72results about How to "Improve grip stability" patented technology

The invention relates to a bionic multi-finger underwater manipulator device, a control system, a grabbing strategy and a target identification method.The manipulator is mainly composed of a flange plate and an under-actuated mechanical finger of a seven-connecting-rod mechanism, and the mechanical finger comprises a base, a triangular piece, a fingertip piece and a sliding block; two corners of the triangular piece are connected with the fingertip piece and the sliding block through connecting rod mechanisms respectively, the third corner of the triangular piece is connected with the base through a trapezoidal connecting piece, the sliding block is driven by a threaded linear long-axis motor, a magnetic touch sensor is arranged in a fingertip, and the magnetic touch sensor receives fingertip touch information through a fingertip receptor unit made of a magnetic powder silica gel mixture. The device is controlled by a control system comprising a microprocessor, naturally adapts to objects with different shapes and sizes by formulating corresponding adaptive force grabbing strategies, and classifies and identifies underwater objects through a deep learning algorithm. Compared with the prior art, the method has the advantages of high sensitivity, interference resistance and the like, and has the capabilities of tactile perception recognition and self-adaptive grabbing.

The invention provides a cargo grabbing device and method, and relates to the field of cargo grabbing method.The cargo grabbing device comprises a connecting shell, and a first hydraulic assembly, a second hydraulic assembly and a third hydraulic assembly are sequentially arranged in the connecting shell in the vertical direction. Through driving of the first hydraulic assembly, the distance between the clamping pieces can be adjusted in real time according to the size of the goods, the vertical lifting unloading mode or the horizontal pushing unloading mode can be selected according to the working condition requirement, and compared with a multi-motor system and a hydraulic system, the transmission efficiency is higher, energy consumption can be effectively reduced, and the equipment operation cost is reduced; the excessive configuration of the motor is avoided, the equipment cost is reduced, and meanwhile, the influence of too sensitive motor response on the precision of fine operation is also reduced.

The utility model discloses an octopus foot imitating suction cup type soft gripper which comprises a soft gripper body and a sealing cover, the soft gripper body is poured on the sealing cover, and an upper driving cavity and a lower driving cavity which are communicated with each other are formed in the soft gripper body; the upper driving chamber is of a flat U-shaped structure, and the lower driving chamber is of an umbrella-shaped structure; a second vent hole is formed in the sealing cover, a first vent hole is formed in the soft gripper body, and the second vent hole communicates with the driving upper cavity through the first vent hole. According to the soft gripper body, the silica gel rubber material is poured on the sealing cover, so that the air tightness between the soft gripper body and the sealing cover is better guaranteed, the connection between the soft gripper body and the sealing cover is further reinforced, and an object can be more stably adsorbed and grabbed. Concave edges are arranged on the inner wall of the driving upper cavity, the wall thickness of the inner wall is evenly reduced to increase the deformation quantity, and the inner wall of the driving upper cavity can also be provided with a convex edge structure to increase the structural strength of the inner wall.

The invention is suitable for the technical field of corrugated board transfer, and particularly relates to a corrugated board logistics conveying device which comprises a supporting base, an electric roller conveyor is arranged on the surface of the supporting base, a mechanical arm assembly is arranged on the surface of the supporting base, and a paperboard transfer box is arranged on the outer side of the mechanical arm assembly. By means of the ingenious combination design of the air bags and the inflation protruding blocks, the grabbing and transferring stability of stacked corrugated boards (especially in the unbound state) is effectively improved. The air bag is made of silica gel or polyurethane materials, has flexibility and elasticity and provides soft support when making contact with the side face of the corrugated board, and the situation that the corrugated board is damaged due to clamping of hard objects in a traditional mechanical grabbing mode is avoided. And after the air bag is preliminarily expanded to a preset width, the air bag is continuously inflated to further expand the inflatable convex block. The inflatable protruding blocks are made of rubber or hard foam materials, have moderate hardness and elasticity and can be inserted into gaps of paperboards to form firm clamping.

