214 results about "Mechanical joint" patented technology

The invention relates to the technical field of robot joint control, and discloses a robot dog mechanical joint control method. The method comprises the following steps: acquiring a whole-body joint real-time sensing data set which covers the torque reading of a multi-axial force sensor, the angle data of a joint encoder and the body attitude data of an inertial measurement unit; motion state compensation is carried out on the sensing data based on a dynamic window mechanism, and a dynamic compensation matrix containing kinematics compensation parameters is generated; and inputting the multi-modal motion control data set into a gradient descent model under space-time constraint to complete multi-modal motion feature fusion so as to obtain a fusion motion control data set. Joint behavior abnormity is detected through a Lyapunov stability analysis algorithm, and abnormal nodes are identified; and iteratively optimizing control parameters through a fuzzy PID optimization algorithm to generate an optimized control parameter set, finally constructing a three-dimensional virtual motion space model, and establishing a dynamic mapping relationship between a virtual track and an actual mechanism.

The utility model provides a connecting arm, a mechanical arm and cleaning equipment. The mechanical arm comprises a joint arm and mechanical joints which correspond to and are connected with the joint arm, the mechanical joints are installed on the corresponding joint arm through installation structures, the connecting arm comprises an arm body, and the two ends of the arm body are each provided with a connecting part which is connected with one mechanical joint. The mechanical joints are configured to enable the connecting arms and the corresponding joint arms to be mutually folded or unfolded; and the connecting parts are configured to be accommodated in accommodating spaces formed in the corresponding articulated arms, and can move in the accommodating spaces. Therefore, the connecting parts and the joint arms which correspond to each other can be arranged in a relatively attached manner, the connecting arms can be accommodated in the accommodating spaces of the joint arms after being unfolded or folded relative to the joint arms, and the design requirements of compact structure and relatively small size of the mechanical arm are met.

The utility model discloses a mechanical joint for prefabricated part connection and a prefabricated pile connection structure. The mechanical joint comprises a positioning insertion rod, a spring clamping nut and a clamping spring. The positioning insertion rod comprises a positioning insertion rod seat and an insertion head, the insertion head is provided with first clamping teeth, and the first clamping teeth are provided with first clamping surfaces; a clamping spring containing groove is formed in the spring clamping nut, and a second clamping face is arranged in the clamping spring containing groove. The clamping spring is arranged in the clamping spring accommodating groove; the plug can be inserted into the spring clamping nut, and clamping of the positioning insertion rod and the spring clamping nut is achieved through the first clamping face, the second clamping face and the clamping spring. According to the mechanical connector for connecting the prefabricated parts, quick connection between concrete piles can be achieved through the structure, assembly type connection is achieved while an existing prefabricated pile manufacturing process is not changed, connection is reliable, and the comprehensive cost is low.

The utility model provides a mechanical joint, a mechanical arm and cleaning equipment. The mechanical joint comprises a connecting frame and a lifting assembly, the connecting frame is hinged to a base of the mechanical arm, the lifting assembly comprises a nut, a lead screw and a driving part, the nut and the lead screw are connected through non-self-locking threads and hinged to the base, the driving part is arranged on the connecting frame, the first end of the lead screw is connected with the driving part, and the second end of the lead screw penetrates through the nut; the driving part is used for driving the lead screw to rotate, so that the lead screw and the nut move relatively to drive the connecting frame to ascend or descend relative to the base. Therefore, lifting and falling operation of the mechanical joint can be achieved, and after the mechanical joint is accidentally powered off in the lifting state, the connecting frame can fall relative to the base by applying external force to the mechanical joint so as to meet the requirement for folding and storage of the mechanical arm.

A retainer gland to secure the connection and seal of a pipe joint includes an outer securement ring and an inner gripper ring. The outer securement ring has a periphery and a plurality of fastener flanges in spaced relation about the periphery, each of the fastener flanges having a mounting hole therethrough. The inner gripper ring is configured to be disposed within the outer securement ring. The inner gripper ring has a base and a plurality of gripper fingers disposed circumferentially about the base and extending from the base.

