288results about How to "Flexible movement" patented technology

The invention provides an anti-unmanned aerial vehicle detection system and a control method thereof. The system comprises a camera provided with an optical lens, a displayer, an automatic tracking servo mechanism controlling the camera to move, a radar device, a main controller, an interference unit, and an image identification decoder storing unmanned aerial vehicle image information. By the adoption of a photoelectric surveillance radar device combining the radar device with an optical tracking system, radar detection, optical image identification and electromagnetic interference are integrated, and the system and method play an important role in improving organic integration of unmanned aerial vehicle monitoring, the optical system and the radar device.

The invention relates to a machine fish, wherein it is characterized in that: it comprises a fish head module sealed, left and right chest fin modules, at least two driving modules, and caudal fin; said fish head module has controller and main motor for floating the left and right chest fin modules whose main axles via movable sealing device are connected to the main motor; the left and right chest fin modules both have assist motors to drive the chest fins up and down; the axle of chest fin via the movable sealing device is connected to the assist motors; the driving module via the swing rod is connected; the first driving module via the head-tail connector is fixed on the back of fish head module; the caudal fin via the connector is connected to the back of driving module. The invention can be used in underwater detection, etc.

The invention belongs to the field of rehabilitation medical equipment and in particular relates to a multi-position lower limb rehabilitation training robot. The robot comprises a supporting mechanism, a patient fixing system, a lower limber training device and a control system. The lower limber training mechanism utilizes a neutral equilibrium principle, and can be conveniently converted into an outer dynamic-free training mode in a flat-lying state; a patient weight loss and fixation form of connecting the upper body of a patient and a sliding flat plate is adopted; a sole air bag training mechanism is light and flexible, and the patient can achieve a better training effect under the prompt of a lower limber vibration feedback module; exoskeleton lower limber rehabilitation equipment which can realize neutral equilibrium, a flat plate type fixed weight loss system and functional modules such as the vibration feedback module and the like are integrated to form the system, and the neutral equilibrium, the flat plate with an adjustable distance, and the more intuitive vibration feedback characteristic are fully utilized to realize the functions of the multi-position lower limb rehabilitation training robot in an active control mode, a passive control mode, an impedance control model and the like.

The invention relates to a high-maneuvering spherical detection robot, which encloses a movement mechanism and a control device, etc., into a spherical shell and realizes the movement of the whole robot through the barycenter offset and the angular momentum conservation principle. The movement mechanism mainly comprises a support frame, a connection disk, a straight-line drive mechanism, a pivot steering drive mechanism, a telescoping mechanism, etc. The straight-line drive mechanism mainly comprises a drive motor, a gear transmission unit, an executive part, etc., which takes advantage of the barycenter offset to realize the straight-line movement of the spherical robot. The pivot steering drive mechanism comprises a drive motor and an executive mechanism, which takes advantage of the angular momentum conservation principle to realize the pivot steering movement of the spherical robot. The combination of straight-line and steering movements can realize the movement of the high-maneuvering spherical detection robot in any orientation. The telescoping mechanism comprises a drive motor, a screw mechanism, etc., which are used for realize the purpose that cameras at both ends protrude out of and retract into a sphere shell. The spherical robot not only provides a steady platform for installing cameras, but also realizes the pivot steering with flexible movement and strong maneuverability, and the spherical robot can be used for a plurality of tasks such as high toxic gas detection, field environment observation, and planetary exploration, etc.

The invention relates to an intelligent walk-assisting robot. A controller controls a guiding control device to control motion of the robot according to input signals. A control and display panel can be used for determining whether the robot is controlled by a nurse or a patient through a key switch. The nurse can input motion time, motion speed, path parameters in advance and pull a key out, and the robot can move according to the set parameters. When the robot is controlled by the patient, the patient can control speed of the robot through a button on the panel, and enables the robot to veer through rotating of a handrail to enable the left pressure and the right pressure of a pressure sensor on the handrail to be different. The wheel-type robot can drive the patient to move according to a set program, and also can move along with steps of people. The various motion modes can ensure that leg motion training of different types of patients is met.

