36results about How to "Control range of motion" patented technology

The invention discloses a tail-suspended rat fixing device, which comprises a rat fixing box, a tail suspension device and an angle adjusting device. The invention also provides a tail-suspended rat vibration / motion training device, which comprises a motion track limit device, a vibration training device, an active motion training device, a passive motion training device, a rat hind limb fixing device and a height adjusting device. The invention also provides a vibration / motion control device, which comprises a display screen, a key, a direct-current motor speed adjusting knob, a power supply adapter, a switch, a USB interface and an internal circuit, wherein the direct-current motor speed adjusting knob is used for adjusting the rotating speed of a direct-current motor during passive motion training; the power supply adapter and the switch are used for supplying power for the whole device; the USB interface is used for carrying out function expansion later; and the internal circuit is used for controlling and quantifying rat vibration / motion training and supplying power. The device can keep the same tail-suspended height, can carry out equal-length and equal-tension motion by combining vibration and motion training, and simultaneously achieves training quantification and control.

The invention discloses a pneumatic muscle driving type two-freedom-degree ankle recovery parallel robot which comprises a movable platform with a foot sleeve, a rotating mechanism, a driving mechanism and a support. The movable platform is arranged on the support through the rotating mechanism. The driving mechanism is a pneumatic muscle which is arranged on the support. A movable end of the pneumatic muscle is connected with the movable platform through a flexible cable. According to the pneumatic muscle driving type two-freedom-degree ankle recovery parallel robot, a rigid driver of a traditional robot is replaced by the pneumatic muscle which is matched with the flexible cable for power transmission, the problem that a patient feels comfortable and even painful during a recovery process is solved, recovery of the patient is benefited, the pneumatic muscle is light in weight, and using is convenient. The pneumatic muscle driving type two-freedom-degree ankle recovery parallel robot is suitable for recovery of an ankle.

The invention relates to a method for machining a deep groove. The method specifically comprises the following steps: establishing a deep groove machining device comprising a pedestal, a power part, a cutting part, a deep microadusting part, and the like; clamping a machining workpiece on the deep groove machining device; adjusting the position of a groove joint on the workpiece to be machined; machining the first groove joint of a first deep groove by a cutting method; after cutting to be tested is finished, using a deep microadusting part for microadjustment and position limit according to actual machining depth; carrying out cutting again till the machining of the first groove joint is finished; rotating and adjusting a rotary disc, so that the rotary disc is rotated for certain angle; carrying out the cutting machining from the second groove joint to the final groove joint sequentially; after the groove joints of two sides of all the deep grooves are totally machined, detaching the workpiece to be machined; cutting off groove bottom between the groove joints of two sides of all the deep grooves; and completing the machining of all the deep grooves. The method has a simple manufacturing process, simple equipment, low energy consumption and prominent manufacturing cost advantage; and the production efficiency can reach as high as 4 to 5 times of that of the prior machining method.

The invention relates to a bionic jellyfish robot, provides a bionic jellyfish robot driven by parallelly connected mechanical arms, and aims to solve the problems that the conventional bionic jellyfish robot is small in moving amplitude, small in driving force and unsuitable for the complicated marine environment. A streamline end cover, a sleeve, a pedestal and a base are sequentially connected; one end of a driving unit is connected through a motor connecting plate mounted on the pedestal; a cam driving disc is mounted on the output shaft of the driving unit inside the sleeve in a sleeving manner; a track groove is formed in each of the upper end surface and the lower end surface of the cam driving disc along the outer contour line of the cam driving disc; the contour shape of each track groove is a concave-convex contour curve; a plurality of sliding connecting bases are in sliding joint with the track grooves of the cam driving disc 9 in an annular arrayed manner through a plurality of roller shaft components; one end of each mechanical arm drive rod is connected with one sliding connecting base, and the other end of each mechanical arm drive rod is in flexible connection with a flexible mechanical arm. The bionic jellyfish robot is used for unmanned underwater transportation.

