85results about How to "Improve motion stability" patented technology

The invention belongs to the technical field of path planning and robot motion planning, and particularly relates to a multi-strategy fusion improved RRT * sampling planning method and device and a storage medium, and the method comprises the steps: constructing a dual-search tree through a starting point and a target point in a three-dimensional working space, and selecting a to-be-expanded search tree through a random mode; halton-Bridge mixed sampling is adopted to generate sampling points, so that the global coverage uniformity is improved, and the narrow channel sampling capability is enhanced; calculating the dynamic step length of the exponential decay based on the local obstacle proportion; adopting a hierarchical guidance expansion strategy, preferentially expanding towards a target, introducing an improved artificial potential field to guide expansion when the expansion fails, and taking the bottom with random expansion; performing RRT * neighborhood father node reselection and reconnection optimization on the new node; greedy pruning, self-adaptive interpolation and cubic B-spline smoothing are carried out on a path after the double trees are connected, and an executable smoothing track is output; according to the scheme, planning efficiency, success rate and path quality are improved.

This utility model discloses an injection mold for manufacturing control panel housings, relating to the field of control panel housing manufacturing technology. The utility model includes a mounting frame providing installation and stable support for the device, a vibration mechanism housed within the mounting frame, and a demolding mechanism for vibrating the mold during injection molding. Specifically, the vibration mechanism involves a motor driving the front rotating shaft to rotate, while a pulley system simultaneously drives the rear rotating shaft to rotate synchronously. Two impact wheels jointly strike the bottom of the lower mold, causing it to vibrate. During vibration, the lower mold, through the mounting plate, compresses the damping rod and spring, which work together to buffer the vibration and reduce violent shaking. This vibration mechanism reduces the viscosity of the molten plastic, promotes uniform filling of the cavity, assists demolding, simplifies the mold structure, and reduces cost and maintenance difficulty.

The utility model relates to lathe technical field provides a good micro - numerical control lathe of chip removal, solve the problem that lathe horizontal work surface falls the chip not easy clearance and the chip falls into the guide rail and influences the problem of tool rest feed. Scheme, the work surface of bed body is inclined surface, the lathe still includes: X axle assembly, include: a) X axle bottom plate, set up on the work surface of bed body, have X axle guide rail on it, b) workbench, slide connection in X axle guide rail, its upper portion is fixed with tool rest, c) first linear drive assembly, drive workbench and move along X axle direction, d) X axle protection assembly, install in workbench X axle direction both ends, protect X axle guide rail, Z axle assembly, include: a) Z axle guide rail, set up in the work surface of bed body, X axle bottom plate bottom slide connection in Z axle guide rail, b) second linear drive assembly, drive X axle bottom plate and move along Z axle direction, c) Z axle protection assembly, install in X axle bottom plate Z axle direction both ends, be used for protecting Z axle guide rail.

The invention relates to the technical field of urban construction, in particular to a kerb and tile visual grabbing control system. A kerb and tile visual grabbing control system comprises a visual identification module, a system control module and a six-axis mechanical arm module, the six-axis mechanical arm module comprises a mechanical arm main body and an auxiliary control assembly, the mechanical arm main body is used for grabbing and laying kerbs and tiles, and the auxiliary control assembly is used for controlling the mechanical arm main body. The mechanical arm body comprises a supporting arm, a lifting arm, a swing arm and a mechanical claw which are sequentially and rotationally connected, and the auxiliary control assembly is connected between the front end of the supporting arm and the front end of the swing arm and used for supporting the mechanical arm body and reducing the equipment load. According to the mechanical arm, the torque generated to the front end of the swing arm when the mechanical claw grabs a heavy object can be effectively shared, the load of each joint motor is greatly reduced, and therefore the structural rigidity and the movement stability of the whole mechanical arm under the heavy-load and large-arm-span working conditions are enhanced, and the precision and stability of the laying action are ensured.

This disclosure relates to a lidar, a scanner for the lidar, and an apparatus. The lidar includes a transmitter and a scanner. The transmitter is configured to emit a probe light. The scanner is configured to oscillate about a rotation axis within an oscillation range, deflecting the probe light into a field of view. The oscillation range includes a first fixed-speed region, a first variable-speed transition region, and a second fixed-speed region along a first direction. The first direction is perpendicular to the rotation axis. The scanner rotates at a greater speed in the first fixed-speed region than it rotates at the second fixed-speed region. In the first variable-speed transition region, the scanner's rotational speed varies with angle according to a half-period cosine function.

