77 results about "Soft body" patented technology

The invention provides a degradable combined type tracheal stent and an implantation method, the degradable combined type tracheal stent comprises a plurality of rib plates which are coaxially arranged and are in an annular shape and soft bodies which are connected between every two rib plates and are in a net shape, and axial length adjustability and axial bending deformation of a stent main body are achieved through the soft bodies; the support further comprises a connecting part, the connecting part comprises a first connecting body arranged at the two axial ends of the support body and a second connecting body matched with the first connecting body, and the first connecting body and the second connecting body are matched to achieve axial detachable connection and combination between every two support bodies. The adjustable axial length of the stent main body, bionic axial bending deformation and stable connection and combination between every two stent main bodies are effectively realized. The invention further provides an implantation method of the degradable combined type tracheal stent, the implantation method comprises the steps of obtaining the size of the diseased trachea, determining the diameter and the combination number of the stent body, sleeving the diseased trachea and connecting the combination to complete implantation, and the method is easy to operate and can meet different requirements of clinical complex environments.

The invention provides a multi-modal motion asymmetric soft actuator and application thereof, and belongs to the technical field of soft robots. The present invention comprises: at least one bending chamber for converting air pressure energy into directional bending motion; the at least one torsion chamber and the bending chamber are physically separated to form an independent bending chamber and an independent torsion chamber, and the bending chamber and the torsion chamber are respectively connected with an independent gas circuit; an asymmetric structure is arranged in the torsion chamber and is used for directly converting air pressure energy into rotating torque around the central axis of the module; by independently controlling air pressure input of the torsion chamber and the bending chamber which are asymmetrically arranged, torsion and bending motion can be independently achieved in a single module. According to the invention, an asymmetric structure is adopted as a whole, independent driving chambers with special functions and physical isolation are integrated in a single module, a mode of indirectly synthesizing torsion through motion coupling of a plurality of symmetrical chambers is abandoned, torsion motion in a target direction is directly output, and a driving source and control logic are simplified.

The invention provides a reprogrammable pneumatic soft deformation actuator and a preparation method thereof, and relates to the technical field of soft robot deformation. Comprising a body made of a flexible material, at least one sealed air gap is formed in the body, an air channel is formed in the body, and the air gap is communicated with the air channel; and an outer incision is arranged outside the body around the air passage. The whole body of the device is made of soft materials such as silica gel, reprogramming of a soft actuator structure can be achieved through manufacturing and bonding of new and old air gaps or outer notches, and a new deformation mode is obtained. The structure is a full-soft structure, can keep the flexibility of a soft deformation structure, and has the advantages of safety in contact with a human body or a fragile object and impact resistance. Through reciprocal operation of cutting and bonding, geometric parameters or distribution modes of air gaps and outer notches can be changed, and different deformation modes such as elongation, bending, torsion and composite deformation can be obtained.

The utility model discloses a suction cup which comprises a suction cup soft body and a shell covering the suction cup soft body. The sucker soft body is further provided with a connecting part, and the connecting part is further provided with a sliding block. The shell is further provided with a driving part, the shell slides outside the suction cup soft body, so that the sliding block slides on the driving part, and the suction cup soft body is attracted to the contact surface or separated from the contact surface. When the suction cup is used, the shell can slide relative to the suction cup soft body, so that the suction cup is promoted to complete an adsorption action with a contact surface or a separation action with the contact surface in the sliding process of the shell, and the problem that fingers feel uncomfortable due to pushing by the fingers is solved; and meanwhile, the shell is held by a hand to promote the shell to move, the whole sucker can be controlled in the hand of the user no matter whether the sucker is adsorbed with the contact surface or separated from the contact surface, and the problem that the sucker is broken due to falling of the sucker can be thoroughly avoided.

The utility model relates to the technical field of sealing, in particular to an O-shaped sealing ring. According to the technical scheme, inner sealing gaskets are arranged on the inner edges of an upper sealing ring and a lower sealing ring, outer sealing gaskets are arranged on the outer edges of the upper sealing ring and the lower sealing ring, and supporting soft bodies are installed in the upper sealing ring and the lower sealing ring. The inner sealing gaskets and the outer sealing gaskets of the upper sealing ring and the lower sealing ring are provided with first clamping teeth and second clamping teeth respectively, and the inner sealing gaskets and the outer sealing gaskets are assembled in a mutual inserting and limiting mode through the first clamping teeth and the second clamping teeth. By means of multi-layer sealing, use of the supporting soft body, reliable mechanical connection and auxiliary fixing of the adhesive, the sealing performance, the pressure resistance and the stability are remarkably improved, the sealing device adapts to wider application scenes, and the service life is prolonged. Due to the advantages, the sealing device has remarkable advantages in sealing occasions requiring high reliability.

