215 results about "Four jointed" patented technology

An instrument for measuring kinetic and kinematic variables of multijoint motor tasks comprises a linkage having four links connected at four joints, each joint having articulation about an axis, the four axes of articulation being substantially parallel, limb coupling means for coupling a limb to the linkage, the limb coupling means maintaining alignment of centers of rotation of two joints of the limb with centers of rotation of two joints of the linkage, means for providing a load to at least one of the two joints of the linkage, means for obtaining data respecting angular position of at least one of the joints of the linkage. In an alternative embodiment, the linkage has only two links. The invention also provides methods for detecting, monitoring, and/or treating neural and/or muscular problems associated with impaired movement of limbs.

The invention discloses a picking mechanical hand which comprises a terminal executor, a mechanical arm and a lifting platform. The lifting platform is installed on a creeper truck, and the creeper truck can automatically drive and achieve navigation. The mechanical arm is mainly and structurally comprises four joints, namely a base, a large arm, a small arm and a wrist. The base is connected with the lifting platform. The lifting platform mainly achieves movement in the vertical direction. The wrist is connected with the terminal executor. The terminal executor achieves space positioning and fruit harvesting action in harvesting operation. In the harvesting process, separation of fruits from fruit trees is mainly achieved through the degree of freedom of the wrist. The terminal executor has a visual analysis function, a pressure sensing function and a collision sensing function. For all the joint portions, an alternating current servo motor is selected as a driving source, and a planetary gear reducer is selected for speed reduction. The picking mechanical hand is small in structural mass and size, and has the advantages of being simple in transmission mechanism, low in design cost and the like.

A foldable skeleton for a playpen foldable skeleton includes an upper frame, four upright rods, and a bottom frame. The upper frame includes two pairs of first rods, two pairs of second rods, four joints, and four connecting seats. Each of the joints includes a main base, a press button, a cover, a locking block, an elastic member, and two linking blocks. The bottom frame includes four support seats, four bottom rods, two linking gears, a connecting base, a pull member, and an operation member. Thus, the teeth of the two linking gears mesh with each other, so that the two linking gears are rotated relative to each other in a synchronous manner, and the bottom rods are folded synchronously.

Electric shaver provided with a handle and a shaver head including at least one drivable cutter element, wherein said shaver head is connected to said handle by means of a support structure providing for a swivel and/or tilting axis about which said shaver head may swivel or tilt relative to said handle, wherein said support structure includes a pair of link arms forming a four-joint linkage with each link arm having a head joint connected to a shaver head part and a handle joint connected to the handle or a base part connected thereto.

A front hood system has a front hood of a vehicle coupled to the frame of the vehicle via at least one four-joint hinge. In addition, the front hood can be latched by means of at least one hood lock. An economically and technically feasible protection provided for pedestrians is accomplished in that at least one four-joint hinge has at least one link whose joint is situated on one of the parts of the front hood and the vehicle body can be displaced in the position thereof due to the force of impact of a pedestrian.

A modularization teaching robot with reconfigurable functions, belongs to the field of electromechanical control and automatization teaching, which comprises a core servo module and an accessory, wherein the core servo module includes a main body host, a main body deputy, a dwang of a joint plane, a dwang of rotation plane, a DC machine and a reinforcement plate. The main body host is symmetrical along a center line and of phi-shape; the reinforcement plate is reinforced on two side walls; the main body deputy is of U-shape, the main body host and the main body deputy are connected through the dwang of a joint plane and the dwang of rotation plane; the DC machine is mounted on the main body host; a connecting module is mounted on four joint planes of the core servo module, the core servo module are combined into a reconfigurable robot through the connecting module, or the core servo module and the accessory are combined into the robot. The invention provides a high level teaching experiment platform which integrates machinery, electron, control theory and software engineering, with strong practice teaching functions.

The invention discloses a network flow type prediction method based on deep learning. A multistage prediction scheme of ''edge pre-classification + center fine classification'' is adopted, that is, pre-classification is performed at first and then fine classification is performed, and deep learning models of pre-classification and fine classification are respectively constructed on an SDN switch and an SDN controller of a network edge, wherein the network function virtualization NFV technology is adopted, computing resources of switches in the SDN network and a distributed deep learning network constructed by links are used as hardware resources required for the pre-classification model, and the SDN controller is used as the hardware resource required for the fine classification model; andthe pre-classification model uses four joint features, and the fine classification model uses ten joint features. By adoption of the multistage prediction scheme in the network flow type prediction method disclosed by the invention, the communication overhead of the switch to the controller can be reduced, and the load of the controller can also be alleviated; the prediction is achieved by usinga capsule network method as early as possible; and meanwhile, the deep learning model is periodically trained by using an autonomously updated training data set to improve the prediction accuracy.

