38results about How to "Improve movement flexibility" patented technology

The invention discloses a rehabilitation robot and a human-machine cooperative interaction force control method thereof. The rehabilitation robot comprises a robot arm with at least one joint. The method for controlling the human-machine interaction force of the rehabilitation robot comprises the following steps: detecting an action moment of a patient's affected side limb acting on the robot arm;Generating a target motion trajectory of the manipulator; Establishing a dynamic model of the manipulator; Calculating a joint moment required for generating the target motion trajectory by using aninverse dynamics principle; Calculating a friction compensation torque of the joint and a dynamic compensation torque of the affected side limb of the patient; The joint torque, the action torque, thedynamics compensation torque, and the friction compensation torque are used as control inputs to the manipulator. The robot can provide the compliant force interactive control between the patient andthe rehabilitation robot arm, provides complete dynamic compensation, improves the equipment motion starting ability and flexibility, and is favorable for improving the experience degree of the patient to the auxiliary rehabilitation training. The invention can provide the compliant force interactive control between the patient and the rehabilitation robot arm, provides complete dynamic compensation, and improves the equipment motion starting ability and flexibility.

The invention discloses a bionic wall-climbing robot suitable for a complicated narrow and small space in a space station microgravity environment. Technical problems to be solved are that the gait and trajectory planning of a traditional robot are restricted and it is hard for the traditional robot to pass through multiple complicated narrow and small spaces because the multiple complicated narrow and small spaces are available in the space station microgravity environment and the working space of the traditional robot is limited due to a mechanical structure in the background technology. According to the technical scheme, the bionic wall-climbing robot suitable for the complicated narrow and small space in the space station microgravity environment comprises a robot body, four multi-posefast conversion bionic single leg modules and four active adhesion and desorption paw mechanisms; and bionic toe adhesion units are arranged at the tail ends of the four active adhesion and desorption paw mechanisms. The bionic wall-climbing robot suitable for the complicated narrow and small space in the space station microgravity environment has the advantages that a multi-pose and gait conversion mechanism is realized by using a differential gear transmission mechanism; by combining a thigh rotation joint and a leg lifting joint, the flexibility of the leg motion of the robot is improved;by using the active adhesion and desorption paw mechanisms, rapid desorption and gait conversion are realized so that the bionic wall-climbing robot adapts to multiple special poses and motion gaits;and a passing and moving ability in the complicated narrow and small space is realized.

The invention discloses a three-degree-of-freedom flip-flow screen which comprises a support frame assembly, a screen box, a movable beam, a fixed beam, a rubber shearing spring, a movable beam connecting plate, an inertial exciting device, a transverse exciting device and a screen piece, wherein the support frame assembly is composed of a front support frame, a rear support frame and an exciter support frame. The screen box is supported on the front support frame and the rear support frame through a rubber damper spring. The fixed beam is fixedly connected with the screen box. The movable beam connecting plate with the movable beam is connected with the screen box through the rubber shearing spring. The two ends of the screen piece are respectively and fixedly connected with the movable beam and the fixed beam. The power end of the inertial exiting device and the power end of the transverse exciting device are fixedly installed on the top of the exciter support frame. The screen piece can obtain the vibrational excitation with three degrees of freedom, and the parameters of the inertial vibration and the transverse vibration can be adjusted separately. The three-degree-of-freedom flip-flow screen is particularly suitable for screening of humid materials with the fine granularity, and has the advantages of being compact in structure, long in service life, large in processing amount, high in efficiency and low in cost.

The invention discloses a control method of a multi-section peristaltic snake-like robot running in a nuclear fusion cabin. The control method is characterized in that a front section side positioning module and a rear section side positioning module are symmetrically arranged at two ends of a middle section axial moving module to form a walking mechanism, the walking mechanism is used as at least two creeping units, the at least two creeping units are serially connected to form the multi-section peristaltic snake-like robot, and adjacent creeping units are connected by using two telescopic elastic universal joints. By using the control method disclosed by the invention, a locomotion gait similar to multi-section worm walking can be realized, the running stability is good, the control is simple; a movement locus can be across a large dual-ring groove at the bottom of the whole nuclear fusion cabin, and the all-dimensional vision information acquisition of a space inside the nuclear fusion cabin is realized by carrying a vision observing cloud deck.