The invention discloses a wall climbing robot for cleaning the surfaces of ship hulls. The wall climbing robot comprises a middle mounting frame and two groups of driving wheel modules. The two groups of driving wheel modules are arranged on two sides of the wall climbing robot, and a cleaning operation module is mounted on the upper portion of the middle of the rear of the mounting frame; a universal wheel module is mounted on the lower portion of the middle of the rear of the mounting frame; each group of driving wheel modules comprises two parallel support frames, a group of driving modules, a group of tension wheel modules, a group of magnetic suction modules and a plurality of groups of auxiliary support wheels, the support frames of each group of driving wheel modules are arranged on two sides of the group of driving wheel modules, and the multiple groups of auxiliary support wheels of each group of driving wheel modules are arranged on two sides of the group of driving wheel modules; a connecting shaft is arranged between the two support frames on the two sides of each group of driving wheel modules; the corresponding driving modules, the corresponding tension wheel modules, the corresponding magnetic suction modules and the corresponding auxiliary support wheels are arranged on the two support frames of each group of driving wheel modules. The wall climbing robot has the advantages that the wall climbing robot is high in applicability, flexibility and obstacle crossing performance, and good effects of cleaning the surfaces of the ship hulls can be realized by the wall climbing robot; the wall climbing robot in a structural mode is provided with the two groups of driving wheel modules and the single group of universal wheel modules and accordingly can be flexibly and controllably operated; the wall climbing robot is in such a transmission form that a wheel rotary shaft and a tension wheel can be simultaneously driven by a synchronous belt wheel to rotate, accordingly, the wall climbing robot is simple in structure and high in transmission efficiency, and good transmission effects can be realized.

The invention relates to a pile mooring device suitable for a shallow water floating platform, the device includes a plurality of lower buoys spaced apart, an upper surface of each of the lower buoysis provided with an intermediate column, the height of each intermediate column is the same, and the top surfaces of a plurality of intermediate columns are simultaneously installed with an upper platform structure, wherein the upper platform structure is horizontally installed, and a plurality of piles are inserted at the front end surface of the upper platform structure, each pile is inserted into the submarine foundation, and after insertion, the top surface of the piles is higher than the top surface of the upper platform structure; an anti-collision pad is arranged in the distance betweenthe pile and the front end surface of the upper platform structure; Mooring cables are respectively fixed on both end faces of the pile, and a plurality of sets of cable holes are spaced apart from the front end surface of the upper platform structure. One end of the mooring cable is fixed on the pile, and the other end of the mooring cable is connected to the anchor through the guide rope hole.Two strands of mooring cables are respectively installed on each pile, and the mooring cable is in a fan-shaped structure divergent form. The device is compact in structure and reliable in operation.

The invention discloses a magnetic balance linear vibration motor and a vibration method therefor. The motor comprises a stator, a rotor and a housing assembly, wherein the rotor carries out a reciprocal rectilinear motion along the stator when the stator is electrified; a positioning plate or a positioning magnet is arranged on the rotor; the positioning magnet is arranged on the housing assembly when the rotor is provided with the positioning plate; the positioning plate is arranged on the housing assembly when the rotor is provided with the positioning magnet; and the rotor keeps a horizontal motion under the actions of the positioning plate and the positioning magnet, and carries out the reciprocal rectilinear motion within a preset amplitude. The method comprises the steps as follows: when the stator is electrified, the rotor carries out the reciprocal rectilinear motion along the stator; the rotor is kept horizontal when carrying out the reciprocal rectilinear motion under the actions of the positioning plate and the positioning magnet, and carries out the reciprocal rectilinear motion within the preset amplitude; and when the stator is powered off, the rotor stops at the preset position under the actions of the positioning plate and the positioning magnet. According to the magnetic balance linear vibration motor, the assembly precision and the yield of the linear vibration motor are improved; noise is lowered; and the service lifetime is prolonged.

