566 results about "Linkage (mechanical)" patented technology

The invention provides a numerical control machine tool dynamic precision control method and system based on multi-axis linkage error compensation, and relates to the technical field of mechanical manufacturing, and the method comprises the steps: collecting shaft system motion parameters and real-time cutting load parameters of a multi-axis numerical control machine tool in a linkage machining process in real time; shafting motion parameters comprise displacement, speed and acceleration of each feed shaft, and cutting load parameters are obtained through inversion of main shaft current and servo driving torque; calculating a dynamic following error of each feed shaft in a linkage state based on the shaft system motion parameters; and carrying out load coupling correction on the dynamic following error by fusing real-time cutting load parameters to obtain an initial multi-axis linkage dynamic error. According to the invention, real-time precision control in the high-dynamic machining process can be realized.

The invention discloses an autonomous planning algorithm for an automobile gluing path, and relates to the technical field of automobile manufacturing, and the algorithm comprises the specific steps: collecting multi-source data through a line laser radar and an industrial camera, carrying out the preprocessing and synchronous fusion, carrying out the point cloud processing and curved surface modeling, generating and optimizing a gluing path, and adjusting the deviation in real time. And finally, converting into a mechanical arm instruction, controlling an executing mechanism to move, and synchronously adjusting gluing parameters and the posture of a gun head to finish high-precision gluing operation. Through dynamic formula linkage design, full-process self-adaption of track planning and execution control is achieved, manual intervention is reduced, and the gluing quality and the production efficiency are guaranteed; meanwhile, a high-precision positioning and complex curved surface modeling system is constructed by adopting a multi-sensor fusion and curvature self-adaptive NURBS weight factor formula, so that the positioning reliability and the curved surface model precision are ensured, and the adaptation requirement of a complex gluing scene of an automobile body is met.

Upon docking between different parts, a docking system maintains a strong docking state in accordance with linkage of locking according to magnetism and locking according to mechanical connection. The docking system also prevents generation of gaps in various directions including upward, downward, left and right directions in the docking state, thereby being capable of securing durability and quality of each portion.

The present disclosure describes self-adjusting sockets for lower limb prostheses in which each step transmits motion to a resilient resistive element coupled to an actuator configured to cycle between a rest position and an actuated position. The resistive element can transmit the motion to the actuator to cycle the actuator. Each cycle of the actuator acts through a mechanical linkage to tighten the socket around the residuum, until a desired threshold tightness on the residuum is reached. After the threshold tightness is reached, the resistive element yields and absorbs the motion rather than transmitting the motion, so that the actuator ceases to cycle on each step, preventing further tightening beyond the threshold.

The utility model relates to the technical field of anti-seismic support and hanger machining equipment, in particular to a punching device for C-shaped steel machining, which comprises a mounting frame, a base fixedly mounted on the lower portion of the interior of the mounting frame, a hydraulic cylinder fixedly mounted on the mounting frame and located above the base, and a punch piece fixedly mounted at the output end of the hydraulic cylinder. A sliding area is formed in a punching area of the punch piece, a filing piece is longitudinally arranged in the sliding area in a sliding mode, and two adjusting assemblies used for controlling the sliding area to slide are symmetrically arranged at the position, located at the top end of the filing piece, of the sliding area. Through the arrangement of the filing part, the adjusting assembly and the touch assembly, continuous actions of punching and deburring are achieved in the same punching stroke through mechanical linkage of the punch part and the filing part, continuous micro-amplitude disturbance can be generated on the hole wall in the punching return stroke stage through low-frequency shaking of the punch part, hole diameter shrinkage caused by material springback is counteracted, and the punching precision is improved. And high-frequency micro-impact can be generated on the hole wall, so that a composite effect of sliding cutting and vibration crushing is formed.

