34results about How to "Large working space" patented technology

This invention relates to the field of building construction technology and provides a height-adjustable indoor construction platform, including a main board. A lifting mechanism and a construction platform are arranged above the main board. Extended platforms are hinged to both sides of the construction platform. The beneficial effects of this invention are as follows: long pipes are fixed by the limiting mechanism, which can prevent the pipes from rolling or shifting during upward transportation without the need for worker assistance. In addition, the lifting mechanism realizes automated upward transportation of pipes, thereby reducing the labor intensity of workers and speeding up the construction progress. By using the cooperation of the flipping mechanism and the limiting mechanism, while fixing the pipes, the extended platform also forms a guardrail to protect workers, thereby improving safety. Furthermore, the extended platform is not limited to carrying pipes; it can also be used to place other materials or items as an extension platform of the construction platform, increasing the workers' working space.

The utility model discloses a granulator cutter quick replacement device which comprises a granulator, a roller cover is arranged in the granulator, a granulation roller is arranged in the roller cover, a feeding roller is arranged on one side of the granulation roller, a fixed cutter assembly is arranged below the feeding roller, the fixed cutter assembly is located in the roller cover, and the fixed cutter assembly is arranged below the feeding roller. A power device is arranged on the granulator, and the power device is respectively connected with the granulation roller and the feeding roller; the fixed knife assembly comprises a moving module, the moving module is located on the granulator, a base is arranged on the moving module, a knife holder is arranged on the base, a knife head is arranged on the knife holder, a locking device is arranged between the knife holder and the knife head, the knife holder is in sliding connection with the base, an adjusting module is arranged on the base, and the adjusting module is arranged on the adjusting module. One end of the adjusting module abuts against the tool apron. According to the utility model, the problem that the fixed cutter of the granulator in the prior art is inconvenient to disassemble, assemble and debug is solved.

The invention relates to an ultrahigh-voltage composite cross arm tower live line outgoing device which comprises a platform frame and a main supporting arm installed at the lower end of the platform frame, a connecting base is arranged at the end of the platform frame and used for being connected with the top or the side face of a cross arm tower, and a working platform is installed at the upper end of the platform frame. A safety fence is arranged on the side of the upper end face of the working platform, a butt joint assembly is arranged on the side of the surface of the platform frame, a sliding base is arranged on the inner side of the platform frame, and the sliding base and the platform frame are movably connected through a sliding telescopic assembly. Through connection of the main supporting arm and the tower body, the operation platform is built below the cross arm, personnel can conveniently carry out wire outgoing operation on the platform, multi-person collaborative operation is achieved, the working efficiency is improved, safety is guaranteed, meanwhile, multi-dimensional adjustment of the operation platform is achieved through the sliding telescopic assembly and the direction adjusting assembly, and the working efficiency is improved. The operation space is effectively expanded, the cross arm angle is adapted, and the flexibility is improved.

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.

This utility model relates to a lithium-ion battery rivet gun, belonging to the field of hardware tools. The utility model includes a housing, a battery, a motor reducer, a rivet sleeve assembly, and a front cover. The battery is electrically connected to the motor reducer, which is installed inside the housing. The front cover is installed at the front end of the housing. Its structural features include: a small sector tooth, a large sector tooth, a lead screw sleeve, a lead screw, a gear seat, and a gear cover. The output shaft of the motor reducer is connected to the small sector tooth, which meshes with the large sector tooth. The large sector tooth is installed on the gear seat via the gear cover. The gear seat is installed inside the housing. The large sector tooth is fitted over the lead screw sleeve, and the lead screw sleeve is fitted over the lead screw. The front end of the lead screw is connected to the rivet sleeve assembly. A limiting plate is installed inside the housing, and a limiting groove is provided on the limiting plate. A limiting post is installed at the rear end of the lead screw, and the limiting post is located within the limiting groove.

