70results about How to "Good motion stability" patented technology

The invention discloses a binocular vision-based citrus picking robot and an implementation method thereof. The robot comprises a three-degree-of-freedom moving mechanism, an end execution mechanism,a binocular ranging vision identification mechanism, an ultrasonic ranging mechanism, a base supporting mechanism and an embedded type main control end, wherein the three-degree-of-freedom moving mechanism is overall located on the base supporting mechanism; a synchronous belt linear module sliding table is vertically fixed above a moving mechanism; a screw rod guide rail sliding table is connected with the synchronous belt linear module sliding table through a lifting telescopic mechanism connecting piece and forms an inclination angle of 15 to 30 degrees together with the synchronous belt linear module sliding table; the end execution mechanism is fixed at the tail end of the screw rod guide rail sliding table. The binocular vision-based citrus picking robot is simple in structure and convenient to control; by the adoption of a guide rail walking type structure, the robot is high in motion steadiness, can overcome the physiographic barrier of a steep terrain of an orchard and relievethe working intensity of manual picking, and is high in citrus picking precision.

The invention discloses a servo brake cylinder used for a distributed composite brake system, the distributed composite brake system adopting the servo brake cylinder and a brake method of the distributed composite brake system adopting the servo brake cylinder. The servo brake cylinder comprises a shell body, an electromotor, a coupler, a ball screw assembly composed of a nut and a lead screw, abearing, a retainer ring, a piston, a cylinder body and a return spring, wherein an inner hole is formed in the center of the piston, the inner hole comprises a tapered first conical surface, a cylindrical surface and a gradually-expanded second conical surface, the left end of the lead screw extends in the axial direction to sequentially form a tapered third conical surface, a cylindrical surfaceand a gradually-expanded fourth conical surface, the first conical surface cooperates with the fourth conical surface to form an output valve, and the second conical surface cooperates with the thirdconical surface cooperate to form an input valve. According to the servo brake cylinder used for the distributed composite brake system, the distributed composite brake system adopting the servo brake cylinder and the brake method of the distributed composite brake system adopting the servo brake cylinder, the advantages of being compact in structure, flexible in control, high in braking response, high in braking pressure control precision, reliable in failure protection capability, low in manufacturing cost and the like are achieved, so that an intelligent driving automobile is good in motion stability and high in reliability during braking.

The invention discloses a robot vehicle body suspension system, comprising a suspension mechanism, a coupling mechanism, a motor, a driver and a wheel. The suspension mechanism comprises a support frame, a connecting rod assembly, a transverse arm assembly and a shock absorber; the support frame, the transverse arm assembly and the connecting rod assembly form two parallelogram mechanisms; the shock absorber is positioned between the two parallelogram mechanisms and in a vertical direction; the support frame and the connecting rod assembly are respectively connected with the two ends of the shock absorber. The motor is arranged on the lower part of the suspension mechanism and is fixedly connected to the connecting rod assembly. The coupling mechanism is used for connecting a motor output shaft with the wheel. The driver is embedded on the motor. The robot vehicle body suspension system has a strong environmental adaptability which ensures the robot wheels to touch the ground all through the movements in different environments. The robot vehicle body suspension system also has the advantages of stable motion, simple structure and reliable performance, and is worth popularizing in the industry.

The invention discloses a cable-stayed bridge cable detection robot system which comprises a machine frame. Multiple power climbing mechanisms are arranged on the machine frame and are distributed in the peripheral direction, each power climbing mechanism comprises a power mechanism and two climbing mechanism bodies, the two climbing mechanism bodies are vertically arranged and are connected through a synchronous drive mechanism, each climbing mechanism body comprises rolling wheels capable of rolling on cables, the rolling wheels of one climbing mechanism body are driven to rotate by the corresponding power mechanism, and the synchronous drive mechanism can drive all rolling wheels of the two vertically-arranged climbing mechanism bodies to synchronously rotate. The machine frame comprises multiple sub supporting frames, each power climbing mechanism is installed on the corresponding sub supporting frame, every two adjacent sub supporting frames are connected through a connecting device, and the distance between every two adjacent sub supporting frames can be adjusted through the corresponding connecting device. The cable-stayed bridge cable detection robot system has very high adapbility and can work on the cables different in diameter, the sub supporting frames are connected by using the connecting devices, and overall size adjustment of the robot system is facilitated.

