996 results about "Mobile control" patented technology

The invention discloses an intelligent robot with a body and a robot motion control system and method.The intelligent robot with the body is provided with an execution component, a moving module and the robot motion control system, and the robot motion control system comprises a multi-modal input encoder, a multi-modal output encoder and a multi-modal output encoder, the multi-modal feature fusion module is used for collecting and processing multi-modal data to obtain multi-modal features and fusing the multi-modal features to obtain a multi-modal feature token sequence; the action expert network is used for mapping the fused multi-modal feature token sequence into an abstract robot action sequence block; and the execution controller is used for converting the abstract robot action sequence block into a control instruction which can be executed by bottom hardware. According to the method, direct mapping from environment perception and semantic understanding to movement control and execution of specified task actions can be realized, so that the task understanding, response speed and execution completion degree of the robot in a complex environment are improved.

The application discloses an underwater data center, which comprises a pressure cabin, an outer frame, a lifting structure, a pipeline structure, a server cabinet inside the pressure shell, an inspection lifting structure, a fixing and moving mechanism, and an internal state monitoring system; the pressure cabin is a closed structure formed by the pressure shell, and at least one pressure cabin entrance structure is arranged on the surface of the pressure cabin; the lifting structure comprises a hydraulic jacking oil cylinder and a lifting guide column; the server cabinet is arranged in an array in the pressure shell, and is fixed and moved by the fixing and moving mechanism at the upper end and the lower end for control. The application can realize efficient water-out and water-in actions by using the lifting mechanism; the application is suitable for high-stable underwater cooling of a large-volume high-density data center system; the pressure cabin entrance is provided, so that the inspection personnel can enter the pressure cabin for inspection without water-out, and the working efficiency and use efficiency are high; and the state monitoring system ensures high safety of the internal environment and timeliness of risk discovery.

The invention relates to the technical field of PCBA packaging, discloses a PCBA packaging method and equipment based on a fixed glue spraying assembly, and aims to solve the technical problems of complex wiring, high mechanical loss and inconvenience in maintenance in a mobile packaging scheme of an existing glue spraying assembly. The PCBA packaging method comprises the steps that a glue spraying assembly sprays a UV glue solution to a target glue spraying area of a PCBA, and a curing irradiation assembly irradiates the PCBA to cure the UV glue solution to form a packaging layer; wherein the glue spraying assembly comprises a plurality of rows of independently-controlled piezoelectric spraying holes, the positions of the piezoelectric spraying holes are fixed in the whole spraying process, and full coverage of a target glue spraying area is achieved only by driving the PCBA to move. The PCBA packaging equipment comprises a support, a conveying mechanism, a fixedly-arranged glue spraying assembly and a curing irradiation assembly, the conveying mechanism drives a PCBA to move along a preset path, and it is ensured that a target glue spraying area is exposed under the glue spraying assembly in sequence or repeatedly. According to the invention, the wiring structure of the glue spraying assembly is simplified, the mechanical wear is reduced, the equipment reliability and maintenance convenience are improved, the precision and efficiency of PCBA packaging are ensured through synchronous curing and precise movement control, and the method is especially suitable for selective protection packaging of a low-height PCBA board with the maximum height of an electronic component smaller than 1cm.

The invention relates to the field of agricultural intellectualization, in particular to a crop disease and insect pest real-time identification and analysis system based on deep learning, which comprises an image acquisition unit, a mobile control unit, an image identification unit, a disease evaluation unit and a disease and insect pest prediction unit, the core innovation of the invention lies in that an image recognition unit introduces a Riemannian geometry multi-scale manifold learning framework and comprises a manifold construction module, a manifold feature fusion module and a manifold constraint optimization module, and the manifold construction module maps crop image features to a Riemannian manifold space; the manifold feature fusion module fuses multi-scale feature manifolds through geodesic line connection and parallel transmission; and the manifold constraint optimization module executes network parameter optimization in a Riemannian space. The disease evaluation unit evaluates the severity of the disease based on the identification result; the disease and pest prediction unit predicts the disease development trend based on historical data and environmental information, the disease and pest recognition precision is remarkably improved, and particularly the rare disease recognition capability is improved by 23%.

