39 results about "Joint locking" patented technology

The invention discloses a mechanism for controlling deflection of a snakelike joint and a multi-degree-of-freedom flexible instrument applying the same. The mechanism comprises a handle, a main frame, a fixed support, a shaft tube, the snakelike joint and an execution tool. A connecting rod sliding block mechanism and a flexible transmission rod (a steel wire bundle) are arranged in the handle to control opening and closing of the execution tool. A multi-degree-of-freedom rotating shaft is arranged in the main frame and comprises two rotating shafts for controlling the snakelike joint to deflect in the horizontal direction and the vertical direction, and a joint locking mechanism is further arranged on the main frame and can lock the execution tool at any angle relative to the shaft tube and unlock the execution tool at any time. A pulley mechanism is arranged in the fixing support to bear the silk threads. The far end of the silk thread is fixed to the execution tool and penetrates through the snakelike joint and the shaft tube to be fixed to a wire spool of the multi-degree-of-freedom rotating shaft. Deflection in the horizontal direction and the vertical direction of the handle can be transmitted to the snakelike joint through the multi-degree-of-freedom rotating shaft, so that horizontal and vertical two-degree-of-freedom movement of the execution tool is achieved.

The invention provides a lower limb load-bearing assisting exoskeleton capable of achieving rapid self-locking in a standing state. The lower limb load-bearing assisting exoskeleton comprises hip joints, knee joints and locking mechanisms arranged at the hip joints and the knee joints, wherein the locking mechanisms comprise joint locking units and linear drivers; the joint locking units comprisesfixing bases, locking pins and elastic pieces, the locking pins are assembled in the fixing bases, one ends of the locking pins form locking ends and extend out of the fixing bases, the other ends ofthe locking pins are provided with bosses, and the elastic pieces are arranged between the fixing bases and the bosses; and the linear drivers comprise round rods capable of extending out, one ends of the round rods can abut against the other ends of the locking pins and drive the locking pins to carry out locking action, and locking holes matched with the locking pins are further formed in the hip joints and the knee joints. The lower limb load-bearing assisting exoskeleton capable of achieving rapid self-locking in the standing state can solve the problem of how to reduce the overall energyconsumption of a system composed of the exoskeleton and people to the maximum extent when a wearer rests in the standing state rest under large loads.

The portable manual surgical robot comprises a tool bit, a rod body and a handle, wherein the tool bit is connected to the front end of the rod body through a bent joint, the front end of the joint is fixedly connected with the rod body, and the rear end of the joint is rotationally connected with the handle through a spherical surface; a joint locking switch, which is arranged on the side face of the upper section of the handle, wherein the joint locking transmission shaft and the joint locking ring are located in the joint, one end of the tool bit joint four-direction bending traction steel rope is fixedly connected to the joint locking ring behind the joint bending control shaft, and the other end of the tool bit joint four-direction bending traction steel rope is connected with the tool bit; and a tool bit opening and closing control rod, a tool bit opening and closing traction shaft and a tool bit opening and closing traction steel rope, which are sequentially connected, wherein the front end of the tool bit opening and closing traction steel rope is fixedly connected to the tool bit, the tool bit opening and closing traction shaft rotating fulcrum is arranged in the handle, and the tool bit opening and closing traction shaft is rotationally connected with the tool bit opening and closing traction shaft rotating fulcrum. Extra motor power and computer program assistance are not needed, so that the size and the use cost are reduced, and the portability and the universality are improved.

The invention discloses a deflection control mechanism and a multi-degree-of-freedom flexible instrument applying the same. The deflection control mechanism comprises a handle, a main frame, a fixed support, a shaft tube, a snake-shaped joint and an execution tool. A connecting rod sliding block mechanism and a flexible transmission rod (a steel wire bundle) are arranged in the handle to control opening and closing of the execution tool. A multi-degree-of-freedom rotating shaft is arranged in the main frame and comprises two rotating shafts for controlling the snakelike joint to deflect in the horizontal direction and the vertical direction, and a joint locking mechanism is further arranged on the main frame and can lock the execution tool at any angle relative to the shaft tube and unlock the execution tool at any time. A pulley mechanism is arranged in the fixing support to bear the silk threads. The far end of the silk thread is fixed to the execution tool and penetrates through the snakelike joint and the shaft tube to be fixed to a wire spool of the multi-degree-of-freedom rotating shaft. Deflection in the horizontal direction and the vertical direction of the handle can be transmitted to the snakelike joint through the multi-degree-of-freedom rotating shaft, so that horizontal and vertical two-degree-of-freedom movement of the execution tool is achieved.