The application discloses a preparation method of a silica gel-based rigid-flexible coupling pneumatic soft body finger, which comprises the following steps: firstly, preparing a silica gel gas distribution base layer and a silica gel pneumatic expansion joint structure; then, bonding the silica gel gas distribution base layer, the silica gel pneumatic expansion joint structure and a rigid framework into a semi-finished product pneumatic soft body finger; placing the semi-finished product pneumatic soft body finger into a pneumatic soft body finger mold, and placing a flexible tensile strain sensor on the palm of the semi-finished product pneumatic soft body finger, and placing the electric signal lead wire of the flexible tensile strain sensor outside the pneumatic soft body finger mold; finally, injecting silica gel into the pneumatic soft body finger mold to coat the semi-finished product pneumatic soft body finger and the flexible tensile strain sensor into an integral whole by using the silica gel.

The present disclosure relates a soft body vine robot that can extend into confined spaces and perform various tasks using interchangeable end effector tools. The vine robot includes a tubular robot body and an attachment member. An internal portion of the robot body is disposed within an external portion of the robot body. The attachment member has a first side detachably connectable to an everting tip of the robot body and a second side detachably connectable to at least one end effector. In operation, a pressure source generates pressure within the robot body to cause the internal portion of the robot body to evert along an everting direction of the robot body, the robot body everts along a desired path, and the attachment member maintains a detachable connection with the everting tip of the robot body.

A pet cage, comprising a cage frame and a soft body for wrapping the cage frame, wherein the cage frame comprises an upper frame and a lower frame, the bottom of the upper frame is pivotably connected to one side of the lower frame, and the upper frame pivotably moves toward the lower frame or departs the lower frame, folding or unfolding the cage frame; a locking mechanism is further provided for locking the upper frame and the lower frame after the cage frame is unfolded.

Implementations described and claimed herein provide a ballistic filler for a flexible soft body armor and methods of manufacturing the same. In one implementation, a first portion having a first subpanel is stitched directly to a second subpanel with a stitching pattern. The first subpanel has one or more layers of woven fabric, and the second subpanel has one or more layers of unidirectional fabric. A second portion backs the first portion. The second portion has one or more layers of unstitched unidirectional fabric.

The invention relates to the technical field of aquaculture and feed engineering, and discloses a bionic fish digestion simulation system based on heat pump temperature control and software driving, which comprises an environment simulation subsystem, a bionic stomach digestion subsystem, a bionic pylorus subsystem, a bionic intestinal tract subsystem and an intelligent control and detection subsystem. The whole bionic digestive organ is immersed in an extremely stable water body environment, and accurate and stable control of the water temperature of + / -0.1 DEG C of the experimental water tank is realized. The problems that a traditional method is poor in temperature uniformity and large in fluctuation are fundamentally solved, the body temperature requirements of various fishes such as cold water fishes and warm water fishes can be accurately met, a reliable temperature basis is provided for digestive enzyme activity simulation, and the scientificity and repeatability of experimental data are remarkably improved.

This invention discloses a soft robot system and its working method for sampling polar ice layers, applied in the field of polar drilling technology. It includes a soft robot and an ice surface working platform. The soft robot comprises a sub-ice drilling soft body and an ice surface sealing soft body. The sub-ice drilling soft body includes a soft body main unit and a heat-fusion module located at the front end of the soft body main unit. The ice surface sealing soft body includes a soft body main unit. Both soft body main unit one and soft body main unit two are provided with hollow channels, and several air chambers are provided inside soft body main unit one on both sides of the hollow channels. The ice surface working platform includes a pneumatic system, a pipeline system, a water storage system, and a main controller. The main controller is electrically connected to the pneumatic system, the pneumatic system pipelines are connected to the pipeline system, and the pipeline system pipelines are connected to the water storage system and the air chambers. The pipeline system passes through the hollow channels and connects soft body main unit one and soft body main unit two in series. This invention meets the existing requirements of unmanned drilling, flexible selection of sampling locations, no complex mechanical structure, and low propulsion resistance in ultra-deep drilling.

