192 results about "Joint axis" patented technology

The invention discloses a wearable lower limb exoskeleton device, which comprises a waist supporting frame, a waist object carrier, an adjustable hip mechanism, a connecting rod adjustable knee joint mechanism, a connecting rod adjustable ankle joint mechanism, pressure detection shoes, a leg connecting rod, a constraint part and various connecting pieces. Both lower limbs have twelve rotational freedoms, the single lower limb has six degrees of freedom respectively, a hip has two degrees of freedom which finish bending and stretching as well as adduction and abduction movements of a hip joint, two joint axes always intersects at the center of the hip joint of a human body through the adjustment of the hip mechanism, and a knee joint has one degree of freedom which is coaxial with the knee joint of the human body and corresponds to the bending and stretching movement of the knee joint of the human body; and an ankle joint has three degrees of freedom. The device has good consistency of the movement of the hip joint and the movement of the human body during the walking of people; human-machine knee joints have small coaxality and position deviation; and the ankle joint has a compact structure. The device can be used for strengthening the abilities of walking with load and walking for a long time of wearers and detecting walking information of the wearers, and can also be used for helping people with slight obstacle of lower limb movement to normally walk and gradually rehabilitate.

The invention relates to a ring binder mechanism for housing perforated documents. The ring binder mechanism comprises a housing (10) with spring elastically flexible housing flanks (28). Two carrier rails (20) are arranged within the housing (10), which may be pivoted towards each other by the spring action of the housing flanks (28) in the manner of an elbow joint in the region of the longitudinal edges thereof which face each other. At least two half rings (16), which pair-wise form a ring (14), are rigidly connected to the support rails (20) at defined longitudinal separations from each other. At least two locking elements (32), operated by means of an actuating element (18) and a tie rod (44), are further provided, which engage in a free space (34), formed between the carrier rails (20) and a housing wall (13), in the locked position, with locking of the pivoting movement of the carrier rails (20) and which release the pivoting path about the joint axis (22) in the opened state, whereby the locking elements (32) are pre-tensioned in the closing direction by the action of a closing spring (36). According to the invention, only one single tie rod (44) is provided, the tie rod comprising several dogs (201), each of which is provided for cooperating with one of the locking elements (32).

A portable robotic arm comprises a base, a plurality of motorized joints, a plurality of body members and a manipulator. Each motorized joint is operative to rotate in its respective rotation plane and on its respective joint axis, which is normal to the respective rotating plane. Each body member is sequentially connected to one other body member through one of the motorized joints. A last body member is connected to the base through a last motorized joint. A manipulator is connected to a first body member through a first motorized joint. At least two consecutive rotation planes are placed at an angle from each other that is greater than 0 degrees and smaller than 90 degrees. Optionally, the manipulator comprises three fingers and a tool port centered between the three fingers. A tool connected in the manipulator's tool port may be gripped with the three fingers. The robotic arm and a wheelchair support for the robotic arm may also be provided as a kit.

An exoskeleton for humans including a joint element that interacts directly or indirectly with a human's joint via an end-effector mount, wherein the end-effector mount is arranged to perform an arbitrary planar parallel movement in a plane, allowing superimposed translational and rotational movements of the end-effector mount relative to a body of the joint element. The exoskeleton allows for excellent adjustment of the joint axes, i.e. the exoskeleton's and the human's joint, for effecting simultaneous translational and rotational movements. Particularly, the exoskeleton is self-aligning to the movements of a human's joint independent from differences in the attachment of the exoskeleton to the body and anatomical differences of the patients.

A support shell arrangement (20) is provided for arranging on a lower leg, having a foot part (23) and a calf part (21). The calf part includes two calf struts (29, 30) disposed at the side of an entry opening (32) of the calf part, extending in the longitudinal axis of the calf part, and a heel strut connected to the calf struts in a strut connection and extending toward a heel part of the foot part. A support bow arrangement (24) has two bow struts (34, 35) extending in a U-shape about a sole area, the free strut ends thereof being pivotally connected in pairs in a common pivot joint (43, 44) on a joint axis corresponding to the ankle joint and connected to a calf strut, and connected to each other in a V-shape by a common support basis (36). The support basis is pivotally connected to the heel strut of the calf part at the heel side end thereof.

A method of and apparatus for achieving dynamic robot accuracy includes a control system utilizing a dual position loop control. An outer position loop uses secondary encoders on the output side of the gear train of a robot joint axis, while the inner position loop uses the primary encoder attached to the motor. Both single and dual loop control can be used on the same robot and tooling axes.

