6results about How to "Control posture" patented technology

A robot collaborative control system based on rigid formation includes: an image acquisition module for acquiring the geometry of the object to be transported; an undirected perception module for confirming the desired formation based on the geometry of the object and constructing an undirected perception topology graph; calculating the relative distance and relative angle between agents based on the global coordinates of each agent in the undirected perception topology graph, and confirming the adjacency relationship; a motion control module for receiving control commands and constructing a controller based on the relative distance error, relative angle error, and adjacency relationship between agents; and a drive module for generating torque according to the controller to drive the motor to perform the task. This invention uses a distributed rigid formation control method to form a directional rigid formation at the grasping end that matches the shape of the object being transported, thereby avoiding pulling damage to the object during transport and effectively controlling the posture of the object during transport.

The application discloses a kind of intelligent nursing device for psychiatric nursing, it is related to nursing device technical field, including seat, backrest, handrail and limit seat, the top of the seat is provided with antiskid pad plate.The intelligent nursing device for psychiatric nursing and its use method, through the operation of driving mechanism makes inclined turntable through spiral strip drive locking ring overturning and lock and lock the upper legs of psychiatric patient, realize the automatic restriction to the leg of patient, and the inclined turntable of normal rotation drives the engagement of convex tooth block and transmission gear, so that the winding wheel is wound and collected steel wire rope and drives two groups of tight clamping plate to complete clamping restraint on the two sides of the upper body of psychiatric patient, reduce the shaking caused by the patient because of resisting action, then through the belt machine with weighing sensor to the patient who wants to stand up and unload force, ensure that intelligent nursing device realizes efficient constraint when treating psychiatric patient, reduce the work intensity of doctor to constrain patient.

The utility model relates to garlic planting technical field discloses a kind of garlic seeding planting device, including vehicle plate, ditching component includes ditching disc, vehicle plate bottom one end is equipped with connecting frame, and ditching disc is rotatably arranged on connecting frame, and seeding component includes material box fixedly arranged on the upper surface one side of vehicle plate, and through-hole is set up in the directly below material box of vehicle plate, and material box bottom is connected with guide chute, and guide chute is connected with seeding pipe, and seeding pipe extends to the below vehicle plate by passing through through-hole, and rotating rod is rotatably connected in material box, and connecting rod is connected on rotating rod, and connecting rod is connected with rotating cylinder, and multiple chutes are set up in circumferential array on rotating cylinder, and the same caliber hole as guide chute top is set up in the bottom of chute, and baffle is slidably arranged in chute, and ditching component and seeding component are connected by linkage component. Ditching component and seeding component cooperate, improve the efficiency of sowing, and the setting of baffle indirectly realizes the adjustment of sowing plant distance, and improves practicality.

The utility model relates to the technical field of fabricated buildings, in particular to an external wall panel stripping and hoisting tool which comprises a truss beam and a hoisting beam, the truss beam comprises an upper main beam and two lower main beams, the two lower main beams are arranged in parallel, the upper main beam is arranged above the lower main beams, the upper main beam is arranged at the central position between the two lower main beams, and the hoisting beam is arranged above the upper main beam. A truss beam lifting lug is arranged at the top of the upper main beam, fixing seats are correspondingly arranged on the outer sides of the two lower main beams respectively, the hoisting beam comprises a hoisting main beam, the hoisting main beam is fixedly connected to the fixing seats, and more than two hoisting beam lifting lugs are arranged at the bottom of the hoisting main beam. The external wall panel stripping and hoisting tool can meet the hoisting requirements of different large external wall panels, the applicability of the hoisting tool in assembly type civil buildings and assembly type industrial buildings is improved, and application and popularization of steel structure and concrete prefabricated part building systems can be accelerated.

The transport device includes: a transport unit having a transport surface for transporting an article; the posture changing part is arranged on one side part of the conveying part and is configured to be capable of switching an advancing and retreating position between a first state in which the posture changing part advances towards the other side part of the conveying part and a second state in which the posture changing part retreats from the first state towards the one side part. The posture changing part can change at least one of the position and the posture of the article through interference with the conveyed article; a detection unit that is provided on the upstream side of the orientation changing unit in the conveying direction of the article, and that detects at least one of the position and orientation of the article in a direction intersecting the conveying direction; and a control unit that controls the advance / retreat position of the posture changing unit between the first state and the second state. The control unit determines whether or not to cause the article to interfere with the posture changing unit on the basis of at least one of the position and posture detected by the detection unit, and controls the advance / retreat position of the posture changing unit in accordance with the determination result.

The application relates to the technical field of building deviation rectification, in particular to a building deviation rectification method, which comprises the following construction steps: excavating a foundation pit, implanting reinforcing piles, installing a monitoring system, implanting a steel pipe group, water flushing for deviation rectification, adding a steel reinforcement cage and first foundation maintenance, so that the damage to the original structure of the building in the deviation rectification process can be reduced, and the deviation rectification process of the building can be simplified.