1200 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 a robot welding pipeline flange displacement special clamp, and relates to the technical field of ship manufacturing equipment, the clamp comprises a processing table, a welding mechanical arm, a placing mechanism, two groups of pipeline clamping mechanisms, two groups of flange fixing mechanisms, a traction mechanism, a rotating platform and three screw rod sliding tables; the placing mechanism is slidably mounted in the middle of the machining table through the rotating platform, and the two pipeline clamping mechanisms are symmetrically slidably mounted on the two sides of the placing mechanism and can synchronously move and clamp pipelines. The two flange fixing mechanisms are symmetrically arranged on the two sides of the containing mechanism and horizontally move through a lead screw sliding table. The traction mechanism is connected with the machining table through a lead screw sliding table and can lock / unlock the rotating platform and drive the containing mechanism to move. The welding mechanical arm is in linkage with the clamp and can conduct welding along the butt joint axis. Multi-degree-of-freedom posture adjustment of a pipeline and a flange can be achieved, a straight pipe and a 0-90-degree bent pipe are matched, it is guaranteed that welding is in a horizontal butt joint state all the time, and the welding quality and efficiency are improved.

The invention relates to a modularized segmented linkage flexible mechanical arm and a rope cluster segmented decoupling driving method. The modularized segmented linkage flexible mechanical arm comprises a driving box. The base connecting rod assembly is used for guiding a plurality of driving ropes led out from the driving box, and the base connecting rod assembly is arranged above the driving box; the arm section group comprises modular arm sections and an inter-arm-section connecting rod which are connected in sequence, and the bottom of the first modular arm section 3000 is connected with the top of the base connecting rod assembly. According to the modular segmented linkage flexible mechanical arm, the design of'rigid connecting rods, rotary joints and linkage modules' is adopted, it is ensured that when a rear-end arm section drives a rope to pass through a front-end arm section, the path length of the rear-end arm section does not change along with the joint angle of the front-end arm section, and therefore segmented driving decoupling of a rope cluster is achieved.

The invention discloses a dynamic thermal deformation compensation method for a numerical control grinding machine. The dynamic thermal deformation compensation method comprises the following steps that three-dimensional temperature field data of a mechanical head are obtained in real time through a distributed temperature monitoring unit; inputting the three-dimensional temperature field data into a numerical control grinding machine thermal deformation digital twin model, and predicting thermal deformation and spatial distribution of the mechanical head in a future time period through coupling temperature field-stress field-deformation field simulation calculation; and generating a compensation strategy according to the thermal deformation and the spatial distribution, driving the radiator to move to a thermal deformation sensitive area for directional heat dissipation, and adjusting the position and posture of the grinding head through a five-axis linkage system of the numerical control grinding machine to offset the predicted thermal deformation. A three-dimensional temperature field of the mechanical head is reconstructed in real time through the distributed temperature monitoring unit, and accurate real-time prediction of thermal deformation and spatial distribution is achieved; and meanwhile, a five-axis system is cooperated to pre-adjust the position and posture of the grinding head, and the thermal deformation restraining precision and the machining stability are remarkably improved.

The invention relates to the technical field of machining equipment, in particular to a gear deburring device and method. The moving seat slides on the front side of the bottom frame, a two-way lead screw driven by a driving assembly is rotationally arranged between the inner walls of the moving seat, moving plates symmetrically slide on the moving seat, the front ends of the two moving plates are in threaded connection with one side of the two-way lead screw respectively, and a driving gear used for driving the gear body to rotate is arranged between the moving plates on the two sides; and the two cutters are respectively arranged at the tail ends of the two movable plates. The combination of the cutting knife, the steel wire brush and the grinding rod is adopted, accurate burr treatment is specially conducted on the two sides of the gear teeth, grooves between the teeth and the tooth surface, through the linkage design of the pushing rod and the moving rod, it is guaranteed that the steel wire brush and the grinding rod can be accurately positioned and work cooperatively, and unnecessary treatment area coverage is avoided; the whole burr removing process is more orderly and efficient, the smoothness of the tooth surface is guaranteed, and the problem of excessive loss possibly caused by using a large-range polishing wheel is solved.

