163 results about "Arm position" patented technology

The invention discloses a mechanical arm positioning and grabbing method based on machine vision, and relates to the technical field of machine vision and mechanical arm control, the method comprises the following steps: synchronously acquiring RGB-D images of a target scene through a multi-view camera array, and generating three-dimensional point cloud data through data fusion; an improved LSD algorithm and a PnP algorithm are adopted to calculate the initial pose of the target object, illumination distortion is eliminated in combination with the generative adversarial network, and three-dimensional coordinates are output; a mechanical arm motion error transfer model is constructed based on Monte Carlo simulation, and a candidate grabbing scheme set is generated through reinforcement learning; and an optimal grabbing scheme is screened through a preset priority evaluation rule, and a mechanical arm joint movement track and a control instruction set are generated. Through multi-modal data fusion and a nonlinear optimization algorithm, the technical problems of large target positioning deviation and sensitive illumination interference in a complex environment are solved, and the grabbing precision and robustness of the mechanical arm are improved.

The utility model relates to a motor stator electrical performance detection mechanism and equipment, which belongs to the technical field of motor stator electrical performance detection, and comprises a bottom plate, a plurality of clamping jaws arranged on the bottom plate, a top plate, an air cylinder arranged on the top plate, and a lifting plate connected with the output end of the air cylinder, the inclined blocks are fixed on the lifting plate; the clamping jaw comprises a fixed seat, a test probe arranged on the fixed seat, a jaw body and an elastic structure, the middle part of the jaw body is rotationally connected with the fixed seat through a pin shaft, and the jaw body comprises an inclined arm positioned at the upper part of the jaw body and a bent hook positioned at the lower part of the jaw body. A device comprises a fixing frame, a lifting mechanism, a carrying mechanism and a motor stator electrical performance detection mechanism. According to the scheme, the number of used air cylinders is small, cost is low, the space occupancy rate is low, and clamping force is stable.

The invention discloses a compensation method for a platform shake error during installation of a transformer substation wallboard, and relates to the field of wallboard installation. The technical problem that the installation position of a wallboard and a buckle deviates due to shaking of a platform during aerial work of a crane is solved. The method comprises the following steps: establishing a base coordinate system; installation data under one-time standard installation is obtained, so that the standard mechanical arm pose during wallboard installation is obtained; the three-dimensional coordinates of the buckle at the actual wallboard installation moment are obtained in real time, and the pose of the compensation mechanical arm is calculated through a homogeneous transformation matrix; and the compensation mechanical arm pose is converted into a mechanical arm control instruction, and the mechanical arm is driven to complete dynamic error compensation installation. According to the technical scheme, errors caused by shaking of the platform are effectively made up, the installation precision is improved, the position of the buckle is recognized in real time through the binocular camera, the position and posture of the mechanical arm at the current moment are calculated in combination with the coordinate transformation matrix, and therefore the movement track of the mechanical arm is dynamically adjusted, and offset errors caused by shaking of the platform in the air are made up.

A glute hamstring developer exercise machine includes a vertical post extending from a lower end to an upper end; a user body support system coupled to the vertical post, the user body support system having one or more pads to support the user in a plurality of positions; and a primary frame supporting the one or more pads and extending substantially from the vertical post; at least one weight arm positioned substantially underneath the one or more pads, the at least one weight arm is to be operated by the user to perform one or more exercises.

The application relates to a mechanical arm positioning and grabbing method and device, computer equipment and a storage medium. The method uses registration technology to obtain a successful registration of the actual object grabbing position, calculates the space conversion relationship between the teaching object and the actual object, effectively uses the information of the registered object, compensates for the poor imaging of the part through an optimization algorithm, and infers the grabbing position of the remaining object which fails to be registered, thereby solving the problem of registration failure caused by poor imaging of the high-reflectivity part. The method significantly improves the success rate of grabbing and the reliability of the system, ensures accurate grabbing of the part in a high-reflectivity environment, and improves the stability and efficiency of the overall system.