A system may include a flow valve coupled to a gas inlet of a landfill gas system and a pump coupled to the flow valve and configured to draw gas from the landfill gas system via the gas inlet. The system may further include an oxygen sensor comprising at least one laser configured to detect oxygen concentration in the gas, a carbon dioxide sensor comprising at least one infrared light source configured to detect carbon dioxide concentration in the gas, and / or one or more chemical sensors configured to sense concentrations of a respective one or more chemicals in the gas. A microprocessor may determine sensed data including at least the oxygen concentration, the carbon dioxide concentration, concentrations of the one or more chemicals, the static pressure, the atmospheric pressure, and / or a differential pressure, and communicate the sensed data to a mobile control device.

The utility model discloses a tool for polishing and oiling a storage battery terminal, which comprises a driving motor, a mounting seat, a grinding wheel, a grinding wheel, a grinding wheel, a grinding wheel, a grinding wheel and a grinding wheel, wherein the mounting seat is fixedly connected to an output shaft of the driving motor; the pneumatic clamping jaw is fixed to the mounting base, and a polishing brush is detachably connected to a jaw body of the pneumatic clamping jaw. The oiling valve is fixed below the mounting seat and has an avoiding distance with the polishing brush on the claw body, an avoiding hole for a battery terminal to enter is formed in the middle of the bottom side of the oiling valve, a plurality of valve element holes are formed in a valve body of the oiling valve, one end of each valve element hole is communicated with the avoiding hole, a valve element is axially and slidably connected into the valve element hole, and one end, close to the avoiding hole, of the valve element is an oiling end; the oil way hole communicated with the side wall of the valve element hole is formed in the valve body, the battery terminal supports the valve element and promotes the valve element to move in the axial direction, the movement of the valve element controls the communication relation between the oil way hole and the receding hole, the anti-oxidation oil in the oil way hole wets the oiling end and completes the oiling process of the battery terminal, and the oiling device is integrated in design and high in machining efficiency.

The invention provides a movement control method, system and device for adaptively following a target object and a medium, and belongs to the field of robot automatic control, and the method comprises the steps: obtaining the motion state information of a robot, the obstacle information of the surrounding environment and the position information of the target object; generating a prediction track of the dynamic obstacle based on the dynamic obstacle information, and constructing a risk area according to the static obstacle information and the prediction track; sampling by adopting a dynamic window algorithm to obtain a plurality of groups of candidate speed pairs and generating a plurality of candidate tracks; on the basis of candidate trajectories, the risk area and the predicted trajectory of the dynamic obstacle, a trajectory risk evaluation value is obtained through calculation; and based on a preset evaluation index, scoring the candidate trajectory, selecting an optimal speed pair according to a scoring result, and based on the optimal speed pair and the current actual speed of the robot, generating a control instruction to drive the robot to move. The autonomous following performance and the user experience of the robot in the dynamic environment are improved.

The invention discloses a piezoresistor assembling device, and belongs to the technical field of electronic component manufacturing equipment. The problems that existing piezoresistor assembly mostly depends on manual or semi-automatic equipment, production efficiency is low, consistency is poor, all mechanisms are lack of effective cooperation and need manual intervention, resistor insertion deflection is prone to occurring, sand filling is uneven, and cover plate correction precision is low are solved. The device comprises a shell feeding mechanism, a resistor feeding mechanism, a cover plate feeding mechanism, a material inserting mechanism, a sand filling mechanism, a cover plate assembling mechanism, a driving mechanism, a supporting mechanism and a control system. The supporting mechanism supports all the mechanisms, the driving mechanism drives the shell to move at the stations of the material inserting mechanism, the sand filling mechanism and the cover plate assembling mechanism, the control system coordinates all the mechanisms to act, and all the mechanisms sequentially complete feeding of the shell, the resistor and the cover plate, insertion of the resistor into the shell, sand filling and cover plate assembling. The device is mainly used for automatically completing full-process assembly of the piezoresistor, continuous automatic production is achieved, and the assembly efficiency and the product consistency are improved.

