32results about How to "Achieve bending motion" patented technology

The invention discloses a flexible multi-joint surgical instrument for robot assisted minimally invasive surgery, and relates to the technical field of enterocoelia minimally invasive surgery department medical facilities. The instrument can achieve spatial displacement and positioning of tail end operating forceps by itself inside a patient, the tail end gesture adjusting capability of the surgical instrument is enhanced, the good flexibility is achieved, and the tissue surgical operation is completed inside the small space; by means of a self-rotation joint designed between the wrist of the surgical instrument and the tail end operating forceps, and the problem that joint restoration is needed during autorotation is avoided; the instrument comprises the tail end operating forceps mechanism, the autorotation joint, the wrist flexible joint and a power driving box; the power driving box comprises a wiring pipe, a shell, an upper base plate, a lower base plate, five sets of motor rope sheave devices, a rope guiding wheel set and a rope guiding column set; one end of the wiring pipe is connected with the tail end ball hinge structure of the wrist flexible joint, and the other end of the wiring pipe is fixed to the lower base plate. The instrument is used for the robot assisted minimally invasive surgery.

The invention relates to an apparatus and a method thereof for finger rehabilitation exercise. The apparatus comprises a first knuckle fixing part, a second knuckle fixing part, a metacarpal bone fixing part and a pressure control device, wherein both the first knuckle fixing part and the second knuckle fixing part comprise knuckle fixing frames and fixed plates, and the knuckle fixing frames are arranged on the fixed parts; the metacarpal bone fixing part comprises a metacarpal bone fixing frame and a fixed plate; the metacarpal bone fixing frame is arranged on the fixed plate; the first knuckle fixing part and the second knuckle fixing part are connected by virtue of a first telescopic connecting part, and the first telescopic connecting part is a hollow structure; the second knuckle fixing part is connected to metacarpal bone fixing part by virtue of a second telescopic connecting part, and the second telescopic connecting parts is a hollow structure; the first telescopic connecting part and the second telescopic connecting part are communicated by virtue of a connecting pipe; and the second telescopic connecting part and the pressure control device are communicated by virtue of a pipe. According to the apparatus disclosed by the invention, the connecting part is driven by gas or liquid, so that the apparatus is quite good in flexibility and adaptability; and moreover, the apparatus is simple in structure and low in cost.

The invention discloses a novel cable-driven three-fingered dexterous hand, solving the problems that conventional manipulators are poor in flexibility and universality. The dexterous hand is characterized by comprising a fixed base used for mounting palms, fixed fingers and moving bases and connected with a rotating finger rotating mechanism; two moving bases, fixed fingers and palms are arranged on the upper surface of the fixed base, and the upper surface of each of the two moving bases is provided with a rotating finger; the rotating finger rotating mechanism is arranged at the lower part of the fixed base, one end of the rotating finger rotating mechanism is connected with two moving bases, and the other end of the rotating finger rotating mechanism is connected with a rotating motor coupling; and the two rotating fingers and the fixed fingers are positioned on a concentric circle, and the base knuckles of the two rotating fingers and the fixed fingers envelope the circular palm. The dexterous hand can be used for replacing manual work to achieve flexible, accurate and quick grabbing operation on a flexible production line or a harmful environment, and has a wide application prospect and important social significance in the field of industrial robots.

The invention discloses a human simulation dexterous hand based on shape memory alloy (SMA) flexible body intelligent digital composite structures. The human simulation dexterous hand is composed of the five different sizes of SMA flexible intelligent digital composite structures and flexible wrapping materials. The size of each SMA-flexible body intelligent digital composite structure corresponds to one finger and a metacarpal bone of the finger of a human hand. Each SMA flexible body intelligent composite structure is composed of two sections, one section is of a rigid structure simulating a metacarpal bone structure of the human hand, and the other section is of a flexible deformation structure simulating the finger part of the human hand. The SMA flexible body intelligent digital composite structures are composed of 3D metacarpal bones, intelligent digital driving skeletons, elastic sheets and the flexible wrapping materials. The SMA flexible body intelligent digital composite structures are composed of the intelligent digital driving skeletons, the sheets and the flexible wrapping materials, so that self-feedback control and digital bending motion can be realized. The dexterous hand has the advantages that the simulation degree of shapes and motion is high, cost is low, safety and compatibility are good, and controllability is high.