The utility model provides a kind of rhythmic vibration machine, it is related to fitness equipment technical field, including base, lower support, upper support and pedal, lower support is fixed with base, upper support is fixed with pedal, and lower support is equipped with rhythmic module, including drive motor, pivot and the cam connected with pivot by eccentric bearing, drive motor drives pivot by transmission mechanism, drives cam to make upper support rhythmic up and down;Meanwhile, vibration module is equipped on the side of upper support away from drive motor, for generating high-frequency vibration. By efficiently integrating rhythmic and vibration function in one, compact structure, and the stability of both simultaneous operation is improved by effectively avoiding motion interference with the layout of the two, so that users can simultaneously obtain the dual effect of full-body rhythmic exercise and local muscle deep relaxation.

This application discloses a piston-type multi-way valve and a water softener, comprising: a housing having a cavity, a first guide hole, and a second guide hole, the first guide hole communicating with the cavity; a sealing piston movably disposed within the cavity; a drive mechanism disposed on the housing; and a movable component having a first connecting portion and a second connecting portion, the first connecting portion slidably passing through the first guide hole and connected to the sealing piston, the second connecting portion being connected to the output end of the drive mechanism and slidably inserted into the second guide hole. By providing the first and second guide holes on the housing, the first connecting portion of the movable component slides within the first guide hole, and the second connecting portion of the movable component slides within the second guide hole, forming a dual-point cooperative guiding structure. This effectively limits the radial sway of the movable component during long-distance reciprocating motion, ensuring the straightness and stability of its motion trajectory, and improving the motion stability of the movable component.

This invention discloses an independently waterproof modular biomimetic oscillating fin, belonging to the field of underwater propulsion technology. It includes a base sealing assembly with a static waterproof structure, a DC motor fixed within the base sealing assembly, a swing arm assembly operatively connected to the motor output shaft of the DC motor, and a dynamic waterproof structure disposed between the base sealing assembly and the swing arm assembly. The working end of the motor output shaft is inclined; when the output shaft rotates, the swing arm reciprocates through the transmission action of a limiting post, thereby driving the fin-like surface to generate propulsion. Simultaneously, this invention provides a simple method for manufacturing a waterproof membrane, enabling rapid fabrication of the membrane required for the dynamic waterproof structure. This invention, employing a modular design, an efficient propulsion scheme, and a simple and flexible waterproofing solution, effectively overcomes the limitations of traditional underwater biomimetic oscillating fins, which suffer from complex assembly, limited waterproofing solutions, and high costs. It is of great significance for promoting the development of underwater propulsion technology.

The invention discloses a robot control method based on active disturbance observation and phase coupling control, and the method comprises the steps: collecting the current state quantity of a robot in real time, and constructing a joint space dynamic model; generating state estimation and disturbance estimation in the joint space dynamic model; a phase parameterization method is adopted to map the phase of the multi-degree-of-freedom action to an expected trajectory, and a closed-loop trajectory tracking and disturbance compensation control law is designed in combination with disturbance estimation and a sliding manifold mechanism; according to the method, a position error transformation design continuously-derivable robot auxiliary level function is introduced, the stability is analyzed by adopting a Lyapunov method, and a closed-loop trajectory tracking and disturbance compensation control law and a coupling gain adaptive law are substituted into a time derivative of a candidate Lyapunov function to complete the control of the robot. The control output can be kept smooth and continuous, instruction sudden change or attitude instability is avoided, high action success rate and landing stability can still be maintained when the environment changes, and the landing impact load peak value is effectively reduced.

The utility model relates to the technical field of inspection well cleaning, and discloses a cleaning mechanism and a cleaning device, the cleaning mechanism comprises a base, a moving assembly, a cleaning assembly and an auxiliary wheel assembly, the moving assembly comprises two moving wheel groups, the two moving wheel groups are slidably arranged on the bottom surface of the base along the moving direction of the cleaning mechanism and drive the cleaning mechanism to move, the cleaning assembly comprises a first cleaning assembly and a second cleaning assembly, the first cleaning assembly and the second cleaning assembly are arranged on the base at intervals, one end of the auxiliary wheel assembly is installed on the bottom surface of the base, and the other end is used for abutting against the outer side wall of the inspection well, the two moving wheel groups can slide along the direction perpendicular to the moving direction of the cleaning mechanism to adjust the horizontal distance between the moving wheel groups and the auxiliary wheel assembly, so that the moving wheel groups and the auxiliary wheel assembly can more evenly disperse the gravity of the cleaning mechanism to themselves, and the moving stability of the cleaning mechanism is improved.

