9results about How to "Increase workspace" patented technology

The invention belongs to the field of nonlinear under-actuated electromechanical system automatic control, and provides a self-adaptive nonlinear robust control method and system for a flight double-arm system, and the method comprises the steps: building a double-arm kinematic model based on measured double-arm geometric parameters; according to the double-arm kinematics model, the influence of double-arm motion on the system mass center is analyzed, and the mass point system momentum theorem is utilized to construct an unmanned aerial vehicle dynamics model; a deep neural network feedforward item is designed, a robustness error integral feedback item is designed based on the unmanned aerial vehicle dynamics model, and a complete nonlinear robust controller is constructed; a state feedback signal of a flight double-arm system is acquired in real time, a real-time weight is provided for each layer of the deep neural network according to an adaptive update law, a control signal for realizing accurate trajectory tracking of the unmanned aerial vehicle is calculated by using a nonlinear robust controller, and the accurate trajectory tracking of the unmanned aerial vehicle is completed under the driving of the signal.

The application discloses a master-slave end hybrid mapping method for a human-computer interaction system and application thereof, and belongs to the technical field of human-computer interaction, and comprises the following steps: a slave end executes a corresponding mapping method according to a mode selected by a master end in different stages and specific task requirements; wherein the mode of the human-computer interaction system comprises a first mode and a second mode; the corresponding mapping method in the first mode is applied to a large-range fast rough positioning operation scene, and the corresponding mapping method in the second mode is applied to a small-range slow fine operation scene; through the hybrid mapping method, the consistency of end postures of master-slave end devices is maintained while the reachable range of a working space of the human-computer interaction system is improved; after mode switching, fine operation under operation space mapping can be realized, and continuous and smooth switching of positions and postures can be realized, so that continuous and smooth switching between different operation modes is realized, and the tracking error between the master end and the slave end is greatly reduced.

The application discloses a parallel RCM mechanism end effector for orthopedic surgery, which comprises two motors, three movement units, a double parallelogram linkage mechanism and a ball mill. The two motor axes are perpendicular and are installed on a base. The motor A is hingedly connected to the bottom end of the first movement unit; the motor B is hingedly connected to the bottom end of the second movement unit; the third movement unit is symmetrically arranged with the second movement unit and is hingedly connected to the base at the bottom end. The upper rod end of the double parallelogram linkage mechanism is hingedly connected to the top end of the second and third movement units through a rotating shaft; the lower rod end is hingedly connected to the three movement units through a rotating shaft. The upper rod and the lower rod are rotationally connected to the ball mill at the front ends. The double parallelogram linkage mechanism is used to make the center of the ball mill head coincide with the fixed point of the RCM mechanism, and the mechanism characteristic of the fixed point of the RCM mechanism is utilized. The fixed point is made to coincide with the ball center of the ball mill head, so that the position of the ball mill head is unchanged when the posture of the ball mill is changed, the posture of the ball mill does not affect the grinding process in the grinding process, the posture of the ball mill can be adjusted, the obstacle avoidance can be better realized, and the safety is improved.

The invention belongs to the technical field of medical instruments. The quick-changing operation actuator for the single-side double-channel spine endoscope comprises a shell, a feeding module, a driving module, a rotating module, a quick-changing module and a base, the shell, the feeding module and the driving module are all fixed to the base, and the feeding module is used for being connected with a surgical instrument to control axial movement of the surgical instrument; the feeding module and the rotating module are respectively connected with the driving module, the rotating module is connected with the quick changing module to drive the surgical instrument to axially rotate, and the quick changing module is used for being connected with the surgical instrument; the flexibility and working space of surgical instruments are improved, the surgical instrument quick replacement module is arranged and can be quickly replaced according to surgical requirements, different surgical operations can be carried out, and the adaptability of the surgical robot is further improved.

This invention discloses a motion planning method for a seven-DOF robotic arm system, comprising a six-DOF robotic arm and a guide rail. The method first obtains key configuration parameters, dividing the system's revolution angle around a fixed point into n regions and establishing a one-to-one mapping with n predetermined positions on the guide rail. These parameters include the boundary angles of each region, the corresponding guide rail positions, and floating thresholds set for both to suppress fluctuations in region boundary identification caused by floating-point precision. Subsequently, the current revolution angle and guide rail position are identified to determine the target revolution angle. Based on the region numbering relationship between the current and target angles and the current guide rail position, a motion path is adaptively generated. This path is achieved through asynchronous coordination of the robotic arm joint motion and the guide rail linear motion, maintaining a constant end-effector posture throughout the process. This invention avoids real-time kinematics solving through discretization and parameter mapping, improving planning stability, system adaptability, and motion efficiency.

