CN103557240B - Ball pin dial type ball joint three-dimensional shaft - Google Patents
Ball pin dial type ball joint three-dimensional shaft Download PDFInfo
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- CN103557240B CN103557240B CN201310537050.9A CN201310537050A CN103557240B CN 103557240 B CN103557240 B CN 103557240B CN 201310537050 A CN201310537050 A CN 201310537050A CN 103557240 B CN103557240 B CN 103557240B
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- axis
- spheroid
- slideway
- ball pin
- chute
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Abstract
A kind of ball pin dial type ball joint three-dimensional shaft, spheroid is provided with ball pin, Z axis, X-axis and Y-axis are mutually vertical, and make the center of axes intersect in spheroid of Z axis, X-axis and Y-axis, are fixedly connected with arc slideway and outer arcuate slideway respectively in X-axis with Y-axis with the connecting end of spheroid; Wide chute is equipped with in arc slideway and outer arcuate slideway, arc slideway can slide on spheroid, outer arcuate slideway can slide on arc slideway, the chute of outer arcuate slideway and arc slideway entangles the ball pin of spheroid simultaneously, when spheroid rotates, can directly drive Z axis to rotate, ball pin be stirred chute and is driven outer arcuate slideway and the rotation of arc slideway simultaneously, drive X-axis and Y-axis to rotate, thus realize a ball-joint rotational and drive three orthogonal axles to rotate.Structure of the present invention is simple, and mechanism is ingenious, has stronger use value.
Description
Technical field
The present invention relates to a kind of ball-joint driving mechanism, especially stir by ball pin the ball pin dial type ball joint three-dimensional shaft that arc chute drives three mutual vertical shaftes to rotate simultaneously.
Background technique
In mechanical transmission mechanism, universal shaft coupling is coupled together by two axles to realize coaxial or different driven off by shaft common mechanism, but universal shaft coupling can not be used for the vertical occasion of two axles, more can not be used for the occasion connecting three orthogonal axles.Have a lot of occasion to be the situation that needs one articulation drives three mutual vertical shaftes to rotate simultaneously simultaneously in actual applications, such as, spatial rotation degrees of freedom in Der Grundsatz der Maschinen decomposes problem, mathematical space angle space line peace projection transformation problem in the face of three projection planes etc. in the angle decomposition problem, Mechanical drawing of three rectangular coordinate system in space of the rotation of three vertical axis.Adopt prior art to solve the problem very complicated, huge by what make mechanism and equipment do, even cannot realize.
Summary of the invention
In order to solve the problem, the invention provides a kind of ball pin dial type ball joint three-dimensional shaft, this ball pin dial type ball joint three-dimensional shaft can not only drive three orthogonal axles to rotate, and can also immediately accurately be decomposed on each vertical shaft by three dimensional angle.To solve the problem that space three-dimensional corner is converted to planar corner.
The technical solution adopted for the present invention to solve the technical problems is: ball pin dial type ball joint three-dimensional shaft 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, square groove and ball pin hole perpendicular, Z axis is erect and is put, and Z axis upper end is set as Z axis slider head, and the bi-side of Z axis slider head contact with the bi-side of the Z axis chute on spheroid and form Spielpassung, Z axis slider head is provided with pivot hole, pivot hole and ball pin hole be all equal diameters, coaxial, by the penetrating cylindrical hole of ball centre, pin is inserted in pivot hole and ball pin hole, spheroid and Z axis is connected as hinge axis by pin, spheroid and Z axis can be relatively rotated around pin, spheroid can directly drive Z axis to rotate, X-axis and Y-axis level are put, Z axis, X-axis and Y-axis are mutually vertical, and X-axis, Y-axis and Z axis make the center of axes intersect in spheroid of Z axis, X-axis and Y-axis, if can only rotate around respective axis, arc slideway and outer arcuate slideway is fixedly connected with Y-axis respectively with the connecting end of spheroid in X-axis, arc slideway and outer arcuate slideway are the annular slice of sphere, wide chute is equipped with in annular slice, the inner and outer surface of arc slideway and outer arcuate slideway is all set to 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 is with arc slideway exterior surface and coordinate, 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 correspondence is rotated, ball pin is by the ball pin groove of X-axis and Y-axis, when spheroid rotates, can directly drive Z axis to rotate, ball pin stirs chute drive outer arcuate slideway and the rotation of arc slideway simultaneously, drives X-axis and Y-axis to rotate, thus realizes the corresponding rotation that spheroid rotates drive X-axis Y-axis Z axis.
The invention has the beneficial effects as follows: a ball-joint rotational drives three orthogonal axles to rotate, and can immediately accurately be decomposed on each vertical shaft by three dimensional angle.To solve the problem that space three-dimensional corner is converted to planar corner.Structure of the present invention is simple, 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 be the X-axis of Fig. 1 position and Y-axis symmetrical rotary 90 degree after stereogram.