The invention relates to the technical field of machining, and discloses a ring part inner hole machining fixing clamp which comprises a fixing ring, a driving assembly used for driving is installed in the middle of the fixing ring, a clamping mechanism used for clamping a part is installed between the driving assembly and the fixing ring, and the driving assembly comprises a rotating ring. The rotating ring is rotationally connected to the inner side of the fixed ring, the outer side of the rotating ring is fixedly connected with a pull rod, and the other end of the pull rod is rotationally connected with a clamping force adjusting assembly. The clamping force adjusting assembly drives linkage of the rotating ring and the rotating rod, the clamping plates can automatically get close to workpieces, tight attaching clamping of the workpieces of different sizes is achieved through deformation of the clamping plates and elastic force provided by the elastic pieces, and therefore the clamping efficiency and adaptability are greatly improved, meanwhile, the extending length of an extending plate is finely adjusted through an adjusting bolt, and the clamping efficiency is improved. The positions of the clamping plates can be accurately adjusted, and clamping errors are eliminated.

The invention discloses continuous automatic stamping equipment and a stamping method, and relates to the technical field of continuous automatic stamping, the continuous automatic stamping equipment comprises a stamping table, the outer wall of the top of the stamping table is fixedly connected with a top plate, and one side of the top plate is fixedly connected with a positioning table used for fixing when a stamping part is stamped; a positioning assembly is arranged at the top of the top plate, a hydraulic rod is fixedly connected to the top of the top plate, a fixing plate is fixedly connected to the output end of the hydraulic rod, a stamping head is fixedly connected to the outer wall of the bottom of the fixing plate, and a stamping groove matched with the stamping head is formed in the top of the stamping table. The outer wall of the top of the stamping table is fixedly connected with a sliding column. According to the continuous punching device, linear motion of the hydraulic rod is converted into gear transmission and swing of the swing rod through power coupling, impact is relieved through an elastic buffering structure, precise positioning, stable clamping and equidistant displacement of a punching part are achieved through mechanical closed-loop linkage, and high efficiency and stability of continuous punching are guaranteed.

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.

A mechanical transmission includes one or more transmission housings. Each transmission housing defines a plurality of clevis-like yokes. An elongate axle extends across each clevis-like yoke. In some embodiments, the housing is configured to capture the axle without additional fasteners or modifying the axle after inserting it into the housing. Each in a plurality of linkage arms pivotably extends from each respective axle and matingly engages with at least one other linkage arm in a manner that urges each linkage arm to pivot when one of the linkage arms pivots. Chassis including a network of such linkages and transmission housings also are described.

The invention discloses a multi-axis multi-field coupling fatigue test device, and belongs to the technical field of material testing. The device comprises a rack, a multi-axis loading unit, an environment simulation unit, a dynamic sealing interface and a cooperative control system. The core of the device is that the test sample can simultaneously bear the coupling effect of multi-axis mechanical stress (pulling, pressing and twisting) and various environmental fields (such as high and low temperatures, corrosive media, illumination and electric fields) through a highly integrated design; and the dynamic sealing problem of the actuator rod in the environment box is solved through an innovative dynamic sealing interface (such as labyrinth-magnetofluid composite sealing). According to the invention, accurate linkage control of multiple channels is realized through the cooperative control system, the service environment of key parts under actual complex working conditions can be truly simulated, and a reliable test platform is provided for failure analysis and life prediction of products under multi-field coupling.

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.

The invention discloses a welding-free connection convenient steel pipe joint structure, and relates to the technical field of steel pipe joints, the welding-free connection convenient steel pipe joint structure comprises a joint pipe and a connected external steel pipe, two ends of the joint pipe are integrally provided with protruding pipes matched with the internal diameter of the external steel pipe, and the protruding pipes are inserted into the external steel pipe in a penetrating mode. And the joint pipe and the external steel pipe are fixed through the fastening sleeve. According to the convenient steel pipe joint structure without welding connection, through the ingenious mechanical linkage design, the installation efficiency and the operation convenience are remarkably improved. The key point is that the semi-ring sleeve, the clamping shaft and the elastic element cooperate with each other, so that quick connection can be realized without the traditional welding or complex thread fastening process. After the joint pipe is preliminarily butted with the external steel pipe, the rotary table and the eccentric rod can be driven by rotating the rotary knob, the movable block and the clamping shaft are automatically aligned and locked by utilizing the elastic reset characteristic of the spring, and the design avoids the requirements for accurate alignment and strong fixation in traditional installation.

