207 results about "Joint rotation" patented technology

The invention provides a flywheel unloading method based on an electric pushing mechanical arm in a position protection period. The flywheel unloading method comprises the steps that a joint corner combination is selected when the thrust direction is in a position protection allowable range; the control torque under the joint rotation angle combination of each mechanical arm is determined, and an initial table look-up matrix is established; determining an optimal torque and a torque error allowable range; according to the control torque, the optimal torque and the torque error allowable range, grade division is conducted on the joint corner combination; constructing a cost function according to the optimal torque and the control torque; on the basis of grade division, the smaller the cost function is, the higher the priority of the joint corner combination is; selecting a joint corner combination with the highest priority from the initial look-up table matrix, performing permutation and combination of joint corners around the joint corner combination in a fine step length manner, determining a corresponding control moment, forming a second-order look-up table matrix, and selecting a joint corner combination with the highest priority; and circularly selecting the joint corner combination with the highest priority to obtain a final joint corner combination.

The invention provides a humanoid robot welding pose adjusting method and system, and belongs to the technical field of artificial intelligence. The humanoid robot welding pose adjusting method comprises the steps that an initial state vector is constructed according to state information of a humanoid robot in the welding process; performing time sequence feature compression processing on the initial state vector to obtain a compressed state vector; inputting the compression state vector into a strategy optimization model to obtain an optimization action strategy output by the strategy optimization model; wherein the strategy optimization model is obtained by training according to a state information sample; according to the optimized action strategy, discretized joint rotation angle values of all joints of the humanoid robot are generated; and according to the discretized joint rotation angle values, the welding pose of the humanoid robot is adjusted. According to the method, a strategy optimization model based on an optimized long-short-term memory network and a multi-head attention mechanism is introduced, and self-adaptive adjustment and accurate control of the humanoid robot on the welding pose in the dynamic welding environment are achieved.

The invention discloses a rope tension control method and device in a dual-motor antagonism mode, and the method comprises the steps: carrying out the rope drive control of a joint motion model based on a current motor rotation angle position, and generating a current drive control result; if the current driving control result represents that the actually-measured rope tension is not equal to the rope pre-tightening force, interpolation is conducted on the rope length variable quantity through admittance control; if the obtained sensing joint torque is not equal to the target joint torque, interpolation is conducted on the joint corner position through admittance control; and updating the actually measured motor rotation angle position based on the expected joint rotation angle position generated by interpolation, the actually measured joint rotation angle position and the rope length variation generated by interpolation, and outputting the motor rotation angle position of rope driving control at the next moment. In this way, control over rope tension and control over joint torque are introduced into three-ring control of the scheme according to admittance control; under the condition of not depending on the accuracy of a joint motion model, the output accuracy of the joint corner position can be improved.

The utility model provides a robot wire passing joint, and belongs to the technical field of robots. The problem of how to prolong the service life of the cable is solved. According to the robot wire passing joint, a robot comprises a cable, a four-axis joint and a three-axis joint internally provided with a speed reducer, the wire passing joint is located between the three-axis joint and the four-axis joint, and a connecting body is arranged between the three-axis joint and the wire passing joint; the connecting body comprises a connecting part connected and positioned with the driving end of the speed reducer, a driving part used for driving the four-axis joint to rotate and a single-turning part formed between the connecting part and the driving part, the single-turning part is in a long strip shape, a cable passing cavity is formed in the three-axis joint and located on one side of the speed reducer, and a cable penetrates through the cable passing cavity and the driving part and extends into the four-axis joint; one end of the cable is positioned in the cable passing cavity, and the other end of the cable is positioned in the center of the junction of the cable passing joint and the four-axis joint. The robot wire passing joint can prolong the service life of the cable.

