26 results about "Mobile joint" patented technology

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 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.

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.

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 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.

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.

The application discloses a range shifter, which comprises a multi-dimensional motion support fixed with a treatment bed, the multi-dimensional motion support being provided with a plurality of rotary joints and a plurality of moving joints; and a shifter body installed on the multi-dimensional motion support and movably arranged relative to the treatment bed through the plurality of rotary joints and the plurality of moving joints. In the application, the shifter body is installed on the multi-dimensional motion support, so that the shifter body can move in multiple degrees of freedom relative to the treatment bed through the plurality of rotary joints and the plurality of moving joints in the multi-dimensional motion support, the distance between the geometric center of the range shifter and the isocenter point can be adjusted according to clinical requirements, and then the shifter body can be close to the patient to reduce the beam spot when the target region is close to the organ at risk.

The invention discloses a vehicle battery replacing device, method, equipment and system, the vehicle battery replacing device is used for assisting a vehicle to replace a power battery pack, and the vehicle battery replacing device comprises a fixed platform; a moving platform; four motion branch chains; the moving branch chain comprises a first moving pair, a second moving pair, a third moving pair and a spherical hinge pair which are connected in series; wherein the four motion branch chains are connected to the fixed platform and the movable platform correspondingly to form a box type supporting structure; the first moving pair, the second moving pair and the third moving pair are moving joints of the motion branch chain in the ZXY axis direction respectively and act together with the spherical hinge pair, so that the motion branch chain translates and rotates in the three-dimensional space. The device can effectively reduce the control complexity and cost while remarkably improving the battery replacement precision, the movement stability and the working condition adaptability, has the three-dimensional space omni-directional movement capability, can realize accurate battery butt joint and is compatible with complex mounting postures of different vehicle types, so that the universality and the battery replacement safety are greatly enhanced.

In accordance with an embodiment, an ISMF entity receives a perceived service request for an ISAC service or ISAC operation from an ISAC service client. The perceived service request includes service information for at least one perceived entity associated with the ISAC service or ISAC operation. The ISMF entity performs an authorization process to obtain aware service authorization to authorize an ISAC service or ISAC operation. And the ISMF entity coordinates the perception according to the authorization result of the authorization process and the perception service request.

A facet joint replacement system includes a facet joint replacement device including an enclosing body and an articulating body. The enclosing body includes an interior surface defining an inner cavity of the enclosing body. The interior surface includes a first articulating surface and a projection extending inwardly relative to a surrounding area of the interior surface. The articulating body is positioned within the inner cavity of the enclosing body and is configured to move within the enclosing body. The articulating body includes a second articulating surface and a recess extending inwardly relative to a surrounding area of the articulating body and aligned with the projection of the interior surface of the enclosing body so as to allow movement of the projection along the recess of the enclosing body while constraining rotational motion of the articulating body within the enclosing body.

A surgical stapling apparatus includes a shaft assembly, an end effector secured to the shaft assembly, a firing assembly, an articulation assembly, and an articulation guide. The firing assembly includes a flexible knife bar assembly that is selectively advanceable through the end effector for firing the end effector. The articulation assembly has an articulation link assembly and a pivotable bar guide assembly. The articulation link assembly is coupled to the end effector. The articulation link assembly is actuatable to cause the end effector to move relative to the shaft assembly between an unarticulated position and an articulated position. The articulation guide is associated with the pivotable bar guide assembly to enable the flexible knife bar assembly to advance through the pivotable bar guide assembly when the end effector is disposed in the unarticulated position or the articulated position.

The invention belongs to the technical field of tunnel engineering and rock drilling equipment automation, and discloses a three-arm drill jumbo drilling path planning method and system, and the method comprises the steps: collecting tunnel section parameters and blast hole coordinates, transmitting the collected data to a jumbo control system through an OPC protocol, and obtaining a rotating joint and a moving joint of a three-arm drill jumbo; based on a rotating joint and a moving joint of the three-arm drill jumbo, an improved double quaternion kinematics equation is constructed, and the pose of a mechanical arm of the three-arm drill jumbo is obtained; dynamically adjusting the operation area based on the pose of the mechanical arm of the three-arm drill jumbo and the blast hole distribution of the tunnel section; based on the adjusted operation area, a global-local-real-time three-level optimization framework is adopted, and drilling path planning of the three-arm drill jumbo is conducted; and based on the planned drilling path of the three-arm drill jumbo, a mixed collision detection mechanism is adopted, and tunnel wall collision risk detection is achieved.

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; the synchronous belt structure comprises a driving part, a synchronous belt wheel connected with the output end of the driving part, idle wheels arranged on the two opposite sides of the synchronous belt wheel and a synchronous belt wound around the synchronous belt wheel and the idle wheels respectively, and the two opposite ends of the synchronous belt are fixed to the base body respectively; the moving part is connected with the synchronous belt wheel and moves along with the synchronous belt wheel; a stroke gap is formed between the moving part and the base body; and the shielding structure is connected between the moving part and the base body and used for shielding the stroke gap. Driving is conducted through the synchronous belt structure, the weight of the movable joint can be reduced, and the movement precision of the movable joint is improved; excessive motion resistance is avoided, and the moving stability of the moving joint is guaranteed.

The utility model provides a pipe joint for spraying, which comprises a fixed bedplate and a joint assembly, the joint assembly comprises a fixed joint pipe end and a movable joint pipe end, the surface of the fixed joint pipe end is fixedly connected with the fixed bedplate in a penetrating manner, and a flexible connecting pipe is connected between the fixed joint pipe end and the movable joint pipe end; the pipe end of the movable connector is connected with the adjusting assembly, and the position of the connector assembly can be adjusted through the adjusting assembly; the two ends of the adjusting assembly and the two ends of the locking assembly are both connected with the fixed connecting plates, and the two fixed connecting plates are connected with the two sides of the fixed platen correspondingly. The position of the connector assembly can be adjusted and locked through the adjusting assembly and the locking assembly, so that the angle of the fixed connector pipe end and the angle of the movable connector pipe end can be adjusted, two sections of pipelines with different angles can be connected, the application range of the connector is expanded, the connector is more flexible to use, and the practicability is high. And the connecting efficiency of the spraying pipe is improved.