496results about How to "Flexible rotation" patented technology

The invention discloses a combination bearing type large-specification movable elbow mechanism. The combination bearing type large-specification movable elbow mechanism comprises elbows, connection heads, a pressing cover, a packing seal component and a rotating component, wherein positions between the elbows and the connection heads as wall as between the elbows are fixedly connected through thepressing cover and are sealed through the packing seal component, cavities are formed at the positions between pressing cover and the connection heads as wall as between the pressing cover and the elbows and are internally provided with the rotating component, the rotating component is used for relative rotating of the connection heads or the elbows and comprises a centripetal bearing and a thrustbearing, and the elbows and the connection heads as wall as the elbows are flexibly connected. The combination bearing type large-specification movable elbow mechanism has the beneficial effects thatthe combination bearing type large-specification movable elbow mechanism is flexible in connection, smooth in rotating, simple in structure, not limited by the pipe diameter, also not limited by theelbow structure molding method, small in volume and diversified in molding method.

The invention discloses a rail type intelligent machine transporting truck, comprising a frame, idler wheels located on the frame, a storage box located at the top of the frame, a supporting board, a lifting mechanism connected between the supporting board and the frame, a primary rotation board, a primary rotation mechanism connected between the primary rotation board and the supporting board, a primary translation board, a primary translation mechanism connected between the primary translation board and the primary rotation board, a secondary rotation board, a secondary rotation mechanism connected between the secondary rotation board and the primary translation board, a secondary translation board, a secondary translation mechanism connected between the secondary translation board and the secondary rotation board, and an executing mechanism connected on the secondary translation board, wherein a storage box is placed in the storage box. The rail type intelligent machine transporting truck provided by the invention replaces the conventional manual goods carrying manner, so that the human labor is reduced, and the production efficiency is improved. With the adoption of the two levels of rotation mechanisms and the two levels of translation mechanisms, the rail type intelligent machine transporting truck can expand the journey and increase the freedom degree. The rail type intelligent machine transporting truck can check more goods due to the vehicular storage box, so that the working efficiency is improved.

The invention relates to a single-action double-pipe coring overburden drill tool for an air down-the-hole hammer. The single-action double-pipe coring overburden drill tool comprises a central coring drill tool and an overburden drill tool. The central coring drill tool is a single-action double-pipe coring drill tool and comprises a single-action vibration reduction mechanism, an inner pipe adjusting mechanism and a coring mechanism with a bayonet device; the single-action vibration reduction mechanism comprises an impact connector, a disc spring, a bearing block, a connecting shaft, a thrust ball bearing and a radial ball bearing; the inner pipe adjusting mechanism comprises a connecting shaft, a core pipe connector, an inner pipe and a nut; the coring mechanism with the bayonet device comprises an outer pipe, an inner pipe, a connecting shaft, a core pipe connector, a coring drill bit, a rolling needle, a pawl spring seat and a pawl spring; the overburden drill tool comprises a casing, a casing connector, a casing shoe, a clamp ring and a casing drill bit. The single-action double-pipe coring overburden drill tool for the air down-the-hole hammer is applicable to relevant fields such as geological mineral exploration and engineering geological survey for complex formation with loose sand, cobbles, gravel, fracture, breakage and the like.

The invention discloses a device for assembling and welding a fan casing combined piece. The device comprises a body assembly, a gas protecting assembly and a positioning assembly; the body assembly comprises a hollow disk; a plurality of bosses used for supporting a casing are arranged on the periphery of the hollow disk; the positioning assembly comprises a casing positioning assembly used for positioning the axial direction, the angular direction and the circle center of the casing, an inner ring positioning assembly used for positioning the axial direction, the angular direction and the circle center of an inner ring, a blade boss positioning assembly used for positioning the angular direction of blades, and a blade axial direction positioning assembly; the blade axial direction positioning assembly is arranged on the inner side of the hollow disk, and comprises a hinge plate; one end of the hinge plate is hinged to an overturning base, and the other end of the hinge plate is connected with a positioning block in a sliding manner; a first pressing device is fixedly arranged on the hinge plate; and a pressing head of the first pressing device is fixedly connected with the positioning block. The device is convenient to operate, fast and capable of saving labor, reducing the number of operators, and making blade welding kept consistent.

