Limb support for orthopedic nursing

Abstract

The invention provides a limb support for orthopedic nursing, and relates to the technical field of medical instruments. The limb support for orthopedic nursing comprises six adjusting mechanisms, a frame mechanism and a binding mechanism, each adjusting mechanism comprises a buffer plate, and spring dampers are fixedly arranged at the two ends of the side, close to the binding mechanism, of each buffer plate; a fixing plate and an adjusting motor are fixedly arranged on the side, close to the binding mechanism, of the buffer plate located between the two spring dampers, a winding rod is fixedly arranged at the output end of the adjusting motor, and a nylon pull rope is wound around a rod body of the winding rod. According to the limb support, by integrating the adjusting motor, the nylon pull rope, the laser range finder and the controller, a highly-accurate and dynamically-adjustable limb supporting scheme is provided, the limb position can be monitored and adjusted in real time, the rehabilitation treatment effect and efficiency are improved, and meanwhile the comfort level of a patient is remarkably improved.

Description

Technical Field

[0001] The invention relates to the technical field of medical devices, in particular to a limb support for orthopedic care. Background Art

[0002] Orthopedic care is a type of care that is specifically focused on bones, muscles, joints, and related structures. It is designed to help patients recover after injury, surgery, or illness, improve movement, and prevent complications. Common problems that are covered in orthopedic care include fractures, joint replacements, spinal disorders, bone deformities, and musculoskeletal trauma. Limb braces are a common tool used in orthopedic care, primarily used to immobilize and support limbs after injury or surgery. For conditions such as fractures or joint dislocations, limb braces can help keep the broken bones or joints in the correct position, prevent displacement or dislocation, and promote stable bone healing. After orthopedic surgery, limb braces can reduce the load on the surgical site, prevent damage caused by unnecessary movement, and help with postoperative healing. During the rehabilitation process, limb braces can help maintain the normal anatomical position of joints and limbs, preventing deformities caused by poor posture or muscle tension. By limiting the movement of the injured part, limb braces can reduce the pain caused by movement and make the patient more comfortable. For patients with ligament injuries or joint instability, limb braces provide additional support to help keep the limb stable. In general, limb braces play a role in fixation, protection, support, and stabilization in orthopedic care and are an important tool to promote patient rehabilitation and shorten recovery time.

[0003] Existing orthopedic care braces usually fix the fracture site in the correct position through plaster, splints or external fixators to prevent displacement. Fixed braces mainly rely on physical fixation and usually cannot be adjusted dynamically. Some brace designs allow adjustment within a certain range, such as braces with limited range of joint motion. These braces usually use mechanical adjusters or simple locking devices to control the range of joint motion, but the adjustment is usually manual. These existing braces can usually only provide static fixation or limited manual adjustment, which is difficult to adapt to the dynamic changes in patients' rehabilitation needs. Most existing braces rely on the adjustment of physical structures, with limited adjustment accuracy, and cannot achieve precise positioning and control. Due to the limited adjustment capabilities of existing braces, patients may feel uncomfortable during long-term wearing, or even cause secondary injuries.

[0004] Therefore, the present invention proposes a limb support for orthopedic care to solve the above-mentioned problems. Summary of the invention

[0005] In view of the deficiencies of the prior art, the present invention provides a limb support for orthopedic care, which solves the problem that the existing orthopedic supports are difficult to adjust accurately and may cause damage.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions: a limb support for orthopedic care, comprising six adjustment mechanisms, a frame mechanism, and a restraining mechanism, wherein the adjustment mechanism comprises a buffer plate, a spring damper is fixedly arranged at both ends of a side of the buffer plate close to the restraining mechanism, a fixing plate and an adjustment motor are fixedly arranged on a side of the buffer plate between the two spring dampers close to the restraining mechanism, a winding rod is fixedly arranged at the output end of the adjustment motor, and a nylon drawstring is wound around the rod body of the winding rod;

[0007] The frame mechanism comprises a hexagonal frame, laser rangefinders are fixedly arranged at the inner corners of the hexagonal frame, and positioning holes are opened at the centers of the side bars of the outer sides of the hexagonal frame;

[0008] The restraint mechanism comprises a No. 1 limb cover and a No. 2 limb cover. Two limiting slots are arranged on the side of the No. 1 limb cover close to the No. 2 limb cover, and two limiting strips are fixedly arranged on the side of the No. 2 limb cover close to the No. 1 limb cover.

