82 results about "Force output" patented technology

The invention discloses an ultrasonic robot tail end zero-rigidity constant-force driver and a control method thereof.The ultrasonic robot tail end zero-rigidity constant-force driver comprises a shell, a negative-rigidity structure, a positive-rigidity structure and a control circuit board, the shell comprises an external main frame, a top cover and a base, the negative-rigidity structure comprises a fixed magnet and a movable magnet set, and the positive-rigidity structure comprises a positive-rigidity structure and a negative-rigidity structure; the fixed magnet is fixedly installed on the base, the movable magnet set is fixedly installed on the top cover, the positive stiffness structure comprises a linear servo motor, a displacement sensor, a linear spring and a spring seat, the movable magnet set and the fixed magnet generate negative stiffness through magnetic field interaction, and the linear spring generates positive stiffness through deformation. And the resultant forces are offset to realize zero-rigidity constant-force output. The control circuit board is installed in the base and electrically connected with the linear servo motor and the displacement sensor. The method is used for solving the problems that in the prior art, scanning efficiency is low, the method is sensitive to measurement errors, and ultrasonic scanning requirements of complex scenes are difficult to meet.

The invention relates to a self-adaptive force output and energy consumption bridge vibration and vibration control inerter tuning device, and belongs to the technical field of vibration control. Comprising a roll shaft support, a spring rod, a main inerter element, a box chamber main body, a secondary inertia flywheel, a flow guide pipe, a transmission connecting rod and a flow baffle, the main inerter element penetrates through and is arranged in the box chamber main body, the outer end of the main inerter element is connected with the spring rod, the spring rod is connected with the roll shaft support, and the roll shaft support is respectively fixed with the bottom surface of a main beam and the top of a bridge pier; in addition, the flow guide pipe is arranged in the box chamber body, a flow baffle and a transmission connecting rod are further arranged in the flow guide pipe, and the transmission connecting rod is further connected with a secondary inertia flywheel. The damping device is achieved through a hydraulic mechanism, and the damping device with the self-adaptive inerter coefficient is formed through linkage of the inerter devices in the main box chamber and the auxiliary box chamber, so that the purposes of changing the inerter coefficient in real time and damping are achieved. The shock resistance, the transmission efficiency, the energy consumption effect, the structural rigidity and the stability of a vibration reduction system can be improved.

The utility model relates to a tension switching device, which belongs to the technical field of fitness equipment and comprises a frame body, a balancing weight is movably arranged on the frame body, and the balancing weight is detachably connected with a movable pulley. An upper fixed pulley and a lower fixed pulley are fixed on the frame body; a rope is wound on the movable pulley, the rope on one side of the movable pulley is connected to a handle, the rope on the other side of the movable pulley sequentially bypasses the upper fixed pulley and the lower fixed pulley and then is fixed on a connecting piece, and the connecting piece is detachably connected with the movable pulley; according to the utility model, the connecting piece is detachably connected with the movable pulley, so that the output pulling force of the balancing weight is switched; under the condition of the same training pulling force requirement, the number of balancing weights required by the comprehensive pulling force training device is smaller, the production cost of the training device is reduced, the total weight of the training device is reduced, the comprehensive pulling force training device is more convenient to move and carry, and the transportation cost is reduced.

The present disclosure relates to a force transmission apparatus for a disc brake, The apparatus comprises an actuation element, a brake liner arrangement having a brake liner and a carrier plate, and a pressure element. The pressure element has a thickness which extends toward the actuation direction, a length extending in a tangential direction of an associated brake disc in an installed state and a width which extends in a radial direction of an associated brake disc in the installed state. The pressure element has a force input side operationally connected to the actuation element and a force output side. The force output side has contact regions spaced apart from each other and operationally connected to the carrier plate. The force output side has a region which is recessed into the pressure element. The recessed region has a first reinforcement web which connects the contact regions to each other such that the first reinforcement web is not recessed or is recessed less than the recessed region.