The application relates to the technical field of grinding equipment, and particularly discloses an electric tool output shaft mandrel positioning grinding equipment. The electric tool output shaft mandrel positioning grinding equipment comprises a spindle box and a grinding device, the spindle box is provided with a spindle, the spindle is provided with a self-centering clamping mechanism, the grinding device comprises a rack, a first driving device and a second driving device, the rack is provided with a rotating disc through a hollow shaft base, a plurality of sliding grooves are arranged on the rack, sliding seats are arranged in the sliding grooves, hollow guide pins and axles are arranged on the sliding seats, and a grinding wheel and a driven wheel are arranged on the axles; a guide groove matched with the hollow guide pins is arranged on the rotating disc, the rotating disc is driven by the second driving device, and all the driven wheels are driven by the first driving device. When fine grinding is carried out, the grinding wheel simultaneously works around the output shaft mandrel, the circumferential grinding cutting forces on the output shaft mandrel are offset, and the problems of position deviation, bending deformation and machining vibration caused by unilateral force on the output shaft mandrel are avoided, and the fine grinding precision is obviously improved.

The invention relates to a pipeline mounting device. The pipeline installation device comprises an installation frame body which is configured to be assembled on the outer side of a pipeline, the installation frame body is provided with a first side and a second side which are opposite, the first side deviates from the pipeline, and the second side faces the pipeline; the first supporting assembly comprises a first supporting table and a second supporting table, the first supporting table is connected with the first side of the mounting frame body, the second supporting table is arranged on the second side of the mounting frame body, the second supporting table is slidably connected with the mounting frame body, and the second supporting table is configured to exceed the outer edge of the first supporting table in the width direction of the pipeline mounting device; wherein the width direction of the pipeline mounting device is parallel to the axial direction of the pipeline. The pipeline mounting device can flexibly adjust the area of a supporting platform formed by matching of the first supporting platform and the second supporting platform, the problem of operation dead angles caused by fixation of a traditional operation platform is effectively solved, and the operation efficiency is improved.

The utility model discloses a kind of viscosity detection devices for woodworking glue production, including base, stand and controller, the upper surface of the base is fixedly installed with stand, the surface of the stand is equipped with the controller that can move up and down, the rear end side of the controller is installed with locking knob, the lower end of the controller is installed with motor, the output end of the motor is fixedly installed with rotor, the side surface of the motor is installed with protection frame.The utility model relates to a kind of viscosity detection devices for woodworking glue production, when the rotor needs to be disassembled, pull down protection frame, when protection frame drops, slide sleeve will be driven to drop, until the positioning rod of protection frame is withdrawn from the positioning groove of motor, in this process, spring will be compressed by the slide sleeve that is moved down, finally overturn protection frame and loosen the external force that pull down protection frame, at this time, there is greater working space when the rotor is disassembled, and it is not affected by the fixed protection frame.

The invention discloses an intelligent evaluation and optimization method and system for a safety gap of a power distribution network line. The method comprises the following steps: collecting multi-source sensing data of a target operation area in real time; carrying out fusion processing on the multi-source sensing data, constructing a three-dimensional space environment model containing semantic information of an electrified body, a grounding body and an operation instrument, and extracting real-time geometric gaps among objects; performing dynamic safety risk assessment based on a pre-stored safety standard library and the real-time geometric gap; and in response to a result of the dynamic safety risk assessment, automatically planning at least one recommended operation scheme meeting dynamic safety constraints in the three-dimensional space environment model, the recommended operation scheme comprising a motion path of an operation apparatus and / or an operation mode of an operator. According to the scheme, the crossing from passive warning to active navigation is realized, and the safety, accuracy and efficiency of non-power-cut operation are fundamentally improved.

This invention belongs to the field of dropper technology, specifically relating to an intelligent pre-assembly platform and method for overall droppers in contact wires. It includes an automatic feeding system, an automatic laser engraving system, a robotic arm flexible assembly system, a tension / length detection system, a crimping process detection system, a bundling and labeling system, a frame, and auxiliary devices. The dropper feeding system includes a wire feeding wheel, a winding device, a straightening device, a fusing device, and a servo length-fixing device. The robotic arm flexible assembly system includes a six-axis robotic arm and a crimping quick-change device. The auxiliary devices include a secondary positioning mechanism, a heart-shaped ring / crimping tube spacing control mechanism, and a pad printing device. The quick-change device consists of a hydraulic cylinder, a crimping mold, and a quick-change transition block. This invention shortens the pre-assembly time for a single dropper and the dropper assembly process, adapts to dropper pre-assembly requirements of different specifications, facilitates changing the crimping mold, and allows for easy identification by personnel while preventing damage to the finished product during the bundling process.

