204 results about "Stability of motion" patented technology

A crank device comprising foot supports with means for controlling stability and angle relative to the motion. There are linkages for stabilising and keeping a correct angle relative to an apparatus frame during a full rotation. The foot supporting means have also means for adjusting the angle to create a toe-heel tilt. The foot supporting means in form of platforms have optional tilt movement with an adjustable mechanism, the movement transverse the stepping motion, for utilising proprioseptive training and exercise.

A control method for the dispersion S-shaped curve speed of a mechanical arm includes the following steps that firstly, the operation speed of the mechanical arm is segmented into multiple speed sections, and the minimum speed value (shown in the specifications), the maximum speed value (shown in the specifications), the minimum acceleration (shown in the specifications), the maximum acceleration (shown in the specifications) and the jerk (shown in the specifications) of the current speed section are determined; secondly, the mechanical arm modifies the maximum speed value in the practical control process with the time period T as the speed planned period; and thirdly, speed control is divided into the acceleration stage, the constant speed stage and the speed reduction stage, real-time speed planning is conducted, the mechanical arm is accelerated in an S-shaped curve manner with the minimum speed (shown in the specifications) as the initial speed, and when the system position pulse sending time t is larger than or equal to the speed planned period T, in other words, t is larger than or equal to T, one time of speed planning operation is conducted. By means of the control method, stability of movement is effectively improved; and meanwhile, in two-axis synchronous movement control, the speed synchronization error can be compensated for in real time, and the control precision can be effectively improved.

A MEMS device which utilizes a capacitive sensor or actuator is enhancement by initially fabricating the capacitive assembly which comprises the sensor or actuator as two sets of interdigitated fingers in a noninterdigitated configuration. One of the two sets of fingers is coupled to a movable stage. The stage is moved from an initial position to a post-release position in which the two sets of interdigitated fingers are interdigitated with each other. The stage is carried by two pairs flexures which maintain the stability of motion of the stage and when in the post-release position provide stiffness which prevents deflection of the set of fingers coupled to the stage. The stage and hence the assembled sets of fingers are then locked into the post-release position.

The invention provides a battery replacement moving device and a quick replacing system. The battery replacement moving device comprises a horizontal moving part, a vertical lifting part and a battery installing part, wherein the horizontal moving part is used for driving whole battery replacement equipment to move horizontally and comprises a moving support used for moving and providing an installing base, and a horizontal drive device used for driving the moving support to move; the vertical lifting part is installed on the horizontal moving part and used for driving a battery replacement platform to rise and fall vertically; and the battery installing part is installed on the vertical installing part and used for replacement and dismantling of a battery, and comprises the battery replacement platform and a battery unlocking device installed on the battery replacement platform. According to the battery replacement moving device and the quick replacing system, the vertical lifting part can be used for decreasing the operating height to the maximum extent, and the required replacement space is reduced accordingly; the horizontal moving part can be used for improving the motion stability and positioning accuracy; and the battery at the bottom of an electric automobile can be automatically dismantled and replaced through the battery installing part, and by adoption of the whole scheme, dismantling, transport and replacement of the battery of the electric automobile can be automatically achieved.

The invention relates to the field of automatic cooking equipment, and provides a continuous cooking mechanism and a method for controlling the same. The continuous cooking mechanism comprises a framework, a plurality of pots, a heating mechanism, a cleaning mechanism, an automatic cooking mechanism, a pot alternating mechanism and cooking limiting mechanisms. The pots are used for cooking, the heating mechanism is used for heating the pots, the cleaning mechanism is used for cleaning the pots, the pots can move in heating procedures under the control of the automatic cooking mechanism, the pot alternating mechanism is used for driving the pots to be sequentially alternated at different stations, and the cooking limiting mechanisms are used for supporting the pots when the pots move in the heating procedures and are fixed relative to the framework at least when positioned at heating stations. The continuous cooking mechanism and the method have the advantages that shortcomings in the prior art can be overcome, the continuous cooking mechanism is small in occupied space, complicated cooking functions can be stably realized, and continuous operation can be carried out; the cooking limiting mechanisms are fixed onto the framework in the heating procedures, the pots move in the cooking limiting mechanisms, and accordingly can be effectively supported by the cooking limiting mechanisms, and the movement stability of the pots can be guaranteed.

