48results about How to "Avoid reaching" patented technology

The invention discloses an express ordering method and system. The express ordering method comprises the steps that a client side receives an operating instruction of a user, inputs express taking information and express sending information corresponding to the express taking information and sends the express taking information and the express sending information to a server; the server receives the express taking information and the express sending information, compares express taking time and the system time of the server and sends an express taking confirmation message to a client terminal when the express taking time is the same as the system time; the client terminal receives the express taking confirmation message, prompts the user to change express taking information or not, conducts real-time detection according to the operating instrument selected by the user and sends a confirmation message corresponding to an unchanging instruction to the server when the unchanging instruction is detected; the server receives the confirmation message and sends the express sending information corresponding to the confirmation message to a courier terminal for display. According to the express ordering method, an appointment message for confirming change or not is automatically ordered and sent, the phenomenon that a courier arrive at an invalid express taking address is avoided, and great convenience is brought to the courier and the user.

A method for producing a decorated laminate having a plate-shaped core made of wood or wood material, a decorative layer on at least one side of the core, and a cover layer having aminoplast on the decorative layer, comprising the following steps: providing the plate-shaped core, fastening a cellulose nonwoven material on at least one side of the core, printing the decoration on the exposed side of the cellulose nonwoven material, attaching at least one curable cover layer on the printed decoration, and curing the curable layers.

The invention discloses an HFCVD batch preparation method of a complex-shaped diamond film coated cutter. A handle of the complex-shaped cutter after being pretreated is inserted into a cutter coolingbase to be placed on the water-cooled workbench of HFCVD equipment. The cutter cooling base is formed by optimally matching a molybdenum sheet layer, a graphitic layer, a red copper layer or a stainless steel layer, and a drill hole matched with the handle in diameter and length is formed in the cutter cooling base. The HFCVD equipment adopts a single-layer hot filament. In the cutter mounting and film growing processes, the HFCVD equipment can realize free lifting of the cutter cooling base by controlling the lifting of the water-cooled workbench. Hydrogen, a carbon source and a doped sourceenter into the surface of the complex-shaped cutter to deposit a single-layer or composite diamond film. The HFCVD batch preparation method can conveniently and effectively control the temperature value of the blade area of the cutter, ensures the uniform distribution of a temperature field and a density field of a reactive group, ensures the uniform deposition of the diamond film, and avoids ofdepositing carbon impurities on the handle position to cause the phenomenon of a black bar.

The invention discloses a detection substrate, a manufacturing method thereof and a flat panel detector. The detection substrate comprises a substrate body, a plurality of transistors, an oxide layer,a plurality of reading electrodes and a plurality of photoelectric conversion structures, wherein the transistors, the oxide layer, the reading electrodes and the photoelectric conversion structuresare sequentially located on the substrate body; the first electrodes of the transistors are electrically connected with the photoelectric conversion structures in a one-to-one correspondence manner through the reading electrodes, and the material of an active layer comprises an oxide; and each photoelectric conversion structure comprises an N-type semiconductor layer, an intrinsic semiconductor layer and a P-type semiconductor layer. The oxide layer at least covers the channel regions of the transistors and is insulated from the reading electrodes. The oxide layer covering the channel regionsof the transistors is arranged between the layer where each transistor is located and the layer where each reading electrode is located, so hydrogen atoms generated in the subsequent process of depositing the photoelectric conversion structure react with the oxide layer, the hydrogen atoms are prevented from reaching the channel region, the stability of the transistor is effectively improved, andthe performance of the flat panel detector is improved.

The invention relates to a device for producing three-dimensional models, comprising a coater (1) with an ejection opening and at least one printing head (2) which is mounted on a printing shaft, wherein the ejection opening of the coater is arranged towards the top in the coating direction and the printing head (2) is arranged counter to the coating direction with the opposite orientation on the printing shaft behind the coater (1) in the coating direction. The invention further relates to a method for producing three-dimensional models.

The invention provides a singularity avoidance method and device in a force-controlled traction process for a robot. The method comprises the following steps: calculating the operability indexes of the target robot in real time; determining whether the target robot approaches to a singularity configuration or not according to the operability indexes; and if the target robot is determined to approach to the singularity configuration, calculating a constraint force on the basis of the operability indexes, and additionally applying the constraint force onto the target robot through a driver, so that the target robot avoids the singularity configuration and continues to move under the effect of the constraint force. The method is capable of effectively preventing the robot from arriving at thesingularity configuration, and enabling the force-controlled traction process to be continuously carried out, so that the operation experience of force-controlled traction is improved, the operationefficiency of the force-controlled traction is increased, and the technical problems of low operation efficiency and poor operation experience of force-controlled traction due to the alarming and stopping of a robot, which are caused by that an operator drags the robot to a singularity configuration, are alleviated.

