250 results about "Rotational freedom" patented technology

The invention relates to the field of five-axis machine tools, in particular to a five-axis high-speed and high-precision machining center which comprises a machine base, a machining center body and a machining center body. The double-shaft movement device adopts a reinforced extension arm type structure and is used for driving the machining main shaft to move in the X and Z orthogonal directions or the Y and Z orthogonal directions; the horizontal moving device is used for driving the offset type double-swinging-head device to move in the horizontal direction; the offset type double-swing-head device is far away from the double-shaft movement device, and the offset type double-swing-head device has two rotational freedom degrees of an A shaft and a C shaft and is used for machining a workpiece at multiple angles; the machining main shaft is used for completing machining operation of the parts through high-speed rotation and accurate feeding; the automatic tool changing device is used for automatically selecting and changing tools; the control system is used for coordinating movement of all the devices so as to achieve efficient and high-precision machining. The stability and reliability of the machining center are improved.

Filtering pullies with a hub adapted to be fixed to a rotating shaft, a crown mounted coaxially and rotationally free on the hub, at least one elastic group arranged circumferentially with respect to the hub and the crown and interposed, each, between a pair of first elements integral with the hub and between a pair of second elements integral with the crown are disclosed. The pulley has a dust protection system configured to isolate the at least one elastic group with respect to the external environment and to provide an axial force generating a damping to the movement between the hub and the crown.

The invention relates to a welding deformation control clamp and method for a supporting plate assembly of an inclined supporting plate frame, and belongs to the technical field of welding. The outer ring positioning spigot is processed on the upper surface of the mounting bottom plate and is used for radially positioning a frame outer ring of the inclined support plate frame support plate assembly; the frame outer ring has a rotational degree of freedom at the outer ring positioning seam allowance; the inner ring positioning spigot is processed on the upper surface of the mounting bottom plate and is used for radially positioning a frame inner ring of the inclined support plate frame support plate assembly; the frame inner ring has a rotational degree of freedom in the inner ring positioning seam allowance; and the supporting pipe positioning assembly is mounted on the upper surface of the mounting bottom plate and penetrates through a supporting pipe of the inclined supporting plate frame supporting plate assembly to rigidly limit angular movement of the inclined supporting plate frame supporting plate assembly. According to the welding tool scheme based on the axial, radial and rotational freedom degrees of the rigid limiting frame inner ring and the frame outer ring, the assembly efficiency and the welding quality are improved.

A method for operating a locking actuator for a parking brake function (34), which comprises - a pawl wheel (38); - a parking pawl (46); - a parking pawl actuator (42) for displacing the parking pawl (46) from a basic position in the direction of the pawl wheel (38) with an actuation force; - a counter spring (54) which presses or pulls the parking pawl (46) in the direction of the basic position, comprising the steps of - rotating the pawl wheel (38) in a first direction of rotation (74) until the parking pawl (46) is free; - displacing the parking pawl (46) with a test force (78) which is smaller than the actuation force; - checking the rotational freedom of the pawl wheel (38).

The invention discloses a sleeve-shaped tuned mass damper mounting method based on parameter design calculation. The sleeve-shaped tuned mass damper mounting method comprises the following steps that S1, parameters of a single-column wind turbine platform and a whole machine structure are calculated; s2, calculating parameters of the sleeve-shaped tuned mass damper according to the structural parameters of the wind turbine; s3, the sleeve-shaped tuned mass damper is installed on the single-column type wind turbine platform; in the step S2, a kinetic equation is established through a kinetic analysis model, the optimal damping coefficient cd and the distance d of the translational and rotational freedom degrees are solved, and the step S2 comprises the substeps that S21, the single-column wind turbine platform and the sleeve-shaped tuned mass damper are simplified into equivalent four-freedom-degree models; s22, assuming that external excitation is a simple harmonic load, and deducing translation response and rotation response of the sleeve-shaped mass body and the single-column type wind turbine platform; s23, determining a damping tuning parameter and a frequency tuning parameter; s24, solving an optimal damping coefficient copt by a simultaneous equation in combination with a branch resonance point condition; and S25, calculating the distance d according to the rotation radius ratio rho.