An electric drive module and an electric drive equipment are provided, the electric drive module comprises a housing, a force output assembly, a flexible gear, a rotor, a stator, a wave generator, and a cooling pipe, the stator is configured to drive the rotor to rotate relative to the housing, when the rotor rotates, the wave generator drives the flexible gear to deform to drive the rigid gear to rotate, at least part of the cooling pipe is received in and closes to the stator. The electric drive module is compact and space saving, the flexible gear is secured to the housing, the rotation of the rigid gear driven by the deformation of the flexible outputs power, which is low rotational inertia and decreases vibration, the cooling pipe arranged in the stator can directly dissipate heat from the stator with high heat dissipation efficiency.

The utility model discloses a resistance output module and fitness equipment, and the resistance output module comprises a rack; the load assembly is connected to the rack, and the load assembly comprises a load motor and a transmission chain; the output assembly is connected to the rack, the output assembly comprises a connecting part, a connecting rope and a stretching part which are connected in sequence, and the connecting part is fixed to one side of the transmission chain; wherein the load motor can output load force, the stretching part is suitable for moving outwards so as to drive the load motor to rotate through the transmission chain, and the load motor is in transmission connection with the transmission chain and used for driving the transmission chain to reset. The output assembly is fixed to the transmission chain, so that a player can directly pull the stretching component to train, the structure of a transmission system is greatly simplified, use of complex components such as a traditional speed reducer and a traditional differential mechanism is reduced, and the problem that a traditional rope is prone to being folded and wound when being repeatedly wound and released on a winding wheel is thoroughly solved; and smoothness and stability of power output are ensured.

The utility model discloses a four-force-arm multi-track strength training device which comprises a machine frame. The four adjusting assemblies are located on the same side of the rack and arranged on the periphery of the rack, each adjusting assembly comprises an adjusting base and an output rod, the adjusting bases are rotationally connected to the rack in the horizontal direction, and the output rods are rotationally connected to the adjusting bases in the vertical direction; the four stretching parts are connected with the adjusting assemblies in a one-to-one correspondence mode, each stretching part comprises a pulling block, the pulling blocks are connected to the outer side of the output rod, and the pulling blocks are suitable for being pulled outwards; and the resistance output module is connected to the rack, and the resistance output module is used for outputting load force to the pulling block. Two additional force arms and a flexible multi-angle adjusting mechanism are added, the types of training actions are greatly enriched, the adaptability and expansibility of the equipment are improved, a user can do diversified and personalized exercise according to different muscle groups, operation is easy, convenient and visual, the equipment is suitable for people of various body types and training levels, and the practicability is high. And the fitness experience and the training effect are obviously enhanced.

The utility model relates to a constant force pushing device which comprises a balance weight piece and multiple stages of hydraulic or pneumatic systems which are sequentially arranged, the multiple stages of hydraulic or pneumatic systems at least comprise a bearing hydraulic or pneumatic system and a constant force output hydraulic or pneumatic system, and the second end of a piston rod of the bearing hydraulic or pneumatic system is connected with the balance weight piece. Piston rods of the bearing hydraulic or pneumatic systems extend in the gravity direction of the balance weight piece, and a cylinder body of one stage of hydraulic or pneumatic system is communicated with a cylinder body of the other adjacent stage of hydraulic or pneumatic system through a fluid medium pipeline. Or the second end of the piston rod of one stage of hydraulic or pneumatic system is connected with the second end of the piston rod of the other adjacent stage of hydraulic or pneumatic system. And the second end of the piston rod of the constant-force output hydraulic or pneumatic system outputs constant force.

