33 results about "Locking joints" patented technology

The Pinned Lock Joint is an improved method for joining two members together such as between a table leg and table top. A portion of the male member (the leg) is formed to completely and intimately fit into a hole or open ended slot in the female member (the top). The hole or open ended slot milled into and or through the female member is configured such that the male member can only be inserted into it along one axis of assembly, preventing disassembly along any other axis of motion. After the two members are assembled, a pin is inserted into and through both members approximately perpendicular to the axis of assembly, preventing disassembly along the original axis of assembly, and thus locking the two members together.

Disclosed herein is a device for assisting and locking joints, having a supporting structure in the joint, at least one tensioning system fixed to the supporting structure and at least one artificial tendon connected to the tensioning system. The tension system interacts with the locking system in order to assist the user's joints when needed.

The invention discloses a deployable joint locking control mechanism which can be used for a common single-freedom-degree rotary joint. The deployable joint locking control mechanism is composed of a joint, a joint upper arm (1), a joint forearm (2), a joint rotating shaft (3), a joint locking groove (4), a joint locking control block (5), a lead screw (6), a guide rail (7) and a lead screw driver (8). The deployable joint locking control mechanism is used for locking rotation of the joint forearm around the joint rotating shaft relative to the joint upper arm through insertion fit between a joint locking pin and a locking groove located in the forearm; transmission of the lead screw and the guide rail is used, a special shape of the locking groove is used in a matched manner, and the function of locking at any joint corner position is achieved. According to the deployable joint locking control mechanism, the locking force which is much larger than that capable of being provided by a friction type clutch device is provided under the same design size scale; meanwhile, continuous rather than discrete joint corner locking position can be provided; and meanwhile, the deployable joint locking control mechanism is quiet energy-saving, small, exquisite and compact.

A pneumatic soft gripper capable of locking joints in a vacuum absorption mode comprises a position fixing structure, flexible sucking disc spines and multiple groups of soft fingers in pairs, whereinthe soft fingers are arranged on the position fixing structure, and each flexible sucking disc spine is arranged between the two soft fingers in each pair so as to control the relative position of the two soft fingers in each pair. The pneumatic soft gripper capable of locking the joints in the vacuum absorption mode is simple in structure, easy to integrate, simple to process and low in cost. Byadding the flexible sucking disc spines in the soft fingers, a variable rigidity and full flexibility gripper is obtained, not only are the softness and flexibility characteristics of the soft gripper kept, but also bearing force and stability of the fingers are improved, a gripping state is kept through self-locking and without the need for additional energy supply in the gripping process, and therefore work energy consumption is reduced.

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 invention provides a self-locking mechanism, and relates to the technical field of medical tools. The self-locking mechanism comprises a rotating sleeve, a connecting cylinder and a connecting column which are sequentially connected in a sleeved mode from outside to inside. A limiting ring table is arranged on the inner wall of the rotating sleeve, and the first end face of the connecting cylinder faces the limiting ring table; a first notch is formed in the first end face, and a second notch is formed in the limiting ring table; a limiting protruding block is arranged on the annular faceof the connecting column. An elastic piece and a retaining device are arranged between the rotating sleeve and the connecting cylinder, the elastic piece is used for driving the rotating sleeve to rotate relative to the connecting cylinder, and the retaining device is used for limiting the rotating sleeve to move relative to the connecting cylinder in the axis direction of the rotating sleeve. According to the self-locking mechanism, the three structures of the rotating sleeve, the connecting cylinder and the connecting column, the elastic piece and the retaining device are utilized, and the problem that the tool bit is inconvenient to mount and dismount is solved through relative rotating and moving operation of the components. On the basis, the invention further provides a self-locking type joint planing device.

