227results about How to "Flexible movement" patented technology

The invention discloses an under-actuated core column type continuum robot for a narrow space task, and belongs to the technical field of multi-degree-of-freedom redundant continuum robots. Comprising a driving device, a plurality of motors are used for controlling winding and unwinding combination of a driving rope, flexible movement of a mechanical arm is achieved, and an expected working pose is achieved. And the guide rail is moved to push the platform, linear motion is executed in the lead range, and the mechanical arm is moved to the designated operation range. The continuum mechanical arm main body consists of N mechanical arm units with the same structure and is divided into M joint sections; a rigid-flexible coupling mode is adopted, and a universal joint structure and a core column structure are combined, so that joints can flexibly deflect, and the torsional rigidity and the overall load capacity are improved; and the end effector is used for executing diversified tasks according to operation requirements. The robot provided by the invention has the advantages of high flexibility, large length-diameter ratio, high torsion resistance, high environmental adaptability and the like, and can meet the requirements of detection and operation and maintenance operation in a narrow unstructured space.

The invention discloses a space flexible mechanical arm rope cluster active and passive hybrid driving module and method.The space flexible mechanical arm rope cluster active and passive hybrid driving module comprises a rope cluster multi-axis driving module, the rope cluster multi-axis driving module comprises a plurality of rope cluster driving modules, each rope cluster driving module comprises a rope driving mechanism and a driving rope, one end of each driving rope is connected with the corresponding rope driving mechanism and is driven by the corresponding rope driving mechanism to linearly move, and the other end of each driving rope is driven by the corresponding rope driving mechanism; the other end of the driving rope is connected with a kinematic pair of any arm section in the arm section; and the segmented equal-curvature linkage module provides constraint for all the arm sections in the arm sections, the same-direction moving shafts of all the arm sections in the arm sections are coupled together through linkage ropes, and all the arm sections are driven to synchronously move at equal angles under the driving action of the rope cluster multi-shaft driving module. The problems that the motion state of the under-actuated flexible mechanical arm is not unique, and the number of driving units of the full-drive flexible mechanical arm is large are fundamentally solved, and the overall number, quality and power consumption of the driving units are greatly reduced while the motion flexibility, the tail end precision and the structural rigidity are guaranteed.

The invention discloses a variable-diameter pipeline inspection robot capable of avoiding obstacles and a control method of the variable-diameter pipeline inspection robot, and belongs to the field of pipeline inspection robots. The device specifically comprises a machine body, a reducing unit, a driving unit and an inspection unit. The machine body comprises a front machine body, a rear machine body and a middle machine body. The reducing unit comprises two groups of independent reducing modules with the same structure; the driving unit comprises four groups of independent driving mechanisms with the same structure; the inspection unit comprises an infrared camera, a pressure sensor, a data processor and the like. In order to solve the problems that an existing pipeline robot is small in pipe diameter adaptation range, complex in obstacle avoidance mechanism, insufficient in flexibility and the like, the pipeline robot is large in diameter changing stroke ratio, large in pipe diameter adaptation range and high in flexibility, obstacle avoidance can be achieved through a diameter changing mechanism, and the pipeline robot further has the active differential steering capacity and can adapt to circular and rectangular pipelines at the same time; the robot is simple and compact in overall structure.

The invention belongs to the technical field of steel structure damage repair. The invention provides a large steel structure corrosion damage integrated repairing robot and a control method. The robot comprises a robot body, and a force control servo motor, an automatic polishing module, a damage identification camera, an air compression pump, a paint storage box, a control terminal, a magnetic adsorption module, a pipeline climbing module, a paint film thickness measuring module and an automatic paint spraying module which are arranged on the robot body. A robot compliance control strategy integrating force feedback, visual guidance and other modes is provided, dynamic parameter adjustment is combined, efficient and compliance control over the rust removal and spraying process of the repairing robot is achieved, the high efficiency and stability of the corrosion damage repairing process are ensured, and the corrosion damage repairing efficiency is improved. And flexible movement and efficient operation of the integrated repairing robot in a complex space structure are achieved.

