218 results about "Spherical joint" patented technology

The invention discloses a composite type four-foot wall climbing robot integrating a fish suction cup adsorption mechanism and lizard crawling characteristics. The problems that a traditional wall climbing robot is poor in adsorption stability and insufficient in moving flexibility on uneven and wet wall surfaces are solved. The core structure of the robot comprises an adsorption sole assembly, a multi-degree-of-freedom leg joint, a bionic spine, a micro air pump and a sole pressure sensor, and the adsorption sole assembly controls an air bag through the air pump to generate negative pressure to adapt to various wall surfaces; multiple joints of the legs are matched with the spherical joints to achieve multi-angle attachment of the foot sole, the bionic spine can be bent and buffered, lizard diagonal gaits are adopted, the rotation angle of the joints is adjusted in combination with a sensor, self-adaptive movement on the wall with the inclination angle ranging from 0 degree to 90 degrees is achieved, and the efficiency is improved by 30% or above compared with a traditional robot. The robot breaks through the limitation of a single bionic mechanism, can be applied to complex high-altitude scenes such as building outer wall detection, and reduces the manual operation risk.

The angle-adjustable underwater well mouth comprises a high-pressure well mouth, a low-pressure well mouth and a low-pressure well mouth extension sleeve, the high-pressure well mouth and the low-pressure well mouth are positioned and adjusted in direction through a first well mouth spherical pair, and the high-pressure well mouth and the low-pressure well mouth are locked through a locking ring; in the tie-back operation mode, a high-pressure well mouth is connected with a flexible insertion sealing pipe through a high-pressure well mouth thin-wall extension sleeve, a tie-back tail pipe hanger is arranged in a low-pressure well mouth extension sleeve, a guide cylinder is arranged at the upper end of the tie-back tail pipe hanger, and a guide head is arranged at the lower end of the flexible insertion sealing pipe. The flexible insertion sealing pipe can enter the tie-back tail pipe hanger under the guiding action of the guiding head and the guiding cylinder; in the non-tie-back operation mode, the common extension sleeve is connected below the high-pressure wellhead, and the sleeve string is connected below the common extension sleeve. The inclined high-pressure wellhead is adjusted to be approximately vertical as required, so that a service tool, a blowout preventer and a Christmas tree are convenient to mount, the stability of the wellhead is enhanced, and the operation risk is reduced.

A spherical joint couples an accessory to a support. The spherical joint enables the accessory to be leveled about one or more axes and panned about an axis, such that the accessory may be leveled and panned with respect to a viewing sphere. The spherical joint comprises a collar, a cup, and a ball head, wherein the collar is configured to house the ball head and the ball head is configured to couple to one of an accessory or a support via a mount interface. The ball head further comprises a ball configured to enable rotation of the ball head relative to the collar with respect to one or more axes. The cup is configured to resist rotation of the ball head relative to the collar, such that the spherical joint may be fixed at a suitable orientation.

A faucet extender has a universal joint and a water outlet device. The universal joint has a connecting base and a water outlet base. The connecting base has a lower connecting hole. The water outlet base has an installing part and a spherical joint. The installing part has an installing space, an installing hole and a through-hole. The installing hole and the through-hole connect two ends of the installing space. A flow channel is through the spherical joint and connects the through-hole. An end of the spherical joint is rotatably mounted in the connecting base and protrudes from the lower connecting hole. Another end of the spherical joint is mounted on the installing part. The water outlet device is mounted in the installing hole. In addition to the original downward water outlet direction of the faucet, the water outlet direction can be adjusted via rotating the water outlet base.

