201215780 六、發明說明： 【發明所屬之技術領域】 尤其涉及一種三自由度萬向節 [0001] 本發明涉及一種萬向節 【先前技術】 [0002] 萬向節一般都只有兩個自由度，而於一些複雜多自由度 運動機構裏，例如：並聯六輛機器人中，就要求萬向節 具三個自由度才能實現其運動，不然於運轉時萬向節就 ^ 會卡死，進而對整個並聯六軸機器人造成損傷。另，習 知之萬向節結構比角複雜’趙積比較;笨重，運動靈活性 亦比較低。 .,· , .· i;调轉| .1:': j +ΗΗ:: . ' 【發明内容】 … j:; ·ΐ ; ./.V ' [0003] 鑒於上述狀況，有必要提供一種結構簡單、運動靈活性 馬之三自由度萬向節。 [0004] —種三自由度萬向節，包括第一連接座、第二連接座及 雙向鉸接件’該第一連接座及第二連接座藉由該雙向鉸 〇 接件沿相互垂直之第一軸方向及第二轴方向可旋轉地裝 設於一起，所述三自由度萬向節還包括第三連接座，該 第三連接座與第二連接座沿垂直於該第一軸方向與第二 轴方向之第三軸方向可旋轉地裝設於一起。 [0005] 上述自由度萬向節結構簡單、造價成本低、實用性強’ 廣泛應用於對多自由度有需求之機構或裝置。藉由增設 之第三連接座，使得該三自由度萬向節可繞相互垂直之 三個軸向自由旋轉，大大提高了應用該三自由度萬向節 之機構、裝置等之運動靈活性。 099134991 表單編號Α0101 第3頁/共22頁 〇 201215780 【實施方式】 [0006] 本發明三自由度萬向節可廣泛應用於各類複雜多自由度 運動機構上，以提升該運用該三自由度萬向節之機構、 裝置等之運動靈活性。下面將結合附圖及具體實施方式 對本發明較佳實施方式之三自由度萬向節應用於一並聯 六軸機器人（圖未示）為例作進一步之詳細說明。 [0007] 請參閱圖1，本發明較佳實施方式之三自由度萬向節100 包括第一連接座10、第二連接座20、雙向鉸接件30、二 鉸接軸40、連接銷50、銷軸60及第三連接座80。第一連 接座10與第二連接座20藉由雙向鉸接件30、二鉸接軸40 、連接銷50及旋轉銷軸60沿兩個相互垂直之第一軸方向 (亦即圖1所示第一自由度X轴方向）及第二軸方向（亦 即圖1所示第二自由度Y軸方向）可旋轉地裝設於一起。 第三連接座80與第二連接座20沿垂直於該第一軸方向與 第二軸方向之一第三軸方向（亦即圖1所示第三自由度Z 軸方向）可旋轉地裝設於一起。 [0008] 請一併參閱圖2及圖3，第一連接座10橫截面大致呈‘门 ’形塊狀，包括基體11及相對間隔地凸設於該基體11上 之二鉸接塊13。二鉸接塊13之末端分別相對朝向地貫通 開設有一鉸接孔132，該二鉸接塊13之鉸接孔132位於同 一軸線上。 [0009] 第二連接座20之結構與第一連接座10之結構大致相當， 包括基板21及相對凸設於該基板21上之二鉸接塊23。基 板21呈矩形板狀，包括安裝頂面211及與該安裝頂面211 相對之裝配底面212。基板21之安裝頂面211上大致中部 099134991 表單編號A0101 第4頁/共22頁 0992061088-0 201215780 Ο 位置處朝向裝配底面212方向凹設有一大致圓柱形之裝配 槽213。對應地，裝配槽213之底部朝向基板21之裝配底 面212方向相鄰間隔地貫通開設有二固定孔215。二鉸接 塊23相對凸設於基板21之裝配底面212上且鄰近基板21 之二側緣中部位置處，該二鉸接塊23相對位於二固定孔 215之兩側，每一鉸接塊23上鄰近其末端位置處分別朝向 另一鉸接塊23方向貫通開設有一鉸接孔232，該二鉸接孔 232同軸設置。二鉸接塊23之間間隔之距離與第一連接座 10之二鉸接塊13之間間隔之距離相當。當第一連接座1〇 之二鉸接塊13與第二連接座20之二鉸接塊23交叉組裝一 起時，第一連接座10之二鉸接塊13與第二連接座20之二 鉸接塊23相互圍成一大致矩形之裝設空間（圖未示）’ 以將雙向鉸接件3 0裝設於該裝設空間内。 [0010] Ο 雙向鉸接件30於本實施例中大致呈矩形堍狀，夾設於由 第一連接座10之二鉸接塊13與第二連接座20之二鉸接塊 23圍成之裝設空間内，以爿i第一連4座1〇與第二連接座 20可沿兩個相互垂直之自由度方向旋轉地裝設於一起。 雙向鉸接件30之相鄰二側面31、32上朝向其各自相對之 另一側面上分別貫通開設有一軸孔313、323，對應地， 於雙向鉸接件30内形成一與該雙向鉸接件30之四個側面 均相互連通之十字孔（圖未標）。轴孔313、323之直徑 與第一連接座10之鉸接孔132及第二連接座20上之鉸接孔 232相當。 二鉸接轴40為二中空短軸，其内沿軸向貫通開設有一連 接内孔（圖未標）。該二鉸接軸40之一端分別固接於第 099134991 表單編號A0101 第5頁/共22頁 0992061088-0 [0011] 201215780 一連接座10之二鉸接塊13之鉸接孔132内，另一端分別相 對可旋轉地裝設於雙向鉸接件30之軸孔313之兩端内，以 將第一連接座10與雙向鉸接件30可旋轉裝設於一起。 [0012] 連接銷50大致呈T形軸狀，其包括大致圓柱體轴狀之銷體 51及設於銷體51之一末端之橫載面直徑大於銷體51之頭 部53。銷體51之直徑與鉸接軸4〇之連接内孔之直徑相當 ，銷體51之長度略大於二鉸接軸4〇及雙向鉸接件之軸 孔313之長度之和。銷體51上與頭部53相對之另一端貫通 開設有一止脫孔55。 [0013] 銷軸60為一長轴，其大致中部位置處對應連接銷5 〇貫通 開設有一銷孔61，銷軸60組裝時穿過雙向鉸接件3〇之軸 孔323 ’銷抽60之兩端分別裝設於第二連1接.座2〇之二鉸接 塊23之鉸接孔232内。 [0014] 請一併參閱圖5及圖6 ’第三連接座80包括座體81、調整 螺母82、轉轴83、圓錐滾手軸承85、軸承壓蓋87及止推 滚針轴承89 ’座體81呈中空杉柱體狀，包括一裝配端 811及一與該裝配端811相對之達:接端812。裝配端811端 面上鄰近其周緣四個角落位置處分別凹設一固定孔8115 。座體81内沿軸向方向被貫通並形成孔徑由裝配端811朝 向連接端812方向依次逐漸縮小之階梯内孔813。階梯内 孔813包括一凹設於該裝配端811内之軸孔狀之裝配部 8131及一朝向該連接端81 2凹設之軸孔狀之調節部8132 ，該裝配部8131與該調節部8132相接位置處形成一抵持 部813 5 (請參閱圖4所示）。 099134991 表單編號A0101 第6頁/共22頁 0992061088-0 201215780 [0015] 轉輪_由圓錐滾子軸承85可旋轉地裝設並容置於該座 體81之階梯内孔813内，轉轴83包括主軸部831、連接部 咖及調節軸部835 ’主轴部831及調節轴部_相對位於 。亥連接部833兩端’且轴徑尺寸均大於該連接部挪之軸 徑尺寸。該主轴部831上遠離該調節轴部835之末端端面 上對應第二連接座2〇之基板21上之二@定孔215凹設有二 固接孔8315，以將該轉_之主軸部831與第二連接座 Ο [0016] 2〇固接於一起。調節轴部835之外周壁上設置有螺紋，以 與調整螺母82螺接於一起。 圓錐滾子轴承85套設於轉軸83之主軸部831上，隨同該轉 軸83裝設於座體81内；組裝時'該圓錐滾子軸承85之外 周壁對應緊抵於座體81之裝配部8131内，壁上，該圓錐滾 子抽承85朝向連接端812_端之周緣對應抵靠於抵持部 8135 上。 [0017] Ο 軸承壓蓋87罩設於座體81之裝配端811將圓錐滾子轴承 85收容於座體81之裝配部8131内，並央設於軸承壓蓋87 與抵持部8135之間。軸承壓蓋87呈大致矩形板狀，其周 緣尺寸與座體81之周緣尺寸相當，以使該軸承壓蓋87可 完整地固定罩設於該座體8；[之裝配端811上。該軸承壓蓋 87上鄰近其周緣之四角落位置處對應座體8丨上之四固定 孔8115分別貫通開設有一固接孔875。