The utility model relates to the technical field of radio frequency coaxial connectors, and particularly discloses an anti-slip radio frequency coaxial connector convenient to install, which comprises a joint, a connector shell arranged at one end of the joint, a connecting block arranged at the bottom of the connector shell and an adjusting mechanism arranged below the connector shell. The adjusting mechanism comprises a threaded cylinder, a threaded groove is formed in the bottom of the connector shell, and the threaded groove is in threaded connection with the threaded cylinder; a protection mechanism is arranged at the bottom of the threaded cylinder; the protection mechanism comprises a protection plate fixedly connected with the interior of the threaded cylinder, the threaded cylinder and the protection mechanism are matched to protect the connecting block, the height can be adjusted to adapt to different scenes, the connecting block can be conveniently and rapidly connected with an external contact piece, the structure is simple, operation is convenient, and meanwhile the protection plate is made of excellent materials and designed to be anti-skid and anti-pollution. The effects of protection, convenient installation, reliable connection and convenient operation are achieved.

The utility model discloses a paper cup framing system, which relates to the technical field of paper cup framing and comprises a paper cup conveying line used for conveying paper cups and a plastic frame conveying device used for conveying plastic frames, an open-close type interceptor is arranged at the tail end of the paper cup conveying line, and protective plates are arranged on the paper cup conveying line corresponding to two sides of the open-close type interceptor. The opening and closing interceptors are matched with protection plates on the two sides of the paper cup conveying line to position the paper cups; a grabbing device is arranged between the paper cup conveying line and the plastic frame conveying device, the grabbing device grabs paper cups on the paper cup conveying line into plastic frames on the plastic frame conveying device, the grabbing device comprises a collaborative robot, and a clamping jaw used for grabbing the paper cups is arranged at the moving end of the collaborative robot. The paper cup conveying line, the grabbing device and the plastic frame conveying device are matched with one another, so that the paper cups can be automatically and tidily placed in the plastic frames in the storage or transportation operation.

The invention discloses a temperature-adaptive grasping manipulator, which belongs to the field of manipulators. The temperature-adaptive grasping manipulator comprises a bracket and an auxiliary plate, wherein a mechanical claw is installed on the surface of the bracket, an auxiliary plate is installed on the tail end of the surface of the mechanical claw, an adjustment component is installed on the bottom wall of the auxiliary plate, a rubber block is fixed on the top of the adjustment component, a conversion component comprises a movable plate, a No. 1 spring and an electromagnet, an electromagnet is fixed inside an interlayer, a No. 1 spring is connected to the surface of the electromagnet, and a movable plate is installed inside the interlayer. When the manipulator is used to grasp high-temperature products and non-high-temperature products, the rubber block can assist in enhancing stability when assisting in grasping non-high-temperature products, and the movable plate can drive the object to be obliquely agitated upward when assisting in grasping high-temperature products, thereby reducing the possibility of the object falling midway during the grasping and transportation process, thereby enhancing the grasping stability of the manipulator under different conditions.

The application relates to the technical field of mechanical arm grabbing and operation, and discloses a general mechanical arm grabbing method, system and equipment based on a scale-invariant network improvement; the general mechanical arm grabbing method is applied to a mechanical arm control device and specifically comprises the following steps: S11: acquiring an RGB-D image containing a target object; through parallelized back projection, the two-dimensional coordinates (u, v) of each pixel in a depth image and the depth value D(u, v) are converted into a three-dimensional point cloud P in a camera coordinate system in real time. Through vertical / horizontal priority directional hard constraints and end-to-end transmission from a decision screening end to a motion execution end, the application ensures that a grabbing approach vector and an object surface normal always maintain an optimal included angle, significantly improves the grabbing stability and safety for slender and sheet objects, and greatly reduces the probability of accidental collision.

