62results about How to "Simple control system" patented technology

The invention discloses a four-flapping-wing aircraft and an attitude control system thereof, and relates to the technical field of micro aircrafts, and the four-flapping-wing aircraft comprises a fixed rack, a guide rod, a slide block mechanism, a pitching frame, a rolling frame, a pulley and a chord driving system. The fixed rack is provided with four cantilevers, a sliding block mechanism is installed on a guide rod, and the pitching frame and the rolling frame control pitching and rolling actions through steering engines respectively. The four pulleys are connected to the pitching frame, and each pulley is hinged to one wing. The string driving system comprises a guide wheel, a string and a crank, one end of the string is connected with the slider mechanism, and the other end bypasses the guide wheel and is connected with the pulley to realize wing flapping. Through the deflectable spars and fine steering engine control, efficient aerodynamic performance, enhanced thrust output and excellent flight flexibility and adaptability are achieved, meanwhile, due to the design of the crank sliding blocks, structural stress is relieved, the service life is prolonged, the aircraft adapts to multiple flight modes, and the environment adaptability and task execution efficiency of the aircraft are improved.

The invention provides a cloth pressing assembly of dewatering equipment and a control method of the dewatering equipment, the cloth pressing assembly of the dewatering equipment comprises a pressing rod and further comprises a supporting frame, a connecting frame rod is hinged to the supporting frame, the other end of the connecting frame rod is hinged to a connecting rod, the connecting rod is arranged above or below the supporting frame, and the connecting rod can slide in the length direction of the pressing rod along the pressing rod; the driving piece is in sliding connection with the pressing rod through a guide assembly, the extending direction of the guide assembly is parallel to the rotating face of the connecting frame rod, and the guide assembly and the connecting rod are arranged at an angle; the moving path of the driving piece is parallel to the connecting rod, the driving piece drives the connecting frame rod to rotate in the process of driving the pressing rod to slide along the connecting rod, and the connecting rod slides along the pressing rod to drive the pressing rod to slide along the guide assembly. Through the arrangement, one power source can be used for driving the driving piece to move towards the direction close to the filter cylinder, so that the pressing rod is fed towards the direction close to the filter cloth and is pressed downwards, the power source for driving the pressing rod is reduced, the cost of equipment is favorably reduced, and a control system of the cloth pressing assembly is simplified.

The invention provides a line-driven soft snakelike robot and a walking control method and system.The line-driven soft snakelike robot is applied to the technical field of robotics.The line-driven soft snakelike robot comprises a tail, a control system module, a front part, a head and other main parts, and the tail and the front part are designed through a plurality of bionic muscle modules; the length of the snakelike robot can be conveniently adjusted by adding the muscle modules, and the muscle modules are made of soft materials, so that the snakelike robot is simple in structure, small in size, good in flexibility and more suitable for moving in a complex or narrow space. Besides, the control system module controls the bionic muscles to stretch or contract through the ropes, so that the snake-shaped robot moves, the tail part and the front part are driven in a distributed manner by adopting different ropes, so that various movement gaits can be realized, and the movement gaits and the movement form of the snake-shaped robot are closer to those of a biological snake.

The invention provides a granular preparation dispensing device and a control method, and the granular preparation dispensing device comprises a granular preparation metering mechanism which comprises a metering main body for installing a medicine bottle, and a first dispensing plate and a second dispensing plate which are arranged in the metering main body; the granular preparation dispensing and medicine discharging mechanism comprises a linear transmission module and a linkage assembly, the output end of the linear transmission module is fixedly connected with the second dispensing plate, and the output end of the linear transmission module is in transmission connection with the first dispensing plate through a clutch structure. The clutch structure is arranged between the output end of the linear transmission module and the first adjusting plate, so that in the process that the linear transmission module drives the second adjusting plate to move, the first adjusting plate can be selectively driven to synchronously move along with the second adjusting plate through the clutch structure, or the second adjusting plate is driven to independently move; the granular preparation metering mechanism is driven by one power source to quantitatively subpackage the granular preparation.