The invention discloses a metal die-casting die capable of internally and automatically cutting off a sprue. The die is composed of a fixed clamping plate, a moving clamping plate, a stripper plate, a pull needle, pull rods, a guide column, a resin die opener, a sliding block and a pressing block. The first pull rod (7), the second pull rod (6), the resin die opener (18) and the pull needle (21) are communicated to form an automatic cut-off mechanism of a die gating system. The pull needle (21) and the stripper plate form a gating system freezing material disengagement device. A first ejector pin (15), a second ejector pin (33), a rack core (32), an ejector pin plate and an ejector pin fixing plate are communicated to form a die ejecting mechanism. An inclined guide column (26), an inclined pressing block (27), a sliding block (30) and a first spring (31) are communicated to form a die side face core-pulling mechanism. According to the metal die-casting die, the action is firm and reliable, pressure transfer is good, the automatic sprue shearing efficiency of the die is high, and by means of optimized module design, the structure is compact, and manufacturing, installation, debugging and maintenance are convenient.

An intelligentized nursing cup device for psychiatric nursing comprises a rotating cover, a sucker, a cup cover, a booster pump, a cup body, a liquid crystal displayer, a microphone, a cup handle, a sound control device, a radio transmitting and receiving device, a water inlet, a rubber wheel, a groove, a hydraulic telescopic rod, a suction cup, a water inlet pipe, a temperature sensor, a sleeve, a filter, a water outlet pipe, an electronic flow controller, a motion sensor, a rotating shaft, a silicon gel end socket, an electronic gate, a sliding block, a detecting instrument, a mechanical gyroscope, a fluorescence graduated disc and a single chip microcomputer. The cup body is a main component, the cup cover is arranged on the top of the cup body, the water inlet pipe is arranged inside the cup body, the other end of the water inlet pipe is connected with the filter, and the filter is provided with the water outlet pipe outwards. According to the intelligentized nursing cup device for psychiatric nursing, the whole structure is simple, operation and use are convenient, stability is good, reliability is high, and the intelligentized nursing cup device for psychiatric nursing is suitable for mental patients and assists the patients in controlling the drinking amount of a drink; the nursing cup is high in motion flexibility and more user friendly, and positioning precision is high due to cooperative work of various positioning devices.

The invention discloses a visual observation mechanism working in a nuclear fusion chamber and a control method thereof. The visual observation mechanism is characterized in that a front body segment lateral positioning module and a rear body segment lateral positioning module are symmetrically arranged at two ends of a middle body segment axial motion module to form a traveling mechanism; a visual observation cloud deck is arranged at the front part of the front body segment lateral positioning module; the front body segment lateral positioning module and the middle body segment axial motion module are connected by a front double universal joint; the rear body segment lateral positioning module and the middle body segment axial motion module are connected by a rear double universal joint. According to the visual observation mechanism disclosed by the invention, the traveling mechanism is wide in motion range; the traveling track of the traveling mechanism can extend all over the complete cycle of a large-double circular channel at the bottom of the nuclear fusion chamber; the visual observation cloud deck is arranged in a matching way, so that all-round visual information acquisition of an annular space with a D-shaped section inside the nuclear fusion chamber can be finished.

The invention discloses a multi-section peristaltic snakelike robot working in a nuclear fusion bin. The multi-section peristaltic snakelike robot working in the nuclear fusion bin is characterized in that each walking mechanism is composed of a front body section lateral positioning module and a rear body section lateral positioning module symmetrically arranged at the two ends of a middle body section axial movement module, the walking mechanisms serve as wriggling units, at least two wriggling units are connected in series to form the multi-section peristaltic snakelike robot, and the adjacent wriggling units are connected through telescopic elastic double universal joints. The movement track of the multi-section peristaltic snakelike robot can cover a whole large double annular groove way in the bottom of the nuclear fusion bin, the movement gait is like walking of a multi-section worm, movement stability is good, control is simple, and omnibearing visual information collection of the internal space of the nuclear fusion bin can be realized by mounting a visual observation cloud platform.