The utility model relates to an end executive device capable of being used for picking mushrooms. The end executive device solves the technical problem of how to more effectively and reliably pick agaricus bisporus growing in an inclined mode. The device comprises an upper supporting plate, a lower supporting plate, a flexible pipe, an upper hollow shaft, a lower rigid air pipe, a spherical joint bearing and a self-adaptive suction cup, the upper supporting plate is connected with the lower supporting plate through a fixing column, the upper hollow shaft is fixedly connected with the upper supporting plate and penetrates through the upper supporting plate, the upper end of the flexible pipe is connected with the lower end of the upper hollow shaft, and the lower end of the flexible pipe is connected with the lower rigid air pipe. The lower end of the flexible pipe is connected with the upper end of the lower rigid air pipe; the spherical joint bearing is connected with the lower supporting plate, the spherical joint bearing is provided with an inner ring, the lower rigid air pipe is connected with the inner ring of the spherical joint bearing, and the lower rigid air pipe penetrates through the spherical joint bearing; the self-adaptive suction cup is connected with the lower end of the lower rigid air pipe. The mushroom picking machine is widely used for picking mushrooms such as agaricus bisporus.

The invention discloses an AI intelligent movable type surgical affected limb lifting auxiliary device and a control method, and relates to the field of technical intelligent medical equipment.The AI intelligent movable type surgical affected limb lifting auxiliary device comprises a movable base, a rotating base is installed in the middle of the movable base, and the lower portion of the rotating base is fixedly installed on a top shell of the movable base; the four-degree-of-freedom mechanical arm is installed on the upper portion of the rotating base, the four-degree-of-freedom mechanical arm is connected with the movable base through the rotating base, and the four-degree-of-freedom mechanical arm is composed of a large mechanical arm, a small mechanical arm, a spherical joint, a telescopic sliding rail, a servo motor and a hydraulic cylinder. By installing the four-degree-of-freedom mechanical arm, the function of accurately lifting an affected limb is achieved, the four-degree-of-freedom mechanical arm has extremely high movement precision and bearing capacity, the affected limb can be rapidly and accurately positioned and maintained in the optimal posture needed by an operation, and fatigue errors caused by manual lifting are avoided.

To provide a polishing machine which can perform polishing to a needed portion of a workpiece to attain highly accurate flatness regardless of the worker's skill level.SOLUTION: A polishing machine includes: a motor provided within a main part 10; a polishing part 40 which is rotated by a motor to polish a surface of a workpiece; and a universal joint 24 and a ball joint 30 which transmit rotation of the motor to the polishing part 40. The universal joint 24 and the ball joint 30 transmit rotation of the motor to the polishing part 40, regardless of an inclination of a rotation axis of the motor relative to a rotation axis of the polishing part 40.SELECTED DRAWING: Figure 3

The application discloses a kind of tobacco box transport devices, comprising: transport car body, two pairs of universal wheels are arranged below the transport car body, to realize the steering and movement of transport car body;Rocker arm, one is arranged in the both sides of transport car body, one end of rocker arm is movably connected with a electric cylinder by spherical joint, the up-and-down swing of rocker arm is driven by the extension and contraction of electric cylinder, and electric cylinder is fixed on transport car body by spherical joint;The other end of rocker arm is linked with clamping arm, and the clamping parts of clamping arm on both sides are oppositely arranged to form the clamping space of clamping tobacco box;Pneumatic link mechanism, when cylinder extends, the distance between clamping arms is reduced to tightly hold tobacco box, and vice versa to release.The whole structure of the application is compact, can complete the taking and placing of tobacco box at different heights, freely move in the narrow environment carrying tobacco box, and also can realize material shoveling and dumping by vehicle movement and clamping cradle overturning.

The invention relates to an assembly comprising a blade holder cartridge (15); a shaving head (1), equipped with a magnetic suspension consisting of pairs of magnets (2, 4) and (5, 3) in an attractive position; and a handle (16) assembled to said head by means of a joint composed of a cup (20) and a ball joint (25) having pairs of connecting magnets (21, 22) and (23, 24) in a repulsive position. Shaving is performed using shaving blades (13, 14), positioned in the blade holder cartridge (15), which bear against the magnets (4, 5) that exert pressure on them to ensure a comfortable shave. This pressure can be adjusted using the dials (8, 9) associated with the screw rods (6, 7).

