614results about How to "Increase load capacity" patented technology

The present invention relates to the field of semiconductor manufacturing technology, and in particular to a copper sheet bonding device for punching and feeding semiconductor devices and an assembly method thereof. The tray feeding and gluing device of the mounting equipment provides a copper frame with a first chip and a second chip mounted thereon, and glue is applied to the two pins of the copper frame, the source of the first chip and the second chip, and glue is applied to the gate of the first chip; the jumper punching and feeding device, the jumper mounting device, the image detection mechanism and the unloading mechanism of the mounting equipment respectively complete the punching of the flat strip to form two independent jumpers, and unload the materials after the jumper mounting device completes the mounting. The advantage of the present invention is that two independent jumpers are punched out by the punching and feeding device, and the copper frame is used as a substrate, and two jumper clips are used to interconnect the power semiconductor chip electrodes with the lead-out pins of the copper frame, and the copper sheet bonding reduces chip damage and increases the chip carrying power.

The invention discloses an under-actuated core column type continuum robot for a narrow space task, and belongs to the technical field of multi-degree-of-freedom redundant continuum robots. Comprising a driving device, a plurality of motors are used for controlling winding and unwinding combination of a driving rope, flexible movement of a mechanical arm is achieved, and an expected working pose is achieved. And the guide rail is moved to push the platform, linear motion is executed in the lead range, and the mechanical arm is moved to the designated operation range. The continuum mechanical arm main body consists of N mechanical arm units with the same structure and is divided into M joint sections; a rigid-flexible coupling mode is adopted, and a universal joint structure and a core column structure are combined, so that joints can flexibly deflect, and the torsional rigidity and the overall load capacity are improved; and the end effector is used for executing diversified tasks according to operation requirements. The robot provided by the invention has the advantages of high flexibility, large length-diameter ratio, high torsion resistance, high environmental adaptability and the like, and can meet the requirements of detection and operation and maintenance operation in a narrow unstructured space.

The invention provides an atomizing agent containing stem cell exosomes as well as a preparation method and application of the atomizing agent, and belongs to the technical field of exosomes. Ferroferric oxide magnetic particles are prepared, the surfaces of the ferroferric oxide magnetic particles are modified through tannic acid, berberine and adriamycin are loaded, then the ferroferric oxide magnetic particles and the exosome secreted by adipose-derived mesenchymal stem cells are mixed, incubated and centrifuged, the mixture is added into normal saline, uniform ultrasonic dispersion is conducted, and the atomizing agent containing the stem cell exosome is prepared. The prepared atomizing agent containing the stem cell exosome is simple in preparation method and wide in raw material source, the prepared atomizing agent directly enters the lung through spray administration, the unique performance of magnetic targeting drug delivery is achieved, drugs are released in a targeted and fixed-point mode, the drug effect is improved, and the effects of efficiently promoting tumor cell apoptosis and resisting lung cancer and pneumonia are achieved.

The invention belongs to the technical field of cosmetics, and discloses a cyclodextrin-based water-resistant modified polyurethane film-forming agent and a preparation method thereof. The cyclodextrin-based water-resistant modified polyurethane film-forming agent comprises a hydrophilic chain segment and a hydrophobic chain segment, the hydrophilic chain segment comprises a chain segment formed by raw materials of cyclodextrin and 2, 2-dimethylolbutyric acid, and the hydrophobic chain segment comprises a chain segment formed by a raw material of organosilicon. Compared with the prior art, the cyclodextrin-based water-resistant modified polyurethane film-forming agent disclosed by the invention has good film-forming property, water resistance, dispersity, softness and adhesive force, can also be used as a film-forming material of cosmetic products, and enhances the waterproof, sweat-resistant and lasting characteristics of cosmetics.