The invention relates to a leg drive and transmission device for a legged mobile platform. The device comprises a double-motor side swing component, a connecting rod booster component and a combined shock-absorbing component, wherein the side swing motion of each leg of the platform is completed through the double-motor side swing component; the double-motor side swing component avoids a radial load on the motor shafts by gear transmission to prolong the service lives of the motors, amplifies the output torques of the servomotors and improves the accuracy of controlling the side swing motion of the platform; the leg-lifting motion of each leg of the platform is completed through the connecting rod booster component; the connecting rod booster component converts a linear motion into a rotary motion, amplifies the output forces of the electrical cylinders through the booster lever based on the lever principle and increases the load-carrying capability of the platform; and the combined shock-absorbing component comprises multiple stages of springs and mass blocks, the multiple stages of springs can effectively absorb the ground impact on the platform during motion, and the mass blocks make a reciprocating sliding motion to reduce small-amplitude jump of the legs during motion. Therefore, the motion stability of the platform is improved.

The invention discloses a robot neck mechanism. The robot neck mechanism comprises a neck lower rack (1) which is connected with a shoulder (11) and a neck upper rack (8) which is connected with a head (9). A head rotating motor (7) is installed on the neck upper rack (8). A shaft of the head rotating motor (7) is connected with the head (9). The rear of the neck upper rack (8) is connected with an upper plate of the neck lower rack (1) through a universal joint (10). The left side and the right side of the front of the neck upper rack (8) are respectively connected with rotating shafts of stepping motors (2) on the left side and the right side on the neck lower rack (1) through a ball joint connecting rod mechanism. The robot neck mechanism is small in size, compact in structure, high in human similarity, good in moving stability and flexibility, easy to manufacture, and long in service life.

The invention discloses an optical anti-vibration motor. The optical anti-vibration motor comprises a base and a magnet yoke iron shell which is arranged with the base in a matching mode. Magnets and a lens carrier are arranged inside the magnet yoke iron shell, wherein coils are wound around the lens carrier. A rear spring piece is arranged between the lens carrier and the base and the magnet yoke iron shell is of a square structure. The optical anti-vibration motor is characterized in that four sets of magnets are symmetrically arranged on the magnet yoke iron shell of the square structure, the four coils are symmetrically arranged outside the lens carrier and each coil corresponds to one set of magnet. A PCB is further arranged inside the base, the PCB is provided with four control ends, each control end is electrically connected with one coil and the PCB is further provided with external pins. The optical anti-vibration motor has the advantages that the anti-vibration performance is good and the motion reliability of the lens carrier is improved.

The invention relates to a disc-taking machine. The structure is that: a cross brace, a storehouse frame, a vertical beam and a transverse beam are connected into a frame; a vacuum generator is fixed on one side of the vertical beam; two sliding rails are fixed on the upper side and the lower side of the transverse beam; a drive pulley base, a drive shaft, a drive pulley, a speed-reducing motor, a pulley driven shaft, a driven pulley and a driven pulley base are arranged on the transverse beam; a toothed cover is fixed on one sliding block; a synchronous belt is sleeved on the drive pulley and the driven pulley and passes through the toothed cover; two sliding blocks are sleeved on the two sliding rails respectively; a vertical base is fixed on the two sliding blocks; a bag-taking cylinder is fixed on the vertical base and is connected with a connecting rod plate; two angle steels are fixed on two sides of the vertical base respectively; four roller wheels are fixed on each angle steel; guide rods pass through the middle parts of the roller wheels; one connecting rod plate is connected with the lower ends of two guide rods; the connecting rod plate is connected with a sucking discframe; a gas-distributing pipe and a sucking disc are arranged above the sucking disc frame; and the vacuum generator is connected with the sucking disc through the gas-distributing pipe. The invention adopts double sliding rails to guarantee the stability of disc-taking motion and prevent discs from falling off in the disc sucking process.

