42results about How to "Fast response to movement" patented technology

The invention relates to a decoupled three-rotational-degree-of-freedom parallel mechanism, which consists of a machine frame (1), a dynamic platform (3), a first motion branch chain (2a), a second motion branch chain (2b) and a third motion branch chain (2c), wherein the first motion branch chain (2a), the second motion branch chain (2b) and the third motion branch chain (2c) are fixedly connected between the machine frame (1) and the dynamic platform (3); and the axes of three rotation pairs of the first motion branch chain (2a) meet at the central point of the platform (3). As few motion pairs are used and all driving electric motors are arranged on the machine frame, the motion-decoupled spherical rotation parallel mechanism of the invention has the advantages of simple structure, convenient installation, small rotation inertia and quick motion response. In addition, the spherical rotation parallel mechanism of the invention has linear motion decoupling, easy calibration and simple control, thereby reducing development cost.

Provided is a tactile feedback system of a minimally invasive surgery instrument. The tactile feedback system of the minimally invasive surgery instrument comprises a long and thin rod of the minimally invasive surgery instrument, an end effector connected with the long and thin rod, a first elastic device, a connecting piece with flexible deformability, a second elastic device, a first pair of rolling wheels, a second pair of rolling wheels, an indicating piece, a measuring element and a computer control system. The position of the indicating piece can be read through the measuring element in the long and thin rod mounted in the minimally invasive surgery instrument. The computer control system reads the reading of the measuring element, converts the reading, and judges the magnitude of the force applied to the inner side of the end effector. The tactile feedback system of the minimally invasive surgery instrument has the advantages of being simple in structure, high in sensitivity and low in cost.

The invention relates to a decoupling parallel mechanism, which comprises a stand, a mobile platform (3), a mobile branched chain (2a) and a mobile branched chain (2b), wherein the mobile branched chain (2a) and the mobile branched chain (2b) are connected with the stand and the mobile platform (3); the mobile branched chain (2a) comprises a sliding pair (21), a revolute pair (22), a revolute pair (23) and a rod piece; the mobile branched chain (2b) comprises a sliding pair (24), a revolute pair (25), a revolute pair (26) and a rod piece; and the axial lines of the sliding pair (21) and the sliding pair (24) are parallel, the revolute pair (22) and the revolute pair (25) are coaxial, and the revolute pair (23) and the revolute pair (26) are coaxial. Compared with the prior art, the invention improves the rigidity of the mechanism through the parallel mechanism, the carrying capacity of the mechanism in unit volume is higher, and a motor is close to a base, thus the movement inertia of the mechanism is reduced, and higher response speed can be obtained.

The invention relates to a decoupled three-rotation parallel mechanism, which comprises a base, a dynamic platform, a first moving branch chain, a second moving branch chain and a third moving branch chain, wherein the first, second and third moving branch chains are connected between the base and the dynamic platform; the first moving branch chain comprises a first universal hinge, a first rotating pair, a second rotating pair, a third rotating pair, a fourth rotating pair, a fifth rotating pair, a sixth rotating pair and a seventy rotating pair, which are connected in turn; the second moving chain comprises a tenth rotating pair, an eleventh rotating pair and a second rotating rod, which are connected in turn; and the third moving branch chain comprises a second universal hinge, a moving pair, a twelfth rotating pair and a thirteenth rotating pair, which are connected in turn, and one end of the twelfth rotating pair is connected with the seventh rotating pair through the dynamic rotating platform. In the invention, fewer moving pairs are adopted, the structure is simple, the installation is convenient, the rotation inertia is small, and the motion response is quick; and the motion decoupling and control are simple, so the development cost is reduced.

The invention belongs to the technical field of medical instruments, in particular to a radiotherapy device with magnetic resonance imaging (MRI) guidance. For the problems that an existing radiotherapy device cannot accurately image and the movement of an imaging device is unreasonable, the invention proposes the following scheme, including a magnetic resonance circular ring body having a groovein the outer wall on one side thereof, a control panel is clamped on the inner wall of the groove, a curved plate is welded at an intermediate position of the outer wall on one side of the magnetic resonance circular ring body, a warning name plate is connected onto the outer wall on one side of the curved plate by a bolt, and a square groove is formed in the outer wall on one side of the magneticresonance circular ring body. According to the invention, the radiotherapy device enables a patient to obtain an all-round detection inside the magnetic resonance circular ring body, avoids the medical staff being subjected to different degrees of radiation, plays a good role in protecting the medical staff, allows the detected data to be timely observed by the medical staff and the patient, andmeanwhile, enables the storage and transmission of data.

The invention relates to a sleeving valve type hydraulic breaking hammer. The sleeving valve type hydraulic breaking hammer comprises a front body, a middle cylinder and a nitrogen chamber which are sequentially arranged from front to back. A drill rod is arranged inside the front body in the axial direction. The middle cylinder is internally provided with a piston, a sleeving valve and a hydraulic oil path system, wherein the piston is in transmission connection with the drill rod; the sleeving valve is arranged outside the piston in a sleeving mode and matched with the inner wall of the middle cylinder; and the hydraulic oil path system drives the piston and the sleeving valve to move back and forth in the axial direction of the middle cylinder. In the working state, the piston drives the drill rod to move back and forth in the axial direction of the middle cylinder under driving of the hydraulic oil path system, and accordingly hard objects are broken. Compared with the prior art, the sleeving valve type hydraulic breaking hammer is simple in structure, the sleeving valve is directly arranged on the piston in the sleeving mode, a valve element is omitted, the structure is more compact, and structure manufacturability is good; and since the travel stroke of the sleeving valve is short, the working efficiency is remarkably improved, and the demands of engineering application can be met.

