30results about How to "Keep balance and stability" patented technology

The invention discloses a surgical drilling instrument with force sensing function for robot-assisted surgery, which comprises: an end effector part, a deflection-pitch part and an autorotation part. The end effector is composed of a six-dimensional force sensor, a drill connector, a pitch connector, a surgical drill, and an intermediate connecting shaft, and is used to realize drilling and force sensing functions. The pitch-yaw part is composed of a pitch axis, an intermediate support body, a yaw drive wheel, a yaw shaft, and a transmission wheel, and is used to complete pitch and yaw degrees of freedom. The rotation part is composed of a rotation shaft and a carbon fiber tube, which is used to realize the degree of freedom of rotation. The drilling device of the present invention adopts wire transmission, which can realize long-distance transmission, eliminate hysteresis through proper preloading, and has the advantages of large operating space, high transmission precision, good motion stability, and sensing the force and moment at the end of the drill.

The invention discloses a self-standing tower crane and formwork integrated construction platform system. The self-standing tower crane and formwork integrated construction platform system comprises self-standing tower cranes, a steel frame device, supporting power devices, lateral resisting devices and leveling devices; the steel frame device comprises a frame platform and frame columns, and each frame column is installed on the wall body of the periphery of a core tube through the corresponding supporting power device; each supporting power device comprises a micro-convex fulcrum mechanism, an upper support frame, a lower support frame, a switchover stand column mechanism and a power mechanism, the micro-convex fulcrum devices are fixedly installed on the wall bodies of the peripheries of the core tubes, the upper support frames and the lower support frames are arranged on the upper portions and the lower portions of the micro-convex fulcrum devices in a hanging mode respectively, the switchover stand column mechanisms are put on the upper support frames, the upper portions of the power mechanisms are installed on the switchover stand column mechanisms, and the lower portions of the power mechanisms are fixedly connected with the lower support frames. According to the self-standing tower crane and formwork integrated construction platform system, a formwork and the tower cranes can be made to form an integrated structure, overall lifting is achieved, and the safety and the stability of the whole formwork during operation of the tower cranes are guaranteed.

The embodiments of the present application provide a dance balance control method and device for a biped robot, and a biped robot. The method includes: when the robot has at least one support leg, acquiring the actual joint angle and the actual foot force fed back by the robot, And use the real-time feedback joint angle and plantar force information to calculate the ZMP deviation, and then use the ZMP deviation to calculate the expected momentum, and combine the joint angular velocity optimization function that takes the difference between the joint reference angle and the actual joint angle as the optimization variable, Finally, the joint angles that can satisfy both dance movement tracking and balance movement are calculated for control. This solution can realize the stability of the whole machine under dance movements without the need to strictly design the dance movement trajectory, and has strong external anti-interference ability and fast response ability.

The invention provides a screw tightening mechanism for a case shell and a case assembly system. The screw tightening mechanism comprises first and second lifting object stages, a screw tightening device, a rotary operating platform, a case shell conveying device and an electrical control cabinet, wherein the first lifting object stage is used for lifting the case shell to a preset height and conveying the case shell to a workbench of the screw tightening device; the screw tightening device is used for tightening screws on the to-be-machined case shell; the second lifting object stage is used for receiving the case shell on which the screws are tightened and lifting or lowering the case shell to a preset height to allow the case shell to enter a conveying station; the rotary operating platform is used for adjusting the case shell to the proper position and angle; the case shell conveying device is used for conveying the case shell on which the screws are tightened to a following assembly station; the electrical control cabinet is used for driving the first and second lifting object stages, the screw tightening device, the rotary operating platform and the case shell conveying device to operate. The screw tightening mechanism can finish the screw tightening procedure accurately and efficiently for the case shell.

The invention discloses a method for ecological system restoration by a food web. The method comprises the following steps of (1) ecological restoration reconstruction region survey; (2) key food web building; (3) key food web nutrition relationship quantification; and (4) ecological system restoration reconstruction. The ecological restoration method has the advantages that the method starts from the introduction of local species, the ecological risk such as non-indigenous organism invasion generated in the ecological system restoration reconstruction is avoided; the introduced ecological restoration reconstruction region is the local key food web, i.e. an ecological system with the complete structure is formed, the fast forming of a new ecological system is promoted, the ecological risk can be avoided, and the time for introduced species to be merged into the new system again can also be shortened; and the ecological system with little man-made interference is selected as a basis reference, the nutrition relationship of the newly built food web is quantitated, and the relative balance and stability of the newly formed ecological system is ensured.

The invention discloses a waste slag collection device for garbage incineration and a method for using the same, and belongs to the technical field. A waste slag collection device for garbage incineration includes a box body, and a crushing cavity is provided on the upper part of the box body. Two crushing chambers are installed on the inner wall of the crushing cavity. A symmetrically arranged crusher, and the blades on the two crushers are misplaced. The upper part of the crushing chamber is connected with a feeding pipe, and the middle part of the box is provided with a separation chamber, and the separation chamber is connected with the crushing chamber. The rapid separation of slag and fly ash is convenient for subsequent processing, and it can also adsorb heavy metals contained in fly ash to reduce the pollution degree of fly ash. The negative pressure principle is used to let the fly ash float to the negative pressure chamber, and the snowflake-shaped The adsorption sheet is used to adsorb the fly ash. The adsorption sheet absorbs the heavy metals in the fly ash to realize the preliminary filtration of the fly ash, and then filters the fly ash through the dust bag to ensure that the gas discharged into the air will not pollute the air. .