721 results about "Kinematic pair" patented technology

The invention reduces wear in total joint articulations by modifications of the shape of either component of the kinematic pair, so as to result in an annular surface contact between the two components. Fluid trapped between the two components within the inner contour of the annular contact area is pressurized under load due to elastic deformation of the components and exuded out through inter-articular gap over the surface of contact, aiding in lubrication and reducing the wear. Reduced to practice for a total hip joint with UHMWPE-metal pair, the wear rate tested in a hip joint simulator up to five million cycles was reduced by factor seven to fifteen compared to conventionally shaped components.

The invention discloses a two-degree-of-freedom piezoelectric driving nanometer positioning platform. The two-degree-of-freedom piezoelectric driving nanometer positioning platform is characterized in that an XY motion platform body is connected with a base through an X-axis full compliant mechanism, a Y-axis full compliant mechanism and a cross-shaped XY decoupling mechanism; laser ruler planar mirrors for checking X-direction motion and Y-direction motion are arranged on the side faces of the XY motion platform body and the base respectively; the laser ruler planar mirrors are matched with laser ruler reading heads for detecting X and Y directions respectively to finish the detection and feedback of two-degree-of-freedom motion of the nanometer positioning platform together; piezoelectric ceramic drivers are embedded into the X-axis full compliant mechanism and the Y-axis full compliant mechanism respectively. The two-degree-of-freedom piezoelectric driving nanometer positioning platform has the beneficial effects that flexible hinges are taken as a kinematic pair, and motion is transmitted and decoupled through micro-deformation, so that clearance errors introduced in an assembly process are reduced, and the accuracy of motion transmission is increased.

The invention discloses a parallel robot mechanism with four branched degrees of freedom and consists of a moving platform, a fixed platform and 2 to 4 movable branched chains which are provided with the same structure and is used for connecting the moving platform and the fixed platform; wherein, the movable branched chains comprises a moving pair, a first rotary pair, a kinematic pair with a single degree of freedom, a second rotary pair and a third rotary pair from the fixed platform to the moving platform respectively; the mechanism is provided with three moving degrees of freedom and two rotary degrees of freedom under the initial configuration; the moving platform can rotate around the axial lines of the two rotary pairs respectively and the axial lines are connected with the moving platform by winding two branches adjacent to the moving platform; when the moving platform begins to rotate along one direction, the other rotary direction is automatically locked, that is to say that the mechanism is provided with only three moving degrees of freedom and a rotary degree of freedom after the moving platform rotates from an initial position. The parallel robot mechanism can be widely applied to parallel robots, micro-motion worktables and virtual axial machine tools, etc. and has the advantages of high rigidity, simple structure, moving and rotary decoupling, easy control, good dynamic performance, good processing and assembling performance, etc.

The invention provides a closed fluid static pressure/ dynamic static pressure revolving worktable with high precision and rigidity, and relates to the field of automatic equipment of precision machinery. A plurality of axial bearings and radial bearings arranged along the axial direction are fixed by a plurality of slewing rings and bearing guide rails; the revolving worktable is provided with a balanced bearing to balance; kinematic pairs of a plurality of bearings rotate synchronously and are connected; fixed pairs of the bearings are connected through a base of the worktable; and sliding pairs of the radial bearings and bearing pairs of the axial bearings move rigidly, integrally and synchronously; and a relatively still sliding surface of the sliding pair of each bearing is provided with an oil chamber. Under the conditions that fluid pressure of the revolving worktable is same and the volume is equal, the axial rigidity, the radial rigidity and the bearing capacity are multiply improved, and the improved multiple is in direct proportion to the number of the bearings. The revolving worktable has the advantages of convenient design, simple manufacture, low cost, high precision and no abrasion. The revolving worktable is a key part of a high-precision metal working machinery, in particular to a functional part of large and oversize heavy equipment by using the key technology, and has more remarkable advantages in manufacturing equipment in the fields of navigation, astronavigation, large aircraft, and the like.

