832 results about "Spherical joint" patented technology

A surgical positioning apparatus can be secured to a floor of an operating room or directly to an operating room table. The surgical positioning apparatus supports a limb of a patient using a telescoping strut mounted on a spherical joint. A disposable cradling device is coupled to the strut to secure the limb in position.

The kinematic platform is a spherical-prismatic-spherical kinematic platform providing six degrees of freedom with controlled braking at each joint. The kinematic platform includes a base and an upper platform plate, with the upper platform plate having opposed upper and lower surfaces. The upper surface thereof provides a mounting surface for an external article to which controlled three-dimensional movement is to be imparted. A plurality of linear actuators are further provided, with each linear actuator having opposed upper and lower ends. A plurality of upper and lower spherical joints are provided for pivotally mounting the linear actuators between the upper platform plate and a lower base. Each spherical joint provides selective and controllable braking, allowing for the controlled rotation of each end of each linear actuator with respect to the respective upper platform plate or base.

The invention discloses a flexible micro-positioning stage with two degrees of freedom, the design of the flexible micro-positioning stage with two degrees of freedom comprises a flexible mechanism and an integral structure, two piezoelectric ceramic drivers are adopted in the structure, the tail part of each driver is connected with a base through a bolt, and the top end of each driver is connected with a spherical joint through a thread, thereby realizing Hertz contact. The flexible mechanism of the positioning stage mainly comprises three parts of the base, flexible branched chains with entirely consistent structures and a supporting movable platform thereof. Two displacement sensors are used for measuring actual output of the movable platform and respectively fixed between the base and the movable platform through an L-shaped support and a Z-shaped support. The flexible micro-positioning stage is characterized by high resolution and fast dynamic response speed, and can be taken as an auxiliary positioning platform of a nano-imprint lithography positioning system for realizing micro-feeding and precise positioning.

A self-aligning bearing assembly utilizing PDC buttons for forming opposing circumferential arrays of bearing surfaces, is particularly suitable for use in a fluid environment, such as being immersed in flowing water when supporting the rotor of a hydroelectric turbine. One bearing surface is supported for rotation with the rotor. The opposing bearing surface is supported by a spherical joint in a stationary housing. When the rotor is subjected to hydraulic loading, the opposing bearing surface can be tilted to self-align with the rotor axis.

In a three degrees of freedom parallel mechanism, a spindle head is carried by first and second movable support members to be movable along a Z-axis and to be pivotable along each of A and B-axes. The spindle head is jointed through three rods to drive sliders which are movable along three parallel linear guides secured stationarily. For jointing, there are employed spherical joints and universal joints. Kinematic parameters used in converting each command position of the movable body to target operational positions for three actuators of the Z, A and B-axes are compensated based on inversely converted command positions and inversely converted actually measured positions which have been gathered with the spindle head being located at positions of a suitable number, so that the kinematic parameters can be updated to those newest.

The invention discloses a two-degree of freedom precise positioning work table, which comprises a base, a moving platform, a rigid support which is connected with the bottom of the base, and four flexible branched chains which are connected between the moving platform and the base, wherein each flexible branched chain comprises a moving block and three groups of flexible plate spring structures; each flexible plate spring structure consists of two '-'-shaped flexible plate springs; a first group and a second group of the flexible plate spring structures are respectively positioned at the left side and the right side of the moving block; the lower ends of the two '-'-shaped flexible plate springs of a third group of the flexible plate spring structures are connected with the side wall of the upper end of the moving block, and the upper ends thereof are connected with the side wall of the moving platform; four piezoelectric ceramics driving devices are respectively horizontally arranged; a ball-shaped joint of each driving device is supported on the side wall of the lower end of the moving block; and conducting strips of two position sensors are respectively connected with the upper plane of the rigid support and the lower plane of the moving platform. The positioning work table can be taken as an auxiliary positioning platform of a nanometer embossing photoetching positioning system to realize the microscale feeding and the precise positioning.

A multi-purpose vehicle used as ordinary car, environmental sanitation car and digger is composed of main vehicle body, digger, grasp mechanism, load-bearing unit, sucking unit, sprinkler, and hoister. Said digger can also be installed to ship. A mechanical arm is also disclosed, which features that it has spherical joint, both axial and radial rotary unit, and the drivers in both direction of an arm segment.

