WO2021017552A1 - 一种二自由度和三自由度可转换的球关节结构 - Google Patents

一种二自由度和三自由度可转换的球关节结构 Download PDF

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Publication number
WO2021017552A1
WO2021017552A1 PCT/CN2020/087421 CN2020087421W WO2021017552A1 WO 2021017552 A1 WO2021017552 A1 WO 2021017552A1 CN 2020087421 W CN2020087421 W CN 2020087421W WO 2021017552 A1 WO2021017552 A1 WO 2021017552A1
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WO
WIPO (PCT)
Prior art keywords
freedom
degree
sphere
ball
worm
Prior art date
Application number
PCT/CN2020/087421
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English (en)
French (fr)
Inventor
班兆明
Original Assignee
深圳联合创达科技有限公司
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Filing date
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Application filed by 深圳联合创达科技有限公司 filed Critical 深圳联合创达科技有限公司
Priority to JP2020560254A priority Critical patent/JP7036468B2/ja
Priority to US17/043,811 priority patent/US20210362043A1/en
Priority to EP20789817.2A priority patent/EP3798725B1/en
Publication of WO2021017552A1 publication Critical patent/WO2021017552A1/zh

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C11/00—Pivots; Pivotal connections
    • F16C11/04—Pivotal connections
    • F16C11/06—Ball-joints; Other joints having more than one degree of angular freedom, i.e. universal joints
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
    • A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
    • A63F13/20—Input arrangements for video game devices
    • A63F13/24—Constructional details thereof, e.g. game controllers with detachable joystick handles
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C11/00—Pivots; Pivotal connections
    • F16C11/04—Pivotal connections
    • F16C11/10—Arrangements for locking
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16J—PISTONS; CYLINDERS; SEALINGS
    • F16J15/00—Sealings
    • F16J15/16—Sealings between relatively-moving surfaces
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • F16M11/14—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction with ball-joint
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C2361/00—Apparatus or articles in engineering in general
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M2200/00—Details of stands or supports
    • F16M2200/02—Locking means
    • F16M2200/021—Locking means for rotational movement
    • F16M2200/024—Locking means for rotational movement by positive interaction, e.g. male-female connections

Definitions

  • the present invention relates to the technical field of ball joints, in particular to a ball joint structure with two degrees of freedom and three degrees of freedom convertible.
  • Ball joints are one of the very common structures in mechanical structures, which are widely used in steering coupling, support, space adjustment and other mechanisms.
  • One of the most common applications is the pan/tilt of cameras and video cameras, using a connected, directional camera (camera).
  • most of the current ball joints have three degrees of freedom, which cannot achieve stable spatial positioning control.
  • a spherical cloud cannot achieve stable control of the horizontal plane of the picture during dynamic shooting. Therefore, it is necessary to study a two-degree-of-freedom and three-degree-of-freedom ball joint structure.
  • the present invention provides a ball joint structure with a simple structure and convenient adjustment that can be converted between two degrees of freedom and three degrees of freedom.
  • a two-degree-of-freedom and three-degree-of-freedom ball joint structure that can be converted, comprising: an outer shell with an accommodating cavity; a hollow sphere located in the accommodating cavity of the outer shell and rotatable in the accommodating cavity,
  • the lower hemisphere of the sphere is provided with a groove with a symmetrical center plane on the vertical center plane of the sphere; it is vertically inserted in the outer shell and located below the sphere, and the axis line passes through the The limit pin of the center of the sphere; the first worm gear assembly arranged in the outer shell for driving the limit pin to make a vertical linear reciprocating movement; wherein, the first worm gear assembly drives the limit
  • the top of the movable pin is inserted into or withdrawn from the groove to realize the adjustment of the degree of freedom of rotation of the sphere.
  • the first worm gear assembly includes a first worm wheel and a first worm, a first worm gear cavity and a first worm cavity are formed on the outer shell, and a first worm cavity is formed in the outer shell.