[0009] Preferably, one end of the nylon pull rope is fixedly connected to the winding rod, and the other end of the nylon pull rope passes through the positioning hole and is fixedly connected to the outer surface of the No. 1 limb cover or the No. 2 limb cover.

[0010] Preferably, one end of the winding rod away from the adjusting motor is rotatably arranged with the fixing plate, and one end of the spring damper away from the buffer plate is fixedly connected with the outer surface of the hexagonal frame.

[0011] Preferably, a battery and a controller are fixedly mounted on one side of the upper end surface of the hexagonal frame, and the controller is electrically connected to the battery and the regulating motor, respectively.

[0012] Preferably, the No. 1 limb cover and the No. 2 limb cover are both configured to be semicircular in shape, and the limiting card strip is slidably disposed inside the limiting card slot.

[0013] Preferably, the controller includes central processing, motor control and data transmission.

[0014] A control method for a limb support for orthopedic care, characterized in that:

[0015] S1. Plan determination

[0016] The nylon pull ropes matched with the six adjustment motors are all located at the center of the six sides of the hexagonal frame. They can be wound or loosened by the rotation of the adjustment motors to control the position of the adjustment restraint mechanism, while the six laser rangefinders are used to locate the position of the restraint mechanism. At the same time, the controller is responsible for receiving the laser rangefinder data, calculating and executing the control instructions of the adjustment motor, controlling the speed and direction of the adjustment motor, and ensuring the transmission of data between the laser rangefinder and the adjustment motor;

[0017] S2. Determination of center coordinates

[0018] The side length of the hexagonal frame is set to a, with the center point of the hexagonal frame as the origin, and the center points of the six sides pass through P 1 , P 2 , P 3 , P 4 , P 5 , P 6 To represent it, set the center coordinates of the six sides of the hexagonal frame to:

[0019]

[0020] S3. Initial calculation of rope length

[0021] In the initial case, the initial coordinates of the constraint mechanism are set to (x o ,y o ,z o ), the length of the nylon rope of each regulating motor is Li, where the motor number is i 1 -i 6 ,

[0022]

[0023] S4. Target location

[0024] The three-dimensional coordinates (x, y, z) of the restraining mechanism are determined by setting multiple laser rangefinders, and the position to be moved by the target is set as (x', y', z');

[0025] S5. Adjustment calculation

[0026] Calculate the length of the nylon rope that adjusts each motor to the target position:

[0027]

[0028] The length of the nylon pull rope (105) that each regulating motor (104) needs to pull or release is calculated as:

[0029] ΔL i =L′ i -L i Where, ΔL i， A positive value means tightening the nylon drawstring and adjusting the motor to rotate clockwise. A negative value means loosening the nylon drawstring and adjusting the motor to rotate counterclockwise. i Converted into the number of turns of the regulating motor, if the length of the nylon rope wound or loosened by the regulating motor per turn is p, then the number of turns each regulating motor needs to rotate is N i； for:

[0030]

[0031] S6. Error Correction

[0032] Get the new position of the restraint mechanism in real time (x e ,Y e ,z e ), calculate the error between the current position and the target position, and make adjustments:

[0033] E x =x′-x e , E y =y′-y e , E z = z′-z e .

[0034] The present invention provides a limb support for orthopedic care, which has the following beneficial effects:

[0035] The present invention provides a limb support for orthopedic care. The limb support of the present invention realizes accurate dynamic adjustment of the limb position by adjusting the combination of a motor and a nylon drawstring. The existing support usually can only perform limited manual adjustment and lacks a dynamic real-time adjustment function. The present invention can adjust the angle and position of the limb at any time as needed through motor control, which greatly improves the patient's comfort and rehabilitation effect. The present invention introduces a laser rangefinder, which can monitor the position of the limb in real time, and accurately controls the operation of the adjustment motor after processing the data through a controller to ensure the accuracy of the limb position adjustment, which is impossible for the existing support. The existing support mostly relies on manual adjustment by doctors and has the problem of insufficient accuracy. The present invention can obtain the new position of the limb in real time and calculate the error, and correct the position error by automatic adjustment. This function usually relies on manual inspection and adjustment in the existing support, which is low in efficiency and limited in accuracy. The automatic error correction of the present invention greatly improves the nursing efficiency and effect. Since the support of the present invention can be adjusted at any time according to the patient's needs and treatment plan, it can better adapt to the rehabilitation needs of different patients and avoid the discomfort and secondary injury that may be caused by improper fixation of traditional supports. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a schematic diagram of the front view axle side of the present invention;

[0037] Figure 2 It is a top axial schematic diagram of the present invention;

[0038] Figure 3 It is a schematic diagram of the axial side of the frame mechanism of the present invention;

[0039] Figure 4 It is a schematic diagram of the axial side of the restraining mechanism of the present invention;

[0040] Figure 5 It is a schematic diagram of the axial side of the adjustment mechanism of the present invention.