The invention discloses a multifunctional upper limb rehabilitation training apparatus for medical use. The rehabilitation training apparatus comprises a vertical pillar, a transverse rod, a first fixed pulley, a second fixed pulley, a pull rope, a first hand-pulled ring, a second hand-pulled ring and a training platform, wherein the vertical pillar is vertically arranged on the training platform; one end of the transverse rod, which is horizontally arranged, is fixedly connected to the upper end of the vertical pillar; the first fixed pulley is arranged at the bottom of the transverse rod by virtue of a first pulley bracket and the second fixed pulley is arranged at the bottom of the transverse rod by virtue of a second pulley bracket, and the first fixed pulley and the second fixed pulley are distributed side by side; the pull rope spans over the first fixed pulley and the second fixed pulley; the first hand-pulled ring and the second hand-pulled ring are hung at two ends of the pull rope; and a plurality of castors, which are provided with brakes, are arranged at the bottom of the training platform. The rehabilitation training apparatus provided by the invention is simple in structure; by virtue of a travel protective rope, travels of the hand-pulled rings in a vertical direction can be controlled, so that motion amplitude of a patient accepting rehabilitation training is effectively controlled, and the rehabilitation training becomes more standard.

The invention provides a mini-type air atomizing nozzle. The mini-type air atomizing nozzle comprises a nozzle main body, an atomizing component, an opening and closing part and a spring, wherein the atomizing component is installed on the nozzle main body; the spring sleeves the opening and closing part; the nozzle main body is internally provided with a cavity, an air inlet and a liquid inlet; the air inlet communicates with the atomizing component; the opening and closing part is installed inside the cavity; one end of the opening and closing part leans against the liquid inlet; the cavity communicates with the air inlet; and the opening and closing part can compress the spring under the effect of air pressure to move towards a direction far away from the liquid inlet so that the liquid inlet can communicate with the atomizing component. The mini-type air atomizing nozzle belongs to a normally-closed nozzle, can be opened by utilizing air pressure and is flexible and convenient in opening way.

The invention discloses an automatic feeding device and an automatic feeding method for TiCl4. The automatic feeding device comprises a feeding pipe, a feeding unit, a position sensing unit, a connecting pipe, a discharging pipe and a control terminal, and the feeding unit comprises a constant-volume sleeve and a piston type seal ring, wherein the constant-volume sleeve is provided with fixed effective volume, and the piston type seal ring moves back and forth in the constant-volume sleeve to realize automatic feeding of a certain quantity of TiCl4. By the automatic feeding method, the automatic feeding device is used for feeding the TiCl4. The automatic feeding device for the TiCl4 is simple in structure and accurate in metering, and the automatic feeding method for the TiCl4 is simple, feasible, convenient, effective and capable of realizing automatic control of feeding. By the aid of the automatic feeding device and the automatic feeding method for the TiCl4, accurate metering of the TiCl4 and feeding speed control can be realized, so that the problems of excessive liquid level fluctuation range in production, low product quality and the like due to instable feeding rate and inaccurate metering can be effectively reduced, and smooth production and product quality can be effectively guaranteed.

The invention relates to a push-type clamping table. The push-type clamping table comprises a table top assembly and a foot stand assembly. The push-type clamping table is characterized in that the table top assembly comprises a table top pedestal, a table top sliding base, a static board clamping part and a dynamic board clamping part; a plurality of push through holes which are arrayed at intervals are formed in the board surface of the table top sliding base; a first foot stand supporting piece is arranged at one end of the table top pedestal, and a second foot stand supporting piece is arranged at the other end of the table top pedestal; and a driving device used for pushing the table top sliding base to move and a switching device capable of locking the driving device are arranged below the table top sliding base. According to the main defect that a clamping mechanism is not perfect, a faster and more accurate and stable pushing structure is adopted, the number of connecting rodsis decreased, the structure space is reduced, the movement range is controlled, fast and accurate pushing is achieved and meanwhile high stability can be maintained.

