38 results about "Prismatic joint" patented technology

The invention discloses a minimally invasive surgery robot and surgical equipment applying the same, and relates to the technical field of medical apparatus and instruments. The technical problem that an existing minimally invasive surgery robot usually cannot be flexibly applied to various endoscopic surgeries is solved. According to the minimally invasive surgery robot, a movable platform is used for driving the minimally invasive surgery robot to move among all operating rooms; a height adjusting mechanism is located in the movable platform and used for adjusting the height of the minimally invasive surgery robot to adapt to different operating bed heights; a position adjusting mechanism is connected with the height adjusting mechanism and located above the movable platform, and the position adjusting mechanism comprises a rotating joint in a horizontal plane and rotating joints in two vertical planes; a posture adjustment mechanism is connected with the position adjustment mechanism, and a dual parallelogram mechanism is adopted; a tail end actuating mechanism is connected with the posture adjustment mechanism and comprises a clamping part, a prismatic joint of driving device feed and a rotating joint, rotating around the axis of a driving device, of the driving device.

An apparatus and method for bending or shaping orthodontic archwires or other medical devices into a complex, patient individual shape is described. The apparatus comprises of two moveable, compact, manipulators with, in total, at least three revolute joints defining three rotation axes and at least three prismatic joints defining at least three translation axes. Gripping tools are provided on the manipulators. The two manipulators are arranged to allow a relative movement in six degrees of freedom. A reduced complexity embodiment is also described having only one or two revolute joints.

A needle-coupled parallel mechanism is provided. The needle-coupled parallel mechanism is structurally improved so as to have a broad working area and a high precision. The needle-coupled parallel mechanism comprises a fixedly positioned frame, a main shaft, three first links, three second links, and a needle. The main shaft is arranged so as to be movable relative to the frame. One end of each of the first links is connected to the frame between both ends of the main shaft and the other end thereof is connected to one end of the main shaft. One end of each of the second links is connected to the frame between both ends of the main shaft and the other end thereof is connected to the other end of the main shaft. The needle is linearly movably coupled to the main shaft to perform a predetermined operation on a target object. Each of the first links and the second links has at least three joints selected from a prismatic joint, a 1-axis revolute joint, a 2-axis revolute joint and a spherical joint. The needle and the main shaft are moved with 6 degrees-of-freedom in conjunction with the operations of the first links and the second links.

An elastic yarn knot-free yarn splicing device equipped with a prismatic splicing head (25), the splicing head has a splicing groove (26), and at least one compressed air injection hole (29) is provided in the groove. The splicing groove (26) receives the yarns to be spliced ​​with each other and enables airflow splicing of the fibers of the yarns. The splicing device (58) is respectively equipped with a clamping device (43; 44) and a yarn cutting device (41; 42). The splicing device (58) includes pretreatment nozzles (53; 54). In addition to the pretreatment of the yarn ends, the two nozzles are also used as an airflow holding device to fix the mutually spliced ​​yarn ends. According to the present invention, on the yarn path between the clamping device (43; 44) and the pre-treatment nozzle (53; 54), a braking device (49; 50) for airflow acting on the yarn is arranged, so that the yarn is sent to the pre-treatment The retraction distance of the nozzles (53;54) is shortened. By means of the yarn splicing device of the present invention, the number of ineffective yarn splices for splicing elastic yarns on a winder or a combined spinning / winding machine can be reduced.

An apparatus and method for bending or shaping orthodontic archwires or other medical devices into a complex, patient individual shape is described. The apparatus comprises of two moveable, compact, manipulators with, in total, at least three revolute joints defining three rotation axes and at least three prismatic joints defining at least three translation axes. Gripping tools are provided on the manipulators. The two manipulators are arranged to allow a relative movement in six degrees of freedom. A reduced complexity embodiment is also described having only one or two revolute joints.

A laser cutting machine includes a platform and a motion system. The motion system includes a first prismatic joint facilitating a first motion of the platform along a first direction and a second prismatic joint facilitating a second motion of the platform along a second direction. A galvano arranged on the platform, such that a motion of the platform causes a motion of the galvano, the galvano including a first mirror, wherein a third motion of the first mirror positions the laser beam along a third direction, and a second minor, wherein a fourth motion of the second mirror positions the laser beam along a fourth direction. A control module controls concurrently the motion system and the galvano, such that a position of the laser beam on the workpiece is a vector sum of the first motion, the second motion, the third motion, and the fourth motion.

A parallel robot includes a fixed platform, a movable platform, and a plurality of chains positioned in parallel between the fixed platform and the movable platform. Each chain includes a first connecting member, a second connecting member, a first ball joint, and a second ball joint. The first connecting member connects to the second connecting member with a prismatic joint. The first connecting member connects to the fixed platform via the first ball joint, and the second connecting member connects to the movable platform via the second ball joint. Each of the first and second ball joints includes a ball member, a socket member, and a resilient pressing mechanism. The ball member couples with the socket member. The resilient pressing mechanism is positioned between the ball member and the socket member, applying compression to cause the ball member to tightly contact the socket member.

