CN106023732A - Space rotary transformation device - Google Patents

Abstract

The invention discloses a space rotation transforming device, which comprises a concentric outer ball and an inner ball, and also includes an outer ball support mechanism, an inner ball support mechanism, an outer ball hand rotation mechanism, an outer ball self-rotation mechanism, an inner ball posture maintaining mechanism and The three-dimensional space positioning mechanism of the inner and outer balls, the outer player rotation mechanism drives the outer omnidirectional wheel through the hand wheel to complete the rotation transformation of the outer ball around the fixed coordinate system, and the outer ball self-rotation mechanism drives the inner omnidirectional wheel through the motor to form The rotation transformation of the outer sphere around the outer sphere follow-up coordinate system is completed through the above two coordinate transformations to complete calculations such as equivalent rotation axis and equivalent rotation angle. The invention can visually demonstrate the transformation process of the space rotation coordinates, and can use the measured data and transformation formulas to verify the relevant principles of the space coordinate transformation.

Description

space rotation transformation device

technical field

The invention relates to teaching apparatus and experimental equipment, in particular to a space rotation transformation device.

Background technique

Rotation transformation is an important transformation in Euclidean geometry, and the rotation transformation device is a demonstrative device designed based on the theory of space rotation transformation.

In mechanical majors, there are related chapters on space transformation in courses such as the basics of robotics. When teachers explain these contents, they usually draw three-dimensional coordinates on the blackboard to explain. This teaching method requires students to have a strong sense of space. Imaginative ability increases the difficulty for students to understand the knowledge related to space rotation and transformation.

Contents of the invention

In order to solve the difficult problem of existing teaching, the present invention proposes a space rotation transformation device.

The space rotation transforming device of the present invention, its technical proposal includes concentric outer ball and inner ball, the difference is that it also includes outer ball support mechanism, inner ball support mechanism, outer ball player rotation mechanism, outer ball self-rotation mechanism, inner ball posture The holding mechanism and the three-dimensional space positioning mechanism of the inner and outer balls, wherein:

1. The outer ball support mechanism includes an outer bullseye wheel set supported on the outer surface of the lower part of the outer ball.

2. The inner ball support mechanism includes an inner bullseye wheel set arranged on the inner surface of the outer ball and supported on the outer surface of the inner ball.

3. The outer golfer rotation mechanism includes three outer omnidirectional wheels arranged outside the outer ball to drive the outer ball around the X, Y, and Z axes in a frictional manner, and each outer omnidirectional wheel is driven by a coaxially installed hand wheel , Each handwheel records the rotation angle by its own dial.

4. The outer ball self-rotation mechanism includes three inner omnidirectional wheels that are arranged in the outer ball to drive the outer ball around the X, Y, and Z axes in a frictional manner, and each inner omnidirectional wheel is driven by a motor installed on one shaft end And the encoder installed on the other shaft end records the rotation angle.

5. The inner ball posture maintaining mechanism includes magnets respectively arranged on the inner surface of the inner ball bottom and the inner surface of the side part, and corresponding to each magnet, an electromagnet is arranged outside the outer ball to attract the corresponding magnets.

6. The three-dimensional space positioning mechanism of the inner and outer balls includes three laser emitting heads facing the inner ball installed on the inner surface of the outer ball in a spatially orthogonal position, and the positions of each laser emitting head are respectively installed on the outer surface of the inner ball. receiving head.

In order to realize the rotation stability of the outer ball, the positions of the three inner omni-directional wheels correspond to the positions of the three outer omni-directional wheels respectively.

The optimal arrangement of the omnidirectional wheels is that the three outer omnidirectional wheels are arranged at the front, rear and left or right positions on the same horizontal plane, and the horizontal plane is at the position of the maximum diameter of the outer ball.

For optimal arrangement, the outer magnets at the side can be placed opposite to the outer omnidirectional wheels at the left or right positions.

In order to achieve stable support, the outer bullseye wheel set includes at least eight bullseye wheels on the outer ring and four bullseye wheels on the inner ring; the inner bullseye wheel set includes at least twelve bullseye wheels evenly distributed in space wheel.

According to conventional design, three laser emitting heads are arranged on the upper hemisphere of the outer sphere, and correspondingly, three laser receiving heads are arranged on the upper hemisphere of the inner sphere.