The invention belongs to the technical field of special robots and particularly relates to a differential motion driving magnetic adsorption type multifunctional wall climbing robot with small-folding-size mechanical arms, comprising a climbing mechanism and an operation mechanism, wherein the operation mechanism comprises multifunctional mechanical arms and tail end working modules; a base of each multifunctional mechanical arm is fixed on an adsorption type climbing mechanism; and each tail end working module is fixed at the tail end of each multifunctional mechanical arm. According to the invention, the small-folding-size mechanical arms are carried; with the adoption of a five-degree-of-freedom matching manner, the tail end of each arm can work in a working region at any position and any angle; and compared with the other mechanical arms with less degree-of-freedom, the movement of the multifunctional mechanical arms is more flexible. The small-folding-size mechanical arms refer to that the arm folding is more compact and the size of the folded arm is smaller according to explanation; and according to the shape represented on each arm, particularly a large arm adopts a curve design, so that other structures can be avoided when the arms are folded.

The invention belongs to the technical field of the robot, and particularly relates to a high-altitude outer wall cleaning robot. The solved technical problem is to provide a robot capable of cleaning on the high-altitude outer wall, and crossing an obstacle. The used technical solution is that the high-altitude outer wall cleaning robot comprises a crawling device and a cleaning device. The cleaning device is positioned at the side face of the crawling device. The crawling device comprises a robot body. The robot body is provided with four hip joints. Each hip joint is connected with a mechanical leg. The bottom of each mechanical leg is connected with a vacuum sucker for adsorbing glass. The cleaning device comprises a cleaning arm, a cleaning base, a first rotation base and a second rotation base. One end of the cleaning arm is moveably connected with the cleaning base by the first rotation base. The other end of the cleaning arm is moveably installed on the robot body by the second rotation base. The high-altitude outer wall cleaning robot is suitable for the robot field.

The invention provides a seven-degree-of-freedom series-parallel hybrid mechanical arm. The seven-degree-of-freedom series-parallel hybrid mechanical arm comprises a base, a first joint, a first link,a second joint, a connection support, a third joint, a second link, a fourth joint, a fifth link, a fifth joint, a sixth joint, a sixth link, a seventh joint and an end executer connection flange which are sequentially connected, wherein a third link and a fourth link are further arranged between the third joint and the fourth joint, one end of the fourth link is connected with the fourth joint,the other end of the fourth link is connected with the third link, and the third link is connected with a motor shell body of the fourth joint; the third link, the fourth link, the fourth joint and the second link form a parallel four-link transmission mechanism; and the axis of the third joint, the axis of the fourth joint and the axis of the fifth joint are mutually parallel. The new configuration of the seven-degree-of-freedom series-parallel hybrid mechanical arm is high in operation flexibility in a common reachable range of a main movement space; and meanwhile, the load torque of the motor in the vicinity of the base is reduced, and the rotational inertia of the whole mechanical arm is reduced.

Three wafer support fixtures transfer a wafer for thermal processing in an inverted orientation within a heating chamber. Two co-planar support fixtures grab the wafer edge inside the chamber from a blade within a 1.5 mm wafer exclusion zone and hold it above the edge ring during heat-up and then withdraw thermal processing. A third support fixture chucks the wafer backside and transfers it to sloping support areas of the edge ring. The three support fixtures inside the chamber are individually controlled from outside. Alternatively, an arm connected to a controller is connected to the three support fixtures

The five-foot wall climbing robot as one small robot consists of frame, leg mechanism, driving mechanism and control system, and has five feet with adsorbing electromagnet. Its frame consists of front frame and back frame, the front frame is provided with straight motor and reducer combination and has on the output shaft two symmetric and synchronous sets of leg mechanisms and electromagnets, and the back frame is also provided with straight motor and reducer combination and has on the output shaft two symmetric and synchronous sets of leg mechanisms and electromagnets. The front frame and the back frame capable of rotating and floating are driven with a middle turning motor, and the leg mechanism is four-link rod mechanism. The robot is novel in structure, simple, small and smart, can crawl and turn on plane in any inclination and may be used in job in narrow space and dangerous area.

