Intelligent sensing module, joint axis adjusting device, joint axis adjusting method and axis adjusting method of rotating equipment

Abstract

The invention relates to an intelligent sensing module, a joint axis adjusting device, a joint axis adjusting method and an axis adjusting method of rotating equipment. The intelligent sensing module comprises a sensing module carrier, a shaft section and a connecting section, a sensor layer is arranged on the periphery of the shaft section, and the sensor layer comprises a plurality of sensing points with a sensing function; matching information of the shaft section and the corresponding hinge hole is sensed through the multiple sensing points, and then the axis of the hinge joint is adjusted. The sensor layer is arranged on the intelligent sensing module, matching information of the hinge hole in the rotating process is sensed, precise adjustment of the hinge joint axis is achieved, the adjustment difficulty of the hinge joint axis in some application conditions such as a medical operation is lowered, and the adjustment efficiency of the rotating equipment for obtaining the precise hinge joint axis is improved.

Description

Technical Field

[0001] The present application generally relates to a joint axis adjustment device, a joint axis adjustment method and an axis adjustment method for a rotating device, which are mainly used to determine the rotation axis of a mechanical joint or a human joint. Background Art

[0002] With the continuous development of joint external fixation technology, hinged elbow external fixation devices are widely used in clinical practice. Human joints (such as elbows, knees, finger joints, etc.) are roughly equivalent to hinge structures. During movement, the two bony structures related to the hinge rotate around a common point, which is the center of rotation. Taking the elbow joint as an example, elbow external fixation is an important method for treating complex elbow instability, and accurate positioning of the elbow rotation center axis is the core of elbow external fixation operations, and it is also the key to improving the overall treatment effect and reducing complications; it plays an important role in the treatment of complex elbow fractures and dislocations, elbow instability, elbow release, elbow interval arthroplasty, and elbow postoperative rehabilitation.

[0003] In the prior art, when positioning the central axis of elbow rotation, the elbow joint needs to be strictly placed in a special position, namely, the standard elbow joint anteroposterior position. Among them, the standard elbow joint anteroposterior position includes the standard elbow joint lateral position and the standard elbow joint anterior position. In the standard elbow joint lateral position, the examinee sits in front of the photographic table, with the elbow bent to 90°, the ulnar side down, the shoulder lowered, the elbow close to the detector, and the center line is aligned with the lateral epicondyle of the humerus and vertically enters the detector. In the standard elbow joint anterior position, the examinee sits in front of the photographic table, with the palm facing up, the elbow and forearm fully extended, the shoulder lowered, the back of the elbow close to the detector, and the center line is aligned with the midpoint of the line connecting the internal and external condyles of the humerus and vertically enters the detector. However, since patients often face limited abduction and internal rotation of the shoulder joint, or fractures that have been repaired during surgery, and ligaments may move again during the placement of this position, it is often difficult to capture the patient's standard elbow joint anteroposterior position image during surgery. In addition, the method requires repeated X-ray fluoroscopy, and can only subjectively judge the central axis of elbow joint rotation based on the personal experience of medical staff. It is also necessary to insert the axis positioning needle after repeated X-ray fluoroscopy verification, which is cumbersome to operate, has high film requirements, takes a long time, and is difficult to accurately identify the rotation axis position of the joint. In the prior art, Chinese patent CN205586057U discloses an elbow flexion and extension activity axis locator, which is composed of a sleeve bracket, a Kirschner wire, a lifting column, an open clamping ring, a measurement positioning block, a connecting column, an upper and lower positioning projection ring, a guide sleeve, and a bolt. The locator has a complex structure and needs to be constantly adjusted during operation. It requires skilled operation skills to achieve by observing that the outlet end of the Kirschner wire is in a line with the center of the guide sleeve; CN1466439A discloses a method for the bearing axis of a limb rod, which uses an optical coordinate measuring device to measure the coordinate value of a measurement point of the femur at a rotation position, and uses the measured coordinate value to determine the rotation center to determine the axis. The measuring equipment to implement this method is complex, and since the spatial coordinates of the femur are optical non-contact measurements, the measurement error is large. Therefore, the existing technology requires that the joint be strictly placed in the standard elbow joint anteroposterior position during intraoperative radiography, which makes the radiography operation difficult and requires multiple repeated radiography. The operation is cumbersome, time-consuming, and involves a large radiation dose. At the same time, other determination methods also have the problem of complex operation and difficulty in accurately identifying the rotation axis position of the joint, resulting in low accuracy and safety of the surgical results. Summary of the invention

