122 results about "Turning frames" patented technology

This seat rotating device is a seat rotating device that rotates a seat body between a seating position where the seat body faces front of a vehicle and a getting-on and -off position where the seat body faces an opening of a door of the vehicle. The seat rotating device includes a base plate fixed to a floor side of the vehicle, a turn frame arranged above the base plate and fixed to a lower surface of the seat body so as not to rotate relatively to the seat body, and a coupling unit that couples the base plate and the turn frame to each other such that the turn frame is rotatable with respect to the base plate between the seating position and the getting-on and -off position. The coupling unit includes a turn link and a drive mechanism fixed to a lower surface side of the turn link.

The invention discloses a building plate turnover device, and relates to the technical field of building plate turnover, the building plate turnover device comprises a moving assembly and a turnover assembly, the moving assembly comprises a moving rack, and a first moving belt and a second moving belt are distributed on the moving rack at intervals; the overturning assembly comprises an overturning motor and overturning frames, and two overturning grooves distributed in a diagonal staggered mode are formed in each overturning frame. The overturning groove is used for receiving and overturning the building plate materials on the first moving belt, and the overturning motor is used for driving the two overturning frames to rotate synchronously so that the building plate materials in the overturning groove can be overturned to the second moving belt. The overturning assembly is arranged between the first moving belt and the second moving belt, and then the overturning motor is used for driving the overturning frame to rotate synchronously, so that the overturning operation of building plates can be completed under the condition that the moving process is not interrupted; the technical problem that in the prior art, building plates are difficult to turn over in the single-layer material conveying process is solved.

The invention relates to the technical field of transfer, and discloses medium plate transfer equipment. The medium plate transfer equipment comprises a transfer bottom plate, an advancing bottom frame is fixedly installed at the bottom of the transfer bottom plate, advancing wheels are installed on the outer sides of the four corners of the advancing bottom frame, a frame plate is installed above the transfer bottom plate, and an auxiliary feeding frame is movably installed on the outer side of the front side of the frame plate; the traveling chassis is installed at the bottom of the transfer bottom plate, the traveling wheels are installed on the side faces of the four corners of the traveling chassis, meanwhile, the assembling frame is fixedly installed on the traveling chassis, the driving gear is installed on the assembling frame and fixedly connected with the rotating disc, the rotating disc is connected with the steering wheels through the steering frame, and the steering wheels are used in cooperation with the traveling wheels. The speed adjusting motor is used for driving the driving gear, the driving gear drives the rotating disc to rotate, then the advancing direction of the steering wheel is adjusted, turning adaptation is conducted on a transfer route, and the adaptability is improved.

The utility model provides a precast concrete turnover device, and relates to the technical field of concrete processing devices. The precast concrete turnover device comprises a supporting frame, a driving mechanism and a turnover frame, and the driving mechanism is installed on the supporting frame and used for driving the turnover frame to rotate; the two opposite sides in the supporting frame are each provided with at least three guide rolling wheels, and the overturning frame is located in the supporting frame and supported on the guide rolling wheels. The overturning frame comprises a first overturning disc, a second overturning disc, a third overturning disc and a frame body, the first overturning disc, the second overturning disc and the third overturning disc are fixedly connected into a whole through the frame body, an upper roller way and a lower roller way which are parallel to each other are arranged on the frame body, and a material limiting channel is formed between the upper roller way and the lower roller way. The turnover device can improve the turnover accuracy and safety.

The invention discloses a free steering collecting and transporting robot which comprises a transfer cabinet body, a movable steering device is arranged at the bottom of the transfer cabinet body, and the movable steering device comprises a movable steering frame, four universal wheels and four driving wheels with robot hub motor devices. The universal wheels and the driving wheels are symmetrically distributed on the two sides of the movable steering device, the four universal wheels are located at the two ends of the movable steering device, and the four driving wheels are arranged in the middle of the movable steering device. The movable bogie comprises a bearing underframe, a first wheel support, a second wheel support and a third wheel support. Through the combined structure of the four universal wheels and the four driving wheels with the robot hub motor devices, the rotating speed and the rotating direction of the four driving wheels are controlled, and automatic advancing, retreating and turning of the collecting and transporting robot can be achieved; the to-be-transferred articles are automatically stored and placed through the up-down article storage device.