The invention discloses a bearing device for a hip exoskeleton. The bearing device comprises a frame carrier, a supporting table and a hip portion which are sequentially arranged from top to bottom, wherein the lower end of the frame carrier is hinged to the upper end of the supporting table; the hip portion is hinged to the lower end of the supporting table; and a first spring and a second spring are symmetrically arranged between the two sides of the hip portion and the supporting table. The bearing device for the hip exoskeleton can effectively improve the harmony of human-machine movement in a load bearing state, proper in overall freedom degree, high in structural reliability, large in practical value and worthy of popularization in the industry.

The invention relates to a propulsion and pose adjusting device for a continuous robot and an adjusting method. The adjusting device comprises a linear propelling component, a linear adjusting component, a rotary adjusting component and a clamping component, wherein the linear propelling component drives the continuous robot to do forward or backward linear motion towards a curved channel, the linear adjusting component drives the continuous robot to do up-down translational linear motion relative to the curved channel, the rotary adjusting component drives the continuous robot to do rotary motion relative to the curved channel and the clamping component is used for clamping the continuous robot. According to the technical scheme, the clamping component grasps the continuous robot, the linear propelling component propels the continuous robot to enter the curved channel, the linear adjusting component and the rotary adjusting component further adjust the overall pose of the continuous robot relative to the curved channel, and therefore position interference and collision between the continuous robot and the curved channel are reduced, and the ability of the continuous robot to pass through the curved channel is improved.

The invention discloses a flexible joint based on rolling contact and a continuum robot with the flexible joint based on rolling contact. The flexible joint comprises two rolling bodies which are connected with each other; each rolling body is provided with a first contact surface located at the upper end of the rolling body and a second contact surface located at the lower end of the rolling body; the two rolling bodies are in rolling connection through the first contact surfaces and the second contact surfaces; a central reed is inserted in the middle of each rolling body; and the central reeds provide restoring torque for the adjacent rolling bodies after rolling motion. The flexible joint is a combination of CORE and reed flexible hinges, has the advantages of traditional rigid rotarypairs and flexible hinges, is simple in structure, convenient to machine, free of pin shaft fit, free of friction loss, free of lubrication, environmentally friendly and large in axial bearing capacity, and achieves the combination of high-compliance motion and high axial rigidity in structure when used in the continuum robot.

The invention belongs to the field of related technologies of wrist rehabilitation soft robots, and discloses a sectional type multi-degree-of-freedom soft actuator for human wrist rehabilitation training, which comprises a left single cavity and a right single cavity which are connected to each other, and the left single cavity and the right single cavity are in mirror symmetry; the left single cavity comprises an air inlet fixed end, a bent section, a swing section, a bent section strain limiting layer and a swing section strain limiting layer; the fixed end is connected to the bent section,and the fixed end and the bent section are arranged on the bent section strain limiting layer; the bending section is basically rectangular, a plurality of first grids arranged at intervals are formed on the side, away from the bending section strain limiting layer, of the bending section, and the multiple first grids are arranged at intervals in the length direction of the bending section; the swing section is arranged on the swing section strain limiting layer, a plurality of second grids are formed on the side, away from the swing section strain limiting layer, of the swing section, and the second grids are arranged at intervals in the length direction of the swing section. According to the invention, multi-degree-of-freedom motion can be realized, the cost is low, and the applicability is high.

The invention relates to the technical field of manufacturing of soft mechanical arms, and provides an internal rigid structure of a soft mechanical arm and a pneumatic mechanical arm type soft robotto solve the problem that the soft mechanical arm of an existing pneumatic mechanical arm type soft robot is too small in rigidity, unlikely to fix in shape and easy to deviate in position and angle.The internal rigid structure of the soft mechanical arm comprises a sleeve, a turning framework arranged in the sleeve and a sleeve cover body, wherein the turning framework comprises a rotating shaft, and a plurality of sliding parts are vertically arranged at the end, stretching into the sleeve, of the rotating shaft; a plurality of sliding slot bodies are formed in the middle upper part of thesleeve, and the turning framework is slidably matched with the sliding slot bodies through the sliding parts to stretch. According to the invention, stretching and bending motions and serial connection of the internal rigid structures of the soft mechanical arms are achieved to meet the actual length of the soft mechanical arm. The rigid structure is easy to fix in shape while the rigidity of thesoft mechanical arm is improved, and therefore, the operating safety of a target is improved.

