53 results about "Mobile joint" patented technology

The invention belongs to the technical field of parallel robots, and particularly relates to a four-degree-of-freedom parallel mechanism with an offset angle, which comprises a fixed platform, transmission branch chains are respectively arranged on the left side and the right side of the fixed platform, and parallelogram structures with offset angles are fixedly arranged at the upper ends of the two transmission branch chains; and a movable platform is connected between the two parallelogram structures with the offset angles. According to the four-degree-of-freedom parallel mechanism, a unique 4-2-1 structure is adopted, two driving branch chains are driven to act through four driving moving joints composed of two first sliding blocks and two second sliding blocks, three-dimensional translational motion and one-dimensional rotating motion of one movable platform are achieved, the working space of the four-degree-of-freedom parallel mechanism can extend infinitely in the direction of a guide rail, and the working efficiency of the four-degree-of-freedom parallel mechanism is improved. The device is good in movement stability, compact in structure and high in rotation flexibility.

A robotic digit includes a digit base and a joint link coupled to the digit base and movable relative to the digit base about a first axis. An input link is coupled to the joint link through a proximal digit segment and movable relative to the proximal digit segment about a second axis. A cable extending along the proximal digit segment has a distal end coupled to the input link. A cable drive is coupled to a proximal end of the cable and operable to displace the cable relative to the proximal digit segment. A main actuator has an output coupled to move the joint link about the first axis. Relative displacement between the cable and the proximal digit segment via operation of the first cable drive or operation of the main actuator causes movement of the input link about the second axis.

The invention belongs to the technical field of surgical robots, and discloses a passive arm, a mechanical arm and an adjusting method of the passive arm and the mechanical arm. The problem that when a mechanical arm of a surgical robot is adjusted, multiple joints move at the same time, so that an ideal pose cannot be obtained, and the adjusting operation efficiency is affected is solved. A passive arm comprises a first switch group, a second switch group and a multi-dimensional force sensor. The first switch group at least can control a motor of the movable joint; the second switch group can control a motor of the rotating joint; the multi-dimensional force sensor can solve the motion pose of any moving joint and / or rotating joint, so that the motor corresponding to the joint coupled with the multi-dimensional force sensor provides force compensation. The first switch group and the second switch group are combined or the moving joint and the rotating joint of the passive arm are respectively adjusted, so that the position and the angle of the passive arm can be variously adjusted, the adjusting precision is ensured, the adjusting efficiency is improved, and the corresponding motor provides force compensation through the calculation of the multi-dimensional force sensor in the adjusting process. And the external force required to adjust the passive arm is reduced.

A spinal implant device is provided comprising a body structure with a central cavity and a movable lid configured to cover the central cavity. The movable lid is configured to be opened to pack a material in the central cavity. The movable lid can be connected to the body structure with a moveable joint. The spinal implant device can include a compressible feature. A method for treating the spine is provided comprising opening a movable lid of a spinal implant device, packing a material in a central cavity of a spinal implant device, closing the movable lid, and inserting the spinal implant device between vertebrae.

The invention relates to a pipeline interior inspection device. According to the pipeline interior inspection device, a control host is electrically connected with a crawling shooting assembly; the crawling shooting assembly comprises a supporting wheel set, a first driving mechanism and a second driving mechanism, wherein the first driving mechanism and the second driving mechanism are arranged on the supporting wheel set. The first driving mechanism is connected with a camera shooting assembly and a first axial moving joint; the second driving mechanism is connected with a second axial moving joint; the supporting wheel set comprises at least four supporting wheel assemblies. The two ends of the four supporting wheel assemblies are connected with the first axial moving joint and the second axial moving joint correspondingly, and the first axial moving joint and the second axial moving joint drive the four supporting wheel assemblies to move in the circumferential direction and / or the radial direction under the action of driving force of the first driving mechanism and the second driving mechanism correspondingly. The distance between the four supporting wheel assemblies and the inner wall of the pipeline is adjusted, the whole-course inspection of the interior of the pipeline is achieved, the pipeline does not need to be disassembled any more, and therefore the inspection efficiency can be improved.