The invention relates to the field of steel pipe installation, in particular to a steel pipe joint butt-assembling seam pressing method and a steel pipe joint roundness adjusting device.A plurality of telescopic supports are evenly distributed in the first circumferential direction of a main body to provide radial support, and pressing rods are arranged at the tail ends of the corresponding telescopic supports, so that all the pressing rods are evenly distributed in the first circumferential direction of the main body; the two rolling pieces are arranged on the side, away from the main body, of the pressing rod in a rolling mode, so that the pressing rod can be supported on the inner sides of butt joints of two adjacent steel pipe sections through the two rolling pieces in the seam pressing process, and the steel pipe section roundness adjusting device has two rotation freedom degrees relative to the two steel pipe sections needing seam pressing to form staggered seams. Due to deformation of the end portions of the steel pipe joints, the steel pipe joints can slightly move in the first circumferential direction of the main body relative to the corresponding rolling pieces, the rolling pieces can be supported on circumferential equal division points of the adjacent steel pipe joints, the equal division points of the adjacent steel pipe joints are in one-to-one correspondence through the pressing rods, and the adjacent steel pipe joints are in butt joint accurately.

The invention discloses a spring module, a force balancing device, a force balancing system and a medical auxiliary system. The spring module comprises a guide rail, a plurality of spiral springs and at least one rotating pair. The multiple spiral springs are connected in series parallel to the guide rail. The rotating pairs are movably connected to the guide rails, every two adjacent spiral springs are connected through one rotating pair, and the rotating axes of the rotating pairs coincide with the axes of the spiral springs. According to the application, a plurality of spiral springs are connected in series to form a long spring, and the long spring stretches under the guidance of the revolute pair, so that the spring can be prevented from bending. The two opposite ends of every two adjacent spiral springs can generate relative rotating motion through the corresponding rotating pair, it is guaranteed that the two ends of each spiral spring have the relative rotating freedom degree, and the spiral springs can stretch out and draw back in the track close to the theory.

The invention relates to the technical field of wire feeding of welding equipment, in particular to a chain type wire feeding hose which comprises a plurality of pipe joints connected in sequence, the pipe joints are provided with through holes, at least one rolling wheel is arranged on the pipe joints in the peripheral direction, one end of each pipe joint is provided with a protruding part, and the other end of each pipe joint is provided with a groove part. The protruding part of one pipe joint is in butt joint with the groove part of the adjacent pipe joint and is hinged to the groove part through a pin shaft. The layout of the rolling wheels on the pipe joints is optimized, so that the length of the single pipe joint can be extremely short, and the manufactured whole hose is extremely good in flexibility and can be bent into a very small curvature radius. The pipe joints which are connected end to end are connected through the pin shafts, enough connecting strength is achieved, the large rotational freedom degree is achieved, and the pipe joints can be used in a self-contained mode under the condition that an outer sleeve is not used. And the structure without using the outer sleeve is open, so that impurities or dust falling from the surface of the welding wire can easily and automatically fall out and is not easy to accumulate inside, and the cleaning and maintenance are convenient. And due to the open structure, the product assembly work can be automated.

A machine tool (1), in particular for machining bush-like or sleeve-like workpieces (2), comprising a machine frame (3), a workpiece carriage (4) movable in an x-direction, a workpiece clamping device (6) arranged on the workpiece carriage (4) so ​​as to be movable in a z-direction and rotatably driven about a rotational axis (32) running in the z-direction, a stationary second workpiece clamping device (10) arranged on the machine frame (3) and rotatably driven about a rotational axis (33) running in the z-direction, a stationary first tool holder (7) arranged on the machine frame (3) for internally machining a workpiece (2) clamped in the first workpiece clamping device (6), a stationary second tool holder (9) arranged on the machine frame (3) for externally machining a workpiece (2) clamped in the first workpiece clamping device (6) arranged workpiece (2), a tool slide (12) movable in the x-direction,which comprises a third tool holder (13) movable in the x-direction for externally machining a workpiece (2) clamped in the second workpiece clamping device (10), characterized in that the third tool holder (13) has exactly one degree of rotational freedom and a tool axis (36) running in the x-direction can be driven in rotation and / or that the first tool holder (7) has at most one degree of rotational freedom and can be driven in rotation about at most a tool axis (35) running in the z-direction, wherein a rotational axis (32) of the first workpiece clamping device (6) and a rotational axis (33) of the second workpiece clamping device (10) lie on a straight line running in the z-direction at a transfer position (31).