The utility model discloses a ship -borne crane for offshore operation, including support, hoisting assembly and fixture subassembly, hoisting assembly includes power input part, transmission mechanism and lifting appliance, power input part drives lifting appliance to go up and down movement through transmission mechanism, fixture subassembly is connected in lifting appliance, and fixture subassembly includes support frame, at least two opposite setting's clamping arm and drive mechanism, clamping arm is installed in support frame in open and close, and the inside working surface of clamping arm is arc or pincer shape, and the clamping groove is formed between two opposite setting's clamping arms, drive mechanism is used for driving two clamping arms open and close to snatch or loosen cylindrical heavy object, the utility model discloses through setting up the clamping arm with arc or pincer shape working surface, specially aiming at the appearance feature design of cylindrical heavy object, has provided greater contact area and better stress distribution, has improved snatch stability and security significantly. Overall simple and reliable structure, the low manufacturing cost, maintains conveniently.

The utility model relates to a kind of taking and placing manipulator for counterweight block production line, including the roller line for conveying counterweight block, the roller line end is equipped with baffle, the side at the roller line end is provided with taking and placing mechanism, the taking and placing mechanism includes six-axis mechanical arm of vertical setting, the execution end of the six-axis mechanical arm is vertically provided with suspension plate, and parallel gripper is respectively longitudinally symmetrical fixedly connected in the both ends of suspension plate, two parallel grippers can be grabbed to the corresponding end of counterweight block conveyed to baffle.The taking and placing manipulator of the utility model can replace manual operation, avoid the strength and security risk of artificial handling, reduce the risk of injury.

The invention provides a wire grabbing device and method and a robot assembly. The wire rod grabbing device comprises a material storage part, wherein a containing groove used for containing wire rods is defined by the material storage part; the clamping part is arranged on one side of a groove opening of the containing groove, a groove is formed in the side, close to the groove opening of the containing groove, of the clamping part, and the size of the groove is matched with that of the wire rod; the clamping part is movably arranged in the direction close to or away from the groove opening of the containing groove so as to move to the material taking position where the clamping part can make contact with the wire or the first avoiding position where the clamping part can avoid the material storage part. And the material storage part has a movably arranged vibration state and a static state, so that when the clamping part is located at the material taking position, the material storage part is located in the vibration state, and the wire enters the groove. According to the technical scheme, the technical problem that in the prior art, the wire feeding efficiency is low can be solved.

The application discloses a method for generating a stable clamping pose of a double-arm clamping jaw based on a point cloud, and relates to the technical field of robots, and comprises the following steps: obtaining an image of a target object captured by a camera and depth information of a corresponding frame, and inputting the image into a stereo depth estimation model to obtain corresponding estimated depth information. The application solves the problem of depth missing of the target object in a shielding and complex structure area by fusing the depth information of an RGBD camera and the stereo depth estimation result, improves the completeness of point cloud data, adopts a depth fusion mechanism determined by difference to take into account the accuracy of model estimation and camera measurement, improves the quality of point cloud, generates a jaw pose by combining force closure and collision avoidance constraints to ensure the stability and safety of grabbing, reduces the complexity of the model by using point cloud features with rotation and translation invariance, and improves the recognition ability of a grabbing area and the success rate of grabbing by the interaction between target object features and jaw features.

The utility model provides a kind of wind collecting nozzle with straightening function, including the wind nozzle body for being connected at the hot air outlet of hair dryer, the wind nozzle body has the air guide channel for guiding the hot air of hair dryer, and the air outlet is communicated with air guide channel, the wind nozzle body is connected with the hair clip assembly that it air outlet is covered, the hair clip assembly includes the hair clip seat for being connected at the air outlet of wind nozzle body, the hair clip seat is connected on the air outlet of wind nozzle body and is equipped with the first air outlet for being communicated with air guide channel communication, the hair clip seat rotatably connected with the hair clip cover that can be folded on hair clip seat and then hold hair, the second air outlet for hot air outlet is equipped on the hair clip cover, and the utility model aims at overcoming the deficiency of prior art, to provide a kind of wind collecting nozzle with straightening function, more convenient to use, more suitable.