An embodiment of the present application provides a joint error optimization control method, a controller, and a minimally invasive robot. The method includes: during the movement of the robotic arm, the controller can obtain the real-time position and real-time speed of the basic joint on the robotic arm in real time. In addition, the controller can also obtain the relative angle information of the basic joint on the robotic arm. The controller can analyze based on the real-time position, real-time speed, and relative angle information of the basic joint to determine the movement trajectory of the redundant joint on the robotic arm during the follow-up process during the movement of the basic joint. Furthermore, based on this movement trajectory, the operation instruction of the redundant joint can be determined, and the redundant joint can be controlled to move according to the movement joint to achieve the follow-up of the redundant joint. This method is used to improve the optimization effect of the joint movement trajectory.

A terminal attachment for use with an excavator jointed arm. The terminal attachment supports a sod roll on a shaft connected to the end of an excavator jointed arm. Embodiments allow the sod roll to be unrolled by moving the jointed arm or by moving the excavator. The terminal attachment allows sod rolls to be unrolled on an incline.

The invention provides a moving joint and a surgical robot, the surgical robot comprises the moving joint, and the moving joint comprises a base body; a travel gap is formed between the base body and the moving part; the shielding structure is connected between the moving part and the base body and used for shielding the stroke notch; the detection device is arranged in the base body and is used for detecting whether the shielding structure is jacked into the base body or not in real time; and the controller is used for controlling the moving part according to a detection result of the detection device. According to the movable joint, whether the shielding structure is jacked up towards the interior of the base body or not can be detected in real time, the movable part is controlled in time, accidents are avoided, and therefore the use safety of the movable joint is guaranteed.

The present disclosure relates to systems, devices, and subsystems for robotic surgeries. The surgical instrument is a robotic attachment that includes an articulation subsystem comprising a rotatable shaft, a distal channel retainer coupled to an end effector that is pivotable about an articulation pivot point, an articulation bushing slidable between a proximal position and a distal position, an articulation rod extending distally from the articulation bushing and coupled at a distal end to the distal channel retainer; and a rack movable with respect to the longitudinal axis of the rotatable shaft. Movement of the rack with respect to the longitudinal axis imparts an axial force onto the articulation bushing moving the articulation bushing between the proximal position and the distal position. Movement of the articulation bushing between the distal position and the proximal position actuates the articulation rod causing the distal channel retainer to pivot about the articulation pivot point.

A method of evaluating soft tissue of a human joint which includes two or more bones and ligaments, wherein the ligaments are under anatomical tension to connect the bones together, creating a load-bearing articulating joint, the method includes: inserting into the joint a tensioner-balancer that includes a means of controlling a distraction force; providing an electronic receiving device; moving the joint through at least a portion of its range of motion; while moving the joint, controlling the distraction force, and collecting displacement and distraction load data of the bones; processing the collected data to produce a digital geometric model of the joint, wherein the model includes: ligament displacement data along a range of flexion angles and ligament load data along a range of flexion angles; and storing the digital geometric model for further use.

The present invention belongs to the technical field of parallel robots, and specifically relates to a four-degree-of-freedom parallel mechanism with an offset angle, comprising a fixed platform, transmission branches disposed on the left and right sides of the fixed platform, parallelogram structures with offset angles fixedly disposed at the upper ends of the two transmission branches, and a moving platform connected between the two parallelogram structures with offset angles. The four-degree-of-freedom parallel mechanism provided by the present invention adopts a unique "4-2-1" structure, which drives the two transmission branches to move through four active movable joints consisting of two No. 1 sliders and two No. 2 sliders, thereby achieving three-dimensional translation and one-dimensional rotational motion of a moving platform. Its workspace can be infinitely extended along the guide rail direction, and it not only has good motion stability, but also has a compact structure and high rotational flexibility.

A parallel robot modeling method considering omni-directional motion error of flexible joint comprises the following steps: S1: defining mechanism end output pose, and establishing kinematics model of robot based on closed loop vector method; S2: combining motion variable of flexible joint to construct flexible joint output pose, and the motion variable comprises displacement amount and rotation angle amount of flexible joint in non-functional direction; S3: establishing local coordinate system in each flexible joint and moving joint in branch chain, and constructing homogeneous coordinate transformation matrix and transmission relationship among each matrix; S4: constructing mapping relationship between motion variable of each flexible joint and end output pose; S5: constructing force and torque balance equation of each flexible joint and moving joint in branch chain; S6: solving end output pose of mechanism by simultaneously solving each equation.The present application considers motion error of flexible joint in non-functional direction, establishes robot model with higher precision, and ensures operation precision and reliability of robot.

