108 results about "Mobile joint" patented technology

Robotic and / or surgical devices, systems, and methods include kinematic linkage structures and associated control systems configured to facilitate preparation of the system for use. One or more kinematic linkage sub-systems may include joints that are actively driven, passive, or a mix of both. A set-up mode employs an intuitive user interface in which one or more joints are initially held static by a brake or joint drive system. The user may articulate the joint(s) by manually pushing against the linkage with a force, torque, or the like that exceeds a manual articulation threshold. Articulation of the moving joints is facilitated by modifying the signals transmitted to the brake or drive system. The system may sense completion of the reconfiguration from a velocity of the joint(s) falling below a threshold, optionally for a desired dwell time. The system may provide a detent-like manual articulation that is not limited to mechanically pre-defined detent joint configurations. Embodiments of the invention provide, and can be particularly well-suited for manual movement of a platform supporting a plurality of surgical manipulators in a robotic surgical system or the like without having to add additional input devices.

A mobile joint mechanism comprising a fixed flange and a mobile flange that can be locked by two units controlled by a sliding push-rod that is itself activated by the pivoting of two control plates linked one to the other by idle movement, to free the mobile flange. A circular guide includes radial gaps that receive the units, and maintain the units in retracted position when they disengage from the radial gaps through the pivoting of one of the control plates, which also fixes the circular guide to the mobile flange. The mobile flange can thus turn freely before in re-locks at its original angle when the radial gaps of the circular guide return to be opposite the units.

The invention relates to a rotary table upright type five-freedom-degree mixed-connecting spray painting robot which is large in work space and has certain flexibility. The rotary table upright type five-freedom-degree mixed-connecting spray painting robot comprises a foundational series-connection movement unit and a tail end parallel-connection spray painting operation unit. The foundational series-connection movement unit has two rotation freedom degrees and a movement freedom degree and is composed of a machine body rotation joint, a machine body lifting movement joint and a horizontal rotation joint. The tail end parallel-connection spray painting operation unit has two movement freedom degrees and is a plane parallel-connection mechanism composed of a large arm, a small arm, a connecting rod, a crank, a movable platform and the like. The rotary table upright type five-freedom-degree mixed-connecting spray painting robot has the advantages of being wide in work range, small in number of driving joints, compact in structure, easy to manufacture, convenient to control, capable of enabling the modularization to be achieved easily and the like.

Some embodiments of the present invention provide systems and methods for treating diminished muscle function. Some systems include an electrical member that delivers electrical energy to a hand region of a body that comprises a dysfunctional muscle; a joint motion assembly that couples to the body and provides, to a joint adjacent the dysfunctional muscle, a motion made up of a cycle of opposing joint movements; and a control unit that provides an operator of the system with control of a timing of electrical energy delivery and an amount of electrical energy delivered. Some systems time the electrical energy delivery to occur when the moving joint is near an inflection point and deliver electrical energy delivered in amounts effective to result in a depolarization of the dysfunctional muscle, a nerve in proximity of the joint, and / or a muscle of substantially normal function in proximity of the joint.

System, including methods and devices, for fixing bone. The system may include a bone plate having two or more plate members connected to one another with one or more movable joints. Each joint may permit the orientation of the plate members to be adjusted relative to one another in a single plane or two or more nonparallel planes. The joint may have a movable configuration and a fixed configuration. Methods of creating the bone plate are also provided.

System, including methods and devices, for fixing bone. The system may include a bone plate having two or more plate members connected to one another with one or more movable joints. Each joint may permit the orientation of the plate members to be adjusted relative to one another in a single plane or two or more nonparallel planes. The joint may have a movable configuration and a fixed configuration. Methods of creating the bone plate are also provided.