The invention relates to a coal-fired power station boiler air duct and an air-conditioning ventilation duct wormlike cleaning robot. The air-conditioning ventilation duct wormlike cleaning robot comprises a peristaltic vehicle body, a controller, a vision system, an ultrasonic obstacle avoidance device and the like. The peristaltic vehicle body comprises a head and a vehicle body. The head is connected with the vehicle body through a skeleton type hydraulic connection turning device, and parts of the vehicle body are also connected through skeleton type hydraulic connection turning devices. The left, the right and the top of each section of the vehicle body are respectively provided with a non-power fixed traveling platform through a foldable telescopic device, and the bottom of each section of the vehicle body is respectively provided with a power traveling platform through a foldable telescopic device. The vision system and the ultrasonic obstacle avoidance device are installed at the front end of the head. A surrounding type cleaning device is disposed on a first section of the vehicle body, a second section of the vehicle body is connected with the controller, and a dust collection device is arranged on a third section of the vehicle body. The air-conditioning ventilation duct wormlike cleaning robot is capable of cleaning a primary-air air duct, a secondary-air air duct and a central air-conditioning air duct of a coal-fired power station boiler, and has the advantages of being flexible and accurate in motion, capable of cleaning air ducts in all-round manner, reliable in performance, reasonable in price and the like.

The invention discloses a thumb device for artificial hand. The driving device (1) is in rotary connection with the back part of near knuckle (4), the front part of near knuckle is in rotary connection with back part of middle knuckle (3), and the front end of middle knuckle is in rotary connection with the back part of far knuckle (2). The middle knuckle and near knuckle imitate deficient activation motion of real hand driven by middle knuckle shaft disk, the middle knuckle and far knuckle imitate coupling motion of real hand driven by coupling rod; and the knuckle number of thumb is imitative to that of real hand. The invention is characterized by simple structure, real-like appearance and flexible motion of each knuckle.

The invention discloses a buffer and walking integrated landing device. Several buffer and walking integrated mechanisms are installed on the side wall of the landing device, and each buffer and walking integrated mechanism includes a body connecting plate assembly, a mechanical leg assembly, a buffering and driving integrated primary vibration reducer, buffering and driving integrated auxiliary vibration reducers, a knee joint locking device and a foot pad. Each body connecting plate assembly has the degree of freedom on medial rotation and lateral rotation; each mechanical leg assembly has the degree of freedom on the external swinging, retraction, anteflection and backward extension of hip joints, the stretching and bending of knee joints and the like; each buffering and driving integrated primary vibration reducer, each left buffering and driving integrated auxiliary vibration reducer, and each right buffering and driving integrated auxiliary vibration reducer achieve buffering or driving between the corresponding mechanical leg assembly and the corresponding body connecting plate assembly; the knee joint locking devices achieve flexible movement. The buffer and walking integrated landing device makes up for the shortcomings of a current movable landing device in the aspects of movement flexibility, use convenience and the like, and is extremely excellent in landing device body posture control capability and obstacle surmounting capability in the movement process.

The invention discloses a quad-rotor mini-type underwater vehicle. The quad-rotor mini-type underwater vehicle comprises a vehicle body, four both-way propellers and connecting pieces used for installing the both-way propellers. The quad-rotor mini-type underwater vehicle is characterized in that every two of the four both-way propellers are in one group, the two groups of the both-way propellers are symmetrically arranged on the two sides of the vehicle body respectively, propeller rotating shafts of the both-way propellers are obliquely arranged relative to the horizontal plane, and generated propelling force has the component in the heading direction; and the inclination angles of the propeller rotating shafts of the both-way propellers relative to the horizontal plane are equal, the two both-way propellers in each group are distributed in front of and behind the vehicle body, and the propeller rotating shafts of the both-way propellers are opposite in inclination direction. The quad-rotor mini-type underwater vehicle is reasonable in arrangement, the structure is more stable, movement is more flexible, and the vehicle can directly move in the vertical direction, namely, floating or descending. The overall structure is simple, and miniaturization and microminiaturization are facilitated. Conventional products can be adopted in all modules, special requirements are avoided, the independence of the underwater vehicle is guaranteed, and the beneficial effects of low cost, high stability and the like are achieved.