A joint restraint assembly for a pipe, the joint restraint assembly including an annular body, and a wedge assembly received within an opening of a wedge housing of the annular body. The wedge assembly includes a bolt including a flange, and a low-friction material positioned between the flange and an interior surface of the wedge housing, which low-friction material is adapted to slidably engage the interior surface during relative movement between the wedge assembly and the wedge housing. A wedge member is attached to the bolt so that the flange is positioned between at least a portion of the low-friction material and at least a portion of the wedge member. The wedge member is adapted to engage the pipe.

The invention provides a combined machining device, a combined machining system and a combined machining method, and belongs to the technical field of combined machining. The combined machining device comprises a mechanical arm which comprises a plurality of movable mechanical joints; the combined machining part comprises a mounting part hinged to the execution end of the mechanical arm, and a machining part and a laser machining part are arranged on the mounting part; the bearing part comprises a bearing plane, the bearing plane is used for bearing and supporting the machined part, and the bearing plane at least can rotate in the horizontal direction and the vertical direction; the combined machining device has the advantages that through the design of integrating a machining function and a laser machining function, efficient and accurate machining of materials difficult to machine such as a carbon fiber reinforced composite (CFRP) is achieved, and seamless integration of two machining modes on the same equipment becomes possible; the laser cutting mode and the machining mode can be rapidly switched within several seconds, and the problems that traditional split type equipment is large in occupied area and low in cooperation precision are effectively solved.

The invention discloses a hinge assembly, a mechanical joint and a robot. A plurality of structural members of the hinge assembly comprise a first structural member, a second structural member and a third structural member. The plurality of bearings of the hinge assembly includes a first bearing and a second bearing. In the axial direction, the bearing seat of the second structural part is located between the bearing seat of the first structural part and the third structural part, the first bearing ring is located between the first bearing and the second bearing, and the two end faces of the first bearing ring abut against the inner ring of the first bearing and the inner ring of the second bearing correspondingly. The second bearing ring is located between the second bearing and the third structural part, and the two end faces of the second bearing ring abut against the inner ring of the second bearing and the third structural part correspondingly. The hinge assembly further comprises a fastening assembly, and the fastening assembly fastens the inner ring of the first bearing, the first bearing ring, the inner ring of the second bearing, the second bearing ring and the third structural part together in the axial direction. Therefore, linkage of the third structural part, the inner ring of the first bearing and the inner ring of the second bearing can be achieved.

The utility model discloses a medical mechanical joint metal plate machining jig, and belongs to the field of mechanical joint machining jigs. The medical mechanical joint metal plate machining jig comprises a machining table and a guide rod mounting plate, guide rods are fixed to the periphery of the top of the machining table, the mounting plate is fixed to the tops of the guide rods, the medical mechanical joint metal plate machining jig further comprises a lower die fixed to the top of the machining table, and a material ejecting part is arranged in the lower die; the pressure plate slides up and down along the guide rods, and a punching part is arranged in the pressure plate; through the arrangement of the pressure plate, the punching cavity, the punching rod and the slag discharging groove, waste generated during punching is collected firstly, splashing of the waste is avoided, cleanliness is improved, fast-flowing airflow can be generated on the punching rod to take away heat generated by friction during punching of the punching rod, durability of the punching rod is improved, and the service life of the punching rod is prolonged. And meanwhile, the fluency of the slag discharge groove is also ensured.

The invention relates to the field of humanoid robots, in particular to a two-connecting-rod driving mechanical joint simulating rotation of human soles. According to the two-connecting-rod driving mechanical joint simulating rotation of the human foot sole, on the basis that high rigidity, movement precision and bearing capacity are guaranteed, swinging of the human foot sole is simulated by adding one freedom degree, and the two-connecting-rod driving mechanical joint is simple in structure and good in supporting performance. According to the technical scheme, the invention discloses a two-connecting-rod driving mechanical joint simulating rotation of a human sole. The top end of the shank is connected with a knee joint, the foot body is connected to the bottom end of the shank through a first hooke joint, and the sole is connected with the foot body through a first rotating pair. The sole driving branch is connected between the foot main body and the sole; and the two ankle driving branches are positioned on the left side and the right side of the shank and are respectively connected with the shank and the foot main body.

1. The name of the design product: exhaust cover (general motorcycle - mechanical splicing anti-scalding). 2. The use of the design product: for motorcycle exhaust anti-scalding. 3. The design points of the design product: in shape. 4. The picture or photo that best indicates the design points: perspective view 1.