The invention provides a spatial two-rotation and one-movement three-degree-of-freedom parallel mechanism. The spatial two-rotation and one-movement three-degree-of-freedom parallel mechanism comprises a fixed platform, a movable platform and three main branch chains. Each main branch chain supports the movable platform to realize two-rotation and one-movement three-degree-of-freedom movement and comprises a first branch chain and a second branch chain; the first end of the first branch chain and the first end of the second branch chain are in spherical connection with the movable platform through equivalent spherical hinges, the second end of the first branch chain is rotationally connected with the fixed platform, and the second end of the second branch chain is rotationally connected with the fixed platform through a rotating pair. The parallel mechanism is high in bearing capacity, high in rigidity, high in fault-tolerant capability, high in reliability and high in stability, and stable supporting and stable movement of the movable platform can be achieved; spherical surface connection is achieved through equivalent spherical hinges, two-rotation and one-movement three-degree-of-freedom flexible movement is achieved only through a rotary hinge mode, and the parallel mechanism has the advantages of being large in working space, small in accumulative error, timely in motion response and high in motion output efficiency and precision.

The application discloses a kind of space reconfigurable mobile flexible cable anchor point platform device and working method thereof, device includes the lifting flexible cable drive rope anchor point support column module installed on omnidirectional mobile platform, 180 ° limit fixed flexible cable drive rope anchor point support column module and two groups of flexible cable rope drive module;One group of flexible cable rope drive module in which upper double cable drive rope extends downward to be fixedly connected to robot work platform after passing through the anchor point rotating pulley assembly in lifting flexible cable drive rope anchor point support column module, another group of flexible cable rope drive module in which lower double cable drive rope continues to extend upward to be fixedly connected to robot work platform after passing through the 180 ° limit anchor point pulley in 180 ° limit fixed flexible cable drive rope anchor point support column module, working method at least two groups of the space reconfigurable mobile flexible cable anchor point platform device of the application cooperate, realize the drive to robot work platform.The application realizes the purpose that large-scale space can be reconfigured.

The utility model provides a kind of multi-head adjustable support node and foundation pit multi-node support structure, solve the problem that the fixed angle foundation pit support node in prior art cannot adapt to special-shaped foundation pit, and then cause to increase construction difficulty, affect the problem of supporting effect;Wherein multi-head adjustable support node, comprising: fixed rod and more than one steering piece, steering piece includes first hinged component and second hinged component, one end of first hinged component is hinged with one end of second hinged component, and the other end of first hinged component is fixed with fixed part;More than one connecting rod, one end of connecting rod is fixed with the other end of second hinged component, fixed rod is fixed with a support rod, and is connected with other support rod by the other end of connecting rod, adjust steering piece, drive other support rod to rotate, to adapt to the supporting scene of multiple angles, increase support distance and operation space becomes larger, convenient for construction, and reduce support rod consumption, save supporting cost.

The QFN frame structure of the utility model discloses includes pad, chip operation area and pin array. The edge of pad is periodic concave-convex structure. Chip operation area is located in the central region of pad, and the shape of chip operation area is square, and the length of the side length of chip operation area is greater than 3.0mm. Pin array is set up in the outer edge of pad. The QFN frame structure of the application can solve the miniaturization demand problem, through the periodic concave-convex structure of the edge of pad, not only can reduce stress concentration, alleviate delamination risk, simultaneously, under the premise of not increasing the size of package, increase the operation space of chip, this means that in the same space, can handle larger chip, greatly improve the operation efficiency, save time and resources.

The utility model relates to a device of quick replacement of wiping roller non - woven fabric under narrow space belongs to the technical field of film calendering, it includes online wiping roller subassembly, still includes wiping roller lifting platform subassembly, wiping roller lifting platform includes wiping roller bottom plate, lifting platform bottom plate and rodless cylinder 21, rodless cylinder is equipped with four groups, and four ends of lifting platform bottom plate are installed on the slider of corresponding rodless cylinder respectively, wiping roller bottom plate is located the top of lifting platform bottom plate, and wiping roller bottom plate has the freedom degree of horizontal movement on lifting platform bottom plate, the top of lifting platform bottom plate still is equipped with push cylinder, and the cylinder mounting plate of piston rod end of push cylinder abuts at wiping roller bottom plate edge, online wiping roller subassembly is installed on wiping roller bottom plate, the utility model can realize the quick replacement of non - woven fabric under narrow space.