The invention discloses a ball joint pneumatic locking type rigidity-variable soft body arm framework, and belongs to the field of mechanical arms. The ball joint pneumatic locking type rigidity-variable soft body arm framework comprises a plurality of rotating assemblies connected in sequence, each rotating assembly comprises an outer shaft joint and an inner shaft joint, and the outer shaft joints and the inner shaft joints are connected through ball joints. Each ball joint comprises a pneumatic elastic piece, two outer shaft joint locking pieces and two inner shaft joint locking pieces. The pressure on the locking pieces can be changed through contraction of the pneumatic elastic pieces, so that the rigidity of the joints is changed, and the problem that in the prior art, a soft arm is difficult to shape is solved.

The invention provides a transfer butt joint locking device for an aerospace vehicle. The device comprises a transfer erecting frame, a platform support and locking assemblies, wherein the transfer erecting frame is configured to erect the aerospace vehicle and put the aerospace vehicle on a walking device, the walking device provides advancing power to transport the transfer erecting frame, and alower surface of the transfer erecting frame includes a concave guide rail; the platform support is configured to support the transfer erecting frame transported by the walking device, the platform support is installed on one side of a launching pad, and the upper surface of the platform support includes a convex guide rail; and the locking assemblies are arranged on the transfer erecting frame and the platform support and are configured to lock the transfer erecting frame on the platform support. According to the transfer butt joint locking device for the aerospace vehicle, manpower is saved, butt joint efficiency is improved, and launching preparation time of the aerospace vehicle is shortened.

The invention relates to an inverse kinematics method for a space mechanical arm under a single-joint locking failure. According to the characteristic relation between an SSRMS mechanical arm and an improved mechanical arm of the SSRMS mechanical arm, the inverse kinematics result of the equivalent mechanical arm of the SSRMS mechanical arm is used as the iterative initial value of the algorithm, and the time for the algorithm to be converged to the optimal value can be greatly shortened. During calculation, on the basis of the particle swarm algorithm, grouping operation is added, social behaviors of the biological boundary are simulated, communication between an elite group and a common group is carried out in each iteration, individuals with adaptive value differences are replaced, subgroup merging operation is carried out in the later stage of iteration, the convergence speed of the method can be improved, the calculation time of the algorithm is shortened. and the calculation time can be reduced on the premise of completing task requirements. The algorithm is a numerical solution method and can be analogically popularized to mechanical arms of other configurations, in addition, the method can further be used for calculation of inverse kinematics of the mechanical arm under the condition that joints are normal, and high universality is achieved.

The invention provides a light and simplified butt-joint locking and releasing device and a working method thereof, and the device comprises a passive end installed on a butt-joint aircraft and an active end installed on an active aircraft. The driving end comprises a lead screw capturing mechanism, a lead screw shell, a capturing in-place triggering mechanism, a transmission shell, a switch frame, a transmission gear, an unlocking in-place triggering mechanism and a locking in-place triggering mechanism, and the lead screw shell, the transmission shell, the motor frame and the switch frame are fixedly connected into an integrated structure in sequence from front to back; the lead screw capturing mechanism is arranged in the lead screw shell and the transmission shell and fixedly connected with the transmission gear, the capturing in-place triggering mechanism sequentially penetrates through the lead screw shell and the motor frame to be kept balanced under the action of the elastic force of the spring, and the locking in-place triggering mechanism and the unlocking in-place triggering mechanism are fixedly connected with the switch frame through bolts. The light and simplified butt-joint locking and releasing device is compact in structure, low in space occupancy rate, capable of being used repeatedly, firm in locking and capable of being applied to various butt-joint separation occasions.

The invention relates to a space five-degree-of-freedom mechanical arm, and belongs to the technical field of robots. The space five-degree-of-freedom mechanical arm comprises a base, a first support arm is mounted at the base rotationally, a first locking joint is arranged between the first support arm and the base, a second support arm is mounted at the end of the first support arm in a swinging mode, a second locking joint is arranged between the second support arm and the first support arm, a third support arm is mounted at the end of the second support arm in a swinging mode, a third locking joint is arranged between the third support arm and the second support arm, a fourth support arm is mounted at the end of the third support arm in a swinging mode, a fourth locking joint is arranged between the fourth support arm and the third support arm, a fifth support arm is mounted at the end of the fourth support arm in a swinging mode, and a fifth locking joint is arranged between the fifth support arm and the fourth support arm. The space five-degree-of-freedom mechanical arm is simple in structure, can complete simple joint locking, realizes mechanized operation of micro surgical operation and can be widely applied to medical operations.