The invention discloses a coffee robot mechanical arm control method and system based on a knowledge graph, relates to the technical field of mechanical arm control, and aims to solve the problems that in the prior art, displacement deviation of a mechanical joint and deviation of a matching point position are prone to causing coffee spilling and leakage, and the reliability is poor. The method specifically comprises the following steps: monitoring the stability of the execution end covered by the whole system, analyzing the matching degree of the executed end, performing double-end fault-tolerant fusion judgment and performing abnormal operation traceability regulation and control, so as to solve the technical problem that the operation error is further aggravated due to the fact that the cooperation efficiency between the execution end and the controlled object is low. Pre-judgment and real-time intervention are realized through threshold comparison and trend analysis, so that the probability of coffee making failure is remarkably reduced; a knowledge graph is taken as a core, execution logic can be updated based on real-time data, and dynamic adaptation of equipment aging adaptation-process adjustment compatibility-raw material change response can be realized in combination with environment and raw material parameter traceability abnormity inducements.

The application aims to provide a bionic mechanical joint structure, which comprises an A connecting member, a B connecting member, and a linkage member arranged between the A connecting member and the B connecting member; the A connecting member is provided with an A first connecting segment, an A second connecting segment and an A third connecting segment which are arranged on one side of the linkage member; the B connecting member is provided with a B first connecting segment, a B second connecting segment and a B third connecting segment which are arranged on one side of the linkage member; the linkage member is provided with an A first matching segment, an A second matching segment and an A third matching segment which are arranged on one side of the A connecting member, and the linkage member is provided with a B first connecting segment, a B second connecting segment and a B third connecting segment which are arranged on one side of the B connecting member; the A connecting member and the linkage member, and the B connecting member and the linkage member form a first connecting relationship of a ring-shaped connection layout; the A connecting member and the B connecting member have a third connecting relationship of a staggered connection layout. Through the arrangement of the bionic mechanical joint structure, based on the application of the linkage member arranged between the A connecting member and the B connecting member, and combined with the first connecting relationship of the first connecting cable and the third connecting relationship of the third connecting cable, the joint structure has excellent support performance, motion range and joint flexibility, and has drivability, which meets the high motion performance setting requirement of the mechanical joint.

The utility model discloses a handle angle adjusting structure, which relates to the field of mechanical joint structures, and adopts the technical scheme that the handle angle adjusting structure comprises a handle and a base, a notch of the handle cavity groove and a notch of the base cavity groove are folded to form an angle adjusting cavity, and the angle adjusting cavity is in axial sliding fit with a handle locking block; the handle locking block is matched with the side wall of the angle adjusting cavity through an axially-arranged key groove structure, the handle cavity groove is provided with a contact inclined face and a handle driving block, and the handle driving block is provided with a driving inclined face matched with the contact inclined face. A handle elastic piece is arranged between the handle locking block and the base cavity groove. The handle driving block is connected with one end of a driving rope, and the other end of the driving rope extends to the handle; the handle driving block is adopted to lock and unlock the relative angle of the handle and the base, the control process is more efficient and convenient, and stability and firmness are better.

A joint restraint assembly for a pipe, the joint restraint assembly including an annular body, and a wedge assembly received within an opening of a wedge housing of the annular body. The wedge assembly includes a bolt including a flange, and a low-friction material positioned between the flange and an interior surface of the wedge housing, which low-friction material is adapted to slidably engage the interior surface during relative movement between the wedge assembly and the wedge housing. A wedge member is attached to the bolt so that the flange is positioned between at least a portion of the low-friction material and at least a portion of the wedge member. The wedge member is adapted to engage the pipe.

