202results about How to "Little room for movement" patented technology

The invention relates to an intelligent armpit massage device based on Stewart parallel mechanisms, which comprises the Stewart parallel mechanisms, a massage outer cover, advance balls, a check ring and an air supply device. The massage outer cover is positioned right above the Stewart parallel mechanisms; vibrating massage heads and air holes are respectively and uniformly formed on the outer surface of the massage outer cover; the vibrating massage heads and the air holes are arranged in a pairwise staggered manner; the check ring is positioned outside the message outer cover, and the check ring is fixed with the Stewart parallel mechanisms; the advance balls are uniformly mounted between the check ring and the massage outer cover. The intelligent armpit massage device disclosed by the invention can be used for carrying out manipulation massaging and air-cooling sweat dissipation on the armpit of a human body, is obvious in massaging effect and high in massage comfort, and takes a good health care effect on the armpit of the human body; the intelligent armpit massage device adopts the 6-SPS Stewart parallel mechanisms, has high bearing capacity and high micromotion accuracy, can take the 3-DOF translational and 3-DOF rotational move in six DOF (Degree of Freedom) directions in total in the space, has a large contact area with the armpit of the human body, and has a good massaging effect.

The invention relates to a full-automatic hydraulic and hydroelectric engineering drain pipe clamping integrated machine. The full-automatic hydraulic and hydroelectric engineering drain pipe clamping integrated machine comprises a walking device, an adjustable support, a rotation device, a delta parallel mechanism and a clamping device. The adjustable support is located above the rear portion of the walking device. The rotation device is located at the position of the front end of the adjustable support. The rotation device is fixedly connected with the adjustable support. The delta parallel mechanism is located between the rotation device and the clamping device. The upper end of the delta parallel mechanism is connected with the rotation device. The lower end of the delta parallel mechanism is connected with the clamping device. By means of the full-automatic hydraulic and hydroelectric engineering drain pipe clamping integrated machine, a series of operation such as grabbing, carrying and stacking of water conservancy and hydropower pipelines can be achieved, the automation degree is high, movement is steady and flexible, the operation efficiency is high, and the problems that the manual carrying operation is high in cost, low in efficiency, large in dangerousness and the like are solved.

The invention discloses an agricultural high fruit picking device comprising a two wheel trolley. A lifting mechanism is movably connected to the upper portion of the two wheel trolley and is movably connected to a console; the console is movably connected to one end of a telescopic arm, the other end of the telescopic arm is movably connected to a balance mechanism, the top of the balance mechanism is connected to a shearing arm, and the bottom of the balance mechanism is connected to an accommodating bag. According to the device, the two wheel trolley replaces of a power transport vehicle to be adaptive to poor driving condition of an orchard; the telescopic arm replaces of a mechanical arm with multiple freedom degrees, weight is decreased, structure and control of the arm are simplified, and the moving space of the arm is saved; the suspended soft bag replaces of a fixed fruit conveying channel, the fruit conveying distance is shortened, and fruit damage is reduced; the device is more adaptive to the application for the orchard.

The invention discloses an extensible spherical robot mechanism comprising an outer spherical frame, a sphere extension mechanism and a rolling mechanism. Connecting blocks and connecting rods are connected through hinges to form the outer spherical frame so as to form a parallelogram mechanism composed of three mutually perpendicular round frames as main frames and six square frames; the sphere extension mechanism comprises a left fixed plate and a right fixed plate which are fixed on the connecting blocks; the sphere extension mechanism is connected with the rolling mechanism through a center shaft. The extensible spherical robot mechanism can work in more complicated environments, when movement spaces are broad, the size of the extensible spherical robot mechanism can be enlarged, the large extensible spherical robot mechanism is high in speed and good in mobility performance, and when in narrow spaces, the extensible spherical robot mechanism can be downsized so as to pass the narrow spaces.

The invention discloses a material carrying mechanical arm structure which comprises two mechanical arms which are symmetric left and right. Each mechanical arm comprises a large arm, a large arm motor, a small arm, a small arm motor, a lifting arm, a vertically-moving motor and a clamping device. The two clamping devices are horizontally opposite to each other left and right so as to be matched to clamp materials. The material carrying mechanical arm structure can carry different materials different in size and height and is particularly suitable for carrying materials such vegetables, flour and semi-finished products in kitchens of large canteens, hotels and restaurants. The invention further discloses a moving type kitchen carrying robot with the mechanical arm structure. The moving type kitchen carrying robot can walk and turn automatically, automatically recognize the position information of the materials, automatically avoid obstacles and automatically load and unload the materials, the materials cannot be carried manually, equipment does not need to be controlled manually, the automation degree and the production efficiency are high, the labor force and production cost are saved, and control is simple and reliable.

