1989results about How to "Improve grip" patented technology

The invention relates to the technical field of pipe inner wall polishing, in particular to a plastic pipe inner wall polishing device. Comprising a sliding ring slidably arranged on a mounting cylinder, the right side of the sliding ring is connected with an air inflation bag, the right end of the air inflation bag is connected with the mounting cylinder, a fixedly-arranged second electric push rod and a slidably-arranged air pump are further fixedly mounted on the mounting cylinder, and the telescopic end of the second electric push rod is connected with the sliding ring. And a connecting pipe is communicated between an air outlet of the air pump and the inflatable bag. The movable part, the telescopic polishing block and the concentration mechanism are arranged and jointly assist to achieve adaptive adjustment of different pipe diameters, in addition, the inwards-concave inflatable bag is designed, so that the pipeline is adjusted and attached in a matched mode, abrasive dust is efficiently pushed out, the flexibility and adaptability of the equipment are enhanced, and the service life of the equipment is prolonged. And cleaning and polishing are integrated, so that the device can be operated more easily, and the overall using effect and working efficiency of the device are improved.

The invention discloses a limited micro-space pile foundation construction method based on a multifunctional pile machine, and belongs to the technical field of constructional engineering pile foundations. The limited micro-space pile foundation construction method comprises the following construction steps that S1, a matched drilling tool is selected according to the type of a pile foundation, wherein the type of the pile foundation at least comprises one of a cast-in-situ bored pile, a stirring pile, a high-pressure jet grouting pile and a threaded expanding body steel pile; s2, pile machine equipment is assembled and placed in place, wherein the pile machine equipment comprises a main machine assembly, a drilling rig assembly, a power head assembly and a multi-channel telescopic drilling rod; and S3, pile foundation construction is conducted, specifically, corresponding pile machine equipment and auxiliary equipment are started according to different pile foundation technologies to conduct pile foundation construction. According to the multifunctional pile machine, various pile foundation types can be constructed on one pile machine, the power head with the multi-channel flow divider and the multi-channel telescopic drill rod are matched, so that the pile machine can achieve efficient and environment-friendly pile foundation construction in a limited space, the adaptability and the integration degree of equipment are improved, continuous work in construction is reduced, and the construction efficiency is improved. And the construction efficiency is improved, and various geological conditions and construction requirements can be met.

The invention relates to a large model and small model collaborative robot operation action real-time control method and a large model and small model collaborative robot operation action real-time control system. The method comprises the following steps: firstly, collecting and preprocessing multi-modal data; carrying out data coding on the multi-modal data to obtain a feature vector; aligning the multi-modal data by using a cross-modal token alignment technology to obtain a feature representation; then training a neural network model by using the feature vector and the feature representation to obtain a trained large model; pruning, distilling and quantifying the trained large model to generate a small model; the small model is deployed to an edge computing device, the edge computing device obtains current instruction text data in real time and conducts reasoning on the current instruction text data, and an action plan of the robot is generated; and finally, the robot is controlled to operate and act in real time by means of action planning of the robot and feedback signals of the sensors. Compared with the prior art, the method has the advantages of low delay, high efficiency, capability of improving tactile perception, self-adaptive grabbing and real-time action planning and the like.

The invention provides a chameleon-imitated self-growing throat swab sampling robot, which comprises a robot body, which is formed by self-growing a flexible material in a pneumatic mode, an internal channel communicated with the atmosphere is formed in the robot body, and the throat swab is grabbed and released according to the change of the grabbing length of the throat swab by the internal channel; the driving storage mechanism is connected with the front end of the robot body and is used for storing the flexible material required by the growth of the robot body and providing power for the growth and recovery of the robot body; the pneumatic artificial muscle is located on the surface of the robot body and used for controlling the pose of the tail end of the robot. The tail end executing mechanism is located at the tail end of the robot body and comprises a recycling structure and a data collecting module, and the recycling structure guides the flexible material in a rolling friction mode so as to assist recycling of the robot body. According to the method, the predation process of aiming, launching, swallowing and withdrawing of a chameleon is imitated, the flexibility and conveying characteristics of the self-growing robot are fully utilized, and rapid and safe collection of the throat swab is achieved.

