154results about How to "Improve athletic ability" patented technology

The invention provides a health risk assessment system based on multi-source data fusion analysis of an intelligent wearable device, and relates to the technical field of health risk assessment, and the health risk assessment system comprises the steps: obtaining motion data, physiological data and surrounding environment data of a wearer obtained by the intelligent wearable device; analyzing the exercise data to obtain exercise health indexes, and analyzing the physiological data to obtain physiological health indexes; judging the target state as a rest state, a normal state and a motion state according to the surrounding environment data and the activity intensity index; generating an exercise health assessment coefficient and a physiological health assessment coefficient according to the exercise health index and the physiological health index; generating a target health state assessment coefficient according to the exercise health assessment coefficient and the physiological health assessment coefficient, and completing health assessment of each state of the target according to the target health state assessment coefficient; according to the method, the difference of the target state is considered, and accurate and scientific evaluation of the target state is completed from the angles of operation and physiology.

The invention relates to multi-dynamic-bond synergistic self-repairing polyurethane and a preparation method thereof, and belongs to the technical field of polyurethane. The polyurethane is prepared from the following raw materials: poly (dihydric alcohol), diisocyanate, a pyridine chain extender, catechol and ferric ion salt. A main chain of polyurethane is formed by chain extension of polydihydric alcohol and diisocyanate through a pyridine chain extender, an end group is a catechol group exposed after end sealing of a catechol substance, on one hand, ferric ions and the catechol group form a metal coordination bond, and on the other hand, ferric ions and nitrogen atoms on pyridine form a coordination bond; the polyurethane contains multiple dynamic bonds, including coordination bonds of pyridine and iron ions, coordination bonds of catechol and iron ions, and hydrogen bonds between macromolecular chains. When the material is subjected to external pressure, the material has relatively good damping capacity due to internal friction force in a molecular chain; meanwhile, the polyurethane has good self-repairing capability at room temperature.

The invention relates to a humanoid robot leg structure which comprises thighs, knee joints, shanks, ankle joints and shanks. The thigh part comprises a first joint module motor and a second joint module motor; the knee joint comprises a first pull rod, a second pull rod and a connecting seat; the first joint module motor is connected with the connecting seat through the first pull rod; the shank part comprises a shank pull rod and a third joint module motor; the second joint module motor is connected with the foot through a second pull rod and a shank pull rod; the third joint module motor is connected with the foot through a shank pull rod; the foot part comprises a front support and a rear support which are connected through a foot support rotating shaft. Compared with the prior art, the humanoid robot has the advantages that the second joint module motor and the third joint module motor are located on the thigh portion and the shank portion respectively, symmetrical arrangement is not needed, module motors with larger size and torque can be arranged, and the motion ability of the humanoid robot is enhanced; the foot part comprises a front support and a rear support, and can adapt to different terrains.

The invention discloses a quadruped robot motion control method based on perception deep reinforcement learning, and the method comprises the steps: improving a quadruped robot speed tracking optimization target into a point-to-point distance minimization optimization target, and combining with a three-dimensional environment perception network; the three-dimensional environment sensing network uses multi-layer and multi-resolution environment scanning information as privilege information to be input into the teacher strategy network, loss is calculated according to a position-based multi-target reward mechanism, and the teacher strategy network is optimized; airborne depth information of the quadruped robot is used as input of a student network, and an adaptive module and the student network are trained in an imitation learning mode; according to the expressions of the quadruped robot in nine different parameterized terrains, a terrain completion score is calculated, and the terrain difficulty is improved or reduced according to the obtained score. The method has higher movement ability, the quadruped robot can complete parkour obstacle crossing tasks in various difficult terrains, the calculation complexity is low, and the influence of errors is small.