The invention provides a deformable variable-rigidity soft body driver, which comprises a soft body driving unit, a sealing outer film and a communicating piece, the soft body driving unit comprises a flexible substrate layer and at least one flexible scale layer superposed on the flexible substrate layer, and the contact surfaces of the flexible substrate layer and the flexible scale layer are provided with mutually matched preset surface configurations; the sealing outer film completely wraps and seals the soft driving unit through a flexible airtight material; the communicating piece is communicated with the soft body driving unit, and the closed space is in butt joint with an external negative pressure air source; a sensing sensor is arranged on the sealing outer film; and when negative pressure is applied to the closed space through the communicating piece, the preset surface configurations of the flexible substrate layer and the flexible scale layer are mutually engaged and locked, so that the whole soft driver deforms into a preset three-dimensional shape, and a rigid supporting structure is formed. Through integration of the soft driving unit, the sealing outer film and the communicating piece, the problem of system complexity caused by separation of variable stiffness and a shape driving module in the prior art is solved.

The utility model discloses a sand rib soft body mattress, and belongs to the technical field of sand rib soft body mattresses, the sand rib soft body mattress comprises a lower geotechnical cloth, a plurality of rows of sand rib sleeves are arranged on the lower geotechnical cloth, the sand rib sleeves are sewn on the lower geotechnical cloth through reinforced belts, a plurality of discharge pipes are arranged on the sand rib sleeves, a plurality of discharge holes are formed in the discharge pipes, and the discharge pipes penetrate through the lower geotechnical cloth. The sand rib soft mattress has the effects that the stability of the sand rib soft mattress laid at the bottom of a water body is improved, and overturning of the sand rib soft mattress is reduced.

This invention relates to the field of seawall construction technology in water conservancy and hydropower projects, and discloses a precise construction method for the integrated laying, overlapping, and filling of flexible sand ribbed drainage systems. The technical solution includes: laying the sand ribbed structure on a sliding plate; moving the leveled laying module above the placement chamber using a hoisting device; hooking the sand ribbed structure with multiple rows of hoisting hooks of increasing or decreasing height on the module to create an inclined posture; lowering the lifting hooks so that the lowest edge of the sand ribbed structure contacts the structure first, using static friction to form positioning anchor points; and then applying a horizontal pulling force to the other side to straighten the suspended sand ribbed blocks sequentially and lay them flat on the structure, completing the alignment. This method achieves stable and precise deployment of the flexible sand ribbed structure, avoids manual adjustments, and improves construction efficiency and alignment accuracy.

The application discloses a finger soft body manufacturing method and a dexterous hand. The method comprises the following steps: preparing two base cloths, the base cloths are made of elastic materials, and one surface of the base cloths is an oil-proof surface; fixing one base cloth in a stretched state on a first jig with an opening in the middle; arranging the other base cloth in a free state in the opening; bonding or fusing the two base cloths in the opening to obtain an intermediate cloth, wherein at least one first cavity is formed between the two oil-proof surfaces; after the intermediate cloth is taken off from the first jig, wrapping the intermediate cloth on a second jig in a cylindrical shape, and bonding or fusing two opposite edges of the intermediate cloth to obtain a cylindrical cloth; injecting gel into the first cavity of the cylindrical cloth, and performing solidification treatment on the gel to obtain a finger soft body of the dexterous hand.

The utility model provides a mask with a knob adjusting structure. The mask comprises an outer shell, an inner shell and the knob adjusting structure. The inner shell is movably connected with the outer shell and can move on a preset path relative to the outer shell; the knob adjusting structure comprises an adjusting knob and an adjusting screw rod, the adjusting knob is arranged on the outer shell, the adjusting screw rod is rotationally arranged on the outer shell, the adjusting screw rod extends along a preset path and is in threaded fit with the inner shell, and the adjusting knob is in driving connection with the inner shell through the adjusting screw rod. According to the mask with the knob adjusting structure, the distance between the inner shell and the outer shell can be adjusted by adjusting the knob, then the distance between a soft part installed on the outer shell and a VR head-mounted display assembled on the inner shell can be adjusted, and the distance between an image display part of the VR head-mounted display and human eyes can be adjusted; the design of the adjusting screw rod can realize stepless adjustment, so that the inner shell can stop at any position, the wearing experience of a user is improved, the overall structure is simple, and the design is ingenious.