A further design is that a cross-shaped casing is provided on the middle vertical surface (the vertical surface passing through the center of the circle) inside the inner ball, and the inner magnet at the bottom of the inner ball is arranged at the bottom of the vertical pipe in the cross-shaped casing and is formed by The spring in the vertical tube is compressed, and the inner magnet on the side of the inner ball is arranged at one end of the horizontal tube in the cross-shaped casing and is compressed by the spring in the horizontal tube.

Beneficial effects of the present invention:

1. The space rotation transformation device of the present invention allows students to intuitively see the various states of the space coordinates during the rotation transformation process, and verify the relevant theoretical formulas of the space coordinate rotation transformation.

2. The present invention can use the transformation around the fixed coordinate system and the transformation around the outer sphere to follow the coordinate system to complete the teaching demonstration of the transformation of the equivalent rotation axis and the equivalent rotation angle.

Description of drawings

Fig. 1 is a schematic perspective view of an embodiment of the present invention.

Fig. 2 is a top view of the embodiment of Fig. 1 .

Fig. 3 is a three-dimensional structural schematic diagram of the outer ball supporting mechanism and the outer golfer rotating mechanism in Fig. 1 .

FIG. 4 is a top view of FIG. 3 .

Fig. 5 is a three-dimensional structural schematic diagram of the outer ball self-rotating mechanism in Fig. 1 and Fig. 2 (including the three-dimensional space positioning mechanism of the outer ball).

Fig. 6 is a perspective view of the inner ball posture maintaining mechanism in Fig. 1 and Fig. 2 (including the inner ball three-dimensional space positioning mechanism).

Drawing number identification: 1. Outer ball; 2. Inner ball; 3. Outer omnidirectional wheel; 4. Handwheel; 5. Motor; 6. Encoder; 7. Magnet; 8. Electromagnet; 9. Laser emitter; 10. Laser receiving head; 11. Inner omnidirectional wheel; 12. Outer bullseye wheel set; 13. Inner bullseye wheel set; 14. Cross-shaped sleeve; 15. Spring; 16. Bottom plate; 17. Bracket.

detailed description

The technical solutions of the present invention will be further described below in conjunction with the embodiments shown in the accompanying drawings.

The space rotation conversion device of the present invention comprises an outer ball 1 and an inner ball 2, the outer surface of the lower part of the outer ball 1 is supported by the outer bullseye wheel set 12 on the horizontal base plate 16 to realize full rotation, and the outer bullseye wheel set 12 consists of eight bullseye wheels on the outer ring and four bullseye wheels on the inner ring; four brackets 17 are respectively provided on the front, rear, left and right bottom plates 16 of the outer ball 1, the front, rear, On the right support 17, three outer omnidirectional wheels 3 contacting the outer surface of the outer ball 1 are installed respectively through the wheel frame. Each outer omnidirectional wheel 3 is on the same horizontal plane, and the horizontal plane passes through the center of the outer ball 1. , the rear outer omnidirectional wheel 3 is set horizontally and driven by the coaxial handwheel 4 with a dial, the front and right outer omnidirectional wheels 3 are vertically arranged and respectively driven by the coaxial handwheel 4 with a dial, and the left bracket 17 An electromagnet 8 is arranged on the top, and the height of the electromagnet 8 is consistent with the height of the outer omnidirectional wheel 3. The other electromagnet 8 is arranged on the bottom plate 16 at the bottom of the outer ball 1, and is located at the center of the four bull's-eye wheels of the inner ring, as shown in the figure 1. As shown in Figure 2, Figure 3, and Figure 4.

The inner ball 2 is positioned concentrically with the outer ball 1 by the inner bull's-eye wheel set 13 arranged on the inner surface of the outer ball 1, and the inner bull's-eye wheel set 13 is composed of twelve uniformly distributed Bull’s-eye wheels are formed; the space between the inner ball 2 and the outer ball 1 is provided with three inner omnidirectional wheels 11 which are in contact with the inner surface of the outer ball 1 respectively through the wheel frame, and the three inner omnidirectional wheels 11 are respectively located on the Outer omnidirectional wheel 3 of front, rear, right, motor 5 is installed on one shaft end of each inner omnidirectional wheel 11, and encoder 6 is installed on the other shaft end, as shown in Fig. 1, Fig. 2, Fig. 5.