Robotic and / or surgical devices, systems, and methods include kinematic linkage structures and associated control systems configured to facilitate preparation of the system for use. One or more kinematic linkage sub-systems may include joints that are actively driven, passive, or a mix of both. A set-up mode employs an intuitive user interface in which one or more joints are initially held static by a brake or joint drive system. The user may articulate the joint(s) by manually pushing against the linkage with a force, torque, or the like that exceeds a manual articulation threshold. Articulation of the moving joints is facilitated by modifying the signals transmitted to the brake or drive system. The system may sense completion of the reconfiguration from a velocity of the joint(s) falling below a threshold, optionally for a desired dwell time. The system may provide a detent-like manual articulation that is not limited to mechanically pre-defined detent joint configurations. Embodiments of the invention provide, and can be particularly well-suited for manual movement of a platform supporting a plurality of surgical manipulators in a robotic surgical system or the like without having to add additional input devices.

The invention discloses a generating and distributing method of mobile IP key after reidentifying and recognizing, which comprises the following steps: the terminal and identification authorizing charging AAA server generates the main conversation expanding key EMSK in the reidentifying authorizing course; the terminal generates new relative key of mobile joint according to the EMSK, which replaces old mobile joint key; the home agency obtains new mobile IP key from AAA server, which replaces the old mobile IP key; the AAA server hands out key information to anchor identifier which obtains new mobile IP key from external agency according to the key information to transmit to the external agency; the outer agency replaces the old mobile IP key. The invention ensures the execution of MIP register after the reidentifying and authorizing course.

The present invention relates to a walking training apparatus. The walking training apparatus includes: a treadmill providing a bottom surface to allow a user who is training to walk to do so in a stationary position; a user counterweight unit including a counterweight, a wire, and a harness jacket, wherein the user counterweight unit lifts the user's body upward in order to reduce the load from the user's weight; a joint motion robot worn on one lower leg of the walker, wherein the joint motion robot is constituted by a hip-joint motion part, a knee-joint motion part, and an ankle-joint motion part; a joint motion robot support part supporting and coupled to the joint motion robot to reduce the load of the weight of the joint motion robot, wherein the joint motion robot support includes a horizontal movable part and a vertical movable part for moving the joint motion robot; and a control unit linked with at least one of the treadmill, the user counterweight unit, the joint motion robot, and the joint motion robot support in order to generate a customized control signal according to the user and to transmit the signal.

A cotyle including a metallic insertion acetabular shell having an outer, essentially hemispherical, convex anchoring face formed in such a way as to be anchored in a cotyloid cavity of the pelvis of a patient, and a concave receiving face. The cotyle also includes a fixed definitive articular ceramic insert having an outer face engaging in the concave receiving face of the metallic insertion acetabular shell, and an inner receiving face including a concave, essentially hemispherical, articular surface for allowing the engagement and pivoting of a femoral prosthesis head or a mobile articular insert. The cotyle is packed in its assembled sterile state, with the definitive fixed articular ceramic insert engaged in the metallic insertion acetabular shell having a peripheral receiving structure that can receive means for fixing an impacter for positioning a cotyle and is designed in such a way that the impacter can be fixed to the cotyle in the presence of the definitive fixed articular ceramic insert.

The invention provides a mechanical arm and a surgery robot. The tail end of the mechanical arm is used for grasping a medical apparatus. The mechanical arm comprises a first rotating joint, a first swinging joint, a second swinging joint, a second rotating joint, a moving joint, and an autorotation joint for realizing the autorotation of the medical apparatus, which are sequentially distributed from the near end to the far end. According to the mechanical arm disclosed by the invention, through the cooperation of the six joints, the adjustment of the space position and the posture of the medical apparatus can be realized, and the six joints can move around a long-distance movement center. Compared with the prior art, the mechanical arm disclosed by the invention is small in whole dimension, light in quality, convenient to mount and use; and in addition, through the moving joint and the autorotation joint, an endoscope is driven to move and autorotate, so that a doctor can convenientlyand independently complete surgery operations and endoscope grasping, the difficulty of the surgery operations is reduced, and the waste of human resources is avoided.

This invention discloses one dispatch method on meet keys on wireless environment, which comprises the following steps: a, sending dialogue keys and sending the keys type in symmetric type or not to the mobile point STA and interface point AP by the reliable third part identification server ASU; b, establishing mobile joint STA and interface joint AP common keys to receive identification server ASU message and the testing the authorization message to get the meet keys and moving joint STA and receiving the transferred information and testing the message codes and using the mobile joint STA and identification server ASU common keys to decode the message to get the dialogue keys.

