610 results about "Four-bar linkage" patented technology

The invention provides an agricultural seeding machine, and relates to the technical field of seeding equipment, the agricultural seeding machine comprises a profiling frame installed on a rack, a furrow opener and a press wheel, the furrow opener and the press wheel are connected to the profiling frame, the profiling frame is a four-bar mechanism and is provided with a lower connecting rod and a first side connecting rod, and the furrow opener is rotatably connected to the first side connecting rod; a pressing wheel frame is hinged to the first side connecting rod, the pressing wheel is rotationally connected to the pressing wheel frame, and a pressing wheel spring is connected between the pressing wheel frame and the first side connecting rod; a locking rod is hinged to the first side connecting rod, a locking rod spring is connected between the locking rod and the first side connecting rod, a first locking tooth is arranged on the upper portion of the locking rod, a second locking tooth meshed with the first locking tooth is arranged at the end of the lower connecting rod, and a material stirring baffle is connected to the end of the locking rod. The material stirring baffle can rotate when stirring soil, so that the profiling frame is locked, the furrow opener cannot float upwards, the press wheel can roll and cross soil blocks, and the influence of vertical floating of the furrow opener in a short time on the furrowing depth can be reduced.

The invention discloses a combined mudflat shellfish catching device and method. The combined mudflat shellfish catching device is mainly composed of a rack, a walking module, a catching module, a leaked sand cleaning module and a conveying module. The walking modules are installed on the two sides of the rack and responsible for walking and steering of the rack. The catching module comprises a roller soil breaker and a rolling shovel picker, and the roller soil breaker passively rotates along with advancing of the device and is used for pre-loosening soil; the rolling shovel picker actively and reversely rotates to shovel shellfish and surface sandy soil; the leaked sand cleaning module is composed of a vibration cleaning sieve, a planar four-bar mechanism and a vibration motor, screening and cleaning actions are driven by the vibration motor, and shellfish and sandy soil are subjected to hydraulic scouring by a cleaning nozzle; the conveying module comprises a hollow transverse conveying belt and an inclined conveying belt, the transverse conveying belt filters damaged or unqualified shellfish, and the inclined conveying belt lifts qualified shellfish to a rear collecting area. According to the device, the functions of soil loosening, picking, screening, cleaning and conveying are achieved through modular design, and the device is suitable for efficient catching operation of mud flat shellfishes.

Foldable sleeping basket, characterized in that it comprises: Support rod receptacles (1), wherein two groups of support rod receptacles (1) are provided and arranged at intervals, wherein a plurality of transverse support rods (2) are fixedly connected between the two groups of support rod receptacles (1), and a curved bottom rod (3) is hingedly connected to each of the two end sides of the two groups of support rod receptacles (1); inclined support rods (4), wherein the inclined support rods (4) are arranged in groups of two and are articulated symmetrically to the support rod holder (1), a connecting rod between the inclined support rods (4) and the base rod (3) is articulated on the same end side of the support rod holder (1), and the support rod holder (1) and the inclined support rod (4) on the same end side, the connecting rod and the base rod (3) form a first four-bar linkage; Enclosing rods (5), wherein two groups of enclosing rods (5) are provided and both are bent rods, the two groups of enclosing rods (5) are arranged one-to-one and above the two groups of floor rods (3), the ends of the two groups of enclosing rods (5) are hingedly connected, the upper ends of the inclined support rods (4) are hingedly connected to the enclosing rods (5) on the corresponding side, the two groups of inclined support rods (4) on the same support rod holder (1) and the enclosing rods (5) form a second four-bar linkage, wherein the second four-bar linkage is a control end and is hinged to change the deformation state of the first four-bar linkage; and a handle (6), wherein the handle (6) is hinged to a node point of two groups of the enclosing rods (5).

The invention belongs to the technical field of link mechanism design algorithms, and particularly relates to a humanoid robot leg four-link mechanism design optimization method which comprises the following steps: simplifying a leg mechanical structure, and abstracting a mathematical model of a four-link mechanism; establishing a kinematic model of rotation of the four-bar mechanism, and calculating a rotation angle; analyzing kinematic characteristics of the four-bar mechanism in the rotating process; and establishing alternative schemes based on different combinations of the design parameters, and screening an optimal design scheme according to constraint conditions and dynamic characteristics. According to the method, a mathematical model for solving unique design parameters is not established, but a semi-empirical method is adopted, and an optimized design scheme is screened out by traversing possible combinations and analyzing dynamic characteristics one by one. According to the method, the multi-parameter model is established based on the four-connecting-rod mechanism, an optimization scheme is screened in combination with experience, the difficulty of establishing a complex model is reduced, the efficiency is improved through establishment of a unified design process, and the universality of the method is improved through introduction of manual analysis.