[0041] Among them, 1. adjustment mechanism; 2. frame mechanism; 3. restraint mechanism; 101. buffer plate; 102. fixing plate; 103. winding rod; 104. adjustment motor; 105. nylon pull rope; 106. spring damper; 201. hexagonal frame; 202. laser rangefinder; 203. positioning hole; 204. battery; 205. controller; 301. limb cover No. 1; 302. limb cover No. 2; 303. limit card strip; 304. limit card slot. DETAILED DESCRIPTION

[0042] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0043] Example 1

[0044] like Figure 1-5 As shown, an embodiment of the present invention provides a limb support for orthopedic care, comprising six adjustment mechanisms 1, a frame mechanism 2, and a restraining mechanism 3. The adjustment mechanism 1 comprises a buffer plate 101, and spring dampers 106 are fixedly arranged at both ends of a side of the buffer plate 101 close to the restraining mechanism 3. A fixing plate 102 and an adjustment motor 104 are fixedly arranged on a side of the buffer plate 101 close to the restraining mechanism 3 between the two spring dampers 106, and a winding rod 103 is fixedly arranged at the output end of the adjustment motor 104, and a nylon pull rope 105 is wound around the rod body of the winding rod 103;

[0045] The frame mechanism 2 includes a hexagonal frame 201, laser rangefinders 202 are fixedly arranged at the inner corners of the hexagonal frame 201, and positioning holes 203 are opened at the centers of the side bars of the outer sides of the hexagonal frame 201;

[0046] The restraint mechanism 3 includes a first limb cover 301 and a second limb cover 302 . The first limb cover 301 is provided with two limit slots 304 on one side close to the second limb cover 302 . The second limb cover 302 is fixed with two limit strips 303 on one side close to the first limb cover 301 .

[0047] One end of the nylon pull rope 105 is fixedly connected to the winding rod 103 , and the other end of the nylon pull rope 105 passes through the positioning hole 203 and is fixedly connected to the outer surface of the No. 1 limb cover 301 or the No. 2 limb cover 302 .

[0048] One end of the winding rod 103 away from the adjusting motor 104 is rotatably arranged with the fixing plate 102 , and one end of the spring damper 106 away from the buffer plate 101 is fixedly connected with the outer surface of the hexagonal frame 201 .

[0049] A battery 204 and a controller 205 are fixedly mounted on one side of the upper end surface of the hexagonal frame 201 , and the controller 205 is electrically connected to the battery 204 and the regulating motor 104 , respectively.

[0050] The No. 1 limb cover 301 and the No. 2 limb cover 302 are both configured to be semicircular in shape, and the limiting clamping strip 303 is slidably disposed inside the limiting clamping slot 304 .

[0051] The controller 205 includes central processing, motor control and data transmission.

[0052] A control method for a limb support for orthopedic care:

[0053] S1. Plan determination

[0054] The nylon pull ropes 105 matched with the six adjustment motors 104 are all located at the center of the six sides of the hexagonal frame 201, and can be wound or loosened by the rotation of the adjustment motor 104, so as to control the position of the adjustment restraint mechanism 3, and the six laser rangefinders 202 are used to locate the position of the restraint mechanism 3. Meanwhile, the controller 205 is responsible for receiving the data of the laser rangefinder 202, calculating and executing the control instructions of the adjustment motor 104, controlling the speed and direction of the adjustment motor 104, and ensuring the transmission of data between the laser rangefinder 202 and the adjustment motor 104;

[0055] S2. Determination of center coordinates

[0056] The side length of the hexagonal frame 201 is set to a, and the center point of the hexagonal frame 201 is taken as the origin. The center points of the six sides pass through P 1 , P 2 , P 3 , P 4 , P 5 , P 6 To represent, the center coordinates of the six sides of the hexagonal frame 201 are set as:

[0057]

