35results about How to "Guaranteed range of motion" patented technology

The invention belongs to the technical field of robots and particularly relates to an intelligent modular hollow joint. The intelligent modular hollow joint comprises a motor, a brake, an incremental encoder, a harmonic reducer, an absolute encoder, a torque sensor, a hollow wiring tube and a tail-end output shaft. The brake and the incremental encoder are arranged on a rear end cover of the motor and in transmission connection with the rear end of a motor output shaft through a transmission device, the front end of the motor output shaft is connected with the harmonic reducer which is connected with one end of the tail-end output shaft, the outer end of the tail-end output shaft is connected with the torque sensor, and the absolute encoder is mounted on the tail-end output shaft. The motor output shaft and the tail-end output shaft are both in hollow structures, the hollow wiring tube sequentially penetrates through the tail-end output shaft, the harmonic reducer and the motor output shaft, and one end of the hollow wiring tube is connected with the rear end cover of the motor while the other end of the hollow wiring tube is rotatably connected with the tail-end output shaft. The intelligent modular hollow joint in modular design is applicable to robot joints, and all parts of the intelligent modular hollow joint are replaceable to make it convenient for modification.

The invention discloses a floating fan base with flare type tension legs, a marine wind-driven generator and a construction method. The floating fan base comprises a top supporting platform, a bottom supporting structure, at least three hollow stand columns and a ballast regulating system, wherein the top supporting platform is used for supporting a pylon, blades and a wind-driven generator set; the bottom supporting structure is connected with multiple tension legs; the top supporting platform is connected with the bottom supporting structure via the hollow stand columns, the hollow stand columns are arranged around the vertical center line of the floating fan base, and each stand column inclines outwards from a lower end to an upper end relative to the vertical center line of the floating fan base; the ballast regulating system is arranged in the stand columns and / or the bottom supporting structure. The marine wind-driven generator of the base with the structure has excellent movement performance, integral wet towing can be performed, and the floating fan base and the marine wind-driven generator are convenient to manufacture, assemble and mount.

The invention relates to a constantly stable offshore nuclear power platform. A permanent ballast tank is arranged at the bottom of the nuclear power platform; after the nuclear power platform is in position, a solid ballast poured into the permanent ballast tank ensures that the center of gravity of the nuclear power platform is positioned below the center of buoyancy; the upper part of the permanent ballast tank is connected with the bottom of a buoyancy tank through a truss and an inclined strut, the periphery at the upper part of the buoyancy tank is connected with the bottom of a deck through a plurality of upright posts, and the upright posts are used as a main support structure and a stability keeping structure of the nuclear power platform; a cylindrical nuclear island cabin is arranged between the middle of the top of the buoyancy tank and the deck, the upper end of the nuclear island cabin penetrates through the deck, and a nuclear island cabin hatch cover and an anti-collision protection structure are arranged on the deck; the nuclear island cabin contains a nuclear island plant comprising a small nuclear reactor containment and internal circuit facilities; after the nuclear power platform is in position, the height of the sea level is larger than the immersion height of the nuclear reactor containment. The constantly stable offshore nuclear power platform provided by the invention has the advantages of constant stability, good safety, simple structure and low construction cost, and can provide stable, reliable and clean energy sources for offshore oil-gas field development as well as island and shore users.

The invention discloses a hollow forearm and wrist structure for a low-load industrial robot. The hollow forearm and wrist structure comprises a shaft J4 arranged on an arm base, a second large-speed-ratio hypoid gear shaft arranged in a wrist base, and a shaft J5 motor base. The top and the bottom of the second-large-speed ratio hypoid gear shaft are respectively provided with a second large-speed-ratio hypoid gear and a first bevel gear respectively, and the middle is provided with a fourth large-speed-ratio hypoid gear and a shaft J6 support in a rotating mode. The shaft J6 is arranged in the shaft J6 support in a rotating mode. A second bevel gear is arranged on the shaft J6. The first bevel gear and the second bevel gear are meshed. The shaft J5 motor base is connected with the shaft J6 motor base and the wrist base. A shaft J5 motor and a shaft J6 motor shaft are arranged in the shaft J5 motor base. One end of the shaft J6 motor shaft is connected with the shaft J6 motor, and the other end is provided with a first large-speed-ratio hypoid gear. The first large-speed-ratio hypoid gear and the second large-speed-ratio hypoid gear are meshed. The output shaft of the shaft J5 motor is provided with a third large-speed-ratio hypoid gear. The hollow forearm and wrist structure solves the problem that a transmission line is not distinct in the prior art.