  • An anti-rotation hole for inserting the limit pin communicates with the housing cavity above the outer housing and the first worm gear cavity below it, and the limit pin includes a A cylinder inserted in the anti-rotation hole, a short pin formed on the top of the cylinder that can be inserted into the ball, wherein the first worm gear is threadedly connected to the cylinder, and the cylinder
  • An anti-rotation plane that matches with the anti-rotation hole is also formed on the outer circumferential wall.
  • the outer shell includes a base shell formed with the accommodating cavity, and a top ring clamped on the open end of the top of the base shell, wherein the top ring and the spherical surface of the sphere A dust-proof pad is also clamped, and an annular groove is formed on the inner ring wall of the dust-proof pad, and the aperture value M at the top of the inner ring of the dust-proof pad is smaller than that on the sphere corresponding to the top of the dust-proof pad
  • the diameter of the spherical surface N is such that the top of the dustproof pad is tensioned on the spherical body under the action of the annular groove.
  • it further comprises a ball seat in the containing cavity of the outer shell for supporting the ball, and a lining is sandwiched between the ball seat and the ball, wherein the ball seat and The bottom of the lining is formed with a first through hole for the stop pin to pass through.
  • it further includes a second worm gear assembly arranged on the outer shell for adjusting the gap between the ball seat and the lining to realize the locking and positioning of the ball.
  • the second worm gear assembly includes a second worm wheel arranged at the bottom of the accommodating cavity of the outer shell, a second worm located in the outer shell and meshing with the second worm gear, fastened to the The triple helix cushion block at the top of the second worm wheel, wherein the bottom of the ball seat is formed with a triple helix convex ring that abuts against the triple helix cushion block, and the triple helix cushion block is The upper and lower helical convex rings cooperate to form a hollow cylinder.
  • the second worm wheel drives the triple helical spacer to rotate under the action of the second worm, the triple helical spacer forces the The three-helical convex ring is raised so that the ball seat is pressed tightly under the sphere.
  • a plurality of guide openings are formed on the top edge of the ball seat, and a plurality of vertical guide posts corresponding to the guide openings are formed on the cavity wall of the housing body cavity.
  • the three-helix cushion block includes a base ring, the upper part of the base ring is equally divided into three arc blocks, and the top of the arc blocks is formed with a first helix;
  • the helical convex ring includes a convex ring body, the lower part of the convex ring body is equally divided into three circular arc blocks, and the bottom of the circular arc block is formed with a second spiral that fits the first spiral surface surface.
  • it further comprises a torsion spring assembly arranged in the hollow cavity of the ball and matched with the top of the limiting pin to reset the ball.
  • the torsion spring assembly includes a torsion spring seat fastened in the hollow cavity of the sphere, has a first arm and a second arm, and is pivotally connected to the torsion spring seat through a pivot shaft
  • the two-degree-of-freedom and three-degree-of-freedom switchable ball joint structure provided by the present invention can realize the adjustment of the degree of freedom of rotation of the sphere through the first worm gear and worm assembly to drive the stop pin into or out of the groove of the sphere.
  • the sphere In the case of a trough, the sphere has two rotational degrees of freedom.
  • the sphere When the limiting pin exits the trough, the sphere has three rotational degrees of freedom, which can realize stable spatial positioning control and has the advantages of simple structure and convenient adjustment.
  • the second worm gear assembly can adjust the size of the gap between the ball seat and the lining to realize the ball locking and positioning.
  • the second worm gear assembly adopts a triple helix pad and a triple helix convex ring to adjust the support structure to ensure the centering of the sphere. While rotating, it can also provide continuously changing resistance and strong locking force, can realize stable spatial positioning control, and has the advantages of simple structure and convenient adjustment.
  • the torsion spring assembly can make the ball have better dynamic balance performance.
  • the dustproof pad By arranging the annular groove on the dustproof pad, the dustproof pad can be better tensioned on the sphere, and it has a better dustproof sealing effect.
  • Fig. 1 is a schematic diagram of the structure of the ball joint structure with two degrees of freedom and three degrees of freedom in the present invention.