The utility model relates to the technical field of battery production equipment, in particular to a liquid injection hole wiping device. Comprising a wiping seat, a rotating sleeve, a wiping rotation driving mechanism, a support, a shaft rod, a lifting seat, a wiping lifting driver arranged on the wiping seat and used for driving the lifting seat to ascend and descend, a wiping head arranged at the bottom end of the shaft rod, a connecting plate arranged in the middle of the shaft rod and connected with the support in a sliding mode, and two clamping assemblies movably connected with the two ends of the connecting plate correspondingly. The two clamping assemblies are symmetrically arranged, each clamping assembly comprises a connecting rod and a clamping jaw, one end of each connecting rod is hinged to one end of the corresponding connecting plate, the top end of each clamping jaw is hinged to the other end of the corresponding connecting rod, the middle of each clamping jaw is hinged to the support, and the bottom ends of the two clamping jaws are arranged on the two sides of the wiping head respectively. The cloth picking and wiping device is reasonable and compact in structural design, the clamping assembly is driven to open or close through lifting of the shaft rod, the matching linkage performance is good, a control system can be simplified, and the stability of picking and wiping cloth is improved.

The invention discloses a laser gas telemetering imaging system based on micro galvanometer scanning and a detection method, the system comprises: a laser transmit-receive optical unit, detection laser emitted by a semiconductor laser and aiming laser emitted by an aiming laser are combined by a beam combiner, and are collimated to an MEMS micro galvanometer through a collimation system; the MEMS micro galvanometer deflects by a corresponding angle to reflect the laser beam to a target detection area; the photoelectric detector array is used for receiving a light return signal of the detection laser; the signal processing and control unit is used for calculating the concentration information of the target gas in the target detection area according to the return light signal subjected to photoelectric conversion; the visual imaging unit is used for shooting a visual image of the detection area; and the information fusion unit is used for fusing the calculated gas concentration of the target detection area into a visual image, and sending the fused visual image to the signal output display unit for visual display of the gas concentration.

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

The invention provides a high-temperature superconducting pinning suspension active and passive hybrid vibration isolation system and method, and relates to the technical field of vibration isolation, the vibration isolation system comprises a measurement and control system and a suspension system, and the vibration isolation method comprises the steps that a floater of the suspension system is stabilized at a balance position relative to a stator through suspension pretreatment; during external excitation, vibration data generated by a floater connected with a vibration isolated body relative to a stator is collected and processed, a controller processes the vibration data through an internally preset PID control algorithm and outputs a control signal, and a coil on the floater receives and outputs the control signal and executes the control signal to achieve a preset state. Self-stabilization suspension of the system can be achieved without external energy input, meanwhile, the solenoid coil is wound on the outer side of the permanent magnet, real-time active control over suspension force is achieved by adjusting transmission current of the coil, and therefore the problems that the vibration isolation frequency band of a passive vibration isolation system depends on the inherent frequency, and rigidity and damping cannot be adjusted are solved.

The utility model provides a single-motor driving unit and a self-driven rail elevator, which relate to the technical field of elevator equipment and comprise a motor, a driving wheel and a speed reducer. An output shaft of the motor is provided with a first output end and a second output end, the first output end is located on the first side of the motor, the second output end is located on the second side of the motor, and the first side and the second side are the two opposite sides of the motor. The driving wheels comprise the first driving wheel and the second driving wheel, and the first driving wheel is arranged on the first side of the motor and is in power connection with the first output end of the motor. The second driving wheel is arranged on the second side of the motor and is in power connection with the second output end of the motor; the first driving wheel walks and moves on the first guide rail, and the second driving wheel walks and moves on the second guide rail. In the invention, the two driving wheels corresponding to the two guide rails share one motor, the structure is more compact, the cost is lower, and the synchronous rotation of the two driving wheels can be ensured.

The invention relates to the technical field of angle steel welding equipment, in particular to an automatic angle steel welding device for an angle steel tower, which comprises a welding part bracket, a welding part, a welding part, a welding part, a welding part and a welding part, and is characterized in that a pneumatic pushing mechanism, a right-angle positioning guide frame and a limiting frame are sequentially arranged at the top of the welding part bracket from inside to outside; and a single-drive mechanism. Therefore, the automatic angle steel butt-joint device is exquisite in structural design and outstanding in performance, automatic feeding can be achieved, angle steel can be accurately controlled to move and be in butt joint along a preset path, machining precision and efficiency are improved, welding quality is guaranteed, errors are reduced, automatic discharging can be achieved after welding is completed, working efficiency is further improved, manpower burden is relieved, meanwhile, personal errors and potential safety hazards are avoided, and the automatic angle steel butt-joint device is suitable for popularization and application. And the product quality and the production stability are improved, and great market popularization and application values are achieved.