The invention provides a redundant-degree-of-freedom mechanical arm path planning method and device and engineering machinery, and relates to the technical field of mechanical arm path planning. The redundant-degree-of-freedom mechanical arm path planning method comprises the steps of determining a target pose to be reached by an execution tail end of a mechanical arm; determining joints which can keep the initial angles when the execution tail end of the mechanical arm is located at the target pose in all joints of the mechanical arm; determining path data of the execution tail end of the mechanical arm reaching the target pose based on the determined joints, specifically, the path data comprise the target angles of all the joints of the mechanical arm, and the target angle of at least one joint is equal to the initial angle of the joint; and determining the motion paths of the mechanical arm according to the path data, and making the motion path meeting the preset rule in the motion paths as the final motion path of the mechanical arm. According to the redundant-degree-of-freedom mechanical arm path planning method, the motion path of the mechanical arm is planned based on the locked joints, and thus the shaking of the execution tail end of the mechanical arm in the motion process can be effectively reduced.

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 discloses a quick insertion locking joint. One end of a female joint body is provided with an insertion port, the inner wall of the insertion port is provided with a sealing base, a sealing ring is arranged on the sealing base, the side wall of the insertion port is provided with a plurality of limiting holes, each limiting hole is internally provided with a limiting element, the outer side wall of the female joint body is provided with a first boss, a sliding sleeve is arranged outside the first boss in a sleeving mode, a clamping groove is formed in the outer side wall of the female joint body, a check ring is arranged in the clamping groove, a second boss is arranged on the inner wall of the sliding sleeve, the female joint body is sleeved with an elastic element, the elastic element is arranged between the second boss and the first boss, a limiting groove is formed in the outer wall of a Camlock male joint in the circumferential direction, when the Camlock male jointis inserted into the insertion port, the second boss enables the limiting elements to be fixed in the limiting groove and enables the Camlock male joint to press the sealing ring on the sealing base,and when the second boss slides away from the limiting holes, the limiting elements can be disengaged from the limiting groove. The quick insertion locking joint is simple in structure, small in occupied space, convenient and fast to disassemble and assemble and good in sealing performance.

The invention belongs to the technical field related to a shield tunnel lining structure, and discloses a segment structure with combined tenon-and-mortise joint and female head locking joint connection components. The segment structure includes multiple shield segments and the multiple combined tenon-and-mortise joint and female head locking joint connection components, the segment structure is cylindrical, the shield segments are in arc shapes, two rectangular ends and two arc-shaped ends which are connected are included, the two rectangular ends are arranged in the circumferential directionof the segment structure, and the two arc-shaped ends are arranged in the axial direction of the segment structure. The two opposite arc-shaped ends are provided with grooves and protrusions, and theprotrusions are contained in the grooves; each combined tenon-and-mortise joint and female head locking joint connection component comprises a tenon-and-mortise joint connecting piece and a female head locking pushing joint connecting piece, wherein the tenon-and-mortise joint connecting piece is connected to the two opposite rectangular ends, the female head locking pushing joint connecting piece is connected with the two opposite arc-shaped ends, and circumferential and axial connection of every two adjacent shield segments is realized. The segment structure improves the waterproof performance, the shear performance and the joint toughness.

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 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 provides a self-locking joint used for the connection of space truss structures. The bullet joint is inserted into the shelter, the trapezoidal protrusion of the bullet joint matches the trapezoidal through hole on the bottom surface of the shelter, and the arc of the bullet joint The shaped bullet is first compressed and then bounced, and finally locked in the square holes on the left and right sides of the shelter to complete self-locking. When it is necessary to unlock, push the two cross buttons that press the spring button until the actuating block of the cross button squeezes The arc-shaped bullet is retracted into the bullet joint, and the unlocking can be completed, and the truss member connected with the bullet joint is taken away. The invention can change the direction of the rotatable joint, and can further flexibly adjust the installation direction of the rod; it can reduce the operation accuracy and difficulty required by the robot, and can complete the automatic locking of the two parts, and the unlocking process can be completed through the spring button structure. The functions of automatic locking and disassembly separation during the installation process are completed, which is convenient for the robot to operate.

