2420 results about "Universal joint" patented technology

The invention relates to the technical field of robots, and provides a parallel connection rod driving mechanical finger with four degrees of freedom, which comprises a base, and a first driving mechanism, a second driving mechanism, a third driving mechanism and a fourth driving mechanism which are arranged on the base in parallel, the mechanical finger further comprises an MCP joint, a PIP joint and a DIP joint which are connected in sequence. The MCP joint is connected with the base through a universal joint. The first driving mechanism and the second driving mechanism are connected with the two sides of the MCP joint correspondingly so as to drive the MCP joint to conduct pitching motion and side-sway motion. The third driving mechanism is connected with the PIP joint so as to drive the PIP joint to perform pitching motion; and the fourth driving mechanism is connected with the DIP joint so as to drive the DIP joint to perform pitching motion. Four degrees of freedom have high dexterity, and the repeated positioning precision is good; high load ratio, high rigidity and high energy density are achieved, the branch chain structure interchangeability is good, the overall structure is simple and compact, and the space occupation ratio is small.

The invention provides an intelligent leveling and ground pressure self-adaption system of a modularized movable laboratory, and relates to the technical field of laboratory leveling, the system realizes high-precision leveling through six-degree-of-freedom hydraulic support legs, is equipped with pressure and displacement sensors, and is combined with spherical hinge universal joints to compensate ground inclination. And the reliability and the safety of the system are improved through the backup design of the double hydraulic pumps and the energy accumulator. The system further has a ground pressure self-adaption function, the pressure of the supporting legs is dynamically adjusted based on the ground type and a bearing capacity model, local overload is prevented, and an anti-sedimentation strategy is set. In addition, the system integrates technologies of Beidou / GNSS positioning assistance, multi-modal data fusion, block chain traceability and the like, and the leveling efficiency, stability and traceability are enhanced. The system is suitable for mobile laboratory deployment under complex terrains, and has the characteristics of high efficiency, accuracy and reliability.

The invention relates to the technical field of seabed base adjusting platforms, and discloses a seabed base self-adaptive leveling device and method based on shape memory alloy, and the device comprises a seabed base observation platform which is used for bearing instruments and equipment; the leveling supporting legs are uniformly distributed below the seabed-based observation platform and are used for realizing shock isolation and shock absorption and full-automatic and high-reliability leveling after the seabed-based observation platform touches the bottom by utilizing the shape memory effect and the superelasticity of SMA (Shape Memory Alloy); and the universal joint connecting mechanism is used for connecting the leveling support leg with the foot pad so as to adapt to and support slopes with different angles. The shape memory effect and the hyperelasticity of SMA are utilized, under the condition that an external power source and a complex control system are not needed, full-automatic and high-reliability leveling after the platform touches the bottom is achieved, and the technical problems that according to an existing leveling scheme, limitation of different degrees exists in the aspects of structure complexity, environment adaptability, long-term reliability and leveling precision are solved.

The invention discloses a concrete temperature stress testing machine for compensating ambient temperature, which belongs to the technical field of concrete temperature strain test and comprises a testing machine host, a heat insulation box, a sealing sleeve, a water-cooling temperature control system and an active compensation system. Through the combination of the heat preservation box and the sealing sleeve, the concrete test block, the fixed-end universal joint, the movable-end universal joint, the fixed chuck, the movable chuck, the load sensor and other core test parts are sealed in the heat preservation box and the sealing sleeve, an independent internal constant-temperature test area is constructed, and the idealized premise that temperature changes of all the parts are consistent in the prior art is broken through; meanwhile, a water-cooling temperature control system composed of a first water cavity, a through groove, a second water cavity, a water injection pipe and a water drainage pipe is arranged among the first fixing base, the second fixing base and the sliding rod, it is ensured that the external temperature is constant, and the water-cooling effect is good. The problem of superposition of external deformation and deformation of the test piece and the internal part is thoroughly avoided.