The invention belongs to the technical field of robots, and discloses a decoupling control method and system for a two-degree-of-freedom vibration suppressor of a robot, and the method comprises the steps: analyzing the structural characteristics of a robot system, and designing a decoupling control strategy through a structural invariance principle; coupled vibration of force applied in the X direction in the Y direction and coupled vibration of force applied in the Y direction in the X direction are effectively eliminated. Compared with a traditional vibration control method, the multi-degree-of-freedom vibration suppression method has the advantages that the influence of a pose related mode and a coupling mode of the robot is fully considered, multi-degree-of-freedom vibration suppression can be efficiently realized in real time in a complex load and dynamic environment, and the adaptability and the control precision are relatively high. The technology has wide application prospects in the fields of robot precision machining, assembling, carrying and the like, and the stability, precision and working efficiency of a robot system can be remarkably improved.

The application discloses a large-angle variable stiffness flexible joint, which is composed of a plurality of flexible joint modules stacked together; the flexible joint module comprises a lower chassis, a spiral winding type driver, an elastic main bone and an upper chassis, one end of the elastic main bone is connected with the upper chassis, and the other end is connected with the lower chassis; N spiral winding type drivers are connected between the upper chassis and the lower chassis, and N is greater than or equal to 3; the lower chassis is provided with a buckle mounting groove; the upper chassis is provided with a buckle; the spiral winding type driver is provided with a metal wire; the metal wire is connected with a control system; the elastic main bone is of a space groove type structure; the space groove type structure is provided with one or more symmetrical notches on the elastic main bone; and the stiffness of the elastic main bone is adjusted by adjusting three parameters of a groove height H, a groove inner diameter D and a groove spacing AH. The application adopts modular design and the elastic main bone is adjustable, and large-angle bending and variable stiffness of the flexible joint are realized.

The application provides a pressing cloth assembly of a dehydration device and a control method of the dehydration device. The pressing cloth assembly of the dehydration device comprises a pressing rod, and further comprises a support frame, a connecting rod and a driving member. The connecting rod is hingedly connected to the support frame and hingedly connected to a connecting link. The connecting link is arranged above or below the support frame and is slidable along the length direction of the pressing rod. The driving member is slidably connected to the pressing rod through a guide assembly. The extension direction of the guide assembly is parallel to the rotating surface of the connecting rod and is arranged at an angle with the connecting link. The moving path of the driving member is parallel to the connecting link. During the process that the driving member drives the pressing rod to slide along the connecting link, the connecting rod is driven to rotate, and the connecting link slides along the guide assembly. Through the above arrangement, one power source can drive the driving member to move towards the filter cylinder, so that the pressing rod is fed and pressed towards the filter cloth, the power source for driving the pressing rod is reduced, the cost of the equipment is reduced, and the control system of the pressing cloth assembly is simplified.

The invention discloses a power-assisted mechanism and a lower limb autonomous exercise device comprising the same. The power-assisted mechanism comprises an L-shaped supporting frame, and the L-shaped supporting frame is provided with a transverse plate and a vertical plate; the driving mechanism is fixedly installed on the L-shaped supporting frame, and the driving mechanism comprises a motor; the thigh assisting assembly comprises a first connecting plate rotationally connected with the transverse plate through a first rotating shaft and a second winding wheel driven by the motor and wound with a first rope, and the free end of the first rope is connected to the first connecting plate; the invention belongs to the technical field of lower limb rehabilitation, and achieves the technical effects that a double-winding-wheel synchronous rope winding and unwinding system is adopted, one winding wheel directly acts on a first connecting plate corresponding to a thigh through a rope, and lifting assistance is provided; and the other winding wheel drags the movable frame through the other rope pulley block, so that the motion trail of the second shank part connecting plate is accurately controlled.