轴承壓蓋87包括 壓合面871及與壓合面871相對之外表面873，該外表面 873上朝向壓合面871方向凹設形成一圓枉形安裝部 ，該安裝部874之中部對應所述轉軸83朝向壓合面871方 向貫通開設有一轴孔876，以利於該轉軸83之主軸部831 099134991 表箪編號A0101 第7頁/共22頁 0992061088-0 201215780 之末端從該轴孔876伸出以與該第二連接座20固接。壓合 面871上圍繞該軸孔876凸設有—圓柱形抵持環878，該 抵持環878之外徑尺寸與座體81之裝配端811之裝配部 8131之内徑尺寸相當。 [0018] [0019] 止推滾針軸承89對應裝設於秘承壓蓋之安裝部874内並 套設於該轉軸83之主軸部831上鄰近其末端位置處。 請一併參閱4，組裝第三連接座80時，先將該調整螺母82 螺接於轉軸83之調節轴部835上，接下來，將圓錐滚子軸 承8 5套設於該轉轴83之主軸部831上’並隨同該轉軸μ 及調整螺母82從座體81之f配!織811伸入直至該圓錐滾子 軸承85完整地收容於座體81之裝配部8131内。圓錐滾子 軸承85朝向調整螺母82之一端抵靠於調整螺母82上，對 應地’調卸螺母82隨同轉轴83之調節輛部835收容於調節 部8132内，該圓錐滾子軸承85朝向調整螺母82之一端面 周緣抵靠於階梯内孔813之抵持部8135上β再接下來，將 軸承壓蓋87罩設於座體81之裝配端811，並藉由四個螺釘 88穿過軸承壓蓋87上之固接孔875释該軸承壓蓋87與座 體81固接於一起。該轉軸83之主軸部831末端穿過軸承壓 蓋87之軸孔876露出於外，該軸承壓蓋87之抵持環878對 應緊配合收容於座體81之裝配端811之裝配部8131内。 抵持環878麟於_滾伟承85上，㈣子抽承⑽ 夾設於軸承壓蓋87與抵持部8135之間。最後，將止推滾 針軸承89裝狀軸承壓蓋87之安|部8?4内並套設於該轉 轴83之主軸部831末端上，即完成所述第三連接座8〇之組 裝。 099134991 表單編號Α0101 第8頁/共22頁 0992061088-0 201215780 [0020] Ο ❹ 組裝二自由度萬向節100時，先將兩個螺釘70穿過第二連 接座20之基板21上之二固定孔215，並對應螺接於該轉軸 83之主轴部831末端之二固接孔8315内，從而將第二連 接座20固定裝設於該第三連接座80之轉軸83末端。接下 來’將雙向鼓接件30放置於該第二連接座20之二鉸接塊 23之間’將銷軸6〇依次穿過一鉸接塊23上之鉸接孔232 、雙向欽接件30之輛孔323及另一鉸接塊23上之鉸接孔 232 ’使該銷轴60之兩端分別裝設於第二連接座20之二錢 接塊23之鉸接孔232内，該銷軸60中部之銷孔61與雙向 欽接件30之軸孔313對準並位於同一轴線上。再接下來， 將第一連接座10之二鉸接塊對準該雙向鉸接件3〇之兩 侧’並使該鉸接塊13上之鉸接孔132與雙向鉸接件30之軸 孔313對準’將二鉸接軸4〇分別穿過該二鉸接塊13上之鉸 接孔132並鉸接於該雙向鉸接件3〇之轴孔313之相對兩端 。最後，將連接銷50之銷體51依次穿過一鉸接軸40、雙 向鉸接件30之軸孔313之一端、銷軸6〇中部之銷孔61並 從轴孔313之另一端伸出，最後穿過另一鉸接軸40，並藉 由一止脫栓（圖未示）穿過設於連接銷5〇末端之止脫孔 55防止該連接銷50脫出，即完成所述三自由度萬向節1〇〇 之安裝。 [0021] 請再次參閱圖1，三自由度萬向節1〇〇使用時，該第一連 接座10藉由該雙向鉸接件30與第二連接座20可旋轉地裝 設於一起，其中’該第一連接座10相對第二連接座20可 繞第一抽（即圖1所示X轴）及第二軸（即圖1所示Y軸） 兩個自由度方向旋轉。第三連接座80相對第二連接座20 099134991 表單編號A0101 第9頁/共22頁 0992061088-0 201215780 可繞該垂直於所述X軸及Y軸所於平面之第三軸（即圖1所 示Ζ軸）方向旋轉地裝設於一起。 [0022] 所述三自由度萬向節100結構簡單、造價成本低、實用性 強，廣泛應用於對多自由度有需求之機構或裝置。藉由 增設第三連接座80，使得該三自由度萬向節100可繞第一 軸（即圖1所示X轴）、第二軸（即圖1所示Υ軸）及第三 軸（即圖1所示Ζ軸）三個自由度自由旋轉，大大提高了 應用該三自由度萬向節100之機構、裝置等之運動靈活性 。該三自由度萬向節100藉由於結構設計上採用高剛性之 圓錐滚子軸承85和止推滚針軸承89相結合，大大增強了 三自由度萬向節100繞Ζ軸第三自由度之旋轉性能，而且 藉由鎖緊調整螺母82可調節、控制第三連接座80旋轉時 圓錐滾子軸承85相對座體81内壁及軸承壓蓋87之間隙， 提高所述三自由度萬向節100之旋轉精度。 [0023] 綜上所述，本發明確已符合發明專利之要件，爰依法提 出專利申請。惟，以上所述者、僅為本發明之較佳實施方 式，本發明之範圍並不以上述實施方式為限，舉凡熟悉 本案技藝之人士援依本發明之精神所作之等效修飾或變 化，皆應涵蓋於以下申請專利範圍内。 【圖式簡單說明】 [0024] 圖1係本發明較佳實施方式之三自由度萬向節之立體組裝 示意圖。 t〇〇25] 圖2係圖1所示三自由度萬向節之立體分解示意圖。 [0026] 圖3係圖1所示三自由度萬向節之另一視角下之立體分解 099134991 表單編號Α0101 第10頁/共22頁 0992061088-0 201215780 示意圖。 [0027] 圖4係圖1所示三自由度萬向節沿IV-IV方向剖切之一剖視 圖。 [0028] 圖5係本發明較佳實施方式之三自由度萬向節之旋轉座之 立體分解示意圖。 [0029] 圖6係本發明較佳實施方式之三自由度萬向節之旋轉座之 另一視角下之立體分解示意圖。 Cl [0030] 【主要元件符號說明】 三自由度萬向節：100 [0031] 第一連接座：10 [0032] 基體：11 [0033] 鉸接塊：13、23 [0034] 鉸接孔：132、232 [0035] 第二連接座：20 ❹ [0036] 基板：21 [0037] 安裝頂面：211 [0038] 裝配底面：212 [0039] 裝配槽：213 [0040] 固定孔：215、8115 [0041] 雙向鉸接件：30 [0042] 側面：31、32 099134991 表單編號A0101 第11頁/共22頁 0992061088-0 201215780 [0043] 軸孔：313、323 [0044] 鉸接軸：40 [0045] 連接銷：50 [0046] 銷體：51 [0047] 頭部：53 [0048] 止脫孔：5 5 [0049] 銷軸：60 [0050] 銷孔：61 [0051] 螺釘：70、88 [0052] 第三連接座：80 [0053] 座體：81 [0054] 裝配端：811 [0055] 連接端：812 [0056] 階梯内孔：813 [0057] 裝配部：8131 [0058] 調節部：8132 [0059] 抵持部：8135 [0060] 轉軸：83 [0061] 主軸部：831 099134991 表單編號A0101 第12頁/共22頁 0992061088-0 201215780 [0062] 固接孔. 8315 [0063] 連接部： 833 [0064] 調節軸部 ：835 [0065] 圓錐滚子軸承： 85 [0066] 轴承壓蓋 ：87 [0067] 壓合面： 871 [0068] 外表面： 873 [0069] 安裝部： 874 [0070] 固接孔： 875 [0071] 軸孔：876 [0072] 抵持環： 878 [0073] 止推滚針轴承： 89 ❹ 099134991 表單編號A0101 第13頁/共22頁 0992061088-0201215780 VI. Description of the invention: [Technical field of invention] In particular, a three-degree-of-freedom joint [0001] The present invention relates to a universal joint [Prior Art] [0002] A universal joint generally has only two degrees of freedom, In some complex multi-degree-of-freedom motion mechanisms, for example, six robots in parallel require the universal joint to have three degrees of freedom to achieve its motion, otherwise the universal joint will be stuck and then the whole Parallel six-axis robots cause damage. In addition, the conventional gimbal structure is more complex than the angular complex 'Zhao Ji; bulky, and the flexibility of movement is relatively low. .