31results about How to "Flexible movement" patented technology

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 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.

A kinematics solving method of a cantilever type crushing device, comprising: establishing a link coordinate system of a three-link robot and a homogeneous transformation matrix of an end effector according to obtained DH parameters, and obtaining robot conversion equation sets according to link lengths of a boom, a stick and the end effector and motion pairs of each part; reading current driving space coordinates from displacement sensors of hydraulic cylinders; calculating current pose space coordinates by using the robot conversion equation sets, the link constraint equation sets and the current driving space coordinates; obtaining target pose space coordinates generated after the crushing device is moved to a target working position on the basis of the current pose space coordinates; and solving target driving space coordinates by using the robot conversion equation sets, the link constraint equation sets, the current and target pose space coordinates. The scheme can improve the control precision and motion rate of the cantilever type crushing device, and make the cantilever type crushing device motion more flexible.

This invention relates to a virtual reality-based haptic enhancement training system, comprising a virtual reality unit, a haptic feedback unit, and a processing unit. The virtual reality unit interacts with the virtual reality environment; the haptic feedback unit is worn on the hand and applies traction force to the fingers, providing feedback on the force corresponding to a grasping object in the virtual reality environment. The processing unit determines the contact points of the grasping object in the virtual reality environment, analyzes the force applied by the haptic feedback unit to the fingers based on these contact points, and sends force-related information to the haptic feedback unit. The force is correlated with the physical characteristics of each contact point of the grasping object. This invention achieves a more realistic force feedback effect by applying traction force to the fingers when the user interacts with virtual objects, allowing the user to experience realistic physical feedback during interaction and enhancing the user's immersion in the interaction.

This invention discloses a multifunctional biomimetic robot for field exploration, comprising a body structure, a variable-radius slewing wheel-leg mechanism, a variable-stiffness connection mechanism, a flexible tail mechanism, and a front-end actuator. The body structure includes multiple base plates; the variable-stiffness connection mechanism includes multiple variable-stiffness connection components, with adjacent base plates connected by these components; the variable-radius slewing wheel-leg mechanism includes multiple variable-radius slewing wheel-leg components, each capable of both wheel-based and leg-based movement; the flexible tail mechanism possesses degrees of freedom for circumferential rotation and vertical bending; and the front-end actuator has obstacle removal and / or data acquisition functions. This design achieves high movement speed on flat terrain while simultaneously meeting the requirement for high obstacle-crossing capability on complex terrain. Furthermore, the body stiffness can be automatically adjusted, and the tail structure exhibits high controllability and flexibility.

The utility model discloses a novel feed hopper sealing structure for household garbage power generation, relates to the technical field of household garbage power generation, aims to solve the problems that an existing sealing structure is prone to being blocked and abraded and inconvenient to maintain, and comprises a feed hopper, an upper sealing plate and a lower sealing plate. The inclination degrees of the front plate and the rear plate are different. The two groups of upper sealing plates are symmetrical to a top opening of the feeding hopper, are matched with upper reset grooves through traction columns and guide columns, and are reset by upper reset springs to realize top sealing; according to the feeding hopper sealing structure, through double sealing and cooperation of all parts, the problems that an existing feeding hopper sealing structure is poor in sealing performance, unsmooth in feeding and the like are solved, and the feeding hopper sealing structure has the advantages of being excellent in sealing performance, smooth in feeding, stable, reliable, convenient to maintain and the like; odor dust can be effectively prevented, the equipment environment is maintained, and the power generation efficiency is improved.

The utility model relates to a wheel set structure for a luggage. The wheel set structure comprises at least one universal wheel assembly used for supporting a luggage body to move. Each universal wheel assembly comprises a rolling wheel and a universal joint with one end connected with the rolling wheel. An integrally formed bearing part is arranged at the other end of the universal joint, and the bearing part is connected with the box body; the bearing piece comprises an edge covering structure connected with the corner edges of the bottom of the box body and a step type installation piece used for being fixedly connected with the box body. By arranging the step type mounting piece, connection between the box body and the rolling wheels can be increased, connection between the box body and the rolling wheels is more stable and firmer, movement of the box body is reduced, meanwhile, the high edge design is arranged, the contact area between the box body and the high edge design can be increased, swinging of the box body is reduced, damage to the box body is reduced, and therefore deformation of the box body can be prevented; and through the design of the raised edges, the support of the bottom of the box body can be increased, so that the bearing effect of the box body can be improved.

