3457 results about "Linear drive" patented technology

This invention relates to the field of conductor inspection technology, specifically disclosing a multi-angle detection robot and method for detecting multi-split tension clamps. The robot includes a cable routing mechanism, a lifting and adjusting mechanism, a spacing adjusting mechanism, and a detection mechanism. During detection, the x-axis drive device of the detection mechanism moves the mounting plate to the side of the frame. A first rotation module drives a right-angle frame to rotate around the z-axis to unfold the swing arm. A second rotation module deflects the swing arm to align the X-ray source and imaging plate with the target clamp. Combined with a third rotation module to fine-tune the imaging plate angle and a linear drive device to adjust the spacing, multi-angle imaging accuracy is ensured. The robot can also reverse direction, enabling the detection of tension clamps at both ends of a multi-split conductor tower in a single setup, improving efficiency. Compared to traditional devices, this application achieves continuous detection of multi-split clamps through multi-degree-of-freedom unfolding and adaptive adjustment, significantly improving detection efficiency. Furthermore, its compact structure adapts to complex high-altitude environments.

The invention discloses a cast pipe inner wall grinding device and system and relates to the technical field of grinding equipment, the cast pipe inner wall grinding system comprises a rack, a rotary supporting device and a cast pipe inner wall grinding device, and the cast pipe inner wall grinding device comprises a grinding feeding mechanism, an anti-swing mechanism and a grinding mechanism; the grinding feeding mechanism comprises a first linear driving device, a first rotating power source, an outer fixing sleeve and an inner rotating shaft, the anti-swing mechanism comprises an outer rotating sleeve, a positioning wheel assembly and a distance adjusting mechanism, and the grinding mechanism comprises a second linear driving device and a grinding wheel body. The outer fixing sleeve is radially supported through the positioning wheel assembly, radial swing of the grinding wheel shaft is restrained, and the grinding stability can be improved; the distance adjusting mechanism can dynamically adjust the distance between the positioning wheel assemblies to adapt to cast pipes with different calibers; and the second linear driving device drives the grinding wheel to move in the radial direction, constant-pressure grinding is achieved in cooperation with the pressure detection device, the grinding rhythm is dynamically adjusted, the grinding effect can be improved, and the grinding consistency is improved.

The invention discloses a radio frequency electromagnetic energy explosion testing device and method. The device comprises a closed gas cavity, a testing cable, a linear driving mechanism and a processing circuit. The airtight gas cavity is filled with explosive gas. The test cable comprises an inner conductor and an outer conductor, the outer conductor is coaxially arranged around the inner conductor, the inner conductor comprises a first inner conductor and a second inner conductor which are oppositely arranged in the axial direction, the end, away from the second inner conductor, of the first inner conductor is configured to receive radio frequency electromagnetic energy, and the power of the radio frequency electromagnetic energy tends to be increased. And the linear driving mechanism is connected with one end, far away from the first inner conductor, of the second inner conductor, and is configured to drive the second inner conductor to periodically reciprocate along the axial direction, so that the second inner conductor and the first inner conductor are periodically disconnected or connected. And the processing circuit is configured to take the power of the radio frequency electromagnetic energy corresponding to gas explosion as a power safety threshold. According to the invention, data support can be provided for safe operation of the coaxial cable in practical application.

The invention relates to the technical field of robots, in particular to a dexterous hand finger, a dexterous hand and a robot, and aims to solve the problem that the size of the dexterous hand finger with three active degrees of freedom is large. According to the dexterous hand finger, the first knuckle can have the functions of laterally swinging and rotating towards the palm side or the hand back side through the first linear driving assembly and the second linear driving assembly which are connected in parallel, and the knuckle assembly has the function of rotating towards the palm side or the hand back side through the third linear driving assembly. Due to the fact that the third straight line can be parallel to the palm base plate, on the plane perpendicular to the second axis, the distance between the orthographic projection of the third straight line and the orthographic projection of the first straight line in the extending direction of the first axis is gradually reduced in the direction from the third straight line to the first knuckle. The circumferential size of the end, away from the knuckle assembly, of the first knuckle is small, and the space occupied by the three linear driving assemblies in the palm is close to the shape of the palm of a person.