The invention discloses an adjustable mechanical joint with a position keeping function and a using method, and belongs to the field of robots. The structure is that the upper end of an upper limb connecting device is connected with doll limb components, and the lower end is connected with a square rotating shaft; the upper half part of the lower limb connecting device circumferentially limits the spring pressure adjusting button, and the lower part of the lower limb connecting device is connected with the doll limb component, so that the limiting buckle is fixed. The two spring pressure adjusting buttons are symmetrically arranged on the outer side of the lower limb connecting device. The two axial reset springs are symmetrically distributed on the two sides of the lower end of the upper limb connecting device, and the square rotating shaft penetrates through the axial reset springs. The two axial clamping springs are symmetrically distributed at the two ends of the square rotating shaft. The problem of joint loosening caused by abrasion in the long-term repeated use process can be solved, conversion of the mechanical joint from the position keeping state to the position adjusting state is achieved, and the joint adjusting convenience is improved; the economical efficiency, durability and stability of the system are ensured through the simple structure and the reliable mechanical locking design.

The application discloses a coffee robot mechanical arm control method and system based on a knowledge graph, relates to the technical field of mechanical arm control, and aims to solve the technical problems that in the prior art, displacement deviation of mechanical joints and offset of matching points are prone to cause coffee spilling, and low coordination efficiency between an execution end and a controlled object further aggravates operation failure, specifically, overall system covers execution end stability monitoring, executed end matching degree analysis, double-end fault tolerance fusion judgment, and abnormal operation traceability regulation, from mechanical action deviation, container positioning error to material spilling and process abnormality, and through threshold comparison and trend analysis, early prediction and real-time intervention are realized, so that the probability of coffee production failure is significantly reduced; taking the knowledge graph as the core, not only can execution logic be updated based on real-time data, but also can environment and raw material parameter traceability abnormal inducement be combined to realize dynamic adaptation of "equipment aging adaptation-process adjustment compatibility-raw material change response".

This invention relates to a humanoid robot, specifically a parallel rotating mechanical joint based on a ring-shaped guide rail, mimicking the rotation of a human neck. The aim is to provide a parallel rotating mechanical joint based on a ring-shaped guide rail to achieve three degrees of freedom in the movement of a biomimetic human neck joint while ensuring high rigidity and motion accuracy. Furthermore, the joint features a simplified structure, good support performance, and sufficient movement space for the neck joint. The technical solution is a parallel rotating mechanical joint based on a ring-shaped guide rail, characterized by: a head motion platform, a neck ring-shaped guide rail base, and three PSS (Personal Stability Support) link branches connected in parallel between the head motion platform and the neck ring-shaped guide rail base; the center of the head motion platform and the center of the neck ring-shaped guide rail base are connected by a composite rotating shaft.

The invention discloses a mechanical joint surface normal contact stiffness calculation method based on ellipsoid contact and fractal theories, and belongs to the field of dynamic and static characteristic analysis of numerical control machine tools. Comprising the steps that a real contact micro-convex body is equivalent to contact of an ellipsoid and a rigid plane, and a contact micro-convex body normal rigidity model considering long and short axes of the ellipsoid is established; introducing a domain expansion factor, constructing a mechanical joint surface normal contact stiffness three-dimensional fractal correction model, and calculating a fractal dimension D and a roughness coefficient G; analyzing and extracting a space stress distribution matrix of the joint surface by adopting a refined finite element model; calculating the normal contact stiffness of the mechanical joint surface, and obtaining the inherent frequency in combination with a finite element method; and performing a modal hammering test to verify the accuracy of the calculation method. According to the method, the ellipsoidal hypothesis of the contact micro-convex body is provided, the scale independence and the normal contact mechanical behavior of the surface microstructure are fully considered, and calculation of the normal contact rigidity of the formed mechanical joint surface provides theoretical support for dynamic and static characteristic analysis of a numerical control machine tool.

The invention discloses an automatic bending robot for a metal sheet. The automatic bending robot comprises a three-axis mechanical arm, a robot base, an execution end mounting platform, an execution end cross beam, a suction cup unit, a lifting clamping strip and a fixed clamping strip. The three-axis mechanical arm comprises an arm a, an arm b and an arm c; a robot base is connected with one end of an arm a through an electric mechanical joint a, the other end of the arm a is connected with one end of an arm b through an electric mechanical joint b, the other end of the arm b is connected with one end of an arm c through an electric mechanical joint c, an execution end mounting platform is fixed to the tail end of the arm c, and an execution end cross beam is fixed to the execution end mounting platform; the multiple suction cup units are distributed in a linear array mode in the length direction of the execution end cross beam, and all the suction cup units are fixedly connected with the execution end cross beam through suction cup supports. Accurate grabbing and feeding can be independently completed, and the bending action can be directly executed.