The invention discloses a sealed floor drain for preventing water from leaking in the dehydrating process. The sealed floor drain comprises a base and a pressure pipe. The base is of an uncovered barrel-shaped structure, a through hole is formed in the bottom, and a first rotary plate, a second rotary plate, a first rotary rod and a second rotary rod are arranged in the base. According to the sealed floor drain for preventing water from leaking in the dehydrating process, the first rotary plate, the second rotary plate, the first rotary rod and the second rotary rod are arranged in the base, asewer is maintained to be airtight when dehydrating is not needed, a cover plate and a filter screen do not need to be opened manually in the dehydrating process, the cover plate and the filter screen also do not need to be covered manually after dehydration is completed, and sealing treatment is conducted on the positions among parts so that it can be ensured that the situation of water leakagecannot occur in the whole dehydrating process. The problem of water leakage in the dehydrating process existing in the prior art is solved, the sealed floor drain for preventing water from leaking inthe dehydrating process is provided, the unavoidable water leakage problem in the dehydrating process can be prevented when the sealed floor drain is applied, the sealed floor drain is convenient andsimple, the workload of a user is reduced, and the problem of loss of the parts of the floor drain can further be solved.

The invention discloses a constant pressure medical apparatus and instrument clamping and taking device. The constant pressure medical apparatus and instrument clamping and taking device comprises a shell which is of a cavity structure; the lower portion of the shell is sleeved with an anti-slide sleeve; a switch is arranged on the middle portion of the shell; an adjusting rotary knob is arrangedon the upper portion of the shell; a bottom cover is arranged at the bottom of the inner side of the shell; a storage battery is arranged on the lower portion of the inner side of the shell; a PCB isarranged on the top of the storage battery; a control box is arranged on the top of the PCB; an internal thread is arranged on the upper portion of the inner side of the shell, and is matched with anexternal thread; the external thread is arranged on the lower portion of the shell which is of the cavity structure; a supporting plate is arranged at the bottom of the inner side of the shell; and aninstalling table is arranged on the top of the supporting plate. The constant pressure medical apparatus and instrument clamping and taking device has the beneficial effects it is avoided that because the clamping pressure is not constant, medical apparatuses and instruments fall off and are damaged, and constant pressure clamping and taking of the medical apparatuses and instruments are achieved.

The invention discloses an intelligent power distribution cabinet, which comprises a cabinet body, a rain top and an installation cavity, wherein the rain top is arranged at the top of the cabinet body; the installation cavity is arranged in the cabinet body; an upper installation plate and a lower installation plate are arranged in the installation cavity; communication holes are arranged in the surfaces of the upper installation plate and the lower installation plate; shutters for heat dissipation are arranged in the left side surface and the right side surface of the cabinet body; an intelligent control system is arranged at the lower parts of the shutters and comprises a monitoring device, a controller and an automatic temperature adjusting device which are electrically connected with one another; the controller comprises a first controller and a second controller; and the monitoring device comprises a temperature sensor and a humidity sensor. The intelligent power distribution cabinet is simple and reasonable in structure and good in heat dissipation performance; the utilization rate of an internal space of the cabinet body is high; the temperature and the humidity in the cabinet body can be automatically adjusted; and the power supply security is high.

A pair of manipulator-type endoscopic biopsy forceps relates to instruments and equipment for medical diagnosis, in particular to a pair of living tissue sampling forceps used for endoscopic examination and endoscopic surgery. The pair of manipulator-type endoscopic biopsy forceps comprises a forceps head, a control steel cable, a flexible outer pipe and an operating rod, as well as a manipulator consisting of both a swinging arm joint and a swinging arm, wherein the swinging arm joint is a slider crank mechanism consisting of a swinging arm base, a rotary base, a slider and a connecting rod; the swinging arm base, a swinging arm shaft and a connecting rod shaft constitute a crank of the slider crank mechanism; the rotary base is connected to a fixed base; the fixed base is connected to the operating rod through a flexible inner pipe; axial sliding of a swinging arm operation slip ring relative to the operating rod is conveyed to the slider of the slider crank mechanism through the flexible outer pipe; and the slider is connected to the swinging arm base through the connecting rod, drives the swinging arm base to rotate on the swinging arm shaft and also drives the swinging arm and the forceps head to swing around the swinging arm shaft. As the manipulator drives the forceps head to swing, and the forceps head rotates around the axis along with the rotary base, 360-degree all-view no-blind-area sampling around the axis of the fixed base can be realized.