[0004] In view of the shortcomings of the joint axis adjustment devices, joint axis adjustment methods and axis adjustment methods of rotating equipment in the prior art, the present application provides an intelligent sensing module, a joint axis adjustment device, a joint axis adjustment method and an axis adjustment method of rotating equipment, the intelligent sensing module includes a sensing module carrier, a shaft segment and a connecting segment, a sensor layer is arranged on the periphery of the shaft segment, and the sensor layer includes a plurality of sensing points with sensing functions; the corresponding matching information of the shaft segment and the hinge hole is sensed through the plurality of sensing points, thereby adjusting the axis of the articulated joint.

[0005] In a further preferred embodiment, the multiple sensing points on the sensor layer sense the matching information of the pressure and / or distance between the shaft segment and the hinge hole, and the axis of the joint is determined by sensing the matching information; the sensor layer can adopt one or more of a piezoresistive sensor, an acoustic wave distance sensor, an infrared distance sensor, and a laser distance sensor.

[0006] In a further preferred embodiment, the intelligent sensing module comprises a sensing module carrier, a shaft section and a connecting section in sequence, the sensing module carrier has a cavity for accommodating a main circuit part, and the diameter of the shaft section is greater than the diameter of the connecting section.

[0007] In a further preferred embodiment, the intelligent sensing module includes a sensing module carrier, a connecting section and a shaft section in sequence, and the diameter of the connecting section is larger than the diameter of the shaft section. When connecting, the connecting section of the intelligent sensing module is first connected to the connecting matching hole, and then the shaft section is connected to the hinge hole. In this embodiment, a limiting device is provided at the end of the shaft section to prevent the rotating component provided with the hinge hole from falling off the shaft section. The limiting device can be a spring limiting pin or other device.

[0008] The present invention also relates to a joint axis adjustment device, comprising a first rotating component, a second rotating component and an intelligent sensing module, wherein the first rotating component and the second rotating component can be the first arm and the second arm of a mechanical joint, or can be the first hinged external fixing bracket and the second hinged external fixing bracket in the hinged fixing bracket in the human joint external fixation technology; one of the two rotating components is provided with a connecting matching hole, and the other is provided with a hinge hole; in actual installation, the connecting matching hole can be provided in the first rotating component or the second rotating component, and the corresponding hinge hole can be provided in the other rotating component such as the second rotating component or the first rotating component, and the first rotating component and The second rotating component is connected to form an articulated joint through the intelligent sensing module; the intelligent sensing module has a connecting section that cooperates with the connecting matching hole and an axial section that cooperates with the hinge hole. The intelligent sensing module connects the first rotating component and the second rotating component through the connecting section, so that the rotating component provided with the hinge hole can rotate around the axis of the axial section of the intelligent sensing module. The outer periphery of the axial section of the intelligent sensing module that cooperates with the hinge hole is provided with a sensor layer, and the sensor layer includes a plurality of sensing points with sensing functions; the corresponding matching information of the axial section and the hinge hole is sensed through the plurality of sensing points to adjust the axis of the articulated joint. The setting of the intelligent sensing module overcomes the problem that the joint needs to be strictly placed in the standard elbow joint anteroposterior position during the operation, the filming operation is difficult, multiple repeated shootings are required, the operation is cumbersome, time-consuming, the radiation dose is large, the operation is complicated, and it is difficult to accurately identify the rotation axis position of the joint, resulting in low accuracy and safety of the surgical results.

[0009] In a further preferred implementation, the connection matching hole is a threaded hole, the connection section is a threaded section, and the connection section is connected to the connection matching hole through a threaded connection to achieve a quick connection between the first rotating component and the second rotating component. In some other embodiments, the connection matching hole and the connection section are snap-fitted, such as the surface of the connection matching hole may be provided with a groove / boss, and the outer periphery of the connection section is provided with a boss / groove.