The utility model relates to the technical field of underground mining, and discloses a supporting shield type top coal caving hydraulic support which comprises a top beam, a stand column, a base, a shield beam, a four-bar mechanism and a coal caving mechanism, the coal caving mechanism comprises a tail beam which is hinged to the lower end of the shield beam and is of a box type structure, and a tail beam jack is arranged between the lower portion of the tail beam and the lower portion of the shield beam; an inserting plate which reciprocates along a guide rail guide groove is inserted into the tail beam box cavity, a rack is fixed to the end face of the tail end of the inserting plate, an integrated cover plate extending to the two sides of the inserting plate is installed on the lower portion of the tail end of the inserting plate, and a guide groove matched with the guide rail in the tail beam box cavity is formed in the lower portion of the inserting plate; side protection plates are installed on the two sides of the tail beam through tail beam side pushing jacks, each side protection plate comprises a side plate and a top plate which are vertically arranged, the top plates are located on the upper surface of the tail beam, and the side plates are installed on the outer side of the tail beam. According to the device, the stability and durability of the tail beam structure are improved; and the stress condition, the assembly relation and the structural performance of the bracket are improved.

The illustrative examples provide a slat movement system for use in an aircraft. An aircraft comprises a wing having a fixed edge and a wing front spar, and a moveable slat connected to the wing by a four bar linkage and a slat arm, the slat arm movable along a track comprising a slot terminating prior to the wing front spar.

A closure mechanism for an opening defined by a center and an outer edge, includes multiple segments which can all together close the opening. Each segment has a first pivot lever and a second pivot lever and is controlled by the pivoting movements thereof. The segment along with its pivot levers forms a four-bar linkage. All first pivot levers are attached to a first base and all second pivot levers are attached to a second base. The relative movement between the first base and the second base leads to a drive movement for the pivot levers, wherein the second pivot lever is mechanically coupled to the first base via a cam gearing mechanism.

A surgical tool is provided that includes a hollow shaft and a cable extending within the shaft such that the cable is isolated from external forces imparted to the shaft; the shaft and a carriage are included as links of a 4-bar linkage that also includes first and second side links that are rotatably mounted to the carriage at respective first and second distal pivot axes and that are rotatably mounted to the shaft at respective first and second proximal pivot axes; the segment of the cable extends between a distal pulley rotatably at the carriage and a proximal pulley rotatably mounted at the shaft and a segment of the cable extends within the shaft; a distance between the first distal and first proximal pivot axes matches a distance between an axis of the distal pulley axis and an axis of the proximal pulley such that a rocking motion of the 4-bar linkage due to external force upon the shaft exerts no force upon the cable.

The invention discloses a wheel leg type suspension device for a vehicle, and belongs to the technical field of vehicle chassis suspension. The upper end of a vertical swing arm is hinged to a bogie, the lower end of the vertical swing arm is hinged to one end of a longitudinal swing arm, and the other end of the longitudinal swing arm is hinged to a connecting seat; the vertical swing arm can swing back and forth, and the longitudinal swing arm can swing up and down; the two ends of the connecting rod are hinged to the vertical swing arm and the connecting base respectively, so that the vertical swing arm, the connecting rod, the longitudinal swing arm and the connecting base jointly form a four-connecting-rod mechanism, and up-down movement and front-back movement of the wheels are decoupled. The two ends of the hydro-pneumatic spring are hinged to the bogie and the longitudinal swing arm correspondingly and used for driving the wheels to move up and down and reducing vibration. The two ends of the driving cylinder are hinged to the bogie and the vertical swing arm correspondingly and used for driving the wheels to move front and back. The requirements of high-speed running and high trafficability of vehicles can be met, the basic requirements of the vehicles on the suspension device are met, and the suspension device can be applied to suspension of steering axles and non-steering axles.