A lifting device for lowering a substrate onto and for lifting it off from a substrate carrier in a process chamber. The lifting device had a lifting rod and a linear drive, for moving the lifting rod along a linear lifting movement path, and a plurality of adjustment screws for adjusting the position of the lifting movement path. The lifting device has a drive housing for the linear drive, and a drive housing flange and a passage opening surrounded by this flange. The lifting rod is guided through the passage opening, and the adjustment screws are each screwed through an adjustment screw receiving opening in the drive housing flange. The adjustment screw receiving openings are spaced apart in the drive housing flange, and a protrusion of the respective adjustment screw over the drive housing flange is adjustable by screwing that adjustment screw through the respective receiving opening at differing depths.

The invention discloses tendon rope transmission system performance integrated testing equipment and a transmission system testing method, and belongs to the technical field of robot part testing. The equipment comprises a rack and a performance testing device, wherein the performance testing device comprises a mounting plate provided with an arc-shaped guide rail chute, a core shaft used for simulating a bending radius, a position adjusting mechanism used for accurately positioning the core shaft and clamping a tendon rope jacket, at least one linear driving mechanism capable of adjusting an angle along the chute, and a counterweight mechanism. A clamp of the linear driving mechanism clamps one end of an inner core of the tendon rope, the counterweight mechanism is connected with the other end of the inner core, the middle part of the tendon rope bypasses the mandrel, and the reciprocating motion applied by the linear driving mechanism is matched with the constant tension applied by the counterweight mechanism so as to simulate the working condition of the tendon rope under a specific bending radius and angle.

The invention provides a workpiece carrying table and semiconductor detection equipment. The workpiece carrying table comprises a lifting assembly, a jacking assembly, a reversing assembly and a driving mechanism. The lifting assembly comprises a lifting inclined face and a bearing face which are opposite in the height direction of the workpiece carrying table. A jacking inclined plane is arranged at the bottom of the jacking assembly, a supporting column is arranged at the top of the jacking assembly, and the inclined plane where the jacking inclined plane is located intersects with the inclined plane where the lifting inclined plane is located; the reversing assembly is in sliding fit with the lifting assembly and the jacking assembly. The driving mechanism comprises a transmission part and a linear driving part, the transmission part abuts against the lifting inclined face and the jacking inclined face, the linear driving part is connected with the transmission part, and the driving direction of the linear driving part intersects with the guiding direction of the reversing assembly. The lifting assembly and the jacking assembly share one driving mechanism, the structure is simple, transmission is smooth, and accurate cooperative operation of the lifting assembly and the jacking assembly can be achieved.

The invention discloses ultrasonic high-speed welding equipment and a welding method.The equipment comprises a rack, an electric control mechanism, an executing mechanism and a monitoring mechanism, and the executing mechanism comprises a first lifting assembly, a linear driving part, a welding executing assembly and a second lifting assembly; the linear driving piece is used for generating pressure for pressing the welding execution assembly on the to-be-welded piece, and the welding execution assembly is used for providing high-frequency vibration to achieve ultrasonic welding; the monitoring mechanism is used for monitoring the pressure of the linear driving part on the welding execution assembly, the pressure of the second lifting assembly on the bottom die, the real-time position of the welding execution assembly and the real-time position of the bottom die. The electric control mechanism is used for controlling the execution mechanism to operate according to a preset program and monitoring data obtained from the monitoring mechanism. According to the scheme, the welding efficiency can be improved, and pseudo soldering is reduced.

The invention discloses an execution sleeve automatic separation type nucleic acid extraction and purification instrument. The instrument comprises a stirring adsorption magnetic bead execution device, a mounting frame, a linear driving device and a kit, a magnetic bead stirring and adsorbing executing device is mounted on one side of the mounting frame, a linear driving device is mounted below the magnetic bead stirring and adsorbing executing device, a kit is detachably mounted at the output end of the linear driving device, and the linear driving device is used for driving the kit to be aligned with the executing end of the magnetic bead stirring and adsorbing executing device. According to the execution sleeve automatic separation type nucleic acid extraction and purification instrument, the problem that the whole nucleic acid extraction instrument is large in size due to the fact that a loading disc needs to be rotated to switch different kits to be aligned with a magnetic rod in the prior art is solved.

The invention belongs to the technical field of bionic dexterous hands, and discloses a multi-degree-of-freedom dexterous hand, which comprises a plurality of sections of fingers, a plurality of connecting rod assemblies, a plurality of connecting rods, a plurality of connecting rods and a plurality of connecting rods, the output ends of the two front-row linear driving parts are universally hinged to the root parts of the multi-section fingers respectively, and the two front-row linear driving parts are arranged side by side in the first direction; the rear-row linear driving parts and the front-row linear driving parts are arranged side by side, the rear-row linear driving parts and the two front-row linear driving parts are spaced in the second direction, the first direction is perpendicular to the second direction, and the output ends of the rear-row linear driving parts are universally hinged to the connecting rod assembly; and the side-sway rotating support is rotationally arranged around the axis in the second direction, and the roots of the multi-section fingers are rotationally connected to the side-sway rotating support around the axis in the first direction. The multi-degree-of-freedom dexterous hand provided by the invention meets the requirement of high control precision, is high in dexterous property, and improves the grabbing stability and rigidity.