An electromagnetically shiftable positive engagement clutch is shown, having a shifting sleeve which is arranged on a shaft for joint rotation therewith and is linearly displaceable along the shaft between a clutch engagement position and a clutch disengagement position, a clutch body which is aligned coaxially with the shaft, and a stator having at least one energizable drive coil for adjustment of the shifting sleeve along the shaft, wherein in the clutch engagement position there is a positive engagement between the shifting sleeve and the clutch body and thus a rotary connection between the shaft and the clutch body. Moreover, the positive engagement clutch has a stationary sensor device which is arranged adjacent to the shifting sleeve and includes at least one Hall sensor and at least two magnets that magnetically enclose the at least one Hall sensor and are permanently stationary relative to the at least one Hall sensor, with the magnets pointing toward the shifting sleeve and having opposite polarities relative to each other. The sensor device is adjacent to the shifting sleeve in a radial direction so as to be spaced apart therefrom by a radial gap, so that an axial movement of the shifting sleeve is detected by the Hall sensor through a reduction in the radial gap.

A robot middle joint for tendon movement control comprises a first joint support structure, a second joint support structure and a middle joint rotating supporting shaft, and the top of the second joint support structure is rotationally connected with the bottom of the first joint support structure through the middle joint rotating supporting shaft. One end of the joint rotation supporting shaft is fixedly installed on the top of the second joint support structure, at least one idle wheel wire coil is rotatably installed on the middle joint rotation supporting shaft, and a middle joint output wire coil is further fixedly installed on the middle joint rotation supporting shaft. The middle joint output wire coil is fixedly connected with the top of the second joint support structure, and the second joint support structure is fixedly supported at the other end of the middle joint rotating supporting shaft through the middle joint output wire coil. The utility model discloses simple structure, it is convenient to install, dismantle and follow-up maintenance, and each idle wheel wire coil and output wire coil do not interfere with each other, can realize steady operation.

The invention belongs to the technical field of robots, and provides a hip joint exoskeleton and a walking assistance control method.The hip joint exoskeleton comprises three active driving units, and a hip joint exoskeleton sagittal plane driving unit is used for achieving forward flexion / backward extension of a human hip joint; the hip joint exoskeleton coronal plane driving unit is used for realizing human hip joint adduction / abduction; the hip joint exoskeleton horizontal plane driving unit is used for realizing inward rotation / outward rotation of the hip joint of the human body; the hip joint exoskeleton sagittal plane driving unit, the hip joint exoskeleton coronal plane driving unit and the hip joint exoskeleton horizontal plane driving unit are connected through the remote rotating center mechanism, so that a rotating plane corresponding to the horizontal plane driving unit is aligned with a hip joint rotating center through a virtual axis. The hip joint exoskeleton is compact in structure and saves space. According to the control method, when the user wears the exoskeleton to walk, the exoskeleton can accurately assist the walking of the user without time delay.

A method and a device twist single cables about a twisting axis. The single cables each run along a cable axis and have wires, which are twisted in a strand twisting direction to form a strand, and also each have a first cable end and a second cable end. The first cable ends are held separately by a single rotating unit in each case. The second cable ends are held by a twisting unit. The second cable ends are rotated jointly about the twisting axis counter to the strand twisting direction to produce a twisted cable bundle. During the joint rotation, the first cable ends are rotated separately about a cable axis of the respective single cable, in the same rotation direction as the joint rotation. The single cables are each relieved of torsion thereby.

A robot includes: a robot mechanism section having a plurality of joints and a plurality of drive sections (11-16); a control section (22) that causes the robot mechanism section to perform a prescribed checking operation for checking an arbitrary target drive section (14) among the drive sections (11-16) by controlling the drive sections (11-16); and a notification section (24) that notifies of maintenance information of the target drive section (14) based on a current value of a motor (14a) of the target drive section (14) or information related to the current value in the prescribed checking operation; the prescribed checking operation includes: an operation of approaching and pushing an object at a prescribed position from a prescribed start position by the front end of the robot mechanism section or a tool of the front end; and an operation of separating the front end of the robot mechanism section or the tool from the object by sending a control command for rotating the joint by a prescribed rotation angle to the motor (14a) of the target drive section (14).

