447results about How to "Play a buffer" patented technology

A preparation method of a deep sea cable filling strip relates to a preparation method of a conductor filling strip. The preparation method comprises the following process steps: mixing rubber, a vulcanizing agent, a vulcanization accelerator, an antiager, a plasticizer, a reinforcing filler and a tackifier in parts by weight; and then calendering, slitting and packaging to obtain the finished product. The method has a simple production technology, stable technical properties and high practicability; the product is used in the cable and the cable core of the optical cable, the product has high strength, uniform thickness and a good saturated water absorption effect and has the functions of shielding and buffering the electric field; and the product also has viscoelasticity, thus the filling cable core is stronger and the service life of the optical cable can be prolonged.

Valve collet component assembly equipment comprises a protection component, an operation box component, a pressing power component, a pressing limiting mechanism, an air inlet and outlet pressing switching servo mechanism, a pressing chuck, an air inlet and outlet overturning mechanism, a material feeding and conveying mechanism and a pressing supporting mechanism. The pressing chuck comprises a collet pressing cylinder and a collet pressing sleeve. When a valve collet is pressed, the collet pressing cylinder acts on the collet pressing sleeve, so that the collet pressing sleeve is used for pressing two collets which move upwards and are going to be completely disengaged from a spring seat due to the action of a valve ejector rod, meanwhile, the collet pressing cylinder enables a cylinder rod to make up-down reciprocating movement, the collet pressing sleeve is made to pat the collets, it is guaranteed that the collets can completely enter the inside of the spring seat, and the accuracy of valve collet pressing is guaranteed.

The invention discloses a compound constructed wetland tail water treatment system, which belongs to the field of sewage treatment technology. The system mainly includes a pretreatment and a constructed wetland system. The pretreatment portion comprises an aeration oxidation pool and an ecological gravel bed; The constructed wetland system fuses a design of stabilization lagoon, which combines a vertical current constructed wetland and a surface flow constructed wetland, and a stabilization lagoon is arranged in step in series; the tail water to be treated passes the aeration oxidation pool, the ecological gravel bed, the vertical current constructed wetland, the stabilization lagoon in order, and finally passes the surface flow constructed wetland and flows out. The system combines physical, chemical and biological means organically, thereby effectively improving the tail water quality, and the water quality of water outlet basically reaches the surface water environment standard III grade, and the water outlet can directly returns to river ecological environment for supplementing water and can be used as city miscellaneous water; the invention has the advantages of low investment, simple operation, low energy consumption, high environment benefit and ecological benefit, etc.

The invention relates to an adjustable distribution air flue for a rail transit air conditioner and a control method of the adjustable distribution air flue. The adjustable distribution air flue comprises a distribution air flue body. An air inlet of the distribution air flue body is connected with an air conditioner unit. The two ends of the of the distribution air flue body are provided with a first air outlet and a second air outlet correspondingly. The adjustable distribution air flue has the characteristics that an air regulation structure used for regulating the air outlet volume of the first air outlet and the second air outlet is installed in the distribution air flue body; the air regulation structure comprises a first flow guide plate and a second flow guide plate which guide outlet air to be discharged through the first air outlet and the second air outlet correspondingly; the upper end of the first flow guide plate is connected with the upper end of the second flow guide plate; the lower end of the first flow guide plate is connected with the lower end of the second flow guide plate through a connection plate; a tooth-shaped guide rail is fixed to the connection plate of the air regulation structure; a servo motor is installed on the outer side of the distribution air flue body; a power output shaft of the servo motor is connected with a gear; and the gear meshes with the tooth-shaped guide rail. According to the adjustable distribution air flue for the rail transit air conditioner and the control method of the adjustable distribution air flue, air distribution in a carriage can be optimized, and the noise level in the air flue can also be lowered effectively.

The present invention provides an assembly type solar photovoltaic power generation road surface module and application thereof. The module comprises at least the following structures from bottom to top: an insulated sealing layer, a solar photovoltaic panel layer, and a transparent anti-slide wearing layer. The module is mainly used for solar photovoltaic power generation. The assembly type solar photovoltaic power generation road surface module can meet both the road bearing demand and the solar photovoltaic power generation demand, and has a broad market prospect.