The invention discloses a coil spring take-up and pay-off mechanism of a spiral lifting mechanism. A guide take-up and pay-off assembly comprises an upper guide assembly and a lower guide assembly. The upper guide assembly comprises a main guide wheel vertically arranged on the lifting base, an upper arc-shaped elastic piece fixedly arranged on the upper side of the bottom wall of the spring coiling disc and an upper elastic supporting body located at the free end of the upper arc-shaped elastic piece. The lower guiding assembly comprises a lower arc-shaped elastic piece fixedly arranged on the lower side of the bottom wall of the spring coiling disc and a lower elastic supporting body located at the free end of the lower arc-shaped elastic piece, and the upper arc-shaped elastic piece and the lower arc-shaped elastic piece are located at the two ends of the arc-shaped opening correspondingly and are oppositely arranged. The upper elastic supporting body and the lower elastic supporting body are spaced in the vertical direction and the horizontal direction. The transverse coil spring passes through the lower surface of the lower elastic supporting body from bottom to top and penetrates through the arc-shaped opening to be wound between the main guide wheel and the upper elastic supporting body, and the upper arc-shaped elastic piece and the lower arc-shaped elastic piece conduct self-adaptive adjustment on the retracting and releasing angle of the transverse coil spring.

The embodiment of the invention provides a robot control method and device, electronic equipment and a storage medium, and relates to the technical field of robots. The robot control method comprises the steps that in response to collision of a robot, an expected joint angle is selected from joint angles of all joints of the robot at multiple historical moments, based on the current expected joint angle, according to a first determination mode, the impedance torque of the robot is determined, and according to the impedance torque of the robot, the robot is controlled. And calculating the output torque of the robot, controlling the robot to move according to the output torque of the robot, and returning to the step of selecting the expected joint angle from the joint angles of the joints of the robot at the plurality of historical moments. Therefore, according to the scheme, the robot can be effectively protected after collision happens to the robot.

This invention relates to a rigid-flexible coupling collaborative aerospace blade grinding robot, comprising a frame, a lifting mechanism within the frame, and an auxiliary gripper, a conveyor belt, and a grinding mechanism at the bottom of the frame. The lifting mechanism includes a primary platform, a secondary platform, and a self-locking gripper arranged sequentially from top to bottom. The primary platform is connected to a first drum in the primary platform control mechanism via a first flexible cable, and the self-locking gripper is connected to a second drum in the gripper attitude control mechanism via a second flexible cable. As can be seen from the above technical solution, this invention features rigid-flexible coupling, high efficiency, modular reconfigurability, large workspace, stable grinding quality, and full-process automation. Furthermore, this robot can automatically complete clamping, omnidirectional grinding, and lifting tasks, and is adaptable to grinding aerospace blades of different sizes and structures.

The application discloses a parallel hole damping-spiral tube inerter underwater damping device and belongs to the technical field of underwater vibration control. The device comprises an upper shell, a lower shell, a damping spring, an open small hole damping and an open fluid inerter. The upper shell and the lower shell are two parts in relative sliding. The damping spring and the open small hole damping are assembled in parallel to form an integral body, which together constitutes an open spring damping. The open spring damping and the open fluid inerter are connected in parallel, and the upper and lower ends of the two are respectively fixed to the upper shell and the lower shell. The open small hole damping and the open fluid inerter are both installed in the upper shell and the lower shell. The application adopts a parallel topology structure of inerter, damping and spring. The double spiral pipes and the symmetrical piston rods realize the fluid inerter effect in two directions. The small holes on the damping piston realize the speed-dependent throttling damping. The device has the characteristics of wide frequency vibration isolation, strong static load capacity, symmetrical positive and negative characteristics and deep water environment.

This utility model relates to the field of wall flatness testing technology, and discloses a wall flatness testing device, including a base and four universal wheels. A fixed housing is located at the center of the upper surface of the base. A lead screw moving device is located at the center of the interior of the fixed housing. A moving block is threadedly connected to the center of the outer side of the lead screw moving device. A lubrication device is located at the center of the upper surface of each fixed housing. A moving housing is located at the center of the front end face of each moving block. A toothed belt is located at the center of the rear inner wall of each moving housing. A moving rod is slidably connected inside a sliding groove. A transmission wheel is located at the center of the rear end face of the moving rod. A fixed block is located at the center of the front end face of the moving rod. A flatness testing instrument is located at the center of the fixed block. In this utility model, the lubrication device enables efficient movement of the flatness testing instrument and increases the motion accuracy and stability of the device, thereby improving the lubrication effect.

