348 results about "Shape change" patented technology

The invention provides a heat treatment device and method capable of preventing wind power tower flange deformation, and relates to the field of wind power flange heat treatment.The device comprises a quenching furnace, the quenching furnace is composed of an upper furnace body, a lower furnace body and three sets of supporting frames, and the upper furnace body and the lower furnace body are connected through a lifting assembly; a sealing assembly is further arranged at the connecting end of the upper furnace body and the lower furnace body. The upper furnace body and the lower furnace body each comprise an outer shell, a liquid storage box, a rotating assembly, a limiting assembly, a driving bin and a surface anti-deformation mechanism. According to the flange supporting and limiting device, the adjusting discs and the adjusting bases are spirally matched, the adjusting discs rotate to synchronously drive the three adjusting bases to move, then flange workpieces with different diameters are supported and limited, and driving force provided by the synchronous rotating assembly can drive the limiting rollers and the fixing columns to synchronously rotate; therefore, limiting faces are formed on the top face, the bottom face, the outer wall and the inner wall of the flange workpiece, the shape change of the flange workpiece is limited, and the workpiece is prevented from deforming.

The invention relates to the technical field of automatic identification, and particularly discloses a self-adaptive deformation correction and identification system for a flexible curved surface bar code, which can accurately capture a complex deformation condition by monitoring the three-dimensional shape change and strain distribution of a bar code area on a flexible surface in real time, and can calculate a curvature characteristic value by using a K-means clustering algorithm, so as to realize the self-adaptive deformation correction and identification of the flexible curved surface bar code. Strain data are analyzed through Haar wavelet transform to determine deformation characteristic values, so that the deformation degree of the bar code and the influence of the deformation degree on the recognition process are comprehensively evaluated, a random forest model is constructed based on the characteristic values for deformation degree prediction and deformation score output, high-precision recognition is ensured, and when uncorrectable serious deformation is detected, the recognition accuracy is improved. The system automatically triggers an alarm mechanism, including sound alarm, visual signal and network notification, to inform management personnel in time, so that the stability and long-term reliability of the system are guaranteed.

The invention discloses a reversible metal 4D printing method based on hydrogel reversible deformation and a metal part, and belongs to the field of metal additive manufacturing. The method comprises the following steps: firstly, constructing a three-dimensional model comprising a hydrogel driving layer and a metal blank layer; respectively preparing hydrogel light-cured ink and metal or precursor slurry thereof; printing the two layers of materials sequentially or alternately by adopting a photocuring printer to obtain a composite green body; the hydrogel layer is dehydrated and shrunk through drying, the component is driven to generate preset shape deformation, the hydrogel layer absorbs water and expands through soaking, and reversible recovery of the shape of the component is achieved; and degreasing, selective reduction and sintering heat treatment are conducted on the component, and the compact final metal component is obtained. According to the invention, the independent hydrogel layer is used as a deformation driver, the dependence on the intrinsic phase change characteristic of a metal material is avoided, the material universality is extremely high, the method can be widely applied to 4D printing of various materials including refractory metal and high-reflection metal, and reversible control of shape change is realized.

The method comprises the following steps that a paint nozzle and a distance measuring device are installed at the tail end of the mechanical arm, and an assembly at least comprises a set of distance measuring devices with adjustable distance measuring directions; determining a reference time source, and stamping reference timestamps for all ranging data; before paint spraying or during operation, a distance measuring device scans the surface of a front workpiece to obtain front distance measuring data, and the shape change trend of the surface of the workpiece is predicted in combination with a reference timestamp and the moving speed of a mechanical arm; the distance measuring device measures the vertical distance between the nozzle and the surface of the workpiece in real time to obtain center distance measuring data. And generating a control instruction based on the two types of data, dynamically adjusting the tail end position, speed and / or posture of the mechanical arm, and maintaining the preset vertical distance and / or angle between the nozzle and the surface of the workpiece. Dynamic distance measurement, interference resistance, foresight prediction and real-time regulation and control are integrated, and high-quality automatic paint spraying operation on non-specific workpieces through the mechanical arm can be achieved.