The invention discloses a novel dismounting device for reinforcing a beam template, which relates to the technical field of building construction and comprises a fixing mechanism, a linkage mechanism and a locking mechanism, and the locking mechanism is used for clamping the two limiting gear plates into the clamping grooves correspondingly to further reinforce and lock the beam mold. According to the device, firstly, when the device is used, a clamping block falls into a clamping groove under the action of gravity, a one-way bearing is combined to prevent the clamping block from rotating backwards, mechanical locking is formed, it is ensured that related assemblies cannot reset reversely, the device is kept at the proper position after adjustment, and clamping force is continuously and stably applied to a beam formwork; the limiting gear plate and the clamping groove are tightly clamped, and the linkage mechanism is further reinforced, so that the device can bear larger external force and does not loosen or displace, the stability of a beam formwork in the construction process is guaranteed, the size and shape precision of a beam is ensured, the beam structure quality is improved, and meanwhile a safe operation environment is created for constructors.

The invention discloses an automatic industrial robot with a turnover mechanism, relates to the field of manipulators, and solves the problem that when an existing automatic industrial robot with a turnover mechanism clamps an irregular object, the stress of a clamping rod is too large, and the surface of a material is prone to being damaged. Comprising a base, a mechanical arm, a clamping mechanism, an adjusting mechanism and an overturning device, the clamping mechanism comprises a rotating column, a rotating disc, a clamping rod and a clamping plate, the two sides of a material are clamped through the clamping plate, the clamping plate located at the bottom is in linkage in the clamping process to be inserted into the bottom of the material, the material is scooped up, and the material is overturned. The other three sets of clamping plates clamp and fix the side faces of the materials, the stability of the materials in the carrying process is improved, the distance between the rotating columns on the two sides is adjusted through an adjusting mechanism to adapt to clamping of the materials of different sizes, the rotating columns are driven by a turnover device to rotate, and turnover of the materials is achieved. Meanwhile, adjustment of the adjusting mechanism on the position of the rotating column is not affected.

The invention discloses a device and method for machining a spiral groove in a cavity, and relates to the technical field of spiral groove machining. The device comprises a box body, a supporting frame is fixedly connected to the top of the box body, a driving shaft is rotationally connected to the supporting frame, a machining assembly used for conducting spiral groove machining on a workpiece cavity is arranged at the bottom of the driving shaft, and a sleeve is rotationally connected to the top of the box body; the sleeve is arranged on the driving shaft in a sleeving mode, and a control assembly installed on the supporting frame is arranged on one side of the sleeve. According to the device and method for machining the spiral groove in the cavity, a series of mechanical transmission parts such as a rotating rod, a linkage rod and a sliding frame are driven by a control motor, intermittent downward movement of assemblies such as a trapezoidal block, a transverse rod, a movable plate and a working motor is achieved, and the distance and depth of the spiral groove are adjusted; the precise control mode ensures that the length of the spiral groove in the cavity of the workpiece can be adjusted as required, so that different workpieces and different machining requirements are 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 invention discloses a feeding and discharging robot mechanical arm of a punching machine tool, relates to the field of robot mechanical arms, and solves the problem that when an existing feeding and discharging robot mechanical arm of the punching machine tool is used, it is difficult to control the operation state of a suction cup to improve the stability in the conveying process while automatically adsorbing punching parts of different shapes. Comprising a base and an adsorption mechanism, a mechanical arm body, a rotating block and a rotating disc are arranged on the base, the adsorption mechanism comprises a control part, a conveying part and multiple sets of suction cups, the control part senses the attaching relation between the suction cups and the surface of a stamping part, the suction cups in the attaching state are sucked, and the positions of the suction cups in the non-adsorption state are adjusted and controlled; the control part is connected with the suction cup through the conveying part, so that the contact with the surface of the stamping part is reduced, the influence on the suction conveying stability caused by overlarge thrust of the non-suction suction cup on the stamping part is avoided, and meanwhile, in the suction operation process of the control part, liquid is output to the side wall of the suction cup in the suction state through linkage of the conveying part, and the stability in the suction conveying process is improved.