The inner vertical surface of the inner ball 2 (the same plane as the vertical plane formed by the electromagnet 8 on the support 17 and the base plate 16) is provided with a cross-shaped sleeve 14, and the bottom of the cross-shaped sleeve 14 standpipe Several laminated magnets 7 are installed, and the magnets 7 are pressed against the inner surface of the inner ball 2 by the spring 15 in the vertical tube and are opposite to the electromagnet 8 on the bottom plate 16. The left part of the cross-shaped sleeve 14 horizontal tube Several laminated magnets 7 are installed, and the magnet 7 is pressed against the inner surface of the inner ball 2 by the spring 15 in the horizontal tube and is opposite to the electromagnet 8 on the bracket 17; the inner surface of the upper hemisphere of the outer ball 1 is There are three laser emitting heads 9 facing the inner ball 2, and the beam directions of the three laser emitting heads 9 form space orthogonally, corresponding to the positions of the three laser emitting heads 9, respectively on the outer surface of the upper hemisphere of the inner ball 2 There are three laser receiving heads 10, and the spatial positioning and reset of the outer ball 1 and the inner ball 2 are realized through three-point alignment, as shown in Fig. 1 , Fig. 2 and Fig. 6 .

Demonstration mode of the present invention:

1. Establish a fixed coordinate system (X, Y, Z) as shown in Figure 1.

Rotate the handwheel 4 to drive the right outer omnidirectional wheel 3 to rotate, and drive the outer ball 1 to rotate, record the dial rotation angle of the handwheel 4, and multiply it by the radius ratio of the outer omnidirectional wheel 3 to the outer ball 1 to convert it into outer The rotation angle α of the ball 1 around the X-axis of the fixed coordinate system; rotating the handwheel 4 drives the front outer omnidirectional wheel 3 to rotate, and drives the outer ball 1 to rotate, record the dial rotation angle of the handwheel 4, and multiply it by the outer omnidirectional wheel 3 and The radius ratio of the outer ball 1 can be converted into the rotation angle β of the outer ball 1 around the Y-axis of the fixed coordinate system; the outer omnidirectional wheel 3 rotates after rotating the hand wheel 4, and drives the outer ball 1 to rotate, and records the scale of the hand wheel 4 The disc rotation angle can be converted into the rotation angle γ of the outer ball 1 around the Z-axis of the fixed coordinate system by multiplying it by the radius ratio of the outer omni-directional wheel 3 and the outer ball 1 .

So far, a rotation transformation around the X axis-Y axis-Z axis of the fixed coordinate system has been completed, and the formula RPY(α,β,γ)=Rot(Z,γ)Rot(Y,β)Rot(X,α )——(1) The attitude matrix after the rotation of the outer ball 1 can be calculated and verified by the attitude of the outer ball 1; if other rotation sequences around the fixed coordinate system are to be transformed, the rotation sequence of the outer omnidirectional wheel 3 can be changed in turn, as : Rotation transformation around the Y axis-X axis-Z axis sequence, the front outer omnidirectional wheel 3, the right outer omnidirectional wheel 3 and the rear outer omnidirectional wheel 3 can be rotated in sequence.

2. Assuming that at the beginning, the following coordinate system of the outer ball 1 coincides with the fixed coordinate system of the earth, and the motor 5 is used to drive the rear inner omni-directional wheel 11 (corresponding to the rear outer omni-directional wheel 3) to rotate and drive the outer ball 1 to rotate. The angle value collected by the encoder 6 is multiplied by the radius ratio between the inner omnidirectional wheel 11 and the outer ball 1, which can be converted into the rotation angle γ of the outer ball 1 around the Z axis of the coordinate system; the front inner omnidirectional wheel 11 (front The outer omnidirectional wheel 3 corresponds to) rotation, and drives the outer ball 1 to rotate, and the angle value collected by the encoder 6 is multiplied by the radius ratio between the inner omnidirectional wheel 11 and the outer ball 1, which can be converted into the outer ball 1 orbiting coordinate system Y The rotation angle β of the shaft; use the motor 5 to drive the right inner omnidirectional wheel 11 (corresponding to the right outer omnidirectional wheel 3) to rotate, and drive the outer ball 1 to rotate, and multiply the angle value collected by the encoder 6 by the inner omnidirectional wheel 11 and the outer ball The radius ratio of 1 can be converted into the rotation angle α of the outer sphere 1 orbiting the X-axis of the coordinate system. So far, a rotation transformation around the outer sphere 1 orbiting coordinate system Z-axis-Y-axis-X axis is completed; by the formula Euler( γ, β, α)=Rot(Z,γ)Rot(Y,β)Rot(X,α)——(2) The attitude matrix after the outer ball 1 is rotated can be calculated and verified by the outer ball 1 attitude. If other rotation sequence transformations around the follow-up coordinate axis are required, the driving sequence of the motor 5 can be changed in turn, such as the rotation transformation of the Y-X-Z sequence around the coordinate axis Y-X-Z, the front inner omnidirectional wheel 11, the right inner omnidirectional wheel 11 and the rear can be driven sequentially. Inner omnidirectional wheel 11.

