840 results about "Spherical joint" patented technology

An external fixation system comprising: first and second planar at least part-circular ring elements, the first ring element having a circumferential track extending along the part-circular circumference thereof; a plurality of struts each having a first and second end, the first end of each strut coupled to the first ring by a first connector and the second end of each strut coupled to a second ring by a second connector, the first connector including a spherical joint; the second connector non-rotatably coupled to the second ring, the strut second end being coupled to the second connector by a U-joint; shuttles mounted on the track of the first ring for movement there along with one shuttle coupled to each strut; and means for controlling the angular position of each strut second end and means for controlling the position of each shuttle along the circumferential track on the first ring.

A dynamic spinal stabilization linkage for use in stabilizing of the spine. The linkage connects adjacent vertebrae to provide load-sharing and stabilization while allowing natural kinematics. The linkage comprises three rigid bodies joined in series with 3-degree-of-freedom spherical joint between each body. The joints have range-of-motion constraints which limit undesirable intervertebral motion.

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 Mecanum wheel-based rocker omnidirectional mobile platform comprises a main body (1), leftwards-rotating Mecanum wheel assemblies (3), rightwards-rotating Mecanum wheel assemblies (5), a rocker suspension I (2), a rocker suspension II (15) and a balancing mechanism (6); the middle parts of the rocker suspension I and the rocker suspension II are hinged to the left and right sides of the main body through revolute joints symmetrically; the middle part of a transverse rocker (8) of the balancing mechanism and one end of the main body are hinged by a revolute joint (10); one end of a side connecting rod I (9) and one end of a side connecting rod II (11) of the balancing mechanism are hinged to the left and right ends of the transverse rocker by spherical joints, and the other end of the side connecting rod I (9) and the other end of the side connecting rod II (11) of the balancing mechanism are hinged to the rocker suspension I and the rocker suspension II by spherical joints; two Mecanum wheel assemblies with different rotation directions are fixed to the two ends of each rocker suspension, and the Mecanum wheel assemblies at the same ends of the rocker suspension I and the rocker suspension II are opposite in rotation directions. According to the invention, wheels are always in contact with the ground and the load is shared, so that the Mecanum wheel-based rocker omnidirectional mobile platform has better motion controllability and terrain trafficability.

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.

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.

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.

A tripod head includes a cylindrical housing 1 having connection member at one end for a tripod, a ball joint (2) rotatably and pivotally arranged in the housing (1), a bearing element (4) for the ball joint (2), having a sliding surface (7) contacting the circumference of the ball joint (2) and arranged so as to be axially displaceable and rotatable in the housing (1), and a device (5) for fixing the ball joint (2) and having a support (6) for the bearing element 4 and an adjusting device (25) in operative connection with the support (6) in order to displace the bearing element against the ball joint to achieve the clamping action.

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.

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.

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.

An embedded type wireless strain / emergency / temperature sensor testing platform includes a spherical brittle shell and a rigid shell arranged in the brittle shell; a spherical joint is hinged with the rigid shell; the lower end of the spherical joint is provided with a dowel; an emergency instrument is arranged at the bottom part of the dowel and is fixedly connected with two linear metal emergency bars; a permanent magnet is arranged on the opposite side of the spherical joint in the rigid shell; besides, an electric device is arranged on the permanent magnet; a faraday first piezoelectric recycling device is arranged between the electric device and the emergency instrument. The invention adopts completely-inserting and wireless modes and has no requirements on the arrangement of circuits; the detected strain and emergency fields are not affected by wires; a small force-magnetism-piezoelectric energy device with low energy consumption is used, thus being capable of converting the mechanical vibration energy caused by traffic or vibration into the power of a chargeable battery so as to prolong the service life of a system; the MEMS / IT technology and the integration function are adopted which almost needs no maintenance; therefore, the total cost is lower.

