Chapter 276: Solve joint problems

Chen Xin didn't take too much rush to deal with the sudden increase in vegetable production. As long as the vegetables are not harvested, they will not be damaged if they are planted on hydroponic plates, but the taste will become old.
However, this matter cannot be left alone. Chen Xin is thinking about how to improve the exoskeleton, as well as how to deal with the surge in vegetable production.
Although there are a lot more people in the shelter than before, and consumption has increased, compared with the surge in production, the increased consumption is really not worth mentioning.
After all, they are vegetables that add up to two to three kilograms. According to the agreement between Chen Xin and the SWAT team, these vegetables need to be traded to them for a quarter. The share of the eight people in the shelter is set aside about one-tenth. Chicken and fish can consume part of it, but more than half is still left. At least 1,500 kilograms of vegetables need to be considered how to deal with them.
More than 1,500 kilograms of vegetables, if they were dragged to the vegetable market before the disaster, they could be sold out in a day or two.
Now after the disaster, although this is also a very hard-to-reach material, if Chen Xin is willing to sell too much, people want to buy it, but Chen Xin doesn't want to exchange these vegetables for a bunch of things he can't use.
But I don’t want to go back, Chen Xin still has to find a way to dispose of the more than a thousand catties of vegetables, especially since he brought back sweet potato seedlings from his hometown, he needs to vacate a layer of planting trays in the planting greenhouse for planting, Chen Xin cannot Let these vegetables still occupy the planting tray.
What's more important is that the planting area in his greenhouse has expanded. After the output has doubled, he must find a way out for the extra output each month.
The SWAT team's transaction can increase the transaction volume a bit, but considering the things that can be exchanged, the potential that can be tapped in this part of the transaction share is limited. At most, Chen Xin exchanges more shelter rations and living supplies every month.
And he can get other people for this part, especially Chen Xin is cooperating with the country. Other things may be a bit difficult, but even if Chen Xin asks for food and living materials, he can still ask for it. Arrived.
So after thinking about it, and after serious consideration of the pros and cons, Chen Xin decided to let Li Yulong sell the rest except for the expansion of the fixed deal with the SWAT team.
On the one hand, this is a kind of support for Li Yulong's trading market. The addition of fresh vegetables as saleable goods can help this trading market open up better.
On the other hand, this can be regarded as an investment. For Chen Xin now, since these vegetables don't know what to exchange for, it is better to use them as an investment to help Li Yulong. In this way, they can get more returns.
And this is also to find a way to consume the vegetable production that will increase every month, so as not to find a market for the increased production of vegetables in the future.
After learning of Chen Xin's decision, Mo Qingyan did not express any opinion on the matter, but confirmed to him the harvest time of the crops in the planting greenhouse, and did not say much.
In the face of Mo Qingyan’s indifference, Chen Xin felt helpless, but with his parents, Chen Xin really couldn’t deal with this kind of relationship problem. In addition, he had always treated Mo Qingyan as a friend, and did not The idea of ​​developing a relationship beyond friendship can only be put aside the matter for a while and dealt with it coldly.
After dealing with these things, Chen Xin continued to devote his energy to the improvement of the mechanical structure of the exoskeleton. After all, this is what he cares about right now.
Regarding the problem of insufficient flexibility of the joints of the exoskeleton, Chen Xin first adjusted the movable range of each joint and increased the movable angle of each pendulum connection.
After adjustments, flexibility has been improved to a certain extent, at least now Chen Xin can take off the helmet on his head while wearing the exoskeleton.
However, the movable range of the shoulder joint is still insufficient, and the arms can only be stretched horizontally and cannot be extended backwards and upwards.
This is mainly due to the limitation of the structure itself and the need to install hydraulic telescopic rods for power assistance.
After all, as the main moving parts, the joints are also the main assisting points. While adjusting the flexibility of the joints, Chen Xin must also consider the issue of assisting mechanisms.
The adjustment of the elbow joint is relatively easy, because the movement angle of the elbow itself is not too large. By adjusting the length of the assisted hydraulic telescopic rod, it can be done.
But the adjustment of the shoulder joint is not that simple.
The shoulder joint is composed of two movable joints. One of them is an axis perpendicular to the back and is located at the position of the scapula of the human body. The structure of the entire exoskeleton arm is connected to this axis, thereby connecting with the exoskeleton. The main body connection is also the main joint where the arm part can swing back and forth.