·· , .· i; 调转| .1:': j +ΗΗ:: . ' [Content of the invention] ... j:; ·ΐ ; ./.V ' [0003] In view of the above situation, it is necessary to provide a The structure is simple and the movement flexibility is the three-degree-of-freedom universal joint. [0004] A three-degree-of-freedom universal joint includes a first connecting seat, a second connecting seat and a two-way hinge. The first connecting seat and the second connecting seat are perpendicular to each other by the two-way hinged joint An axial direction and a second axial direction are rotatably mounted together, the three-degree-of-free joint further includes a third connecting seat, the third connecting seat and the second connecting seat being perpendicular to the first axial direction The third axial direction of the second axial direction is rotatably mounted together. [0005] The above-mentioned degree of freedom gimbal has a simple structure, low cost, and high practicability, and is widely used in a mechanism or device that requires a plurality of degrees of freedom. By adding the third connecting seat, the three-degree-of-free joint can be freely rotated about three axial directions perpendicular to each other, which greatly improves the movement flexibility of the mechanism, device and the like to which the three-degree-of-free joint is applied. 099134991 Form No. 1010101 Page 3 of 22 〇201215780 [Embodiment] [0006] The three-degree-of-freedom universal joint of the present invention can be widely applied to various complex multi-degree-of-freedom motion mechanisms to enhance the use of the three degrees of freedom. The flexibility of the mechanism, device, etc. of the universal joint. The three-degree-of-freedom universal joint of the preferred embodiment of the present invention is applied to a parallel six-axis robot (not shown) for further detailed description with reference to the accompanying drawings and specific embodiments. Referring to FIG. 1, a three-degree-of-freedom universal joint 100 according to a preferred embodiment of the present invention includes a first connecting base 10, a second connecting base 20, a two-way hinge 30, two hinge shafts 40, a connecting pin 50, and a pin. The shaft 60 and the third connecting seat 80. The first connecting base 10 and the second connecting base 20 are in two mutually perpendicular first axial directions by the two-way hinge 30, the two hinge shafts 40, the connecting pin 50 and the rotating pin shaft 60 (that is, the first one shown in FIG. 1 The degree of freedom X-axis direction and the second axis direction (that is, the second degree of freedom Y-axis direction shown in FIG. 1) are rotatably mounted together. The third connecting base 80 and the second connecting base 20 are rotatably mounted along a third axis direction perpendicular to the first axis direction and the second axis direction (ie, the third degree of freedom Z axis direction shown in FIG. 1) Together. Referring