2079results about How to "Increase stiffness" patented technology

The invention discloses a three-degree-of-freedom series-parallel hybrid humanoid robot waist structure, and relates to the technical field of robots. The defects that an existing multi-degree-of-freedom waist structure is not compact enough, limited in precision, low in rigidity and poor in stability are overcome. The robot comprises a yaw joint mechanism and a pitching-sidesway joint mechanism which are connected in series, upper limbs and legs of the robot are connected through the yaw joint mechanism and the pitching-sidesway joint mechanism, and the yaw joint mechanism can drive the upper limbs of the robot to do yaw motion; the pitching-sidesway joint mechanism comprises a movable platform, a static platform, a joint universal joint and two joint driving assemblies, the movable platform is fixedly connected with the upper limbs of the robot, the static platform is fixedly connected with the legs of the robot, the joint universal joint is connected with the movable platform and the static platform, and the two joint driving assemblies are symmetrically arranged on the left side and the right side of the joint universal joint; and the two joint driving assemblies are connected with the movable platform and the static platform correspondingly, and when the two joint driving assemblies drive the movable platform, the movable platform can do pitching motion and / or side-sway motion around the joint universal joint.

The invention discloses a rope-driven mechanical arm with a variable-stiffness joint module. The rope-driven mechanical arm comprises a base assembly, a shoulder assembly, a large arm assembly, an elbow assembly, a wrist static platform assembly, a wrist parallel mechanism assembly and a wrist movable platform assembly which are movably connected in sequence. The shoulder assembly comprises three variable stiffness joint modules which are orthogonally connected in sequence; the large arm assembly comprises a plurality of driving assemblies; the robot further comprises a wrist bending driving rope assembly, a wrist yawing bending driving rope assembly, a wrist rotation driving rope assembly and an elbow bending driving rope assembly. The multiple driving assemblies are connected with the wrist bending driving rope assembly, the wrist yaw bending driving rope assembly, the wrist rotation driving rope assembly and the elbow bending driving rope assembly correspondingly. The invention has the beneficial effects of inherent flexibility under the condition of low load and high rigidity under the condition of high load.

The invention relates to the field of constructional engineering, and discloses an assembly type reinforced concrete-steel structure foundation pit supporting system convenient to disassemble and a construction technology, and the assembly type reinforced concrete-steel structure foundation pit supporting system comprises a top beam, a waist beam, a supporting pile and an inner supporting system; the inner supporting system is formed by assembling a standard steel-concrete beam section main support and a steel member auxiliary support in cooperation with a jack adjusting system. The invention further provides a new system on-site assembly construction process, namely detailed steps of assembly construction from the uppermost layer to the lower layer step by step. The fabricated structure integrates the advantages of two fabricated structures, is suitable for foundation pit supporting with large stress and strict deformation control, and has the advantages of being high in construction speed, short in construction period, low in construction cost, convenient to dismantle and capable of completely recycling most of inner supporting components compared with a traditional cast-in-place steel-concrete foundation pit supporting system.

The utility model provides a storage box bottom structure with a rack, which comprises a box bottom formed by welding a circular top cover and a plurality of scalloped segments; the rack small end frame is arranged on the outer side of the center of the top cover and used for being connected with an engine; and the plurality of rack force transmission plates are uniformly connected to the circumferential position of the rack small end frame and respectively extend to the scalloped segments from the top cover. The box bottom structure has the advantages of being simple in structure and capable of improving carrying capacity.

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

The utility model relates to a floating type offshore wind power suction anchor foundation mooring lifting lug structure which comprises a suction anchor cylinder body, a main eye plate and a cylinder body thickening plate, the cylinder body thickening plate is fixed on the inner side wall of the suction anchor cylinder body, the main eye plate is fixed on the outer side surface of the suction anchor cylinder body, and the cylinder body thickening plate is fixed on the inner side wall of the suction anchor cylinder body. The main eye plate penetrates through the side wall of the suction anchor cylinder and the cylinder thickening plate and is fixedly connected with a first connecting plate, a second connecting plate is fixed to the other side of the first connecting plate, and the second connecting plate is fixed to the inner side wall of the other side of the suction anchor cylinder. According to the utility model, the suction anchor cylinder body can form a whole with a stable structure.