The invention discloses a quadruped bio-robot comprising a control system and a mechanical system. The mechanical system comprises two trunks and a waist adjusting motor arranged between the two trunks for adjusting swinging of the trunks. Each trunk is connected with two leg mechanisms, each leg mechanism comprises a multi-degree-of-freedom hybrid mechanism and a driving motor driving the hybrid mechanism to swing, the swing axis of the hybrid mechanism is parallel to that of the two trunks, and the control system coordinates and controls the waist adjusting motor and the driving motors to achieve continuous swing of the two trunks and the four leg mechanisms as well as realize jumping. Through the waist adjusting motor and the four leg mechanism, the control system coordinates and controls the waist adjusting motor and the driving motors to drive the two trunks and the four leg mechanism to swing, so as to realize attitude changes of the overall mechanism, and further continuous jumping actions are realized. The quadruped bio-robot is simple in structure and flexible in movement, and is applied to the technical field of robots.

The invention belongs to the field of the solar energy equipment, and in particular relates to a solar tracker, which comprises a mechanical movement part and a reset control part; wherein, the mechanical part comprises a horizontal epicyclic mechanism and a vertical pitch mechanism; a photosensitive element is arranged on solar components; and by sensing the sunlight intensity and controlling the operation of a motor by a control circuit, the sun tracking is realized. With flexible movement, low processing cost and higher reliability, the angle of the vertical pitch mechanism of the solar tracker ranges between 20 and 70 degrees; after the reset control part drives the solar tracker to move from a starting position to a preset ending position, the solar tracker is automatically reset along the original trajectory, thus avoiding the winding problems of wires and water pipes caused by the circular motion; the system can render the sunlight reception surface of the solar energy components in working state to be in perpendicular to the sunlight so as to effectively receive the sunlight and improve the working efficiency; and the entire system has the advantages of simple structure, low manufacturing cost, reliable control and high precision.

The invention discloses a substance shape measuring device with micro inertial navigation, which comprises a probe group for shape data collecting, a strapdown inertial navigation system and a data storage; the probe group for shape data collecting consists of a row of stretchable probes with pressure sensors, the strapdown inertial navigation system consists of a micro inertia measuring unit and a navigation computer, implements alignment and then measures one surface of a substance, and further implements the alignment and the measurement till the end, and the substance shape is computed by processing software. The substance shape measuring device with micro inertial navigation has free movement, can measure the internal and external shape of the substance with a convenient posture, and has small volume, convenient operation, low cost and easy application generalization. The substance shape measuring device with micro inertial navigation is applicable for the accurate measurement of the size, shape and mutual position of three-dimensional complicated substances in the field of machinery, construction, aviation, spaceflight, war industry, automobiles and commercial manufacture, etc., particularly for the reverse engineering of various substances.

The invention discloses a parallel robot for prostate flexible needle particle implanting, and relates to the field of minimally-invasive medical apparatuses. The parallel robot has the advantages ofbeing small in size, compact in structure, convenient to operate, free of guide of guiding plates and the like. The parallel robot comprises a parallel posture adjustment mechanism, a flexible needleparticle implanting mechanism, an ultrasonic image navigation mechanism and multiple sensors; a parallel four-degree-of-freedom mode is adopted, the stability of the rigidity of a tail entry needle isimproved, and the outer needle movement flexibility of the flexible needle particle implanting mechanism is also met; a rotary-motor-driven flexible needle is adopted as an inner needle, an arc trackcan be formed through puncturing, obstacles of nerves, blood vessels and the like of the prostate are avoided, and the task of many needles at one point is completed. The ultrasonic image navigationmechanism is installed on a supporting base of the parallel posture adjustment mechanism, and can complete linear translation, pitching, yawing, and rotation around the center line of the ultrasonic image navigation mechanism, and focus target images are obtained via the anorectum so that a doctor can make corresponding processing according to real-time needle entry situations of particle implanting needles. The parallel robot is merged with the multiple sensors, so that the doctor conveniently carries out data observation and precise operation in a surgery, and the requirements for high precision positioning of entry needles and the safety of the surgery are met.

