294results about How to "Small inertia" patented technology

The invention relates to the technical field of robots, and discloses a leg structure and a humanoid robot. A motor template; the hip joint assembly is mounted on the thigh bracket and comprises a rotary mounting frame which is in assembly connection with the motor template; the first end of the hip linear actuator is rotationally connected with the thigh support, and the second end of the hip linear actuator is connected with the hip joint assembly; the shank support is connected with the lower portion of the thigh support through a knee joint assembly; the knee joint linear actuator is arranged on the thigh support, and the driving end is connected with the knee joint assembly; the foot support is connected with the lower portion of the shank support through an ankle joint assembly; the first end of the ankle linear actuator is rotationally connected with the shank support, and the second end of the ankle linear actuator is rotationally connected with the foot support. According to the humanoid robot, the corresponding linear actuators are arranged on the thigh support and the shank support, the space on the thigh support and the space on the shank support are fully utilized, the inertia of the leg structure is reduced, the response speed is high when the leg structure conducts corresponding actions, and the dynamic stability of the humanoid robot is improved.

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

The invention relates to the technical field of robots, and discloses a humanoid robot lower limb system, comprising: a crotch portion comprising a rope-driven motor; the thighs are installed at the two ends of the crotch respectively and can rotate along a pitch axis and a roll axis; the shanks are installed at the lower ends of the two thighs respectively, a knee joint motor is installed on the upper portion of each thigh, and the shanks are driven to rotate relative to the thighs through the knee joint motors and the synchronous belts; the ankles are mounted at the lower ends of the two shanks respectively; the rope drive motor drives the shank opposite to the ankle to rotate through the steel wire rope. The synchronous belt has the characteristics of high transmission precision and strong anti-interference capability in a non-severe environment, the rope drive has the characteristic of high sensitivity, and all motors are intensively arranged at the uppermost end of the leg structure, so that the center of gravity is concentrated on the upper part, the inertia of leg movement is reduced, and the movement control is facilitated. Meanwhile, the principle that the left leg and the right leg are designed into blocks is adopted, so that the left leg and the right leg can rotate independently, and walking in multiple terrains is facilitated.

The invention discloses a line drive type biped robot leg structure which comprises a thigh support, a knee joint motor is arranged at the lower end of the thigh support, a shank support is connected to an output shaft of the knee joint motor, a foot assembly is movably connected to the lower end of the shank support and comprises a foot fixing piece, and a heel is connected to the rear portion of the foot fixing piece. The heel is connected with a line driving structure, the line driving structure comprises a first ankle joint motor, a second ankle joint motor, a first driving line wheel, a second driving line wheel, a first ankle joint line wheel and a second ankle joint line wheel, and a first transmission line is arranged between the first driving line wheel and the first ankle joint line wheel; a second transmission line is arranged between the second driving line wheel and the second ankle joint line wheel, a first crank swing rod structure is arranged between the first ankle joint line wheel and one side of the heel, and a second crank swing rod structure is arranged between the second ankle joint line wheel and the other side of the heel. The device has the advantages of being simple in structure and good in adaptability.

The invention relates to a mechanical arm and a double-arm robot. The mechanical arm comprises a supporting body, a shoulder structure, a large arm, an elbow structure, a small arm and a wrist structure. The shoulder structure comprises a shoulder differential assembly, a shoulder rope driving assembly and a shoulder joint, and the shoulder joint has three degrees of freedom and comprises a shoulder rotating seat fixedly arranged on the shoulder differential assembly and a shoulder adapter which is pivoted to the shoulder rotating seat, fixedly arranged at the first end of the big arm and in transmission connection with the shoulder rope driving assembly; the wrist structure comprises a wrist fixing support, a wrist rope differential assembly, a wrist rotation driving assembly and a wrist joint, and the wrist joint has three degrees of freedom and comprises a wrist rotation support pivoted to the wrist fixing support and a wrist deflection support which is in transmission connection with the power output end of the wrist rope differential assembly and pivoted to the wrist rotation support; the wrist rotation driving assembly is installed on the wrist deflection support and used for being in transmission connection with the tail end mechanical arm. The shoulder joint and the wrist joint of the mechanical arm are small in mass and inertia.