The utility model relates to a water cup technical field especially cup cover and water cup, cup cover bottom is equipped with retractable sealing element, cup cover covers the upper end of cup body, sealing element longitudinal contraction, transverse wide and card in cup body close mouth place, to make cup cover and cup body lock, sealing element longitudinal extension, transverse narrow and with cup body close mouth place separate, to make cup cover and cup body unlock, cup cover includes mobile joint part, stop piece and switch spare, mobile joint part is located stop piece inboard, and the fixed connection of stop piece inside has the card post, and mobile joint part is equipped with locking element, locking element leans on the card post top, sealing element upper end and stop piece fixed connection, lower end and mobile joint part fixed connection, switch spare upper portion and mobile joint part upper portion jointly constitute a ring structure, only need to stretch the finger into the ring structure and press switch spare and go up mobile joint part, can complete the unscrambling and lock cover, it is very simple and convenient.

The invention discloses a carrying device and a position determining method thereof, and relates to the field of automatic production carrying devices.The carrying device comprises a linear moving mechanism, a first guide rail part and a second guide rail part, the moving unit and the first guide rail part are installed in a matched mode, and the moving unit is driven by a fourth driving unit to move; one end of the mechanical arm is connected with the moving unit through a first driving unit and can rotate around a first rotating shaft; the moving joint is connected with the other end of the mechanical arm through a second driving unit and can move in the second direction; the grabbing mechanism is connected to the movable joint; the control unit is used for acquiring a coordinate value of a target position of the carried object; and the like. According to the conveying device, the problem of how to achieve cooperative control over the linear moving mechanism and the mechanical arm to enable the grabbing mechanism to move to the target position to grab the conveyed object on the premise that the conveying distance of the conveying device is prolonged can be solved.

A terminal attachment for use with an excavator jointed arm. The terminal attachment supports a sod roll on a shaft connected to the end of an excavator jointed arm. Embodiments allow the sod roll to be unrolled by moving the jointed arm or by moving the excavator. The terminal attachment allows sod rolls to be unrolled on an incline.

An alignment guide apparatus, system, and method for aligning and securing an orthopedic bone plate for compression of a joint. The alignment guide apparatus includes a body, a fixation insert, a guide pin, and a screw. The body may include an arm with a first end and a second end, an attachment portion at the first end, and an alignment portion at the second end. The fixation insert may be configured to pass through the attachment portion and the guide pin may be configured to pass through the alignment portion. The screw may be configured to engage the guide pin. The alignment system may include a bone plate, an alignment guide, a screw, at least one first fastener, and at least one second fastener. A method for moving a joint to align a joint for securing a bone plate.

An apparatus and method for bending or shaping orthodontic archwires of other medical devices into a complex, patient individual shape is described. The apparatus comprises of two moveable, compact, manipulators with, in total, at least one revolute joint defining at least one rotation axes and at least one prismatic joints defining at least one translation axes; Gripping tools are provided on the manipulators.

A computerized system and method for manufacturing articulated surgical devices. Using surgical device pathway data (often acquired from medical scans), target and entry point position data, and design parameters stored in computer memory, customized devices are automatically designed and subsequently manufactured. The devices typically comprise multiple units, which may have different lengths and widths and are connected to one another by at least one movable joint. The devices are configured to accommodate multiple pull cables, often extending from the distal end to the proximal end. These cables allow the operator to precisely control the orientation of the distal end as the device traverses the patient's internal pathway, often using a proximal control device. The distal end of the device may have an effector unit configured to perform medical operations. Design and manufacturing are facilitated by the use of AI-powered computerized design techniques and computer-controlled (CNC, laser cutting, 3D printing) methods.

Disclosed is a knee joint guide apparatus which can be driven even at any point on a plane in which an instantaneous rotation center of a knee joint can be positioned by a self-alignment function, and can also implement output performance required for a walking operation through a mechanical advantage change depending on a flexion angle. The knee joint guide apparatus includes: a proximal body link provided above a knee joint; a distal body link provided at a location corresponding to the proximal body link below the knee joint; and a planar rigid body 6-bar linkage mechanism including a plurality of revolute joints and a plurality of prismatic joints, and a plurality of links between the proximal body link and the distal body link to output a mechanical advantage depending on a flexion angle of the knee joint in movement of the knee joint with a self-alignment function.