The invention relates to the technical field of universal joint machining, in particular to a three-pin-column machining method and system. The three-pin column is positioned and clamped on the clamping assembly; wherein positioning and clamping comprise the steps that a positioning unit of the clamping assembly abuts against two supporting shafts of the three-pin column, and a second clamping unit of the clamping assembly expands a connecting hole of the three-pin column; a supporting shaft, at the machining position, of the three-pin column is machined; the positioning unit relieves the abutting of the two supporting shafts, and the second clamping unit drives the three-pin column to rotate until one of the two unmachined supporting shafts reaches the machining position; the positioning unit abuts against the two supporting shafts of the three-pin column, and the supporting shaft at the machining position is machined. In this way, the problem that the machining efficiency of the three-pin column is low is solved.

The invention discloses a three-dimensional magnetic field bionic seal beard sensor based on a Hall effect. The sensor comprises a mounting frame, a Hall chip, a universal joint component, bionic beards and magnets, wherein the Hall chip and the universal joint component are arranged on the mounting frame; the bionic beards are arranged on the universal joint component; the universal joint component is used for enabling the bionic beard to swing in a first direction and a second direction in a reference plane perpendicular to the center line of the bionic beard after the bionic beard is subjected to the acting force of fluid, the first direction is perpendicular to the second direction, and the universal joint component enables the bionic beard to reset after the bionic beard is not subjected to the acting force of the fluid; the magnetic flux density of the magnets changes along with the movement of the bionic beards; the Hall chip is used for sensing magnetic field information. While the characteristics of strong environmental adaptability and high sensitivity of a conventional bionic beard sensor are reserved, the limitation of one-way sensing of the sensor is broken through, the synchronous detection capability of the flow velocity, the flow direction and the vortex street frequency is improved, and the application range of the sensor in a complex underwater scene is widened.

The utility model relates to the technical field of bionic fishes, in particular to a bionic fish structure which comprises a battery, a controller, a framework assembly and a tail fin assembly, the framework assembly comprises a plurality of rotating joints, and the rotating joints are sequentially and rotatably connected end to end; the battery is rotationally connected with the rotating joint at the head end of the framework assembly, the tail fin assembly is movably connected with the rotating joint at the tail end of the framework assembly, the controller is in communication connection with the rotating joint and the tail fin assembly, and the battery is electrically connected with the controller and the rotating joint. According to the bionic fish, the movable framework assembly is composed of the universal joints, variable adjustment of the framework assembly is achieved, the fish body can be driven to move through swinging of the framework assembly, steering can be achieved through posture changes of the framework assembly, and the bionic effect of the bionic fish is improved.

The invention relates to the technical field of assembly equipment, in particular to automatic assembly equipment for metal rubber parts for universal joint shaft sleeves, which comprises a rack, a storage hopper is mounted at the top end of the rack, a bearing table capable of sliding up and down is mounted at the corresponding position of the lowest point of an inclined guide surface, and a discharge port is formed in the side wall of the storage hopper. An assembling table is installed on the top face of the rack, a vertically-arranged lifting air cylinder is installed on the top face of the rack, a steering cylinder is connected to the telescopic end of the lifting air cylinder, a positioning clamp is rotationally connected to the interior of the steering cylinder, and the inner side contour of the positioning clamp is matched with the outer surface of a metal shaft sleeve. The bottom face of an inner cavity of the storage hopper is arranged to be an inclined material guiding face, a conveying belt is installed in the inner cavity of the storage hopper and penetrates through the inner side of the material bearing table, and the metal shaft sleeve sorting device aims at solving the problems that in traditional assembly, metal shaft sleeves are often fed through a vibration disc or manual work, the posture is disordered, and the sorting efficiency is low.

An inerter synergistic particle damper pipeline supporting system capable of achieving multi-stage vibration reduction comprises a pipeline, a pipeline support, a universal joint assembly, an outer cavity assembly, a liquid inerter synergistic unit, a particle damper assembly, a rotary particle energy consumption unit, a transmission linkage mechanism and a plurality of tuning springs. According to the system, multi-dimensional vibration of a pipeline is transmitted to a transmission linkage mechanism through a pipeline support and a universal joint assembly, and multi-stage dissipation and absorption of vibration energy are achieved by combining the synergistic effect of a liquid inerter synergistic unit, a particle damper assembly and a rotary particle energy dissipation unit; the system starts different control modes under the action of small-amplitude vibration, large vibration and extreme vibration, efficient vibration control and energy consumption effects are achieved through a three-level response mode, and automatic reset is achieved after external excitation is finished. By means of the synergistic effect of inerter synergy and particle collision energy consumption, efficient control over vibration of the pipe type structure is achieved, the stability of the pipe type structure is improved, and the service life of the pipe type structure is prolonged.