3. After completing the above two rotation transformations, the results of the two comparisons are exactly the same. It can be verified that the order of rotation around the fixed axis is opposite to that of rotation around the follower axis. When rotating around the fixed axis, the rotation transformation matrix is multiplied from right to left, and When the follower shaft rotates, the rotation transformation matrix is multiplied from left to right, and the obtained transformation results are the same because the angles of rotation are correspondingly equal.

4. Assume that at the beginning, the following coordinate system of the outer ball 1 coincides with the fixed coordinate system of the earth. At this time, the position and posture of the outer ball 1 is defined as the {1} system, and the three handwheels 4 are arbitrarily rotated to drive the corresponding outer omnidirectional wheels 3 respectively. Rotate to make the outer ball 1 have an arbitrary initial posture, write down the rotation angles of each handwheel 4, calculate the initial attitude matrix of the outer ball 1 according to the formula in the first mode, and define the position and posture of the outer ball 1 at this time as {0 }Tie. The inverse matrix of the rotation transformation matrix calculated according to the first method is the rotation transformation matrix from the {0} system to the {1} system, and the third column in the matrix indicates that the unit vector on the Z axis of the {1} system is in {0} The components on the three coordinate axes are defined as the vector k=[k _x k _y k _z ] ^T . Assuming that the Z axis of the fixed coordinate system is an equivalent rotation axis K, by controlling the outer omnidirectional wheel 3, the coordinate system {0} is rotated by an angle θ relative to the equivalent rotation axis K, that is, the Z axis. At this time, the attitude of the outer ball 1 is defined as { 2} system, the rotation transformation matrix from {0} system to {2} system is