The invention discloses a sealing device of a collecting ring. The sealing device comprises a stator and a rotor, wherein an upper end cover and a lower end cover are respectively arranged at the upper end and the lower end of the stator; the rotor comprises a hollow rotating shaft, a rotating shaft sleeve, a lower rotor and an upper rotor; the lower rotor is connected with the upper rotor through a connecting piece of adjacent ends; the upper end cover is rotatably connected with the upper rotor through an upper bearing, and forms a water seal structure with the upper rotor through an upper oil seal; the lower end cover is rotatably connected with the rotor sleeve below the lower rotor through a lower bearing, and forms a water seal structure with the rotor sleeve below the lower bearing through a lower oil seal; a wiring trough which is used for laying rotor leads is arranged on the upper rotor along the axial direction; an upper sealing line plug is arranged between the wiring trough and the rotor leads; a lead outlet of a stator lead is formed on the lower end cover; and a lower sealing line plug is formed between the lead outlet and the stator lead. The sealing device of the collecting ring for music fountain is excellent in safety, convenient for repairing and maintenance, flexible to rotate, excellent in conductive effect, and long in service life.

The invention discloses an incremental electro-hydraulic digital flow control valve with double valve cores rotating oppositely. The control valve is characterized in that a valve body is square outside and circular inside, an oil inlet hole and an oil outlet hole are formed in the outer surface of the valve body and communicated with an annular oil inlet groove and an annular oil outlet groove in the circular-arc inner surface of the valve body respectively, an inner valve core and an outer valve core are both in a cylinder foot cup shape, the open end of the inner valve core is inserted in the open end of the outer valve core, the inner valve core and the outer valve core are installed inside the valve body together, and the inner valve core, the outer valve core and the valve body are kept coaxial; fan-shaped oil inlet holes and fan-shaped oil outlet holes are formed in the cylindrical surfaces of the inner valve core and the outer valve core, and respectively connected with the oil inlet hole and the oil outlet hole in the outer surface of the valve body through the annular oil inlet groove and the annular oil outlet groove in the inner surface of the valve body; the closed ends of the inner valve core and the outer valve core are provided with cylindrical shafts which penetrate through the left end cover and the right end cover of the valve body after passing through a bearing, and respectively connected with a stepping motor. Compared with an existing incremental sliding type digital flow valve, the digital valve disclosed by the invention has higher resolution ratio, dynamic response speed and flow control accuracy.

The invention discloses an electric power distribution cabinet, which comprises a device base, wherein the lower part of the device base is provided with universal wheels, one side of each universal wheel is provided with a positioning bolt, the upper part of the device base is provided with a main turntable in a rotated manner, the upper part of the main turntable is provided with a group of supporting columns, one side of the device base is provided with a driving gear, a rotating rod is arranged on the driving gear, the driving gear is engaged with the main turntable, the upper parts of the supporting columns are connected with a lower box body, a box body slideway is arranged on the upper part of the lower box body, the box body slideway is in sliding fit with a sliding rail arranged at the lower part of an upper box body, the side parts of the upper box body and the lower box body are each provided with baffle plate slideways, heat radiating holes are formed in the side parts of the upper box body and the lower box body, and the baffle plate slideways are in sliding fit with baffle plates. The electric power distribution cabinet is convenient to move, can rotate flexibly, has good heat radiating and moisture-proof functions, can accommodate more power accessories, and has higher applicability.

The invention belongs to a sizing machine for producing continuous carbon fibers, comprising a box body, a sizing groove arranged in the box body and a driving device fixed on the box body, wherein the sizing groove comprises a groove body and a partition board, a liquid distribution plate and an overflow plate which are arranged in the groove body from left to right and are vertical to the bottom of the groove body; the driving device comprises an inlet driving roller arranged at the upper-left part of the sizing groove, two sizing driving rollers positioned in a sizing area and an outlet driving roller arranged at the upper-right part of the sizing groove; the two sizing driving rollers are horizontally arranged and positioned between the inlet driving roller and the outlet driving roller; and driving shafts of the two sizing driving rollers are higher than the liquid level of a sizing agent of the sizing area. The invention solves the problems of long stay time of the carbon fibers in the sizing agent, poor sizing effect, complex structure, high manufacturing cost and inconvenience for daily cleaning and maintenance caused by the traditional sizing machine. By using the invention, the processing and manufacturing cost of the equipment can be reduced, the time of the carbon fibers in the sizing agent can be prolonged and the favorable sizing effect can be obtained.