An electric linear actuator is disposed to pitch a blade of a hingeless, swashplateless rotor in rotary motion. This actuator can be equipped with an electric motor advantageously made fault tolerant by winding the motor for at least 4, 5, 6, 8, or even 12 phases. Rotational motion of the electric motor is preferably converted to a translatory linear actuator output motion using a planetary roller screw coupling the rotation of the motor with pitch of the blade. The output link of the actuator can be advantageously coupled to the planetary roller screw using an internal spherical joint providing an isolated load path through the actuator. It is contemplated that a preferred rotorcraft having an electric blade pitch actuator might also be equipped with a controller that could provide the vehicle with individual blade control, in which the pitch of any rotor blade can be controlled independently of the others.

The invention relates to the technical field of robots, and provides a human-simulated mechanical hand. The human-simulated mechanical hand comprises a mechanical arm and a mechanical gripper which are connected to each other, wherein the mechanical arm comprises a large arm and a small arm; a shoulder pitching joint, a shoulder yaw joint and a shoulder rolling joint which are connected to a shoulder are arranged on the large arm; an elbow pitching joint and an elbow rolling joint which are connected to the large arm are arranged on the small arm; and a wrist yaw joint connected to the small arm is arranged on the mechanical gripper. According to the human-simulated mechanical hand provided by the scheme, the three joints on the large arm realize bionics design of a spherical joint at a joint of the arm and the shoulder; the bionics design of the elbow joints of the arm is realized by the two joints of the small arm; and one joint on the mechanical arm realizes the bionics design on a hand. The human-simulated mechanical hand has a relatively high motion space and relatively high motion flexibility, and can replace people to complete special work which is not liable to complete; and an operator conveniently controls according to intuition and experience, so that control efficiency and accuracy can be improved.

A high-efficiency multidirectional vibration energy collection device comprises a piezoelectric material, arch-shaped plates, mass blocks, elastic beams and bases. According to the structure of the high-efficiency multidirectional vibration energy collection device, the piezoelectric material serves as a symcenter, and the arch-shaped plates, the mass blocks, the elastic beams and the bases are symmetrically distributed on the two sides of the piezoelectric material. The piezoelectric material is connected with the mass blocks on the two sides of the piezoelectric material through the arc-shaped plates, each mass block is connected with the corresponding base through the corresponding elastic beam, and first-level magnification of force is completed through the elastic beams. The elastic beams are connected with the mass blocks and the bases in a fixed mode or in a hinged mode or through spherical joints. Second-level magnification of the force is completed through the arch-shaped plates. The high-efficiency multidirectional vibration energy can generate one more order of magnitude of electric energy than a transmission energy collector under the same environment. Vibration energy in different directions can be collected.

The invention discloses a monitoring device for foundation pit deep horizontal displacement and the underground water level. The monitoring device comprises a monitoring module which is formed by detachably assembling a plurality of monitoring units in series. Universal couplings are adopted for mechanical connection between the monitoring units. Electric power and electric signals are all connected through cables with aviation plugs or sockets. According to the monitoring device for the foundation pit deep horizontal displacement and the underground water level, the multiple inclination monitoring units are connected in series, and therefore the monitoring device can adapt to deformation of a monitoring hole and can continuously monitor inclination changes of the monitoring hole for a long time in the monitoring hole. All the monitoring units are connected through spherical joints, the monitoring device can still be sunk into or be pulled out of the monitoring hole freely under the condition that the monitoring hole deforms, the repeated usage rate of the device is increased, and the engineering cost is reduced.

The invention discloses an end effector for automatically drilling a curved surface, comprising a drilling unit, a compressing unit, a normal-direction measuring unit, a positioning ring, a two-dimensional normal-direction adjusting unit and an external support ring. The drilling unit and the compressing unit are fixed on the positioning ring; the normal-direction measuring unit is fixed on the compressing unit; a compressing head is connected to the compressing unit through a spherical joint; a measuring plate is fixed on the inner side of the compressing head; the measuring plate can rotate along with the compressing head; four displacement sensors are fixed on four corners of the compressing unit; the four corners of the measuring plate respectively contact with the four displacement sensors; the four displacement sensors respectively measure the displacements of four corners of the measuring plate so as to calculate the normal direction of the curved surface at the drilling coordinate; the compressing unit is driven by a servo motor and a ball screw; the compressing force can be controlled by controlling the torque of the servo motor; and the positioning rind is fixed on the two-dimensional normal-direction adjusting unit and can rotate around the X axis and the Y axis. Therefore, the normal-direction adjustment can be finished. The end effector with the structure can better finish drilling the curved surface.