The utility model discloses a battery monomer, a battery device and an electric device, and belongs to the technical field of batteries. Wherein the battery monomer comprises a shell, an electrode component and a pole component, the electrode component is arranged in the shell, the shell comprises a first shell wall, the pole component is arranged on the first shell wall and comprises a pole and a clamping structure, the pole is connected with the electrode component, and the clamping structure is connected with the first shell wall; the clamping structure surrounds the pole and is insulated and hermetically matched with the pole through the insulated sealing structure, the clamping structure comprises a first clamping piece and a second clamping piece which are connected, the first clamping piece is bent towards the pole, the first clamping piece and the second clamping piece form a clamping groove for clamping the pole together, the first clamping piece comprises a first clamping part bent towards the pole, and the second clamping piece comprises a second clamping part bent towards the pole. The plurality of first clamping parts are arranged along the circumferential direction of the pole, and a discontinuous opening is formed between at least two adjacent first clamping parts, so that the problems of wrinkles, material stacking and the like after the first clamping parts are bent are favorably solved, and the reliability of the battery monomer is improved.

The invention relates to a machine leg for a multi-legged robot, belongs to the technical field of mobile carriers, and solves the problems that in the multi-legged robot scheme in the prior art, in order to keep the distance between a trunk and the ground, a motor needs to be powered up for keeping, and limited energy carried by the multi-legged robot is wasted. The multi-legged robot leg comprises a base joint unit, a first leg unit, a second leg unit and a third leg unit, one end of the base joint unit is connected with a trunk of a multi-legged robot, the other end of the base joint unit is connected with the first leg unit, and the two ends of the second leg unit are connected with the first leg unit and the third leg unit respectively. Self-locking can be achieved by changing the first screw and the first gear, when the first motor is not powered on, the first screw can prevent the first gear from rotating, it is ensured that the included angle between the first leg unit and the trunk of the multi-legged robot is not changed, the first motor does not need to be powered on any more, and limited energy carried by the multi-legged robot is saved.

The invention discloses an article sorting mechanical arm path planning method and system based on vision, and relates to the technical field of mechanical arm path planning. After a light source is automatically controlled, image data in a sorting area are collected, after a target image is screened out, a detected article area is divided into an obstacle and an article to be sorted, and the obstacle and the article to be sorted are sorted; after a grabbing path is marked, planned and obtained on a real-time environment map of the sorting area, a mechanical arm of the sorting robot grabs the to-be-sorted products according to the target path, grabbing scene data serves as feedback, and the movement speed and the grabbing path of the mechanical arm of the sorting robot are optimized; and a grabbing feedback value and a feedback threshold value are constructed according to the grabbing feedback data, and a corresponding sorting processing strategy is adopted according to the relation between the grabbing feedback value and the feedback threshold value. The efficiency in the actual grabbing process is improved, invalid grabbing or low-efficiency grabbing is reduced, and the grabbing feedback effect of the mechanical arm is improved.

The invention discloses a high-adaptability variable-rigidity flexible manipulator and a grabbing method thereof, and relates to the technical field of robot end execution. Comprising a plurality of rope-driven flexible grabbing fingers connected to the high-adaptability attaching transmission structure. The rope-driven flexible grabbing finger comprises a multi-joint movable rigid phalanx, a flexible adaptive contact layer and a special-shaped channel air bag. The high-adaptability attaching transmission structure comprises a transmission cavity formed by connecting a flexible attaching silicon rubber sleeve and a fixed bottom plate seat, and a plurality of connecting rods and a plurality of soft springs are arranged in the transmission cavity. The contact face of the mechanical arm and an object is made of a flexible material, flexible contact can be achieved, the high-adaptability attaching transmission structure can be well attached to the grabbed object, the grabbing attaching degree is increased, the grabbing adaptability is improved, meanwhile, under the influence of the air bag and the variable-rigidity structure, rigidity change can be achieved in the bearing process, and the mechanical arm is more flexible. And the bearing capacity of the manipulator is improved.