A numerical control device includes an NC command decoding unit and a tool information storage / generation unit. The NC command decoding unit has a cut amount decoding unit for decoding the cut amount for rough machining, a machining shape generation unit for generating a finishing shape, a machining pathway generation unit for generating a path for rough machining, a tool direction provisional determining unit for provisionally determining the direction of the tool, a path joining assessment unit for assessing whether or not to omit a round-up operation, a machining path joining unit for generating a new path for directly moving to the end point of the next operation after the round-up operation if the round-up operation is to be omitted, and a tool direction determining unit for determining the direction of the tool at each machining shape change point on a path for rough machining including the new path.

The invention provides a slitting equipment control instruction generation and execution scheduling method, which comprises the following steps of: acquiring and fusing a tension value, a warping height value, thickness distribution data and surface smoothness in a steel belt conveying process, and identifying a bending stress residual condition generated by non-uniform thickness or winding storage of a steel belt; generating a comprehensive abnormal state evaluation result of the steel belt; according to the offset distance and the position distribution of the center line, performing partition marking on a deformation area in the width direction of the steel strip by combining the area thickness difference identified by the thickness distribution data, and extracting a stable section position with a warping height deviation value smaller than a preset threshold value and relatively uniform thickness; determining a dynamic datum line position adaptive to the real-time shape change of the steel strip based on the stable section position data; according to the dynamic datum line position, a transverse movement distance control instruction of the slitting cutter and a corresponding feeding depth preset value are generated in combination with the thickness distribution data, and a difference value between the control instruction and the current actual position of the cutter is obtained.

To provide a method and a system for precisely aligning chiplets with bonding sites.SOLUTION: A bonding system for aligning chiplets 22 to a substrate 25 includes acquiring an image of an area on the chiplet with an alignment microscope 145 or an upward microscope 141, measuring a deviation from planarity of the area on the chiplet, estimating a chiplet position error of the chiplet on the basis of at least the image of the area and the deviation from planarity of the area, and adjusting a relative position of the chiplet to the substrate based on the chiplet position error.SELECTED DRAWING: Figure 1

The embodiment of the invention discloses a shape sensing method and system for a rope-driven continuum robot, at least two flexible sensors fixed in a spiral mode are arranged on a flexible framework, and the method comprises the steps that a universal shape sensing model is established based on a constant curvature hypothesis; for any joint module, driving the joint module to a test shape, and solving an actual fixed position of the flexible sensor by adopting a numerical iteration method based on the general shape sensing model; driving the joint module to a working shape, and solving an output value of a flexible skeleton shape parameter by adopting a numerical iteration method based on a general shape sensing model and an actual fixed position of the flexible sensor; and determining the shape of the robot based on the output value of the flexible skeleton shape parameter corresponding to each joint module. According to the method, the fixing precision does not need to be considered when the flexible sensor is fixed, the shape change of the robot is accurately sensed by establishing and calibrating the model, and the problems of high sensor mounting precision requirement and poor sensing reliability in an existing method are solved.

The invention discloses an engine cylinder block production line, and relates to the field of engine manufacturing. An engine cylinder block production line comprises a base and further comprises fixing plates symmetrically connected to the two ends of the base in a sliding mode. The clamping air bag is arranged on the fixing plate; the clamping air bag expands to clamp the cylinder body, can adapt to cylinder bodies in different shapes, and is stable and free of damage; an electric telescopic rod drives a grinding and polishing block to reciprocate up and down in a piston cavity to increase grinding comprehensiveness, gear transmission ensures that a rotating shaft rotates stably and controllably to achieve uniform and high-quality grinding, and a spring can respond to shape changes of the inner wall of the piston cavity in time to ensure that the grinding and polishing block always makes close contact so as to improve quality. And meanwhile, redundant air of the clamping air bag enters the sleeve through the channel and then is sprayed out of the air nozzle to blow away chippings, the grinding precision is prevented from being affected, high pressure in the sleeve can prevent the grinding and polishing block from being separated from the inner wall due to insufficient centrifugal force, continuous and effective grinding is guaranteed, and the working efficiency and grinding quality are overall improved.