The movement mode of this joint is that the shaft itself is fixed, and other structures connected to the shaft rotate around this shaft, which is limited by the structure itself. In addition, the amplitude of the arm swinging back and forth is not too large in actual use. This shaft only It can swing from 0° to 70° limitedly, and it can reach 90° after adjustment. Although it is not too flexible in use, it is enough.
The rest is a joint of the shoulder. This is a typical pendulum connection. It is responsible for connecting the axial joint structure of the back and the main part of the arm. It is the most important movable joint of the upper extremity of the entire exoskeleton and the largest range of motion. A joint.
These two joints can theoretically make the arm swing up and down, but due to structural problems, the pendulum amplitude of the shoulder joint is only 0°~120°. This kind of swing amplitude cannot even be respected by the French military. A German military salute during World War II.
Improving other connection methods of this joint will only make the structure more complicated. Although the flexibility does increase, the installation of the assist mechanism becomes troublesome.
Chen Xin considered using universal joints, magnetic joints, and air-bearing spherical joints as the connection method. However, the results of the samples were not satisfactory after the trial, which not only made the structure of the exoskeleton more complicated, but also It will interfere with the assist structure, and the flexibility that can actually be improved is really limited.
This made Chen Xin scratch his head very much.
I really couldn't think of a way to improve it. After a irritability, Chen Xin chose to throw a table full of obsolete plans, decided to play a game to relax, and also wanted to find inspiration from science fiction games.
Turning on the game console, Chen Xin took the handle and pulled the game. "Halo" and "Mass Effect" are of little reference value. They are power armor. The structure that covers the whole body is completely different from the exoskeleton structure that is just two iron rods.
It's the exoskeleton in "Call of Duty 11" that makes Chen Xin feel bright, but after careful observation, he can only learn part of it.
The back of the exoskeleton that appeared in "Call of Duty 11" is fixed, but directly uses spherical joints with the same structure as the human body on the shoulders, and two spherical joints are connected to provide sufficient flexibility for the shoulders.
This structure is certainly possible, but the friction surface of the spherical joint is too large, and a fixed structure cannot be used to ensure sufficient flexibility. It can only be wrapped in a flexible material like a human joint or simply made into a magnetic attraction.
Of course, rubber is the first choice for flexible materials, but the current rubber can only be synthesized in industry, and it is easy to become brittle and lose its original effect in a low temperature environment of tens of degrees below zero. If magnetic attraction, how to ensure the stability of the structure will not Disconnection during use and wear of the magnetic surface are all issues that need to be considered.
And the most important thing is that there is no problem with the design in the game, there is no need to consider whether the technology can be done, whether the structure is really reasonable, even if it is designed as a magnetic levitation joint, others will only say that the technology is awesome.
But in reality, Chen Xin must consider more, especially since he considers the design structure on the premise of cost saving, it is even more impossible to adopt a structure that is too complicated or too costly.
So after thinking about it, Chen Xin ruled out the connection of the spherical joint.
However, it is simple to rule out a solution, and it is still difficult to solve the problem.
Fortunately, the mechanical structure in several games still gave Chen Xin a lot of reference. After careful consideration and comparison, Chen Xin decided to add a new joint to the original two shoulder joints. Thereby increasing flexibility.
The shaft connection joints on the back remain unchanged, and the original pendulum connection of the shoulder part is changed to a disc-shaped connection structure, which integrates the assist structure and the joints, and achieves 0°~270 by rotating the internal structure of the disc by a motor. ° of rotation angle.
At the same time, there is a rotating joint whose rotation axis and the rotation axis of the disc are perpendicular to each other at the lower part of the disc structure, so as to ensure the flexible rotation of the arm.
After this adjustment, the flexibility problem of the exoskeleton upper limb is finally solved, so that the arm can be assisted while ensuring sufficient flexibility.
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According to the advice provided by my father, the original huge helmet was reduced and changed from the original hood like a space suit to a motorcycle-like helmet that completely fits the head, only the eyes are transparent, and a breathing mask is connected. Chen Xin finally made a set of test samples of exoskeleton protective clothing.
This time he put on the experimental exoskeleton protective suit himself. Without the help of other people, it took Chen Xin about five minutes to put the whole exoskeleton protective suit on his body.
Although it is a bit cumbersome, Chen Xin feels that this is an acceptable level. After all, it is only a civilian type. You don't need to consider the needs of fast putting on and taking off. As long as you can ensure that you can put on and take off independently, and it will not take too much time and effort.
After putting on the experimental exoskeleton protective suit, Chen Xin turned on the power and walked into the elevator, planning to go outside to test the effect of this exoskeleton protective suit.