30results about How to "Realize three degrees of freedom movement" patented technology

The invention discloses a ball type motor with a three-dimensional topology magnetic pole distribution structure The ball type motor comprises an outer rotor (1), an outer stator (2), a ball bearing (3), a base (4), an inner rotor (5) and an inner stator (6), wherein the rotor and the stator are sleeved with each other; the ball bearing (3) is installed in the inner stator (6); the inner rotor (5) is sleeved on the external part of the inner stator (6); the outer stator (2) is sleeved on the external part of the inner rotor (5); and the outer rotor (1) is sleeved on the external part of the outer stator (2). The electromagnetic force driving is adopted for the ball type motor disclosed by the invention, besides magnetic poles and coil magnetic poles are distributed along a spherical surface, and also can be distributed along the radial direction, thus the magnetic field intensity of a coil magnetic pole region is increased greatly, simultaneously the interaction force between the magnetic poles is improved, not only can the continuous rotation space with spatial three degrees of freedom of the ball motor rotor can be realized, but also the output torque, especially the tilting moment, of the ball motor is improved effectively.

Ths invention discloses one super thin three freedom plane motor to provide one micro work bench execution parts with high accuracy, which comprises coil parts ad permanent magnetic parts composed of three sets of drive units to realize the three freedom in plane, wherein, the two sets of drive units axis lines are parallel without overlapped; the third set of drive unit axis line is cross with front two sets with each composed of one or more coil with same drive direction unit.

The invention discloses a TDOF (Three Degrees of Freedom) passive ball joint with attitude detection and applicable to a ball motor. The ball motor consists of a stator assembly, a rotor assembly, a passive ball joint and a base. The passive ball joint assembly consists of an upper turntable, a lower turntable, a spider, a hanger plate A, a hanger plate B, a support plate, a double-shaft tilt sensor, an encoder and a Z-direction shaft, wherein the support plate is connected with the upper turntable through the hanger plates A and B, the spider is respectively connected with the upper turntable and the lower turntable through four ball bearings, the double-shaft tilt sensor is installed on the support plate, and the encoder is installed at the other end of the Z-direction shaft. When the passive ball joint with attitude detection is applied to the ball motor and the ball motor with the passive ball joint is applied to shoulder joints and wrist joints of robot arms, the quantity of joints on the robot arms can be reduced, the elastic deformation of a transmission mechanism and the defect of low movement precision caused by movement dead zones can be avoided under the condition of reduced joint quantity, the structure of the robot arms can be simplified, and the effects of small size, light weight, fast response speed and the like can be achieved.

The invention provides a high-stability three-degree of freedom moving motor, and relates to the technical field of three-degree of freedom motors. The high-stability three-degree of freedom moving motor comprises an autorotation module and a deflection module, wherein the deflection module comprises an outer stator, a middle rotor and an inner stator; the inner stator is fixed with a shell through the lower opening of the middle rotor; the autorotation module comprises an autorotation stator, an autorotation rotor and an output shaft which is fixed with the autorotation rotor; the autorotation stator is rotatably connected with the output shaft; and the autorotation stator is fixedly connected with the upper opening end of the middle rotor. The high-stability three-degree of freedom moving motor is mainly used for solving the problems that relatively large rotor eccentric displacement is easy to generate, the stability is relatively bad and constant torque is difficult to output whenhigh-speed revolution and directional inclined operation are separately realized as the volume is large and the rotation inert is too large in the prior art. The high-stability three-degree of freedommoving motor has the characteristics of being strong in driving module independence, high in cooperative control accuracy, small in mechanical system duty ratio, small in volume, good in response speed smoothness, good in stability, relatively constant in output torque and wide in application.