The invention discloses a foldable wing with separated wing ribs, and belongs to the technical field of foldable wings, the foldable wing comprises racks, wing spars and the wing ribs, the racks and the wing spars are arranged in pairs, and the wing ribs connect the paired wing spars into a whole; the wing spar comprises a driving wing spar, a main wing spar and an extended wing spar; a folding and unfolding driving device is arranged in the rack, one end of the rack is directly connected with the fuselage, the other end of the rack is connected with a driving wing spar, the driving wing spar is connected with a main wing spar, and the main wing spar is connected with an extended wing spar; a fixed wing spar is arranged on the outer side of the driving wing spar, and the rack, the driving wing spar, the main wing spar and the fixed wing spar form a first four-bar mechanism; connecting spars are arranged on the inner sides of the main spars, and the driving spars, the main spars, the connecting spars and the extended spars form a second four-bar mechanism. The folding and unfolding driving device is matched with the four-connecting-rod mechanism and the separation wing ribs to drive the wings to be folded and unfolded, the weight of the folding and unfolding driving device is reduced, three-section folding of the wings is achieved, and the space cost of an aircraft is reduced.

The invention relates to an intelligent short-machine-body single-rail moving shed erecting robot which comprises a rail, a main arm, a rotary table, a rotary speed reducer, a telescopic frame, a body part, a hydraulic system, an electrical system, a driving part and a cable pulley, an auxiliary arm is arranged close to the main arm, and the auxiliary arm comprises a gripper, a four-connecting-rod mechanism, a four-connecting-rod oil cylinder, a telescopic rod and an auxiliary arm telescopic oil cylinder; the gripper is hinged to the four-bar mechanism, the other end of the four-bar mechanism is hinged to the telescopic rod and the auxiliary arm telescopic oil cylinder, and the other end of the auxiliary arm telescopic oil cylinder is hinged to the telescopic frame. The auxiliary arm is electrically connected with the electrical system, and the electrical system is electrically connected with the hydraulic system, the main arm, the rotary table, the rotary speed reducer, the telescopic frame, the body part, the driving part and the cable pulley. The auxiliary arm is arranged to be connected with the steel beam to replace a supporting arm for continuous supporting during operation, the operation efficiency is improved, and a hardware foundation is provided for self-adaptive control in combination with an electrical system.

The invention discloses a waste lithium battery electrified recovery system, and relates to the field of waste lithium battery recovery, the waste lithium battery electrified recovery system comprises a flame detection system, a temperature monitoring system, an oxygen content monitoring system and a primary double-shaft shredding machine, and further comprises a nitrogen charging system used for charging nitrogen into the primary double-shaft shredding machine; the explosion venting assembly is arranged on one side of the first-stage double-shaft shredder shell and can discharge impact force gas generated by battery explosion to the outside of the box body; the explosion venting assembly comprises an explosion venting cylinder which is arranged on one side of the first-stage double-shaft shredding machine shell; when a flame detection system detects flames, the parallel four-connecting-rod mechanism is controlled to enable the limiting relieving piece to relieve limiting of the limiting block and the sliding limiting piece, under the guiding effect of the guide column and the elastic force effect of the free spring, the explosion venting frame moves towards the side away from the explosion venting barrel, and therefore the explosion venting frame is opened, and active explosion venting is achieved.

The invention belongs to the technical field of aircraft structure design, and particularly relates to an aircraft arbitrary space four-bar mechanism parameter optimization method, which comprises the following steps: firstly, determining input conditions or preposed requirements of a four-bar mechanism, secondly, establishing a mathematical model of a four-bar mechanism optimization problem, and then, carrying out derivation and analysis to obtain a four-bar mechanism parameter optimization result. The method comprises the following steps: establishing an analytic expression of parameter variables of the four-bar mechanism and compiling a corresponding calculation program, then carrying out iterative optimization on the parameters of the four-bar mechanism by utilizing an optimization algorithm, and finally outputting an optimization result to obtain an optimal design parameter.

The invention provides a design method of a two-wheeled wheel-legged robot, which relates to the field of wheeled robots, and comprises the following steps: determining a machine body of the two-wheeled wheel-legged robot, adopting a leg four-bar mechanism as a leg configuration, and taking the leg four-bar mechanism and the machine body as a five-bar mechanism together, a universal leg rod length parameter calculation method is deduced based on a planar five-connecting-rod model, key geometric parameters are determined, and robot structure design is completed; establishing a wheel type motion dynamical model and a leg type jump phase motion dynamical model, deducing a universal motor model selection method, calculating driving wheel and joint motor parameters, and completing wheel train design and whole machine motion simulation; carrying out finite element analysis and lightweight design on the key parts; and finally, an LQR control strategy is adopted, and cooperative control verification is completed through analysis and simulation software. Wheeled efficient movement and leg type terrain adaptive capacity are fused, limitation of a single movement mode is broken through, and the environment adaptive boundary of the robot is expanded.