The invention relates to a diabetes exercise rehabilitation guidance system, relates to the technical field of diabetes rehabilitation, and aims to provide a personalized and scientific exercise management scheme for diabetics. The system comprises a user individual feature data acquisition module, an evaluation and classification module, an exercise scheme generation module, a real-time monitoring module and a feedback and adjustment module. By collecting the physiological parameters of the user in real time, the system automatically analyzes the health condition of the user and classifies the user into low-risk, medium-risk and high-risk exercise crowds. Based on a classification result, the system uses a machine learning algorithm to generate a personalized exercise scheme, and the safety of the exercise process is ensured through dynamic monitoring. The real-time monitoring module of the system can monitor the physiological data of the user in the exercise process and give an alarm in time when an abnormality is found. Through connection with an information system of a medical institution, the system also supports a remote medical function, so that doctors can check health data of patients in real time and provide professional guidance.

The invention relates to the technical field of polystyrene materials, in particular to polystyrene plastic for an SMT carrier tape and a preparation method of the polystyrene plastic. The problems that in the prior art, SMT carrier tape polystyrene plastic is insufficient in mechanical property and poor in aging resistance are solved. The preparation method comprises the following steps: introducing alkenyl-terminated polysiloxane into a polystyrene main chain, and carrying out heat treatment to obtain modified polystyrene; carrying out modification treatment on polycarbonate by using an anti-aging agent to obtain modified polycarbonate; the preparation method comprises the following steps: modifying nano titanium dioxide by using KH-550 to obtain modified titanium dioxide, and carrying out melt extrusion on modified polystyrene, modified polycarbonate, modified titanium dioxide and an auxiliary agent to obtain the polystyrene plastic for the SMT carrier tape. By adjusting the part ratio of polystyrene to alkenyl-terminated polysiloxane and the use amount of modified polyethylene and modified polycarbonate, the mechanical property of the polystyrene plastic is improved; the anti-aging agent is introduced into the polycarbonate structure, so that the anti-aging capability of the plastic is improved.

The invention relates to the field of high polymer materials, and discloses a visible light repairing type waterborne polyurethane emulsion and a preparation method thereof.The preparation method comprises the following steps that polytetrahydrofuran, isophorone diisocyanate, 2, 2-dimethylolpropionic acid and butyltin dilaurate are taken and placed in a reactor, pre-polymerization chain extension is conducted at the temperature of 60-90 DEG C, and a polyurethane prepolymer is obtained; the preparation method comprises the following steps: firstly, adding ASB-PEG2000-ASB, carrying out chain extension at 40-60 DEG C, then adding butanediol and carbohydrazide, continuously carrying out chain extension, then adding glucose, carrying out crosslinking at 40-60 DEG C, finally cooling to 25-50 DEG C, adding triethylamine, carrying out stirring to form a salt, adding deionized water, carrying out stirring dispersion, and carrying out emulsification so as to prepare the visible light repairing type waterborne polyurethane emulsion. The water-based polyurethane emulsion has the advantages that the water-based polyurethane emulsion has wide absorption in the visible light wave band, the self-repairing efficiency is high, the water-based polyurethane emulsion and polytetrahydrofuran are simultaneously used as soft segments to be introduced into water-based polyurethane, and the prepared water-based polyurethane emulsion has high mechanical performance and a visible light induced self-repairing function.

The invention discloses a preparation method of a water-based coating for antistatic treatment of a flexible PVC (polyvinyl chloride) material, belongs to the technical field of antistatic coating processing, and aims to solve the technical problem that the flexibility, conductivity and conductive stability of a water-based coating film in the prior art need to be further improved. The preparation method comprises the following steps: adding polyacrylate into a polyurethane emulsion, stirring, adding a sodium hydroxide solution into a reaction system, adjusting the pH value of the system to 8-9, raising the temperature of the reaction system to 70-80 DEG C, carrying out heat preservation and stirring for 90-120 minutes, and carrying out post-treatment to obtain composite polyurethane; the graphene oxide is modified and then mixed with the polyacrylate reinforced composite polyurethane material, so that the antistatic property, flexibility and adhesiveness of the water-based paint are effectively improved, the water-based paint has good washing migration resistance, and the conductive stability of the water-based paint is improved.