  • Fig. 2 is an exploded structure diagram of the ball joint structure with two degrees of freedom and three degrees of freedom convertible according to the present invention.
  • FIG. 3 is a schematic cross-sectional structure diagram of the ball joint structure with two degrees of freedom and three degrees of freedom convertible according to the present invention.
  • FIG. 4 is a schematic diagram of an enlarged structure of area A in FIG. 3.
  • Fig. 5 is a schematic diagram of the positional relationship between the stop pin of the present invention and the first worm gear assembly.
  • Fig. 6 is a schematic diagram of the structure of the top ring of the present invention.
  • Fig. 7 is a schematic cross-sectional structure diagram of the dustproof mat of the present invention.
  • Fig. 8 is a schematic cross-sectional structure diagram of the sphere of the present invention.
  • Fig. 9 is a schematic diagram of the structure of the sphere of the present invention.
  • Fig. 10 is a schematic structural view of the base shell of the present invention in a plan view.
  • Fig. 11 is a schematic view of the bottom view of the base shell of the present invention.
  • Fig. 12 is a schematic cross-sectional structure diagram of the base shell of the present invention.
  • Fig. 13 is a schematic diagram of an exploded structure between the ball seat, the lining and the second worm gear assembly of the present invention.
  • Figure 14 is a schematic diagram of the structure of the ball seat of the present invention.
  • Figure 15 is a schematic diagram of the structure of the triple helix cushion block of the present invention.
  • FIG. 16 is a schematic diagram of an enlarged structure of area B in FIG. 2.
  • Figure 17 is a schematic diagram of the structure of the torsion spring assembly of the present invention.
  • Fig. 18 is an exploded structural diagram of the torsion spring assembly of the present invention.
  • Figure 19 is a schematic diagram of the positional relationship between the torsion spring assembly and the stop pin of the present invention.
  • Second worm gear assembly 81. Second worm gear; 82. Second worm; 83. Planar bearing; 84. Triple helix pad; 85 90. Torsion spring assembly; 91. Torsion spring seat; 92. Torsion spring; 921, first arm; 922, second arm; 93, pivot shaft; 94, limit bolt; 95. Torsion spring bolts.
  • the present invention provides a two-degree-of-freedom and three-degree-of-freedom ball joint structure that can be converted, including: an outer shell 40 with an accommodating cavity; and an accommodating cavity located in the outer shell 40 The hollow sphere 10 inside and rotatable in the containing cavity, as shown in FIGS.
  • the spherical surface of the sphere 10 is located in the containing cavity of the outer shell 40, that is, the sphere 10
  • the lower hemisphere of the sphere 10 is provided with a groove 11 with a symmetrical center plane on the vertical center plane of the sphere 10, the groove
  • the body 11 is an elongated groove arranged along the spherical surface of the sphere 10; a stop pin vertically inserted in the outer shell 40 and located below the sphere 10, the axis of which passes through the center of the sphere 10 Column 20; a first worm gear assembly 30 arranged in the outer shell 40 for driving the stop pin 20 to make a vertical linear reciprocating motion; wherein, as shown in FIGS.
  • the shell The body 40 limits the translational freedom of the X-axis, Y-axis and Z-axis of the ball 10, and the first worm gear assembly 30 drives the top of the limiting pin 20 to insert or exit the groove 11 to
  • the sphere body 10 can only move along the groove body 11 and the surrounding area.
  • the limiting pin 20 rotates with two degrees of freedom, that is, the sphere 10 is restricted with one axial rotational freedom, and the sphere 10 has only two rotational degrees of freedom. Specifically, as shown in FIG.
  • the stop pin 20 restricts the degree of freedom of rotation of the ball 10 along the Y axis. If the center plane of symmetry of the tank 11 is the XZ plane, At this time, the stop pin 20 restricts the rotational freedom of the sphere 10 along the X axis; and when the top of the stop pin 20 exits the groove 11, the sphere 10 has three rotational freedoms At this time, the sphere 10 can rotate along the X axis, the Y axis and the Z axis.