[0058] S3. Initial calculation of rope length

[0059] Initially, the initial coordinates of the restraining mechanism 3 are (x o ,y o ,z o ), the length of the nylon pull rope 105 of each regulating motor 104 is Li, where the motor number is i 1 -i6 ,

[0060]

[0061] S4. Target location

[0062] The multiple laser rangefinders 202 are used to determine the three-dimensional coordinates (x, y, z) of the restraining mechanism 3, and the position to be moved by the target is set as (x', y', z');

[0063] S5. Adjustment calculation

[0064] The length of the nylon pull rope 105 for each adjustment motor 104 to the target position is calculated as:

[0065]

[0066] The length of the nylon pull rope 105 that each adjusting motor 104 needs to pull or relax is calculated as:

[0067] ΔL i =L′ i -L i

[0068] Where, ΔL i A positive value indicates tightening the nylon drawstring 105 and adjusting the motor 104 to rotate clockwise, while a negative value indicates loosening the nylon drawstring 105 and adjusting the motor 104 to rotate counterclockwise. i Converted into the number of revolutions of the regulating motor 104, if the length of the nylon pull rope 105 wound or loosened by the regulating motor 104 per revolution is p, then the number of revolutions that each regulating motor 104 needs to rotate is N i ;for:

[0069]

[0070] S6. Error Correction

[0071] Get the new position of the restraint mechanism 3 in real time (x e ,Y e ,z e ), calculate the error between the current position and the target position, and make adjustments:

[0072] E x =x′-x e , E y =y′-y e , E z = z′-z e .

[0073] Control Methods

[0074] Data Acquisition

[0075] The laser rangefinder 202 measures the current distance d and calculates the current position (x, y, z) of the restraint mechanism 3 .

[0076] Position calculation

[0077] The new position (x',y',z') is calculated using either a nonlinear system of equations or directly from the data provided by the sensor.

[0078] Instruction Generation

[0079] According to the difference between the target position and the current position, calculate the number of revolutions N that each motor needs to adjust i .

[0080] Execution Adjustment

[0081] The controller 205 sends a command N to control the adjustment motor 104 to perform adjustment.

[0082] Feedback loop

[0083] The real-time laser rangefinder 202 feeds back the actual position of the restraining mechanism, and the controller 205 calculates the error and performs fine adjustment.

[0084] The present invention realizes dynamic and precise adjustment of the limb position by integrating the adjustment motor 104 and the nylon pull rope 105. The adjustment motor 104 can accurately tighten or loosen the nylon pull rope 105 according to the instructions of the controller 205, thereby adjusting the position of the restraint mechanism 3. This dynamic adjustment function allows the support to be adjusted at any time according to the needs of the patient, rather than relying on manual fixation or preset angles, which is particularly important for patients in recovery.

[0085] The present invention uses a laser rangefinder 202 to monitor the position of the restraining mechanism 3 in real time, and the controller 205 calculates and adjusts according to the data fed back by the laser rangefinder 202 to ensure the accuracy of limb support. This precise positioning capability can avoid secondary damage caused by errors and improve the effect of rehabilitation. Through the central processing and data transmission functions of the controller 205, the system can automatically control the action of the adjustment motor 104, and perform real-time position feedback through the laser rangefinder 202 to form a closed-loop control system. Such automation and real-time feedback mechanisms greatly reduce the complexity of manual operation and reduce the risk of error. The support system has an error correction function, which automatically calculates the difference from the target position and makes adjustments by monitoring the position of the restraining mechanism 3 in real time. This function ensures that the limb is always in the best anatomical position throughout the rehabilitation process, reducing discomfort or incorrect positioning after long-term wearing due to the accumulation of small errors. The limb support designed by the present invention can adapt to different rehabilitation needs, and can adjust the support strength and angle of the support according to the patient's rehabilitation process, thereby enhancing the applicability of the support. This is particularly important for patients at different stages of rehabilitation, because rehabilitation needs usually change with time and rehabilitation progress.