The invention is suitable for the technical field of vehicles, and provides a multi-degree-of-freedom angle module system for a distributed electric drive chassis, which comprises a hub motor, an upper control arm assembly, a lower control arm assembly, a shock absorber assembly, a steering knuckle and a steering mechanism, one end of the upper control arm assembly is movably hinged to the upper portion of a shell of the hub motor, and the other end of the upper control arm assembly is connected with a vehicle body. The lower control arm assembly is of an approximate linear mechanism structure, one end of the lower control arm assembly is hinged to the lower portion of the hub motor shell, and the other end of the lower control arm assembly is connected with a vehicle body. One end of the steering knuckle is hinged to the steering mechanism through a kinematic pair capable of providing rotational freedom in multiple directions, the other end of the steering knuckle is rigidly connected to a hub motor shell, and the steering mechanism is used for driving the steering knuckle so as to drive the wheel to rotate around the axis of the main pin. The angle module system is compact in structure, has multiple motion functions, and has the technical characteristics of high function cohesion and low system coupling.

Methods and systems are provided for nautical stationkeeping of free-floating objects. In one example, a method includes adjusting translational motion of a body freely floating in water by rotating the body. The translational motion may be adjusted, for instance, to maintain the body within a geographic area. In certain examples, the adjustment of the translational motion may be realized via a Magnus effect induced by rotating the body. The body may be configured as, for example, a free-floating object such as a wave engine.

An adverse situation caused by bending of a connection portion between an active bending portion and a passive bending portion is prevented. In an endoscope provided with an active bending portion and a passive bending portion which are sequentially arranged from a distal end and a connection cylinder (50) which connects the active bending portion and the passive bending portion, the active bending portion and the passive bending portion each include a plurality of joint cylinders (30, 40), a coil member (60) which passes through an operation wire (90) for bending operation of the active bending portion is fixed to the connection cylinder (50), and a notch (43) for improving the rotational freedom of a joint cylinder (40A) of the passive bending portion which is connected to and rotates with the connection cylinder (50) is formed in the vicinity of the coil member (60).

The invention provides a multi-degree-of-freedom delivery method for a vascular intervention robot. A main hand device comprises an operating rod assembly; the operating rod assembly has an axial translation degree of freedom and a rotational degree of freedom, and an operator manually operates the operating rod assembly to remotely control a delivery suite of a vascular intervention operation of the slave hand device to axially deliver and rotate intervention consumables; a plurality of groups of delivery suites are arranged; the two groups of master hand devices are respectively a first master hand device and a second master hand device, and the two groups of master hand devices jointly control any group of delivery suites on the slave hand device; or the first main hand device controls the axial delivery freedom degrees of the two sets of delivery suites at the same time, and the second main hand device controls the rotation freedom degrees of the two sets of delivery suites at the same time; the force feedback device is high in force feedback precision and easy to control, facilitates judgment of a doctor in the operation process and remote operation control of the doctor, and improves the precision and stability in the operation process.

The present invention discloses an induction heating device, which belongs to the technical field of curved plate processing. The present invention provides a double-ring gyroscope to adjust the rotational freedom of the induction coil in the x-axis and y-axis directions, and provides a vertical lifting unit to adjust the movement freedom of the induction coil in the z-axis direction. The structure is simple and the cost is low. In the present invention, one of the functions of the vertical lifting unit is to control the movement freedom of the induction coil in the z-axis. The second function is similar to that of a spring. The clamping force of the vertical lifting unit is used to ensure that the universal wheel at the bottom of the inner ring is always in close contact with the plate. During the mobile induction heating process, the coil posture is adjusted by the contact force between the universal wheel and the plate, ensuring that the spacing between the induction coil and the plate is stable during the heating process. The effect of the contact force is transient. In theory, the coil posture can be adjusted in an instant, so it can adapt to the rapid movement heating process of a plate with a large curvature. The present invention does not require monitoring the shape of the plate, which further reduces costs.

This utility model provides a tool holder gripping mechanism, relating to the field of CNC machine tool gripping technology. The tool holder gripping mechanism includes a gripping sleeve, a base, and a mounting block. A guide key is provided on the end face of the gripping sleeve. The base has a mounting hole for inserting the gripping sleeve, allowing the gripping sleeve to rotate around the axis of the mounting hole after insertion. The mounting block is mounted on the base, and at least one positioning post is provided in the mounting block. The positioning post is located on the outside of the gripping sleeve, and restricts the rotation stroke of the gripping sleeve when it rotates clockwise or counterclockwise. The gripping sleeve has a certain degree of rotational freedom, which makes it easy for the guide key and the tool holder keyway to be precisely aligned when the gripping sleeve rotates, allowing the guide key to be smoothly inserted into the tool holder keyway, thus avoiding tool jamming when gripping the tool holder.