The invention relates to a transit transport vehicle for an automatic garbage classification box. The transit transport vehicle comprises a carriage, a movable guide rail assembly, a mechanical arm and a clamp, wherein the mechanical arm is installed on the movable guide rail assembly; the movable guide rail assembly is installed in the carriage and drives the mechanical arm to move linearly; theclamp comprises a support connected with the mechanical arm, a drive air cylinder and a clamping jaw, wherein the drive air cylinder and the clamping jaw are installed on the support and connected with each other; the clamping jaw is matched with a groove in the top of the garbage classification box; and when the garbage box is grabbed, the clamping jaw is clamped in the groove in the top of the garbage classification box. Compared with the prior art, the transit transport vehicle has the beneficial effects that the work environment of sanitation workers is improved, the work efficiency is improved, and safety and reliability are achieved.

The invention relates to a system for conveying therapeutic drugs. The system comprises an injection catheter, an injection needle and an operating handle. The injection needle is communicated with the injection catheter via fluid, the operating handle is fixedly connected to the near end of the injection catheter, a buffer device is arranged at the far end of the injection catheter, and the injection needle is partially or completely arranged in the buffer device. When the far end of the buffer device is pressed, the axial length of the buffer device is reduced, and the needle tube of the injection needle stretches out of the buffer device. By means of the system, the risk of leakage of injection drugs is significantly lowered, the fit adaptability in the cardiac contraction and relaxation process is improved, and the probability of breakage of the injection needle is reduced; the system is simple in overall design, safe and convenient to operate and easy to use.

The invention provides a UUV carrying, laying and recovering device. The device comprises a lifting module, a rotating module and a carrying module. The lifting module can be lifted to a certain height under traction of a three-phase asynchronous motor, loads on the rotating module and the carrying module are lifted out of a submarine body, and after the submarine body reaches a designated workingposition, a brake of the three-phase asynchronous motor can fix the position of a lifting platform, so that subsequent steps continue to be conducted at the correct position. The rotating module starts to work after the lifting module reaches a designated working position and is locked, a rotating plate is driven by a hydraulic cylinder to be overturned to be horizontal, and then a pressing rotating lock driven by a stepping motor is triggered to achieve circumferential locking of the rotating plate. During recovery, the UUV automatically gets close to the recovery device, the carrying modulehydraulic cylinder, a normally-closed electromagnetic lock, the stepping motor, a rotary hydraulic cylinder and the three-phase asynchronous motor work in sequence according to the process opposite to the laying process, and recovery operation is completed.

The invention discloses an under-actuated prosthetic hand with a self-adaptive grabbing function, and belongs to the field of medical equipment. According to the prosthetic hand, through the structural design of a prosthetic hand body, a finger transmission module, an inter-finger transmission module and a thumb driving module, four fingers are simultaneously controlled by a first motor to realizebending and stretching movement, damping rotating shafts are used for limiting transmission torque between motors and screw rods, and the telescopic characteristic of a telescopic assembly is matched, so that on one hand, mechanical damage to a prosthetic hand structure due to overlarge torque output by the motors can be prevented, and on the other hand, the self-adaptive grabbing function of theprosthetic hand can be achieved. When movement of one or more fingers is blocked, two ends of one corresponding damping rotating shaft rotate relatively, the first motor cannot be locked mechanically, the first motor can still rotate normally and continue to drive the remaining fingers to move, and self-adaptive enveloping grabbing movement of an object is achieved. The problems that the prosthetic hand is too large in size or mass, complex in control system, low in operation precision and the like can be effectively solved.