The invention provides a dual-rotor water-air amphibious unmanned aerial vehicle with a plume-like electric eel structure, which comprises a main body assembly, and the main body assembly comprises a triangular bracket, a fuselage main body, an electric eel driving mechanism, a rotary connecting piece, a U-shaped clamping groove, the plume-like electric eel structure and a load platform. According to the unmanned aerial vehicle, the line-like electric eel structures are arranged on the two sides of the fuselage main body, so that the unmanned aerial vehicle can enter and exit water without an underwater propeller or mode switching, and the structures are low in movement energy consumption, so that the unmanned aerial vehicle has the capability of working for a long time and can be flexibly switched between an air mode and a water mode; meanwhile, the system has excellent performances such as ultra-silence, high endurance and high efficiency; according to the invention, the attitude control is realized through a double-rotor structure consisting of the waterproof brushless motor, the output shaft and the folding propeller assembly and through the tilting mechanisms which are mounted front and back, the tilting mechanisms enable the rotors to deflect, different attitudes and motions can be realized through different tilting directions and tilting speeds, and the attitude stability and the motion control are enhanced.

The invention relates to the technical field of breeding monitoring, and provides a multi-water-area integrated unmanned breeding monitoring platform and a control method thereof. The platform takes a primary-secondary machine as a basic platform, and comprises a primary machine basic frame, a feeding bin device, a main body cabin, a secondary machine recycling lifting device, an underwater balance base device, a water area parameter monitoring secondary machine device, an underwater garbage recycling secondary machine device and a water surface floating object cleaning secondary machine device, according to the multi-water-area integrated unmanned breeding monitoring platform and the control method thereof, the functions of underwater environment monitoring and maintenance, feed feeding, oxygenation, multi-water-area self-adaption and the like are integrated, and intelligent and integrated breeding is achieved by integrating various modules needed by breeding.

The utility model discloses a rope driving type goods storing and taking system which comprises a goods shelf, and the goods shelf is provided with multiple layers of storage positions. The driving system can drive the taking and placing mechanism to reach each storage position; the taking and placing mechanism can take out the goods from the storage positions and can store the goods into the storage positions; the driving system comprises at least three groups of rope pulling devices, each rope pulling device is provided with a rope directly or indirectly acting on the taking and placing mechanism, and the force application directions of the ropes are different; and the maintaining device is used for maintaining the posture of the taking and placing mechanism. According to the utility model, the plurality of groups of pull rope devices drive the pick-and-place mechanism to move transversely and longitudinally through the ropes, the pull rope devices are convenient to install, and the pull rope devices act on the pick-and-place mechanism through the soft ropes, so that the installation position of the pull rope devices is less limited, and the overall expansibility of the goods access system is strong; and only the pull rope device needs to be reinstalled, so that the expansibility of the system is greatly improved.

The invention belongs to the technical field of medical instruments, and particularly relates to a stitching instrument for an endoscope. Comprising a fixed handle, a fixed bolt, a needle mounting button, a rotating assembly, a flushing assembly, a sleeve, a protective cap, a bending device, a movable handle, a suture steel wire, a pressing plate steel wire, a forceps head short pipe and a suture needle holding assembly. A movable handle mounting hole is formed in the upper end of the movable handle, the movable handle mounting hole and a movable handle mounting column of the fixed handle are correspondingly mounted, the near end of the sleeve penetrates through a sleeve hole in the far end of the fixed handle and is matched with a groove in the far end of the rotary connecting rod, and the far end of the sleeve is connected with the bending joint assembly; the near end of the forceps head short tube is connected with the bending joint assembly, and the far end of the forceps head short tube is connected with the suture needle holding assembly; the near end of the suture steel wire is in fastening connection with the near end of the movable handle through a steel wire lock catch, and the far end of the suture steel wire is connected with a rack seat in the suture needle holding assembly and used for driving the suture needle holding assembly to perform continuous suture; and the flushing connector is embedded into the upper rotary shifting wheel and is connected with the flushing hole at the near end of the sleeve.