The utility model discloses a gantry three-coordinate measuring machine, which comprises a cross beam, the cross section of the cross beam is an isosceles right triangle, and the cross beam comprises a hypotenuse part; a first right-angle notch part and a second right-angle notch part are respectively formed at two 45-degree corner parts of the cross beam; the sliding frame comprises a sliding frame connecting plate, and the sliding frame connecting plate is parallel to the bevel edge part; a first air floating sliding block and a second air floating sliding block are arranged at the bottom of the sliding frame connecting plate, the first air floating sliding block is in sliding contact with the first intersection part, and the second air floating sliding block is in sliding contact with the bevel edge part; a third air floating sliding block and a fourth air floating sliding block are installed on the top of the sliding frame connecting plate, the third air floating sliding block is in sliding contact with the second intersection part, and the fourth air floating sliding block is in sliding contact with the bevel edge part. Through the distribution of the six air floating sliding blocks, stable, effective and symmetrical sliding support can be realized for the cross beam, so that the sliding frame moves more stably, the abrasion of the sliding frame is reduced, the motion performance is obviously improved, the motion torsional pendulum is reduced, and the measurement precision of the measuring machine is improved.

The invention provides a multi-constraint robot joint space path planning method. The multi-constraint robot joint space path planning method comprises the following steps: randomly sampling in a robot joint configuration space by adopting heuristic node search to generate new nodes, and adding the new nodes into a path tree; dynamically adjusting a neighbor radius threshold according to the number of nodes; the connection cost between the generated new nodes and existing nodes in the path tree is calculated according to the node path cost, the connection with the minimum cost is selected, and the node path cost comprises the distance cost, the collision risk cost and the joint mutation cost; executing path rewriting and reconnecting operations in the path tree; and when the generated nodes reach a target point or meet a specific stop condition, backtracking from the target point to the starting point, and forming an initial path PA according to a connection relationship among the nodes. According to the multi-constraint robot joint space path planning method, the initial path which is free of collision risk, low in energy consumption, small in joint mutation and high in operation speed can be rapidly generated.

The invention relates to the technical field of electrolyte, in particular to a thioether cross-linked solid polymer electrolyte membrane as well as a preparation method and application thereof. The preparation method comprises the following steps: taking N, N-dimethylformamide, respectively adding 3, 6-dioxa-1, 8-octane dithiol and triglycidyl isocyanurate, and uniformly stirring to obtain a mixed solution; adding bis (trifluoromethylsulfonyl) imide lithium into the mixed solution, putting magnetons on a magnetic stirrer, and completely dissolving the magnetons to obtain a precursor solution; and pouring a proper amount of the precursor solution into a polytetrafluoroethylene mold, spreading, and carrying out cross-linking polymerization in a blast oven to form the film. The three-dimensional thioether cross-linked network structure has a large number of weakly coordinated thioether groups, dissociation of lithium salt can be promoted, a large number of free Li < + > is generated, the number of Li < + > is increased, meanwhile, the crystallinity of a polymer is remarkably reduced, the ionic conductivity is improved, the mechanical stability of a film can be improved, and the service life of a battery is effectively prolonged.

The invention relates to the technical field of robots, and provides an actuator, a joint module, a joint arm, a biped robot, a quadruped robot, a four-wheel-foot robot, a humanoid robot and a robotic.The actuator comprises a shell roughly in a hollow cylindrical shape, a motor assembly and a speed reducer assembly, and the speed reducer assembly comprises an inner gear ring roughly in a hollow cylindrical shape; the inner gear ring is embedded in the shell and fixedly connected with the shell through a plurality of first fasteners, and the first fasteners are arranged in the radial direction of the shell so that the shell can be fixedly connected with the inner gear ring in the radial direction. The actuator can be set to be smaller in axial size and radial size, the requirements for compactness and miniaturization of products in the field of robots at present are met, meanwhile, matching and installation of the shell and the inner gear ring are facilitated, assembly errors are reduced, and the transmission precision and stability of the actuator are improved.