The invention relates to a directional deflection diagonal plane deflection joint with a single driving source, which belongs to the technical field of deflection mechanisms capable of moving in multiple dimensions and comprises a first clutch, a second clutch, a transmission shaft, a clutch supporting structure, a planetary gear train, a planetary gear train transmission structure, a speed reducer, an upper diagonal plane mechanism, a lower diagonal plane mechanism, a universal joint, a driving motor and a bearing. Through the cooperation of different clutches, the upper part and the lower part of the joint can rotate in different directions and at different speeds or move in the same way, through the movement of different parts, the deflection action of the system in space is realized, the multi-dimensional movement space of the mechanism is realized, the number of driving sources is reduced, and the total weight of the system is further reduced.

The invention discloses an intelligent hospital logistics management platform, and relates to the technical field of logistics management. Comprising the following steps: establishing a hospital visual model through BIM, and adding a data acquisition device to a corresponding position of the visual model; performing type label setting on the data acquisition device according to the acquired data type, and then setting an attribute label according to the professional attribute of the target space where the data acquisition device is located; displaying corresponding equipment data according to the selected type tag and / or attribute tag; the method comprises the following steps: summarizing logistics information which comprises equipment data and repair data, identifying abnormal data in the equipment data, setting the corresponding equipment data as the abnormal data according to the content of the repair data, carrying out alarm processing on the abnormal data, processing according to position information, summarizing islanding logistics information, and sending the summarized islanding logistics information to a server; the service functions of logistics repair, alarm processing, energy analysis and the like of the whole hospital are undertaken, and the overall management level of the hospital is optimized.

The utility model discloses a multilayer three-dimensional breeding device, which comprises a fixed breeding unit, a material receiving bin and a three-dimensional multilayer movable feeding vehicle, breeding hole grooves are two rows of multilayer three-dimensional structures which are symmetrically stacked left and right, and an object placing platform of each breeding hole groove inclines downwards and is provided with a discharging side door facing a middle discharging channel oppositely. The storage hole grooves are formed in a multi-layer three-dimensional stacked mode, are obliquely arranged and are provided with feeding side doors, an opening in the upper portion of the receiving bin and the discharging channel form a space shaped like a Chinese character'tu ', so that discharged materials of the breeding units can fall into the receiving bin, and a movable receiving trolley is arranged in the receiving bin. According to the utility model, the assembly line work of filling, preparing and feeding of the material storage hole groove and feeding and discharging and collecting of the breeding hole groove can be realized through gravity, the breeding hole groove can be fed, discharged or cleaned without being pulled out, the movable material feeding and collecting vehicle facilitates feeding, material collecting, cleaning and the like, intelligent breeding can be realized, and meanwhile, the material feeding and discharging side door facilitates accurate feeding and discharging, so that the production efficiency is improved. The vertical rod piece can reinforce and support opening and closing of the feeding and discharging side door.

The invention discloses a tilting multi-rotor unmanned aerial vehicle and a tilting transition method, and belongs to the technical field of unmanned aerial vehicles. The tilting multi-rotor unmanned aerial vehicle comprises a fuselage, wings are symmetrically arranged on the two sides of the fuselage, wingtip small wings with rudders are arranged at the tail ends of the wings, and front tilting mechanisms symmetrically arranged relative to the fuselage are arranged at the front end of the fuselage; rear tilting mechanisms which are symmetrically arranged relative to the fuselage are arranged at the rear end of the fuselage, and a propeller is arranged in the middle of the rear end of the fuselage; the front tilting mechanism comprises a front propeller, the front propeller is connected with the fuselage through a tilting power structure, the rear tilting mechanism comprises a rear propeller, and the rear propeller is connected with the fuselage through a tilting power structure. According to the tilting multi-rotor unmanned aerial vehicle and the tilting transition method, the fuselage layout is matched with the front tilting mechanism and the rear tilting mechanism, the flight stability is improved, and higher air maneuverability is achieved.

The invention discloses a computing resource scheduling optimization method for a large model, and relates to the technical field of resource scheduling optimization, tasks are divided into abnormal tasks and common tasks, and a weight value is matched according to a resource processing capability value and request times of each computing node; calculation nodes are divided into common calculation nodes and buffer calculation nodes, the first priority is an abnormal task, idle calculation nodes in the common calculation nodes are firstly scheduled as buffer temporary calculation nodes, and the load capacity of the buffer calculation nodes is temporarily improved so that task requirements of the abnormal task can be matched; according to the method and the device, the problem of facing sudden and abnormal task requirements can be effectively solved, the dynamic computing resource scheduling optimization effect is realized, and the accuracy of a computing result is improved.

