216 results about "Four jointed" patented technology

An instrument for measuring kinetic and kinematic variables of multijoint motor tasks comprises a linkage having four links connected at four joints, each joint having articulation about an axis, the four axes of articulation being substantially parallel, limb coupling means for coupling a limb to the linkage, the limb coupling means maintaining alignment of centers of rotation of two joints of the limb with centers of rotation of two joints of the linkage, means for providing a load to at least one of the two joints of the linkage, means for obtaining data respecting angular position of at least one of the joints of the linkage. In an alternative embodiment, the linkage has only two links. The invention also provides methods for detecting, monitoring, and / or treating neural and / or muscular problems associated with impaired movement of limbs.

A barbecue device having a brazier positioned on a cubic cart is provided. The cart contains a bottom board with a number of wheels, a pair of side boards, a back board, and doors. Four joint elements are configured at the four corners on the top surface of the bottom board pin-joined to the side boards. A side board therefore can be folded down towards the bottom board. Four C-shaped seat elements are configured at the four corners on the bottom surface of the bottom board to pin-joined to the axle elements of the wheels. A wheel and its axle element therefore can be folded towards the bottom board.

A barbecue device having a brazier positioned on a cubic cart is provided. The cart contains a bottom board with a number of wheels, a pair of side boards, a back board, and doors. Four joint elements are configured at the four corners on the top surface of the bottom board pin-joined to the side boards. A side board therefore can be folded down towards the bottom board. Four C-shaped seat elements are configured at the four corners on the bottom surface of the bottom board to pin-joined to the axle elements of the wheels. A wheel and its axle element therefore can be folded towards the bottom board.

The invention discloses a charging and blanking robot of a punch press, comprising four joints, a base, two arms and an end effector, wherein the first joint, the second joint and the fourth joint have the degree of freedom of rotation, and the third joint has the degree of freedom of up and down translation; one end of the first joint is connected with the base by an input end shell; the other end of the first joint is connected with one end of the first arm by a first joint output flange; the other end of the first arm is connected with a second joint output flange of the second joint; a third joint connecting plate is connected with the joint rack of the fourth joint; and a fourth joint output rotary table is provided with the end effector. A harmonic transmission mode is adopted by a first joint transmission device and a second joint transmission device of the robot. Aiming at the characteristic that a harmonic speed reducer only can bear torque but can not bear bending moment, a pair of tapered roller bearings is arranged on an output shaft and is used for bearing overturning bending moment. The transmission mode has compact structure, high transmission efficiency, small return difference and high transmission accuracy.

A front hood system has a front hood of a vehicle coupled to the frame of the vehicle via at least one four-joint hinge. In addition, the front hood can be latched by means of at least one hood lock. An economically and technically feasible protection provided for pedestrians is accomplished in that at least one four-joint hinge has at least one link whose joint is situated on one of the parts of the front hood and the vehicle body can be displaced in the position thereof due to the force of impact of a pedestrian.

A modularization teaching robot with reconfigurable functions, belongs to the field of electromechanical control and automatization teaching, which comprises a core servo module and an accessory, wherein the core servo module includes a main body host, a main body deputy, a dwang of a joint plane, a dwang of rotation plane, a DC machine and a reinforcement plate. The main body host is symmetrical along a center line and of phi-shape; the reinforcement plate is reinforced on two side walls; the main body deputy is of U-shape, the main body host and the main body deputy are connected through the dwang of a joint plane and the dwang of rotation plane; the DC machine is mounted on the main body host; a connecting module is mounted on four joint planes of the core servo module, the core servo module are combined into a reconfigurable robot through the connecting module, or the core servo module and the accessory are combined into the robot. The invention provides a high level teaching experiment platform which integrates machinery, electron, control theory and software engineering, with strong practice teaching functions.