A spherical joint couples an accessory to a support. The spherical joint enables the accessory to be leveled about one or more axes and panned about an axis, such that the accessory may be leveled and panned with respect to a viewing sphere. The spherical joint comprises a collar, a cup, and a ball head, wherein the collar is configured to house the ball head and the ball head is configured to couple to one of an accessory or a support via a mount interface. The ball head further comprises a ball configured to enable rotation of the ball head relative to the collar with respect to one or more axes. The cup is configured to resist rotation of the ball head relative to the collar, such that the spherical joint may be fixed at a suitable orientation.

A round sand crushing and shaping machine comprises a box body, a rotating shaft is rotationally arranged in the box body, a grinding assembly for grinding sand is arranged between the rotating shaft and the box body, the periphery of the rotating shaft is sleeved with a screen drum for screening the sand, the diameters of the two ends of the screen drum are different, and the opening end with the smaller diameter of the screen drum is arranged at a discharging port of the grinding assembly in a sleeving mode. A plurality of elastic telescopic rods are installed between the two sides in the screen drum and the rotating shaft, one ends of the elastic telescopic rods are in ball joint with the rotating shaft, the other ends of the elastic telescopic rods are in ball joint with the screen drum, and the elastic coefficient of the elastic telescopic rods close to the small-diameter opening end of the screen drum is smaller than that of the elastic telescopic rods close to the large-diameter opening end of the screen drum. When the flow of materials entering the screen drum is increased, the screen drum drives the elastic telescopic rod close to the opening end with the smaller diameter of the screen drum to deform more greatly under the action of the gravity of the materials, so that the inclination angle of the screen drum is adjusted. Fine powder in the sand is prevented from being discharged from the screen drum without being fully screened when the flow is suddenly increased, and the stability of the screening effect is kept.

The utility model discloses a multi-ball-joint joint, a supporting arm and a fixing device. The multi-ball-joint joint comprises a joint frame capable of adjusting clamping force, a first ball and a second ball, the first ball and the second ball are rotationally arranged in the joint frame, and the first ball and the second ball are fixedly connected with a connecting shaft and a connecting sleeve respectively. The single multi-ball-joint joint provided by the utility model has adjustable static supporting force and six degrees of freedom including axial rotation and radial deflection, and can meet the requirements of multi-angle and multi-direction adjustment. Meanwhile, the double-ball-joint structure is adopted, various deflection schemes can be allowed to be achieved at the same deflection angle, and the diversity of angle-adjustable implementation schemes is further improved.

The invention provides auxiliary docking equipment for hangar steel structure welding. The auxiliary docking equipment comprises a machine base assembly and a prying frame mechanism, and the machine base assembly comprises a center machine base, four side machine bases and four U-shaped sliding frames; the four side machine bases are symmetrically arranged on the outer side wall of the center machine base. A spherical joint is fixed through the synchronous ball clamping mechanism in a clamping mode, the stability of the spherical joint in the welding operation process is improved, the requirement for the surface flatness of the spherical joint can be effectively lowered, then a rod piece is preliminarily clamped through the lifting type rod clamping mechanisms arranged on the four U-shaped sliding frames, and the welding quality of the spherical joint is improved. The split traction mechanism pulls the U-shaped sliding frame to move synchronously through the power of the traction driving mechanism, so that the U-shaped sliding frame drives the rod pieces to be in synchronous butt joint with the spherical joint, it is ensured that the positions of the rod pieces on the equipment are relatively unified, then the rod pieces are clamped and fixed secondarily through the lifting type rod clamping mechanism, and therefore the spherical joint is clamped and fixed. And subsequent welding operation is facilitated.