$\mathrm{<span\; class="notranslate">\; R</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; K</span>}<span\; class="notranslate">\; ,</span>\mathrm{<span\; class="notranslate">\; \&theta;</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; =</span>\left[\begin{array}{ccc}{\mathrm{<span\; class="notranslate">\; k</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}{\mathrm{<span\; class="notranslate">\; k</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}\mathrm{<span\; class="notranslate">\; v</span>}\mathrm{<span\; class="notranslate">\; e</span>}\mathrm{<span\; class="notranslate">\; r</span>}\mathrm{<span\; class="notranslate">\; the\; s</span>}\mathrm{<span\; class="notranslate">\; \&theta;</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; c</span>}\mathrm{<span\; class="notranslate">\; \&theta;</span>}& {\mathrm{<span\; class="notranslate">\; k</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}{\mathrm{<span\; class="notranslate">\; k</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}\mathrm{<span\; class="notranslate">\; v</span>}\mathrm{<span\; class="notranslate">\; e</span>}\mathrm{<span\; class="notranslate">\; r</span>}\mathrm{<span\; class="notranslate">\; the\; s</span>}\mathrm{<span\; class="notranslate">\; \&theta;</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; k</span>}}_{\mathrm{<span\; class="notranslate">\; z</span>}}\mathrm{<span\; class="notranslate">\; the\; s</span>}\mathrm{<span\; class="notranslate">\; \&theta;</span>}& {\mathrm{<span\; class="notranslate">\; k</span>}}_{\mathrm{<span\; class="notranslate">\; z</span>}}{\mathrm{<span\; class="notranslate">\; k</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}\mathrm{<span\; class="notranslate">\; v</span>}\mathrm{<span\; class="notranslate">\; e</span>}\mathrm{<span\; class="notranslate">\; r</span>}\mathrm{<span\; class="notranslate">\; the\; s</span>}\mathrm{<span\; class="notranslate">\; \&theta;</span>}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; k</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}\mathrm{<span\; class="notranslate">\; the\; s</span>}\mathrm{<span\; class="notranslate">\; \&theta;</span>}\\ {\mathrm{<span\; class="notranslate">\; k</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}{\mathrm{<span\; class="notranslate">\; k</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}\mathrm{<span\; class="notranslate">\; v</span>}\mathrm{<span\; class="notranslate">\; e</span>}\mathrm{<span\; class="notranslate">\; r</span>}\mathrm{<span\; class="notranslate">\; the\; s</span>}\mathrm{<span\; class="notranslate">\; \&theta;</span>}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; k</span>}}_{\mathrm{<span\; class="notranslate">\; z</span>}}\mathrm{<span\; class="notranslate">\; the\; s</span>}\mathrm{<span\; class="notranslate">\; \&theta;</span>}& {\mathrm{<span\; class="notranslate">\; k</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}{\mathrm{<span\; class="notranslate">\; k</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}\mathrm{<span\; class="notranslate">\; v</span>}\mathrm{<span\; class="notranslate">\; e</span>}\mathrm{<span\; class="notranslate">\; r</span>}\mathrm{<span\; class="notranslate">\; the\; s</span>}\mathrm{<span\; class="notranslate">\; \&theta;</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; c</span>}\mathrm{<span\; class="notranslate">\; \&theta;</span>}& {\mathrm{<span\; class="notranslate">\; k</span>}}_{\mathrm{<span\; class="notranslate">\; z</span>}}{\mathrm{<span\; class="notranslate">\; k</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}\mathrm{<span\; class="notranslate">\; v</span>}\mathrm{<span\; class="notranslate">\; e</span>}\mathrm{<span\; class="notranslate">\; r</span>}\mathrm{<span\; class="notranslate">\; the\; s</span>}\mathrm{<span\; class="notranslate">\; \&theta;</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; k</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}\mathrm{<span\; class="notranslate">\; the\; s</span>}\mathrm{<span\; class="notranslate">\; \&theta;</span>}\\ {\mathrm{<span\; class="notranslate">\; k</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}{\mathrm{<span\; class="notranslate">\; k</span>}}_{\mathrm{<span\; class="notranslate">\; z</span>}}\mathrm{<span\; class="notranslate">\; v</span>}\mathrm{<span\; class="notranslate">\; e</span>}\mathrm{<span\; class="notranslate">\; r</span>}\mathrm{<span\; class="notranslate">\; the\; s</span>}\mathrm{<span\; class="notranslate">\; \&theta;</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; k</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}\mathrm{<span\; class="notranslate">\; the\; s</span>}\mathrm{<span\; class="notranslate">\; \&theta;</span>}& {\mathrm{<span\; class="notranslate">\; k</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}{\mathrm{<span\; class="notranslate">\; k</span>}}_{\mathrm{<span\; class="notranslate">\; z</span>}}\mathrm{<span\; class="notranslate">\; v</span>}\mathrm{<span\; class="notranslate">\; e</span>}\mathrm{<span\; class="notranslate">\; r</span>}\mathrm{<span\; class="notranslate">\; the\; s</span>}\mathrm{<span\; class="notranslate">\; \&theta;</span>}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; k</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}\mathrm{<span\; class="notranslate">\; the\; s</span>}\mathrm{<span\; class="notranslate">\; \&theta;</span>}& {\mathrm{<span\; class="notranslate">\; k</span>}}_{\mathrm{<span\; class="notranslate">\; z</span>}}{\mathrm{<span\; class="notranslate">\; k</span>}}_{\mathrm{<span\; class="notranslate">\; z</span>}}\mathrm{<span\; class="notranslate">\; v</span>}\mathrm{<span\; class="notranslate">\; e</span>}\mathrm{<span\; class="notranslate">\; r</span>}\mathrm{<span\; class="notranslate">\; the\; s</span>}\mathrm{<span\; class="notranslate">\; \&theta;</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; c</span>}\mathrm{<span\; class="notranslate">\; \&theta;</span>}\end{array}\right]<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 3</span>}<span\; class="notranslate">\; )</span>$

In the formula, sθ=sinθ, cθ=cosθ, versθ=(1-cosθ).