The invention provides a production technology of photochromic umbrella fabric. The production technology comprises the following steps: firstly, preparing coating printing paste; secondly, printing:carrying out photochromic printing on the fabric subjected to coating finishing by using rotary screen printing equipment; thirdly, drying: enabling the printed fabric to enter a dryer and then dryingat 100 to 120 DEG C for 30 to 120 seconds; fourthly, carrying out coating finishing; fifthly, carrying out coating finishing: finishing an outer coating of the fabric on a coating machine by using anouter coating adhesive and drying at 110 to 130 DEG C for 30 to 120 seconds. The formula of the outer coating adhesive is prepared from the following components in parts by weight: 60 to 70 parts ofsolvent type PU adhesive or PA adhesive, 0.5 to 1.5 parts of bridging agent for the coating and 7 to 9 parts of organic solvent; during the preparation of a coating adhesive, firstly, carrying out mixed dispersing on the bridging agent for the coating into the solvent type PU adhesive or PA adhesive and adding the bridging agent for the coating for uniform mixing when the viscosity of a mixture reaches 5000 to 10000mpa. s. According to the production technology disclosed by the invention, by adopting an inner coating and an outer coating, the defect that the discoloration effect of the fabrictreated by an existing production technology for outdoor fabric has short service life is overcome.

The invention belongs to the technical field of buildings, and discloses a fan mechanism, a filter element device and cleaning equipment. The fan mechanism comprises a fan support, a centrifugal fan and an air inlet cover assembly; the centrifugal fan is located in the fan support, and the axial upper portion of the centrifugal fan is installed on the fan support; the air inlet cover assembly comprises an air inlet cover and an air guide cylinder; the fan support is installed above the air inlet cover; a first air inlet hole is formed in the air inlet cover; the air guide cylinder communicateswith the first air inlet hole and stretches into the lower portion of the air inlet cover; the axial lower portion of the centrifugal fan stretches into the air guide cylinder; and an axial gap communicating with the outside is formed between the air guide cylinder and the peripheral wall of the centrifugal fan. The axial gap is formed between the centrifugal fan and the air guide cylinder, so that an emergency air duct can be formed between the centrifugal fan and the air guide cylinder; and when the filter element mechanism is blocked, the first air inlet hole can communicate with externalair through the emergency air duct to prevent the case that the centrifugal fan is burnt out due to too higher negative pressure at the position of the first air inlet hole so as to achieve the overload protection effect.

The invention relates to an authentication method, a base station, user equipment and a core network element. The authentication method comprises the steps that: the base station receives a first message sent by the user equipment; the first message includes uplink data, a user equipment identifier and a first authentication result; an authentication request message is sent to the core network element; the authentication request message includes the user equipment identifier, a group identifier of a group, which the user equipment belongs to, or a cell identifier of a cell, which the user equipment belongs to; an authentication response message sent by the core network element is received; the authentication response message includes a second authentication result; the second authentication result is an authentication result calculated by the core network element according to the authentication request message; the first authentication result is compared with the second authenticationresult; and, if the first authentication result and the second authentication result are same, the uplink data is sent to the core network element. The base station performs security verification on the user equipment; the problem that data of illegal UE reaches the core network element can be avoided; therefore, the security is improved; and simultaneously, compared with the prior art, transmission resources are saved.

The invention provides an anti-ultraviolet aging release film, which comprises a PE base layer. A stripping layer is arranged on one side of the PE base layer, an ultraviolet isolation layer is arranged on the other side of the PE base layer, and a reflective layer is arranged on the side, deviating from the PE base layer, of the ultraviolet isolation layer. The stripping layer and the PE base layer are bonded through a release agent coating; in the embodiment, the ultraviolet isolation layer and the reflective layer are arranged on the outer side of the PE base layer, and the reflective layeris used for reflecting sunlight and reducing light absorption of the release film, so that the aging speed of the release film is reduced; the ultraviolet isolation layer isolates ultraviolet rays and blocks the ultraviolet rays outside, so that the ultraviolet rays are prevented from reaching the PE base layer to protect the PE base layer, the influence of the ultraviolet rays on the PE base layer is effectively avoided, and the aging speed of the PE base film can be remarkably reduced.

