39 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.

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.

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 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 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).

The utility model discloses a highway sound barrier hoisting hook stable in hoisting, which comprises a hoisting rod, a plurality of movable joints are connected onto the hoisting rod, the movable joints can be adjusted back and forth on the hoisting rod, the bottom ends of the movable joints are connected with two clamping rods, the clamping rods are L-shaped, and the two clamping rods are rotatably connected. The bottom end of the inner side of the clamping rod is connected with an installation connector, a clamping block is installed on the installation connector, and the clamping block is detachably connected with the installation connector. A movable connector is mounted on the lifting rod, the position of the clamping rod can be adjusted through the movable connector, the two ends of the lifting rod can conveniently and stably clamp and fix the sound insulation plate in a balanced mode, and the sound insulation plate can be conveniently and stably lifted; meanwhile, when the clamp with the structure is used for hoisting, the clamping blocks can be tightly pressed on the sound insulation plate, and the heavier the sound insulation plate is, the tighter the clamping blocks clamp the sound insulation plate, so that the whole hoisting hook can stably clamp the sound insulation plate, and the stable installation of the sound insulation plate is facilitated.

The invention relates to a surgical robot navigation system, method and medium. The surgical robot comprises a patient surgical trolley and a mechanical arm, the axes of all moving joints of the mechanical arm intersect at a mechanical fixed point, and the patient surgical trolley comprises an adjusting component used for adjusting the position of the surgical robot. The system comprises a fixing device and at least two groups of light emitters, the fixing device is arranged at the mounting position of the surgical robot, so that the ray path of the light emitted by the at least two groups of light emitters passes through the mechanical fixed point without being shielded; the at least two groups of light emitters are fixed on the surgical robot through a fixing device and are configured to project light rays with a target graph; the position of the surgical robot is adjusted through an adjusting component until the light rays emitted by the at least two sets of light emitters intersect at the mechanical fixed point and form a closed projection graph, and the mechanical fixed point coincides with the target surgical position. The method can improve the navigation accuracy.

The utility model discloses a vehicle ultra-small specification mobile joint, which comprises a main shaft body, one end of the main shaft body forms a shaft section, the other end of the main shaft body is provided with a containing cavity, the inner side wall of the containing cavity is uniformly provided with a plurality of sliding chutes, and the periphery of the shaft section is provided with a first assembly structure used for being matched with a vehicle shaft tube; the ball cage assembly comprises a rotating cap, a retaining ring and balls, an assembly hole used for being connected with another vehicle axle tube in a matched mode is formed in the middle of the rotating cap, grooves with the same number as the balls are formed in the periphery of the rotating cap, the retaining ring is arranged on the periphery of the rotating cap in a sleeving mode, and through holes with the same number as the balls are formed in the peripheral wall of the retaining ring; and moreover, each ball is limited by the sliding groove, the groove and the inner wall of the through hole, the ball cage assembly is allowed to integrally move in the containing cavity in the axis direction of the main shaft body under the action of the balls, and meanwhile the rotating cap is allowed to obliquely overturn within the preset angle range relative to the retaining ring. According to the technical scheme, the function of the universal joint can be achieved, the overall structure is simple, reliable and stable, and assembling, disassembling and maintaining are convenient.

The utility model provides a ground rail moving type joint robot, which relates to the technical field of robots and comprises a bottom plate, two first sliding rails are fixedly mounted at the top of the bottom plate, a first sliding block is movably sleeved between the outer surface walls of the two first sliding rails, and a first protection box is fixedly mounted on one side of the outer wall of the bottom plate. The inner surface wall of the first protection box is fixedly connected with a first motor, the output end of the first motor is fixedly connected with a threaded rod, and the outer surface wall of the threaded rod is in threaded connection with a threaded block. According to the utility model, under the interaction of all the components of the device, when a fixed-length rail cannot meet the long-distance operation requirement, the movement range can be further expanded through two-section displacement, so that the coverage range of the joint robot is wider, the production efficiency is remarkably improved, and the equipment layout does not need to be frequently adjusted to adapt to different stations; and the production preparation time and the equipment modification cost are effectively reduced.

A method of evaluating a knee joint which includes a femur, a tibia, and ligaments, includes: inserting into a lateral or medial compartment of the joint a tensioner-balancer having apparatus for applying distraction force; moving the joint within its range of motion; maintaining a predetermined distraction load range or a predetermined distraction height range; collecting distraction height and force data of the femur relative to the tibia; deriving ligament displacement and load data from the height and force data; processing the data to produce a digital geometric model of the joint, the model including a ligament force versus displacement characterization curve for each of a plurality of flexion angles of the femur relative to the tibia; using a software application, evaluating the digital geometric model and selecting a portion of the curve that represents a predetermined desired level of ligament tautness; and storing the digital geometric model.

A parallel robot modeling method considering omni-directional motion errors of flexible joints comprises the steps that S1, the output pose of the tail end of a mechanism is defined, and a kinematic model of a robot is established based on a closed-loop vector method; s2, flexible joint output poses are constructed in combination with motion variables of the flexible joints, wherein the motion variables comprise the displacement amount and the rotation angle amount of the flexible joints in the non-functional direction; s3, establishing a local coordinate system in each flexible joint and each moving joint in the branch chains, and constructing homogeneous coordinate transformation matrixes and a transfer relation among the matrixes; s4, the mapping relation between the motion variables of all the flexible joints and the tail end output poses is constructed; s5, constructing a force and moment balance equation of the movable platform in the branched chain, the flexible joints and the movable joints; s6, all the equations are combined, and the tail end output pose of the mechanism is solved. According to the method, the motion error of the flexible joint in the non-functional direction is considered, the robot model with higher precision is established, and the operation precision and reliability of the robot are ensured.

This invention discloses an insertion-type catheter fixation device, belonging to the field of medical tool technology. It solves the problem that existing fixation devices cannot prevent changes in the insertion depth of the catheter due to patient movement or bending at joints. The fixation device includes a base, a top cover, and a compression member. The top cover is installed on the base and covers the opening at the top of the base. The compression member is installed inside the base. A protective component is installed at the end of the base. The protective component protects both ends of the base and limits the insertion depth of the catheter, preventing changes in the insertion depth due to patient movement or bending at joints. An installation mechanism is installed at the bottom of the base to assist in the stable fixation of the base and ensure the stability of the fixation device during use.