The invention discloses rock core drilling sampling equipment for geological disaster investigation, and relates to the technical field of sampling, and the rock core drilling sampling equipment comprises a composite mechanism. According to the rock core drilling and sampling equipment for geological disaster investigation, through the design of a composite mechanism, the motor is connected with the butt joint block, and the drill rod is inserted into the inner side of the butt joint block, so that drilling and sampling are conducted on rocks, in the drilling process, the movable frame slides on the outer side of the sliding column so as to ascend and descend, and therefore the work requirement is met; a drill bit mechanism is arranged on the outer side of the drill rod, large rocks are crushed through the drill bit mechanism in the drilling process, meanwhile, rock blocks are guided to enter the inner side of the drill rod, so that a sample is taken out when the movable frame body is lifted subsequently, subsequent treatment is facilitated, and after sampling is finished, the drill bit mechanism is used for crushing the large rocks and guiding the rock blocks to enter the drill rod. When the sample is taken out from the inner side of the drill rod, the sample is taken out more cumbersomely and difficultly, the pushing and pressing mechanism is pressed by the electric push rod, so that the effect of discharging the sample is achieved, and normal operation of equipment is kept.

The invention discloses an impact type rotating wheel hollow water bucket structure and a manufacturing method thereof, and relates to the technical field of hydroelectric power generation, in particular to the manufacturing method of the impact type rotating wheel hollow water bucket structure, which comprises the following steps: S1, preparing an impact type rotating wheel hub and a water bucket root solid area through forging, milling, polishing and other process means; s2, calculating a water bucket hollow part model through the working stress of the rotating wheel; and S3, the prepared rotating wheel hub is clamped to a positioner, and according to the model calculated in the above steps, the additive manufacturing of the rotating wheel hollow water bucket is achieved by continuously and cooperatively adjusting the spatial position of the rotating wheel and the posture of a welding gun. The invention has the advantages of reducing the weight, improving the stability, reducing the inertia, prolonging the service life, saving the cost, promoting the sustainable development, optimizing the structural design, improving the performance, improving the efficiency, reducing the energy consumption, being convenient to manufacture and maintain and enhancing the adaptability.

The invention discloses an active lower limb exoskeleton bearing device which comprises a trunk assembly, a left leg assembly and a right leg assembly. The left leg assembly and the right leg assembly are fixedly connected to the two sides of the trunk assembly, the width between the left leg assembly and the right leg assembly can be adjusted, and the left leg assembly and the right leg assembly comprise thigh structures, shank structures and foot assemblies which are in mirror symmetry; the trunk assembly comprises a back frame, a wearing binding mechanism and a waist supporting mechanism. The length of the shank function module is adjusted, the influence on the walking gait is reduced, and the practical value and the comfort degree are greatly improved.

The invention relates to a hub motor driving and braking integrated system with a built-in speed reducer and a control method, and belongs to the technical field of electric vehicle braking, the system comprises a motor, a planetary gear speed reducer and a brake, the planetary gear speed reducer comprises a sun gear, a gear, a planet carrier plate and a planet shaft, the sun gear and the gear are integrally formed, the sun gear is of a hollow structure, the sun gear is connected to the motor through a spline, the planet shaft and a wheel bolt are arranged in a staggered mode, and the planet carrier plate is fixedly connected to a wheel bolt fixing plate. The technical problems that in the prior art, a hub motor with a built-in speed reducer is low in internal space utilization rate, poor in heat dissipation effect and large in noise due to insufficient structures and strategies are solved.