The invention discloses a movable joint type robot used for logistics delivery. The movable joint type robot used for logistics delivery comprises a movable body portion. The movable body portion is connected with an express item temporary placement table portion, a robot visual system and a mechanical arm portion. The mechanism arm portion is connected with a manipulator portion. The movable body portion comprises a bottom plate, and universal wheel portions are installed at the front end and the rear end of the bottom of the bottom plate. Driving wheel portions are installed on the left side and the right side of the bottom of the bottom plate. Each driving wheel portion comprises a traveling wheel connected with a traveling motor, wherein the traveling motor is fixed to a traveling motor support. The movable joint type robot used for logistics delivery realizes zero-radius turning, can work at narrow road sections, and is flexible in turning, stable in operation, light in weight and capable of clamping express items and preventing the express items from being damaged by clamping. A special mechanical arm connecting mode is adopted, and the mechanical arm is stable in operation and durable.

The invention discloses a moving mechanical arm obstacle avoidance planning method based on random sampling. The method comprises the following steps of firstly, modeling a mobile platform into a special mechanical arm formed by connecting a rotating joint on a moving joint in the x and y directions and combining the special mechanical arm with an original mechanical arm model to establish a forward kinematics model of an n-degree-of-freedom moving mechanical arm; then, analyzing the constraints in the motion planning process, and then designing a moving mechanical arm vehicle-arm integrated path planning algorithm flow; and finally, designing a redundant path bidirectionally deleting method used for path smoothing processing to perform smoothing processing on the path obtain in the last step. According to the method, the whole moving mechanical arm is modeled to the special mechanical arm containing the moving joint, so that the kinematics solving complexity is greatly simplified; andmeanwhile, the redundant path bidirectionally deleting algorithm is designed, which greatly reduces and smoothes the path planned by the RRT algorithm with the low computational complexity.

The invention discloses a mechanical arm for a minimally invasive surgical robot. The mechanical arm comprises a plurality of operating arm sections and a connecting seat which are sequentially connected in series, the adjacent arm sections are connected through a rotary joint or a movable joint, the arm sections and the connecting seat are connected through a rotary joint or a movable joint, and the connecting seat is used for mounting surgical instruments such as an endoscope and surgical forceps. An operating arm I, an operating arm II and an operation arm III of the mechanical arm are adjusted to achieve rapid positioning of the position where a surgical instrument extends into a wound, a light beam emitting device is installed at the tail end of a linear section structure of the operating arm III, and a light beam coincides with the axis of a linear section and is used for guiding arrangement and positioning of the mechanical arm before a surgery; and on the basis, an operation arm IV, an operation arm V and an operation arm VI are adjusted, so that the arm rod of the surgical instrument can rotate around the wound position and finally extend into the wound at a proper angle.

The invention relates to a fully-automatic mobile joint type stone cutting machine for mines. The fully-automatic mobile joint type stone cutting machine comprises a base, a cutting machine head, a transmission and supporting mechanism and a traveling mechanism, wherein the transmission and supporting mechanism is used for driving the cutting machine head to rotate, and the traveling mechanism is used for moving the base; one end of the transmission and supporting mechanism is rotatably mounted on the base; the other end of the transmission and supporting mechanism is movably connected with the cutting machine head; a cutting sheet, which is used for cutting ores, is mounted on the cutting machine head; and the traveling mechanism is mounted at the bottom of the base. According to the fully-automatic mobile joint type stone cutting machine for the mines, the design is reasonable, and the cutting machine head can rotate under the drive of the transmission and supporting mechanism, can cut the ores along any angular direction under the condition that the stone cutting machine is not moved, and can continuously cut a next piece of ore without rearranging guide rails after one piece of ore is cut, so that the cutting efficiency is increased.

The present invention relates to a mobile joint (1) for a seating construction, especially a chair, for mounting between a seat device and a base, comprising at least two joint elements (10, 30) which are reciprocally restricted pivoted between two extreme positions to allow tilting movement of the seating construction effected by the users weight displacement, comprising two outer joint elements (10, 30) which are pivoted related with a middle joint element (20), wherein the rotational axis (40, 50) between the two joint elements (10, 30) and the middle joint element (20) is displaced in relation to each other in the horizontal direction, whereby the joint (1) may assume a stable tilting position between the two extreme positions.