The invention discloses a 3UPS parallelly connected metamorphic mechanism for a lower limb rehabilitation robot and is applied to the field of rehabilitation robots. The parallelly connected metamorphic mechanism comprises a base and single-side parallely connected metamorphic mechanisms which are connected to the base and symmetrically arranged relative to the base in a left-right mode, each parallelly connected metamorphic mechanism comprises a motion platform, motors, kinematic pair locking mechanisms and three kinematic chains connecting the base and the motion platform. The 3UPS parallelly connected metamorphic mechanism for the lower limb rehabilitation robot achieves the unidirection wide-range bend and stretch motion and three freedom degree small-range rotation of the hip joint respectively through two states formed by opening and locking one of the revolute pair of a hook joint on one side or in the middle, different rehabilitation requirements of people are met, and the efficiency is improved; the hip joint of the human body is considered as part of the mechanism, the unidirection rotation and the three freedom degree rotation all move around the center of the hip joint, interference to human body self movement can not occur, and the rehabilitation processes are facilitated.

The invention provides a multi-functional mechanical grabbing and transporting device capable of unstacking and overturning automatically. The multi-functional mechanical grabbing and transporting device capable of unstacking and overturning automatically comprises a machine frame, a mechanical arm kinematic pair and a detection control system, wherein the machine frame is provided with a mechanical arm, the mechanical arm is matched with the mechanical grabbing kinematic pair in a working process, and the mechanical arm and the mechanical grabbing kinematic pair are both matched with the detection control system in the working process. According to the multi-functional mechanical grabbing and transporting device capable of unstacking and overturning automatically, a composite protection structure with the left side and the right side embraced and the bottom held by the mechanical arm is adopted, the mechanical arm is enabled to move horizontally and vertically and overturn freely, fast and steady horizontal movement and vertical movement of box-shaped articles are guaranteed, and positioning accuracy is high; an in-place detection function and an air pressure automatic detection function guarantee the reliability of grabbing and the accuracy of positions; and an automatic braking and locking function under the situation of power supply failure or air supply failure ensures safety of transporting of goods. The multi-functional mechanical grabbing and transporting device capable of unstacking and overturning automatically is simple in structure and convenient to operate, and station in-place detection and mechanical arm lifting safety limiting protection ensure the stability and the reliability of work. Therefore, the multi-functional mechanical grabbing and transporting device capable of unstacking and overturning automatically is an efficient logistics system with a wide application range.

The invention discloses a three-translation spatial parallel robotic mechanism, and relates to the technical fields of robots and advanced manufacturing, in particular to a spatial three-degrees-of-freedom parallel robotic mechanism capable of realizing spatial three-translation. The mechanism consists of a moving platform, a fixed platform and three branched chains for coupling the two platforms, wherein two branched chains are respectively composed of a revolute joint, a hooke joint and a revolute joint from the moving platform to the fixed platform, and connecting rods among the joints; and the other branched joint is composed of a revolute joint, a ball joint and a revolute joint from top to bottom, and connecting rods among the joints. The working platform of the mechanism can realize three-dimensional translational motion output under Cartesian coordinates; and the mechanism has a few joints, and the total number of the degrees of freedom of kinematic pairs is only 13, so that the mechanism can effectively solve the problems of easy deflection and torsional deflection of the parallel mechanism due to excessive degrees of freedom of the kinematic pairs. The three driving pairs (revolute joints) of the mechanism are directly connected with the fixed platform, so the motion inertia of the mechanism is greatly reduced, and the high-speed motion of the mechanism can be realized.