A focusing mount includes a focusing frame fixed to a focus tube with at least one lens having an optical axis which is connected to a constraining frame by prismatic joints for enabling movement of the focusing mount along the optical axis without any twisting, lateral, rotational or swing movements.

The invention discloses a spatial parallel robotic mechanism with three degrees of freedom (DOF). The mechanism consists of a motion platform, a fixed platform and three branched chains for linking the two platforms; two of the three branched chains have the same structure and respectively comprise a hooke joint, two prismatic joints and connecting rods from top to bottom, wherein the connecting rods are arranged among the hooke joint and the prismatic joints; and the other branched chain comprises a ball joint, two prismatic joints and connecting rods from top to bottom, wherein the connecting rods are arranged among the ball joint and the two prismatic joints. A working platform of the mechanism can realize motion output with one translational DOF and two rotations; and the mechanism has less joints and a motion pair only has 13 DOFs in total, thereby effectively solving the problem that a parallel mechanism is easy to bend, reverse and deform due to overabundance of DOFs of the motion pair. In addition, a rotating head with two DOFs is connected in series to the motion platform, and therefore, a hybrid robot with five DOFs, which can be used in occasions of machining complex curved surfaces, can be designed.

Robotic arms and surgical robotic systems incorporating such arms are described. A robotic arm includes a roll joint connected to a prismatic link by a pitch joint and a tool drive connected to the prismatic link by another pitch joint. The prismatic link includes several prismatic sublinks that are connected by a prismatic joint. A surgical tool supported by the tool drive can insert into a patient along an insertion axis through a remote center of motion of the robotic arm. Movement of the robotic arm can be controlled to telescopically move the prismatic sublinks relative to each other by the prismatic joint while maintaining the remote center of motion fixed. Other embodiments are also described and claimed.

The invention discloses a three-translation-parallel-operation platform, which comprises a movable platform, a fixed platform and three branch chains connected between the movable platform and the fixed platform. The three-translation-parallel-operation platform is characterized in that: each branch chain is formed in a manner that a structure formed by connecting in series three revolute pairs with shaft lines parallel to each other is connected in series with another structure formed by connecting in series two revolute pairs with shaft lines parallel to each other, and the two ends of each branch chain are connected with the movable platform and the fixed platform by the revolute pairs at the outermost end of the branch chain respectively; meanwhile, one or two of the three same branch chains can be replaced with a branch chain formed in a manner that the structure formed by connecting in series the two revolute pairs with two groups of shaft lines parallel to each other is connected in series with a prismatic joint; moreover, the third branch chain in the three same branch chains also can be replaced with a structure formed in a manner that a spherical pair, a prismatic joint and a spherical pair (S-P-S) are connected in series. The three revolute pairs on the fixed platform are controlled to obtain the three-dimensional pure translation output of the fixed platform. The three-translation-parallel-operation platform has large working space and convenient manufacture and installation, and can be used as a performing mechanism for intelligent equipment, such as a novel parallel coordinate measurer, a ruling machine, an engraver, a coating machine, and the like.

A mine avoidance and protection device has a frame adapted to be secured to a source of a load, such as the foot of a person. Attached to the frame are at least three support legs each extending from the frame. Each leg has a releasable joint between the leg and the frame. At least one detector is operable to provide a detection capability for each support leg, operable to detect a characteristic of a mine when at least a portion of the support leg is located proximate to the mine. An actuator operable to provide an actuation capability at the joint of each leg, to: constrain the joint to allow a load to be transmitted from the frame, through the joint and the support to the terrain. The actuator can also release the joint such that a load can not be transmitted from the frame through the joint. The joint between the plate and each leg may be a one degree-of-freedom prismatic joint or revolute joint.

A rotary piston engine with a frame, a cylinder liner mounted rotatably therein, a rotor mounted coaxially in the cylinder liner and a gear mechanism connecting the frame, the liner and the rotor, where the gear mechanism is outside a working space arranged between liner and rotor and where the gear mechanism couples the cylinder liner and the rotor for a relative movement periodically oscillating between positive and negative rotational speed. The gear mechanism and the liner form with the rotor a transmission with five rotational joints with a degree of freedom of one and one rotational / prismatic joint, where the gear mechanism has a rotational element mounted rotatably by a first rotational joint on the frame and a connecting rod connected rotatably by a second rotational joint to the rotational element and rotatably by a third rotational joint to the cylinder liner and by the rotational / prismatic joint to the rotor.

The invention discloses a drive mechanism for trailing edge flaps of a variable-speed rigid rotor comprising a fixing frame, a driver, trailing edge flaps and pressing blocks, a wedge block and a steel bar matched with the fixing frame, wherein the driver comprises driver base steel sheets and piezoelectric fiber sheets affixed to the driver base steel sheets; the rear ends of the driver base steel sheets are connected to the trailing edge flaps and the front ends of the driver base steel sheets are fixed to the body of the fixing frame by virtue of the pressing blocks; the upper surface of the portion, between each piezoelectric fiber sheet and each trailing edge flap, of each driver base steel sheet is in contact with the wedge block on the body of the fixing frame, and the lower surface of the portion, between each piezoelectric fiber sheet and each trailing edge flap, of each driver base steel sheet is in contact with the steel bar on the body of the fixing frame; and the steel bar and the wedge block clamp the drive base steel sheets to form revolute prismatic joints. The drive mechanism for the trailing edge flaps of the variable-speed rigid rotor is used for driving the deflection motion of the trailing edge flaps, and the additional aerodynamic load caused by the deflection motion of the trailing edge flaps is used to counteract a part of the vibration load of the variable-speed rigid rotor to achieve the purpose of vibration reduction.