The invention discloses a constant-speed universal joint driving shaft assembly and belongs to the automotive engineering technical field. The constant-speed universal joint driving shaft assembly comprises a fixed ball cage universal joint, a mobile ball cage universal joint and an intermediate shaft; two ends of the intermediate shaft are connected with the fixed ball cage universal joint and the mobile ball cage universal joint respectively; the bottom of an inner chamber of the fixed ball cage universal joint is provided with a cylindrical groove and the bottom of an inner chamber of the mobile ball cage universal joint is provided with a cylindrical groove; a first pressure spring is arranged in the fixed ball cage universal joint; the first pressure spring is arranged along the axial direction of the intermediate shaft and is arranged between the fixed ball cage universal joint and one end of the intermediate shaft in an abutting mode; a second pressure spring is arranged in the mobile ball cage universal joint; the second pressure spring is arranged along the axial direction of the intermediate shaft and is arranged between the mobile ball cage universal joint and the other end of the intermediate shaft in an abutting mode. According to the constant-speed universal joint driving shaft assembly, the first pressure spring abuts against the fixed joint and the intermediate shaft, the second pressure spring abuts against the mobile joint and the intermediate shaft, and accordingly an axial gap formed in the constant-speed universal joint driving shaft assembly is fully offset and the uniformity and the stability of the automotive power transfer are enhanced.

The invention relates to a method for realizing seamless switch of mobile joint based on mobile IP. In the method, the mobile joint in the wireless communication network is set with two states of 'communication' and 'idle', then, in the set call region (or MAP region), the shift to the forward joint need not the MAP to carry on updating the registration, it carries on registration updating to MAP through AR when the mobile joint starts the communication or starts the communication pointing to the mobile joint. Thus, the invention reduces the times of registration updating of mobile joints in the MAP region, reduces the signaling outgoings of switch greatly, maintains the localization information of idle host computer and reduces the localization updating frequency, it avoids the decrease of effective charge of network caused by the tiny shift of mobile joints frequently.

The invention provides a movable connection point unit for switch and a switch using the same. Wherein a LED (2) as light source is mounted on a substrate (1), a luminous section (2a) of the LED is opposite to a portion (light-in section 6c) of side end face (6a) of a flexible light guide board (6), and the light guided from the flexible light guide board (6) of the LED (2) is projected onto the bottom of an operation key (3) by an irradiation section (6b) of the light guide board (6). The flexible light guide board (6) is laminated on a flexible sheet (10) with separation of a joint sealing prevention sheet (12). A plurality of position under the flexible sheet (10) holds the movable connection point to make each movable connection point (9) and the fixing connection point (7) on the substrate (1) opposite in contactable separation mode. A plurality of protuberances (10a) capable of pressing central part of each movable connection point (9) respectively are arranged on smooth upper surface of the flexible sheet (10), such that the operation key (3) presses corresponding movable connection point (90) through the under protuberances (10a).

The invention discloses a zero position calibration method and device for a mechanical arm joint sensor. The method comprises determining whether a mechanical arm to be tested is a redundant mechanical arm, if so, performing mechanical arm segmentation and using a non-redundant boom as a set end arm, and performing the steps of the following single calibration method until zero calibration of allthe joints of the mechanical arm to be tested is completed; mounting at least two targets in parallel on the set end boom and keeping matching elements of patterns of the targets in parallel; mountinga light source on a mechanical arm mounting body; driving movement of the joints of the mechanical arm to make a beam of the light source pass through the axis of each target with the spot overlappedwith the pattern of each target; obtaining the posture of each target after the boom posture is adjusted and calculating the rotating angle of the rotating joints of the mechanical arm and the movingamount of the moving joints under the current posture of the set end boom according to the relationship between the posture of the set end boom and the posture of the light source. Compared with theprior art, the method is simpler and more efficient when used for performing zero calibration.