The utility model relates to the technical field of controller detection, and more specifically relates to a vibration detection device used for a controller, the vibration detection device comprises a vibration table and a clamp assembly, the clamp assembly is connected to the vibration table, the clamp assembly comprises a clamp base, a pressing mechanism, a linear driving mechanism and a test connecting plug, one end of the pressing mechanism is fixedly connected with the clamp base, the other end of the pressing mechanism is used for abutting against the controller so as to press the controller on the clamp base, and the fixed end of the linear driving mechanism is fixedly connected with the clamp base. And a moving end of the linear driving mechanism is fixedly connected with the test connecting plug and is used for driving the test connecting plug to be plugged with or separated from the controller. The linear driving mechanism is arranged to drive the test connecting plug to move, so that the test efficiency can be remarkably improved.

The invention relates to an agaric harvesting robot based on machine vision, and belongs to the technical field of agricultural automation equipment. The agaric harvesting robot comprises a pair of oppositely-arranged assembly frames, each assembly frame comprises a supporting back plate, a driving motor, a spiral transmission device, a sliding rail and a plurality of clamping height adjusting mechanisms, and the clamping height adjusting mechanisms are matched with the spiral transmission devices and driven by the driving motors; the grabbing mechanism used for clamping the agaric fungus bags is connected with the clamping height adjusting mechanism through a linear driving device. A fungus bag rotation driving mechanism and a fungus bag positioning mechanism are arranged on one assembly frame; an air injection picking mechanism is arranged on the other assembly frame and is used for performing air injection picking on the rotating agaric fungus bags; the central control unit is used for controlling cooperative work of the grabbing mechanism, the linear driving device, the clamping height adjusting mechanism, the fungus bag rotation driving mechanism and the air injection picking mechanism. The full-automatic control process of agaric picking is achieved, manual intervention is reduced, the consistency and reliability of harvesting operation are ensured, operation is easy and convenient, and application and popularization are easy.

An overflow ink wiping device comprises a wiping head (3) which is provided with a rabbet body wiping face (11) and an arc wiping face (12) used for wiping a product (1); the wiping cloth feeding mechanism (4) is used for collecting and releasing wiping cloth (41) wrapping the wiping surface; the rotary clamping structure (6) is used for horizontally placing and clamping the product (1) and driving the product (1) to rotate around the Z-axis direction, so that the specific section, needing to be wiped, of the rabbet body or the arc of the product (1) is replaced; the wiping head linear driving mechanism (5) is installed on the wiping head (3) and used for driving the wiping head (3) to move along the Y axis to press the rabbet body or the arc of the product (1); the product linear driving mechanism (7) is connected with the rotary clamping structure (6) to drive the product (1) to move in the X-axis direction, so that the wiping cloth (41) wipes the rabbet body or the arc of the product (1); therefore, the automatic wiping device can automatically wipe on a large scale, and the wiping efficiency is greatly improved.

The invention discloses a cleaning module and a cleaning robot, and relates to the technical field of cleaning systems.The cleaning module comprises a mounting support, a driving motor, a roller assembly and a linear driving mechanism. The driving motor is fixed to the mounting support, and a first driving part of the driving motor extends in the transverse direction and can rotate. The roller assembly is arranged at one end of the driving motor and comprises a detachably-mounted roller support, a first roller and a second roller are transversely arranged at intervals and rotationally mounted at the bottom of the roller support, and the second roller can slide in the axial direction. The double rollers are driven by the single driving motor, and the rotating stroke of the first roller is converted into the axial moving stroke of the second roller by the linear driving mechanism, so that the second roller is expanded outwards to adapt to cleaning of wall edges and wall corners; the driving motor and the water supply assembly are fixedly arranged on the mounting bracket and do not need to move along with the second roller, so that complex layout of waterways, circuits and transmission structures is avoided; the roller assembly is integrally detachable, transmission connection is automatically disconnected during disassembly, and cleaning and maintenance are facilitated.