A shallow water anchor system incorporates a four-bar linkage displaceable between a stowed position and a deployed position. The four-bar linkage includes a drive arm pivotally secured at a proximal end on a first fixed pivot point, a pivot arm pivotally secured at a proximal end on a second fixed pivot point spaced from the first pivot point, and a link pivotally connected between distal ends of the drive arm and the pivot arm. A connector is secured between the drive arm and the pivot arm, and a ground spike is coupled with the link. The connector is configured to bias the ground spike downward.

A telescopic joint suitable for a novel magnetic levitation track comprises main crown rails, auxiliary crown rails and an equipartition connecting rod mechanism, the main crown rails are fixed below flange plates on the two sides of a T-shaped track beam joint, and the auxiliary crown rails are arranged between the main crown rails; a transverse slide way and two longitudinal slide ways are arranged in the middle of the top face of the auxiliary crown rail, and the two longitudinal slide ways are symmetrically distributed on the two sides of the transverse slide way. The equally-divided connecting rod mechanism is a four-connecting-rod mechanism and is arranged on the top of the auxiliary crown rail, hinge points of the four-connecting-rod mechanism are correspondingly connected with the sliding ways in a sliding mode, and the two ends of the four-connecting-rod mechanism are hinged to the top of the front main crown rail and the top of the rear main crown rail respectively. When the main crown rail stretches and retracts along with the T-shaped rail beam, the auxiliary crown rail is driven to move through the equipartition connecting rod mechanism, and gaps between the front end and the rear end of the auxiliary crown rail and the main crown rail are always kept equal. Interference with an electromagnetic module below the bogie of the maglev train can be avoided, and it can be guaranteed that front and rear telescopic gaps of the connector are equal.

The present invention provides a four-link direct-push piezoelectric linear motor, which is composed of a stator, a sliding base, a preload mechanism, a mover and a base. The stator is composed of two four-link assemblies, which are composed of a four-link mechanism, a laminated piezoelectric ceramic, a preload spring, an adjustment stud and a driving foot; the stator is fixed to the sliding base by bolts, and the sliding base is installed on the base by cross rollers and guide rail fixing blocks thereof; the preload mechanism provides an adjustable preload for the piezoelectric linear motor, which is transmitted to the contact surface between the stator driving foot and the mover through the sliding base, and applies electrical signals with a phase difference of 90° to the two groups of laminated piezoelectric ceramics of the motor respectively, so that the alternating driving of the two feet of the motor can be realized.

A device for automatically clamping the four-corner lifting lugs of a ton bag, which comprises a blanking cylinder. An elevating frame is arranged on the outer side of the blanking cylinder. The lower ends of the four corners of the elevating frame are respectively hinged to the upper ends of a clamping lug mechanism. The upper part of the clamping lug mechanism is hinged to the cylinder rod of an external swing cylinder. The clamping lug mechanism comprises a vertically arranged large swing arm. An elevating cylinder is arranged on the upper part of the large swing arm. The cylinder rod end of the elevating cylinder is connected to a transition plate. The lower end of the transition plate is hinged to the upper end of a small swing arm. The small swing arm is a parallel four-bar linkage mechanism. A sliding connection block is arranged in the middle of the small swing arm. The sliding connection block is hinged to the cylinder rod of an internal swing cylinder. A clamping lug cylinder is arranged at the end of the cross bar of the large swing arm. The cylinder rod of the clamping lug cylinder is connected to a horizontal clamping plate. A V-shaped clamping seat is arranged in front of the horizontal clamping plate. A lifting lug collecting assembly is arranged on the lower connecting rod of the small swing arm. A lifting lug collecting cross bar is arranged at the upper end of the lifting lug collecting assembly. The invention can automatically clamp the four-corner lifting lugs of the ton bag, replacing the operation of manually hanging the four-corner lifting lugs.