to FIG. 2 and FIG. 3 together, the first connecting block 10 has a substantially 'door' shaped block in cross section, and includes a base body 11 and two hinge blocks 13 protrudingly spaced apart from the base body 11. The ends of the two hinge blocks 13 respectively open through a hinge hole 132, and the hinge holes 132 of the two hinge blocks 13 are located on the same axis. The structure of the second connecting base 20 is substantially equivalent to the structure of the first connecting base 10, and includes a base plate 21 and two hinge blocks 23 protruding from the base plate 21. The base plate 21 has a rectangular plate shape and includes a mounting top surface 211 and an assembly bottom surface 212 opposite the mounting top surface 211. The mounting top surface 211 of the substrate 21 is substantially in the middle. 099134991 Form No. A0101 Page 4 of 22 0992061088-0 201215780 Ο A substantially cylindrical mounting groove 213 is recessed toward the mounting bottom surface 212. Correspondingly, two fixing holes 215 are formed through the bottom of the mounting groove 213 so as to be adjacent to the mounting bottom surface 212 of the substrate 21. The two hinge blocks 23 are oppositely disposed on the mounting bottom surface 212 of the substrate 21 and adjacent to the middle of the two side edges of the substrate 21. The two hinge blocks 23 are oppositely located on two sides of the two fixing holes 215, and each of the hinge blocks 23 is adjacent to the hinge block 23 A hinge hole 232 is defined in the end position toward the other hinge block 23, and the two hinge holes 232 are coaxially disposed. The distance between the two hinge blocks 23 is equivalent to the distance between the two hinge blocks 13 of the first connector 10. When the first connecting block 1〇2 hinge block 13 and the second connecting block 20 are hinged together, the two connecting blocks 13 of the first connecting seat 10 and the second connecting block 23 of the second connecting seat 20 are mutually A substantially rectangular installation space (not shown) is enclosed to install the two-way hinge 30 in the installation space. [0010] The two-way hinge 30 is generally rectangular in shape in the present embodiment, and is disposed in a mounting space surrounded by two hinge blocks 13 of the first connecting base 10 and two hinge blocks 23 of the second connecting base 20. In the first step, the first connecting frame and the second connecting base 20 are rotatably mounted along two mutually perpendicular degrees of freedom. A shaft hole 313, 323 is defined in each of the two opposite sides 31, 32 of the two-way hinge 30, and correspondingly, a two-way hinge 30 is formed in the two-way hinge 30. A cross hole with four sides connected to each other (not shown). The diameter of the shaft holes 313, 323 is equivalent to the hinge hole 132 of the first connector 10 and the hinge hole 232 of the second connector 20. The two hinge shafts 40 are two hollow short shafts, and a connecting inner hole (not shown) is formed in the axial direction. One end of the two hinged shafts 40 is respectively fixed to the 099134991 form number A0101, page 5 / total 22 pages 0992061088-0 [0011] 201215780 a connecting seat 10 of the two hinge blocks 13 of the hinge hole 132, the other end is opposite Rotatingly mounted in the two ends of the shaft hole 313 of the two-way hinge 30 to rotatably mount the first