This application provides a power transmission structure and vehicle, belonging to the field of vehicle transmission technology. The power transmission structure is used to transmit power from a first splined shaft to a second splined shaft. It includes a sliding sleeve and a universal joint. One end of the sliding sleeve is sleeved and fixed to the second splined shaft. One end of the universal joint is provided with a connecting shaft, which slides through the sliding sleeve and has a circumferential limiting structure between it and the sliding sleeve. The circumferential limiting structure is used to limit the relative rotational freedom between the connecting shaft and the sliding sleeve. The other end of the universal joint is provided with an internal spline hole, which slides through the first splined shaft and has an axial limiting member between it and the first splined shaft. The axial limiting member is used to limit failure when the axial force exceeds a threshold range. Compared with the traditional drive shaft with flanges at both ends for connection, the power transmission structure provided by this application can meet the power transmission needs in compact and narrow spaces, and greatly improves the convenience of disassembly, assembly and maintenance.

The utility model discloses a profiling snow scraping shovel. The profiling snow scraping shovel comprises a bucket body, a shovel blade, a rotary connecting piece and an elastic reset piece. The bucket body comprises a front plate and a back plate; the front plate and the back plate are oppositely arranged, and a flat groove for installing a scraper knife is formed in the landing side of the bucket body. And the scraper knife is rotationally mounted on the back plate through the rotary connecting piece, so that the scraper knife has a rotational degree of freedom in the plane where the flat groove is located. The rotary connecting piece is a set of shaft sleeves, and a first receding hole set matched with the shaft sleeves is formed in the scraper knife. And the elastic resetting piece accumulates elastic restoring force under the rotation of the scraper knife so as to drive the scraper knife to reset after the external force is removed. The snow scraping shovel further comprises a fastener which is used for directly or indirectly connecting and fixing the front plate and the back plate. When the scraper knife makes contact with the uneven ground, the working angle is adjusted in a self-adaptive mode, the snow removing efficiency is improved, and working noise and equipment abrasion are reduced.

Featuring an anti-rotation device: at least one locking element (2) provided on a moving element configured to move longitudinally without rotation and projecting outwards in a radial direction from the surface of the moving element at at least one point, and at least one guide element (5) having a groove and configured to be arranged in a recess of an enclosure of the moving element such that its groove is arranged substantially parallel to the longitudinal axis of the moving element, and to guide the protruding part of the locking element (2) in its groove during longitudinal movement of the moving element, wherein the at least one guide element (5) is designed such that it has no degree of freedom along the longitudinal axis of the groove, but at least the rotational degree of freedom about an axis parallel to the longitudinal axis of the groove.

This invention discloses an internal spraying mechanism for aluminum billet cutting operations using a pump, comprising a roller section with four butterfly wheels, each butterfly wheel having a convex curved surface, and the convex curved surfaces of two coaxial butterfly wheels coinciding with the same spatial spherical surface; a spraying component, the four butterfly wheels being movably connected by a connecting block, the spraying component including a main rod section connected to a plurality of annularly arrayed nozzle rods, the nozzle rods being tangentially connected to a straight rod section; a water delivery rod communicating with the main rod section of the spraying component, the liquid in the water delivery rod being sprayed out from the nozzle rods of the spraying component; the main rod section of the spraying component being movably assembled with the connecting block, the spraying component having rotational freedom around its own axis; and the roller section contacting the inner wall of the axially penetrating cavity of the aluminum profile. This invention employs a probing nozzle design to spray liquid in a rotating manner into the hollow cavity of the aluminum profile, effectively removing metal debris generated during cutting, facilitating each sawing operation of the aluminum billet using the pump.

The utility model relates to the field of power system application equipment, and discloses a connecting device for an isolating switch / grounding switch. The device is mainly composed of a coupler, a clamping block, a connector, a square block, a pin I with a hole, a flat gasket I, a cotter pin I, a vertical connecting rod, a nut, a bolt, a pin II with a hole, a flat gasket II, a cotter pin II and a connector. According to the device, the coupling and the connector, the connector and the clamping block, and the connector and the vertical connecting rod are connected through pins with holes, so that rotational degrees of freedom in three directions can be obtained, the coaxiality error between the disconnecting switch / grounding switch body and the output shaft of the operating mechanism can be corrected, quick connection can be realized on an installation site, and the working efficiency is improved. The utility model has the advantages of simple structural design, convenience in installation and reliability in connection.