The invention discloses a bridge three-way limit device and a bridge three-way limit vibration reduction structure which have the limit and buffering effects on vertical, longitudinal and horizontal displacement of a beam body and can effectively reduce the damage of earthquake to a bridge structure. The bridge three-way limit device comprises a foundation, and an inverse-L-shaped rigid clamp falcon which consists of a steel vertical limb and a horizontal limb; the lower end of the vertical limb is integrally and fixedly connected with the foundation; and the upper end of the vertical limb and the front end of the horizontal limb are provided with a vertical limb ball and a horizontal limb ball respectively. The foundation is fixedly arranged on the top of a pier body; a limit groove which extends in the vertical direction is formed in the end of the beam body; and a steel sleeve which extends backwards from the bottom wall of the limit groove in the longitudinal direction is pre-embedded in the bottom of the beam body. The horizontal limb is extended into the steel sleeve, and the vertical limb ball is positioned in the limit groove. A longitudinal gap which can meet the requirement of normal longitudinal displacement when the beam body is used is reserved between the horizontal limb ball and the bottom of the steel sleeve; and a horizontal gap which can meet the requirement of normal horizontal displacement when the beam body is used is reserved between the vertical limb ball and the wall of the limit groove.

The invention discloses a gating system of a large-section iron casting for an medium pressure external cylinder in a steam turbine; the gating system comprises a weighing ladle, a sprue, a runner and an ingate, the runner consists of an upper runner and a lower runner, a refractory ceramic filter is arranged between the upper runner and the lower runner, the minimum sectional area ratio of the sprue, the runner, a transition sprue, a transition runner and the ingate is 1.2:1.34:1:1.07:1.24; the sprue, the upper runner and the lower runner are arranged at the middle part of the casting, and the ingate of an ingate is arranged at the inner wall of an axle hole of the casting; and the gating system of the structure mainly plays a role in buffering, decompressing and steady entry of melted iron, the molding sand in the scour cast is avoided, the casting is heated evenly, with the advantages of being not easy to be mingled with impurities, carry sand, produce air gaps and cracks.

The invention belongs to the field of digging and relates to a method for buffering a reciprocating impact tunneling counter-acting force and a buffering heading machine adopting the method. The buffering heading machine comprises a machine body, a travel unit, a reciprocating impact unit, and a buffering unit. The buffering unit comprises a dynamic buffering device or a structure buffering guiding device. The reciprocating impact unit comprises an impact driving device, a fixing support and a buffering support. The dynamic buffering device comprises a rotary dynamic buffering device. The rotary dynamic buffering device comprises a slide stroke splined hub buffering device or a belt buffering device. The structure buffering guiding device is arranged between the reciprocating impact unit and the machine body or between the fixing support and the buffering support. The structure buffering guiding device can guide a buffering direction of the dynamic buffering device and / or a structure buffering device. The buffering unit can buffer and resolve a counter-acting force on the reciprocating impact unit. The reciprocating impact unit is arranged at the machine body. The travel unit drives the machine body to travel.

The invention discloses a batching tank device used for medicine preparation. The batching tank device comprise a buffer material pad, a tank body, a crushing motor, a drying cabin, and a stirring motor; the buffer material pad is used for buffering and damping of the tank body, so that the tank body is protected, and equipment practicality is increased; the crushing motor is used for driving a crushing blade on a crushing rotating shaft to rotate so as to crush materials, and later batching effect is improved; the drying cabin is used for drying materials, so that later batching effect is improved further; and stirring blades on a stirring rotating shaft is driven by the stirring motor to rotate so as to stir materials.

The invention specifically relates to a method for retaining vertical impact of an impacting mechanism and a vertical-lift impact-cutting digger implementing the method, belonging to the field of machinery, especially to the field of mining. The digger comprises a body, the impacting mechanism and a vertical lift mechanism, wherein the impacting mechanism comprises a guiding member and an impacting head, the vertical lift mechanism comprises a vertical lift driving unit, a lifting and moving part, a supporting seat and the like, the lifting and moving part is movably connected with the supporting seat, the supporting seat is connected with the body, the impacting mechanism is arranged on the lifting and moving part, the vertical lift driving unit drives the lifting and moving part to vertically move up and down, and the lifting and moving part drives the impacting mechanism to vertically rise and fall. The digger provided by the invention has the advantages of a long service life, a small amount of maintenance, high work efficiency, shortened body length and applicability to a complex usage occasion.

