32results about How to "Structure sensitive" patented technology

The invention discloses a water hammer air valve and a water hammer gas discharging method during pipeline use. The water hammer air valve comprises a valve body, a bonnet and a protective cover, wherein the bonnet is provided with an opening, the protective cover is disposed on the opening, the valve body is provided with a valve opening for being communicated with a pipeline, a high-speed gas feeding and discharging device which is used for discharging gases stayed in the pipeline during water filling to the outside and shutting down the valve after pipeline water filling is completed is disposed in the inner cavity of the valve body, the output end of the high-speed gas feeding and discharging device is communicated with the outside through the opening of the bonnet, and the valve opening of the valve body is communicated with a bottom gas discharging throttling device for limiting the gas displacement of the pipeline to the inner cavity of the valve body; a trace gas discharging device for discharging mixed, residual and / or precipitated gases in the pipeline to the outside through the opening of the bonnet after the high-speed gas feeding and discharging device shuts down the valve is further disposed in the high-speed gas feeding and discharging device. By the water hammer air valve, water hammer reduction and pipeline safety protection are achieved, blowing blocking during high-speed gas discharging is avoided, and valve closing water hammer is eliminated.

The invention discloses a flowing speed sensor and a fabrication method thereof. The flowing speed sensor comprises a dual-layer polyimide film substrate, a graphene / polyimide piezoresistance unit anda signal lead. By arranging a simulated hair structure and the graphene / polyimide piezoresistance unit on a surface of the dual-layer polyimide film substrate, the flowing speed can be further measured by measuring stress change of the piezoresistance unit caused by bending of the simulated hair structure under an effect of an external fluid. The flowing speed sensor is simple in structure, and mass production is easy; with the design of employing simulated hair to sensor the flowing speed of the external fluid, the flowing speed sensor has the advantages of structural sensitivity and high measurement accuracy; and moreover, the flowing speed sensor employs a polyimide film as a flexible substrate, and the flowing speed sensor is more conveniently arranged on an arc wing surface and otherprobable curved surfaces.

The invention discloses a rotary type feeding and discharging device capable of achieving three-axis transfer. The device comprises a machine frame, a XYZ-triaxial driving device, a clamping device and a rotating device. The fixed end of the rotating device is connected to the XYZ-triaxial driving device and driven by the XYZ-triaxial driving device to do rectilinear motion in the X-axis direction, the Y-axis direction and the Z-axis direction. The clamping device is connected to the rotating end of the rotating device and driven by the rotating device to rotate. The clamping device is composed of a plurality of clamping assemblies which are arranged at intervals through separation devices. Each clamping assembly comprises a clamping air cylinder, two clamping parts and a connection base, wherein the fixed end of the clamping air cylinder is connected to the connection base, the two clamping parts are symmetrically connected to the movement end of the clamping air cylinder, and clamping motion is completed through drive and control of the clamping air cylinder. The rotary type feeding and discharging device capable of achieving three-axis transfer can achieve multi-angle transportation and steering, and has the advantages of being high in transfer speed, good in controllability, high in clamping precision and efficiency and good in flexibility and continuity.

The invention discloses an automatic-adjustment robot clamp which is arranged on a robot. The automatic-adjustment robot clamp comprises a bearing device, a bearing plate and a clamping device. One end of a rotating arm is connected to one end face of the bearing plate, and the other end of the rotating arm is connected to a mechanical arm of the robot. The clamping device is arranged on the other end face of the bearing plate and composed of a plurality of clamping assemblies. The clamping assemblies are arranged on the bearing plate at intervals through separation devices. Each clamping assembly comprises a clamping air cylinder, two clamping parts and a connection base, wherein the fixed end of the clamping air cylinder is connected to the connection base, the two clamping parts are symmetrically connected to the movement end of the clamping air cylinder, and clamping motion is completed through the drive and control of the clamping air cylinder. The automatic-adjustment robot clamp is simple and sensitive in structure, good in controllability, high in clamping precision and efficiency and good in adaptability and stability.