The present application relates to a kind of stator coil structure and magnetic levitation plane motor for magnetic levitation plane motor.The stator coil structure includes multiple groups of shaping coils and multiple groups of long strip coils, each group of shaping coils and corresponding group of long strip coils form a group of coil combination units;Multiple groups of coil combination units are arranged according to predetermined coil period, for interacting with the mover permanent magnet array located above or below when energized, generate horizontal direction driving force and / or vertical direction suspension force;Each group of shaping coils and long strip coils are arranged alternately, and the shaping coil is used to fill the space gap formed by the arrangement of long strip coil, to improve the effective conductor ratio and coil slot fill factor in stator plane.The present application increases the effective conductor area involved in electromagnetic force under the premise that the heat dissipation condition and thermal power remain basically unchanged, so as to improve the output force density of magnetic levitation plane motor.

The utility model discloses an annular conveying mechanism and functional film detection equipment. The annular conveying mechanism comprises a supporting frame, a conveying disc and a driving mechanism. The supporting frame is provided with an annular track connected end to end, and a first guide structure is annularly arranged on the peripheral wall of the annular track. A guide wheel is arranged on the bottom wall of the conveying disc, the guide wheel is pivotally connected with the conveying disc, a second guide structure is annularly arranged on the peripheral wall of the guide wheel, and the first guide structure and the second guide structure are in guiding and limiting fit; the driving mechanism is in transmission connection with the conveying disc and used for driving the conveying disc to circularly move along the annular track. The first guide structure and the second guide structure are in limiting fit, so that the offset stroke of the conveying disc relative to the annular track can be limited, the offset of the conveying disc relative to the annular track can be reduced, the detection camera can completely cover the covering functional film, and then the detection accuracy of the detection result can be improved.

The invention provides underwater refueling equipment which is used for realizing refueling work of a reactor, the reactor comprises a pressure vessel, a fuel assembly is arranged in the pressure vessel, and the equipment comprises a bridge type platform arranged above the pressure vessel; the refueling device is movably arranged on the bridge type platform and comprises a fuel clamping unit; the fuel clamping unit comprises a driving assembly arranged on the bridge type platform; the fixed sleeve is fixedly arranged relative to the driving assembly; the driving sleeve is connected to the driving assembly, and the driving assembly can drive the driving sleeve to reciprocate in the fixed sleeve in the axial direction; the at least two stages of driven sleeves are sequentially nested and slidably arranged in the driving sleeve in the axial direction, the at least two stages of driven sleeves are connected with the driving sleeve through a transmission assembly, and the transmission assembly can transmit the axial displacement of the driving sleeve to the driven sleeve on the innermost layer according to a first preset proportion; the driven sleeve execution assembly arranged on the innermost layer can clamp or place a fuel assembly.

This invention provides a motion adaptive control method and system for a wheel-legged hybrid robot, belonging to the field of robot control technology. The method includes: constructing a multi-mode dynamic model and calibrating sensor parameters; accurately perceiving terrain, obstacles, and ground adhesion characteristics, predicting dynamic obstacle trajectories, and perceiving terrain abrupt changes; presetting multi-parameter fusion switching thresholds for three motion modes: single-wheel, single-leg, and wheel-leg hybrid; formulating dynamic switching decisions; constructing an adaptive control model to perform detailed control of the three motion modes and transition control between modes; and performing multi-source error collaborative compensation for errors in the three motion modes. This invention, through the combination of multi-mode dynamic modeling and cross-modal fusion perception, accurately captures the robot's dynamic characteristics and complex environmental parameters, significantly enhancing the robot's adaptability to diverse terrains and dynamic obstacles such as flat surfaces, slopes, and steps, and enabling rapid identification of terrain abrupt changes and prediction of dynamic obstacle trajectories.

The invention discloses a high-voltage transmission line operation robot, which comprises a robot body, a walking unit, a cutting unit, a spraying unit, a visual unit and a control unit, and is characterized in that the robot body comprises a bearing platform and a bearing bracket fixed above the bearing platform; the walking unit is mounted on the robot body; the operation unit is mounted on one side of the bearing bracket and is used for cutting suspended objects on the high-voltage power transmission line or spraying conductive silver paste on a strain clamp on the high-voltage power transmission line; the visual unit is installed on the robot body and used for polling a high-voltage transmission line and monitoring the working state of the robot. And the control unit is fixed on the bearing platform. The robot has the multiple functions of walking on the high-voltage power transmission line, hanging object cutting / strain clamp conductive silver paste spraying, power transmission line inspection and the like at the same time, personnel do not need to make contact with the high-voltage power transmission line during hot-line work, and reliability and safety are high.

