CN103557240A - Ball pin pulling type ball joint three-dimensional shaft - Google Patents
Ball pin pulling type ball joint three-dimensional shaft Download PDFInfo
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- CN103557240A CN103557240A CN201310537050.9A CN201310537050A CN103557240A CN 103557240 A CN103557240 A CN 103557240A CN 201310537050 A CN201310537050 A CN 201310537050A CN 103557240 A CN103557240 A CN 103557240A
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- spheroid
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- slideway
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Abstract
The invention provides a ball pin pulling type ball joint three-dimensional shaft. According to the ball pin pulling type ball joint three-dimensional shaft, a ball body is provided with a ball pin; a Z shaft, an X shaft and a Y shaft are vertical to one another; the axes of the Z shaft, the X shaft and the Y shaft are crossed to the center of the ball body; a connection end between the X shaft and the ball body and a connection end between the Y shaft and the ball body are respectively and fixedly connected with an inner arc-shaped slide rail and an outer arc-shaped slide rail; the inner arc-shaped slide rail and the outer arc-shaped slide rail are internally provided with slide grooves with the equal width; the inner arc-shaped slide rail can slide on the ball body; the outer arc-shaped slide rail can slide on the inner arc-shaped slide rail; the slide grooves of the outer arc-shaped slide rail and the inner arc-shaped slide rail can be simultaneously sleeved with the ball pin of the ball body; when the ball body rotates, the Z shaft can be directly driven to rotate; meanwhile, the ball pin pulls the slide grooves to drive the outer arc-shaped slide rail and the inner arc-shaped slide rail to rotate so as to drive the X shaft and the Y shaft to rotate; and therefore, one ball joint can drive the three mutually-vertical shafts to rotate. The ball pin pulling type ball joint three-dimensional shaft is simple in structure and ingenious in mechanism and has stronger practical value.
Description
Technical field
The present invention relates to a kind of ball-joint driving mechanism, especially by ball pin, stir the three-dimensional axle of ball pin dial type ball-joint that arc chute drives three mutual vertical shaftes to rotate simultaneously.
Background technique
In mechanical transmission mechanism, universal shaft coupling is that two axles are coupled together and realize coaxial or different driven off by shaft common mechanisms, but universal shaft coupling can not be for two occasions that axle is vertical, more can not be for connecting the occasion of three orthogonal axles.Having in actual applications a lot of occasions is to need a joint to rotate the situation that simultaneously drives three mutual vertical shaftes simultaneously to rotate, for example the spatial rotation degrees of freedom in Der Grundsatz der Maschinen decompose the problem, mathematical space angle of the rotation of three vertical axis in the angle decomposition problem of three rectangular coordinate system in space, Mechanical drawing space line peace in the face of the projection transformation problem on three projection planes etc.Adopt prior art to address the above problem very complicated, huge that Jiang Shi mechanism and equipment does, even cannot realize.
Summary of the invention
In order to address the above problem, the invention provides the three-dimensional axle of a kind of ball pin dial type ball-joint, the three-dimensional axle of this ball pin dial type ball-joint can not only drive three orthogonal axles to rotate, and can also be immediately accurately by space angle decomposing to each vertical shaft.To solve space three-dimensional corner, be converted to the problem of planar corner.