The invention provides an amphibious bionic robot which comprises fish shells, baffles, a swimming walking device, a sample collecting device, an image photographing device and a floating and diving device, the upper fish shell and the lower fish shell are fixedly connected with the two ends of a walking shell correspondingly, and the fish head baffle and the fish tail baffle are located at the front end and the rear end of the walking shell correspondingly; the sample collecting device is fixedly connected with the upper wall of the open groove of the lower fish shell, and the image photographing device and the floating and diving device are located in the upper fish shell. The swimming walking device can achieve underwater advancing, retreating, turning movement and rugged road walking, the image photographing device can stably shoot useful information in the underwater environment and the land environment, the floating and diving device can achieve vertical up-down movement of the bionic robotic fish, and the sample collecting device can achieve sample grabbing and hard sample drilling. The robot can walk underwater and on the road surface, carries two manipulators at the same time, can collect resources, and has a wide application prospect.

The invention relates to an automatic bagging system, in particular to a device for automatically loading a projectile body into a packaging bag. The device comprises a mounting rack and further comprises a code-spurting unit, a packaging bag opening and supporting mechanism, a product supporting unit, a pushing and blocking unit and a packaging bag storing box which are arranged on the mounting rack, wherein the code-spurting unit, the packaging bag opening and supporting mechanism and the packaging bag storing box are arranged at one end of the product supporting unit, the pushing and blocking unit is arranged at the other end of the product supporting unit, and the code-spurting unit is used for spurting a code on the packaging bag in the packaging bag storing box; the packaging bag opening and supporting mechanism is used for opening the packaging bag in the packaging bag storing box; and the pushing and blocking unit is used for pushing the projectile body on the product supporting unit into the opened packaging bag. According to the device for automatically loading the projectile body into the packaging bag, efficient projectile body bagging can be ensured, and damage to a projectile body paint layer is avoided in the bagging process.

The invention provides an underwater manipulator three degrees of freedom(DOFs) wrist structure. A connecting frame 12 is respectively connected with a front arm 1 and a wrist 11 through a wrist pitching rotating shaft 2 and a wrist yaw rotating shaft 4; the bottom end of a second hydraulic cylinder 8 in the front arm 1 is arranged on a coupling spindle 9 at the bottom of the hydraulic cylinder in a cavity of the front arm 1; the end of the piston rod of the second hydraulic cylinder 8 is connected with a piston rod coupling spindle 3 of the hydraulic cylinder on the connecting frame 12; one end of a connecting rod 6 is connected with a connecting rod coupling spindle 5 of the wrist 11; the other end of the connecting rod 6 is connected with a piston rod of a first hydraulic cylinder 7; the bottom of the hydraulic cylinder is fixed on the connecting frame 12; a hydraulic motor is arranged inside the wrist 11. The whole wrist has compact structural design, can realize the three DOFs motion of the wrist, and has the advantages of flexible operation, improving the operation space, reducing the operation dead areas of the underwater manipulator, etc.

The invention relates to a hydraulic system for a three-degree-of-freedom vehicle wheel clearance detecting table. The system comprises a power source hydraulic system (A), a transverse hydraulic system (B) and a longitudinal hydraulic system (C). In the transverse hydraulic system (B), a transverse rear hydraulic cylinder (10) is connected with a transverse front hydraulic cylinder (12) through a two-position four-way valve V3 (13), so that the front hydraulic cylinder and the rear hydraulic cylinder can synchronously act. The longitudinal hydraulic system (C) comprises a longitudinal hydraulic cylinder (8) and a three-position four-way valve V1 (9); an A port and a B port of the three-position four-way valve V1 (9) are respectively connected with a left chamber oil port and a right chamber oil port of the longitudinal hydraulic cylinder (8); P ports of the three-position four-way valve V1 (9) and a three-position four-way valve V2 (11) are connected with an oil outlet of a hydraulicpump (5) of the power source hydraulic system (A); and T ports of the three-position four-way valve V1 (9) and the three-position four-way valve V2 (11) are connected with an oil return pipeline of the hydraulic pump (5) of the power source hydraulic system (A). The hydraulic system provided by the invention aims at realizing three-degree-of-freedom motion of a detecting table plate through the three hydraulic cylinders and a connecting relation of the three hydraulic cylinders.