The invention discloses a network flow type prediction method based on deep learning. A multistage prediction scheme of ''edge pre-classification + center fine classification'' is adopted, that is, pre-classification is performed at first and then fine classification is performed, and deep learning models of pre-classification and fine classification are respectively constructed on an SDN switch and an SDN controller of a network edge, wherein the network function virtualization NFV technology is adopted, computing resources of switches in the SDN network and a distributed deep learning network constructed by links are used as hardware resources required for the pre-classification model, and the SDN controller is used as the hardware resource required for the fine classification model; andthe pre-classification model uses four joint features, and the fine classification model uses ten joint features. By adoption of the multistage prediction scheme in the network flow type prediction method disclosed by the invention, the communication overhead of the switch to the controller can be reduced, and the load of the controller can also be alleviated; the prediction is achieved by usinga capsule network method as early as possible; and meanwhile, the deep learning model is periodically trained by using an autonomously updated training data set to improve the prediction accuracy.

The invention discloses a working face transferring end fluid pressure brace, which is characterized by the following: comprising with front brace support and back brace support to front back two braces as one group type; setting the front brace and the back brace as left right asymmetric structure and nearly same; setting the working face side as short chassis and single stud; setting another side as long chassis, multiple stud and four joint rod device; connecting the top beam on the back brace working face side and the chassis through cable or ring chain, draw top beam or draw shift jack to the front brace or transfer machine; adapting the front and back space of the back brace single stud to the width between the rear edge transferring machine head and the coal getting machine roller front end face; setting anchor bar tendon avoiding protection device at the top beam and front back beam. This brace can increase protection strength and stability.

The invention discloses a movable structure based on a folding-rod shearing-type unit, composed of a connecting bar mechanism and inhaul cables, wherein the connecting bar mechanism comprises two sub connecting bar mechanisms; a connecting bar is hinged with four joints between the two sub connecting bars respectively; the other ends of the four connecting bars are hinged together to form a hinging joint; a middle pin joint of the first folding-rod shearing-type unit of the first sub connecting bar mechanism is rotatably connected with a bracket; a middle pin joint of the tail folding-rod shearing-type unit of the second sub connecting bar mechanism is rotatably connected with a bracket; thus, the geometrical shape of the structure can be changed by change of the length of four inhaul cables. The invention is a connecting bar mechanism composed of a folding-rod shearing-type unit and a multi-rod hinging unit, and uses four inhaul cables to drive the connecting bar mechanism so as to form structures with a plurality of stable geometrical shapes; the geometrical shapes of the movable structure can be expressed by two arcs; and the structure is rational and the design and construction are simple, so that the movable structure is suitable for buildings with different spans.

The invention relates to a high-temperature fatigue test clamp and method capable of continuously adjusting check section stress distribution of a blade. According to the high-temperature fatigue test clamp, upper and lower chucks are arranged on a fatigue testing machine, and the blade is fixed on the testing machine through a fork, a wheel disc similar part and a blade combined clamp. The test clamp comprises four joints; bolts at two sides of each joint are adjusted and an included angle between the blade and a main axis of the testing machine can be continuously adjusted, so that eccentric stretching of the blade is realized. In combination of adjustment of a stretching load of the fatigue testing machine, simulation of a check section working stress field of a turbine blade can be realized. Furthermore, each adjusting bolt sleeves a pressing spring and the fastening length of each bolt keeps constant through the restoring force of the springs after detachment, so that repeated adjustment is avoided.

A seat assembly for a vehicle comprising a four joint link mechanism for storing a seat into concave portion provided on a floor of the vehicle and a motor device driving the four joint link mechanism, wherein a wire harness connected to the motor device is wired in a space provided between a cover attached to a rear link which forms the four joint link mechanism and the rear link.

The invention discloses a jacking transplanting machine. The jacking transplanting machine comprises a first conveying part, a second conveying part and a jacking part. The first conveying part is consistent with the direction of the main conveying line. The second conveying part intersects with the main conveying line. The jacking part comprises a base plate, four joint assemblies, a drive mechanism and a cam mechanism. The joint assemblies, the drive mechanism and the cam mechanism are all fixed to the base plate. The drive mechanism drives the cam mechanism to move so as to drive the second conveying part to rise and fall, and the relative height of cooperation of the first conveying part and the second conveying part is changed. The other ends of the joint assemblies are fixed to the second conveying part. The second conveying part rises and falls to drive the joint assemblies to be stretched out / drawn back. By means of the joint assemblies, supporting and limiting of a stop plate are achieved, the rolling and movable joint design is adopted, no stuck points exist, the horizontal consistency of the top plate in the rising and falling process is ensured, and the stuck phenomenon is avoided. The number of electronic components is small, the fault rate is low, and maintenance and installation are convenient.