The invention belongs to the field of plastering machines, in particular to a multi-degree-of-freedom plastering machine for exterior walls of high-rise buildings. Aiming at the problems of the existing plastering machines with small degrees of freedom of movement, poor stability of the plastering machine, and poor plastering effect, the following scheme is proposed, including the roof and Lifting frame, two support rods and hydraulic cylinders are provided on both sides of the bottom end of the top plate, and the lifting frame and hydraulic cylinder are also located on both sides of the lifting frame, and two sets of second One gear, the first racks vertically arranged are welded on the sides of the support rods close to each other, and the first racks are respectively meshed with each set of first gears, and the piston rod at the bottom end of the hydraulic cylinder All are welded with a fixed frame, and a pulley is installed for rotation on the fixed frame, and a steel rope is wound on the pulley. The invention can drive the painting device to move up and down, left and right, has good movement stability and high degree of freedom, can adapt to walls with different depths of depressions, quickly dries pigment lime in the painting process, and has good painting effect.

The invention proposes a front suspension deflecting structure for the backing of a tricycle. A connection frame is provided with four rocking arm installation holes which are not coaxial. The inner ends of a right upper arm and a right lower arm are provided with rolling bearings. A connection shaft installed in the interior is installed at the left side of the connection frame, and the outer ends of the right upper arm and the right lower arm are provided with rolling bearings, and the rolling bearings are respectively installed at a right upper rotating hinge and a right lower rotating hinge through connection shafts. The outer ends of a left upper arm and a left lower arm are respectively provided with rolling bearings, and the rolling bearings are respectively installed at a left upper rotating hinge and a left lower rotating hinge through connection shafts. Upper and lower hinge installation holes of steering knuckles are inclined relatively to the ground, and a front suspension is enabled to have the characteristics of an automobile master pin. The structure gives consideration to the operation stability of motion of a four-wheel automobile and the running flexibility of a two-wheel vehicle. The structure automatically tilts in a turning process, easily achieves the bending running operation, and is stable in operation in a riding process.

The invention relates to a clamping and positioning device of a K-shaped linear ultrasonic motor based on the continuous amplitude transformer principle, belonging to the technical field of ultrasonic motors. The clamping and positioning device comprises an opening outline border (6) and a supporter. On one hand, the device ensures that a stator can not move on the motion direction of a motor guide rail and can not rotate on three directions, thus improving the stability of motor structure, ensuring the stability of stator movement and improving load capacity and operation efficiency; and on the other hand, the device can adjust prestress between the stator and a rotor, which is convenient to measure the prestress and ensures that prestress applied in the installation process satisfies design requirements.

The electric upsetter includes mechanical mechanism, heating mechanism, detection mechanism, and control mechanism. The mechanical mechanism includes upsetting cylinder, upsetting block, smithy cylinder, smithy block and conducting holding cylinder; the heating mechanism includes holding electrodes and transformer; the detection mechanism includes displacements mounted on the upsetting cylinder and the smithy cylinder separately; and the transformer is controlled with an electronic unit and continuously controlled output voltage. Based on the plastic mechanics and thermodynamic principles, the calculation method of heating current, upsetting pressure, speed and other technological parameters is given; and by means of the continuous closed loop control of speed, pressure, temperature and current, the optimal control of the electric upsetting process is realized.