  • the first worm gear assembly 30 includes a first worm wheel 31 and a first worm 32.
  • a first worm gear cavity 412 and a first worm cavity 413 are formed in communication.
  • the outer shell 40 is also formed with an anti-rotation hole 411 for inserting the limit pin 20.
  • the anti-rotation hole 411 Connecting the accommodating cavity of the outer housing 40 located above it and the first worm gear cavity 412 located below it, the limiting pin 20 includes a column 21 inserted in the anti-rotation hole 411, a A short pin 22 formed on the top of the cylinder 21 that can be inserted into the ball 10, wherein the first worm gear 31 is threadedly connected to the cylinder 21, and an internal thread is provided on the inner wall of the first worm wheel 31 , The cylinder 21 is provided with an external thread that matches with the internal thread.
  • the first worm gear cavity 412 is a cylindrical cavity, and the first worm gear 31 is confined to the first worm gear cavity 412 Inside, one end of the first worm 32 extends to the outside of the outer casing 40, and a hand wheel is provided on the end of the first worm 32 extending to the outside of the outer casing 40.
  • the circumferential wall is also formed with a rotation stop plane 211 that matches the rotation prevention hole 411.
  • a truncated cone 23 is formed between the column 21 and the short pin 22, and the truncated cone 23 is matched with the groove body 11.
  • the truncated cone 23 fits into the groove body 11, which coincides with the V-shaped cross section of the groove body 11, while reaching the limit of freedom,
  • the gap between the trough body 11 and the truncated cone 23 can also be adjusted and compensated.
  • the outer shell 40 includes a base shell 41 formed with the accommodating cavity, and a base shell 41 that is clamped on the top open end of the base shell 41
  • the top ring 42 wherein, as shown in FIG. 3, FIG. 4 and FIG. 7, a dustproof pad 50 is sandwiched between the top ring 42 and the spherical surface of the sphere 10, and the inner ring of the dustproof pad 50
  • An annular groove 51 is formed on the wall.
  • the aperture value M at the top of the inner ring of the dustproof pad 50 is smaller than the diameter of the spherical surface on the sphere 10 corresponding to the top of the dustproof pad 50 Value N so that the top of the dust pad 50 is tensioned on the sphere 10 under the action of the annular groove 51; in this solution, as shown in Figures 10, 11 and 12, the first The worm gear cavity 412, the first worm cavity 413, and the anti-rotation hole 411 are all formed on the base shell 41, and the first worm gear cavity 412 is formed on the bottom of the base shell 41.
  • a bottom cover 43 for sealing the first worm gear 31 in the first worm gear cavity 412 can also be detachably provided on the bottom end surface.
  • a shoulder 421 for clamping the dustproof pad 50 is formed on the inner ring wall of the top ring 42, and the top of the inner ring of the top ring 42 A rib 422 for limiting the position of the dustproof pad 50 is formed, which has the advantages of simple structure and convenient installation.
  • a ball seat 60 in the containing cavity of the outer shell 40 for supporting the ball 10 and the ball seat 60 is A lining 70 is sandwiched between the spheres 10, wherein the bottom of the ball seat 60 and the lining 70 are both formed with a first through hole for the stop pin 20 to pass through.
  • 60 and the lining 70 are both bowl-shaped, a ring cylinder 63 with a flat bottom end is formed on the outer wall of the ball seat 60, and the housing cavity of the outer housing 40 is formed with a plurality of The boss 416 of the ring cylinder 63 has the advantage of convenient positioning.
  • this solution also includes a device provided on the outer shell 40 for adjusting the gap between the ball seat 60 and the lining 70 to achieve the The ball 10 is locked to the second worm gear assembly 80 positioned.