The invention discloses a hollow forearm and wrist structure for a low-load industrial robot. The hollow forearm and wrist structure comprises a shaft J4 arranged on an arm base, a second large-speed-ratio hypoid gear shaft arranged in a wrist base, and a shaft J5 motor base. The top and the bottom of the second-large-speed ratio hypoid gear shaft are respectively provided with a second large-speed-ratio hypoid gear and a first bevel gear respectively, and the middle is provided with a fourth large-speed-ratio hypoid gear and a shaft J6 support in a rotating mode. The shaft J6 is arranged in the shaft J6 support in a rotating mode. A second bevel gear is arranged on the shaft J6. The first bevel gear and the second bevel gear are meshed. The shaft J5 motor base is connected with the shaft J6 motor base and the wrist base. A shaft J5 motor and a shaft J6 motor shaft are arranged in the shaft J5 motor base. One end of the shaft J6 motor shaft is connected with the shaft J6 motor, and the other end is provided with a first large-speed-ratio hypoid gear. The first large-speed-ratio hypoid gear and the second large-speed-ratio hypoid gear are meshed. The output shaft of the shaft J5 motor is provided with a third large-speed-ratio hypoid gear. The hollow forearm and wrist structure solves the problem that a transmission line is not distinct in the prior art.

The invention discloses a protector for preventing joints from moving quickly, and belongs to the field of medical instruments for the orthopedics department. The protector comprises a near-end fixing part (4), a far-end fixing part (3), a myoelectricity control device and a connecting device, wherein the near-end fixing part (4) is fixed on a joint near-center end limb (1), the far-end fixing part (3) is fixed on a joint far-center end limb (2), and the connecting device is respectively connected with the near-end fixing part (4) and the far-end fixing part (3). The myoelectricity control device is used for sensing muscle signals corresponding to the joints and controlling the connecting device. When the joint is slowly bent and stretched, the near-end fixing part (4) and the far-end fixing part (3) do free relative movement; when the joint is suddenly and rapidly bent and stretched, the connecting device prevents relative movement between the near-end fixing part (4) and the far-end fixing part (3), and therefore the joint is prevented from being damaged.

The invention discloses a power output machine and solves the problem that existing power output machines are limited by factors like geography, environment and weather. The power output machine comprises a support, a slideway arranged on and movably connected with the support, a slider and two main bearings, the slider and the main bearings are arranged in the slideway, and a control member used for controlling motion tracks of the main bearings is further arranged on the support. Due to gravity, the slideway can rotate in a vertical plane relatively to the support; the slider is arranged in the slideway, and can slide in the slideway and increase gravity at a local position of the slideway, so that the slideway is enabled to rotate for a long time to output power; the main bearings are arranged in the slideway to limit the motion tracks of the slider and to guarantee a motion range of the slider in the slideway, so that long-time rotation of the slideway is realized better.

The invention discloses an adaptive multi-dimensional and multi-stage damping device, which makes up for the defects of traditional single method control, organically combines passive control and semi-active control to form multi-level control, which can not only make up for passive control in terms of strength and frequency bandwidth In addition, it can ensure the adaptability and adjustability of the control, and achieve a good damping control effect under the premise of saving energy input. The technical solution is: including a work box, a sliding mechanism is installed on the top of the work box, and the sliding mechanism can move along the work box; the sliding mechanism is connected to the inertial mass body through a telescopic column placed inside the work box; The inner pick-up plate, the bottom of the inner pick-up plate is connected with several pressure springs; the side wall of the working box is lower than the position of the inner pick-up plate, and piezoelectric ceramics are laid; the working box has multiple inclined surfaces, and the inclined surfaces are equipped with multiple layers that can A rotating D-shaped roller; under the action of an external force, the inertial mass body can move along the D-shaped roller.

An edge penetrating device for a netting machine comprises a machine frame, wherein a main gear and a cam are arranged on the machine frame, a gear set is arranged between the main gear and the cam, a connecting rod is arranged on the machine frame, a support is arranged below the connecting rod, and a rotary shaft is arranged on the support; a cam roller is arranged on the cam, a push rod is arranged behind the connecting rod, a push block is connected to the back side of the push rod, a guide rod is connected to the back side of the push block, a wire penetrating plate is arranged on the guide rod, and the guide rod is fixed to the machine frame through a connecting block. The push rod is driven by the cam to move, then the guide rod and the wire penetrating plate are driven by the push rod to move, in this way, the movement amplitude of the wire penetrating plate can be guaranteed, edge penetrating quality can be guaranteed, and edge penetrating effect can be guaranteed; by conducting edge penetration with the wire penetrating plate, manual penetration can be avoided, edge penetration working efficiency is improved, and the working efficiency of the whole netting machine can be improved.

