234 results about "Active passive" patented technology

A surgical robot with seven degrees of freedom, including various types of joints, offers a hybrid active-passive control for operation both manually and by programmed navigation. One of the degrees of freedom allows the robot to be moved efficiently around the axis of a patient's body to provide ample workspace for surgical procedures in an operating room.

An asynchronous and delay-insensitive data processor comprises a plurality of components communicating with each other and synchronizing their activities by communication actions on channels and buses. Each component consists of a control part and a data part. All control parts are implemented with a lazy-active-passive handshake protocol and a sequencing means called a left/right buffer that provides the minimal sequencing constraints on the signals involved. The data parts comprise novel asynchronous ALU, buses, and registers. The control parts and data parts are connected together in an asynchronous and delay-insensitive manner.

The invention relates to an active-passive combined reactor core residual heat removal system for a nuclear power station. The active-passive combined reactor core residual heat removal system comprises a safety injection system, a containment spraying system, an auxiliary water supply system, a reactor cavity water injection system, a secondary side passive residual heat removal system, a passive containment heat leading-out system and related valves and pipelines. The active-passive combined reactor core residual heat removal system provided by the invention realizes three safety functions of controlling reactivity, discharging reactor core heat and containing radioactive substance when an accident occurs in an active-passive combined multi-redundancy diversity manner. The active-passive combined reactor core residual heat removal system provided by the invention can completely realize the safety functions of safety injection and safety spraying under the condition that the accident occurs in a nuclear power plant, reactor cavity water injection under the serious accident working condition and the like, effectively improve reliability of a safety system, enhance coping capability of the safety system under the working condition that the accident occurs in the nuclear power station, can effectively prevent and relieve the serious accident, reduce the reactor core melting probability and risk probability of large-scale radioactivity release and greatly improve safety performance of the nuclear power station.

The invention provides a three degree of freedom micro-vibration suppression platform and a control method thereof, belongs to vibration isolation and suppression devices, and solves problems of complicated structure and complex control method of a prior active-passive composite vibration isolation structure. The platform provided by the invention includes a base platform, a load platform, three sets of single degree of freedom active-passive composite vibration isolation assemblies which are totally identical and a controller. The upper end and the lower end of each single degree of freedom active-passive composite vibration isolation assembly are connected with the load platform and the base platform. The control method provided by the invention includes calculating logic axis translation signals, calculating logic axis control signals, calculating physical axis real time control signals and transmission steps. The platform provided by the invention is simple in structure, adjustable in rigidity, is capable of suppressing and isolating three degree of freedom microvibration in rotation directions of an X axis and a Y axis and a translation direction of a Z axis and is suitable for different occasions. Microvibration of different frequency bands can be dampened effectively and reliable guarantee can be provided for precision machining and measurement equipment in a microvibration environment.

The invention discloses a nine degrees of freedom (DOFs) mixed connection robot with driving and driven combination, comprising a serial mechanism and a parallel mechanism. The serial mechanism is a driven mechanism, which comprises a base, a large arm, a small arm and a movable joint which are sequentially articulated and has five DOFs; the parallel mechanism is a driving mechanism and comprises a dual plane static platform and a needle frame; the dual plane static platform is connected with a movable joint; the upper part and the lower part of the needle frame are respectively connected with the upper plane static platform and the lower plane static platform of the dual plane static platform through a movable device and has four DOFs. The invention has the advantages of strong flexibility, small accumulated errors of the joint, a plurality of gestures which can be realized by an end surgical instrument, comparatively high smartness and absolute positioning precision, and being suitable for carrying out the surgery under a limited surgery space such as a CT, etc.

The present invention aims at disclosing an active-passive-typed endoscopic surgical robot, which is used for the necessary endoscopic pose adjustment in the minimally invasive operations. The invention includes a carrying vehicle, an ascending and descending mechanism, a big swivel arm and a small swivel arm, a stepping motor, an endoscope clamping device and a control system which is composed of a control panel, a DSP digital signal processor and a stepping motor driver. The information which can be received by the DSP digital signal processor is generated by using the invention and pushing the operation buttons on the operation panel, and the relevant instructions can be also emitted with the help of the stepping motor driver, so as to change the rotation direction and angle of the big swivel arm and the small swivel arm; then, the endoscope which penetrates the abdominal (chest) wall of the patients is moved under the restraints of the skin at the insertion point, so as to obtain the best image of the surgical site on a display. The active-passive type is differentiated by whether a moving bar is provided with a controllable motor for dragging. The invention has simple structure and control principle, relatively low production cost and can facilitate the development and production of the products.