The invention relates to an automatic vehicle part stacking robot. The automatic vehicle part stacking robot comprises a walking device, an adjustable bracket, a rotating device, a redundancy parallel mechanism and a stacking manipulator; the adjustable bracket is positioned on the back upper side of the walking device; the rotating device is positioned at the front end of the adjustable bracket, and is fixedly connected with the adjustable bracket; the redundancy parallel mechanism is positioned between the rotating device and the stacking manipulator; and the upper end of the redundancy parallel mechanism is connected with the rotating device, and the lower end of the redundancy parallel mechanism is connected with the stacking manipulator. The automatic vehicle part stacking robot can realize such serial operations as hub grabbing, carrying and stacking, is high in automation degree, stable and flexible in movement and high in operation efficiency, and solves such problems as high manual operation cost, low efficiency and high danger.

The invention discloses a neck type controllable unlocking device. The neck type controllable unlocking device comprises a separated part and an unlocking device body, wherein the unlocking device body drives the separated part to generate displacement. The unlocking device body comprises an accommodating cylinder body and an unlocking driving device which is arranged in the accommodating cylinder body. The unlocking driving device is mainly composed of a shape memory alloy spring and a buckle and neck structure. The shape memory alloy spring which is capable of reversibly and repeatedly working drives a buckle to move to control the self locking and the unlocking of the separated part, and therefore the separated part can be quickly and accurately separated from a separating part under various working conditions. The neck type controllable unlocking device is simple in structure, flexible in movement, convenient to use and maintain, free of generating pollution, and capable of being cyclically repeatedly utilized, reliability and stability of the unlocking device are improved, the service life of the unlocking device is prolonged, and development of space vehicles is promoted.

The invention discloses a self-balancing two-wheeled walking car and relates to the field of battery driven self-balancing car; the walking car comprises a car body, wheels and a control system connected to the car body, a chassis is arranged below the car body, a control circuit board, a wireless communication module and a motor are fixed on the chassis, the control circuit board is integrated with a sensor module, a central processing unit (CPU) and a motor drive unit, the CPU continuously reads the data about car body incline information from angle sensor and angular velocity sensor and makes the corresponding control decision according to internal control algorithm of CPU. The self-balancing two-wheeled walking car can automatically keep the balance for the car body during the running process, is strong in flexibility, simple in structure and easy in operation, the walking car can be used as the tool for riding instead of walk for staff at the large square or entertainment venues, textile workshop and golf course; the walking car can be also used as the electric traffic tool.

The invention discloses a hydraulic mechanical arm suitable for cutter changing operation of a shield tunneling machine. The hydraulic mechanical arm comprises a base. The base is provided with a waist part. One side of the waist part is connected with one end of a big arm, and the other end of the big arm is connected with one end of a middle arm. The big arm is provided with a first hydraulic cylinder and a second hydraulic cylinder which are in pivot joint. The other end of the middle arm is connected with one end of a front arm. A third hydraulic cylinder is installed on the middle arm. A tool installing head is connected to the other end of the front arm. The front arm is provided with a fourth hydraulic cylinder. A hobbing cutter grabbing tool is arranged on one side of the tool installing head and comprises a U-shaped base. Two symmetrically-arranged grabbing tongs are arranged on a cross beam of the U-shaped base. One end of a fifth hydraulic cylinder is in pivot joint to the side wall of the U-shaped base, and the other end of the fifth hydraulic cylinder is in pivot joint with the grabbing tongs. All parts of the mechanical arm are hydraulically driven, super-high load capability is achieved, and a hobbing cutter of the shield tunneling machine can be easily grabbed. The hydraulic mechanical arm is simple and compact in structure, small in size, flexible in movement and capable of meeting the requirement for the cutter changing operation space. The digital hydraulic technology is adopted, and convenient and reliable control can be achieved.