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 is rotated 50 degree.
Figure 12 is the plan view of Figure 11.
Figure 13 is the plan view of Figure 12.
Figure 14 rotates 10 degree, stereogram after 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, ball pin dial type ball joint three-dimensional shaft comprises spheroid 1, ball pin 5, arc slideway 2, outer arcuate slideway 6, X-axis 4, Y-axis 3, Z axis 9 and pin 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 the penetrating cylindrical holes by spheroid 1 center, square groove and ball pin hole 14 perpendicular, Z axis 9 is erect and is put, and Z axis 9 upper end is set as Z axis slider head 9, and the bi-side of Z axis slider head 9 contact with the bi-side of the Z axis chute 8 on spheroid 1 and form Spielpassung, Z axis slider head 9 is 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, pin 11 is inserted in pivot hole 12 and ball pin hole 14, spheroid 1 and Z axis 9 is connected as hinge axis by pin 11, spheroid 1 and Z axis 9 can be relatively rotated around pin 11, spheroid 1 can directly drive Z axis 9 to rotate, X-axis 4 and Y-axis 3 level are put, Z axis 9, X-axis 4 are mutually vertical with Y-axis 3, and X-axis 4, Y-axis 3 and Z axis 9 make the axes intersect of Z axis 9, X-axis 4 and Y-axis 3 in the center of spheroid 1, if can only rotate around respective axis, arc slideway 2 and outer arcuate slideway 6 is fixedly connected with Y-axis 3 respectively with the connecting end of spheroid 1 in X-axis 4, arc slideway 2 and outer arcuate slideway 6 are the annular slice of sphere, wide chute 7 is equipped with in annular slice, the inner and outer surface of arc slideway 2 and outer arcuate slideway 6 is all set to sphere, the internal surface of arc slideway 2 is with spheroid 1 surface contact and coordinate, arc slideway 2 can slide on spheroid 1, the internal surface of outer arcuate slideway 6 is with arc slideway 2 exterior surface and coordinate, 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 is slided and is driven X-axis 4 in chute 7, Y-axis 3 correspondence is rotated, ball pin 5 is by the ball pin groove 13 of X-axis 4 and Y-axis 3, when spheroid 1 rotates, can directly drive Z axis 9 to rotate, simultaneously ball pin 5 is stirred chute 7 and is driven outer arcuate slideway 6 and arc slideway 2 to rotate, and drives X-axis 4 and Y-axis 3 to rotate, thus realizes spheroid 1 and rotate the corresponding rotation driving 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 the X-axis 4 of Fig. 1 position and Y-axis 3 symmetrical rotary 90 degree after embodiment.
Figure 11, Figure 12, Figure 13 be the Z axis 9 of Fig. 8 position rotate after 30 degree embodiment.
Figure 14, Figure 15, Figure 16 rotate 10 degree the Z axis 9 of Figure 11 position, after X-axis 4 and Y-axis 3 symmetrical rotary 45 degree embodiment.
Claims (1)
1. a ball pin dial type ball joint three-dimensional shaft, 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, square groove and ball pin hole perpendicular, Z axis is erect and is put, and Z axis upper end is set as Z axis slider head, and the bi-side of Z axis slider head contact with the bi-side of the Z axis chute on spheroid and form Spielpassung, Z axis slider head is provided with pivot hole, pivot hole and ball pin hole be all equal diameters, coaxial, by the penetrating cylindrical hole of ball centre, pin is inserted in pivot hole and ball pin hole, spheroid and Z axis is connected as hinge axis by pin, spheroid and Z axis can be relatively rotated around pin, and spheroid can directly drive Z axis to rotate, X-axis and Y-axis level are put, and Z axis, X-axis and Y-axis are mutually vertical, and make the center of axes intersect in spheroid of Z axis, X-axis and Y-axis, and X-axis, Y-axis and Z axis can only rotate around respective axis, arc slideway and outer arcuate slideway is fixedly connected with Y-axis respectively with the connecting end of spheroid in X-axis, arc slideway and outer arcuate slideway are the annular slice of sphere, wide chute is equipped with in annular slice, the inner and outer surface of arc slideway and outer arcuate slideway is all set to 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 is with arc slideway exterior surface and coordinate, 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 correspondence is rotated, ball pin is by the ball pin groove of X-axis and Y-axis, spheroid rotational directly drives Z axis to rotate, and ball pin stirs chute drive outer arcuate slideway and the rotation of arc slideway simultaneously, drives X-axis and Y-axis to rotate, thus realizes the corresponding rotation that spheroid rotates drive 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 CN103557240A (en) | 2014-02-05 |
| CN103557240B true CN103557240B (en) | 2015-08-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| 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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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
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 |
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| CN103557240A (en) | 2014-02-05 |
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