The invention relates to a parallel-type three-degree-of-freedom piezoelectric resonance self-actuating mechanism and an excitation method thereof and belongs to the field of piezoelectric driving. The parallel-type three-degree-of-freedom piezoelectric resonance self-actuating mechanism and the excitation method thereof can be applied to the fields of precision driving, medical treatment, micromachinery and the like. The invention aims to solve the problem that an existing three-degree-of-freedom piezoelectric self-actuating device is small in output force, high in cost and insufficient in actuating capacity. The three-degree-of-freedom piezoelectric resonance self-actuating mechanism of the invention is of a transducer parallel structure; the electric resonance self-actuating mechanism comprises four columnar piezoelectric transducers of the same structure and connecting devices of the columnar piezoelectric transducers; and the self-actuating mechanism comprises four driving feet used for combined actuation. According to the excitation method of the self-actuating mechanism, the sequential longitudinal vibration of the four columnar piezoelectric transducers is respectively excited through two-phase or four-phase voltage excitation signals according to a translation or rotation motion mode, so that the combined longitudinal vibration of the four columnar piezoelectric transducers is formed to drive the driving feet to move, and therefore, the three-degree-of-freedom actuating function of the self-actuating mechanism on a working plane is realized.

The invention discloses a three-degree-of-freedom spherical rotor ultrasonic motor stator base and an excitation method thereof, relates to the technical field of piezoelectric ultrasonic motors and aims to solve the problems of fewer driving feet, insufficient driving capability, complicated structure and difficulty in realizing miniaturization of an existing multi-degree-of-freedom rotational ultrasonic motor. Four driving feet are uniformly embedded into an inner ring of a metal ring, an upper piezoelectric ceramic ring and a lower piezoelectric ceramic ring are positioned on the upper surface and the lower surface of the metal ring, the upper piezoelectric ceramic ring is equally divided into twelve upper piezoelectric ceramic partitions, a gap is reserved between every two adjacent piezoelectric ceramic partitions, a silver coating is arranged at each gap, the lower piezoelectric ceramic ring is virtually and equally divided into twelve lower piezoelectric ceramic partitions, polarization directions in the upper piezoelectric ceramic ring are the same, polarization directions in the lower piezoelectric ceramic ring are the same, and the polarization directions between the upper piezoelectric ceramic ring and the lower piezoelectric ceramic ring are opposite. The base is used for an elliptical driving track of a driving rotor rotating around x, y and z axes.

The invention discloses a TDOF (Three Degrees of Freedom) passive ball joint with attitude detection and applicable to a ball motor. The ball motor consists of a stator assembly, a rotor assembly, a passive ball joint and a base. The passive ball joint assembly consists of an upper turntable, a lower turntable, a spider, a hanger plate A, a hanger plate B, a support plate, a double-shaft tilt sensor, an encoder and a Z-direction shaft, wherein the support plate is connected with the upper turntable through the hanger plates A and B, the spider is respectively connected with the upper turntable and the lower turntable through four ball bearings, the double-shaft tilt sensor is installed on the support plate, and the encoder is installed at the other end of the Z-direction shaft. When the passive ball joint with attitude detection is applied to the ball motor and the ball motor with the passive ball joint is applied to shoulder joints and wrist joints of robot arms, the quantity of joints on the robot arms can be reduced, the elastic deformation of a transmission mechanism and the defect of low movement precision caused by movement dead zones can be avoided under the condition of reduced joint quantity, the structure of the robot arms can be simplified, and the effects of small size, light weight, fast response speed and the like can be achieved.