The invention relates to a constant-stable offshore nuclear power platform. A fixed ballast tank is arranged at the bottom of the nuclear power platform. After the nuclear power platform is in place, solid ballast is poured into the fixed ballast tank so that the center of gravity of the nuclear power platform is located below the buoyancy center. The upper part of the fixed ballast tank is connected to the bottom of the buoyant tank through trusses and braces, and the upper periphery of the buoyant tank is connected to the bottom of the deck through several columns, which are used as the main support structure and stability maintenance structure of the nuclear power platform; the middle of the top of the buoyant tank is connected to the bottom of the deck There is a cylindrical nuclear island cabin between the decks, the upper end of the nuclear island cabin runs through the deck, and the nuclear island cabin hatch cover and anti-collision protection structure are set on the deck; the nuclear island cabin contains small nuclear reactor containment and internal circuit facilities After the nuclear power platform is in place, the sea level is higher than the immersion height of the nuclear reactor containment. The invention has constant stability, good safety, simple structure and low engineering cost, and can provide stable, reliable and clean energy for the development of offshore oil and gas fields, sea islands and shore users.

The invention provides an optical element driving mechanism. The optical element driving mechanism comprises a fixed part, a movable part and a driving assembly. The movable part is connected with an optical element comprising an optical axis. The movable part can move relative to the fixed part. The driving assembly drives the movable part to move relative to the fixed part.

The invention provides a blue-light external subtitle display applied to PS4 electronic equipment. The blue-light external subtitle display comprises a housing, a display screen, a mounting frame, anintegrated line, a control extension board and reinforcing frames, wherein the display screen is mounted inside the housing; the back of the housing is connected and fixed with the mounting frame through a screw; the back of the housing is connected and provided with one integrated line; the tail end of the integrated line is connected with the control extension board; the reinforcing frames are mounted on two sides of the housing. Through the arrangement of the display screen, the problem that existing PS4 and part of blue light players do not have a function of reading external subtitles during playing foreign language blue-ray discs is solved; through the arrangement of the integrated line and the control extension board, two HDMI plugs of the integrated line are respectively connectedwith the PS4 and the display equipment, so that the trouble of preparing one more HDMI connecting wire is avoided.

The present invention provides a UUV carrying deployment and recovery device, which includes a lifting module, a rotating module and a carrying module. After getting out of the submarine body and reaching the designated working position, the brake of the three-phase asynchronous motor will fix the position of the lifting platform to ensure that the subsequent steps continue at the correct position. The rotating module starts to work after the lifting module reaches the designated working position and is locked. The hydraulic cylinder drives the rotating plate to turn it over to the level, and then triggers the push rotation lock driven by the stepping motor to realize the circumferential locking of the rotating plate. When recovering, the UUV approaches the recovery device by itself, equipped with modular hydraulic cylinders, normally closed electromagnetic locks, stepping motors, rotating hydraulic cylinders, and three-phase asynchronous motors, which work in sequence in accordance with the reverse process of deployment to complete the recovery operation.

The invention provides an optical element driving mechanism. The optical element driving mechanism comprises a fixed part, a movable part and a driving assembly. The movable part is connected with an optical element comprising an optical axis. The movable part can move relative to the fixed part. The driving assembly drives the movable part to move relative to the fixed part.

The invention belongs to a turbulent flow steering engine, and provides an electromagnetic turbulent flow steering engine in order to solve the technical problem that the size and the weight of an existing turbulent flow steering engine cannot meet the installation requirements of an engine, an annular containing cavity is formed in the inner wall of a yoke, a framework is located in the containing cavity and extends to the inner side of a pole shoe in an annular groove, and the pole shoe is arranged in the annular groove and connected with the yoke. The armature and the stop iron are sleeved in the yoke, and the yoke is fixedly connected with the stop iron. A first through hole and a second through hole are axially formed in the armature and the stop iron respectively, and a limiting step and a first limiting boss are arranged in the first through hole and the second through hole respectively; the front end of the supporting rod is located in the first through hole and connected with the armature, the rear end of the supporting rod is located in the second through hole and matched with the first limiting boss, and the spring is wound around the supporting rod. The outer wall of the front end of the stop iron is an outer conical surface, the side wall of the rear end of the first through hole is an inner conical surface, and an adaptive cavity is formed. The spoiler is L-shaped, one end of the spoiler is connected with the front end of the armature, and the other end of the spoiler extends out of the rear end face of the yoke in the axial direction of the yoke.