The invention relates to a jacking mechanism and an AGV trolley thereof. The jacking mechanism comprises a power assembly, a push block connected to the power output end of the power assembly and a jacking support connected with the push block. The push block is connected with an arranged jacking block in a sliding manner. The power assembly drives the push block to move so that the jacking support can move up and down. The jacking mechanism achieves the jacking movement in a manner that the push block moves along the jacking block which is of a wedge-shaped structure. The push block is in sliding connection with the jacking block in a sliding block and sliding rail manner, similarly, the jacking support is in sliding connection with the push block and the jacking block in a sliding blockand sliding rail manner in two directions, the movement stability of the jacking mechanism is ensured, the movement rigidity is high, the movement locus is unique, and the jacking accuracy is high. Meanwhile, the jacking mechanism is compact in structure, efficient in movement and large in push force, the size of an AGV robot can be effectively reduced, and the movement performance of the AGV robot is improved.

The invention provides a motion simulation method of an animation character under the granular medium environment, and relates to computer graphics. According to the motion simulation method of the animation character under the granular medium environment, the motion of natural vision, stable physics and controllable user of the animation character under the granular medium environment can be realized, the making efficiency of motion simulation of the animation character under the granular medium environment in the field of movies, animation and games can be greatly enhanced after industrialization, the algorithm is clear and the process is clear. An animation character motion simulation model based on nerve-muscle-bone is established; an animation character-granular medium interactive anddynamical model is established; and parameter optimization of an animation character control model based on the neural network model is completed and a large-scale motion control unit is introduced,the motion mechanism of real living things is further simulated and the stability of motion and the fault tolerance of the controller can be enhanced.

The invention relates to an interspinal universal dynamic stabilizer, and belongs to the technical field of human in-vivo imbedding objects of medical equipment. The interspinal universal dynamic stabilizer is formed by bending a double-layer elastic metal plate, wherein a U-shaped deformation structure is manufactured on the middle part of an outer-layer metal plate, and an inner-layer metal plate is bent to form a quasi-U shape; a mousing-hook is manufactured at the quasi-U-shaped bottom; and a plurality of pairs of locking holes capable of installing a fastening device are formed in the inner-layer metal plate. According to the interspinal universal dynamic stabilizer, interspinal elastic expansion and left and right lateroflexion of spinal columns are realized by the U-shaped deformation structure, and actions of stretching, bending, rotating and the like on sagittal positions of the spinal columns are realized under the combined action of the elasticity of the outer-layer metal plate, the U-shaped deformation structure and arc shapes of two ends of the U-shaped deformation structure, so that dynamic stability of motion in each direction in operation sections is achieved, and the problem that the spinal columns cannot move in each direction or the dynamic stability of the motion in each direction cannot be provided, and the problem of impact between materials and processusspinosus and between materials and the like in the conventional dynamic interspinal internal fixtures are solved. In addition, by the interspinal universal dynamic stabilizer, the operation time is short, intraoperative injury is small, and postoperative rehabilitation is accelerated.

The invention provides a detection method of crowd flow anomaly events in monitoring a video of congested scenes, and relates to the technical field of computer vision. The method comprises the steps of firstly, obtaining a short trajectory segment of particle motion through correlating the light streams between multiple continuous frames; using the hierarchical clustering algorithm to cluster the unstable light stream trajectory segments to make adjacent and similar trajectory segments concentrate to become small areas with statistical significance and enhance the reliability of motion description; finally, detecting crowd flow anomaly events through calculating the main direction and motion scope of the particles in the small areas to provide pre-warning to potential safety accidents. According to the detection method of crowd flow anomaly events in monitoring video of congested scenes, the clustering of the particle trajectory segments can make a single unreliable particle trajectory able to be co-used with peripheral similar particle trajectory to describe the crowd flow motion and enhance the stability of motion description. Tests are carried out on monitoring videos of actual scenes, the result indicates that the method can effectively detect the crowd flow anomaly events, and the results of the clustering of divided trajectory segments have a strong adaptability.