The invention discloses a port wheel type electro-hydraulic material grabbing machine with a self-adaptive clamp, and relates to the technical field of material grabbing machines, the port wheel type electro-hydraulic material grabbing machine comprises a frame, an anti-toppling unit, a cleaning unit and a buffer unit, and the frame is used for installing and fixing the anti-toppling unit, the cleaning unit and the buffer unit; the anti-toppling unit is used for preventing the grabbing machine from toppling and shifting when the grabbing machine works to grab heavy objects, the cleaning unit is used for self-cleaning of a clamp, the buffering unit is used for preventing the clamp from damaging the objects due to too large impact force when the clamp clamps the objects, and when the frame runs to a port to work, in the heavy object clamping process, the buffering unit is used for buffering the impact force. The anti-toppling unit avoids the phenomenon that the grabbing machine deviates and topples over due to the fact that objects are too heavy, the clamp is cleaned through the self-cleaning unit during underwater sludge treatment, the situation that sludge is accumulated on the clamp after long-term work is avoided, the clamping size is reduced, and the working efficiency is affected is avoided. And meanwhile, in the material taking process, damage to the objects caused by too large clamping force of the clamp is avoided through the buffer unit.

The invention relates to the technical field of wheelchairs, in particular to a wheelchair front cross-country wheel capable of being quickly assembled and disassembled, which is applied to wheelchairs and comprises a cross-country wheel assembly, a connecting assembly and a mounting assembly, a wall pipe is fixedly connected to the wheelchair, and the mounting assembly is clamped on the wall pipe; the cross-country wheel assembly comprises a cross-country wheel, a connecting frame and a fender, the cross-country wheel is rotationally connected to the connecting frame, and the fender is fixedly connected to the connecting frame; the connecting assembly comprises an adjusting plate and a first hoop, a plurality of second through holes are formed in the adjusting plate, the first hoop is detachably connected to one side of the adjusting plate, an angle adjusting assembly is arranged on the other side of the adjusting plate, and the adjusting plate is detachably connected to the connecting frame through the angle adjusting assembly. The passing ability of the manual wheelchair can be improved, and the device is convenient to disassemble and assemble, wide in application range, capable of being matched with wheelchairs of different models and convenient to carry and maintain.

The invention discloses a robot autonomous wire stroking method, system and device based on a tactile sensing multi-fingered dexterous hand and a storage medium, and belongs to the field of manipulator control. The robot autonomous wire stroking method comprises the steps that mechanical input data of finger tips of the tactile sensing multi-fingered dexterous hand is acquired and collected; generating pose estimation data of the cable according to the mechanical input data; according to the pose estimation data and / or the mechanical input data, dynamic expected data of the touch sensing multi-fingered dexterous hand is generated; according to the dynamics expected data, a control instruction for the touch sensing multi-fingered dexterous hand is generated so as to control the wire stroking process through the touch sensing multi-fingered dexterous hand. According to the multi-fingered dexterous hand, the touch sensing data is obtained and utilized in real time, accurate control over the multi-fingered dexterous hand is achieved, and finally stable and efficient grabbing and following of the cable are achieved. The problems that a manipulator is low in adaptability to a wire stroking task and low in operation efficiency are solved.

The invention discloses a stacking robot based on material transportation, and relates to the technical field of material stacking. The device comprises a mounting frame, a transverse plate is slidably connected to the inner side of the top of the mounting frame in a limiting mode, a hydraulic rod is fixedly mounted in the middle of the top of the mounting frame, the bottom end of the hydraulic rod is fixedly mounted to the center of the top end of the transverse plate, and first rotating shafts are rotatably connected to the interior of the transverse plate in a front-back symmetrical limiting mode; and gears are fixedly mounted on the peripheries of the middle parts of the front and rear rotating shafts. According to the stacking device, materials can be elastically clamped, the clamping force can be mastered more easily, the materials can be effectively clamped under the condition that the materials are not damaged, the materials clamped between the clamping plates can be horizontally moved up and down, the stacking stability and precision are improved, the clamping friction force between the stacking device and the materials can be adjusted according to the distribution of the weight of the materials, and the stacking efficiency is improved. Inclined movement of the materials due to uneven weight distribution is avoided, and normal proceeding of subsequent material clamping and stacking is facilitated.