The embodiment of the invention provides an intelligent robot for solving the problem that in the prior art, the intelligent degree of an intelligent robot needs to be improved. The intelligent robot comprises a head, a body connected with the head, a base connected with the body, an image obtaining device for obtaining image data, a controller for analyzing the image data obtained by the image obtaining device to obtain analysis data, matching the analysis data with at least one preset datum and sending a corresponding movement instruction to a driving device when the analysis data are matched with at least one of the preset data, and the driving device for controlling at least one of the head and the body to rise and fall or rotate according to the movement instruction sent by the controller. By means of the intelligent robot, the intelligence degree of the intelligent robot can be increased, implementation is convenient, and application and popularization are easy.

The invention provides an electronic expansion valve. The spinning position of a screw thread is restricted through using a lump protrusion with a limit function; the pretension to a valve port by a valve needle is controlled; a rotor part is designed into a split structure; after the relative position of the valve needle and a valve body is regulated well, a rotor component and a bolt are fixed together in a tight matching or welding mode; then the outer screw thread of the bolt fixed on the rotor and the inner screw thread of a screw sleeve are matched, the rotor can move up and down under the guidance of the screw thread when the rotor rotates, the relative movement of the valve needle and the valve port of the valve body is controlled, thus the flow rate of a refrigerant is controlled. Compared with the existing structure, the electronic expansion valve provided by the invention has the advantages that a stop rod component of a greater size is prevented from being used, the radial size of the valve body is reduced, also the number of components is reduced, the structure is simplified, the assembling is easy, and the volume is small.

The invention relates to the technical field of logistics carrying of a factory, in particular to an intelligent loading and unloading vehicle for a small warehouse. The vehicle comprises a vehicle body, a chassis, a rotating tower, a mechanical arm and a mechanical hand; a magnetic strip is laid on a goods shelf transportation way in the warehouse, a magnetic strip recognizer (NA magnetic sensor) is arranged at the bottom of a trolley of the intelligent loading and unloading vehicle, and can automatically recognize the road according to the laid magnetic strip, a photoelectric sensor recognizes obstacles on the road, and the loading and unloading vehicle can effectively avoid the obstacles; the mechanical hand of the intelligent loading and unloading vehicle can automatically grab cargos on the goods shelf, the rotating tower of the vehicle can ascend and descend, use space of the loading and unloading vehicle can be increased, and the cargos stored at a high position of the goods shelf can be taken and put; and the intelligent loading and unloading vehicle for the small warehouse can achieve the aims of saving labor force, saving occupied space, being rapid and accurate in in-out stock work, shortening work time and improving the management level of the warehouse.

The invention relates to a whole overturning single-edge bolt fastening piece for performing single-edge fastening installation for a connecting plate piece (5). The whole overturning single-edge bolt fastening piece is characterized by comprising a bolt (1), a sleeve component (2), a nut (3) and a whole washer (4); the sleeve component (2) includes multiple split washers (2a) and a sleeve (2b); inclined surfaces are respectively arranged at the head parts of all the split washers (2a); and the root parts of all the split washers (2a) are respectively connected with the sleeve (2b) to form a rotating friction pair. Compared with the prior art, the designed combination of the split washers and the sleeve with a special form is installed together, and can bear greater force, so that the mechanical performance is enhanced; and the bolt connecting and fastening operation can be finished by only needing one-side operation, so that the bolt installation under several special working conditions is finished.

The invention provides an independent aerial parking device, which comprises at least one upright post, a first bearing component, a supporting carrier, an elevation component, an elevation mechanism and a first movement mechanism, wherein the upright post is fixed on the ground or is suspended; the first bearing component can carry a vehicle and can move vertically and horizontally; the supporting carrier can drive the first bearing component to ascend and descend vertically along with the upright post and can be used as the first bearing component, and the elevation component can drive the first bearing component to move horizontally between a parking position and a traveling passage; the elevation mechanism drives the elevation component to ascend and descend vertically along the upright post; and the first movement mechanism drives the first bearing component to horizontally move along the elevation component. The first bearing component is also provided with a rotatable platform board for bearing the vehicle, a rotary mechanism for driving the platform board to rotate, a second bearing component which is used for bearing the platform board and can move on the first bearing component and a second movement mechanism which can drive the second bearing component to move. The independent aerial parking device has a simple structure and low price, is flexible to stop a vehicle, is convenient to use, can be independent to establish, run and manage, and has wide practicability.