The utility model relates to a moving device, belongs to the technical field of material transportation, in particular to a moving device for conveniently transporting materials, which comprises a connecting foot column, a steel bottom plate and a steel side plate, connecting hole channels are formed in the front face and the side face of the connecting foot column in a penetrating mode, and the bottom end of the connecting foot column is rotatably connected with a supporting rod through a spherical joint. The steel side plate is L-shaped, the upper surface of the steel bottom plate is fixedly connected with the steel side plate, and the lower surface of the steel bottom plate is fixedly connected with the upper surface of the connecting foot column; the steel wheel is rotationally connected with the inner wall of the bottom end of the supporting rod; the lengthening part comprises a lengthening side plate which is in sliding connection with the outer side of the steel side plate; the utility model has the advantages of low cost, simple structure, quickness and convenience in mounting and dismounting, capability of realizing short-distance transportation of various materials, large transportation volume and extremely strong practicability; the problems that an existing large formwork conveying device is not economical enough and high in cost, and the actual conveying effect is easily affected by the construction environment are solved.

An improved handheld showerhead assembly is provided which includes a handheld showerhead. In addition, the showerhead assembly includes a mounting structure for affixing the handheld showerhead to a wall of a shower stall. The mounting structure includes a magnet which is affixed to the backside of the showerhead. The mounting structure also includes a wall strip made of a ferromagnetic material intended to be affixed to a shower stall wall. The wall strip is preferably elongated and intended to be mounted by a fastener upon a shower stall wall with the wall strip's long axis extending vertically so that the handheld showerhead can be affixed at various heights upon the shower stall wall. Also preferably, the magnet is affixed to the showerhead by a ball joint so that the showerhead can swivel vertically and side-to-side.

The invention relates to the technical field of urinary surgery, and particularly discloses an adjustable urinary surgery limb positioning bracket which comprises a bottom plate, a bearing seat arranged at the top of the bottom plate, an operating table assembly arranged at the top of the bearing seat, an operating table adjusting assembly, a bracket assembly and an adjusting assembly. The bracket assembly comprises mounting frames on the two sides, and bracket bodies are arranged on one sides of the tops of the mounting frames on the two sides; during urinary surgery, the bracket body can be preliminarily adjusted by moving the sliding table, rotating the connecting rod and the like, then secondary adjustment such as cross rod length adjustment and spherical joint angle adjustment is combined, and each adjustment part is provided with a corresponding locking structure to guarantee stability, so that the bracket body can be flexibly adjusted to the required position and angle; the device can meet the use requirements of patients with different body types, meanwhile, the operation flexibility and convenience of medical staff are greatly improved, and the working efficiency is improved.

The invention provides a spherical joint accelerated life test design method and device, and the method comprises the steps: determining the accelerated life test acceleration stress according to the actual use condition of a spherical joint; adopting a finite element analysis method to obtain a stress spectrum of the spherical joint of the pipeline system under the load corresponding to the preset flight profile; integrating and converting the stress spectrum into an equivalent stress spectrum by adopting a rain flow counting method and a Goodman formula; according to the equivalent stress spectrum, the S-N curve, the Miner damage accumulation theory and the preset total number of flight times, the number of cycles corresponding to the accelerated stress of the accelerated life test is obtained; and determining a test scheme according to the accelerated stress and cycle index of the accelerated life test. The test frequency is reduced by amplifying the stress of the spherical joint under the use condition of an aircraft.

The utility model relates to the field of simulation doll models, in particular to a movable doll model, which comprises a hollow head unit, a neck unit, a chest unit, an abdomen unit, a crotch unit, an upper limb unit, a lower limb unit and spherical joints, and metal wires respectively penetrate through two adjacent units and the spherical joints between the units. The movable doll model is connected by adopting a structure that spherical joints are matched with metal wires, the spherical joints adopt a combination scheme of spheres, hemispherical raised heads and spherical components, and the spheres and the spherical components have the advantages that the activity space is large, and the doll modeling is more flexible; the hemispherical raised head is matched with the groove, and the hemispherical raised head and the groove are connected through the metal wire, so that the groove does not need to wrap the hemispherical raised head and has large mobility, and the problem that the flexibility is reduced due to the fact that the ball head of a traditional movable doll model is matched with the glenoid fossa is effectively solved.

