respectively provided with a round rod 1, each of the round rods 1 is respectively fixedly connected to the corresponding vertical groove, each of the vertical grooves is respectively fixedly connected to a square rod, each of the square rods is respectively fixedly connected to a circular plate 2, each of the square rods is respectively provided with a straight groove, and each of the straight grooves is respectively provided with a round rod 2. The present invention relates to the field of skin tensioning equipment, and specifically, to a burn plastic surgery skin tensioning device and a method for using the same. The technical problem to be solved by the present invention is to provide a burn plastic surgery skin tensioning device and a method for using the same, so as to facilitate burn plastic surgery skin tensioning.

The utility model provides a double-layer kiln car capable of swinging, which relates to the technical field of kiln cars, and comprises a walking chassis, a heat preservation brick layer and a mold, the walking chassis is used for driving a part placed above the walking chassis to walk along a straight line, and the kiln car further comprises a swinging chassis arranged on the walking chassis. A heat preservation brick layer and a mold are sequentially placed above the swing chassis from bottom to top, the swing chassis can drive the mold to do reciprocating motion to receive materials in the direction perpendicular to the walking direction of the walking chassis, and the double-layer kiln car is large in size, large in load and high in practicability.

The embodiment of the utility model provides a movable fixing mechanism. The movable fixing mechanism comprises a bottom plate, a base plate, a rotary connecting assembly and two jacking assemblies. The bottom plate is used for bearing materials; the base plate and the bottom plate are arranged at an interval, so that a movable gap is formed between the bottom plate and the base plate; the rotary connecting assembly is arranged between the bottom plate and the base plate, the rotary connecting assembly comprises a fixed part and a rotary part, the rotary part is rotationally connected with the fixed part, the fixed part is connected with the base plate, and the rotary part is connected with the bottom plate; the two jacking assemblies are arranged on the two opposite sides of the rotary connecting assembly in a spaced mode and connected with the base plate, and the two jacking assemblies make contact with the bottom plate in a separable mode and are used for enabling the bottom plate to rotate relative to the base plate.

The invention discloses an automatic bearing ring stacking device which comprises a rack, a conveying belt and a discharging support are arranged on the rack, a rolling brush seat and a material distributing seat are arranged at the positions, corresponding to the conveying belt, of the rack, a rolling brush is connected to the rolling brush seat, an ejection discharging plate and a secondary discharging plate are arranged on the discharging support, and the secondary discharging plate is connected to the ejection brush seat. A conveying belt is arranged on the machine frame, a lower discharging plate is arranged on the machine frame and below the conveying belt, a material guiding channel is arranged between the side wall of the machine frame and the lower discharging plate, a conveying belt is arranged on the material distributing base, a pushing piece is arranged on the conveying belt, and a material distributing plate and a material distributing motor are arranged on the machine frame and between the lower discharging plate and the secondary discharging plate. And one end of the material distributing plate is rotationally connected to the rack, the other end of the material distributing plate is arranged close to the secondary discharging plate, one end of the material distributing motor is rotationally connected to the rack, and the output end of the material distributing motor is rotationally connected with the material distributing plate. The bearing ring stacking device is simple in structure, capable of facilitating multi-layer stacking of bearing rings, stable in operation and good in using effect.

The utility model relates to the technical field of building construction equipment, and discloses a self-compacting concrete pouring device with dynamic pressure compensation, which comprises a pouring body, a water pump is fixedly connected in the pouring body, the output end of the water pump is connected with a first grouting pipe, the outer wall of the first grouting pipe is fixedly connected with a sliding block, and the sliding block is fixedly connected with a second grouting pipe. A first supporting frame is slidably connected to the outer wall of the sliding block, universal wheels are fixedly connected to the lower surface of the first supporting frame, and a second grouting pipe is rotatably connected to the interior of the first grouting pipe. According to the grouting pipe cleaning device, the micro electric push rod is started to drive the supporting rod to rotate, finally, the purpose that the cleaning spray head is turned over is achieved, the interior of the grouting pipe is cleaned by turning over the spray head and utilizing high-pressure water flow or other cleaning media, concrete is effectively prevented from being hardened and solidified in the grouting pipe, and the risk that the grouting pipe is blocked is reduced.