The invention relates to a constant-force linear elastic device which comprises a base provided with a guide groove; one end of the elastic component is connected with the base; the sliding mechanism is connected with the other end of the elastic component and can move in the guide groove; restraining force exists between the guide groove and the sliding mechanism and is set to offset part of first elastic force, so that the output elastic force of the sliding mechanism is kept at a preset constant value and is unchanged in direction, and the first elastic force is the elastic force output by the elastic component to the sliding mechanism. The guide groove is matched with the sliding mechanism, the side wall of the guide groove limits the moving direction of the sliding mechanism, so that the restraining force is generated, and the direction and the magnitude of the restraining force can dynamically change according to the position of the sliding mechanism in the guide groove and the magnitude of the elastic force of the spring. The constraining force can offset part of the first elastic force, and the final output elastic force is kept at a preset constant value and is unchanged in direction, so that the effect of constant force output is achieved, and the requirements of force balance and other scenes for constant elastic force are met.

The utility model discloses a fixed-point clutch, which relates to the technical field of clutches and comprises a wire seat, a force input rotor, a clutch positioning plate and a force output flange, the wire seat and the force input rotor form a driving structure connected with a motor, and the clutch positioning plate and the force output flange form a driven structure connected with equipment. A clutch structure is arranged between the driven structure and the driving structure and comprises a force input rotor and a clutch positioning plate which are attached to each other. According to the fixed-point clutch, the clutch function is achieved through mutual alignment of the grooves and the protrusions between the main meshing ring and the auxiliary meshing ring, the rotating shafts and the positioning holes are irregularly distributed, each rotating shaft can only be aligned with the only corresponding positioning hole, the rotating shafts provide the supporting effect in the attaching process of the input rotor and the clutch positioning plate, and the rotating shafts are not prone to falling off. And friction caused by premature contact of the two parts is effectively prevented, so that abrasion is reduced, and the service life of the whole equipment is prolonged.

The objective is to provide a lid opening / closing actuator that reduces the dimensions of the drive force output section in the direction of the output shaft. [Solution] The present invention comprises a drive force output unit that outputs driving force to the outside, and a housing, wherein the drive force output unit has a main shaft portion whose movement relative to the housing is restricted and which is rotatable, an output shaft portion that moves in the direction of the central axis with the rotation, and a guide portion that guides the output shaft portion, wherein the main shaft portion has an insertion portion into which the insertion portion is inserted and which has a female thread on its inner circumferential surface, and a shaft-side engaging portion that engages with the guide portion on the outside of the insertion portion, wherein the guide portion has a guide-side engaging portion around the output shaft portion that engages with the shaft-side engaging portion, and one of the shaft-side engaging portion and the guide-side engaging portion is an engaging projection and the other is an engaging groove, and the engaging groove has a straight portion extending in the direction of the central axis and a helical portion extending in the helical direction. It is characterized by the following:

The utility model discloses a processing device for forging forming of a coupler yoke of a railway wagon, which comprises a supporting plate, a fixed power mechanism is arranged above the supporting plate, the supporting plate is provided with a central shaft vertically penetrating through the supporting plate, the force output by the power mechanism acts on the central shaft, a rotating piece is arranged below the supporting plate, and the rotating piece is connected with the central shaft. The rotating part is sleeved on the central shaft and can rotate around the central shaft, a groove is formed in a contact area of the central shaft and the rotating part, a bulge is formed in a contact area of the rotating part and the central shaft, the bulge can slide in the groove, a plurality of rollers are arranged on the central shaft, symmetrical clamping arms are arranged on two sides of the central shaft, and the upper ends of the clamping arms are in an incomplete gear shape. The upper ends of the clamping arms are meshed with grooves formed by the idler wheels on the center shaft, and a connecting frame is fixed below the rotating piece. The air cylinder lifts the rolling shaft to drive the clamping arm to clamp a tool, meanwhile, the rotating plate rotates to drive the clamping arm and a workpiece to rotate by 180 degrees together, and the working efficiency is improved.