The invention relates to an obstruction-meeting stop device for an electric garment airing machine. The obstruction-meeting stop device comprises a limit travel switch, a main shaft, a copper wheel and springs, wherein the copper wheel is provided with a through hole running through two ends of the copper wheel; a steel wire rope is arranged in an annular groove of the copper wheel in a penetration manner; the steel wire rope is always abutted with the upper part of the annular groove and is further not in contact with the lower part of the annular groove; the main shaft comprises an upper main shaft and a lower main shaft; the lower main shaft passes through the through hole; the upper main shaft is fixedly arranged above the lower main shaft; the lower main shaft is hung on the upper main shaft through the springs; the travel switch is fixedly arranged above the lower main shaft; the travel switch is provided with a touch arm; the lower main shaft can be in contact with or disengaged from the touch arm in a movement process. The obstruction-meeting stop device can be automatically controlled, and has the characteristics of being simple in structure, convenient to operate, sensitive in response, longer in service life and reliable and safe to use.

The invention discloses an autism children rehabilitation training machine. The machine comprises a framework, lower limb rehabilitation devices, suspension supporting frames and upper limb rehabilitation devices, the lower limb rehabilitation devices are fixedly installed on the two sides of the framework, the lower portions of the suspension supporting frames are fixedly installed on the two sides of the framework, and the upper limb rehabilitation devices are fixedly installed on the upper portions of the suspension supporting frames. Through the lower limb rehabilitation devices, all joints of lower limbs can be moved, all joints of upper limbs can be moved through the upper limb rehabilitation devices, the body rehabilitation of children is accelerated, and the effect of body rehabilitation of a child is improved.

The invention discloses a stirring rod dismounting mechanism for a household stirrer. The stirring rod dismounting mechanism comprises a body, wherein an output end of the body is fixedly connected with a casing. By moving a slide column leftwards, the slide column drives a drive plate to move upwards through a chute, the drive plate drives a lifting plate to move upwards, the lifting plate drivesa limit column to be separated from a limit groove, a pull ring is moved upwards and drives an insert rod to move upwards to be separated from a limit plate, a stirring rod is moved leftwards and drives an L-shaped plate to move leftwards, the L-shaped plate drives the limit plate to move leftwards to enable the limit plate to be separated from the casing, and then the stirring rod can be dismounted. The problems that the stirring rod of the conventional household stirrer cannot be dismounted, the stirring rods in various models cannot be replaced and the stirring rod is inconvenient to cleanare solved, the stirring rod dismounting mechanism for the household stirrer has the advantage of capability of dismounting the stirring rod and is conveniently used by a user, and practicability ofthe household stirrer is improved.

The invention provides a material inputting device and a cooking appliance. The material inputting device comprises a feeding channel and a movable seal. The feeding channel is arranged in an upper cover and / or a pot body of the cooking appliance. The movable seal is limited in the feeding channel and can reciprocate in the feeding channel to disconnect or conduct the feeding channel. A movable seal is provide in the feed passage, the reciprocating movement of the movable seal in the feeding channel is used to control whether the feeding channel is connected or not, so that the feeding channelcan be in a connected state during the feeding process, and in the non-feeding process, is in a disconnected state (i.e., sealing the feeding channel), thereby solving the problem that water droplets, dirt, rice grains or cockroaches and other pests enter the rice feeding pipe because the rice feeding pipe is always in a conducting state in the prior art, and improving the cleanliness and reliability of the material feeding device.

The invention relates to the technical field of medical teaching models, in particular to a child scalp vein model comprising a head model, a support base, a support rod, a pitch motion driving device, a shake motion driving device and a control device. The support rod has one end hinged to the head model and the other end rotatably connected to the support base. The head model is provided with avenous vascular network. The pitch motion driving device raises and lowers the head model. The shake motion driving device rotates the head model. The control device is configured to control the pitchmotion driving device and the shake motion driving device. The child scalp vein model of the invention can simulate the struggling movement of a child and effectively improve the technical level of scalp venepuncture for a medical worker.