The invention provides a porous fiber membrane with a multistage pore channel structure and a preparation method thereof.The preparation method comprises the steps that soluble polymers are dissolved in corresponding solvents, then dispersed EVOH nanofibers are added, and a mixed solution of the polymer solution and the EVOH nanofibers is obtained; injecting the mixed solution into a rotationally stirred non-solvent coagulating bath containing a cross-linking agent at a certain rate by using an injector, performing phase separation on the mixed solution, forming porous fibers under the action of centrifugal force, and dispersing the porous fibers in a non-solvent to obtain a porous fiber dispersion liquid; and finally, coating the porous fiber dispersion liquid on a non-woven base material, performing auxiliary film formation under the action of negative pressure, and drying to obtain the porous fiber film with the multilevel pore channel structure. The prepared porous fiber membrane with the hierarchical porous channel structure not only has micron-sized porous channels, but also has nano-sized porous channels with different sizes on the surfaces of the porous fibers forming the membrane channels, shows higher loading capacity and lower mass transfer resistance, and is suitable for the field of adsorption separation.

The invention discloses a rotating cabinet track guiding rotating structure which comprises a movable plate, a fixed plate and a rotating assembly, the rotating assembly comprises a linear track, a damper and a rotating seat, the rotating seat comprises a rotating seat body, a fixed bearing, a shaft head, a supporting block, a rolling pulley and a clamping jaw, and the invention further discloses a rotating cabinet which comprises an outer fixed cabinet body and an inner movable cabinet body. The invention further discloses the rotating cabinet track guiding rotating structure. According to the track guide rotating structure of the rotating cabinet, through stable rotating control, strong load capacity and efficient space utilization, excellent stability and durability are provided, the operation complexity is reduced due to the characteristics of simplicity and easiness in operation, and the safety is ensured through precise damping and shock absorption functions; in addition, the rotary cabinet formed by assembling the outer fixed cabinet body, the inner movable cabinet body and the rotary cabinet track guiding rotary structure does not need to be additionally provided with a cabinet door, and the combined door opening and closing state of the inner movable cabinet body and the outer fixed cabinet body can be completed only through rotation.

The invention provides a preparation method and application of a mixed matrix membrane based on in-situ MOF gel, and relates to the field of gas separation membrane materials. The preparation method comprises the following steps: weighing a certain amount of dry Pebax particles, and dissolving the Pebax particles in an ethanol-water mixed solvent at 90 DEG C to obtain a solution A; dissolving zinc nitrate hexahydrate in an ethanol-water mixed solvent to obtain a solution B; dimethylimidazole is dissolved in an ethanol-water mixed solvent, and a solution C is obtained; adding a certain amount of triethylamine into the solution C, and uniformly mixing; sequentially adding the solution B and the solution C into the solution A, and stirring for reaction to obtain a mixed solution; transferring the mixed solution to a dialysis bag for dialysis; and transferring the dialyzed mixed solution to a polytetrafluoroethylene culture dish, and drying to obtain the mixed matrix membrane. The preparation method provided by the invention is simple and easy to operate, the prepared mixed matrix membrane has good interfacial compatibility with MOF gel, and the MOF loading capacity can be improved, so that the gas separation performance is improved.

