摘要：【中文】本发明公开了一种治疗心血管疾病的智能脉冲电磁场仪器，包括心电图采集设备、心电图分析设备、诊断床和电磁治疗机构，所述心电图采集设备的上的设有心电图分析设备，所述心电图分析设备的一侧设有诊断床，所述诊断床的一侧设有电磁治疗机构。本发明的有益效果是：本仪器包含心电图采集设备，心电图分析设备，电流/电压调节器，波形发生器，和电磁治疗线圈，在治疗时，给患者连接上心电图采集设备，心电图分析设备自动分析心电图采集结果，并通过控制电流/电压调节器和波形发生器，在治疗线圈中产生特定频率、强度和波形的电磁场，而达到治疗目的。 【EN】The invention discloses an intelligent pulse electromagnetic field instrument for treating cardiovascular diseases, which comprises an electrocardiogram acquisition device, an electrocardiogram analysis device, a diagnosis bed and an electromagnetic treatment mechanism, wherein the electrocardiogram acquisition device is provided with the electrocardiogram analysis device, one side of the electrocardiogram analysis device is provided with the diagnosis bed, and one side of the diagnosis bed is provided with the electromagnetic treatment mechanism. The invention has the beneficial effects that: the apparatus includes an electrocardiogram collecting device, an electrocardiogram analyzing device, a current/voltage regulator, a waveform generator, and an electromagnetic therapy coil, wherein the electrocardiogram collecting device is connected to a patient during therapy, the electrocardiogram collecting device automatically analyzes the electrocardiogram collecting result, and an electromagnetic field with specific frequency, intensity and waveform is generated in the therapy coil by controlling the current/voltage regulator and the waveform generator, thereby achieving the therapeutic purpose.

摘要：【中文】本发明涉及一种工业机器人标定系统的自适应对准控制方法，包括：激光指示器，摄像机，位置敏感校准夹具，机器人控制器和六自由度工业机器人。所述激光指示器发射激光束照射在位置敏感校准夹具顶端的PSD位置传感器光敏面并反射到另一个PSD位置传感器上，利用自适应控制算法使激光束自动同时逼近双PSD中心得到位姿坐标，在线自适应估计机器人末端执行器位置与两个PSD在坐标系中的激光位置，转换成机器人的六个关节角。本发明有效解决了工业机器人因参数发生变化而引起重复定位精度下降的问题，不需要人为计算可实现自动校准。 【EN】The invention relates to a self-adaptive alignment control method of an industrial robot calibration system, which comprises the following steps: the system comprises a laser indicator, a camera, a position sensitive calibration clamp, a robot controller and a six-degree-of-freedom industrial robot. The laser indicator emits laser beams to irradiate a photosensitive surface of a PSD position sensor at the top end of the position sensitive calibration clamp and reflect the laser beams to another PSD position sensor, the laser beams automatically and simultaneously approach to double PSD centers by using a self-adaptive control algorithm to obtain pose coordinates, the position of the end effector of the robot and the laser positions of the two PSDs in a coordinate system are estimated in an online self-adaptive mode, and the six joint angles of the robot are converted. The invention effectively solves the problem of reduced repeated positioning precision of the industrial robot caused by the change of parameters, and can realize automatic calibration without manual calculation.

摘要：【中文】本申请提供一种U盘智能装配生产线，包括智能立体库、托盘、搬运机器人、环形流水线、智能相机检测装置、装配机器人、U盘成品打标装置、自动控制系统及人机交互面板、数字孪生监控系统。智能立体库用于存放零部件和成品；搬运机器人完成零部件的出库、成品入库；装配机器人协同智能相机检测装置完成零部件质量检测、缺件补全、U盘装配和空托盘回收；打标装置对成品打标；自动控制系统及人机交互面板实现对U盘装配过程的实时监测及控制；数字孪生监控系统同步显示当前生产线的运行状态。本装置结构设计紧凑，通过将零部件放置在托盘上提高定位精度，通过智能相机检测装置进行对比检测，提高检测的准确性，保证产品质量，具有较高的经济价值。 【EN】The application provides a USB flash disk intelligence assembly line, including three-dimensional storehouse of intelligence, tray, transfer robot, annular assembly line, intelligent camera detection device, assembly robot, USB flash disk finished product beat mark device, automatic control system and human-computer interaction panel, the twin monitored control system of digit. The intelligent three-dimensional warehouse is used for storing parts and finished products; the carrying robot finishes the delivery of the parts and the warehousing of finished products; the assembly robot cooperates with the intelligent camera detection device to complete quality detection of parts, part missing completion, U disk assembly and empty tray recovery; marking the finished product by a marking device; the automatic control system and the man-machine interaction panel realize real-time monitoring and control of the USB flash disk assembly process; and the digital twin monitoring system synchronously displays the running state of the current production line. This device structural design is compact, through placing spare part on the tray and improving positioning accuracy, carries out the contrast through intelligent camera detection device and detects, improves the accuracy that detects, guarantees product quality, has higher economic value.