The technical solution adopted for the present invention to solve the technical problems is: the three-dimensional axle of ball pin dial type ball-joint comprises spheroid, ball pin, arc slideway, outer arcuate slideway, X-axis, Y-axis, Z axis and pin, spheroid is provided with ball pin, Z axis chute and ball pin hole, and ball pin is cylindrical, is fixedly connected on spheroid, and Z axis chute is penetrating square groove, and ball pin hole is the penetrating cylindrical hole by ball centre, and square groove and ball pin hole are perpendicular, Z axis is erect and to be put, and Z axis upper end is set as Z axis slider head, and the bi-side of Z axis slider head contact and form Spielpassung with the bi-side of Z axis chute on spheroid, on Z axis slider head, be provided with pivot hole, pivot hole and ball pin hole be all equal diameters, coaxial, by the penetrating cylindrical hole of ball centre, in pivot hole and ball pin hole, insert pin, by pin, as hinge axis, connect spheroid and Z axis, spheroid and Z axis can be relatively rotated around pin, spheroid can directly drive Z axis rotation, X-axis and Y-axis level are put, Z axis, X-axis and Y-axis are mutually vertical, and make the axes intersect of Z axis, X-axis and Y-axis in the center of spheroid, establishing X-axis, Y-axis and Z axis can only be around axis rotation separately, in X-axis, be fixedly connected with respectively arc slideway and outer arcuate slideway with Y-axis with the connecting end of spheroid, arc slideway and outer arcuate slideway are the annular slice of sphere, in annular slice, be equipped with wide chute, the inner and outer surface of arc slideway and outer arcuate slideway is all made as sphere, the internal surface of arc slideway contacts with spherome surface and coordinates, arc slideway can slide on spheroid, the internal surface of outer arcuate slideway contacts and coordinates with arc slideway outer surface, outer arcuate slideway can slide on arc slideway, the chute of outer arcuate slideway and arc slideway entangles the ball pin of spheroid simultaneously, chute bi-side and ball pin Cylindrical Surfaces Contact also form Spielpassung, ball pin is slided and is driven X-axis in chute, Y-axis is corresponding rotates, ball pin can be by the ball pin groove of X-axis and Y-axis, when spheroid rotates, can directly drive Z axis rotation, ball pin is stirred chute and is driven outer arcuate slideway and the rotation of arc slideway simultaneously, drives X-axis and Y-axis rotation, thereby realize spheroid, rotates the corresponding rotation that drives X-axis Y-axis Z axis.
The invention has the beneficial effects as follows: ball-joint rotational drives three orthogonal axles to rotate, can be immediately accurately by space angle decomposing to each vertical shaft.To solve space three-dimensional corner, be converted to the problem of planar corner.The present invention is simple in structure, and mechanism is ingenious, has stronger use value.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the present invention is further described.
Fig. 1 expresses integrally-built stereogram.
Fig. 2 is overall structure explosive view.
Fig. 3 is overall structure plan view.
Fig. 4 is the plan view of Fig. 3.
Fig. 5 horizontally rotates the stereogram after 45 degree the spheroid of Fig. 1 position.
Fig. 6 is the plan view of Fig. 5.
Fig. 7 is the plan view of Fig. 6.
Fig. 8 is the stereogram after the X-axis of Fig. 1 position and Y-axis symmetrical rotary 90 degree.
Fig. 9 is the plan view of Fig. 8.
Figure 10 is the plan view of Fig. 9.
Figure 11 is the stereogram after the Z axis of Fig. 8 position rotation 50 degree.
Figure 12 is the plan view of Figure 11.
Figure 13 is the plan view of Figure 12.
Figure 14 rotates the stereogram after 10 degree, X-axis and Y-axis symmetrical rotary 45 degree the Z axis of Figure 11 position.
Figure 15 is the plan view of Figure 14.
Figure 16 is the plan view of Figure 15.
1. spheroids in figure, 2. arc slideway, 3. Y-axis, 4.X axle, 5. ball pin, 6. outer arcuate slideway, 7. chute, 8.Z axle chute, 9.Z axle, 10.Z axle slider head, 11. pins, 12. pivot holes, 13. ball pin grooves, 14. ball pin holes.