The utility model discloses a dust collecting device for rapier polishing, and relates to the technical field of rapier polishing. The polishing device comprises a workbench, polishing equipment is arranged on the upper surface of the workbench, pipeline mechanisms are fixedly arranged on the two sides of the workbench respectively, a guide mechanism is arranged at one end of each pipeline mechanism and comprises a guide frame, the outer side of each guide frame is fixedly matched with one end of the corresponding pipeline mechanism, and the other end of each pipeline mechanism is fixedly matched with the corresponding guide frame. The guiding mechanism comprises a guiding frame, two binding frames which are symmetrically distributed are fixedly arranged on one side of the guiding frame, a plurality of guiding plates which are horizontally distributed are jointly and rotationally arranged on the inner walls of the two sides of the guiding frame, and steering frames are fixedly arranged at the two ends of each guiding plate. The inclination angles of the multiple guide plates can be flexibly adjusted by pulling the binding rope at the upper end of the steering rod, the direction of dust collection airflow is accurately controlled, the collection efficiency is improved, and a flexible, accurate and stable guide function is integrally provided for dust collection.

The application belongs to the technical field of wheel hub machining, and particularly relates to a wheel hub finishing equipment which comprises an access mechanism, a conveying mechanism and a machining mechanism. The access mechanism comprises a to-be-machined area, a finished product area, an access rod and feeding and discharging conveyors. The conveying mechanism comprises a conveying frame, horizontal and vertical moving assemblies, a rotating assembly and double-head clamping jaws. The machining mechanism comprises a machine tool for wheel hub turning. In addition, the wheel hub finishing equipment is additionally provided with an access frame, an access clamping jaw, a special clamping jaw head, a positioning ring, a surface turning frame, a visual sensor and a cleaning assembly. The wheel hub finishing equipment can realize automatic wheel hub access, conveying, surface turning, machining, marking and cleaning, and can improve the wheel hub finishing efficiency and quality.

The utility model discloses an automobile anti-collision beam laser welding clamp, and relates to the technical field of automobile anti-collision beam clamps, the automobile anti-collision beam laser welding clamp comprises a frame body, an overturning frame and a moving frame, the overturning frame is rotatably arranged in the frame body through a pair of rotating shafts, a mounting groove is formed in the overturning frame, the moving frame is arranged in the mounting groove in a sliding mode, a first profiling frame is arranged in the overturning frame, and a second profiling frame is arranged in the moving frame. A pair of rotating shafts is arranged on the frame body, a movable frame is arranged on the frame body, a second profiling frame is arranged in the movable frame, a first air cylinder capable of driving the movable frame to move is arranged in an installation groove, and a driving assembly and a positioning assembly which are connected with the pair of rotating shafts respectively are arranged on the two sides of the frame body. The overturning frame can be overturned through the motor, the positioning pin can be inserted into the positioning groove through the second air cylinder, the positioning disc is fixed, and therefore the overturning frame is prevented from overturning.

The utility model discloses an excavator platform overturning machining tool which comprises a supporting bottom plate, an overturning frame is placed on the supporting bottom plate, the overturning frame is square, connecting rods are fixed to the outer side wall of the overturning frame and arranged on the two adjacent edges of the overturning frame, a supporting shaft is fixed to one end of each connecting rod, and the other end of each connecting rod is provided with a rotating shaft. A supporting frame is arranged below the supporting shaft, the supporting frame is of a [-shaped structure, a containing groove with an arc-shaped longitudinal section is formed in the lower portion of the top wall of the supporting frame, and the supporting shaft is placed on the containing groove. The utility model belongs to the technical field of excavator platform machining, and particularly relates to an overturning machining tool for an excavator platform.

The invention discloses a robot for container tray supporting leg operation of a ro-ro passenger ship and a using method, and belongs to the technical field of cabin robots. A robot for container pallet leg operation of a ro-ro passenger ship comprises a robot body and a universal mechanical arm, and the universal mechanical arm is connected to the robot body; the robot body comprises a frame, a driving assembly, a steering assembly, a battery assembly and an electric appliance assembly. A four-wheel independent driving and four-wheel independent steering framework is adopted, a four-wheel four-rotation and eight-motor-driven omni-directional moving chassis is formed, a robot body can flexibly achieve multi-mode movement such as in-situ steering, transverse translation and oblique movement, the robot does not need to depend on a large turning radius, the robot is perfectly matched with the narrow channel of a passenger rolling cabin and the working environment with the limited space, and the working efficiency is improved. The problems that traditional equipment is difficult to deploy and limited in movement are effectively solved, the passing and operation processes of other vehicles in the cabin cannot be interfered, and then adaptability and operation stability are effectively improved.