The invention discloses a six-degree-of-freedom active-passive combined positioning and vibration-isolating platform. The platform comprises a foundation platform (3) and a load platform (1), and is characterized in that the platform further comprises six actuator units (2) connected with the load platform (1) through upper flexible hinges (213) and connected with the foundation platform (3) though lower flexible hinges (201); and the axes of the actuator units are perpendicular to one another, and each actuator unit comprises a primary passive vibration-isolating mechanism and a secondary vibration-isolating mechanism. According to the six-degree-of-freedom active-passive combined positioning and vibration-isolating platform, the six actuator units are of a cube structure in the space, actuators have the same structural characteristics and control characteristics, accurate six-degrees-of-freedom positioning and vibration-isolating can be achieved, and the six-degree-of-freedom active-passive combined positioning and vibration-isolating platform can be widely applied to the fields of aerospace, optical instruments and meters, precision manufacturing and measuring, and the like.

The present invention provides an apparatus for reducing acoustic noise in a magnetic resonance imaging device including passive shielding located outside the actively shielded gradient winding elements in order to reduce the magnitude of fields that spread outside the gradient coil assembly in unwanted directions and interact with the magnet cryostat or other metallic magnet parts, inducing eddy currents that cause consequent acoustic noise. The passive shielding elements are conducting layers located on the outer radius of the cylindrical gradient coil assembly in a cylindrical magnet system, conducting layers located at the ends of the gradient coil assembly in a cylindrical magnet system, and conducting layers located inside the actively shielded gradient winding inner elements in a cylindrical magnet system. The passive shielding could also be located on separate structures that are vibrationally isolated from the magnet cryostat. The actively shielded gradient winding can also be extended to portions at the ends of the actively shielded gradient winding and further to portions inside the inner radius of the inner portion of the actively shielded gradient winding. The actively shielded gradient windings and passive shielding should be designed concurrently in order to substantially optimize the gradient linearity and reduce the eddy currents generated in metallic parts of the magnetic resonance imaging system.

The invention discloses an active-passive combined vibration isolator based on positive-stiffness and negative-stiffness parallel connection. The active-passive combined vibration isolator based on positive-stiffness and negative-stiffness parallel connection comprises a basic platform (10), a load-bearing platform (30), a passive vibration isolation unit and an active vibration isolation unit, wherein the passive vibration isolation unit is provided with a positive-stiffness air spring (20) and a magnetic negative-stiffness mechanism (28) with adjustable negative stiffness in the first direction, so that the inherent frequency in the first direction is decreased, and the passive vibration isolation unit is provided with a stiffness-adjustable positive-stiffness leaf spring and a negative-stiffness inverted pendulum in the second direction, so that the inherent frequency in the second direction is decreased; the active vibration isolation unit is arranged at the outer side of the passive vibration isolation unit, the upper end of the active vibration isolation unit is linked with the load-bearing platform (30), and the lower end of the active vibration isolation unit is linked with the basic platform (10); and the active vibration isolation unit comprises displacement sensors, speed sensors, a proportional pressure valve and a voice coil motor, and the voice coil motor is used for fine adjustment of the load-bearing platform, so that vibration is further isolated. The active-passive combined vibration isolator based on positive-stiffness and negative-stiffness parallel connection has high bearing capacity, and active and passive vibration isolation of two degrees of freedom is achieved at the same time.