The utility model belongs to the technical field of robot bionics, and particularly relates to a seven-degree-of-freedom series-parallel bionic eye structure. The series-parallel connection bionic eye structure comprises a base, the neck parallel connection device and the eye movement device are sequentially installed on the base from bottom to top. The neck parallel connection device comprises a neck lower platform installed on the base, a neck rear support installed on the neck lower platform and a neck upper platform rotationally installed at the upper end of the neck rear support. The first muscle mechanism is arranged between the neck upper platform and the neck lower platform; the second muscle mechanism is arranged between the neck upper platform and the eye movement device; the first muscle mechanism drives the eye movement device to rotate up and down and / or swing left and right and / or shake the head, and the second muscle mechanism drives the eye movement device to rotate left and right. According to the utility model, the neck parallel connection device and the eye movement device are connected in series, so that the whole working space is enlarged, namely, a target position is tracked in a maximum range.

The invention discloses a tea harvesting robot based on a 3-RRRU parallel mechanism. The tea harvesting robot comprises a tea harvesting and transmitting unit, a tea collecting unit and a flight carrying unit. The tea leaf picking and conveying unit adopts a 3-RRRU parallel mechanism to drive a picking clamping jaw, and has the characteristics of large working space, high rigidity and weak coupling of movement; the tea leaf collecting unit is of a positive-pressure pneumatic instantaneous blowing type structure, and at the moment when the clamping jaw cuts the tea leaves, a side air nozzle generates directional high-speed air flow to blow the fresh leaves into a collecting box along a preset channel. Air blowing is started instantly only after cutting, high energy consumption caused by continuous operation of a traditional negative pressure suction mode is avoided, and the operation cost of the system is effectively reduced. Meanwhile, the robot is carried on an aircraft, has the capacity of crossing over complex terrains, can adapt to the unstructured environment of tea gardens in hills and mountainous regions, achieves autonomous picking with full-area coverage, and breaks through the limitation of the terrains on ground walking type equipment.

This invention discloses a rope-driven anthropomorphic wrist joint with rotational decoupling characteristics, belonging to the field of robotics technology. It includes a rotational decoupling mechanism and a differential mechanism. In the rotational decoupling mechanism, a fixed wheel is fixed to the robot's forearm, while the driving wheel is connected to the differential mechanism. The rope assembly enables flexible drive of the joint module. The rotational decoupling mechanism employs a movable pulley system, utilizing the characteristics of the movable pulleys to decouple the motion of the two sets of steel cables as they pass through the rotational joint. This allows the drive unit to be centrally located on the robot base or near the proximal end structure. The differential mechanism consists of a differential rotation axis, a fixed seat on the outer side of the differential rotation axis, and two symmetrically arranged sets of differential rotating wheels, forming a differential structure. This enables multi-degree-of-freedom composite movements such as pitch and yaw within a limited space, significantly improving structural compactness. This invention uses a rope-driven combined with rope transmission structure, enhancing joint flexibility and effectively isolating the motor output from impact and vibration.

This invention relates to the field of solar power generation technology, and particularly to a control method for a dish concentrator based on an I3-RPS tracking mechanism. The control method includes: establishing a solar direction vector calculation model; establishing a multi-coordinate system to describe the motion of the dish concentrator, and deriving the homogeneous transformation matrix between the coordinate systems; obtaining the pose of the moving platform based on the solar direction vector, and establishing a mapping relationship between the length, velocity, and acceleration of the telescopic rod and the pose of the moving platform through inverse kinematics; establishing an inverse dynamics model based on the principle of virtual work; designing a hierarchical composite control strategy; at the top level, using a parallel synchronous architecture to coordinate the motion of the I3-RPS tracking mechanism; at the bottom level, designing an RBF-FSMC controller for the I3-RPS tracking mechanism, replacing the switching function with a saturation function, dynamically adjusting the saturation function gain and boundary layer thickness through fuzzy rules, and introducing a radial basis function neural network to approximate system modeling errors and external disturbances online. This control method exhibits high tracking accuracy and strong anti-interference capability.

The present application relates to the field of civil engineering construction technology, and specifically discloses a tunnel construction method with longitudinal slope and corbels, comprising the following steps: S1: completing initial lining construction and constructing part of secondary lining wall body to form a formwork structure lap joint area, and entering secondary lining wall body and arch construction preparation; S2: secondary lining trolley assembly and debugging; S3: waterproof and drainage system construction; S4: reinforcing steel bar and water stop belt installation; S5: secondary lining trolley positioning and formwork structure installation; S6: secondary lining concrete pouring; S7: demolding and curing: entering the demolding process after 24 hours of concrete pouring completion, and the concrete curing time after demolding is not less than 7 days; S8: trolley forward movement, repeating steps S3 to S7 until the secondary lining of the tunnel is completed. The present application can be used for special tunnel construction with longitudinal slope and corbels, and can realize one-time integral pouring of corbels and tunnel secondary lining, improving the stress performance of corbel structure.