A multi-cock system for an accelerator to drive a subcritical reactor to refuel comprises a large cock, a first small cock, a second small cock, a control deflection barrel and a refueling machine, wherein the large cock is installed on a reactor top cover to be concentric with the reactor top cover, the first small cock and the second small cock are installed on the large cock and are eccentric to the large cock, the refueling machine is installed on the first small cock and is eccentric to the first small cock, the control deflection barrel is connected onto the second small cock, the control deflection barrel is a cylindrical mechanism carrying a control bar system, and the control deflection barrel is provided with a curved through groove from the axis to the outside and from top to bottom, which is used for detaching an accelerator proton beam tube. When the reactor runs, the control deflection barrel is positioned right above a reactor core. Fusible alloy at the sealed position of the cock is molten in refueling operation, the second small cock firstly translates the control deflection barrel to the position which is away from the reactor core so as to reserve a space for the refueling operation, and then a crankshaft connecting rod mechanism consisting of the large cock, the first small cock and the refueling machine can align the refueling machine to any refueling position on the reactor core through the reciprocating movement. Due to the adoption of the multi-cock system, the refueling circulation of an accelerator drive system (ADS) reactor can be well completed, and the normal work of other systems of the ADS is not influenced.

The invention relates to the technical field of plastic bag processing equipment and discloses a breaking and cleaning machine for plastic bags. The breaking and cleaning machine comprises a rack. A material sorting chamber, an extrusion chamber, a breaking chamber and a precipitating chamber are sequentially arranged on the rack from top to bottom. A breaking tool is arranged in the breaking chamber. A first cylinder and a pressing mechanism are arranged on the rack. The pressing mechanism comprises a second cylinder and a pressing cap. A sliding rail is arranged in the pressing cap. A pressing plate is arranged below the pressing cap and fixedly connected to the lower end of the second cylinder. An elastic compression cylinder is arranged in the material sorting chamber. A filling cavity is formed between the compression cylinder and the material sorting chamber. A feeding opening is formed in the filling cavity. The bottom wall of the material sorting chamber comprises a left bottom plate and a right bottom plate which are slidably connected with each other. A vertical inserting rod is arranged on the left bottom plate. The lower end of the inserting rod extends into the extrusion chamber. A partition layer is arranged in the extrusion chamber. Starch slurry is arranged in the partition layer. Leakage holes are formed in the partition layer. Paired rollers are arranged on the outer side of the face, with the leakage holes, of the partition layer and are each provided with a freezing pipe spirally wound. The lower ends of the paired rollers both incline towards the axis of the extrusion chamber. By means of the breaking and cleaning machine, the plastic bags can be strongly broken.

The invention provides a battery locking device, an electricity exchange system and an electricity exchange method for a vehicle, and belongs to the field of vehicles. The battery locking device includes a lifting mechanism, a plurality of locking rods, a locking structure, and a spring, wherein the lifting mechanism can stretch out and draw back in the vertical direction, the locking rods are protruded from a battery pack in the vertical direction of the vehicle, the locking structure is fixed to a vehicle body and comprises a first movable block, and a second movable block, wherein the firstmovable block can move in the horizontal direction and is provided with a first contact block and first clamping connection surfaces with the same number of the locking rods, and the second movable block can move in the horizontal direction and is provided with a second contact block and a plurality of second clamping connection surfaces. When the battery locking device is in the locking state, the locking rods are clamped tightly by the first clamping connection surfaces and the second clamping connection surfaces, when the battery locking device is in the loosen state, the lifting mechanismextends between the first contact block and the second contact block to push the first movable block and the second movable block to move towards each other, and thus each pair of the first clampingconnection surfaces and the second clamping connection surfaces move back to release the locking rods. The battery locking device can effectively improve the electricity exchange efficiency of the battery locking device.