The invention belongs to the related technical field of shield tunnel lining structure, and discloses a segment structure with combined mortise and tenon and female locking joint connection components. The segment structure includes a plurality of shield segments and a plurality of combined Mortise tenon and female locking joint connection assembly, the segment structure is cylindrical, and the shield segment is arc-shaped, which includes two connected rectangular ends and two arc-shaped ends, and the two rectangular ends are along the segment structure The two arc-shaped ends are arranged along the axial direction of the segment structure; the opposite two arc-shaped ends are respectively formed with grooves and protrusions, and the protrusions are accommodated in the grooves; the combined mortise and tenon and female head The locking joint connection assembly includes a mortise and tenon joint connection and a female lock push joint connection; the mortise and tenon joint connection connects two opposite rectangular ends, and the female lock push joint connection connects two opposite arcs Shaped end, thereby realizing the circumferential and axial connection of two adjacent shield segments. The invention improves waterproof performance, shear performance and joint toughness.

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 provides a self-locking joint for space truss structure connection. An elastic block joint is inserted into a square cabin, a trapezoidal convex block of the elastic block joint is matched with a trapezoidal through hole in the lower bottom face of the square cabin, arc-shaped elastic blocks of the elastic block joint are compressed firstly, then bounce off and finally are locked insquare holes in the left side face and the right side face of the square cabin, thus self-locking is completed, when unlocking is needed, two cross-shaped buttons of a spring button are pushed and pressed till actuating blocks of the cross-shaped buttons extrude the arc-shaped elastic blocks to enable the arc-shaped elastic blocks to be retracted into the elastic block joint, then unlocking can becompleted, and a truss rod piece connected with the elastic block joint is taken away. The direction of a rotatable joint can be changed, and the mounting direction of the rod piece can be further flexibly adjusted; the operation precision needed by a robot and the operation difficulty can be reduced, automatic locking of two parts can be completed, through a spring button structure, the unlocking process can be completed, the functions of automatic locking and disassembly separation in the mounting process are realized, and operation of the robot is facilitated.

The invention discloses a ball-joint pneumatic locking type variable stiffness soft arm skeleton, which belongs to the field of mechanical arms and comprises several sequentially connected rotating components, the rotating components including an outer shaft joint and an inner shaft joint, and the outer shaft joint It is connected with the inner shaft joint through a ball joint. The ball joint includes aeroelastic parts, two outer shaft joint locking parts and two inner shaft joint locking parts. Through the contraction of the aeroelastic parts, the locking The pressure of the parts, so that the stiffness of the joints is changed, which solves the problem that the software arm is difficult to shape in the prior art.

The invention relates to the technical field of fluid pipeline connection, in particular to a large-diameter dry-type quick connector, which includes a male connector and a female connector that cooperate with each other; the male connector includes a male connector housing assembly, a male connector fixed valve core assembly and a male connector. The joint moves the spool assembly; the female joint includes a female joint housing assembly, a female joint spool assembly and a female joint locking assembly; the fluid pipeline connection device adopts a flat head structure and a roller curved groove type quick locking docking method to realize Accurate and fast docking is achieved based on the respective sealing properties of the male / female joints, effectively realizing the internal flow of fluid in the flow channel set between the docking structures, simplifying the docking and unlocking operations, eliminating fluid leakage, improving the flow coefficient, and improving The design purpose of impurity resistance and field operation efficiency. The invention has the advantages of reasonable design, strong sealing performance, small internal fluid resistance, and each internal sealing member does not always contact the flowing working medium.

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 a variable measurement space method of an articulated coordinate measuring machine based on a tooth-embedded joint. There will be great redundancy in the measurement space of the existing articulated coordinate measuring machine, but the accuracy will be lost. The present invention connects adjacent articulated arms through tooth-embedded joints to build an articulated coordinate measuring machine based on tooth-embedded joints. The present invention can effectively realize the locking and free rotation of the joints of the articulated coordinate measuring machine by realizing the fit and separation of the movable claw plate and the fixed claw plate; Compared with the different measurement spaces of the joint-type coordinate measuring machine based on the jaw-type joint under the locking scheme of the jaw-type joint at different positions, the appropriate measurement space of the joint-type coordinate measuring machine is selected to reduce the waste of space and improve the measurement accuracy.

