1058 results about "Rotation - action" patented technology

The invention belongs to the technical field of multi-stage centrifugal pump production, and particularly relates to an automatic punching system and method for a pump cover of a multi-stage centrifugal pump, all assemblies cooperate with one another, and a clamping assembly is used for clamping a pump cover body and driving the pump cover body to rotate in the horizontal circumferential direction and rotate around the axis of the pump cover body; an H-shaped groove is formed in the pump cover body in a punching mode along the cylindrical spiral line through a notching assembly; the inner spiral supporting body and the outer spiral supporting body are correspondingly conveyed to preset positions on the inner side and the outer side of the pump cover body through the supporting body feeding assembly; the locking assembly is used for bending the protruding pieces defined by the H-shaped grooves towards the inner side or the outer side in a staggered mode, and then an inner locking piece used for locking the inner spiral supporting body and an outer locking piece used for locking the outer spiral supporting body are formed. In this way, the requirements for automatic punching and assembling of the reinforced pump cover are met, the reliability of connection between the pump cover body and the inner spiral supporting body and between the pump cover body and the outer spiral supporting body is high, connection is achieved without additional tedious procedures, and the manufacturing cost is reduced.

The invention belongs to ocean engineering, and discloses a seabed multifunctional freely-adjustable crawler belt which comprises a main frame, at least one pair of telescopic oil cylinders, at least one pair of outer supporting legs, at least one pair of inner supporting legs, at least one connecting rod, at least one overturning oil cylinder and at least one overturning oil cylinder connecting weldment. Wherein the main frame is hinged with the telescopic oil cylinder, the outer supporting leg and the inner supporting leg through pin shafts; the connecting rod is provided with at least three reamed holes which are respectively connected with the crawler belt assembly, the outer supporting leg and the inner supporting leg through bolts; the overturning oil cylinder is mounted on the crawler beam through the overturning oil cylinder connecting weldment and is connected with the connecting rod through the bolt; according to the invention, flexible adjustment of the crawler belt in multiple directions is realized. Particularly, due to the synergistic effect of the telescopic oil cylinder and the overturning oil cylinder, the width and height of the crawler belt can be adjusted under different terrain conditions, obstacles can be overcome through the rotating action, meanwhile, the equipment can better adapt to the complex and changeable seabed environment, and the operation efficiency and safety are improved.

The invention relates to a self-adaptive interference pin assembling device and method, and belongs to the technical field of intelligent manufacturing and robotics.The self-adaptive interference pin assembling device designs a three-jaw centering clamp, a rotating disc is connected with three connecting rods, the three connecting rods synchronously move around the center point of the rotating disc, and the connecting rods transmit the rotating action of the rotating disc to sliding blocks; the sliding block is pushed to move towards the center point of the top plate or away from the center point of the top plate; the sliding blocks move to drive the clamping fingers to be opened and closed, opening and closing of the clamping fingers always keep the center of the top plate aligned with the pin, the clamping force can be adjusted, it is ensured that the pin is located at the center position, and high repeated positioning precision is provided. The six-dimensional force sensor is installed at the tail end of the mechanical arm, and force tracking in the assembling process is achieved; in addition, an impedance control law is used in the assembling process, and flexible pin assembling is achieved.

The invention discloses a tail end instrument for minimally invasive surgery, and relates to the technical field of surgical robots. A bearing groove is formed in the top of the bottom base, two wrapping posts are arranged at a port of the bottom base, threading holes are machined in the bottom face of the groove and the bottom ends of the outer sides of the wrapping posts respectively, two connecting arms at the bottom of the middle connecting piece are fixedly connected with the bottom base, and forward and reverse spiral wire grooves are machined in the side wall of a rotating shaft part of the top rotating piece and rotationally connected with the bottom base and the middle connecting piece. A threading hole is machined in the bottom face of an inner cavity, a sliding block is assembled in the inner cavity of the barrel-shaped part, two rope threading channels are machined, a clamp is installed at the top ends of the two supporting arms through a pin shaft, a wire guide wheel is arranged between the two supporting arms, the bottom ends of clamp arms are hinged to the sliding block through a transmission connecting rod, and two driving ropes control opening and closing of the clamp and rotation of a top rotating piece. Only two driving ropes are adopted, one driving rope achieves opening and closing actions of the clamp at the same time, the other driving rope controls the shaft rotation action, and the structural complexity and the operation difficulty of a tail end instrument are reduced.