The utility model discloses a kind of obstetric flushers, including liquid storage tank, connecting pipe, extension piece, direction-changing arm and spray head, liquid storage tank includes the tank body for storing cleaning fluid and is set to the pressing portion of tank body tail end, pressing portion is corrugated structure, with good elasticity and resilience, tank body opening end is connected connecting pipe and extension piece in turn by thread, extension piece one end is equipped with rotatable direction-changing arm, direction-changing arm one end is equipped with locating head and input hole, the other end is connected with spray head, liquid can be in palm pressing pressing portion after via passage and input hole into direction-changing arm and from spray head to spray to realize flushing function, the extension piece outside is provided with accommodating groove for folding storage direction-changing arm, connecting pipe outside is equipped with antiskid structure to facilitate operation, structure design is reasonable, connection is stable, spray direction is adjustable and convenient to store.

The utility model discloses a spine corrector, which relates to the technical field of spine orthopedics and comprises a spine correction table, the top of the spine correction table is an arc-shaped surface, at least one limiting groove is formed in the side face of the spine correction table, and a combined exercise table is detachably clamped in the limiting groove through a limiting block. A plurality of longitudinal beams are integrally formed on the side face of the combined exercise table, and the bottom of the spine correction table is detachably connected with a pelvis correction structure. The combined exercise table and the auxiliary exercise table are detachably connected to the side face of the spine correction table, one or two of the spine correction table, the combined exercise table and the auxiliary exercise table can be used in a combined mode, supporting point positions of the body of a user are increased, and the situation that when the body of the user is supported, the user feels more comfortable is avoided. When muscle fatigue happens to the single stress part, the stress of the spine correction table can be shared by the combined exercise table and the auxiliary exercise table, and the risk that the single stress part of the body of the user is overtired can be reduced.

The utility model relates to the field of building detection equipment, and particularly discloses a penetration type mortar strength detector for building detection, which comprises a detector main body, a detection nail and an operating handle, the detector main body is provided with a protective shell at the periphery of a starter, and the bottom end of the detector main body is provided with a lantern ring at the periphery of the detection nail. The bottom end of the lantern ring is provided with a first convex part supported on a wall surface, the bottom surface of the detector main body is located at the periphery of the lantern ring to form an outer ring edge, the bottom end of the detector main body connected with the lantern ring is provided with a reinforcing sleeve made of stainless steel, and the inner wall of the reinforcing sleeve is provided with an inner convex ring supported on the outer ring edge; at least three supporting legs flush with the first convex part are uniformly distributed at the bottom of the reinforcing sleeve; the periphery of the reinforcing sleeve is provided with an extension edge supported at the bottom end of the protective shell, and the extension edge is provided with clamping plates for clamping the two sides of the protective shell. The product can improve the firmness of the connection between the detector main body and the lantern ring, can play a role in auxiliary supporting during detection, improves the holding stability, and is not easy to deviate.

This invention relates to an ophthalmic microneedle, comprising: a delivery assembly including a cannula mechanism, a closed head cap detachably mounted at one end of the cannula mechanism, and a tail tube detachably mounted at the other end of the cannula mechanism; the closed head cap has a fixed outer tube at its axial center; the cannula mechanism includes an outer shell with a movable limiting hole, a delivery block corresponding to the movable limiting hole and axially movable within the outer shell, and a needle unit mounted within the outer shell and extending into the fixed outer tube; the needle unit passes through the delivery block; the needle unit includes a metal needle tube, a polyimide needle tube fixed to the free end of the metal needle tube, and a connector fixed to the other end of the metal needle tube; and an external assembly. Utilizing the excellent flexibility of the polyimide needle tube, it can conform to the slight curvature of the ocular tissue during puncture, with minimal risk of breakage.

The application discloses a high-stability pedal support workpiece conveying device, and relates to the technical field of automatic conveying of automobile parts.The device comprises a conveying assembly, a positioning assembly and a grabbing assembly installed on a mechanical hand.The positioning assembly is arranged at one end of the conveying assembly, and workpieces are conveyed to the positioning assembly through the conveying assembly.The grabbing assembly is fixedly installed on the mechanical hand.The grabbing assembly comprises a support, a mounting block and a connecting pipe.The support is fixedly installed on the mechanical hand, the mounting block is fixedly installed on the support, one end of the connecting pipe is fixedly connected with the mounting block (32), the end of the connecting pipe away from the connecting pipe is a sleeving end for sleeving workpieces, and a magnetic block for adsorbing workpieces is installed in the connecting pipe.The mechanical limiting of the sleeving end of the connecting pipe and the magnetic force adsorption of the magnetic block form double fixing, effectively prevent workpieces from falling off, deviating or posture overturning during high-speed conveying, moving or vibration, solve the problem of unstable grabbing of traditional mechanical hands, and ensure the effect of keeping workpieces in a stable state during conveying.