connector 10 and the two-way hinge 30 together. The connecting pin 50 has a substantially T-shaped shaft shape, and includes a pin body 51 having a substantially cylindrical shaft shape and a head portion 53 having a cross-sectional surface provided at one end of the pin body 51 having a larger diameter than the pin body 51. The diameter of the pin body 51 is equivalent to the diameter of the connecting inner hole of the hinge shaft 4, and the length of the pin body 51 is slightly larger than the sum of the lengths of the two hinge shafts 4'' and the shaft holes 313 of the two-way hinge members. A stopper hole 55 is formed through the other end of the pin body 51 opposite to the head portion 53. [0013] The pin shaft 60 is a long shaft, and a pin hole 61 is formed through the corresponding connecting pin 5 at a substantially central position thereof. When the pin shaft 60 is assembled, the pin hole 323 'pin 60 of the two-way hinge member 3 is assembled. The ends are respectively installed in the hinge holes 232 of the second joint block 23 of the second joint. [0014] Please refer to FIG. 5 and FIG. 6 together. 'The third connecting base 80 includes a seat body 81, an adjusting nut 82, a rotating shaft 83, a tapered roller bearing 85, a bearing gland 87 and a thrust needle bearing 89' seat. The body 81 has a hollow fir-like shape and includes a mounting end 811 and a mating end 812 opposite to the mounting end 811. A fixing hole 8115 is recessed on the end surface of the fitting end 811 adjacent to the four corners of the periphery thereof. The inside of the seat body 81 is penetrated in the axial direction to form a stepped inner hole 813 whose hole diameter is gradually reduced from the fitting end 811 toward the connecting end 812. The stepped inner hole 813 includes a shaft hole-shaped mounting portion 8131 recessed in the mounting end 811 and a shaft hole-shaped adjusting portion 8132 recessed toward the connecting end 81 2 . The mounting portion 8131 and the adjusting portion 8132 A resisting portion 813 5 is formed at the contact position (see FIG. 4). 099134991 Form No. A0101 Page 6 of 22 0992061088-0 201215780 [0015] The runner _ is rotatably mounted by the tapered roller bearing 85 and received in the stepped bore 813 of the seat 81, the shaft 83 The main shaft portion 831, the connecting portion, and the adjusting shaft portion 835 'the main shaft portion 831 and the adjusting shaft portion _ are located opposite each other. Both ends of the hai joint portion 833' and the shaft diameter are larger than the shaft diameter of the joint portion. The second fixing hole 215 of the main body portion 831 on the end surface of the main shaft portion 831 corresponding to the second connecting base 2 is recessed with two fixing holes 8315 to rotate the main shaft portion 831 It is fixed together with the second connecting seat [0016]. The outer peripheral wall of the adjustment shaft portion 835 is provided with a thread to be screwed together with the adjustment nut 82. The tapered roller bearing 85 is sleeved on the main shaft portion 831 of the rotating shaft 83, and is mounted in the seat body 81 along with the rotating shaft 83. When assembling, the outer peripheral wall of the tapered roller bearing 85 is correspondingly fixed to the fitting portion of the seat body 81. In the wall 8131, the circumference of the tapered roller pumping groove 85 corresponding