[0010] In a further preferred embodiment, the sensor layer is arranged on the periphery of the shaft segment, and the sensor layer includes arrayed sensing points. The sensor layer can be formed by arranging a plurality of sensor arrays to form arrayed sensing points, or can be formed by distributing arrayed sensing points on a thin film sensor. The arrayed sensing points are arranged in 3×5, that is, arranged in 3 columns along the axial direction and 5 rows along the circumferential direction. Through the arrayed sensing points, the deviation of the shaft segment and the hinge hole can be better presented. It can be understood that the number of sensing points can be adjusted according to the length and diameter of the shaft segment.

[0011] The present application also relates to a joint axis adjustment method, which can be used for adjusting the joint axis of external fixation devices of human joints such as elbow joints, finger joints, knee joints, etc., and can also be used for adjusting the joint axis of articulated joints such as robotic arms. Taking the elbow joint as an example, S1 places the elbow joint / other human joints in a standard lateral position, and a concentric circle structure will be formed in the perspective image, and the center of the circle (white origin) forms the rotation axis; S2 installs a first rotating component, and the first rotating component includes a first connecting rod, a first universal joint and a hinge hole, and the hinge hole is arranged at the end of the first universal joint away from the first connecting rod; one end of the first connecting rod of the first rotating component is fixed on the humerus, and the length of the first connecting rod of the first rotating component and the angle of the first universal joint are adjusted to make the hinge hole concentric with the rotation axis; S3 inserts a guide rod into the hinge hole, and the preferred guide rod is a cylindrical pin, and the cylindrical pin has a hollow structure. At this time, under the standard lateral perspective image, through the central If white dots can still be observed in the empty structure, it can be confirmed that the first rotating component is installed correctly; further preferably, if it is an open surgery, a Kirschner wire can be inserted for fixation to facilitate subsequent operations; S4 installs the second rotating component, the second rotating component includes a second connecting rod, a second universal joint and a connecting matching hole, and the connecting matching hole is arranged at one end of the second connecting rod of the second universal joint away from the second rotating component; insert the connecting matching hole along the fixed guide rod, adjust the length of the second connecting rod of the second rotating component and the angle of the second universal joint, and fix one end of the second connecting rod of the second rotating component on the ulna; S5 installs the intelligent sensing module, specifically including removing the guide rod, and installing and fixing the intelligent sensing module through the connecting matching hole and the hinge hole; S6 can rotate around the axis of the shaft segment of the intelligent sensing module by rotating the rotating component provided with the hinge hole, and adjust the axis of the articulated joint according to the matching information obtained by the intelligent sensing module.

[0012] The present invention also relates to a method for adjusting the axis of a rotating device, wherein the rotating device comprises a first arm and a second arm, wherein the first arm and the second arm are provided with hinge holes, wherein the first arm and / or the second arm rotates around a pin provided in the hinge hole to form an articulated joint, and the axis adjustment method comprises removing the pin, installing the intelligent sensing module in the hinge hole, and adjusting the axis of the articulated joint according to the matching information obtained by the intelligent sensing module.

[0013] The present invention invents an intelligent sensing module on which a sensor layer is arranged to sense the matching information of the hinge hole during rotation, thereby achieving precise adjustment of the axis of the articulated joint, reducing the difficulty of adjusting the joint axis in some applications such as medical surgery, and improving the efficiency of the rotating equipment in obtaining precise adjustment of the axis of the articulated joint. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the overall structure of the intelligent sensing module of the present invention; Figure 2 For the present invention Figure 1 AA cross-sectional view; Figure 3 It is a structural schematic diagram of the joint axis adjustment device of the present invention; Figure 4 Schematic diagram of the intelligent sensing module of the present invention under different contact conditions; Figure 5 AC and Figure 6 Figures ab are schematic diagrams of the joint axis adjustment method of the present invention; Figure 7 For the present invention Figure 5 Perspective image in c.

[0015] Description of reference numerals: 1-intelligent sensing module; 11-sensing module carrier; 12-axis section; 13-connecting section; 14-sensor layer; 15-main circuit part; 2-first rotating component; 21-first connecting rod; 22-first universal joint; 23-hinge hole; 3-second rotating component; 31-second connecting rod; 32-second universal joint; 33-connecting matching hole; 4-guide rod. DETAILED DESCRIPTION

[0016] 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.