[0086] Importing a program for training adjustments

[0087] The present invention can also further optimize the function of the limb support by importing a program, which is specifically reflected in the following aspects:

[0088] The controller 205 can pre-import various rehabilitation exercise programs and automatically adjust the movements of the limb support according to the needs of different patients. For example, it can be set to gradually increase the range of joint motion within a certain period of time, or control the support to help the patient perform specific rehabilitation exercises. This automated programmatic adjustment can help patients perform rehabilitation exercises more effectively and improve rehabilitation efficiency. Through the setting of the program, the support system can be personalized according to the individual conditions of the patient (such as age, weight, injury, etc.). For example, different support strength and angle change curves can be set for different degrees of muscle strength deficiency to help patients better restore muscle strength and balance ability. The program can also record and analyze the data generated by the patient during the rehabilitation process and adjust the working mode of the support in real time. For example, if it is found that the patient's movement amplitude is insufficient, the system can automatically adjust the support to help the patient complete the corresponding movement, or remind the doctor to intervene through the warning function. Through these import programs, the support system is not just a static support tool, but an intelligent rehabilitation auxiliary device that can effectively improve the patient's rehabilitation effect, reduce rehabilitation time, and maximize the patient's comfort and safety.

[0089] Example 2

[0090] like Figure 1-5As shown, an embodiment of the present invention provides a limb support exercise program for orthopedic care, specifically:

[0091] The following is a simplified Python pseudocode example that simulates how these exercise programs can be implemented in a control system. It assumes that the control system interacts with the regulating motors and sensors through a communication interface and uses basic control structures and data processing flows.

[0092]

[0093]

[0094]

[0095]

[0096] in

[0097] Initialize the controller: The OrthoBraceController class is the core of the program, simulating the control system of the brace. It includes the adjustment logic of the motor position, the setting of the target position, and the real-time feedback control mechanism.

[0098] Define an exercise program: A simple exercise process (exercise_program) is defined in the program, which includes the target position and duration of three phases. Each phase corresponds to a specific movement or posture that the patient needs to complete during the rehabilitation process.

[0099] Execute the Exercise Program: The run_exercise_program method executes each exercise step in sequence, sets the target position of the stand, and then waits a set amount of time (simulating a period of sustained exercise).

[0100] Feedback adjustment: In the main loop of the program, the support is constantly adjusted based on the data fed back by the sensor to ensure that the patient's limb position is close to the set target position.

[0101] Minor range of motion restoration

[0102] Goal: To help the patient begin to regain basic range of motion in a joint or limb.

[0103] Specific implementation: The first step in the code sets the target position of the bracket to [10,0,0], that is, moving 10 units on the x-axis (which can be understood as a small movement amplitude). This stage lasts for 10 seconds, indicating that the patient's limbs will remain in this slight range of motion during this period.

[0104] Exercise effect: The slight adjustments in this stage help relieve the patient's muscle stiffness and initial joint mobility disorders, preparing for a larger range of motion later.

[0105] Expanding the scope of activities

[0106] Goal: To gradually expand the patient's range of motion.

[0107] Implementation: The second step sets the target position to [20,0,0], further increasing the range of motion, meaning the patient's limb will move 20 units on the x-axis. The duration is increased to 15 seconds.

[0108] Exercise effect: This stage further helps patients restore joint mobility by increasing the range of motion and gradually enhances muscle flexibility and strength.

[0109] Maximum range of motion

[0110] Goal: To achieve and maintain the patient's maximum range of motion during rehabilitation.

[0111] Specific implementation: The third step sets the target position to [30,0,0], indicating that the range of motion is further expanded to 30 units. This stage lasts for 20 seconds and requires the patient to maintain the exercise within a larger range of motion.

[0112] Exercise effect: This phase is designed to help patients achieve and maintain maximum range of motion and restore normal joint function and limb movement.

[0113] Feedback control mechanism

[0114] Real-time position adjustment: In the main loop (feedback_loop), the bracket will continuously obtain sensor data and update the patient's limb position in real time. If it is found that the current position deviates from the target position, the program will automatically adjust the position of the motor and tighten or loosen the nylon rope on the bracket to correct the position of the limb.

[0115] Closed-loop control: The adjust_motors method in the program implements a simple proportional controller that gradually corrects the error by calculating the error between the current position and the target position and adjusting the rotation of the motor. This closed-loop control ensures that the position of the patient's limb always remains within the predetermined range, effectively avoiding the accumulation of incorrect positions.