The invention discloses a flexible clamping jaw capable of automatically adjusting clamping force based on deformation measurement, and belongs to the field of vegetable and fruit picking devices.The flexible clamping jaw comprises a rotating mechanism, three clamping jaw mechanisms are symmetrically installed at the front end of the rotating mechanism through an installation disc, and the rotating mechanism and the clamping jaw mechanisms form a picking mechanism; the rotating mechanism can drive the three clamping jaw mechanisms to rotate through an internal rotating motor, each clamping jaw mechanism comprises a flexible clamping jaw, the tail of each flexible clamping jaw is driven by a connected cam connecting rod mechanism to swing, and the back face of each clamping jaw mechanism is fixedly provided with a monitoring mechanism. The monitoring mechanism monitors the deformation quantity of the flexible clamping jaw through a camera. According to the flexible clamping jaw, the clamping force is accurately controlled through a camera and an algorithm, and fruits are protected against damage; the three-jaw structure is stable, the process is automatic, and the efficiency is improved; ginseng can be flexibly set according to vegetables and fruits, and the adaptability is wide; data after picking is driven and optimized, long-acting operation of equipment is facilitated, and the cost is reduced.

The invention relates to the technical field of tire simulation design, in particular to a tire pattern longitudinal groove edge optimization design method and system and a computer program product. The method comprises the following steps: extracting actual grounding pressure data of a tire; establishing a pattern block geometric plane model, and applying proper boundary conditions; according to the condition of non-uniform grounding pressure distribution, the shape of the contact surface of the pattern block is adjusted to realize uniform distribution; the grounding pressure distribution of the edge of the pattern block is optimized by minimizing a grounding pressure skewness value; and finally, calculating and adjusting the outer contour curve of the tire to realize final optimization design. According to the method, the road holding force, the controllability and the driving stability of the tire can be remarkably improved, the service life is prolonged, the modeling and calculation time is relatively low, and the design and development cost is remarkably reduced.

The invention provides a hard board transfer mechanism and an exposure machine, and belongs to the field of PCB feeding, discharging and processing, the hard board transfer mechanism comprises a top space transfer mechanism and a bottom conveying roller streamline, the pickup area of the space transfer mechanism is adjustable, and the conveying roller streamline comprises a plurality of roller conveying modules rolling from the feeding side to the other side. The automatic line left feeding / right feeding universality is achieved, the AA face is exposed through one machine, the product production efficiency is improved, automatic variable-pitch adjustment grabbing according to the product size is achieved, stable grabbing of the oversized PCB is considered, and application and popularization in the machining field of the PCB and other plates are facilitated.

The invention discloses a line drive type biped robot leg structure which comprises a thigh support, a knee joint motor is arranged at the lower end of the thigh support, a shank support is connected to an output shaft of the knee joint motor, a foot assembly is movably connected to the lower end of the shank support and comprises a foot fixing piece, and a heel is connected to the rear portion of the foot fixing piece. The heel is connected with a line driving structure, the line driving structure comprises a first ankle joint motor, a second ankle joint motor, a first driving line wheel, a second driving line wheel, a first ankle joint line wheel and a second ankle joint line wheel, and a first transmission line is arranged between the first driving line wheel and the first ankle joint line wheel; a second transmission line is arranged between the second driving line wheel and the second ankle joint line wheel, a first crank swing rod structure is arranged between the first ankle joint line wheel and one side of the heel, and a second crank swing rod structure is arranged between the second ankle joint line wheel and the other side of the heel. The device has the advantages of being simple in structure and good in adaptability.