The invention relates to a single bolt driving dual oscillating milling head. The No.1 controllable generator fixed with No.1 cylinder gear through No.1 coupler, No.2 cylinder gear fixed with the cover of the milling head cover, whose top cover and a pair of milling sleeve side cover fixed with the milling head sleeve, No.2 controllable generator installed on the bracket that fastened inside the milling head sleeve. Three pairs of linking brackets and two pairs of linkages set symmetrically at both sides of the electric main shaft of the milling head. The drive shaft fixes with the second controllable generator through the second coupler and fixed with the first pair of linking bracket. The first pair of linkage and the first pair of linking bracket or the second pair of linking bracket, the second pair of linkage and the second pair of linking bracket or the second pair of linkage and the third pair of linking bracket to form into rotating assistance respectively. The second and the third linking bracket connect to the milling head sleeve respectively, with the third linking bracket fixed with the main shaft of the milling head. It solves the issue of big size, low rigidity and poor bearing ability of the dual oscillating milling head.

The invention discloses a sensor for bionic skin, a coil array, a positioning method and a touch collector. An inductance coil array structure for the bionic skin comprises an ADC analog-to-digital conversion circuit and multiple groups of magnetoelectric sensors; each group of magnetoelectric sensors are correspondingly accessed to various input ends of the ADC analog-to-digital conversion circuits in a parallel way, and the distance between each group of magnetoelectric sensors is equal; each group of magnetoelectric sensors comprise multiple magnetoelectric sensors, and multiple magnetoelectric sensors in the group are connected into the same corresponding loop in parallel; the magnetoelectric sensor adopts the sensor for the bionic skin disclosed by the invention; furthermore, the expansion splicing can be performed on the basis of a contact point occurrence location positioning method for bionic skin, various magnetoelectric sensor parallel loops in each group can perform parallelconnection extension to the Y axle; and the splicing of the whole positioning circuit on the plane is realized by extending the parallel loop on the x axle by adding the input end connecting pin of the ADC analog-to-digital conversion circuit.

The invention discloses a stair-climbing logistics vehicle with tail end lifting capability and a stair-climbing method thereof. The invention relates to a stair-climbing logistics vehicle with the ability to lift the rear end, comprising a vehicle frame, a stair-climbing power module and a rear wheel-assisted foot-lifting module. The rear wheel lifting foot module is installed at the rear end of the vehicle frame. The stair-climbing power module is installed on the head end of the vehicle frame. The stair-climbing power module includes two triangular gear trains respectively arranged on both sides of the head end of the vehicle frame. Three front wheels arranged in an equilateral triangle are arranged in the triangular gear train. The rear wheel-assisted foot-lifting module includes a fixed shaft, a foot-lifting drive assembly and an outer support assembly. Described fixed axle is fixed on the tail end of vehicle frame. The outer support assembly includes a crank case, a connecting rod, an outer support gear set, a support rod and a slide rail. The rear wheel lift-assisted foot module in the present invention can support the rear end of the logistics vehicle, thereby reducing the inclination angle of the logistics vehicle when the logistics vehicle encounters obstacles on the steps, and improving the climbing ability of the logistics vehicle.

A flare-type tensile legs floating wind turbine base; the floating wind turbine base comprises a top support platform (9) for supporting a tower frame (3), blades (1) and a wind turbine set (2); a bottom support structure (7) connecting to a plurality of tensile legs (5); at least three hollow upright columns (6) connected between the top support platform (9) and the bottom support structure (7), and arranged around the vertical central line of the floating wind turbine base, each upright column (6) inclining outward from the lower end to the upper end relative to the vertical central line of the floating wind turbine base; and a ballast adjustment system disposed in the upright columns (6) and / or the bottom support structure (7). Also disclosed are an offshore wind turbine having the floating wind turbine base and a construction method.