The utility model discloses a kind of electric body turning device of pipe joint, comprising: body turning frame, its both sides are provided with limit frame, telescopic rotary motor and positioning pin are respectively connected on the limit frame of body turning frame both sides;And several electric telescopic limit buckles, it is connected on body turning frame, pipe joint is placed on body turning frame, telescopic rotary motor and positioning pin abut on pipe joint, body turning frame side end is provided with control box.The utility model places pipe joint in body turning frame, telescopic rotary motor extends and is positioned in the positioning hole of pipe joint side, positioning pin is positioned in the positioning hole of pipe joint other side, when needing to turn over, control box controls telescopic rotary motor rotation, to realize pipe joint automatic body turning.This structure body turning frame force simple, pipe joint can reduce the dependence on maximum lifting weight of travelling crane when body turning, under the travelling crane auxiliary of same lifting weight, can body turning greater deadweight pipe joint.

The invention belongs to the technical field of automobile performance testing, and particularly relates to an intelligent networked automobile performance testing platform which comprises a testing floating platform, a front wheel testing mechanism and a rear wheel testing mechanism. A chassis connecting frame on the test floating platform is connected with and supports a chassis of the automobile; the front wheel testing mechanism comprises a bogie, an angle sensor and round rollers, the two round rollers are rotationally connected to the bogie, the bogie is connected with the testing floating platform, and the bogie is rotationally connected with the bracket mechanism; the angle sensor is used for measuring the turning angle of the front wheel; the rear wheel testing mechanism comprises a U-shaped frame, a rotating speed sensor and a unit block; the unit blocks are annularly distributed; the rotating speed sensor measures the rotating speed of the rear wheel. According to the structure in the scheme, the vehicle can be tested indoors, and the influence of the change of the external environment on the test result in repeated tests can be reduced; according to the utility model, the test after braking or steering and other actions are executed on a single wheel can be realized, so that the action execution effect of a vehicle-mounted actuator can be more accurately judged.

A bamboo tube lifting and steering mechanism comprises a lifting frame and a steering frame. The lifting frame comprises a frame body and a lifting rod capable of sliding up and down; a strip-shaped guide rail is arranged on the outer side wall of the frame body; the lifting rod comprises a lifting arm, a vertical base fixedly connected to the tail of the lifting arm, a driving motor fixed to the vertical base and a driving gear arranged on an output shaft of the driving motor in a sleeving mode. A guide sliding block which is arranged on the strip-shaped guide rail and slides in the length direction of the strip-shaped guide rail is arranged on the inner face of the vertical base. A strip-shaped rack meshed with the driving gear is arranged on the rear side wall of the frame body, and the lifting arm drives the driving gear to move on the strip-shaped rack through a conveying shaft of a driving motor. The bamboo tube lifting and steering mechanism is ideal in structural design and small in occupied size, the bamboo tube lifting and steering functions can be achieved, bamboo tube lifting and steering are more orderly, stable and safe operation is achieved, the bamboo tube lifting and steering mechanism can be used on a high-efficiency bamboo tube transferring and conveying production line, and the bamboo strip production efficiency is greatly improved.

A truck guard assembly for a truck of a skateboard is provided. The assembly can include a guard body having an outer grinding wear surface configured to contact a riding surface during use, a central cavity for receiving a portion of the truck therein, and a coupling latch hingedly coupled to the guard body. The coupling latch can be rotatable between a closed position, enclosing the central cavity, and an open position, for installation or removal of the assembly with respect to the truck without removing the truck from the skateboard. The elongate guard body can further include a relief cut for clearance from the truck when installed, and a flint channel extending at least partially along the outer grinding wear surface and configured to receive a flint rod therein. The flint channel can have a necked down portion to retain the flint rod within the flint channel during use.

An independent steering system includes a knuckle fastened to a wheel, an upper arm connected at both ends to an upper end of the knuckle and a steering frame, respectively, a lower arm connected at both ends to a lower end of the knuckle and the steering frame, respectively, and a tie rod connecting the knuckle and the steering frame to each other.