A lasso-driven hip joint series elastic power-assisted exoskeleton robot comprises a waist connecting mechanism and leg connecting mechanisms. The leg connecting mechanisms are arranged on the two sides of the waist connecting mechanism, motor series elastic modules are arranged on the two sides of the waist connecting mechanism correspondingly, hip joint series elastic modules are arranged at thetops of the leg connecting mechanisms, the hip joint series elastic modules and the motor series elastic modules are in connection transmission through lasso transmission mechanisms, and the hip joint series elastic modules, the motor series elastic modules and the lasso transmission mechanisms provide control and power through a driving and sensing system. According to the lasso-driven hip jointseries elastic power-assisted exoskeleton robot, walking assistance can be provided for people with weak walking ability such as old people or sick rehabilitation people, walking assistance can alsobe provided for people needing long-time and long-distance walking in daily life, human-computer interaction and intention perception technologies are combined, human body movement assistance is further achieved, and the human body movement ability is improved.

The invention relates to a waist exoskeleton system. The waist exoskeleton system comprises a power device, a waist device and a chest device, wherein the power device comprises a power assembly and atransmission assembly; the power assembly is connected with the transmission assembly and drives the transmission assembly to move; the waist device comprises a waist clamp plate for fixing the powerdevice, and the transmission assembly is connected with the waist clamp plate and drives the waist clamp plate to rotate relative to the transmission assembly; and the chest device is connected withthe transmission assembly, and the transmission assembly drives the chest device to rotate relative to the waist device. According to the waist exoskeleton system provided by the invention, the transmission assembly is provided with power support by the power assembly to drive the breast device and the waist device to rotate, and drive the breast device and the waist device to relatively rotate, thereby providing users with power in the processes of bending, declining and standing, and relieving the labor intensity of users; and in addition, the waist exoskeleton system has simple structure and is burden-free in wearing, thereby improving the flexibility of the users in movement.

The invention discloses a control method of a visual detecting device in a nuclear fusion cabin. The control method of the visual detecting device in the nuclear fusion cabin is characterized in that a front body segment lateral positioning module and a rear body segment lateral positioning module are symmetrically arranged on two ends of a middle body segment axial movement module so as to form a walking mechanism; a visual observation cradle head is arranged on the front body segment lateral positioning module and located in the front of the front body segment lateral positioning module; the front body segment lateral positioning module is connected with the middle body segment axial movement module through a front dual-universal-joint; the rear body segment lateral positioning module is connected with the middle body segment axial movement module through a rear dual-universal-joint. According to the control method of the visual detecting device in the nuclear fusion cabin provided by the invention, the movement range of the walking mechanism is wide, a walking track can spread across the circumference of a large dual-annular channel in the bottom part of the nuclear fusion cabin, and the visual observation cradle head is arranged in a matching way, so that the omni-directional visual information acquisition of a D-shaped section annular space in the nuclear fusion cabin can be completed.

The invention belongs to the technical field of rehabilitation robots, and particularly discloses an exoskeleton wearable upper limb rehabilitation training mechanism. The exoskeleton wearable upper limb rehabilitation training mechanism comprises a big arm movement assembly, a forearm movement assembly and a wrist joint movement assembly which are connected in sequence; pneumatic artificial muscle assemblies are arranged on the big arm movement assembly and the forearm movement assembly, and the pneumatic artificial muscle assemblies are connected with an air supply assembly; and rotary connecting assemblies are arranged between the big arm movement assembly and the forearm movement assembly and between the forearm movement assembly and the wrist joint movement assembly, and the pneumatic artificial muscle assemblies drive the rotary connecting assemblies. The exoskeleton wearable upper limb rehabilitation training mechanism provided by the invention is suitable for the field of upper limb rehabilitation training, and can effectively reduce the labor intensity of a physical therapist; the exoskeleton wearable upper limb rehabilitation training mechanism can also be used for assisting upper limbs and assisting a wearer in carrying heavy objects for a long time; and the exoskeleton wearable upper limb rehabilitation training mechanism provided by the invention has the remarkable advantages of light weight, compact structure, easiness for wearing, low cost, safety, reliability and the like.

An embodiment of the invention discloses a surgical instrument and a surgical robot. The surgical instrument comprises a driven mechanism configured to be connected with a driving unit and an end effector connected with the driven mechanism, and is characterized by further comprising a movable element rotationally connected with the end effector, the driven mechanism comprises a first mechanism and a second mechanism, the first mechanism drives the movable element to rotate under the action of the driving unit, the second mechanism drives the end effector to rotate relative to the movable element under the action of the driving unit, and when the movable element rotates, the end effector rotates along with the movable element, and the first mechanism and the second mechanism are both made of rigid materials. The surgical instrument is high in transmission efficiency and high in structural rigidity.