The invention discloses a ducted unmanned aerial vehicle structure. The device comprises a machine body supporting beam, fixed ducted fans and movable ducted fans are arranged on the left side and the right side of the machine body supporting beam, the fixed ducted fans are arranged on the front side and the rear side of the movable ducted fans, a fixed frame and a telescopic frame are arranged on the machine body supporting beam, and the fixed ducted fans and the machine body supporting beam are fixed. The movable ducted fan and the machine body supporting beam are movably connected left and right, the fixed ducted fan and the movable ducted fan each comprise a ducted body, a motor base is arranged on the inner side of each ducted body, the motor bases and the ducted bodies are fixed through a plurality of guide vanes, motors are fixed to the motor bases, water cooling cavities are formed in the motor bases, and the water cooling cavities are formed in the outer sides of the motors. A cooling water channel is arranged on the inner side of the guide vane. The folding unmanned aerial vehicle has the beneficial effects that the folded unmanned aerial vehicle is of an H-shaped structure, and the trafficability of road transportation or road driving can be met; and the extended unmanned aerial vehicle is of a *-shaped structure, so that the yaw control capability is improved.

The invention provides a preparation method of an aluminum electrolytic capacitor anode foil, and relates to the technical field of capacitors. The method comprises the following steps: preparing aluminum paste; providing an aluminum foil substrate, coating the surface of the aluminum foil substrate with aluminum paste, and performing drying treatment to form an aluminum foil blank; washing the aluminum foil green body with water, and drying to obtain a porous aluminum foil green body; performing heat treatment on the porous aluminum foil blank; coating the surface of the porous aluminum foil green body subjected to heat treatment with a thin film solution, and performing drying treatment to form a protective film layer on the surface of the porous aluminum foil green body; rolling the porous aluminum foil blank with the protective film layer by using a rolling mill in a skew rolling manner to obtain an initial anode foil; and sintering the initial anode foil, and removing the protective film layer to form a sintered foil. According to the preparation method, the anti-bending performance of the anode foil can be improved.

The invention discloses an assembly type segmented prestressed concrete tower drum structure and a construction method, the assembly type segmented prestressed concrete tower drum structure comprises a drum body formed by splicing a plurality of concrete drum sections in a segmented mode in the height direction, the diameter of the concrete drum sections is reduced in the height direction of the drum body, and the concrete drum sections are formed by splicing a plurality of prefabricated pipe pieces into a whole through bent bolts. The fabricated prestressed concrete structure is adopted, and the bearing capacity, rigidity and crack resistance of the tower drum are remarkably improved. The segmented prestress can change the prestress value gradient of the tower barrels with different heights, the performance design of the tower barrels is achieved to meet the requirements of different scenes, and the fatigue life and the service cycle of the tower barrels are prolonged. Prefabricated pipe pieces are produced in a factory in a standardized mode, prestress is tensioned, on-site overall prestress tensioning is avoided, the construction efficiency and the construction quality are improved, only embedded bolt connection needs to be completed on site, construction is convenient and fast, connection is reliable, and wide application prospects are achieved.

The invention discloses a seven-degree-of-freedom series-parallel structure mechanical arm for a biped robot, and relates to the field of robots, the seven-degree-of-freedom series-parallel structure mechanical arm is installed on a supporting body, and the supporting body is located on an installation fixing base. Comprising a five-degree-of-freedom series arm and a two-degree-of-freedom parallel wrist structure which is located at the front end of the series arm and connected with the series arm. According to the mechanical arm with the series-parallel connection structure, the rigidity and the bearing capacity of the mechanical arm are improved, the working space is expanded to adapt to more complex operation tasks, the stability and the reliability of operation are enhanced, error accumulation is reduced, and the accuracy of overall operation is improved.

The utility model relates to a full water tank culvert relocation and relocation butt joint box culvert and a construction method thereof. The full water tank culvert relocation and relocation butt joint box culvert comprises a U-shaped steel sleeve box, a row hole, a ring beam, a new box culvert, an old box culvert and an inspection shaft. The construction method for changing the full water tank culvert into the butt joint box culvert comprises the steps that firstly, the height of a ring beam on a top plate of an old box culvert is increased synchronously, and the ring beam is connected with old box culvert embedded steel bars; 2, a new box culvert is constructed according to design requirements. The butt-joint box culvert has the advantages that the butt-joint box culvert adopts the U-shaped steel sleeve box to block water flow of the box culvert, the cyclic repeated utilization rate is high, the steel plate rigidity is large, the stability of a weir body is guaranteed, the construction period is shortened, and the cost is saved; the U-shaped steel sleeve box is used as a temporary cofferdam in the box culvert and can be quickly mounted and dismounted, and the safety risks of box culvert silt accumulation caused by manual stacking of sandbag cofferdams and underwater manual dismounting are avoided.