The application discloses a kind of complex terrain-oriented adaptive passive wearable hemodialysis machine load devices, including the load platform of wearing in the waist of user, hemodialysis machine is carried in the inside of load platform, outside is equipped with wearing fixed structure, two ends are respectively equipped with leg structure;The leg structure includes the spring recovery device A of being adapted to swing inside and outside of thigh inside measurement, femoral skeleton and calf skeleton;The rear end of the femoral skeleton is equipped with load-bearing connecting rod device, and the rear end of calf skeleton is equipped with power-assisted connecting rod device;The spring energy storage device B is equipped in the hip joint of the femoral skeleton and load platform connection, and the spring energy storage device C is equipped in the knee joint of the femoral skeleton and calf skeleton connection;Femoral skeleton and calf skeleton inside are equipped with the structure of adjustable leg binding height of different body type wearers;The lower end of the leg structure is equipped with foot structure;Spring recovery device D that can be adapted to swing inside and outside of ankle is equipped in the ankle joint of foot structure.

The present application relates to the field of steam turbine blade processing technology, and particularly relates to a steam turbine blade processing device, which comprises a spherical shell deflection positioner, clamping jaws for clamping steam turbine blades are uniformly arranged on the spherical shell deflection positioner, the spherical shell deflection positioner drives the clamping jaws to rotate forward and backward and to tilt left and right, and a lubricating module is arranged in the spherical shell deflection positioner; the spherical shell deflection positioner comprises a hollow inner spherical shell and an outer spherical shell which is sleeved on the inner spherical shell, the centers of the two spherical shells coincide, the shell body of the inner spherical shell is embedded with a plurality of supporting balls which penetrate the inner and outer walls of the shell body, the supporting balls abut against the inner wall of the outer spherical shell, and symmetrical round holes are formed in the left and right sides of the outer spherical shell; the spherical shell deflection positioner is provided with steam turbine blade milling equipment, quenching equipment and polishing equipment; the steam turbine blade is driven to rotate forward and backward and to tilt left and right, the degree of freedom is high, and the movement range of the steam turbine blade is large; the device is effectively protected as a whole, and the mechanical safety is high.

The utility model discloses a whole vehicle explosion -proof crane integrated equipment belongs to the technical improvement scheme of dangerous environment material handling and hoisting field, and this equipment includes frame structure, AGV wheel group and lifting arm subassembly, and frame structure is the design of ladder type, is divided into upper ladder frame and lower ladder frame, and upper ladder frame is equipped with the bearing platform and is embedded with explosion -proof battery group, explosion -proof main control box and AGV wheel control box, and lower ladder frame is configured with multistage telescopic lifting arm and tail support structure, equipment realizes in -place rotation and autonomous navigation movement through AGV wheel group, realizes the three -dimensional extension of hoisting range through the " rotation + pitch + a number of telescopic " composite structure of lifting arm, and the stability of hoisting is improved by the support system being composed of multiple adjustable supporting legs, and the whole vehicle structure adopts the design of explosion -proof structure, is applicable to petrochemical, military industry and dangerous goods storage and the like place, can complete efficient, safe transfer and hoisting operation in the narrow space.

This invention provides an electronic device, comprising: a device body and a camera assembly; the camera assembly is movably connected to the device body; the camera assembly includes a heat sink and a camera module, the camera module being connected to the heat sink; the device body is provided with a receiving groove, the bottom of which is a heat-dissipating part; when the camera assembly is in a first position, the heat sink abuts against the heat-dissipating part; when the camera assembly is in a second position, the heat sink is separated from the heat-dissipating part.