The invention discloses a worm-simulation robot walking mechanism running in a nuclear fusion compartment and a control method thereof. The worm-simulation robot walking mechanism is characterized by comprising an anterior somite lateral positioning module and a posterior somite lateral positioning module which are symmetrically arranged at two ends of a middle somite axial moving module, wherein the anterior somite lateral positioning module is connected to the middle somite axial moving module through two front universal joints; the posterior somite lateral positioning module is connected to the middle somite axial moving module through two rear universal joints. The moving track of the worm-simulation robot walking mechanism covers a large double-ring channel at the bottom of the whole nuclear fusion compartment; the moving pace is similar to the walking of worms; the mechanism is excellent in running stability and simple to control; three-freedom-degree all-direction visual information acquisition of the inner space of the nuclear fusion compartment can be implemented by carrying a visual observation platform.

The invention belongs to the technical field of bionic robots, and particularly discloses a three-degree-of-freedom bionic eye driven by an air bag. The three-degree-of-freedom bionic eye comprises a hemispherical bionic eye body, a three-degree-of-freedom driving mechanism is arranged on the hemispherical bionic eye body, and the three-degree-of-freedom driving mechanism comprises a platform fixing bottom plate. A linear driving structure and a flexible driving structure which are matched with each other are arranged on the platform fixing bottom plate, and both the linear driving structure and the flexible driving structure are connected with the hemispherical bionic eye body. A linear air bag driver and a flexible air bag driver are driven by air, so that the semispherical bionic eye has the three-degree-of-freedom movement adjusting capacity, the air mode is adopted for adjustment, and the platform fixing bottom plate is adopted for integrated bearing, so that the three-degree-of-freedom bionic eye has the characteristics of low noise, light weight, simple and compact structure, convenience in assembly, high portability and the like, and the stability and the flexibility of target image capture are greatly improved.

The invention relates to a bionic quadruped robot comprising four leg mechanisms connected with a trunk and a plurality of head-tail structure units, each leg mechanism provides six degrees of freedom, each head-tail structure unit provides two degrees of freedom, and the head-tail structure units are sequentially connected according to flexibility requirements to simulate connection of the neck and the tail with the trunk. On the basis of bionics, all parallel mechanisms are adopted for structural design, and compared with a series structure, higher bearing capacity is achieved, so that higher safety is achieved; through reasonable structural design, all driving pairs of the mechanical dinosaur are guaranteed to be moving pairs, and sufficient power and strength are guaranteed through hydraulic cylinder driving; the relative poses and sizes of the leg mechanisms and the head and tail structure units refer to the size of the dinosaur fossil recovery model, so that the posture of the dinosaur can be better simulated; the head and tail structure units of the mechanism pose can be selected and combined according to the required motion flexibility, so that the structure is simplified.

The embodiment of the invention discloses a surgical instrument and a surgical robot. The surgical instrument of the present invention includes: a driven mechanism configured to be connected to a driving unit, and an end effector connected to the driven mechanism, wherein the surgical instrument also includes a connected movable elements, the driven mechanism includes a first mechanism that drives the movable element to rotate under the action of the drive unit, and drives the end effector to rotate relative to the A second mechanism for rotating the movable element, wherein when the movable element rotates, the end effector rotates with the movable element, and both the first mechanism and the second mechanism are made of rigid material constitute. The surgical instrument of the invention has high transmission efficiency and high structural rigidity.

The invention discloses a gait rehabilitation training robot. The robot includes a support frame, a sliding block linkage mechanism, a driving device and a controller controlling the driving device, wherein the sliding block linkage mechanism is arranged on the support frame and can be connected with the human body, and the driving device is arranged on the support frame and drives the sliding block linkage mechanism to move. In these structures, the structures which drive the thighs or shanks and other single joints of the human body to move only include the sliding block linkage mechanism and the driving device. Compared with existing outer exoskeletons of multiple driving components and transmission components, the robot has the advantages that the structures are simpler, the man-robotadaptability and movement flexibility are both improved, the alignment effect of the structures to human joints can also be further improved through the simple structures, joint alignment errors are avoided, and meanwhile, since the sliding block linkage mechanism and the driving device are arranged on the support frame, a patient has no need to put on the sliding block linkage mechanism and the driving device so that the burden of the patient can also be reduced.