The invention relates to a fewer-degree-of-freedom robot mechanism. The aim of the invention is to provide a mechanism which has the characteristic of improved rigidity and bearing capacity. The invention adopts a technical scheme that the high-rigidity redundantly-actuated three-degree-of-freedom parallel mechanism comprises a dynamic platform, a machine frame, a first branch, a second branch and a third branch, wherein each of the first branch and the second branch is connected with a first single-degree-of-freedom kinematic pair, a second single-degree-of-freedom kinematic pair and a universal hinge in turn. The fewer-degree-of-freedom robot mechanism is characterized in that: the third branch is divided into two parallel branch chains; each branch chain is connected with the first single-degree-of-freedom kinematic pair, the second single-degree-of-freedom kinematic pair and a rotation pair in turn; the first rotation axis line of the universal hinge of the first branch and the first rotation axis line of the universal hinge of the second branch are in the same line and pass through the central point of the T-shaped hinge of the third branch; and the first rotation axis line of the T-shaped hinge of the third branch is vertical or parallel to the rotation axis line of the universal hinge of the first branch and the rotation axial line of the universal hinge of the second branch.

A three-degree-of-freedom parallel attitude-adjusting and vibration-isolating platform comprising tower-shaped telescopic branches comprises a base, three mounting seats, three linear driving units, the three tower-shaped telescopic branches, three vibration isolators, a boosting spring and a moving platform, wherein the mounting seats are fixedly connected onto the base; double linear modules of the linear driving units are fixedly connected onto the mounting seats and driven by driving motors; each tower-shaped telescopic branch comprises two closed-loop connecting rods and a planar scissor structure, two tower feet at the lower end of the planar scissor structure of the tower-shaped telescopic branch are connected with two sliding blocks of the double linear modules by the aid of first and second kinematic pairs, the upper end of the tower-shaped telescopic branch is a rotating pair for connecting the two closed-loop connecting rods, a rotating shaft of the rotating pair is connected with one end of the vibration isolator by the aid of a third universal hinge, and the other end of the vibration isolator is fixedly connected with the moving platform; the lower end of the boosting spring is fixedly connected onto the base, and the upper end of the boosting spring is a free end. The three-degree-of-freedom parallel attitude-adjusting and vibration-isolating platform is high in rigidity, high in bearing capacity and large in working space.

This invention belongs to industry robot field and provides a two free degree plane parallel structure, which comprises fixed platform and moving platform and the moving chain composed of slide block and connection bar. The fixed platform comprises two vertical guide rails. The connection plate connects the drive slide block and passive block. The kinematic pair between slide blocks, drive slide block, passive block and fixed platform is moving pair and other kinematic pair between the rest parts is rotation pair.

The invention relates to the field of robots, in particular to an offline programming demonstration robot. The method comprises the following steps: recording the movement and rotation information of respective corresponding kinematic pairs on articulated arms respectively through a position sensor of a data acquisition system; transmitting the recorded movement and rotation information of each kinetic pair on the articulated arms to upper computer application special software through a communication bus for processing and compiling to generate a robot program. The invention further discloses an office demonstration method. Ordinary robots of any number can be demonstrated by using only one demonstration system. Demonstration can be performed specific to robots of different configurations and structural parameters, so that the cost and demonstration operation difficulty are lowered greatly; moreover, the operation experience of skilled technicians can be deposited through manipulators, so that the skill levels of the skilled technicians can be reached on a whole production line. The device and the method are suitable for new operation workers to operate and use rapidly.

The invention discloses a triaxial vibration-decreasing/vibration-isolating platform of a hammer crusher, wherein, the whole platform structure belongs to the space redundancy 3-DOF translational mechanism, converting the spatial vibration caused by all excitation forces during the working process of the hammer crusher to triaxial wire vibration by the constraint of the space redundancy 3-DOF translational mechanism, then converting the triaxial wire vibration of a moving platform to uniaxial wire vibration of a mechanical active pair through mutual transitive relations between the moving platform of space redundancy 3-DOF translational mechanism and kinematics and mechanics of the mechanical active pair; buffering and vibration isolation are realized by elastic cells of the active pair and decreasing vibration can be realized through consuming vibrational energy of the system by damping elements of the active pairs, frictional damping of all kinematic pairs, or damping elements connected directly with the moving platform, thus reducing the spatial vibration of the hammer crusher and harm to ambient environment effectively, economically and reliably. The invention has the advantages of rational design, light weight, low cost, small volume and easy assembly and maintenance management, etc.