The invention discloses a three-degree-of-freedom industrial mechanical arm capable of extending, and belongs to the field of industrial robots. The three-degree-of-freedom industrial mechanical arm capable of extending comprises a mechanical small arm capable of freely extending, an elbow joint for connecting mechanical humerus with the mechanical small arm by adopting a hinge mode, a wrist jointfor connecting the right end of the mechanical small arm with a manipulator by adopting a hinge mode, a power mechanism A mounted on the mechanical humerus and capable of driving the mechanical smallarm to relatively rotate around the elbow joint, and a power mechanism B mounted on the mechanical small arm and capable of driving the manipulator to relatively rotate around the wrist joint; the mechanical small arm comprises a mechanical small arm body, a mechanical small arm extension rod and a small arm torsion joint; and the mechanical small arm body and the mechanical small arm extension rod are coaxially mounted, and can relatively move along common axis. The industrial mechanical arm is simple and compact in structure and more stable in movement, has three degrees of freedom, can freely extend, and has no vibration gap during extending.

The invention discloses a three degree of freedom plane induction motor. The three degree of freedom plane induction motor comprises a linear drive unit arranged in a Y type arrangement, a rotary drive unit arranged in a triangle-shaped arrangement, a disk-shaped mover, and a cylindrical base. The three degree of freedom plane induction motor can achieve a multi-degree of freedom movement of straight line, rotation and in-plane spiral. The linear drive unit is used for realizing linear motion in any direction in the plane, and the rotary drive unit is used for realizing the rotational motion. When the two groups of drive units work at the same time, the in-plane spiral movement can be achieved . The three degree of freedom plane induction motor has the characteristics of simple structure, good dynamic performance, few components, easy maintenance, small mover mass, high efficiency and the like.

The present invention provides a three-degree-of-freedom pipetting device of a closed cartridge and a closed cartridge, which expands the degree of freedom of the pipetting device, so that more reagent holes can be used in the limited volume of the closed cartridge . The closed cartridge includes a reagent disc, and a plurality of reagent holes are arranged on the reagent disc; the pipetting device includes a pipetting head, a rotating platform, a first driving assembly and a second driving assembly; the rotating platform includes a rotating chassis, and a chassis bearing part, The rotating chassis is rotatably arranged on the supporting part of the chassis, and the rotating chassis is provided with a chute, and the pipetting head is slidably arranged in the chute; the first drive assembly is used to drive the pipetting head to slide along the chute and drive the rotating chassis Rotate relative to the chassis bearing part to drive the pipette head to rotate, so that the pipette head can be aligned with any reagent hole on the reagent plate; the second drive assembly is used to drive the rotating platform to move up and down and drive the pipette head to move up and down, so that the pipette head can be aligned Liquid aspiration or liquid injection is performed on the aligned reagent wells.

The invention belongs to the technical field of robots and discloses a three-degree-of-freedom robot joint. The joint includes a first motor, a first planetary gear train, a bevel gear train, a second planetary gear train and a second motor; the output shaft of the first motor is connected with the first planetary gear train, and the first motor is the first planetary gear train Provide power to realize the rotation of the first planetary gear train and the bevel gear train; one end of the bevel gear train is connected to the first planetary gear train, and the other end is connected to the second planetary gear train for the reversing motion of the second planetary gear train; The output shaft of the second motor is connected with the second planetary gear train, the second motor provides power for the second planetary gear train, the second planetary gear train is fixedly connected with a motion device, and the second motor drives the second planetary gear train to rotate, realizing The motion device rotates on its own. The three-degree-of-freedom movement of the joint is realized, and the structure is simple, the precision is high, the cost is low, and the range of motion is wide. Installing it on the mechanical arm can greatly improve the range of motion and running track of the robot.

The invention provides a real sense type virtual realilty gliding motion simulator, wherein transverse rolling and longitudinal rolling of a carried person body are utilized for adjustment. The real sense type virtual reality gliding motion simulator is characterized by comprising a supporting frame, an arc-shaped rolling appliance, at least two supporting rollers, an anti-transverse-rolling torsion device, a transverse riding frame, a first longitudinal rolling angle sensor, a second transverse rolling angle sensor, a central processing device and an image display part. The real sense type virtual reality gliding motion simulator which utilizes a transverse rolling and a longitudinal rolling adjusting mode of the carried person body is also provided with a device which vertically lifts for realizing experience of gravity change caused by rapid lifting and and rapid dropping. Not only are transverse rolling and longitudinal rolling realized, but also vertical lifting can be realized.Three-freedom motion can be realized. Because the carried person performs controlling by means of the whole body, higher motion effect than manual control is realized. Furthermore, because the glidingmotion simulator acts in a whole body stretching state, a feeling which is similar with flying in sky and high user experience are realized.