The invention provides an automatic operation method and device for a cloud mobile phone, electronic equipment and a storage medium. The automatic operation method for the cloud mobile phone comprises the following steps: receiving a user instruction, performing user intention identification on the user instruction, calling a planning model, and generating an operation plan comprising a plurality of subtasks according to task elements; establishing an execution loop, wherein the execution loop comprises the steps of obtaining current screen information, inputting the current subtask, the current screen information and a historical execution record into an execution model, and outputting a to-be-executed action and a target position; calling an underlying operation tool through the mobile control protocol interface to execute the to-be-executed action at the target position; when the success standard corresponding to the subtask is met, entering the next subtask; when the execution result is abnormal, dynamic plan adjustment or error self-processing is triggered; when the loop termination condition is met, the operation result is output, and the efficiency and universality of automatic operation are remarkably improved through the technologies of intention recognition, dynamic plan generation, self-reflection, error self-processing and the like.

An actuator arrangement for use in a camera is disclosed. The camera comprises two or more camera elements including an image sensor and one or more optical elements for forming, or aiding forming of, an image of an object on the image sensor. The actuator arrangement comprises: a first part defining a first axis; a first actuator for providing a first type of movement of one or more of the camera elements relative to the first part; a second actuator for providing a second, different type of movement of one or more of the camera elements relative to the first part; a controller configured to (a) cause the first actuator to move one or more of the camera elements so as to provide a first optical image stabilisation (OIS) effect, and (b) cause the second actuator to move one or more of the camera elements so as to provide a second OIS effect. The first and second OIS effects combine to provide an overall OIS effect that is greater than either of the first and second OIS effects.

A marking apparatus includes a marking apparatus main body including a target, a traveling mechanism for automatically traveling on a traveling surface, and a printer, and a control unit configured to control the printer and the mechanism. The control unit controls the traveling so that the mechanism automatically travels along a set traveling route, the control unit compares position coordinates of the marking apparatus main body obtained from three-dimensional position coordinates of the target during traveling input at predetermined intervals with the traveling route, and corrects traveling to eliminate a deviation from the traveling route, the control unit controls the printer so as to print the marking information set at a position corresponding to the position coordinates of the marking apparatus main body, and traveling route data setting the traveling route and marking information data defining the marking information are created based on CAD design data.

The invention discloses an industrial equipment monitoring system based on the Internet of Things, which comprises the following modules: a video monitoring deployment module, an anti-interference intelligent transmission sub-module, a multi-terminal collaborative scheduling module, an equipment intelligent diagnosis and prediction module, a user mobile control terminal module and a video monitoring display module. The problems that data transmission is prone to interference and packet loss delay in a complex industrial environment are solved through edge computing node preprocessing caching and self-adaptive frequency hopping interference resistance, real-time and accurate transmission of equipment state data is guaranteed, a reliable data foundation is built for monitoring management, meanwhile, instruction conflicts are avoided by means of a distributed lock, and the data transmission efficiency is improved. Terminal operation is responded in order in combination with priority scheduling, the multi-terminal access and interaction process is standardized, the multi-terminal cooperative monitoring efficiency is improved, different role terminals are made to cooperate efficiently, the monitoring management experience is optimized, the equipment data value is deeply mined by applying a machine learning algorithm, fault early warning is achieved, and the equipment fault shutdown loss is reduced.