The invention relates to a tactile enhancement training system based on virtual reality. The tactile enhancement training system comprises a virtual reality unit, a tactile feedback unit and a processing unit. The virtual reality unit interacts with a virtual reality environment; the tactile feedback unit is used for being worn on the hand and feeding back acting force corresponding to a grabbed object in the virtual reality environment to fingers in the mode of applying traction force to the fingers, and the processing unit is used for determining contact points of the grabbed object in the virtual reality environment. According to the contact points of the grabbed object, the acting force fed back by the tactile feedback unit to the fingers is analyzed, information related to the acting force is sent to the tactile feedback unit, and the acting force is related to the physical characteristics of all the contact points of the grabbed object. When the user interacts with the virtual object, the technical effect of obtaining more real force feedback by applying the traction force to the fingers is achieved, so that the user can feel real physical feedback in the interaction process, and the interaction immersion of the user is enhanced.

The invention discloses a full-automatic assembly line type cooking robot, and relates to the technical field of cooking robots, the full-automatic assembly line type cooking robot comprises a mechanical arm structure, the mechanical arm structure comprises a supporting base, a first component movably connected to one end of the supporting base, and a second component movably connected to the end, away from the supporting base, of the first component; the power structure comprises a servo motor detachably arranged in the second component, a first fluted disc fixedly connected to one end of the servo motor, a first bevel gear connected to the end, away from the servo motor, of the first fluted disc in a meshed mode, and a connecting rod fixedly connected to the first bevel gear. The transmission assembly is fixedly connected to the end, away from the first bevel gear, of the connecting rod. According to the stir-frying machine, the stir-frying effect is improved, the spiral structure of the stirring part is beneficial to forming natural flowing and circulation of food materials in the stir-frying process, and food material damage and nutrition loss caused by excessive stir-frying are avoided.

The utility model provides an air-ground amphibious fire rescue spherical robot. The air-ground amphibious fire rescue spherical robot comprises a spherical shell and an unmanned aerial vehicle located in the middle of the spherical shell. The unmanned aerial vehicle comprises a power system and a fixing support. The spherical shell wraps the fixed bracket therein; the fixed bracket is used for supporting the power system in the middle; the power system comprises two propellers which are coaxial and opposite in rotation direction, and the two propellers are fixed in the middle of the fixing support. The spherical unmanned aerial vehicle has the advantages that the spherical robot and the spherical unmanned aerial vehicle are combined, ground movement of the spherical robot is taken as a main part, the defects of poor cruising ability of the unmanned aerial vehicle and poor obstacle crossing ability of the robot are overcome, the advantages of high response speed and strong obstacle crossing ability of the unmanned aerial vehicle are played, the advantages of the unmanned aerial vehicle and the robot are complementary, the advantages of the two are complementary, and the practical value is higher.

The invention provides a light energy and wave energy combined power generation device for an offshore area and a use method, the light energy and wave energy combined power generation device is characterized by comprising a plurality of groups of power generation assemblies, and a limiting part is connected between every two adjacent groups of power generation assemblies; the power generation assembly comprises installation assemblies placed on the sea surface, the adjacent installation assemblies are connected through limiting parts, photovoltaic panels are installed at the top positions of the installation assemblies, the installation assemblies are connected with connecting arms, and the connecting arms are provided with arch-shaped elastic structures. One end of the arch-shaped elastic structure is fixedly connected to the position, close to the mounting assembly, of the connecting arm, the arch-shaped elastic structure is movably connected to the connecting arm, the end, connected with the connecting arm, of the arch-shaped elastic structure is connected with a wave energy power generation assembly, and the adjacent wave energy power generation assemblies are also connected through a limiting part; a fixing part is connected to the position, close to the connecting arm, of the bottom of the mounting assembly and fixed to the seabed. The device combines light energy and wave energy for power generation, and improves the efficiency of energy collection in offshore areas.