The invention discloses motor assembling equipment and an automobile motor assembling method capable of automatically screwing, and relates to the field of motor assembly.The motor assembling equipment comprises a feeding module and a screwing module, the screwing module comprises a mounting plate and a plurality of screwing assemblies, the screwing assemblies are all mounted on the mounting plate, and the screwing assemblies can vertically move; the screwing assembly comprises a screwing head, a screwing bit and a transmission rod, the transmission rod can drive the screwing bit to rotate, the feeding module can convey a screw into the screwing head, and after the screwing head descends to abut against a workpiece, the transmission rod descends and rotates in the screwing head. The position of the mounting block can be adjusted on the plane of the mounting plate, so that the flexibility of the equipment is greatly enhanced, the equipment can adapt to the change of screw hole spacing on workpieces with different specifications, the connecting rod is connected with the transmission rod through the universal joint, and even if the position of the transmission rod is changed due to the movement of the screwing head, the transmission rod can be fixed. And the rotating power can still be effectively transmitted to the transmission rod, so that the screwing function is ensured to be realized.

The invention belongs to the technical field of pipeline cleaning equipment, and provides a pipeline inner wall cleaning robot which comprises a front mechanism, a middle structure and a sweeping structure which are sequentially connected, and a driving structure is mounted on the outer surface of the middle structure; the front mechanism comprises a front support, the front support is connected with the middle structure through a universal joint, a plurality of first buffering structures are arranged on the outer side of the front support at equal intervals, and a direction wheel set is arranged at the ends, away from the front support, of the first buffering structures. Steering of the front support and the middle structure is achieved through the universal joint, and then the robot can walk in a bent pipeline; a plurality of first buffer structures are arranged on the outer side of the front support at equal intervals, and direction wheel sets are arranged at the ends, away from the front support, of the first buffer structures. The first buffer structure can stretch out and draw back so that the direction wheel set can make contact with the inner walls of the pipelines of different diameters, and then the device adapts to the pipelines of different diameters.

The invention discloses an intelligent universal joint capable of being automatically maintained and a maintenance method thereof, and belongs to the technical field of mechanical transmission. The intelligent universal joint capable of being automatically maintained comprises a cross shaft body, wherein the cross shaft body is provided with an oil duct, a grease storage cavity and a switch sensor arranged in the grease storage cavity; the grease storage cavity is formed in the cross shaft body, one end of the grease storage cavity communicates with the oil duct, the other end of the grease storage cavity penetrates through the surface of the cross shaft body to communicate with the outside, and the grease storage cavity is used for storing lubricating grease; the switch sensor comprises a switch execution mechanism and a control chip, and the switch execution mechanism can achieve connection and disconnection between the grease storage cavity and the oil duct; the control chip is used for controlling the switch executing mechanism to act according to preset conditions, and then active lubricating maintenance of the universal joint is achieved. The problems that lubricating grease cannot be supplemented in the operation process of a traditional maintenance-free universal joint, and the maintenance capacity is poor are solved in a targeted mode, and finally the purposes of prolonging the service life of the universal joint and reducing the equipment failure risk and the operation and maintenance cost are achieved.

The invention discloses an automatic assembling mechanism for railway track fastener nuts, and belongs to the technical field of automatic assembling equipment. The mechanism comprises a mechanical arm, a nut assembling mechanism, a power transmission device, a propelling device, a connecting seat and a visual device, the nut assembling mechanism is composed of a compliant device and a magnetic attraction device, the tail end of a mechanical arm is fixed through a connecting base, a visual device recognizes the position of a fastener in real time and guides the mechanical arm to be positioned, a servo motor transmits torque through a speed reducer and a telescopic universal connecting assembly, nut screwing is achieved, and the compliant device absorbs assembling errors and adapts to the posture. The magnetic attraction device is used for adsorbing and fixing the nut; the six-dimensional force sensor is used for monitoring and feeding back torque in real time; the control system is used for adjusting pre-tightening force; the propelling device is used for applying axial thrust; the device can realize automatic identification, positioning, tightening and pre-tightening control of the nut, and is suitable for various sleeper structures and complex track working conditions.