The invention relates to the technical field of optical detection and automatic control, and discloses a computer vision-assisted nano-particle recognition and micro-spectrum automatic measurement system, which comprises a sample positioning module, an imaging module, an optical measurement module and a processing control module, automatic focusing is realized on the basis of a definition evaluation value calculated by performing Fourier transform on the microscopic image; graying, binaryzation and morphological operation are carried out on the focused image so as to identify effective nano-particles and calculate centroid coordinates of the effective nano-particles; according to the coordinates of the center of mass, the X axis and the Y axis of the electric three-axis displacement table are controlled through closed-loop iteration movement, and the measured particles are accurately positioned to the center of the view field. According to the invention, the problems of low manual measurement efficiency, poor repeatability and complex operation in the prior art are solved, and high-flux, full-automatic and high-precision measurement of the spectral characteristics of the nanoparticles is realized.

The invention discloses a three-dimensional ground penetrating radar detection method, system and equipment for road roadbed diseases and a medium, and relates to the technical field of road engineering detection. Controlling a high-frequency antenna and a low-frequency antenna to emit electromagnetic waves to a road roadbed based on the movement of the detection vehicle so as to receive reflected high-frequency data and low-frequency data; processing the high-frequency data and the low-frequency data based on the positioning attitude data to obtain processed high-frequency data and processed low-frequency data; processing and fusing the processed high-frequency data and the processed low-frequency data to obtain a full-band reflection coefficient sequence; calculating the full-band reflection coefficient sequence to obtain broadband geological radar data; inputting broadband geological radar data into the convolutional neural network model to obtain a disease type and a disease semantic segmentation map; and generating a three-dimensional visual model of the roadbed disease based on the disease semantic segmentation map, and outputting maintenance suggestion data matched with the disease type. By implementing the technical scheme, the accuracy of deep hidden disease recognition is improved.

The embodiment of the utility model provides a latent robot. The latent robot comprises a chassis, and an integrated walking mechanism, an integrated lifting mechanism, an integrated master controller and a battery which are fixed on the chassis. The integrated walking mechanism comprises a walking driver, a walking power device and a driving walking wheel; wherein the walking driver is integrally arranged at one end of the walking power device and electrically connected with the interior of the walking power device. Compared with an independent driver, the internal installation space of the chassis is saved, and external wiring between the driver and the power device is reduced. The integrated main controller is electrically connected with the integrated walking mechanism and the integrated lifting mechanism, the integrated walking mechanism is controlled to drive the chassis to move, the integrated lifting mechanism is controlled to drive the goods to ascend and descend, an independent interface board does not need to be arranged, and wiring between the controller and the interface board is reduced. The number of wiring in the latent robot is reduced, so that the assembly process is reduced, the assembly efficiency is improved, and the after-sales maintenance difficulty is reduced.

The utility model relates to the technical field of concrete electric poles, and discloses a concrete electric pole production energy-saving maintenance device which comprises a maintenance mechanism, an adjusting mechanism is installed on the inner wall of the maintenance mechanism, a supporting mechanism is arranged in the maintenance mechanism, and a concrete electric pole body is installed on the inner wall of the supporting mechanism. A steam mechanism is installed on the inner wall of the curing mechanism, a drainage mechanism is installed on one side of the curing mechanism, the adjusting mechanism comprises a supporting frame, the outer portion of the supporting frame is fixedly connected to the inner wall of the curing mechanism, and a first motor is fixedly connected to the top of the supporting frame. According to the electric pole steam spraying device, gas in the steam box is sucked through the draw-off pump, enters the flow dividing pipe through the connecting pipe and is finally sprayed out through the spraying head, the first motor drives the rotating plate to rotate, drives the follow-up plate to move and controls the limiting block so as to adjust the positions of the flow dividing pipe and the spraying head, and it is guaranteed that steam is evenly sprayed to the surface of an electric pole.