A welding device for a chemical pressure vessel comprises a mounting box body, an adjusting and supporting device, a synchronous driving device and follow-up clamping devices, the adjusting and supporting device is arranged on the mounting box body in a sliding mode, the synchronous driving device is fixedly arranged on the mounting box body and used for synchronous rotation driving of a barrel to be tailor-welded, the number of the follow-up clamping devices is two, and the adjusting and supporting device is arranged on the mounting box body. The two groups of follow-up clamping devices are the same in structure, the two groups of follow-up clamping devices are rotationally arranged on the mounting box body respectively and are used for clamping and positioning a barrel, any group of follow-up clamping device comprises a sliding block and a clamping plate, the sliding block is used for controlling conversion of clamping action and rotating action, and the clamping plate is used for clamping and positioning the barrel. The synchronous driving device can synchronously transmit driving force to the two sets of follow-up clamping devices, so that the two sets of follow-up clamping devices drive the clamped barrel to rotate synchronously, the barrel is prevented from moving relatively, the spot welding fixing procedure can be omitted, and the machining efficiency is improved.

The present invention discloses a mining blasting drilling device, which comprises a frame, a drilling machine top, a positioning frame, and a slide. A retractable cabin is installed on the frame, a pulling rope is led downward from the side bottom of the retractable cabin, a retractable shaft is installed in the retractable cabin, and the retractable shaft rotates to control the length of the pulling rope led to the outside of the retractable cabin. A driving cabin is installed at the bottom of the drilling machine top, and a lifting seat is installed in the driving cabin. A positioning plate is hingedly installed at the end of the positioning frame. The lifting seat descends and pushes the positioning frame to rotate outward, so as to drive the positioning plate to move outward and fit against the inner wall of the drilled hole. The lifting drive assembly can push the slide and drill rod downward and cooperate with the rotation of the drill rod to complete downward drilling. In the present invention, the pulling rope is gradually retracted and extended, so that the drilling structure penetrates deep into the hole. The entire hole is drilled through multiple descents and drillings. The depth of the drilling is not limited by the length of the drill rod, and the drilling depth can be directly controlled by the pulling rope, thereby improving the efficiency of the entire drilling process.

The utility model discloses a stitching instrument for stitching an endoscope puncture hole. The stitching instrument comprises a handle part and two operating rods which are assembled on the handle part in a rotatable structure, the lower ends of the two operating rods are respectively provided with a convex needle connecting part, and the lower ends of the two operating rods extend out of the guide cylinder of the handle part; in the rotating action of the two operating rods, the needle connecting parts at the lower ends of the two operating rods are folded or unfolded; when the needle connecting parts of the two operating rods are in a folded state, the guide cylinder located at the handle part is in an axial storage coverage range of a trocar channel through which the guide cylinder needs to penetrate during surgical operation; the lower end of each operating rod is provided with a needle mounting base formed in an outward protruding mode, the needle mounting bases are connected with suture needles through detachable structures, and the suture needles are connected to the needle mounting bases in place to form an inflection assembly structure facing the handle part. According to the stitching instrument, the stitching operation is simplified, the stitching safety, flexibility and efficiency are improved, the forming structure of the stitching instrument is simplified, and the practicability is higher.

The invention provides a bottom thread winding device capable of well winding a bottom thread relative to a bobbin. A bottom thread winding device (60) is provided with: a bobbin (20) having a shaft part (23) and disk parts (21, 22) provided at both ends of the shaft part; a rotation mechanism (61) that imparts a rotation action to the spool; and a bottom thread supply mechanism (63) having a nozzle (64) for sending out a bottom thread (D) from a bottom thread supply source together with air, and winding the bottom thread on a shaft portion of the bobbin by rotating the bobbin by the rotating mechanism while sending out the bottom thread toward the bobbin by the bottom thread supply mechanism. The shaft portion of the bobbin is provided with a threading hole (231) penetrating in the direction perpendicular to the shaft portion, and the bottom thread supply mechanism winds the bottom thread after inserting the bottom thread into the threading hole.