The present invention provides a wrist joint prosthesis, comprising: a radius component having an articular surface and a ball shaft provided on the articular surface; an articular liner movably connected to the radius component, the bottom of the articular liner being adapted to the articular surface, and a limiting groove being provided on the articular liner, the limiting groove including a first limiting groove and a second limiting groove communicating with each other, the first limiting groove extending along a first direction and the second limiting groove extending along a second direction; a plate body connected to the side of the articular liner away from the radius component, and a connecting hole being provided on the plate body; wherein, the ball shaft is located in the limiting groove, and the articular liner can move relative to the radius component along the first direction under the cooperation of the first limiting groove and the ball shaft, and the articular liner can move relative to the radius component along the second direction under the cooperation of the second limiting groove and the ball shaft. The technical solution of the present invention effectively solves the problem that the internal parts of the wrist joint prosthesis in the related art are prone to come apart, resulting in a short service life.

The embodiment of the invention provides a joint error optimization control method, a controller and a minimally invasive robot. The method comprises the steps that in the moving process of the mechanical arm, a controller can obtain the real-time position and the real-time speed of a basic joint on the mechanical arm in real time. And the controller can also obtain relative angle information of the basic joints on the mechanical arm. The controller can perform analysis according to the real-time position, the real-time speed and the relative angle information of the basic joint to determine the moving track of the redundant joint on the mechanical arm in the follow-up process in the moving process of the basic joint. And furthermore, an operation instruction of the redundant joint can be determined based on the moving track, and the redundant joint is controlled to move according to the moving joint, so that follow-up of the redundant joint is realized. The method is used for improving the joint motion trail optimization effect.

According to the automatic deburring machine for the inner opening edge of the sliding sleeve, the sliding sleeve is a sliding sleeve of a movable end joint in a transmission shaft of a constant velocity universal joint of a car, and the technical scheme is that double guide rails A, a limiting stopper C, a limiting stopper D, a bearing seat A, a bearing seat B, a sensor and a servo motor A are fixedly arranged on a machine frame, and the movable end of the servo motor A is fixedly connected with one end of a lead screw; a discharging sliding way, an electric cylinder, a double-guide-rail C, a limiting stopper E, a limiting stopper F and a positioning base are fixedly installed on the working table plate, a horizontal sliding plate is arranged on the double-guide-rail C, a conical air drill and the electric cylinder are arranged on the horizontal sliding plate, a three-fork type positioning device, a transverse sliding plate, a double-guide-rail A, a double-guide-rail B, a limiting stopper A and a limiting stopper B are fixedly connected to the positioning base, and a vertical sliding plate, a clamping air cylinder and a servo motor B are installed on the double-guide-rail B; the clamping air cylinder is fixedly connected with the rubber clamping block, and the vertical air cylinder is fixedly connected with the vertical sliding plate. According to the technology, burrs on the inner opening edge of the sliding sleeve can be automatically, efficiently and cleanly removed, efficiency is high, and it is guaranteed that the burr removing result is reliable.

The utility model discloses a kind of stabilizer bar forming devices, including fixed mould mounting plate and the fixed mould mounting plate upper side position setting fixed mould fixed seat;The side of plug-in joint slot is provided with mobile joint connecting block, the bottom outside position of mobile joint connecting block is provided with limit mobile slot, the end position of middle connection adjusting threaded column is rotatably connected with fixed mould mounting plate by pivot, the outside position close to the end of middle connection adjusting threaded column is provided with knob, knob can make middle connection adjusting threaded column rotate, middle connection adjusting threaded column rotates and makes mobile joint connecting block along limit mobile slot and moves to be jointed or separated from plug-in joint slot by screw effect, after the utility model is improved, it is convenient to install fixed mould fixed seat and fixed disassembly, to improve installation and disassembly efficiency, to effectively improve the practicality of stabilizer bar forming device use.

The utility model relates to the technical field of anti-theft well lids, and discloses an anti-theft well lid based on the internet of things, which comprises a shaft and a well lid arranged in the shaft, the well lid is detachably covered in the shaft and is connected with the shaft through an anti-theft-buffering mechanism, and the anti-theft-buffering mechanism comprises an anti-theft component and an installation buffering component. And through the arrangement of the anti-theft assembly, the limiting rod can be driven to move and be clamped in the positioning hole, so that clamping installation between the well lid and the shaft is completed, and theft by lawbreakers can be prevented. Through the arrangement of the buffer assembly, the well lid can be buffered through a rubber pad, and the well lid is prevented from making a sound in the process that a vehicle passes through the well lid; the problems that a traditional device is simple in installation mode, prone to being pried and stolen and prominent in potential safety hazard are solved.