The invention relates to a braking device of a tramcar, in particular to a centrifugal-type safety braking device of an active track-locking tramcar. The invention solves the problems that the existing passive anti-skid device is prone to insensitive response and long braking response time, the maintenance thereof is easily ignored, and the reliability thereof is low. In the invention, two groups of centrifugal speed sensors are arranged on two tramcar wheel bodies; the two ends of a rotary connecting rod are fixedly connected with two gears on the outer side of the tramcar frame by passing through the tramcar frame; two racks are mounted on the tramcar frame and engaged with the gears; one end of each rack, which is hook-shaped, is matched with the other end of a telescopic rod; two frameworks are arranged below the rotary connecting rod and connected with the tramcar frame via a suspender switch; two locking dogs are rotatablely mounted at the ends of the two frameworks, which are connected via a fixed connecting rod. The invention has the advantages of sensitive response, short braking response time, convenient maintenance and high reliability.

The invention discloses a heat engine based on shape memory alloy driving. The heat engine comprises a drive mechanism and a transmission mechanism. The drive mechanism comprises a hollow valve cavity internally provided with a piston. A push rod is fixed to the piston and penetrates through an end cover of the valve cavity to be matched with the end cover in a sliding mode. The push rod is driven by a shape memory alloy driving part located in the valve cavity. The valve cavity wall is provided with a heat inlet and a cold inlet which are used for making the shape memory alloy driving part deform. The transmission mechanism comprises a gear and a transmission shaft. A gear meshes with a rack. The rack is connected with the push rod and is matched with the gear. The gear and the transmission shaft are coaxial. The heat engine can convert heat energy into useful work, and environmental protection is facilitated.

The invention discloses a bulk ship device, relating to the technical field of mechanical equipment. The bulk ship device comprises a silo-top feeding device, a silo-top dust collecting device, a bunker, a metering device, a Roots blower, a pipeline from the Roots blower to the bunker, a discharging device, a dust collector for the ship, a compressed air pipeline device and a bulk device for the ship, wherein the bunker is arranged below the silo-top feeding device and is connected with the silo-top dust collecting device; the metering device is arranged on one side of the bunker; the Roots blower is connected with the bunker through the pipeline from the Roots blower to the bunker; the discharging device is connected to the bottom of the bunker; and the compressed air pipeline device is connected with the discharging device which is connected with the dust collector for the ship and the bulk device for the ship. According to the bulk ship device, powder materials can be automatically conveyed to the bunker for the bulk ship; and in addition, the bulk ship device has the advantages of sensitivity in material level control, small resistance of discharge, favorable sealing effect, raised dust prevention and environment friendliness.

The invention discloses an exoskeleton power assisting device. The exoskeleton power assisting device comprises a body wearer, a control system and two executing devices. The two executing devices are connected through the body wearer. The executing devices comprise pulling cables, power parts, rotary joints and supporting components. The power parts comprise machine frames and power cylinders. The rotary joints comprise upper joint parts and lower joint parts. The upper portions of the upper joint parts are fixedly connected with the machine frames, and the lower portions of the upper joint parts are hinged to the upper portions of the lower joint parts. The control system comprises a controller, eletropneumatic proportional valves, a triggering sensor, and angle sensors. The eletropneumatic proportional valves are connected with the power cylinders. The triggering sensor is connected with the controller, and the angle sensors are arranged on the rotary joints and connected with the controller, and the controller is connected with the eletropneumatic proportional valves. The exoskeleton power assisting device has the advantages of being good in human-machine interaction, ingenious and portable in structure, rapid in response, and easy to operate.

The invention discloses exoskeleton assistance equipment. The exoskeleton assistance equipment comprises a body wear part, a control system and two actuation devices; the two actuation devices are connected through the body wear part; the actuation devices include traction ropes, power parts, rotating joints and fulcrum parts; the power parts include frames and power cylinders; the rotating joints include upper joint parts and lower joint parts; the upper parts of the upper joint parts are fixedly connected with the frames, and the lower parts of the upper joint parts are hinged with the upper parts of the lower joint parts; the control system includes a controller, an electric proportional valve, a trigger sensor and an angle sensor; the electric proportional valve is connected with the power cylinders; the trigger sensor is connected with the controller; the angle sensor is arranged on the rotating joints, and is connected with the controller; and the controller is connected with the electric proportional valve. The exoskeleton assistance equipment has the advantages of good man-machine interactivity, dexterous and light structure, sensitive response and easiness in operation.