The invention discloses a raw material juice separation device for sauce production, and relates to the technical field of separation devices.The raw material juice separation device comprises a workbench, a separation box is fixedly connected to one side of the top of the workbench, an extrusion plate is slidably arranged in the separation box, and a control assembly installed on the workbench is arranged on one side of the separation box. According to the raw material and juice separation device for sauce production, the extrusion plate is driven to intermittently move towards one side of the filter plate in the separation box, so that the space in the separation box can be reduced, the space of raw materials in the separation box is reduced, the extrusion plate is subsequently controlled to reciprocate on the basis of the position, and the raw materials are extruded; the juice is separated, the space in the separation box is intermittently compressed, solid and liquid in the raw materials can be more effectively separated, the dynamic pressure change is beneficial to acceleration of the separation process, and the overall separation efficiency is improved.

The invention provides a plant lactobacillus KSFY202407 capable of resisting fatigue and improving athletic ability and application of the plant lactobacillus KSFY202407, and belongs to the technical field of microorganisms. The preservation number of the plant lactobacillus KSFY202407 provided by the invention is CGMCC No.31104. The strain can maintain stable increase of mouse weight, prolong exhaustive running and exhaustive swimming time, reduce blood lactic acid concentration after excessive exercise, improve the content of muscle glycogen and hepatic glycogen in gastrocnemius muscle, reduce serum creatine kinase and blood urea nitrogen concentration, and improve the immunity of mice. The obvious effect of up-regulating the mRNA expression levels of AMPK, PGC1-alpha, SOD2 and GPx1 is achieved. It is shown that the KSFY202407 can improve exercise tolerance, relieve exercise-induced fatigue and promote exercise ability, and a candidate strain is provided for development of exercise-related products.

The utility model discloses an ankle pump device structure, which belongs to the technical field of medical appliances and comprises a sole shell, a heel supporting plate is connected to one side of the sole shell, a rotating pin shaft is mounted on the outer wall of the heel supporting plate, and the sole shell rotates with the outer wall of the heel supporting plate through the rotating pin shaft. A heel supporting plate is arranged at the bottom of the sole shell, a penetrating groove is formed in the position, close to the heel supporting plate, of the bottom of the inner side of the sole shell, an elastic bandage is arranged at the bottom of the inner side of the sole shell, and a driving mechanism is arranged at the bottom of the sole shell. The foot sole of the patient penetrates through the lower portion of the elastic bandage through the elastic force of the elastic bandage, the foot sole of the patient is fixed, then the foot sole shell rotates along the outer wall of the rotating pin shaft through the driving mechanism, and then the ankle pump movement is automatically conducted on the patient.

The invention discloses a mechanical arm path planning system based on reinforcement learning, and relates to the field of robots, and the mechanical arm path planning system comprises the following steps: constructing a mechanical arm motion path model based on reinforcement learning in an upper computer by applying a DQN model; the mechanical arm is trained through the generated model to achieve accurate point-to-point movement; model information is transmitted to the mechanical arm; and obstacle space information of the motion environment of the mechanical arm is collected and input into the trained mechanical arm motion path model, real-time path adjustment is conducted, and work is completed. According to the method, based on the neural network model of the DQN model reinforcement learning algorithm, the relatively optimal path in the specific obstacle space is searched through multiple times of training, the working efficiency of the mechanical arm is improved, and the mechanical arm can better perform path planning during working.