The utility model relates to saw dust collection technology field, and disclose a saw with dust collection function, include: cutting main part subassembly, include: cutting saw main part, cutting saw main part is saw core work part, is used for realizing cutting operation, the cutting operation end outside of assembling in cutting saw main part, the air guide hole of going through is set up on the protective cover, is used for guiding the dust and small particle that cutting produces, clamping frame, fixedly connected in the protective cover outside, and the air duct one end with the air guide hole on the protective cover is corresponding setting, is used for transmission dust and small particle, this saw with dust collection function, dust collection efficient and prevent leakage: through micro blower in dust collection box produces suction, cooperation air guide hole, the corresponding setting of air duct, can quickly cut the dust and small particle that produces with the cutting into the collection box, realizes dust efficient collection, simultaneously, the air duct is connected with the air guide hole place and sets up sealing washer, can effectively prevent dust leakage in transmission process, guarantees the clean work environment.

The utility model discloses a drop type fuse porcelain bottle protection fixing frame, including protection fixing frame main part, fixed plate, fixed frame lock block, front and back inclination angle adjusting block, porcelain bottle fixed hook and install hook angle adapter. Through fixed frame lock block realizes and compound insulation cross arm's lock and unlock, the connecting portion cooperation front and back inclination angle adjusting block of main part side portion realizes inclination angle regulation, and four sets of adjusting holes are established to front and back inclination angle adjusting block, can realize four -bar length regulation, and porcelain bottle fixed hook is semicircular arc shape, and bottom is equipped with reinforcing rib adaptation porcelain bottle, and the angle adapter of side edge is convenient for insulating rod operation. The fixed frame installation is simple, and can be live operation, and adapts different installation distance and angle, can effectively prevent porcelain bottle from falling because of connecting piece failure, is applicable to 20KV and below transmission line, and service life is long.

The invention provides a movable cotton spinning manipulator for the intelligent manufacturing equipment industry, which relates to the technical field of manipulators and comprises a connecting seat, a driving mechanism, a guide groove, a movable seat, a grabbing mechanism and a side grabbing mechanism. The device has the advantages of being reasonable and simple in structure, low in production cost, convenient to install and complete in function, the distance between the two grabbing mechanisms can be adjusted through a specific driving structure, the device can meet the requirement for grabbing cotton textile materials with different widths, grabbing assemblies do not need to be frequently replaced or parameters do not need to be manually adjusted, and the continuous operation efficiency of a production line is effectively improved; according to the side grabbing mechanism, a double grabbing mode combining main grabbing and side grabbing is adopted, after main grabbing of the two sides of a material is completed, auxiliary reinforcing can be conducted on the front side and the rear side of the material through the side grabbing mechanism, and the grabbing stability of light, thin, soft and other cotton textile materials prone to sliding off is remarkably improved; and loss and equipment jamming faults caused by material deviation and falling in the transfer process are reduced.

The utility model provides a kind of robot and shoe processing system for shoe shaping, it is related to shoe processing technical field.The robot includes rotary drive component, vision system and two manipulators, rotary drive component transmission connection has mounting seat, and the rotation axis of rotary drive component is consistent with vertical;Two manipulators are located in the two sides opposite of mounting seat;Vision system includes three cameras, one of which is provided in mounting seat, and the other two cameras are one-to-one corresponding provided in the end region of two manipulators.The shoe processing system includes the above-mentioned robot, shoe press, controller and shoe rack for placing shoe tree, robot is arranged between shoe press and shoe rack, and the manipulator and vision system of robot are all connected to controller.The robot identifies the model and orientation of shoe tree, and the orientation accuracy of the manipulator clamping shoe tree, adjusting its orientation and placing it in the orientation accuracy of shoe press processing station is higher, so as to improve the shaping processing accuracy of shoes.