Embodiment
In Fig. 1 to Fig. 4, represent connection and the position relationship of contexture of the present invention and component, the three-dimensional axle of ball pin dial type ball-joint comprises spheroid 1, ball pin 5, arc slideway 2, outer arcuate slideway 6, X-axis 4, Y-axis 3, Z axis 9 and sells 11, spheroid 1 is provided with ball pin 5, Z axis chute 8 and ball pin hole 14, and ball pin 5 is cylindrical, is fixedly connected on spheroid 1, and Z axis chute 8 is penetrating square grooves, and ball pin hole 14 is by the penetrating cylindrical hole at spheroid 1 center, and square groove and ball pin hole 14 are perpendicular, Z axis 9 is erect and is put, and Z axis 9 upper ends are set as Z axis slider head 9, and the bi-side of Z axis slider head 9 contact and form Spielpassung with the bi-side of Z axis chute 8 on spheroid 1, on Z axis slider head 9, be provided with pivot hole 12, pivot hole 12 and ball pin hole 14 be all equal diameters, coaxial, by the penetrating cylindrical hole at spheroid 1 center, the interior insertion pin 11 in pivot hole 12 and ball pin hole 14, by pin 11, as hinge axis, connect spheroid 1 and Z axis 9, spheroid 1 and Z axis 9 can be relatively rotated around pin 11, spheroid 1 can directly drive Z axis 9 rotations, X-axis 4 and Y-axis 3 levels are put, Z axis 9, X-axis 4 are mutually vertical with Y-axis 3, and make the axes intersect of Z axis 9, X-axis 4 and Y-axis 3 in the center of spheroid 1, establishing X-axis 4, Y-axis 3 and Z axis 9 can only be around axis rotation separately, in X-axis 4, be fixedly connected with respectively arc slideway 2 and outer arcuate slideway 6 with Y-axis 3 with the connecting end of spheroid 1, arc slideway 2 and outer arcuate slideway 6 are the annular slice of sphere, in annular slice, be equipped with wide chute 7, the inner and outer surface of arc slideway 2 and outer arcuate slideway 6 is all made as sphere, the internal surface of arc slideway 2 also coordinates with spheroid 1 Surface Contact, arc slideway 2 can slide on spheroid 1, the internal surface of outer arcuate slideway 6 contacts and coordinates with arc slideway 2 outer surfaces, outer arcuate slideway 6 can slide on arc slideway 2, the chute 7 of outer arcuate slideway 6 and arc slideway 2 entangles the ball pin 5 of spheroid simultaneously, chute 7 bi-side and ball pin Cylindrical Surfaces Contact also form Spielpassung, ball pin 5 drives X-axis 4 in the interior slip of chute 7, Y-axis 3 is corresponding rotates, ball pin 5 can be by the ball pin groove 13 of X-axis 4 and Y-axis 3, when spheroid 1 rotates, can directly drive Z axis 9 rotations, ball pin 5 is stirred chute 7 and is driven outer arcuate slideway 6 and 2 rotations of arc slideway simultaneously, drives X-axis 4 and Y-axis 3 rotations, thereby realize spheroid 1, rotates the corresponding rotation that drives X-axis 4, Y-axis 3, Z axis 9.
Fig. 5, Fig. 6, Fig. 7 horizontally rotate the embodiment after 45 degree the spheroid 1 of Fig. 1 position.
Fig. 8, Fig. 9, Figure 10 be after the X-axis 4 of Fig. 1 position and Y-axis 3 symmetrical rotaries 90 degree embodiment.
Figure 11, Figure 12, Figure 13 be after the Z axis 9 of Fig. 8 position rotation 30 degree embodiment.
Figure 14, Figure 15, Figure 16 are the Z axis 9 of Figure 11 position rotation 10 degree, after X-axis 4 and Y-axis 3 symmetrical rotaries 45 degree embodiment.
Claims (1)
1. the three-dimensional axle of a ball pin dial type ball-joint, comprise spheroid, ball pin, arc slideway, outer arcuate slideway, X-axis, Y-axis, Z axis and pin, it is characterized in that: spheroid is provided with ball pin, Z axis chute and ball pin hole, ball pin is cylindrical, be fixedly connected on spheroid, Z axis chute is penetrating square groove, and ball pin hole is the penetrating cylindrical hole by ball centre, and square groove and ball pin hole are perpendicular, Z axis is erect and to be put, and Z axis upper end is set as Z axis slider head, and the bi-side of Z axis slider head contact and form Spielpassung with the bi-side of Z axis chute on spheroid, on Z axis slider head, be provided with pivot hole, pivot hole and ball pin hole be all equal diameters, coaxial, by the penetrating cylindrical hole of ball centre, in pivot hole and ball pin hole, insert pin, by pin, as hinge axis, connect spheroid and Z axis, spheroid and Z axis can be relatively rotated around pin, and spheroid can directly drive Z axis rotation, X-axis and Y-axis level are put, and Z axis, X-axis and Y-axis are mutually vertical, and make the axes intersect of Z axis, X-axis and Y-axis