The invention discloses a safety anti-collision device of a disc bale plucker. The safety anti-collision device is composed of a trolley arranged above an outer ring baffle, a beating wallboard, an anti-clogging feeler plate, a travel switch and a control assembly used for controlling the trolley to move. The anti-clogging feeler plate is movably mounted on the beating wallboard, a spring strut is fixedly mounted on the beating wallboard, and the spring strut penetrates through a hole in the anti-clogging feeler plate to be movably connected with the anti-clogging feeler plate. A buffer spring is movably arranged on the spring strut between the beating wallboard and the anti-clogging feeler plate. The travel switch is fixed on the beating wallboard. The control assembly used for controlling the trolley to move is composed of an intermediate relay, a trolley forward contactor, a trolley beating hoisting contactor, a trolley forward motor and a trolley beating hoisting motor. The travel switch controls the trolley to move by controlling the attraction of the intermediate relay. According to the technical scheme, the defects in the prior art are overcome, detection is sensitive, action is fast, safety and reliability are achieved, equipment damage and personal safety accidents caused under the condition that the trolley is collided are effectively prevented, and normal production of enterprises is guaranteed.

The invention relates to a plastic polymer particle air purification sprayer and a matched device thereof. The plastic polymer particle air purification sprayer and the matched device comprise a sprayer body, a hollow shaft, a shaft sleeve and three spraying rods. The sprayer body is a plastic polymer particle sprayer, the upper end of the hollow shaft is stretched into the shaft sleeve, the hollow shaft is provided with a bearing, a double-layer rubber sealing ring is arranged between the hollow shaft and the shaft sleeve, and three connectors are arranged at the lower end of the hollow shaft. One end of each spraying rod is connected with a corresponding connector, and the other end of each spraying rod is connected with the sprayer body. The axis of the sprayer body and the axis of the hollow shaft are skew lines. In work, the tangential component F' along a rotating track of the sprayer body and disintegrated by reactive force F of water is larger than the rotating resistance f of the hollow shaft, namely F'>f. The top of the shaft sleeve is fixed, and a water inlet is arranged at on the shaft sleeve. The sprayer is sensitive in action, large in output water pressure, capable of covering full sections, simple and convenient to install and operate, easy to maintain and widely suitable for air purification and dust removing in environments with high dust concentration.

The invention discloses a water hammer air valve and a water hammer gas discharging method during pipeline use. The water hammer air valve comprises a valve body, a bonnet and a protective cover, wherein the bonnet is provided with an opening, the protective cover is disposed on the opening, the valve body is provided with a valve opening for being communicated with a pipeline, a high-speed gas feeding and discharging device which is used for discharging gases stayed in the pipeline during water filling to the outside and shutting down the valve after pipeline water filling is completed is disposed in the inner cavity of the valve body, the output end of the high-speed gas feeding and discharging device is communicated with the outside through the opening of the bonnet, and the valve opening of the valve body is communicated with a bottom gas discharging throttling device for limiting the gas displacement of the pipeline to the inner cavity of the valve body; a trace gas discharging device for discharging mixed, residual and / or precipitated gases in the pipeline to the outside through the opening of the bonnet after the high-speed gas feeding and discharging device shuts down the valve is further disposed in the high-speed gas feeding and discharging device. By the water hammer air valve, water hammer reduction and pipeline safety protection are achieved, blowing blocking during high-speed gas discharging is avoided, and valve closing water hammer is eliminated.

The invention discloses a wearable exoskeleton power assisting device. The wearable exoskeleton power assisting device comprises a body wearing piece and two executive devices. The two executive devices are connected through the body wearing piece. Each executive device comprises a haulage cable, a power device, a rotary joint and a fulcrum part. Each power device comprises a rack and a power unit. Each rotary joint comprises an upper joint part and a lower joint part. The upper portion of each upper joint part is fixedly connected with the corresponding rack, and the lower portion of each upper joint part is hinged to the upper portion of the corresponding lower joint part. Guide wheels and auxiliary reels are arranged in the upper joint parts, and the auxiliary reels are arranged at the hinged positions of the upper joint parts and the lower joint parts. Tensioning wheels and main winding wheels are arranged in the lower joint parts, and the fulcrum parts are fixed to the corresponding main winding wheels. The two ends of each haulage cable are fixed to the corresponding power unit and the main winding wheel separately. The middle parts of the haulage cables sequentially wind across the guide wheels, the auxiliary reels and the tensioning wheels from top to bottom. The wearable exoskeleton power assisting device has the advantages of being good in man-machine interaction, ingenious and portable in structure, sensitive in reaction and easy to operate.