The invention relates to robot equipment, in particular to few-joint branch redundant drive over-constraint heavy-load milling parallel robot equipment. The invention aims to provide few-joint branch redundant drive over-constrained heavy-load milling parallel robot equipment so as to overcome the defects that a traditional series machine tool is insufficient in rigidity, poor in dynamic performance and limited in precision, and an existing parallel mechanism is small in working space, too many in joints and difficult to consider bearing and flexibility at the same time. According to the technical scheme, the few-joint branch redundant drive over-constraint heavy-load milling parallel robot equipment comprises a machining base frame fixed to the ground. The two stand columns are arranged on the two sides of the machining base frame in the X-axis direction and can slide in the X-axis direction, the X rack is horizontally arranged on the X-axis direction and supported by the two stand columns, and the fixed platform is horizontally arranged and can slide in the X-axis direction. The movable platform is positioned below the fixed platform; and the four branch chains are connected between the fixed platform and the movable platform in parallel and are provided with main shaft heads.

This invention provides a SCARA robotic arm, characterized by comprising: a movable base, at least two articulated arms, and articulated motors disposed at each articulated arm; the movable base is sequentially connected to each articulated arm; each articulated motor is a planetary gear motor, and each articulated motor is rigidly directly connected to a follower structure via coaxial bearings; an end effector is mounted on the end articulated arm. This invention, by selecting an integrated articulated motor with a planetary reducer as the drive unit, enables the joint output to achieve high torque and sufficient speed without the need for external multi-stage reduction links, directly increasing the output capacity per unit volume on the drive side, thereby reducing the need for additional structural and transmission components to meet dynamic performance requirements. The rigid direct connection scheme between the articulated motor and the follower structure shortens the power transmission path, reduces backlash and flexibility introduced by components such as synchronous belts / linkage mechanisms, and lowers phase lag and energy loss.

The utility model discloses a micro-silicon powder iron removal device, belongs to the technical field of micro-silicon powder iron removal, and aims to solve the problems that an electromagnetic coil and a magnetic core are usually mounted in the device in the prior art, and the convenience of replacing and overhauling the electromagnetic coil and the magnetic core needs to be improved. Comprising a box body and a box body, the middle of the box body is hollow, a sliding groove is formed in the middle of the upper surface of the box body, a shifting assembly is installed on the upper surface of the box body, a sliding block is slidably connected to the sliding groove, the sliding block is fixedly connected with the shifting assembly, an electromagnetic coil is installed in the box body, and a magnetic core is sleeved with the electromagnetic coil. According to the micro-silicon powder iron removal device, the box body and the box cover are conveniently driven to move out of the interior of the box body through the arrangement of the shifting assembly, so that a large working space is provided, an electromagnetic coil and a magnetic core are conveniently overhauled and replaced, the practicability and convenience are improved, the box body is conveniently driven to be close to micro-silicon powder through the arrangement of the air cylinder and the lifting plate, and therefore the iron impurity absorption effect is improved.

The utility model belongs to the field of electric power equipment, especially convenient maintenance's box -type substation, to the existing due to the compact internal structure of box -type substation, space is limited, when maintaining, often need to consume a lot of time and energy to disassemble and install various components, especially the disassembly and replacement of the guard plate are extremely inconvenient, the box -type substation is not perfect enough on the heat dissipation design, and the layout and quantity of the heat dissipation hole are unreasonable, which cannot meet the demand of equipment heat dissipation. The utility model discloses a support bottom plate, a support column is fixedly installed in the top four corners of the support bottom plate, a top plate is fixedly installed on the top of the four support columns, in the utility model, the first guard plate and the second guard plate can be conveniently disassembled and replaced. The plurality of second heat dissipation holes and the plurality of first heat dissipation holes help the heat generated during the operation of the box -type substation to be dissipated in time, reducing the internal temperature of the equipment.