The utility model provides an anchoring device for preventing landslide geological disasters, and relates to the technical field of anchoring equipment, the anchoring device comprises an anchor rod assembly, a transmission assembly is arranged in the anchor rod assembly, the transmission assembly comprises a lead screw rotationally connected to the inner wall of the anchor rod assembly, and the upper end of the lead screw penetrates through the top surface of the anchor rod assembly. According to the anchoring device for preventing the landslide geological disaster, a sliding block and a first trapezoidal block can be driven to extrude a second trapezoidal block through rotation of a lead screw, and then the second trapezoidal block drives a push plate and a spine block to move towards the outer side of an anchor rod body till the push plate and the spine block are inserted into soil; the firmness of the device is effectively improved by inserting the push plate and the spine blocks into soil, the anchoring capacity is improved, the device can rapidly anchor the protective net and the protective plate, the anchoring effect is good, and practicability is high.

The utility model discloses an adjustable manipulator clamping structure which comprises a clamping frame, two sets of clamping blocks are symmetrically arranged on the clamping frame, synchronous opposite driving assemblies are arranged in cooperation with the two sets of clamping blocks, vacuum suction cups are embedded in the surfaces of the clamping blocks, vacuumizing assemblies are arranged in cooperation with the vacuum suction cups, a first connecting frame is arranged above the clamping frame, and a second connecting frame is arranged above the first connecting frame. A first motor is arranged on the first connecting frame, the output end of the first motor is connected with the clamping frame, a second connecting frame is rotationally arranged on the first connecting frame, a second motor is arranged on the second connecting frame in transmission connection with the first connecting frame, a fixing seat is horizontally and movably arranged on the base, and a mounting seat is rotationally and adjustably arranged on the fixing seat. According to the clamping mechanism, the clamping stability of a machined part can be improved, the moving flexibility is good, and the clamping mechanism is flexible, convenient and fast to use.

The invention discloses a flexible manipulator capable of adjusting positions and postures of fruits and a method. The flexible manipulator comprises a fixing mechanism, a driving mechanism, a connecting mechanism and a finger-shaped directional adjusting mechanism; the fixing mechanism is fixedly mounted on an external mechanical arm and is used for fixing the flexible manipulator; one end of the driving mechanism is mounted on the fixing mechanism and is used for driving the flexible manipulator to move; and the finger-shaped directional adjusting mechanism is arranged at the other end of the driving mechanism, is connected with the driving mechanism through the connecting mechanism and is used for clamping and adjusting the position posture of the fruit. The method comprises a fruit grabbing translation position adjusting method and a fruit grabbing rotation posture adjusting method. The flexible mechanical arm is simple in structure and convenient to control, the automatic operation capacity of the flexible mechanical arm is improved, the grabbing position and posture of fruits in the mechanical arm are adjusted, it is guaranteed that the fruits can be effectively controlled and adjusted under various complex operation situations, and the flexible mechanical arm has wide application prospects and practical value.

The present invention relates to an adaptive grasping method for dexterous hands based on multimodal fusion imitation learning, comprising: executing multimodal data collection and constructing a multimodal data set; wherein the multimodal data set includes: visual images, finger joint torques and finger joint angles corresponding to the grasping actions of the dexterous hands; constructing an adaptive grasping model for controlling the dexterous hands based on the multimodal data set; for a grasping target, the adaptive grasping model outputs action instructions for the dexterous hands to execute in order to adaptively grasp the grasping target. The adaptive grasping method for dexterous hands proposed by the present invention is based on three modal data of vision, finger joint angles and finger joint torques, and has a higher success rate and stronger adaptability to object types than existing dexterous hand grasping algorithms.

The invention discloses a connecting joint for vertical steel bars of a prefabricated panel by adopting UHPFRC (Ultra High Performance Fiber Reinforced Concrete) lap joint, and belongs to the technical field of building structures. The connecting joint comprises a first prefabricated wall panel and a second prefabricated wall panel, wherein the first prefabricated wall panel comprises a connecting hole and a first connecting steel bar; the second prefabricated wallboard comprises second connecting steel bars, the first connecting steel bars and the second connecting steel bars are arranged in the connecting holes at intervals, and UHPFRC is poured into the connecting holes. The connecting holes are formed in the horizontal joints of the bottoms or the tops of the prefabricated wall panels, the connecting steel bars are arranged in the connecting holes, the connecting steel bars extending out of the prefabricated wall bodies adjacent to the horizontal joints are in single-row or double-row lap joint in the connecting holes by pouring the UHPFRC, and therefore formworks and sleeves / casing pipes are omitted, and the construction cost is reduced. The construction technology of vertical steel bar connection in the fabricated shear wall is obviously simplified, and the connection cost is reduced.