The invention discloses a wearable exoskeleton power assisting device. The wearable exoskeleton power assisting device comprises a body wearing piece and two executive devices. The two executive devices are connected through the body wearing piece. Each executive device comprises a haulage cable, a power device, a rotary joint and a fulcrum part. Each power device comprises a rack and a power unit. Each rotary joint comprises an upper joint part and a lower joint part. The upper portion of each upper joint part is fixedly connected with the corresponding rack, and the lower portion of each upper joint part is hinged to the upper portion of the corresponding lower joint part. Guide wheels and auxiliary reels are arranged in the upper joint parts, and the auxiliary reels are arranged at the hinged positions of the upper joint parts and the lower joint parts. Tensioning wheels and main winding wheels are arranged in the lower joint parts, and the fulcrum parts are fixed to the corresponding main winding wheels. The two ends of each haulage cable are fixed to the corresponding power unit and the main winding wheel separately. The middle parts of the haulage cables sequentially wind across the guide wheels, the auxiliary reels and the tensioning wheels from top to bottom. The wearable exoskeleton power assisting device has the advantages of being good in man-machine interaction, ingenious and portable in structure, sensitive in reaction and easy to operate.

The invention relates to a police antiriot automatic steel rim comprising a handle portion and a steel fork body. The steel fork body is in the shape of a hollow tube and includes a pair of forked outer tubes diverged into two parts. A fixing pin is arranged inside the tubes between the pair of the forked outer tubes. Inner tubes are arranged in the two forked outer tubes, the shapes of the inner tubes are matched with the shape of the forked outer tubes, and the inner tubes can be telescoped relatively to the forked outer tubes. A spring used for ejecting the inner tubes out of the outer tubes is arranged between the inner tubes and the fixing pin. Limit guiding devices used for controlling movements of the inner tubes are arranged at the end of the forked outer tubes. An inner tube locking device is arranged on the outer side wall of the forked outer tubes close to the fixing pin. The police antiriot automatic steel rim is simple in structure, once any part of the body of a prisoner or a thug touches a locking connection rod, the inner tubes in the forked outer tubes are instantly ejected out to form annularity with the forked outer tubes, the thug is locked inside the annular steel rim and can be arrested and subdued rapidly, the arrested prisoner or thug is not easy to escape, and barriers are omitted in the arresting process.

The invention discloses an electromechanical integrated intelligent cabinet lock, which has various intelligent lock control functions, is simple, convenient, safe, reliable and stable to use, integrates multiple functions as a whole, and is simple and reasonable in structure. The electromechanical integrated intelligent cabinet lock comprises a lock body, a lock tongue, an intelligent lock control device and / or an auxiliary lock control device, wherein the lock tongue is arranged on the lock body, the intelligent lock control device is arranged on the lock tongue correspondingly and consists of a control main board, a detector and a corresponding actuator, the detector and the corresponding actuator are respectively connected with the control main board, the actuator comprises a driving motor, and a transmission conversion mechanism which is arranged between the lock tongue and the driving motor.

The present invention relates to a fuel-saving one-way gear meshing device for motorcycle. The gear meshing device includes ratchet wheel toothed ring and inner core, the periphery of the inner core is equipped with recessed groove, in the recessed groove the stay tooth is mounted, and the stay tooth is correspondent to the click being in the ratchet wheel toothed ring, the ratchet wheel toothed ring and inner core are divided into two section axially, one section is the click and stay tooth matched section, between stay tooth and inner core a pressure spring is set, and another section is the relative freely rotation matching section between ratchet wheel toothed ring and inner core, and between the ratchet wheel toothed ring and inner core and bearing is mounted.

The invention discloses a traditional steel wheel type sightseeing train derailment control device. The traditional steel wheel type sightseeing train derailment control device comprises travel switches mounted on both sides of a sightseeing train in a mirroring manner, contacts of the travel switches are arranged corresponding to outer side of a track, and the travel switches are connected with abrake application in the sightseeing train through a data transmission element; whether the switch in the travel switches is touched or not is selected according to positional relation change of steel wheels and the track, quick action and timely response can effectively prevent derailment accidents. The traditional steel wheel type sightseeing train derailment control device is simple in structure, low in cost and suitable for promotion and use.

The invention discloses a transfer device, a punching system and a punching method. When a second punching machine completes punching operation, a workpiece is taken out through a first grasping structure; a first moving structure is driven by a second moving structure to move, and the first grasping structure is driven to move to the position above a conveying mechanism in the second direction; then the first grasping structure is made move to the conveying mechanism in the first direction through the first moving structure; the first grasping structure is released so that the workpiece can be placed on the conveying mechanism; the workpiece is conveyed to a first punching machine through the conveying mechanism; and finally, the workpiece is grasped from the conveying mechanism to the first punching machine by means of a mechanical arm, so that operation of automatic taking, automatic transfer and automatic loading of the workpiece is completed, the punching process achieves fully automatic control, the continuous and automatic production of the punching operation is achieved, and the production efficiency is improved; and the staff allocation and operation are reduced, and the personal safety of production workers is ensured.