The invention provides a general bronchial intervention continuum robot for lung micro nodules. The robot comprises a concentric continuum outer catheter and a driving structure thereof, a concentric continuum inner catheter and a driving structure thereof, and a medical instrument channel and a driving structure thereof. The concentric continuum outer catheter can realize front-back feeding single-degree-of-freedom and bending double-degree-of-freedom movement through a motor set module thereof; the concentric continuum inner catheter can realize extension single-degree-of-freedom and bending double-degree-of-freedom movement relative to the outer catheter through a motor set module thereof; and the lung global flexible active navigation can be realized through the movement of the concentric continuum inner and outer catheters, so that the robot can reach the peripheries of the lung micro nodules. The concentric continuum inner catheter is provided with an endoscopic camera for providing images of lung bronchi. A medical instrument delivery module can realize delivery and fixation of medical instruments to finish the extraction work of diagnosis samples of the lung micro nodules. A disassembly button is provided; and a quick disassembly function can support preoperative disinfection and sterilization operations.

The invention discloses a wire-driven structure joint capable of realizing bending motion decoupling. The wire-driven structure joint comprises at least two wire-driven joints connected end to end, afirst wire and a second wire, wherein the first wire and the second wire are connected with the wire-driven joints in series; the wire-driven joints comprise base discs, connecting rods and tail end discs; the base discs and the connecting rods are connected to form first rotating pairs; rotating axes of the first rotating pairs are overlapped with the end surfaces of the base discs; the tail enddiscs and the connecting rods are connected to form second rotating pairs; rotating axes of the second rotating pairs are overlapped with the end surfaces of the tail end discs; the first wire penetrates through all the wire-driven joints in sequence, and drives the second rotating pairs to rotate; and the second wire penetrates through all the wire-driven joints in sequence, and drives the firstrotating pairs to rotate. The wire-driven structure joint can realize the bending decoupling motion in two degrees of freedom, can effectively simplify the robot kinematics, and reduces the control difficulty.

The invention relates to the field of medical instruments, and specifically relates to a fusion device with adjustable bone graft space. The fusion device with adjustable bone graft space comprises afixing seat, a kinematic pair and a bolt screw. The fixing seat is formed by linking a rotary arm support and a chute base in a mode of mortise and tenon joint through a vertical draw-bore pin. The kinematic pair is composed of a main rotary arm, a lateral draw-bore pin, an auxiliary rotary arm, a connecting shaft and a sliding arm. A cylindrical convex boss preset at one end of the main rotary arm is inserted into a main arm mounting hole arranged in the rotary arm support to form clearance fit. The other end of the main rotary arm is connected to the auxiliary rotary arm through the lateraldraw-bore pin in a mode of mortise and tenon joint. The connecting shaft is in fixed rivet connection with the other end of the auxiliary rotary arm. The sliding arm wrapped at the end of the auxiliary rotary arm is installed on the connecting shaft. A ball-headed sliding table preset on the other end of the sliding arm is installed in a raceway type groove below the chute base. The bolt screw isscrewed into bolt screw holes arranged in the left side of the rotary arm support. The top end of the bolt screw is inserted into a locking blind hole I or a locking blind hole II arranged in the mainrotary arm, thereby achieving the effects of locking the kinematic pair that rotates to different positions, producing bone graft bins of different sizes, and treating different levels of intervertebral disc injuries in patients.

The invention discloses a waist joint mechanism and a robot and relates to the technical field of humanoid robots. The waist joint mechanism comprises a waist ball seat, a waist ball cap and a waist ball. A containing cavity is formed jointly by the waist ball seat and the waist ball cap. The inner sidewall of the containing cavity is provided with a first sunken part and a second sunken part which are symmetric. The waist ball is arranged in the containing cavity. The sidewall of the waist ball is provided with a first limiting protrusion and a second limiting protrusion which are symmetric. The first limiting protrusion is inlaid in the first sunken part. The second sunken part is inlaid in the second sunken part. Gaps are formed between the upper end face and the lower end face of the first limiting protrusion and the wall face of the first sunken part. Gaps are formed between the upper end face and the lower end face of the second limiting protrusion and the wall face of the second sunken part. The waist joint mechanism can have high impact resistance when the robot makes contact with the ground, can enable the waist of the robot to bend down in multiple directions in the moving process of the robot. The waist joint mechanism has low requirements for manufacturing and installation precision and is convenient to produce, simple in structure and light in weight.