The utility model discloses turning equipment for a metal resonance rod, which relates to the technical field of resonance rod machining and comprises a positioning seat with a turning frame on one side. The turning head is mounted on the turning frame; the limiting mechanism is arranged on the positioning seat and used for positioning the metal rod, the limiting mechanism comprises a rotating part, an upper clamping seat and a lower clamping seat, the lower clamping seat is fixedly connected to the positioning seat, the rotating part is arranged in the positioning seat, and the upper clamping seat is arranged on the rotating part. According to the metal resonance rod turning equipment, through the use of the limiting mechanism, a metal rod can be limited, the situation that the stability in the using process is affected due to the fact that the metal rod shakes in the using process is avoided, the using effect is guaranteed, and through the use of the rotating mechanism, the metal rod can be controlled to rotate and is matched with a turning head; in addition, adjustment can be conducted according to the size of the metal rod, and use is guaranteed.

The present invention discloses a large-scale horizontal automatic rounding device for pressure steel pipes, comprising a fixed frame, a mobile frame and two turning frames symmetrically arranged on the mobile frame and the fixed frame; the fixed frame is fixed to the ground, and the mobile frame is provided with a walking device which can move along a track to be combined with the fixed frame, and the frames include two turning frame supports arranged in parallel and a cylinder support for fixing a hydraulic oil cylinder; the two turning frames are both semicircular steel structure trusses, the inner arc surface of the semicircular steel structure truss is the bearing surface of the steel pipe tiles, and six sets of steel plate clamping mechanisms for fixing the steel pipe tiles are arranged at equal intervals on both sides of the semicircular steel structure truss; the device of the present invention has the advantages of high degree of automation, high construction efficiency, high rounding accuracy, labor saving, low safety risk, etc.; the rounding device of the present invention is used for the rounding and longitudinal seam control technical construction of pressure steel pipes with large diameters and composed of two tiles, and can solve the technical problem of excessive roundness when rounding tiles.

The utility model relates to the technical field of coil winding devices, in particular to a mutual inductor coil winding device which is characterized in that the mutual inductor coil winding device comprises a body mechanism, an adjusting mechanism is installed at the upper end of the body mechanism, a connecting mechanism is installed at the outer end of the adjusting mechanism, and the adjusting mechanism comprises an adjusting frame. Anti-vibration pads which are symmetrically distributed are installed at the bottom end of the adjusting frame, and a first motor is installed at the outer end of the adjusting frame; the pair of sleeve blocks can move in the opposite directions to drive the pair of limiting wheels, and the limiting wheels can be subjected to angle adjustment in cooperation with the bogie, so that the pair of limiting wheels can be subjected to position adjustment according to the requirements of iron cores with different machining specifications, and the limiting wheels can be rapidly adjusted according to coils with different specifications and sizes; the mutual inductor coil winding device is simple in structure and suitable for production requirements of various products, the number of turns and tension of winding can be more accurately controlled through the adjustable structure, nonuniformity of coils is reduced, and the working efficiency of the mutual inductor coil winding device is improved.

The application relates to a switching structure and a steering wheel module and an automatic guided vehicle applying the same, which comprises a bearing part, a steering frame, a steering worm, a first connecting rod, a second connecting rod and a steering shaft. When the steering shaft is pulled up to make the second engaging part enter the first engaging part and engage with the first engaging part, the steering shaft is moved along the first direction through the first connecting rod and the second connecting rod to make the steering wheel move, so that the rolling shaft of the steering wheel is located directly below the steering shaft, and the steering wheel is switched to the active steering wheel. When the steering shaft is pressed down to make the second engaging part separate from the first engaging part and enter the ring structure and stop at the steering frame, the steering shaft is moved along the second direction through the first connecting rod and the second connecting rod to make the steering wheel move, so that the rolling shaft of the steering wheel is offset and not located directly below the steering shaft, the steering wheel is switched to the passive steering wheel, and the second direction is opposite to the first direction. The steering wheel combined with the switching structure of the application can perfectly combine the respective advantages of the active steering wheel and the passive steering wheel.

