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

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 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 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 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.

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.