The invention discloses a rehabilitation robot and a human-machine cooperative interaction force control method thereof. The rehabilitation robot comprises a robot arm with at least one joint. The method for controlling the human-machine interaction force of the rehabilitation robot comprises the following steps: detecting an action moment of a patient's affected side limb acting on the robot arm;Generating a target motion trajectory of the manipulator; Establishing a dynamic model of the manipulator; Calculating a joint moment required for generating the target motion trajectory by using aninverse dynamics principle; Calculating a friction compensation torque of the joint and a dynamic compensation torque of the affected side limb of the patient; The joint torque, the action torque, thedynamics compensation torque, and the friction compensation torque are used as control inputs to the manipulator. The robot can provide the compliant force interactive control between the patient andthe rehabilitation robot arm, provides complete dynamic compensation, improves the equipment motion starting ability and flexibility, and is favorable for improving the experience degree of the patient to the auxiliary rehabilitation training. The invention can provide the compliant force interactive control between the patient and the rehabilitation robot arm, provides complete dynamic compensation, and improves the equipment motion starting ability and flexibility.

The invention belongs to the technical field of robots, and particularly relates to a special file transportation robot which comprises a vehicle body mechanical structure, a file replacement structure, a control device and a power device. The file replacement structure is arranged above the vehicle body mechanical structure, and the power device is arranged in the vehicle body mechanical structure; the control device comprises a plurality of camera devices, a controller and a power supply; the plurality of camera devices are arranged in a plurality of different directions on the outer side ofthe vehicle body mechanical structure; the controller is connected with and controls the multiple camera devices and the power device, images of the cameras can be rapidly transmitted to the controldevice after being imaged and recognized, and then the power system is controlled to correspondingly advance or retreat or steer or stop. The file replacement structure comprises at least two file boxgroups, and file transfer between two or more departments is achieved. The movement flexibility, stability and reliability of the file transportation robot are improved, the automation and intelligence of an enterprise office are improved, the working efficiency of staff is improved, and human resources are reduced.

The invention provides a superparamagnetic electromagnetic composite material, which comprises a raw material A and a raw material B, wherein the raw material A is nano ferroferric oxide, and the rawmaterial B is epoxy resin or polytetrafluoroethylene; and the mass percentage of the raw material A is 10-70%. In addition, the invention also provides a preparation method of the electromagnetic composite material, which comprises the steps of firstly weighing the raw material A and the raw material B, adding the raw materials into a ball mill, carrying out ball milling at a rotating speed of 40-50r / min within 10-20h, uniformly mixing, putting the mixture into a mold, carrying out compression molding under a molding pressure of 5-25MPa, and then carrying out a curing reaction at a temperatureof 180-360 DEG C for 90-120min to obtain the superparamagnetic electromagnetic composite material. Besides, the invention further provides a high-sensitivity electromagnetic valve. The static iron core and the movable iron core with superparamagnetism of the electromagnetic valve are prepared by adopting the preparation method, so that the problem that the sensitivity cannot be improved due to lag of an electromagnet in the existing conventional electromagnetic valve can be solved.

The invention discloses a modular flexible instrument arm for a minimally invasive surgical robot, and relates to the technical field of medical equipment for a minimally invasive surgical robot, including: a driving part, a first guide rod part, a first connecting part, and a second guide rod part, the second connecting part, the third connecting part, the surgical tool part and the rope. The first connecting part includes: a first driven gear, a first driving gear, a first connecting rod part, a first screw shaft and a second screw shaft, and the second connecting part includes: a second driven gear, a second driving gear, The second link part, the third link part and the third driven gear, the third screw shaft, the fourth screw shaft, the fifth screw shaft and the sixth screw shaft. The present invention can solve the problem of low flexibility and low degree of freedom of the current surgical instrument arm by adding or replacing the single / double module joints. At the same time, because the modular joints of the surgical arm can be disassembled and increased, the surgical arm can meet the requirements of various surgical instruments. functional needs of the arm.