The invention discloses a stacking manipulator for waterproof material production, which relates to the technical field of stacking equipment, and comprises a base fixed on an industrial manipulator, an outer cylinder body is fixedly connected on the base, a middle cylinder body and an inner cylinder body are sequentially connected in the outer cylinder body in a sliding manner, expansion rings are respectively fixed at the tail ends of the outer cylinder body, and inner expansion cylinders and inner expansion blocks are arranged on the expansion rings; the inner expansion block is pushed by hydraulic pressure or air pressure to move outwards to achieve expansion clamping of the inner wall of the material winding drum, a clamping cylinder body and a clamping piston are arranged on the outer side of the outer cylinder body, the clamping piston drives a clamping rod to move inwards to clamp the outer wall of the material winding drum, and the adjusting device comprises an adjusting pipe, an adjusting sleeve, an adjusting ball and a conical spring. According to the invention, the connection pressure and the clamping force of the clamping mechanism can be adjusted, the requirements of different materials and specifications are met, the inside and the outside of a material reel can be clamped simultaneously, the material is prevented from being scattered or damaged, the device is suitable for material reels with different lengths, and the automation degree and the production efficiency of waterproof material production are improved.

The invention relates to the technical field of fruit tree branch pruning, and in particular to a mobile double-arm fruit tree pruning robot, comprising a crawler drive device, a supporting platform, a base, a machine body, a column, a pruning system, a control system and a visual recognition system, wherein the crawler drive device plays a supporting role, drives the robot to move, reduces the movement turning radius of the robot, has a strong obstacle-crossing ability, and solves the problems that a wheeled chassis is easy to slip on soft or muddy roads, has a large turning radius, and occupies a large walking space; the arrangement of the machine body and the column can prevent electronic components from being wetted by rain, and the use is safer; the control system identifies branches to be pruned, thereby controlling the pruning system to perform automatic pruning, thereby realizing automatic and intelligent pruning of fruit tree branches, improving the efficiency of pruning, and reducing the labor intensity of pruning, and the robot is suitable for popularization and use.

The invention belongs to the technical field of intelligent robots, and particularly relates to a wearable man-machine co-fusion wheel-foot robot which comprises a connecting platform, a left wheel leg, a right wheel leg, a butt joint module, a connecting spine and a lock catch. The left wheel leg comprises a thigh, a transmission connecting rod group, a shank and a wheel group; the shank comprises an ankle joint motor layout assembly, two ankle joint connecting rod lead screws and carbon tubes, a shank carbon tube, a knee-shank connecting plate and an ankle joint assembly; the thigh and the transmission connecting rod group are movably connected with the knee-shank connecting plate and the swinging motor; the shank carbon tube is connected with the knee-shank connecting plate, and the other two ends of the shank carbon tube are connected with the wheel set and the ankle joint motor layout assembly respectively; the two ankle joint connecting rod lead screws and the carbon tube are movably connected with the ankle joint motor layout assembly and the wheel set respectively; by driving the two ankle joint connecting rod lead screws and the carbon tubes to move, stable switching of the wheels and the feet is achieved; through the butt joint module, the spine and the lock catch, butt joint with the human body is achieved, left-right translation and swinging of the spine are achieved, and the wearing restraint feeling is reduced.

The present invention relates to a movable verticality detection device for engineering quality inspection applied to the technical field of measuring devices. The device adopts a spherical shell sealing structure, the interior of which is filled with liquid and evacuated to improve vibration isolation performance. The device is provided with a horizontal shell and a vertical shell supported by buoyancy, and resists external disturbances through a high-speed rotating turntable to provide a stable reference direction. Laser reflection lenses and prisms are used to project a laser beam onto the surface of an object to be measured, and the verticality is judged by comparing the light band deviation. The device adopts a conductive coil to transmit power and signals, and a laser angle detection component corrects errors in real time. The permanent magnet adsorption method is easy to install, and the controller realizes automatic operation and data processing, thereby improving detection efficiency and accuracy. The present invention integrates laser and electronic technologies, realizes automatic and intelligent detection, improves detection accuracy and efficiency, is suitable for engineering construction, precision instrument calibration and other fields, and has broad application prospects.

The invention discloses a door lock which comprises a lock body, a main spring bolt, a driving gear, a driving seat and a grip seat are arranged on the lock body, the main spring bolt is in transmission connection with the driving gear, the grip seat is sleeved with a transmission gear meshed with the driving gear, and the driving seat is in sliding fit with the lock body. A driving motor, a first driven gear, a lifting gear, a damper and a second driven gear are arranged on the driving seat, the second driven gear is meshed with the driving gear, the first driven gear is meshed with the driving motor, a lifting groove is formed in the first driven gear, and a lifting boss inserted into the lifting groove is arranged on the lifting gear; matching teeth and a reset spring are arranged between the first driven gear and the second driven gear, and the damper is meshed with the lifting gear. A pressure spring is arranged between the lock body and the driving seat; an abutting flange is arranged on the peripheral wall of the grip base. The clutch device is simple in structure, rapid in clutch operation response, reliable in transmission structure use and good in use effect.