The present invention provides a roller friction damper capable of outputting variable damping force, and belongs to the technical field of structural vibration reduction. The damper comprises a friction plate, a support plate, a linear bearing, a damping force output shaft, a pre-tightening bolt, a roller fixing structure, a roller, a fixing plate, a deep groove ball bearing, and a screw. Under the action of an external load, the roller rolls on the friction surface of the friction plate, and under the action of rolling friction, outputs a damping force, thereby dissipating the vibration energy. The present invention can achieve nonlinear variable friction damping by changing the shape of the horizontal friction surface, and can be applied to vibration reduction of equipment under variable load. The present invention is provided with a self-resetting device, which can automatically return to the initial state after the external excitation disappears. In addition, the output damping force of the present invention is highly accurate, and can achieve efficient vibration reduction under small-amplitude excitation and variable-amplitude excitation. The present invention has the characteristics of simple structure, low cost, and the ability to output variable damping force.

The invention discloses a self-reconfiguration constant force arm and a self-reconfiguration variable rigidity constant force auxiliary exoskeleton, and relates to the technical field of wearable exoskeleton robot driving. Comprising a large arm shell, a small arm, an adjusting motor, a gear, a linear groove cam provided with a plurality of linear grooves, a pulley adjusting assembly, a pre-tightening force adjusting assembly and the like. The second gear is provided with a plurality of guide grooves, and a pin shaft of the movable pulley correspondingly penetrates through the linear groove and the guide grooves. A controller is linked with an adjusting motor based on load pressure collected by a forearm pressure sensor, changes the rotation angle of a second gear through gear transmission, and is linked with movable pulleys to move in a linear groove under the guidance of a guide groove, so that the number of the movable pulleys entering an effective working state is changed, the joint rotation rigidity is improved, and the constant force output range is expanded. And meanwhile, the pre-tightening force adjusting assembly is linked to adjust the tightness of the rope, and the pre-tightening force within the target range is output. A fixed-configuration constant-force mechanism is converted into a variable-stiffness structure capable of being autonomously reconstructed, and wide-range accurate adjustment of constant-force output is achieved.

The invention relates to the field of equipment control, and provides a force output control method and device, computer equipment and a storage medium, the method is applied to force output equipment, the force output equipment comprises a motor and a winding mechanism connected with the motor, and the winding mechanism is used for winding a rope; the method comprises the following steps: acquiring acceleration information of a rope for executing winding or releasing operation; determining inertial weight information for simulating an inertial effect according to the acceleration information; target control parameters of the motor are determined according to the inertial weight information and preset basic weight information, and the motor is controlled to output resistance according to the target control parameters. The existence of inertia is simulated through the motor, the simulation effect of strength output is improved, and therefore the training effect and training experience of a user are improved.

The utility model relates to a driving force receiving part and a processing box with the driving force receiving part, the driving force receiving part is used for being combined with a force output part in imaging equipment, the force output part comprises a driving force output part and a braking force output part capable of rotating along with the driving force output part, and the driving force receiving part comprises a combination part, a driving force receiving part and a braking force receiving part, the driving force receiving part extends outwards in the radial direction of the central column and is provided with a driving surface used for receiving force forcing the driving force receiving part to rotate from a driving force output surface in the force output part; the flange part is arranged along the outer circumference of the central column, and in the process of combining the driving force receiving piece and the force output piece, the braking force output piece hooks the flange part, so that the driving surface and the driving force output surface are prevented from being separated from each other; and the connecting part is used for transmitting the driving force out, and the driving force receiving piece can be stably combined with the force output piece.

The utility model relates to the technical field of power output shell machining, and discloses a power output shell milling face drilling clamp which comprises a supporting assembly and two clamping assemblies. The two clamping assemblies and the shell can be driven to move in the left-right direction through the supporting assembly, supporting can be achieved, the shell can be clamped and fixed through the clamping assemblies, the clamping and fixing effect on the shell is improved through the auxiliary connecting assembly, the fixing effect on the shell is further improved through the clamping assemblies, and the shell can be clamped and fixed through the clamping assemblies. The moving effect of a moving plate is improved through a plurality of limiting blocks, the output end of a threaded rod motor can be protected through two baffles, the effects that the shell can be rapidly clamped and fixed, shaking in the machining process is avoided, and fixing is firmer are achieved, and the problems that the power output shell cannot be rapidly clamped and fixed, and the machining efficiency is high are solved. The position of the power output shell is inconvenient to adjust, and the fixing effect is not stable enough.