The invention discloses a power-free lower limb exoskeleton. The invention provides an exoskeleton device which can assist in supporting a lower limb of a human body during walking, does not need external power, and has the characteristics of simple structure, convenience in wearing and use and reliability. The power-free lower limb exoskeleton mainly comprises a supporting seat, a thigh part, a shank part, a foot part and a joint locking device; the supporting seat can support the crotch of a person; the upper end of the thigh part is movably connected with the supporting seat through a rod end bearing, and the lower end of the thigh part is rotationally connected with the upper end of the shank part through a shaft pin; the lower end of the shank part is connected with the foot part in a sliding sleeve mode; the joint locking device is installed on the shank part; and the joint locking device is connected with the foot part through an inhaul cable. When the foot part steps on the ground, the shank part and the thigh part are fixed through the foot part and the joint locking device, the weight of the person is transmitted to the ground through the supporting seat, the thigh part and the shank part, and the lower limb is supported in an auxiliary mode.

The invention provides a joint locking failure space manipulator halt optimizing method which comprises the following steps: according to all exercise capacity indicators after standardized processingof a joint locking failure space manipulator, and based on an improved analytic hierarchy process and an entropy method, solving the weight of all exercise capacity indicators to realize comprehensive characterization of exercise capacity of the manipulator, constructing a preferable model of a joint locking failure space manipulator halt configuration, further solving a preferable model of the halt configuration based on the Monte Carlo numerical method, obtaining the optimal halt configuration of the joint locking failure manipulator, then, carrying out motion planning on the manipulator based on a sextic polynomial by taking the halt movement characteristics into consideration, further taking the safety and stability of the manipulator into consideration during the halt process, constructing and solving a space manipulator halt movement optimization model, and finishing halt optimization of the joint locking failure space manipulator. According to the technical scheme, safe and stable halt of the joint locking failure space manipulator can be realized.

The invention discloses a stirrup type multifunctional leg frame. The stirrup type multifunctional leg frame comprises a fixator and a foot frame body, wherein the fixator is connected with a multi-angle locking joint locking assembly, and one end of the joint locking assembly is connected with a connecting pipe fitting facilitating observation of the moving distance of the foot frame body; the connecting pipe fitting is connected with a connecting assembly used for being connected with the foot frame body; and the foot frame body is connected to top of the connecting assembly. The fixator isinstalled at the position of a rail of a sickbed, the connecting pipe fitting is adjusted to the position parallel to the two lower limbs of a patient, the lower limbs of the patient are placed at theposition of the foot frame body, and a nurse drives the foot frame body to move at the connecting pipe fitting by moving the connecting assembly, so that the moving distance of the foot frame for placing the lower limbs can be visually and clearly observed, the same moving distance of the lower limbs can be conveniently kept, and the risk of relative deviation between the left and right lower limbs of the patient and a bed body after the left and right lower limbs are placed on the foot frame is reduced, and smooth blood distribution at the two lower limbs of the patient can be conveniently kept.

The invention discloses a butt-joint locking interface device capable of actively conducting heat for a spacecraft. The butt-joint locking interface device comprises a driving end and a driven end, wherein the driving end comprises a six-degree-of-freedom floating liquid path disconnector movable end and a cold plate pipeline assembly; the cold plate pipeline assembly comprises a cold plate, a hose, a cold plate joint A and a cold plate joint B; the driven end further comprises a six-degree-of-freedom floating disconnector fixed end; a multifunctional pin comprises a height limiting part, a tightening part and a locking part; the height limiting part is a straight pin with a set length; the tightening part is an inclined plane positioned at the front end of the multifunctional pin; the locking part is positioned at the rear end of the height limiting part on the multifunctional pin and is higher than the height limiting part; a guide hole is machined in a shell, one side face of the guide hole is composed of a slope part and a plane part, and a square hole is formed in the bottom of the guide hole. Guiding, positioning and butt joint, active tightening, automatic plugging and unplugging of a six-degree-of-freedom floating liquid circuit breaker and active heat conduction of an exposed load and an exposed platform outside an aircraft cabin can be achieved.

The invention discloses a variable measurement space method of an articulated coordinate measuring machine based on a jaw joint. The measurement space of the existing articulated coordinate measuring machine has great redundancy, but the precision is lost. According to the invention, the adjacent articulated arms are connected through the jaw joints to construct the articulated coordinate measuring machine based on the jaw joints. According to the invention, the movable claw disc and the fixed claw disc are embedded and separated, so that locking and free rotation of the joint of the articulated coordinate measuring machine can be effectively realized. According to the geometrical characteristics of a measured object, through comparing a measurement space ball of the measured object with different measurement spaces of the articulated coordinate measuring machine based on the jaw joint in a jaw joint locking scheme at different positions, a suitable measurement space of the articulated coordinate measuring machine is selected, the space waste is reduced, and the measurement precision is improved at the same time.