The invention relates to the technical field of feed conveying devices, and discloses a feed raw material fine crushing pneumatic conveying device which comprises a crushing barrel shell, and a secondary screening barrel shell is fixedly mounted at the bottom end of the crushing barrel shell. By means of the crushing assembly, feed raw materials fed from the feeding pipe can be crushed again, the crushed feed can be screened through the screening net at the bottom, it can be guaranteed that the feed does not stay on the surface of the screening net while being screened through the trumpet-shaped structure of the screening net, and therefore the blocking condition is avoided; and the top ends of the spiral guiding and conveying pieces rotate around the circular track under the action of air flow, so that all feed raw materials which do not reach the crushing standard can move upwards under the rotation action of the spiral guiding and conveying pieces, and finally are discharged again from the top ends and enter the crushing assembly to be crushed again.

The invention belongs to the technical field of cable material winding, and particularly relates to a cable material winding production device, a swing rod type detection assembly of the cable material winding production device comprises a swing rod unit, a swing rod detection assembly and a transmission assembly, the upper part of the pivot block is matched with the swing rod, so that the swing rod can rotate and has an active trend of rotating upwards; the driving rack can move up and down relative to the pivot block and is meshed with the gear part, and a spring and a nut are arranged on a rod part at the lower part of the driving rack; the sleeve, the detection unit and the fixing block are connected; the detection unit is arranged on the sleeve, and a movable part of the detection unit is connected with the pull rod; the pull rod is connected with the rod part, so that the movable part can move relative to the detector body, physical quantity changes are generated, and sensing signals are generated. According to the invention, the winding supply quantity of the cable material can be adjusted in time by detecting the change of the winding thickness of the cable material, and the purpose of reducing the difference value between the actual supply quantity and the theoretical demand supply quantity of the cable material can be achieved.

The invention discloses a modularized magnetic type cloth pressing guide roller of a cloth paving machine, and relates to the technical field of cloth paving machines. An adjusting assembly used for adjusting is fixedly arranged on the side face of the front end of the cloth paving machine. The modular guide roller is rotationally mounted at the top of the side face of the adjusting assembly, through physical butt joint of a conical boss and an annular groove on the side face of a guide roller body and the attraction design of a magnetic sealing ring, the modular guide roller can be quickly positioned and connected with the connecting assembly, and the distance between a telescopic pipe and the guide roller body is dynamically adjusted through an electromagnetic driving mechanism of the connecting assembly; the axial connection tightness is ensured; a magnetic suspension system controlled by closed-loop feedback of an electromagnet and the rotating action of a guide roller body are combined, non-contact and zero-friction transmission of cloth is achieved by adjusting the magnetic field intensity in real time and integrating airflow guide and heat dissipation design, and a full-circle low-friction contact interface is dynamically formed by means of a self-adaptive tension compensation structure of a metal wire assembly. And a modular guide roller structure with high reliability and dynamic self-adaptive capability is realized through the synergistic effect.

The utility model discloses a high-flexibility flexible mechanical finger supporting forward and reverse holding and a manipulator. The mechanical finger comprises a middle finger section, a base finger section and an end finger section, wherein the base finger section and the end finger section are rotationally connected with the two ends of the middle finger section respectively. Driving units are arranged in the end finger section, the middle finger section and the base finger section; bevel gear transmission units are arranged at the tail end of the end finger section, the tail end of the middle finger section and the tail end of the base finger section; the driving units are in transmission connection with the corresponding bevel gear transmission units; the driving unit drives the end finger section and the base finger section to rotate by taking the corresponding bevel gear transmission unit as a central shaft; through the structure and position design of the micro driving motor and the bevel gear transmission unit, each finger and each knuckle of the manipulator can be flexibly controlled, so that the manipulator has higher bionic flexibility and more precise grabbing capacity, and can be suitable for different scene requirements; by means of the special inserting mode between knuckles, the left-right hand grabbing function of the single mechanical arm is achieved.