The invention is a robot vehicle body suspension system, relating to the movable robot mechanism design field. The robot vehicle body suspension system which consists of a drive component, a frame base board component and a vibration damper plate component adopts a layering, two stage shock absorption mechanism; the first layer of the shock absorption mechanism is provided with a left electric motor, a right electric motor, a left driving wheel and a right driving wheel; the second layer is provided with a front and a back follow up pulleys; the first layer is in elastic connection with the second layer by a compression spring set; the front and the back follow up pulleys connected with each other by a tension spring are capable of wholly rotating around a front and a back rotation axis pair; the left and right driving wheel are respectively driven by separate electric motors; the sleeve bolt set under the springs of the frame base board component are all divided into four groups and each group has 4 bolts; the sleeve bolt set above the springs of the vibration damper plate component are all divided into four groups and each group has 4 bolts. Thereby the invention has the advantages of having perfect shock absorbing capability of the vehicle body and prolonging service life of elements and components, along with a simple structure and reliability.

The invention provides an intelligent swing gate system. The intelligent swing gate system comprises a control circuit and a gate machine with two gates, and further comprises two actuators and two motors. The gate machine is further provided with an information collection unit, and the information collection unit and the actuators are electrically connected with the control circuit; each actuator is electrically connected with one gate through one motor. The information collection unit obtains identity information of a user; the control circuit sends a gate opening or closing action instruction to each actuator according to the identity information; based on the sine and cosine acceleration and deceleration algorithm and a planned gate action curve, each actuator generates rotation information of the corresponding motor, and sends the rotation information to the corresponding motor; according to the rotation information, each motor drives the corresponding gate to be opened to a target position. The intelligent swing gate system is good in motion stability, synchronization of an opening position and a closing position can be ensured, the sine and cosine acceleration and deceleration algorithm is adopted, gate is opened or closed in place and accurately, the phenomena of overswinging, shaking and impacting does not occur, and the reliability and the user experience are improved.

The invention discloses a hydraulic intermittent motion mechanism, wherein, a rotating platform (1) is provided with a plurality of taper pin holes; the rotating platform (1) is tightly connected with a rotating column (2) and then arranged on a frame (8); the rotating platform (1) and the rotating column (2) moves relative to the frame (8); a pin hydraulic cylinder (7) is fixed on a swinging rod (3); the other end of the swinging rod (3) is hinged with a connecting rod (4); the swinging rod (3) and the frame (8) form a prismatic pair to ensure the rigidity of the swinging rod under the action of the pin hydraulic cylinder; the other end of the connecting rod (4) is hinged with a sliding block (6); the sliding block (6) is arranged on the frame (8) and slides on the frame, and the sliding block (6) is fixedly connected with a piston rod of an active hydraulic cylinder (5); and the active hydraulic cylinder (5) is fixedly connected with the frame (8). In the invention, the sliding block and the swinging rod are organically combined with hydraulic transmission so as to realize connection and disconnection between the swinging rod and the rotating platform, thus achieving intermittent circular motion of the rotating platform, solving the problem of heavy load that the common intermittent mechanism can not adapt to, and meeting the demand of automatic production.