The invention discloses a radioactive waste liquid surface pollution multipoint array detection system and method, and relates to the technical field of nuclear radiation detection. The radioactive waste liquid surface pollution multipoint array detection system comprises a main body fixing frame, a mobile control device, a detector and an upper computer, a plurality of mounting holes arranged in a planar array are formed in the main body fixing frame; the movement control device controls the main body fixing frame to move; the plurality of detectors are mounted in the mounting holes of the main body fixing frame; the upper computer is used for regulating and controlling parameters of the CMOS sensor and storing, displaying, analyzing and processing frame images. The radioactive waste liquid storage tank liquid level pollution monitoring method is applied to a radioactive waste liquid surface pollution multipoint array detection system and is used for monitoring alpha and beta pollution areas of a radioactive waste liquid storage tank liquid level. The whole liquid level area of the radioactive waste liquid storage tank is covered at a time through the detachable detector group arranged in the plane array, and a pollution distribution panorama can be obtained through single-time measurement.

The invention relates to an adjustable optical fiber array unit based on piezoelectric ceramic displacement control, and the unit comprises a coupling clamp which is used for fixing an optical fiber array; the plurality of piezoelectric ceramic actuators are connected with the coupling clamp and are used for controlling six degrees of freedom of the coupling clamp; according to the invention, the plurality of piezoelectric ceramic actuators are used for controlling the movement of the coupling clamp in each degree of freedom, so that the position of the coupling clamp can be accurately controlled. Compared with an existing optical fiber array unit which cannot be finely adjusted, the coupling difficulty is greatly reduced, automatic coupling is facilitated, and therefore working hours and cost are greatly saved; in the long-term application process, if the position of the fixed optical fiber array unit drifts due to stress release and the like, the optical fiber array unit can be recoupled to the maximum power by adjusting the corresponding piezoelectric ceramic actuator, so that the long-term reliability is greatly improved.

The present invention discloses an electrical control cabinet for intelligent electrical equipment and a protective structure thereof, which belongs to the technical field of electrical cabinets and comprises a cabinet body, wherein a mobile control component is installed inside the cabinet body, a camera mount is also installed on the mobile control component, a camera is installed on the camera mount, and the mobile control component is used to control the camera to move along the X-axis and Y-axis directions; and a mounting rack is also installed inside the cabinet body. The present invention can realize the installation of each electrical component in a corresponding mounting slot, monitor the electrical components in each mounting slot by a sensor, and when a fire is found in an electrical component in any mounting slot, the electrical cabinet performs self-diagnosis and performs a separate fire extinguishing operation on the mounting slot that has caught fire. Since the mounting slots are isolated from each other, a fire in one mounting slot will not easily spread to an adjacent mounting slot. This isolation design greatly reduces the risk of fire spreading inside the electrical equipment.

An elevator system having: a hoistway; an elevator car movable within the hoistway; a controller operationally coupled to the elevator car; a counterweight coupled to the elevator car and movable within the hoistway; and an approaching-hazard-warning-system that has: a warning system controller; a range finding sensor, operationally coupled to the warning system controller, and mounted to one of the elevator car, the counterweight and the hoistway wall, wherein, while operating in an inspection mode, the warning system controller is configured to receive sensor data from the range finding sensor, detect when a distance between the elevator car and the counterweight is less than a stop distance while the elevator car and the counterweight are moving toward each other, and execute a first responsive action including one or more of slowing the elevator car by communicating with the car controller, stopping the elevator car and sounding a first audible alert.

The invention discloses a PHASE formula control method and system based on a PLC, and belongs to the technical field of industrial automation. According to the method, the technological process is decomposed into independent and reusable PHASE function blocks, modular programming is achieved in a PLC, and the PHASE function blocks are dynamically combined and called through formula software to generate the formula process. The system integrates a wireless communication module, a wireless AP and a POE switch, and supports remote operation of a mobile terminal PDA. Meanwhile, real-time interaction between the PLC and the formula software is realized through VxSCADA data acquisition and an OPC protocol; and the MES interaction layer configures a firewall and a JSON interface file to realize synchronous uploading of process parameters and quality data and complete production tracing. Through PHASE architecture, wireless mobile control and MES deep integration, modularization, flexibility and intelligence of industrial formula control are achieved, the problems of program redundancy, high maintenance cost and poor operation flexibility in traditional PLC control are solved, and the production efficiency and intelligent management level of multi-variety and small-batch production scenes are remarkably improved.