This utility model discloses a toothed structure for the grab bucket blade of a bridge crane, relating to the field of grab bucket technology for bridge cranes. It includes a first bucket body and a second bucket body connected by a fixed pulley. The first bucket body has four teeth, and the second bucket body has five teeth. The second bucket body also has four spacer slots. When the first and second bucket bodies are closed, each tooth of the first bucket body is located in one spacer slot. The teeth of the first bucket body are trapezoidal in shape and are located at the end furthest from the first bucket body. The teeth of the second bucket body are isosceles trapezoidal in shape and are located at the end closest to the second bucket body. This utility model, through optimized tooth structure and the use of wear-resistant materials, effectively improves the wear resistance and grabbing efficiency of the grab bucket, extending its service life. It is particularly suitable for handling hard materials such as ores and coal, reducing wear and malfunctions during operation.

This utility model discloses a four-stage combined folding boom for erecting an arch. A rotary support plate has a rotary table, on which a telescopic folding assembly is rotatably mounted. The telescopic folding assembly includes a folding arm, a connecting rod combined arm, a triangular support platform, and a telescopic combined arm. The folding arm is rotatably mounted on the rotary table, with a connecting rod combined arm at its upper end. A triangular support platform is located at the upper end of the connecting rod combined arm, and the telescopic combined arm is driven onto the triangular support platform. The front end of the telescopic combined arm is connected to a boom head luffing platform, which has a rotating swing gripper at its front end. This utility model, through the forward and backward translation of the connecting rod combined arm, ensures that the telescopic combined arm's gripping range on the arch is expanded, improving gripping efficiency. The combined connecting rod combined arm and the telescopic combined arm, through multi-dimensional precise control, can more effectively erect the arch to the designated position.

The utility model provides a three-jaw clamping jaw robot. Comprising a coupling block, a frame plate is mounted on the coupling block, a mounting plate A is mounted on the frame plate, a mounting plate B is mounted below the frame plate, and a chuck A is mounted on the mounting plate A. Two groups of adjustable inner support type clamping jaws are arranged on the upper portion, the distance between one group of adjustable inner support type clamping jaws and the other group of adjustable inner support type clamping jaws can be adjusted through the adjusting mechanism, so that the adjustable inner support type clamping jaws can adapt to grabbing tasks of more workpieces with different shapes and sizes, stable grabbing is achieved, meanwhile, the double-end air cylinder and the clamping heads are installed on the lower portion, additional operation flexibility is provided for the robot, and the working efficiency is improved. And in addition, the position detectors are arranged on the three sets of clamps, the position states of the clamps can be accurately monitored in real time, it is ensured that each grabbing action can be accurately in place, and the workpiece grabbing efficiency and the workpiece grabbing stability are effectively improved.

The utility model discloses an oral cavity internal medicine applying and spraying device which comprises a control device, the input end of the control device is communicated with a medical air compressor, the output end of the control device is communicated with a medicine applying handle, and the control device is respectively communicated with the medical air compressor and the medicine applying handle through a first air guide pipe. A second air guide pipe is arranged in the medicine applying handle and communicated with the first air guide pipe, and a spraying pipe is arranged at the end, away from the first air guide pipe, of the medicine applying handle and communicated with the second air guide pipe. The utility model relates to the technical field of oral cavity medicine applying devices, and solves the technical problems that in the prior art, medicine applying in the oral cavity adopts an air bag pressing or needle tube injection and pushing mode to enable medicine to act in the oral cavity in a mist spraying or liquid medicine mode, and medical workers are difficult to ensure hand stability in the pressing or injection and pushing process; therefore, the liquid medicine spraying position is easy to deviate, and even the oral mucosa of a patient may be accidentally injured.

