246 results about "Mechanical joint" patented technology

The invention relates to the technical field of mechanical joints, in particular to a humanoid robot linear electric drive joint which comprises a shell, a front end cover and a rear end cover, the front end cover and the rear end cover are fixed to the two ends of the shell respectively, and an execution assembly and a drive control assembly are arranged in the shell; the execution assembly comprises a reverse planetary roller screw and a motor, and the drive control assembly comprises an encoder composed of a coded disc and a magnetic ring, a pull pressure sensor and a driver. Aiming at the technical problem that an existing linear joint has defects, a reverse planetary roller lead screw is adopted as a main transmission component, and the lead screw, a roller and a nut of the reverse planetary roller lead screw are in linear contact, so that high precision, long service life, high integration level and high thrust density can be achieved while high bearing and high speed are achieved; therefore, the method is suitable for use scenes of humanoid robot joints.

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.

A device and a method for actuating a joint of a human, an animal or a robot are disclosed. An elongated, lengthwise flexible and torsionally elastic body is provided for transmitting torque. Based at least in part on torsional deformation information of the body, torque is transmitted via the body. In an embodiment, a flexible drive shaft is provided, whereby the flexible drive shaft comprises said body. Furthermore, use of a flexible drive shaft as compliant element and as torque transmission element in a rotary actuator for actuating a mechanical joint is disclosed. In addition, use of a flexible drive shaft for determining an impedance of a joint of a human or an animal is also disclosed.

The invention provides an endoscope robot control method and system, electronic equipment, a medium and a program product, and an endoscope robot comprises a first mechanical joint, a second mechanical joint, a third mechanical joint, a fourth mechanical joint, a first virtual joint and a second virtual joint. The endoscope robot control method comprises the following steps: determining a first translation distance, a first rotation angle, a second rotation angle, a third rotation angle, a second translation distance and a fourth rotation angle according to a target coordinate point of an endoscope robot; and controlling the position of the endoscope robot to be updated to the target coordinate point according to the first translation distance, the first rotation angle, the second rotation angle, the third rotation angle, the second translation distance and the fourth rotation angle. Operation can be observed from different angles by controlling the movement of the endoscope robot combining the mechanical joint and the virtual joint, the manufacturing process of the endoscope robot is simplified, and meanwhile the stability of the structure of the endoscope robot can be guaranteed under the condition that the degree of freedom is not sacrificed.

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 invention relates to a dumbbell bolt pin pipe pile connector and a design method thereof.The dumbbell bolt pin pipe pile connector comprises an upper pipe pile section, a lower pipe pile section, an upper end plate, a lower end plate and dumbbell bolt pins, and a plurality of evenly-distributed prestressed tendon anchoring holes are formed in the upper end plate and the lower end plate along the circumference; an opening is formed between every two adjacent prestressed tendon anchoring holes, cover plates are arranged at the positions, located at the openings, of the upper end plate and the lower end plate and seal the openings to form T-shaped grooves, every two corresponding T-shaped grooves are in butt joint to form an I-shaped bolt pin groove, a semicircular fastening hole is formed in one side of each bolt pin groove, and dumbbell bolt pins matched with the bolt pin grooves are arranged in the bolt pin grooves. Fastening pins are inserted into the fastening holes to lock the dumbbell bolt pins. The joint has the beneficial effects that vertical socket and spigot joint of a common mechanical joint is converted into horizontal pin joint, point connection of line connection and vertical pin joint of a welding joint is converted into face connection, and the joint is easy to manufacture, uniform in stress and higher in bearing capacity.

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 provides unmanned thermal battery packaging quality inspection equipment based on machine vision, and relates to the technical field of production line detection systems.The unmanned thermal battery packaging quality inspection equipment comprises a moving module, a quality inspection module and a base station assembly, a mounting bottom plate is arranged in the middle of the moving module, and a connecting mechanical arm and a mounting support are arranged at the end of the quality inspection module in an extending mode; mechanical joints are arranged at the connecting positions of the adjacent connecting mechanical arms, the connecting positions of the connecting mechanical arms and the mounting bracket and the connecting positions of the quality inspection module and the connecting mechanical arms, a high-resolution camera and a multi-layer convolutional neural network are adopted, tiny defects can be accurately detected, and compared with a traditional manual detection method, the detection efficiency is greatly improved. According to the automatic quality inspection device, the risks of missing detection and misjudgment are remarkably reduced, the consistency of product quality is ensured, full-automatic quality inspection is achieved through unmanned design, the labor cost and human errors are reduced, and the production efficiency is improved. In addition, an intelligent navigation system and a laser radar technology enable the equipment to move and position autonomously in a complex environment, so that the working flexibility is improved.

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 utility model discloses a hydraulic quick-change joint for quickly replacing telescopic arm forklift tools, comprising a shaft hanging tube with shafts at both ends and a joint cylinder with piston rods at both ends, the shaft hanging tube and the joint cylinder are parallel to each other and fixedly connected by a plurality of baffles, the cavity of the joint cylinder is connected to an external hydraulic control end through an electromagnetic cartridge valve oil circuit; a plurality of connecting plates are fixed on the outer wall of the joint cylinder, and one end of the connecting plate is rotatably connected to the front end of the telescopic arm tube of the forklift, the telescopic arm tube is also provided with a telescopic cylinder, the piston rod of the telescopic cylinder is hinged at the lower end part of the connecting plate for controlling the rotation of the hydraulic quick-change joint as a whole along the joint connecting pin, the upper end of the connecting plate is fixedly connected to the shaft hanging tube, the hydraulic quick-change joint is used to replace the mechanical joint to connect tools, to connect different tools, and when replacing different tools, the piston rod is extended and retracted for disassembly, and hammering is not required, thereby extending the service life of the tool and having a high safety factor.

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.

Systems, apparatuses, and methods are provided for patient simulators and assemblies for patient simulators. Patient simulators may include shoulder assemblies, breast assemblies, and axilla assemblies. A shoulder assembly may be configured to control positioning and orientation of a simulated arm of a patient simulator. A shoulder assembly may include a first portion connected to a simulated torso of the patient simulator and a second portion. The first portion may include a mechanical joint configured to rotate around a first axis and a second axis. A breast and axilla assembly may include an axilla portion, a breast portion, and one or more simulated masses. The breast portion may include an outer breast portion and an inner breast portion. The one or more simulated masses may be disposed within the inner breast portion or the axilla portion.

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 disclosure provides a mechanical arm and a robot, and relates to the field of robot technology. The mechanical arm includes: a first mechanical joint, a second mechanical joint and a driving assembly; the first mechanical joint includes a first fixed part and a first movable part that are rotatably connected; the second mechanical joint includes a second fixed part and a second movable part that are rotatably connected; in a first working mode, at least two driving sources can drive the second movable part to rotate relative to the second fixed part, and fix the position of the first movable part relative to the first fixed part; in a second working mode, the driving source drives the second movable part, the second fixed part and the first movable part to rotate relative to the first fixed part, and fixes the position of the second movable part relative to the second fixed part. The mechanical arm disclosed in the present disclosure can realize the coupled driving of multiple joints by at least two driving sources, thereby improving the utilization rate of the driving sources.