The application relates to the technical field of rectangular pipe construction, in particular to a construction device for rectifying deviation of a rectangular pipe after the pipe is penetrated, which comprises Larsen steel sheet piles, the Larsen steel piles are arranged on opposite sides of a pipe joint, a dewatering well is arranged outside the two steel sheet piles, a steel enclosing purlin is fixedly connected to one side of the Larsen steel sheet pile close to the pipe joint, steel supports are arranged between the steel enclosing purlins on the same horizontal plane, the two ends of the steel support are respectively connected to the steel enclosing purlins located at the two ends of the steel support, a bracket is welded below the steel enclosing purlin, a concrete limiting block is arranged at a lower chamfered corner of the pipe joint, a concrete cushion beam is arranged on the side of the pipe joint away from the concrete limiting block and close to the upper side, a second steel enclosing purlin is arranged between the concrete cushion beam and the pipe joint, a jack is arranged between the second steel enclosing purlin and the concrete cushion beam, and a steel sheet pad is arranged between the jack and the concrete cushion beam, so that the problem of pipe joint rotation correction after the rectangular pipe construction is completed in an underground pipe joint project is solved.

This invention discloses a joint rotation module, including a housing, a harmonic reducer, a driver, and a control unit. The driver includes a stator, a rotor, and a drive shaft. The joint rotation module also includes a liquid cooling circulation unit, which comprises: a circulation loop including a medium flow channel and a liquid pump. The liquid pump is integrated in a cavity and driven by the drive shaft, causing the cooling medium to circulate within the medium flow channel. Part of the medium flow channel is distributed on the housing around the driver. A heat dissipation assembly is disposed on the housing, and the control unit and the medium flow channel are thermally coupled to the heat dissipation assembly. By connecting the liquid pump to the drive shaft, this invention allows the driver to drive the liquid pump while outputting rotation. The liquid pump only needs an impeller to operate, achieving the circulation of the cooling medium within the medium flow channel, thereby cooling the joint rotation module. This significantly reduces the size of the liquid pump, allowing it to be integrated within the joint rotation module.

A robot includes a torso structure, a head structure, robotic arms, gripper structures, and a chassis driving structure. The torso structure includes a lower leg assembly, a thigh assembly, and a thoracic cavity assembly. A first torso motor, a second torso motor, and a third torso motor enable a multi-joint rotation within a plane formed by a first direction and a second direction. A fourth torso motor drives the thoracic cavity assembly to rotate relative to the thigh assembly around an output shaft of the fourth torso motor within a plane formed by the second direction and a third direction. Two opposite sides of the end of the thoracic cavity assembly facing away from the thigh assembly are provided with the robotic arms respectively, and the gripper structures are securely mounted at tail ends of the robotic arms respectively.

This invention relates to a method for solving the inverse kinematics of a robotic arm based on autonomous planning of redundant parameters, comprising: Step 1, the rotation axes of joints 1 to 3 of the robotic arm intersect at point Ps and are designated as the shoulder joint; the rotation center of joint 4 is Pe and is designated as the elbow joint; the rotation axes of joints 5 to 7 intersect at point Pw and are designated as the wrist joint; Step 2, the "shoulder-elbow-wrist" structural parameters are determined as: l bs l se l ew l wt Step 3: Solve for θ in the base coordinate system to find the vector of line PsPw. 1_0 θ 2_0 θ 3_0 θ 4_0 Step 4: Define the angle between the PsPePw plane and the reference plane as the redundancy angle; establish the functional relationship between θ1, θ2, θ3 and θ5, θ6, θ7 and the redundancy angle; Step 5: Solve for the initial inverse joint combination; Step 6: Solve for the optimal redundancy angle; Step 7: Substitute the optimal redundancy angle into the relational expression to finally solve for θ1, θ2, θ3 and θ5, θ6, θ7; Step 8: Use the calculated θ1~θ7 as the desired trajectory. This invention improves the control accuracy of the robotic arm and the operating efficiency of the controller.

The present invention discloses a push-rebound damping hinge, comprising an outer transmission arm, an inner transmission arm, and a rebound damping member. The two ends of the outer transmission arm are respectively connected to the cup head and the arm body. One end of the inner transmission arm is connected to the cup head and the other end is connected to the movable end of the rebound damping member. The fixed end of the rebound damping member is connected to the arm body. The first transmission member is rotatably arranged in the arm body. A protrusion is provided on the first transmission member or the cup head. When the cup head is pressed, it contacts the first transmission member through a boss. The locking structure is connected to the outer transmission arm. The first transmission member is used to unlock the locking structure. When the door body is pressed, the protrusion activates the first transmission member to unlock the locking structure. The rebound damping member drives the outer transmission arm and the inner transmission arm to rotate. Under the action of the joint rotation of the outer transmission arm and the inner transmission arm, the cup head rotates and opens. The structure of the present invention realizes that the hinge has a built-in push-rebound damping function, which is convenient for use with invisible doors or handleless doors.