The application discloses an electromagnetic tomography system and imaging method based on a flexible fitting probe, and the system comprises a probe module, which is arranged in a flexible base structure, wherein a detection coil array and a soft body adsorption module are arranged on the flexible base structure, and the soft body adsorption module is used for controlling the probe to be adsorbed to the surface of a measured structure; a channel switching module, which is connected with the probe module, adopts an excitation-receiving cross channel control structure, is used for performing path distribution on an excitation channel and a receiving channel, and is used for configuring different excitation-receiving coil combinations; a lock-in amplification module, which is connected with the channel switching module, is used for acquiring detection signals; and an upper computer, which is connected with the probe module, the channel switching module and the lock-in amplification module, is used for sending adsorption and channel switching control instructions and receiving lock-in outputs. The application realizes stable attachment through flexible fitting and soft body adsorption, improves a signal-to-noise ratio through lock-in synchronous demodulation, and realizes high-sensitivity electromagnetic tomography detection.

This invention provides a reusable ascites drainage device, comprising: a drainage seat, a drainage tube, a negative pressure assembly, and a collection container; one end of the drainage tube is connected to the drainage seat, and the negative pressure assembly and the collection container are both connected to the other end of the drainage tube; the negative pressure assembly is used to generate negative pressure within the drainage tube, allowing ascites fluid from the drainage seat to enter the drainage tube; the collection container is used to collect the ascites fluid draining from the drainage tube; the drainage seat includes an annular shell, one end of which is provided with a self-sealing soft body for sealing; one end of the drainage tube is connected to a puncture needle, which is inserted into and penetrates the self-sealing soft body into the annular shell. This embodiment reduces tissue damage from repeated punctures, improves patient comfort, enhances the precise control of negative pressure within the drainage tube, protects tissues near the drainage seat from damage, and reduces the risk of abdominal infection.

This invention discloses a controllable bending soft detection device, belonging to the field of soft robot technology. The invention includes a soft body, which is an integrated composite structure formed by a flexible polymer material and an embedded spring skeleton, with a central channel formed along the axial direction. The spring skeleton is coaxially arranged along the axial direction of the soft body. Multiple drive line channels are arranged axially between the spring skeleton and the central channel within the soft body, and are evenly distributed circumferentially. A detection module is located at the end of the central channel. The driving assembly includes a driving component and multiple driving lines, each driving line correspondingly passing through a drive line channel. One end of each drive line is connected to the detection module, and the other end passes through a drive line channel and connects to the driving component. Under the traction force of the driving component, the driving lines drive the soft body to produce continuous bending deformation. This invention maintains the overall continuous deformation characteristics and high flexibility while making the bending process smoother, more stable, and predictable.

The utility model discloses a single-tank half mask capable of checking air tightness. The single-tank half mask comprises a mask body, a mask protecting soft body, a filter connecting seat, an exhalation valve, a bandage, an air tightness checking assembly and a protecting cover plate, the mask body is a shell with a cavity formed in the rear side, and the cavity is matched with the outline of the lower half portion of the face of the human body. The edge of the outline of the rear side of the cover body is hermetically connected with a surface protecting soft body; the protective face soft body is of a ring-shaped soft body structure with a cavity in the middle. An air inlet and an air outlet are formed in the front side of the cover body; a filter connecting seat is arranged at the air inlet of the mask body, and the filter is detachably connected with the filter connecting seat; an exhalation valve is arranged at the air outlet of the mask body; and the air tightness inspection assembly is arranged in the concave cavity of the cover body and is positioned on the inner side of the filter connecting seat. The single-tank half mask capable of detecting air tightness is simple and reasonable in structural design, stable and firm in connection and excellent in air tightness, and has a good protection effect; the air tightness of the mask can be quickly and effectively checked.

A soft tissue anchor system for implantation in soft body tissue to hold an artificial line, a method of manufacturing a soft tissue anchor system, and a method of implanting a soft tissue anchor system in soft body tissue are disclosed. The soft tissue anchor system (200) comprises a fabric body (201) comprising a base portion (202) and two arm portions (204) extending from the base portion (202); wherein each arm portion (202) is arranged to collapse towards the base portion (204) such that, in use, the body tissue (12) is sandwiched between the base portion (202) and each of the arm portions (204). The fabric body (201) is movable between a rest configuration and an implantable configuration; and, in the rest configuration, the two arm portions (204) extend from the base portion (202) in different respective directions.