A tire changer demount tool assembly configured to automatically orient towards a tire and wheel assembly secured for rotation about a drive assembly of a tire changing machine. The demount tool assembly including a linearly driven demount tool biased to traverse a predetermined path of motion during a tire demount procedure.

The invention relates to the technical field of rotor manufacturing devices, in particular to a vertical magnetic steel pasting mechanism. The vertical magnetic steel pasting mechanism comprises a rotary clamping mechanism, a storage mechanism and a pasting mechanism. And the rotary clamping mechanism realizes vertical positioning and multi-station rotation of the rotor through a first linear driving device and a rotary driving device. The material storage mechanism drives a material bin with a plurality of material storage grooves to move through a second linear driving device, and continuous material supply is achieved. The mounting mechanism conveys magnetic steel through cooperation of a push block and a guide block, single-piece separation is carried out through a limiting groove in a limiting block, finally, the magnetic steel is attracted through metal blocks of two sections of mounting assemblies, and pressing and pressure maintaining are completed step by step through a non-magnetic mounting surface and the metal blocks. The mechanism effectively solves the technical problems that a plurality of pieces of magnetic steel are difficult to adhere and separate and are easy to take up after being mounted, and the efficiency, precision and reliability of magnetic steel mounting are remarkably improved.

The utility model provides a base conveying mechanism for soft tray sewing threads. The base conveying mechanism comprises a machine body, a transferring mechanism and a feeding platform. The machine body comprises two X-axis side plates which are oppositely arranged and two connecting beams which are fixedly connected between one ends of the two X-axis side plates respectively; the transferring mechanism comprises a feeding sliding base connected between the two X-axis side plates in a sliding mode and an X-axis linear driving mechanism arranged on the machine body, the feeding platform is arranged at the top of the feeding sliding base and is in driving connection with the X-axis linear driving mechanism, and pressing mechanisms are arranged on the two sides of the feeding platform correspondingly; the pressing mechanism comprises an edge bearing platform, a width adjusting air cylinder and two pressing assemblies, wherein the width adjusting air cylinder is arranged on one side of the bottom of the feeding platform and is in driving connection with the edge bearing platform, and the two pressing assemblies are arranged at the two ends of the edge bearing platform correspondingly. The pressing assembly comprises a lifting air cylinder fixedly connected to one end of the edge bearing platform and a pneumatic clamping jaw in driving connection with the lifting air cylinder, automatic conveying of the base can be achieved, manpower is saved, and the production efficiency is improved.

The present invention discloses a solar cell edge cleaning device, belonging to the field of photovoltaic solar processing equipment. It includes a feeding machine, an edge cleaning machine, and a discharging machine arranged in sequence; the feeding machine includes a frame, a conveying mechanism and a lifting and adjusting mechanism arranged on the frame, a first clamping and positioning component is arranged on one side of the frame, and a plurality of guiding and positioning rollers are arranged on the side opposite to the first clamping and positioning component; the edge cleaning machine includes a machine table, a plurality of linear driving mechanisms and a working platform arranged on the machine table, and a lifting and transmission mechanism arranged below the working platform, and the plurality of linear driving mechanisms enclose a rectangular processing area; a laser cleaning head is arranged on the linear driving mechanism; the lifting and transmission mechanism includes a plurality of roller units, and the rollers of the roller units can lift through roller through holes opened on the working platform. The present invention can effectively clean the edges of solar cells, has a high degree of automation and efficiency, and causes less edge thermal influence.

The invention relates to a macro / micro wafer defect detection device, which comprises a macro detection unit, which comprises a macro adjustment assembly, a macro clamping assembly, a light source and a macro camera, and is characterized in that the macro adjustment assembly comprises an R-axis driving mechanism and an F-axis driving mechanism fixedly mounted at the driving end of the R-axis driving mechanism; the macroscopic clamping assembly is fixedly mounted at the driving end of the F-axis driving mechanism, and the macroscopic clamping assembly is used for clamping a wafer; the microcosmic detection unit comprises a microcosmic platform fixedly installed, a first linear driving mechanism fixedly installed on the microcosmic platform, a wafer adsorption mechanism fixed to the driving end of the first linear driving mechanism and a bright and dark field detection mechanism fixedly installed on the microcosmic platform, and the driving direction of the first linear driving mechanism is the horizontal direction; the wafer adsorption mechanism is used for adsorbing a wafer, and the bright and dark field detection mechanism is used for shooting the front and back of the wafer. According to the invention, macroscopic and microscopic detection can be carried out on the surface of the wafer, and the detection efficiency is relatively improved.