The application provides a dual industrial robot conversion collaborative control method and device, electronic equipment and storage medium, the method comprises the following steps: based on the programming file written in the first control channel, interpolating the first robot, the second robot and the tool rotation axis in the first control channel; in the first control channel, the joint rotation axis of the first robot, the sliding position of the first base along the slide rail, and the coordinate conversion of the rotating tool are carried out, and the motion control of the joint rotation axis of the first robot is carried out based on the conversion result; in the first control channel, the first base and the second base are controlled to slide along the slide rail, and the rotating tool is controlled to rotate around the tool rotation axis in the first control channel; in the second control channel, the virtual axis indicated by the pose parameter of the second robot included in the programming file and the synchronous action algorithm are used to control the motion of the joint rotation axis of the second robot. The dual industrial robot conversion collaborative control method can realize the collaborative control of the dual robot and the rotating tool.

The application relates to the field of mechanical hands, in particular to a bionic upper limb and a load-carrying robot for heavy-load working conditions. The application comprises a plurality of base bodies which are rotationally connected through joints between adjacent base bodies; a plurality of power sources are fixed on the base bodies, and any power source is transmissionally connected with the joint through a flexible mechanism, and is used for driving the base body to move in space relative to the adjacent base body. In the application, the power source is rear-mounted in the base body, and the flexible mechanism is used for long-distance power transmission, so that the driving elements such as motors with large mass are far away from the rotation center of the joint, the rotational inertia of the moving limb is effectively reduced, and the acceleration / deceleration response performance and the load self-weight ratio of the upper limb are obviously improved.

The invention discloses a hip joint replacement operation leg supporting instrument which is placed on an operating bed during use and sequentially comprises a leg fixing support, an upper universal joint, a telescopic supporting rod, a lower universal joint and a support structure from top to bottom. The leg fixing support is used for at least supporting the thigh part, close to the knee joint, of the affected side leg; the telescopic supporting rod telescopically moves and is used for completing inward folding and outward unfolding actions, and the support structure forms a containing space for containing lower legs and is arranged on a bed body when used; the upper universal joint independently rotates to complete the actions of internal rotation and external rotation; and the lower universal joint and the upper universal joint are matched to rotate so as to complete buckling and stretching actions. The two universal joints are matched with one telescopic supporting rod to complete the actions of buckling and stretching, adduction and abduction, and internal rotation and external rotation; and when the telescopic supporting rod is in the locking state, the supporting effect is achieved, and when the two universal joints rotate independently or rotate together, an operator only needs to easily control the joints to rotate.

The invention relates to a method and a device (400) for stranding single cables (11, 12) about a stranding axis (V). The single cables (11, 12) extend along cable axes (v1, v2) and have wires (11a, 12a) stranded in a strand stranding direction (S, Z) to form strands, each single cable (11, 12) further having a first cable end (15, 16) and a second cable end (17, 18). In each case, the first cable end (15, 16) is held by a single wire rotating unit (41, 42), respectively. The second cable end (17, 18) is held by a stranding unit (30). The second cable ends (17, 18) are jointly rotated about the stranding axis (V) counter to the strand stranding direction (S, Z) to form a stranded cable bundle (10). During the joint rotation, the first cable ends (15, 16) are individually rotated about the cable axes (v1, v2) of the respective single cable (11, 12) in the same direction of rotation as the joint rotation. Thereby, the torsion of each single cable is eased.

According to the embodiment of the invention, the invention provides a method and device for attitude determination, equipment, a storage medium and a program product. The method includes determining an initial pose of an actuator based on joint rotation data representing a current pose of an object, the joint rotation data indicating rotation of a plurality of object joints of the object, the actuator including a plurality of actuator joints to simulate an action of the object; updating the initial attitude to an intermediate attitude of the actuator based on the position of at least one end portion of the object; based on the position of the at least one tail end part, the contact state of the object is determined, and the contact state indicates whether the object in the current posture has mutual contact parts or not; and determining a target attitude of the actuator based on the contact state and the intermediate attitude.