[0116] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A limb support for orthopedic care, comprising six adjustment mechanisms (1), a frame mechanism (2), and a restraining mechanism (3), characterized in that: The adjusting mechanism (1) comprises a buffer plate (101), spring dampers (106) are fixedly arranged at both ends of a side of the buffer plate (101) close to the restraining mechanism (3), a fixing plate (102) and an adjusting motor (104) are fixedly arranged on a side of the buffer plate (101) close to the restraining mechanism (3) located between the two spring dampers (106), a winding rod (103) is fixedly arranged at the output end of the adjusting motor (104), and a nylon drawstring (105) is wound around the body of the winding rod (103); The frame mechanism (2) comprises a hexagonal frame (201), laser rangefinders (202) are fixedly arranged at the inner corners of the hexagonal frame (201), and positioning holes (203) are opened at the centers of the outer side bars of the hexagonal frame (201); The restraining mechanism (3) comprises a No. 1 limb cover (301) and a No. 2 limb cover (302); the No. 1 limb cover (301) is provided with two limit slots (304) on one side close to the No. 2 limb cover (302); and the No. 2 limb cover (302) is provided with two limit strips (303) on one side close to the No. 1 limb cover (301).

2. The limb support for orthopedic care according to claim 1, characterized in that: One end of the nylon pull rope (105) is fixedly connected to the winding rod (103), and the other end of the nylon pull rope (105) passes through the positioning hole (203) and is fixedly connected to the outer surface of the No. 1 limb cover (301) or the No. 2 limb cover (302).

3. The limb support for orthopedic care according to claim 1, characterized in that: One end of the winding rod (103) away from the regulating motor (104) is rotatably arranged with the fixing plate (102), and one end of the spring damper (106) away from the buffer plate (101) is fixedly connected to the outer surface of the hexagonal frame (201).

4. The limb support for orthopedic care according to claim 1, characterized in that: A storage battery (204) and a controller (205) are fixedly arranged on one side of the upper end surface of the hexagonal frame (201), and the controller (205) is electrically connected to the storage battery (204) and the regulating motor (104) respectively.

5. The limb support for orthopedic care according to claim 1, characterized in that: The No. 1 limb cover (301) and the No. 2 limb cover (302) are both arranged in a semicircular shape, and the limit clamping strip (303) is slidably arranged inside the limit clamping slot (304).

6. The limb support for orthopedic care according to claim 4, characterized in that: The controller (205) includes central processing, motor control and data transmission.

7. A control method for a limb support for orthopedic care according to any one of claims 1 to 6, characterized in that: S1. Plan determination The nylon pull ropes (105) matched with the six adjustment motors (104) are all located at the center of the six sides of the hexagonal frame (201), and can be wound or loosened by the rotation of the adjustment motor (104), so as to control the position of the adjustment restraining mechanism (3), and the six laser rangefinders (202) are used to locate the position of the restraining mechanism (3). Meanwhile, the controller (205) is responsible for receiving the data of the laser rangefinder (202), calculating and executing the control instructions of the adjustment motor (104), controlling the rotation speed and direction of the adjustment motor (104), and ensuring the transmission of data between the laser rangefinder (202) and the adjustment motor (104); S2. Determination of center coordinates The side length of the hexagonal frame (201) is set to a, and the center point of the hexagonal frame (201) is taken as the origin. The center points of the six sides are represented by P1, P2, P3, P4, P5, and P6. The center coordinates of the six sides of the hexagonal frame (201) are set to: S3. Initial calculation of rope length Initially, the initial coordinates of the restraint mechanism (3) are (x o ,y o ,z o ), the length of the nylon pull rope (105) of each regulating motor (104) is Li, wherein the motors are numbered i1-i6, S4. Target location A plurality of laser rangefinders (202) are provided to determine the three-dimensional coordinates (x, y, z) of the restraining mechanism (3), and the position to be moved to the target is set as (x', y', z'); S5. Adjustment calculation The length of the nylon pull rope (105) for each adjustment motor (104) to the target position is calculated as: The length of the nylon pull rope (105) that each regulating motor (104) needs to pull or release is calculated as: △L i =L′ i -L i Among them, ΔL i A positive value indicates that the nylon drawstring (105) is tightened and the motor (104) is adjusted to rotate clockwise, while a negative value indicates that the nylon drawstring (105) is loosened and the motor (104) is adjusted to rotate counterclockwise. i Converted into the number of revolutions of the regulating motor (104), if the length of the nylon pull rope (105) wound or loosened by the regulating motor (104) per revolution is p, then the number of revolutions that each regulating motor (104) needs to rotate is N i ;for: S6. Error Correction Obtain the new position (x) of the restraint mechanism (3) in real time e ,Y e ,z e ), calculate the error between the current position and the target position, and make adjustments: E x =x'-x e ,E y =y′-y e ,E z =z′-z e 。

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