The invention relates to the technical field of composite material forming, in particular to T-shaped stringer pre-forming equipment which comprises a rack extending in the length direction and comprising fixed platforms arranged on the two sides and a lifting platform arranged in the middle. The side mold assemblies are arranged on the two fixed platforms, each of the two side mold assemblies comprises a side mold capable of relatively sliding in the width direction of the fixed platforms and a linear driving part, and clamping openings of the two side mold are arranged towards each other; the middle mold assembly is fixedly connected to the middle lifting platform, and the middle mold assembly comprises two middle molds with clamping openings deviating from each other and a first clamping driving piece used for driving the two middle molds to be opened or closed; according to the T-shaped stringer forming die, the two prepreg sheets are clamped through the side die assemblies and the middle die assembly at the same time, the two opposite L-shaped sheets are formed in the descending process of the middle die assembly, and then the T-shaped stringer is formed through relative close joint of the two side die assemblies, so that the forming quality and efficiency of the T-shaped stringer are improved.

The automatic detection device comprises a base, a horizontal detection table top is arranged on the top face of the base, a track A and a track B which are arranged along the X axis are installed on the detection table top, a rotary driving mechanism is fixedly installed at one end of the track A, a sliding seat A is installed on the track A, an ejector pin support is installed on the sliding seat A, and a sliding seat B is installed on the track B; a cam detection mechanism is installed on the sliding seat B, the sliding seat B is connected with a first linear driving mechanism, the cam detection mechanism and the first linear driving mechanism are both connected to an upper computer control system, at least one set of self-adaptive supporting mechanism is installed on the track A and located between the ejector pin support and the rotary driving mechanism, and the self-adaptive supporting mechanism comprises a sliding plate. The bottom of the sliding plate is slidably connected with the track A. The top of the sliding plate is provided with a sliding bracket, the top of the sliding bracket is provided with a plurality of rotating shafts, and the axes of the rotating shafts are arranged along the X axis. According to the invention, automatic detection of the assembled overlong camshaft is realized.

The invention relates to the technical field of wire detection, and particularly discloses a multi-split strain clamp detection robot capable of multi-angle detection and a detection method.The multi-split strain clamp detection robot capable of multi-angle detection comprises a wiring mechanism, a lifting adjusting mechanism, a spacing adjusting mechanism and a detection mechanism, and during detection, an x-direction driving device of the detection mechanism translates a mounting plate to the side of a frame; the first rotating module drives the right-angle frame to rotate around the z direction to unfold the swing arm, the second rotating module deflects the swing arm to enable the radiation source and the imaging plate to be aligned with the target wire clamp, the angle of the imaging plate is finely adjusted through the third rotating module, the distance is adjusted through the linear driving device, and the multi-angle imaging precision is guaranteed. The direction can be turned, so that the strain clamps at the two ends of the multi-split conductor iron tower can be detected by one-time wire feeding, and the efficiency is improved; compared with a traditional device, through multi-degree-of-freedom unfolding and self-adaptive adjustment, continuous detection of the multi-split wire clamp is achieved, the detection efficiency is obviously improved, and the device is compact in structure and adapts to the high-altitude complex environment.

The invention discloses a flexible electrically-actuated robot driving unit and module and a robot control method, and belongs to the technical field of bionic robots. The driving unit comprises a driving assembly which is made of an electric actuating material capable of generating active deformation under the excitation of an electric field; the flexible electrode assembly is used for applying a driving electric field; the constraint guiding assembly is arranged to provide anisotropic mechanical constraint for deformation of the driving assembly, so that active deformation of the driving assembly under excitation of the electric field is guided and converted into linear driving force, torsional moment or bending moment in the first preset direction. Noise generated in the driving process is reduced, and the constraint guide assembly directly decodes and amplifies microscopic deformation of the material into macroscopic and accurate linear or rotary motion through anisotropic mechanical constraint. The robot can realize finer, softer and life-feeling anthropomorphic expressions, and the problem of stiff expressions is solved from the physical level.

The invention discloses a clamping mechanism for special-shaped metal part machining, and relates to the technical field of flexible clamps, the clamping mechanism comprises at least one positioning unit which is arranged at intervals in the workpiece clamping direction, and a clamping driving unit which is connected with the positioning unit and is used for driving the positioning unit to move towards the workpiece side so as to realize clamping, the positioning unit is provided with a positioning column capable of stretching and retracting in a self-adaptive mode along the contour of the workpiece and an adjusting rod used for locking the stretching and retracting state of the positioning column, and the clamping driving unit comprises a U-shaped base, a U-shaped frame connected with the positioning unit and a linear driving piece driving the U-shaped frame to move in the direction close to or away from the workpiece. The clamping mechanism is convenient to operate on the whole, low in manufacturing cost, capable of being suitable for effectively clamping different metal pieces, reliable in structure and good in use performance.