The invention relates to the technical field of mechanical arm path planning, in particular to an unmanned aerial vehicle mechanical arm grabbing pose planning method and system. When an unmanned aerial vehicle mechanical arm grabs an object, position parameters (including three-dimensional coordinates) and joint rotation angle time sequence data within a preset time period of each time node are obtained; due to strong wind interference and deviation of posture and motion fluctuation of the mechanical arm, joint rotation angle change, random fluctuation characteristics and non-smooth fluctuation and numerical value change of position parameter time sequence data are analyzed, the strong wind interference abnormity degree and deviation degree are obtained, the interference degree is quantified, and the actual motion state is grasped; adjusting and fitting the three-dimensional coordinate value of each time node according to the two to obtain a future extension trajectory, which can respond to strong wind changes, reduce trajectory errors and provide an accurate basis for path planning; finally, a path is planned based on the extension trajectory data point space position relation, strong wind influence is fully considered, the planned path is more accurate and reasonable, and the mechanical arm can be guided to optimally reach the target.

The present application relates to the technical field of mechanical arm path planning, in particular to a kind of unmanned plane mechanical arm grasping pose planning method and system.In the time when unmanned plane mechanical arm grasps object, the position parameter (including three-dimensional coordinates) and joint rotation angle time series data in each time node preset period are acquired;Due to the interference of strong wind, the attitude and motion fluctuation of mechanical arm deviate, analyze the change of joint rotation angle, random fluctuation characteristics, and the non-smooth fluctuation and numerical change of position parameter time series data, obtain the abnormality degree and deviation degree of strong wind interference, the degree of interference is quantified, the actual motion state is grasped;According to the two, adjust and fit the three-dimensional coordinate values of each time node, obtain the future extended trajectory, this method can respond to the change of strong wind, reduce trajectory error, provide accurate basis for path planning;Finally, based on the spatial position relationship of extended trajectory data points, the path is planned, the influence of strong wind is fully considered, the planned path is more accurate and reasonable, and the mechanical arm can be guided to optimally reach the target.

This invention, entitled "An Built-in Power Device, a Dexterous Finger, and Its Applications," belongs to the field of robotic dexterous hand technology. The technical problems it aims to solve are: existing robotic dexterous fingers suffer from problems such as external power devices, complex structures, large size, low power density and slow response due to the need for reducers in motor drives, poor stiffness and easy wear of tendon-wire transmissions, large return gaps, unstable positioning and grasping, and difficulty in directly and effectively driving joint rotation through the micro-displacement of piezoelectric ceramics. The key technical solution is: a built-in power device consisting of a piezoelectric ceramic power system and a hydraulic transmission system. The piezoelectric ceramic utilizes its inverse effect to achieve direct electro-mechanical conversion, providing mechanical power to the hydraulic transmission system. The hydraulic pump in the hydraulic transmission system is a reciprocating positive displacement pump, which provides pressurized oil to the hydraulic circuit through the periodic change of the working chamber volume.

Methods and systems for operating a driveline that includes a cardan joint are described. In one example, electric machine torque is adjusted in response to driver demand torque and a torque to compensate for cardan joint rotation. The electric machine torque adjustments operate to cancel driveline torque variation that may be induced via the cardan joint.

The application discloses a kind of artificial muscle driven hybrid fracture reduction surgery robot, it relates to the technical field of auxiliary operating instrument of medical surgery.The present application solves the problems of the existing fracture reduction surgery robot, such as large volume, small workspace, low integration, weak load capacity, complex control, complex kinematics calculation, and easy to cause rigid impact during movement.The top side of the mounting base is provided with a first and second joint swing arm, the first end of the swing arm connecting rod is provided with a first rotary joint, the left and right ends of the first rotary joint are respectively connected with two first rotary joint rotary traction mechanisms, the bottom of the first rotary joint is connected with the mounting base, the end of the swing arm connecting rod is provided with a second rotary joint, the left and right ends of the second rotary joint are respectively connected with two second rotary joint rotary traction mechanisms, and the second rotary joint, four-chain 2R1T parallel mechanism and end traction platform are sequentially connected.The application is used for fracture reduction surgery.