The utility model relates to a drill boom folding mechanism of a drill jumbo, and belongs to the technical field of mining equipment. According to the technical scheme, the device is arranged between a drill jumbo chassis and the tail end of a drill boom mechanism, and a drill boom mounting frame, an L-shaped connecting frame, a connecting rod and the tail end of the drill boom mechanism together form a four-bar mechanism; a cylinder rod of the drill arm lifting oil cylinder retracts and stretches out to drive the L-shaped connecting frame and the connecting rod to drive the tail end of the drill arm mechanism to rotate, and the drill arm stretching state and the drill arm folding state are switched. The foldable drill boom has the advantages that the overall length of the drill jumbo is shortened due to the fact that the drill boom can be folded, disassembly and assembly are not needed, the drill jumbo can directly enter a lifting cage after the drill boom is folded, transition operation is conducted, and time and labor are saved.

The utility model belongs to ocean engineering equipment, and discloses a towed ditcher, which comprises a frame assembly, a ditcher body, a ditcher body, a ditcher body and a ditcher body, the injection cutter assembly is hinged to the tail of the frame assembly through a four-bar mechanism, and retraction, release and swing of an injection cutter are controlled through an oil cylinder; the hoisting assembly is hinged to the top of the frame assembly and has two degrees of freedom; the cable grabbing hand assembly is fixed to the front portion of the frame assembly through a four-connecting-rod lifting mechanism, and lifting and clamping jaw opening and closing are controlled through an oil cylinder; the sliding shoe assemblies are fixed to the two sides of the frame assembly; high-pressure water flow is directly conveyed to the injection cutter through the pipeline, so that the equipment can operate independently, a water source does not need to be provided by a mother ship, the requirements of marine equipment are reduced, the construction cost and the operation complexity are reduced, the width of the injection cutter can be changed by adjusting the oil cylinder, and the laying requirements of cables or pipelines with different diameters are met; and the universality and the flexibility of the equipment are enhanced.

The invention belongs to ocean engineering equipment, and discloses a towed ditcher, which comprises a frame assembly provided with a towed point; the injection cutter assembly is hinged to the tail of the frame assembly through a four-bar mechanism, and retraction, release and swing of an injection cutter are controlled through an oil cylinder; the hoisting assembly is hinged to the top of the frame assembly and has two degrees of freedom; the cable grabbing hand assembly is fixed to the front portion of the frame assembly through a four-connecting-rod lifting mechanism, and lifting and clamping jaw opening and closing are controlled through an oil cylinder; the sliding shoe assemblies are fixed to the two sides of the frame assembly; high-pressure water flow is directly conveyed to the injection cutter through the pipeline, so that the equipment can operate independently without depending on a mother ship to provide a water source, the requirements of marine equipment are reduced, the construction cost and the operation complexity are reduced, the width of the injection cutter can be changed by adjusting the oil cylinder, and the laying requirements of cables or pipelines with different diameters are met; and the universality and the flexibility of the equipment are enhanced.

A folding marine cleat can include a base and a cleat head having a detent spring member. The cleat head can be positionable with respect to the base in stowed and deployed positions by a four-bar linkage with first and second legs to transition the cleat head between deployed and stowed positions. The legs can include stowed and deployed flat portions positionable to selectively be in contact with and abutting the detent spring member to retain the cleat head in the stowed or deployed position. The base can include fastener retention slots with opposing opening surfaces and opposing retention surfaces being spaced apart at a distance to receive a square portion of a fastener therebetween to fix the fastener in axial rotation with respect to the cleat base, with the opposing opening surfaces being spaced apart at a distance narrower than a distance across the square portion of the fastener.

The invention discloses an automatic take-up tension control method of a template machine, and belongs to the technical field of textile. The invention aims to solve the problems of low tension control precision and poor adaptability caused by insufficient nonlinear interference compensation, lack of multi-working-condition collaborative analysis and high manual dependency in the prior art. According to the method, the cloth thickness is collected in real time through a thickness sensor, and a yarn consumption predicted value is output through a core model in combination with the stitch length; the AI module feeds back dynamic optimization model parameters based on the broken line record and the stitch tightness, and generates accurate line consumption; a servo motor is driven on the basis of the difference between the value and the standard quantity, and the rotation angle of the motor is converted into the angular displacement of the take-up-lever through a four-bar mechanism composed of a coupler, an eccentric shaft and the take-up-lever. By combining closed-loop feedback of a displacement sensor and spindle phase collaboration and integrating AI anomaly diagnosis, a self-optimization system driven by historical data is constructed, and tension stability and stitch quality under complex working conditions are continuously improved.