The invention relates to the technical field of motion sensing and intelligent analysis, in particular to a display system based on motion sensing and digital twinborn ecology fusion. Comprising a server, a dynamic analysis module and an intelligent display module, the exercise physiological deviation value is obtained by performing deviation analysis on the exercise data and the physiological data of each user, and then real-time trend analysis is performed on the exercise physiological deviation value, so that the exercise health state of the user can be accurately evaluated, and the future exercise physiological state can be predicted and managed; by displaying the overlapping value between the exercise posture of the user and the standard posture in real time, the user can be helped to clearly understand whether the exercise posture of the user is correct or not, posture adjustment suggestions are provided in time, and exercise injuries are reduced; in combination with simulation of the virtual scene, the user can experience the virtual scene matched with the actual exercise posture of the user, the effectiveness of exercise training and the input feeling of the user are enhanced, and the practicability and individuation of exercise guidance are improved.

The present invention relates to the field of building construction technology, and in particular to a wear-resistant and non-slip integral suspended assembled shock-absorbing sports floor construction method. The following construction steps are included: (1) construction preparation (2) base floor treatment (3) line drawing, grid division, positioning, and fine leveling (4) elastic rubber pad placement (5) wooden keel placement (6) plywood laying (7) panel installation (8) skirting board installation (9) panel cleaning and protection. The present invention enables the sports wooden floor to have better load-bearing performance, high shock absorption performance, and anti-deformation performance, improves the overall sports performance of the sports floor, and at the same time enables the sports floor to develop in a more professional, environmentally friendly, and safer direction, that is, it is economical, practical, and beautiful, and has good application and promotion prospects.

The invention relates to the technical field of anion exchange membrane fuel cells, in particular to a cation remote grafting type polycarbazole anion exchange membrane and a preparation method thereof. The membrane is prepared by the following steps: condensing N-(4-bromobutyl) carbazole, N-alkyl carbazole and 2, 3-butanedione to obtain a polymer skeleton, then carrying out Menshutkin reaction on the polymer skeleton and cations to obtain polyelectrolyte, and finally carrying out ion exchange on the polyelectrolyte and sodium hydroxide. Wherein the main chain of the polymer has no unstable ether bond, so that the membrane has strong alkali resistance. The flexible overhanging side chain improves dimensional stability and increases polarity differences. Cations are grafted away from a framework, the alkali resistance of the membrane is improved, the service life is prolonged, hydrophilic / hydrophobic microphase separation is enhanced, an ion transmission channel is formed, and the ion conductivity is high. The membrane has good mechanical strength and flexibility, the tensile strength reaches 55.34 MPa, the elongation at break reaches 22.49%, the application requirements of fuel cells are met, and the membrane has excellent thermal stability and wide application prospects in alkaline anion exchange membrane fuel cells.

The present application relates to the field of heart rate monitoring, and particularly relates to a method and device for monitoring heart rate during exercise based on a smart watch. The method comprises the following steps: obtaining geographical position information of a user based on a smart watch, identifying a user exercise scene, and generating an exercise scene type; collecting original heart rate detection parameters, performing time series heart rate feature analysis, and constructing a heart rate feature set; performing deep exercise mode recognition on the exercise scene type and the heart rate feature set, and obtaining a user exercise mode; performing global heart rate situation awareness on the heart rate feature set, and constructing a global heart rate situation map; and performing comprehensive risk assessment and self-adaptive early warning decision-making on the global heart rate situation map according to the user exercise mode. The present application realizes self-adaptive analysis of a user heart rate state, and improves user exercise safety assessment efficiency and accuracy.

The application discloses a solvent-free phenolated lignin-based polyurethane elastomer and a preparation method and application thereof. A phenolated lignin with high phenolic hydroxyl content is prepared first, and then the phenolated lignin is dispersed in a polyol, and a lignin-based polyurethane elastomer rich in dynamic phenol-type urethane bonds is synthesized by using a one-step solvent-free method, and the synthesis process is green and simple. The phenolated lignin has a lower molecular weight, a higher hydroxyl content and a higher reactivity, and the polyurethane elastomer synthesized by using the phenolated lignin has a double dynamic crosslinking network composed of a phenol-type urethane network and a hydrogen bond crosslinking network. The obtained solvent-free phenolated lignin-based polyurethane elastomer has excellent mechanical properties, reprocessing properties, light-heat self-healing properties and thermal-oxidative aging resistance. The contradiction between the mechanical properties and dynamic mechanical properties of traditional polyurethane elastomers is solved, and a new idea is provided for developing green and multifunctional polyurethane elastomers in future industrial fields.