The present invention provides an all-terrain manned rover and suspension, relating to the technical field of rover technology. The suspension includes two force transmission mechanisms, a second shock absorber, and four swing arms rotatably connected to a vehicle frame. The swing arms are used to mount wheels and drive the wheels to rise and fall relative to the vehicle frame. Two swing arms located at diagonally opposite corners constitute an arm group. Two force transmission mechanisms are respectively connected to different arm groups. The force transmission mechanism includes a balance bar and two intermediate connecting members. The balance bar is used to connect to the vehicle frame. The ends of the balance bar are respectively hingedly connected to the two intermediate connecting members. The ends of the two intermediate connecting members, which are remote from the balance bar, are respectively hinged to the two swing arms of the same arm group. The balance bar has horizontal rotational freedom relative to the vehicle frame. At least one intermediate connecting member of the force transmission mechanism is configured as a first shock absorber, and the second shock absorber acts on the two force transmission mechanisms.

The invention relates to the field of aero-engines, and discloses a method for machining a combustion header pipe mounting seat of an afterburner of a certain type of aero-engine, which comprises the following steps of: changing three 8.2 through holes in a triangular base of a part into M8 threaded holes, fixing a workpiece on a tooling plate by using three inside hexagonal bolts, and expanding the M8 threaded holes to 8.2 through holes after milling, so as to meet the clamping of the workpiece; a numerical control spark machine tool is used for machining hexagonal holes with the opposite distance being 4 mm in the end face of the inside hexagonal bolt, two pressing plates are pressed above a tool plate after a workpiece is milled, the inside hexagonal bolt can be taken off without detaching the tool plate from a three-jaw self-centering chuck, and positioning errors caused by secondary clamping are avoided. The process plate adopts a circular structure to facilitate positioning and clamping, a short cylindrical boss is designed above the process plate to avoid over-positioning, the process plate limits the degree of freedom of rotation around the X-axis and the Y-axis and the degree of freedom of movement along the Z-axis, the short cylindrical boss limits the degree of freedom of movement in the X-axis and the Y-axis, over-positioning does not exist, and rotation around the Z-axis is determined through alignment of a dial indicator.

The utility model provides a direct-drive motor, belongs to the technical field of motors, and solves the problems that an existing direct-drive motor in the prior art is complex in internal structure and large in occupied space. The motor comprises a motor base, a rotating shaft assembly and a driving assembly, the two ends of the motor base are provided with a first end cover and a second end cover respectively, the rotating shaft assembly comprises a hollow rotating shaft, the hollow rotating shaft is arranged between the first end cover and the second end cover, and the hollow rotating shaft has rotational freedom; the flange is connected with the hollow rotating shaft; the bearing is provided with a first part and a second part, the first part is fixedly connected with the motor base, the second part is connected with the flange and the hollow rotating shaft, the first part and the second part are connected in a relatively rotating mode, and the driving assembly comprises a stator arranged between the hollow rotating shaft and the motor base and fixedly connected with the motor base; the rotor is arranged between the stator and the hollow rotating shaft, one side of the rotor is rotationally connected with the hollow rotating shaft, and the rotor is fixedly connected with the hollow rotating shaft.

This utility model provides a rotating handle for vehicles and a vehicle, belonging to the technical field of vehicle parts. It includes: a fixed base; a first rotating base, hinged to the fixed base via a first rotating shaft; a second rotating base, hinged to the first rotating base via a second rotating shaft; and a handle strap, the end of which is fixedly connected to the second rotating base. The axis of the first rotating shaft is not parallel to the axis of the second rotating shaft. The handle strap has a first degree of rotational freedom about the first rotating shaft and a second degree of rotational freedom about the second rotating shaft. The advantages of this utility model are: the rotating handle has two different rotation angles, and the handle strap can achieve multi-directional adjustment through the superposition of the two rotation angles, making it more flexible to use and allowing for easy adjustment to a more ergonomic grip angle.

A dental robot includes a platform and a suspension system. The suspension system supports the platform and automatically compensates for weights of the platform and a robot arm, end effector, and tooth clamp attached to the platform. The suspension system maintains a constant height of the platform above a base, absent an external force on the tooth clamp. The suspension system allows position and orientation of the platform to change with three degrees of positional freedom and three degrees of rotational freedom, relative to the base, in response to an external force on the tooth clamp, such as a result of movement (change in position and / or orientation) of a subject. A rigid connection between the tooth clamp and the platform ensures that position and orientation of the platform remains fixed, relative to the subject's teeth, in response to movement of the teeth.

