860 results about "Working space" patented technology

The invention relates to the technical field of intelligent mechanical arm control, and discloses a mechanical arm track optimization method and system based on deep learning and a fuzzy algorithm, and the method comprises the steps: building a kinematic model of a mechanical arm, determining the working space of the mechanical arm, carrying out the high-density random sampling, and generating a three-dimensional point cloud picture of a reachable region at the tail end of the mechanical arm; constructing a path planning model, designing a state space and an action space, and constructing a reward function; time-impact double-target optimization is carried out on the tail end path point sequence, a smooth joint trajectory is constructed, and balance between the shortest trajectory execution time and the minimum joint impact is achieved on the premise that speed and acceleration constraints are met; and tracking control is carried out on the trajectory, external disturbance and unmodeled dynamics are estimated and compensated in real time, a parameter adaptive law is designed, and the trajectory tracking precision of the system in a complex environment is improved. The autonomy, the accuracy and the anti-interference capability of the hot-line work mechanical arm in a complex environment are improved.

The invention provides a filter stick defective product sorting method for reinforcement learning self-adaptive grabbing, and relates to the technical field of filter stick sorting. The defects of the filter stick are recognized through a multi-view visual module, image coordinates are compensated in real time in combination with the speed of a conveying belt, and the image coordinates are accurately mapped to a three-dimensional working space of a mechanical arm; then, defect poses, production line states and mechanical arm parameters are input to a reinforcement learning module, so that the optimal grabbing action and clamping pressure are output, and efficient sorting of the driving mechanical arm and the soft clamping jaw is achieved; and meanwhile, the feedback evaluation unit acquires a grabbing result through a sensor, generates a reward signal optimization strategy network, and realizes continuous online learning. The technical problems that in a high-speed flexible production line, a traditional sorting system is insufficient in grabbing precision and high in false grabbing rate due to the fact that visual recognition and a mechanical grabbing strategy are disjointed are solved. According to the invention, the collaborative precision of defect identification and grabbing and the sorting efficiency in the filter stick production line are obviously improved.

A system for performing minimally invasive procedures in a body lumen of a patient including a flexible catheter having a first lumen configured and dimensioned to receive an endoscope therethrough and a second lumen configured and dimensioned to receive a first flexible tube therethrough. The first flexible tube is movable through the second lumen and has a distal portion including a first curve extending in a first direction with respect to the longitudinal axis and a second curve extending in a second different direction with respect to the longitudinal axis. A retractor system is positioned at a distal portion of the catheter and is movable from a non-expanded insertion position to an expanded position forming an expanded cage to form a larger working space. The distal portion of the first flexible tube is movable within the expanded cage.

The invention relates to the technical field of robots, in particular to a rolling contact type continuum mechanical arm with a symmetrical structure and a statics modeling method thereof, the rolling contact type continuum mechanical arm comprises a plurality of rolling joints which are connected in sequence, and the rolling joints comprise one-degree-of-freedom joints and two-degree-of-freedom joints; the one-degree-of-freedom joints and the two-degree-of-freedom joints are alternately stacked, and every two adjacent rolling joints are connected in a rolling contact mode; the one-degree-of-freedom joint and the two-degree-of-freedom joint are each provided with a wire passing hole, and a driving cable is arranged in each wire passing hole in a penetrating mode. The continuum mechanical arm is of a symmetrical structure, the tail end of the continuum mechanical arm is provided with the most complete working space, and the problem that the working space at the tail end of an existing continuum mechanical arm has defects is solved; according to the static modeling method for the rolling contact type continuum mechanical arm, the problem that static analysis of rolling joints of different structures is inconsistent is solved, and the problem that calculation is complex due to the fact that integral terms exist in a traditional beam theoretical model is solved.