The utility model discloses a composite reinforced earth retaining wall suitable for a high-speed railway embankment, which comprises a foundation bed surface layer, a foundation bed bottom layer and an embankment body below the foundation bed bottom layer, two sides of the foundation bed bottom layer are filled with first soil bodies, and two sides of the embankment body below the foundation bed bottom layer are filled with second soil bodies. A filler wrapping body and a gravel wrapping body are arranged on the outer side of the first soil body and the outer side of the second soil body, a cast-in-place concrete face plate is arranged outside the gravel wrapping body, an integral face plate and a foundation bed bottom layer are arranged outside the cast-in-place concrete face plate, and geotechnical material tie bars are arranged in the portion, below the foundation bed bottom layer, of the embankment body. The geotechnical material tie bars comprise full-length geotechnical material tie bars and symmetrical geotechnical material tie bars. The full-length geotechnical material tie bars are arranged in the foundation bed bottom layer, and the symmetrical geotechnical material tie bars are arranged in the embankment body below the foundation bed bottom layer. The composite reinforced earth retaining wall has the advantages of being high in strength, large in rigidity, small in occupied area, convenient to construct, environmentally friendly and the like, post-construction settlement can be better controlled, and later operation and maintenance are facilitated.

The invention relates to a construction process of a joint occlusion water stop reinforced ultra-deep hectometer-level milling groove ground wall. The construction process comprises the working procedure steps of grooving, groove bottom sediment treatment, reinforcement cage hoisting, guide pipe lowering, bottom sealing concrete pouring, broken stone backfilling, joint box hoisting, overall concrete pouring and the like. Grooving adopts a grabbing and milling combined process and is divided into a first-stage groove section and a second-stage groove section, the first-stage groove is designed to be full-head scutching and two-cutter grooving, H-shaped steel water stop joints are arranged at the two ends of a reinforcement cage, the reinforcement cage is fully wrapped with anti-streaming slurry stop iron sheets, after the reinforcement cage is hung in sections, bottom sealing concrete is poured, broken stones are backfilled and compacted, and pouring is continued to form a wall body. The second-stage groove is designed to be in a full-closed range, three-knife grooving is conducted, and after a wall brushing device is adopted at the joint for wall brushing, remaining procedures are completed. And the first-stage groove and the second-stage groove are constructed in a sequence of a warehouse jumping method, and a continuous wall body is formed in a circulating manner. According to the process, the existing ultra-deep casing milling joint ground wall construction process is innovated, and the problems that the casing milling joint is low in concrete milling speed, poor in water stopping effect, large in reinforcement cage hoisting weight and the like are solved.

The invention provides a main shaft structure which comprises a pipeline disc, a rear end seat, a shaft core, a water retaining ring and a rear shaft core end cover, the rear end seat is located on the periphery of at least part of a shaft section of the shaft core, the pipeline disc and the rear end seat are arranged at intervals in the axial direction, and the water retaining ring is further arranged between the pipeline disc and the rear end seat. At least part of the structure of the water retaining ring is located on the periphery of at least part of the structure of the shaft core, the rear shaft core end cover is arranged at the axial upper end of the shaft core, a containing cavity is formed in the upper end of the rear shaft core end cover, a water outlet hole is formed in the water retaining ring, and the water outlet hole is located below the containing cavity and can be communicated with the containing cavity. Water in the containing cavity can be discharged out of the main shaft structure through the water outlet hole. Water can be effectively prevented from entering the motor at the lower end of the spindle structure, the waterproof sealing effect on the motor of the spindle structure is achieved, and the problem that in the prior art, water easily enters the motor of an electric spindle, and potential safety hazards are caused is solved.

The invention provides a transformer vibration test tool and a use method, the transformer vibration test tool comprises a vibration platform, the vibration platform is provided with an installation platform, the installation platform is symmetrically provided with two support frames, the ends of the same sides of the tops of the two support frames are connected with a connecting plate, the connecting plate is connected with a connecting piece, and the connecting piece is connected with the vibration platform. The top of a transformer is connected to the connecting piece, the transformer is located between the two supporting frames, one end of a flexible connecting piece is connected to the bottom of the transformer, and the other end of the flexible connecting piece is connected to the tops of the supporting frames. According to the test tool, accurate test and evaluation of the transformer in a simulated vibration environment are realized, and the accuracy and reliability of the transformer in a vibration test are ensured, so that the operation and maintenance cost and risk of the transformer are reduced.