The application provides a bow-shaped bouncing robot, which is composed of a power device, a bouncing system and a controller. The bouncing system comprises a winding rope mechanism and at least three bow-shaped elastic strips, the bow-shaped elastic strips are provided with bowstrings, the winding rope mechanism is used for pulling the bowstrings to store power for the bow-shaped elastic strips, and the controller is used for controlling the forward and reverse rotation of the power device. The power device drives the winding rope mechanism to realize continuous jumping of the robot. The bow-shaped bouncing robot has the characteristics of rigid body and soft body jumping robots, and has the characteristics of low cost, easy disassembly and assembly, continuous bouncing, small size and flexibility, and adaptability to various complex environments.

The utility model discloses a connecting piece device structure of a soft oxygen cabin outer support, and belongs to the technical field of medical equipment supporting structures. The structure comprises a frame body and a plurality of connecting seats, the frame body is formed by sequentially connecting a plurality of groups of connecting sections end to end through the connecting seats, the end parts of the adjacent connecting sections are arranged in the connecting seats and are fixed through bolts and nuts, and a plurality of groups of mounting positions are arranged on the connecting seats; the connecting base is composed of two sets of connecting pieces which are connected in a sliding mode, and a guide groove and guide strip matching structure is arranged between the connecting pieces. An elastic limiting piece is further connected into the connecting piece, and the limiting piece is provided with an elastic arm expanding outwards, is in sliding fit with the V-shaped inclined groove and is used for preventing the nut from loosening. The structure can realize length adjustment and quick assembly of the bracket, has good anti-loosening effect and field adaptability, and is suitable for connection of outer brackets of soft oxygen cabins with different specifications.

The application provides an elephant trunk type pneumatic soft body driving device, which comprises multiple soft body driving sections. Each soft body driving section is in the shape of a circular truncated cone and is provided with a strain limiting layer on the surface. The soft body driving sections are sequentially connected to form a circular truncated cone. The soft body driving section with the smallest diameter is a transport end driving section. The transport end driving section is internally provided with multiple grabbing air cavities which are arranged at intervals around the axis. The other soft body driving sections are steering driving sections. Each steering driving section is provided with a support air cavity on the axis and multiple steering air cavities around the support air cavity. The support air cavities of adjacent two steering driving sections are sequentially connected, and the steering air cavities of adjacent two steering driving sections are one-to-one connected. The application has the beneficial effect that different air cavities in the soft body driving sections are inflated to make the transport end driving section grab the target object or transport the target object to a specified position in a three-dimensional space, and various complex grabbing actions can be completed.

The invention provides a pneumatic soft joint movement rehabilitation robot, and belongs to the technical field of wearable robots. Comprising an elbow soft body actuator, a knee soft body actuator, a pneumatic driving assembly, a main controller and a power source, the elbow soft body actuator comprises an arm sleeve, the two ends of the arm sleeve are each fixedly connected with a wedge-shaped block A, a folding type air bag A is fixedly connected between the two wedge-shaped blocks A, and a curvature sensor A and an electromyographic signal collecting module A are arranged on the inner side of the arm sleeve; the knee soft body actuator comprises a leg sleeve, the two ends of the leg sleeve are each fixedly connected with a wedge-shaped block B, a folding type air bag B is fixedly connected between the two wedge-shaped blocks B, and a curvature sensor B and an electromyographic signal collecting module B are arranged on the inner side of the leg sleeve. According to the invention, bending of arms and legs can be effectively supported at the same time, human body action intentions can be judged by collecting electromyographic signals, human body movement and rehabilitation training can be assisted, and muscle fatigue generated by movement can be effectively relieved.