A patient mountable robot includes a four link mechanism, three actuators, and a first robot base. The mechanism includes four links that form a closed loop structure. The four links include a base link that includes a spherical joint. The mechanism provides two rotational degrees of freedom about the spherical joint for a needle that is configured to pass through the spherical joint. A first actuator is attached to the mechanism and moves the mechanism to provide the first of the two rotational degrees of freedom. A second actuator is attached to the mechanism and moves the mechanism to provide the second of the two rotational degrees of freedom. The base link of the mechanism passes through the first robot base. A third actuator is attached to the first robot base and linearly translates the base link so that a translational degree of freedom is provided for the needle.

The invention relates to a two-rotation and one-movement parallel mechanism which is used in the decoupling of the virtual axis machine and robot, consisting of a frame (1), a moving platform (3) and three motion branch chains which connect the frame (1) and the moving platform (3). The motion branch chains (2a) and (2b) have the same structure which comprises revolute joint (21),(24), shifting pair (22),(25), spherical joint (23),(26) and the member, wherein junction of the motion branch chain(2c) and the frame is a vertex of a right angle. With only a few kinematic pairs, the mechanism has the advantages of simple structure, easy installation, small moment of inertia and fast motion response. Basically, single output degree of freedom only needs to control single driving unit. With easy calibration and control, not only the movement control is more precise but also the development cost and cycle is greatly lowered.

Provided is an articulation for surgical equipment using a ball joint fastened by the ball joint. The present invention has been made in an effort to provide an articulation for surgical equipment using a ball joint of which the shaft of pitching or yawing is not changed even though the pitching or the yawing is repeated. The articulation for surgical equipment using a ball joint is configured to include a plurality of disks; a ball joint to allow the plurality of disks to be pitched or yawed between the plurality of disks based on a longitudinal direction of the articulation for surgical equipment; and a driving wire applying a driving force to pitch, yaw, or roll the plurality of disks. According to the articulation for a surgical equipment using a ball joint according to the embodiment of the present invention, the rotating shaft of the articulation is not changed despite the repeated movement of the articulation, and since the durability of the articulation is increased, the safety of the surgical equipment can be improved when the articulation is applied to the surgical equipment.

The invention discloses a two-finer flexible micro clamper. The clamper is characterized by comprising four flexible branched chains in the same structure, a base, an 'H'-shaped joint beam, a [-shaped joint beam, a ]-shaped joint beam, a piezoelectric actuator, a 'J'-shaped clamping finger, a displacement transducer and a spherical joint, wherein the flexible branched chains are symmetrically arranged on the left and right parts of the base, two flexible branched chains are horizontally arranged and are horizontally connected with the outer side walls of the two '1'-shaped beams at the left end and right end of the 'H'-shaped joint beam, the other two flexible branched chains are vertically arranged and are respectively vertically connected with the upper end faces of the two '1'-shaped beams of the 'H'-shaped joint beam by virtue of the [-shaped joint beam and the ]-shaped joint beam; the spherical joint is arranged at the top end of the piezoelectric actuator, the tail of the piezoelectric actuator is fixed on a boss of the base, the spherical joint props against the middle part of the lower end face of a slotted beam of the 'H'-shaped joint beam, and Hertz contact is realized; and a displacement transducer electrode is arranged at the top end of a hook of the 'J'-shaped clamping finger.

The invention relates to a performance testing system of high-performance combined seal rings of a reciprocating machine. The performance testing system comprises a reciprocating power system and a seal cavity hydraulic system, wherein the reciprocating power system comprises a piston rod, a servo cylinder and a piston; the seal cavity hydraulic system comprises an actuator cylinder, a testing cylinder, the combined seal rings, a displacement sensor and a spherical joint; one end of the piston rod horizontally penetrates through the servo cylinder; an inner cavity of the servo cylinder is divided into a left cavity body and a right cavity body by the piston; the other end of the piston rod is connected with the actuator cylinder via the spherical joint; the actuator cylinder horizontally penetrates through the testing cylinder; a groove is formed in the middle of an internal cylinder surface of the testing cylinder; a seal cavity is formed between the groove and an outer wall of the testing cylinder; the seal cavity can simulate fluctuation of oil pressure in an undercarriage buffer when an aircraft lands; two seal ring mounting grooves are formed in the two ends of the internal cylinder surface of the testing cylinder correspondingly; the combined seal rings are mounted in the two seal ring mounting grooves; one end, far away from the piston rod, of the actuator cylinder is connected with the displacement sensor; and the displacement sensor is used for measuring a reciprocating motion distance.