The invention relates to the technical field of servo punching machines, in particular to a servo punching machine punching strength adjusting mechanism and a using method thereof. The servo punching machine punching strength adjusting mechanism comprises a punching machine body, wherein an upper punching block is arranged at the position, corresponding to the upper portion of a workbench, of the punching machine body, a blocking module is fixedly connected with the top face of the workbench of the punching machine body, and comprises a fixing plate, connecting grooves are formed in both sides of the top face of the fixing plate, and connecting rods are slidingly connected with the inner side faces of the connecting grooves. According to the servo punching machine punching strength adjusting mechanism and the using method thereof, a baffle is arranged through connecting rods, when the upper punching block drives an upper die to impact downwards, a driving rod can drive the baffle to move through the connecting rods, and meanwhile, a round block can slide along an arc-shaped rail, so that the baffle moves upwards to block the positions of the upper die and a lower die, the situation that a worker stretches hands into the punching machine body is avoided, meanwhile, when circuit failures occur, the worker can be blocked, the stability of the baffle is high, improvement of the safety coefficient of a punching machine is facilitated, and the personal safety of the worker can be guaranteed conveniently.

The invention relates to the technical field of internet commodity sales, and discloses a commodity outlet anti-theft device for an internet vending machine. The device comprises a shell I. The interior of the shell I is movably connected with a gear I, the exterior of the gear I is engaged with a gear II, and the exterior of the gear II is fixedly connected with a sector gear; a rack is movably connected to the exterior of the sector gear, a fixed spring is fixedly connected to the exterior of the rack, a contact is fixedly connected to the exterior of the rack, and a connecting assembly is movably connected to the exterior of the rack; under the interaction of all structures of the vending machine, a cover plate can automatically cover the vending machine after vending of the vending machine is completed, so that some lawbreakers are prevented from putting hands into a vending port, property loss of merchants can be avoided, and closure of the cover plate can be better under the cooperative use of the electrorheological fluid, and thus, the safety of the vending machine is good, and the service life of the vending machine is prolonged.

The invention discloses oil seal type vacuum equipment. The oil seal type vacuum equipment comprises a vacuum pump, a vacuum liquid storage tank, a powder chip filter, a vacuum opening valve and a vacuum liquid discharge valve, wherein the vacuum pump cooperates with a CNC precision engraving machine by means of the powder chip filter, the vacuum liquid storage tank and the vacuum opening valve insequence, the vacuum liquid discharge valve is arranged at the lower part of the vacuum liquid storage tank, a cyclone separator is further arranged on the oil seal type vacuum equipment, and a rotary liquid discharge valve is arranged at the bottom of the cyclone separator. The cyclone separator is arranged between the vacuum liquid storage tank and the vacuum opening valve, so that the relationship between water vapor and powder can be conveniently, effectively and quickly separated in the cyclone separator by a customer by adding the cyclone separator, then the water vapor is prevented from further reaching the vacuum liquid storage tank, and the problem that a vacuum liquid storage tank cannot prevent water vapor from entering a vacuum pump in the prior art is solved.

The invention discloses a telescopic milk powder can which comprises a can cover and a conical can body. The can body is divided into a can mouth, a wall and a bottom. The wall is composed of metal rings and flexible connecting rings which are connected at intervals. Compared with the prior art, the telescopic milk powder can has the advantages that the height of the can body can be adjusted by pressing the can mouth, so that the problem that milk powder decreasing in the milk powder tank is more and more inconvenient to take is solved; meanwhile, a user does not need to extent a hand into the milk powder can to take milk powder at the bottom of the can body, so that sanitation and convenience are achieved.

The invention discloses a groove avoiding method for a two-dimensional lidar patrol robot. In the automatic mode, the patrol robot merges a groove electronic map into an electronic map scanned by thepatrol robot through the SLAM algorithm before performing path planning, the merged groove electronic map is placed on the input side of a path planning module, and then the path planning is performedto realize that the patrol robot can smoothly return to the position defined by a network structure diagram when the manual operation mode is switched to the automatic patrol mode, thereby continuingthe automatic patrol work of the patrol robot.

The invention discloses a foldable portable mobile garage, which is characterized in that it comprises a garage skeleton, nylon mesh and a coverall, the garage skeleton is assembled from several stretchable metal rods, and the nylon mesh is set On the garage frame, a plurality of connectors are provided on the inner side of the nylon mesh corresponding to the garage frame. The telescopic metal rod is connected to the nylon mesh through the connectors to form a main frame, and the coverall is set on the main frame. The invention is reasonable in structure, stable and wear-resistant, not easy to deform, and has good safety. The wear-resistant layer can improve the service life of the garage; the overcoat can be disassembled and folded, and has good sun protection and heat preservation effects.