The invention discloses a bobbin assembly capable of realizing peripheral unwinding. The bobbin assembly comprises a bobbin, wherein a rotating shaft is arranged in the bobbin; a rotary elastic component is arranged between the rotating shaft and the bobbin; one end of the rotary elastic component is connected with the rotating shaft; the other end of the rotary elastic component is connected with the bobbin. The rotary elastic component is a coil spring, a torsional spring, a corrugated telescopic spring or a rubber band. The rotating shaft and the bobbin are rotatably connected through a bearing. The bearing is adjacent to the rotary elastic component, and an isolation retainer ring is arranged between the bearing and the rotary elastic component. According to the bobbin assembly disclosed by the invention, cheese is fixedly arranged on the bobbin of the bobbin assembly in a sleeving manner and used as warp yarns for 3D weaving, the unwound warp yarns are always at a tensioned state, are not easily entwined per se and are further not easily twined with other yarns, and therefore normal proceeding of 3D weaving can be ensured and the quality of a 3D fabric is greatly improved.

The invention discloses a display support having a multi-azimuth adjusting function. The display support comprises a base plate, a sleeve, a screw and a nut, wherein a plane thrust bearing is arranged between the nut and sleeve, a bearing seat is arranged on the base plate, the sleeve is fixed to the base plate through a bearing arranged on the bearing seat, and a first friction plate is arranged at the lower end of the sleeve. The display support further comprises a brake device. The height of a display main body can vertically adjusted conveniently by rotating the nut, the using demands of users different in height can be met, the problem that the users need to stoop down and lower their heads to view a display is solved, and health protection of the computer users is facilitated. The display main body can be conveniently turned in a horizontal plane to be at a required angle by turning a handle to loosen a second friction plate, the first friction plate and the second friction plate are combined during handle turning, the display main body can be stably fixed, accordingly the problem that an existing display is difficultly turned in the horizontal plane is solved, and computers are more convenient to use.

The invention belongs to the technical field of equipment for drilling, anchor cable and anchor rod installation and fastening, and particularly relates to an electro-hydraulic anchor protection control double basket type two arm anchor cable anchor rod drill truck. The electro-hydraulic anchor protection control double basket type two arm anchor cable anchor rod drill truck includes a walking chassis, a vertical lifting platform, a rear machine frame, a left anchor protection large arm, a right anchor protection large arm, an advance support device and an automatic cable winding mechanism, wherein the vertical lifting platform is arranged right above the walking chassis to realize vertical lifting and lowering, a walking reducer is installed on the rear side of the walking chassis, a guide wheel is installed on the front side of the walking chassis, the vertical lifting platform is symmetrically provided with the left anchor protection large arm and the right anchor protection large arm which can realize height adjustment and swing adjustment on both sides, the advance support device is hinged to the front end of the vertical lifting platform, the rear machine frame is arranged inthe rear of the walking chassis, a motor, a pump station and an oil tank are sequentially installed on the top left of the rear machine frame to form a power system, a driving room and an electric control box are arranged above the power system, the automatic cable winding mechanism and a cable winding guide supporting roller group are installed on the left side of the driving room, and a rear stabilized shoe is installed at the bottom of the rear machine frame.

The invention provides a crawler-type multi-joint snakelike robot which comprises joint modules, drive modules and connecting modules. Each joint module comprises three 'V'-shaped side plates, wherein three wheel axles are installed between every two adjacent 'V'-shaped side plates through bearings so that the three 'V'-shaped side plates can be connected to form equilateral triangle distribution; two crawler wheels are fixedly installed on each wheel axle, so that two rows of crawler wheels are formed on the three wheel axles; a crawler belt is installed on each row of crawler wheels, and a joint chain wheel is also fixedly installed on the wheel axle located on the end portion. The drive modules are installed inside the joint modules. Each connecting module is located between every two adjacent joint modules. A worm bracket of each drive module is connected with a part of a connecting plate frame of the corresponding connecting module so that the two adjacent joint modules can be connected. A drive chain wheel of each drive module and the joint chain wheel of the corresponding joint module are in chain transmission. The crawler-type multi-joint snakelike robot is good in stability, strong in ground adaptive capacity, and applicable to disaster relief, detection, firefighting, transportation, space exploration and other fields.