The invention discloses an underactuated robot finger device based on rope winding. The problem that in the prior art, an anthropomorphic robot finger still needs to be improved is solved. The underactuated robot finger device comprises a base outer shell, a first finger middle shell, a second finger middle shell and a finger tail shell which are hinged in sequence, and loosening reset springs arearranged at hinged positions; one end of the base outer shell is connected with a mechanical arm, and the other end of the base outer shell is provided with a gripping control motor, a first universal joint, a gripping adjustment driving wheel, a gripping adjustment spring, a pull rope, a pull rope winding device, a pull rope straight sleeve and an arc-shaped pull rope positioning sleeve; a second universal joint and a first gripping adjustment driven wheel are arranged at the hinged position of the first finger middle shell and the second finger middle shell; and a third universal joint anda second gripping adjustment driven wheel are arranged at the hinged position of the second finger middle shell and the finger tail shell. According to the technology, the effect of muscle stretchingis simulated by producing tensile force by winding two pull ropes to shorten the length in a vertical direction.

This application discloses a pneumatic soft tentacle robot based on a new type of pneumatic muscle, which includes a first driving part, a second driving part and a third driving part connected in sequence, the first driving part, the second driving part and the third driving part The driving methods are all fluid driven and can work independently of each other; the first driving part includes the first flexible component, the second driving part includes the second flexible component, the third driving part includes the third flexible component, the first flexible component, the second Both the flexible component and the third flexible component are driven by the fluid to grasp or move the target by bending or stretching. The flexible component includes a corrugated net elongated pneumatic muscle, and its elongation comes from the axially stacked corrugations, which make it The elongation has nothing to do with the angle, which breaks through the design limitations of double helix braided mesh and capsule granular pneumatic muscles. Through fluid drive, each group of pneumatic muscles that control each driving part work independently, so that the robot can perform spatial 3-dimensional bending and stretching motions.

The invention discloses a straight-line servo driver and a robot. The driver comprises a stator assembly, a rotor assembly, a detection assembly and at least one bearing, wherein the stator assembly is provided with a first shell; the rotor assembly is provided with a second shell and a lead screw arranged inside the second shell in a penetrating manner; the end, stretching into the interior of the first shell, of the second shell is rotatably arranged on the first shell through the at least one bearing; a detected part and a detecting piece in the detection assembly are fixed on the second shell and the first shell respectively and are close to the bearing. The robot comprises a first arm, a second arm and the driver for driving the first arm to rotate on the second arm. According to the driver, the rotation points, relative to the first shell, of the detection assembly and the second shell are both concentrated on the position of the bearing, the bearing can bear the radial and axial load of the rotor assembly and guarantees relative position of the detection assembly, a plurality of bearings do not need to be arranged, the quantity of components is reduced, the driver is convenient to process and mount, and the self weight of the driver is reduced, so that the frictional resistance is reduced, and the transmission efficiency is improved.

The invention relates to soft fingers of a soft robot, and in particular, relates to envelope-shaped deep-sea soft fingers and a deep-sea soft gripper. Each soft finger is provided with a finger tip, enveloping structure plates, small pressure bags, large pressure bags, a sealing clamping piece, a pressure pipeline and other structures; two pressure channels are formed in each soft finger, when the pressure channels are filled with liquid, the filled liquid is guided into the small pressure bags and the large pressure bags through the pressure channels, and the pressure bags are filled with the liquid to expand so that the finger can be bent. The three-finger deep sea soft gripper can be obtained by assembling the fingers, the clamping pieces, the right-angle pagoda connectors and the three-finger palm. The large pressure bags and the small pressure bags can enable different positions of the soft fingers to reach appropriate bending angles during pressurization, the enveloping structure plates are matched with one another to firmly wrap a grabbed object, and the pressure pipelines are matched with a right-angle pagoda connector to achieve underwater sealing.