A corrective device for relieving pain in the neck, shoulder, and upper back regions of the human body. More particularly, the corrective device comprises two arm support foam pads, a neck support pad, and a tummy support pad, each of the four support pads having adjustable straps to accommodate different body sizes and varying arm positions. In operation, the user lies face down between the arm support pads, positions their arms on the support pads with elbows on the pads, places their chin on the neck support pad, and positions the tummy support pad under their navel. The adjustable straps allow for customization to the user's body dimensions. The device may provide relief from neck, shoulder and upper back pain, and may correct conditions such as Kyphosis Hump and Rounded Shoulders.

The utility model discloses an arm positioning device of a bone mineral density detector, which belongs to the technical field of medical devices and comprises a detection bin, a supporting mechanism is arranged in the detection bin, a groove is arranged on the upper end face of the supporting mechanism, and an arm can be placed in the groove. A positioning bulge is also arranged in the groove; the supporting mechanism is in sliding connection with the detection bin, so that the supporting mechanism can be moved out of the detection bin. According to the arm positioning device of the bone mineral density detector, the positioning device can quickly position the position of the arm, so that the detection efficiency and the experience feeling of a detected person are improved.

A passive end effector of a surgical system includes a base, a first mechanism, and a second mechanism. The base attaches to an end effector coupler of a robot arm positioned by a surgical robot. The first mechanism extends between a rotatable connection to the base and a rotatable connection to a tool attachment mechanism. The second mechanism extends between a rotatable connection to the base and a rotatable connection to the tool attachment mechanism. The first and second mechanisms pivot about the rotatable connections to constrain movement of the tool attachment mechanism to a range of movement within a working plane. The tool attachment mechanism is configured to connect to a surgical saw including a saw blade for cutting.

A method of operating a work vehicle 10 comprising a swing apparatus 11 comprising an arm arrangement 14. An arm position sensor generates data used by a control system to determine a maximum allowabl

The utility model discloses a building engineering service robot terminal, and relates to the technical field of robot terminals. The remote controller comprises a remote controller body, the bottom of the remote controller body is fixedly connected with an installation ring, the installation ring is connected with a supporting mechanism in a clamped mode, the supporting mechanism comprises a chuck, the bottom of the chuck is rotationally connected with a rotating rod, one end of the rotating rod is rotationally connected with a lower arm support, and the other end of the rotating rod is connected with a lower arm. According to the remote controller, the remote controller body, the mounting ring and the supporting mechanism are arranged, the supporting mechanism can be stably connected to the remote controller body through the mounting ring, and the supporting mechanism comprises the chuck, the rotating rod, the lower arm support, the elastic band, the fixing block, the upper arm support and other components; the whole device can be flexibly adjusted according to the arm position and the comfort degree of a user, so that the fatigue feeling of the arms and shoulders is relieved, and the supporting mechanism solves the technical problem that during holding, much strength needs to be consumed to balance torque, and use is strenuous.

The invention discloses a myeloma patient blood sample sampling auxiliary device based on LDH induced chemotherapy. The myeloma patient blood sample sampling auxiliary device comprises a base; the two ends of the top of the base are each provided with a pressing and holding mechanism used for fixing an arm, and one end of the top of the base is provided with a pulse pressing mechanism used for puncturing the arm. Through the arrangement of the pressing mechanism, the stability of sampling a blood sample of a myeloma patient is improved, the situation that a needle head cannot pierce a designated position can be avoided, and the situations that the needle head falls off and pierces slightly in the sampling process are prevented; the pressing and holding mechanism is matched with the pulse pressing mechanism, so that the large arm position and the small arm position in the arm can be pressed down and positioned at the same time, and medical staff can directly carry out sampling operation after disinfecting the sampling position of the arm and cannot freely do actions after the arm of a patient is fixed; at the moment, the pipeline with the needle head is directly punctured into the arm for blood sample sampling operation.

A retention system includes a pipe rack rotatable between a first pipe rack position and a second pipe rack position, a retention arm assembly coupled with the pipe rack, and a pipe positioner system. The retention arm assembly is rotatable relative to the pipe rack between a first arm position and a second arm position. When the pipe rack is in the first pipe rack position and the retention arm assembly is in the first arm position, the retention arm assembly is disengaged from a deck bushing of a drilling machine. When the pipe rack is in the second pipe rack position and the retention arm assembly is in the second arm position, the retention arm assembly is engaged to retain the deck bushing in a raised state. The pipe positioner system contacts the drill string to guide and center a movement of the drill string along a vertical axis.