The invention relates to the technical field of parallel machine mechanisms, in particular to a position symbol positive solution two-translation and one-rotation parallel robot. The working space of a conventional 2T1R parallel robot is greatly limited by the singular configuration of a mechanism or the rotating capacity of a movable platform is limited, so that the conventional 2T1R parallel robot is difficult to adapt to the machining operation of a large-dip-angle inclined plane. In order to solve the problems, the position symbol positive solution two-translation and one-rotation parallel robot is provided, the topological structure of the position symbol positive solution two-translation and one-rotation parallel robot comprises a static platform, a movable platform, a mixed branch chain I, a simple branch chain II and a simple branch chain III, and the mixed branch chain I, the simple branch chain II and the simple branch chain III are connected with the static platform and the movable platform. The positive solution problem of the position of the mechanism is successfully decoupled, and the motion of any driving revolute pair located on the static platform in the space sub-parallel mechanism in the mixed branched chain determines the translation of the movable platform along the z axis. The two simple branch chains are independently responsible for rotation of the movable platform around the y axis and translation of the movable platform along the x axis. According to the highly-decoupled driving mode, the risks of internal interference and singular configuration are reduced.

To provide a clamp-on type ultrasonic flowmeter which can be easily attached to a pipe in a narrow working space.SOLUTION: A clamp-on type ultrasonic flowmeter 1 for measuring a flow rate of a fluid flowing in a pipe using an ultrasonic wave includes a main-body-side pipe mounting portion 30 for mounting, on a pipe 100, a device main body 10 on which an ultrasonic transducer for transmitting and receiving an ultrasonic wave to and from the pipe 100 is mounted, and an outer pipe mounting portion 20 disposed to face the main-body-side pipe mounting portion 30 via the pipe 100. The band 45 inserted through the two band openings 40 is fastened to fix the body-side pipe mounting part 30 and the outside pipe mounting part 20 to the pipe 100.SELECTED DRAWING: Figure 1

The technical scheme belongs to the technical field of wood splitting devices, and particularly relates to a wood splitting machine which comprises a rack, a baffle, a wood splitting axe, a two-way rapid oil cylinder and a power unit. The two-way quick oil cylinder and the baffle plate are arranged on the rack; the wood breaking axe is installed at the driving end of the two-way rapid oil cylinder, the wood breaking axe is S-shaped, wood can be split more easily, and a working space used for containing the wood is formed among the rack, the baffle and the wood breaking axe; the power unit is integrated on the rack to provide oil pressure for the two-way rapid oil cylinder; the hydraulic control switch valve and the control valve are stacked and integrated into a whole through the two-way rapid oil cylinder. The main beam is arranged on the machine frame, the tail end of the main beam is bent and upwarped, the tail plate is embedded and welded to the tail end of the main beam, the reinforcing plates are arranged on the two sides of the tail plate, the main beam is formed by cutting an integral sectional material, and compared with a traditional main beam formed by welding three plates, machining procedures of the main beam are reduced; and the bent guide plate is additionally arranged between the baffle and the sliding rail on the main beam, so that the strength of the baffle is improved while residual wood grid chippings are conveniently cleaned.

The invention discloses a control method and device of a surgical robot, a storage medium and electronic equipment. The method comprises the following steps: determining a plurality of simulated osteotomy surfaces of a target object according to a preoperative plan of knee joint replacement; under each simulated osteotomy surface, calculating a working space of the surgical robot to obtain a plurality of first working spaces; and determining a target working space of the surgical robot according to the plurality of first working spaces, and controlling the surgical robot to execute actions based on the target working space. By means of the method and device, the problem that in the prior art, due to kinematics constraint, an under-degree-of-freedom surgical robot cannot be adjusted to all necessary operation postures, and the accuracy of surgical robot control is low is solved.

The invention discloses a mechanical arm teleoperation training method based on force feedback, and the method comprises the steps: constructing a hot chamber virtual environment containing a mechanical arm model and an operation object through a scene simulation platform Unity, and configuring a joint position according to a real mechanical arm DH parameter; the dynamics simulation platform AppeliaSim builds a corresponding dynamics model, and an inverse kinematics solution and collision detection function is configured; integrating a force feedback device, and constructing a working space mapping model to convert hand motion into an expected pose of the tail end of the mechanical arm; the double platforms synchronize data through a dynamic link library, and the object control and force sense calculation module calculates collision force and bolt assembling and disassembling torque and transmits the collision force and the bolt assembling and disassembling torque to force feedback equipment. The method does not need to depend on a real mechanical arm, safety risks and high cost are avoided, training repeatability and pertinence are improved, immersion and operation precision are enhanced through force sense and visual sense synchronous feedback, the training period is shortened, and the method is suitable for fine operation training of the mechanical arm in a dangerous environment.