The utility model discloses a lightweight mechanical arm, which belongs to the technical field of mechanical arms and comprises a mechanical arm base, a large arm and a small arm, the large arm comprises two connecting plates, first connecting holes are formed in the side surfaces of the bottoms of the two connecting plates, second connecting holes are formed in the side surfaces of the tops of the two connecting plates, a connecting block is fixedly connected between the two connecting plates, and the connecting block is fixedly connected with the small arm. Weight reducing grooves are formed in the side faces of the connecting plates, one ends of the weight reducing grooves penetrate through the connecting blocks, and weight reducing holes are formed in the surfaces of the two connecting plates. According to the mechanical arm, the weight of the large arm is reduced through the weight reducing grooves, the weight reducing holes and the weight reducing grooves, so that the load of a driving system is reduced, the action response speed is higher, the mechanical arm is allowed to achieve high-precision dynamic adjustment in a complex track through the lightweight design, the overall power consumption is reduced, and the mechanical arm motor drives the mechanical arm connecting rod and equipment installed on the mechanical arm connecting rod to rotate; and the position of the clamping jaw base is adjusted.

The utility model discloses a movable embossing and thread residue cutting mechanism, which belongs to the technical field of textile and comprises a longitudinal moving linear sliding table. A longitudinal moving supporting plate is fixedly mounted at the moving end of the longitudinal moving linear sliding table; a double-station trimming and trimming mechanism is arranged on the longitudinal moving supporting plate; the double-station edge and thread cutting mechanism comprises a transverse moving linear sliding table, a fabric edge cutting assembly and a fabric thread cutting assembly, and a fabric limiting mechanism is further arranged on the longitudinal moving supporting plate. According to the mode, the fabric flows from left to right after being limited by the fabric limiting mechanism, the fabric edge cutting assembly and the fabric thread cutting assembly synchronously move with the fabric under the action of the transverse moving linear sliding table, and after burrs of the fabric are cut off in a follow-up mode, threads in front of the adjacent fabric are cut off; therefore, continuous and automatic edge and thread cutting operation of the fabric is achieved, the fabric edge cutting assembly and the fabric thread cutting assembly which are designed in a separated mode are more flexible during movement, and the edge and thread cutting requirements of different fabrics can be met.

This invention belongs to the field of automated mobile platform technology, specifically a wheeled-tracked composite omnidirectional mobile platform. Four swing arms are symmetrically mounted on the vehicle body, with the left and right swing arms structurally mirror-image. Four Mecanum wheels on the four swing arms are diagonally mounted. The rotation of the tracked drive wheels and Mecanum wheels, as well as the pitching motion of the swing arms, are achieved through a drive system mounted on them and a pitching system within the vehicle body. The mobile platform can switch between tracked, omnidirectional wheeled, and legged movement modes through the pitching motion of the four swing arms. The drive motors of the drive system are installed inside the Mecanum wheels, resulting in a relatively smaller vehicle body size and increased space utilization of the entire robotic mobile platform. This invention provides a mobile platform for robotic patrol and reconnaissance work, particularly suitable for various complex unstructured environments, and features modularity, compactness, flexible movement, and wide adaptability.

This invention relates to the technical field of stand-on reach trucks, specifically an automatic control system for a stand-on reach truck. It includes a frame, a drive mechanism, and a control system. A pair of load-bearing wheel assemblies are mounted on a pair of front legs of the frame. The drive mechanism includes an L-shaped drive axle, a drive axle shaft, an auxiliary wheel assembly, and a drive wheel assembly. The control system includes a hydraulic system and a cylinder adjustment mechanism. The hydraulic system includes a solenoid valve, a hydraulic multi-way valve, a controller, an oil pump motor, and a hydraulic pump. Therefore, the drive mechanism of this invention is connected to the frame via the drive axle shaft. The L-shaped drive axle, i.e., the auxiliary wheel assembly and the drive wheel assembly, can rotate appropriately around the drive axle shaft. This allows the entire drive mechanism to adjust appropriately according to road conditions. Simultaneously, the reliable hydraulic system can precisely control the force on the drive wheel assembly and the auxiliary wheel assembly, automatically adjusting their states according to road conditions and forming feedback regulation.