The utility model provides a kind of blowback filter device, it is related to air filtration and ash removal device technical field, including the filter element mounting plate for the filter device is installed to external container interface and supports filter element, at least two filter elements are installed and extend downward in the board face below of filter element mounting plate, the board face above of filter element mounting plate is fixed in exhaust box, gas ring is further equipped on the exhaust box, main air inlet pipe is equipped on the side of gas ring and is communicated with gas ring, the blowback pipe is equipped with multiple and corresponds with filter element quantity, one end of the multiple blowback pipes is fixed and communicated with the gas ring, and the other end of the multiple blowback pipes sequentially passes through exhaust box and filter element mounting plate and extends into the internal cavity of the filter element. The technical scheme can solve the problems of complex blowback gas circuit, high installation control cost of pipeline and valve, poor cleaning effect of filter element and low cleaning efficiency in the prior art.

The invention discloses a lamp effect control method and a terminal. The method comprises the following steps: if a lamp effect control instruction sent by a user side is received, analyzing the lamp effect control instruction to obtain user color values of at least two spotlights; determining a lamp effect mode configured by the user side according to the user color values of the at least two spotlights; if the lamp effect mode is a different-color mode, calculating an average user color value according to the user color values of the at least two spotlights, and respectively calculating difference values between the user color values of the at least two spotlights and the average user color value; configuring a target color value of the first spotlight of which the difference value is smaller than a preset color value according to the average user color value, so that a driving chip controls the first spotlight based on the target color value; and configuring a target color value of the second spotlight of which the difference value is not less than the preset color value according to the user color value, so that the driving chip controls the second spotlight based on the target color value. According to the invention, the control system of the multi-head spotlight can be simplified, and the delay from issuing to execution of a user side control instruction is reduced.

The invention belongs to the technical field of vehicle-mounted equipment, and particularly relates to a logic system applied to integrated control of a vehicle-mounted air conditioner and a refrigerator. A three-way electromagnetic valve channel is controlled to be opened and closed through real-time temperature feedback of a vehicle-mounted refrigerator sensor and an in-vehicle temperature sensor, and starting and stopping of an air conditioner refrigerator system are controlled. The control panel collects the temperature fed back by the refrigerator and the in-car temperature sensor; when the refrigerator feedback temperature is higher than the refrigerator set temperature, the refrigerator end of the three-way electromagnetic valve is opened, refrigerator refrigeration is started, and data is fed back to the control panel; if the refrigerator feedback temperature is smaller than the refrigerator set temperature, the three-way electromagnet closes a refrigerator end channel; if the in-vehicle feedback temperature is larger than the air conditioner set temperature, the three-way electromagnetic valve refrigerator end is opened, air conditioner refrigeration is started, and data are fed back to the control panel at the moment; if the in-vehicle feedback temperature is smaller than the air conditioner set temperature, the three-way electromagnetic valve closes an air conditioner end channel; the electric energy is saved, the control system is optimized, the operation is more convenient, and the comfort level of a user is improved.

The utility model discloses a kind of composite wax filling machines, comprising: composite wax storage tank, shunt cavity, opening and closing mechanism, transmission mechanism, power mechanism, pipeline, cooling box, when filling successively, plugging block is prevented to the liquid outlet pipe under blocking, let the remaining composite wax of liquid outlet pipe, splashproof cover discharge, after pusher plate is pushed down multiple transmission rod, let plugging flexible surface unfold, to prevent splashproof cover lower end and be blocked, prevent the composite wax drop on transmission mechanism on splashproof cover wall surface residual, by analogy, second opening and closing mechanism, first opening and closing mechanism sequentially act other liquid outlet pipe, the closure of splashproof cover, the power of whole process is unified when composite wax storage tank rotates, to be less power mechanism, and control system is simple.

The utility model relates to the technical field of cast aluminum alloy production, and provides an automatic marking device for a cast aluminum alloy intelligent production line, which comprises a water tank, a rack is fixedly connected in the water tank, the top of the rack is provided with a conveying belt, the side surface of the rack is provided with a driving motor, and the driving motor is connected with the rack. An aluminum ingot mold is fixedly connected to the top of the conveying belt, an automatic marking mechanism is arranged in the rack and comprises a bearing seat, the bearing seat is fixedly connected to the side face of the rack, and a rotating shaft is rotationally connected to the side face of the bearing seat. In the utility model, the typewriting head adopts a motion form similar to a swing arm, and the reciprocating swing typewriting is realized through the matching of the balancing weight and the roller on the conveying line. According to the design, the motion energy of the production line is ingeniously utilized, an additional power device is not needed, energy consumption and equipment cost are reduced, and meanwhile a control system is simplified.