to the end of the connecting end 812_ corresponds to the abutting portion 8135. [0017] 轴承 The bearing gland 87 is disposed on the mounting end 811 of the base 81. The tapered roller bearing 85 is received in the mounting portion 8131 of the base 81 and is disposed between the bearing gland 87 and the abutting portion 8135. . The bearing gland 87 has a substantially rectangular plate shape, and its peripheral dimension is equivalent to the peripheral dimension of the seat body 81, so that the bearing gland 87 can be completely fixedly mounted on the seat body 8; A fixing hole 875 is defined in each of the four fixing holes 8115 of the corresponding bearing body 8 at the four corners of the bearing gland 87 adjacent to the periphery thereof. The bearing gland 87 includes a pressing surface 871 and an outer surface 873 opposite to the pressing surface 871. The outer surface 873 is recessed toward the pressing surface 871 to form a circular-shaped mounting portion, and the middle portion of the mounting portion 874 corresponds to the A shaft hole 876 is defined in the direction of the pressing surface 871 of the rotating shaft 83 so as to extend from the shaft hole 876 at the end of the spindle portion 831 099134991 of the rotating shaft 83, No. A0101, page 7 / 22 pages 0992061088-0 201215780 It is fixed to the second connecting base 20. A cylindrical resisting ring 878 is protruded from the pressing hole 871 around the shaft hole 876. The outer diameter of the resisting ring 878 is equal to the inner diameter of the fitting portion 8131 of the fitting end 811 of the seat body 81. [0019] The thrust needle bearing 89 is disposed in the mounting portion 874 of the secret pressure cap and is sleeved on the main shaft portion 831 of the rotating shaft 83 adjacent to the end position thereof. When the third connecting seat 80 is assembled, the adjusting nut 82 is screwed onto the adjusting shaft portion 835 of the rotating shaft 83, and then the tapered roller bearing 8 5 is sleeved on the rotating shaft 83. The main shaft portion 831 is inserted into the mounting portion 8131 of the base 81 from the base 81 of the base 81 along with the shaft μ and the adjusting nut 82. The tapered roller bearing 85 is abutted against the adjusting nut 82 toward one end of the adjusting nut 82, and correspondingly, the adjusting nut 82 is received in the adjusting portion 8132 along with the adjusting portion 835 of the rotating shaft 83. The tapered roller bearing 85 is oriented toward the adjustment. One end of the end face of the nut 82 abuts against the abutting portion 8135 of the stepped inner hole 813. Next, the bearing gland 87 is placed over the fitting end 811 of the seat body 81, and the bearing is passed through the bearing by four screws 88. The fixing hole 875 on the gland 87 releases the bearing gland 87 and the seat body 81 are fixed together. The end of the main shaft portion 831 of the rotating shaft 83 is exposed through the shaft hole 876 of the bearing gland 87, and the abutting ring 878 of the bearing gland 87 is tightly fitted in the fitting portion 8131 of the fitting end 811 of the seat body 81. The ring 878 is placed on the _ rolling Weicheng 85, and the (four) sub-sucking (10) is interposed between the bearing gland 87 and the abutting portion 8135. Finally, the thrust needle bearing 89 is mounted on the end portion 8 to 4 of the bearing gland 87 and sleeved on the end of the main shaft portion 831 of the rotating shaft 83, that is, the assembly of the third connecting seat 8〇 is completed. . 