The invention relates to the field of laser cutting, and discloses a hardware fitting metal laser cutting device which comprises a base, symmetrically-arranged supporting rods are installed on the base in a threaded mode, a plurality of symmetrically-arranged first rotating rods are rotatably installed in the base, and supporting teeth are fixedly installed at the ends of the first rotating rods. A first sliding groove is fixedly formed in the lower portion of the base, and a grinding device is slidably installed in the first sliding groove. Two sixth rotating rods in the grinding device rotate, so that a first moving block is adjusted to move in the length direction, a first grinding ring and a second grinding piece move in the direction close to supporting teeth for grinding, and then through a first connecting piece, a mounting piece and a second connecting piece, the grinding effect is achieved. And the first grinding ring and the edge grinding ring adapt to the shape change after the surfaces of the supporting teeth are adhered with the cutting liquid, so that the height of the supporting teeth is adjusted, and the cutting precision is improved.

A multi-directional loading spin forming method for improving the wall thickness uniformity of corrugated pipes includes: mounting the fixed end of the pipe blank on a mandrel, with the free end of the pipe blank contacting the end face of a thrust plate; assuming that the wall thickness of the pipe blank remains constant during the spin forming process, with only the shape changing, the pipe blank is discretized into n micro-elements along the axial direction, maintaining the volume of each micro-element after deformation equal to that before deformation; based on the length difference of each micro-element before and after deformation, the specific displacement of the thrust plate when the spinning wheel moves to different waveform regions during the spin forming process can be obtained, and the axial displacement curve of the thrust plate is plotted to obtain the tail axial loading path; rotating the mandrel so that the spinning wheel contacts the pipe blank radially, the spinning wheel feeds according to the target waveform curve of the corrugated pipe, and simultaneously the thrust plate feeds according to the tail axial loading path, obtaining a corrugated pipe with better wall thickness uniformity. Compared with the spin forming results of the prior art, the maximum wall thickness difference of the corrugated pipe formed by the process of this invention is reduced by 25%.

The invention relates to a continuous stamping process for an engine lock catch handle. The continuous stamping process comprises the steps of punching, outer edge cutting, bending, primary raising, secondary raising, twisting, tertiary raising, shaping and blanking. From the process to the twisting step, most of the first bent part and the third bent part are of a planar structure. When the die is designed, the die surface is easily in full contact with the first bending part and the third bending part, and the two surfaces of the second bending part are free, so that the shape change is easy to control. After the first groove section and the second groove section improve the precision of the two independent areas of the material respectively, the third groove section enables the precision of the transition area between the two independent areas to be improved, and therefore the structural precision of the whole product is controlled in the technology, and control over the product precision through the grooves is better achieved. The folding angle of the first folding edge and the second folding edge does not need to be in place in one step, only a small corner needs to be formed, and bending and shaping are in place after subsequent steps are left.

The invention discloses a small hardware stamping device, and particularly relates to the technical field of hardware machining, the small hardware stamping device comprises a rack, a first supporting frame is mounted on the outer side of the top of the rack, a lower die structure is mounted in the center of the first supporting frame, and a hydraulic cylinder is mounted in the center of the top of a second supporting frame; an upper die structure is installed at the bottom of a piston rod at the output end of the hydraulic cylinder, containing grooves are formed in the two sides of the front side of the first supporting frame, and a clamping device is installed in each containing groove. According to the stamping device for the small hardware, the clamping device is linked through a guide rope and the like, a metal sheet is accurately clamped and is adaptively attached along with the deformation of the metal sheet, and the stamping precision is ensured; the L-shaped clamping blocks can prevent finished products from being lifted along with the upper mold, the demolding problem is solved, when the upper mold is reset, the driving mechanism drives the material moving mechanism to automatically transfer the finished products and supplement new materials, continuous production is achieved in combination with the discharging groove, and efficiency is improved.