The invention discloses a multi-area real-time end point detection system and method for cleaning a semiconductor chamber, and relates to the field of semiconductor gas detection, a gas path unit is provided with a main gas inlet, a first branch, a second branch and a valve module used for connecting or disconnecting the first branch or the second branch; a first broadband light source and a first multi-channel photoelectric detector are oppositely arranged on the two sides of the first cavity, and optical filters with different central wavelengths are arranged in multiple channels of the first multi-channel photoelectric detector respectively; a plurality of second photoelectric detectors, a plurality of target light sources and a displacement platform are oppositely arranged on the two sides of the second cavity, and the target light sources are installed on the displacement platform and can move relative to the second photoelectric detectors; and the control module is in signal connection with the valve module, the first multi-channel photoelectric detector, the displacement platform and each target light source. By adopting the scheme, the detection efficiency is considered while the detection precision is ensured, and more reliable real-time end point judgment can be realized in a complex gas flow field environment.

A wireless food temperature detector for an oven includes a temperature probe. The temperature probe includes a needle, a probe tube and a Bluetooth signal transmission module. The needle is configured for extending into food, a first thermistor is arranged in the needle, one end of the probe tube is connected to the needle, and the Bluetooth signal transmission module is located in a cavity formed by the needle and the probe tube. The first thermistor is electrically connected to the Bluetooth signal transmission module, and the Bluetooth signal transmission module is configured to transmit a temperature signal detected by the first thermistor to the oven, a smart phone and a mobile control terminal.

The invention discloses a waterproof and leak-repairing device and method for an airport terminal building roof made of a beveled self-adaptive material, and relates to the technical field of roof leak repairing. Comprising two vertical frames which are symmetrically installed front and back, and the bottom walls of the vertical frames are each provided with an adjusting assembly used for being matched with the stability of an inclination angle maintaining device of the airport terminal roof. The driving assembly is used for controlling the repairing assembly and the processing assembly to descend into the area where the leakage point is located, the processing assembly is used for cleaning the area where the leakage point is located, dirt and other substances are prevented from affecting the adhesion effect of the repairing material, and then the repairing assembly extrudes the repairing material to the area where the leakage point is located. The whole device moves to control the scraping plate to evenly scrape the repairing material, so that the material is evenly attached to the area where the leakage point of the terminal building roof is located, and repairing and leakage repairing treatment is completed.

The utility model relates to the field of operation control structures, and discloses a mobile identification assembly, which comprises a first magnetic part, a second magnetic part, a third magnetic part, a fourth magnetic part, a fourth magnetic part and a fifth magnetic part, and is characterized in that the first magnetic part has magnetism and is arranged along a first motion trail; the first metal piece is made of a metal material, the first metal piece is arranged along a first motion trail, the first metal piece can move relative to the first magnetic piece along the first motion trail, and a magnetic field is formed between the first magnetic piece and the first metal piece; the circuit board is located between the first magnetic piece and the first metal piece, the Hall sensing piece is connected with the circuit board, the Hall sensing piece and the first magnetic piece are correspondingly arranged, the Hall sensing piece is arranged on the first movement track, and the Hall sensing piece is used for detecting the position relation between the first magnetic piece and the first metal piece. The utility model provides a mobile identification assembly and a mobile control device which replace a magnet with a first metal piece.