The invention relates to the field of lifesaving facilities, in particular to an underwater escape full-immersion cabin for emergency rescue, which comprises a cabin seat, window frames are fixedly mounted on two sides of the cabin seat, a window covers the window frames, a turning frame extends from the lower end of the window, and a main connecting shaft is fixedly mounted at the end of the turning frame in a penetrating manner. Shaft seats are rotatably mounted at the two ends of the main connecting shaft, the ends of the shaft seats are fixed to the cabin seat, an auxiliary connecting shaft is arranged on the side of the main connecting shaft, the ends of the auxiliary connecting shaft are rotatably connected with the shaft seats, and a pedal is fixedly mounted in the middle of the outer surface of the auxiliary connecting shaft. It is guaranteed that escape personnel cannot impact the window during escape, personnel injury is avoided, meanwhile, a green hand can conveniently make the body penetrate through the window frame to escape, the cabin door and the window can be thrown repeatedly, and the angle of the cabin seat can be accurately positioned through pneumatic overturning.

The application relates to the technical field of agricultural machinery vibration test, in particular to a seeding machine seed dispenser precision detection test device, which comprises a base, a conveying belt driven by an independent power source is arranged on the bottom outer wall of the base, a control unit is arranged on the outer wall of the base, and a vibration mechanism and an auxiliary mechanism are arranged on the base. The auxiliary mechanism is arranged, the speed of an adjusting motor is changed, the size of wind power can be regulated, the fan and the vibration mechanism can be independently switched, the variable options are increased, the reliability of the device result is further improved, in addition, the steering motor drives the rotation of the steering frame, the wind direction can be adjusted, meanwhile, the steering frame drives the rotation of the linkage sleeve through the mounting frame, the linkage sleeve drives the rotation of the irregular ratchet wheel around the mounting shaft, the horizontal vibration direction of the vibration mechanism is adjusted, the complexity of field operation is further simulated, and the reliability of the detection result is improved.

The utility model discloses a growth lamp for vegetable cultivation, and relates to the field of growth lamps. The growth lamp for vegetable cultivation comprises a lamp body, a supporting frame is arranged below the lamp body, a steering mechanism is arranged outside the lamp body and comprises steering frames arranged on the two sides of the lamp body, the steering frames are used for steering supporting of the lamp body, a mounting frame is arranged at the top end of the supporting frame, and the steering frames are rotationally arranged outside the mounting frame; and the fixing piece is movably arranged outside the mounting frame, is movably clamped outside the bogie and is used for fixing the bogie after rotation. According to the growth lamp for vegetable cultivation, the steering frame is arranged to drive the lamp body to steer, and meanwhile, the supporting length of the lamp body after steering is increased, so that the lamp body can change the irradiation position of the lamp body and cannot be shielded by the position of the supporting frame, and the irradiation effect is improved; and finally, the steering frame and the lamp body after steering are fixed through a fixing piece and a fixing frame, and the stability of the lamp body in the irradiation process is improved.

The invention relates to the technical field of plastic profile overturning frames, in particular to a strip-shaped plastic profile overturning frame which comprises a frame body, a support is fixedly installed on the frame body, an overturning plate is arranged on the frame body, a loading mechanism is arranged on the frame body, and a limiting mechanism is arranged between the loading mechanism and the overturning plate. And the charging mechanism comprises a fixed roller. The loading mechanism and the limiting mechanism are arranged on the frame body to be matched with the turnover plate, when the turnover plate works, the limiting mechanism can be driven to relieve limiting of the loading mechanism, so that the sectional material is stably transited to the turnover plate from the loading mechanism, the loading mechanism can be rapidly reset and limited after the turnover plate is separated, and therefore the sectional material is supported. By means of the technical scheme, in the material turning process of the material turning plate, the loading mechanism can continue to support new profiles for loading, production interruption is avoided, production continuity is guaranteed, and therefore the requirement for high-speed continuous production can be met.

The utility model relates to the technical field of pipeline transfer, in particular to a pipeline transfer device for power construction, which comprises a transfer frame and a turnover mechanism, the transfer frame comprises a fixed frame, a turnover frame and a lifting component arranged between the fixed frame and the turnover frame, the overturning frame comprises a first overturning machine frame fixedly arranged at the upper end of the lifting assembly and a second overturning machine frame rotationally arranged on the first overturning machine frame. The overturning mechanism comprises a mounting column arranged on the first overturning rack, an overturning motor arranged at the upper end of the mounting column and an arc-shaped overturning rack arranged at the tail end of the second overturning rack, and the output end of the overturning motor is in transmission connection with the arc-shaped overturning rack through a gear assembly. And a mounting mechanism is arranged on the second overturning rack. The pipeline coil can be automatically loaded and unloaded through the turnover mechanism, the transfer efficiency is effectively improved, and the labor intensity of a user is reduced.