The invention belongs to the technical field of traditional Chinese medicines, and particularly relates to kadsura pepper stem polysaccharide as well as a preparation process and application thereof. The kadsura pepper stem polysaccharide (KPSP) is extracted by taking kadsura pepper stem as a raw material and combining an ultrasonic-assisted extraction method with a compound enzyme enzymolysis method. The extraction process of the kadsura pepper stem polysaccharide is simple to operate, high in extraction rate and purity, time-saving, efficient and measurable in molecular weight, and the extraction system is mild. Results of the embodiment show that the extracted kadsura pepper stem polysaccharide can enhance the exercise ability and stress ability of CL4176 nematodes, and then the extracted kadsura pepper stem polysaccharide can be applied to preparation of products and / or drugs for improving the exercise ability and stress ability.

The invention belongs to the technical field of resin synthesis, and particularly discloses acrylate resin and a preparation method thereof as well as an adhesive and a preparation method thereof. A long-carbon-chain alkane structure is introduced into a main chain of the acrylate resin provided by the invention, so that the movement capability of a molecular chain segment is enhanced, and the acrylate resin is endowed with relatively high flexibility and relatively low glass-transition temperature; therefore, the elastic modulus of the adhesive is improved, and the adhesive has higher bonding strength. Meanwhile, the acrylate resin is added into the adhesive, and through photo-thermal dual curing, acrylate groups can quickly react and crosslink to form a compact three-dimensional network structure. In addition, an alignment film in the liquid crystal display element is generally made of polyimide, the acrylate resin has a flexible framework, the similarity between the acrylate resin and a chain segment of the polyimide is high, the bonding force after curing is not prone to failure under the action of thermal expansion and cold contraction or mechanical stress, and the good bonding stability is achieved.

The utility model relates to the technical field of biomimetic robots, in particular to a tensegrity biomimetic robot which comprises a first pressing rod, a second pressing rod, a third pressing rod, a fourth pressing rod, a fifth pressing rod, a sixth pressing rod, a plurality of drivers and a controller, the controller is located in the middle of a geometry formed by the pressing rods and electrically connected with the drivers, and inhaul cable assemblies are further installed between the drivers. According to the bionic robot, various forms can be changed, and the adaptability of the bionic robot is improved.

The present disclosure provides a mechanical arm and a robot, and relates to the field of robot technology. The mechanical arm includes: a first mechanical joint, a second mechanical joint and a driving assembly; the first mechanical joint includes a first fixed part and a first movable part that are rotatably connected; the second mechanical joint includes a second fixed part and a second movable part that are rotatably connected; in a first working mode, at least two driving sources can drive the second movable part to rotate relative to the second fixed part, and fix the position of the first movable part relative to the first fixed part; in a second working mode, the driving source drives the second movable part, the second fixed part and the first movable part to rotate relative to the first fixed part, and fixes the position of the second movable part relative to the second fixed part. The mechanical arm disclosed in the present disclosure can realize the coupled driving of multiple joints by at least two driving sources, thereby improving the utilization rate of the driving sources.

The present invention provides a structural design method based on a 360° rotating robot, which is applied to the 360° rotating robot. The structural design method includes: selecting and determining the arm length and joint motion range of the robot according to the workspace and load capacity; performing kinematic modeling; determining the driving scheme according to the relationship between the attribute constant of the robot and the driving torque of the robot joint; using SolidWorks to establish a three-dimensional model of the robot, and based on the dynamic simulation and verification of SolidWorks, making an overall design scheme for the robot; using SolidWorks finite element simulation analysis to perform lightweight design on the key components of the robot. The robot designed by the structural design method based on the 360° rotating robot of the present invention has an all-round rotation capability, can move and operate flexibly in any direction, realizes the comprehensive optimization of the robot structure and performance improvement, not only improves the work efficiency and reliability of the robot, but also reduces the production cost and energy consumption, and achieves the effect of high speed and high precision.