in the center of spheroid, and X-axis, Y-axis and Z axis can only be around axis rotations separately, in X-axis, be fixedly connected with respectively arc slideway and outer arcuate slideway with Y-axis with the connecting end of spheroid, arc slideway and outer arcuate slideway are the annular slice of sphere, in annular slice, be equipped with wide chute, the inner and outer surface of arc slideway and outer arcuate slideway is all made as sphere, the internal surface of arc slideway contacts with spherome surface and coordinates, arc slideway can slide on spheroid, the internal surface of outer arcuate slideway contacts and coordinates with arc slideway outer surface, outer arcuate slideway can slide on arc slideway, the chute of outer arcuate slideway and arc slideway entangles the ball pin of spheroid simultaneously, chute bi-side and ball pin Cylindrical Surfaces Contact also form Spielpassung, ball pin is slided and is driven X-axis in chute, Y-axis is corresponding rotates, ball pin can be by the ball pin groove of X-axis and Y-axis, spheroid rotational directly drives Z axis rotation, and ball pin is stirred chute and driven outer arcuate slideway and the rotation of arc slideway simultaneously, drives X-axis and Y-axis rotation, thereby realize spheroid, rotates the corresponding rotation that drives X-axis Y-axis Z axis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310537050.9A CN103557240B (en) | 2013-11-04 | 2013-11-04 | Ball pin dial type ball joint three-dimensional shaft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310537050.9A CN103557240B (en) | 2013-11-04 | 2013-11-04 | Ball pin dial type ball joint three-dimensional shaft |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103557240A true CN103557240A (en) | 2014-02-05 |
| CN103557240B CN103557240B (en) | 2015-08-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310537050.9A Expired - Fee Related CN103557240B (en) | 2013-11-04 | 2013-11-04 | Ball pin dial type ball joint three-dimensional shaft |
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| CN (1) | CN103557240B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106003137A (en) * | 2016-04-22 | 2016-10-12 | 浙江大学 | Two-freedom-degree limiting exoskeleton ankle joint and application thereof |
| CN111015727A (en) * | 2019-12-10 | 2020-04-17 | 长春工业大学 | Stretching bionic artificial knee joint |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1247594A1 (en) * | 1983-02-08 | 1986-07-30 | Всесоюзный Ордена Трудового Красного Знамени Научно-Исследовательский Институт Виноделия И Виноградарства "Магарач" | Coupling |
| JPH0483917A (en) * | 1990-07-26 | 1992-03-17 | Yukio Watanabe | Constant velocity universal joint of pin-link type |
| US6398656B1 (en) * | 1999-11-25 | 2002-06-04 | Thk Co. Ltd. | Universal joint |
| JP4411437B2 (en) * | 2005-02-18 | 2010-02-10 | 国立大学法人 鹿児島大学 | 3-DOF active rotary joint |
| CN201507568U (en) * | 2009-02-13 | 2010-06-16 | 王祎凡 | Universal gear driving and speed-shifting mechanism |
| CN203627569U (en) * | 2013-11-04 | 2014-06-04 | 沈阳工业大学 | Ball pin shifting type ball joint three-dimensional shaft |
-
2013
- 2013-11-04 CN CN201310537050.9A patent/CN103557240B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1247594A1 (en) * | 1983-02-08 | 1986-07-30 | Всесоюзный Ордена Трудового Красного Знамени Научно-Исследовательский Институт Виноделия И Виноградарства "Магарач" | Coupling |
| JPH0483917A (en) * | 1990-07-26 | 1992-03-17 | Yukio Watanabe | Constant velocity universal joint of pin-link type |
| US6398656B1 (en) * | 1999-11-25 | 2002-06-04 | Thk Co. Ltd. | Universal joint |
| JP4411437B2 (en) * | 2005-02-18 | 2010-02-10 | 国立大学法人 鹿児島大学 | 3-DOF active rotary joint |
| CN201507568U (en) * | 2009-02-13 | 2010-06-16 | 王祎凡 | Universal gear driving and speed-shifting mechanism |
| CN203627569U (en) * | 2013-11-04 | 2014-06-04 | 沈阳工业大学 | Ball pin shifting type ball joint three-dimensional shaft |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106003137A (en) * | 2016-04-22 | 2016-10-12 | 浙江大学 | Two-freedom-degree limiting exoskeleton ankle joint and application thereof |
| CN106003137B (en) * | 2016-04-22 | 2018-05-22 | 浙江大学 | A kind of two degrees of freedom /V exoskeleton ankle joint and its application |
| CN111015727A (en) * | 2019-12-10 | 2020-04-17 | 长春工业大学 | Stretching bionic artificial knee joint |
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| Publication number | Publication date |
|---|---|
| CN103557240B (en) | 2015-08-19 |
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Granted publication date: 20150819 Termination date: 20161104 |