The invention discloses a nozzle plate of a color sorter, which comprises a nozzle plate body and a nozzle cover, wherein a gap between the nozzle plate body and the nozzle cover is a nozzle exit, the inside of the nozzle plate body is provided with a plurality of inclined air inlets, and the tail s of the air inlets are communicated with the nozzle exit. The nozzle plate disclosed by the invention has the advantages that because a 52-degree included angle is formed between the air inlets and a horizontal line, the gas injection is smoother, and to airflows with an injection time of three-thousandths seconds, the structures of airflow channels are extremely sensitive, thereby improving the production efficiency.

The invention discloses a bidirectional overspeed self-locking traveling block. The bidirectional overspeed self-locking traveling block includes a pulley mechanism, a centrifugal driving mechanism and a ratchet wheel braking mechanism, wherein each of two sides of the pulley in the pulley mechanism is connected with a ratchet wheel; two ratchet wheels are arranged symmetrically, and are coaxial with the pulley; the ratchet wheels are engaged to the respectively corresponding ratchets; and the pulley rotates to drive a guide cylinder in the centrifugal driving mechanism, and when the rotatingspeed exceeds a rated rotating speed, a centrifugal block slides outward along the guide cylinder to engage with an annular gear, so as to drive the annular gear to rotate, and then the annular gear rotates to drive the ratchet wheel braking mechanism to move. The bidirectional overspeed self-locking traveling block can realize that during the forward or reverse operation of the traveling block, arope suddenly breaks or other reasons cause the speed of the traveling block to exceed a certain critical value, and the traveling block can be self-locked, that is, when the traveling block brakes,the rope is locked on the pulley to avoid or reduce property damage or even personal injury.

The invention discloses a transfer device, a stamping system and a stamping method. When the second stamping machine completes the stamping operation, the workpiece is taken out through the first grasping structure; and then the first moving structure is driven to move through the second moving structure, And drive the first grasping structure to move to the top of the conveying mechanism along the second direction; then, through the first moving structure, the first grasping structure is moved to the conveying mechanism along the first direction; loosen the first grasping structure, so that The workpiece is placed on the conveying mechanism; through the conveying mechanism, the workpiece is conveyed to the first punching machine; finally, the workpiece is grabbed from the conveying mechanism to the first punching machine by the manipulator, so that the automatic retrieving and automatic feeding of the workpiece is completed. The operation of transfer and automatic feeding enables the stamping process to realize complete automation control, realize continuous stamping operations, automatic production, and improve production efficiency; and reduce staffing and operations to ensure the personal safety of production personnel.

The invention discloses a pneumatic exoskeleton power assisting device. The pneumatic exoskeleton power assisting device comprises a body wearing part, a controlling system and two executing devices. The two executing devices are connected together through the body wearing part; each executing device comprises a haulage cable, a power device, a rotating joint and a supporting point part, wherein the supporting point part is worn on a leg; each power device comprises an air pump, a rack and a power air cylinder; each rotating joint comprises an upper joint portion and a lower joint portion, the upper portion of the upper joint portion is fixedly connected with the rack, and the lower portion of the upper joint portion is hinged to the upper portion of the lower joint portion; and the controlling system comprises a manual control valve, a three-position three-way pneumatic valve and a striking type pneumatic valve, the manual control valve is connected with the three-position three-way pneumatic valve and the striking type pneumatic valve, an air inlet port of the striking type pneumatic valve is connected with the air outlet control end of the three-position three-way pneumatic valve, and an air outlet port of the three-position three-way pneumatic valve is connected with the power air cylinders. The pneumatic exoskeleton power assisting device has the advantages that the man-machine interaction is good, the structure is smart and light, the reaction is quick, and operation is easy.