A prosthesis is disclosed for improving the gait and comfort qualities of the amputee that participates in walking, running and jumping activities. A foot and an ankle of the prosthesis are monolithically formed as a resilient member including a strut which forms an ankle joint. A hole extends through the resilient member with the periphery of the hole forming an anterior side surface of the strut. The resilient member anterior to the hole includes a gap to permit motion about the ankle joint axis while providing a stop in dorsiflexion. The hole is elongated upwardly such that the strut is upstanding and anterior convexly curved.

In a control method of a multi-jointed manipulator, the manipulator is controlled through a process to transmit a difference between an end position of the manipulator and a target position to the joint axes, and a process to adjust joint displacements and joint velocities of the joint axes independently of one another of the joint axes based on the difference, these processes being repeated until the end position coincides with the target position. By such a manipulator control method, there can be realized position control which is robust against ambient environments and which is easy to achieve even with redundancy or nonlinear drive elements involved.

A foldable six degrees of freedom light type operating arm with a joint axis orthogonal relation is characterized in that a first rotating joint, a second rotating joint, a large arm connecting rod, a third rotating joint, a forth rotating joint, a fifth rotating joint and a sixth rotating joint are arranged on a foundation base in sequence, an output end of the sixth rotating joint is connected with a tail-end single degrees of freedom paw, wherein an axis of the first rotating joint is arranged coaxially with the foundation base and is perpendicular to an axis of the second rotating joint, the axis of the second rotating joint is parallel to an axis of the third rotating joint, the axis of the third rotating joint is perpendicular to an axis of the forth rotating joint, the axis of the forth rotating joint is perpendicular to an axis of the fifth rotating joint, the axis of the fifth rotating joint is perpendicular to an axis of the sixth rotating joint, and the axis of the forth rotating joint, the axis of the fifth rotating joint and the axis of the sixth rotating joint are intersected at one point in space. By means of the foldable six degrees of freedom light type operating arm with the joint axis orthogonal relation, the integrated structure of an operating arm is simpler and more convenient, and quality is more portable and convenient, so that the optimal operating flexible performance of the tail end of the operating arm can be assured.

A prosthetic hip for supporting on a patient a prosthetic leg comprises a socket, a mount on the outer surface of the socket and defining a joint axis, the joint axis substantially coinciding with the natural axis of rotation of the patient's natural leg when rotated in a sagittal plane, and a first member adjustably affixed to the socket's outer surface. The first member includes an extension stop member and the upper end of the leg is pivotably mounted on the mount such that and pivoting of the leg in at least one direction is limited by the stop member. The prosthetic hip may also include a roller on a load arm extending medially from the upper leg end so as to engage the outer surface of the socket transmit a load from the socket directly to the prosthetic leg.

The invention discloses a zero calibration method of a six-axis industrial robot. The zero calibration method comprises the following steps that reference positions are selected and set as initial zeros; a first joint axis is rotated on the basis of the reference positions; a second joint axis is adjusted to allow the inner side of the second joint axis to be kept in a horizontal position; a group of positions, where a difference value of a rotation angle of the second joint axis is maximum, in various groups of positions where a difference value of a rotation angle of the first joint axis is 180 degrees is determined; the first joint axis is rotated to a position perpendicular to the group of positions, which is the zero position of the first joint axis; on this basis, the second joint axis to a sixth joint axis are calibrated horizontally or perpendicularly by a precise level gauge; the rotation angles of the joint axes are written down; and the zero positions of the joint axes, namely the zero positions of the six-axis industrial robot are acquired finally. According to the method, the scale-free six-axis industrial robot can acquire the zero positions easily and quickly under the condition that the zeros are lost, and the motion precision of the industrial robot is improved.

What is described is a joint arrangement for the articulated connection of two segments of a patient bed, with two joint parts (36, 38), each of which is connected rigidly to one of the segments and which are pivotable relative to one another about a common joint axis (64) by means of a shaft journal (46), the joint parts (36, 38) carrying, in each case on at least one of their faces confronting one another axially, blocking faces (60) intended for bearing against one another, and the joint parts (36, 38) being capable of being tensioned axially relative to one another by means of a tensioning mechanism (46, 54, 50), and the blocking faces (60) lying in each case at least approximately in a plane containing the joint axis (64).

A control apparatus (10) for a machining robot (1) adapted to machine a workpiece (20) by coming into contact with an effector (19) of a tool (18) attached to the machining robot with the workpiece comprises: detecting means (15) for detecting a force or moment acting between the effector of the tool and the workpiece; converting means (22) for converting the force or moment detected by the detecting means into a force or moment acting on the joint axis of the machining robot; deflection calculating means (25) for calculating a deflection occurring at the joint axis of the machining robot on the basis of the force or moment acting on the joint axis of the machining robot and obtained from the converting means; ; and correcting means (28) for correcting at least one of a position command or a speed command for the joint axis of the machining robot in such a manner as to compensate for the deflection calculated by the deflection calculating means. Accordingly, the position of the robot is accurately corrected without being affected by the deflection of the joint axis.