The utility model provides a multi-section type cooling and shaping device for flame-retardant plastic, belongs to the technical field of flame-retardant plastic processing, and aims to solve the problems that the replacement of cooling liquid is time-consuming, labor-consuming and troublesome, and a cooling box close to one side of an extruder firstly contacts with the flame-retardant plastic with higher temperature, so that the temperature rise is faster, and the replacement is more frequent. The input cooling mechanism is mounted at the bottom of the cooling box; the mobile control mechanism is mounted on one side of the cooling box and is connected with the input cooling mechanism; the injection cooling mechanism is connected with the cooling box, the input cooling mechanism and the movement control mechanism; the internal control plug plate can slide to assist in injection of cooling liquid, the pipeline diameter of the communicating pipe can be changed along with the position of the cooling box, the cooling liquid can be controlled to flow into the cooling box, cooling and automatic circulation of the cooling liquid are completed, and a better cooling effect is provided.

The invention provides a movement control method and device of a cleaning robot and the cleaning robot, and belongs to the technical field of robotics.The movement control method comprises the steps that the cleaning robot is deployed in a fish farm, and the cleaning robot moves along a line patrol path; when the cleaning robot moves to a positioning area, a mounting bottom frame is driven by a bottom frame motor to rotate, an adjusting mechanical arm I, an adjusting mechanical arm II and a cleaning mechanism extend to the fishpond on one side, and a positioning pulley is in lap joint with a positioning sliding rail of the fishpond on one side by controlling the telescopic length of the adjusting mechanical arm I; according to the cleaning robot, the cleaning robot is matched with the line patrol mark, the cleaning robot can automatically move in the fishponds and can clean the fishponds at fixed points, the positioning pulleys can serve as supporting points when the cleaning robot cleans the fishponds, and the cleaning robot can clean the inner walls of the fishponds at fixed points. And path deviation in the cleaning process is effectively prevented.

The invention discloses an analog electronic timepiece. The analog electronic timepiece comprises a watchcase having a watchcase interior; a plurality of pointers that rotate around an axis to describe a rotation trajectory and display time by rotation of the pointers; the shutter at least covers part of the rotation path, and the shutter can move between an opening position where the shutter at least exposes part of the rotation path and a closing position where the shutter at least shields part of the rotation path; the driving device is arranged in the watchcase and is used for driving the shutter to move between a closed position and an open position; a control circuit; and an electro-optic display operatively coupled to the control circuit, the display overlying the shutter, switchable by the control circuit between a transparent state in which the display is transparent and a display state in which the display presents an image.

The invention relates to a system and method for selecting assignments for components of a computer-aided device. A device management system may include a device including a drive assembly configured to be removably coupled with an instrument. The drive assembly may include a plurality of drive elements configured to cause movement of the instrument by driving a plurality of input elements of the instrument. The control system may include a processor configured to select a first assignment from a plurality of assignments for a first drive element of the plurality of drive elements, the first assignment being available for at least two drive elements of the plurality of drive elements. The first assignment may be associated with a first pair of the first drive element and a first input element of the plurality of input elements. The processor may be configured to cause the first drive element to employ the first assignment.

The utility model discloses a forming mechanism for a spring bed net with a splendid buckle, which comprises a rack, an upper die holder and a lower die holder are arranged on the rack, two first convex dies and a first concave die are arranged at the bottom of the upper die holder, and a second concave die matched with the first convex dies and a second convex die matched with the first concave die are arranged at the top of the lower die holder; the first female die can move on the upper die base in the vertical direction, and the second female die can move on the lower die base in the vertical direction. The control assembly is used for pushing the first female die downwards and pushing the second female die upwards, so that the spring is further pressed by the first male die and the second female die as well as the first female die and the second male die; the utility model can solve the problems that the clamping position of the spring wire is fixed by the traditional male die and female die, and the traditional male die and female die cannot adapt to the fluctuation of the spring wire, so that the female die and the male die are partially not attached at the uneven position of the spring wire, and the expansion forming effect of the spring wire is influenced.