The invention discloses a movable structure based on a folding-rod shearing-type unit, composed of a connecting bar mechanism and inhaul cables, wherein the connecting bar mechanism comprises two sub connecting bar mechanisms; a connecting bar is hinged with four joints between the two sub connecting bars respectively; the other ends of the four connecting bars are hinged together to form a hinging joint; a middle pin joint of the first folding-rod shearing-type unit of the first sub connecting bar mechanism is rotatably connected with a bracket; a middle pin joint of the tail folding-rod shearing-type unit of the second sub connecting bar mechanism is rotatably connected with a bracket; thus, the geometrical shape of the structure can be changed by change of the length of four inhaul cables. The invention is a connecting bar mechanism composed of a folding-rod shearing-type unit and a multi-rod hinging unit, and uses four inhaul cables to drive the connecting bar mechanism so as to form structures with a plurality of stable geometrical shapes; the geometrical shapes of the movable structure can be expressed by two arcs; and the structure is rational and the design and construction are simple, so that the movable structure is suitable for buildings with different spans.

A seat assembly for a vehicle comprising a four joint link mechanism for storing a seat into concave portion provided on a floor of the vehicle and a motor device driving the four joint link mechanism, wherein a wire harness connected to the motor device is wired in a space provided between a cover attached to a rear link which forms the four joint link mechanism and the rear link.

The invention provides a coupling under-actuated integrated three-joint robot finger device, which belongs to the technical field of robot hands. The device comprises a base, one motor, three finger segments, four joint shafts, one motor, eight connecting rods, four spring pieces and the like. The invention utilizes the connecting rods and the spring pieces to form a coupling transmission mechanism and an under-actuated transmission mechanism which are integrated and are in sleeved connection with the three finger segments so as to comprehensively realize the special effect of integrating a three-joint finger coupling-grabbing process with an under-actuated self-adaptive grabbing process. The finger device adopts a coupling mode for rotation before touching objects, can grab the objects in a pinching way, can adopt an under-actuated self-adaptive mode to rotationally grab the objects after touching the objects, and automatically adapts to the size and shape of the grabbed objects so as to realize grabbing in a holding way. The finger device has the advantages of great force, low requirement on control systems, simple reliable structure, low cost, suitability for long-term use, similarity to the appearance and motion of fingers of human hands and applicability to anthropomorphic robot hands.

The invention discloses a surgical operation-assisting electrical locking bracket, which comprises a handle, a wrist joint, a fore arm, an elbow joint, an upper arm, a shoulder joint, a waist joint and a base rod, wherein one end of the handle is connected with an operation-assisting tool; the other end of the handle is connected with the wrist joint connected with one end of the fore arm; the other end of the fore arm is connected with the elbow joint connected with one end of the upper arm; the other end of the upper arm is connected with the shoulder joint connected with the waist joint; the joint axes of the shoulder joint and the waist joint are perpendicular to each other; and the waist joint is connected with the base rod through a machine frame arranged on the waist joint. The bracket has four joints, six degrees of freedom, position and attitude decoupling and large tail-end working space and can meet needs of surgical departments such as thoracoabdominal department. In addition, the bracket has the advantages that: the operation is very convenient; the structure is simple; the cost is low; and a weight self-balancing mechanism can perform adjustment according to the load at a tail end.

The invention discloses a variable configuration biomimetic quadruped robot and belongs to the field of robotics, theory of mechanism, and bionics. A physical mechanical structure of the variable configuration biomimetic quadruped robot includes four biomimetic one leg structures and a main body. Each biomimetic one leg structure includes four degrees of freedom, that is to say, includes four joints of the first hip joint, the second hip joint, the thigh joint and the shank joint. The first hip joint is directly connected with the main body, and the joint rotation shaft of the first hip jointis perpendicular to the main body plane. The first hip joint is combined with the thigh joint and the shank joint to move so that the processing state like insect crawling can be achieved. The secondhip joint is connected with the first hip joint, and the joint rotation shaft is in parallel with the main body plane. The second hip joint is combined with the thigh joint and the shank joint to moveso that the processing state like mammalian walking can be achieved. According to the variable configuration biomimetic quadruped robot, two processing states of insect crawling and mammalian walkingcan be switched freely; the structure is not complex, so that higher function requirements can be achieved, and higher environmental adaptability can be achieved.

