20 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 discloses a rotating ball device for teaching, and relates to the technical field of teaching aids. The device comprises a driving assembly, the top of the driving assembly is fixedly connected with a ball assembly, and the surface of the ball assembly is bonded with an index line assembly through an adhesive. Directional rotation of the sphere is achieved through the driving assembly, the spiral relation between the current direction and the magnetic induction line in the ampere rule can be dynamically presented in combination with the spherical surface index line assembly and the internal magnet structure, and when the electrified copper rail generates annular current, an observer can observe the annular current through the center window of the transparent sphere. The law that the direction of a magnetic induction line of a sphere center changes along with current can be visually seen, the sphere rotates in cooperation with the sphere, three-dimensional spiral linkage of current-magnetic induction line is clearly shown, in Lorentz force teaching, when an external magnet is close to the surface of the sphere, spherical surface motion charge identification is in real-time linkage with the rotation direction of the sphere, and the teaching efficiency is improved. And the charge movement direction, the magnetic field direction and the stress direction are dynamically associated in a space vector form.

The present invention relates to a robot comprising a single spherical movement wheel (2), the robot (1) being configured to be movable on the ground (7). The robot comprises an anti-topple device (10; 10') having a deployment system (11; 11'); an actuating means (12) for actuating the deployment system (11; 11'), and a support means (13) connected to the deployment system (11; 11') and configured to be supported on the ground (7), the anti-topple device (10; 10') being movable between a folded and deployed position in which the actuating means (12) activates the deployment system (11; 11') such that the deployment system (11; 11') deploys by moving the support means (13) away from the spherical wheel (2), the robot (1) being configured, in the deployed position, to be supported by the support means (13).

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.

The present invention relates to a shaftless vector thruster for underwater robots, belonging to the technical field of underwater robot thrusters. The purpose is to address the problems of the prior art, such as large limitations, complex structures that are difficult to maintain, and a narrow scope of application. The present invention includes a power drive mechanism disposed at the end of a robot body, a vector adjustment mechanism disposed between the robot body and the power drive mechanism, and a power supply unit, wherein power is supplied to the power drive mechanism and the vector adjustment mechanism via the power supply unit. The power drive mechanism includes: a drive mechanism housing, a drive mechanism sealing shell disposed within the drive mechanism housing and forming a spherical pair with a spherical surface on the inner surface, a rotating motor disposed within the drive mechanism sealing shell and fixedly connected to the inner wall of the drive mechanism sealing shell, and a propeller welded to the rotating motor. The drive mechanism sealing shell is adjusted to perform spherical motion relative to the drive mechanism housing by the vector adjustment mechanism, and the propeller is driven to rotate by the rotating motor.

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.