The invention discloses a three-degree-of-freedom spherical rotor ultrasonic motor stator base and an excitation method thereof, relates to the technical field of piezoelectric ultrasonic motors and aims to solve the problems of fewer driving feet, insufficient driving capability, complicated structure and difficulty in realizing miniaturization of an existing multi-degree-of-freedom rotational ultrasonic motor. Four driving feet are uniformly embedded into an inner ring of a metal ring, an upper piezoelectric ceramic ring and a lower piezoelectric ceramic ring are positioned on the upper surface and the lower surface of the metal ring, the upper piezoelectric ceramic ring is equally divided into twelve upper piezoelectric ceramic partitions, a gap is reserved between every two adjacent piezoelectric ceramic partitions, a silver coating is arranged at each gap, the lower piezoelectric ceramic ring is virtually and equally divided into twelve lower piezoelectric ceramic partitions, polarization directions in the upper piezoelectric ceramic ring are the same, polarization directions in the lower piezoelectric ceramic ring are the same, and the polarization directions between the upper piezoelectric ceramic ring and the lower piezoelectric ceramic ring are opposite. The base is used for an elliptical driving track of a driving rotor rotating around x, y and z axes.

A real-sensing virtual reality gliding motion simulator, which uses the roll and pitch adjustment of the rider's body, is characterized in that it includes: a support frame, an arc-shaped roll appliance, at least two support rollers, and an anti-roll torsion A device, a horizontal boarding frame, a first pitch angle sensing sensor, a second roll angle sensing sensor, a central processing device and an image display unit. It is a real-sensing virtual reality gliding simulator that uses the roll and pitch adjustment methods of the passenger's body. Shaking can also realize vertical lifting and three-degree-of-freedom movement. Since the passenger uses the whole body to manipulate, the movement effect is greater than that of hand manipulation. In addition, because it is carried out in the state of stretching the whole body, it is like flying in the sky. , strong personal experience.

The invention relates to a clamping and detecting mechanism for rivets and cylindrical parts, and relates to the field of automation equipment.The clamping and detecting mechanism comprises a clamping jaw assembly installed on a moving mechanism, and the clamping jaw assembly comprises a detecting assembly, a detecting assembly installing block, a clamping mechanism, a first wiring terminal and a second wiring terminal; the detection assembly and the clamping mechanism are both connected with the detection assembly mounting block, the detection assembly mounting block is insulated from the detection assembly and / or the clamping mechanism, the first wiring terminal is electrically connected with the clamping mechanism, and the second wiring terminal is electrically connected with the detection assembly; the clamping mechanism and the detection assembly can communicate through the to-be-grabbed part. The clamping jaw assembly has the beneficial effects that the clamping jaw assembly integrates the function of detecting whether parts are successfully grabbed or not, detection is conducted while grabbing is conducted, detection is efficient and stable, the cost is low, and the working time is saved.

The invention discloses a retractable three-degree-of-freedom industrial mechanical arm, which belongs to the field of industrial robots. It includes a mechanical forearm that can be freely retracted, a hinged connection between the mechanical humerus and the elbow joint of the mechanical forearm, and a hinged connection between the right end of the mechanical forearm and the wrist joint of the manipulator. It is installed on the mechanical humerus to drive the mechanical forearm. The power mechanism A that rotates relatively around the elbow joint is installed on the mechanical forearm and can drive the power mechanism B for the relative rotation of the manipulator around the wrist joint; the mechanical forearm includes the mechanical forearm body, the mechanical forearm telescopic rod and the torsion Joint; the body of the mechanical forearm and the telescopic rod of the mechanical forearm are installed on the same axis, and can move relative to each other along their common axis. The invention is an industrial mechanical arm with simple and compact structure, more stable movement, three degrees of freedom, free expansion and contraction, and no vibration gap in expansion and contraction.