The invention discloses an electric quadruped robot with variable mechanism configuration. The electric quadruped robot with the variable mechanism configuration comprises a trunk and four legs connected to the trunk; each leg comprises three transmission chains which are respectively a first transmission chain, a second transmission chain and a third transmission chain, the first transmission chain is connected with the trunk, the second transmission chain is connected with the first transmission chain, and the third transmission chain is connected with the second transmission chain. The first transmission chain drives a hip joint axis to rotate, the second transmission chain drives a thigh rod piece to rotate, and the third transmission chain drives a shank rod piece to move. The mechanism configuration of the electric quadruped robot can be transformed according to specific terrains, the electric quadruped robot has multiple motion modes of quadruped crawling, quadruped walking and partial crawling-partial walking, when the mechanism configuration of crawling is used, the electric quadruped robot is high in stability, and can better pass through rugged and complex terrains; when the mechanism configuration of walking is adopted, the electric quadruped robot is quick in action speed and high in efficiency and energy utilization rate; the electric quadruped robot with the variable mechanism configuration is driven by the motor, therefore, noises can be greatly reduced, and a mechanical main body is lighter and more flexible.

A control apparatus (10) for a machining robot (1) adapted to machine a workpiece (20) by coming into contact with an effector (19) of a tool (18) attached to the machining robot with the workpiece comprises: detecting means (15) for detecting a force or moment acting between the effector of the tool and the workpiece; converting means (22) for converting the force or moment detected by the detecting means into a force or moment acting on the joint axis of the machining robot; deflection calculating means (25) for calculating a deflection occurring at the joint axis of the machining robot on the basis of the force or moment acting on the joint axis of the machining robot and obtained from the converting means; and correcting means (28) for correcting at least one of a position command or a speed command for the joint axis of the machining robot in such a manner as to compensate for the deflection calculated by the deflection calculating means. Accordingly, the position of the robot is accurately corrected without being affected by the deflection of the joint axis.

The invention relates to a leg support arrangement for operating tables comprising two leg supports, connected to a base element of an operating table such that, the above are adjustable between a base position, lying adjacent to each other parallel to the longitudinal mid-axis of the operating table and a spread position with a separation from the longitudinal mid-axis, whereby each leg support is connected to the base element by means of a parallelogram joint, the joint axes (36, 52, 44, 54) of which are arranged perpendicular to the plane of the base element.

The invention relates to an anti-side rolling torsion rod axis for a railway vehicle and a manufacturing method thereof. The anti-side rolling torsion rod axis for the railway vehicle mainly comprises a torsion rod axis, torsion arms, a supporting seat, a lower joint axis of a vertical connecting rod, the vertical connecting rod, an upper joint axis of the vertical connecting rod and the like, wherein the torsion rod axis is connected with the left torsion arm and the right torsion arm in a conical surface matching way. Compared with the current typical torsion rod types (cylindrical surface interference fit and splined connection), the invention has the advantages that the torsion rod axis and the torsion arms can be assembled through the action of high pressure oil without heating or cooling; the purposes of disassembly and assembly for many times can be realized, and the combined surface of the torsion rod axis and the torsion arms can not be damaged; the magnitude of interference can be accurately adjusted by controlling the displacement in the axial direction; and the type of connecting with a steering frame is more flexible, and the influence caused by the steering frame structure is little.

Adjustment mechanism for adjustment area of variable-shape flow surface with two opposite skin surfaces includes plurality of whirl chambers swivelably arranged next to one another so that the whirl chambers are swivelable relative to one another, and the whirl chambers include lateral stiffening elements and longitudinal stiffening elements. Joints are structured and arranged to jointedly couple lateral stiffening elements and longitudinal stiffening elements of the whirl chambers, and a first drive tube section and a second drive tube section are arranged between adjacent longitudinal stiffening elements. A pump is coupled to first and second drive tube sections and control device is functionally connected to pump to swivel adjacent whirl chambers around joint axes via complementary volume changes in first and second drive tube sections. The instant abstract is neither intended to define the invention disclosed in this specification nor intended to limit the scope of the invention in any way.

A walking assistance device has a drive mechanism, which is provided with a linear-motion actuator including an electric motor installed in the upper link member, nut members which are rotationally driven by the electric motor, and a linear-motion output shaft which linearly moves in the direction of the axial centers of the nut members, and a crank arm which is secured to the lower link member coaxially with a joint axis of a third joint and swingably attached to one end of the linear-motion output shaft. The drive mechanism is constructed such that a translational force output from the linear-motion output shaft of the linear-motion actuator is converted into a rotational driving force of the third joint through the crank arm.

