RU38995U1 - BALL MANIPULATOR - Google Patents

Abstract

The trackball belongs to automation and computer technology and can be used in information display systems to move the cursor on the screen of a raster monitor, the lower suspension element of the leading ball of which is made in the form of a flat bundle of two rolling bearings, the rotation axes of which are perpendicular and do not intersect, and the rolling bearing whose axis rotates vertically either inside the sleeve fixed in the body of the trackball or on an axis fixed in the body of the trackball. The smoothness and rotation speed of the leading ball do not depend on the direction of its rotation and the height of the trackball decreases significantly without reducing the diameter of the leading ball.

Description

Technical field

The utility model relates to automation and computer technology and can be used in systems for displaying information on the screen of a raster monitor to move the cursor, control the orientation of images of moving objects on the screen of a raster monitor.

State of the art

Known ball manipulator containing located in the housing and kinematically connected to each other a leading ball and two mutually perpendicular driven rollers, on the axes of which are set code wheels and associated coordinate converters, the lower and two side suspension elements of the driving ball are fixed in the housing (Graphic ball manipulator, USSR copyright certificate No. 1674187, MKI 5 G 06 K 11/06, G 06 F 3/033, author N.V. Vorobyov, 08.30.91., Bulletin No. 32).

A disadvantage of the known spherical manipulator-analogue is the high height and width of the device due to the lower and lateral suspensions of the leading ball, made in the form of rotary L-shaped axes with two bearings at their ends, which leads to an increase in the dimensions of the entire spherical manipulator.

The closest in technical essence to the claimed utility model (prototype) is a ball manipulator containing a leading ball located in the housing and kinematically connected to each other and two mutually perpendicular driven rollers, on the axes of which there are code wheels and associated coordinate converters, the lower and one side suspension element of the driving ball

fixed in the casing (Spherical manipulator, RF patent No. 2006963, MKI 5 G 09 G 5/08, authors EI Kutniy, B. G. Mayorov, O. L. Parhomenko, 01.30.94., Bulletin No. 2).

The disadvantage of the prototype ball manipulator is that the lower suspension element of the driving ball, made in the form of a rotary L-shaped axis with two bearings at its ends, has large dimensions and, in turn, increase the overall size - the height of the ball manipulator. The large dimensions of the ball manipulator do not allow it to be installed in moving objects having small volumes of the habitat, which narrows the scope of its application.

Utility Model Essence

The proposed ball manipulator can reduce overall dimensions and expand the scope.

In the well-known ball manipulator located in the housing and kinematically connected to each other, a driving ball and two mutually perpendicular driven rollers, on the axes of which are set code wheels and associated coordinate converters, the lower and side suspension elements of the driving ball are fixed in the housing, the lower suspension element the leading ball is made in the form of an angular contact bearing, the axis of rotation of which is located vertically and passes through the center of the leading ball, the axis of the radial bearing, on which is fixed The main bearing is located horizontally, moreover, the axes of these bearings are perpendicular and do not intersect, the outer ring of the angular contact bearing is fixed in the sleeve.

The purpose of this utility model is to reduce the overall dimensions without reducing the diameter of the leading ball, expanding the scope and increasing usability. For this, the height of the sleeve and the height of the axis of the angular contact bearing are smaller than the height of the outer ring of the angular contact bearing, the sleeve and axis of the angular contact bearing have radial cuts, part of the surface of the radial bearing protrudes above the side surface of the angular contact bearing and interacts with the surface of the driving ball .

In addition, the trackball can be implemented in option 1 so that the radial bearing has a diameter smaller than the radius of the inner ring of the angular contact bearing, the axis of the radial bearing is fixed in the radial cutout of the axis of the angular contact bearing, the sleeve of the angular contact bearing is fixed in the ball housing the manipulator.

In addition, the spherical arm can be implemented in version 2 so that the radial bearing has a diameter less than or equal to the diameter of the angular contact bearing, the axis of the radial bearing is fixed in the radial cutout of the sleeve of the angular contact bearing, the axis of the angular contact bearing is fixed in the body of the spherical arm.

The task of simplifying the design and reducing the overall dimensions of the ball manipulator was solved without reducing the diameter of the leading ball, because the small diameter of the leading ball leads to a deterioration in the convenience of the human operator.

The lower suspension element of the driving ball is made without a rotary L-shaped axis with two bearings at its ends, and is replaced by either two bearings rotating in a fixed sleeve or two bearings rotating on a fixed axis. In this case, both the axis and the sleeve have a height less than the height of the angular contact rolling bearing. The leading ball rests on the surface of the radial bearing, which protrudes slightly above the height of the angular contact bearing. The contact point of the driving ball and the surface of the outer ring of the radial bearing is located above the lowest point on the surface of the driving ball. Thus, the overall size of the trackball - the height is reduced by the height of the L-shaped axis and is actually equal to the diameter of the leading ball plus the height of the angular contact bearing.

List of drawings

Figure 1 shows the mechanism of the trackball (option 1).

Figure 2 shows the mechanism of the trackball (option 2).

An example embodiment of a utility model

The trackball contains, located in the housing (not shown in the figures) and kinematically connected to each other, the driving ball 1 and two mutually perpendicular driven rollers 2, 3. On the axes of the driven rollers 2, 3 are set code wheels 4, 5, the gear part of the surface of which located inside the grooves of the coordinate transducers 6, 7. The lateral suspension element of the driving ball 1 is made in the form of a rolling bearing (not shown in the figures), presses the driving ball 1 against the driven rollers 2, 3. An axis 9 is fixed in the angular contact bearing 8, in which done by dial cutout 10. Axis 14 is horizontally fixed in radial cutout 10. Radial bearing 15 is fixed to axis 14. The upper part of the radial bearing 15 protrudes above the top surface of the axis 9 and is in contact with the surface of the driving ball 1. The outer ring 11 of the angular contact bearing 8

fixed inside the sleeve 12, which is fixed in the body of the trackball (option 1).