The invention discloses dry and comfortable antibacterial menstrual period pants and a preparation method thereof, and belongs to the technical field of female hygienic products, and the preparation method comprises the following steps: beta-cyclodextrin and sophocarpidine are utilized to form a superfine capsular inclusion compound, the superfine capsular inclusion compound is adsorbed on the surface of macroporous super absorbent resin to form antibacterial composite resin powder, and the antibacterial composite resin powder is sprayed on the surface of a composite aerogel sheet; when meeting blood, the affinity of water molecules to external hydroxyl groups of cyclodextrin is enhanced, so that the binding force of matrine and beta-cyclodextrin is weakened, and matrine is released; the antibacterial composite resin powder expands when encountering water, compresses and promotes the release of the nano antibacterial inclusion compound loaded on the surface, so that the release of the matrine contained in the antibacterial composite resin powder is accelerated, and a rapid and highly-targeted antibacterial effect is realized; the composite aerogel sheet can improve the resilience force of the menstrual period trousers, has an extremely high specific surface area, a nanoscale hole structure and an extremely low heat conductivity coefficient, and can effectively prevent heat transfer and improve air permeability.

The utility model discloses a relay, which comprises a fixed part and a movable contact part, and is characterized in that the fixed part comprises an accommodating piece and a static contact piece group which are fixedly connected with each other; the movable contact part is suitable for moving relative to the fixed part in the X-axis direction and comprises a movable contact piece set, and the movable contact piece set and the static contact piece set are connected or disconnected in the X-axis direction. One of the accommodating piece and the movable contact part is provided with a chute, and the other one is provided with a guide part; the sliding groove extends in the X-axis direction, and the guide part extends into the sliding groove in the Z-axis direction so as to be in sliding fit with the sliding groove in the X-axis direction. By the adoption of the technical scheme, compared with the prior art, a better guiding effect is achieved.

The utility model relates to a multi-shaft rotary workbench, and aims to provide a multi-shaft rotary workbench which is small in occupied space, high in load capacity and capable of achieving efficient machining. Comprising a rotating base, a first swinging unit, a second swinging unit and a plurality of rotating units, and the rotating units are installed on the rotating base side by side and can rotate around the central axis parallel to the first direction; one end of the rotating base is connected with the first swinging unit, the other end of the rotating base is connected with the second swinging unit, and the rotating base can be driven by the first swinging unit and the second swinging unit to swing in the second direction perpendicular to the first direction.

The invention discloses a harmful gas detection device. The harmful gas detection device comprises a handheld mechanism, a detection mechanism arranged on the handheld mechanism and an external connection mechanism arranged on the detection mechanism, the detection mechanism comprises a connecting cylinder arranged on the handheld mechanism, a detector body arranged in the connecting cylinder and abutting assemblies arranged at the two ends of the connecting cylinder. The external connection mechanism comprises a wheel body and an external connection sleeve which are arranged on the connecting cylinder, and a rotating assembly arranged on the external connection sleeve. The detection mechanism can be placed at a front position of a worker through the arrangement of the handheld mechanism; the arrangement of the detection mechanism can guide air at different positions on a forward road into the detector main body in the moving process, so that the detection effect is improved, the arrangement of the wheel bodies can effectively improve more loading capacity, the increase of the loading capacity can better improve the storage amount of batteries of the device, and the detection efficiency is improved. And the operation time of the device is prolonged.

The invention relates to the technical field of cigarette manufacturing, and discloses cigarette filter stick forming paper containing bamboo ultrafine powder and a preparation method thereof, the cigarette filter stick forming paper comprises the following raw materials by mass: 40-60 parts of wood pulp cellulose, 0-35 parts of tobacco stem ultrafine powder, 10-30 parts of bamboo ultrafine powder, 20-30 parts of a modified calcium carbonate filler, 12-16 parts of essence and 1-6 parts of a cigarette paper additive; the modified calcium carbonate is obtained by compounding calcium carbonate with zeolite powder and then modifying with glyceryl triacetate. By means of the method, smoke can have the fresh and sweet fragrance of bamboos, the smoke is enriched, the smoke state and the fragrance style are improved, offensive odor and irritation of tobaccos are reduced, and the smoking quality of cigarettes is improved.