The invention discloses a rail-mounted inspection robot. The robot comprises a rail arranged in advance according to an advancing path, a base plate is arranged in the rail, a movable joint module used for driving the whole inspection robot to move is arranged on the base plate, and a tail end device used for monitoring the interior of a monitoring area is arranged below the base plate. The base plate is further provided with a pressing wheel device and a joint module, wherein the pressing wheel device is connected with the rail in an abutting mode and used for pressing the movable joint module, and the joint module is used for driving the tail end device to move and rotate in multiple directions. The robot can drive a camera and a thermal infrared imager to move in order to monitor the monitoring area in real time, and can drive the camera and the thermal infrared imager to move and rotate in multiple directions, so use is convenient, the use effect is improved, the overall automationdegree is high, and manual guard and inspection can be completely replaced; and the whole joint module is light in weight, so the weight of the whole machine is greatly reduced, and the movement stability is improved.

The invention relates to a movable robot mechanism, in particular to a mini biped-wheel composite wall-climbing robot mechanism comprising two main bodies, a link rod and two sucker feet. The two main bodies are respectively connected with the sucker feet and are mutually connected by adopting a rotary joint and through the link rod so as to realize the comparative rolling by the two main bodies; wherein, one main body is also provided with a rotary joint which is driven by a motor and arranged vertically and the other main body is provided with a moving joint which is driven by a motor and arranged vertically and a rotary joint arranged vertically so as to locally turn the whole robot mechanism and fold or unfold the sucker feet; and the movement and attitude regulation of the robot can be realized through the comparative rolling of the two main bodies and by alternately absorbing and releasing the two sucker feet. The mechanism integrates the high moving speed of wheel mechanism with the obstacle avoidance capability of foot mechanism so as to realize the aims of high moving speed, light weight, low energy-cost and high moving capability.

The invention discloses a high tension transmission line on-line operation motion arm, comprising a shoulder joint, an elbow joint and a mobile joint. The shoulder joint comprises a first driving mechanism; the elbow joint comprises a second driving mechanism and a first actuator; the mobile joint comprises a third driving mechanism and a second actuator; the shoulder joint drives the elbow joint and the mobile joint to rotate; the elbow joint drives the mobile joint to rotate; the mobile moves left and right with the elbow joint as a center. The high tension transmission line on-line operation motion arm has the characteristics of simple structure, convenient operation and independence, and is easy to connect with different line patrol operation robots.

The invention discloses an operation mechanism for teaching robot tongs. A rotation circular platform is arranged at the upper portion of a circular platform base. A supporting plate is arranged at the upper portion of the rotation circular platform. A movable joint base is arranged on one side of the supporting plate and fixed to one side of the supporting plate through a rotation joint. A horizontally-arranged movable arm is embedded in the movable joint base. A U-shaped connecting piece is hinged to the front end portion of the movable arm. A connecting shaft pin penetrates the two side edges of the U-shaped connecting piece and is sleeved with a grabbing arm. The front end of the grabbing arm is connected with a grabbing hand through a grabbing air cylinder, and the grabbing air cylinder controls grabbing or loosening of the grabbing hand. According to the operation mechanism, the components are simple, and assembling and operating are convenient. Students can conveniently observe the transmission relation of the components, demonstration is convenient, the students can learn conveniently, achieving is easy, cost is low, and good application prospects are achieved.

To provide a movable contact unit for a switch capable of having suitable assembling operability and reducing manufacturing costs and power consumption and restraining diffused reflection at an undesirable zone and having suitable illumination quality, and to provide a switch device using the movable contact unit. An LED 2 as a light source is mounted on a board 1, an emitting section 2a of the LED 2 is made opposed to a side end face 6a of a flexible light guide plate 6, and light guided from the LED 2 into the flexible light guide plate 6 is projected on a bottom surface of an operation key 3 via an illuminating section 6b of the light guide plate 6. The flexible light guide plate 6 is laminated on a flexible sheet 10 of a sheet member 5 with contacts, and a group of movable contacts 9 are glued and retained on a lower surface of the flexible sheet 10. An air space (non-sticking section) 10a is also arranged between the flexible sheet 10 and flexible light guide plate 6.