A joint rotational exercise and stretching tool for strengthening muscles and connective tissues, particularly for shoulder internal and external rotation, with further applicability to the wrist, elbow, and hip. The device includes a mount, torque-generating mechanism, and ergonomic lever arm configured to align with anatomical joint axes. It enables concentric, eccentric, isometric, and passive modes of use. Unlike traditional tools that provide linear resistance or partial-range torque, this invention delivers continuous rotational resistance across the full arc of motion. Configurable mounting and ergonomic adjustments allow use across various joints, limb lengths, and exercise positions. Suitable for rehabilitation, injury prevention, and performance training in clinical, home, or athletic environments.

The bobbin creel of the fancy twisting machine comprises a bobbin creel body matched with a bobbin shaft of the fancy twisting machine, the bobbin creel body comprises a concentric-square-shaped base, L-shaped supporting plates are embedded in the two sides of the concentric-square-shaped base in a sliding mode, and the two L-shaped supporting plates are symmetrically arranged. Clamping rotary supporting assemblies are rotationally mounted on the inner walls of the repelling sides of the two L-shaped supporting plates correspondingly, and the two clamping rotary supporting assemblies are clamped to the two ends of the bobbin shaft correspondingly; threaded driving assemblies are fixedly connected to the inner walls of the repelling sides of the two L-shaped supporting plates. By arranging a series of structures, the use height of the bobbin shafts can be conveniently adjusted, the bobbin shafts with different lengths can be conveniently and flexibly replaced and supported according to use requirements, the applicability and the use flexibility are improved, dust collection work can be conveniently and adaptively carried out on the bobbin shafts with different lengths, and the dust collection efficiency is improved. Dust collection is carried out on the bobbin shaft on the upper portion or yarn wound on the outer side of the bobbin shaft in the production process, and the use cleanliness is improved.

Examples of a motion guiding device of a target joint of a target body are disclosed. The device allows three degree-of-freedom (DOF) motion about a remote center of rotation that is approximately aligned to a center of rotation of the target joint. The device comprises a base adjustably connected to the target body and three rotary joints interconnected with a network of linkages. One end of the network of linkages is connected to the base and the opposite end to an effector plate. At least one of the three rotary joints is not aligned with an axes of motion of the target joint and any of these rotary joints may be positioned under angle with respect to the others. Each of the rotary joints provides one DOF of rotary motion about the respective axes and each axis of the three rotary joints intersect at the remote center of rotation. The geometry of the network of linkages is adjustable to adjust a position of the remote center of rotation in three dimensions. The three rotary joints and the network of linkages rotate the effector plate about the remote center of rotation that is approximately align with the center of rotation of the target joint. This system may be connected with one or more parallel branches for additional actuation.

The application discloses a kind of foot bottom robot control method, device, terminal equipment and storage medium, the method is by obtaining the current attitude of the foot bottom robot to be controlled, each joint connection characteristic and joint expected rotation angle, attitude difference is calculated, according to the force characteristic corresponding to each joint and the function for representing the mapping relationship between joint rotation angle and external force interference, the joint rotation angle of each joint when subjected to external force interference is calculated, then according to the preset mechanical error, the joint rotation angle of each joint when subjected to external force interference, the joint expected rotation angle of each joint and attitude difference, the actual rotation angle of each joint is calculated, and thus according to the actual rotation angle of each joint calculated to be controlled robot is controlled in posture. By implementing the present application, the purpose of controlling robot posture can be achieved.

The invention provides an articulation point rotation angle calculation method and system based on an articulation point position. The method comprises the following steps: determining the data length of source data, a skeleton structure of the source data and an offset vector of an articulation point of the source data; determining the data length of the target data and the initial skeleton of the target data according to the data length of the source data and the skeleton structure of the source data; according to the data length of the target data and an initial skeleton of the target data, determining an initial offset vector of the initial skeleton and the position of a root node in the initial skeleton; on the basis of the initial offset vector and the position of a root node in the initial skeleton, traversing the offset vector after three-dimensional coordinate axis rotation based on the initial offset vector, and searching an articulation point rotation angle under the condition that the directions of the rotated offset vector and the offset vector of the articulation point of the source data are consistent; therefore, the motion posture of the virtual character is changed by using the rotation angle of the joint point.