The utility model relates to the technical field of feeding machines, and particularly discloses a novel centrifugal disc feeder which comprises a rack, an inner disc and an outer disc, the outer disc is provided with a containing space for containing external workpieces, the inner disc is arranged in the containing space, the rack is provided with a first driving mechanism and a second driving mechanism, the first driving mechanism is in driving connection with the inner disc, and the second driving mechanism is in driving connection with the outer disc. The inner disc is rotationally connected with the rack through the first driving mechanism, the second driving mechanism is in driving connection with the outer disc, and the outer disc is rotationally connected with the rack through the second driving mechanism; an output outer edge is arranged on the end edge of the outer disc; an external workpiece is placed on the inner disc, the first driving mechanism drives the inner disc to rotate, the workpiece moves to the output outer edge under the action of centrifugal force, and the second driving mechanism drives the outer disc to rotate and sends the workpiece out of the feeder. The inner disc rotates to drive workpieces on the inner disc to do centrifugal motion, the workpieces move to the output outer edge under the action of centrifugal force, noise generated in the feeding process is reduced, meanwhile, high-speed feeding is achieved, and efficiency is improved.

The invention discloses a method for calculating static stiffness of a four-point contact type ball screw pair, and is applied to the technical field of bearing performance of ball screw pairs. Comprising the following steps: performing contact mechanical analysis on the four-point contact type ball screw pair to obtain contact stress and contact load at a contact part; based on a Hertz contact theory, establishing a ball-raceway contact deformation model of the four-point contact type ball screw pair; a four-point contact type ball screw pair static rigidity model is established in combination with a deformation coordination equation, a static equilibrium equation and the like; and establishing a static stiffness calculation model of the four-point contact type ball screw pair, and performing calculation. According to the method, the static rigidity calculation model of the four-point contact type ball screw pair is obtained through contact characteristic analysis and calculation, the blank in the aspect of rigidity research of the four-point contact type ball screw pair is filled up, and the method has great significance in bearing characteristic analysis of the ball screw pair; and the actual requirement of current high-end numerical control machine tool equipment on the high rigidity of the ball screw pair under the low-speed working condition is met.

The invention discloses a long-linear-array high-precision focusing mechanism suitable for a large-breadth space camera, and relates to the technical field of space optical remote sensing, and the long-linear-array high-precision focusing mechanism comprises a force bearing structure which comprises a sliding seat and a base; the guide device is mounted between the sliding seat and the base; the transmission device is connected with the clearance eliminating nut; the driving device provides power for the transmission device and drives the clearance eliminating nut through the transmission device to push the sliding seat to do linear focusing motion along the guide device; and the position feedback device is used for detecting and feeding back the displacement of the sliding seat. The positioning precision and the shaking precision are fully considered in design, errors caused by nut assembly are absorbed through the floating switching hinge, and the shaking precision is improved; the guide rail pre-pressing device can improve the rigidity of the precise guide rail on the premise of not introducing extra disturbance, so that the sliding seat is ensured to shake around X; high-precision linear guide rail large-interval layout is adopted to ensure that the sliding seat shakes around Y, position feedback is conducted through a high-precision grating ruler, and the positioning precision is improved.

The invention discloses a forecabin structure, a bearing type vehicle body and a vehicle, the forecabin structure comprises a longitudinal structure assembly, the longitudinal structure assembly comprises a longitudinal beam assembly, the longitudinal beam assembly comprises a first longitudinal beam and a second longitudinal beam, and the first longitudinal beam and the second longitudinal beam are spaced in the first direction and extend in the second direction; the torsion box is located at one end of the longitudinal beam assembly in the second direction; the other end, located in the second direction of the longitudinal beam assembly, of the first connecting piece is provided with the first connecting piece, and the first connecting piece is connected with the first longitudinal beam and the second longitudinal beam. The longitudinal beam assembly is arranged to be of the double-longitudinal-beam structure, the rectangular frame structure is formed in the forecabin structure, and the overall strength and rigidity of the forecabin structure can be improved. While the strength and the rigidity are improved, the arrangement requirements of a large tire, a short front overhang and a short L113 can be met.