The invention provides a coupling under-actuated integrated three-joint robot finger device, which belongs to the technical field of robot hands. The device comprises a base, one motor, three finger segments, four joint shafts, one motor, eight connecting rods, four spring pieces and the like. The invention utilizes the connecting rods and the spring pieces to form a coupling transmission mechanism and an under-actuated transmission mechanism which are integrated and are in sleeved connection with the three finger segments so as to comprehensively realize the special effect of integrating a three-joint finger coupling-grabbing process with an under-actuated self-adaptive grabbing process. The finger device adopts a coupling mode for rotation before touching objects, can grab the objects in a pinching way, can adopt an under-actuated self-adaptive mode to rotationally grab the objects after touching the objects, and automatically adapts to the size and shape of the grabbed objects so as to realize grabbing in a holding way. The finger device has the advantages of great force, low requirement on control systems, simple reliable structure, low cost, suitability for long-term use, similarity to the appearance and motion of fingers of human hands and applicability to anthropomorphic robot hands.

The invention discloses a variable configuration biomimetic quadruped robot and belongs to the field of robotics, theory of mechanism, and bionics. A physical mechanical structure of the variable configuration biomimetic quadruped robot includes four biomimetic one leg structures and a main body. Each biomimetic one leg structure includes four degrees of freedom, that is to say, includes four joints of the first hip joint, the second hip joint, the thigh joint and the shank joint. The first hip joint is directly connected with the main body, and the joint rotation shaft of the first hip jointis perpendicular to the main body plane. The first hip joint is combined with the thigh joint and the shank joint to move so that the processing state like insect crawling can be achieved. The secondhip joint is connected with the first hip joint, and the joint rotation shaft is in parallel with the main body plane. The second hip joint is combined with the thigh joint and the shank joint to moveso that the processing state like mammalian walking can be achieved. According to the variable configuration biomimetic quadruped robot, two processing states of insect crawling and mammalian walkingcan be switched freely; the structure is not complex, so that higher function requirements can be achieved, and higher environmental adaptability can be achieved.

A foldable cart for transporting golf clubs includes a main frame, a joint unit, a handle frame, two supporting frames, a club holder, a front wheel, two rear wheels, an auxiliary frame unit and a linking rod. The joint unit has four joints, each of which includes a first, second and third lock. When the first lock is released, the handle frame may be folded towards the main frame. When the third lock is released, the front wheel and fork may be turned over. When the second lock is released, one of the joints is moved upwards and pushes the linking rod and two supporting rods to make the front wheel, front fork, two auxiliary supports and two rear wheels folded towards the main frame.

The invention provides a BP neural network-based multimodal motion method and system of robot fish. The method comprises the steps of building a CPG model; carrying out dynamic modeling on robot fish with pectoral fins at four joints, inhibiting pectoral fin CPGs by tail fin CPGs in a one-way manner, determining left and right input stimuluses, downlink and uplink phase coupling coefficients, uplink and downlink coupling coefficient weights and CPG frequencies corresponding to various joints by using nonlinear oscillator models as CPG neurons; building a BP neural network model; obtaining variations of joint angles on the basis of the CPG model, storing variation values of the joint angles as data packets for carrying out BP neural network training, and transmitting the trained data to a controller of the biomimetic robot fish; and driving swinging of various joints by using CPG signals and carrying out swimming and turning motions of the robot fish. According to the BP neural network-based multimodal motion method and system of the robot fish, multimodal motions of the robot fish are learned by using the BP neural network, so that the target of learning the multimodal motion processes of the robot fish through the BP neural network is finally achieved and the autonomy and the adaptability of a robot fish system are improved.