The invention relates to the field of machining equipment, and discloses a pressing device for machining and manufacturing, the pressing device comprises a base and a clamp mechanism, a linkage system driven by a hydraulic rod is arranged in the middle of the base in a hollowed-out mode, and a four-direction clamping structure is formed by a fixed clamping piece, an opposite moving clamping piece and linkage clamping pieces on the two sides. The outer layer is an ultra-high molecular weight polyethylene fiber woven layer, the middle layer is a shear thickening gel layer, the inner layer is an electromagnetically-controllable magnetorheological fluid cavity, and the electromagnetic coils distributed on the two sides of the clamping piece are matched, so that continuous adjustment of the contact rigidity from flexible attachment to rigid locking is achieved. The device is integrated with an energy recovery system, a lead zirconate titanate piezoelectric plate is arranged on a sliding rail at the top of a clamping piece, machining vibration energy is converted into electric energy to be stored in a bottom lithium battery, and power is supplied to an electromagnetic system to form an energy closed loop. The device breaks through the form limitation of a traditional clamp, can adapt to most special-shaped workpiece contours, meanwhile, has the functions of utilizing kinetic energy and reducing energy consumption, can meet the daily use requirement, and has commercial prospects.

The invention discloses a multi-section type bridge positioner which comprises mounting rings, a bridge reinforcement cage, telescopic mechanisms and a positioning plate, a plurality of mounting rings are arranged on the surface of the bridge reinforcement cage, and the four telescopic mechanisms are evenly distributed on the surfaces of the mounting rings; the adjacent ends of the four telescopic mechanisms are each provided with a positioning plate used for clamping a bridge reinforcement cage. Each telescopic mechanism comprises a groove, a rectangular plate, a movable pipe and an adjusting piece, synchronous fine adjustment in four directions can be achieved through mechanical linkage of the telescopic mechanisms and the adjusting pieces, and therefore it is ensured that the reinforcement cage is centered and positioned, the four telescopic mechanisms are evenly distributed on the surface of the mounting ring, each telescopic mechanism independently controls one positioning plate, and the positioning effect is good. Accordingly, four-direction synchronous clamping of the bridge reinforcement cage is achieved, centering positioning of the reinforcement cage can be guaranteed, the effect of avoiding deflection is achieved, rapid centering of the upper reinforcement cage and the lower reinforcement cage can be achieved through the extensible multiple sections of connecting pieces, and error accumulation is avoided.

The invention relates to the field of pull baskets, in particular to a wall cupboard double-layer linkage lifting basket which comprises a cupboard body, a first basket and a second basket, mechanical boxes are symmetrically fixed to the top end of the cupboard body, and the interiors of the mechanical boxes are rotationally connected with rotating blocks through bearings; one end of the rotating block penetrates through the mechanical box to be fixedly connected with a first connecting rod, the side wall of the mechanical box is rotationally connected with a second connecting rod through a bearing, and the end of the first connecting rod and the end of the second connecting rod are hinged to the side wall of the first basket. And meanwhile, the anti-false-triggering function is achieved, and the problems that the pull basket does not descend or the descending speed is too high, and the pull basket is strenuous to push back after descending and the like due to the fact that gear adjustment errors are not consistent with actual load bearing or gear adjustment is triggered by mistake are solved.

