公开(公告)号：US11661686B2

公开(公告)日：2023-05-30

申请号：US17702145

申请日：2022-03-23

Applicant: NANJING UNIVERSITY OF AERONAUTICS AND ASTRONAUTICS

Inventor： Zhongde Shan ,  Jun Wang ,  Yaoyao Wang ,  Haoqin Yang ,  Chao Li

IPC: D04C3/48 ,  D04C3/40

CPC classification number: D04C3/48 ,  D04C3/40

Abstract: A mechanism for radially inserting a yarn into a 3D braided preform, including a first bracket, an upper linear actuator, a support mechanism, an upper yarn insertion device, a yarn carrying device, an upper gear ring, a lower yarn insertion device, a lower linear actuator, a second bracket, a lower gear ring, a lower gear, a lower motor, a lower circular track, an upper circular track, a base, an upper gear, a pneumatic transmission and control device and an upper motor.

公开(公告)号：US11591727B2

公开(公告)日：2023-02-28

申请号：US17707912

申请日：2022-03-29

Applicant: NANJING UNIVERSITY OF AERONAUTICS AND ASTRONAUTICS

Inventor： Jun Wang ,  Zhongde Shan ,  Xiaokang Ma ,  Yaoyao Wang ,  Haoqin Yang

IPC: D04C3/14 ,  D04C3/48 ,  D04C3/24 ,  B29C70/24

Abstract: An automatic circumferential insertion apparatus and method for a complex rotary preform. The apparatus includes a double-hinge yarn carrier and a U-shaped bracket. Two ends of the double-hinge yarn carrier are respectively provided with a cylindrical hinge structure. One cylindrical hinge structure is in revolving pair connection with an outer clamping buckle at one end of the U-shaped bracket, and the other cylindrical hinge structure is in revolving pair connection with an inner clamping buckle at the other end of the U-shaped bracket. Two sides of the U-shaped bracket are provided with an electromagnet, respectively. The outer clamping buckle is provided with a pin, which is controlled by triggering, and is triggered simultaneously with the electromagnet at the side where the outer clamping buckle is arranged.

公开(公告)号：US12076855B2

公开(公告)日：2024-09-03

申请号：US17926833

申请日：2021-01-28

Applicant: NANJING UNIVERSITY OF AERONAUTICS AND ASTRONAUTICS

Inventor： Yaoyao Wang ,  Hao Fu ,  Bai Chen

IPC: B25J9/00 ,  B25J9/10 ,  B25J13/08 ,  B25J17/02 ,  B25J18/04

CPC classification number: B25J9/0006 ,  B25J9/0087 ,  B25J9/1045 ,  B25J9/108 ,  B25J13/08 ,  B25J17/0258 ,  B25J18/04

Abstract: A wearable cable-driven robotic arm system includes a wearing mechanism, two robotic arms located on two sides of the wearing mechanism, cable driving devices, a load trolley, and a motor controller, where the cable driving devices are divided into driving portions and driven portions, heavy objects, such as electric motors, of the driving portions are arranged in the load trolley, thereby reducing loads born by the wearable robotic arms, the load trolley can travel with a person by means of sleeves or can be controlled by the motor controller to move by means of signals measured by following modules, the driven portions are combined with the robotic arms, and are double-cable driven, thereby reducing weight of the robotic arms, and a brain-computer interface module is used for controlling the driving devices, thereby controlling the robotic arms more accurately.