The invention provides a microgravity test system for simulating an on-orbit assembly environment on the ground. A spring force measuring assembly, a pulley hanging assembly, a linear motion module and transverse and longitudinal guide rails are fixedly mounted on an unloading truss. One end of an assembled object is fixed on the simulation wall, and a lifting bolt and a turn buckle are arranged above the other end of the assembled object and are connected with the spring force measurement assembly through a lifting rope for compensating derived force generated by the assembled object in the assembling process; the lower ends of the pulley hanging assemblies are fixedly connected with an assembled object 1 through lifting ropes, turn buckles and lifting bolts, the upper end of each pulley hanging assembly is connected with a longitudinal guide rail on an unloading truss, and every two pulley hanging assemblies are arranged in parallel. The linear motion module is installed on the unloading truss through a connecting plate, a fixed pulley is installed at the lower end of the linear motion module, the linear motion module is fixedly connected with the assembled object 2 through a lifting rope, a turn buckle and a lifting bolt, when the clamping tool drives the assembled object 2 to move, a gear motor on the linear motion module rotates to drive the fixed pulley to actively follow, and the unloading efficiency is further improved. The microgravity test system for simulating the on-orbit assembly environment on the ground is suitable for simulating an on-orbit assembly test on the ground, is particularly suitable for an assembly task with a plurality of assembly objects, is easy and convenient to install, high in stability and good in universality, can be used for simulating the on-orbit assembly environment on the ground, and is suitable for popularization and application. And the influence of the ground gravity on the test is eliminated to the greatest extent.

The utility model discloses screening equipment for tea leaf processing, which belongs to the technical field of tea leaf processing and comprises a rack, a linkage component is arranged on one side of the rack, a feeding component is arranged at the top of the rack, a vibration component is arranged below the feeding component, and the vibration component is arranged below the linkage component. The driving motor unilaterally outputs power to drive the rotating shaft and the vibrating shaft to move in a linkage manner, so that the movement is more flexible, other unnecessary parts are reduced, the structure is simpler and more convenient, tea leaves are preliminarily stirred through the stirring roller to accelerate the entering of the tea leaves, and the tea leaves are more uniform along with the continuous shaking of the vibrating shaft. According to the tea leaf screening device, the filter screen can be driven to shake continuously, tea leaves falling onto the filter screen are shaken and screened, meanwhile, the tea leaves entering the processing bin are classified and collected through the processing bin, storage is convenient, an auxiliary shaft and an auxiliary spring at the bottom can provide a certain supporting effect for the upper portion, and a vibration spring can provide a certain buffering effect for vibration.

The brake caliper assembly comprises a caliper body, a brake caliper support and a friction plate assembly, the caliper body and the friction plate assembly are both arranged on the brake caliper support, a cylinder hole is formed in one side of the caliper body, a piston used for pushing a friction plate is arranged in the cylinder hole, and a rectangular sealing ring is arranged between the inner wall of the cylinder body and the outer edge of the piston. And an oil inlet and a deflation assembly are arranged on the caliper body corresponding to the cylinder hole. A traditional piston return spring is omitted and is realized through deformation of the rectangular sealing ring, so that the self-adjusting range is large; a rectangular sealing ring movable structure is adopted to control a gap, the total pump displacement required during braking is reduced, the total pump stroke and the cylinder diameter are reduced, the lightweight design is adopted, the pedal force is reduced, and the comfort level is improved; the mounting bracket and the guide pin are designed to be in free clearance fit, and the guide pin and the positioning pin are provided with dust covers, so that the sliding resistance performance, the dust prevention function and the convenient mounting function of integral sliding are improved, abrasion is reduced, and integral movement is more flexible.