An integrated device for synchronously chamfering inner and outer blades of a cable protection pipe belongs to the technical field of protection pipe port finishing, and comprises two groups of cutters, a cut-in assembly and a circumferential rotating assembly, the two groups of cutters are obliquely arranged relative to the inner and outer side edges of the cable protection pipe, and the inclination angle range is set to be 45-60 degrees; the cutting-in assembly drives the two sets of cutters to obliquely cut in the edges of the inner side and the outer side of the cable protection pipe, and the cutters are bent in the direction of obliquely cutting in the edges of the cable protection pipe. Synchronous chamfering of inner and outer blades is achieved through the two sets of inclined cutters, traditional machining problems are solved, and precision and efficiency are improved; the cutter design is optimized, machining stability is guaranteed, the service life is prolonged, the angle depth can be independently adjusted, materials with multiple requirements can be adapted, and the cutter changing cost is reduced; according to the equipment, full-automatic operation is achieved through mechanical pushing and sensing linkage, an induction piece can be adjusted and locked, the depth is controlled to be consistent, assembly stability is guaranteed through cooperation of an assembly and a multi-caliber supporting system, and the universality, precision and efficiency of the equipment are greatly improved as a whole.

The invention relates to a prospective control method of a multi-axis linkage machine tool in the field of intelligent manufacturing, which comprises the following steps: by analyzing the time difference distribution of each axis in a compensation time sequence, establishing a dynamic compensation matrix of multi-axis linkage, the matrix comprising the advanced starting time and speed regulation coefficient of each axis in different motion stages, determining personalized motion control parameters of each axis; according to the updated delay characteristic data and the curvature radius information of the track corner, the position deviation trend of each axis in the corner machining process is predicted, whether the motion time sequence of each axis needs to be adjusted or not is judged by comparing the deviation degree of the predicted position and the theoretical track, and an optimized multi-axis cooperative motion instruction is obtained; and the optimized multi-axis cooperative motion instruction is input into a servo controller of each axis, an actual position feedback signal of each axis is monitored at the same time, and the response consistency of each axis is ensured by calculating the real-time deviation value of an actual track and a theoretical track and dynamically correcting compensation parameters in an electromechanical coupling delay model.

The invention relates to the technical field of conveyors, and discloses an intelligent deviation rectifying belt conveyor which is characterized in that mounting plates are arranged at the upper end of a conveying frame at equal intervals; a middle supporting roller assembly, side supporting roller assemblies in transmission connection with the two sides of the middle supporting roller assembly and side bracket roller assemblies in transmission connection with the tail ends of the side supporting roller assemblies are arranged at the upper end of the middle of the mounting plate. A driving motor is mounted at the middle lower end of the mounting plate; the position sensors are used for continuously monitoring the edge position of the conveying belt, precisely judging the deviation direction and degree, controlling the driving motor to adjust the side edge supporting roller assembly and then being in linkage with the side edge bracket roller assembly to incline, and deviation correction according to needs is achieved through mechanical precise adjustment. And damage to the conveying belt caused by excessive operation is avoided. According to the deviation rectifying device, the surfaces of the side carrier rollers can be lubricated while deviation rectifying is conducted on the conveying belt, deviation rectifying, namely lubrication is achieved, manual operation is not needed, and lubrication omission is avoided.

According to the detection system for the action state of the mechanical connecting rod of the isolating knife switch in the electric power GIS system provided by the invention, multi-dimensional monitoring on the action state of the mechanical connecting rod of the isolating knife switch and the grounding knife switch is realized through cooperative configuration of the mechanical state sensing unit and the electrical state sensing unit; the limitation that a traditional method only takes a single-phase state as a criterion is effectively solved. And the data analysis processing unit can perform comprehensive correlation analysis on the connection state, the action synchronism and the driving load condition of the mechanical connecting rod through fusion processing of the visual image information, the position signal and the electrical parameters of the motor, so that the accuracy and the reliability of state diagnosis are remarkably improved. And the early warning output unit outputs graded early warning information based on the severity of the diagnosis result, so that operation and maintenance personnel can identify abnormal phases and fault causes in time, thereby realizing early warning and accurate positioning of potential faults of the mechanical connecting rod, and greatly improving the operation safety and maintenance efficiency of the electric power GIS system.