The invention discloses a minimally invasive surgical instrument, and belongs to the technical field of medical instruments, the minimally invasive surgical instrument comprises a tail end tool, an operating part, a power transmission part and a connecting part, the connecting part comprises a linear part connected with the tail end tool, a bending part connected with the operating part and a spherical pair mechanism used for connecting the linear part and the bending part; the inner side of the spherical pair mechanism is provided with an inner path for smooth transition of a jaw wire, the spherical pair mechanism is provided with a rotary limiting shaft and a locking assembly, the rotary limiting shaft is configured to enable the bent part to do pitching rotation action relative to the linear part, the locking assembly comprises a locking unit and a control unit, and the locking unit is configured to provide locking force for the spherical pair mechanism. The control unit is a locking wire for connecting the locking unit and the locking operation part, and the locking operation part is reversely interlocked with the spherical pair mechanism. By adjusting the angle between the linear part and the bent part, the wrist of a doctor is located at a comfortable moving position, so that the flexibility of the wrist in the operation process is improved, and the fatigue feeling of the doctor is reduced.

Embodiments of the present technology may include a system for coating surfaces. The system can include a rotatable nozzle. The rotatable nozzle can include a plurality of output ports. The plurality of output ports can dispense liquid material on surfaces. The system can also include a housing enclosure. The housing enclosure can include a motor. The motor can rotate the rotatable nozzle. The housing enclosure can also include a solid straight pipe passing through the motor. The solid straight pipe can continuously provide the liquid material to the rotatable nozzle concurrently with rotational action.

The invention discloses a vertical corn straw leaf and ear removing device, which belongs to the field of agricultural equipment accessories, comprises a main rotating rubber roller, an auxiliary rotating rubber roller, a transmission device, a motor and other components, and is characterized in that a 75-degree included angle is formed between the plane where the main rotating rubber roller and the auxiliary rotating rubber roller are located and the horizontal plane; the main rotating rubber roller comprises a rapid leaf removing section, a U-shaped ear picking section and a U-shaped ear picking claw, the surface of the rapid leaf removing section is coated with a rubber layer with patterns, the patterns are coarse patterns and can rapidly break skins, and the U-shaped ear picking section adopts a linear groove design parallel to a roller shaft and the protruding U-shaped ear picking claw. Under the relative rotation action of the driving rotating rubber roller and the driven rotating rubber roller, the corn straw leaves and ears are removed through friction force provided by the protrusions of the driving rotating rubber roller and torque of radial transmission, corn ears and leaves are removed at the same time, conditions are provided for subsequent straw skin and pulp separation, and the corn ear and ear removing efficiency is improved. The resource utilization of corn stalk skins and stalks is increased.

The utility model relates to the technical field of steel quality detection, in particular to a quality detection device for high-strength steel, which comprises a shell and an impact component. Through the cooperation of the screw rod and the rotating nut, the impact hammer head can be accurately controlled to move, so that the impact strength is adjusted, through the engagement of the upper end of the screw rod and the rotating nut, the impact hammer head can be controlled to move up and down through simple rotating action, and through the design of a ball and a handle arranged in the rotating nut, the impact strength is adjusted. According to the utility model, through the design of the magnetic attraction clamping seat and the chamfer of the striking hammer head, the transmission path of force is optimized, and the design of the chamfer of the striking hammer head and the magnetic attraction clamping seat is helpful for reducing the stress concentration in the striking process, and the high-strength steel detection device allows the detection of high-strength steel of different specifications and types, and improves the detection efficiency. The problem that the accuracy of evaluating the impact resistance and the fracture toughness of the material is poor due to insufficient detection strength is effectively solved.