[0017] In view of the shortcomings of the joint axis adjustment device, the joint axis adjustment method and the axis adjustment method of the rotating device in the prior art, the present application provides an intelligent sensing module 1, a joint axis adjustment device, a joint axis adjustment method and the axis adjustment method of the rotating device, such as Figure 1 As shown in FIG. 1 , the intelligent sensing module 1 includes a sensing module carrier 11, a shaft section 12 and a connecting section 13. Figure 2 As shown in the figure, a sensor layer 14 is arranged on the periphery of the shaft segment 12, and the sensor layer 14 includes a plurality of sensing points with sensing functions; the corresponding matching information of the shaft segment 12 and the hinge hole 23 is sensed through the plurality of sensing points, thereby adjusting the axis of the articulated joint.

[0018] In a further preferred embodiment, the multiple sensing points on the sensor layer 14 sense the matching information of the pressure and / or distance between the shaft segment 12 and the hinge hole 23, and the axis of the joint is determined by sensing the matching information; the sensor layer 14 can adopt one or more of a piezoresistive sensor, an acoustic wave distance sensor, an infrared distance sensor, and a laser distance sensor.

[0019] In a further preferred embodiment, the intelligent sensing module 1 comprises a sensing module carrier 11 , an axis section 12 and a connecting section 13 in sequence, the sensing module carrier 11 has a cavity accommodating a main circuit part 15 , and the diameter of the axis section 12 is greater than the diameter of the connecting section 13 .

[0020] In a further preferred embodiment, the intelligent sensing module 1 includes a sensing module carrier 11, a connecting section 13 and a shaft section 12 in sequence, and the diameter of the connecting section 13 is larger than the diameter of the shaft section 12. When connecting, the connecting section 13 of the intelligent sensing module 1 is first connected to the connecting matching hole 33, and then the shaft section 12 is connected to the hinge hole 23. In this embodiment, a limiting device is provided at the end of the shaft section 12 to prevent the rotating component provided with the hinge hole 23 from falling off from the shaft section 12, and the limiting device can be a spring limiting pin or other device.

[0021] The present invention also relates to a joint axis adjustment device, such as Figure 3As shown in, it includes a first rotating component 2, a second rotating component 3 and an intelligent sensing module 1, wherein the first rotating component 2 and the second rotating component 3 can be the first arm and the second arm of a mechanical joint, and can also be the first hinged external fixation bracket and the second hinged external fixation bracket in the hinged fixing bracket in the human joint external fixation technology; one of the two rotating components is provided with a connecting matching hole 33, and the other is provided with a hinge hole 23; in actual installation, the connecting matching hole 33 can be provided in the first rotating component 2 or the second rotating component 3, and the corresponding hinge hole 23 can be provided in another rotating component such as the second rotating component 3 or the first rotating component 2, and the first rotating component 2 and the second rotating component 3 are connected by the intelligent The sensing module 1 is connected to form an articulated joint; the intelligent sensing module 1 has a connecting segment 13 that cooperates with the connecting matching hole 33 and an axial segment 12 that cooperates with the hinge hole 23. The intelligent sensing module 1 connects the first rotating component 2 and the second rotating component 3 through the connecting segment 13, so that the rotating component provided with the hinge hole 23 can rotate around the axis of the axial segment 12 of the intelligent sensing module 1. The outer periphery of the axial segment 12 of the intelligent sensing module 1 that cooperates with the hinge hole 23 is provided with a sensor layer 14, and the sensor layer 14 includes a plurality of sensing points with sensing functions; the corresponding matching information of the axial segment 12 and the hinge hole 23 is sensed by the plurality of sensing points to adjust the axis of the articulated joint. Figure 4 The figure shows the display of the sensor layer under different contact conditions of the intelligent sensing module. The array sensing points in the figure represent the distance / pressure information of the contact coordination through color depth. In actual use, the coordination information of the sensing points can also be reflected through corresponding data. Ideally, each sensing point of the sensor layer has basically consistent coordination information. When the hinge hole and the shaft segment are non-coaxially set and there is a deviation, the coordination information of each sensing point of the sensor layer has obvious abnormalities, and the articulated joint can be adjusted according to the information of the abnormal sensing point. Through the setting of the intelligent sensing module 1, the problem that the joint needs to be strictly placed in the standard elbow joint anteroposterior position during the operation is overcome. The filming operation is difficult and requires repeated shooting. The operation is cumbersome, time-consuming, and the radiation dose is large. The operation is complicated and it is difficult to accurately identify the rotation axis position of the joint, resulting in low accuracy and safety of the surgical results.