  • the second worm gear assembly 80 includes a second worm gear 81 arranged at the bottom of the accommodating cavity of the outer shell 40 through a plane bearing 83, The second worm 82 in the outer shell 40 and meshing with the second worm gear 81, and the triple helix pad 84 fastened to the top of the second worm gear 81, wherein the outer shell 40 is formed with a In the second worm cavity 414 accommodating the second worm 82, one end of the second worm 82 extends to the outside of the outer casing 40, and the second worm 82 extends to the end outside of the outer casing 40 A hand wheel is provided on the second worm cavity 414, and a second limiting post 85 for limiting the position of the second worm 82 in the second worm cavity 414 is inserted in the second worm cavity 414.
  • a second limiting slot for clamping the second limiting post 85 is provided on the 82.
  • the first worm cavity 413 is inserted with a first worm 32 for limiting the position of the first worm 32.
  • a limit post (not shown)
  • the first worm 32 is provided with a first limit slot (not shown) for clamping the first limit post
  • the bottom of the ball seat 60 is formed with
  • the triple helix convex ring 61 abuts against the triple helix cushion 84, the three helix cushion 84 and the three helix convex ring 61 cooperate up and down to form a hollow cylinder
  • the second The worm gear 81 is driven by the second worm 82 to rotate in the accommodating cavity of the outer casing 40, and when the second worm gear 81 is driven by the second worm 82 to drive the triple helix cushion block
  • the triple helical spacer 84 forces the triple helical convex ring 61 to rise so that the ball seat 60 is pressed under
  • a plurality of guide openings 62 are formed on the top edge of the ball seat 60, and the cavity wall of the housing cavity of the outer shell 40 is formed with
  • the multiple vertical guide posts 415 corresponding to the guide opening 62 have the advantages of smooth and reliable movement.
  • the three-helix cushion block 84 includes a base ring, and the upper part of the base ring is equally divided into three arc blocks.