The invention discloses a welding line ray detector of an adapter tube and a safety end of a nuclear reactor pressure vessel, which comprises a welding line detector main body, an air bag component, a source delivery device and an air bag support, wherein the air bag component is fixed at one end of the air bag support; the left and right sides of the main body are connected with fixed guide rails respectively; the left and right sides of the air bag support are connected with slide guide rails respectively; the front end part and the rear end part of each guide rail pair are provided with guide wheel sets respectively; each guide wheel set comprises an upper pulley and a lower pulley; and the slide guide rails can be slidably erected between the upper pulley and the lower pulley, and the pulleys mainly bearing the weight of the air bag component adopt eccentric connection, can expand the assembling clearance of the guide rails, make the air bag support operate more stably, and avoid the crawling phenomenon. The welding line ray detector adopts bearing of a plurality of pairs of guide wheel sets and ensures that the load can be dispersed to a plurality of pulleys more evenly so as to ensure the evenness of bearing and stability of motion.

The invention relates to a modularized robot based on a tensioned integral structure. The modularized robot is characterized in that six pressing rods are arranged and are divided into three groups, the two pressing rods in each group are parallel to each other, the plane where the axial center line of the two pressing rods in each of the three groups is located is perpendicular to the plane wherethe axial center line of the two pressing rods of each of the other two groups is located, each pressing rod is divided into two sections with the same structures, a support is arranged between the every two sections, two rotating motors for correspondingly controlling the two sections of each pressing rod to stretch and retract are mounted in the corresponding support, output shafts of the rotating motors are connected with ball screws, lead screw nuts are in threaded connection with the ball screws to form spiral pairs, one ends of extension rods are connected with the lead screw nuts, theother ends of the extension rods are connected with rubber end covers, and the other end of the extension rod of any pressing rod of each group is connected with the other ends of the extension rods in the other two groups through four elastic inhaul cables. According to the modularized robot, the service life of the robot can be prolonged, the two sections of each pressing rod can stretch out anddraw back, and the movement stability of the modularized robot can be improved when rolling is carried out; and the robot can be used in a complex environment in the ground, and particularly relatesto the fields of field rescue, planet detection and the like.

The invention discloses a deep hole self-centering in-tube robot. The robot comprises a protective cylindrical shell and a plurality of electric push rods disposed in the protective cylindrical shell;a reflector base and a tail base are respectively fixed to two ends of the protective cylindrical shell; a mandrel is directly fixed to the reflector base and the tail base; the mandrel is sleeved with two taper shafts that are in transitional fit with the mandrel; a plurality of centering ceramic balls are clamped between the reflector base and the thin end of the taper shaft, as well as betweenthe tail base and the thin end of the taper shaft which is adjacent to a flat end surface II; and a track running mechanism is disposed between every two adjacent electric push rods. According to thedeep hole self-centering in-tube robot of the invention, the balls are adopted to realize centering, so that line-contact centering can be converted into point-contact centering; the accuracy of thecentering is greatly increased due to an error equalization effect; the push rods and force bearing rings are combined, so that stability in the centering process can be improved; and the track type running mechanisms are adopted and are distributed circumferentially and evenly, and therefore, the stability of motion can be greatly increased.

This invention refers to a microemulsion and Process for preparing as well as the use in dealing with industrial sewage contains hydroxybenzene. The invention is consisted of oil phase and internal water, thereinto the oil phase is consisted of two-(2-ethyl group hexyl) phosphate ester, dehydration sorbitol monooleate and coal oil according to mass ratio 1:0.5- 1.5:4-6, internal water phase is alkaline solution, the volumetric ratio of oil phase and internal water phase is 5:2- 3. The industrial waste water dealed by this invention has the virtues of good liquid film stability, quick mass transfer velocity, high separating efficiency, simple technics, recoverable solute, needing no strong agitation, high pressure static electricity demulsifying setting and so on. The operation cost is low, the stability of motion is good, especially adapts to the dealing, reclamation and utilization of waste water of high concentration hydroxybenzene contain, conquering the biological method's disadvantages of large initial investment, high operation cost, large accommodation area and not suit to the disposal of high concentrated wastewater.