An intelligentized nursing cup device for psychiatric nursing comprises a rotating cover, a sucker, a cup cover, a booster pump, a cup body, a liquid crystal displayer, a microphone, a cup handle, a sound control device, a radio transmitting and receiving device, a water inlet, a rubber wheel, a groove, a hydraulic telescopic rod, a suction cup, a water inlet pipe, a temperature sensor, a sleeve, a filter, a water outlet pipe, an electronic flow controller, a motion sensor, a rotating shaft, a silicon gel end socket, an electronic gate, a sliding block, a detecting instrument, a mechanical gyroscope, a fluorescence graduated disc and a single chip microcomputer. The cup body is a main component, the cup cover is arranged on the top of the cup body, the water inlet pipe is arranged inside the cup body, the other end of the water inlet pipe is connected with the filter, and the filter is provided with the water outlet pipe outwards. According to the intelligentized nursing cup device for psychiatric nursing, the whole structure is simple, operation and use are convenient, stability is good, reliability is high, and the intelligentized nursing cup device for psychiatric nursing is suitable for mental patients and assists the patients in controlling the drinking amount of a drink; the nursing cup is high in motion flexibility and more user friendly, and positioning precision is high due to cooperative work of various positioning devices.

The invention relates to a reconfigurable modular flexible upper limb exoskeleton rehabilitation robot, which comprises a handheld rod, a wrist flexible structure, a lower arm pneumatic assembly, an elbow flexible structure, an upper arm pneumatic assembly and a shoulder flexible structure which are sequentially connected, wherein the wrist flexible structure, the elbow flexible structure and the shoulder flexible structure are all deformable connecting pieces, each of the lower arm pneumatic assembly and the upper arm pneumatic assembly comprises a plurality of pneumatic connecting chains which are arranged in parallel, and each pneumatic connecting chain comprises a plurality of pneumatic modules which are arranged in series and detachably connected. According to the invention, the structure is ingenious and reasonable, and the components are matched and the pneumatic modules are flexibly combined and assembled, so that the adaptability of the upper limb exoskeleton rehabilitation robot to different rehabilitation objects and rehabilitation requirements can be improved, the wearing comfort and action flexibility are improved, and flexible, smooth and safe rehabilitation tasks are achieved.

The invention discloses a waterproof moving head lamp capable of improving heat dissipation efficiency for stages, and belongs to the field of waterproof moving head lamps. According to the waterproofmoving head lamp, a first channel is arranged in a supporting arm; a second channel capable of communicating the interior of a waterproof shell with the first channel is formed in a first supportingshaft; convection heat dissipation and conduction heat dissipation are carried out by fully utilizing the supporting arm; the lamp light source temperature can be effectively and quickly reduced; theoperation pressure, the design difficulty and the total design amount of a heat dissipation mechanism are reduced; the overall weight of the supporting arm can be reduced, and then the lamp movement flexibility is improved; the number of parts of a lamp body and the supporting arm can be reduced, and then the waterproof machining number and design difficulty are reduced. Therefore, the waterproofmoving head lamp has the advantages of high heat dissipation efficiency, reduced internal temperature control difficulty, reduced waterproof design difficulty, increased waterproofness and durability,simple structure, convenience in implementation, low processing difficulty and no need of excessively increasing the production cost.

The invention discloses an amplitude adjusting device of a flip-flow screen sectional type walking beam. The amplitude adjusting device comprises an upper supporting base, a lower supporting base, rubber assemblies, walking beam connection plates and pretightening force adjustors. The upper supporting base and the lower supporting base are connected with a screen box side plate through ring-grooved lock bolts. The rubber assemblies comprise upper connection plates, shear rubber, lower connection plates and wear-resisting inserting sleeves. The upper connection plates make contact with the pretightening force adjusters. The upper connection plates, the lower connection plates and the shear rubber are fixedly connected through powerful glue. The lower connection plates are connected with the walking beam connection plates. The wear-resisting inserting sleeves are fixedly connected with the connection plates. The pretightening force adjusters are composed of fixed limiting stoppers, anti-loosening elastic pads and locking nuts. The fixed limiting stoppers are located among the upper supporting bases, the lower supporting bases and the connection plates. The locking nuts are arranged above the anti-loosening elastic pads. By means of the pretightening force adjusters, the pretightening force of the shear rubber can be independently adjusted, and the amplitude adjusting device can broaden the amplitude range of the walking beam and has the advantages of being high in adaptability, easy to adjust, convenient to mount and the like.