The utility model discloses a double-head chip mounter, a chip mounter head is provided with a plurality of chip mounting units, a suction nozzle of any chip mounting unit is matched with a rolling valve, a rotating frame is provided with a sixth shaft which can be movably matched with all the rolling valves one by one, and the sixth shaft can drive the rolling valves which are movably matched with the sixth shaft to be switched between a vacuum position and an air blowing position. The fifth rotating shaft used for driving the chip mounter heads to rotate comprises a left half shaft and a right half shaft, the chip mounter heads comprise a left chip mounter head installed on the left half shaft and a right chip mounter head installed on the right half shaft, the sixth shaft is located between the left chip mounter head and the right chip mounter head, a chip mounting unit vacant position is reserved in any chip mounter head, and the chip mounting unit vacant position is located in the right chip mounter head. The chip mounting unit vacant position of any chip mounting machine head can stay at the sixth axis, so that a pair of parallel chip mounting machine heads can operate simultaneously, independently and continuously in sequence, and the application range and the working efficiency of the chip mounting machine are improved.

The invention relates to a portable folding 3D printer, and relates to the related field of 3D printing, the portable folding 3D printer comprises a base, a U-shaped frame rotatably mounted on the base, and two first sliding rails fixed in the base, first sliding blocks are slidably mounted on the two first sliding rails, and a mounting plate is fixed on the two first sliding blocks; a mounting plate is arranged on the base, a magnetic plate is detachably mounted on the mounting plate through bolts, a hot bed plate is adsorbed on the magnetic plate, a double-shaft motor is fixed between the two first sliding rails, two first tensioning pieces are further fixed in the base, and two conveying shafts of the double-shaft motor are connected with the two first tensioning pieces through first synchronous belts; a higher moving speed can be achieved through the driving mechanism, due to the fact that the motor of the structure is fixed to the frame, in a printing head D printer, a general motor is a maximum inertia source, when the motor does not move at the execution end in a following mode, the execution end has smaller inertia, and therefore the motor can adapt to the higher speed.

The utility model belongs to the technical field of welding, and relates to a swing structure and a wire bonder, the swing structure comprises a rotating shaft, a swing body, a driving assembly and a monitoring assembly; the swinging body can swing around the rotating shaft under the action of the driving assembly, and an arc-shaped mounting surface is arranged on the tail end surface of the swinging body; the monitoring assembly comprises a grating ruler which is attached to the mounting surface; the driving assembly comprises a coil, the coil is fixed to the swing body, and a heat dissipation gap is formed between the coil and the mounting face. The tail end face of the swing body is provided with the arc-shaped mounting face, the grating ruler is fixed to the mounting face, parts do not need to be additionally arranged for placing the grating ruler, the structural design of the swing body can be simplified, and the motion inertia of the swing body is reduced; besides, a heat dissipation gap is formed between the coil and the mounting surface, so that enough space is formed around the coil and the grating ruler for air circulation, heat dissipation of the coil and the grating ruler is facilitated, and the situation that the measurement precision is affected due to the fact that scales of the grating ruler are changed due to high temperature is prevented.

The utility model belongs to the technical field of plate bending machines, and particularly relates to a full-hydraulic drive four-roller plate bending machine which comprises a machine frame, an upper roller, a lower roller and two side rollers, the upper roller is arranged on the top of the machine frame and driven by a hydraulic motor, the lower roller is arranged under the upper roller, and the two side rollers are symmetrically arranged on the left side and the right side of the lower roller. One end of the upper roller (4) is connected with the machine frame (1) through a first shaft seat (3), the other end of the upper roller (4) is connected with the machine frame (1) through a supporting mechanism (7), the supporting mechanism (7) is installed on one side of the machine frame (1), and each side roller (10) is connected with the machine frame (1) through a swing mechanism (17). The roll gap distance between the upper roll and the lower roll is adjusted through relative movement of the upper wedge block and the lower wedge block in the jacking mechanism, the lower roll can bear large loads due to the structural characteristics of the jacking mechanism, and plates can be effectively rolled conveniently.