The invention belongs to the technical field of mechanical automation control, and particularly relates to a vibration suppression method and system for a five-axis linkage CNC machining center, and the method comprises the following steps: S1, carrying out the system identification of a target machine tool, and obtaining the frequency response characteristics of the target machine tool; s2, virtual cutting simulation is conducted based on the workpiece model and the machining program, and cutting force distribution is obtained; s3, predicting a tremor risk area in the machining process in combination with the frequency response characteristics and the cutting force distribution; s4, optimizing a tool path and a tool posture according to a prediction result so as to avoid tremor; s5, calculating and setting an optimal speed planning parameter under the non-tremor constraint based on the optimized path and the dynamic characteristics of the machine tool; and S6, performing trial processing, collecting actual data, and correcting simulation model parameters to improve subsequent prediction precision. According to the method, the machining program is optimized, cutting simulation is carried out on the machining program, the cutting force distribution condition in the machining process is obtained, tremor prediction is carried out in combination with the workpiece model, and the unreasonable tool posture is optimized.

The application discloses a kind of variable width motion operation integrated module mechanical arm under narrow environment, this mechanical arm is based on modularization, multiple variable width modules are combined with joint module.In joint module, driving motor drives each variable width module to swing in two directions, so that the mechanical arm bends to any direction to complete the work in each scene.The application has flexible telescopic mechanism on each variable width module and multi-section linkage, quickly realizes the change of fuselage width, and has additional motion module, the tip end moves according to the predetermined curve by cam link mechanism.Each variable width module adopts transmission shaft transmission to realize variable width function and additional motion function linkage, control is simple and light in weight, relative to traditional mechanical arm, mechanical arm can be independently moved to specified position for work without manual handling in necessary scene, fuselage adopts special mechanism design, ensure structural strength while lightening, improve stability.

The invention provides a double-station roll-over table for axle welding, which comprises a rack, two groups of chain conveying mechanisms are arranged on the rack, connecting seats are arranged on chain segments of the chain conveying mechanisms along the conveying direction, the two groups of connecting seats are connected through a group of bearing plates, axle brackets are arranged on the bearing plates, and the axle brackets are arranged on the rack. Two lifting frames are arranged on the machine frame in a liftable mode through lifting assemblies, lifting assemblies are arranged on the lifting frames, a steering knuckle fixing assembly is arranged on the connecting base in a sliding mode, the steering knuckle fixing assembly is connected with the lifting frames through propelling mechanisms, a fixing frame is arranged on the machine frame in a liftable mode, and a turnover mechanism and a welding gun are arranged at the bottom of the fixing frame. The fixing frame is connected with the steering knuckle fixing assembly through a linkage mechanism. According to the device, cooperation of lifting, clamping, overturning, conveying and welding is achieved through mechanical linkage, the downtime is shortened to the maximum extent, and the welding efficiency is effectively improved.

This invention relates to the field of humanoid robot technology and discloses a humanoid robot torso waist rotation linkage adjustment device, including a torso lower mounting plate, a central rotation axis, an intermediate connecting bracket, a left hip connecting seat, and a right hip connecting seat. The torso lower mounting plate is horizontally disposed at the bottom of the robot torso. The central rotation axis is arranged vertically and its upper end is coaxially fixedly connected to the lower surface of the torso lower mounting plate. The intermediate connecting bracket is fitted into the middle of the central rotation axis and rotatably connected to the central rotation axis. The left hip connecting seat and the right hip connecting seat are symmetrically arranged on both sides of the lower end of the intermediate connecting bracket. This invention achieves synchronous adjustment of torso waist rotation and lower limb posture through a mechanical linkage structure, which can adjust the lower limb posture in time during waist rotation, effectively counteract the center of gravity shift caused by torso rotation, and improve the robot's balance stability in dynamic motion scenarios.

The invention discloses a macro-micro cooperative driving cable parallel spraying robot for the surface of large equipment. The robot is composed of a macro robot, a moving platform and a spraying module. The macro robot adopts a detachable metal static platform frame and a four-drive rope to cooperatively control multi-degree-of-freedom movement of a disc-shaped movable platform, and three-dimensional accurate positioning is achieved through an XY linear translation table and a scissor type lifting mechanism. The innovativeness lies in that four-wheel-drive parallel rope layout and model prediction anti-interference control are adopted, and vibration errors are effectively restrained; a micro mechanical arm and a four-axis linkage rotating platform are integrated, and multiple sensors are arranged to achieve high positioning precision; a four-head atomizing nozzle system is innovated, spraying of primer, colored paint and varnish is completed through 90-degree step-by-step rotation, and the high surface coverage rate is achieved through an S-shaped alternate path. And the color paint saturation is controlled by combining six-valve flow. The device can be quickly reconstructed to adapt to different working conditions, the spraying efficiency is greatly improved, and the device is particularly suitable for high-quality spraying operation of large equipment such as airplanes and ships.