The invention discloses an anti-falling mechanism of an airing rack for textile. The anti-falling mechanism of the airing rack for textile comprises supporting rods, wherein the top of the supportingrod is fixedly connected with an airing rod, the surface of the airing rod is provided with textile cloth, two sides of the top of the airing rod are fixedly connected with a shell separately, the front side of the inner wall of the shell is fixedly connected with a bearing, the inner ring of the bearing is fixedly connected with a connecting column, the back surface of the connecting column is fixedly connected with a gear, and a toothed plate is meshed with the inner side of the gear. According to the anti-falling mechanism of the airing rack for textile, by arrangement of the supporting rods, the airing rod, the textile cloth, the shell, the bearing, the connecting column, the gear, the toothed plate, a lifting plate, a sliding sleeve, a sliding rod, a fixing plate and a pressing plate,the problem that textile cannot be fixed by an existing airing rack and is easy to fall due to various factors such as wind power is solved. The anti-falling mechanism of the airing rack for textilehas the advantages of avoidance of dropping of the textile. The practicability of the airing rack is improved, and a user can use the airing rack conveniently.

The invention relates to an aluminum material type multifunctional clamping table. The aluminum material type multifunctional clamping table comprises a tabletop assembly and a foot stand assembly, and is characterized in that the tabletop assembly comprises a tabletop base, a tabletop sliding base, a static plate clamping piece and a dynamic plate clamping piece, and a plurality of pushing through holes arranged at intervals are formed in the plate face of the tabletop sliding base; a first foot stand supporting piece is arranged at one end of the tabletop base, and a second foot stand supporting piece is arranged at the other end of the tabletop base; and a drive device for pushing the tabletop sliding base to move and a switching device capable of locking the drive device are arranged below the tabletop sliding base. For the defects that existing clamping equipment is single in function, and a clamping mechanism is not complete enough, an extension pipe and a roller support are additionally arranged, and the clamping table supporting manner is added; the tabletop structure is improved so as to meet the lead screw base installing requirement, and the inclined cutting saw supportfunction is achieved through cooperation of the roller support; and clamping is achieved through a more rapid, accurate and stable pushing structure.

The invention discloses an automatic degreasing mesh belt tensioning structure for a continuous degreasing sintering furnace, which relates to the technical field of tensioning structures and comprises a first smooth roller, an internal rocker arm, a second smooth roller and an elastic mechanism. The first smooth roller is rotatably arranged below the degreasing mesh belt, and one end of the internal rocker arm is connected with a rotating shaft of the first smooth roller; the other end of the internal rocker arm is connected with a rotating shaft of the second smooth roller; one end of the elastic mechanism is fixed to a box body of the continuous degreasing sintering furnace, and the other end of the elastic mechanism is connected with a rotating shaft of the first smooth roller. The automatic tensioning structure can ensure that the degreasing mesh belt is always in a tensioned state when the temperature is increased, so that the mesh belt runs stably; and when the temperature is reduced to the cold state, the equipment is recovered to the original state. The tensioning spring is located outside the box body, and the tensioning force on the mesh belt can be adjusted at any time. And a mesh belt tensioning stop rod and a mesh belt tensioning rocker arm limiting rod are arranged outside the box body to control the motion amplitude of the internal tensioning roller.

The invention discloses a surgical nursing auxiliary device and a using method, the surgical nursing auxiliary device comprises a base, a rack, a footstand, an inner ring, a roller, a first rod, a second rod, a cross shaft, a motor base, a motor, a first gear, a second gear, a spring, a hand wheel, a lead screw, a third gear, a fourth gear and a mandrel, the four corners of the base are each provided with a guide rod, the rear portion of the base is provided with a lead screw hole, and the four corners of the rack are each provided with a guide rod hole; and a penetrating hole is formed in the rear portion of the rack, the left side and the right side of the rack are each provided with an outer ring, four outer ring spring holes are evenly distributed in each outer ring, the outer ring spring holes are evenly distributed in the outer rings, the outer ring spring holes are distributed in the outer rings in a cross shape, four positioning columns are evenly distributed on the inner sides of the outer rings, the positioning columns are symmetrically arranged on the rack, and two stand columns are evenly distributed on the inner sides of the positioning columns. The stand columns are symmetrically arranged on the rack, one stand column hole is formed in the upper portion of each stand column, and the four guide rods are connected with the four guide rod holes in a sliding mode respectively.