The invention discloses a hydraulic parallel driving system for fore-and-aft lifting of a forging manipulator. The P port of a nonsymmetrical proportional servo valve (2-1) is respectively connected with an oil supply port (1) of an oil source and the P port of a symmetrical proportional servo valve (2-2); the A port of the nonsymmetrical proportional servo valve (2-1) is respectively connected with the A port of the symmetrical proportional servo valve (2-2), the inlet of a lower cavity safety valve (3-2) and the like; the B port of the nonsymmetrical proportional servo valve (2-1) is respectively connected with the inlet of an upper cavity safety valve (3-1), the outlet of an upper cavity one-way valve (4-1), the inlet of an upper cavity cut-off valve (5-1) and the like; the B port of the symmetrical proportional servo valve (2-2) is plugged; an oil return port (7) of the oil source is respectively connected with the T port of the nonsymmetrical proportional servo valve (2-1), the T port of the symmetrical proportional servo valve (2-2), and the like; and the top ends of the piston rods of four lift cylinders are mechanically consolidated. The hydraulic parallel driving system disclosed by the invention can solve the problem of synchronous driving of fore-and-aft lifting systems of the existing forging manipulator.

A device for indicating the failure of an electric apparatus comprises an indicator, a fastener and a spring; the indicator and the fastener are arranged in the base of the electric apparatus; the indicator and the fastener are provided with a buckling-locking surface and a locking-buckling surface which are capable of realizing self-locking respectively; the indicator is provided with a white indicating surface representing a normal situation and a red indicating surface representing a failure situation; and the spring provides suitable self-locking force for the indicator and the fastener and provides a driving force for the indicator to be converted from a normal state to a failure state. When manually opening and closing the brake, the white indicating surface is always locked in the window of the base so as to indicate that the electric apparatus is in a normal state; when the electric apparatus fails and trips, the indicator and the fastener are released and rotate under the action of the elastic force of the spring so that other red indicating surfaces enter the window of the base so as to indicate that the electric apparatus is in a failure state; and the memory of the indicating state is not finished until the manual closing operation of the electric apparatus is carried out. The failure indication device has simple structure, good safety and reliability, low preparation cost and wide applications.

The invention discloses a pipeline robot driving mechanism which is composed of a front rack and a rear rack, wherein the front rack and the rear rack are both arranged in a pipeline and are connected by a cardan joint; the front rack and the rear rack are respectively provided with a rack cylinder and three groups of traveling mechanisms which only can move unidirectionally, wherein the rack cylinders are arranged in the center of the pipeline, and the traveling mechanisms are articulated on the outer circumference of the rack cylinders and distributed by 120 degrees; a cylinder is fixed in the rear rack and is connected with a motor fixed in the rear rack cylinder by a crank link mechanism; the outer end of a cylinder piston rod is connected with the cardan joint; a first hinge point and a second hinge point are positioned on different planes; and a third hinge point and a fourth hinge point are also positioned on different planes. The pipeline robot driving mechanism can work in straight pipelines and elbow pipelines of different diameters, which is the most outstanding characteristic, and meanwhile, the pipeline robot driving mechanism has the characteristics of simple structure, novel design, good movement stability and lower cost.

The invention discloses a forklift truck type carrying trolley of a flexible manufacturing system, and relates to the technical field of relevant automatic processing equipment. The forklift truck type carrying trolley comprises an X-direction guide rail bracket, wherein an X-direction linear guide rail is arranged on the X-direction guide rail bracket; an X-direction sliding seat is mounted on a sliding block of the X-direction linear guide rail; an X-direction driving gear is mounted below the X-direction sliding seat and drives the X-direction sliding seat through a gear rack to do transverse motion on the X-direction guide rail bracket. The carrying trolley has the advantages of high guide precision, high moving steadiness and simple and compact structure.

The invention discloses a microstep robot. The microstep robot comprises a shell, a forward motor, a walking mechanism and a steering mechanism. The walking mechanism comprises a gear transmission mechanism, a Chebyshev connecting rod mechanism and feet. The gear transmission mechanism comprises a front driving gear, a middle gear and a rear driving gear which are sequentially meshed in a front-back mode. The forward motor is connected with the middle gear through a coupler. The front and rear driving gears are each provided with a gear shaft. The Chebyshev connecting rod mechanism is driven by the gear shafts. The steering mechanism comprises a driving gear, a steering gear, a thrust ball bearing, a base and a steering engine. The driving gear and the steering gear are arranged horizontally and meshed with each other. The steering engine is connected with the gear shafts of the driving gears. The thrust ball bearing is connected to the lower portion of a gear shaft of the steering gear and located inside a bearing pedestal below a shell. The gear shaft of the steering gear is connected with the base through a cotter pin. The microstep robot does not have the high requirement for ground flatness, can step over a lower barrier and has the steering characteristic.