The invention relates to a two-rotation and one-movement parallel mechanism which is used in the decoupling of the virtual axis machine and robot, consisting of a frame (1), a moving platform (3) and three motion branch chains which connect the frame (1) and the moving platform (3). The motion branch chains (2a) and (2b) have the same structure which comprises revolute joint (21),(24), shifting pair (22),(25), spherical joint (23),(26) and the member, wherein junction of the motion branch chain(2c) and the frame is a vertex of a right angle. With only a few kinematic pairs, the mechanism has the advantages of simple structure, easy installation, small moment of inertia and fast motion response. Basically, single output degree of freedom only needs to control single driving unit. With easy calibration and control, not only the movement control is more precise but also the development cost and cycle is greatly lowered.

The invention relates to a motion decoupling two-degree-of-freedom rotation parallel mechanism, and belongs to the field of parallel robots. The mechanism consists of a fixed platform, a moving platform, and two branches which connect the fixed platform and the moving platform, wherein the two branches respectively consist of two kinematic pairs, namely a revolute pair and a hooke joint; the revolute pair is connected with the moving platform and the hooke joint is connected with the fixed platform; and one axis of one of the two hooke joints is collinear with one axis of the other of the two hooke joint, and the other axes of the two hooke joints are parallel with the axes of the two revolute pairs. The two-degree-of-freedom rotation parallel mechanism has the characteristics of good kinematic properties, high flexibility, large working space and the like; and kinematics positive and reverse solutions are simple, and two rotations of the moving platform are completely decoupled, so that the mechanism is easy to control and calibrate, saves energy, and can be widely applied to telescopes, cameras, positioners, radar tracking, solar panels, missile launchers, gun sight setters and the like.

The invention discloses a double-reed large-turning angle flexible joint, relates to the technical field of mechanical kinematic pairs, and solves the problem that the conventional flexible hinge is small in motion range. The double-reed large-turning angle flexible joint is characterized in that a first shell is integrally formed by a 210-degree arc plate and a 90-degree arc plate; the side wall of the 210-degree arc plate and the side wall of the 90-degree arc plate are integrally connected, and the thickness of the 90-degree arc plate is smaller than that of the 210-degree arc plate; the 210-degree arc plate of the first shell is arranged outside a 90-degree arc plate of a second shell, the 90-degree arc plate of the first shell is arranged inside a 210-degree arc plate of the second shell, and a gap is formed between the first shell and the second shell; a first flexible plate is inserted into the first shell and the second shell through a first through groove and a second through groove; a second flexible plate is inserted into the first shell and the second shell through the remaining parts of the first through groove and the second through groove. The double-reed large-turning angle flexible joint is applied to the field of large-stroke precision transmission mechanisms and flexible transmission.

The present invention discloses an elastic hinge parallel-connected 6-UPS six-dimensional force measuring platform. The invention has the following characters: each one-way force-measuring branch contains an integrated elastic universal hinge (3) and an integral elastic spherical hinge (5), and the angle between each group of one-dimensional force measuring branch installed between a base platform (1) and a load-applying platform (9) is 120 degrees. The one-dimensional force-measuring branch has two structures: the first is an assembled one-dimensional force-measuring branch structure; and the second structure is an integral one-dimensional force-measuring branch structure (17). The invention obtains an easy parallel-connected six-dimensional force-measuring platform structure totally composed of single-freedom elastic revolute pair by adopting a structure plan that the integral elastic universal hinge (3) and integral elastic spherical hinge (5) are used in the branch. The one-dimensional force-measuring branch can be replaced by the one-dimensional linear micro-driving branch to lead to that the six-dimensional force-measuring platform becomes the six-dimensional precise-orientated platform. The invention avoids the friction of the routine kinematic pair and has the advantages of simple structure, being easy to be analyzed and built with a model, stable capability, broad adaptability and the like.