[0022] In a further preferred implementation, the connection matching hole 33 is a threaded hole, the connection section 13 is a threaded section, and the connection section 13 is threadedly connected to the connection matching hole 33 to achieve a quick connection between the first rotating component 2 and the second rotating component 3. In some other embodiments, the connection matching hole 33 and the connection section 13 are snap-fitted, such as the surface of the connection matching hole 33 may be provided with a groove / boss, and the outer periphery of the connection section 13 is provided with a boss / groove.

[0023] In a further preferred embodiment, the sensor layer 14 is arranged on the periphery of the shaft segment 12, and the sensor layer 14 includes arrayed sensing points. The sensor layer 14 can be formed by a plurality of sensor arrays arranged to form arrayed sensing points, or can be formed by a thin film sensor with arrayed sensing points distributed thereon. The arrayed sensing points are arranged as 3×5. Figure 4 As shown in the figure, three columns are arranged along the axis direction and five rows are arranged along the circumferential direction. Through this array of sensing points, the deviation of the shaft segment 12 and the hinge hole 23 can be better presented. It can be understood that the number of sensing points can be adjusted according to the length and diameter of the shaft segment 12.

[0024] The present application also relates to a joint axis adjustment method, which can be used for adjusting the joint axis of external fixation devices of human joints such as elbow joints, finger joints, knee joints, etc., and can also be used for adjusting the joint axis of articulated joints such as robotic arms. Taking the elbow joint as an example, S1 places the elbow joint / other human joints in a standard lateral position. For details, see Figure 5 (a), a concentric circle structure is formed in the perspective image, and the center of the circle (white origin) forms the rotation axis; S2 installs the first rotating component 2. For details, see Figure 5 (b), the first rotating component 2 includes a first connecting rod 21, a first universal joint 22 and a hinge hole 23, wherein the hinge hole 23 is arranged at an end of the first universal joint 22 away from the first connecting rod 21; one end of the first connecting rod 21 of the first rotating component 2 is fixed to the humerus, and the length of the first connecting rod 21 of the first rotating component 2 and the angle of the first universal joint 22 are adjusted so that the hinge hole 23 is concentric with the rotation axis; S3 inserts the guide rod 4 into the hinge hole 23. Figure 5 (c) Preferably, the guide rod 4 is a cylindrical pin having a hollow structure. In this case, a white dot can still be observed through the hollow structure under a standard lateral perspective image, see Figure 7 As shown in , it can be confirmed that the first rotating component 2 is installed correctly; further preferably, if it is an open surgery, a Kirschner wire can be inserted for fixation to facilitate subsequent operations; S4 installs the second rotating component 3. Figure 6 As shown in (a), the second rotating component 3 includes a second connecting rod 31, a second universal joint 32 and a connecting matching hole 33, wherein the connecting matching hole 33 is arranged at one end of the second connecting rod 31 of the second universal joint 32 away from the second rotating component 3; the connecting matching hole 33 is inserted into the fixed guide rod 4, the length of the second connecting rod 31 of the second rotating component 3 and the angle of the second universal joint 32 are adjusted, and one end of the second connecting rod 31 of the second rotating component 3 is fixed on the ulna; S5 installs the intelligent sensing module 1, see Figure 6(a) and Figure 6 As shown in (b), it specifically includes removing the guide rod 4, and installing and fixing the intelligent sensing module 1 through the connecting matching hole 33 and the hinge hole 23; S6 can rotate around the axis of the shaft segment 12 of the intelligent sensing module 1 by rotating the rotating component provided with the hinge hole 23, and adjust the axis of the articulated joint according to the matching information obtained by the intelligent sensing module 1.

[0025] The present invention also relates to a method for adjusting the axis of a rotating device, wherein the rotating device includes a first arm and a second arm, wherein the first arm and the second arm are provided with a hinge hole 23, and the first arm and / or the second arm rotates around a pin provided in the hinge hole 23 to form an articulated joint, and the axis adjustment method includes removing the pin, installing the intelligent sensing module 1 in the hinge hole 23, and adjusting the axis of the articulated joint according to the matching information obtained by the intelligent sensing module 1.