The invention discloses a test tube conveying mechanism and test tube label sticking equipment. The test tube conveying mechanism comprises multiple sheets of carrier plates and multiple test tube outputting components. A conveying guide groove is formed between each two sheets of the carrier plates. Inclined guide faces are formed in the conveying plats. A test tube outputting component is arranged at an outlet of each conveying guide groove. Each test tube outputting component comprises a motor and a swing arm. The swing arms are provided with rotating shafts. The motors are in transmission connection with the rotating shafts. A groove-shaped space used for containing a single test tube is formed between the two end portions of each swing arm. The test tube conveying mechanism and the test tube label sticking equipment have the advantages that minimizing type design of the test tube conveying mechanism is achieved, and the reliability and operating accuracy of the test tube conveying mechanism are improved.

The invention discloses a double-transverse-moving truss manipulator for a drum brake pad hot press molding production line. The double-transverse-moving truss manipulator comprises two Y1-axis fixedbeam assemblies, an X-axis movable beam assembly which is supported by the Y1-axis fixed beam assemblies and can axially move along the Y1-axis fixed beam assemblies, an Z-axis base assembly, an Z-axis mechanical arm assembly and an Y2-axis movable beam assembly which can axially move along the X-axis movable beam assembly, wherein the Z-axis mechanical arm assembly penetrates the Z-axis base assembly and can move in the Z-axis base assembly, and meanwhile the Z-axis mechanical arm assembly is driven by the Z-axis base assembly to move axially along the X-axis movable beam assembly, the Y2-axis movable beam assembly is arranged at the lower end of the Z-axis mechanical arm assembly, and the Y2-axis movable beam assembly can move relative to the Z-axis mechanical arm assembly. The truss manipulator is responsible for operations of feeding, release agent spraying, filler scraping, finished product taking out, partition plate filling and the like of each hot press in a production processof a drum brake pad, so that a movement speed is increased, the operation time is shortened, the movement space can be shortened, and interference is avoided.

The invention discloses a plastic bag folding and rubber band binding all-in-one machine. The machine comprises a machine frame, a vibration disc device, a rubber band expanding device, a handle folding device, a tail folding device and a plate inserting device, and is characterized in that a bag supporting device, a bag clamping device and a bag conveying movement device are further arranged at the corresponding positions of the inserting plate; the machine further comprises a bundling movement device and a suspension outer bag clamping mechanism, the bag supporting device and the bag clamping device are used for folding a plastic bag from the middle position and clamping and shaping the plastic bag, then the bag clamping device or a bag clamping mechanical arm clamps one side of the plastic bag, and the other side of the plastic bag is inserted into the rubber band expanding device to be bundled. The machine has the advantages that operation from folding to bundling is carried out almost in a clamping plate mechanism of the bag clamping device, so that folding and bundling are integrated without mechanical arm changing, the folding and bundling work is stable and reliable, and the structure is simple and compact.

The embodiment of the invention relates to the technical field of robot control and discloses a six-axis robot tail end load identification method and module. The method comprises steps of establishing a kinetic model of a joint axis; obtaining an initial pose of the six-axis robot, and generating an identification track according to the initial pose; according to the identification track, controlling a joint shaft move along the identification track, and acquiring parameter operation values of the joint shaft; according to a kinetic model and a parameter operation value, calculating gravitational moment, rotational inertia and coupling rotational inertia of the joint shaft; and according to the gravitational moment, the rotational inertia and the coupling rotational inertia, calculating terminal load kinetic parameters. The invention further provides a six-axis robot tail end load identification module. Compared with the prior art, the six-axis robot tail end load identification module has the advantages that the required space is small in the six-axis robot tail end load identification process, the requirements for the six-axis robot body kinetic parameters are extremely low, andtail end load kinetic parameter identification precision is high.

The invention discloses a semi-trailer truck with an inertia forward impact protection function. The semi-trailer truck comprises a tractor unit and a semi-trailer, wherein a braking sensing device isarranged in a cab of the tractor unit; the braking sensing device comprises a pedal and a sensor arranged on one side of the pedal; the semi-trailer is provided with an isolation and blocking device,an automatic locking device and a braking assisting device; the isolation and blocking device comprises an isolation and blocking net, fixing frames, a drum and drum driving motors; the fixing framesare arranged side by side on the left and right sides of the semi-trailer; the fixing frames comprise horizontal rods and a plurality of vertical rods; the front end of the isolation and blocking netis locked at the upper ends of the rear sides of intersections of the corresponding horizontal rods and the corresponding vertical rods through a telescopic rod; the lower end of the isolation and blocking net runs through the semi-trailer to be connected to the drum; output shafts of the driving motors are connected to a drum shaft through belts and belt pulleys; and the positions of two ends ofthe drum shaft are limited by position-limiting mechanisms. The semi-trailer truck with the inertia forward impact protection function has the characteristics of freight isolation and blocking, automatic locking, and braking assisting of the semi-trailer truck.