A forearm wrist structure based on tendon-driven chords includes a forearm skeleton shell and a cross-shaped wrist joint component. The forearm skeleton shell includes a small-end shell, a large-end shell, an upper connecting plate, and a lower connecting plate. The small-end shell and the large-end shell are respectively located at the two ends of the upper and lower connecting plate. A left limiting and dividing bridge is provided on one side of the upper and lower connecting plate, and a right limiting and dividing bridge is provided on the other side. A clamping plate pivot lug assembly is provided in the small-end shell, and the cross-shaped wrist joint component is rotatably mounted on this clamping plate pivot lug assembly. The cross-shaped wrist joint component is used to rotatably mount a robot hand. A robot connector is provided in the large-end shell for connecting the robot body. This invention provides a highly flexible wrist joint without increasing the external contour of the forearm component, and the multiple drive motors are highly integrated, which is conducive to modular or component-based design and assembly.

The invention discloses an upper limb movement rehabilitation robot which comprises a base supporting mechanism, and a lifting mechanism, a shoulder horizontal training mechanism, a big arm movement training mechanism, an elbow training mechanism, a forearm bending and stretching mechanism and a wrist movement training mechanism are arranged on the base supporting mechanism. The shoulder horizontal training mechanism comprises two groups of shoulder horizontal training assemblies, and each group of shoulder horizontal training assembly comprises a first shoulder connecting rod and a second shoulder connecting rod which are rotationally connected; the big arm activity training mechanism comprises two variable-rigidity big arms, the upper end of each variable-rigidity big arm is rotationally installed at the tail end of a second shoulder connecting rod of the shoulder horizontal training assembly on the corresponding side, and each variable-rigidity big arm comprises two variable-rigidity elastic arms which are oppositely arranged up and down; each variable-rigidity elastic arm can achieve different deformation and rigidity adjustment through pneumatic control. Compared with the prior art, the upper limb rehabilitation exercise device has the advantages that various flexible exercises are achieved, and various rehabilitation exercise requirements of the upper limbs of different patients are met.

This utility model belongs to the field of laboratory animal technology and discloses a highly flexible self-propelled electric lifting vehicle suitable for SPF barrier environments. It includes a frame with a sealed cavity inside, a modular integrated electrical box within the cavity, a quick-release structure at the opening of the cavity, a lifting assembly on the frame, a liftable worktable on the lifting assembly, a waterproof structure on the worktable, and a walking drive assembly at the bottom of the frame. The quick-release structure includes a quick-release movable plate and multiple sets of bolts. The walking drive assembly includes a first drive wheel, a second drive wheel, and two sets of driven omnidirectional wheels. This utility model has a compact and reasonable structural design, enabling lifting and driving functions. It is suitable for assisting in the rearing of laboratory animals in high-rise buildings. It is small in size, highly mobile, and easy to move between rearing cages. The main circuit components are integrated, making it less susceptible to contamination. It has good waterproof and dustproof performance, is easy to maintain, and convenient to use.

The present invention relates to a remote interactive ultrasound-guided puncture system and method with master-end force feedback, comprising a prosthesis, a master-end operating arm, a simulated operating table, a slave-end robot, and a display unit; the master-end operating arm is provided with a gripping portion, and the gripping portion contacts the prosthesis to realize simulated operation; the master-end operating arm is provided with an encoder, a distance measuring sensor, an inclination sensor, and a master-end multi-dimensional force sensor, which can obtain the position, posture information, and force information of the gripping portion; the simulated operating table comprises a table top and a driving mechanism; the slave-end robot is provided with a slave-end multi-dimensional force sensor for real-time detection of the fitting force; the slave end is interconnected and communicated with the master end, and operates in real time according to the position, posture, and force information of the gripping portion; the display unit displays the master-end posture information, multi-dimensional force information, and the slave-end on-site audio and video information, medical images, and slave-end robot force signals in real time. The present invention realizes real-time interaction, feedback, and verification between the master and the slave, and the simulation scene is more realistic and the medical operation is more accurate.