The invention discloses a bidirectional flexible knee-joint active-passive rehabilitation training device, which comprises a linear driving unit, a lower limb support unit and a control unit, wherein the linear driving unit comprises a bottom plate, a rodless cylinder, a sliding table of the rodless cylinder, a first inflation-elongated pneumatic flexible driver, a second inflation-elongated pneumatic flexible driver, a guide rod, a fixed support, a connecting piece, a movable support and a sliding pair; the lower limb support unit comprises thigh rods, a thigh supporting plate, leg rods, a leg supporting plate, a foot support, a connecting rod, T-shaped connecting pieces, L-shaped rods, a first adjusting device and a second adjusting device; and the control unit comprises an angular displacement sensor, a force sensor, a displacement sensor and a controller. The device can realize various knee joint rehabilitation training modes such as passive training and active training conveniently according to the rehabilitation condition of patients. And the applied forces (including a driving force driving a wounded knee to move in a passive training and a training damping force set in an active training) as well as training angles can be adjusted in a stepless manner.

The invention belongs to the technical field of medical instruments, and relates to a rehabilitation training system, in particular to an upper limb rehabilitation training system with active-passive modes. The technical scheme includes that the upper limb rehabilitation training system with the active-passive modes comprises a handle, a mechanical arm, a spindle, an encoder, a computer, a display, a motor, a clutch, a coupler, a belt pulley, a belt pulley shaft, a synchronous toothed belt and a rehabilitation device base. Compared with equipment in the past, the upper limb rehabilitation training system has the advantages that active acting force is provided for a patient needing rehabilitation, the mechanical arm can drive an arm of the patient to perform rehabilitation training in the active mode so as to achieve better rehabilitation training effects, and a threshold safety module is arranged inside the computer so that safety of the patient in rehabilitation training can be enhanced.

The invention discloses an active-passive type two-degrees-of freedom ankle joint prosthesis, comprising a carbon fiber energy storage sole, a motor, a speed reducer, a motor fixing supporting seat, a belt pulley transmission device, a carbon fiber pipe, a ball screw, an energy storage springs, joint bearings, energy storage rubber rings and joint supporting seats, wherein the carbon fiber energy storage sole is connected with the carbon fiber pipe through the joint supporting seats; the motor fixing supporting seat is connected with the carbon fiber pipe through an active pin; the motor is fixedly arranged on one end of the motor fixing supporting seat; the ball screw is fixedly arranged on the other end of the motor fixing supporting seat; two ends of the motor fixing supporting seat are connected by the belt pulley transmission device; the energy storage springs areis connected with a ball screw nut; and the energy storage rubber rings are connected with the joint bearings and the joint supporting seats through a shaft. The ankle joint prosthesis provided by the invention not only can completely provide required energy for human gait, but also can adapt to various landforms; in addition, the ankle joint prosthesis can completely imitate movement angles of a human ankle joint on a sagittal plane or a coronal plane; and therefore, the normal walking requirement of an amputation patient can be satisfied better.

The invention relates to a solar active-passive heat storage 'triple' structure wall building system of a solar greenhouse and belongs to the field of garden facilities. The 'triple' structure wall building system mainly comprises a phase-change heat storage wall panel, a solar air collector, a plurality of wall air channels, autoclaved lime-sand bricks and a heat preservation material plate. The phase-change heat storage wall panel is directly adhered to the inner surface of the back wall of the solar greenhouse, the middle tier of the back wall is constituted by the autoclaved lime-sand bricks, and the heat preservation material plate is adhered to the outer side of the back wall. The middle tier, constituted by the autoclaved lime-sand bricks, of the back wall is provided with the wall air channels, and the phase-change heat storage wall panel, directly adhered to the inner surface of the back wall of the solar greenhouse, and a wall body form a passive solar phase-change heat storage wall. The solar air collector is communicated with the wall air channels through a ventilator, an air return valve and an air supply valve to form an active solar hot air wall heat display and heat storage system. Therefore, heat collecting, preserving and insulating capacities of the solar greenhouse wall can be remarkably improved.