The invention discloses a three-degree of freedom joint driven by electromagnetic force applied to a snake-shaped robot. The three degree of freedom joint driven by the electromagnetic force applied to the snake-shaped robot comprises electromagnet sets, permanent magnet sets, a touch sense detection ring, a pushing force spring, a spring supporting seat, a touch switch installing plate and a support. The pushing force spring is arranged inside the spring supporting seat. The electromagnet sets and the spring supporting seat are installed on the touch switch installing plate. The touch sense detection ring is arranged outside the touch switch installing plate. The permanent magnet sets are arranged on the support. The three degree of freedom joint driven by the electromagnetic force applied to the snake-shaped robot applies to single joints of the snake-shaped robot, the electromagnet sets can attract or repel the oppositely arranged permanent magnet sets when respectively loading pulse large current, and deflection motion of the joints can be achieved. When the electromagnet sets simultaneously load homodromous pulse current, extension or contraction of the joints can be achieved. The three-degree of freedom joint driven by the electromagnetic force applied to the snake-shaped robot can connect the joints in series to form the snake-shaped robot capable of imitating snakes to move in a winding, telescopic and side-directional mode, and has the advantages that structure is compact, movement is flexible, mechanical wear is small, and electric spark is not generated.

The invention relates to an automatic bagging system, in particular to an automatic bagging device for elastic bodies. Including the installation frame and the coding unit installed on the installation frame, the packaging bag opening support mechanism, the product support unit, the pushing unit and the packaging bag placement box, wherein the coding unit, the packaging bag opening support mechanism and the packaging bag placement box It is set at one end of the product support unit, and the pusher unit is set at the other end of the product support unit. The coding unit is used to spray code on the packaging bag in the packaging bag storage box; the packaging bag opening support mechanism is used to place the packaging bag in the box The inner packaging bag is opened; the pushing unit is used to push the elastic body on the product support unit into the opened packaging bag. The invention can ensure the high efficiency of bagging the projectile body, and will not cause damage to the paint layer of the projectile body during the bagging process.

The invention belongs to the technical field of robots, and discloses a three-degree-of-freedom robot joint. The three-degree-of-freedom robot joint includes a first motor, a first planetary gear train, a bevel gear train, a second planetary gear train, and a second motor; the output shaft of the first motor is connected to the first planetary gear train, and the first motor provides power for thefirst planetary gear train to realize the rotation of the first planetary gear train and the bevel gear train; one end of the bevel gear train is connected to the first planetary gear train, and theother end is connected to the second planetary gear train for the commutation movement of the second planetary gear train; the output shaft of the second motor is connected to the second planetary gear train; the second motor provides power for the second planetary gear train; the second planetary gear train is fixedly connected with a movement device; and the second motor rotates to drive the second planetary gear train to rotate, so as to realize the rotation of the movement device. The three-degree-of-freedom robot joint realizes the three-degree-of-freedom motion of the joint, and has simple structure, high precision, low cost and wide range of motion; and the installation of the three-degree-of-freedom robot joint on a mechanical arm can greatly improve the motion range and running track of the robot.

The purpose of the present invention is to provide a large-stroke, rotatable three-degree-of-freedom parallel flexible micro-motion platform, which has a large stroke, a large area of ​​the loading platform, and a compact structure. The large-stroke, rotatable three-degree-of-freedom parallel flexible micro-motion platform includes a frame, a loading platform, an X-direction drive-amplification mechanism, an X-direction auxiliary mechanism, a Y-direction drive-amplification mechanism, and a Y-direction auxiliary mechanism. The first link mechanism in the Y direction and the first link mechanism in the Y direction are symmetrical about the angle bisector of the X axis and the Y axis, and the second link mechanism in the X direction and the second link mechanism in the Y direction are about the X axis and the Y axis The angle bisector is symmetrical, the first linkage mechanism in the X direction and the second linkage mechanism in the Y direction drive the loading platform to rotate around the Z axis; the second linkage mechanism in the X direction and the first linkage mechanism in the Y direction drive The loading platform rotates around the Z axis.