The application relates to the technical field of cables, in particular to a high-strength bending-resistant cable for mechanical joints and a preparation method thereof. The cable comprises a cable core and a sheath layer outside the cable core; the cable core is a stranded structure of a stress buffer wire core and multiple insulated wire cores, and on the cross section of the cable core, the multiple insulated wire cores are arranged in a ring shape with the stress buffer wire core as the center, and the outer part of each insulated wire core is coated with a lubricating oil coating; the stress buffer wire core is a filament polyester fiber bundle stranded structure with a bulkiness of greater than or equal to 20 cm3 / g and a compression recovery rate of greater than or equal to 75%. In the process of frequent bending and twisting of the mechanical joint relative movement, the extrusion and friction between the insulated wire cores are small, the abrasion phenomenon of the insulated wire cores is greatly reduced, the whole cable core has good structural strength, excellent bending resistance and excellent twisting resistance, and has a long service life.

The present application discloses a mechanical joint, a mechanical arm, and a self-propelled cleaning device, wherein the mechanical joint is configured to connect a support arm of the mechanical arm to a base, and the mechanical joint includes a first drive unit, a rotary joint, and a first transmission assembly, the first drive unit is provided on the base, and the first transmission assembly is used to be transmissibly connected to the first drive unit and the rotary joint, the rotary joint is connected to a rotating seat, and the first drive unit is used to rotate the rotary joint via the first transmission assembly and drive the rotating seat to rotate relative to the base.

A mechanical joint (100), a mechanical arm (200) and a cleaning apparatus (300). The mechanical joint (100) comprises: a connecting frame (110) and a lifting assembly (120), wherein the connecting frame (110) is hinged to a base (211) of the mechanical arm (200); the lifting assembly (120) comprises a nut (121), a lead screw (122) and a driving part (123), wherein the nut (121) and the lead screw (122) are connected by means of non-self-locking threads and are hinged to the base (211), the driving part (123) is arranged on the connecting frame (110), a first end of the lead screw (122) is connected to the driving part (123), and a second end of the lead screw (122) passes through the nut (121); and the driving part (123) is configured to drive the lead screw (122) to rotate, such that the lead screw (122) and the nut (121) move relative to each other to drive the connecting frame (110) to be raised or lowered relative to the base (211).

This invention relates to the field of measuring tools, specifically disclosing a mechanical joint clearance measuring device for measuring joint clearance. The joint includes a first swing member and a second swing member. The first swing member has a rotating shaft, and the second swing member has a rotating hole. The rotating shaft is inserted into the rotating hole and rotatably engages with the second swing member. The measuring device includes a first fixing member, a second fixing member, a probe, a resistive element, and a data processor. The first fixing member positions one of the probe and the resistive element on the rotating shaft and is coaxial with the rotating shaft. The second fixing member positions the other of the probe and the resistive element on the wall of the rotating hole of the second swing member and is coaxial with the rotating hole. The probe and the resistive element abut against each other. The probe is electrically connected to the data processor. The resistive element has at least three connecting lines spaced apart along its circumference, and these at least three connecting lines are electrically connected to the data processor. This measuring device can provide high-precision joint clearance values ​​and also visually display the changes in clearance at each part of the joint.

The invention relates to the technical field of tubular pile foundation engineering, in particular to a prestressed high-strength concrete tubular pile anti-pulling connecting device and a construction method, and the prestressed high-strength concrete tubular pile anti-pulling connecting device comprises an upper-section tubular pile and a lower-section tubular pile, the bottom end of the lower-section pipe pile is provided with a pile tip, and the top end of the lower-section pipe pile is provided with a second connecting end plate and is welded with the first connecting end plate; the core filling concrete is internally provided with a reinforcement cage and is of an integrated structure; the reinforcement cage is placed in the upper-section pipe pile and the lower-section pipe pile, and the core filling concrete is formed after concrete is poured, so that the upper-section pipe pile and the lower-section pipe pile are connected into a whole; the upper-section pipe pile and the lower-section pipe pile are connected in a two-end-plate welding mode, meanwhile, mechanical connection is replaced by core filling concrete formed by concrete core filling in the pipe piles, the welding connection and concrete core filling mode can meet the connection requirement of the pipe piles in the strong corrosion environment, and meanwhile, due to the fact that mechanical connection is not adopted, the connection cost is reduced. The use of mechanical joints is reduced, and the construction cost is greatly reduced.