The invention discloses an automatic sewage detection device. The automatic sewage detection device comprises an unmanned boat, a signal base station and a sewage detection base device, wherein a sonar detector, a power turbine group, a sampling window, a discharging hole, a power electrical connector, a water level sensor and a suspension substance detector are arranged on the unmanned board, thesignal base station comprises a signal transceiving device, a positioning device, an information processing device, a loudspeaker and an operation control system, a water pump is arranged in the unmanned boat, an inlet of the water pump is connected with a water hose and a lead block, the water hose penetrates through the sampling window through a guide pipe, a displacement sensor is arranged below the guide pipe, and an outlet of the water pump is connected with a fresh water storage box, a sewage reservation box and a sewage detection base device. By the automatic sewage detection device, sewage detection can be performed in a site in real time, first hand information is conveniently acquired, more accurate data is provided for subsequent research, meanwhile, remote operation is utilized, a worker is prevented from reaching a sewage operation site, the workload is reduced, and the worker is also prevented from being away from a sewage environment.

The embodiment of the invention discloses a base of a camera module. A light through hole is arranged in the base, the hole wall of the light through hole is of an inclined plane, and the inclined plane faces towards a photosensitive element of the camera module. The embodiment of the invention further provides the corresponding camera module. According to the technical scheme disclosed by the invention, as the hole wall of the light through hole of the base of the camera module is designed to be the inclined plane and the inclined plane faces towards the photosensitive element, the reflection of incident light from a lens by the hole wall can be reduced, the glare phenomenon can be further reduced or avoided, and the interference to normal imaging can be also reduced.

The invention discloses a lead-carbon startup / shutdown battery tightly connected with a lead wire, which includes a battery body, both sides of the top of the battery body are fixedly connected with connecting blocks, the tops of the connecting block are fixedly connected with first threaded rods, the surface of the first threaded rod is sleeved with a first nut, the surface of the first threadedrod is sleeved with a second nut located above the first nut, the first nut and the second nut are both threadably connected with the first threaded rod, and a fixing block is fixedly connected with the top of the first threaded rod. A lead wire is tightly connected with a fixing block, looseness and poor contact between the lead wire and an extrusion block can be prevented; the lead-carbon startup / shutdown battery can be connected with multiple wires at the same time, and has strong applicability, thus solving the problem that the lead-carbon startup / shutdown battery wire and the pile head are mostly connected by winding, and the connection is not tight, and the lead-carbon startup / shutdown battery wire and the pile head are easy to have poor contact under the condition of long-term use.

The invention relates to a home miniature sound wave cleaning machine comprising a base. A lower shell is placed at the upper end of the base, the side face of the lower shell is provided with an integrally-formed steel plate, an ultrasonic transducer is fixed to the inner wall of the steel plate, the lower shell further includes a lower shell upper end surface and a lower shell lower end surface,a waterproof sliding ring is arranged above the lower shell, an outer rotor stepping motor is arranged inside the waterproof sliding ring, and an upper shell is placed above the lower shell. The waterproof sliding ring comprises a sliding ring outer layer rotor and a sliding ring inner layer stator connected to the sliding ring outer layer rotor in a sleeved manner, the bottom end of the slidingring outer layer rotor is fixedly connected with the lower shell upper end surface, the outer rotor stepping motor comprises a stepping motor outer rotor and a stepping motor inner stator sleeved withthe interior of the stepping motor outer rotor, the bottom end of the stepping motor outer rotor is fixedly connected with the lower shell upper end surface, and a waterproof rotating device is arranged below the lower shell. The home miniature sound wave cleaning machine has the characteristics of high sound field strength, the uniform sound field and the high cleaning efficiency.

The purpose of the invention is to provide an electrical connector which can ensure water resistance even if the exposed water yield increasing. The connector including a male housing (10) and a waterstop groove (27) extending along a circumferential direction of the male housing (10) and being orthogonal to a direction of mating with a female housing (30). Water flows towards a front end (11) ofthe male housing (10) due to capillary action. When the water reaches a rear edge (29) of the water stop groove (27) where no upper wall is formed, the water is exposed to a wider space from a narrower space. Accordingly, in a region of the male housing (10) that is positioned forwardly of the rear edge(29), the capillary action no longer works. Surface tension acts on the water, which allows thewater to be accumulated rearwardly of the rear edge (29).