The application discloses a kind of steel ball multi-degree-of-freedom clamping detection device and detection method, including base and detection component, first jaw pair and second jaw pair are equipped on base, detection component is fixed on base for obtaining the detection signal of steel ball clamped by first jaw pair or second jaw pair, the clamping panel of first jaw in first jaw pair is equipped with several ball bearings, first jaw pair clamps steel ball when limiting steel ball and making steel ball have rotational freedom, the two ends of the clamping surface of second jaw in second jaw pair are equipped with power contact wheel, when second jaw pair clamps steel ball, steel ball is driven to rotate by power contact wheel, base is equipped with lifting adsorption table, lifting adsorption table includes lifting pipe, rotating motor and suction cup, the bottom of lifting pipe is connected with rotating motor, rotating motor drives suction cup to rotate, lifting adsorption table is located between first jaw for driving the rotation of steel ball adsorbed.The application can directly drive steel ball to rotate while clamping steel ball, and then complete steel ball detection.

To provide a resonator mechanism including a flexible rotational guide and retaining means.SOLUTION: A timepiece resonator mechanism 100 includes a structure 1 and an anchor unit from which at least one inertial element 2 is suspended, the at least one inertial element being configured to oscillate, with a first degree of rotational freedom RZ, about a pivot axis extending in a first direction Z. The inertial element 2 is subjected to return forces exerted by a flexible guide 200 forming a virtual pivot, the anchor unit being suspended from the structure by a flexible suspension 300 configured to allow the anchor unit to move with a plurality of degrees of freedom, at least two of the plurality of degrees of freedom being in a plane XY defined by a second direction X and a third direction Y perpendicular to the second direction X. The timepiece resonator mechanism includes retaining means for the flexible suspension, the retaining means being configured to damp rotation of the inertial element and of the flexible suspension about the second direction X and / or about the third direction Y.SELECTED DRAWING: Figure 2

The invention relates to an electroplating clamp height adjusting device. The device comprises a mounting plate used for loading an upper clamp; the locking mechanism is movably arranged on the mounting plate and has a locking state and an unlocking state; the gear is connected with the locking mechanism, the locking mechanism in the locking state can limit rotation of the gear, and the locking mechanism in the unlocking state can release the gear so that the gear can obtain the rotation freedom degree; the rack is arranged on the mounting plate in a lifting and moving manner, is meshed with the gear and is used for loading the lower clamp; the lifting driving mechanism is in transmission connection with the rack so as to drive the rack to ascend and descend. According to the scheme, the locking mechanism can quickly lock or release the gear, the height positions of the upper clamp and the lower clamp can be flexibly adjusted, and the clamping requirements of different circuit boards are met; meanwhile, the meshing reliability of the gear and the rack is high, the tooth skipping phenomenon is avoided, it is guaranteed that the upper clamp and the lower clamp stably clamp the circuit board, the rack is prevented from deforming, and the service life of the clamp mechanism is guaranteed.

This invention relates to a highly mobile spherical robot for lunar exploration, comprising a tread, a hub, a main frame, a steering gravity pendulum assembly, and a propulsion drive device. The tread employs a flexible mesh structure, with its two side edges fixed to the spherical hub. The steering gravity pendulum assembly achieves lateral oscillation between the gravity pendulum and the main frame via gear transmission. Two propulsion drive motors are symmetrically arranged on the main frame, transmitting torque to the hub through gears meshing with an internal gear ring. Four spokes extend from each side of the main frame, with rollers mounted at the ends of the spokes. These rollers roll in grooves on the hub, supporting the main frame and providing rotational freedom between the main frame and the hub. This spherical robot has a simple structure and is easy to control. Its flexible mesh tread structure improves the robot's ability to traverse the sandy, soft, and undulating lunar surface, and its gravity pendulum-based structure provides self-balancing characteristics, making it suitable for autonomous exploration activities in the lunar environment.

The present invention relates to a self-rotating movable swing arm contour detection device and detection method, and relates to the field of advanced optical manufacturing technology. The self-rotating movable swing arm contour detection device includes: a machine tool, a swing arm contour detection device, a workpiece placement platform and a workpiece to be measured. The present invention constructs a swing arm contour detection device, and its core joint action arm model can realize the theoretical detection posture calculation of ultra-large aperture complex curved surface optical elements with different external dimensions, and guide them to perform posture adjustment detection. The self-rotating movable swing arm contour detection device and detection method of the present invention expand the application scenarios of the swing arm contour detection device, solve the difficult problem of in-situ high-precision contour detection of ultra-large aperture optical elements without rotational freedom, and realize universal fast, efficient and high-precision surface contour detection of ultra-large aperture optical elements with different shapes.