A method for restraint of a subject in a. supine position is described. The method comprises pulling a first arm of the subject over a shoulder of a second arm of the subject to achieve a crossover arms position. The method further comprises rolling the subject from the supine position to a. lateral position while preserving the cross-over arms position. The method further comprises pulling a first leg of the subject over a second leg of the subject to achieve a cross-over legs position. The method further comprises preserving the cross-over legs position of the subject by securely restraining at least the first leg of the subject. The cross-over arms position and the crossover legs position are preserved simultaneously for restraint of the subject. Further, methods for restraint of a subject in a prone position and seated position are also provided.

An ultrasonic surgical instrument and method for identifying tissue state and energizing the surgical instrument includes an end effector having an ultrasonic blade and an RF electrode, a shaft assembly, a body, and a power controller. A first ultrasonic energy input is configured to be actuated from a first unactuated energy input state to a first actuated energy input state. A trigger input is configured to be actuated from an unactuated trigger input state to an actuated trigger input state. The power controller is operatively connected to the ultrasonic blade, the RF electrode, the first ultrasonic energy input, and the trigger input and configured to direct at least one of the ultrasonic blade or the RF electrode to be selectively driven according to a predetermined drive function based on the tissue impedance, the state of the first energy input, and the state of the trigger input.

This product is an industrial robot in which the left-right orientation of the arm position can be changed by setting the origin position of the joint. As shown in "Perspective View 1" and "Perspective View 2" with the arm position changed, the left-right orientation can be changed.

The invention relates to the field of first-aid devices, in particular to a field first-aid device and a using method thereof.The field first-aid device comprises a clamping plate, a supporting sleeve is fixedly connected to the surface of the clamping plate, sliding rods are symmetrically and fixedly connected between the two sides of the inner wall of the supporting sleeve, and a supporting plate is slidably connected between the two sliding rods; the surface of the sliding rod is movably sleeved with a compression spring matched with the supporting plate, and grooves are formed in the middle of the supporting plate and the middle of the clamping plate. The field first-aid device is composed of a transmission mechanism, a smearing mechanism and a winding mechanism. Through cooperative use of the supporting plate, the transmission mechanism, the winding mechanism and other components, after the clamping plate and the supporting plate are clamped into the arm position, the supporting plate is pulled to move on the surface of the sliding rod, and in the process that the supporting plate resets and moves towards the clamping plate, under cooperation of the transmission mechanism and the winding mechanism, a ribbon on the ribbon wheel is automatically wound around the wound position of the arm; and one-hand operation can be performed, so that the use convenience is improved.

A supplemental wheel assembly for a wheeled conveyance has first and second laterally spaced apart positioning plates securable to a camber tube attached to the wheeled conveyance. The first and second positioning plates have a plurality of pairs of positioning apertures defining a plurality of arm positions. The supplemental wheel assembly further has a support arm rotatably mountable between the first and second positioning plates and rotatable between the plurality of arm positions when mounted between the positioning plates. The support arm has an arm length extending from a proximal arm end to a distal arm end, and a telescopic joint at a location between the distal arm end and the proximal arm end. The arm length is continuously adjustable using the telescopic joint. The supplemental wheel assembly further has a stop pin slidably insertable through any of the pairs of positioning apertures to define an arm stop position.

The present application belongs to the field of robot technology and driver, and specifically relates to a trajectory checking planning method for a safety boundary of a driver layer, which comprises the following steps: 1) position and acceleration constraint setting; 2) the driver checks the current mechanical arm position and speed through a safety boundary triggering function, and evaluates whether the mechanical arm is about to or has exceeded the preset safety boundary; 3) when the safety boundary is triggered, a re-planning stage is entered, and the driver automatically calculates and generates a time-optimal trajectory re-planning strategy by using the position, speed and acceleration information of the current mechanical arm; and 4) the driver adjusts the driver instruction generated according to the re-planning strategy to ensure the safe movement of the mechanical arm. The present application combines the position constraint and the maximum stop acceleration constraint of the driver layer, and effectively deals with the misoperation or unreasonable planning of the upper-layer trajectory planning instruction.