The invention relates to the technical field of spraying of automotive upholstery, in particular to a spraying device for production of automotive upholstery. Comprising a spraying chamber, a mounting plate, a rotating rod and a spraying support, the rotating rod is connected with the spraying support through a universal shaft, a lifting disc and a driven gear are coaxially arranged on the rotating rod, the lifting disc can be connected with the driven gear in a clamped mode, and a hinged connecting rod and a lifting rod are arranged beside the rotating rod; two control rods capable of deflecting in the vertical plane are arranged in the spraying chamber and are in transmission connection with the lifting disc and the lifting rod correspondingly, and the control rods can be locked with the control chamber panel. Through combination of mechanical linkage and manual regulation and control, the angle limitation problem of a traditional support is solved, the deflection angle of the spraying support can be flexibly adjusted, the back side edge area is effectively covered, the situation that spraying is not in place is avoided, the spraying uniformity and the product quality are improved, an operator can complete adjustment and locking actions with one hand, and the operation complexity is reduced.

The utility model provides a steering structure and an all-terrain vehicle. The steering mechanism is used for connecting a steering wheel and a steering gear of the vehicle and comprises a support, a first shell, an adjusting device, a steering shaft and a power-assisted steering device. The support is used for connecting a vehicle body. The first shell is rotationally connected with the bracket; the adjusting device is connected with the first shell and the support so as to drive the first shell to rotate. One end of the steering shaft is connected with the steering wheel, and the other end is connected with the power-assisted steering device through a universal joint; the power-assisted steering device is connected with a steering gear through a universal joint. The first shell, the adjusting device and the power-assisted steering device in the steering system are integrally installed on the support, so that the situation that the assembly difficulty is large due to the fact that the first shell, the adjusting device and the power-assisted steering device are connected with a vehicle body through other parts is avoided, the number of the parts is reduced, meanwhile, the compactness of the overall structure and the precision control performance of manufacturing and assembly are improved, and the assembly difficulty is reduced; and the installation process with the vehicle body is simplified.

The invention relates to a micro-miniature large-length-diameter-ratio continuum mechanical arm based on a rigid-flexible composite joint and a modeling method thereof.The micro-miniature large-length-diameter-ratio continuum mechanical arm comprises an operation arm, the operation arm comprises a plurality of continuum sections which are sequentially connected in series, each continuum section comprises a plurality of connecting rod sections and a plurality of universal joint sections, and the micro-miniature large-length-diameter-ratio continuum mechanical arm further comprises a nickel-titanium alloy pipe; the nickel-titanium alloy pipe penetrates through the middle parts of the plurality of continuous body sections which are sequentially connected in series; and the driving box is used for providing power for the operation arm and achieving accurate motion control, and the operation arm is connected with the bottom of the operation arm. The novel rigid-flexible composite joint is introduced, composition of the rigid joint and the continuum flexible mechanical arm is achieved, rigid support is provided for the continuum flexible mechanical arm under the condition that movement is not affected, the rigidity, compression resistance and torsion resistance of the mechanical arm are effectively improved, and the load capacity and movement stability of the mechanical arm are enhanced.

The invention relates to the technical field of automobile manufacturing, in particular to a transmission shaft assembly. Wherein one end of the spline shaft fork is connected to the universal joint, the other end of the spline shaft fork is arranged at one end of the spline sleeve in a penetrating mode, the spline shaft fork is connected with the spline sleeve in a sliding mode, the other end of the spline sleeve is connected to the rear-end universal joint assembly, the dustproof cover is arranged on the outer wall of the spline sleeve in a sleeving mode, and the dustproof cover is connected with the spline shaft fork. The inner dustproof seal, the gasket and the outer decontamination seal are arranged between the dustproof cover and the spline sleeve at intervals, the inner dustproof seal is close to the front-end universal joint assembly, the outer decontamination seal is close to the rear-end universal joint assembly, and the gasket is arranged between the inner dustproof seal and the outer decontamination seal. Compared with the prior art, the transmission shaft assembly is provided with the inner dustproof seal, the gasket and the outer dirt removal seal to form a double-layer sealing structure, so that the linearity of a sediment invasion path can be reduced, the sealing redundancy is enhanced, external sediment is prevented from invading the spline, and the spline pair is prevented from being abraded and even ablated.