The invention discloses a front leg mechanism of a composite wheel leg type wheelchair. The front leg mechanism of the composite wheel leg type wheelchair is characterized by mainly comprising a rear connecting plate position and posture adjusting mechanism, a front connecting plate position and posture adjusting mechanism, a power transmission mechanism, a variable transmission mechanism and a control system. The rear connecting plate position and posture adjusting mechanism comprises a box, a rear connecting plate, a spindle, a crank, a guide rod, a sliding block, a guide rod seat, a left screw, a left rack nut, an upper electromagnetic clutch, a left handle, a rear guide wheel, a front guide wheel and a lower shaft. The front connecting plate position and posture adjusting mechanism comprises a front connecting plate, a right screw, a right rack nut, a lower electromagnetic clutch, a right handle and an upper shaft. The power transmission mechanism mainly comprises a spindle, a middle small shaft, a lower small shaft, a front guide wheel, a rear guide wheel, a middle bottom wheel gear and an underneath bottom wheel gear. The variable transmission mechanism mainly comprises a nut, a spring, a middle bottom wheel gear, a friction plate, a rear guide wheel and an upper shaft. The control system mainly comprises a sensing detection module, a driving module and a timing module.

The invention discloses a plunger pump driving device with an automatic compensation function. The plunger pump driving device with the automatic compensation function comprises a hollow cylinder, wherein a plunger is arranged inside the cylinder; a constant pressure overflow valve is arranged inside the plunger; a plunger pin is arranged on the plunger and connected with a crank driving mechanism; the cylinder is connected with a hydraulic cavity of a constant delivery diaphragm pump head; and the cylinder is connected with an oil storage tank through a hose. According to the plunger pump driving device with the automatic compensation function, the problems that an oil supplementary valve of an existing hydraulic diaphragm pump is complicated in structure, and assembling and negative pressure parameter adjustment are difficult are solved.

The invention discloses a rapier loom noncircular gear planetary gear train weft insertion mechanism. The invention is characterized in that planetary carriers are driven by a main shaft of the loom; a drive noncircular sun gear is moveably sleeved on a driven noncircular sun gear shaft, and the drive noncircular sun gear is fixed and can not move; planetary shafts are driven by the planetary carrier; two noncircular gears are fixedly connected on the planetary shafts, one of noncircular gears is engaged with the drive noncircular sun gear, and the other is engaged with the driven noncircular sun gear; and the driven noncircular sun gear outputs motive power, and then the movement and the motive power of the main shaft of the loom are transferred to a rapier gripper by cylindrical gear drive, bevel gear drive and engagement of a rapier wheel and a rapier tape. A noncircular gear planetary train, the cylindrical gear and a bevel gear mechanism are used to transform uniform rotation of the main shaft of the loom to non-uniform reciprocating movement of the rapier gripper. Optimizing the drive ratio function of the noncircular gear can lead an acceleration rule of the rapier gripper to be an isosceles trapezoid to reduce tension of weft. Relay weft insertion can be achieved through different initial phase angles of the planetary carriers in weft insertion mechanisms symmetrically arranged at the left side and the right side of the rapier loom.

The invention relates to an automatic riveting device suitable for a satellite disc type conductive slip ring ultra-thin reed. The device comprises a riveting machine, a riveting head, a riveting fixed clamping tool, a precise driving platform, a sensor, a control system and the like. A rivet, the reed and a printed brush plate are accurately positioned through the riveting fixed clamping tool; the riveting machine is controlled by the control system, the riveting head is tightly absorbed by means of magnetic force, and the riveting head is pressed to a certain position through high-speed rotation; the sensor is used for feeding back riveting force to the control system in real time to finally achieve riveting of a fixed force value; after one point is riveted, the control system is used for controlling the precise driving platform to accurately move to a next riveting point, and the operation is repeated, so as to realize automatic riveting of the reed. According to the automatic riveting device in the invention, positioning and fastening of the reed are realized, through force feedback control, the pressing quality consistency of the riveting points is guaranteed to be good, andthe reliability is guaranteed to be high; and through the precise driving platform, automatic riveting of a group of reeds is realized, and the product quality precision and efficiency are improved.