Claims

1. An intelligent sensing module, comprising a sensing module carrier, a shaft section and a connecting section, characterized in that: A sensor layer is arranged on the periphery of the shaft segment, and the sensor layer includes a plurality of sensing points with sensing functions; the matching information of the shaft segment and the corresponding hinge hole is sensed through the plurality of sensing points, thereby adjusting the axis of the hinge joint.

2. The intelligent sensing module according to claim 1, characterized in that: The plurality of sensing points on the sensor layer sense the matching information of the pressure and / or distance between the shaft segments and the corresponding hinge holes.

3. The intelligent sensing module according to claim 2, characterized in that: The sensor layer may adopt one or more of a piezoresistive sensor, an acoustic wave distance sensor, an infrared distance sensor, and a laser distance sensor.

4. The intelligent sensing module according to any one of claims 1 to 3, characterized in that: The intelligent sensing module comprises a sensing module carrier, a shaft section and a connecting section in sequence. The sensing module carrier has a cavity for accommodating a main circuit part. The diameter of the shaft section is greater than the diameter of the connecting section.

5. A joint axis adjustment device according to any one of claims 1 to 4 of the intelligent sensing module, comprising a first rotating component, a second rotating component and an intelligent sensing module, characterized in that: One of the two rotating components is provided with a connecting fitting hole, and the other is provided with a hinge hole; the first rotating component and the second rotating component are connected through the intelligent sensing module to form an articulated joint; the intelligent sensing module has a connecting segment that cooperates with the connecting fitting hole and an axial segment that cooperates with the hinge hole, and the intelligent sensing module connects the first rotating component and the second rotating component through the connecting segment, so that the rotating component provided with the hinge hole can rotate around the axis of the axial segment of the intelligent sensing module, and a sensor layer is provided on the periphery of the axial segment of the intelligent sensing module that cooperates with the hinge hole, and the sensor layer includes multiple sensing points with sensing functions; the multiple sensing points sense corresponding matching information of the axial segment and the hinge hole.

6. The joint axis adjustment device according to claim 5, characterized in that: The sensor layer is arranged on the outer periphery of the shaft segment, and the sensor layer includes array-type sensing points.

7. The joint axis adjustment device according to claim 6, characterized in that: The array of sensing points is arranged in 3×5, arranged in 3 columns along the axis direction of the intelligent sensing module and in 5 rows in the circumferential direction.

8. A method for adjusting a joint axis according to the joint axis adjustment device according to any one of claims 5 to 7, characterized in that: S1 places the joint in a standard lateral position, and a concentric circle structure is formed in the perspective image, and the center of the circle forms the rotation axis; S2 installs the first rotating component, the first rotating component includes a first connecting rod, a first universal joint and a hinge hole, and the hinge hole is arranged at the end of the first universal joint away from the first connecting rod; including fixing one end of the first connecting rod of the first rotating component on the corresponding object, and adjusting the length of the first connecting rod of the first rotating component and the angle of the first universal joint so that the hinge hole is concentric with the rotation axis; S3 installs the guide rod, including inserting the guide rod into the hinge hole; S4 installs the second rotating component, the second rotating component includes a second connecting rod, a second universal joint and a connecting matching hole, the connecting matching hole is arranged at one end of the second connecting rod of the second universal joint away from the second rotating component; includes inserting the connecting matching hole along the fixed guide rod to fix one end of the second connecting rod of the second rotating component on the corresponding object; S5 installs the intelligent sensing module, includes removing the guide rod, and installing and fixing the intelligent sensing module through the connecting matching hole and the hinge hole; S6 rotates the rotating component provided with the hinge hole around the axis of the shaft segment of the intelligent sensing module, and adjusts the axis of the articulated joint according to the matching information obtained by the intelligent sensing module.

9. The joint axis adjustment method according to claim 8, characterized in that: The guide rod has a hollow structure. In S3, when a white dot can still be observed through the hollow structure under a standard lateral perspective image, it can be confirmed that the first rotating component is correctly installed.

10. A method for adjusting the axis of a rotating device, the rotating device comprising a first arm and a second arm, the first arm and / or the second arm being provided with a hinge hole, the first arm and / or the second arm rotating around a pin provided in the hinge hole to form an articulated joint, the method for adjusting the axis comprising removing the pin, installing the intelligent sensing module according to any one of claims 1 to 4 in the hinge hole, and adjusting the axis of the articulated joint according to the matching information obtained by the intelligent sensing module.

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