The utility model discloses a wire feeding head device which comprises a wire feeding head, a wire feeding head anti-wire-drawing module and a control system of a product carrying mechanism. The wire feeding head anti-wire-drawing module comprises a fixed block, a rotating block which can swing by a set angle in the carrying direction of the product carrying mechanism and is installed on the fixed block, a position sensing device used for sensing the rotating action of the rotating block, and an elastic reset device used for providing elastic retaining force for the rotating block so that the rotating block can be located at the welding position. The fixing block is installed on the welding device, the wire feeding head is fixed to the rotating block, and the position sensing device communicates with a control system of the product carrying mechanism to transmit position information of the rotating block. The wire feeding head mechanism is fully protected, loss caused by collision with a machine table is effectively avoided, wire feeding of the wire feeding head is stable, the welding quality is high, the production efficiency is high, the production cost is low, the production cost is low, and the production efficiency is high. And debugging is fast.

The utility model discloses a mechanism for rolling into strips after cooked wheaten food raw material processing, and relates to the technical field of cooked wheaten food processing, the mechanism comprises a feeding port, the outer surface of the bottom end of the feeding port is fixedly connected with a discharging table, the bottom of the discharging table is fixedly connected with a shell, the other side of the discharging table is fixedly connected with a feeding belt, and the feeding belt is fixedly connected with the shell. Raw materials are pressed into strips under the rotation action of the roller and are output from the other side of the roller, in the pressing process, strip-shaped textures arranged outside the roller at equal intervals are beneficial to forming uniform strips, after the device is used, the telescopic plate controls the cleaning scraper to descend, the cleaning scraper is driven to rotate, and the materials are conveyed out from the other side of the roller. When the cleaning scraping plate makes contact with the roller, the cleaning scraping plate made of rubber can be tightly attached to the surface of the roller so as to adapt to unevenness of the surface of the roller, it is guaranteed that the roller cannot be damaged when residues are scraped, cleaning and normal work of the roller are guaranteed, and it is guaranteed that the cleaning scraping plate is not prone to deformation in the cleaning process through the limiting plates on the two sides.

A fireproof valve actuator with a temperature sensor convenient to replace relates to the field of fireproof valve actuating mechanisms and is provided with an upper cover, a cover hole is formed in the upper cover, a hole cap is arranged on the cover hole in a matched mode, and a plurality of clamping jaws are evenly arranged nearby the edge of the lower end of the hole cap in the circumferential direction and connected with the cover hole in a clamped mode. The temperature sensor penetrates through the cover hole and penetrates into the hole seat located on the base plate to complete installation, and convenience and rapidness are achieved; the direction pointer is fixedly arranged on the main shaft, after the main shaft rotates, the on-off state of the fireproof valve actuator can be visually judged according to the direction of the direction pointer, the upper cover does not need to be removed, and convenience and intuition are achieved.

The invention relates to the technical field of semiconductor processing, in particular to a liftable workpiece supporting plate transfer trolley which is characterized in that a fixed frame, a lifting mechanism, a movable frame and a pressing rod mechanism are all mounted on a bottom frame, and the lifting mechanism is used for controlling the position height of a front end pin shaft interface and is powered by a lithium battery; the fixed frame is used for providing a horizontal movement track for the movable frame, and the movable frame is used for horizontal movement to improve the operation range; the pressing rod mechanism is used for expanding the operation range of the movable frame, amplifying the torque and converting the rotating action into the lifting action. The device is simple in structure, high in assembly fault-tolerant rate, powered by a lithium battery, free of limitation of a power line and wide in movable range. The pressing rod mechanism is used for lengthening the operation range of the movable frame, amplifying the torque and converting the rotating action into the lifting action, the workpiece supporting plate does not need to be directly carried into a high-temperature cavity of machining equipment manually, it is guaranteed that the workpiece supporting plate is in a horizontal state in the transferring process, and the risk that workpieces fall off and are damaged is reduced.