The invention discloses a wire harness assembly cutting device, and relates to the technical field of cutting devices.The wire harness assembly cutting device comprises an outer frame, a lifting device is arranged at the top of the outer frame, a circular saw cutting machine is arranged at the moving end of the lifting device, a wire drawing device is arranged on the outer frame, and the wire drawing device comprises a fixing plate, a wire drawing device body and a wire drawing device body; the fixing plate is fixedly mounted on the surface of the outer frame, and a sliding rail is arranged on the surface of the fixing plate; the linear driving device is arranged on the inner wall of the fixing plate; the sliding platform is in threaded connection with the output end of the linear driving device, and the bottom of the sliding platform is in sliding connection with the sliding rail; the clamping blocks and the conveying rollers are matched to pull the wire harness, different cutting requirements can be met, the wire harness can be prevented from deviating due to tangential force of the circular saw cutting machine in the cutting process, and it is guaranteed that follow-up cutting is conducted smoothly.

A portable linear fastener driving tool is provided that drive staples, nails, or other linearly driven fasteners. The tool uses a gas spring principle, in which a cylinder filled with compressed gas is used to quickly force a piston through a driving stroke movement, while a driver also drives a fastener into a workpiece. The piston / driver is then moved back to its starting position by use of a rotary-to-linear lifter, and the piston again compresses the gas above the piston, thereby preparing the tool for another driving stroke. The driver has protrusions along its edges that contact the lifter, which lifts the driver during a return stroke. A pivotable latch is controlled to move into either an interfering position or a non-interfering position with respect to the driver protrusions, and acts as a safety device, by preventing the driver from making a full driving stroke at an improper time.

A linear drive includes an output member which is linearly movable with respect to a drive housing, and which has a spindle nut and a hollow output rod connected thereto. The output member is linearly displaceable by means of a rotationally drivable threaded spindle, which is inserted through the spindle nut into the output rod. To support the threaded spindle, a support apparatus is provided at its anterior end section, which has a rolling bearing and a sliding sleeve seated thereon. The sliding sleeve is divided into sliding sleeve segments, which are connected to one another by resilient joints and are each prestressed with a support area section against the inner peripheral surface of the output rod.

The application discloses a DSP high-frequency inverter table type micro spot welding machine and relates to the technical field of electric welding machines.The machine tool is internally fixedly installed with a welding main machine, the inner wall bottom of the machine tool is fixedly installed with a linear driving mechanism, the output end of the linear driving mechanism is fixedly installed with a spot welding machine main body, the outer side wall of the machine tool is fixedly installed with a heat dissipation device, the top of the machine tool is fixedly installed with a three-color lamp, the inner wall bottom of the machine tool is fixedly installed with a rectangular plate, one side of the rectangular plate close to the spot welding machine main body is provided with a rectangular groove, the fixing device comprises a pull rod, a carrying table, a loading disc, a welding piece, a sliding table, a flexible block, a tungsten filament, a linkage plate, a rubber plate, a pushing plate, a No.1 spring and a limiting rod, the welding piece and the tungsten filament are attached by standard operation, the angle of attachment can be adjusted by the operator in a safe area, and the quality of spot welding is improved.

A knee driving type lower limb training device comprises a bed frame, two sets of knee driving mechanisms distributed left and right are installed on the bed frame, each knee driving mechanism comprises a linear driving device, and the linear driving devices are connected to a controller. The machine body end of the linear driving device is hinged to the machine frame, the action end of the linear driving device is hinged to the end of one side A of a crank arm, the crank arm is hinged to the machine frame through a hinge shaft, a sliding rail is fixedly connected to the other side B of the crank arm, a sliding block is arranged in the sliding rail in a matched mode, the sliding block can only slide along the sliding rail, a driving block is fixedly connected to the sliding block, and the driving block is fixedly connected to the machine frame. A C-shaped support is fixedly connected to the upper end of the driving block, an opening of the C-shaped support is located in the upper portion, a hanging column is fixedly connected to the edge A, a lower support is fixedly connected to the lower end of the driving block, one end of a spring is hung on the hanging column, and the other end of the spring is hung on the support. The device is simple in structure, knee driving is adopted, and the requirement for driving force is relatively low.