The invention provides a packaging bag punching device, which relates to the technical field of packaging bag punching, including a base, a transmission mechanism, a punching mechanism and a support seat fixedly connected to the top of the base. The transmission mechanism is set on the support seat, and the punching mechanism includes an upper fixed block, a lower moving block, a circular dial and a punching needle arranged on the annular dial, and several elastic parts are arranged between the upper fixed block and the lower moving block , the upper fixed block is fixed on the lower end of the support seat, and the annular needle disc is connected to the lower end of the lower moving block; when punching, the elastic member instantly drives the lower moving block to drive the punching hole on the annular needle disc to punch the packaging bag on the transmission mechanism hole. Through the implementation of this technical solution, it is possible to effectively avoid the phenomenon of rough edges or out-of-roundness in the punching in the prior art, and improve the punching quality of the packaging bag; and it can also produce packaging bags with different apertures at the same time, improving the efficiency of punching the packaging bag .

The invention discloses a no-tooth transmission lead screw with adjustable polish rod axis positions and transmission friction force. The no-tooth transmission lead screw with the adjustable polish rod axis positions and the transmission friction force comprises a displacement block, a displacement platform, a polish rod, a friction drive pair, an adjusting screw group and a jacking bolt group, wherein the displacement platform is connected with the displacement block, the polish rod penetrates through an inner cavity of the displacement block, the friction drive pair is installed on the polish rod and is composed of a bearing group and a wedge block group, the adjusting screw group is pushed upwards to the bearing group and used for adjusting the positions of a polish rod axis, and the jacking bolt group is used for adjusting the friction force, locking and loosening the drive pair. Fast centering of the polish rod is easily achieved, and motion stability is good by adjusting of the adjusting screw group. By means of adjusting of the jacking bolt group, the transmission friction force can be adjusted, locking and releasing of the polish rod can be achieved, the displacement platform is enabled to do precise fine motions and fast motions, and changing over of the motions is simple, convenient and fast. The no-tooth lead screw is small in abrasion, strong in loading capacity, easy to machine, convenient to assemble, stable in quality and low in cost by adopting of symmetric design and standard parts. The no-tooth lead screw can be applied to a machine tool, a coordinate measuring machine and an image measurement device to drive the displacement platform to do fine displacement motions.

A two-degree-of-freedom hydraulic holder comprises a lower hydraulic oscillating cylinder, an upper hydraulic oscillating cylinder and a bracket, wherein the lower hydraulic oscillating cylinder is connected into a lower oscillating cylinder fixing housing; an output shaft of the lower hydraulic oscillating cylinder vertically extends out of the upper end of the lower oscillating cylinder fixing housing; the upper hydraulic oscillating cylinder is connected into an upper oscillating cylinder fixing housing; an output shaft of the upper hydraulic oscillating cylinder horizontally extends out of the upper oscillating cylinder fixing housing; the upper oscillating cylinder fixing housing is connected to the output shaft of the lower hydraulic oscillating cylinder; a bracket is connected to the output shaft of the upper hydraulic oscillating cylinder. The holder has two rotation degree of freedom, and axes are vertically intersected; the two-degree-of-freedom hydraulic holder is driven through two hydraulic oscillating oil cylinders; an encoder is mounted on the rotating shaft of each hydraulic oscillating oil cylinder and is used for detecting the angular displacement of each oscillating oil cylinder. The wo-degree-of-freedom hydraulic holder is capable of resisting strong electromagnetic interference, high in loading capacity, high in motion stability, high in protection level, and compact in structure.