The invention discloses a shafting bearing vibration-reducing base. The shafting bearing vibration-reducing base comprises a shaft and a bulkhead supporting the shaft; the shaft is sleeved by a pair of adapter sleeves; threads are arranged at the top ends of the adapter sleeves; the adapter sleeves are sleeved by bearings; inner rings of the bearings are compressed by locking nuts; the outer sides of the bearings are sleeved by a base body; transparent covers are arranged at two ends of the base body; and dustproof rings are arranged between the transparent covers and the shaft. The shafting bearing vibration-reducing base further comprises a pair of truncated cone-shaped vibration-reducing covers sleeving the outer sides of the base body; the vibration-reducing covers are fixed on the base body; the bottoms of the vibration-reducing covers are mounted on the bulkhead through annular flanges; and the vibration-reducing covers are multilayer connecting pieces formed by metal wire net block layers and elastic metal diaphragm layers at intervals. The shafting bearing vibration-reducing base can be applied to a ship propelling shafting, is convenient to install and small in occupied space, has dual functions of reducing transverse and radial vibrations of the shafting and performing water sealing among cabins, is suitable for severe environments with high temperature and oil stains in the ship cabins, and is long in service life and excellent in vibration-reducing effect compared with such traditional vibration-reducing devices as rubber.

A road soil slope willow post protection technique comprises a slope protection and a bridge protection. The invention is characterized in that the slope protection comprises seed selection, ground furnish and mechanical posting; the bridge protection comprises seed selection, ground furnishing, drawing line and positioning, digging concaves, and planting the seed. The invention can be used to protect two side slopes of road.

The invention provides a shock absorber and relates to the technical field of shock absorption. The shock absorber comprises a cylinder barrel, a piston shaft, a piston and a floating plug; the cylinder barrel is provided with an oil cavity containing hydraulic oil; the piston shaft is arranged at one end of the cylinder barrel in sliding and penetrating modes, the piston shaft is of a hollow structure with a sealed end and an open end, and the open end is located in the oil cavity; the piston is arranged in the oil cavity and is in sealed fit with the side wall of the oil cavity in a slidingmode so as to divide the oil cavity into a first cavity body and a second cavity body; the piston is connected with the piston shaft and exposed out of the open end, the piston is provided with a damping channel, and when the piston moves back and forth, the hydraulic oil can flow in the first cavity and the second cavity through the damping channel; and the floating plug is arranged in the pistonshaft and is in sealed fit with the inner wall of the piston shaft in a sliding mode so that an air cavity can be formed between the floating plug and the sealed end, and compressed air is containedin the air cavity.

The invention discloses a dynamic polymer. The structure of the dynamic polymer contains dynamic covalent bonds and optional hydrogen bonds, wherein the dynamic covalent bonds are boron-oxygen-boron bonds which are composed of organic boron-oxygen-boron bonds, organic-inorganic boron-oxygen-boron bonds and inorganic boron-oxygen-boron bonds, or composed of organic boron-oxygen-boron bonds and organic-inorganic boron-oxygen-boron bonds, or composed of inorganic boron-oxygen-boron bonds and organic-inorganic boron-oxygen-boron bonds, or composed of organic-inorganic boron-oxygen-boron bonds; andall the inorganic boron-oxygen-boron bonds in the structure of the dynamic polymer are connected to the polymer via the organic-inorganic boron-oxygen-boron bonds and / or inorganic boron-oxygen-boronbonds. A plurality of the boron-oxygen-boron bonds and the optional hydrogen bonds in the structure of the dynamic polymer endow the dynamic polymer with good and hierarchical dynamic nature and allowthe dynamic polymer to have good toughness, buffering performance and self-repairing performance; and the dynamic polymer can be applied to fields like damping and buffering products, protection materials, sport protection materials, self-repairing materials, tough materials, stress-sensing materials, adhesives and sealing members.

The invention discloses a flexible leg structure with a plane five-rod mechanism. The flexible leg structure is characterized by comprising a pitching drive joint, a foot tip and a connecting rod mechanism. The pitching drive joint comprises a variable stiffness driving flexible joint, a drive motor, two harmonic reducers, a supporting frame, a synchronous pulley and a synchronous belt. The foot tip comprises a three-dimensional mechanical sensor, a three-dimensional mechanical sensor support and a foot arch. The bottom of the three-dimensional mechanical sensor is connected with the three-dimensional mechanical sensor support. The bottom of the three-dimensional mechanical sensor support is connected with the foot arch. The connecting rod mechanism comprises ten hinge points (A), (B), (C), (D), (E), (F), (G), (H), (R) and (I). Connecting rods are hinged to a conventional four-rod mechanism, a four-rod mechanism with a spring rod and a plane pentagon five-rod mechanism through the ten hinge points. The hinge points (A), (R) and (I) are used for fixing the connecting rod mechanism to the pitching drive joint.