The invention relates to the technical field of transmission devices, and discloses a speed reduction motor which comprises a box body, a first-stage inner gear ring, a second-stage inner gear ring, a first-stage NGW planetary speed reduction mechanism and a second-stage small-tooth-difference planetary speed reduction mechanism are arranged in the box body, and the first-stage NGW planetary speed reduction mechanism comprises a first-stage sun gear, a first-stage planet gear, a first-stage planet carrier and a first-stage inner gear ring. The second-stage small-tooth-difference planetary reduction mechanism comprises a second-stage eccentric shaft, at least two second-stage outer gears, a second-stage pin shaft disc and a second-stage inner gear ring, each eccentric shaft section of the second-stage eccentric shaft is rotationally connected with one second-stage outer gear, one end of the box body is connected with a motor, and the other end of the box body is connected with an end cover in a plugging mode. An output shaft of the motor is in coaxial transmission connection with the first-stage sun gear, the first-stage planet carrier is connected with the second-stage eccentric shaft, and an output shaft section of the second-stage pin shaft disc penetrates through the end cover and is partially exposed out of the end cover. The total reduction ratio can reach 600 or even higher, the bearing capacity is high, the structure is simple and compact, and the occupied space is small.

The invention belongs to the field of electrochemical sensors, and relates to an electrochemical sensor for high-sensitivity detection of carbendazim and a preparation method of the electrochemical sensor. The surface of a glassy carbon electrode (GCE) is modified with an LDMS-CCN-GCT nanocomposite material prepared from dendritic large-aperture mesoporous silica, conductive carbon black nanoparticles and graphitized carbon nanotubes, and a CCN-GCT-LDMS / GCE working electrode is formed. The preparation method comprises the following steps: firstly, uniformly dispersing CCN and GCT in an N, N-dimethylformamide solution through magnetic stirring in an ultrasonic environment, wherein the CCN and the GCT are equal in mass; then, adding LDMS into the solution, and carrying out ultrasonic dispersion to obtain a uniformly mixed CCN (at) GCT (at) LDMS suspension; and finally, dispensing the uniform suspension onto the surface of GCE, and drying under an infrared lamp to prepare the working electrode CCN (at) GCT (at) LDMS / GCE modified by the CCN (at) GCT (at) LDMS nano composite material. Based on the synergistic effect generated by LDMS and CCN-coated GCT, the CCN-coated GCT-coated LDMS / GCE sensor is high in sensitivity, the detection limit can reach 7.36 nM, and the CCN-coated GCT-coated LDMS / GCE sensor has excellent carbendazim sensing detection performance.

The utility model relates to the technical field of waste glass recycling, and discloses a waste glass recycling and crushing device which comprises a base, a transmission mechanism is fixedly connected to the surface of the base, a crusher shell is fixedly connected to the surface of the base, the transmission mechanism is rotationally connected with a crushing mechanism, and the crushing mechanism is rotationally connected with the transmission mechanism. The base of the device adopts threaded ground feet, the height of the device can be adjusted by adjusting nuts, the device has the advantages of being convenient to install, simple in structure, low in cost, high in loading capacity and the like, a transmission mechanism adopts V-belt transmission, the V-belt transmission is large in friction force, compact in structure, high in transmission ratio and stable in operation, motor power can be effectively utilized, and machining cost can be reduced. A crushing mechanism in the crusher is a hammer type crushing mechanism, and the hammer type crushing mechanism has the advantages of being large in crushing ratio, high in production capacity, uniform in product, few in over-powder phenomenon, simple in mechanism, light in equipment mass, easy to operate and maintain and the like, and the hammer type crushing mechanism is suitable for crushing medium-hardness and brittle materials, can grind the materials into uniform particles and is high in production efficiency.

The invention discloses a preparation method of a high-selectivity nanofiltration membrane based on a functionalized two-dimensional material, which comprises the following steps: carrying out stripping and freeze-drying treatment on chemically grafted carboxylated molybdenum disulfide powder, then preparing into an aqueous solution, and stirring to obtain a material dispersion liquid; preparing a piperazine aqueous solution as an aqueous phase solution, and preparing a trimesoyl chloride organic solution as an organic phase solution; soaking the polyethersulfone ultrafiltration membrane in the material dispersion liquid, taking out the polyethersulfone ultrafiltration membrane, and carrying out uniform dispersion treatment and surface drying on the polyethersulfone ultrafiltration membrane; and then immersing in a water phase solution, taking out and air-drying, immersing in an organic phase solution, taking out and air-drying again, and carrying out thermocuring treatment to obtain the composite nanofiltration membrane. Hydrophilic groups (carboxyl) are selected to carry out functionalization treatment on molybdenum disulfide and are loaded on the surface of the nanofiltration membrane, the unit charge density and the electrical property of the membrane surface are improved, unique dipole bonds and pi-pi bonds are generated between the carboxyl and salt ions to interact, and the selectivity of the nanofiltration membrane to the salt ions is remarkably enhanced.

