14 results about "Spherical motion" patented technology

The invention discloses a double-layer multi-leaf collimator detection experiment device, and belongs to the technical field of medical instruments, the double-layer multi-leaf collimator detection experiment device comprises a rack, the upper portion of the rack is rotatably connected with a turning plate, and the rack is fixedly provided with a power device used for driving the turning plate to rotate; trundles are fixedly assembled at the bottom of the rack; a rotation assembly is installed on the turning plate, the double-layer multi-leaf collimator is assembled on the rotation assembly, and the double-layer multi-leaf collimator can be driven by the rotation assembly to rotate in the plane where the turning plate is located. Revolution, rotation and three-axis linkage spherical motion of a treatment head of a full-circle spherical accelerator can be comprehensively simulated, so that all-directional performance detection of a double-layer multi-leaf collimator before installation is realized.

The utility model provides a kind of photovoltaic tracking support complex topography adaptive device, it includes: at least two main girder, shell and inner shaft, one end of the shell and the end of one of the main girder is connected;The inner shaft is installed in the shell, relative spherical motion is realized by ball rotation, the end of the inner shaft and the end of another main girder is connected, the inner shaft and the shell are rotatably connected, to drive the relative universal rotation of two adjacent main girders.The utility model can be self-adaptive mountain, hilly and other undulating topography, significantly reduce project cost, while broaden the application scenario of flat single-axis system.The topography adaptive device does not require main shaft axis on a straight line, can reduce the piling accuracy requirement.

This invention discloses a method and device for detecting the attitude of a spherical motor rotor. The method includes: developing a feature plate with three different visual feature points (first, second, and third) and fixing it to the top of the rotor output shaft; developing a visual detection system for the spherical rotor attitude, wherein when the rotor output shaft is located on the Z-axis of the northeast-northeast coordinate system, an image acquisition module is installed directly above the second feature point and calibrated; collecting and labeling typical and atypical spatial motion image datasets of the spherical rotor with three degrees of freedom; designing and training a network model suitable for detecting the real-time attitude of the spherical rotor using the YOLOv5s framework; the image acquisition module acquiring a frame of image in real time, using the network model to detect the coordinates of the three different visual feature points in the image, and calculating the attitude of the spherical rotor based on the detected coordinates and the geometric relationship of the rotor's spherical motion. This invention solves the problems of needing to reset and failure to detect feature points due to long-term occlusion in visual spherical rotor detection.

The invention belongs to the technical field of detection equipment, and particularly discloses a CT detection system which comprises a ray device, a bearing device and a detection device, and the ray device comprises a ray support, a ray driving module arranged on the ray support and a ray source arranged on the ray driving module; the bearing device is arranged below the radiation source device and comprises a bearing support, a bearing driving mechanism arranged on the bearing support and a bearing table arranged on the bearing driving mechanism; the detection device is arranged below the bearing table and comprises a rotating support arranged on the bearing support and a first detection driving module connected with the rotating support. The arc-shaped guide rail is arranged on the rotating support, the detection support is connected with the arc-shaped guide rail in a sliding mode, the second detection driving module is arranged between the arc-shaped guide rail and the detection support, and the detector is arranged on the detection support. According to the CT detection system provided by the invention, spherical motion detection is realized, and the imaging resolution can be improved.

The invention provides a three-degree-of-freedom spherical motion platform and a power supply method. The three-degree-of-freedom spherical motion platform comprises a base, a spherical platform and a power supply circuit, supporting driving wheel sets are evenly distributed on the circumference of the upper surface of the base. An electrical cabinet is arranged in the spherical platform, the spherical platform is movably arranged above the base and is supported in a rolling mode through the supporting driving wheel set, the supporting driving wheel set comprises a driving wheel, and the driving motor is connected with the driving wheel and drives the driving wheel to rotate so as to drive the spherical platform to move; the power supply circuit comprises electrodes and an electric brush, the electrodes are evenly distributed on the outer surface of the spherical platform and connected with the electrical cabinet, the electric brush comprises an electric brush carrier arranged on the upper surface of the spring barrel, an electric brush terminal is arranged at the end of the electric brush carrier and connected with an external power source, and the distance between the electric brush terminal and the electrodes is matched. Kinematic singular points of a traditional three-frame type spherical motion platform can be eliminated, motion is stable, control is easy, and the failure rate is reduced.