The invention relates to a robot, in particular to a hexapod bionic robot. The hexapod bionic robot comprises an upper bottom plate, a lower bottom plate, a fire extinguisher, an upper cover, obstacle avoidance sensors, a controller and six legs, wherein a robot body is formed by the upper bottom plate and the lower bottom plate; the upper cover is mounted on the upper bottom plate; the controller is mounted in the upper cover; the robot body is octagonal; a pair of opposite edges of the robot body are two tips respectively, and the other six edges are respectively positioned on two sides so as to form side waists; the first leg is mounted at one end of one side waist, the second leg is mounted in the middle of the side waist, and the third leg is mounted at the other end of the side waist; the fourth leg is mounted on the other side waist and symmetrical to the first leg, the fifth leg is mounted on the side waist and symmetrical to the second leg, and the sixth leg is mounted on the side waist and symmetrical to the third leg; the fire extinguisher is mounted at one tip of the robot body; each obstacle avoidance sensor is mounted between every two adjacent legs. The hexapod bionic robot provided by the invention has high adaptive capability to environment, can realize real-time obstacle avoidance and can reasonably plan walking routes; the robot body is stable, and legs are flexible and varied to move; the hexapod bionic robot can be adapted to various terrains, different speeds and different load requirements.

The invention discloses a thigh and shank device with a knee joint parameter measurement suitable for an exoskeleton auxiliary supporting robot. The thigh and shank device is characterized in that knee joints are driven by adopting hydraulic cylinders, and the response speed and the bearing capacity of the exoskeleton auxiliary supporting robot are increased; the waist is connected with thighs through telescopic rods, and shanks are connected with feet through telescopic rods; one ends of the hydraulic cylinders are connected with the thighs through supports, pin shafts and joint bearings, piston rod ends are connected with the shanks through hydraulic cylinder connecting pieces, the knee joints are connecting components of the thighs and the shanks, sensors are used for measuring angular displacements of the knee joints, and the moving control that the knee joints of a human body are followed by exoskeletons is realized. According to the high and shank device with the knee joint parameter measurement suitable for the exoskeleton auxiliary supporting robot, disclosed by the invention, only the knee joints are controlled by the hydraulic cylinders, other joints are all used for adapting to moving requirements of leg joints of the human body, and the other joints comprise hip joints which are provided with the sensors, ankle joints, plantar structures, side swinging arms of the waist, globe joints of the thighs and the like; the structural characteristics of the human body are artificially simulated by the exoskeleton auxiliary supporting robot, the thigh and shank device is suitable for the human body to wear, the moving flexibility is maintained, the structure is simple, and a user can be helped to support the load weight.

When performing a task at sea, a naval vessel often comes across typhoons or sea waves, or is hit by shells during a fight, so that a naval vessel body tilts at a large angle, and under a serious condition, the naval vessel body even can overturn. In order to predict the tilting range borne by the naval vessel in advance or simulate sea states which can be generated when the naval vessel performs the task, the invention provides a naval vessel sea state dynamic simulator. According to the naval vessel sea state dynamic simulator disclosed by the invention, a method that a three-freedom degree motion platform and a six-freedom degree motion platform are overlaid is adopted; electric-hydraulic servo driving is used; the six-freedom degree motion platform is arranged at the top and the three-freedom degree motion platform for supporting is arranged at the bottom; under the control of an electric-hydraulic servo system, the two platforms are mutually matched, so that the various sea states which probably appear can be simulated; finally, the sea states of 0-9 levels, which can be generated when the naval vessel performs the task at a sea level can be simulated. The naval vessel sea state dynamic simulator disclosed by the invention can have an important effect of simulating detection in the process of designing and manufacturing of the naval vessel.

The invention requests to protect a variable structural spherical double-arm search and rescue robot which mainly comprises double variable structural mechanical arms and a variable structure spherical shell and has the prominent characteristics that double six-degree-of-freedom mechanical arms are designed on a robot base frame, and by a deformation double-arm mechanism, extension and retraction of the mechanical arms are completed; the robot can be changed into a double-wheel state from a sphere by a deformation spherical shell mechanism, and double mechanical arms can extend by the deformation double-arm mechanism so as to finally complete the integral deformation process; the robot can implement flexible movement by a rolling driving mechanism; in a sphere state, electronic elements of the robot are all packaged in the spherical shell, and thus, the variable structural spherical double-arm search and rescue robot has an excellent self-protection ability and in the searching and rescuing field, corrosion of dust and harmful gas can be effectively prevented; in a deformed state, the mechanical arms can implement a search and rescue operation on the outside, and meanwhile, collaboration of rolling of the spherical shell can reinforce the obstacle climbing ability of the robot in the searching and rescuing field and adaptability of the robot to different terrains.