The utility model discloses a multi-redundancy stable supporting leg structure. The top of the supporting foot structure is connected with the bottom of a robot body to support the robot body, a control groove is formed in the bottom of the robot body, and the supporting foot structure is characterized by comprising a controller, the controller is composed of a single chip microcomputer and a shell, and the controller is arranged in the control groove in the bottom of the robot body. The bottom inclination angle of the robot body is detected through the inclination angle sensor, when the inclination angle of the robot body exceeds a preset threshold value, the controller controls the electric telescopic cylinder on one side of the inclination direction to stretch, the supporting wheels make contact with the ground support, and supporting compensation can be conducted on the unbalanced side; therefore, the stability of the robot body during movement is improved, and the damage loss caused by rollover of the robot is reduced.

The invention provides an elevator with a single-cylinder and double-cylinder switching mode and a using method of the elevator. The elevator comprises a first single-cylinder elevator, a second single-cylinder elevator and a rope adjusting clutch connected between the first single-cylinder elevator and the second single-cylinder elevator. The rope adjusting clutch comprises a bearing seat, a shaft seat inner gear ring and two fixed hubs, the shaft seat inner gear ring is rotationally connected with an inner ring of the bearing seat, the two fixed hubs are connected to a main shaft of the first single-drum elevator and a main shaft of the second single-drum elevator respectively, each fixed hub is connected with a rope adjusting outer gear ring capable of sliding in the axial direction of the fixed hub, and the rope adjusting outer gear rings are connected with the bearing seat. The rope adjusting outer gear ring is connected with a shifting ring, and the shifting ring is connected with a telescopic mechanism fixed to the single-barrel elevator. When the telescopic mechanism stretches out and draws back, the shifting ring drives the rope adjusting outer gear ring to be meshed with or separated from the shaft seat inner gear ring. And switching between two modes of independent operation of the two single cylinders and synchronous operation of the two cylinders can be realized.

The invention discloses a relay, which comprises a shell, a magnetic circuit part, a contact part and a pushing part, and is characterized in that the magnetic circuit part is mounted on the shell and comprises at least two magnetic circuit units; the contact part is arranged on the shell and comprises a movable spring group, a static contact group and a load terminal; the movable spring groups and the static contact groups are arranged corresponding to the magnetic circuit unit, and each movable spring group is provided with a movable contact group corresponding to the static contact group; each movable spring group and the corresponding static contact group jointly form a switch; the movable spring group and the static contact group in each switch are respectively connected with different load terminals, and at least one load terminal is shared by at least two switches and forms a common terminal; and the pushing part comprises a pushing piece accommodated in the shell, the pushing piece and the magnetic circuit unit are correspondingly arranged, and the pushing piece is driven by the corresponding magnetic circuit part to drive the corresponding movable spring group, so that the movable contact group and the corresponding static contact group are closed or opened. By adopting the technical scheme, the occupied space is smaller than that in the prior art for realizing the functions of more than two switches.

The invention relates to a spatial parallel mechanism, in particular to a spatial three-translation and one-rotation parallel mechanism which comprises a base, a moving platform and at least three branch chains, the moving platform is arranged above the base, and the at least three branch chains are connected between the moving platform and the base in parallel; each branch chain comprises a parallel four-connecting-rod support arm and a tail-end connecting rod, the lower end of the parallel four-connecting-rod support arm is hinged to the base, the upper end of the parallel four-connecting-rod support arm is hinged to one end of the tail-end connecting rod, the other end of the tail-end connecting rod is hinged to the movable platform, and the swing direction of the tail-end connecting rod is perpendicular to the swing direction of the parallel four-connecting-rod support arm and is parallel to the plane of the base; all the branch chains act synchronously, so that the movable platform can achieve three-degree-of-freedom translational motion and rotary motion around the vertical axis. The multi-branch parallel mechanism has the characteristics that the moving branch chains are simple in movement and can be decoupled in movement, and the multi-branch parallel mechanism is small in degree of freedom and high in rigidity, and the precision and quality of the mechanism in the operation process are easily guaranteed.