The invention discloses an impact-resistant type active-passive hybrid vibration isolator. The impact-resistant type active-passive hybrid vibration isolator comprises a gasbag vibration isolator, an electromagnetic actuator, an impact-resistant spring, gasbag upper and lower bases, gasbag upper and lower cover plates, flexible magnetic conductive rubber, a permanent magnet, a radiating fin and temperature and acceleration sensors, wherein the electromagnetic actuator and the impact-resistant spring are mounted in the gasbag vibration isolator; the electromagnetic actuator comprises an armature, an iron core, the permanent magnet arranged on the iron core, the flexible magnetic conductive rubber arranged on the permanent magnet and a coil wound on the iron core; the armature is fixed on the lower base; and the impact-resistant spring is arranged between the gasbag upper cover plate and the upper base or between the electromagnetic actuator and the lower cover plate. One end of the radiating fin is around the iron core of the actuator and the coil, and the other end of the radiating fin is clung to the lower cover plate of the gasbag vibration isolator; and the temperature sensor and the acceleration sensor are arranged in the gasbag vibration isolator. The impact-resistant type active-passive hybrid vibration isolator is good in impact resistance, high in reliability, low in energy consumption, low in cost, small in space usage and can be used for efficient vibration isolation of mechanical equipment and mechanical systems in the industrial field and the civilian field, especially the ship and warship field.

The invention discloses a semi-active vibration isolation platform adopting magneto-rheological damping technology, relates to a semi-active vibration isolation platform, and aims to solve the problems that the prior active-passive integrative complete vibration isolator has insufficient reliability and has large mass increment. At least three elastic supporting rods are arranged between an upper platform and a lower platform, an upper end head and a lower end head of each elastic supporting rod are fixedly connected with a lower end face of the upper platform and an upper end face of the lower platform respectively, and the middle part of each elastic supporting rod is bent into a circular arc shape protruding outwards; each magneto-rheological damper is arranged in the circular arc formed in the middle part of the corresponding elastic supporting rod, and an upper end head and a lower end head of the magneto-rheological damper are hinged with the elastic supporting rods through hinges; and a first web plate is arranged on the inner wall of the upper platform, a second web plate is arranged on the inner wall of the lower platform, an upper sleeve is sleeved with a lower sleeve, an upper end face of the upper sleeve is fixedly connected with the first web plate, and the lower end of the lower sleeve is fixedly connected with the second web plate. The semi-active vibration isolation platform reduces the quality of the vibration isolation platform, and improves the reliability.

The invention provides a full-pose-and-position active-passive compliant robot and a valve screwing-twisting method utilizing the robot, and relates to a robot and a valve screwing-twisting method utilizing the robot. The full-pose-and-position active-passive compliant robot and the valve screwing-twisting method utilizing the robot aim to solve the problems that an industrial robot cannot conductlarge overall motion, and the operating range is narrow; rigid collision and radial contact force are generated between an end actuator and a valve handwheel; damage of operating devices is possiblycaused due to the fact that screwing-twisting resistance torques of different valves are different; and the valve handwheel can produce axial displacement while rotating, and axial contact force of the tail end is brought. The full-pose-and-position active-passive compliant robot comprises a wheel type moving platform, a four-degree-of-freedom manipulator and a compliant end actuator, the four-degree-of-freedom manipulator is mounted on the wheel type moving platform, and a six-axis force sensor is mounted between the four-degree-of-freedom manipulator and the wheel type moving platform; the compliant end actuator is mounted at the tail end of the four-degree-of-freedom manipulator, and a six-axis force sensor is mounted between the compliant end actuator and the four-degree-of-freedom manipulator; and through information of the two sensors, impedance control can be conducted on the wheel type moving platform and the four-degree-of-freedom manipulator. The full-pose-and-position active-passive compliant robot and the valve screwing-twisting method utilizing the robot are suitable for robot remote operation, robot compliant control and valve screwing-twisting operation.