The utility model discloses a VOCS purification device for a civil air defense door paint spraying room, and relates to the technical field of civil air defense door production. The VOCS purification device for the civil defense door spray booth comprises an activated carbon adsorption box and a catalytic combustion furnace fixedly installed at the output end of the activated carbon adsorption box, and a fixing plate is fixedly connected to the bottom of the activated carbon adsorption box. According to the activated carbon adsorption box disclosed by the utility model, by arranging the supporting plate capable of sliding up and down, when activated carbon at the upper part in the activated carbon adsorption box is replaced, a worker and new activated carbon can be lifted to a proper position through ascending of the supporting plate, so that the worker can conveniently take, place and replace the activated carbon in the activated carbon box and disassemble and assemble the box; the replacement efficiency is improved, the downtime of the purification equipment is reduced, the practicability is enhanced, the working space and the placement space of workers can be increased by arranging the telescopic movable plate, and the practicability is enhanced.

The application discloses a dynamic uniform three-dimensional magnetic field generating device and method, and belongs to the technical field of three-dimensional magnetic field construction. The application aims at the problem that the existing coaxial combined Halbach array method cannot generate a controllable dynamic uniform three-dimensional magnetic field. The device comprises a plurality of Halbach arrays, a transmission system, a driving system, a water cooling structure and an electromagnetic solenoid. The plurality of Halbach arrays are coaxially nested or symmetrically arranged along the axial direction. Each Halbach array is provided with a set of transmission system and driving system. The driving system drives the corresponding Halbach array to rotate through the transmission system. The electromagnetic solenoid is arranged in the plurality of Halbach arrays and coaxial with the plurality of Halbach arrays. The outer ring surface of the electromagnetic solenoid is provided with the water cooling structure. The application can improve the dynamic response frequency of the magnetic field generating device and has the dynamic regulation and control capability of the in-plane magnetic field strength and direction.

A translational multi-axis brazing robot, wherein a lifting rod of a lifting assembly penetrates a bottom plate and is fixedly connected to a lifting plate, a sliding plate is connected to the top of the lifting plate through a transmission assembly, a slide rail assembly is symmetrically connected to the top of the slide assembly, and a fire feeding tooling assembly is connected to the top of the slide rail assembly through a fixing clamp. The invention has a simple structure and is easy to operate. By adding an accordion cover, a transmission assembly and a lifting assembly to the welding robot, XYZ three-coordinate movement is achieved, thereby greatly improving the working range and spatial accessibility of the welding robot; at the same time, the welding robot adopts a slide rail assembly and a guide rail to expand the working range of the welding robot, so that it can weld larger and longer workpieces, provide an optimal welding posture, and prevent equipment damage caused by spatial interference. In addition, multiple welding robots can be arranged on the accordion cover to work in conjunction at the same time, thereby further improving the welding work efficiency and realizing multi-station brazing.

A hand-controlled minimally invasive surgical instrument with yaw self-locking and decoupling functions relates to the field of thoracic and abdominal minimally invasive surgical medical equipment, including an end effector, an operating rod, an opening and closing motion drive mechanism, an opening and closing motion guide wheel group, a yaw motion drive mechanism with a self-locking function, and an instrument box. The end effector is installed at the front end of the operating rod, and the instrument box is installed at the rear end of the operating rod. The opening and closing motion drive mechanism is connected to the end effector and the instrument box respectively, and the opening and closing motion guide wheel group and the yaw motion drive mechanism with a self-locking function are both installed in the instrument box. The present invention has the advantages of convenient operation, strong flexibility, and self-locking. While improving the degree of freedom of the end effector, it also increases the working space of the surgical instrument; the end effector of the present invention adopts a double guide wheel structure and a unique cross winding method to achieve a decoupling function; the present invention is small in size, can be operated by a doctor with one hand, and is comfortable and convenient to operate; the system of the present invention has high precision and good dynamic performance.