A joint hinge and a leg brace having the joint hinge that includes a spring loaded spherical joint for coupling a proximal portion and a distal portion of the joint hinge. The spherical joint includes a dome on one portion coupled to a mating cup on the other portion. A wide-headed pin, typically a shoulder screw, captivates the cup against the sphere. A spring washer may be included to provide a preloading force to mate the cup to the dome. The spherical portion may be pressed or stamped into one portion of the hinge or fabricated separately and attached. In one embodiment, the dome is fabricated of sintered bearing material and may be impregnated with lubricant. The spherical joint functions in conjunction with an adjustable flexion range limiting system that include rods that are threaded and easy to screw in and out as the patient's range of motion changes.

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 profiled shaft for anchoring a hip-joint prosthesis in the femur is disclosed, with a shaft section and a fixation section that is formed at the end of the shaft section and that serves for the fixation of a spherical joint head, wherein the shaft section on the lateral surface in the proximal region merges with a trochanter wing at the edges of which beveled surfaces are formed. The essential point of the invention is that the angle formed between the plane of a beveled surface the plane of the adjacent surface is smaller than 135° and larger than 90°. In a construction of this kind the advantage of an improved filling of the empty space in the trochanter-wing region is achieved.

A ball-and-socket joint has a pivot pin accommodated rotatably and tiltably with a spherical joint area in a bearing shell. The bearing shell is in turn arranged in the recess of a joint housing. A closing ring fixes the bearing shell in the joint housing in the axial longitudinal direction of the pivot pin by at least one surface pair. Corresponding to a first solution variant, an intermediate element made of an elastic material may be arranged between the corresponding contact surfaces of the surface pair on the bearing shell and the closing ring. As an alternative an insert element may be arranged between the outer contour of the bearing shell and the bottom area of the recess, wherein at least one intermediate element made of an elastic material is arranged between the outer surface of the insert element and the corresponding inner surface of the recess. The requirement imposed on the dimensional accuracy of the ball-and-socket joint components can be substantially reduced due to these solution variants, which contributes to a reduction of the manufacturing costs.

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 provides a binocular three-dimensional bionic eye mechanism with panoramic capture and positioning functions. The mechanism comprises two mutually independent eyeballs and a neck joint, wherein the two eyeballs have the same structures and respectively have three freedom degrees, the 360-degree omnibearing scanning can be realized, and the neck joint has one freedom degree. cameras are arranged in two mutually independent eyeball joints and can rotate for 360 degrees in the horizontal and vertical directions, the set target can be captured in an omnibearing way, when one eyeball joint finds the target, the other eyeball joint can also rotate to the corresponding position to align with the target, and the positioning of the target can be realized through images shot by two cameras by a series of calculation methods. When the target is in the coincident position of two spherical joints, the blind region is avoided through the rotation of the neck joint, and the panoramic capture positioning is really realized. When the bionic eye mechanism is arranged on a device easy to incline, the capture positioning of the target can still be realized through regulating the self cameras.

A magnetic suspension spherical active joint belongs to the technical field of electromechanical integration. The magnetic suspension spherical active joint comprises a base, a joint stator, a joint rotor, a rotor arm and a detection control system, wherein the base and the joint stator are fixed into a whole; the inside of the joint stator is a spherical inner surface with an opening in shape; the joint rotor is arranged inside the joint stator; the joint rotor and the rotor arm are fixed into a whole; the rotor arm extends to the outer end through the opening of the joint stator; certain air gap exists between the spherical inner surface of the joint stator and the spherical outer surface of the joint rotor when both are concentric; and the joint stator is provided with at least two clamping mechanisms and a plurality of sensors for detecting the position and the moving speed of the joint rotor. Magnetic suspension technology and motor technology are integrally applied to realize suspension support of the spherical joint and drive the joint rotor to rotate. The invention has simple and compact structure, favorable dynamic performance and rapid response speed, and realizes no friction and no abrasion between the spherical joint rotor and the joint stator.

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.