A foldable cart for transporting golf clubs includes a main frame, a joint unit, a handle frame, two supporting frames, a club holder, a front wheel, two rear wheels, an auxiliary frame unit and a linking rod. The joint unit has four joints, each of which includes a first, second and third lock. When the first lock is released, the handle frame may be folded towards the main frame. When the third lock is released, the front wheel and fork may be turned over. When the second lock is released, one of the joints is moved upwards and pushes the linking rod and two supporting rods to make the front wheel, front fork, two auxiliary supports and two rear wheels folded towards the main frame.

The invention provides a BP neural network-based multimodal motion method and system of robot fish. The method comprises the steps of building a CPG model; carrying out dynamic modeling on robot fish with pectoral fins at four joints, inhibiting pectoral fin CPGs by tail fin CPGs in a one-way manner, determining left and right input stimuluses, downlink and uplink phase coupling coefficients, uplink and downlink coupling coefficient weights and CPG frequencies corresponding to various joints by using nonlinear oscillator models as CPG neurons; building a BP neural network model; obtaining variations of joint angles on the basis of the CPG model, storing variation values of the joint angles as data packets for carrying out BP neural network training, and transmitting the trained data to a controller of the biomimetic robot fish; and driving swinging of various joints by using CPG signals and carrying out swimming and turning motions of the robot fish. According to the BP neural network-based multimodal motion method and system of the robot fish, multimodal motions of the robot fish are learned by using the BP neural network, so that the target of learning the multimodal motion processes of the robot fish through the BP neural network is finally achieved and the autonomy and the adaptability of a robot fish system are improved.

The invention discloses a multi-moving-mode bionic moving robot, which is characterized by consisting of a machine body platform, six machine legs in the same structures, a video monitoring system based on 3G (3rd generation) network and a double-rocker-rod remote operation and control system based on remote operation, wherein the machine legs comprise four joint parts and one wheel part, each joint part is driven by a large-torque steering engine with the rotating angle being 180 degrees, one steering engine is in charge of driving one joint, the wheel parts are driven by large-toque steering engines with the rotating angle being 360 degrees, and the whole circle rotation can be realized. The two ends of the steering machine rotating center shaft are respectively fixed by bearings, the six machine legs are symmetrically arranged at two sides of the robot machine body platform for forming a bionic mechanism, a connecting rod arranged at the lower end of the machine legs adopts a right-angle reverse L-shaped deign, one end of the connecting rod is connected with the machine body, the other end of the connecting rod is in contact with the ground, the video monitoring system mainly comprises a sending end and a receiving end, and the remote operation and control system carries out operation and control by aiming at the six machine legs, and mainly comprises a sending end and a receiving end.

The invention provides an arm frame device which comprises at least four joints of arm frames, wherein all the arm frames are sequentially articulated, the first three joints of the arm frames are folded into the shape of R, the third joint of the arm frame (3) is a bending arm frame, when the arm frame device is in a folded state, the fourth joint of the arm frame (4) is folded below the third joint of the arm frame (3). The arm frame device according to the invention is compact in structure, the utilization rate of the space in the vertical direction of the arm frames is improved, the spaceis provided for arranging the multiple joints of the arm frames, and more joints of the arm frames can be folded in the same folding space, thereby increasing the total length of the arm frame deviceand improving the flexibility in material distribution of the arm frames. In addition, the invention further discloses an engineering machine with the arm frame device.

The invention relates to an aerial operation comprehensive vehicle for metro washing. Manual cleaning is replaced by high pressure water tunnel washing, and a crank arm double-rotary-table aerial operation platform is adopted for replacing a scaffold or a vertical lifting platform to maintain metro tunnel walls and contact nets. The aerial operation comprehensive vehicle comprises a railway vehicle with power, an automatic control system, the crank arm double-rotary-table aerial operation platform, a double-power system and a high pressure water system, a vehicle body of the railway vehicle with power is of a double-fish-belly double-layer structure, the crank arm double-rotary-table aerial operation platform is installed on the upper layer, two water tanks of the high pressure water system are installed on the lower layer for supplying water, and a hydraulic cylinder is arranged between the vehicle body and a bogie to be capable of achieving rigid connection between the vehicle body and a steel rail; the crank arm double-rotary-table aerial operation platform is composed of a four-joint arm, a pull rod, double rotary tables and a hanging basket. The high pressure water system further comprises an inlet water filtering part, a booster pump, a high-pressure pump and a high-pressure pipe, and the high-pressure pipe is connected with a spraying rod.