The invention designs a rope-driven three-finger dexterous hand, which solves the problems of poor flexibility and versatility of traditional manipulators. The dexterous hand is characterized in that it includes a fixed base for installing palms, fixed fingers, and a kinematic base that is connected to the rotating mechanism for rotating fingers; two kinematic bases, fixed fingers and palms are arranged on the fixed base, and the two kinematic Each rotating finger is fixedly installed on the base; the lower part of the fixed base is provided with a rotating finger rotating mechanism, and one end of the rotating finger rotating mechanism is connected with the two motion bases, and the other end is connected with the rotating motor coupling; the two rotating fingers are connected with the The fixed fingers are located on concentric circles, and the base knuckles of the two rotating fingers and the fixed fingers envelop the circular palm. The dexterous hand can replace manual operations on flexible production lines or in harmful environments to achieve flexible, precise and fast grasping operations, and has broad application prospects and important social significance in the field of industrial robots.

The invention provides a spring type continuum robot system combined with a flexible hinge, which comprises a hollow cylinder, the tail end of the hollow cylinder is connected with a spring main body through a connecting piece, the spring main body is provided with a cylindrical flexible hinge, and the tail end of the spring main body is provided with a hollow connecting column for placing an end effector; the front end of the hollow cylinder is fixed on a driving mechanism for driving the spring main body to bend; the artificial leather can pass through a natural cavity of a human body and can move in multiple directions.

An aircraft deformation nose cone device based on a spatial two-degree-of-freedom expandable mechanism comprises nose cone shells which are divided into three stages or above in total. The first-stagenose cone shell is in a cylinder shape with the largest diameter; the diameters of the intermediate-stage nose cone shells are decreased progressively, and the intermediate-stage nose cone shells areeach in a circular table shape; and the outermost end of the last-stage nose cone shell body has the spherical crown characteristic. The nose cone shells are connected through stretching bending rodsystem mechanisms and two sets of auxiliary sphere pair mechanisms. Each stretching bending rod system mechanism is composed of two sets of stretching bending rod systems which are symmetrically mounted with respect to the horizontal splits of the nose cone shells, and each set of stretching bending rod system comprises four parallelogram transmission rod systems, wherein inputs of the four parallelogram transmission rod systems of each stage are connected with a former-stage driving rod, and outputs of the four parallelogram transmission rod systems of the last stage are connected with a tailrod. The two sets of auxiliary sphere pair mechanisms are symmetrically distributed and mounted with respect to the vertical splits of the nose cone shells. According to the aircraft deformation nosecone device, overall free stretching out and drawing back and bending can be achieved, and the advantages of large deformation quantity, easy driving and the like are achieved.

The invention discloses a machine tool panel operation manipulator based on circumferential motion, and relates to a manipulator structure, in particular to a manipulator structure capable of being applied to machine tool panel operation. The machine tool panel operation manipulator comprises a main body module and finger modules; and one or at least two finger modules are arranged on the periphery of the main body module and are in transmission with the main body module through a gear, and the four finger modules are non-collision. The manipulator can stably grab various objects by adjustingpositions of fingers and grasping and holding postures of the fingers. Meanwhile, contact operation such as key operation of a keyboard can be realized without cooperation of a mechanical arm, and adaptability of the manipulator is greatly improved.

The invention provides a bending joint of a finger rehabilitation device based on double pneumatic flexible actuators. The bending joint comprises two pneumatic flexible actuators with identical structural parameters, a T-shaped structure and two rotational structures, wherein the two rotational structures are arranged on the T-shaped structure through rotating shafts to form a rotation pair, front end covers and rear end covers of the pneumatic flexible actuators are respectively fixed on the T-shaped structure and the rotational structures, and axes of the two pneumatic flexible actuators are parallel to each other and perpendicular to the rotating shafts simultaneously. The bending joint is simple in structure, and good in flexibility and applicability.

The invention relates to a propulsion and pose adjusting device for a continuous robot and an adjusting method. The adjusting device comprises a linear propelling component, a linear adjusting component, a rotary adjusting component and a clamping component, wherein the linear propelling component drives the continuous robot to do forward or backward linear motion towards a curved channel, the linear adjusting component drives the continuous robot to do up-down translational linear motion relative to the curved channel, the rotary adjusting component drives the continuous robot to do rotary motion relative to the curved channel and the clamping component is used for clamping the continuous robot. According to the technical scheme, the clamping component grasps the continuous robot, the linear propelling component propels the continuous robot to enter the curved channel, the linear adjusting component and the rotary adjusting component further adjust the overall pose of the continuous robot relative to the curved channel, and therefore position interference and collision between the continuous robot and the curved channel are reduced, and the ability of the continuous robot to pass through the curved channel is improved.