The utility model relates to the technical field of radiotherapy equipment, in particular to an arm positioning and supporting device and a radiotherapy positioning device, which comprise an arm positioning and supporting plate. The arm positioning supporting plate comprises an arc surface mounting part matched with the arc surface mounting surface, supporting parts used for supporting an arm and a connecting part arranged between the arc surface mounting part and the supporting parts, the supporting parts are located on the two sides of the arc surface mounting part, and the supporting parts are higher than the arc surface mounting part. By arranging the cambered surface mounting part, the arm positioning and supporting device can be conveniently and stably connected with the bed board; by arranging the supporting part, the arm is supported, and the comfort of keeping the fixed body position of the patient during treatment is improved.

The application discloses a device for correcting pen holding posture and a using method thereof, which is mainly composed of a reference body and a fastening device. The reference body is composed of a horizontal straight geometric body, and the surface of the geometric body is a contrast surface, on which contrast lines are arranged. The fastening device is composed of a buckle and a groove, and the buckle is connected with the reference body, and the groove is arranged near the buckle. In use, the buckle is buckled on a pen barrel, the pen barrel falls into the groove, the reference body is placed crosswise with the pen barrel, the contrast surface is upward and kept in a horizontal state, then the reference body, the contrast surface, the contrast lines and a contrast object are horizontally aligned, in use, the correct pen holding posture and the arm position are arranged, the pen is held to write, and the reference body, the contrast surface, the contrast lines and the contrast object are kept in horizontal alignment. In the writing process, if the horizontal imbalance is found, the imbalance is corrected, and the problems of the incorrect pen holding posture, the arm position and the wrist hooking are corrected.

The present invention relates to the field of first aid devices, specifically a field first aid device and a method for using the same, comprising a splint, a support sleeve fixedly connected to the surface of the splint, a slide rod symmetrically fixedly connected between the two sides of the inner wall of the support sleeve, a support plate slidably connected between the two slide rods, a compression spring movably sleeved on the surface of the slide rod that cooperates with the support plate, and grooves are provided in the middle of the support plate and the middle of the splint. The field first aid device is composed of a transmission mechanism, a coating mechanism, and a winding mechanism; by using the support plate, the transmission mechanism, the winding mechanism, and other components, the splint and the support plate are clamped into the position of the arm, and then the support plate is pulled to move on the surface of the slide rod. During the process of the support plate resetting toward the splint, the transmission mechanism cooperates with the winding mechanism to automatically wrap the cable tie on the cable tie wheel around the wound position of the arm, and the cable tie can be operated with one hand, thereby improving the convenience of use.

The present invention discloses a three-dimensional human body modeling and motion acquisition method based on multi-view synchronous shooting. A tracking video of a person shot synchronously from multiple perspectives is obtained, and two-dimensional human body key points and two-dimensional hand key points are extracted from each frame; then, the arm parameters of the human body parametric model are optimized using the two-dimensional human body key points. Afterwards, the parameters of the hand model are optimized based on the two-dimensional hand key points; according to the wrist position, the arm position is corrected to obtain the arm parameters of the human body parametric model. By arranging the hand model point cloud and the human body parametric model point cloud, an index of points and triangular facets is established to obtain a fusion model, and the parameters of the human body parametric model and the hand model are imported into the fusion model to obtain the result of human body reconstruction. The present invention can use multi-view images to perform human body modeling and motion acquisition including hands, and does not require a sophisticated multi-camera configuration and motion capture clothing.

The utility model relates to the field of lockset, concretely relates to an adjustable hasp, including first base, second base, swing arm and adjusting assembly. Swing arm can rotate and separate or connect with limiting hook, and this kind of movable connection mode makes that hasp still can complete closing action when facing slight misalignment. Adjustable hasp adopts split type structure design, and is divided into first base, second base, swing arm and adjusting assembly, and each component is through rotary connection or bolt fixation between each component, is convenient for dismounting, maintenance or replacement. In old building or non - standard structure, user does not need to replace entire assembly, only needs partial adjustment to restore function. When needing to adjust swing arm position, through loose and tight bolt, moves connecting block and swing arm in the range of adjusting groove to change the spatial position of swing arm, and adapts to the connecting demand of different misalignment distance.