The utility model provides an adjustable corn husking device with groove flat rollers, which belongs to the technical field of corn harvesters and comprises a frame and husking roller groups, corresponding floating plates are movably arranged on two inner sides of the frame respectively, a connecting rod is arranged between the two floating plates, and two ends of the connecting rod are movably connected with the floating plates through pin shafts A respectively; the peeling roller set is arranged between the two floating plates, and the peeling roller set comprises a spiral roller and a fish scale roller; the two ends of the spiral roller movably penetrate through the floating plates respectively and then are connected with the rack, and the two ends of the fish scale roller are connected with the floating plates respectively; wherein one floating plate is connected with an adjusting mechanism A arranged on the rack, and the other floating plate is connected with an adjusting mechanism B arranged on the rack. Through functional combination of the lever type adjusting mechanism and the groove flat roller, the height of the husking roller is conveniently adjusted, the husking efficiency and quality of different corns can be effectively improved, and the threshing rate and the operation and maintenance cost are reduced.

The utility model relates to a lower isolation environment-friendly semi-solid-sealed switch, which realizes high integration of switch equipment by integrating a circuit breaker assembly, a static contact assembly, a moving contact assembly and the like on a mechanism frame, and is characterized in that a vacuum arc-extinguishing chamber is arranged in each semi-solid-sealed polar pole, so that the generation and diffusion of electric arcs can be effectively inhibited in a vacuum environment, and the reliability of the switch equipment is improved. The breaking capacity and the arc extinguishing speed of the switch are improved, the cam transmission assemblies are driven through the rotating motion of the main shaft, then the opening and closing operation of the vacuum arc extinguishing chamber is achieved, mutual interference between the cam transmission assemblies is effectively prevented through the arrangement of the interphase check rings, and the sealing performance of the vacuum arc extinguishing chamber is enhanced through the fixed sealing plug. According to the utility model, external impurities and moisture are prevented from invading, so that the service life of the switch is prolonged, the conductive clamp ensures good connection between the vacuum arc-extinguishing chamber and an external circuit, and the conductive performance and the electrical stability of the switch are improved.

This utility model relates to laboratory equipment and discloses a hoverable sliding door, including a door body, a support mechanism, and a constant force spring. A guide wheel is rotatably mounted on the support mechanism, and the door body is slidably connected to the support mechanism. One end of the elastic band of the constant force spring is fixed to the spring's shaft, and the other end is connected to a steel wire rope, which passes around the guide wheel and is connected to the door body. The elastic force of the spring's elastic band is equal to the weight of the door body, thus enabling the door body to hover. Applying an external force to the door body causes it to slide, changing the relative position between the door body and the support mechanism. When the position of the door body needs to be changed, the operator applies an external force to the door body to change its position; after removing the external force, the door body remains in the new position. This utility model also provides an experimental device including the aforementioned hoverable sliding door.

This application relates to a method, system, device, and medium for torque distribution of hub motors, including: acquiring the robot's current total required torque and the real-time speed of each hub motor; inputting the total required torque and the real-time speed into a quadratic programming solver; constructing a quadratic programming objective function with the distributed torque of each hub motor as the decision variable; setting initial distributed torque components that satisfy the planning constraints and initializing the effective set, wherein the effective set includes all inequality constraints that are exactly on the boundary in the current solution and all equality constraints; performing an iterative loop subproblem solution based on all inequality constraints and equality constraints in the effective set until the optimality condition is met, and outputting the optimal distributed torque vector; using each element in the optimal distributed torque vector as the target output torque of the corresponding hub motor, and controlling the corresponding hub motor to perform torque output.

The application discloses a dead angle-free cloth wiping and washing device, which comprises a cloth rotating module, a water suction module, a driving mechanism and a water spraying module. The cloth rotating module comprises a water scraping frame, a curved-edge triangular cloth tray, a sun gear and a hollow suction pipe shaft, etc. The curved-edge triangular cloth tray and the cloth outer contour are obtained through a fitting mode, so that the curved edge can highly engage the square edges when rotating. The hollow suction pipe shaft is arranged as a three-layer stepped shaft, which is convenient for sewage suction. The driving mechanism comprises a motor module and a motor gear, etc., and is responsible for providing power for cleaning. The water suction module comprises a water suction impeller, etc., and cooperates with the hollow suction pipe shaft to form a suction channel and recycle sewage.