The utility model discloses a PCB clamping jaw, a PCB carrying mechanism and PCB assembling equipment. The PCB clamping jaw comprises a clamping jaw base plate, a first linear module, a first clamping jaw assembly and a second clamping jaw assembly. The first linear module extends along a first direction; the first clamping jaw assembly and the second clamping jaw assembly are connected to the clamping jaw base plate through a first linear module and suitable for relatively moving in the first direction under driving of the first linear module so as to clamp a PCB; at least one of the first clamping jaw assembly and the second clamping jaw assembly is provided with a flexible abutting portion, the flexible abutting portion is suitable for abutting against a PCB substrate, when the PCB is clamped, the flexible abutting portion on the first clamping jaw assembly or the second clamping jaw assembly makes contact with the edge of the PCB substrate and deforms, the flexible abutting portion adapts to the shape change of an electronic element on the PCB, and the electronic element is clamped on the PCB substrate. And electronic components are not damaged.

To design an additively manufactured body that has strength equivalent to that of a desired injection-molded body. [Solution] The shape design method includes the steps of: dividing the shape of an anisotropic additive manufacturing body into an invariant region where shape changes are not permitted and a variable region where shape changes are permitted; designing the resulting variable region based on the rigidity of an injection molded body having the same shape as the anisotropic additive manufacturing body; performing structural analysis calculations using a structural analysis model of the additive manufacturing body obtained by combining the designed variable region and the invariant region; and determining whether the rigidity and strength of the additive manufacturing body obtained by the structural analysis calculations are within an acceptable range.

The utility model discloses a robot protective cover, which relates to the field of protective covers, and comprises an upper mounting frame, one side of the inner wall of the upper mounting frame is rotatably connected with a back mounting frame, the bottom of the back mounting frame is rotatably connected with a base fixing frame, and the other side of the inner wall of the upper mounting frame is rotatably connected with a telescopic frame mechanism. And a sliding block is fixedly arranged on one side of the telescopic frame mechanism. Through the arrangement of the protection steel sheets and the limiting blocks, when the robot ascends and descends, the multiple sets of protection steel sheets stretch out and draw back, the limiting blocks slide in the limiting grooves, the multiple sets of protection steel sheets are stretched out or drawn back, and when the angle of the robot is adjusted, the telescopic frame mechanism and the back mounting frame rotate along with the robot; and the multiple limiting blocks drive the multiple protection steel sheets to transversely move, so that the effect that the shape of the protection cover is changed along with lifting and angle adjustment of the robot is achieved, the protection cover does not affect operation of the robot, and the protection effect is good.

Provided is a substrate fabrication method allowing for easy separation of a carrier and a device layer. This substrate fabrication method includes: a step for preparing a laminate comprising, in the following order, a release layer and a device layer on a carrier; a step for obtaining a laminate with a resin layer by laminating a curable resin–containing resin layer on the carrier-side surface of the laminate; a step for changing the shape of the carrier or the laminate with a resin layer by subjecting the laminate with a resin layer to a curing treatment of the curable resin to shrink the resin layer, thereby pulling the carrier in a direction that follows the shrinkage of the resin layer; and a step for generating shear stress between the carrier and the device layer by utilizing the shape change of the carrier, thereby releasing the device layer from the laminate with a resin layer at the position of the release layer.