The utility model discloses a container heightening frame and a container, and belongs to the technical field of containers, the container heightening frame comprises a support main body, the bottom of the support main body is provided with a slide rail, two first spindle seats are both provided with first connecting rods, and two second spindle seats are both provided with second connecting rods; by means of the supporting plate and the parallel four-connecting-rod mechanism, the parallel four-connecting-rod mechanism is pushed through the hydraulic cylinder, so that the parallel four-connecting-rod mechanism pushes the supporting plate to rise, the supporting plate is lifted, the supporting plate is lifted, and the supporting plate is lifted. The support body at the bottom of the parallel four-connecting-rod mechanism can be fixed to the cargo ship deck and does not need to be detached, and the container is placed on the top of the supporting plate in the process that the container is stacked on the cargo ship deck, so that the height of the container can be increased according to requirements to protect the bottom of the container.

A foldable photovoltaic panel module disclosed by the present invention comprises a photovoltaic support, photovoltaic assemblies are hinged to two sides of the bottom of the photovoltaic support, each photovoltaic assembly comprises a plurality of photovoltaic mounting racks, and the plurality of photovoltaic mounting racks are sequentially connected end to end through hinge mechanisms to form a foldable flat plate structure. The photovoltaic mounting frame close to the photovoltaic support is hinged to the bottom of the photovoltaic support and provided with a torsion gear, photovoltaic panels are mounted on the photovoltaic mounting frame, a stepping motor is arranged at the bottom of the photovoltaic support, the output end of the stepping motor is connected with a driving gear, and the driving gear is meshed with the torsion gear. A four-bar mechanism is adopted to achieve unfolding and folding of the photovoltaic panel, a folding mechanism is simple and effective, meanwhile, stepping motor driving and a steel cable winch driving mechanism are jointly used, the torque requirement for the stepping motor is lowered, the overall reliability of the device is improved, and the device is suitable for popularization and application. And the equipment is not easy to damage, long in service life, low in operation and maintenance cost and high in expansibility.

The tool shaft is decoupled from the cable drive load. Providing a surgical tool including a hollow shaft and a cable extending within the shaft, the cable being isolated from an external force applied to the shaft; the shaft and the carriage are included as connecting rods of the four-bar mechanism, and the four-bar mechanism further comprises a first side connecting rod and a second side connecting rod. The first side link and the second side link are rotatably mounted to the carriage at a first distal pivot axis and a second distal pivot axis, respectively, and are rotatably mounted to the shaft at a first proximal pivot axis and a second proximal pivot axis, respectively; a length of cable extends between a distal pulley rotatably mounted at the carriage and a proximal pulley rotatably mounted at the shaft, and a length of cable extends within the shaft; the distance between the first distal pivot axis and the first proximal pivot axis matches the distance between the axis of the distal pulley and the axis of the proximal pulley such that rocking movement of the four-bar linkage due to an external force on the shaft does not exert a force on the cable.

A surgical tool includes a shaft and a cable within the shaft, the cable being isolated from external forces imparted to the shaft; the shaft and a carriage are links of a 4-bar linkage that also includes first and second side links rotatably mounted to the carriage at respective first and second distal pivot axes and that are rotatably mounted to the shaft at respective first and second proximal pivot axes; the cable segment extends between a distal pulley rotatably at the carriage and a proximal pulley rotatably mounted at the shaft, a cable segment extends within the shaft; a distance between the first distal and first proximal pivot axes matches a distance between a distal pulley axis and an axis of the proximal pulley such that a rocking motion of the 4-bar linkage due to external force upon the shaft exerts no force upon the cable.

The invention discloses a cam-driven clamping feeder, which belongs to the technical field of feeders and solves the problems of work efficiency and reliability. The key points of the technical solution are that the feeder comprises a feeding needle roller platform, a feeding main machine, an eccentric transmission mechanism, and a floating manipulator; the eccentric transmission mechanism comprises an input shaft for connecting a power source and an output shaft for connecting the feeding main machine, and the input shaft and the output shaft are in an eccentric position; the feeding main machine comprises a chassis, a main shaft, an eccentric swing mechanism, a sliding mechanism, and a parallel four-bar linkage mechanism, the main shaft is connected to the output shaft and drives the eccentric swing mechanism and the parallel four-bar linkage mechanism at the same time, the eccentric swing mechanism drives the sliding mechanism to move, the floating manipulator is fixed on the feeding needle roller platform and is above the sliding mechanism, the sliding mechanism and the parallel four-bar linkage mechanism cooperate with the floating manipulator to perform clamping and moving actions, thereby achieving the effect of efficient material transportation and stable and reliable performance.