The present invention relates to a brushless DC motor control circuit and method based on a position sensor, which belongs to the field of brushless DC motor commutation technology, and solves the problem of large switching loss and motor loss in the commutation control circuit in the prior art. The brushless DC motor control circuit based on the position sensor includes: a position sensor for collecting the position Hall signal output by the brushless DC motor; a commutation control logic circuit for receiving and processing a direction control signal, a PWM signal and the position Hall signal, and generating a commutation control logic signal adapted to the H‑PWM_L‑PWM modulation mode; a drive circuit for amplifying the commutation control logic signal to obtain a drive signal; a power main circuit for executing the H‑PWM_L‑PWM modulation process based on the drive signal, generating a brushless DC motor input control signal, and using the brushless DC motor input control signal to drive the brushless DC motor to work.

The utility model discloses a compressor assembly, heat management system and car relates to heat management system technical field, the compressor assembly includes: compressor body, the compressor body has motor, heat exchange structure is located one end at the compressor body, and is formed with the compressor body cooperation electric control cavity, the heat exchange structure is equipped with heat exchange passage, and with first import and first export of heat exchange passage intercommunication, heater is located the heat exchange structure, and is equipped with heating channel, and with second import and second export of heating channel intercommunication, and the second import is linked together with first export, and control assembly is located electric control cavity, and is combined with heat exchange structure setting, control assembly electricity is connected heater and compressor body's motor. The utility model discloses technical scheme, has reduced the power consumption of heat management system.

The invention relates to the field of machining and detection equipment, in particular to multi-axis linkage machining detection equipment. In order to solve the problem that the intermittent stop time of equipment operation needs to be determined according to the placing efficiency of workers due to the fact that the energy consumed for placing workpieces is large, the equipment comprises a machine base, an operation table and an operation head, the machine base is placed on the ground, a table top adjusting mechanism is arranged on the machine base, the operation table is installed on the table top adjusting mechanism, and the operation head is arranged on the machine base. The working table is adjusted to the position matched with the working head through the table top adjusting mechanism. The operation head is installed on the machine base in an inverted suspension mode so as to machine or detect a workpiece on the operation table. The method has the effect of reducing the influence of manual work on the intermittent stopping time of equipment operation.

The present invention provides an automatic dispensing device for wooden brackets, which can place multiple wooden brackets at one time and automatically dispense them according to the needs of the production line. It operates well, reduces costs, and reduces safety hazards in the workshop. It includes a horizontally arranged conveyor line, a material placement rack is arranged just above the starting end of the conveyor line, and the end of the conveyor line corresponds to the copper rod winding station. The material placement rack includes a wooden bracket placement cavity, and a pair of first guide support structures are arranged on both outer sides of the bottom of the wooden bracket placement cavity. The outer end of each of the first guide support structures is respectively connected to the inner output end of the first driving cylinder, and the cylinder seat of the first driving cylinder is fixed to the corresponding first mounting plate. The paired first guide support structures move synchronously toward or away from each other, and the inner end of the first guide support structure is used to support the bottommost wooden bracket when it extends into the wooden bracket placement cavity.

The present invention relates to the technical field of automatic storage equipment for picking, and provides a fruit frame storage device and a control method, wherein the fruit frame storage device comprises a storage frame, a mobile grabbing mechanism and a control system; a fixed support plate is provided on the storage frame, and a working station and a storage station are configured; the mobile grabbing mechanism comprises a displacement component and a grabbing component, the grabbing component is provided on the displacement component, and the displacement component drives the grabbing component to move in the X, Y, and Z directions; the grabbing component comprises a bearing platform and a positioning claw clamp, the positioning claw clamp is used to cooperate with a part of the edge of the top of the fruit frame to limit the position, and the control system can control the mobile grabbing mechanism to transfer the fruit frame between the storage station and the working station. The present invention realizes the stable bearing of the fruit frame through the cooperation of the bearing platform and the positioning claw clamp, and can provide the overall bearing capacity through the setting of the bearing platform, and the entire movement is driven by the displacement component to realize the entire automated grabbing and movement, and the entire control system is simple and efficient.