The invention discloses jig direction adjusting equipment, which belongs to the technical field of automatic production lines and comprises a rack, a speed chain conveying line fixedly mounted on the rack and a tool plate matched with the speed chain conveying line for use. A jacking mechanism, a direction adjusting mechanism and a stop positioning mechanism are mounted on the rack, and the direction adjusting mechanism comprises a supporting frame, a linear sliding table, an upper mounting frame, a lower mounting frame, a vertical floating assembly, a horizontal floating assembly and a direction adjusting assembly; by means of the mode, in the direction adjusting process, the vertical floating assembly and the horizontal floating assembly are matched, so that the direction adjusting assembly has the floating performance in the transverse direction, the longitudinal direction and the vertical direction, and the direction adjusting assembly adapts to the position deviation and shape change of the positioning jig; all the components are matched to achieve automatic and accurate orientation adjustment of the orientation of the positioning jig on the tool plate, and the requirement for continuous machining of batched workpieces is met.

The present application relates to the technical field of monitoring drilling and grouting integrated construction, and particularly relates to a visual monitoring method for drilling and grouting integrated construction. The present application can obtain the drilling shape in real time through a multispectral visual network, and periodically correct drilling operation parameters based on the drilling shape change rate, so as to more accurately adjust the drilling operation parameters based on the drilling condition, inject slurry into the stratum through the inner cavity of the drill rod connected with the grouting pump, and thus perform grouting operation at a suitable time, thereby improving the efficiency of drilling and grouting integrated construction. The construction state is determined based on the slurry diffusion radius, and whether to adjust the grouting pressure and the correction period of the drilling operation parameters is determined based on the construction state. The present application can be adjusted in time when the slurry flow path is blocked during drilling and grouting, thereby improving the drilling and grouting efficiency.

The application discloses a kind of automobile frame welding positioning fixture and welding process, it is related to automobile frame welding field, including welding table, the top surface of welding table is equipped with inner clamping mechanism, four are provided in the inner clamping mechanism, wherein one end of two inner clamping mechanisms is equipped with end clamping mechanism, one side of the inner clamping mechanism is equipped with outer clamping mechanism.The application is installed by the mounting plate of corresponding number of top pressure mechanism and linear drive mechanism according to the actual shape of the frame, the position of the top pressure mechanism is adjusted, the cylinder four control pressure rod is accurately pressed and contacted on the frame outside to be fixed, the installation of top pressure mechanism is facilitated by the setting of four linear drive mechanisms according to the needs of users, the top pressure mechanism is quickly disassembled by plug-in design, so that the application can adapt to the size and shape change of different vehicle models of frame, the frame is stably fixed and clamped, the versatility of the device is improved, and welding processing cost is reduced.

The utility model provides a carrying lifting appliance and a carrying stacking tool. The carrying lifting appliance comprises a connecting beam; the overturning assembly is arranged at the first end of the connecting beam; the clamping assembly is connected with the overturning assembly, and the clamping assembly is connected with the overturning assembly; the first driving part is arranged between the connecting beam and the overturning assembly, and the first driving part drives the clamping assembly to overturn through the overturning assembly; round or square parts and the like can be clamped and fixed in the carrying process through the clamping assembly, the stability of carrying the parts is improved, the first driving part transmits power to the clamping assembly through the overturning assembly, the clamping assembly can be rapidly and accurately switched between the horizontal direction and the vertical direction, and the clamping assembly is convenient to operate. And the requirement for workpiece carrying form change in different working scenes is met. The overturning efficiency of the workpiece is improved, and the requirement for shape change of the workpiece in the carrying process and the placing process can be met.

This invention relates to the field of fragrance processing technology, and more particularly to a fragrance extrusion device. The invention provides a fragrance extrusion device capable of adjusting the shape of the spice blocks as needed. A fragrance extrusion device includes a base, a guide rod, a lifting platform, and pressure columns. A guide rod is connected to the upper side of the base, and a lifting platform is slidably connected to the guide rod. Several pressure columns are equidistantly connected to the lower side of the lifting platform. Several material grooves adapted to the pressure columns are equidistantly opened on the upper part of the base. When the pressure plate moves downwards to engage with the material grooves on the base, it can extrude powdered raw materials into square spice blocks. When a shape change is required, the pressure plate is controlled to move upwards, causing a circular block to extend downwards. Then, an adjusting block is controlled to move upwards to block the material grooves. At this time, the circular block moves downwards to engage with the adjusting block, extruding the powdered raw materials into circular spice blocks. Thus, the shape of the spice blocks can be adjusted as needed.