The application relates to the technical field of mechanical arms, and particularly discloses an eight-axis linkage mechanical arm, which comprises a mechanical arm and a clamping head, the clamping head comprises a fixed end and a sleeve horizontally and slidingly arranged on the fixed end, the sleeve is circumferentially provided with a clamping plate sliding in the radial direction, the top surface and the bottom surface of the clamping plate are respectively provided with a boss and an inclined surface, and an elastic element is arranged between the clamping plate and the sleeve; a push rod is slidingly arranged at the center of the sleeve, and a connecting assembly is arranged between the push rod and the sleeve. The eight-axis linkage mechanical arm utilizes the conversion of the circulating track of the lifting displacement of the push rod after being pressed to realize the radial expansion and contraction of the clamping plate in a pure mechanical mode to clamp and place the inner hole of a part; meanwhile, the elastic guide element between the fixed end and the sleeve is utilized to realize the horizontal floating of the sleeve, so that the problem that the mechanical arm is difficult to accurately align and stack when placing plate parts is effectively solved.

The application belongs to the technical field of tower crane equipment, and particularly relates to a tower crane rotary limiting structure based on multiple redundant protection devices, which synchronously monitors rotary speed and angle through a pure mechanical structure, and provides ultimate protection when an electronic limiting system fails. A rotary speed measurement module utilizes centrifugal pendulum hammers to sense rotary acceleration, and the hammers break through a threshold to trigger linkage when overspeed occurs; an angle measurement module is based on the precise cooperation of a threaded track and a sliding groove, and generates a radial gap to trigger falling braking when the angle exceeds 540 degrees. The two modules share a braking execution mechanism, forming a double-signal redundant barrier.

An apparatus and method for applying stitches to a decorative component having a three dimensional configuration is provided. A head for applying stitches to a decorative component having a three dimensional configuration, including: a needle bar assembly operatively coupled to the head; a looper configured to cooperate with the needle bar assembly in order to provide a plurality of stitches in the decorative component, the looper rotating in a plane parallel to the decorative component; a post assembly configured to drive the looper in a reciprocating fashion in the plane, wherein the post assembly is operatively coupled to a motor configured to drive the needle bar assembly in a reciprocating fashion, the post assembly being operatively coupled to the head via a cylinder arm assembly and a downshaft assembly; and wherein the cylinder arm assembly is rotated in a synchronized manner with a rock frame through mechanical linkage connecting a rock frame drive shaft to the cylinder arm assembly.

The present application relates to the technical field of tourniquet, in particular to a multifunctional tourniquet for controlling bleeding in the junctional area under field conditions, comprising a tourniquet assembly. The present application ingeniously locks the tourniquet body and the human body limb by setting two groups of anti-skid mechanisms comprising fixing belts, positioning plates, clamping blocks and device sleeves. When the clamping blocks are precisely inserted into the clamping grooves on both sides of the device sleeve under the action of the spring restoring force, a rigid closed structure surrounding the limb is formed. This structure can effectively resist the axial shear force generated by the movement of the wounded, the change of body position or the contraction of limb muscles. At the same time, the linkage system composed of the device sleeve and the positioning belt can disperse the local stress. Even if there is sweat or blood on the surface to cause lubrication, the mechanical self-locking design of the multi-point clamping can also prevent the overall tourniquet from sliding or twisting, so as to maintain constant ring pressure and position in the dynamic jolt environment of field evacuation, greatly reducing the risk of tourniquet failure and secondary bleeding caused by instrument displacement.