The invention relates to a parallel mechanism, which has the characteristics that concomitant motion does not exist and the mechanism is easy to control, simple in structure, high in rigidity and low in cost. The technical scheme is that: a symmetrical-structure parallel mechanism having two-turn-one-shift three degrees of freedom comprises a moving platform, a frame, and first, second and third branches connected in parallel between the moving platform and the frame, and is characterized in that: in the first, second and third branches, each branch is connected with a revolute pair, a kinematic pair and a universal hinge in turn from the frame to the moving platform, and the moving direction of the kinematic pair in each branch is vertical to the axis of the revolute pair; the axis of a revolute pair of the universal hinge connected with the moving platform in the first branch is collinear with the axis of a revolute pair of the universal hinge connected with the moving platform in the second branch, and passes through a central point of the universal hinge in the third branch; and the axis of a revolute pair of the universal hinge connected with the moving platform in the third branch is vertical or parallel to the axes of the revolute pairs of the two universal hinges connected with the moving platform in the first and second branches.

The invention discloses a plane main undercarriage space retraction/extension mechanism and a plane main undercarriage space retraction/extension method and belongs to the design field of plane main undercarriages. In order to solve the problem that a traditional undercarriage is required to be turned, and a undercarriage cabin door retraction/extension mechanism and a control system are complex, the plane main undercarriage space retraction/extension mechanism consists of a five-pole and five-secondary space retraction/extension mechanism and a plane four-connecting rod driving mechanism, wherein the five-pole and five-secondary space retraction/extension mechanism consists of a cross beam, a pivoting shaft, an outer cylinder, a rocker and a rotary sleeve; and the combined plane four-connecting rod driving mechanism consists of connecting rod components, a lever, a bracket and a driving component retraction/extension acting cylinder. The undercarriage space retraction/extension is realized by using a universal hinge, and kinematic pairs, such as a rotation pair and the like, so the design of the undercarriage cabin door and a retraction/extension control system are simplified.

Embodiments of the invention disclose a bar code scanning device and a blood cell analyzer thereof. The bar code scanning device comprises: a main support, a bar code scanner, a slide carriage, a cylinder, a pressure head support assembly, a pressure head and an elastic element, wherein the main support is used to connect the bar code scanning device to a host; the bar code scanner is fixedly connected to the main support or the host; the slide carriage is fixedly connected on the main support; the cylinder is fixedly connected to the slide carriage or the main support and the cylinder comprises a cylinder piston rod which is extended out of the cylinder body; the pressure head support assembly is connected with the cylinder piston rod and forms cooperation connection with the slide carriage through a kinematic pair, and a motor is arranged on the pressure head support assembly; the pressure head can be rotatablely connected with the pressure head support assembly and the motor can drive the pressure head to rotate; one end of the elastic element is connected with the pressure head support assembly and the other end is connected with the slide carriage or the main support. In the invention, the elastic element provides a resilience force for the pressure head support assembly and the resilience force can buffer impact of the pressure head to a test tube. When the power is off or gas is off, the scanning device can automatically restore to an original state so that the test tube or a test tube rack can be conveniently to be taken out.

The invention relates to double-grating displacement transducer. It includes displacement unit, displacement guiding unit, signal processing circuit, laser, double grating unit, and photo-electricity receiver. The double gratings unit is formed by movable and fixed ones. The displacement unit and displacement guiding unit form the rectilinear kinematic pair; laser emits laser beam into double grating unit to produce double grating interference; photo-electricity receiver is used to receive the interference fringe, transmit the electric signal into signal processing circuit. Compared with the single grating displacement transducer, the invention has better interference fringe and fringe voltage signal, suits for using higher subdivision to reach higher resolution. Only if the movable grating has good consistency in moving, it can realize good sized displacement range with 20mm, and 0.01um resolving ability.