The application discloses electric power fitting fixing frame, belongs to electric power fitting field, including two groups parallel distribution's main frame, two groups main frame outer surface fixedly connected with movable rod, movable rod rotationally connected with support rod one, support rod one outer surface upper and lower sides rotationally contact with main frame outer surface, two groups main frame between be provided with buffer assembly, buffer assembly include with support rod one outer surface fixedly connected with movable sleeve, main frame outer surface open with guide groove.Can realize through setting buffer assembly, through the shape change of capsule can effectively buffer absorption to support rod one received impact, thereby can effectively reduce the impact that support rod one received, not only can effectively reduce the vibration amplitude of split conductor, thereby can reduce the probability that whip of wire between each other occurs, simultaneously also can effectively improve the installation stability of wire.

The invention belongs to the technical field of aluminum profile bending forming dies, and particularly relates to a cold roll forming die and forming method for a multi-layer sealing groove aluminum alloy door and window profile, and the cold roll forming die comprises a male die, an upper die plate, a movable female die, a female die bracket, a lower die plate and a filling structure inserted into the door and window profile; in the cold roll forming process, the movable female die can be correspondingly rotated and adjusted according to the downward pressing action of the male die so as to be better matched with bending deformation of a sectional material; the filling structure is formed by stacking the multiple layers of elastic metal steel sheets, and the multiple layers of elastic metal steel sheets are stacked, so that the filling structure can be bent at will and can be prevented from being compressed in the thickness direction, and therefore the filling structure is easy to bend and has good supporting performance, and the filling structure can adapt to the shape change of a sealing groove during cold bending of the sectional material; and the shape stability of the sealing groove in the forming process can be guaranteed, and then the situation that the sectional material is broken or excessively deformed due to uneven local stress is prevented.

The utility model relates to a short boat deformation testing mechanism and quartz boat detection equipment, a short boat comprises a first end face, a second end face and a plurality of first boat rods, the first end face and the second end face are respectively connected with two ends of the first boat rods, and the short boat deformation testing mechanism comprises a first positioning assembly and a second positioning assembly. The first positioning assembly clamps the first end face and positions the first end face; the second positioning assembly acts on the second end face and comprises a first abutting piece and a first distance measuring instrument. The number of the first abutting pieces is at least two, and the multiple first abutting pieces can movably abut against at least two non-parallel side edges of the second end face respectively. According to the scheme, the number of the first abutting pieces is at least two, and the multiple first abutting pieces can be movably abutted against at least two non-flat side edges of the second end face, so that the mechanism can measure the deformation degree of the multiple non-flat side edges of the second end face, and the detection efficiency of the deformation quantity of the side edges of the second end face is effectively improved.

Provided is a pneumatic tire for heavy load, which is capable of suppressing shape change caused by running and achieving improvement in cornering wear resistance. The tire (2) has a nominal flat ratio of 65% or less. The tire (2) has a tread (4) and a reinforcement layer (20). The reinforcement layer (20) has a belt layer (38) including a plurality of belt cords (44) arranged side by side, and a crown layer (40) including crown cords (52) wound in a spiral shape. The belt layer (38) has a plurality of belt plies (42) arranged in a radial direction. The crown layer (40) has a full crown layer (48) having two ends (48e) opposite across the equatorial surface, and a pair of edge crown layers (50) located radially outward of the ends (48e) of the full crown layer (48). In the axial direction, the ends (48e) of the full crown layer (48) are located outward of shoulder circumferential grooves (28s) formed on the tread (4).