The invention discloses a sensor for bionic skin, a coil array, a positioning method and a touch collector. An inductance coil array structure for the bionic skin comprises an ADC analog-to-digital conversion circuit and multiple groups of magnetoelectric sensors; each group of magnetoelectric sensors are correspondingly accessed to various input ends of the ADC analog-to-digital conversion circuits in a parallel way, and the distance between each group of magnetoelectric sensors is equal; each group of magnetoelectric sensors comprise multiple magnetoelectric sensors, and multiple magnetoelectric sensors in the group are connected into the same corresponding loop in parallel; the magnetoelectric sensor adopts the sensor for the bionic skin disclosed by the invention; furthermore, the expansion splicing can be performed on the basis of a contact point occurrence location positioning method for bionic skin, various magnetoelectric sensor parallel loops in each group can perform parallelconnection extension to the Y axle; and the splicing of the whole positioning circuit on the plane is realized by extending the parallel loop on the x axle by adding the input end connecting pin of the ADC analog-to-digital conversion circuit.

The invention provides a wearable wrist rehabilitation training flexible drive external skeleton, relates to a wrist training flexible transmission external skeleton, and aims to solve the problems that human-machine movement is uncoordinated, wear is discomfort, the motion range of joint movement is reduced, and dislocation compensation is needed for the external skeleton joint in the prior art because gear pair transmission or wire rope transmission mechanism is adopted as the transmission mode, the radial size of the external skeleton is larger, the angle of a parallelogram linkage is smaller and interferes with human arm, the motion range of spin is also decreased, and the external skeleton joint is low in compatibility with human joint. The external skeleton includes spin wire rope transmission components, telescopic cross universal coupling drive components, a forearm spin ring, a thin-walled bearing, a bearing sleeve assembly, a forearm fastening piece, a flexion and extension wire rope transmission assembly, a ulnar and radial offset transmission assembly, a coordinating movement mechanism support, a coordinating motion mechanism assembly, a human hand fixed assembly, a forearm first support frame and a forearm second support. The invention belongs to the field of robots.

The invention belongs to the technical field of valves, and relates to a two-way D-shaped electromagnetic valve and an application method thereof. The two-way D-shaped electromagnetic valve comprises a valve body, a shell and a back cover; the valve body and the back cover are respectively arranged at two ends of the shell, and are fixedly connected to the two ends of the shell; the valve body is provided with a first passage communicated with the valve body for flowing in a fluid and a second passage for flowing out the fluid; an electromagnetic control part is arranged in an inner cavity of the shell; a diaphragm piece is arranged between the valve body and the shell; one end of the diaphragm piece is fixedly connected with the electromagnetic control part, and the other end is fixedly and tightly connected with the valve body; a cavity is formed between the diaphragm piece and the valve body; an outlet of the first passage and an inlet of the second passage are accessed into the cavity; the fluid enters the cavity from the first passage, and flows out from the second passage; and the electromagnetic control part controls the diaphragm piece to stop or conduct the circulation of the fluid between the first passage and the second passage. The electromagnetic valve is simple in structure, small in size, quick in response, corrosion-resistant and convenient for installation.

The invention discloses a lower limb joint structure of a rehabilitation robot, and belongs to the field of rehabilitation therapy. The lower limb joint structure at least comprises a driving part, atorque sensor part, a safety limit part and an output part. The driving part is installed on a speed reducer flange of the driving part, the torque sensor part comprises a torque sensor, an inner pressing flange, a crisscross roller bearing, an external pressing flange and an input flange of the torque sensor, and the crisscross roller bearing is separately connected with the input flange of the torque sensor and an outer ring of the torque sensor; the external pressing flange is installed on the outer ring of the torque sensor, and the inner pressing flange is installed on the input flange ofthe torque sensor; an inner ring of the torque sensor is installed on the input flange of the torque sensor, the safety limit part is installed on the speed reducer flange, and the output part comprises a joint output flange. The torque sensor is designed for the joint structure, safety limit is arranged to form multiple protection mechanisms, and the safety of patients in the rehabilitation training process is further improved.

The invention relates to a transfer transport vehicle for automatic garbage sorting boxes, which includes a carriage, a moving guide rail assembly, a mechanical arm and a fixture. The mechanical arm is installed on the moving guide rail assembly, and the moving guide rail assembly is installed in the carriage to drive The mechanical arm moves along a straight line, and the clamp includes a bracket connected to the mechanical arm, a driving cylinder and claws respectively installed on the bracket and connected to each other, and the claws cooperate with the groove on the top of the garbage sorting box to grasp When taking out the garbage bin, the claws are set in the groove on the top of the garbage sorting bin. Compared with the prior art, the present invention has the advantages of improving the working environment of sanitation workers, improving work efficiency, and being safe and reliable.