The invention discloses a high-reliability complex coefficient repetitive control grid-connected inverter control system and method suitable for a power supply protection scene, and the method comprises the steps: building an LCL type grid-connected inverter mathematical model under an alpha-beta static coordinate system for a three-phase grid-connected inverter, and saving Park transformation and decoupling calculation under a dq coordinate system; a complex coefficient filter H (s) and a complex coefficient repetitive controller are designed to form a double-input double-output control structure, and a complex coefficient imaginary part omega m is set to be equal to a fundamental frequency omega 0, so that the gain of the controller at the fundamental frequency is infinite, and complete tracking of periodic signals is realized; and the dynamic response capability of the system is improved by combining an output feedback control law. According to the method, the grid-side voltage imbalance and harmonic pollution can be effectively suppressed, the grid-connected current THD can be remarkably reduced, and the method has good dynamic control performance and robustness, is suitable for a grid-connected power generation system of new energy such as solar energy and wind energy, and plays an important supporting role in improving the power supply reliability and supply guarantee capability of a power system under the new energy access background.

This invention provides a biomimetic pet toy, comprising a shell, a drive unit, a circuit board, four legs, and a head. The drive unit and circuit board are installed inside the shell. The circuit board is connected to a horn, and the drive unit drives the legs and the tongue of the head via a linkage. The drive unit consists of a motor and a reduction gear set, which is divided into an overload clutch gear set, a limb gear set, and a head gear set. The motor drives the overload clutch gear set and the head gear set, enabling the legs to walk and the head and tongue to swing and extend / retract. The circuit board controls the motor's operation, the horn emits sound, and the battery box provides power. This toy has a simple structure, low cost, and can perform multiple actions, meeting the basic requirements of a biomimetic pet toy.

The invention discloses a distribution robot capable of stably stacking goods and a goods stacking optimization method. The distribution robot comprises a distribution robot body and a stabilization robot body. The distribution robot comprises a cabinet body, a goods shelf system arranged in the cabinet body and used for containing goods, a loading system arranged in the cabinet body and used for loading goods, and a first walking mechanism arranged at the lower end of the cabinet body; the stable robot comprises a machine body, a lifting mechanism, a stable frame body arranged at the upper end of the machine body and installed at one end of the lifting mechanism, the lower end of the stable frame body is open, the size of the stable frame body is matched with that of the cabinet body, and when the distribution robot loads goods, the stable frame body is buckled at the upper end of the cabinet body; the second walking mechanism is arranged at the lower end of the machine body. When the distribution robot loads goods, the stable frame body is moved to the position above the cabinet body, then the stable frame body descends to be buckled to the upper end of the cabinet body, movement and shaking generated when the distribution robot loads the goods are effectively prevented, and the goods loading system can stably stack the goods on the goods shelf system; and the stability of goods stacking during loading of the distribution robot is ensured.

A three-layer metal LNG full-capacity storage tank structure comprises a main container, a secondary container and an outer container which are arranged on a foundation platform (1), annular gaps are formed between a main container barrel (2) and a secondary container barrel (3) and between the secondary container barrel (3) and an outer container barrel (4), a first combined elastic layer (21) is arranged on the outer wall of the main container barrel (2), and a second combined elastic layer (22) is arranged on the outer wall of the outer container barrel (4). A first pearlife heat insulation layer (22) is arranged in an annular gap between the first combined elastic layer (21) and the secondary container barrel (3), a second combined elastic layer (31) is arranged on the outer wall of the secondary container barrel (3), and a second pearlife heat insulation layer (32) is arranged in an annular gap between the second combined elastic layer (31) and the outer container barrel (4). According to the structure, under the condition that the main container leaks, the low daily evaporation rate can be maintained, safety is high, leaked LNG and BOG flash steam can be contained, the fireproof interval of the storage tank is reduced, investment is relatively low, and the construction period is short.

The present invention relates to a rope-driven under-driven five-finger manipulator, comprising a palm component, a thumb component and a four-finger component mounted on the palm component, and a steel wire rope; the present invention can realize the manipulator grasping objects in various ways through the step-by-step operation and synchronous operation of three rotating motors in the palm; by adopting a rope-pulley system structure driven by a rope, the number of finger driving motors is reduced without affecting the daily life function of the manipulator, thereby reducing the manufacturing cost and weight of the manipulator, and compacting the driving elements inside the palm, so that the fingers themselves are lighter and more compact, and the movement is more stable; the present invention can not only perform adaptive grasping of objects, but also actively adjust the postures of the fingers to appropriate positions for more accurate grasping.