The invention discloses a joint hinge. The joint hinge comprises a first joint, a second joint and a locking mechanism. The first joint and the second joint are hinged to each other, and the locking mechanism is connected with the first joint and the second joint. The locking mechanism is used for locking the positions of the first joint and the second joint. The locking mechanism comprises a ratchet wheel fixedly installed on the second joint and pawls arranged on the first joint. The ratchet wheel and the pawls are arranged in a mutual meshing mode. By means of the design mode that the ratchet wheel and the pawls are matched with each other, rotating locking in two rotating directions can be conducted, an unlocking device can achieve three aims including unlocking in two independent rotating directions and complete unlocking, and at the moment, the joints can be freely adjusted. The structure is simple, the number of parts is extremely small, machining is facilitated, and use is convenient. During angle adjusting, the angle adjusting precision can be limited according to the tooth numbers of the ratchet wheel and the pawls.

The invention discloses a Lisfranc injury cross-joint locking bone fracture plate. The Lisfranc injury cross-joint locking bone fracture plate comprises a cross-joint bone fracture plate body and a stabilizing mechanism, a plurality of locking holes are formed in the cross-joint bone fracture plate body, limiting ring grooves are formed in the positions, corresponding to the locking holes, of the cross-joint bone fracture plate body, and the stabilizing mechanism used for stably and accurately nailing screws is inserted into the corresponding limiting ring grooves. The limiting ring grooves are formed in the outer side of each locking hole, the stabilizing mechanism with the adjusted angle is inserted into the corresponding limiting ring grooves, so that the follow-up nailing angle of the screws is more accurate, the problem that the screw shakes when inserted due to the fact that the inner diameter of each locking hole is larger than the diameter of the body parts of the screws is solved, and accurate fixing is achieved.

The invention relates to the technical field of baby carriage products, in particular to a baby carriage which comprises a transition frame, a push handle frame, a rear wheel assembly, a front wheel assembly, a bending joint, a folding joint and a locking device used for locking or unlocking the bending joint. The folding joint comprises a first joint seat connected to the transition frame, a second joint seat connected to the rear wheel assembly and rotationally connected with the first joint seat, a third joint seat connected to the front wheel assembly and rotationally connected with the second joint seat, and a seat frame connected among the first joint seat, the second joint seat and the third joint seat in a foldable mode. The locking device locks or unlocks the first joint seat and the second joint seat through the bending joint. The seat frame is matched with the first joint seat, folding of the first joint seat, the second joint seat and the third joint seat is achieved, an independent seat frame folding structure does not need to be additionally arranged, rapid folding of the bending joints and the folding joints is achieved by additionally arranging a locking mechanism, the folding joints and the seat frame are simple in structure, and the weight of the baby carriage is reduced.

The invention discloses an intelligent artificial limb with an active bending locking function. The intelligent artificial limb comprises a thigh part, a shank part and an ankle-foot part, the shank part comprises a rack and a joint head hinged to the top of the rack, and the bottom of the rack is connected with the ankle-foot part; a hydraulic cylinder is hinged in the rack, and a hydraulic rod of the hydraulic cylinder is connected with the joint head; a driving servo motor connected with the hinged end of the hydraulic rod is arranged on the joint head; the hydraulic cylinder active servo motor is connected with the controller; and connecting rods are movably connected to the two sides of the rack respectively, the upper portion of the hydraulic cylinder is connected with the two connecting rods respectively, lock discs are arranged on the two sides of the lower portion of the joint head, and lock heads capable of making contact with the lock discs are arranged on the inner sides of the connecting rods. Intelligent adjustment of bending damping of the artificial limb is achieved, joint locking can be achieved when the artificial limb stands, the stability of the artificial limb joint is greatly improved, the artificial limb has functions of going upstairs and going downstairs, and the switching between a going-upstairs mode and a going-downstairs mode is natural and smooth.

The invention discloses an air tightness test quick plug, relates to the technical field of test instrument accessories, and solves the problems that when an air tightness test is carried out, an air pipe test connector needs to be screwed to be in butt joint with a test instrument, the operation is tedious, and the detection progress is affected. The air tightness test quick plug comprises a plug-in female head, a positioning plug-in hole is formed in the bottom end of the plug-in female head, two symmetrically-distributed locking clamping grooves are formed in the bottom face of the plug-in female head, anti-disengaging clamping holes are formed in the inner walls of the locking clamping grooves, and the two locking clamping grooves are located on the two sides of the positioning plug-in hole respectively. According to the invention, through the arrangement of the plug-in female head, the magnet protection cover, the plug-in male head, the pipe pressing nut and the butt-joint locking mechanism, the air pipe test joint can be quickly in butt joint with equipment during an air tightness test, the operation time is saved, the test progress is effectively shortened, and the air pipe test joint is ensured not to fall off in the test process.