The invention provides a novel under-driven synchronous linkage rope-driven robot finger and a robot arm, the robot finger comprises a base, a plurality of connecting rods and a steel wire rope, and by designing a synchronous transmission mechanism composed of a driving steel wire rope and a coupling steel wire rope, segmented synchronous linkage movement of all joints of the robot finger is achieved; the number of joints of the robot fingers can be adjusted according to requirements, and a multi-joint continuum mechanism is formed; the number of fingers of the manipulator can be configured to be two fingers, three fingers, four fingers, five fingers or multiple fingers according to requirements, the rigidity of the fingers is improved, certain flexibility is reserved, the manipulator can adapt to complex grabbing tasks, a control system is simplified, the operation precision and the grabbing capacity are improved, the manipulator has good load capacity and low deformation, and the manipulator is suitable for large-scale popularization and application. And the reliability and controllability in practical application are ensured.

The invention relates to the technical field of robots, and discloses a waist joint assembly structure, a waist structure, a humanoid robot and a robot. According to the waist joint assembling structure of the humanoid robot, a first bearing is arranged between the first connecting end of a first connecting piece and the eighth connecting end of a third connecting piece, so that the upper connecting piece and the lower connecting piece are dynamically supported at the end, away from an output flange, of a first joint module. The bearing support is additionally arranged outside the joint module, the overall load capacity of the dynamic support of the assembly structure can be improved, the service life of the joint module can be prolonged, the dynamic stability of the assembly structure can be improved, and the overall service life of the assembly structure can be prolonged.

The present invention relates to the technical field of cigars, and in particular to a cigar wrapper and binder and a preparation method thereof. The method uses biological enzymes to catalyze lignin cross-linking to prepare the wrapper and binder, and can prepare wrappers and binders of different colors by hot pressing at 80°C. The prepared cigar wrapper and binder are green, environmentally friendly and non-toxic, have strong physical properties, and have moisture-proof function.

The invention discloses a pull-push continuum robot, and belongs to the technical field of continuum robots. The robot comprises a tendon pulling module, a middle module and a structural backbone pushing module. The middle module is arranged between the tendon pulling module and the structural backbone pushing module; the tendon pulling module transmits tendon driving force to the structure backbone pushing module through the middle module, and continuous robot structure deformation is completed. Tendon driving and rod driving are naturally fused, a complex spatial configuration can be achieved through at least one motor, the tendon driving rigidity is improved, and the robot control difficulty is reduced.

The present invention relates to a foldable continuous body flight operation mechanical arm based on the origami principle, comprising: an origami main body mechanism, comprising a plurality of origami modules connected in series, the origami module comprising a bottom plate and at least one foldable origami component, the bottom plate being provided with a main wire hole and at least one group of through holes; the origami component being provided with a plurality of hinged parts, and the hinged parts being provided with a hollow shaft; a wire driving mechanism, comprising a driving module and a wire unit, the wire unit comprising a main wire and a secondary wire, the main wire passing through the main wire hole and connected to the driving module, the secondary wire passing through the through hole and fixedly connected to the main wire, when the driving module reels or unwinds the main wire, the origami component is controlled to be extended and retracted; a self-locking mechanism, arranged on the origami component; the self-locking mechanism comprising at least one self-locking module, the self-locking module comprising a two-way SMA rod connecting shaft body arranged in the hollow shaft, the two-way SMA rod connecting shaft body being powered on / off to lock or unlock the origami component. The present invention realizes precise angle control of each origami module and the overall mechanism.