The invention discloses a wall climbing robot for cleaning the surfaces of ship hulls. The wall climbing robot comprises a middle mounting frame and two groups of driving wheel modules. The two groups of driving wheel modules are arranged on two sides of the wall climbing robot, and a cleaning operation module is mounted on the upper portion of the middle of the rear of the mounting frame; a universal wheel module is mounted on the lower portion of the middle of the rear of the mounting frame; each group of driving wheel modules comprises two parallel support frames, a group of driving modules, a group of tension wheel modules, a group of magnetic suction modules and a plurality of groups of auxiliary support wheels, the support frames of each group of driving wheel modules are arranged on two sides of the group of driving wheel modules, and the multiple groups of auxiliary support wheels of each group of driving wheel modules are arranged on two sides of the group of driving wheel modules; a connecting shaft is arranged between the two support frames on the two sides of each group of driving wheel modules; the corresponding driving modules, the corresponding tension wheel modules, the corresponding magnetic suction modules and the corresponding auxiliary support wheels are arranged on the two support frames of each group of driving wheel modules. The wall climbing robot has the advantages that the wall climbing robot is high in applicability, flexibility and obstacle crossing performance, and good effects of cleaning the surfaces of the ship hulls can be realized by the wall climbing robot; the wall climbing robot in a structural mode is provided with the two groups of driving wheel modules and the single group of universal wheel modules and accordingly can be flexibly and controllably operated; the wall climbing robot is in such a transmission form that a wheel rotary shaft and a tension wheel can be simultaneously driven by a synchronous belt wheel to rotate, accordingly, the wall climbing robot is simple in structure and high in transmission efficiency, and good transmission effects can be realized.

The invention provides an under-driven three-degree-of-freedom ankle joint rehabilitation device which comprises a foot plate rotating mechanism, a power mechanism, a plantar flexion and dorsal extension and introversion and extroversion transmission mechanism, an inward-rotation and outward-rotation transmission mechanism, a first adjusting mechanism and a second adjusting mechanism, and the plantar flexion and dorsal extension and introversion and extroversion transmission mechanism is connected with the foot plate rotating mechanism. The inward-rotation and outward-rotation transmission mechanism is connected with the foot plate rotating mechanism, the first adjusting mechanism is connected with the plantar flexion and dorsal extension and introversion and extroversion transmission mechanism, and the second adjusting mechanism is connected with the inward-rotation and outward-rotation transmission mechanism. The rehabilitation device is comprehensive in rehabilitation training function, adjustable and diversified in function, can meet training postures needed by different patients and the full-range rehabilitation requirements for ankle joint rehabilitation, three-degree-of-freedom movement is achieved through one power source, and the three-degree-of-freedom ankle joint rehabilitation device has the cost advantage and is simple in structure and more reliable in movement.

The invention relates to the technical field of pharmaceutical processing equipment, in particular to a solid-liquid separation device for biomedicines. The length of a device driving unit is adjustable, motion amplitude of a drive rod can be controlled, so that beating degree of a beating assembly can be controlled according to finished product properties of different medicines, and influence onthe separation effect due to insufficient beating degree is avoided; in an idle stroke process of an extrusion plate moving upwards, medicines can be pushed to the position under the extrusion plate by two push plates, the medicines are centralized under the extrusion plate, and the beating effect is improved; two vertical frame plates are symmetrically and fixedly connected on a bottom plate; vertical plate chutes extending from middle ends to upper ends are arranged at left and right ends of the inner wall of a medicine liquid collection box; a bottom frame is glidingly connected in the medicine liquid collection box, the upper end of the bottom frame is fixedly connected with a sieve plate, a plurality of sieve holes are formed uniformly in the sieve plate, left and right ends of the bottom frame are fixedly connected with vertical plates, and upper ends of the two vertical plates are fixedly connected with L-shaped clamp pieces.