The invention discloses a wheel-leg-arm combined type mobile operation robot and relates to the technical field of robots. The problem that an existing foot type robot is uneven in mass distribution, and the stability of the robot in the movement process is affected is solved. The robot comprises a robot body and six mechanical legs installed on the periphery of the robot body, the two mechanical legs located in front of the robot body are of leg-arm structures, and the other four mechanical legs are of wheel-leg structures; when the operation robot moves, the operation robot can be switched between a six-foot moving mode and a wheel type moving mode so as to cope with different terrains; when the operation robot operates, the operation robot can be switched from the six-foot moving mode or the wheel type moving mode to the double-arm operation mode so as to achieve operation tasks.

The invention provides a telescopic diving transportation boat and a detection device and method thereof. The transportation boat comprises a front section (a driving cabin and a front cabin), a middle section (an annular piston and an annular hydraulic cylinder) and a rear section (a rear cabin and a motor steering engine cabin), the three sections are connected into a whole through flanges and bolts, when the annular piston moves back and forth in the cylinder, the volume and the specific gravity of the boat are changed, and the purpose of submerging and surfacing is achieved. The piston ring ensures sealing in the cylinder, and the stability of the boat sailing on the water surface and underwater is provided through cooperation of the stabilizing rod and the stabilizing sleeve. The boat is constructed in the land workshop in a segmented mode, detection is conducted in the land workshop in a segmented mode by simulating various conditions during submerging, time and labor are saved, and safety is achieved. The boat has the main advantages that the structure and operation are simple, the cabin capacity is large, the speed of personnel and goods entering and exiting the cabin is high, and batch production can be achieved. The device is mainly used for seabed sightseeing, undertaking transportation tasks when sea conditions are severe, and carrying out landing combat when necessary.

The invention relates to a method for testing the small torque of a vehicle-mounted motor. The method comprises the following steps: S1, calibrating a torque sensor; s2, small torque treatment; s3, installing the tested motor; s4, carrying out no-load test; s5, connecting a data acquisition system; s6, connecting a battery simulator; s7, testing data; and S8, data processing. According to the invention, the small-torque dynamometer is directly butted with the tested motor, so that the intermediate transmission of the axle box is reduced, the power and torque of the dynamometer are reduced, the inertia is reduced, the shaft loss of torque measurement is reduced, the range of the torque sensor is reduced, and the measurement precision is improved; the testing method can effectively solve factors such as insufficient testing precision of small torque and too large error caused by mechanical loss.

The utility model belongs to the technical field of oil tank trucks, and provides an oil tank truck with an air suspension structure, the oil tank truck with the air suspension structure comprises a frame, an oil tank and an axle, the air suspension structure is further arranged between the axle and the frame, the oil tank comprises a tank body, a plurality of flow baffles are arranged in the tank body at intervals, and the air suspension structure is arranged in the tank body. A plurality of liquid flow channels with the two ends extending towards the outer side of the flow baffle are arranged on the flow baffle in a penetrating mode, rebounding mechanisms used for reducing the impact force of liquid flow on the flow baffle are further arranged on the two side faces of the flow baffle, each rebounding mechanism comprises a rebounding plate and a rebounding ring which are arranged on the liquid flow channels in a sleeving mode, each rebounding ring is in a long circular ring shape, and the upper face and the lower face of each rebounding ring are flat faces. Two symmetrical U-shaped metal plates are embedded in the left end and the right end of the rebound ring, and the liquid flow channel is sleeved with a damping spring. The rebounding mechanism for weakening the impact force of the liquid flow is arranged on the flow baffle, so that the problem that the flow baffle in the existing oil tank truck is easily impacted and damaged by the liquid flow is solved.

The invention discloses a linear motor for small household appliances, which comprises a shell and an iron core, at least one salient pole is arranged on each of the upper and lower inner side walls of the iron core, and the salient poles on the upper and lower sides are staggered from each other; coil windings are wound on the salient poles, a guide seat is arranged at the inner bottom of the shell, a magnet support is arranged in the shell in a sliding manner, a belt head is arranged at the position, close to the opening end of the shell, of the magnet support, and a magnet assembly is arranged in the magnet support in a sliding manner; the magnet assembly is provided with at least one magnetic steel; the upper side and the lower side of the magnet support are each provided with at least one window. The windows correspond to the salient poles in position; the guide seat is provided with a switching groove, the magnet assembly is provided with a bayonet lock, and the bayonet lock is movably embedded into the switching groove, so that when the coil winding is electrified to generate a magnetic field which is the same as the magnetic steel, the magnet support drives the magnet assembly and the belt head to slide left and right, and meanwhile, the magnet assembly slides up and down relative to the magnet support, so that the magnetic steel is embedded into the corresponding window; the output smoothness of the linear motor is improved, the production cost is reduced, and the motion inertia of the whole movable part is reduced.