The utility model discloses a dynamic mechanical property testing machine, and relates to the technical field of dynamic mechanical properties. The quick-mounting device comprises a main body, mounting seats are arranged below the cross rod and on the main body, mounting plates are arranged on the opposite sides of the mounting seats, quick-mounting assemblies which are symmetrically distributed are arranged between the mounting seats and the mounting plates, and linkage assemblies are arranged on the mounting seats. By inserting the inserting block into the inserting groove, aligning the limiting block with the limiting groove and driving the limiting block to be inserted into the limiting groove through the elastic force of the first spring, the limiting block is fixed to the inserting block, then the fixing mounting plate is fixed to the clamp, and therefore the situation that the clamp is tedious in mounting operation can be avoided, and the purpose of improving the mounting efficiency is achieved; the pressing rod moves to drive the moving block to move, the moving block drives the connecting rod to rotate, the connecting rod drives the two ejecting blocks to move reversely, the ejecting blocks drive the limiting blocks to move out of the limiting grooves, and therefore the limiting blocks can be synchronously operated, and the purpose of convenient operation is achieved.

The invention relates to the technical field of medical rehabilitation instruments, and discloses an exoskeleton robot for fracture auxiliary rehabilitation. The robot comprises a shear deformation sensing assembly, a shape memory alloy locking assembly and a joint driving module. The shear deformation sensing assembly comprises a fixed shell, a flexible liner arranged on the inner side of the shell and a sensing beam connected between the shell and the liner. The shape memory alloy locking assembly comprises a locking pin arranged in the connecting rod structure, a shape memory alloy driving piece in linkage with the locking pin and a locking part located on the connecting rod structure and corresponding to the locking pin in position. And the strain gauge is electrically connected with the shape memory alloy driving piece. Transverse micro-slippage representing shearing risks is directly sensed through a mechanical structure, rigid mechanical locking is triggered in a linkage mode, and therefore rapid and reliable physical protection is provided for a fracture part, and secondary injury in rehabilitation training is effectively prevented.

An inner curve type PPU robot is characterized by: further comprising a support block, the support block being disposed inside three support bearings, and an oscillating contour surface being formed on the outer side of the support block, the oscillating contour surface comprising two symmetrically arranged C-shaped contour surfaces, the C-shaped contour surface comprising an arc segment and straight segments at both ends of the arc segment, and the distance of the arc segment from the rotation center of the main shaft being greater than the distance of the straight segments from the rotation center of the main shaft; when the oscillating wheel moves, the three support bearings and the oscillating contour surface are always in contact to form a rolling fit, and the oscillating wheel drives the linkage shaft to move along the C-shaped trajectory. Its advantages are: 1. The support block is set inside the three support bearings. Compared with the cycloidal frame in the prior art, the outer curved surface is changed to the inner curved surface, making the structure more compact and reasonable, and greatly reducing the volume; 2. The C-shaped contour surface includes an arc segment and two straight segments. Compared with the rounded square trajectory in the prior art, the movement of the swing wheel will be more continuous; 3. The support bearing has a higher speed and greater torque when passing through the straight segment, which reduces the influence of gravity and makes the movement more stable. The support bearing has a lower speed and faster speed when passing through the arc segment, which increases the running speed and makes the movement more rapid.

The utility model belongs to analog machine technical field especially for analog rowing boat machine, including fixed bottom plate, the upper surface fixed mounting of fixed bottom plate has first connecting bottom plate, the upper surface fixed mounting of first connecting bottom plate has decoration ship body, the upper surface fixed mounting of first connecting bottom plate has reinforcing plate, the upper surface fixed mounting of reinforcing plate has first support frame. This analog rowing boat amusement facility realizes the effect of multiple optimization through novel mechanical structure design, and its whole body adopts the stable triangular support system formed by fixed bottom plate, connecting bottom plate and reinforcing plate, so as to ensure that decoration ship body runs smoothly, and the movement system drives the simulation oar through the torsion ring drive movable shaft, cooperates the linkage design of metal pedal, truly restores the movement feeling of rowing boat, simultaneously adopts modularization design, is equipped with double payment interface and the appearance on device, and the operation convenience and device beauty are taken into account.