The invention relates to a head shaking mechanism and a household appliance. The flexible part is movably mounted on the machine body part in the first direction; the machine head assembly comprises a hinging part and a fixing part, the hinging part and the fixing part are arranged at intervals in the second direction, the hinging part is hinged to the machine body piece around a hinging axis, and the fixing part is connected with the flexible piece. The machine head assembly is pushed to swing around the hinged axis through the movable flexible part, so that swing of the machine head assembly relative to the machine body part is achieved, the position change of the machine head assembly is adapted through deformation of the flexible part, and therefore in the swing process of the machine head assembly, the flexible part can be stably connected with the machine head assembly; and the swinging stability of the machine head assembly is ensured. Compared with a traditional head shaking mechanism, the head shaking mechanism can achieve swinging of the machine head assembly only through one movable flexible piece, a complex transmission mechanism does not need to be arranged, the space utilization rate is increased, and the size of the machine head assembly is reduced.

The utility model belongs to the technical field of tire equipment manufacturing, and particularly relates to a lifting swing arm type tire storage device which comprises a stand column, a lifting device is arranged on the stand column, the lifting direction of the lifting device is parallel to the axis of the stand column, a mounting base is fixedly arranged at the execution end of the lifting device, a transverse rod is arranged on the mounting base, and a tire storage plate is arranged at the end, away from the mounting base, of the transverse rod. A servo cylinder is rotationally arranged on the mounting seat far away from the cross rod, the servo cylinder is perpendicular to the stand column, and the free end of a piston rod of the servo cylinder is rotationally connected between the two ends of the cross rod; according to the lifting swing arm type tire storage device, green tires can be conveniently loaded on the ground, the lifting swing arm type tire storage device can be conveniently matched with an aerial green tire transportation system to load the green tires, and the distance for manually carrying the green tires cannot be reduced; the problems that an existing tire storage device cannot be matched with an aerial green tire conveying system to load green tires, and the labor intensity is high due to the fact that the distance for manually carrying the green tires is long are solved.

The application discloses a baby crib, comprising a base, a crib box and a rocking assembly, the crib box is movably arranged on the base; the rocking assembly comprises a support frame, a support leg and a swing piece, the support frame is fixedly connected to the top of the base, the first end of the support leg is fixedly connected to the bottom of the crib box, the support leg is arranged outside the support frame, one end of the swing piece is rotatably connected to the support frame, the other end of the swing piece is rotatably connected to the second end of the support leg, and the swing piece is used for driving the support leg to swing relative to the support frame, so that the crib box swings relative to the base. The baby crib provided by the application can ensure that the crib box stably swings and is convenient for being connected with other functional modules.

The present invention discloses a flat gate valve with a self-flushing structure, which relates to the field of flat gate valves and comprises a valve body, a water inlet pipe is arranged on the left upper part of the valve body, a water outlet pipe is arranged on the right upper part of the valve body, a cylinder is arranged on the top of the valve body, a cover is arranged on the top of the cylinder, a lifting assembly is arranged inside the cover, a gate plate is arranged at the bottom of the lifting assembly, the gate plate and the valve body are connected with each other, a filter is arranged at the bottom of the gate plate, a circular plate is arranged on the left upper part of the gate plate, an adjusting assembly is arranged on the top of the circular plate, a first straight rod is arranged on the rear side of the adjusting assembly, a pneumatic assembly is arranged on the rear side of the first straight rod, the pneumatic assembly is located inside the gate plate, and through the cooperation of the circular plate and the nozzle and the gradually increasing flushing force, on the one hand, the accumulated impurities can be completely flushed away, and on the other hand, the overall cleanliness of the filter can be ensured to remain consistent.

The utility model relates to the technical field of filling and inflating equipment, in particular to a reciprocating bottle conveying mechanism which comprises a channel support and a bearing plate arranged at one end of the channel support, a motor support is arranged in the middle of the channel support, bottle inlet channels are arranged on the two sides of the channel support, and the motor support is connected with the bottle inlet channels. A bottle moving driving assembly and a clamping jaw motor are arranged on the motor bracket; the supporting plate is provided with a bottle clamping assembly and a bottle moving assembly, the bottle clamping assembly is located above the bottle moving assembly, the bottle moving assembly comprises a bottle moving fixing plate connected to the supporting plate in a sliding mode, and the output end of the bottle moving driving assembly is connected to the bottle moving fixing plate; according to the aerosol can positioning and conveying device, positioning and conveying of aerosol cans are achieved, it is guaranteed that each aerosol can is conveyed to the position under a preset station, normal operation of each station is facilitated, reliability and stability of filling operation are guaranteed, and therefore work efficiency and automation degree are improved.