Disclosed is a driving rear wheel steering mechanism based on a crank connecting rod mechanism. A steering mechanism controller is additionally arranged at the mass center of a vehicle, one end of the steering mechanism controller is connected with an electricity supply of the vehicle through a circuit to lead out a control signal, and the other end of the steering mechanism controller is connected with a steering electromotor through a circuit to transmit the control signal. A speed regulating mechanism supporting plate is additionally arranged on a rear axle shell of the vehicle, a steering electromotor and a steering speed regulating mechanism are arranged, and a worm wheel spline shaft of the steering speed regulating mechanism outputs power. A steering connecting rod mechanism is hinged to two rear wheel vertical columns of the vehicle, one end of the steering connecting rod mechanism is driven through the worm wheel spline shaft, and the other end of the steering connecting rod mechanism outputs power to the rear wheel columns to drive rear wheels to rotate. The crank connecting rod structure is adopted, the movement response is rapid, the size is small, the weight is small, and energy consumption is low; the turning radius of the vehicle is effectively decreased, the high-speed stability of the vehicle is strengthened, and the safety stability coefficient of the vehicle is promoted; and particularly, the instable condition, caused by high-speed tire bursting and similar incidents, of the vehicle with a rear wheel steering function is reduced, and the accidental loss is reduced.

The invention aims to provide an amorphous alloy electromagnetic control oil injector with a combined iron core. An amorphous alloy electromagnet assembly, a pilot ball valve seat, a control piston body and a needle valve ejector rod are installed in an oil injector body in sequence from top to bottom, a nozzle is fixedly arranged at the bottom of the oil injector body through a nozzle clamp nut, and a needle valve is installed in the nozzle. Compared with a conventional silicon steel sheet magnetic pole, the amorphous alloy electromagnetic control oil injector with the combined iron core has the advantage that the loss of the iron core is greatly reduced. In addition, due to the facts that a copper ring is arranged between an auxiliary magnetic pole and coils in the amorphous alloy electromagnet assembly, copper has good electrical conductivity, and the constantly-enhanced magnetic field can generate high induced current in the copper ring to delay the increase of the magnetic flux, the effective inductance of the coils in the working process is greatly reduced, the increase speed of the driving current of the coils is increased, the movement response of a valve rod is quickened, the response speed of the amorphous alloy electromagnetic control oil injector with the combined iron core can be conveniently increased, and the loss is reduced.

The invention relates to the technical field of vehicle auxiliary instruments, and aims to provide a lifting device. According to the technical scheme, the lifting device comprises a base, a lifting frame, a lifting assembly and a driving assembly; the lifting frame is rotationally connected with the base; one end of the lifting assembly is rotationally connected with the lifting frame, and the other end of the lifting assembly is rotationally connected with the end, away from the lifting frame, of the base. The driving assembly is arranged on the base and used for driving the lifting assembly to stretch or retract. The lifting assembly comprises a ball screw pair, a positioning sleeve and a supporting rod, the end of a screw of the ball screw pair is sleeved with the positioning sleeve, the positioning sleeve is rotationally connected with the base, one end of the supporting rod is rotationally connected with the lifting frame, and the other end of the supporting rod is connected with a nut of the ball screw pair; the driving assembly comprises a servo motor, and the output end of the servo motor is in transmission connection with a screw of the ball screw pair. The device is high in positioning precision, fast in motion response, small in transmission gap, compact in structure and applicable to special vehicles.

The invention belongs to the field of medical rehabilitation robots, and relates to the field of cerebral apoplexy rehabilitation robots, in particular to a planar two-dimensional upper limb rehabilitation training robot which comprises a liftable table assembly, a quick-change tail end platform is arranged on the liftable table assembly, and the quick-change tail end platform is connected with a driving system; the planar two-dimensional upper limb rehabilitation training robot is wide in application range, simple in structure and rapid in response.

A four-degree-of-freedom motion platform with a left-right transverse movement function comprises: a lower platform used for mounting all parts; an upper platform used for mounting bearing equipment, wherein the upper platform is arranged above the lower platform; a first driving assembly used for driving the upper platform to move, wherein first driving assembly is arranged on the lower platform and is connected with the upper platform; a second driving assembly used for driving the upper platform to move, wherein the second driving assembly is arranged on the lower platform and is connected with the upper platform; a third driving assembly used for driving the upper platform to move, wherein the third driving assembly is arranged on the lower platform and is connected with the upper platform; and a left-right transverse moving anti-torsion assembly used for driving the upper platform to move, wherein the left-right transverse moving anti-torsion assembly is arranged on the lower platform and connected with the upper platform. The four-degree-of-freedom motion platform is simple in structure, convenient to maintain, small in size, low in height and convenient to use in a limited space environment.

A bendable miniature wrist comprises a first end effector, a second end effector, a primary sleeve, a secondary sleeve, a first motion support chain, a second motion support chain and a third motion support chain, wherein the first end effector and the second end effector are combined to form a clamp or a gripper and respectively rotationally connected with the primary sleeve which is rotationally connected with the secondary sleeve; the first motion support chain is in drive connection with the first end effector, the second motion support chain is in drive connection with the second end effector, and the third motion support chain is in drive connection with the primary sleeve; the clamp or the gripper is opened or closed under driving of combined motion of the first motion support chain and the second motion support chain; and the third motion support chain moves to drive primary sleeve to perform pitching swing . The bendable miniature wrist has opening and bending freedom degree, can imitate a human hand to achieve flexible actions, and is simple in structure and high in bearing capacity.