The application aims to provide a bionic mechanical joint structure, which comprises an A connecting member, a B connecting member, and a linkage member arranged between the A connecting member and the B connecting member; the A connecting member is provided with an A first connecting segment, an A second connecting segment and an A third connecting segment which are arranged on one side of the linkage member; the B connecting member is provided with a B first connecting segment, a B second connecting segment and a B third connecting segment which are arranged on one side of the linkage member; the linkage member is provided with an A first matching segment, an A second matching segment and an A third matching segment which are arranged on one side of the A connecting member, and the linkage member is provided with a B first connecting segment, a B second connecting segment and a B third connecting segment which are arranged on one side of the B connecting member; the A connecting member and the linkage member, and the B connecting member and the linkage member form a first connecting relationship of a ring-shaped connection layout; the A connecting member and the B connecting member have a third connecting relationship of a staggered connection layout. Through the arrangement of the bionic mechanical joint structure, based on the application of the linkage member arranged between the A connecting member and the B connecting member, and combined with the first connecting relationship of the first connecting cable and the third connecting relationship of the third connecting cable, the joint structure has excellent support performance, motion range and joint flexibility, and has drivability, which meets the high motion performance setting requirement of the mechanical joint.

This invention discloses a belt conveyor with a liftable head and its usage method, belonging to the field of conveyor technology. The belt conveyor with a liftable head includes a frame, and further includes: a support section, which includes a fixed bracket and a tilting bracket mounted on the frame, with a conveying section disposed between the fixed bracket and the tilting bracket; a guide seat, disposed at the end of the tilting bracket away from the fixed bracket; and a lifting section, which includes a mounting plate and a lifting cylinder. This invention drives a wedge-shaped slider through the lifting cylinder, simultaneously triggering three sets of mechanical linkages: a moving block changes the transmission ratio of the conical wheel, automatically increasing the speed of the drive roller to increase the initial throwing velocity; a rack plate drives the guide seat to swing downwards, optimizing the material ejection angle and trajectory; and a wear-resistant pull rope linkage causes an anti-slip baffle to automatically insert into the material flow for anti-slip. These actions do not require electrical control and can adaptively compensate for the shortened throwing range caused by the head lifting, ensuring unloading accuracy and continuity.

This invention discloses a catheter anti-entanglement device, belonging to the field of medical device technology. The device includes a main frame, a catheter holder, a drive shaft, and a gear set. The drive shaft is connected to the lifting mechanism of the patient bed or the backrest adjustment mechanism, and through the gear set and rack transmission structure, converts the movement of the patient bed into the synchronous lifting movement of the catheter holder, thereby dynamically adjusting the catheter's reserved length and preventing catheter entanglement caused by changes in patient position. The device also includes a damping adjustment component, which increases the clamping damping of the catheter when the catheter clamping device rises, effectively preventing the catheter from sliding and pulling. Furthermore, the catheter clamping device adopts a clamping wheel bracket structure with a torsion spring shaft, facilitating quick installation and release of the catheter. This invention achieves adaptive adjustment of catheter height and anti-slip locking through pure mechanical linkage, improving treatment safety, patient comfort, and nursing efficiency.

This invention discloses a robotic hand and robot. The robotic hand includes a palm, multiple fingers, a drive module, and linkages. The robotic hand of this invention has 16 degrees of freedom, suitable for performing high-precision tasks such as precision assembly and micro-manipulation. It can achieve more complex finger postures and grasping actions, adapting to the grasping needs of objects of different shapes and sizes. It provides stable force transmission, facilitating precise force control, and is suitable for operations requiring precise force feedback. It has high mechanical strength and wear resistance, a relatively simple structure, reduces potential failure points, and is suitable for industrial environments with long-term continuous operation. The drive module can be standardized for easy mass production and maintenance. The finger structure is modular, allowing for flexible configuration according to application requirements, reducing manufacturing costs and maintenance difficulty. It can balance high-precision positioning with high-flexibility operation, meeting the stringent requirements of modern industry for efficient and precise operations, and can be applied to various scenarios such as precision assembly and complex logistics sorting.