The application discloses a closed-chain operation hydraulic double-arm trajectory planning and motion control method considering multiple physical constraint limitations. The method comprises the following steps: establishing a hydraulic double-arm trajectory planner, modeling the physical constraints of the hydraulic double-arm, and generating a new expected trajectory according to an input instruction; establishing a hydraulic double-arm motion controller, receiving the expected trajectory from the trajectory planner, adaptively updating object inertia parameters for estimation of the physical constraint boundary, and performing motion control on the double arm. The application can be used for closed-chain operation of the hydraulic double-arm object, ensures that the object motion does not exceed the multiple physical constraint limitations of the system, so that the object does not deviate from the expected path, reduces the double-arm position error and internal force, and thus avoids the occurrence of unexpected accidents.

The invention provides flexible rocker arm welding equipment, and relates to the technical field of aero-engine production equipment. The flexible rocker arm welding equipment comprises a rocker arm positioning piece and a rotary welding assembly. A pin positioning hole is formed in the center of the rocker arm positioning piece and used for allowing a rocker arm pin to be inserted so as to position the rocker arm pin. A positioning protrusion is arranged on one side of the pin positioning hole and inserted into a second through hole in the rocker arm body, so that the rocker arm body is positioned, and the positioning precision between the rocker arm body and the rocker arm pin is guaranteed. The rotary welding assembly comprises a rotating component and a welding structure installed on the rotating component, the rotating component is used for driving the welding structure to rotate around the center of the rocker arm positioning piece, the rocker arm pin is welded by one circle through the welding structure, and the rocker arm body and the rocker arm pin are limited through the rocker arm positioning piece in the welding process. And the influence of welding thermal deformation is avoided, so that the manufacturing qualification rate of the flexible rocker arm is favorably improved.

The utility model relates to the technical field of nursing supports, in particular to an adjustable nursing support which comprises two fixing supports which are symmetrically arranged, the intersecting ends of the two fixing supports are connected through a knob type structure, and clamping plate sliding grooves are formed in the side walls of the ends, away from the knob type structure, of the fixing supports. Adjusting clamping plates are installed between the inner walls of the clamping plate sliding grooves in a sliding mode, limiting assemblies are arranged on the side walls, close to the ends where the knob type structures are located, of the adjusting clamping plates, and first arm embracing binding bands are installed on the side walls, close to the two ends, of one adjusting clamping plate. Adjusting clamping plates are installed through clamping plate sliding grooves formed in the side walls of the fixing support, and a first arm embracing bandage, a second arm embracing bandage and a wrist fixing assembly are installed between the adjacent side walls of the adjusting clamping plates on the two sides correspondingly. In this way, the device can adjust the arm holding positions of the first arm holding bandage, the second arm holding bandage and the wrist fixing assembly within a certain range according to the arm length of the patient, and the practicability of the device is improved.

The invention provides an interaction system, an X-ray machine and a control method. The interaction system comprises an arm body; the driving assembly is used for driving the arm body to move, the driving assembly comprises a driving rod and a supporting seat, the driving rod is connected with the supporting seat, the supporting seat is connected with the arm body, and the driving rod is arranged in a telescopic mode; the operation assembly is arranged on the supporting seat, the operation assembly is in signal connection with the driving assembly, and the operation assembly is used for controlling the driving assembly to move; the operation assembly is in signal connection with the arm body and used for controlling the arm body to move. According to the interaction system, the technical problem that the C-arm position needs to be frequently moved between the near-bed position and the far-bed position in the prior art when the C-arm position is adjusted is solved.

The application relates to a flexible mechanical arm control method and system based on a fractional order complementary sliding mode, and the method comprises the following steps: constructing a flexible mechanical arm dynamics model according to mechanical arm related parameters, a hypothetical modal method and a Lagrange method; decoupling the flexible mechanical arm dynamics model according to a singular perturbation method to generate a slow variable subsystem model and a fast variable subsystem model; establishing a super-helix extended state observer according to the slow variable subsystem model and generating an observed disturbance value; generating a fractional order complementary sliding mode control law according to a flexible mechanical arm position tracking error; generating a trajectory tracking control law according to a tracking differentiator, the observed disturbance value and the fractional order complementary sliding mode control law; generating a vibration suppression control law according to the fast variable subsystem model, a super-helix algorithm and a mechanical arm end vibration amount; and combining the trajectory tracking control law and the vibration suppression control law to generate a total control law. The control precision is improved through the fractional order complementary sliding mode, and chattering is effectively suppressed.