This invention provides a nuclear power pipeline diameter-changing cutting and grinding robot and its cutting and grinding repair method, relating to the field of pipeline grinding and repair technology. The cutting and grinding robot includes a drive component, a first support component, a cutting and grinding component, and a second support component. The drive component is connected to the first support component, and the cutting and grinding component is connected to the second support component via universal joints. In the drive component, the support plate is rotatably connected to the drive rod of the drive mechanism, and a screw nut is helically connected to the transmission screw. This invention drives the drive wheel to unfold through the transmission screw, the screw nut, and the linkage mechanism. In conjunction with the drive cylinder, the arc-shaped wheel and each elastic support wheel change diameter and fit against the pipe wall. The universal joints are connected in series to achieve differential speed bending of the pipe, ensuring the robot's passability and stability in straight pipes, diameter-changing pipes, and pipes with large curvature. The grinding wheel achieves composite grinding of revolution and rotation through the meshing of the central gear and planetary gears, realizing the integration of cutting, grinding, and chip collection, significantly improving grinding uniformity and repair efficiency.

The invention discloses a cleaning device of a photovoltaic module and a control method of the cleaning device, the cleaning device comprises a frame body, a driving wheel and a track, the frame body is provided with a rolling brush, the rolling brush extends along the width direction of the photovoltaic module, the rolling brush is used for rolling on a photovoltaic panel of the photovoltaic module to clean the photovoltaic panel, the driving wheel is connected with the end part of the frame body, and the track is connected with the driving wheel. The track is connected with the photovoltaic module and extends in the length direction of the photovoltaic module, and the driving wheel is used for rolling along the track. And the cleaning device realizes automatic cleaning of the photovoltaic module, so that the cleaning efficiency is improved, the manual operation is reduced, and the labor intensity in a severe environment and the potential safety hazard of high-altitude operation are reduced. The rolling brush achieves waterless cleaning of the photovoltaic module through rotation of flexible contact, the problem that water resources are scarce in a special environment is effectively solved, limitation of water quality and weather conditions to the cleaning effect is avoided, and the cleaning device is particularly suitable for cleaning operation and maintenance scenes of large-scale desert photovoltaic power stations.

This invention relates to a conveying telescopic mechanism for material transport and processing, belonging to the field of material transport technology. It includes a primary telescopic platform, a frame, a secondary telescopic platform, and a tertiary telescopic platform. A support frame is mounted on the primary telescopic platform. The tertiary telescopic platform telescopically moves on the support frame, the secondary telescopic platform telescopically moves on the tertiary telescopic platform, and the primary telescopic platform telescopically moves on the secondary telescopic platform. Telescopic components are arranged between the side plates of the primary and secondary telescopic platforms, and between the support frame and the side plates of the tertiary telescopic platform. Through the linkage structure of the follow-up module, the variable module, and the active module, anti-wear fluid is supplied to the active disc only during forward drive of the output shaft, i.e., material transport operation. During reverse return, i.e., no-load reset, the active module automatically disengages from the active disc, thereby stopping the supply of anti-wear fluid. This avoids waste of anti-wear fluid due to insufficient load during the return phase or after maintenance following equipment startup.

The invention discloses a telescopic rotary hydraulic cylinder, and belongs to the technical field of hydraulic cylinders. Comprising a cylinder body and a piston rod which are matched with each other, the revolving bed is fixed at the piston rod end; the rotary rod is rotationally mounted on the rotary seat and is coaxial with the piston rod; the pair of racks are fixed on the rotary seat and are arranged on two sides of the rotary rod in parallel; the ends, away from the rotary seat, of the two racks are fixedly connected with a rotary disc which rotationally sleeves the rotary rod. The gearbox is fixed to one end of the supporting cylinder. The input end of the gearbox is provided with a first straight gear meshed with the rack, and the output end of the gearbox is provided with an outer fluted disc matched with the internal spline of the piston rod. The rack is driven to move through linear motion of the piston rod, the linear motion is converted into rotary motion of the outer fluted disc through the gearbox, and therefore the rotary rod is driven to rotate, linkage of axial stretching and circumferential rotation of the rotary rod is achieved, and an additional motor or a rotary oil cylinder is not needed.