099134991 Form No. 1010101 Page 8 of 22 0992061088-0 201215780 [0020] Ο ❹ When assembling the two-degree-of-freedom joint 100, the two screws 70 are first fixed through the second base plate 21 of the second connector 20. The hole 215 is correspondingly screwed into the two fixing holes 8315 at the end of the main shaft portion 831 of the rotating shaft 83, so that the second connecting base 20 is fixedly mounted on the end of the rotating shaft 83 of the third connecting base 80. Next, 'the two-way drum member 30 is placed between the two hinge blocks 23 of the second connecting seat 20'. The pin 6 turns through the hinge hole 232 on the hinge block 23 and the two-way accessing member 30. The hole 323 and the hinge hole 232 ′ on the other hinge block 23 are respectively disposed at two ends of the pin 60 in the hinge hole 232 of the two connecting block 23 of the second connecting seat 20 , and the pin of the pin 60 is pinned in the middle The holes 61 are aligned with the shaft holes 313 of the two-way plucking member 30 and are located on the same axis. Next, the two hinge blocks of the first connector 10 are aligned with the two sides of the two-way hinge 3' and the hinge holes 132 of the hinge block 13 are aligned with the shaft holes 313 of the two-way hinge 30. The two hinge shafts 4 穿过 respectively pass through the hinge holes 132 of the two hinge blocks 13 and are hinged to opposite ends of the shaft hole 313 of the two-way hinge member 3 . Finally, the pin body 51 of the connecting pin 50 is sequentially passed through an hinge shaft 40, one end of the shaft hole 313 of the two-way hinge 30, the pin hole 61 in the middle of the pin 6〇, and protrudes from the other end of the shaft hole 313, and finally Passing through the other hinge shaft 40, and preventing the connecting pin 50 from coming out through a stopper hole 55 provided at the end of the connecting pin 5 by a stopper bolt (not shown), that is, completing the three degrees of freedom Install to section 1〇〇. [0021] Referring again to FIG. 1, when the three-degree-of-freedom joint is used, the first connector 10 is rotatably mounted by the two-way hinge 30 and the second connector 20, where ' The first connecting base 10 is rotatable relative to the second connecting base 20 in two degrees of freedom about the first pumping (ie, the X axis shown in FIG. 1) and the second axis (ie, the Y axis shown in FIG. 1). The third connector 80 is opposite to the second connector 20 099134991. Form number A0101 page 9 / total 22 page 0992061088-0 201215780 can be around the third axis perpendicular to the X axis and the Y axis (ie, Figure 1 The shafts are rotatably mounted together. [0022] The three-degree-of-freedom universal joint 100 has a simple structure, low cost, and high practicability, and is widely applied to a mechanism or device that requires a plurality of degrees of freedom. By adding the third connecting seat 80, the three-degree-of-free joint 100 can be wound around the first axis (ie, the X-axis shown in FIG. 1), the second axis (ie, the x-axis shown in FIG. 1), and the third axis ( That is, the three axes of freedom of the Ζ axis shown in FIG. 1 are freely rotated, which greatly improves the movement flexibility of the mechanism, device, and the like to which the