The invention discloses a gravity compensation device, a vertical joint, a mechanical arm system and a surgical robot. The gravity compensation device comprises a first fixing part, a second fixing part, a to-be-compensated object, a transmission assembly, an output assembly and a traction cable. Wherein the position of the second fixing part is fixed relative to the first fixing part. The object to be compensated has a tendency to move along a first direction and can move along the first direction and a second direction opposite to the first direction relative to the first fixing part and the second fixing part. The transmission assembly is connected with an object to be compensated, and the transmission assembly is provided with a rotatable rotating part. The force output assembly is arranged on the first fixing part and used for providing approximately constant output force. The traction cable bypasses the rotating part, and the two ends of the traction cable are connected to the load end of the force output assembly and the second fixing part correspondingly. According to the gravity compensation device, the bearing force of the force output assembly is halved by utilizing the principle of the movable pulley, so that the compensable force is doubled.

Multi-surface clamping device for machining for clamping several aircraft seat components, comprising a support platform (1), a rotary and drive assembly (2) and at least one group of workpiece clamping units (3), characterized in that the rotary and drive assembly (2) comprises an opposing force output end (20) and a drive support end (21), wherein a support platform (1) is connected between the force output end (20) and the drive support end (21), wherein the force output end (20) can drive and rotate the support platform (1); wherein each group of workpiece clamping units (3) is arranged at intervals along the longitudinal direction of the support platform (1), wherein the workpiece clamping unit (3) consists of a first clamping assembly (30), a second clamping assembly (31) and a control connection device;wherein the first clamping assembly (30) serves for internal clamping of the workpiece, wherein the second clamping assembly (31) serves for clamping the outer profile of the workpiece, wherein the control connection device is connected to the control system, wherein the control connection device realizes the positioning and release of the workpiece by controlling the extension and retraction movement of the first clamping assembly (30) and the second clamping assembly (31).

The invention relates to the technical field of drying tower rapping, in particular to a rapping air hammer for a conical wall of a drying tower, which realizes self-adaptive control of wall cleaning force through a feedback type adjusting mechanism. The core of the device is composed of a bidirectional moving seat, a force storage output seat, a feedback rod and a driven adjusting seat, compressed air is utilized to drive an air hammer seat to reciprocate, an equidistant arm drives a lifting hinge seat to lift periodically, the transmission ratio is adjusted by changing the cross position of an adjusting arm and the equidistant arm, and then the force storage stroke is changed. During advancing, the spring is reset to drive the impact seat to knock the tower wall. The innovation point is that the vibration feedback system is characterized in that vibration generated by impact is transmitted to a feedback rod through a driven adjusting seat, the mutual exclusion force of a movable magnet and a fixed magnet is superposed with the delayed reset characteristic of a damping spring, the vibration frequency is converted into accumulated displacement, the connecting position of an adjusting arm is automatically adjusted, and the knocking force is increased when many materials are adhered; when materials are few, force is reduced, and tower wall damage is avoided.

The present invention relates to the technical field of fatigue detection, and specifically to a fatigue testing machine for step chain rollers, which includes a rear shell, a front shell, a hydraulic cylinder, a motor and a controller. It further includes a test wheel, a transmission assembly, a pressing member, an installation table, a pressure compensation assembly and a roller. The test wheel is connected to the end of the power output shaft of the motor, the transmission assembly is connected to the circumferential surface of the power output shaft of the motor, the pressing member is connected to the outside of the transmission assembly, the installation table is connected to the lower side of the hydraulic cylinder, the pressure compensation assembly is connected to the front side of the installation table, and the roller is connected to the front side of the pressure compensation assembly. The present invention provides a rotating pressing member, and makes the pressing member periodically contact the installation table, changing the position of the installation table, so that the pressure point of the roller deviates from directly below, simulating the real scenario during the operation of the escalator, thereby effectively improving the accuracy of roller fatigue detection.