The invention discloses a device for reducing residual stress of a welded seam of a tube and a tube plate of a heat exchanger. The device comprises a controller, a nozzle system and a high-pressure water pump for supplying high-pressure water jet to the nozzle system; the nozzle system comprises a nozzle regulator and a plurality of nozzles; the nozzle regulator comprises a casing and an end cover which are connected, and the multiple nozzles are uniformly distributed in the circumferential direction of the casing and are all connected with the high-pressure water pump; and the device further comprises an X-direction driving device, a Y-direction driving device and a Z-direction driving device, wherein the X-direction driving device drives the casing and the nozzles to move horizontally in the X-axis direction, the Y-direction driving device moves horizontally in the Y-axis direction, and the Z-direction driving device lifts in the Z-axis direction. According to the device for reducing the residual stress of the welded seam of the tube and the tube plate of the heat exchanger, a high-pressure water jet technology is used to reduce the residual stress of the annular welded seam with different diameters of different sizes of the heat exchangers, the application range is wide, and the effect of reducing the residual stress is good.

A technology for machining the end face, locating stop and holes of centrally splitting pump by special boring machine includes such steps as fixing the boring unit to the screwed hole on the centrally splitted surface of pump body, driving boring rod while rotating feeding gear, rotating the dial, turning the dial by 1/5 of a turn by a turning rod, turning the leading screw by 1/5 of a turn, and driving the nut under tool carrier to advance by 1/5 of a pitch to complete a feeding. Said locating stop is machined in same way. Said holes are machined by using said end face and locating stop as reference.

The invention discloses an overline transportation mobile type lifting appliance with four car doors. The overline transportation mobile type lifting appliance with the four car doors comprises a main framework, car door mobile frameworks and car door fixtures. The upper end of the main framework is provided with a support beam. The car door frameworks are hinged to the main framework. The car door fixture is connected to the car door mobile frameworks. The upper end of the main framework is further provided with a longitudinal beam. The car door mobile framework is provided with a start-stop device and a car door clamping self-lock device. The distance between two clamping components of the car door fixtures can be adjusted. The overline transportation mobile type lifting appliance with the four car doors has the advantages that by adding the longitudinal beam, the start-stop device and the car door clamping self-lock device on the framework of the lifting appliance, the lifting appliance is the overline transportation mobile type lifting appliance capable of transporting and actively running in the length direction of the car doors and the second direction of the thickness, and at the same time, the problems that loading and unloading the car doors are inconvenient, the universality is bad and repair and maintenance are inconvenient are solved; at the same time, the structure is simple, the operation is convenient, the labor intensity of constructors can be effectively reduced, and the safety of car door transporting and active running is improved.

The invention discloses a device for directly measuring the repose angle of material. The device comprises a measuring plate, an angle dial, a rotating shaft, a flexible rope and a heavy hammer, wherein the angle dial is arranged on the measuring plate; the zero line of the angle dial is perpendicular to one measuring edge of the measuring plate; the rotating shaft is arranged in the center of the zero line; and one end of the flexible rope is connected with the rotating shaft, and the other end of the flexible rope is connected with the heavy hammer. When the device is in use, the measuring edge of the measuring plate is kept parallel to or placed on the bevel of to-be-measured material, and thus the repose angle of the material can be visually measured through indication of the flexible rope on the angle dial.

The invention discloses a light and thin type self-lubricating bearing and a manufacturing method thereof, aiming at providing a light and thin type self-lubricating bearing and a manufacturing method thereof which have simple manufacturing technology, low cost, light weight and convenient installation and use. The bearing takes the shape of a shaft housing and takes a metal plate as a substrate, and the inner wall of the substrate is bond with nonmetallic wear-resistant material; and the bearing is characterized in that: through holes which are orderly arranged are made on the substrate, part of the wear-resistant materials on the binding surface of the wear-resistant material and the substrate is embedded in the through holes, and a suture is formed on the surface of the shaft housing. The manufacturing method of the light and thin type self-lubricating bearing comprises the following steps of: preparation of the nonmetallic wear-resistant material, and making, gluing, shaping and checking and storage of the substrate. The invention can lead the nonmetallic wear-resistant material to embed in the through holes and adopts a bonding adhesive for adhesion, thus having strong adhesive force. The punching of the through holes on the metal base material can lower the weight, and the product can be widely applied in mechanisms of chemical engineering, medicine, instruments, meters, aviation, space flight, food processing and the like.