The utility model discloses an anchor rod blanking device and a production line, and relates to the technical field of anchor rod production, and the anchor rod blanking device comprises a feeding mechanism and a turnover mechanism; wherein the feeding mechanism comprises a base frame, a feeding assembly and a first driving assembly, the feeding assembly is arranged on the base frame and comprises a conveying belt, and the two transverse ends of the conveying belt are divided into a feeding end and a discharging end; the turnover mechanism comprises a turnover assembly and a second driving assembly, the turnover assembly comprises a turnover frame and a rotating seat, the turnover frame and the rotating seat are both arranged below the conveying belt and close to the discharging end, the turnover frame is rotatably installed on the rotating seat, the second driving assembly is used for driving the turnover frame to rotate in the longitudinal direction, and a packaging groove is formed in the turnover frame; the first driving assembly is used for driving the conveying belt. By means of the anchor rod carrying and packaging storage device, the labor intensity of carrying, packaging and storage of produced anchor rods can be effectively relieved, and the efficiency of carrying, packaging and storage of the anchor rods is further improved.

The invention discloses a turnover device integrating drilling machine and supporting functions, and relates to the technical field of digging and anchoring machinery, the turnover device comprises a turnover frame body, the right end of the turnover frame body is movably connected with a pushing device rod, and a turnover oil cylinder is arranged at the joint of the turnover frame body and the pushing device rod; a drilling machine mounting plate frame is fixedly mounted at the upper end of the roll-over stand body, and a longitudinal sliding rail guide rod capable of moving front and back is arranged on the inner side of the drilling machine mounting plate frame; and a fixed stand column is mounted at the upper end of the drilling machine mounting plate frame. The problems that at present, coal mine roadway tunneling generally adopts a one-tunneling-one-branch construction technology, namely anchor rod supporting operation needs to be carried out after roadway tunneling forming, however, the anchor rod supporting operation is mostly carried out in an empty-roof and non-protection state, the labor intensity of workers is large, safety is not guaranteed, and meanwhile, due to an existing integrated structure, the height of a device can be increased, and the construction cost is high are solved. And the rubber tube is exposed outside, so that the rubber tube is easy to damage and difficult to maintain.

The utility model discloses paper box processing is with many -sided grooving device, especially in paper box processing grooving technical field, mainly includes speed -reducing motor, turning plate and linkage shaft, and turning plate is fixed on the output of speed -reducing motor, and linkage shaft is welded on one side of turning plate, and one end of linkage shaft is equipped with switching grooving mechanism, switching grooving mechanism includes the turning frame of fixed setting in one end of linkage shaft. The utility model discloses switching grooving mechanism, and speed -reducing motor drives turning plate rotation, and turning plate drives linkage shaft rotation, and linkage shaft carries turning frame rotation, and multiple grooving blades can rotate and switch to different direction, to realize many -sided adjustment according to the processing paper box, be applicable to many -sided grooving, and the support block is supported through the linkage motor, and the support block supports the sleeve joint axle plate, and starts linkage motor drive rotating shaft rotation, and multiple grooving blades can groove according to the many -sided paper box, and the grooving effect is better.

The utility model belongs to the field of hydropower station trash removal auxiliary equipment, and particularly provides a launching tool for overhauling a trash remover of a large hydropower station, which comprises a base, two groups of hinge plates are arranged on the base, a driving shaft is rotatably mounted on the hinge plates, the driving shaft is driven by a driving mechanism, and the driving shaft is connected with one end of a ladder stand mechanism. The crawling ladder mechanism comprises a first crawling ladder and a second crawling ladder, the ends of the first crawling ladder and the second crawling ladder are connected through an arc-shaped turning frame, the first crawling ladder and the second crawling ladder are arranged in parallel, and the end, away from the arc-shaped turning frame, of the first crawling ladder is connected with the driving shaft. The tool can be retracted in an unused state, interference to dam operation is avoided, and meanwhile safe and convenient underwater operation is achieved.