The utility model relates to the technical field of automatic assembling machines, and discloses a hairpin automatic assembling machine which comprises supporting assemblies and a material storage assembly, the two supporting assemblies comprise supporting frames and top plates, the top of each top plate is provided with a rotating mechanism, a mounting mechanism, a discharging assembly and a discharging unit, and the rotating mechanism comprises a first motor, a rotating shaft and a bearing disc. The first motor drives the bearing disc to rotate through a rotating shaft, a plurality of mounting bases are fixedly mounted at the top of the bearing disc, the mounting mechanism comprises a first mounting assembly, a second mounting assembly and a third mounting assembly, and the first mounting assembly and the second mounting assembly each comprise a fixing frame, a sliding block, a first air cylinder, a second air cylinder and a mechanical claw; when the bearing disc rotates, the plurality of mounting seats can be intermittently driven to move, and the rotating frequency of the first motor corresponds to the speed of the mechanical claw for mounting parts, so that the hairpin does not need to be manually mounted during mounting, the intermittent time is reduced, and the automation effect and the working efficiency are further improved.

The invention provides a rope-driven robot, relates to the technical field of robots, and aims to solve the problem that a traditional industrial mechanical arm is heavy due to the fact that a motor is arranged in the mechanical arm. The rope-driven robot comprises a chassis, a body, mechanical arms and a motor assembly, wherein the body is mounted on the chassis; the mechanical arm is installed on the body, the mechanical arm comprises a shoulder structure, a large arm shell, an elbow joint, a small arm shell, a wrist structure and a tail end clamping jaw which are sequentially arranged, a rope driving assembly is arranged in the mechanical arm, and the rope driving assembly is configured to enable the shoulder structure to have the rotation freedom degree and enable the elbow joint to have the buckling freedom degree; the wrist structure has a rotation degree of freedom, a first swing degree of freedom and a second swing degree of freedom; the shoulder structure also has a pitching degree of freedom and a deflection degree of freedom; the motor assembly comprises a mounting frame and a motor assembly, and the motor assembly is in driving connection with the rope driving assembly. The mechanical arm is light and handy.

The utility model relates to the technical field of car stops, and particularly discloses a telescopic variable-frequency channel gate which comprises a case, a handrail, a storage groove and a telescopic assembly, the surface of the case is provided with the handrail, the handrail is located in the storage groove and rotationally connected with the storage groove, the telescopic assembly is located in the handrail, and when a pull rod rotates to rise and fall, the telescopic assembly is started synchronously. According to the telescopic handrail, when the telescopic assembly rotates when the handrail is driven by the motor, the overall length of the handrail can be reduced when the telescopic rod moves towards the interior of the telescopic groove, inertia generated by the overall end of the handrail is reduced, and therefore the effect of reducing the shaking amplitude is achieved, and the service life of the handrail is prolonged; and meanwhile, the shaking condition is improved, so that continuous rising and falling can be realized in a shorter time, and the traffic efficiency of the gateway is improved.