The invention relates to a fire extinguishing six-rotor unmanned aerial vehicle for electric power overhead electric wires and cables. The fire extinguishing six-rotor unmanned aerial vehicle comprises an unmanned aerial vehicle body, a support table, an electric rotating table, a delta parallel mechanism and a fire extinguishing device. The support table is located in the center of the upper end of the fire extinguishing device and is of a Y-shaped structure, the lower end of the support table is fixedly connected with the fire extinguishing device, the upper end of the support table is connected with the lower end face of the electric rotating table, the delta parallel mechanism is located between the electric rotating table and the unmanned aerial vehicle body, the lower end of the delta parallel mechanism is connected with the upper end face of the electric rotating table, and the upper end of the delta parallel mechanism is connected with the unmanned aerial vehicle body. The fire extinguishing six-rotor unmanned aerial vehicle is capable of carrying out overhead fire extinguishing work on overhead electric wires and cables when a fire disaster occurs, is high in automation degree, stable and flexible in flying in the fire extinguishing process, large in fire extinguishing jetting range and high in fire extinguishing efficiency and safety, and solves the problem that high dangerousness exists in manual fire extinguishing for overhead electric wires and cables.

The invention relates to a redundancy double-parallel mechanism intelligent car seat with a buttock massage function. The car seat comprises a seat body, a massage device, lifting support columns, a moving adjustment device and limiting devices. The massage device is located in a concave installing groove formed in the middle of a riding part of the seat body. The lower ends of the lifting support columns are fixed to the upper portion of the moving adjustment device. The limiting devices are installed on the front side and the right side end of the moving adjustment device. The overall height of the car seat can be adjusted, and use by drivers of different heights is facilitated; the whole car seat can move horizontally front and back and left and right, so that the specific position of the car seat in the using process is adjusted; the whole car seat can contract and massage the buttocks of a person, and is good in softness and small in occupied space; and massaging force generated in the massaging process is different according to different positions of the buttocks of the person, the massaging contact face is complete, the massaging effect is remarkable, and the comfort of buttock massaging is improved.

The invention discloses an automatic folding and rubber band bundling all-in-one machine for a plastic bag. The automatic folding and rubber band bundling all-in-one machine for the plastic bag comprises a rack, a vibrating disc device, a rubber band opening device, a lifting handle folding device, a tail folding device and an inserting plate device. The automatic folding and rubber band bundlingall-in-one machine for the plastic bag is characterized in that the automatic folding and rubber band bundling all-in-one machine for the plastic bag further comprises a retreating clamping plate device and a conveying clamping plate device, the retreating clamping plate device and the conveying clamping plate device are used for oppositely folding and clamping one side of the plastic bag, the retreating clamping plate device loosens the plastic bag and retreats after the plastic bag is finalized, then one side of the plastic bag is clamped by the conveying clamping plate device, and the otherside of the plastic bag is inserted into the rubber band opening device to be bundled through relative motion of the inserting device. The automatic folding and rubber band bundling all-in-one machine for the plastic bag has the advantages that the processes from folding to bundling are almost conducted in the conveying clamping plate device and a clamping plate mechanism, integration of foldingand bundling is achieved on the condition that hand changing is not needed, therefore, the folding and bundling work is stable and reliable, and the structure is simple and compact.

The invention provides a single-arm manipulator. The manipulator comprises a column, a waist seat, a connecting fitting, a first arm, a second arm, an end member, a clamping claw, a first motor and a second motor, wherein the first arm and the second arm comprise butt ends and thin ends; the cylindrical connecting fitting is located in the column; the waist seat is in the shape of a flat plate, and the bottom of the waist seat is fixedly connected with the connecting fitting; the butt end of the first arm is fixedly connected with the waist seat, the thin end of the first arm is movably connected with the butt end of the second arm, and the thin end of the second arm is movably connected with the end member; the clamping claw which is roughly in a Y-shape is movably connected with the end member; the first motor and the second motor are in coupling motion to drive the first arm and the second arm in common and control the end member to perform rectilinear motion. The single-arm manipulator of the invention is small in occupied space and high in space utilization rate.