The invention discloses a multi-moving-mode bionic moving robot, which is characterized by consisting of a machine body platform, six machine legs in the same structures, a video monitoring system based on 3G (3rd generation) network and a double-rocker-rod remote operation and control system based on remote operation, wherein the machine legs comprise four joint parts and one wheel part, each joint part is driven by a large-torque steering engine with the rotating angle being 180 degrees, one steering engine is in charge of driving one joint, the wheel parts are driven by large-toque steering engines with the rotating angle being 360 degrees, and the whole circle rotation can be realized. The two ends of the steering machine rotating center shaft are respectively fixed by bearings, the six machine legs are symmetrically arranged at two sides of the robot machine body platform for forming a bionic mechanism, a connecting rod arranged at the lower end of the machine legs adopts a right-angle reverse L-shaped deign, one end of the connecting rod is connected with the machine body, the other end of the connecting rod is in contact with the ground, the video monitoring system mainly comprises a sending end and a receiving end, and the remote operation and control system carries out operation and control by aiming at the six machine legs, and mainly comprises a sending end and a receiving end.

The invention provides an arm frame device which comprises at least four joints of arm frames, wherein all the arm frames are sequentially articulated, the first three joints of the arm frames are folded into the shape of R, the third joint of the arm frame (3) is a bending arm frame, when the arm frame device is in a folded state, the fourth joint of the arm frame (4) is folded below the third joint of the arm frame (3). The arm frame device according to the invention is compact in structure, the utilization rate of the space in the vertical direction of the arm frames is improved, the spaceis provided for arranging the multiple joints of the arm frames, and more joints of the arm frames can be folded in the same folding space, thereby increasing the total length of the arm frame deviceand improving the flexibility in material distribution of the arm frames. In addition, the invention further discloses an engineering machine with the arm frame device.

The invention relates to an aerial operation comprehensive vehicle for metro washing. Manual cleaning is replaced by high pressure water tunnel washing, and a crank arm double-rotary-table aerial operation platform is adopted for replacing a scaffold or a vertical lifting platform to maintain metro tunnel walls and contact nets. The aerial operation comprehensive vehicle comprises a railway vehicle with power, an automatic control system, the crank arm double-rotary-table aerial operation platform, a double-power system and a high pressure water system, a vehicle body of the railway vehicle with power is of a double-fish-belly double-layer structure, the crank arm double-rotary-table aerial operation platform is installed on the upper layer, two water tanks of the high pressure water system are installed on the lower layer for supplying water, and a hydraulic cylinder is arranged between the vehicle body and a bogie to be capable of achieving rigid connection between the vehicle body and a steel rail; the crank arm double-rotary-table aerial operation platform is composed of a four-joint arm, a pull rod, double rotary tables and a hanging basket. The high pressure water system further comprises an inlet water filtering part, a booster pump, a high-pressure pump and a high-pressure pipe, and the high-pressure pipe is connected with a spraying rod.

The invention provides an arm changeable type joint type coordinate measuring machine. The arm changeable type joint type coordinate measuring machine comprises a base, three measuring arms, rotational joints and a measuring head. On the base, a space open chain structure is formed by the six rotational joints serially connected by the three measuring arms. The tail end of the open chain structure is provided with the measuring head of the arm changeable type joint type coordinate measuring machine. According to the arm changeable type joint type coordinate measuring machine, in the full arm state, the six rotational joints do not be locked, and each joint can be rotated around the axis of itself, and in the arm changeable state, the first and second joints which are close to the base are fixed, and other four joints can be moved freely. The arm changeable type joint type measuring machine provided in the invention can be used to reduce two angle sensors of the first arm and the first joint, and through the structure, the system measuring accuracy can be greatly improved.

The invention discloses an under-actuated biped walking robot based on flexible drivers. The walking robot consists of four active joint modules based on the flexible drivers, a large (small) leg connecting rod and two under-actuated feet, wherein left and right legs are respectively provided with two joints, namely a hip joint and a knee joint, and only have pitching freedom degree; the feet are two semi-cylindrical components, have rolling friction with the ground and rotate around a contact line; in a constructed sport environment, the whole robot can perform planar motion in a sagittal plane. The flexible drivers are adopted for the four joints of the biped walking robot. The biped walking robot has the characteristics of natural walking gait, high energy efficiency, capability of effectively reducing instantaneous torque generated by collision borne by a driving motor, shock buffer and absorption, and the like; by virtue of an under-actuated mode, the robot has the characteristics of energy conservation and personification. The robot is capable of realizing an initiative walking function, simultaneously has good environmental suitability, low cost and low energy consumption, and can be widely applied to lower limbs structures of medical humanoid robots and humanoid robots serving for the disabled.