The outer ring 11 of the angular contact bearing 8 is fixed in the sleeve 12, in which the radial cutout 13 is made. In the radial cutout 13, the axis 14 is fixed horizontally. On the axis 14, the radial bearing 15 is fixed. The upper part of the radial bearing 15 protrudes above the upper surface of the sleeve 12 and is in contact with the surface of the driving ball 1. The inner ring of the angular contact bearing 8 is fixed on the axis 9, which is fixed in the casing of the manipulator (option 2).

Coordinate converters 6, 7 are mounted on a printed circuit board (the board is not shown in the figures). Two coaxial pairs of LED 16 and photodiode 17 are installed in each coordinate converter 6 and 7.

The trackball works as follows. The human operator rotates the leading ball 1, which is constantly engaged (kinematically connected) with two mutually perpendicular driven rollers 2, 3. The smooth rotation of the leading ball 1 in any direction ensures its location between the radial bearing 15 (bottom), driven rollers 2 , 3 (from the sides) to which the driving ball 1 is pressed by the side suspension element. When the leading ball 1 rotates, the driven rollers 2 and 3 decompose the rotation speed vector of the leading ball 1 into two mutually perpendicular rotation speed vectors of the driven rollers 2 and 3. Thus, if the rotation of the leading ball 1 occurs strictly in depth (from the depth) of the manipulator , then the leading ball 1 rotates only the driven roller 2 - the speed vectors of the leading ball 1 and the driven roller 2 coincide. The driven roller 3 does not rotate, as the velocity vector of the leading ball 1 is parallel to the axis of the driven roller 3. A similar (and reverse, to the above) interaction occurs between the leading ball 1 and the driven rollers 3 and 2 with directions of rotation along the width of the trackball. While the driven roller 3 rotates, the driven roller 2 does not rotate. When the directions of rotation of the driving ball 1 are different from those indicated above, its velocity vector is decomposed into two vectors of the driven rollers 2 and 3. On the axes of the driven rollers 2 and 3, code wheels 4 and 5 are installed, which rotate in the grooves of the coordinate converters 6 when the corresponding roller is rotated , 7. Each code wheel 4 and 5 is made in the form of a circular plate, on the edges of which there are radial cut-out teeth. The teeth close alternately the luminous flux between the coaxial pairs of the LED 16 and the photodiode 17 in each coordinate converter 6, 7, which are mounted on

printed circuit board. The pulsed signals from the photodiodes 17 have a duration and phase, depending on the speed and direction of rotation of the leading ball 1.

The smooth rotation of the leading ball 1 in any direction ensures its contact and emphasis on the surface of the radial bearing 15. Assume that at the moment of the start of rotation of the leading ball 1, the radial bearing 15 is in a position where its vertical plane of symmetry does not coincide with the plane of the direction of rotation of the leading ball 1 Due to the joint adhesion of the surfaces (friction force) of the outer ring of the radial bearing 15 and the driving ball 1, the axis 9 (figure 1) or the sleeve 12 (figure 2) will rotate with the angular contact bearing 8 in such a way azom that the symmetry plane will coincide with the plane of rotation.

The height of the proposed ball manipulator compared with the known is reduced by the height of the rotary L-shaped axis with two rolling bearings at its ends. When using a rolling bearing with an external diameter of 8 mm in this bushing, its height will be about 20 mm, which is essential for the height of the proposed spherical arm, comparable with the diameter of the driving ball 1 (for example, 60 mm).

Industrial applicability

The proposed ball manipulator is industrially implemented, it allows to reduce overall dimensions without reducing the diameter of the leading ball 1, to improve its technical characteristics, to expand the scope.

Claims (3)

1. A ball manipulator, comprising a driving ball and two mutually perpendicular driven rollers located in the housing and kinematically connected to each other, on the axes of which are set code wheels and associated coordinate converters, the lower and lateral suspension elements of the driving ball are fixed in the housing, the lower suspension element the leading ball is made in the form of an angular contact bearing, the axis of rotation of which is located vertically and passes through the center of the leading ball, the axis of the radial bearing, on which is fixed A plain bearing is arranged horizontally, the axes of these bearings being perpendicular and not intersecting, the outer ring of the angular contact bearing is fixed in the sleeve, characterized in that the height of the sleeve and the height of the axis of the angular contact bearing are smaller than the height of the outer ring of the angular contact bearing, the sleeve and the axis of the angular contact bearing has radial cuts, a part of the surface of the radial bearing protrudes above the lateral surface of the angular contact bearing and interacts with the surface of the leads conductive ball. 2. The trackball according to claim 1, characterized in that the radial bearing has a diameter smaller than the radius of the inner ring of the angular contact bearing, the axis of the radial bearing is fixed in the radial cutout of the axis of the angular contact bearing, the sleeve of the angular contact bearing is fixed in the ball housing the manipulator. 3. The trackball according to claim 1, characterized in that the radial bearing has a diameter less than or equal to the diameter of the angular contact bearing, the axis of the radial bearing is fixed in the radial cutout of the sleeve of the angular contact bearing, the axis of the angular contact bearing is fixed in the housing of the trackball.