The invention discloses an ecological multidimensional retention system for rainwater drainage on a bank side of a river. A primary ecological buffer zone, a first-layer ecological retention system, a second-layer ecological retention system, a third-layer ecological retention system and a secondary ecological buffer zone are orderly arranged on the upstream side of a river embankment along the slope of the bank side; the three layers of ecological retention systems are in concentric semi-annular radial form and of ditch type structures; each ecological retention system is provided with a planting soil layer, a packing layer and a gravel layer, and plants good in stress resistance and prosperous in root system are planted on the ecological retention system; herbaceous plants are planted in the two ecological buffer zones. The ecological multidimensional retention system is capable of reducing the pollution load due to the fact that rainwater runoff is directly discharged into receiving water by use of the retention spaces; due to closure and adsorption by use of a filter material and purification of rainwater runoff pollution by use of the plant root system, partial heavy metal ions, pathogens and the like can be removed; the ecological multidimensional retention system is suitable for any rainwater volume and water quality and has a good landscape effect.

The invention relates to a ground self-adaption type omnidirectional wheel device. The device comprises a wheel stand, and an omnidirectional wheel arranged on the wheel stand; a bracket is vertically connected to the wheel stand; a sliding block is glidingly arranged on the bracket along the vertical direction; a telescopic part is arranged between the sliding block and the wheel stand; a hanging rack is also fixed to the sliding block and convenient to arrange the whole omnidirectional wheel device to a chassis of a mobile robot; the hanging rack comprises a supporting plate that is fixed to the sliding block; two horizontal clamping plates are arranged on the bracket. The ground self-adaption type omnidirectional wheel device can be connected to the chassis of the mobile robot, the wheel stand, the bracket, the sliding block and the hanging rack on the bracket are matched, and thereby, the omnidirectional wheel can freely expand or shrink under uneven pavement or impact condition, the spacing to the chassis of the mobile robot is changed to adapt to different pavement conditions, and as a result, the influence on the stability of the whole mobile robot is reduced, and the effects of buffering and preventing vibration are realized; the device is simple in structure, convenient to mount, and high in adaption.

The invention relates to the field of instant food, in particular to an instant two-layer food forming method. The instant two-layer food forming method comprises the following steps: 1) pressing a wrapper and cutting the wrapper into a plurality of slender flour tapes; 2) conveying uncooked or cooked stuffing to the position of the flour tapes; 3) feeding the stuffing to one side of the flour tapes, wherein an angle formed between the stuffing conveying path and the plane of the flour tapes is 45-135 degrees when the stuffing is fed to the flour tapes; 4) firstly pushing the other side of the flour tapes into forming holes of an outer forming template and an inner forming template, wherein the middle portions of the flour tapes wrap the stuffing at the moment to realize preliminary forming; 5) sealing the portions, which wrap the stuffing, of the flour tapes and simultaneously performing pattern printing forming to the flour tapes with sealed portions; 6) placing the formed instant two-layer food on a conveying belt for conveying. By improving the included angle between the stuffing and the flour tapes when the stuffing is filled into the flour tapes, the situation that the stuffing cannot be put in the flour tapes is avoided, the contact surface between the stuffing and the flour tapes is larger, the integrity of the stuffing is better, the stress surface of the flour tapes is larger and the flour tapes are prevented from being damaged.

The invention discloses a multifunctional stirring reactor, and relates to the field of reactors. The multifunctional stirring reactor comprises a reactor body, wherein an end cover is arranged at theupper end of the reactor body; the end cover is detachably connected with the reactor body; the upper end of the end cover is provided with a feeding hole and a motor; the lower end of the reactor body is provided with a discharge hole; a stirring shaft is arranged in the reactor body; the stirring shaft is connected with an output shaft of the motor; the stirring shaft is provided with a plurality of detachable stirring blades; corresponding blade deflection angles on the adjacent stirring blades are opposite; a convex arc-shaped filter screen hood is arranged in the reactor body in a position close to the discharge hole; the end cover is provided with a spraying device; the inner wall of the reactor body is provided with a groove; cylindrical brushes are arranged in the groove; rotatingshafts are arranged at two ends of the cylindrical brushes; and the rotating shafts are rotationally connected with the groove. The designed multifunctional stirring reactor is reasonable in structure, high in mixing and stirring efficiency, good in uniformity, multiple in function and convenient to use and has a cleaning function.