The invention relates to the technical field of mechanical fingers, and discloses a creep-resistant rope-driven mechanical finger. The finger comprises knuckles, a rope drive system and a joint locking system. The knuckles comprise a first knuckle, a second knuckle and a third knuckle; and the first knuckle, the second knuckle and the third knuckle are connected through the joint locking system, and the first knuckle, the second knuckle and the third knuckle are in transmission through the rope drive system. According to the creep-resistant rope-driven mechanical finger, the temperature-driven joint locking system is designed, so that the problem that a driving rope of a rope-driven manipulator creeps under the action of a load at a high temperature is solved. A joint structure is reasonably designed, so that the flexibility of joints at normal temperature is ensured. In addition, abrasion compensation and adjustment of a locking stable threshold value can be carried out by designing an adjusting screw sleeve, and the higher flexibility and practicability are achieved.

Provided is a buckle-type rapidly locking joint for an anesthetic duct. The buckle-type rapidly locking joint comprises a bottom board. One end of the bottom board is fixed with a connection seat and the other end thereof is provided with a fixing seat. The surface of the bottom board is provided with a hose. The connection seat is provided with an insert communicating with the hose. The insert allows the anesthetic duct to insert into the hose. The joint used for being connected with a syringe is installed on the fixing seat. The fixing seat is internally provided with a channel communicating with the joint and the hose. The buckle-type rapidly locking joint for the anesthetic duct further comprises a press board above the bottom board. One end of the press board is hinged onto the bottom board or the fixing seat. A clamping seat is arranged on the bottom board or the fixing seat. The press board is fixed with the clamping seat in a snap-joint manner or away from the clamping assembly. When the press board is fixed with the clamping seat in the snap-joint manner, the anesthetic duct fixed in the hose is clamped by the press board and the bottom board. The buckle-type rapidly locking joint for the anesthetic duct has the following beneficial effects: the anesthetic duct and the fixing joint can be rapidly in butt joint; operation is performed more conveniently; better stable fixing effect is obtained; and the anesthetic duct is not likely to fall down.

The invention discloses a Lisfranc injury cross-joint locking bone plate, which comprises a cross-joint bone plate and a stabilizing mechanism. The cross-joint bone plate is provided with a plurality of locking holes, and the positions of the corresponding locking holes on the cross-articular bone plate are all opened. The limiting ring groove, the stabilizing mechanism used for the stable and accurate nailing of the screw is inserted into the corresponding limiting ring groove. The present invention opens a limiting ring groove on the outside of each locking hole, and through The stabilizing mechanism with well-adjusted insertion angle makes the subsequent nailing angle of the screw more accurate, and avoids problems such as shaking when the screw is inserted because the inner diameter of the locking hole is larger than the diameter of the screw trunk, so as to achieve precise fixation.

The embodiment of the invention provides a control method for engineering machinery, a processor, the engineering machinery and a storage medium, and belongs to the field of engineering machinery. The control method comprises the following steps: acquiring the tail end speed of the tail end of the boom in a Cartesian space in a current period; locking the joints except for three joints close to the tail end of the arm support and a joint between the body and the rotary table in the plurality of joints to obtain a first arm support model comprising a first locked joint and a first unlocked joint; according to the tail end speed, the operability of the first arm framework type in the next period is determined; comparing the operability with a preset operability range; under the condition that the operability exceeds a preset operability range, determining a first joint needing to be unlocked in the first locking joints to obtain a second arm framework type comprising a re-determined second locking joint and a re-determined second unlocking joint; and controlling the movement of the joint in the next period according to the second arm framework. The moving speed of the tail end of the boom can be increased.