The present invention is polyarticular flexible mechanical arm, and belongs to the field of flexible robot technology. The polyarticular flexible mechanical arm includes M serially connected joint modules comprising one torsion joint and one bending joint each mounted on the pedestal. The torsion joint driving the bending joint and the next joint module to rotate around the said joint axis includes one input reversing gear set, one clutch set, one output reversing gear set, one speed reducer, one driving arm, and one spur gear-planet gear train. The bending joint driving the next joint module to rotate around the axis of the said joint speed reducer includes one input reversing gear set, one clutch set, one output reversing gear set, one speed reducer, one driving arm, and one bevel gear-planet gear train. The present invention has standard modules, great flexibility, light weight, several freedoms and high expandability.

This invention relates to one optical displacement device to realize multi-dimension adjusting controlled by machine, which comprises base socket, lens socket, referent lens inside, hanging arm, acting joint axis and the three same displacement device, wherein, each displacement device is composed of screw area, locking structure and piezoelectricity ceramics; the ceramics is fixed on the case with one end contact to the v shape groove of the lens socket and steel ball; the case can slide inside the groove; the screw bar is located with locking structure on the base socket.

The invention discloses a force sense manipulator with a mechanical arm. The force sense manipulator comprises six rotation joints and has six freedom degrees. The rotation joints are arranged in way similar to the serial connecting rods of an industrial mechanical arm, the first joint is located at the bottommost part, and the sixth joint is located at the tail-most end. The second joint and the third joint adopt a parallel connecting rod mechanism arrangement manner, a third joint motor is placed on a rotary disc, an angle sensor is placed on a joint axis, and position precision and structure rigidity are guaranteed and structure rotation inertia is reduced. In the three lower joints, a rope transmission mechanism with a tensioning device is used, large force feedback capability is provided when gaps are avoided. The three upper joints are driven by direct transmission. The joint shaft of each of the fifth joint, the second joint, the third joint, the fourth joint and the fifth joint adopts a U-shaped shifting force connecting manner, and structural strength and precision are guaranteed.

Adjustment mechanism for adjustment area of variable-shape flow surface with two opposite skin surfaces includes plurality of whirl chambers swivelably arranged next to one another so that the whirl chambers are swivelable relative to one another, and the whirl chambers include lateral stiffening elements and longitudinal stiffening elements. Joints are structured and arranged to jointedly couple lateral stiffening elements and longitudinal stiffening elements of the whirl chambers, and a first drive tube section and a second drive tube section are arranged between adjacent longitudinal stiffening elements. A pump is coupled to first and second drive tube sections and control device is functionally connected to pump to swivel adjacent whirl chambers around joint axes via complementary volume changes in first and second drive tube sections. The instant abstract is neither intended to define the invention disclosed in this specification nor intended to limit the scope of the invention in any way.

A universal joint includes a first joint fork having a joint axis and a second joint fork having a joint axis, the joint axes being borne by plain bearings and the joint forks each being formed by a base part and two fork elements. Each fork element has a closable bore, and the joint axes intersect between the bores, whereby a bearing prestress unit allows the joint fork to function without play about the joint axis thereof so that the universal joint can be positioned precisely.

A portable robotic arm comprises a base, a plurality of motorized joints, a plurality of body members and a manipulator. Each motorized joint is operative to rotate in its respective rotation plane and on its respective joint axis, which is normal to the respective rotating plane. Each body member is sequentially connected to one other body member through one of the motorized joints. A last body member is connected to the base through a last motorized joint. A manipulator is connected to a first body member through a first motorized joint. At least two consecutive rotation planes are placed at an angle from each other that is greater than 0 degrees and smaller than 90 degrees. Optionally, the manipulator comprises three fingers and a tool port centered between the three fingers. A tool connected in the manipulator's tool port may be gripped with the three fingers. The robotic arm and a wheelchair support for the robotic arm may also be provided as a kit.

The invention relates to a robot original point demarcating method and device, a storage medium and computer equipment. The method comprises the following steps that initial joint coordinates corresponding to each joint axis initial state of a robot are obtained, according to the initial joint coordinates, preset reference points at the terminal of the robot in various different attitude trends and current initial joint coordinates corresponding to the joint axis initial states when the preset reference points are coincide are obtained, according to the current joint coordinates, position coordinates corresponding to each attitude are obtained, distance deviation of the every two position coordinates are calculated, when any distance deviation is higher than a preset value, the initial joint coordinates are updated by using a search algorithm, according to the updated initial joint coordinates, the current joint coordinates are updated, the step that according to the current joint coordinates, position coordinates corresponding to each attitude are obtained is entered, and until each distance deviation is less than the preset value, the corresponding target initial joint coordinates are obtained to be used as an original point of the robot. By means of the robot original point demarcating method, the cost can be reduced, and the efficiency can be improved.