three-degree-of-freedom joint 100 is applied. The three-degree-of-freedom universal joint 100 is greatly enhanced by the combination of a high-rigidity tapered roller bearing 85 and a thrust needle bearing 89, which greatly enhances the third degree of freedom of the three-degree-of-freedom universal joint 100 around the yaw axis. The rotation performance, and the locking nut 82 can adjust and control the gap between the tapered roller bearing 85 relative to the inner wall of the seat 81 and the bearing gland 87 when the third connecting seat 80 rotates, thereby improving the three-degree-of-freedom universal joint 100 The rotation accuracy. [0023] In summary, the present invention has indeed met the requirements of the invention patent, and the patent application is filed according to law. However, the above-mentioned embodiments are merely preferred embodiments of the present invention, and the scope of the present invention is not limited to the above-described embodiments, and those skilled in the art will be able to make equivalent modifications or variations in accordance with the spirit of the present invention. All should be covered by the following patent application. BRIEF DESCRIPTION OF THE DRAWINGS [0024] FIG. 1 is a perspective view of a three-degree-of-freedom joint of a preferred embodiment of the present invention. T〇〇25] Fig. 2 is a perspective exploded view of the three-degree-of-freedom universal joint shown in Fig. 1. 3 is a perspective exploded view of another three-degree-of-freedom joint shown in FIG. 1 099134991 Form No. 1010101 Page 10 of 22 0992061088-0 201215780 Schematic. 4 is a cross-sectional view of the three-degree-of-freedom universal joint shown in FIG. 1 taken along line IV-IV. [0027] FIG. 5 is a perspective exploded view of a three-degree-of-freedom universal joint rotary seat according to a preferred embodiment of the present invention. 6 is a perspective exploded view of the rotary seat of the three-degree-of-freedom universal joint according to a preferred embodiment of the present invention. Cl [0030] [Main component symbol description] Three-degree-of-freedom joint: 100 [0031] First connector: 10 [0032] Base: 11 [0033] Hinged block: 13, 23 [0034] Hinged hole: 132, 232 [0035] Second connector: 20 ❹ [0036] Substrate: 21 [0037] Mounting top surface: 211 [0038] Mounting bottom surface: 212 [0039] Mounting groove: 213 [0040] Fixing holes: 215, 8115 [0041 Two-way hinge: 30 [0042] Side: 31, 32 099134991 Form No. A0101 Page 11 of 22 0992061088-0 201215780 [0043] Shaft hole: 313, 323 [0044] Hinged shaft: 40 [0045] Connecting pin :50 [0046] Pin body: 51 [0047] Head: 53 [0048] Stopping hole: 5 5 [0049] Pin: 60 [0050] Pin hole: 61 [0051] Screw: 70, 88 [0052] Third connection seat: 80 [0053] Seat: 81 [0054] Assembly end: 811 [0055] Connection end: 812 [0056] Stepped inner hole: 813 [0057] Assembly part: 8131 [0058] Adjustment part: 8132 [ 0059] Resistor: 8135 [0060] Rotary shaft: 83 [0061] Spindle section: 831 099134991 Form No. A0101 Page 12 of 22 0992061088-0 201215780 [0062] Mounting hole. 8315 [0063] Connecting part 833 [0064] Adjusting shaft: 835 [0065] Tapered roller bearing: 85 [0066] Bearing gland: 87 [0067] Pressing surface: 871 [0068] Outer surface: 873 [0069] Mounting: 874 [0070 ] Snap hole: 875 [0071] Shaft hole: 876 [0072] Retaining ring: 878 [0073] Thrust needle bearing: 89 ❹ 099134991 Form No. A0101 Page 13 of 22 0992061088-0