To provide: a mechanical joint that does not require rotation or application of a large load for joining, can transmit a torsional load without additionally incurring excessive costs, and does not come off or reduce the strength of the joint; a joining method for the mechanical joint; a steel pipe fitted with the mechanical joint; a structure having the steel pipe as a constituent element; a construction method for the structure; a design method for the mechanical joint; and a manufacturing method for the mechanical joint.SOLUTION: A mechanical joint 1 of the present invention comprises one or more stages of annular grooves 15 formed on an outer peripheral surface of a male joint 3 and an inner peripheral surface of a female joint 5 so as to face each other when insertion is complete, a C-shaped ring member 17 that can be positioned within the annular groove 15 so as to straddle the male joint 3 side and the female joint 5 side, anti-rotation pin insertion holes 13M, 13F provided in the male joint 3 and the female joint 5, and an anti-rotation pin 11 that passes through the anti-rotation pin insertion hole 13F and a C-shaped cutout portion 19 of the female joint 5 and reaches the anti-rotation pin insertion hole 13M of the male joint 3.SELECTED DRAWING: Figure 1

The utility model provides a mechanical arm and cleaning equipment, the mechanical arm comprises a first mechanical joint and two connecting arms connected through the first mechanical joint, and the first mechanical joint is configured to enable the two connecting arms to be mutually folded or unfolded; wherein at least one of the two connecting arms is provided with an inductance film, and the inductance film is configured to be contacted to send an electric signal. Therefore, the mechanical arm can make reasonable actions according to the electric signals sent by the inductance film, so that the possibility that the mechanical arm clamps or collides with a human hand or a foreign matter in the movement process is reduced, the use safety of the mechanical arm is improved, and the use satisfaction degree of a user is improved.

The present invention discloses a circular steel tube concrete column-reinforced concrete transfer beam node, comprising an outer ring support plate arranged between the circular steel tube concrete column and the reinforced concrete transfer beam, stiffening ribs under the support plate, a primary mechanical joint on the support plate, and cylindrical dowel bars; the annular steel plate of the outer ring support plate is welded around the outer edge of the top of the circular steel tube column and fixed to the steel tube via stiffening ribs; the primary mechanical joint is vertically welded to the annular steel plate, and the cylindrical dowel bars in the mechanical joint serve as cylindrical longitudinal bars within the height range of the reinforced concrete transfer beam. In the structural arrangement of the present invention, the steel tube does not extend into the area where the steel bars are arranged in the transfer beam, ensuring that the longitudinal bars of the beam can freely cross the column position; the addition of a steel support plate at the top of the steel column improves the shear bearing capacity of the column side beam end; longitudinal bars are arranged on the support plate to form a large-diameter concrete cylinder, ensuring the bending resistance of the column in the node area, making the beam-column node close to a rigid connection; a sufficient number of primary mechanical joints are welded on the annular plate to facilitate the construction operation of the cylindrical longitudinal bars.

The application discloses a pre-tightening mechanical joint with an intermediate sleeve, a precast concrete pile and a connecting method, wherein the joint comprises a plug rod provided with a plug; a large nut provided with a receiving cavity; a clamping mechanism arranged in the receiving cavity; a pre-tightening nut in threaded connection with the large nut; and an intermediate sleeve sleeved on the pre-tightening nut and located outside the large nut, wherein the intermediate sleeve is provided with a transmission structure, and the transmission structure is used for driving the intermediate sleeve to rotate by a driving part when the plug is clamped with the clamping mechanism, and then driving the pre-tightening nut to rotate and move along the large nut in the axial direction, so as to lock the plug and the clamping mechanism in the axial direction of the large nut. The pre-tightening mechanical joint disclosed by the application effectively eliminates the gap between the plug and the pre-tightening nut, so that when the precast concrete pile connected by the mechanical joint is subjected to a pulling force, a shearing force or a bending force, the connected part of the precast concrete pile will not crack and generate cracks.