The invention provides a combined type rudder blade for a ship, and relates to the field of ships. The combined type rudder blade for the ship comprises a rudder blade body, the left side of the rudder blade body is movably connected with a ship hull through a plug shaft, a first cavity is arranged inside the rudder blade body, a second cavity is arranged inside the rudder blade body and located at the bottom of the first cavity, a clapboard is arranged on the top of the second cavity and located at the bottom of the first cavity, and a motor base is arranged at the bottom of the first cavity and located at the top end of the clapboard. According to the combined type rudder blade for the ship, the motor arranged inside the first cavity drives a rotating shaft to rotate, so that a moving sleeve connected with the surface of the rotating shaft in a sleeving mode drives a moving rudder blade to move; and when the moving rudder blade moves downwards, the contact face of the rudder blade body and water is increased, when the ship needs to steer urgently, the steering torque of the rudder blade body is improved, so that power consumption of a steering engine is not greatly increased, and the efficiency of steering is greatly improved.

The invention discloses a pneumatic muscle driving type two-freedom-degree ankle recovery parallel robot which comprises a movable platform with a foot sleeve, a rotating mechanism, a driving mechanism and a support. The movable platform is arranged on the support through the rotating mechanism. The driving mechanism is a pneumatic muscle which is arranged on the support. A movable end of the pneumatic muscle is connected with the movable platform through a flexible cable. According to the pneumatic muscle driving type two-freedom-degree ankle recovery parallel robot, a rigid driver of a traditional robot is replaced by the pneumatic muscle which is matched with the flexible cable for power transmission, the problem that a patient feels comfortable and even painful during a recovery process is solved, recovery of the patient is benefited, the pneumatic muscle is light in weight, and using is convenient. The pneumatic muscle driving type two-freedom-degree ankle recovery parallel robot is suitable for recovery of an ankle.

The invention relates to a bionic jellyfish robot driven by a parallel mechanical arm, which relates to a bionic jellyfish robot. The invention aims to solve the problems that the existing bionic jellyfish robot has small motion range and small driving force, and is not suitable for complex ocean environments. The streamlined end cap, the sleeve, the base and the base of the present invention are connected in sequence, one end of the drive unit is connected through the motor connection plate installed on the base, the cam drive disc is set on the output shaft of the drive unit in the sleeve, and the cam drive The upper and lower end faces of the disc are respectively provided with a track groove along its outer contour line. The contour shape of the track groove is a contour curve set with concave and convex intervals. A plurality of sliding connection seats are connected to each other in a circular array through a plurality of roller shaft parts. The track groove of the cam transmission 9 can be slidably connected, one end of each mechanical arm driving rod is connected with a sliding connection seat, and the other end of each mechanical arm driving rod is movably connected with a flexible mechanical arm. The invention is used for unmanned underwater carrying.

The embodiment of the invention discloses a cleaning device and a cleaning robot. The cleaning device comprises a recycling device, a spraying washing device, an adjusting device and a limiting device; the recycling device is connected to the work face in a sealed manner; the spraying washing device is installed on the inner side of the recycling device; the adjusting device is movably connected with the recycling device through an adjusting connection piece; the recycling device can perform the rotational movement around the adjusting connection piece relative to the adjusting device; and thelimiting device is installed on the outer side of the recycling device, and used for controlling the movement amplitude of the recycling device. According to the cleaning device and the cleaning robot, due to the fact that the limiting device is arranged on the cleaning device, the movement amplitude of the control device can be effectively controlled, and then the safety of the cleaning device is guaranteed.