The invention provides a high-stability three-degree of freedom moving motor, and relates to the technical field of three-degree of freedom motors. The high-stability three-degree of freedom moving motor comprises an autorotation module and a deflection module, wherein the deflection module comprises an outer stator, a middle rotor and an inner stator; the inner stator is fixed with a shell through the lower opening of the middle rotor; the autorotation module comprises an autorotation stator, an autorotation rotor and an output shaft which is fixed with the autorotation rotor; the autorotation stator is rotatably connected with the output shaft; and the autorotation stator is fixedly connected with the upper opening end of the middle rotor. The high-stability three-degree of freedom moving motor is mainly used for solving the problems that relatively large rotor eccentric displacement is easy to generate, the stability is relatively bad and constant torque is difficult to output whenhigh-speed revolution and directional inclined operation are separately realized as the volume is large and the rotation inert is too large in the prior art. The high-stability three-degree of freedommoving motor has the characteristics of being strong in driving module independence, high in cooperative control accuracy, small in mechanical system duty ratio, small in volume, good in response speed smoothness, good in stability, relatively constant in output torque and wide in application.

The invention relates to a parallel three-degree-of-freedom piezoelectric resonance self-actuating mechanism and an excitation method thereof, belonging to the field of piezoelectric driving, and can be used in the fields of precision driving, medical treatment, micro-mechanics and the like. The present invention aims to solve the problems of small output force, high cost and insufficient actuation capability of the existing three-degree-of-freedom piezoelectric self-actuating device. The three-degree-of-freedom piezoelectric resonance self-actuating mechanism of the present invention is a parallel combination structure of transducers, and the electric resonance self-actuating mechanism includes four cylindrical piezoelectric transducers with identical structures and their connecting devices. The drive mechanism includes four drive feet for combined actuation. The excitation method of the self-actuating mechanism according to the present invention is to excite the longitudinal vibrations of the four columnar piezoelectric transducers with time-series respectively through two-phase or four-phase voltage excitation signals according to the mode of translational or rotational motion to form a combined longitudinal vibration. Vibrate, drive the driving foot to move, and realize its three-degree-of-freedom actuation function on the working plane.

The invention relates to a hydraulic system for a three-degree-of-freedom vehicle wheel clearance detecting table. The system comprises a power source hydraulic system (A), a transverse hydraulic system (B) and a longitudinal hydraulic system (C). In the transverse hydraulic system (B), a transverse rear hydraulic cylinder (10) is connected with a transverse front hydraulic cylinder (12) through a two-position four-way valve V3 (13), so that the front hydraulic cylinder and the rear hydraulic cylinder can synchronously act. The longitudinal hydraulic system (C) comprises a longitudinal hydraulic cylinder (8) and a three-position four-way valve V1 (9); an A port and a B port of the three-position four-way valve V1 (9) are respectively connected with a left chamber oil port and a right chamber oil port of the longitudinal hydraulic cylinder (8); P ports of the three-position four-way valve V1 (9) and a three-position four-way valve V2 (11) are connected with an oil outlet of a hydraulicpump (5) of the power source hydraulic system (A); and T ports of the three-position four-way valve V1 (9) and the three-position four-way valve V2 (11) are connected with an oil return pipeline of the hydraulic pump (5) of the power source hydraulic system (A). The hydraulic system provided by the invention aims at realizing three-degree-of-freedom motion of a detecting table plate through the three hydraulic cylinders and a connecting relation of the three hydraulic cylinders.