The invention relates to the technical field of bulk acoustic wave resonator preparation, in particular to a cavity type bulk acoustic wave resonator with a stress buffer layer and a preparation method of the cavity type bulk acoustic wave resonator. The method comprises the following steps: preparing a lower electrode and a graphical sacrificial layer on a piezoelectric single crystal wafer witha damage layer; preparing a stress buffer layer on the graphical sacrificial layer; preparing a bonding layer on the stress buffer layer; stacking the substrate on the bonding layer, performing bonding processing and wafer splitting processing, removing the upper piezoelectric layer, and preparing an upper electrode; forming a sacrificial layer release hole required by the graphical sacrificial layer on the upper surface of the single crystal film layer, and releasing the sacrificial layer to obtain the cavity type bulk acoustic wave resonator with the stress buffer layer; through the design that the stress buffer layer is arranged between the single crystal thin film layer and the bonding layer, the problems that in the existing bonding process, the single crystal thin film cracks, tilts,sinks, even falls off and the like due to too large interface stress are solved, and the performance of the cavity type bulk acoustic wave resonator is improved.

The invention discloses an intelligent mattress and belongs to the technical field of intelligent furniture. In order to solve the problem of single function of the mattress, the intelligent mattresscomprises a mattress body, wherein a wrapping layer is arranged on the periphery of the mattress body, and a mattress core is arranged in the wrapping layer. The intelligent mattress is characterizedin that a pillow part is arranged at the front part of the mattress body and is internally provided with a sleep monitoring device; a detecting layer and a heating layer are arranged between the upperside of the inner wall of the wrapping layer and the mattress core from top to bottom in sequence; the detecting layer comprises a thin-film temperature sensor and a thin-film pressure sensor which are respectively positioned at the lower part and the upper part; a plurality of air bags distributed at equal intervals are arranged at the lower part of the heating layer; one end of each air bag isconnected with a hose; the hoses penetrate through holes formed in the mattress body and extend into a control box; the control box is internally provided with an air pump and a controller. The intelligent mattress disclosed by the invention has the characteristics of temperature-humidity control and mattress softness-hardness adjustment.

The invention discloses a soft mattress sinking construction method. The method is characterized in that a water-permeable opening is formed in mattress cloth, and therefore in the mattress sinking process, water flow below the mattress cloth can flow upwards through the water-permeable opening, the settling velocity of the mattress cloth can be increased, the oscillating mattress drifting phenomenon and the mattress floating phenomenon can be relieved, a curtain-shaped cloth body shields the opening under the function of the water flow after mattress sinking, and the protective effect of geotextile is guaranteed. Through the technology, the mattress sinking and implantation efficiency can be improved, the mattress drifting phenomenon and the mattress tearing phenomenon can be reduced in the mattress sinking process, and accuracy is guaranteed. The method has the advantages that soft mattress sinking operation can be facilitated and the mattress sinking and implantation efficiency and the accuracy are improved, and improves the protection effect of soft mattresses on a riverbed, and service life is prolonged.

The invention discloses a lower opening type folding plastic wine box. The lower operating type folding plastic wine box comprises a cover body, a first half box body and a second half box body, wherein the first half box body and the second half box body are hinged with each other and have the same size; buffering layers are arranged on the first half box body and the second half box body; grooves are formed in the buffering layers; a positioning groove is formed in the cover body; the first half box body and the second half box body can be embedded into the positioning after being combined;the cover body can be fixed to the first half box body and the second half box body through first fasteners; fixing sheets are hinged with the first half box body and can be fixed to the second half box body through second fasteners; reinforcing rods are arranged on the first half box body and the second half box body; and semicircular openings are formed in the bottom parts of the first half boxbody and the second half box body. According to the lower opening type folding plastic wine box, the buffering layers can be greatly protected, so that the first half box body and the second half boxbody can be reliably fixed; the lower part of a wine bottle is arranged in areas subjected to dense distribution of the reinforcing rods of the first half box body and the second half box body, so that the protecting effect is improved.