The utility model discloses a thickened anti-skid elastic mat and belongs to the technical field of floor mat articles. Comprising an upper surface layer and a lower surface layer, the TPE anti-slip layer is compounded at the bottom of the upper surface layer through a film spraying process, TPE anti-slip layer anti-slip lines are further formed on the surface of the downward side of the TPE anti-slip layer in a pressing mode when the TPE anti-slip layer is used, and the TPE anti-slip layer anti-slip lines are used for enhancing the friction force generated when the TPE anti-slip layer makes contact with the horizontal surface. The anti-skid floor has the advantages that the anti-skid floor is suitable for indoor ground paving, by arranging the TPE anti-skid layer attached to the horizontal plane, the anti-skid floor can be well attached to the plane, the anti-skid floor has excellent wear resistance, skid resistance, flexibility and buffering and damping performance, the anti-skid effect is good, the use safety is guaranteed, the overall elasticity is good, the resilience capacity is high, human body fatigue can be relieved, and the use comfort level is good.

The invention provides a manipulator, a mechanical arm and cleaning equipment, and relates to the technical field of cleaning. The manipulator comprises a connecting part, a first flange and a plurality of clamping arms. The connecting part can comprise a shell and a driving device arranged in the shell. The first flange is rotationally connected with the connecting part, and the driving device is in transmission connection with the first flange and used for driving the first flange to rotate. The multiple clamping arms are arranged on the outer side of the first flange at intervals, one end of each clamping arm is rotationally connected with the first flange, an opening is formed in the end, away from the first flange, of each clamping arm, the driving device is in transmission connection with each clamping arm, and the driving device is used for driving the multiple clamping arms to be close to or away from each other so that the opening can be opened or closed. The rotation axis of the first flange is perpendicular to the plane where the opening is located. According to the mechanical arm, clamping and rotating actions can be achieved, the mechanical arm can enter some narrow spaces, the application scene is wide, and the problem that in the related technology, the application scene of a mechanical arm is limited can be solved.

The invention discloses a tube drawing and forming device for quartz tube production, and relates to the technical field of glass tube drawing and forming, the tube drawing and forming device comprises a plastic melting and blow molding structure, the side end of the plastic melting and blow molding structure is provided with a temperature adjusting slotting structure in a communicating mode, and under the cooperation of a forming guide assembly and a stretching control assembly, when the stretching control assembly is used for stretching a quartz tube, the temperature adjusting slotting structure is opened; when a formed quartz tube is too large to cause follow-up deviation, the forming guide assembly is adjusted, aligned guide is formed by the forming guide assembly and the stretching control assembly, and then uniform-speed stretching is performed, so that under the cooperation of an open groove in the inner wall of an adjusting high-temperature-resistant rotating ring, a bottom plate, a return damping spring and a guide edge, the quartz tube can be quickly and stably formed. The guide edge is arranged on the periphery of the quartz tube to reinforce the heat stress groove formed in the periphery of the quartz tube, and meanwhile, the guide edge is in sliding connection with the heat stress groove formed in the periphery of the quartz tube in the forming process, so that intelligent positioning and stretching in the quartz tube stretching process are achieved, and the stability and shape precision of the quartz tube in the forming process are improved.