The invention belongs to the technical field of humanoid robots, and discloses a full-connecting-rod-driven 21-degree-of-freedom humanoid five-finger dexterous hand which comprises a palm base and a five-finger executing mechanism. Each of the four fingers has four active degrees of freedom, so that near knuckle side sway, near knuckle bending and middle and far knuckle coupling bending are realized respectively; the thumb has five active degrees of freedom and can independently complete palm aligning, forward falling, abduction and knuckle bending movement. All motions are converted into linear motions through a motor driving lead screw and then converted into rotary motions of knuckles through a push rod and a connecting rod mechanism, and full-connecting-rod transmission is achieved. According to the multi-degree-of-freedom parallel mechanism, the double-fish-eye connecting rods, the universal joints and other structures are adopted to ensure that movement among multiple degrees of freedom does not interfere with one another, the far knuckles have passive self-adaptive bending capacity through the design of the compressible push rods, and the multi-degree-of-freedom parallel mechanism has high load, high precision, high bionic performance and grabbing adaptability and is suitable for fine operation of a robot.

The invention relates to the technical field of breeding industry, in particular to an isolation purse seine device for temporary breeding of seafood products, which comprises a floating frame, an octagonal hole is formed in the middle of the floating frame, a protective fence is arranged on the outer side of the top of the floating frame, and pull ropes are arranged at the bottom of the floating frame at intervals. The inner side of the top of the floating frame is provided with a winding assembly provided with a surrounding net. A rollable blocking net is arranged, and the whole blocking net is hung downwards under the water surface in a net bag mode and is stabilized by hanging a gravity block. When seafood capturing operation needs to be carried out, the octagonal rotating rollers are installed on the inner side of the upper edge of the surrounding net and connected through the elastic universal joints, the octagonal fixing frame can be clamped and fixed through the guide wheels, control is carried out through the top winding wheel, and therefore the surrounding net can be lifted and folded in a winding mode.

The present invention relates to the technical field of friction stir welding, and specifically to a friction stir welding device with an adjustable spindle. The present invention includes a spindle mechanism that can adjust the inclination angle around a horizontal axis, the spindle mechanism including a shaft sleeve and a spindle that coaxially rotates in the shaft sleeve, the shaft sleeve rotates on the inside of a vertically arranged adjustment sleeve via a radial rotating shaft, and the adjustment sleeve rotates around its own axis and is fitted on a housing. The friction stir welding device also includes a power unit, the power end of which can select one power transmission between spindle inclination adjustment and adjustment sleeve rotation movement; a spindle motor is installed on the housing, and the output end of the spindle motor is connected to the spindle via a universal joint; a first brake assembly for locking the rotation of the adjustment sleeve is also provided on the housing. The present invention has a stable structure and low cost, and can not only realize the horizontal angle swing adjustment of the spindle, but also adjust the inclination direction of the spindle as required.

The utility model provides a left auricle plugging device and a left auricle plugging system. The left atrial appendage occluder comprises a fixed disc; a plugging disc; the universal joint assembly is connected with the fixing disc and the plugging disc so that the plugging disc can rotate in a universal mode relative to the fixing disc. The universal joint assembly comprises a limiting piece and a universal joint component, the limiting piece is provided with a containing cavity, a universal structure is arranged at the first end of the universal joint component, the universal structure is movably arranged in the containing cavity, and the universal structure and the limiting piece form a limiting stop. Wherein the limiting piece comprises a plurality of connecting sections, the connecting sections are sequentially welded end to end to define a containing cavity, and clamping structures matched with each other are arranged on the connecting end faces of every two adjacent connecting sections. The left atrial appendage plugging device solves the problem that in the prior art, a left atrial appendage plugging device is poor in applicability.