The present invention relates to the technical field of fastener preparation molds, specifically a fastener preparation mold and preparation method, including a stamping die set, a lift-out mold assembly is provided at the middle end of the stamping die set, and a molding module is provided at the middle end of the inner cavity of the lift-out mold assembly, a reverse buffer mechanism is connected to the bottom end of the lift-out mold assembly, a parting line is provided in the closed mold in the lift-out mold assembly, a mold cavity is provided at the middle end of the parting line, and an expansion cone wall is provided at the bottom end of the mold cavity. In order to allow the molded blank to be smoothly taken out without friction in the mold, a closed mold and a lift-out cone pile are combined, and the lift-out cone pile with a conical structure cooperates with the expansion cone wall to synchronously unfold and lift, so that the blank in the mold can be taken out stably and without damage, thereby reducing the friction between the blank itself and the inner wall of the mold, improving the overall fastener processing and preparation quality, and reducing the loss of the mold itself.

This invention discloses a centrifugally driven electromagnetic regulating device, a fan, and a gas water heater. The centrifugally driven electromagnetic regulating device includes a centrifugal diaphragm and a base connected to the fan shaft. The base has an inner cavity with a ventilation opening. The centrifugal diaphragm is movably disposed in the inner cavity and is used to block the ventilation opening. The fan shaft rotates to drive the base and the centrifugal diaphragm to rotate together. The centrifugal diaphragm moves in the inner cavity under centrifugal force to change the area of ​​its blocking of the ventilation opening, thereby changing the ventilation area of ​​the ventilation opening. This invention cleverly utilizes centrifugal force as the source of power for the centrifugal diaphragm to slide relative to the inner cavity of the base, so as to adjust the position of the centrifugal diaphragm at the ventilation opening in the inner cavity of the base. The transmission process does not use components with large mass, so the overall inertia is small. The centrifugal diaphragm can sensitively respond to changes in rotational speed and flexibly change its position blocking the ventilation opening.

The utility model discloses a kind of rice powder microwave heating curing device and rice powder machine with the device, the curing device includes extruding component, it includes extruding cylinder, further include microwave heating assembly, microwave heating assembly is arranged on the outer wall of extruding cylinder.Microwave heating assembly includes magnetron;Extruding component includes machine cylinder component and extruding screw rod, machine cylinder component includes inner cylinder and extruding cylinder;The sidewall of the extruding cylinder is equipped with multiple microwave guide inlets;Inner cylinder is arranged in the extruding cylinder, and the feed inlet of inner cylinder is communicated with the feed pipe;Extruding screw rod is arranged in the inner cavity of the inner cylinder;Each guide inlet on extruding cylinder is equipped with a microwave heating assembly, and guide inlet is fixedly connected with the magnetron.This rice powder microwave heating curing device directly heats rice powder by microwave, is easy to control heating temperature, energy saving and environmental protection, can solve the problem that material is unevenly heated, heating time is long, energy consumption is big in rice powder heating curing process.

The utility model discloses LED lamp strip production electric feeder's anti -sticking device of material, including base and install on the base and material discharge mechanism, guide material frame and anti -sticking detection mechanism, the material discharge mechanism includes material discharge roller and brake stop mechanism, brake stop mechanism installs to the base is used for to material discharge roller and carries out brake stop, anti -sticking detection mechanism includes support frame, square channel, two lower roller and pressure sensing piece. The utility model discloses through setting pressure sensing piece realizes the real -time detection to the tension change of the flexible backplate strip of the output end part of whole material feeding mechanism, and transmission to controller, according to the tension change, judges the tape jam failure, and realizes automatic shutdown control, and utilizes vertical cylinder and drives friction block to realize to material discharge roller and carries out brake stop to realize the device with tape jam failure of equipment realizes real -time detection and reaction, reduces the loss, and wide adaptability range simultaneously, and effectively reduce the inertia of equipment, reduce the advantage of loss.

The invention relates to the technical field of image acquisition holders, and discloses a portable high-precision mobile holder device which comprises a guide rail adjusting base, the guide rail adjusting base comprises a supporting footstand, a base body is hinged to the top of the supporting footstand, and a vertical shaft adjusting handle is in transmission connection with the interior of one side of the base body. A vertical shaft is slidably connected to the interior of the base body, a Q1 quick-release base is fixed to the top of the vertical shaft, and a Q1 quick-release plate is clamped in the Q1 quick-release base. According to the portable high-precision movable holder device, proper front left guide rails, front right guide rails, rear left guide rails and rear right guide rails are selected to be assembled into corresponding guide rail lengths and guide rail shapes; according to the technical scheme, the image collector is controlled to collect images when the cradle head body rapidly moves on the inner sides of the front left guide rail, the front right guide rail, the rear left guide rail and the rear right guide rail, sufficient illumination is provided through the calibration lamp in the dark field environment, and then the image collection efficiency and quality are improved.