The invention relates to a three-axis progressive linkage flattening null-space massage chair frame of a sliding groove structure, the three-axis progressive linkage flattening null-space massage chair frame comprises a bottom frame, a backrest frame, a seat frame and manipulators, the backrest frame and the seat frame are installed on the bottom frame, backrest frame guide rails are arranged on the two sides of the backrest frame, seat frame guide rails are arranged on the two sides of the seat frame, flexible guide rails are connected between the seat frame guide rails and the backrest frame guide rails, and the manipulators are connected with the seat frame guide rails. The mechanical arm can be meshed with the seat frame guide rail or the tooth-shaped chain or the backrest frame guide rail to walk through the walking wheel assembly, the first end of the backrest frame can lie down or stand up on the bottom frame, and the flexible guide rail lies down or stands up to be bent or stops being bent along with the backrest frame. The bottom frame achieves progressive transmission of the backrest frame sliding shaft, the first seat frame sliding shaft and the second seat frame sliding shaft through a lying swing arm of a sliding groove structure, and therefore large-angle lying or standing is achieved. The device has the advantages that through three-axis progressive linkage of the sliding groove structure, the effect of extreme stretching is achieved, and the effect of reverse arching and tendon stretching on the back of the human body can be achieved.

The invention discloses a mechanical linkage posture stabilizing pull-type submersible. The pull-type submersible comprises a cabin, an empennage assembly, an inertia assembly and at least one pair of side wings. The side wings are rotatably arranged on the side walls of the cabin body through second rods; the inertia assembly comprises a balance weight part, a main shaft and a gear structure, the balance weight part rotatably sleeves the main shaft, the tail end of the main shaft is connected with the empennage assembly, the gear structure is rotatably arranged on the inner side wall of the cabin body, and the balance weight part is connected with the gear structure; the counter weight part deviates from the central axis of the cabin body, relative rotation between the counter weight part and the cabin body can drive the paired side wings to rotate in the opposite directions through the gear structure, and movement of the counter weight part and the main shaft relative to the cabin body can drive the empennage assembly to be opened and closed. The pull-type submersible is provided with the inertia assembly, the inertia assembly achieves passive posture stabilization of the pull-type submersible through relative movement of the balance weight piece and the cabin body, and the pull-type submersible can be widely applied to the technical field of ocean exploration.

A spa pool cover lifter and a spa pool including a spa pool cover lifter are disclosed. The spa pool cover lifter may include a first arm pivotally attached to a first section of an articulated spa pool cover and a second arm pivotally attached to a second section of the articulated spa pool cover. The first and second arms may be configured such that rotation of the first arm causes the first and second sections of the spa pool cover to fold together. An actuator and controller is disclosed. A mechanical linkage between the actuator and first arm is disclosed. The mechanical linkage may be an over-rotation linkage.

The invention discloses a tool arm type double-servo manipulator applied to a tool magazine ATC, which comprises a manipulator support, a manipulator driving module and a tool arm type rotary manipulator, the manipulator driving module and the tool arm type rotary manipulator are mounted on the manipulator support, and the manipulator driving module comprises a U-axis servo motor and a Q-axis servo motor which are mounted on the manipulator support. An output shaft of the U-axis servo motor is in linkage with the driving mechanism shell through a lead screw mechanism, a linkage shaft is fixed to an output shaft of the Q-axis servo motor through a coupler, a sinking groove is formed in the installation end of the linkage shaft, a linkage rod is inserted into the sinking groove, and the end, located outside the sinking groove, of the linkage rod is in linkage fit with the tool arm type rotary mechanical arm. A limiting mechanism used for controlling the linkage sleeve to rotate in the circumferential direction and conducting axial limiting is arranged between the linkage sleeve and the driving mechanism shell. And a tool arm type rotary manipulator is fixed at the end part of the linkage sleeve. The tool changing action response speed is high, the positioning precision is high, tool bins of any various structures can be matched, the flexibility is good, and the application range is wide.

A portable machinery or vehicle control training aid, comprising a simulator that gives haptic feedback including angular movement, vibration, and responsiveness to use of controls; the haptic frame (54) provides structural frames for electrical components, mechanical components, and various sensors to be fixed onto. The haptic frame (54) movably joined to a plurality of linking mechanisms (55). In an embodiment as shown in Figs. (12) and (13), a pair of linkages (55) are connected preferably to the center of one side 61 of the haptic frame (54). Two linkages (55) are likewise connected to the diagonal bars (62) of the haptic frame (54). This configuration provides a balance of stable support for the live floor and safety to the trainee while also being mobile enough to produce realistic motions pertaining to yaw, roll, pitch, heave, sway, and surge. The pair of linkages (55) which are connected to the center side (61) of the haptic frame are each connected to drive motors (21). The drive motors (21) use the hydraulics needed to move the live floor (11) correspondingly to the virtual terrain affecting the heavy machinery and the controls inputted by the user or trainee.