The invention relates to a dexterous hand self-adaptive grabbing method, a dexterous hand control system and a storage medium. The dexterous hand self-adaptive grabbing method comprises the steps that multi-modal sensing data is acquired; after the point cloud data is processed and a point cloud global feature vector corresponding to a grabbed target is generated, the tactile patch information is mapped to a dexterous hand working space, and a simulation tactile signal is generated; a Glow-CVAE condition generation model is utilized to process the point cloud global feature vector and the simulated tactile signal, and a candidate grabbing gesture set including joint attitude and pose parameters is generated; and the stability corresponding to each candidate grabbing gesture is determined, a target grabbing gesture is selected from the candidate grabbing gesture set according to the stability, and the grabbing target is grabbed according to the target grabbing gesture. By means of the method and device, the problems that in the prior art, adaptability to special-shaped parts and flexible objects is limited, and grabbing stability is not high are solved, and the beneficial effects of high adaptability and stability of grabbing of diversified objects in a complex scene are achieved.

The invention provides a humanoid apple picking robot which comprises a first humanoid picking mechanism, the first humanoid picking mechanism is installed on a power chassis through a first supporting stand column, and apple picking operation is conducted through two first end effectors on the first humanoid picking mechanism; the second humanoid picking mechanism is installed on the power chassis through a second supporting stand column, two second end executors are movably connected to the second humanoid picking mechanism, and apple picking operation is conducted through the two second end executors. The robot is composed of the two humanoid picking mechanisms, the advantages of a Cartesian mechanical arm and a joint mechanical arm are fused, a heterogeneous complementary cooperative structure is used for replacing a traditional picking mechanical arm with the single height adjustment function, the robot operation space is expanded, the upper-layer and lower-layer operation coverage range is achieved, and the picking efficiency is improved. The fruit picking device is suitable for automatic picking operation in different orchard environments, convenient to use and practical.

The invention relates to an intelligent spraying three-dimensional closed dust fall system of a coal mining machine and a control method, and belongs to the field of spraying dust fall control of a coal mining face of a coal mine. Comprising a coal mining machine, a machine-mounted spraying system and a tracking spraying system, the coal mining machine carries out coal mining conveying through a scraper conveyer; rocker arms are arranged at the front end and the rear end of the coal mining machine and provided with rollers for coal mining. The onboard spraying system is arranged at the root position of a rocker arm of the coal mining machine and is used for enveloping rollers at the front end and the rear end of the coal mining machine; the tracking type spraying system is arranged on the scraper conveyor and located beside the coal mining machine, and the tracking type spraying system is connected with a control system so as to start spraying devices close to the positions of a front roller and a rear roller of the coal mining machine in real time, so that dust-containing airflow generated by coal cutting of the coal mining machine is guided to one side of a coal wall. A three-dimensional closed space is formed around the coal mining machine through the onboard spraying system and the tracking spraying system, so that a dust source is prevented from diffusing to the whole working space along with air flow, and the overall dust falling effect is improved.

The invention discloses a virtual sensory integration training method based on force feedback, and the method comprises the steps: constructing a hot chamber virtual environment containing a mechanical arm model and an operation object through a scene simulation platform, and configuring a joint position according to a real mechanical arm parameter; the dynamics simulation platform builds a corresponding dynamics model and configures inverse kinematics solution and collision detection functions; force feedback equipment is integrated, and a working space mapping model is constructed to convert hand motion into the expected pose of the tail end of the mechanical arm; the double platforms synchronize data through a dynamic link library, and a force sense calculation module calculates collision force and bolt assembling and disassembling torque and transmits the collision force and the bolt assembling and disassembling torque to force feedback equipment. The method does not need to depend on a real mechanical arm, safety risks and high cost are avoided, training repeatability and pertinence are improved, immersion and operation precision are enhanced through force sense and visual sense synchronous feedback, the training period is shortened, and the method is suitable for fine operation training of the mechanical arm in a dangerous environment.

The invention discloses a user working environment persistent storage method based on a double-layer container. The method comprises the steps that mirror images of all public containers in mirror image private server are pulled to a shared storage space to form a hot loading area; dividing a corresponding working space from the shared storage space, querying a target storage block corresponding to a target public container mirror image from a hot loading area based on a public container mirror image identifier in a creation request from a client, copying the target storage block to the working space to serve as a system disk, and further establishing a double-layer container and starting the double-layer container; in response to a modification request of a client, performing corresponding modification operation on the initial state inner layer container to obtain a target state inner layer container, so as to run a user working environment based on the target state inner layer container to execute a computing power task; and storing a file corresponding to the modification operation in the remaining space except the system disk in the workspace to form a user mirror image layer. According to the invention, the persistent storage efficiency of the container state and the user working environment can be improved, and the rapid restarting of the container can be realized.