The invention discloses a PVC (polyvinyl chloride) composition and application thereof in preparation of an impact-resistant and high-toughness PVC drainage pipe, and belongs to the technical field of plastic pipes. The PVC composition comprises PVC resin and modified microspheres, the modified microspheres are obtained in the mode that rubber powder, a curing agent, a modifier and a surfactant react, epoxy resin is cured on the surface of the rubber powder to form a shell layer, and the impact-resistant and high-toughness PVC drainage pipe further prepared has high toughness and keeps good rigidity.

The invention relates to a vacuum chamber for a high-altitude simulation test of a liquid rocket engine, belongs to the technical field of aerospace liquid rocket engine tests, and solves the technical problems of single function, difficulty in operation and poor safety of a traditional vacuum chamber. The cabin comprises a cabin body, a cabin door, a heat sink system, a fire fighting system, a gas replacement system, an anti-arch blasting device, a blowdown system, a mounting platform, an operation platform, a propellant supply pipeline and measurement and control equipment. The cabin body is cubic, and the working pressure in the cabin body is 0-0.1 MPa. The cabin door is used for entering and exiting of personnel, small ground equipment, an engine and a thrust measuring device. The heat sink system, the fire fighting system, the gas replacement system, the sewage discharge system, the mounting platform and the propellant supply pipeline are mounted on the cabin body, and the measurement and control equipment is a transmission channel for engine control and measurement signals. The vacuum chamber is used for a liquid rocket engine high-altitude simulation test.

The invention discloses an integral compression molding method for a hard alloy liner of a high-capacity ball mill with reinforcing rib mounting grooves, the liner comprises a shell and a bottom plate, the shell comprises a small cylindrical surface, a small conical surface, a large conical surface and a large cylindrical surface which are sequentially connected from top to bottom, and the bottom plate is arranged at the bottom of the large cylindrical surface. The method comprises the following steps of mold assembling, pressing, demolding and sintering, a pressed inner container shell and a pre-sintered bottom plate are subjected to barge firing, and finally the hard alloy inner container of the large-capacity ball mill is obtained. Through the mode that the square core shaft is combined with the four-section inner mold, the mold can be conveniently installed and demolded.

The invention relates to a method for forming a GH4169 alloy thin-wall ring piece, which comprises the following steps of: forging two pieces in the height direction in a combined manner, and designing a specific forging drawing, preparing a bar material, manufacturing a blank, rolling, carrying out heat treatment, turning and carrying out flaw detection, for example, designing the small allowance of the outer diameter and the inner diameter of the forging drawing, smelting the bar material in a specific specification by using a triple process, the method has the beneficial effects that the rolling stability is improved, the grain structure is refined, raw materials are saved, the production efficiency is doubled, the flaw detection requirement is met, and the method is suitable for manufacturing related parts in the aerospace field and has wide application prospects and important popularization value.

The invention belongs to the technical field of foundation pit construction, and discloses an assembly type supporting structure and a rectangular foundation pit supporting method. The fabricated supporting structure comprises four supporting assemblies, a plurality of jacking assemblies and a plurality of jacking driving pieces, the four supporting assemblies are arranged at the four corners of the rectangular foundation pit and detachably connected with the rectangular foundation pit, and each supporting assembly comprises an inclined supporting piece, a first purline and a second purline, the two ends of the inclined supporting piece are connected with the first purline and the second purline correspondingly. The jacking assembly is arranged between the two adjacent first purlines or the two adjacent second purlines; the jacking driving parts are used for driving the two abutting and pushing parts of the corresponding jacking assemblies to move in the direction away from each other, and the abutting and pushing parts abut and push the adjacent supporting assemblies to abut against the pit wall of the rectangular foundation pit. According to the fabricated supporting structure and the rectangular foundation pit supporting method, the mounting and dismounting efficiency of the fabricated supporting structure is improved, the loss of the fabricated supporting structure is reduced, and the supporting cost of the rectangular foundation pit is reduced.

The invention relates to the technical field of data processing, and discloses a limit scooter structure design management method and system and a limit scooter. The method comprises the following steps: performing intelligent acquisition and preprocessing on multi-source heterogeneous data to obtain a multi-dimensional comprehensive data set; performing multi-level index construction and nonlinear calculation on the multi-dimensional comprehensive data set to obtain a limit scooter structure design quantitative index system; performing spatio-temporal multi-scale feature analysis on the limit scooter structure design quantitative index system to obtain a spatio-temporal distribution feature map; performing high-order correlation analysis on the spatial-temporal distribution characteristic spectrum to obtain a multi-dimensional correlation intensity distribution matrix among frame geometric parameters, wheel set configuration and a damping system, performing key factor identification and sensitivity analysis to obtain an influence factor importance ranking table, and performing parameterized structure design scheme optimization; and obtaining a multi-target structure design scheme combination and a performance evaluation index set. According to the invention, the efficiency and accuracy of limit scooter structure design management are improved.