The invention relates to the technical field of rubber processing, in particular to a rotary positioning, weighing and stacking device for cold-cut rubber sheets, which comprises a movable base frame comprising a base body, a frame bottom plate and an electric telescopic rod, the base body and the frame bottom plate are in sliding connection, the electric telescopic rod drives the base body to move horizontally, and a mechanical arm is fixedly arranged on the base body; the pallet base component group comprises a top plate, a bottom plate and a bottom plate; the top of the top plate is provided with a bearing pallet; and the wagon balance assembly is used for weighing the load of the top plate. Through a pure mechanical linkage mechanism formed by a lower gear piece, a vertical lead screw piece and the like, switching and resetting of a top plate support between a weighing assembly and a bearing assembly are automatically achieved through rotation action, continuous and stable supporting is guaranteed accurately and synchronously through a gear, a rack and the like, meanwhile, an electric telescopic rod of a movable base frame drives a mechanical arm to avoid, and the mechanical arm is fixed. And the space interference with the rotary pallet is solved.

The utility model provides a fabric corner turning auxiliary device. The fabric corner turning auxiliary device comprises a vertex angle positioning mechanism and a corner turning clamping mechanism. The vertex angle positioning mechanism comprises a vertex angle piece and a positioning piece, the vertex angle piece is provided with a pinnacle end and used for jacking the angle of the fabric to be turned, and the positioning piece is used for marking the position of the pinnacle end. The corner turning clamping mechanism comprises an included angle piece and a driving assembly, the included angle piece is provided with an included angle part used for clamping the corner of the fabric to be turned, the driving assembly can drive the included angle part to conduct translation action and rotation action, and the tip end is arranged on the moving path of the included angle part. According to the fabric corner turning auxiliary device, the corner turning efficiency can be improved while the corner turning quality of the fabric is guaranteed.

The invention provides a leg structure and a humanoid robot, and relates to the technical field of robots. The leg structure comprises a foot assembly, a shank assembly and a pair of driving assemblies. The shank assembly and the foot assembly are hinged to form a rotation center. In the pair of driving assemblies, one driving assembly is arranged on the outer side of the shank assembly, and the other driving assembly is arranged on the inner side of the shank assembly; the driving assembly can stretch out and draw back in the extending direction of the driving assembly and is provided with a fixed end and a telescopic end, the fixed end is hinged to the shank assembly, the telescopic end is hinged to the foot assembly, and the hinged position of the telescopic end and the foot assembly and the rotating center are arranged at intervals in the length direction of the foot assembly. The telescopic action of the driving assembly can drive the foot assembly to rotate around the rotating center. According to the leg structure provided by the invention, by improving the leg structure, the weight of the ankle joint can be reduced, the size of the ankle joint is reduced, and the bionic effect of the rotation action between the leg bone and the foot is better.

The invention discloses a thumb mechanism of a five-finger manipulator, and belongs to the field of robots. The device mainly comprises a finger bending assembly, a finger inward swinging assembly and a finger around-wrist rotating assembly. The finger bending gear set is composed of a plurality of straight gears meshed in sequence. According to the mechanical thumb, the finger bending assembly, the finger inward swinging assembly and the finger around-wrist rotating assembly are combined to one mechanical thumb, three-degree-of-freedom actions including the finger bending action, the finger inward swinging action and the finger around-wrist rotating action can be achieved on one mechanical thumb at the same time, and the size of the mechanical thumb is reduced. A connecting rod in a transmission mechanism of the finger bending assembly is a corrugated elastic connecting rod, so that a bending joint of a mechanical thumb has elasticity, energy generated by impact can be absorbed to protect a driving motor, the service life of the motor is prolonged, and meanwhile, a mechanical thumb grabbing structure has self-adaptability in the grabbing process; the action area of the manipulator and a grabbed object is increased, and the grabbing stability of the manipulator is improved.

The invention discloses a sealing performance detection device suitable for a linear guide rail rubber sealing element, relates to the technical field of sealing performance detection, optimizes a linear guide rail function test process, and is specifically characterized in that two to-be-detected workpieces are arranged on two sides of an action crankshaft, and a plurality of eccentric action positions are arranged on the action crankshaft; the device is mainly used for limiting the setting positions of a rotating point A and a connecting point B, so that one end of a pneumatic connecting rod performs eccentric rotation action through an action crankshaft, and application requirements of different stress directions can be simulated when a workpiece to be tested is maintained to slide horizontally. The method is mainly used for shortening test time consumption, and has the key content that a current value of a driving motor assembly is used as a basic reference condition, and an error ratio obtained by calculating a pressure value, a temperature value and a vibration frequency is used for performing complementary analysis; therefore, the state of the sealing performance is judged.