The utility model belongs to the technical field of counter weights, and particularly relates to a clamping device for machining counter weights of agricultural machinery, which comprises a frame body, an inner cavity is arranged in the frame body, transmission cavities are arranged on the outer side walls of the left side and the right side of the frame body, and positioning rod cavities are communicated with the tops of the transmission cavities. The positioning rod cavity communicates with one side of the inner cavity, the sides, close to each other, of the two transmission cavities communicate with storage cavities, middle plates are fixedly connected into the transmission cavities, push rods are arranged on the middle plates in a penetrating mode, the two ends of the push rods are fixedly connected with push plates and clamping plates correspondingly, and the two clamping plates are located between the two push plates. According to the counter weight clamping device, the counter weight parts of different sizes can be stably and accurately clamped conveniently, the two sets of clamping plates and the transmission part are arranged in the frame body, the safety of workers is improved, the situation that the workers are injured by the supporting arms protruding from the side faces is avoided, the clamping stability is improved, batch clamping is facilitated, and the working efficiency is improved.

The invention relates to the technical field of medical instruments, in particular to a rectum varus suturing instrument under a laparoscope. Comprising a needle holding forceps body, a sleeve rod and a handle which are connected with each other are arranged on the needle holding forceps body, a fixed forceps head and a movable forceps head which are matched with each other are connected to the end of the sleeve rod, a U-shaped groove which is sunken towards the holding direction of the handle is formed in the handle, and a sliding block is installed on the clamping face of the fixed forceps head in a sliding mode. The sliding direction of the sliding block is parallel to the length direction of the fixed forceps head, an adjusting part for pushing the sliding block to slide is arranged on the handle, and when the fixed forceps head and the movable forceps head clamp the suture needle, the sliding block can drive the suture needle to rotate around the axis of the suture needle; the sliding block capable of sliding is arranged on the fixed forceps head, so that the angle adjustment work of the suture needle is achieved, the operation process is remarkably simplified, the adjustment efficiency is improved, and the forceps are particularly suitable for operation scenes such as rectum inversion suture under a laparoscope and the like which have high requirements for instrument control precision.

The utility model discloses an oral cavity scalpel, and relates to the field of medical surgical instruments. In order to solve the problem that instruments block the view of an operator and visually improve the fineness of an operation, the utility model designs an oral cavity scalpel which is mainly structurally characterized in that an operating handle and a blade are connected through an operating rod with a multi-stage three-dimensional bending structure, so that the operation can be conveniently carried out in a complex environment in the oral cavity, and the operation is convenient. Meanwhile, important anatomical structures can be better avoided; a blade clamping groove and a magnetic layer are arranged, so that the blade is convenient to mount and dismount; the holding handle is a cylindrical handle with anti-skid textures, so that an operator can conveniently hold, control and adjust the cutting-in and separating direction and angle of the blade; the scale marks which are parallel to the blade and have the interval of 1mm are arranged, so that a doctor is visually and accurately helped to determine the depth of the blade cutting into tissues; the oral cavity scalpel is easy and convenient to operate, and the using effect can be effectively improved.

The invention belongs to the technical field of robot automation and intelligent control, and discloses a using method of a multipurpose intelligent transfer robot. The carrying robot is specifically used according to the following steps of S1, system initialization and start waiting, S2, downhill control and two-dimensional code recognition, S3, side bridge alignment and article grabbing, S4, bridge getting-on and getting-off control, S5, position correction and line patrol preparation after bridge getting-off, S6, line patrol and article placement and S7, parking area returning and task ending. A traditional mechanical arm is upgraded into the sliding table mechanical arm, the grabbing stability and bearing capacity of the intelligent vehicle are remarkably improved, control code writing is simplified, the actual measurement effect is excellent, in addition, in order to achieve all-terrain carrying and optimize the motor speed of the intelligent vehicle, the motor speed is adjusted to 150 revolutions per minute, the risk that the intelligent vehicle rushes out of a bridge floor at a high speed is avoided, and the service life of the intelligent vehicle is prolonged. And the problem of insufficient low-speed torque is solved, and perfect balance between the speed and the torque is realized.