A light fixture comprising, a housing having a base, a support arm, an opening opposite the base with a lens disposed in the opening, and a light source disposed within the housing; and an anchor portion having a fastening end and a cylindrical projection with a tooth on a surface of the cylindrical projection, and a central axis extending through the anchor portion into the support arm; and a spherical joint comprising an inner channel extending less than 360 degrees around the inner surface of the spherical joint; and a sealing grommet. The light fixture is configured to enable relative longitudinal motion between the spherical joint and the support arm and configured to prevent rotational motion therebetween.

The application relates to a laser positioning lamp which comprises a mounting sleeve, a spherical joint, a positioning lamp, a supporting sleeve, a locking cover and an adapter plate, the spherical joint is movably connected with the mounting sleeve, the spherical joint is provided with an adjusting pipe which extends outward through the mounting sleeve, the adjusting pipe is sleeved with the positioning lamp, the mounting sleeve is screw-connected with the locking cover which is used for adjusting the tightness of the spherical joint, the supporting sleeve is arranged between the locking cover and the spherical joint, the mounting sleeve is detachably connected with the adapter plate, and the adapter plate is arranged between the mounting sleeve and the locking cover; the purpose of the application is to realize the universal adjustment of the spherical joint relative to the mounting sleeve by moving the adjusting pipe, so as to change the irradiation direction of the positioning lamp, to increase the friction between the spherical joint and the mounting sleeve by rotating the locking cover in the mode of 'outer pressure and inner support', so as to lock the positioning lamp, improve the stability of the structure, facilitate the sewing machine operator to flexibly adjust the irradiation direction of the positioning lamp, and thus improve the work efficiency.

The utility model relates to the technical field of fan production, in particular to a floor fan convenient for angle adjustment and good in stability, which comprises a front fan body, a rear fan body, fan blades, a fan blade driving component and a supporting structure, the supporting structure comprises a U-shaped supporting frame and an adjustable stabilizing mechanism, the adjustable stabilizing mechanism is hinged with the rear fan body and the U-shaped supporting frame, and the fan blades are arranged on the U-shaped supporting frame. The angle of the rear fan body can be adjusted through an adjustable stabilizing mechanism, the rear fan body can be kept stable, the adjustable stabilizing mechanism comprises a spherical joint capable of driving the rear fan body to rotate with the two ends of the U-shaped supporting frame as the axis, the adjustable stabilizing mechanism further comprises a rotating sleeve connected to the exterior of the U-shaped supporting frame in a sleeving mode, and a universal telescopic assembly is arranged between the spherical joint and the rotating sleeve. According to the floor fan convenient to adjust the angle and good in stability, stable locking after multi-dimensional angle adjustment can be achieved.

The utility model relates to the technical field of spherical joints, in particular to a spherical joint with a limiting structure. The first connecting column is welded at the bottom of the shell; the sliding groove is formed in the shell; the ball body is connected in the shell in a sliding manner; the sliding block is welded in the ball body; the screw rod is mounted on the surface of the shell in a threaded connection manner; according to the spherical joint with the limiting structure, the shell and the ball are arranged, and the sliding groove and the sliding block are matched, so that the ball can slide in the shell, the sliding groove is cross-shaped, the ball can rotate in four directions, the second mounting plate is made to move, and the angle of the second mounting plate can be conveniently rotated according to needs; the practicability of the device is improved; and the screw rod and the rotating disc are symmetrically mounted on the surface of the shell, so that the ball body can be fixed, the ball body can be fixed in the shell, and the situation that the ball body slides in the shell during use, the use effect is affected, and use inconvenience is caused is avoided.