This invention relates to a flexible rod-type magnetic wheel adsorption robot for internal inspection of valves and containers. It solves the technical problems of existing rigid robots based on pipe wall structures used for pipeline inspection, which have low degrees of freedom, difficulty adapting to pipes of different diameters, and difficulty navigating two consecutive bends inside flange gate valves. The robot includes forelimbs, a torso, and hindlimbs. The torso includes a flexible rod, an upper pull wire, a lower pull wire, a left pull wire, a right pull wire, and multiple joints. Each joint includes a joint drive device, a left magnetic wheel, and a right magnetic wheel. A main shaft motor in the forelimb drives each joint through the flexible rod. The upper and lower pull wires pass through each joint, with their front ends connected to the forward pitch winding wheel of the forelimb and their rear ends connected to the backward pitch winding wheel of the hindlimb. The left and right pull wires pass through each joint, with their rear ends connected to the deflection winding wheel in the hindlimb. This invention is widely used for the inspection of flange gate valves and pipelines.

The application provides a chemical raw material dust absorption device, and relates to the field of dust absorption, which comprises a main air pipe, a plurality of branch air pipes are connected to the bottom of the main air pipe, a self-adapting valve assembly is arranged on the inner side of the branch air pipe, a dust bin in a spherical shape is connected to the other end of the branch air pipe, a venturi pipe is arranged below the dust bin, a transmission assembly for providing power is arranged on the outer side of the throat of the venturi pipe, the transmission assembly is connected with the valve assembly, and the transmission assembly comprises a piston penetrating through the throat of the venturi pipe. The linkage structure of the venturi pipe, the piston, the transmission assembly and the self-adapting valve assembly is arranged, the intelligent distribution of the system air volume is realized, and the energy consumption is significantly reduced. When the dust concentration of a dust production point increases, the airflow velocity of the throat of the venturi pipe is accelerated, the static pressure is reduced, the piston and the transmission shaft are driven to move under the action of the pressure difference, the air valve is automatically opened, and the air volume of the branch is increased.

The invention discloses a mechanical arm for a surgical robot and the surgical robot. The mechanical arm comprises a base, a first connecting arm, a moving arm, a first rotating joint, a second connecting arm, a second rotating joint, a telecentric control assembly and an end effector which are sequentially connected. The moving arm can move in the length direction of the first connecting arm, one end of the second connecting arm is rotatably connected with the moving arm through a first rotating joint, the other end of the second connecting arm is rotatably connected with the telecentric control assembly through a second rotating joint, and the end effector is arranged at the end of the telecentric control assembly. The surgical robot comprises the mechanical arm. According to the mechanical arm and the action tail end of the surgical robot, deflection of the tail end executor is achieved through rotation of the two rotation centers, movement of the mechanical arm is more flexible, a larger movement range is achieved, and it is ensured that surgical instruments can normally move to the initial position.

The application relates to the field of pet equipment, and provides a cat litter machine, which comprises a litter basin assembly and a litter rake mechanism. The litter basin assembly comprises two frame plates. The litter rake mechanism comprises a cat litter rake, a swing driving assembly, a lifting driving assembly, a translation driving assembly, two lifting supports and two translation supports. The two translation supports are slidably installed on the two frame plates in a one-to-one manner. The translation driving assembly is connected with the two translation supports to drive the two translation supports to move synchronously in a first direction. The two lifting supports are installed on the two translation supports in a one-to-one manner in a lifting manner. The lifting driving assembly is installed on the two translation supports and connected with the two lifting supports to drive the two lifting supports to lift synchronously. The cat litter rake is rotatably installed between the two lifting supports. The swing driving assembly is installed on at least one lifting support and connected with the cat litter rake to drive the cat litter rake to swing relative to the lifting support. Based on the above structure, the cleaning dead angle can be reduced, and the cleaning effect and cleaning efficiency of the cat litter machine can be improved.

This utility model relates to a shaft-hole mating structure, including a rocker arm with sleeves on both sides; it also includes a housing with a shaft hole inside; the sleeves have an opening groove around their periphery, and their front ends are interference-fitted with the shaft hole. The opening groove makes the sleeve form an elastic arm for adaptively compensating for the deformation of the rocker arm. Using the above-mentioned technical solution, this utility model designs a 30-degree opening groove around the sleeve for deformation, and then uses the interference fit between the front end of the sleeve and the shaft hole. When the sleeve is installed, it automatically clamps the rocker arm. The slotted sleeve forms an elastic arm, so even if the rocker arm shaft of the machined part deforms, it can be retracted or expanded by the sleeve, and the interference fit with the shaft hole ensures that the sleeve and rocker arm are mated without looseness and move flexibly. This solves the problem that existing sleeves and rocker arms are rigid structures with a large surface fit with the shaft hole, which easily leads to excessive clearance and loosening, or jamming due to stress concentration during assembly.