The attitude of the outer ball 1 can also be obtained by controlling the rotation of the three inner omni-directional wheels 11. Combining formulas (2) and (3), three rotation angles are calculated according to the kinematic inverse solution, and the inner omni-directional wheels 11 are driven in reverse order, so that the outer ball 1 The attitude returns to the {0} system; and then the outer ball 1 can return to the initial {1} system by driving the three outer omnidirectional wheels 3 or the three inner omnidirectional wheels 11, so as to demonstrate and verify the equivalent rotation axis , equivalent rotation angle and other related theories.

Claims (7)

1. Space Rotating converting means, including concentric ectosphere (1) and interior ball (2), its feature exists In also including ectosphere supporting mechanism, interior ball supporting mechanism, outer player's rotating mechanism, ectosphere rotation motivation Structure, interior ball attitude maintaining body and interior ectosphere three-dimensional fix mechanism, wherein:

1., described ectosphere supporting mechanism includes the outer buphthalmos being supported in ectosphere (1) lower external face Wheels (12)；

2. in, described interior ball supporting mechanism is included on ectosphere (1) inner surface layout and is supported in Interior buphthalmos wheels (13) on ball (2) outer surface；

3. outside, described outer player's rotating mechanism includes that being arranged in ectosphere (1) drives the most to frictionally Three outer omni-directional wheels (3) that ball (1) rotates rotating around X, Y, Z axis, each outer omni-directional wheel (3) Being driven by coaxial mounted handwheel (4), each handwheel (4) is rotated by respective graduated disc record respectively Angle；

4. outside, described ectosphere autorotation mechanism drives in including being arranged in ectosphere (1) to frictionally Three interior omni-directional wheels (11) that ball (1) rotates rotating around X, Y, Z axis, each interior omni-directional wheel (11) Encoder (6) the record rotation that the motor (5) installed by an axle head drives and installed by another axle head Angle；

5., described interior ball attitude maintaining body is included on interior ball (2) bottom interior surface and in sidepiece The Magnet (7) being respectively provided with on surface, is arranged with right outward corresponding to ectosphere (1) with each Magnet (7) Answer the electric magnet (8) that Magnet (7) attracts each other；

6., described interior ectosphere three-dimensional fix mechanism is included on ectosphere (1) inner surface with space Three laser beam emitting heads towards interior ball (2) (9) that quadrature position is installed, with each laser beam emitting head (9) position is respectively mounted laser pick-off head (10) corresponding on interior ball (2) outer surface.

Space Rotating converting means the most according to claim 1, it is characterised in that: in three The position of omni-directional wheel (11) corresponds respectively to the position of three outer omni-directional wheels (3).

Space Rotating converting means the most according to claim 2, it is characterised in that: outside three Forward and backward position that omni-directional wheel (3) is arranged in same level and left or right position, this horizontal plane It is in the biggest ball path position of ectosphere (1).

Space Rotating converting means the most according to claim 3, it is characterised in that: sidepiece External magnet (8) is relative with the outer omni-directional wheel (3) of left or right position and puts.

5. according to the Space Rotating converting means described in any one in Claims 1 to 4, its feature It is: described outer buphthalmos wheels (12) include eight buphthalmos wheels of outer ring and four buphthalmos wheels of inner ring； Described interior buphthalmos wheels (13) include 12 buphthalmos wheels that space is uniform.

6. according to the Space Rotating converting means described in any one in Claims 1 to 4, its feature It is: three laser beam emitting heads (9) are arranged on the episphere of ectosphere (1), corresponding, Three laser pick-off heads (10) are arranged on the episphere of interior ball (2).

7. according to the Space Rotating converting means described in any one in Claims 1 to 4, its feature It is: the middle vertical that described interior ball (2) is internal is provided with cross sleeve pipe (14), interior ball (2) The internal magnet (7) of bottom is located at the bottom of vertical tube in cross sleeve pipe (14) and by the bullet in vertical tube Spring (15) compresses, and horizontal stroke is located in cross sleeve pipe (14) by the internal magnet (7) of interior ball (2) sidepiece The one end of pipe is also compressed by the spring (15) in transverse tube.