41results about How to "Simple form of exercise" patented technology

The invention relates to a surgical robot containing an arc-shaped moving pair. The surgical robot is characterized by comprising a fixed platform, a linear guide rail, a bottom driving motor, a movable sliding block, a lower arc-shaped connecting rod, an upper arc-shaped connecting rod and a tail-end executing device, wherein the linear guide rail is fixedly arranged on the fixed platform; the movable sliding block can move along the axial direction of the linear guide rail, the bottom driving motor is fixedly arranged on the movable sliding block, and an output shaft of the bottom driving motor is matched with the lower end of the lower arc-shaped connecting rod to drive the lower arc-shaped connecting rod to rotate around the output shaft of the bottom driving motor; the lower end of the upper arc-shaped connecting rod is connected with the lower arc-shaped connecting rod, and the upper end of the upper arc-shaped connecting rod is connected with the tail-end executing device; a long groove is arranged on the upper surface of the lower arc-shaped connecting rod, a middle-section driving motor is arranged at the upper end of the lower arc-shaped connecting rod, and an output shaft of the middle-section driving motor is connected with a gear; and a bulge is arranged at the lower end of the upper arc-shaped connecting rod and is matched with the long groove on the upper arc-shaped connecting rod, and the upper arc-shaped connecting rod is concentric to the lower arc-shaped connecting rod.

The invention particularly relates to a mechanical limiting mechanism and method for increasing the movement stroke, and the mechanical limiting mechanism and method are wide in application range. Anarc-faced bumping block and a movement bumping block move under driving of a movement component, blocking bumping blocks are all in a descending state originally, and the arc-faced bumping block is firstly in contact with a slide rod of a first fixed bumping block component, so that the blocking bumping block of the first fixed bumping block component rises up; then, the arc-faced bumping block isin contact with a slide rod of a second fixed bumping block component, and the blocking bumping block of the second fixed bumping block component rises up; the movement bumping block and the blockingbumping block of the second fixed bumping block component are limited, the movement component retreats from a limiting area after conducting reverse movement to make contact with the slide rods of the two fixed bumping block components, so that the two blocking bumping blocks restore to be in the descending state, and limiting is achieved by limiting the movement of the movement component throughascending and descending of the blocking bumping blocks; and the movement range of the movement component can be intervened mutually without being influenced, and the application range is wide.

The invention belongs to the technical field of flexible robots, and provides a permanent magnet variable-stiffness flexible joint for a robot, wherein the permanent magnet variable-stiffness flexiblejoint is capable of simulating nolinear variable-stiffness muscle features of a bionic joint. A permanent magnet variable-stiffness mechanism is adopted as a stiffness adjusting component, a rope isused as force and motion transmission component, the stiffness changes along with change of air gaps between permanent magnets, by means of actions of a motor, a rope winch and a guide pulley, force and position decoupling of ropes at the two sides of a manipulator, so that only joint rotating angle instead of joint stiffness is changed, and namely the joint position is adjusted under the equal-stiffness condition; the effect of just changing joint stiffness instead of the joint position can be achieved, and work under corresponding stiffness condition is achieved according to different working conditions. The permanent magnet variable-stiffness flexible joint for the robot is concise in motion form, convenient to manufacture and easy to operate.