The invention relates to a ball joint comprising a housing (3) having a pin opening (2); a ball pin (5) which extends in an axial direction (x) and is provided with a joint ball (4) at one axial end and the joint ball (4) of which is mounted in the housing (3) so as to be rotatable about an axial ball pin axis (8) extending through the center (7) of the joint ball (4), the ball pin (5) extending out of the housing through the pin opening (2); a magnetic-field-sensitive sensor (9) which is provided on the housing (3) opposite the pin opening (2) in the direction of a housing axis (10) running through the pin opening (2) and through the center of the joint ball (7), the housing axis (10) being tiltable with respect to the ball pin axis (8); and at least one permanent magnet (12) which is provided on a pole (11) of the joint ball (4) and is magnetized transversely with respect to the ball pin axis (8) and the magnetic field (13) of which flows through the magnetic-field-sensitive sensor (9), the magnetic-field-sensitive sensor being used to detect a rotation of the permanent magnet (12), and thus of the ball pin (5) about the ball pin axis (8), and provide a rotation angle signal (Sd) characterizing said rotation, the course of at least one field line (17) of the magnetic field (13) being adapted to the course of at least one trajectory (15) of the magnetic-field-sensitive sensor (9) or of a sensor point (16) representing said trajectory.

A bottom loading fastening system that consists of the polyaxial ball and socket joint used in conjunction with an anchoring bone screw. The system allows attachment of a connector assembly having an offset angular shape for anchoring a connecting rod. The spherical ball connector using a locking ring positioned in a locking ring slot. Upon installation, the locking ring is moved to a ring containment slot to expand a retainer ring, allowing passage of a bone screw spherical ball, the retainer ring forcing the locking ring back to the locking ring slot, thereby permanently attaching the connector assembly to the anchoring bone screw. The offset between the upper and lower sections allows the rod to be received at an angle optimized for spinal alignment, thereby reducing the need for rod contouring and minimizing stress concentration on the spherical joint.

Embodiments of the invention are directed to a linear actuator with a spherical joint. The spherical joint can provide a capacity for rotational adjustments between the linear actuator and an external structure to which the linear actuator is coupled by the spherical joint. The spherical joint can prevent external forces from entering the linear actuator and / or prevent misalignment between components of the linear actuator when external structures move or shift. The spherical joint can be configured so that it is parallel to a translating component of the linear actuator. For example, an axis of a hollow channel within the spherical joint can be parallel to and / or coincident with an axis of the translating component. The translating component may pass through the hollow channel of the spherical joint when actuated.

The utility model provides an automatic spraying device of a fire fighting system, and belongs to the technical field of fire fighting. The automatic spraying device of the fire-fighting system comprises a fire-fighting water pipe and further comprises an angle adjusting assembly, the angle adjusting assembly comprises a central pipe, a hydraulic pump and a sleeve base, a flame sensor is fixedly connected to the exterior of the fire-fighting water pipe, the angle adjusting assembly is arranged at the junction of the fire-fighting water pipe, and a spherical joint is fixedly connected to the bottom of the central pipe; the spherical joint is communicated with the central pipe; the conversion assembly comprises combination blocks, an extension pipe, a sprinkling fan and an elastic steel cable, a first ball bin is formed in each combination block, a second ball bin is formed in the bottom of each first ball bin, the combination blocks are connected with one another to form a cylinder, fixing screw grooves are formed in the outer portions of the combination blocks, and connecting bolts are in threaded connection with the interiors of the fixing screw grooves; a blocking ball is movably connected into the second ball bin. The fire-fighting sprinkler has the advantages that the fire-fighting sprinkling area can be enlarged, and the water consumption can be adjusted by changing the sprinkling modes.