This utility model discloses an end support that can increase the protective wall area, comprising: two symmetrically arranged front frame bodies and two symmetrically arranged rear frame bodies; each front and rear frame body includes: a fixed horizontal plate at the bottom, a central support rod fixedly connected to the fixed horizontal plate, and a top support beam at the top of the central support rod; a third hydraulic cylinder and a third guard plate are arranged on the side of the top support beam, a fourth hydraulic cylinder and a fourth guard plate are arranged below the third guard plate, and a fifth hydraulic cylinder and a fifth guard plate are arranged below the fourth guard plate; this utility model consists of front and rear frame bodies, symmetrically arranged in two rows, and the front and rear frame bodies are symmetrically placed on both sides of the transfer machine to form a complete end support; the large working space ensures the coordinated operation of the end equipment.

The application discloses a foldable seven-degree-of-freedom hybrid robot, and belongs to the technical field of multi-degree-of-freedom hybrid robots. The robot comprises a base, a parallel part and a four-degree-of-freedom serial mechanical arm. The parallel part comprises one UP branch chain as a main support and two UCU branch chains as auxiliary supports, one end of the three is fixed on the base, and the other end is fixedly connected with the serial mechanical arm. The UP branch chain and the two UCU branch chains each comprise one drive, so that the parallel part has three degrees of freedom. The serial mechanical arm provides four degrees of freedom, and together with the parallel part, forms a seven-degree-of-freedom system, so that the end effector has full-dimensional motion capability, and contains one redundant degree of freedom to perform dexterous operation. The application adopts a serial-parallel hybrid configuration, has large working space of the serial mechanism and high rigidity and high precision of the parallel mechanism, and the overall structure is foldable, so that the space utilization rate in a non-working state is greatly improved.

This invention proposes a method for lifting and raising a single-column cantilever cap beam, belonging to the field of building construction technology, including the following steps: S1: Clear the soil covering the pier cap location to expose the side of the pier cap; S2: Install reinforcing bars on the side of the pier cap to expand the pier cap; S3: Install the beam bottom support and clamp beam formwork under the cap beam, and construct the clamp beam around the pier column; S4: After the clamp beam construction is completed, remove the clamp beam formwork and beam bottom support; S5: Install steel pipe columns and lifting equipment on the pier cap; S6: Cut the pier column to form an upper pier column and a lower pier column; S7: Operate the lifting equipment to lift the clamp beam, and cyclically lift the upper pier column and the cap beam; S8: Extend the pier column height; S9: Remove the clamp beam; S10: Remove the lifting equipment and steel pipe columns. A clamp beam is constructed at the bottom of the cap beam to support the bottom of the cap beam. Steel pipe columns and jacking equipment are arranged around the outer side of the pier column below the clamp beam. During jacking, the stress on the cap beam is basically the same as the normal stress, and cracking will not occur, thus ensuring the quality of the project.

This invention discloses a magnetic microrobot drive control device, belonging to the field of microrobot drive control technology. It includes a multi-axis robot arm, a magnetic control platform base connected to the multi-axis robot arm, a magnetic ball holder connected to the magnetic control platform base, a magnetic ball cover covering the magnetic ball holder, and a permanent magnet ball rotatably disposed within the magnetic ball holder and magnetic ball cover. A coil base is disposed on the magnetic control platform base around the magnetic ball holder, and an electromagnetic coil unit is mounted on the coil base. This invention offers advantages such as a large working space, high precision control, and the ability to solve the problems of heat generation and dissipation during coil operation and limited working space. Finally, it boasts rapid response and low cost.

The invention relates to the technical field of robot design and detection, in particular to hybrid drive telescopic robot equipment which has the characteristics of multi-degree-of-freedom redundancy and high rigidity and is used for high-precision measurement of a complex inner cavity of a large industrial component. The invention aims to provide macro-micro collaborative hybrid robot equipment for detecting the inner cavity of a large bent part, and the equipment has the characteristics of high rigidity, large detection range and accuracy so as to realize the full-attitude detection of the inner cavity of a large structural part. According to the technical scheme, the invention discloses macro-micro collaborative hybrid robot equipment for detecting an inner cavity of a large bent part. The macro-micro collaborative hybrid robot equipment is characterized by comprising a plurality of movable driving type multi-degree-of-freedom parallel robots which are connected in sequence, the tail-end six-degree-of-freedom micro-motion compensation robot is connected to the last driving type multi-degree-of-freedom parallel equipment; and the visual detection device is mounted on the tail-end six-degree-of-freedom micro-motion compensation robot.