The invention belongs to the technical field of four-point bending testing, and discloses a rotary bending testing device which comprises a force arm rod perpendicular to the axis of a testing shaft, and the force arm rod transmits torque to the testing shaft; a servo actuator used for applying push-pull force is arranged at one end, far away from the test shaft, of the force arm rod, an output shaft of the servo actuator is connected with a force sensor, the other end of the force sensor is connected with an elastic connector, the elastic connector is connected with the force arm rod, and the direction of output force of the servo actuator is parallel to the axial direction of the test shaft. According to the invention, the structure complexity of the equipment is reduced, the loading torque can be adjusted randomly and accurately in real time, the deformation condition can be fed back in real time in the test process, and after the scheme is adopted, the operation vibration of the equipment can be effectively reduced, and the safety and the convenience of operators are improved.

The application provides an anti-interference two-channel static loading device, and belongs to the technical field of static tests, and specifically, a force loading driving mechanism is used to apply a force to a first balance lever, the force on the first balance lever is transmitted to a second balance lever through a first sliding block, an intermediate connecting rod and a second sliding block, the force output by a first force loading assembly and a second force loading assembly can be controlled by changing the force loading driving mechanism, and the total loading force of the two loading channels can be controlled. The position of the first sliding block on the first balance lever is controlled by a first driving mechanism, and due to the balance mechanism, the distance from the first sliding block to the second end of the first balance lever is always equal to the distance from the second sliding block to the second end of the second balance lever, so that the position of the second sliding block changes while the position of the first sliding block is adjusted, and the position of the second sliding block adjusts the proportion of the force distributed to the first force loading assembly and the second force loading assembly.

The invention discloses a constant load supporting mechanism, a stirrer and a system, and the device comprises a fixed supporting device which is provided with a lifting device; the power output device is connected with a pressure output device through an adjusting device, a pressure adjusting piece is installed on the pressure output device, and the pressure output device is connected with the lifting device; wherein when the operation equipment is supported, the lifting device is installed below the operation equipment, and by presetting operation parameters of the power output device, the lifting device supports the operation equipment in a self-adaptive mode according to displacement changes of the operation equipment. According to the mechanism, the displacement problem between the supported mechanical equipment and the supporting device can be converted into the pressure problem, the height and the supporting force of the lifting device are adjusted in a self-adaptive mode according to the displacement change of the mechanical equipment, and the stability and the safety of the mechanical equipment under different working conditions are guaranteed; the defect of excessive support or incapability of supporting due to descending of a support foundation or frequent change of the position of a support object is overcome.

The invention provides a loading device and a loading system, and relates to the technical field of weighing. The loading device is provided with an output end and comprises a driving piece, an adapter piece and a traction piece, the adapter piece is provided with a rotating axis, the traction piece is arranged on the adapter piece and comprises a flexible traction part, the flexible traction part is provided with a fixed end and a free end, and the free end of the flexible traction part is arranged on the periphery of the adapter piece in a winding mode. The output end is arranged at the free end of the flexible traction part; and the driving piece is connected with the adapter piece, and the driving piece is used for driving the adapter piece to rotate around the rotating axis so as to wind or unwind the flexible traction part and further adjust the acting force output by the output end. The device can replace a weight for loading, can achieve loading of any target force value, can be suitable for calibration work of balances with different measuring ranges, and improves the loading precision and the working efficiency.

The present application relates to a kind of force standard and the force value measurement method using the force standard, force standard includes support, still include rotating cylinder sleeve and by respective corresponding first sealing ring and the upper and lower ends of rotating cylinder sleeve sealing cooperation first piston and second piston, first piston, second piston relative support rotation stop, first piston, second piston and rotating cylinder sleeve form piston cavity for filling liquid, force standard further include the pressure sensor connected with piston cavity, support or rotating cylinder sleeve is connected with the mounting arm of shaft line with rotating cylinder sleeve coaxial line arrangement on bearing, force measuring component is arranged between support and mounting arm, mounting arm is provided with the sleeve driving mechanism of transmission connection with rotating cylinder sleeve to drive rotating cylinder sleeve rotation.The present application solves the technical problem that the output force value of force output mechanism cannot be accurately measured due to the friction between cylinder body and piston not being considered in the prior art.