The invention discloses an up-and-down conveying device for metal circular plates with different thicknesses, which comprises a support frame, a driving device and a connecting device, wherein the driving device is rotatably mounted in the center of the top surface of the edge of one end of the support frame, the connecting device is movably mounted on the top surface of the driving device, a baseis fixedly mounted in the support frame, tooth-shaped clamping blocks are welded to the edge of the upper surface of the boss, supporting rods are symmetrically welded to the outer surface of the base, a first limiting sleeve is welded to the outer surface of the second limiting sleeve, a rotary disc is fixedly installed in the driving device, a driving motor is movably installed in the center ofthe bottom face of the rotary disc, and a connecting groove is formed in the center edge of the top surface of the rotary disc. through intermittent meshed clamping of a gear disc and the tooth-shaped clamping blocks, a limiting clamping block can discontinuously drive one end of a connecting rod to move in a limiting sliding groove, and the position of a production machine at the other end of the connecting rod can be automatically adjusted.

The invention discloses an automobile front anti-collision beam device, which comprises a beam, a strip-shaped arch plate, a buffer foam block, a shock absorbing mechanism, a fixing groove, a telescopic mechanism, an arched support frame, an electric control box, a control panel, and a limit groove and the storage battery, the top of the beam is connected to the buffer foam block through an arch support frame, the top of the buffer foam block is equipped with a strip arch plate, the corresponding two sides of the beam are provided with fixing grooves, and the fixing grooves A telescopic mechanism is installed in the interior of the crossbeam. Limiting grooves are provided on both sides of the bottom of the beam. A shock absorbing mechanism is installed inside the limit groove. An electric control box is installed on one side of the beam. A control panel is installed on one side of the box, and a storage battery is installed inside the electric control box. Composed of plates and limit springs, the anti-collision beam device is conducive to buffering and shock absorption.

The invention relates to a synchronous belt type importing device, comprising a support plate arranged on the whole frame. The synchronous belt type importing device is characterized by also comprising a clamping and conveying mechanism which is used for clamping full bags and importing the full bags into a bag sewing system, wherein the claming and conveying mechanism is arranged on the support plate, the clamping and conveying mechanism has two actions of clamping the full bags and conveying the full bags, the full bag clamping action is realized by virtue of a clamping driving mechanism, and the full bag conveying action is realized by virtue of a conveying driving mechanism. In the invention, synchronous belts on a left support and a right support are used for folding and clamping the full bags, and fixing and buffering actions are realized at an importing initial section; and the supports and the synchronous belts are longer, thus the full bags can be clamped easily when packaging bag width error is big and requirement on quality of a packaging bag is lower. In the invention, the synchronous belts rotate to output full packaging bags orderly according to motion trail of the synchronous belts, the full bags are conveyed to accurate positions in the bag sewing system, and importing and positioning effects are realized.

The invention provides online machining detection device and method for a directional sleeve of an overrun clutch, belongs to the technical field of machinery, and aims at solving the problem of slow detection for the directional sleeve of the existing overrun clutch. The online machining detection device for the directional sleeve of the overrun clutch comprises a detection platform and conveying platforms; a workpiece locating seat is arranged on the detecting platform; each conveying platform is glidingly connected with at least one bottom plate through a rodless cylinder; each bottom plate is connected with a rod cylinder through a lifting cylinder; each rod cylinder is arranged and faces the workpiece locating seat; a full-length detection sensor, a depth detection sensor, a length detection sensor and a groove diameter detection sensor are arranged on the detection platform. The online machining detection method for the directional sleeve of the overrun clutch comprises the steps of A, charging materials of the directional sleeve; B, detecting the directional sleeve; C, processing the directional sleeve. By adopting the device and method, the production and processing efficiency of the directional sleeve can be improved.

The invention provides a waist rehabilitation training connecting device and a control method, and aims at solving the problems of poor working efficiency, interference and secondary damage to a patient using the existing waist rehabilitation training device. The device comprises an aluminum alloy profile frame, and more than two waist rehabilitation units, wherein each waist rehabilitation unit comprises a pneumatic artificial muscle unit, a gravity balancing unit and a rehabilitation training connecting unit. The control method comprises seven steps; four rehabilitation connecting units are controlled to perform bending down rehabilitation training for the patient. The device has the beneficial effects that the modular design is adopted; four waist rehabilitation units have the same structure and are independent from each other, so that the processing cost can be saved, that one rehabilitation unit moves and the other units are driven to move during training can be avoided, and mutual interface can be avoided; meanwhile, the rehabilitation units are matched with each other and work together, so that the waist rehabilitation training can be achieved, and the working efficiency can be increased.