The invention discloses a series-parallel reset robot, and relates to the technical field of auxiliary operation instruments for medical surgical operations. The problems that an existing fracture reduction surgical robot is large in size, small in working space, low in integration level, weak in load capacity, low in resolving speed, long in surgical time and low in positioning precision are solved. Three vertically-arranged lifting rods are arranged on the outer side of a parallel mechanism base, the three lifting rods are evenly distributed in the circumferential direction with the axis of the parallel mechanism base as the center, lifting driving mechanisms are arranged between the lifting rods and the parallel mechanism base, and each lifting rod can achieve lifting movement under driving of the corresponding lifting driving mechanism. One ends of the UU mechanisms are rotationally connected with the upper ends of the lifting rods, the other ends of the three UU mechanisms are rotationally connected with the tail end traction movable platform, and the movable joints are installed on the upper portion of the tail end traction movable platform or the lower portion of the robot base. The method is used for improving the integration level and the load capacity of the robot, shortening the operation time and improving the positioning precision of the robot.

The utility model discloses a bending structure transmission device, which relates to the technical field of transmission devices and comprises a joint outer cylinder, a joint jaw, a bending button fixing disc, a driving pin base, a bending button movable slip ring and a joint pull rod. The joint outer barrel is of a barrel-shaped structure, one end of the joint outer barrel is rotatably connected with a joint jaw through a joint rotating pin, the other end of the joint outer barrel is provided with a bending button fixing disc, the bending button fixing disc is sleeved with a driving pin base capable of moving in the axial direction of the joint outer barrel, and the periphery of the driving pin base is sleeved with a rotatable bending button movable sliding ring. The bending button movable slip ring can rotate to drive the driving pin base to axially move along the joint outer cylinder; the joint pull rod penetrates into the joint outer cylinder, and one end of the joint pull rod is connected with the driving pin base. The joint pull rod can drive the joint jaw to rotate around the joint rotating pin. By means of the arrangement, through the simple structure, an operator can conveniently drive the joint jaw to be bent.

The utility model relates to a multi-joint auxiliary arm. The multi-joint auxiliary arm comprises a moving arm and a driving device, wherein the moving arm comprises at least three joint pieces which are rotationally connected in sequence; the driving device drives the moving arm to move in the first direction, the rotating direction of the joint piece is in the second direction, and the first direction and the second direction do not coincide. Every two adjacent joint pieces are connected through a rotating assembly, and each rotating assembly comprises a rotating shaft installed on one joint piece and a locking mechanism installed on the other joint piece. And a control piece for controlling the locking mechanism to lock or loosen the rotating shaft is mounted on the moving arm. Adjustment in one or two directions is achieved through the driving device, position adjustment of the moving arm in other directions can be achieved by pushing and pulling the moving arm, manual operation of a user is simpler, and the auxiliary arm is easier to control to reach the target position. Meanwhile, the driving device only needs to move in a large range in one direction, the moving speed of the driving device can be increased, and the effect that use is easier and more convenient is achieved.

The invention relates to a furniture fitting for articulatedly connecting a movable furniture part (49) to a furniture body, comprising - a lever arm (2) which is pivotably attached to a base element (3) about an actuating axis (S2) between an open position and a closed position, - a power storage device (4) for applying force to the lever arm (2) in the direction of assuming the open position, - at least two levers (6, 7) pivotably connected to each other at a joint (9), wherein - one of the levers (6, 7) is connected to the energy storage device (4) and another of the levers (6, 7) is connected to the lever arm (2), - a force adjustment unit (10) arranged on a first lever (6) of at least two levers (6, 7) for adjusting the force acting on the lever arm (2), wherein - the force adjustment unit (10) has a guide contour (11) and a guide element (12) adjustable along the guide contour (11), wherein the joint (9) with the guide element (12) is adjustable along the guide contour (11), wherein - the force adjustment unit (10) has an adjustment unit (13) arranged at a distance from the guide contour (11) and connected to the guide element (12) for moving the joint (9) along the guide contour (11).