The invention relates to a full-automatic metal pipe bending machine, and belongs to the technical field of pipe bending equipment. The pipe bending machine comprises a machine frame, a core rod assembly and a pipe bending module, the core rod assembly and the pipe bending module are installed on the machine frame, the core rod assembly comprises a core shaft and a ball head module connected to the end of the core shaft, the pipe bending module comprises a bending die, the ball head module comprises a plurality of ball head units arranged around the central axis of the core shaft, and the ball head units are all installed on the core shaft in a sliding mode. The multiple ball head units can be gathered inwards to reduce the outer diameter size of the ball head module, the multiple ball head units can further expand outwards to increase the outer diameter size of the ball head module so that the ball head module can be tightly supported on the inner wall of the metal pipe, and the ball head module tightly supported on the inner wall of the metal pipe can tightly press the metal pipe on the bending die. The ball head module can firmly support the inner wall of the metal pipe, and the problem that the metal pipe is squashed or wrinkled in the bending process is avoided.

The application discloses a foldable seven-degree-of-freedom hybrid robot, and belongs to the technical field of multi-degree-of-freedom hybrid robots. The robot comprises a base, a parallel part and a four-degree-of-freedom serial mechanical arm. The parallel part comprises one UP branch chain as a main support and two UCU branch chains as auxiliary supports, one end of the three is fixed on the base, and the other end is fixedly connected with the serial mechanical arm. The UP branch chain and the two UCU branch chains each comprise one drive, so that the parallel part has three degrees of freedom. The serial mechanical arm provides four degrees of freedom, and together with the parallel part, forms a seven-degree-of-freedom system, so that the end effector has full-dimensional motion capability, and contains one redundant degree of freedom to perform dexterous operation. The application adopts a serial-parallel hybrid configuration, has large working space of the serial mechanism and high rigidity and high precision of the parallel mechanism, and the overall structure is foldable, so that the space utilization rate in a non-working state is greatly improved.

The application provides an ankle joint structure, a foot module and a robot, and relates to the technical field of robots. The ankle joint structure is used for controlling the movement of a foot structure relative to a lower limb structure, and comprises a driving unit and a transmission unit. The driving unit comprises a plurality of motors, which are arranged on the lower limb structure. The transmission unit comprises a plurality of transmission rods, one end of each of the transmission rods is in transmission connection with the output end of each of the motors, and the other end of each of the transmission rods is used for being connected with the foot structure. When at least one motor rotates, the corresponding transmission rod is used for driving the foot structure to move relative to the lower limb structure. The length of at least one of the transmission rods is different from the length of the other transmission rods. The application can meet the performance requirements of controlling the movement of the foot structure relative to the lower limb structure.

This utility model discloses a robotic arm for handling vacuum gauge sensing components, comprising: a base plate with a control board and an operator; a first servo motor with a rotating disk on its upper part; a first rocker arm hinged to the rotating disk, with a second servo motor mounted on the first rocker arm; a second rocker arm hinged to the first rocker arm, with a third servo motor mounted at the hinge point; and a gripper located at the end of the second rocker arm. The base plate, first rocker arm, second rocker arm, and gripper are all made of non-metallic materials. The gripper includes a support plate, a toothed swing arm, a clamping arm, and a connecting arm. The toothed swing arms are rotatably mounted on the support plate, and the two toothed swing arms mesh with each other. One of the toothed swing arms is connected to a fourth servo motor. One end of the connecting arm is hinged to the support plate, and the other end of the connecting arm is hinged to the clamping arm. The toothed swing arm and the clamping arm are also hinged. The use of non-metallic materials provides excellent insulation and anti-static properties, effectively preventing electrostatic damage and improving operational safety when handling electrostatically sensitive components.