The invention discloses a four-joint guide blade pouring clamp and a processing method. The four-joint guide blade pouring clamp comprises a clamp base used for bottom fixed locating and supporting. The clamp base is provided with a clamping mechanism and a box. The clamping mechanism is used for clamping an upper edge plate and a lower edge plate of a four-joint guide blade part upwards arrangedon the datum plane of a to-be-processed edge plate so as to fixedly locate the four-joint guide blade part. The box is used for supporting and locating the four-joint guide blade part from the bottomof the four-joint guide blade part so as to be matched with the clamping mechanism to clamp the four-joint guide blade part, and is used for being filled with low-melting-point molten alloy temporarily so that relative stability of the located four-joint guide blade part is maintained. The box is assembled on the clamp base. The clamping position of the clamping mechanism on the four-joint guide blade part is located above the pouring face of the low-melting-point molten alloy in the box. Locating is simpler, and precision can be ensured. The four-joint guide blade pouring clamp is suitable for clamping for processing and detection of various complex aero-engine parts.

The invention discloses a subway station body structure and a four-joint-arch PBA underground excavation construction method thereof. The subway station body structure comprises a station inner body structure, multiple left piles, multiple right piles, three sets of middle columns, middle plates and body arches. The body arches are four-joint arches. The construction method comprises the steps of pilot tunnel excavation and primary support; horizontal base and bottom longitudinal beam construction; side pile and middle column construction; crown beam, top longitudinal beam and pilot tunnel inner arch section construction; first and third arch section primary support buckle arch construction; second and fourth arch section primary support buckle arch construction; secondary lining structure construction of first and third arch sections; secondary lining structure construction of second and fourth arch sections; excavation of the upper portion of the station inner body structure, and secondary lining construction of the middle longitudinal beams, the middle plates and the upper portion of the side wall; earth excavation of the lower portion of the station inner body structure and secondary lining construction of bottom plates and the lower portion of the side wall. The construction is easy, the construction progress is fast, the subway station body structure constructed and formed is firm, and the using effect is good.

The invention relates to a four-joint visual robot. In the invention, a robot chassis structure comprises a robot chassis, a motor, a planetary gear reducer, a rotary disc, a base and two bearing blocks, wherein the motor drives the planetary gear reducer to run so as to drive the rotary disc, the base and the bearing blocks to rotate; a large arm mechanism assembly comprises a motor, a planetary gear reducer, a primary driving shaft, two primary driving arms, two primary driven arms and two middle clamping plates, wherein the motor drives the planetary gear reducer to act so as to drive the primary driving shaft and a parallelogram motion mechanism to rotate; a small arm mechanism comprises a motor, a planetary gear reducer, a secondary driving shaft, an arc tooth synchronous belt, a driven wheel, a belt wheel shaft, two secondary driving arms, two secondary driven arms and two end clamping plates, wherein the motor drives the planetary gear reducer and the secondary driving shaft to rotate, and the arc tooth synchronous belt drives the driven wheel to rotate so as to drive a small arm parallelogram motion mechanism to rotate; and the robot also comprises hand components. The robot has the advantages of simple structure, convenience of use and cost reduction.

The invention discloses an underactuation type anthropopathic three-finger manipulator. The underactuation type anthropopathic three-finger manipulator comprises a palm, two fingers and a thumb; each finger comprises four joints which are connected through a spring plate, a finger cover plate and screws; the palm comprises a bottom plate and a cover plate and is used for fixing a motor and the fingers. According to the underactuation type anthropopathic three-finger manipulator, a closed-loop feedback system composed of a force sensor and an angle sensor is used to achieve simple grasping and nipping action. The underactuation type anthropopathic three-finger manipulator is characterized in that single finger is controlled through one motor by a tendon transmission manner on the basis of the underactuation principle, so that the finger can adapt to hold an object while grasping different objects; the underactuation type anthropopathic three-finger manipulator has the advantages of being simple in structure, small in difficulty at grasping control, and high in reliability.