  • the three-helix convex ring 61 includes a convex ring body, the lower part of the convex ring body is equally divided into three arc blocks, the circle The bottom of the arc block body is formed with a second spiral surface that fits with the first spiral surface; in this solution, the purpose of setting the number of the first spiral surface and the second spiral surface to three respectively is: This makes the up and down movement of the ball seat 60 more plane and reliable, and prevents the ball seat 60 from tilting to the left and right in the horizontal direction during the ascending or descending process.
  • FIG. 3 it further includes a torsion spring assembly arranged in the hollow cavity of the ball 10 and matched with the top of the limiting pin 20 to reset the ball 10 90.
  • the torsion spring assembly 90 enables the ball 10 to have a better dynamic balance performance.
  • the torsion spring assembly 90 includes a torsion spring seat 91 fastened in the hollow cavity of the sphere 10, a first arm 921 and a
  • the second arm 922 is pivotally connected to the torsion spring 92 on the torsion spring seat 91 through the pivot shaft 93, and a torsion spring 92 is fastened to the torsion spring seat 91 and is located between the first arm 921 and the first arm 921.
  • the reverse balance elastic force increases as the rotation angle of the first arm 921 or the second arm 922 increases, which has the advantage of good dynamic balance performance;
  • the limit bolt 94 makes the first arm 921 and the second arm 922 located on opposite sides thereof, thereby restricting the rotation range of the first arm 921 and the second arm 922, if the limit is not set Bolt 94, when the stop pin 20 pushes the first arm 921, the second arm 922 will follow the first arm 921 to rotate together, then the first arm 921 does not It can generate an elastic restoring force that promotes the resetting of the ball 10; the bottom of the first arm 921 and the second arm 922 and the stop pin 20 are formed with a circular arc bending part, the circle The curved portion can make the stop pin 20 better push the first arm 921 and the second arm 922, when the top of the stop pin 20 is inserted into the groove 11 and rotates the When the sphere 10 is used, the first arm 921 and the second arm 922 are respectively located