The invention discloses anti-torsion measuring equipment for multi-directional stress of a sectional material. The anti-torsion measuring equipment comprises the sectional material and measuring equipment for applying torsion to the sectional material, the measuring device comprises: a support frame; the movable plate is mounted on the supporting frame, and a lifting mechanism is arranged between the movable plate and the supporting frame; the torque applying system is arranged on the moving plate, comprises a motor, a belt pulley transmission structure, a speed reducer, a coupler, a rotating shaft, a universal joint I and a three-jaw chuck I, and is used for applying torque to the top end of the profile; the invention belongs to the technical field of profile detection, aims to solve the problem that only pure torque or single-direction bending force can be tested in the prior art, and achieves the technical effect that composite loading of profile axial torque and spatial omnidirectional lateral force is realized through circumferential rotation driven by a planetary gear and pitching adjustment of an arc-shaped rod-sliding block.

A faucet extender has a universal joint and a water outlet device. The universal joint has a connecting base and a water outlet base. The connecting base has a lower connecting hole. The water outlet base has an installing part and a spherical joint. The installing part has an installing space, an installing hole and a through-hole. The installing hole and the through-hole connect two ends of the installing space. A flow channel is through the spherical joint and connects the through-hole. An end of the spherical joint is rotatably mounted in the connecting base and protrudes from the lower connecting hole. Another end of the spherical joint is mounted on the installing part. The water outlet device is mounted in the installing hole. In addition to the original downward water outlet direction of the faucet, the water outlet direction can be adjusted via rotating the water outlet base.

The utility model relates to the technical field of universal joint connection, and discloses a light-weight end tooth structure universal joint easy to align teeth, which comprises a rotation axis of the universal joint and an end tooth disc rotating around the rotation axis of the universal joint, a plurality of tooth parts are arranged on the end tooth disc along the rotation axis in a central symmetry manner, and the tooth parts are arranged on the end tooth disc. The tooth part comprises a tooth bottom arranged on the end-toothed disc, a tooth top is arranged at the top of the tooth bottom, symmetrical first tooth surfaces are arranged at the two opposite side ends of the tooth bottom, and symmetrical second tooth surfaces are arranged at the two opposite side ends of the tooth top. The second angle formed by the two second tooth surfaces on the tooth top is configured to be larger than the first angle formed by the two first tooth surfaces on the tooth bottom, the meshing tolerance range between the tooth parts is enlarged through the design, larger tooth alignment tolerance is allowed in the assembling process, and therefore the axial alignment operation of the gear and a matched piece is simplified, and the assembling efficiency is improved. And the adjustment frequency during assembly is reduced.

The invention discloses a main rod connecting device of an external bone fixing frame, and relates to the technical field of medical instruments. Comprising fixing rods, steel needles are installed in the fixing rods, universal joints are installed at the opposite ends of the two fixing rods, a shell is arranged between the two universal joints, a grading rotating mechanism is installed in the shell, an adjusting assembly is installed at the lower end of the front side of the shell, and the grading rotating mechanism comprises a baffle. A rotating rod is rotatably connected to the upper end of the barrier plate, a resistance assembly is installed in a second gear, normal joint movement is simulated, the problem that joints of a patient are stiff in all recovery stages is solved, the patient is helped to rebuild motion perception so as to improve the recovery effect, resistance during limb rotation of the patient can be increased step by step, and the recovery effect is improved. Exercise and adaptability to the limbs of the patient are enhanced, the recovery effect of the fracture area of the patient is improved, and growth of callus is promoted.

The invention belongs to the technical field of ocean new energy, and provides an anchor system multi-floating-body array wave flow motion response analysis method and system, and the technical scheme is that a joint simulation method of multi-body dynamics and computational fluid mechanics is adopted to carry out the comprehensive modeling and analysis of a mooring type multi-floating-body array, and the wave flow motion response analysis of the mooring type multi-floating-body array is realized. A universal joint connection structure for platform connection is designed, and an equivalent concentrated mass-spring unit is introduced to simplify modeling of a mooring chain. Joint simulation is implemented in a numerical wave generation and ocean current pool, and hydrodynamic force and structural response of the anchor system multi-floating-body array system under the steady-state ocean current and regular wave conditions is evaluated; the system studies the influence of the size of the floating ball, the weight of the mooring chain and the flow velocity on the hydrodynamic performance and the platform stability. And the performance requirements in a complex marine environment can be better met.