The invention discloses an upper limb rehabilitation robot with active-passive type two arms, and belongs to the field of rehabilitation training robots. The upper limb rehabilitation robot with the active-passive type two arms comprises an upper limb active training device, an upper limb passive training device, over beam arms and a pedestal. The upper limb active training device and the upper limb passive training device are fixed on the pedestal through the over beam arms; the upper limb active training device comprises an active shoulder joint abduction and adduction assembly, an active shoulder joint flexion and extension assembly, an active upper arm intorsion and extorsion assembly, an active elbow flexion and extension assembly, an active forearm intorsion and extorsion assembly, and an active wrist joint flexion and extension assembly; and the upper limb passive training device comprises a passive shoulder joint abduction and adduction assembly, a passive shoulder joint flexion and extension assembly, a passive upper arm intorsion and extorsion assembly, a passive elbow flexion and extension assembly, a passive forearm intorsion and extorsion assembly, and a passive wrist joint flexion and extension assembly. According to the invention, motions of a plurality of joints in a plurality of dimensions can be achieved, and the upper limb rehabilitation robot can help the patient to exercise according to his own wish.

The invention belongs to the technical field of intelligent processing and manufacturing, and particularly discloses an integrated active-passive compliant one-dimensional variable force grinding andpolishing device and a control method. The integrated active-passive compliant one-dimensional variable force grinding and polishing device comprises a linear module servo motion platform, a mountingflange, a limiting plate, a position and orientation sensor, a speed-adjustable compliant grinding and polishing mechanism and a controller, and the linear module servo motion platform is used for driving the grinding and polishing mechanism to perform linear motion; the mounting flange and the limiting plate are mounted on a base of the linear module servo motion platform, and the position and orientation sensor and the speed-adjustable compliant grinding and polishing mechanism are installed on the limiting plate; and the position and orientation sensor is used for measuring position and orientation of the one-dimensional variable force grinding and polishing device and sending the position and orientation to the controller, a force sensor is arranged between the compliant grinding and polishing mechanism and sliding blocks, the force sensor is used for collecting a contact force signal and send to the controller which can calculate speed control quantity, and the speed-adjustable compliant grinding and polishing mechanism is driven to move by rotation of a servo motor according to the speed control quantity. According to the integrated active-passive compliant one-dimensional variable force grinding and polishing device and the control method, the contact status of a abrasive belt and a workpiece can be adjusted in real time, and a stable and compliant grinding and polishingprocess is realized.

The instant invention is directed to a active-over-passive coordinated motion winch designed to be used in combination with a class of existing offshore lifting systems such as A-Frames, booms or cranes to minimize the relative movement between a payload position and a destination position occurring commonly in offshore operations. The configuration of this system allows a remote operated vehicle (ROV) or any other launched load to be firmly captured until it is delivered to the desired destination. The configuration of the system also permits towed loads, such as sonar devices, to closely maintain level tow paths along the sea floor.

A hybrid active-passive signal bandpass filter comprising an active filter arranged in use to operate at a fundamental frequency which is a sub-multiple of a desired filter frequency of the bandpass filter, and a passive filter arranged in use to eliminate any pass bands in the frequency response of the active filter other than at the desired filter frequency for providing the pass band signal of the bandpass filter.

The invention discloses an active-passive cooperative heat storage wall heating system of a solar greenhouse, and belongs to the technical field of agricultural facilities. The active-passive cooperative heat storage wall heating system mainly comprises a phase-change heat storage wall, a concentration-type solar air heat collector system, an active heat storage heating system body and an equipment control unit. The phase-change heat storage wall is composed of a cement mortar layer, a phase-change heat storage layer, a bearing building block layer and a thermal insulation layer from the indoor side to the outdoor side, wherein the phase-change heat storage layer is formed by pouring phase-change materials packaged through steel drums, heat storage coil pipes, gravel and cement. The solar air heat collector system is formed by connecting multiple groups of condensation-type solar air heat collectors in series, and a sunshade device used in summer is arranged above the heat collectors. The active heat storage heating system body is composed of a heat collector, thermal insulation pipes, a heat storage coil pipe, a frequency conversion fan, air openings and air valves. The equipment control unit is composed of a controller, a temperature sensor and electric adjusting air valves. According to the active-passive cooperative heat storage wall heating system, active and passive heat collection, heat storage and heat supply of the wall of the solar greenhouse are combined, therefore, the heat storage and thermal insulation performance of the wall of the solar greenhouse can be obviously enhanced, the solar energy utilization rate of the greenhouse can be obviously increased, and the adjusting capacity of the heat storage wall of the solar greenhouse to the heat environment in the greenhouse is improved.