The invention relates to the technical field of preheating welding devices, and provides a steel member preheating welding device and a welding method.The steel member preheating welding device comprises a mounting mechanism, a welding mechanism and a guiding and positioning mechanism, an intermittent transmission chain scraper conveyor conducts intermittent conveying on a clamping mechanism, and when the clamping mechanism is in a shutdown state, the welding mechanism conducts welding on the clamping mechanism; and a guide rail of the guiding and positioning mechanism comprises an inclined rail and a transverse rail, and when an inserting rod moves downwards along the inclined rail, the welding mechanism is driven to accurately descend to a welding seam position. Zero-error matching of the welding station and the conveying takt is achieved through mechanical linkage, manual adjustment time is eliminated, the procedure interval is shortened, and the production line continuity is remarkably improved. The pure mechanical tripping design is realized, the sensor or motor driving is not needed, and the reset response is fast. The full-process cooperation of preheating, conveying, positioning, welding and resetting is achieved through a pure mechanical structure, and the continuity and continuity of welding work are achieved.

The invention relates to the technical field of mechanical positioning clamps. The valve body clamping tool comprises a base, a first supporting seat and a second supporting seat are arranged on the base in a sliding mode, a driving assembly is arranged on the base, a locking assembly is arranged on the first supporting seat, a first mounting seat is rotationally arranged on the first supporting seat, and a second mounting seat is arranged on the second supporting seat. A first mounting seat is rotatably arranged on the first supporting seat, a second mounting seat is rotatably arranged on the second supporting seat, first clamping assemblies are arranged on the first mounting seat and the second mounting seat, a second clamping assembly is further arranged on the second mounting seat, a rotating assembly is arranged on the first supporting seat, and an expansion assembly is arranged on the second clamping assembly. A synchronization assembly is arranged on the second mounting base, and a linkage assembly is arranged on the second supporting base. The valve body clamping device has the beneficial effects that by arranging the first clamping assembly, the second clamping assembly and the synchronizing assembly, valve bodies of different shapes and sizes can be clamped and fixed.

The utility model discloses an automatic material taking mechanical arm based on an injection molding machine, which comprises an injection molding machine body, an X-axis moving module, a Y-axis moving module, a Z-axis moving module, a turnover mechanism, a first material clamping assembly and a second material clamping assembly, and the first material clamping assembly comprises a base, a push cylinder, a fixed clamping plate, a movable clamping plate, a swing cylinder and a clamping jaw. Through linkage of the X-axis moving module, the Y-axis moving module and the Z-axis moving module, the first material clamping assembly and the second material clamping assembly can clamp different types of product materials, and then the high efficiency and adaptability of the whole material taking process are improved; the overturning mechanism can adjust the overturning angle of the first clamping assembly, so that product clamping is achieved in multiple directions or angles, and the clamping stability is improved. The pushing air cylinder can adjust the distance between the movable clamping plate and the fixed clamping plate, so that the first material clamping assembly can flexibly adapt to product materials of different sizes for clamping, and the clamping firmness and stability are improved.

The invention belongs to the technical field of control systems, and particularly relates to an all-terrain travel robot which comprises a main control module, a data acquisition module and a chassis driving module, the main control module is used for conducting calculation and analysis according to data uploaded by the data acquisition module to generate an upstairs control instruction and a downstairs control instruction, the chassis driving module executes the control instructions, and driving motors arranged on a front wheel set and a rear wheel set are used for controlling the upstairs control instruction and the downstairs control instruction respectively. The rotating direction and the rotating speed of each supporting wheel of the robot are controlled in a targeted mode, so that the stability of the robot walking on the flat ground is improved, and accurate control over the advancing direction of the robot can be achieved through differential control between the left crawler belt and the right crawler belt when the robot goes upstairs and downstairs through the crawler belts; according to the invention, various detection data are matched with linkage on a mechanical structure, so that the running stability of the robot is further improved, and the running safety of the robot is improved.