The invention discloses a cooperative driving mechanism for active and passive decoupling between fingers. The mechanism mainly comprises motors, ball screws, gears, sliding blocks, pulleys, a steel wire rope and the like. The steel wire rope starts from a fingertip of a finger, bypasses the upper parts of the pulleys as a bending driving rope, bypasses the lower parts of the pulleys as a tightening driving rope, and bypasses pulleys on the sliding blocks to be finally fixed on a fingertip of the other finger. The motors drive the ball screws through meshing gears to enable the sliding blocksto move up and down so as to control the fingers to bend and straighten, one motor controls proximal joints of the two fingers, and the other motor controls the other four joints of the two fingers. According to the mechanism, the movement of the proximal joints is independent relative to the other two joints, so that the fingers have better self-adaptability, the operational capability of the fingers on the object is improved, and meanwhile, the grabbing torque of the joints during grabbing is more conveniently adjusted.

The invention discloses an under-actuated biped walking robot based on flexible drivers. The walking robot consists of four active joint modules based on the flexible drivers, a large (small) leg connecting rod and two under-actuated feet, wherein left and right legs are respectively provided with two joints, namely a hip joint and a knee joint, and only have pitching freedom degree; the feet are two semi-cylindrical components, have rolling friction with the ground and rotate around a contact line; in a constructed sport environment, the whole robot can perform planar motion in a sagittal plane. The flexible drivers are adopted for the four joints of the biped walking robot. The biped walking robot has the characteristics of natural walking gait, high energy efficiency, capability of effectively reducing instantaneous torque generated by collision borne by a driving motor, shock buffer and absorption, and the like; by virtue of an under-actuated mode, the robot has the characteristics of energy conservation and personification. The robot is capable of realizing an initiative walking function, simultaneously has good environmental suitability, low cost and low energy consumption, and can be widely applied to lower limbs structures of medical humanoid robots and humanoid robots serving for the disabled.

The invention discloses a subway station body structure and a four-joint-arch PBA underground excavation construction method thereof. The subway station body structure comprises a station inner body structure, multiple left piles, multiple right piles, three sets of middle columns, middle plates and body arches. The body arches are four-joint arches. The construction method comprises the steps of pilot tunnel excavation and primary support; horizontal base and bottom longitudinal beam construction; side pile and middle column construction; crown beam, top longitudinal beam and pilot tunnel inner arch section construction; first and third arch section primary support buckle arch construction; second and fourth arch section primary support buckle arch construction; secondary lining structure construction of first and third arch sections; secondary lining structure construction of second and fourth arch sections; excavation of the upper portion of the station inner body structure, and secondary lining construction of the middle longitudinal beams, the middle plates and the upper portion of the side wall; earth excavation of the lower portion of the station inner body structure and secondary lining construction of bottom plates and the lower portion of the side wall. The construction is easy, the construction progress is fast, the subway station body structure constructed and formed is firm, and the using effect is good.

The invention relates to a four-joint visual robot. In the invention, a robot chassis structure comprises a robot chassis, a motor, a planetary gear reducer, a rotary disc, a base and two bearing blocks, wherein the motor drives the planetary gear reducer to run so as to drive the rotary disc, the base and the bearing blocks to rotate; a large arm mechanism assembly comprises a motor, a planetary gear reducer, a primary driving shaft, two primary driving arms, two primary driven arms and two middle clamping plates, wherein the motor drives the planetary gear reducer to act so as to drive the primary driving shaft and a parallelogram motion mechanism to rotate; a small arm mechanism comprises a motor, a planetary gear reducer, a secondary driving shaft, an arc tooth synchronous belt, a driven wheel, a belt wheel shaft, two secondary driving arms, two secondary driven arms and two end clamping plates, wherein the motor drives the planetary gear reducer and the secondary driving shaft to rotate, and the arc tooth synchronous belt drives the driven wheel to rotate so as to drive a small arm parallelogram motion mechanism to rotate; and the robot also comprises hand components. The robot has the advantages of simple structure, convenience of use and cost reduction.

The invention discloses an underactuation type anthropopathic three-finger manipulator. The underactuation type anthropopathic three-finger manipulator comprises a palm, two fingers and a thumb; each finger comprises four joints which are connected through a spring plate, a finger cover plate and screws; the palm comprises a bottom plate and a cover plate and is used for fixing a motor and the fingers. According to the underactuation type anthropopathic three-finger manipulator, a closed-loop feedback system composed of a force sensor and an angle sensor is used to achieve simple grasping and nipping action. The underactuation type anthropopathic three-finger manipulator is characterized in that single finger is controlled through one motor by a tendon transmission manner on the basis of the underactuation principle, so that the finger can adapt to hold an object while grasping different objects; the underactuation type anthropopathic three-finger manipulator has the advantages of being simple in structure, small in difficulty at grasping control, and high in reliability.