The invention discloses a prismatic joint clamping device for an SF6 gas test of a GIS combined electric facility. The joint clamping device is used to communicate a prismatic gas chamber joint and atest joint and comprises a clamp connection member, a matching member, and a fastening member. The clamp connection member is connected to the prismatic gas chamber joint. The matching member is provided with a channel, which communicates the prismatic gas chamber joint and the test joint. The fastening member and the clamp connection member are connected through threads. The fastening member is used to push the connection between the matching member and the prismatic gas chamber joint. The joint clamping device is suitable for a prismatic gas chamber joint; a spiral locking structure is usedto replace a screw fastening mode, during the using process, only one fastening screw of the prismatic gas chamber joint is disassembled, the joint clamping device is connected to the gas chamber joint, then an air duct is leaded out through a second port, a test can be carried out; after the test, only one fastening screw is installed, the time for assembling and disassembling screws frequently during the test process is saved, a large amount of assembly-disassembly time is saved, the test process is optimized, and the test efficiency is improved obviously.

A device to simulate kinesthetic pad opposition grip forces and weight for grasping virtual objects in a virtual reality is provided. The device includes a base, a sliding part, a braking mechanism and a swinging part with linear resonant actuators (e.g. voice coil actuators). The sliding part is connected with the base through a first prismatic joint which allows for single degree of freedom pinching motions for grasping an object. The swinging part connected to the sliding part and the base through revolute joints. The brake mechanism is used to create a grasping force. The linear resonant actuators provide both touch sensation at initial contact and sensation of weight when lifting the object.

The invention discloses a mechanical decoupling single-hole surgery robot rapid replacement mechanism with a prismatic joint. The mechanism comprises a first joint driving mechanism, a second joint driving mechanism, a third joint driving mechanism, a fourth joint driving mechanism, a fifth joint driving mechanism, a sixth joint driving mechanism, a seventh joint driving mechanism, an eighth jointdriving mechanism, a base shell, a base outer cover, a connector and a locking mechanism. A surgical instrument rapid replacement mechanism is provided with a mechanical decoupling mechanism and completely solves the problem of mutual motion coupling generated when joints of surgical instrument executing mechanisms swing and rotate, the mechanical decoupling mechanism is mounted on the base, structure design of the surgical instrument executing mechanisms can be simplified, and mass production of the surgical instrument executing mechanisms is facilitated. The mechanical decoupling rapid replacement mechanism with the prismatic joint for a single-hole surgery robot has the advantages of convenience in disassembly and assembly, easiness in adjustment, accuracy in positioning, high stiffness, reasonable layout, small size and light weight.

A device to simulate kinesthetic pad opposition grip forces and weight for grasping virtual objects in a virtual reality is provided. The device includes a base, a sliding part, a braking mechanism and a swinging part with linear resonant actuators (e.g. voice coil actuators). The sliding part is connected with the base through a first prismatic joint which allows for single degree of freedom pinching motions for grasping an object. The swinging part connected to the sliding part and the base through revolute joints. The brake mechanism is used to create a grasping force. The linear resonant actuators provide both touch sensation at initial contact and sensation of weight when lifting the object.

A connection device (1) with improved safety and protection, to connect two ends of respective ducts (5, 6) to another flexible duct (7) in particular in the field of the peritoneal dialysis comprises: a closed container (2) containing two nozzle-like terminal ends (9) of a Y-shaped branch (8) of a flexible duct (7); a removable connection member (3) apt to be engaged / disengaged on said closed container (2), containing the ending portions of the respective ducts (5, 6) shaped to couple / uncouple with said nozzle-like terminal ends (9), a distal end of the container (2) and the connecting member (3) being shaped to couple according to a guiding scheme with prismatic joint; a closure with mobile walls (29) on said closed container (2) actuated in opening and closing by the contact of a projecting septum (33) of said connection member (3) upon the connection / disconnection between said closed container (2) and said connection member (3); and a closure with removable tear film (37) arranged at the ending portions (10) of said ducts (5, 6) to close the respective sections opened inside said connection member (3), apt to be removed from the interference between the edge of said closed container (2) and a thickened edge thereof (38) upon the connection between said closed container (2) and said connection member (3), the connection of said closed container (2) and said connection member (3) determining the engagement and the disengagement of said nozzle-like terminal ends (9) with said ending portions of respective ducts (5, 6).

A focusing mount includes a focusing frame fixed to a focus tube with at least one lens having an optical axis which is connected to a constraining frame by prismatic joints for enabling movement of the focusing mount along the optical axis without any twisting, lateral, rotational or swing movements.