The invention provides a large-diameter storage tank and isolation lining synchronous installation device and an installation method thereof.The large-diameter storage tank and isolation lining synchronous installation device comprises a tank body and lifting devices annularly arrayed on the periphery of the bottom of the tank body, the tank body is formed by splicing a plurality of ring cylinder sections in a lap joint mode, the cylinder sections are formed by splicing a plurality of arc-shaped pieces in a lap joint mode, and lifting pieces are detachably and fixedly arranged at the bottoms of the vertical lap joint positions of the cylinder sections; the lifting devices are used for being connected with the even number of lifting devices and used for alternately lifting the installed shell ring and the newly-added shell ring. The lifting device is arranged outside the tank body, so that the working space in the tank body is effectively released, the isolation lining can be synchronously mounted in the tank body assembling process, the process splitting caused by the fact that the lifting mechanism occupies the area in the tank body in the traditional process is avoided, the whole construction period is obviously shortened, and the construction efficiency is improved. The management and coordination cost caused by secondary entering is reduced, the lining can be accurately laid and attached under the open, safe and visible working conditions, and the lap joint sealing performance and the structural consistency are greatly improved.

The invention relates to the technical field of agricultural automation, in particular to a robot pollination and picking method based on artificial intelligence machine position adjustment, which comprises the following steps: (1) a target detection stage; (2) a machine position adjusting stage; and (3) a mechanical arm control stage: implementing a hierarchical motion control strategy to finish accurate pollination or picking operation. A cross-modal collaborative decision-making system is adopted, visual perception information and a multi-dimensional decision-making architecture of mechanical arm motion constraints are fused, and a target detection result, robot kinematics parameters and mechanical arm working space constraints are unified in a three-dimensional task space for optimization calculation; the system establishes a mapping model from a visual feature space to a motion space to realize integrated decision of observation quality evaluation and motion planning.

A method for automatically setting up a safety function configuration for a robot device includes obtaining a distance information between at least one moving part of the robot device and a defined position point in an environment of the robot device; comparing the distance information with a minimum gap criterion that defines a minimum distance between the at least one moving part of the robot device and the defined position point in the environment of the robot device, determining automatically a corresponding safety function configuration for the robot device in a dedicated workspace area depending on a deviation of the distance information and the minimum gap criterion.

The invention belongs to the field of mechanical arm control, and relates to a method and device for controlling a mechanical arm by utilizing double-macro lens constraint, and the method comprises the following steps: carrying out system calibration on a double-macro endoscope and the tail end of the mechanical arm to obtain transformation parameters; acquiring an image of a target object in the working space to obtain an original image; performing preprocessing and target detection on the original image to obtain a preprocessed image containing target object features; performing attitude estimation on the preprocessed image to obtain pose information of the target object in a lens coordinate system; a hierarchical iterative approximation strategy of visual feedback is adopted, and a mechanical arm is controlled to drive a double-macro endoscope to gradually approach a target object; the pose information of the target object under the lens coordinate system is converted into a base coordinate system of the mechanical arm; based on the pose information of the target object under the base coordinate system, a mechanical arm joint rotation angle instruction is solved and generated, and a mechanical arm is controlled to complete grabbing operation on the target object; therefore, the fine operation requirement of the manipulator in a narrow working space is met.

This invention relates to the field of deep foundation pit support construction technology, specifically a nested support construction process for deep foundation pit elevator shafts and sump pits. It solves the problem that traditional caisson waterproofing technology is prone to failure due to pit wall collapse in highly permeable gravel strata, making it difficult to create stable construction conditions. The process includes a steel caisson support structure, within which a steel caisson waterproofing structure is nested. This steel caisson waterproofing structure is used in conjunction with the steel caisson support structure for nested construction. This invention, through the nested cooperation of the steel caisson support structure and the steel caisson waterproofing structure, and the injection of a self-compacting concrete filling layer, achieves an integrated support and waterproofing effect during construction. It creates a stable, dry, and enclosed working space in easily collapsible, highly permeable strata, solving the problem of failure of traditional single waterproofing technology and creating safe and reliable conditions for subsequent structural construction.

