33results about How to "Flexible posture" patented technology

The invention discloses an automatic scraping therapy bed. The automatic scraping therapy bed comprises a rotating table, a parallel base, a first serial arm, a second serial arm, a third serial arm and a folding bed body. A one-degree-of-freedom working head is additionally arranged on a main body of a nine-degree-of-freedom hybrid mechanism, the working space is large, the control is more flexible and intelligent, and multiple scraping therapy methods can be imitated. A camera and a laser sensor can scan human body and measure distances, and are used for determining a scraping therapy position and planning a work track. The one-degree-of-freedom working head can drive a scraping therapy plate to rotate, is matched with the hybrid mechanism, and can be attached to skin well. A bed body can be laid flat, can further become a chair type back, and has flexible gesture. Automation scraping therapy is achieved, and manpower is saved.

The embodiment of the present invention discloses a posture control method and system of a six-joint manipulator in series. The method includes: pose matrix calculation step S1: according to the read servo motor angles of each joint, use the connecting rod transformation matrix to perform a positive solution to obtain Manipulator pose matrix; actual point calculation step S2: convert the rotation matrix in the pose matrix into a quaternion to obtain the actual point P1; setting step S3: modify the actual point according to the user to obtain the target point P2; the first three-axis angle calculation step S4: Calculate the axis angles of the first three joint manipulators according to the pose matrix; the second three-axis angle calculation step S5: calculate the axis angles of the last three joint manipulators; sending step S6: send the obtained axis angles to each shaft servo motor. The invention uses the quaternion to control the attitude of the manipulator, the attitude and track control are more flexible, the forward and reverse calculation is faster, and the six-joint manipulator can reach the maximum range of motion in mechanical design.

A power-assisted walking and auxiliary support mechanism, which includes a left leg, a right leg, a foot, a waist wearing module and an auxiliary support telescopic rod, the left leg and the right leg are respectively equipped with feet; the left leg and the right leg respectively include hip joints Connector, thigh support rod, thigh rope drive mechanism, knee joint connector, calf support rod, calf rope drive mechanism, ankle joint connector and shock absorption module, hip joint connector is connected with waist wearable module; thigh support rod and hip The joint joints are connected and the two can rotate relatively; the thigh support bar is rotationally connected with the calf support bar through the knee joint joint, and the foot includes soles, electric folding wheels and foot straps; The shock-absorbing module includes a shock-absorbing mechanism and a foot cushion, the foot cushion is installed on the sole of the foot, the shock-absorbing mechanism is connected with the ankle joint connector, and the shock-absorbing mechanism is respectively connected with the foot cushion and the sole of the foot. The invention has good transmission efficiency, is safe and reliable, and improves the smoothness of assisting walking.

The invention discloses a vertical take-off and landing unmanned aerial vehicle with a vector thrust ducted engine, comprising a fuselage, a wing and a vertical tail are respectively fixed in the middle and the tail of the fuselage, and a winglet is provided at the end of the wing. , a vector thrust ducted engine is installed under the wing, the vertical tail and the winglet are provided with a take-off and landing buffer mechanism; the UAV performs vertical take-off, landing and parking through the take-off and landing buffer mechanism, On the one hand, it has the flying speed of fixed-wing drones, and on the other hand, it can perform vertical take-off, landing and hovering like rotary-wing drones, which greatly reduces the drone's dependence on the venue runway.

The present invention provides a laser ranging system and method. The system includes a laser emitting module, an emitting and receiving common-optical path module, a laser receiving module, and a calculation module; the emitting and receiving common-optical path module includes a first transmission channel and a second transmission channel; the emitting and receiving common-optical path module isused for obtaining a wide-spectrum light source according to initial laser signals emitted by the laser emitting module, irradiating an object to be measured with the wide-spectrum light source through the first transmission channel, and receiving reflected laser signals through the second transmission channel, wherein the reflected laser signals are reflected back from the object to be measuredafter the broad-spectrum light source irradiates the object to be measured; and the calculation module is used for calculating a distance between the object to be measured and the laser ranging system. According to the laser ranging system and method of the invention, by means of the thinness of an optical fiber and the two laser transmission channels in the same optical fiber, emitting and receiving common-optical path distance measurement is realized; and since the application of a plurality of optical fibers is not required, the size of the probe of the laser ranging system can be greatly decreased, and the probe is more flexible and has higher concealment performance.

The invention discloses an adjustable passively-stable mechanical foot. The invention mainly aims at the problems that a robot foot is low in terrain adaptability and prone to slip when traveling on rough road surfaces, and designs the mechanical foot which is simple in structure, adjustable, stable and reliable. The adjustable passively-stable mechanical foot mainly consists of a mounting supportcolumn, feet, cushioning adjusting devices, foot clamping devices, foot rotary devices and passively-antiskid adjusting devices. When the mechanical foot travels on rough terrain, the mechanical footcan adapt to the rough terrain in different conditions by virtue of the adjustment of the cushioning adjusting devices. Through the function of the passively-antiskid devices and the foot rotary devices, the mechanical foot can automatically adapt to different rough terrain features when traveling on the rough road surfaces, and the contact manner between the feet and the rough terrain can be more stable and reliable.

The invention discloses a photo-cured hydrogel conveying device for minimally invasive surgery and an in-situ printing method. The device comprises a shell, a rotary steering structure and a coaxial spraying nozzle, wherein the rotary steering structure and the coaxial spraying nozzle are installed in the shell, the coaxial spraying nozzle is installed in the shell, and the outlet of the coaxial spraying nozzle is located outside. The posture is changed and adjusted through the transmission of an internal bevel gear group, the rotation of a handle around the Y axis is converted into the rotation of the coaxial spraying nozzle around the X axis, and the rotating range of the coaxial spraying nozzle is 0-180 degrees. The posture is indicated by scale lines on the outer handle, the rotating angle of the handle is indicated by the outer circle, and the rotating angle of the coaxial spraying nozzle at the tail end is indicated by the inner circle. The coaxial spraying nozzle is in a round tube shape. The outlet of the coaxial spraying nozzle is located on the longitudinal axis of a round tube. An embedded curing light source is adopted for one part of the coaxial spraying nozzle. The outer circle of the coaxial spraying nozzle has a material outlet effect and a light shielding effect. Illumination light sources are evenly distributed on the periphery of the coaxial spraying nozzle.By means of the continuous illumination and interval feeding segmented curing strategy, the material curing uniformity is ensured, and efficiency is improved.