The invention discloses an electric rotation control system and method and an excavator in the technical field of engineering machinery, and aims to solve the problem that in the prior art, due to fluctuation of a pressure source of a pilot pressure reducing valve group, the rotation speed is slowed down or even stopped. The system comprises a load-sensitive pump, a main valve, a handle mechanism and an oil tank, load-sensitive pump return oil, main valve return oil and handle mechanism return oil are all connected with the oil tank, an oil outlet of the load-sensitive pump is connected with the handle mechanism and the main valve at the same time, and the main valve comprises a first link and a plurality of working links; the pressure of the main overflow valve is changed, the LS pressure of the main valve is fed back to the adjusting characteristic of the load-sensitive pump, the pressure of an outlet of the load-sensitive pump is larger than the set pressure of a pilot pressure reducing valve set in a handle mechanism under the single rotation action and other actions, and it is guaranteed that the electric rotation action is normal under the condition that idle speed energy consumption is not increased.

The endometrial cancer transvaginal examination device comprises an ultrasonic examination trolley, a cable is slidably connected to the side face of the ultrasonic examination trolley, an examination device shell is arranged at one end of the cable, a push block is slidably connected to the examination device shell, a rack is fixedly connected to the lower portion of the push block, and a common gear is slidably connected to the side face of the rack; the side face of the common gear is fixedly connected with a second bevel gear, the second bevel gear is in meshed connection with a first bevel gear, and one side of the first bevel gear is rotationally connected with an inspection ball. According to the multi-angle ultrasonic examination instrument, ultrasonic waves are emitted through multi-angle rotation during an operation, direct compression and unnecessary rotation actions on the interior of the vagina are reduced through the design, the comfort degree of a patient in the examination process is improved, meanwhile, the examination accuracy is improved through multi-angle ultrasonic wave emission, and a doctor can know the condition in the uterus more comprehensively.

The invention discloses a dust-raising-preventing unloading machine which comprises a body, the top of the body is in rigid connection with a front girder, an I-shaped steel rail is arranged at the bottom of the front girder, two sets of lifting tractors are slidably connected into the I-shaped steel rail, and the bottoms of the lifting tractors are connected with telescopic steel wire ropes. The tail end of the steel wire rope is fixedly connected with a lifting lug of a discharging grab bucket through a universal joint, the discharging grab bucket slides in the I-shaped steel rail through a lifting tractor to achieve horizontal movement, lifting motion is achieved through stretching and retracting of the steel wire rope, a discharging hopper is arranged in the middle of the body, the upper portion of the discharging hopper is connected with a fully-sealed dustproof mechanism, and the lower portion of the discharging hopper is connected with a material conveying belt. An inductive detector is installed on the body, the inductive detector is in linkage with the servo motor through a PLC, and when the discharging grab bucket enters the detection range of the inductive detector, the rotary opening and closing door is triggered to rotate. And efficient and environment-friendly ship unloading operation is achieved.

The utility model provides a finger mechanism. The finger mechanism comprises a first knuckle, a second knuckle and a harmonic reducer. The second knuckles are rotatably connected with the first knuckles; the harmonic reducer is arranged on the first knuckle, and an output shaft of the harmonic reducer is used for driving the second knuckle to rotate relative to the first knuckle; the harmonic reducer comprises a rigid gear, a flexible gear, a wave generator and an output shaft. The rigid wheel is fixed on the first knuckle; the flexible gear is fixedly connected with the output shaft; the output shaft is rotatably arranged on the rigid wheel; the wave generator is used for receiving the driving force and generating rotation, so that the rigid gear and the flexible gear are matched through the rotation action generated by the wave generator, and the harmonic reducer outwards outputs the decelerated driving force through the output shaft. The utility model further provides the dexterous hand.