The utility model discloses an inclined avoiding type mechanical arm, and relates to the technical field of mechanical automation. Comprising a bottom plate, a supporting plate, a first driving lead screw, a first driving seat, a driving plate, a guide rail, a guide chute, a sliding block, a connecting seat, a sliding chute, a second driving lead screw, a second driving seat, a mounting plate, a connecting plate, a connecting disc, a connecting block, a reset spring, a lifting rod, a connecting frame and a mechanical arm main body. The bottom plate serves as a basic supporting part of the whole mechanical arm and provides a stability and installation platform for the whole structure. And the supporting plate is fixed on the bottom plate. According to the inclined avoiding type mechanical arm, through the multi-shaft linkage design, guiding and sliding groove structure optimization, introduction of the reset spring and modular design, the operation flexibility, the movement precision and the stability of the mechanical arm are remarkably improved. The device can effectively avoid collision and damage, adapts to complex working environments, and has wide application prospects and market value.

This utility model discloses a high-rigidity double-gear planetary reducer, including a sun gear, a planet carrier, and at least three double-gear planetary gears. The double-gear planetary gears include a large gear and a small gear. The sun gear meshes with the large gear, and the small gear meshes with an internal gear ring. A housing is connected to the bottom of the internal gear ring, and a crossed roller bearing is provided between the housing and the internal gear ring. A gear shaft is fixedly connected to the sun gear, and a wiring hole is provided through the gear shaft and the sun gear. A hollow structure coaxially connected to the wiring hole is provided between the planet carrier, the internal gear ring, the housing, and the crossed roller bearing. This utility model has the characteristics of achieving a suitable speed ratio in a single-stage reduction and allowing for hollow wiring.

The embodiment of the invention discloses a device control method, an electronic device, a storage medium and a computer program product. The method comprises the steps that electroencephalogram signals collected by an electroencephalogram signal collecting device are obtained, a first target action corresponding to the electroencephalogram signals is determined, and the electroencephalogram signals are generated due to the intention associated with the first target action in the consciousness of an auxiliary object; identifying the specific action based on an electromyographic signal acquired by the electromyographic signal acquisition equipment when the auxiliary object executes the specific action, and determining a second target action corresponding to the identified specific action according to a pre-configured corresponding relationship between various specific actions and various target actions; and generating control information according to the first target action and the second target action, wherein the control information is used for controlling the motion of the peripheral auxiliary equipment to execute a combined action of the first target action and the second target action. According to the scheme, the combined action needing to be executed by the peripheral auxiliary equipment can be determined in a short time according to the electroencephalogram signals and the electromyographic signals.

The invention relates to the technical field of cleaning equipment, in particular to a cross arm sliding table jet cleaning mechanism which comprises a cross arm water tank used for providing a cleaning water source; the opposite adjusting part comprises two sliding table assemblies symmetrically installed on the cross arm water tank and two electric push rods symmetrically installed in a telescopic mode through servo motors; the sliding table assembly comprises a sliding table bottom plate mounted on the electric push rod, and a plurality of jet nozzles are mounted on the sliding table bottom plate; the telescopic water pipe assembly is connected between the spray head and the cross arm water tank in a communicating manner; according to the cross arm sliding table jet flow cleaning mechanism, opposite direction reciprocating movement can be achieved through the opposite direction adjusting part, the specific jet flow cleaning position of the spray head can be conveniently adjusted and monitored, synchronous cooperation is achieved, movement is flexible, and the cleaning efficiency is high; the mechanism can meet the requirement for displacement movement, meanwhile, reliable water source conveying is kept through the telescopic water pipe assembly, a jet flow channel is not damaged, practicability is achieved, the overall cleaning specification is adjustable, and practicability is achieved.

This utility model relates to a flexible hinge that solves the technical problems of improving the flexibility, adaptability to irregular curved surfaces, stability, and reliability of wall-climbing robots. It includes a first connecting seat, a second connecting seat, a flat spring, a first rod end joint bearing, and a second rod end joint bearing. The first and second rod end joint bearings are connected. The first connecting seat has a first connecting shaft, and the second connecting seat has a second connecting shaft. The inner ring of the first joint bearing of the first rod end joint bearing is connected to the second connecting shaft, and the inner ring of the second joint bearing of the second rod end joint bearing is connected to the first connecting shaft. The flat spring connects the first and second connecting seats and surrounds the first and second rod end joint bearings. This utility model is applicable to wall-climbing robots, especially small wall-climbing robots capable of operating on irregular curved surfaces.