The utility model relates to a temperature measuring device, and belongs to the field of semiconductor manufacturing. According to the technical scheme, the temperature measuring device comprises a pyrometer probe and a support assembly, the support assembly comprises a basic part, the basic part is connected with a mounting part through a lifting structure, the mounting part is provided with an adjusting part, at least part of the outer surface of the adjusting part is an outer convex spherical surface, and the mounting part is provided with a first inner concave spherical surface; the outer convex spherical surface is attached to the first inner concave spherical surface, a mounting hole is formed in the adjusting part, and the pyrometer probe is mounted in the mounting hole; and a locking structure is also arranged between the mounting piece and the adjusting piece. According to the scheme, on the basis of manual adjustment, the pyrometer probe is installed through the spherical joint, universal adjustment can be conducted on the detection direction in the plane, meanwhile, the spherical surface is matched with the locking structure in a contact mode, damping of spherical surface rotation can be controlled, repeated loosening and locking are avoided, and lifting adjustment between the basic part and the installation part is matched; the adjusting process of the pyrometer probe is greatly simplified, and the pyrometer is more convenient and practical.

The utility model discloses a total station with a stable support device, which comprises support legs and telescopic legs, a base is arranged above the support legs, the base is rotatably connected with the support legs, the periphery of the telescopic legs is provided with the support legs, the inner sides of the support legs are rotatably connected with sleeves, the inner parts of the sleeves are slidably connected with inner rods, and the inner rods are connected with the telescopic legs. And one end of the inner rod is rotationally connected with a lifting block. Compared with an existing total station, the total station with the stable supporting device has the advantages that the rotating lead screw drives the lifting block to ascend and descend, the lifting block pushes the inner rod and the sleeve when ascending and descending, and the inner rod and the sleeve push the supporting leg to rotate around the base, so that the supporting leg is synchronously rotated, and the length of the telescopic leg in the supporting leg is conveniently and quickly leveled and adjusted; when the telescopic legs abut against the ground and are on the solid ground, the supporting feet automatically adapt to the ground through rotation of the spherical joints, the contact area between the supporting feet and the ground is increased, and when the ground is wet, smooth and soft, the connecting blocks are taken down, the baffles are rotationally opened, and the pointed cones are inserted into the ground.

The invention discloses a gas transportation pipeline clamping and fixing device with self-adaptive adjustment capacity and a using method, and relates to the technical field of energy exploitation and industrial transportation. The device comprises a base system, a multi-dimensional adjusting supporting column set, a segment clamping mechanical ring and an intelligent control unit, self-adaptive clamping of the pipe diameter ranging from phi 100 mm to phi 500 mm is achieved through modularized segments and a parallelogram connecting rod mechanism, and the adjusting speed reaches 20 mm / s. The base system adopts an anti-skid supporting structure and a leveling hydraulic jack, and horizontal calibration is completed within 30 seconds; the multi-dimensional adjusting supporting column set achieves + / -10-degree deflection and + / -5-degree fine adjustment through the universal spherical hinge and the spherical joint bearing, and achieves + / -150 mm transverse displacement in cooperation with the cross-shaped sliding groove guide rail. The intelligent control unit is based on a PLC module, 12 sets of pressure sensor matrixes and displacement encoders are combined, closed-loop control with the clamping force being 150-200 N / mm and the uniformity deviation being smaller than or equal to 8% is achieved, the problems that a traditional device is low in adjusting efficiency, poor in complex base plane adaptability, insufficient in reliability under dynamic loads and the like are solved, and the pipeline installation precision and stability are improved.

An articulating surgical instrument includes a housing having a shaft extending therefrom, the shaft having a proximal segment and a distal segment separated by an articulation section configured to articulate the distal segment relative to the proximal segment upon actuation thereof. The articulating section includes: a ball joint having a plurality of opposing spherical segments, each adjacent pair of spherical segments defining a channel therebetween configured to receive an articulation cable therethrough, each channel including an angled surface on opposing sides thereof to allow articulation of each cable along a respective length thereof; and a pair of casings configured to operably receive and retain the ball joint on opposing ends thereof, each casing including a chamfer defined therein configured to rotationally receive an end of the ball joint therein, each casing including a corresponding number of apertures defined therein each configured to receive a respective articulation cable therethrough.