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

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.

Disclosed in the invention is a radiotherapeutic device comprising a fixed bracket, a rotating bracket, a moving mechanism, an oscillating mechanism and a radioactive source. The rotating bracket in a hollow cylindrical shape is arranged at the fixed bracket in a rotatable manner. The moving mechanism is arranged at the inner wall of the rotating bracket; and the radioactive source is arranged at the moving mechanism by the oscillating mechanism. The rotating bracket is used for driving the moving mechanism to rotate relative to the fixed bracket; the moving mechanism is used for driving the oscillating mechanism and the radioactive source to make linear movement; and the oscillating mechanism is used for driving the radioactive source to make rotation. The device disclosed by the invention is capable of localizing rays emitted by the radioactive source rapidly, flexibly, and accurately, so that the radiotherapy efficiency can be improved; the radioactive source can move in a three-freedom-degree manner to realize conical-radiation-field radiotherapy, so that healthy cells around cancer cells can share the radiotherapeutic injuries and thus the body injury of the patient can be reduced.

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.

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 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 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 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 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.

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.