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Multimedia (AREA)
  • Human Computer Interaction (AREA)
  • Pivots And Pivotal Connections (AREA)
  • Gear Transmission (AREA)

Abstract

一种二自由度和三自由度可转换的球关节结构，包括：具有容置腔的外壳体（40）；位于所述外壳体的容置腔内且可在所述容置腔内转动的中空球体（10），所述球体的下半球面上开设有一槽体（11）；竖直插设在所述外壳体内且位于所述球体下方、轴心线通过所述球体球心的限动销柱（20）；设置在所述外壳体内用于驱使所述限动销柱做竖直方向的直线往复运动的第一蜗轮蜗杆组件（30）；其中，所述第一蜗轮蜗杆组件驱使所述限动销柱的顶部插入或是退出所述槽体以实现所述球体转动自由度的调节。该二自由度和三自由度可转换的球关节结构具有结构简单、调节方便的优点。

Description

一种二自由度和三自由度可转换的球关节结构 技术领域
本发明涉及球关节技术领域，尤其涉及二自由度和三自由度可转换的球关节结构。
 背景技术
球关节是机械结构中非常常见的结构之一，广泛用于转向联结、支撑、空间调节等机构。最常见的应用之一就是照相机和摄影机的云台，用联结、定向摄影（像）机。但是目前的球关节多为三自由度的，无法实现稳定的空间定位控制，如球形云在进行动态拍摄时无法实现画面水平面的稳定控制。因此，有必要研究一种二自由度和三自由度可转换的球关节结构。
 技术问题
针对上述技术中存在的不足之处，本发明提供了一种结构简单、调节方便的二自由度和三自由度可转换的球关节结构。
 技术解决方案
一种二自由度和三自由度可转换的球关节结构，包括：具有容置腔的外壳体；位于所述外壳体的容置腔内且可在所述容置腔内转动的中空球体，所述球体的下半球面上开设有对称中心面位于所述球体的竖直中心平面上的一槽体；竖直插设在所述外壳体内且位于所述球体下方、轴心线通过所述球体球心的限动销柱；设置在所述外壳体内用于驱使所述限动销柱做竖直方向的直线往复运动的第一蜗轮蜗杆组件；其中，所述第一蜗轮蜗杆组件驱使所述限动销柱的顶部插入或是退出所述槽体以实现所述球体转动自由度的调节。
优选的，所述第一蜗轮蜗杆组件包括一第一蜗轮和一第一蜗杆，所述外壳体上成型有相连通的一第一蜗轮腔和一第一蜗杆腔，所述外壳体内还成型有一用于插设所述限动销柱的防转孔，所述防转孔连通位于其上方的所述外壳体容置腔和位于其下方的所述第一蜗轮腔，所述限动销柱包括一插设在所述防转孔内的柱体、一成型在所述柱体顶部可插入所述球体内的短销，其中，所述第一蜗轮螺纹连接于所述柱体，所述柱体的外圆周壁上还成型有与所述防转孔相配合的止转平面。
优选的，所述外壳体包括一成型有所述容置腔的基壳、一卡设在所述基壳顶部开口端上的顶环，其中，所述顶环与所述球体的球面之间还夹设有一防尘垫，所述防尘垫的内圈壁上成型有一环形槽，所述防尘垫内圈顶部的孔径值M小于所述球体上与所述防尘垫顶部相对应处球面的直径值N从而使得所述防尘垫的顶部在所述环形槽的作用下张紧在所述球体上。
优选的，还包括一位于所述外壳体的容置腔内用于支撑所述球体的球座，所述球座与所述球体之间还夹设有一衬片，其中，所述球座和所述衬片的底部均成型有供所述限动销柱穿设的第一通孔。
优选的，还包括一设置在所述外壳体上用于调整所述球座与所述衬片之间间隙大小以实现所述球体锁紧定位的第二蜗轮蜗杆组件。
优选的，所述第二蜗轮蜗杆组件包括设置在所述外壳体的容置腔腔底的第二蜗轮、位于所述外壳体内且与所述第二蜗轮啮合的第二蜗杆、紧固在所述第二蜗轮顶部的三螺旋面垫块，其中，所述球座的底部成型有与所述三螺旋面垫块相抵靠的三螺旋面凸环，所述三螺旋面垫块与所述三螺旋面凸环上、下配合形成一中空圆柱体，当所述第二蜗轮在所述第二蜗杆的作用下带动所述三螺旋面垫块转动时，所述三螺旋面垫块迫使所述三螺旋面凸环抬升从而使得所述球座抵紧在所述球体的下方。
优选的，所述球座的顶部边沿上还成型有多个导向开口，所述外壳体容置腔的腔壁上成型有与所述导向开口相对应的多个竖直导向柱。
优选的，所述三螺旋面垫块包括一基环，所述基环的上部被等分为三个圆弧块体，所述圆弧块体的顶部成型有第一螺旋面；所述三螺旋面凸环包括一凸环本体，所述凸环本体的下部被等分为三个圆弧块体，所述圆弧块体的底部成型有与所述第一螺旋面相契合的第二螺旋面。
优选的，还包括一设置在所述球体的中空腔内且与所述限动销柱的顶部相配合以使所述球体复位的扭簧组件。
优选的，所述扭簧组件包括一紧固在所述球体中空腔内的扭簧座、具有一第一支臂和一第二支臂且通过枢接轴枢接在所述扭簧座上的扭簧、一紧固在所述扭簧座上且位于所述第一支臂与所述第二支臂之间的限位螺栓，其中，所述扭簧的枢接轴线垂直于所述槽体所在的竖直中心平面，当所述限动销柱的顶部插入所述槽体并转动所述球体时，所述限动销柱沿着所述槽体的分布方向推动所述第一支臂或是所述第二支臂。
 有益效果
本发明提供的二自由度和三自由度可转换的球关节结构，其通过第一蜗轮蜗杆组件驱使限动销柱插入或是退出球体的槽体可实现球体转动自由度的调节，当限动销柱插入槽体时，球体具有两个转动自由度，当限动销柱退出槽体时，球体具有三个转动自由度，能够实现稳定的空间定位控制，具有结构简单、调节方便的优点。