The invention relates to the technical field of tunnel construction devices, in particular to a tunnel secondary lining vault water seepage prevention construction device and a construction method.The tunnel secondary lining vault water seepage prevention construction device comprises a plurality of supporting frames, linkage rods, butt joint rods, bearing rods, angle adjusting mechanisms and self-adaptive abutting mechanisms; a linkage rod is rotationally connected to one ends of the tops of every two adjacent supporting frames, a butt joint rod is further arranged between every two adjacent supporting frames, overall radian adjustment is achieved through a sectional type supporting and abutting structure and a connecting rod mechanism, the device can adapt to tunnel vaults with different curvatures, gaps are eliminated, a universal joint is used for driving a worm to drive a worm gear, and the overall radian is adjusted. The worm gear and the worm have self-locking performance, stability after pressing is ensured, the transmission ratio design optimizes the adjusting efficiency, the mechanical transmission technology and the flexible adjusting technology are integrated, and the construction quality of secondary lining water seepage prevention is remarkably improved.

The invention relates to the technical field of robots, and discloses a self-adaptive pipe wall obstacle crossing quadruped bionic robot which comprises a robot body, a quadruped supporting leg assembly, an obstacle sensing assembly and a control system. The core innovation of the device is that a diversified adsorption system is integrated, and the device comprises an electric control permanent magnet adsorption foot end used for a ferromagnetic pipe wall and an adaptation assembly comprising a grinding assembly and a negative pressure adsorption assembly; the polishing assembly can conduct pretreatment on the dirty surface, the negative pressure adsorption assembly ensures reliable adsorption on the non-ferromagnetic pipe wall, and perfect attachment of a suction cup to any curved surface is achieved through the synergistic effect of a universal joint and an electric telescopic rod. The system has highly intelligent sensing and control capability, and by fusing information of the three-dimensional vision sensor, the laser radar, the inertial measurement unit and the joint torque sensor, the control system can not only accurately sense obstacles but also autonomously plan obstacle crossing gaits. The application range and the operation reliability of the pipeline robot are greatly improved.

The present invention relates to the technical field of PCB board vibration detection, and specifically to a PCB board vibration testing device, comprising a vibration machine, the vibration machine comprising a storage table that vibrates reciprocatingly up and down, the storage table being provided with a reversing mechanism for continuously adjusting the arrangement direction of the PCB board during vibration, and a clamping mechanism for quickly changing and clamping the PCB board. The present invention utilizes a universal joint structure composed of an outer ring plate and an inner rotating frame in the reversing mechanism, in coordination with an energy storage component and a slow-release component, so that the PCB board can dynamically adjust its direction during vibration, simulating multi-directional composite vibration in actual working conditions. Compared with traditional single-direction vibration testing, the vibration coverage dimension is significantly expanded, actual use scenarios can be simulated more realistically, and quality risks of the PCB board can be avoided. The present invention utilizes a linkage component of the clamping mechanism to control the alternating clamping of a first clamping plate and a second clamping plate, thereby quickly changing and clamping the PCB board, thereby improving detection efficiency.

The present application relates to a kind of mother-son car type rice field fertilizer and pesticide spraying device, solve the problems of large labor intensity, high cost, uneven spraying in the process of artificial or existing machine spraying for rice field fertilization, pesticide application.The device includes mother car and son car, the mother liquid barrel is provided on the mother car, the mother liquid barrel is connected with dilution barrel, the dilution barrel is connected with pipe reel by water pump, the pipe reel is connected with son car;The pipe reel can be wound / unwound on the son car, and track assembly is arranged on the both sides of the bottom of the son car, the track assembly is driven by track drive motor, the left shaft end of the pipe reel is provided with universal joint that can seal liquid, the pipe reel is connected with universal joint, and the other end of universal joint is connected with spray gun by hose.The present application can continuously spray fertilizer and pesticide on standard construction rice field, simple operation, high efficiency;And when son car walks back and forth, it ensures that pipe reel does not pull son car, and at the same time, it tightens pipe reel through tension compensation.