The invention provides a load-balanced large-scale structure attitude adjustment driving force distribution method, which specifically comprises the following steps: firstly, constructing an attitude adjustment mechanism accurate power model considering the friction force of a locator and the motion inertia so as to establish a constraint model between the attitude adjustment track and the attitude adjustment driving force of a large-scale structure; thirdly, constructing a positioner driving force optimization model by defining a driving shaft load coefficient, and performing assembly driving force optimization by adopting a penalty function method; and finally, fitting the discrete driving force of the driving shaft by adopting quintic polynomial fitting so as to obtain the real-time driving force of the attitude adjusting mechanism. The problem that part of driving shafts are overloaded in the posture adjusting and positioning process of a large structure is solved, the loads of all the driving shafts are balanced by reasonably distributing driving force output by different driving shafts, and the situation that part of drivers are overloaded is improved.

The invention relates to a flexible manipulator with gripping force adaptive capability and an operation method thereof, the flexible manipulator comprises a flexible finger, a transmission mechanism and a driving mechanism, the driving mechanism adopts a first screw rod and a second screw rod which are connected in series and is provided with a fixed-torque pre-tightening device, the driving mechanism limits the rotation of the first screw rod and the second screw rod in low load, and the driving mechanism drives the first screw rod and the second screw rod to rotate. The manipulator is quickly closed at a first large lead; and when the load is high, the first screw rod and the second screw rod overcome the pre-tightening torque to rotate, so that the flexible manipulator can perform low-speed and high-force grasping at a second small lead. According to the mechanical arm, the problem that an existing mechanical arm is difficult to give consideration to fast movement and large force output can be solved, automatic and passive switching of force-speed characteristics is achieved through a pure mechanical structure, the structure is compact, control is easy, reliability is high, and the adaptability of the mechanical arm to different grabbing tasks is remarkably improved.

The application discloses an air rudder folding and unfolding gap detection device, which comprises a workbench (5), characterized in that a locking tool (3) is fixedly installed on the workbench (5), a constant force output device (7) is fixedly installed on the right side of the workbench (5) relative to the locking tool (3), and a distance sensor (2) is fixedly installed behind the locking tool (3); wherein the locking tool (3) comprises two identical locking tool structures (30), each locking tool structure (30) comprises a rudder shaft tool base (31) and a rudder shaft overhanging cylindrical clamping structure (32); the device and the processing method can accurately identify the highest point of the rudder surface change in the detection gap, directly display the final value of the folding and unfolding gap, improve the detection efficiency, and guarantee the correctness and stability of the result.

The invention discloses a rigid-flexible coupling series-parallel main manipulator which comprises a rigid series branch chain as a passive pose sensing branch chain, a flexible parallel mechanism as a force feedback execution branch chain and an operation handle, the operating handle is connected with the far ends of the eight flexible tendon ropes of the flexible parallel platform through the eight symmetrical anchor points, so that the operating handle, the rigid series branch chain and the eight flexible tendon ropes jointly form a rigid-flexible hybrid parallel constraint mechanism with nine branch chains, and structural support and pose recognition are provided through the rigid branch chains. Power interaction is provided through the flexible branch chains. The rigid-flexible coupling design is adopted, force can be directly transmitted to the operation end from the motor through the tendon rope, friction loss is reduced, and the force output efficiency is improved. A rigid branch chain is introduced into a rigid-flexible coupling design framework, so that the overall rigidity of the system is high, meanwhile, a force-position decoupling layout design is adopted, a positioning function is integrated on the rigid branch chain, and the positioning precision can be equivalent to the precision of a rigid structure.