The invention discloses a needle bed structure of a computerized flat knitting machine, and belongs to the technical field of knitting machinery. The needle bed structure comprises a needle bed body, a group of needle grooves and at least one insert groove are formed in an area from one end of the needle bed body to the other end at intervals in the length direction and form a cross relation, and an insert is inserted into the insert groove. The needle bed structure is characterized in that magnetic stripes are arranged at the bottom of the insert groove and in the length direction of the insert groove, the lower parts of knitting needles of a knitting needle assembly attract the magnetic stripes, and the upper parts of the knitting needles are in contact with the insert. The needle bed structure has the advantages that the magnetic stripes are arranged at the bottoms of the needle grooves, and the magnetic stripes attract the knitting needles of the knitting needle assembly, so that moving stability of the knitting needles in the needle grooves can be remarkably improved, and the knitting effect of a knitting mechanism is ensured.

The invention discloses an electric trolley device for a straight track or an arc track. The electric trolley device comprises the track, a mounting bottom plate, a driving motor connected with the mounting bottom plate, a speed reducer connected with the driving motor, a transmission belt arranged on the track, a transmission gear meshing with the transmission belt, two rotating plates arranged at the upper end of the mounting bottom plate, travelling wheels and a transmission mechanism. The two rotating plates are each connected with the mounting bottom plate through a rotating shaft. The rotating shafts and the rotating plates as well as the rotating shafts and the mounting bottom plate are connected through bearings correspondingly. Each rotating plate is symmetrically provided with the two travelling wheels which are symmetrically arranged at the two ends of the track. The travelling wheels are connected to the mounting bottom plate through first brackets and can travel on the track in a rolling mode. The transmission mechanism comprises a driving transmission mechanism body and a driven transmission mechanism body. The driving transmission mechanism body is connected with thespeed reducer, and the driven transmission mechanism body is connected with the rotating shafts. The upper ends of the rotating shafts are connected with the transmission gear. A track trolley of theelectric trolley device can operate stably on the bent track.

The invention discloses a special high-precision arc channel composite milling machine for a bell housing, and belongs to the technical field of milling machines, a clamping device comprises a spring chuck, a hydraulic indexing tool turret, an extension seat, a tool turret seat, a transmission rod, an arc rotating table and a driving mechanism, the arc rotating table is fixedly installed on a workbench, and the transmission rod is installed in the arc rotating table in a transmission mode; the tool turret base is fixedly installed at the upper end of the transmission rod, the extension base is integrally formed on one side of the tool turret base, the hydraulic indexing tool turret is fixedly installed on the extension base, the spring chuck is installed on the hydraulic indexing tool turret, and the driving mechanism is fixedly installed at the lower end of the arc rotating table. The transmission rod is driven by the driving mechanism to do reciprocating rotation motion so as to drive the spring chuck to do reciprocating arc track motion on the horizontal plane, and the effects of being simple and ingenious in structure, long in service life, stable in cutter cutting, high in machining precision, low in energy consumption, low in cost, capable of machining double arc channels at a time and high in machining efficiency are achieved.

The invention relates to a mobile robot mechanism, in particular to an insulator detecting robot mechanism which comprises an opening and closing mechanism, a detecting mechanism and a plurality of moving parts. The moving parts are evenly distributed on the opening and closing mechanism in the circumferential direction. The detecting mechanism is arranged on the opening and closing mechanism or any one moving part. When an insulator string is detected, the robot mechanism climbs on the insulator string through the moving parts and detects the insulator string through the detecting mechanism. The opening and closing mechanism is provided with a self-locked worm and gear structure, the moving parts are the same in structure and each comprise an upper connecting rod, a second rotary joint, an upper wheel leg, a lower connecting rod, a third rotary joint and a lower wheel leg, and the upper wheel leg and the lower wheel leg are the same in structure. The insulator detecting robot mechanism has high adaptability to insulators of different types and is high in moving speed, convenient to detect and high in reliability, and the detecting mechanism is easy to arrange.