The invention relates to a special platform for welding a multifunctional cylinder cube. The platform comprises a movable trolley, a support rack, a cube clamping device, an adjusting platform, a cylinder locking device, a dust collection smoke discharge device and a cooling device, wherein the support rack is mounted in the middle position of the movable trolley; the cube clamping device is mounted above the support rack; the adjusting platform is positioned at the left side of the cube clamping device; the cylinder locking device is mounted rightly above the adjusting platform; the dust collection smoke discharge device is positioned at the front side of the movable trolley; and the cooling device is positioned at the back side of the movable trolley. The platform can realize the functions of peripheral locking of a cube welding workpiece and radial locking of a cylinder welding workpiece, can realize a space movement function in a direction of four degrees of freedom of three-translation and one-rotation in the welding process of the cube welding workpiece through the support rack, can achieve a multi-angle welding effect, can realize quick cooling treatment for the welded workpiece through the cooling device, and improves the welding efficiency.

The invention discloses an air conditioner indoor unit and a shell used by the same. The shell comprises a shell main body, wherein the shell main body is provided with an air inlet and an air outlet. The shell is characterized in that: the shell main body is also provided with an auxiliary air port, wherein a sliding block, a first connecting rod, a second connecting rod, a third connecting rod, a driving mechanism and a movable panel are arranged at the auxiliary air port on the shell main body; the sliding block can slide relative to the shell main body under the action of the driving mechanism; the first end and the second end of the first connecting rod are respectively articulated to the shell main body and the movable panel; the first end of the second connecting rod and the first end of the third connecting rod are both articulated to the sliding block; the second end of the second connecting rod is articulated between the first end and the second end of the first connecting rod; and the second end of the third connecting rod is articulated to the movable panel. According to the indoor unit and the shell disclosed by the invention, the air intake amount of the air conditioner indoor unit can be increased, the performance of the air conditioner can be effectively enhanced, the attractive appearance of an air conditioner is not influenced and low production cost is achieved.

The invention discloses a circulating variable-pitch propeller pipeline robot comprising a guide rod, a linear telescopic motor, a guide wheel, a motion coordinating disc, a fish eye ball head, a telescopic short joint, a driving wheel, a driving wheel supporting rack and a motor having a decelerating set. A rotary bearing is installed in the motion coordinating disc; the center of the rotary bearing is covered with a fish eye bearing; the guide rod is covered with the fish eye bearing in a slide way; the guide wheel is connected with the linear motor telescopic motor; the fish eye ball head is assembled on the linear telescopic motor and in a sleeved connection with a control rod of the motion coordinating disc; the driving wheel is connected with the motor having the decelerating set and installed on the telescopic short joint; the telescopic short joint is connected with the guide rod via the driving wheel supporting rack; a ball head is assembled on the telescopic short joint; the ball head is connected with the ball head on the rotary bearing via a connection rod; and the guide rod is connected with the ball head on the rotary bearing via a synchronous connection rod. The circulating variable-pitch propeller pipeline robot can flexibly move and possesses great traction force, and can be suitable for composite pipeline interior work in a better way.

The invention discloses an underwater snakelike robot. The underwater snakelike robot is composed of a plurality of modules, a waterproof protective jacket is wrapped on the outer surfaces of the modules, and the modules are fixedly connected with one another; each module comprises a body and connection portions, wherein each body can deflect in multiple directions, and the corresponding connection portions are arranged at the two ends of each body; each body comprises a plurality of hollow rings which are respectively provided with four movable connection points, two opposite movable connection points of each hollow ring are arranged on the upper surface of the corresponding hollow ring, the other two movable connection points of each hollow ring are arranged on the lower surface of the corresponding hollow ring, and every two adjacent hollow rings are movably connected through the corresponding movable connection points. The modules of the underwater snakelike robot can deflect in the multiple directions, so that the underwater snakelike robot is more flexible during operation; the waterproof protective jacket is wrapped on the modules in whole, and therefore the service life of the underwater snakelike robot can be prolonged effectively while the waterproof function is achieved.