The invention relates to the technical field of flexible robots, and discloses a modular joint rapid butt joint mechanical structure of a multi-joint flexible robot, which comprises a male butt joint end and a female butt joint end which are coaxially assembled, and one of the male butt joint end and the female butt joint end is rotationally arranged on a carrier joint main body; the positioning device further comprises an axial positioning boss, an axial positioning groove, a circumferential meshing structure, a radial locking structure and a synchronous unlocking structure. The axial positioning boss is matched with the groove to achieve coaxial positioning, the circumferential meshing structure is meshed with the meshing groove set through the wedge face meshing tooth set to transmit torque, the self-locking wedge block mechanism achieves axial self-locking, and the radial locking structure is in coaxial linkage with the synchronous unlocking structure. Double rigid locking is achieved, the defects that a traditional quick-release structure is unreliable in locking and unstable in torque transmission and a strong-locking structure is complex to disassemble and assemble are overcome, tool-free quick disassembly and assembly can be achieved, the structure is compact, the butt joint precision is high, quick and stable butt joint and disassembly of joint modules are achieved, and the modular application requirement of the multi-joint flexible robot is met.

The utility model discloses a vibration type plate type casting sand cleaning machine, including base and support plate, support plate is fixed on base top right side, the inside top end of base is integrally provided with the guide hole, and inside the guide hole left and right side is connected with the slide block in a sliding mode. Through the mechanical linkage design, only the motor needs to be started, the rotating rod and the eccentric wheel at the position of the rotating shaft can conduct vibration type beating treatment on the two faces of a plate casting at the same time, the sand removing efficiency and effect of the plate casting are improved, and in addition, removed sand grains fall into the box body through the discharging hole. By means of a soft contact mode, when the eccentric wheel rotates, the eccentric wheel drives the sliding pin and the ball to hit the surface of the plate type casting, the ball drives the sliding pin to move in the direction of the guide groove through the counter-acting force of the casting, then the spring deforms, and the ball softly hit the casting through the resilience force of the spring; and the situation that the casting is damaged due to the fact that the striking force is too large is prevented, and the casting is protected.

The invention belongs to the technical field of retainer detection, and particularly relates to a device for quickly identifying a retainer reference surface, which comprises symmetrically arranged conveying belts, the upper end of each conveying belt is fixedly connected with a protection plate, an arc-shaped separation plate is arranged between the two conveying belts, one end of the separation plate is fixedly connected with an L-shaped conveying plate, and the other end of the separation plate is fixedly connected with a clamping plate. And the surface of the separating plate is fixedly connected with an arc-shaped strip. According to the rapid identification device, a signal cylinder can drive a camera to accurately position a detection station of a to-be-detected object, and an angle adjusting cylinder drives a mechanical arm to flexibly adjust the posture of a clamping disc through a rotating rod, so that the clamping disc is matched and attached to the to-be-detected object; when the control system judges that the reference surface of the to-be-detected object is reverse, deviates out of limits or inclines through image analysis, contour fitting and normal vector comparison, an instruction is immediately sent to the telescopic air cylinder, the ejector pin is driven to eject the limiting plate, meanwhile, the pushing air cylinder is linked to quickly push unqualified products to a special collecting tank, and the unqualified products can be separated without manual intervention in the whole process.

The invention discloses a pantograph test auxiliary device, which belongs to the technical field of mechanical engineering and automation, and comprises a base, the top of the base is fixedly connected with a servo motor, the servo motor is in transmission connection with a lead screw through an internal rotating shaft, the side surface of the lead screw is engaged with a sliding rod, and the side surface of the sliding rod is rotationally connected with a power rod. One end of the driven rod is rotatably connected with a fixed block; one end of the driven rod and one end of the power rod are rotatably connected with supporting lugs; the tops of the supporting lugs are fixedly connected with a lifting platform; the top of the lifting platform is fixedly connected with a hollow rod; the side surface of the hollow rod is rotatably connected with a test rod through a rotating shaft, and the test rod is slidably connected with a slider and a balance block. Through the synergistic effect of the shear fork type lifting mechanism and the pulley, the linkage rapid unfolding and in-place of the device after the device enters the test station are realized, and the efficiency and the automation level of the test preparation stage are effectively improved.