The utility model discloses a glue nozzle temperature on-line detection device, and relates to the technical field of adhesive sticker production, the glue nozzle temperature on-line detection device comprises a support frame member and a second closed structure member, the bottom of the support frame member is connected with a first joint member, and the second closed structure member is connected to one end of the support frame member far away from the first joint member. According to the glue nozzle temperature on-line detection device, the first joint component and the second joint component are arranged at the two ends of the supporting frame component respectively, a first electric joint and a second electric joint are each of a frameless torque motor structure, and by means of the arrangement of the structures, the whole device structure has the double-section structure movable adjustability; and meanwhile, a damping sleeve is used between the second closing component and the detection component, so that the detection component can realize axial rotation adjustment along the surface of the connecting pile, the structural flexibility is improved, and the device is convenient to use.

The utility model relates to a piston type energy accumulator which is provided with an energy accumulator shell (10), a separating piston (12) can be guided in the energy accumulator shell in a longitudinal displacement mode, two fluid cavities are separated by the separating piston, and the separating piston is provided with a damping piston (18) with a check valve (20). The damping piston (18) can be moved into a fluid connection (24) in the energy accumulator housing (10) while forming a throttle gap (22) which is a cylindrical annular space formed by adjacent walls (28, 32) of the energy accumulator housing (10) and of the damping piston (18), and the check valve (20) has a valve ball (36) which is loaded by the energy accumulator, the valve ball blocks a fluid path between the fluid connection (24) and a piston fluid chamber (38) between the separating piston (12) and the accumulator housing (10) in the closed position thereof and releases the fluid path in the open position thereof.

The invention provides a small processing grinder: a base, a column in the Y-axis direction, a ram, a spindle structure, a processing spindle in the C-axis direction, a cross slide in the Z-axis and X-axis directions, a workpiece spindle mounting table, a workpiece spindle in the A-axis direction and a workpiece library; since the processing spindle is mounted on the ram through the spindle structure, and the processing spindle can swing in a horizontal plane perpendicular to the Y-axis direction, a cross slide for mounting the workpiece is provided on the base, when processing the workpiece, the spindle can be driven to a specific position through the ram and then kept stationary, or a very small amount of up and down movement can be performed to achieve processing of the workpiece, and the spindle can avoid motion interference, and since the processing spindle does not need to reciprocate up and down movement, the wear on the driving screw used for driving the ram movement is reduced, and at the same time, the movement of the cross slide and the small-angle swing of the processing spindle have a small inertia, high control accuracy, and improved processing efficiency.

The present invention relates to a rigid-flexible coupling rope-driven external limb robot for fruit picking, which includes a back support plate, a wearable device, a power supply device and two mechanical arms, wherein the wearable device is connected to the back support plate and is used to be worn on a human body, and the power supply device is used to supply power; the mechanical arm includes a mechanical arm seat, a mechanical arm body, a mechanical claw and a driving device, and the mechanical arm seat is installed on the back support plate; the mechanical arm body includes a rigid upper arm, a rigid lower arm and a continuous flexible arm connected in sequence, and the head end of the rigid upper arm is connected to the mechanical arm seat; the mechanical claw is installed at the end of the continuous flexible arm; the driving device is installed on the back support plate, and the rigid upper arm, the rigid lower arm and the continuous flexible arm are connected by ropes respectively, and is used to drive the rigid upper arm, the rigid lower arm and the continuous flexible arm to move. The present invention adopts a combination of rigid arms and continuous flexible arms to achieve precise control and good flexibility, and effectively improves the work efficiency of personnel when working.