The invention discloses a moving magnet-type cylindrical linear motor. The moving magnet-type cylindrical linear motor primarily consists of a winding, an iron core, a core shaft, a nonmagnetic guard shaft and the like; and the moving magnet-type cylindrical linear motor secondarily consists of a permanent magnet topology, an end cover, a linear bearing and a shell and is a movable structure, and a kinematic pair is formed by the linear bearing and the primary nonmagnetic guard shaft. The moving magnet-type cylindrical linear motor has the advantages of being capable of obviously improving motor thrust loading, and effectively inhibiting tooth space detent force by the non-uniform permanent magnet topology, primarily adsorbing no machined chips or iron chips and ensuring safe operation of the motor.

The invention discloses a geometric error screw theory modeling method for a numerically-controlled machine tool. The method includes the first step of establishing an overall coordinate system R at any point on a machine body, establishing instant reference coordinate systems R' at reference points of the tail ends of a kinematic chains and establishing cojoined coordinate systems R[i] on kinematic pairs according to the kinematic chains of the numerically-controlled machine tool, and establishing a machine tool kinematic chain geometric error model containing location independent geometric errors and non-location independent geometric errors, the second step of obtaining a whole machine geometric error mapping model through the machine tool machine tool kinematic chain geometric error modeling method in the first step, and the third step of carrying out separation on compensable freedom degree geometric errors and non-compensable freedom degree geometric errors influencing the tail end of the complete machine according to the properties of a variation space of a restrained rigid body, the properties of a force space of the restrained rigid body, the properties of subspaces of the variation space and the properties of subspaces of the force space to respectively obtain a compensable freedom degree error mapping model and a non-compensable freedom degree error mapping model of the whole machine. Through the method, the mathematical models are provided for error compensation, and an important instructional theoretical basis is provided for error prevention and the precision matching design of the machine tool.

The invention belongs to the technical field of numerical control equipment manufacture, and relates to a novel multi-axis linkage hybrid device comprising a moving platform and a fixed platform which are used for mounting an executer and a third branch chain connecting the moving platform and the fixed platform. The third branch chain comprises a kinematic pair which drives actively. The novel multi-axis linkage device is characterized by further comprising a first and second branch chains, in the same structures, which connects between the moving platform and the fixed platform; the first and second branch chains both comprise two kinematic pairs which drive actively; the first, second and third branch chain are respectively connected to the moving platform and the fixed platform to form a spatial parallel loop mechanism, the moving platform are driven through five input motions to move, and three moving and two rotating degrees of freedom are achieved; the device further comprises an annular guide rail or workbench, and the spatial parallel loop mechanism and the annular guide rail or workbench form a hybrid device capable of realizing six-axis linkage. The output motion with five degrees of freedom can be realized through the three branch chain structure, structure is compact, and kinematics is simple.

The invention provides a tracking and trimming means of automatic edge sealing machine, belongs to the carpentry machinery field, solves the problems of complex construction, instable gravity center, easily damage to cylinder, asynchronous motions of patterning wheel, patterning plate and milling cutter driven by different cylinders, and poor cutting precision existing in current trimming devices. The tracking and trimming means of automatic edge sealing machine comprises a base, a tracking mechanism capable of causing the edge of the milling cutter mounted on the base to move along the edge of the edge sealing band pasted on the plate side; the milling cutter is driven by a motor. The invention is characterized in: The tracking mechanism comprises a vertical shaft and a lifting slide carriage disposed out of the vertical shaft; the vertical shaft is connected with a translation mechanism capable of driving it to move levelly; and the motor is levelly fixed on the lifting slide carriage. The invention realizes milling cutter tracking simply by combining two linear kinematic pair: a level kinematic pair and a vertical kinematic pair, has a simple construction and stable gravity center.

The present application discloses an automated cooking apparatus that includes a holder configured to hold a container of food or food ingredients, one or more first kinematic pairs, each comprising a first mating part and a second mating part, wherein the first mating part is connected to the holder; a transport mechanisms that can move the second mating parts of the one or more kinematic pairs; and a driver or controller configured to drive or control the transport mechanism to produce a movement of properly fast speed so that a center point on the internal surface of the container is displaced by properly small distance. The first kinematic pairs and the transport mechanisms in combination can move the holder and the cooking pan to produce fast enough acceleration in the container.