The utility model provides a kind of automation equipment for automobile chassis vision detection, including trolley device and vision device;Trolley device includes main support, motion module and tracking module, motion module and tracking module are respectively arranged on main support, tracking module and motion module are electrically connected, motion module is guided by tracking module and drives main support movement;Vision device includes image transmission module and camera module, image transmission module and camera module are respectively arranged on main support, camera module includes image sensor, the shooting direction of image sensor is towards upper, image sensor is electrically connected with image transmission module, image transmission module is used to send image data acquired by image sensor outside.The trolley device in the automation equipment can move by tracking mode and combine vision device to shoot the picture and image related to automobile chassis, improve the convenience of automobile chassis vision detection.

The utility model discloses a power distribution network fault automatic monitoring device, comprising a plurality of power distribution cabinets, the inner sides of which are respectively provided with a monitoring structure and a plurality of power distribution automatic scanning processing structures; the utility model relates to the technical field of power distribution network monitoring, through the cooperative work of the longitudinal and transverse lead screw modules on the support monitoring bracket, the longitudinal and transverse movement of the cylindrical limiting box is realized, and the flexible movement mode greatly improves the convenience and accuracy of equipment operation; meanwhile, a lifting hydraulic push rod and a lifting angle driving machine are matched for use, so that stable lifting and horizontal rotation of the I-shaped cylindrical lifting block are ensured, and a stable platform is provided for subsequent scanning and fire extinguishing operation; and the telescopic function of the horizontal telescopic adjusting hydraulic push rod enables the telescopic detection block to stably and horizontally stretch out and draw back, so that the adaptability and flexibility of the equipment are further enhanced.

The utility model discloses a base, the base is applied to a lens driving mechanism, the lens driving mechanism comprises a movable part, the movable part is provided with a magnet, the movable part is used for installing a lens, the base comprises a bottom plate, a plurality of side plates and a coil, the bottom plate is in a plate shape and is located on the bottom surface of the movable part, and the coil is located on the bottom surface of the movable part. The bottom plate is provided with a central hole, and the central hole is aligned with the lens. The multiple side plates are arranged around the movable part, and the bottom ends of the side plates are connected to the top face of the bottom plate. And the coil is connected to the side plate and is matched with the magnet to drive the movable part to move.

The utility model discloses a left and right horizontal horizontal type hinged folding device, the left side support's front and back wall respectively correspond the left end of left front horizontal hinged piece, left rear horizontal hinged piece of hinged connection, and left front horizontal hinged piece, left rear horizontal hinged piece can only be relative to left side support front and back horizontal swing hinged, the right side support's front and back wall respectively hinged connection has the right end of right front horizontal hinged piece, right rear horizontal hinged piece, and right front horizontal hinged piece, right rear horizontal hinged piece can only be relative to right side support front and back horizontal swing hinged, the right end of left front horizontal hinged piece, left rear horizontal hinged piece is swing hinged with the left front end, left rear end of corresponding intermediate X shape horizontal hinged frame, and the left end of right front horizontal hinged piece, right rear horizontal hinged piece is swing hinged with the right front end, right rear end of corresponding intermediate X shape horizontal hinged frame, this product can left and right horizontal stretch and horizontal contract folding, and the good bearing capacity is stable in structure, and the structure is solid, and convenient operation.

The application provides a first-aid hemostasis robot and a control method thereof. The first-aid hemostasis robot comprises a robot main body capable of walking on the ground, a mechanical arm with multiple degrees of freedom arranged on the robot main body, a pressing head and a blocking piece arranged on the mechanical arm, the pressing head is used for pressing and hemostasis of a blood vessel of a bleeding port, the blocking piece is carried by a flexible continuum robot, a front end of the continuum robot is provided with a camera used for collecting information of a bleeding site, the blocking piece can be inserted into the inside of the bleeding port through the continuum robot and expanded after blocking the bleeding port to seal a large blood vessel of the bleeding port. The mechanical arm carries the pressing head and the blocking piece to perform hemostasis on different conditions of large bleeding respectively, if the bleeding is of a split type, the pressing head is used for pressing and hemostasis at a proximal end of an artery bleeding or a distal end of a vein bleeding, if the bleeding is of a broken type, the blocking piece is inserted into a wound through the continuum robot to seal a large blood vessel of the bleeding.