The invention discloses a steel tube inner wall shot blasting cleaning machine. The steel tube inner wall shot blasting cleaning machine comprises a steel tube supporting and conveying part, a movable seal chamber, a shot blasting treatment part, a shot recycling and separating part, wherein the shot blasting treatment part comprises a shot blaster. The steel tube inner wall shot blasting cleaning machine is characterized in that the steel tube supporting and conveying part comprises a fixed seal chamber; one end of a steel tube workpiece is put in the fixed seal chamber, and the other end of the steel tube workpiece penetrates through the movable seal chamber via a workpiece inlet; the movable seal chamber is internally provided with the shot blaster driven by a hydraulic motor; the shot blaster is positioned on the end part of a shot conveying mechanism, and is supported inside the inner wall of the steel tube workpiece via a rotary support. The cleaning machine has the advantages of high automation degree, convenience in regulation and good use effect.

The invention discloses a tensile clamp for a tensile property test of non-metal materials, and belongs to the technical field of tests on material performances. The tensile clamp has the structure that an upper holding rod is positioned at the upper part of an upper limiting block, and the upper holding rod is fixedly connected with the upper limiting block; the upper holding rod is connected with an upper connecting plate through a universal joint; the middle of the universal joint is connected with the upper limiting block and the lower end of the universal joint respectively through pins; the lower end of the universal joint and the upper connecting plate are fixedly connected together; the upper connecting plate and a splicing plate are fixedly connected together through bolts; an upper splicing face is a face of the upper splicing plate; a lower holding rod is positioned at the lower part of a lower limiting block, and the lower holding rod and the lower limiting block are fixedly connected together; the lower limiting block and a lower connecting plate are fixedly connected together; the lower connecting plate and a lower splicing plate are fixedly connected together through bolts; a lower splicing face is a face of the lower splicing plate; and scales for positioning test samples are carved on the lower splicing face. The tensile clamp has high precision, is safe to use, and can carry out test on the tensile strength of test samples with large sections.

The invention discloses a snake-shaped robot with a nuclear equipment pipeline detecting function. The robot comprises a snake body formed by mutually connecting at least two joint modules, a snake head, a snake tail, joint drivers, a detecting system, a locating system, a communication system, an upper computer, a control system and a power supply system, wherein the snake body, the snake head and the snake tail form a main snake body, the joint drivers are installed in the joint modules and used for driving the joint modules to change the rotating angle. The robot is reasonable in design, convenient to operate, high in sensitivity, accurate in monitoring and locating, capable of being successfully applied to nuclear equipment pipelines and other detecting fields, and suitable for application and popularization, and the main snake body is small in size.

The invention discloses an automatic centering type direct rock tensile test device. The device comprises sample sleeve caps, ball-head tension rods, roll balls and sleeves; the sample sleeve caps areconnected with connecting members; ends of the connecting members are hinged with flexible anti-tensile ropes; the ends of the flexible anti-tensile ropes are hinged to the ends of tension rods of the ball-head tension rods; a plurality of the roll balls are disposed in embedding grooves along the end surfaces of the ball-head tension rods; and embedded groove covers are detachably disposed on the sleeves and located above the embedding grooves. According to the tensile test device, flexible anti-tensile ropes are adopted to connect ball-head turning members and the sample sleeve caps, and the roll balls and the sleeves as well as the roll balls and the ball-head turning members are in point contact, so that angles of the test device can be adjusted in all directions with flexible rotation and automatic deviation adjustment; after a rock sample is stressed, the tensile stress of the rock sample is always ensured along the axis, so that the problem of eccentric tensile stress is avoided; and the device is simple in structure, easy to operate, and easy to load and unload, and can accurately test the anti-tensile strength of the rock sample.