The invention discloses a non-circular gear set and a transmission structure for a pump. The gear set comprises a drive gear, a first driven gear and a second driven gear, wherein the first driven gear and the second driven gear are arranged on the two sides of the drive gear and are of the same structure. The distance between a gear shaft of the first driven gear and a gear shaft of the drive gear is equal to the distance between a gear shaft of the second driven gear and a gear shaft of the drive gear. The transmission structure comprises a driving device, the gear set and a plunger. The driving device is connected with the drive gear in the gear set. Each of the two sides of the drive gear drives one corresponding driven gear. Each driven gear is connected with a connecting rod, and the connecting rod drives the plunger to reciprocate. The driven gears can be made to run stably through the non-circular gear set based on the non-circular gear set and the transmission structure for the pump, and stability of linear motion can be ensured when a crank block device is used for converting the circular motion of the gears into linear motion; and meanwhile by means of a transmission structure in the transmission structure for the pump, the flow pulse generated when the pump drains and outputs liquid can be obviously reduced.

The invention provides a linear bidirectional cutting platform which comprises a platform body, a connecting rod a and a connecting rod b, wherein the connecting rod a and the connecting rod b are connected in a hinged mode. The connecting rod b is fixedly connected with a limiting mechanism. A limiting block is arranged at the end of the limiting mechanism. A limiting plate is fixed to the platform body. Screw holes c are formed in the bottom of the limiting plate. The limiting plate and the platform body are fixedly connected through screws penetrating through the screw holes c. A limiting groove is formed in the limiting plate. The limiting block is a cube. The limiting groove is a groove body. The left end of the connecting rod a is connected with a sliding block in a hinged mode. The right end of the connecting rod b is connected with a sliding block in a hinged mode. The sliding blocks are slidably connected with sliding rails. Sliding grooves matched with the sliding rails in shape and dimension are formed in the lower portions of the sliding blocks. Fastening seats are arranged on each sliding block. An electric saw groove is formed in the upper end face of each sliding block. Screw holes a are formed in the fastening seats. A threaded rod is sleeved with the corresponding screw hole a. Electric saw blades are arranged above the sliding rails. According to the linear bidirectional cutting platform, operation can be achieved by pushing a handle, labor is saved, the labor efficiency is improved through double stations, and the stability of the movement of the connecting rods can be guaranteed through the arrangement of the limiting mechanism.

A method for determining that stability of spin motion of three-body tether system in space relates to the technical field of spacecraft flight and can determine the spin stability of the system strictly in theory. The invention discloses a method for judging the spin stability of a space loop three-body tether system. The invention comprises the following steps: establishing a non-inertial reference frame with the mass center of the system as the origin, and obtaining a system dynamics equation; The disturbance equation of the system is obtained by introducing vector formal variables. The stability of perturbed equation is analyzed by variational equation. By setting the initial variables of the periodic solution of the spin motion of the system and comparing the relationship between theperiodic solution of the spin motion and the characteristic multiplier, the stability of the spin motion of the system is determined. The invention provides an accurate judging method for the stability of the spin motion of the loop three-body tether system from the mathematical point of view, and can quickly judge the stability change of the system for the same system with different spin velocities and different parameters in theory.