An object of the present invention is to provide an electrical connector capable of ensuring waterproof performance even when exposed to an increased amount of water. The present invention comprises a male housing (10), and a water stop groove (27) extending along the circumferential direction of the male housing (10), which is perpendicular to the mating direction (L) with the female housing (30). ). Water (WD) flows toward the front end (11) of the male housing (10) due to capillary action. However, when the front edge (29) of the water stop groove (27) is reached, the upper wall (37) disappears, so that the water (WD) is exposed to a large space from the previous narrow space. Thus, on the front side of the male housing (10) compared to the leading edge (29), the capillary phenomenon is eliminated, and on the contrary, since the surface tension (ST) is generated in the water (WD), the water (WD) tends to interact with the The leading edge (29) stays behind in comparison.

The invention relates to the related field of marking machines, in particular to a metal sheet marking machine capable of adjusting marking depth. The metal sheet marking machine comprises a machine body and a working cavity arranged in the machine body and provided with openings on the front side and the rear side; the opening on the front side of the working cavity is an inlet; the opening on the rear side of the working cavity is an inlet; a fastening measuring device is arranged in the working cavity; and the fastening measuring device comprises first transmission cavities which are arranged in the machine body in a left and left symmetry mode and are located at the lower side of the working cavity. According to the metal sheet marking machine capable of adjusting the marking depth, the marking depth marked by the marking device can be adjusted according to different thicknesses of metal sheets, thus, the metal sheet is effectively prevented from being too thin, and is prevented from being damaged during marking operation, the rejection rate of products is reduced, and the cost is reduced. The metal sheet marking machine is further provided with an automatic feeding and discharging mechanism, and thus, arms of personnel are prevented from extending into a marking area to avoid accidents.

The invention relates to an authentication method, a base station, user equipment and core network elements. The authentication method includes: the base station receives the first message sent by the user equipment, the first message includes uplink data, the user equipment identifier and the first authentication result; sends an authentication request message to the network element of the core network, the authentication request message includes the user The device identifier or the group identifier of the group to which the user equipment belongs or the cell identifier of the cell to which the user equipment belongs; receiving an authentication response message sent by the network element of the core network, where the authentication response message includes a second authentication result, and the second authentication The result is the authentication result calculated by the network element of the core network according to the authentication request message; comparing the first authentication result and the second authentication result, if they are the same, sending uplink data to the network element of the core network. The security verification of the user equipment by the base station prevents the data of the illegal UE from reaching the network elements of the core network, improves security, and saves transmission resources compared with the prior art.

The present invention provides a singularity avoidance method and device in the process of force-controlled traction of a robot. The method includes: calculating the operability index of the target robot in real time; determining whether the target robot is close to a singular configuration according to the operability index; When the target robot is close to the singular configuration, the constraint force is calculated based on the operability index, and an additional constraint force is applied to the target robot through the driver, so that the target robot can continue to move away from the singular configuration under the action of the constraint force. This method can effectively prevent the robot from reaching the singular configuration, so that the process of force-controlled traction can be carried out continuously, which improves the operation experience of force-controlled traction, improves the operation efficiency of force-controlled traction, and alleviates the difficulty of force-controlled traction for existing robots. During the traction process, the robot alarms and shuts down due to the operator pulling the robot into a singular configuration, resulting in low efficiency of the force-controlled traction operation and poor operating experience.

The invention relates to a fluid filter (10), particularly for fuel or oil, comprising a filter housing (12) and a filter insert (20) replaceably arranged in the filter housing (12), with a pre-filterelement (22) and a main filter element (24) which are arranged one above the other in the filter housing (12) in the direction of the longitudinal axis (26) of the filter housing (12). The filter housing (12) comprises a pre-filter outlet (98) for the pre-filter element (22) and a separately embodied main filter outlet (100) for the main filter element (24). The two outlets are sealed in the filter housing (12) in a fluid-tight manner in the operating position of the filter insert (20). In a drainage position into which the filter insert (20) can be moved by means of an axially oriented withdrawal of the filter insert (20) out of the operating position thereof, a raw side (60) of the pre-filter element (22) is fluidically connected to the pre-filter outlet (98) and a raw side (66) of themain filter element (24) is fluidically connected to the main filter outlet (100). The fluid filter (10) according to the invention enables a simplified and rapid replacement of the filter insert (20).