The invention discloses a rubber pipe washing device for gynaecology and obstetrics. The rubber pipe washing device comprises a body, a water discharging opening is formed in the bottom of the left side of the body, a lifting device is hoisted at the top end of the body, an installing platform is arranged at the bottom of the lifting device, an upper washing plate is arranged below the installingplatform through a second spring, a contact block is arranged at the upper end of the upper washing plate, and a reciprocating motion device is arranged on the contact block; a water inlet is formed in the right side of the body, a washing plate platform is arranged at the lower end of the upper washing plate, the two ends of the washing plate platform are arranged in sliding grooves in a slidingplate through sliding wheels, and the left end of the washing plate platform is provided with a suction block; and the suction block is sleeved with a first spring, the right end of the first spring is fixedly arranged on the washing plate platform, the right end of the first spring is arranged on an electromagnet, and the electromagnet is fixedly arranged on the inner wall of the left side of thebody. The rubber pipe washing device is simple in structure, good in washing effect and convenient to use.

The invention provides a shooting balloon.The shooting balloon comprises a balloon body, a shooting device, wings, first driving devices and second driving devices, wherein the shooting device is installed on the balloon body, the number of the wings is two, and the wings are oppositely installed on two sides of the balloon body.The first driving devices are used for driving the wings to rotate with the connecting line of the two wings as the rotation axis.The second driving devices are used for driving the wings to rotate with a straight line intersected with the connecting line as the rotation axis.Application of the shooting device in a toy is achieved by adopting the balloon as the body, the balloon is used as a bearing device for shooting in the air, and the costs are saved.In addition, a double-wing structure is adopted, reverse twisting forces on two sides of the wings are very small, the technical problem that a reverse twisting moment produced by a propeller easily causes yaw of the shooting balloon is effectively solved, and accordingly the motion stability of the balloon body can be better.

The invention provides a handheld electric particle implantation device driven by a linear motor, and belongs to the field of medical instruments. The handheld electric particle implantation device ischaracterized in that a guide rail is installed on a body, wherein a first sliding block and a second sliding block are installed on the guide rail; a front baffle is installed at the front end of the guide rail; a linear motor stator is installed on the body; a linear motor rotor is installed on the lower face of the first sliding block and matched with the linear motor stator; a flat plate is installed on the first sliding block; an inner needle driving mechanism, a shifting rod mechanism and a clip module are installed on the flat plate; the clip module is in threaded connection with a quick connector; the quick connector is connected with a puncture needle; an outer needle driving button and an inner needle driving button which are installed on a handle of the body are used for controlling the linear motor and the inner needle driving mechanism to move; a speed adjusting knob is used for controlling the movement speed of the linear motor; a battery is installed at the tail of thebody and provides power for the whole mechanism; a middle supporting structure is installed on the second sliding block; the puncture needle is prevented from being stressed and bent in the working process; and the supporting effect is achieved. By means of the device, horizontal and vertical needle insertion at a certain angle can be achieved, and the problems existing in an existing device are solved.

The invention discloses a cable-stayed bridge cable detection robot system which comprises a machine frame. Multiple power climbing mechanisms are arranged on the machine frame and are distributed in the peripheral direction, each power climbing mechanism comprises a power mechanism and two climbing mechanism bodies, the two climbing mechanism bodies are vertically arranged and are connected through a synchronous drive mechanism, each climbing mechanism body comprises rolling wheels capable of rolling on cables, the rolling wheels of one climbing mechanism body are driven to rotate by the corresponding power mechanism, and the synchronous drive mechanism can drive all rolling wheels of the two vertically-arranged climbing mechanism bodies to synchronously rotate. The machine frame comprises multiple sub supporting frames, each power climbing mechanism is installed on the corresponding sub supporting frame, every two adjacent sub supporting frames are connected through a connecting device, and the distance between every two adjacent sub supporting frames can be adjusted through the corresponding connecting device. The cable-stayed bridge cable detection robot system has very high adapbility and can work on the cables different in diameter, the sub supporting frames are connected by using the connecting devices, and overall size adjustment of the robot system is facilitated.