The invention provides a sliding door structure with an emergency exit and an emergency throwing method thereof.In the structure, an upper sliding rail, a middle sliding rail and a lower sliding rail are fixed to a machine body structure, a sliding door slides in the upper sliding rail, the middle sliding rail and the lower sliding rail through a pulley and a swing arm, and the sliding door is provided with an emergency exit channel above the waterline position; the ball socket support, the first lock seat, the second lock seat and the sliding block are installed on the periphery of an emergency exit channel on the sliding door. The bulb hinge, the bolt throwing mechanism, the handle, the transparent protective cover plate and the interior trim panel are mounted on the emergency door; the emergency door is respectively matched with the ball socket support, the first lock seat and the second lock seat through the ball head hinge and the bolt throwing mechanism and is fixed on the sliding door; the handle is connected with the bolt throwing mechanism and is used for operating the throwing emergency door; the overland and overwater emergency evacuation requirements can be met at the same time.

The invention relates to a low-temperature liquid medium storage container and a construction and arrangement method of a metal film on the inner wall of the low-temperature liquid medium storage container, and belongs to the technical field of low-temperature liquid medium storage. The structure of the metal film comprises a top surface film, a right side surface film, a bottom surface film, a left side surface film, four transition surface films, a front surface film and a back surface film which are respectively arranged on the top surface, the right side surface, the bottom surface, the left side surface, four transition surfaces, the front surface and the back surface of the annular side surface of the low-temperature liquid medium storage container, the top surface film, the right side surface film, the bottom surface film and the left side surface film are respectively connected with the four transition surface films to form an annular side surface film; and the front film and the back film are connected through the annular side film to form a totally-closed three-dimensional film.

The invention discloses a compact type planet cycloid joint module. The compact type planet cycloid joint module comprises a first-stage planet wheel speed reducing mechanism, a second-stage cycloid pin wheel speed reducing mechanism and a driving component. A hollow eccentric input shaft of the second-stage cycloidal-pin wheel speed reducing mechanism serves as an output shaft of the first-stage planet wheel speed reducing mechanism, and coaxial transmission is achieved. The hollow eccentric input shaft of the second-stage cycloidal-pin wheel speed reducing mechanism and the output shaft of the first-stage planet wheel speed reducing mechanism share one shaft, so that the axial size of the joint module is small, the module is compact, and the rigidity is improved; an output shaft of a first-stage planet wheel speed reducing mechanism is reduced, meanwhile, a large-diameter hollow eccentric input shaft is adopted, and the weight of the joint module is reduced.

The present invention relates to a flexible robotic arm based on the coupling of memory alloy and pneumatic artificial muscle, wherein the flexible robotic arm comprises a fixed disk, a spacer disk, an airbag, a center rod, a base and an air supply pipe. The fixed disk is a circular thin disk, which is installed at the end of the flexible robotic arm and is used to fix other components. The spacer disk is also a circular thin disk, which plays a supporting role in the middle of the flexible robotic arm. The airbag is a silicone thin shell structure, which provides power for the movement of the flexible robotic arm. The center rod material is nickel-titanium alloy, which has shape memory function, and the stiffness is enhanced after heating, thereby improving the stability of the flexible robotic arm. The base is a circular disk, which is used to fix other components and connect other control devices or power sources. The air supply pipe is rubber soft, which provides power by supplying air to the airbag. The present invention realizes the movement and stiffness change of the flexible robotic arm, reduces vibration and improves stability through the cooperation of the airbag and the shape memory alloy center rod.

According to the hot gas bulging A and B column tubular beam and aluminum alloy integrated die-casting forming method, the hot gas bulging forming technology and the die-casting technology are organically combined, the rigidity and strength of A and B column framework structures are greatly improved, meanwhile, the connecting structure of a vehicle body force bearing framework is simplified, the number of parts is reduced, and the cost is reduced. And therefore, the weight and the production cost of the bearing framework structure are greatly reduced. Welding procedures needed by a traditional technology are greatly reduced in the manufacturing process, the yield and the use reliability can be improved, the production efficiency can be remarkably improved, and the requirement for large-scale batch production is met.