The invention relates to a mechanical human hip exoskeleton bearing device, comprising a left hip and a right hip which are structurally symmetrical. The left hip and the right hip are hinged to form an X-shaped structure via a hip center hinge pin, and two springs are respectively arranged at the top and the bottom of the X-shaped structure and between the left hip and the right hip. The other ends of the left hip and the right hip are respectively hinged with two leg and hip connecting parts, and the other ends of the two leg and hip connecting parts are respectively hinged with first connectors of two universal connecting parts. Second connectors of the two universal connecting parts are respectively connected with two tappet rods, the other ends of the two tappet rods are respectively sleeved in two sleeves, and two pressure springs for supporting the tappet rods are respectively arranged in the two sleeves. The other ends of the two sleeves are respectively hinged to the lower portions, close to the hips, of the two leg and hip connecting parts. Third connectors of the two universal connecting parts are respectively hinged with two leg adjusting parts, and the other ends of the two leg adjusting parts are fixedly connected with the upper ends of thigh parts of leg bearing devices. The mechanical human hip exoskeleton bearing device can transmit load on a back rack of a human exoskeleton carrying power assisting device to the leg bearing devices, and has high flexibility and a damping function.

The invention relates to a double-vane hydraulic self-servo oscillating cylinder. According to the technical scheme, two fixed stoppers (9) are symmetrically fixed on the inner wall of a cylinder body (7). Two vanes (25) are symmetrically fixed on an oscillating output shaft (10). The two vanes (25) and the two fixed stoppers (9) are in staggered arrangement. The valve body (6) and the oil distribution disc (17) are used for oil distribution for end faces. High-pressure oil enters two corresponding work cavities through a high-pressure oil way (16), a radial high-pressure oil way of the cylinder (7), a high-pressure annular oil groove (27) and a high-pressure radial oil passage (23) and a high-pressure radial oil passage (19). Low-pressure oil of the other two work cavities returns through a low-pressure oil distribution oil way (18), a low-pressure radial oil passage (19), a low-pressure annular oil groove (26), a radial low-pressure oil way of the cylinder body (7) and a low-pressure oil way (8). The double-vane hydraulic self-servo oscillating cylinder is small in radial size, good in dynamic property, simple in oil ways, convenient to machine and easy to produce, and stress of the valve body (6) and the oscillating output shaft (10) is balanced.

The invention relates to an accessory of a spinning device, in particular to a cloth spreading device for a shaping machine. At least one pair of V-shaped cloth guide rods used for spreading cloth are arranged to be a cloth spreading support, the V-shaped cloth guide rods are in the involute shape and protrude out of the plane where the support body is located, the cloth guide rods have the good guiding effect and can well spread the cloth in the specific using process, and the cloth is not prone to wrinkling in the conveying process; due to the fact that a middle rod is arranged, the cloth spreading device for the shaping machine can remotely convey the cloth, and the cloth is not prone to wrinkling in the cloth conveying process; in addition, due to the fact that a correction rod is arranged, before entering the next working procedure, the cloth will be corrected by the correction rod, and it is ensured that the cloth is completely spread when entering the next working procedure; due to the fact that the correction rod is connected to the support body in a rotating mode, the correction rod rotates flexibly, and the phenomenon that the cloth wrinkles due to the uneven stress is avoided.

The invention relates to a multidirectional clamping device for an underwater robot. The device comprises a transverse plate; vertical rods are symmetrically fixed at two ends of the bottom surface ofthe transverse plate; the vertical rods are vertically fixed; arc sleeves, fixedly connected with the vertical rods, are arranged at the lower ends of the vertical rods; arc plates, slidingly connected with the arc sleeves, are inserted in the arc sleeves; multiple convex teeth are uniformly fixed on the arc plates; convex teeth on the arc plates are oppositely arranged; two first fixed rods arevertically fixed at the top of the transverse plate; a fixed plate is horizontally fixed at the tops of the first fixed rods; a first speed reducing motor is fixed at the bottom of the fixed plate; agear, engaged with the convex teeth, is fixed on a rotating shaft of the first speed reducing motor; the first speed reducing motor conveniently controls the arc plates to rotationally extend out to insert a shovel into a deep place of the bottom of a clamped object, so that sludge for embedding the bottom of the clamped object is cleaned more conveniently; and through a rotating disc and a rotating rod, a top plate can be flexibly rotated to guarantee the convenience and speediness effects on sludge cleaning or clamping.