The invention provides a gradient variable cross-section coaxial Bragg grating strain sensor and a use method thereof. The sensor comprises a plurality of single-cycle sensing structures with the same structure, and the single-cycle sensing structures are integrally connected. Each single-cycle sensing structure sequentially comprises an inner conductor, an insulating layer, a metal outer conductor and an outer sheath from inside to outside, wherein the inner conductor, the insulating layer, the metal outer conductor and the outer sheath are coaxially arranged, and the cross-section radius of the insulating layer is in gradient change; and a gradient model of the gradient gradual change insulating layer is constructed by a cubic spline interpolation curve. Compared with a traditional coaxial electric grid sensor, the gradient gradual change insulating layer is continuous in overall structure, the structure is simple, the cost is low, the strain range is wide, the bearing is uniform in the strain process, the structure sensitive, and the response speed is high.

The invention discloses a method for detecting erythrocyte deformability and size change, a micro-fluidic chip is composed of an inlet liquid storage tank, a separation track and an outlet liquid storage tank which are connected in sequence, a plurality of sub-channels are distributed in the separation track in parallel, each sub-channel is internally provided with a separation micro-column, the separation track has a multi-section structure, and the separation micro-column is arranged in the outlet liquid storage tank. And the arrangement of the separation micro-columns in each section of separation track is based on a formula: Dc = 1.4 G (tan theta) 0.48. According to the detection method, the damage condition and deformability of the red blood cells can be evaluated within 2 minutes, the sample size is only 10 microliters, cell blockage is avoided, the detection method can be repeatedly used, and compared with a traditional detection method, the detection method is more sensitive and has extremely high practical application value.

The invention relates to providing a C3 polypeptide supramolecular helical polymer and a preparation method thereof. Polypeptide supramolecular helical polymers are made of monomer molecules through the amidation reaction of pentafluorophenol active esters of trimesic acid and dipeptides modified with alkyl chains, and then the monomer molecules self-assemble into supramolecular helical polymers in solution , the chirality of supramolecular helical polymers can be changed by changing the sequence of amino acids, and the helical pitch of supramolecular helical polymers can be adjusted by changing the chirality of amino acids. The preparation of supramolecular helical polymers is simple, and the chiral source (amino acid) used in it is obtained through natural proteolysis, non-synthetic, reliable chirality, cheap, and can be used in many fields such as chiral recognition and chiral separation. And it provides a new method for the preparation of new chiral materials.

The invention discloses an electromechanical integrated intelligent cabinet lock, which has various intelligent lock control functions, is simple, convenient, safe, reliable and stable to use, integrates multiple functions as a whole, and is simple and reasonable in structure. The electromechanical integrated intelligent cabinet lock comprises a lock body, a lock tongue, an intelligent lock control device and / or an auxiliary lock control device, wherein the lock tongue is arranged on the lock body, the intelligent lock control device is arranged on the lock tongue correspondingly and consists of a control main board, a detector and a corresponding actuator, the detector and the corresponding actuator are respectively connected with the control main board, the actuator comprises a driving motor, and a transmission conversion mechanism which is arranged between the lock tongue and the driving motor.

The present invention discloses a channel no-reference image quality evaluation method based on color perception. The method comprises the steps of (1) extracting the statistical characteristics of a G component mean subtracted contrast normalized (MSCN) coefficient and four direction neighboring coefficients according to a color perception characteristic that human vision is more sensitive to green component in an RGB color space, (2) according to the strong correlation among R, G and B components in the RGB color space, calculating the mutual information statistical characteristics among color components and textures and phases in the RGB color space, and (3) combined with the G component MSCN coefficient and the mutual information statistical characteristics among the color components, using an SVR and an SVC to construct a no-reference image quality evaluation model and an image distortion type recognition model. The channel no-reference image quality evaluation method based on color perception is suitable for the quality evaluation of images multiple distortion types such as blur and distortion and is highly consistent with human subjective evaluation, and the method has a strong application value.

The invention discloses an exoskeleton assisting device, which comprises a body wearing part, a control system and two actuators, the two executing devices are connected through the body wearing part, and the executing device includes a traction cable, a power part, a rotating joint and a fulcrum Components, the power part includes a frame and a power cylinder, the rotary joint includes an upper joint part and a lower joint part, the upper part of the upper joint part is fixedly connected with the frame, and the lower part of the upper joint part is hinged with the upper part of the lower joint part; the control system includes a controller, Electric proportional valve, trigger sensor and angle sensor, the electric proportional valve is connected with the power cylinder; the trigger sensor is connected with the controller; the angle sensor is arranged on the rotary joint, the angle sensor is connected with the controller; the controller is connected with the electric proportional valve. The invention has the advantages of good man-machine interaction, light and handy structure, quick response and easy operation.