This invention discloses a method for mutual aiming and measurement of laser trackers in hidden areas, belonging to the field of large-space precision measurement technology. The invention deploys a reference tracker in the visible area and the tracker under test in the hidden area. The tracker under test drives a target sphere to perform spherical motion, while the reference tracker collects data from spherical sampling points. A robust Taubin sphere center fitting algorithm is used to fit the rotation center coordinates of the tracker under test, completing self-calibration. Finally, coordinate system transformation achieves measurement and coordinate unification in the hidden area. The robust Taubin sphere center fitting algorithm of this invention introduces robust estimation concepts, effectively suppressing the influence of abnormal data on the fitting results through weighted iterative optimization of the objective function. This invention completely solves the technical problems of not being able to deploy a common visible point and achieve coordinate system unification in hidden / narrow areas, significantly improving the accuracy and robustness of sphere center fitting, and meeting the collimation requirements of high-end devices such as particle accelerators.

This invention relates to a novel seven-DOF (degrees of freedom) serial-parallel hybrid micromanipulation mechanism and robotic arm. The micromanipulation mechanism includes a first serial section, a parallel mechanism, and a second serial section for mounting an end effector. The first serial section has x-translational and y-translational degrees of freedom and is fixed to one end of the parallel mechanism. The parallel mechanism has x, y, and z-rotational degrees of freedom and forms a spherical motion. The second serial section is rotatably connected to the other end of the parallel mechanism; this rotational degree of freedom is redundant, and the second serial section has a z-translational degree of freedom that translates along its rotational axis. This invention has the advantages of compact size, more flexible end effector attitude adjustment, increased structural rigidity, reduced cumulative error in end effector attitude adjustment, and achieves relatively large motion displacement output and positioning accuracy.

This invention discloses a medical robot end effector, comprising a housing, a transmission assembly, and an end effector platform. The transmission assembly includes a first transmission bevel gear and a second transmission bevel gear. The end effector platform is a parallel spherical motion mechanism comprising irregularly shaped connecting rods and a working platform. A driver rotates the first transmission bevel gear, which in turn rotates the meshing second transmission bevel gear. Multiple sets of second transmission bevel gears are rotatably coaxially stacked and drive the irregularly shaped connecting rods to rotate. The multiple sets of irregularly shaped connecting rods rotate around a reference sphere, and the other end of the irregularly shaped connecting rods is rotatably connected to the working platform. This allows the working platform to flexibly adjust its position and posture around the center of the reference sphere at multiple angles. The working platform can be connected to an actuator to achieve the therapeutic purpose of the medical robot. This invention uses first and second transmission bevel gears to transmit power, which helps reduce vibration and noise generation. This invention also provides a medical robot end effector system.

The invention provides a single-hole surgical robot. The single-hole surgical robot comprises a base; one end of the mechanical arm is connected to the base; an instrument arm including: a first arm obliquely extending from the other end of the robot arm and configured to rotate about a first axis; one end of the second arm is connected to one end, deviating from the mechanical arm, of the first arm, and the second arm is configured to rotate around a second axis forming a first included angle with the first axis; the surgical instrument is obliquely connected to the other end of the second arm and is configured to rotate around a third axis which intersects with the first axis and the second axis at a telecentric fixed point so as to perform spherical motion around the telecentric fixed point under the cooperative constraint of the second arm and the first arm; a second angle between the third axis and the first axis is smaller than the first angle.

The present application belongs to the technical field of artificial limb and rehabilitation engineering, and relates to a humanoid shoulder joint prosthesis device based on amplification mechanism, which comprises a driving device, a transmission device, a three-degree-of-freedom spherical motion generation device and a motion space amplification device. The driving device adopts three groups of motor modules which are parallel along the axial direction and symmetrically distributed on the end face, to realize independent driving of three active branch chains; the transmission device reliably transmits the motor output to the spherical motion mechanism through multi-stage transmission shaft and gear structure; the three-degree-of-freedom spherical motion generation device is composed of an amplification support platform, a moving platform and three branch chains containing active rods and driven rods; the motion space amplification device is composed of two groups of 5R mechanisms, and is used for realizing multiple amplification of the joint motion space. The overall structure of the device is symmetrical and compact, has high stability and adjustable motion space, can realize multi-degree-of-freedom large-range motion of the humanoid shoulder joint, and is suitable for upper limb prosthesis wearing, rehabilitation training and robot assisted operation scenes.