A liquid-cooled screw compressor (100) that takes in a gas and generates a compressed gas includes a screw rotor (2, 3), a casing (1) that stores the screw rotor (2, 3) and forms a working space (C) together with the screw rotor (2,3), and a cartridge (6) that is a separate member from the casing (1). A liquid feed path (7) that supplies a liquid to the working space (C) is formed by the casing (1) and the outer surface of the cartridge (6).

The invention discloses a multifunctional connector which comprises a socket and a plug in adaptive connection with the socket. The socket comprises a fixing plate, a protruding part is arranged on the fixing plate, and a first inserting groove, a second inserting groove, a third inserting groove and a fourth inserting groove are formed in the protruding part; each slot is divided by an isolation groove; the plug comprises a supporting plate, and a first plug pin, a second plug pin, a third plug pin and a fourth plug pin are arranged on the supporting plate; the plug pins are separated by the separating walls, and the slots are separated by the separating grooves, so that after the plug is connected with the socket, independent working spaces can be formed between the plug pins and the socket, meanwhile, the plug has various connecting capabilities due to the arrangement of the plurality of plug pins, and the plug pins are arranged in the manner, so that the plug is more convenient to use. Therefore, the space of the socket is fully utilized, and the size of the connector can be reduced while the normal output of circuits and signals is ensured.

This utility model discloses a universal filter for amination reactions, belonging to the field of filter technology. The filter includes a tank, a cover, and a filter basket. A first pipe is connected to the tank, and a second pipe is connected to the cover. The filter basket divides the internal space of the tank into a first working space and a second working space. The filter basket includes an annular plate and a bottom plate, with a receiving container on the bottom plate. Liquid in the first working space enters the second working space after being filtered by the filter basket. The receiving container protrudes towards the second working space. This utility model, by providing a receiving container on the filter basket, facilitates the collection of some trapped particles, reduces particles retained on the filter basket, reduces the possibility of particles getting stuck in the filter holes, and reduces the frequency of the filter basket needing to be removed for cleaning. A baffle covers the receiving container, reducing the direct impact of the liquid flow on the internal cavity of the receiving container. The baffle and connecting rod are detachably connected, facilitating the collection of particles inside the receiving container.

A method for calibrating a robot is disclosed. A working space of the robot at least partly overlaps with a working space of a machining and / or production tool. The robot is moved such that a reference point of the robot is at a first position within the working space of the machining and / or production tool. A first position value for the robot at the first position is compared with a first position value for the machining and / or production tool at the position. If the first position value for the robot differs from the first position value for the machining and / or production tool, the first position value for the robot is corrected or the first position value for the machining and / or production tool is corrected such that the first position value for the robot and the first position value for the machining and / or production tool are the same.

The utility model relates to belt dismounting technical field, propose a kind of device for fixing adhesive tape conveyer belt, including bottom plate, the top of the bottom plate is fixedly connected with support rod, the top of the bottom plate is provided with support replacement subassembly, the support replacement subassembly includes fixed bolster, one end of the fixed bolster is fixedly connected in the top of bottom plate, the side of the fixed bolster is provided with adjustment bracket, the top of the fixed bolster is fixedly connected with jack, the side of the support rod is provided with tail wheel, the circumference of the tail wheel is provided with belt, the end of the jack away from fixed bolster is set in the bottom of adjustment bracket, the belt is located on the displacement locus of adjustment bracket, the fixed bolster is provided with two. Through the above technical scheme, the technical problem that it is difficult to provide larger working space in the prior art, so that the operator can more easily dismount the old belt, the tail wheel roller.

The invention discloses an anti-collision method under a synchronous following scene of a severing robot, and belongs to the technical field of automatic production equipment of liquid crystal substrate glass. According to the method, the space coordinate origin of the absolute interference area is determined, the rectangular working space with the origin as the reference is set as the absolute interference area, when the plate severing robot enters the area, the emergency retreating action is triggered, a signal is sent to the transverse cutting machine, and the transverse cutting machine executes the emergency avoiding action after receiving the signal; and meanwhile, cooperative control of the original interference area and the absolute interference area is realized, that is, the robot triggers an original anti-collision program when the robot is in the original interference area and does not enter the absolute interference area, and preferentially executes an emergency action and pauses the original program when entering the absolute interference area. By arranging the absolute interference area, the problem that the robot collides with the transverse cutting machine due to extreme conditions such as parameter errors in a synchronous following scene is effectively solved, the anti-collision reliability and the response speed are improved, the multi-specification production requirements are met, and the production continuity is guaranteed.