The utility model provides a disposable surgical suture needle fixator, which belongs to the technical field of medical instruments and comprises a piercing soft body and a protective hard body. The piercing soft body is provided with a piercing surface allowing the disposable surgical suture needle to pierce, the protective hard body is arranged on the periphery of the piercing soft body in a surrounding mode, the protective hard body is provided with a piercing notch, and the piercing notch and the piercing surface are arranged correspondingly. According to the disposable surgical suture needle fixator, the piercing soft body is provided with the piercing face, the protective hard body is provided with the piercing notch, the piercing notch and the piercing face are arranged correspondingly, and the protective hard body is arranged on the periphery of the piercing soft body in a surrounding mode. When the disposable surgical suture needle fixator is used, a disposable surgical suture needle penetrates through the piercing notch of the protective hard body and pierces into the piercing soft body from the piercing face, and the protective hard body can prevent the disposable surgical suture needle from being pierced out. And finally, the disposable surgical suture needles are respectively punctured into the fixator, so that the disposable surgical suture needles can be tidied, and the needle heads of the disposable surgical suture needles are prevented from being exposed.

The application discloses an automatic body repairing device for ceramic insulators and relates to the technical field of body repairing of ceramic insulators. The edge fixing disc comprises a bottom rotating rod, a rotating disc and an air outlet. The bottom rotating rod is rotationally connected to the bottom of a repairing table. A motor is arranged at the bottom of the bottom rotating rod, and the bottom rotating rod is fixedly connected to the output end of the motor. The rotating disc is fixedly connected to the top of the bottom rotating rod. The air outlet is arranged in the inner wall of the rotating disc. An air suction valve is arranged in the inner wall of the air outlet. When the device is used to repair the ceramic body, the body is placed on the top of the rotating disc. Then, the air suction valve in the air outlet is started, and the air suction valve is used to suck and fix the body on the top. This step avoids the conventional clamping mechanism from leaving marks on the soft body, thereby causing the body to be defective.

The invention provides a construction simulation method, device and equipment for a finite element model of a software mattress and a storage medium, and the method comprises the steps: determining a catenary equation of the software mattress, and material parameters, water flow force parameters and mechanical parameters of a model assembly through obtaining engineering drawing data and actual measurement engineering data of the software mattress; cutting a catenary curve corresponding to the catenary equation to obtain a plurality of sections of secant lines to generate an arrangement surface body, and accurately converting the catenary equation into a secant line simplified model to generate an arrangement surface body which is more practical; according to engineering drawing data, reinforced belts are drawn and generated and concrete ballast blocks are arranged on an arrangement surface body, connection mode setting and grid division processing are carried out on the arrangement surface body, the reinforced belts and the concrete ballast blocks, setting of material parameters, water flow force parameters and mechanical parameters is carried out on an obtained structure body, and the arrangement surface body, the reinforced belts and the concrete ballast blocks are arranged. Determining a software mattress finite element model fitting a real situation; the software mattress finite element model is subjected to mechanical simulation, and the simulation accuracy is improved.

This disclosure relates to a child support assembly, including a frame assembly and a soft body assembly. The child support assembly can provide one or more additional modes, such as a cradle mode or a mattress-only mode, and can be folded into a stowed configuration for transport and storage. The child support assembly may include multiple wooden legs, each leg including an attachable upper corner piece and a lower foot for supporting components of the child support assembly. This disclosure also relates to a method of manufacturing multiple wooden legs, and a method of attaching the upper corner piece and lower foot to the multiple wooden legs.

The utility model relates to the technical field of soft mattresses, and discloses a reinforced belt for soft mattress lap joint detection and a soft mattress structure, the reinforced belt is arranged on non-woven geotextile and comprises a first sign reinforced belt and a second sign reinforced belt, a red reflective belt is arranged on the first sign reinforced belt, and a blue reflective belt is arranged on the second sign reinforced belt; the soft mattress structure comprises a plurality of long sand bags, the long sand bags are arranged on non-woven geotechnical cloth at equal intervals, and a plurality of tightening structures are arranged on the front face of the non-woven geotechnical cloth and located on the two sides of the long sand bags at equal intervals. According to the reinforced belt for lap joint detection of the soft body mattress, by arranging the red reflective belt and the blue reflective belt, when a diver dives to detect the lap joint quality of the underwater soft body mattress, the lap joint position is irradiated by carrying lighting equipment, when lighting beams irradiate the reflective belts, light rays reflected by a reflective material form obvious light spots, and the lap joint quality of the soft body mattress is detected by identifying the light reflection condition and the light reflection color. And the lap joint condition of the underwater soft mattress can be conveniently judged, so that the detection result is real and credible.