The invention discloses a wire-driven joint capable of decoupling bending motion, comprising at least two wire-driven joints connected end to end, a first wire and a second wire connected in series to each wire-driven joint; the wire-driven joint includes a basic A base plate, a connecting rod and an end plate, the base plate is connected with the connecting rod to form a first rotating pair, the rotation axis of the first rotating pair coincides with the end surface of the base plate; the end plate Connected with the connecting rod to form a second rotating pair, the rotation axis of the second rotating pair coincides with the end face of the end disc; the first wire passes through each wire driving joint in turn and drives the second rotating pair to rotate , the second wire passes through each wire-driven joint in turn and drives the first revolving pair to rotate. The wire-driven structural member can realize bending decoupling motion in two degrees of freedom, which can effectively simplify the robot kinematics and reduce the difficulty of control.

The invention belongs to the related technical field of wrist rehabilitation soft robots, and discloses a segmented multi-degree-of-freedom soft actuator for human wrist rehabilitation training, which includes a connected left single cavity and a right single cavity, a left single cavity and a right single cavity. The cavity and the right single cavity are mirror symmetrical to each other; the left single cavity includes the fixed end of the intake, the curved section, the swing section, the strain-limited layer of the curved section and the strain-limited layer of the swing section, the fixed end is connected with the curved section, and the fixed end and the curved section The section is arranged on the strain-limiting layer of the bending section; the bending section is basically rectangular, and a plurality of first grids arranged at intervals are formed on the side away from the strain-limiting layer of the bending section, and the plurality of first grids are arranged along the length of the bending section. The direction is arranged at intervals; the swing section is set on the strain-limiting layer of the swing section, and a plurality of second grids are formed on the side of the swing section far away from the strain-limit layer of the swing section, and the plurality of second grids are arranged at intervals along the length direction of the swing section. The invention can realize multi-degree-of-freedom motion, has low cost and strong applicability.

The invention provides a spine module with a changeable motion amplitude and a changeable length. The spine module comprises a steering engine, a rudder angle, a first spine joint, spine module bodies, a second spine joint and a connecting rod. The steering engine is installed at the end of the first spine joint. One end of the connecting rod is hinged to the rudder angle arranged on the steering engine through a rotating shaft, and the other end of the connecting rod is hinged to the second spine joint through a pin shaft. The spine module bodies are arranged between the first spine joint and the second spine joint. The spine module bodies comprise front spine joints and rear spine joints. Connecting cylinders are arranged on the rear spine joints. Round holes matched with the connecting cylinders are formed in the front spine joints. The connecting cylinders are sleeved with springs, and screws are arranged at the ends of the connecting cylinders. The connecting manner between the first spine joint and the spine module bodies, the connecting manner between the second spine joint and the spine module bodies and the connecting manner between the front spine joints and the rear spine joints are the same. The spine module with the changeable motion amplitude and the changeable length is simple in structure, the impact on a mechanism is small, and enlarging of the motion range of legs of a quadruped robot can be facilitated.

The invention discloses a motor and air pressure integrated driving aerospace vehicle deformation nose cone device which comprises three or more stages of nose cone shells, wherein the diameters of the nose cone shells are gradually increased from back to front; all the nose cone shells are connected through connection mechanisms; the rear end of the last stage of nose cone shell is hinged with athree-star ring; the previous two stages of nose cone shells comprise annular shell bodies; the interiors of the front ends of the annular shell bodies are connected with extension and retraction mechanisms and bending mechanisms. The motor and air pressure integrated driving aerospace vehicle deformation nose cone device can simulate deformation of the abdomen of honey to realize extension, retraction and deformation motions, so that extension and retraction motions of a nose cone can be realized, and a bending motion can be realized; the motor and air pressure integrated driving aerospace vehicle deformation nose cone device has the advantages of simple and convenient driving form, easy implementation of self-locking performance, modularity, simple mechanism form and convenience in machining and manufacturing.