This application discloses a linkage control method, device, control equipment, and computer storage medium for a multi-split air conditioning system, relating to the field of air conditioning equipment control technology. The multi-split system includes multiple linked devices, and the linkage control method for the multi-split system includes: periodically acquiring the outlet water temperature of each linked device; based on the outlet water temperature, periodically acquiring the temperature rise parameters of the corresponding working space of each linked device; and controlling the online auxiliary heating function status of each linked device according to the temperature rise parameters and the outlet water temperature. This application can improve the temperature control accuracy of the multi-split system, thereby enhancing the user experience.

The present invention relates to a fire extinguishing apparatus for extinguishing fires in vehicles. The object of the invention is to provide a product and a method for extinguishing fires in a vehicle, especially when it is in an area with limited working space around it. The fire extinguishing apparatus for extinguishing fires in vehicles comprises: - at least one lower tube, wherein said lower tube has at least one inlet opening and at least one closed end, the lower tube is provided with at least one nozzle, - at least one first side tube and at least one second side tube, each with at least one inlet opening and at least one closed end, said first side tube and said second side tube are each provided with at least one nozzle, and said first side tube and said second side tube are arranged substantially parallel to said lower tube.- an inlet distributor is arranged in fluid communication with the inlet opening in said lower tube and the inlet opening in said first side tube and the inlet opening in said second side tube, wherein said first side tube is arranged in a first position with respect to the lower tube and a second side tube is arranged in a second position with respect to the lower tube, wherein in use the inlet distributor is capable of distributing fluid to said lower tube and said first side tube and said second side tube, such that the fluid flows through the nozzles of said lower tube and the nozzles of said first side tube and the nozzles of said second side tube, towards a fire extinguishing zone.

The invention relates to the technical field of agricultural instruments, and discloses a pull-type straw high-density bundling machine which comprises a first rack, a second rack, a picking mechanism and a bundling mechanism, the picking mechanism and the bundling mechanism are arranged on the inner side of the first rack, the second rack is rotationally connected with the first rack, and a first air cylinder used for driving the second rack to rotate is installed on the first rack; lifting plates are arranged on the two sides of the first rack in a sliding mode. Through the arrangement of the first partition plate, the second partition plate, the first elastic sealing strip and the second elastic sealing strip, a semi-closed operation space is constructed, and smashed grass and tree chippings, dust and other impurities raised in the straw picking and compressing stage are effectively prevented from dispersing to the outside; meanwhile, by combining the matched design of the electrostatic generator and the electrostatic plate, stable electrostatic adsorption force is generated on the surface of the electrostatic plate, suspended impurities dispersed in the operation space are rapidly captured, flying dust diffusion is restrained from the source, and the technical problem that the flying dust pollutes the operation environment in the operation process of the pull-type straw bundling machine is successfully solved.

The utility model provides a logistics turnover box convenient to move and take materials, and relates to the field of logistics turnover boxes, the logistics turnover box comprises a turnover box body, reinforcing ribs are fixedly connected to the periphery and the bottom of the turnover box body, a through groove is formed in the bottom of the turnover box body, and trapezoidal grooves are formed in the front face and the back face of the turnover box body; according to the three-dimensional warehouse robot, through the arrangement of the through groove, the effect that the robot can conveniently eject objects out from the bottom is achieved, the trapezoid-shaped groove provides more working space for the mechanical arm so that the special-shaped objects can be conveniently clamped and taken, and through the arrangement of the grabbing opening, a grabbing system of the three-dimensional warehouse robot usually adopts the mechanical arm or a suction cup or other modes; a plurality of grabbing openings are formed in the surface of the turnover box body, the grabbing efficiency and accuracy of a robot can be guaranteed, so that the purpose of facilitating grabbing and moving is achieved, a containing groove and a taking handle are arranged, the containing groove is used for containing the taking handle, and the taking handle plays a role in facilitating a worker to take and move the turnover box body.