The invention discloses an anti-scale sewage solid-liquid separation reaction device, and relates to the technical field of sewage treatment. The device comprises an accommodating shell, a first filter plate is mounted in the accommodating shell, the accommodating shell is divided into a filter chamber and a reaction chamber from top to bottom by the first filter plate, and the first filter plate is conical. During use, sewage is discharged into the filtering chamber through a water outlet of the water inlet pipe, filtering is performed through a second filtering plate and a first filtering plate, and during use, a sliding block on the second filtering plate is driven to slide in a spiral groove through rotation of the water inlet pipe; through guiding of a spiral groove and a vertical groove, a second filter plate reciprocates in the filter chamber, one is used for shaking dirt on the second filter plate, and the other is used for extruding dirt between the first filter plate and the second filter plate, so that sewage can better fall into the reaction chamber to react with a flocculating agent; and the practicability of the device is improved.

This invention discloses a room-temperature self-healing electromagnetic shielding hydrogel composite material and its preparation method, belonging to the field of composite material technology. The composite material uses polyvinyl alcohol containing aryl indole groups and conductive materials as raw materials, and ferric chloride and borax as crosslinking agents. Based on the steric hindrance effect introduced by the large-volume groups and the multiple dynamic bonds constructed in the system, this invention enables the composite material to exhibit highly efficient self-healing ability, high mechanical strength, and excellent electromagnetic interference shielding performance at room temperature. Through repeated wetting and drying treatments, the electromagnetic shielding efficiency of the hydrogel can be reversibly switched between on / off states, making it suitable for applications in flexible electronics and intelligent shielding, thus solving the problem that traditional hydrogel materials struggle to simultaneously achieve self-healing performance, mechanical strength, and electromagnetic shielding effectiveness.

The invention relates to a cableless moving iron type magnetic suspension planar motor for a workpiece table of a photoetching machine, and aims to solve the problem that a load on a moving iron type magnetic suspension structure mover needs a cable to supply power, so that the motion precision of the workpiece table is influenced, and the cableless moving iron type magnetic suspension planar motor comprises a motor stator unit and a motor mover unit, the motor rotor unit is located on the upper portion of the motor stator unit, a wireless electric energy transmission transmitting end coil is additionally arranged on the stator side, a wireless electric energy transmission receiving end coil is additionally arranged on the rotor side, and the receiving end coil receives electric energy and provides electric energy for a load on a rotor. By utilizing the Halbach array stator with the wireless electric energy transmission transmitting end coil and the rotor winding with the wireless electric energy transmission receiving end coil, the low-current fluctuation power supply of the rotor winding can be realized, the cable-free long-stroke operation of the moving coil type magnetic suspension planar motor is ensured, and the motion performance of the workpiece table for the photoetching machine is further improved. The invention belongs to the technical field of photoetching equipment.

The invention discloses a structural layout spiral tendon continuum robot and a using method, and belongs to the technical field of continuum robots. The robot comprises a structural spiral guiding tendon spacing disc, a continuum backbone, a continuum guiding bone, a tendon adjustable tensioning device and a tendon winding transmission module. A plurality of structural spiral guide tendon spacing plates are mounted on the continuum backbone; the end part of the continuum backbone is mounted at one end of the continuum guide bone, and the other end of the continuum guide bone is arranged in front of the tendon adjustable tensioning device; the tendon winding transmission module is arranged behind the tendon adjustable tensioning device; the tendon sequentially passes through the structural spiral guide tendon spacing disc, the continuum guide bone and the tendon adjustable tensioning device and is connected to the tendon winding transmission module. According to the improved tendon tensioning device, the stability of tendons is guaranteed, the movement capacity of a continuum robot in a complex space environment is enhanced, and the control precision is improved.