The invention relates to a three-dimensional ink-jet printer for sand molds. A pulling cavity is formed in the lower portion of a machine frame, and two parallel printing head longitudinal rails and two parallel sand bin longitudinal rails are arranged on the plane of the upper portion of the machine frame. A printing head cross rail perpendicularly stretches across the two printing head longitudinal rails and is provided with at least one printing head connected into a sliding groove, and a paving sand bin perpendicularly stretches across the two sand bin longitudinal rails. A plurality of programming spraying heads are densely arrayed on the bottom face of the printing head, the paving sand bin is provided with a vibrator, a working cylinder is arranged in the pulling cavity, and a worktable is connected with the top of the working cylinder through a lead screw. Because the printer is provided with the two printing heads, printing time is shortened, and bonding uniformity of each bonding agent layer and sand particles is improved; because the paving sand bin is provided with the vibrator, the uniformity of thicknesses of sand paving layers is improved; a transmission system driven by the lead screw can improve motion stability and accuracy; the drawer-type working cylinder can simplify the sand particle recycling step, the sand molds can be conveniently taken out, time is saved, and materials are prevented from being wasted.

The invention discloses a display device of a mobile communication device and a use method thereof, the display device including a base, a drive space is arranged inside the base, the lower end wall of the driving space is fixedly provided with a driving motor, the upper end of the driving motor is dynamically connected with a driving shaft, the upper end of the drive shaft is fixedly connected with a fuselage through the upper end wall of the drive space, the fuselage is internally provided with a work space, the workspace is internally provided with a left-right symmetrical sliding guide bar, the upper and lower end faces of the sliding guide bar are fixedly connected with the upper and lower end walls of the workspace, the workspace is internally provided with a sliding platform, the sliding platform and the sliding guide rod are slidably matched and connected, the height adjustment of the equipment is realized through the combination of a linkage mechanism and a series of springs,the safety of the equipment is enhanced, the ball setting is adopted, the functional flexibility of the equipment is enhanced, and the stability of the movement of the equipment is enhanced.

The invention discloses a spatial four-degree-of-freedom rehabilitation training device for lower limbs. The device mainly consists of an arc-shaped baseplate, a main arc-shaped guiding rail, a left main arc-shaped guiding rail, a right main arc-shaped guiding rail, an arc-shaped rack, an auxiliary arc-shaped guiding rail, a left auxiliary arc-shaped guiding rail, a right auxiliary arc-shaped guiding rail, a leg rehabilitation training mechanism, a square bottom shell, a six-dimensional force sensor, a second hinge base, a third hinge base, an electric ankle joint pushing rod, a middle shaft,a fisheye bearing, a driving bearing sliding base, a driven bearing sliding base, a gear motor, a gear, universal wheels, lifting legs, a chair, a controller, a left leg training mechanism, a right leg training mechanism and the like. Multifunctional, multi-posture and more comprehensive rehabilitation training of the lower limbs can be carried out, flexion and extension movement of the lower limbs in a vertical plane can be achieved, retraction and extension movement around the hip joints of the human body is achieved, high rigidity can always be maintained, and movement stability is improved. The retraction and extension movement around the hip joints of the lower limbs of the human body is better in line with a movement law of the human body, and a better rehabilitation effect is achieved.

The invention belongs to the field of petroleum equipment, and particularly relates to a novel drill pipe shackle assembling and centering device. The device is characterized in that hydraulic cylinders of two centering device bodies push a connecting rod to move, and drive a centering tank to clamp and fix drill pipes; the centers of the to-be-connected drill pipes are aligned by guiding of a centering tank horn mouth, then the centering tank is retracted, and hydraulic power tongs are used for assembling shackle. The centering tank clamps and fixes the drill pipes, the centering tank horn mouth is used for guiding centering, and the device can be of an integrated structure or a split structure. The height of the centering tank can be adjusted through springs so that various adjustment modes of the springs, air cylinders, the hydraulic cylinders, lead screws and the like can be used. In order to guarantee the clamping accuracy and the movement stability of the centering tank, a guiderail is arranged on the movement track of the centering tank, and wheels are arranged on the lower side of the centering tank to move along the guide rail. The device is convenient, stable and reliable to use, high in working efficiency, and capable of reducing the labor intensity of workers and greatly improving the safety of operators.