The invention discloses an anti-condensation electric power ring main unit based on optical radiation heating, and relates to the technical field of ring main units, and the anti-condensation electric power ring main unit comprises a composite mechanism. According to the anti-condensation power ring main unit based on optical radiation heating, through the design of a composite mechanism, the composite shell is used for storing and placing electronic elements, in the daily operation process of the electronic elements, the temperature in the composite shell rises, the temperature difference between the interior and the exterior of the equipment is large, and condensation occurs in the equipment; the heater adopts optical radiation heating to prevent condensation, mainly converts optical radiation energy into heat energy, increases the temperature of an object or a space, and enables the temperature of the surface of the object to be higher than the dew point temperature, so that water vapor is prevented from being condensed into dewdrops on the surface of the object, the water vapor is absorbed through the moisture-proof mechanism, and the interior of the equipment is kept dry. And the ventilation mechanism is used for ventilating the interior of the composite shell, so that the temperature difference between the interior and the exterior is reduced, the probability of condensation is reduced, and the equipment is protected to a certain extent.

The utility model relates to the technical field of constructional engineering, and discloses an engineering structure anti-seismic reinforcing device which comprises a base, an adjusting groove is formed in the middle of the upper end of the base, and limiting grooves are formed in the middle of the front groove wall and the middle of the rear groove wall of the adjusting groove. An adjusting screw rod is movably connected between the middle of the left groove wall and the middle of the right groove wall of the adjusting groove through a bearing in a penetrating mode, an adjusting handle is fixedly connected to the middle of the right end of the adjusting screw rod, and an adjusting plate is connected to the middle of the outer surface of the adjusting screw rod in a threaded mode; and limiting rods are movably connected to the front part and the rear part of the right end of the adjusting plate in a penetrating manner. According to the anti-seismic reinforcing device for the engineering structure, the reinforcing position of a building can be adjusted by arranging the adjusting screw rod and the supporting frame, the use requirement is met, the fixing effect of the reinforcing device and the ground can be enhanced by arranging the ground inserting frame and the ground inserting cone, the stability and the anti-seismic property of the reinforcing device are improved, and the anti-seismic reinforcing device is suitable for being widely used.

The invention discloses a prestressed pipeline cleaning method and device.The method comprises the steps that S100, the device is placed into a to-be-cleaned pipeline, and a base is adjusted to stretch automatically till supporting wheels and driving wheels are attached to the inner wall of the pipeline; s200, the telescopic rod extends till the cleaning brush is attached to the pipeline; s300, a telescopic rod is driven to rotate, and a dust collection unit is started to provide negative pressure for a dust collection bin; s400, the adjusting base is rotated, so that an angle is formed between the supporting wheel and the driving wheel and the advancing direction of the device, and the driving unit drives the driving wheel to rotate to drive the rotating wheel to advance; s500, the telescopic rod continuously rotates, so that the cleaning brush continuously rubs with the inner wall of the pipeline, sundries on the cleaning brush are swept, and the swept sundries are sucked into a dust collection bin by a dust collection head; and S600, when all impurities in the pipeline are cleaned, or the electric quantity of the device is about to be exhausted, the telescopic rod is shrunk, the dust collection unit is closed, and the driving wheel rotates reversely to exit from the pipeline. The cleaning efficiency is improved, the adaptability to different pipe diameters is guaranteed, and the cleaning effect is optimized.

The invention relates to the technical field of foundation pit supporting, and discloses an assembly type foundation pit supporting device which comprises a plurality of supporting mechanisms, every two adjacent supporting mechanisms are assembled and connected through an assembly frame, each supporting mechanism comprises a base, and a U-shaped supporting frame is fixedly connected to the top of each base. And a plurality of fastening rods are fixedly connected to the bottom of the base. According to the assembly type foundation pit supporting device, the slope protection plates are installed in the U-shaped frame in a rotating mode, supporting work of different slope surfaces can be met, supporting work of the vertical inner side face of a foundation pit is also included, the diversity of foundation pit supporting is improved, the anchoring frame is installed on the upper surface of the foundation pit, and the foundation pit supporting efficiency is improved. The unfolded end of the slope protection plate can be reinforced through the steel rope, the slope surface reinforcing stability of the slope protection plate is improved, and the problems that in the prior art, reinforcing is conducted in an inclined strut mode, the reinforcing strength is not high, and rollover is prone to occurring are solved.