The utility model relates to the technical field of foundation pit supporting, and discloses a stabilizing frame for supporting a foundation pit in a soft soil layer, which comprises two bases, a cross beam is fixedly connected to the top ends of the bases, a connecting piece is fixedly connected to the left side of the top end of the cross beam, an inclined strut is rotatably connected in the connecting piece, and a stand column is fixedly connected to the top end of the cross beam. Adjusting assemblies are arranged on the sides, close to each other, of the two stand columns, and supporting assemblies are arranged on the sides, close to each other, of the two inclined struts. The adjusting assembly comprises a first mounting frame, and the first mounting frame is fixedly connected to the close sides of the two stand columns. According to the supporting structure, the angle between the stand column and the inclined strut can be accurately adjusted through accurate control of the first hydraulic cylinder, the first telescopic rod and the sliding block, the stability of the supporting structure is ensured, accurate supporting and adjusting can be provided under the condition that the shape change of a foundation pit is large, and the phenomenon that the supporting structure inclines or is not stable is avoided.

The present invention discloses a device for detecting the strength of a valve disc of an engine exhaust check valve, comprising a detection frame, a valve disc and a valve disc spring, wherein an upper horizontal plate and a lower horizontal plate are provided in the middle of the detection frame, the upper end of the lower horizontal plate is movably connected to a support frame for mounting the valve disc, a plurality of punches for punching the valve disc are provided on the lifting frame, the distance between the punches and the valve disc is adjusted by an adjustment mechanism, the valve disc spring is located between the support frame and the lower horizontal plate, a counter for monitoring the number of punching times of the punches is provided at the upper end of the upper horizontal plate, and a distance measuring sensor for real-time monitoring of the shape change of the valve disc is provided at the upper end of the lower horizontal plate. The present invention drives the punches to reciprocate and impact the valve disc through an impact mechanism, and provides a valve disc spring, which can more accurately simulate the actual situation of the valve disc when it is working, and can adjust the different distances between each punch and the valve disc through the adjustment mechanism, so as to facilitate horizontal comparison of valve discs of the same model.

The utility model relates to tomato sorting technical field especially based on machine vision's tomato raw material sorting device, including mounting bracket, the mounting bracket is installed in the top of conveying unit, is located the inside fixed connection with sorting mechanism and visual identification component in the mounting bracket, wherein, the sorting mechanism is by angle adjusting assembly, bearing disc and sucking component and is composed, the universal joint structure swing joint is passed to between angle adjusting assembly bearing disc, the bearing disc is used for fixing sucking component, the utility model sets up fixed structure on the basis of the connection of the ball head and ball seat of manipulator through direct shape change butt joint, on one hand, the ball head piece is limited in the ball seat through the top cap and does not influence the normal universal adjusting effect between ball head piece and ball seat, on the other hand, still can dismantle and replace the ball head piece through the mode of dismounting top cap, enough ensure that the ball head and ball seat can keep good fastening.

The utility model relates to a diaphragm spring. Comprising a disc part and separation fingers, the separation fingers are all arranged in a protruding mode and arranged in the middle of the disc part in a circumferential array mode, the disc part is provided with heat dissipation grooves corresponding to the symmetry axis of each separation finger, and the bottom edges of the rear side faces, in the rotating direction of the diaphragm spring, of the heat dissipation grooves are chamfered to form slopes. The heat dissipation structure of the diaphragm spring is arranged on the disc part with higher strength and small shape change, so that the heat dissipation of the diaphragm spring is ensured, the strength of the integral structure of the diaphragm spring can be kept to a greater extent, the influence on the working stability of the diaphragm spring due to the additional arrangement of the heat dissipation structure is avoided, and the diaphragm spring rotates at a high speed along with the rotating shaft in the use process, so that the service life of the diaphragm spring is prolonged. The inclined plane can form a function similar to a fan, propels air to flow, generates wind energy and dissipates heat in the clutch, the heat dissipation grooves guide hot air, so that the hot air in the clutch flows and is discharged along the heat dissipation grooves, the diaphragm spring dissipates heat through flowing of the air, and the service life of the diaphragm spring is prolonged.