摘要：【中文】根据本发明的用于骨钻孔教学的三坐标式机器人，包括三坐标机械臂部、末端执行部、示教器、控制部。三坐标机械臂部包括均具有导轨、模组滑块的X轴模组、Y轴模组、Z轴模组，X轴模组具有水平设置的X轴导轨、X轴模组滑块，Z轴模组具有竖直设置的Z轴导轨、Z轴模组滑块，Z轴导轨的下端与X轴模组滑块相连，X轴模组滑块带动Z轴模组沿X轴导轨移动，Y轴模组具有垂直于X轴和Z轴平面设置的Y轴导轨、Y轴模组滑块，Y轴模组滑块与Z轴模组滑块相连，Z轴模组滑块带动Y轴模组沿Z轴导轨移动，控制部控制第一摄像头、第二摄像头对模拟骨进行定位，并控制电钻对模拟骨进行钻孔后，将力传感器得到的数据，同步显示在人机互动界面上。 【EN】The three-coordinate robot for bone drilling teaching comprises a three-coordinate mechanical arm part, a tail end execution part, a demonstrator and a control part. The three-coordinate mechanical arm part comprises X-axis modules, Y-axis modules and Z-axis modules, wherein the X-axis modules are provided with X-axis guide rails and X-axis module sliders, the X-axis modules are provided with Z-axis guide rails and Z-axis module sliders, the Z-axis guide rails are vertically arranged, the lower ends of the Z-axis guide rails are connected with the X-axis module sliders, the X-axis module sliders drive the Z-axis modules to move along the X-axis guide rails, the Y-axis modules are provided with Y-axis guide rails and Y-axis module sliders, the Y-axis module sliders are perpendicular to X-axis and Z-axis planes and connected with the Z-axis module sliders, the Z-axis module sliders drive the Y-axis modules to move along the Z-axis guide rails, the control part controls the first camera and the second camera to position the simulated bones and controls the electric drills to the simulated bones, and data obtained by the force sensors are synchronously displayed on a human-machine interaction interface.

摘要：【中文】本发明属于老人护理产品技术领域，具体涉及一种多功能助老洗浴椅。包括椅座总框架、椅背总框架、后背清洗装置、椅背角度调节装置、腿部辅助提升装置、辅助站立装置、左扶手以及右扶手；所述椅背总框架通过左合页和右合页铰接在所述椅座总框架上；所述后背清洗装置设置在所述椅背总框架上；所述椅背角度调节装置设置在所述椅座总框架与所述椅背总框架之间；所述腿部提升装置和辅助站立装置设置在所述椅座总框架上。本发明提供的一种辅助老年人洗浴的多功能座椅式机械装置，不仅解决了老年人洗浴时长时间站立不方便、易滑倒的问题，还满足了独居老人的日常洗浴问题，便于老年人全面的清洗身体各个部位，功能全面、安全可靠。 【EN】The invention belongs to the technical field of nursing products for the old, and particularly relates to a multifunctional bath chair for helping the old. Comprises a chair seat main frame, a chair back main frame, a back cleaning device, a chair back angle adjusting device, a leg auxiliary lifting device, an auxiliary standing device, a left handrail and a right handrail; the chair back main frame is hinged to the chair seat main frame through a left hinge and a right hinge; the back cleaning device is arranged on the chair back general frame; the chair back angle adjusting device is arranged between the chair seat main frame and the chair back main frame; the leg lifting device and the auxiliary standing device are arranged on the seat main frame. The multifunctional seat type mechanical device for assisting the old in bathing provided by the invention not only solves the problems that the old is inconvenient to stand and easy to slip when bathing for a long time, but also meets the daily bathing problem of the old living alone, is convenient for the old to comprehensively clean each part of the body, and is comprehensive in function, safe and reliable.

摘要：【中文】本申请提供一种PQ模式虚拟同步发电机控制方法、装置及下垂控制器，所述PQ模式虚拟同步发电机控制方法应用设置在所述PQ模式虚拟同步发电机外部且与该PQ模式虚拟同步发电机连接的下垂控制器实现，该方法包括：采集所述PQ模式虚拟同步发电机的机端电压；若根据所述机端电压判断获知目标风电机组出现电压异常波动状态，则根据所述机端电压、预设的电压参考值、无功功率参考值和下垂系数，控制所述PQ模式虚拟同步发电机向所述目标风电机组发送该机端电压对应的第一无功功率值，以使该目标风电机组根据该无功功率值调节电压。本申请能够提高控制PQ模式虚拟同步发电机的高效性，进而提高风电机组的安全性和可靠性。 【EN】The application provides a PQ mode virtual synchronous generator control method, a device and a droop controller, wherein the PQ mode virtual synchronous generator control method is realized by applying the droop controller which is arranged outside the PQ mode virtual synchronous generator and is connected with the PQ mode virtual synchronous generator, and the method comprises the following steps: collecting a generator terminal voltage of the PQ mode virtual synchronous generator; and if the abnormal voltage fluctuation state of the target wind turbine generator is judged and obtained according to the generator terminal voltage, controlling the PQ mode virtual synchronous generator to send a first reactive power value corresponding to the generator terminal voltage to the target wind turbine generator according to the generator terminal voltage, a preset voltage reference value, a reactive power reference value and a droop coefficient, so that the target wind turbine generator adjusts the voltage according to the reactive power value. The method and the device can improve the efficiency of controlling the PQ mode virtual synchronous generator, and further improve the safety and reliability of the wind turbine generator.

摘要：【中文】本发明涉及一种评价卷烟包灰效果的方法。该评价方法把卷烟包灰效果评价指标分为持灰能力和包灰能力，持灰能力评价指标有：紧度、弯曲、外翻、裂纹、脱落5项，在静态和动态两种状态条件下，分别对静态和动态分置不同权重；针对5项评价指标也分别设置不同的权重；参照对照标准及持灰能力评分标准，对目标卷烟样品进行评价，得出持灰值；包灰能力评价指标有裂口率1项；持灰值与包灰值之间的乘积为卷烟包灰效果的综合得分，得分越高包灰效果越好，越小包灰效果越差。该方法能够充分考虑卷烟烟支静态、动态情况下的包灰特征，运用定性、定量相结合的方法综合评价卷烟烟支燃吸的包灰效果，可以更客观有效的对卷烟烟支包灰效果进行评判。 【EN】The invention relates to a method for evaluating cigarette ash effect. The evaluation method divides the evaluation indexes of the cigarette ash wrapping effect into ash holding capacity and ash wrapping capacity, and the ash holding capacity evaluation indexes comprise: 5 items of tightness, bending, eversion, cracking and shedding are respectively assigned with different weights for static and dynamic states; different weights are set for the 5 evaluation indexes respectively; evaluating the target cigarette sample according to the comparison standard and the ash holding capacity scoring standard to obtain an ash holding value; the ash inclusion capacity evaluation index has a split rate of 1 item; the product of the ash holding value and the ash coating value is the comprehensive score of the ash coating effect of the cigarette, and the ash coating effect is better as the score is higher, and the ash coating effect is worse as the score is smaller. The method can fully consider the ash wrapping characteristics of the cigarette in static and dynamic conditions, comprehensively evaluate the ash wrapping effect of burning and smoking the cigarette by using a qualitative and quantitative combined method, and can objectively and effectively evaluate the ash wrapping effect of the cigarette.