Seating furniture (14), in particular a chair, with a plane of symmetry (15) and with a seat surface divided into a rear seat surface part (2) and a front seat surface part (5) pivotable about this part about a seat division axis (8), with a backrest (3) connected to the rear seat surface part (2), and with two kinematics (6, 7) arranged on a base (1), each defining a central point (Z1, Z2), wherein the rear kinematics (6) connects the rear seat surface part (2) and the front kinematics (7) connects the front seat surface part (5) to the base (1) spherically about the associated central point (Z1, Z2), characterized in that the two central points (Z1, Z2) lie in the plane of symmetry (15) and above the seat surface parts (2, 5), and that the front kinematics (7) connects the front seat surface part (5) to the base (1) spherically about the associated central point (Z1, Z2). a front pivot axis (10) that is pivotably connected to the seat division axis (8).

The invention provides a sub-aperture composite semi-physical simulation system for radar infrared double-spherical-surface opposite movement. The sub-aperture composite semi-physical simulation system comprises a five-axis rotary table in a darkroom, a radar target simulator system and an infrared target simulator. The aircraft is mounted on the five-axis turntable, three axes in the five-axis turntable simulate the flight attitude of the aircraft, and two axes outside the five-axis turntable are used for driving the infrared target simulator to simulate the sight angle motion of an infrared target; the outer second shaft rotates around the rotation center of the three-shaft rotary table, the motion envelope of the outer second shaft is a spherical surface, and the center of the spherical surface is the rotation center of the three-shaft rotary table; a radio frequency antenna array of the radar target simulator system is arranged as a spherical surface, the center of the spherical surface coincides with the rotation center of a rotary table, a radio frequency target movement spherical surface and an infrared target movement spherical surface are concentric, the position of a radio frequency target changes, an infrared target moves reversely, a radio frequency target radiation signal and an infrared target signal are collinear, and the signal propagation direction points to the rotation center. The method has the effect of solving the full-route closed-loop semi-physical simulation of the sub-caliber composite aircraft in a set of semi-physical simulation system.

The application discloses a multi-degree-of-freedom functional clamping jaw and belongs to the clamping jaw field. The multi-degree-of-freedom functional clamping jaw comprises a clamping jaw assembly, a parallel spherical motion mechanism arranged at the tail end of the clamping jaw assembly and used for driving the multi-degree-of-freedom rotation of the clamping jaw assembly, a moving surface connecting seat fixedly installed at the tail end of the clamping jaw assembly, a first motor, a second motor and a third motor coaxially arranged at the tail end of the moving surface connecting seat and connected in series through a connecting assembly and used for driving the multi-degree-of-freedom rotation of the moving surface connecting seat, and three motor positioning barrels fixedly installed outside the three groups of motors. The multi-degree-of-freedom functional clamping jaw adopts the parallel spherical motion mechanism, forms a closed chain constraint, effectively reduces the accumulation of joint errors, improves the end stiffness and positioning accuracy, and is particularly suitable for high-precision scenes such as C electronic assembly and medical cavity operation.

This invention relates to telecentric fixed-point calibration technology for fundus surgical robots, and discloses a method, system, medium, and equipment for telecentric fixed-point calibration of fundus surgical robots. The method includes: controlling the movement of a third joint to bring a test fixture at the end of the third joint into the measurement space of the test equipment, and acquiring the displacement of the third joint; controlling the movement of a first joint motor and a second joint motor respectively, and acquiring the range of motion angles of the first and second joints within the measurement space; controlling the first and second joint motors to move simultaneously according to the range of motion angles of the first and second joints, and acquiring image data streams of the test fixture; acquiring the radius of the spherical motion trajectory of the test fixture based on the image data stream, and calculating the difference between the radius and the displacement of the third joint to obtain the telecentric fixed-point structural parameters. This invention can effectively improve the absolute positioning accuracy of the robot's end effector, and enhance the safety and accuracy of surgical operations.