通过第二蜗轮蜗杆组件能够调整球座与衬片之间间隙大小以实现球体锁紧定位，第二蜗轮蜗杆组件采用三螺旋面垫块、三螺旋面凸环调整支撑结构，在保证球体定心转动的同时，还可以提供连续变化的阻力和强大的锁紧力，能够实现稳定的空间定位控制，具有结构简单、调节方便的优点。
通过扭簧组件能够使得球体具备较好的动态平衡性能。
通过在防尘垫上设置环形槽能够使得防尘垫更好的张紧在球体上，具备较好的防尘密封效果。
 附图说明
图1是本发明所述二自由度和三自由度可转换的球关节结构的结构示意图。
图2是本发明所述二自由度和三自由度可转换的球关节结构的分解结构示意图。
图3是本发明所述二自由度和三自由度可转换的球关节结构的剖面结构示意图。
图4是图3中A区域的放大结构示意图。
图5是本发明的限动销柱与第一蜗轮蜗杆组件的位置关系示意图。
图6是本发明的顶环的结构示意图。
图7是本发明的防尘垫的剖面结构示意图。
图8是本发明的球体的剖面结构示意图。
图9是本发明的球体的结构示意图。
图10是本发明的基壳的俯视方向的结构示意图。
图11是本发明的基壳的仰视方向的结构示意图。
图12是本发明的基壳的剖面结构示意图。
图13是本发明的球座、衬片和第二蜗轮蜗杆组件之间的分解结构示意图。
图14是本发明的球座的结构示意图。
图15是本发明的三螺旋面垫块的结构示意图。
图16是图2中B区域的放大结构示意图。
图17是本发明的扭簧组件的结构示意图。
图18是本发明的扭簧组件的分解结构示意图。
图19是本发明的扭簧组件与限动销柱之间的位置关系示意图。
图中：10、球体；11、槽体；20、限动销柱；21、柱体；211、止转平面；22、短销；23、圆锥台；30、第一蜗轮蜗杆组件；31、第一蜗轮；32、第一蜗杆；40、外壳体；41、基壳；411、防转孔；412、第一蜗轮腔；413、第一蜗杆腔；414、第二蜗杆腔；415、导向柱；416、凸台；42、顶环；421、卡肩；422、挡边；43、底盖；50、防尘垫；51、环形槽；60、球座；61、三螺旋面凸环；62、导向开口；63、环柱体；70、衬片；80、第二蜗轮蜗杆组件；81、第二蜗轮；82、第二蜗杆；83、平面轴承；84、三螺旋面垫块；85、第二限位柱；90、扭簧组件；91、扭簧座；92、扭簧；921、第一支臂；922、第二支臂；93、枢接轴；94、限位螺栓；95、扭簧螺栓。
 本发明的最佳实施方式
下面结合附图对本发明做进一步的详细说明，以令本领域技术人员参照说明书文字能够据以实施。
如图1至图19所示，本发明提供了一种二自由度和三自由度可转换的球关节结构，包括：具有容置腔的外壳体40；位于所述外壳体40的容置腔内且可在所述容置腔内转动的中空球体10，如图8和图9所示，所述球体10超过一半的球面位于所述外壳体40的容置腔内，即所述球体10的大半部分都位于所述外壳体40的容置腔内，所述球体10的下半球面上开设有对称中心面位于所述球体10的竖直中心平面上的一槽体11，所述槽体11为一沿着所述球体10的球面设置的细长槽；竖直插设在所述外壳体40内且位于所述球体10下方、轴心线通过所述球体10球心的限动销柱20；设置在所述外壳体40内用于驱使所述限动销柱20做竖直方向的直线往复运动的第一蜗轮蜗杆组件30；其中，如图1至图3所示，所述外壳体40限制了所述球体10的X轴、Y轴和Z轴的平动自由度，所述第一蜗轮蜗杆组件30驱使所述限动销柱20的顶部插入或是退出所述槽体11以实现所述球体10的两转动自由度与三转动自由度的调节，当所述限动销柱20的顶部插入所述槽体11时，所述球体10只能沿所述槽体11和围绕所述限动销柱20做二自由度转动，即所述球体10被限制了一个轴向的转动自由度，所述球体10只具有两转动自由度，具体的，如图9所示，若所述槽体11的对称中心面为YZ平面时，此时，所述限动销柱20限制了所述球体10沿Y轴的转动自由度，若所述槽体11的对称中心面为XZ平面时，此时，所述限动销柱20限制了所述球体10沿X轴的转动自由度；而当所述限动销柱20的顶部退出所述槽体11时，所述球体10具有三转动自由度，此时，所述球体10可沿X轴、Y轴和Z轴转动。
作为本方案的一实施例，如图5、图10、图11和图12所示，所述第一蜗轮蜗杆组件30包括一第一蜗轮31和一第一蜗杆32，所述外壳体40上成型有相连通的一第一蜗轮腔412和一第一蜗杆腔413，所述外壳体40内还成型有一用于插设所述限动销柱20的防转孔411，所述防转孔411连通位于其上方的所述外壳体40容置腔和位于其下方的所述第一蜗轮腔412，所述限动销柱20包括一插设在所述防转孔411内的柱体21、一成型在所述柱体21顶部可插入所述球体10内的短销22，其中，所述第一蜗轮31螺纹连接于所述柱体21，所述第一蜗轮31的内壁上设置有内螺纹，所述柱体21上设置有与所述内螺纹相配合的外螺纹，本方案中，所述第一蜗轮腔412为圆柱腔，所述第一蜗轮31限制在所述第一蜗轮腔412内，所述第一蜗杆32的一端延伸至所述外壳体40的外侧，所述第一蜗杆32延伸至所述外壳体40外侧的端部上设置有手轮，所述柱体21的外圆周壁上还成型有与所述防转孔411相配合的止转平面211，当转动所述第一蜗杆32时，所述第一蜗轮31随所述第一蜗杆32的转动而转动，所述第一蜗轮31与所述柱体21为螺纹连接，当所述第一蜗轮31转动时，所述柱体21在所述防转孔411内做上、下方向的升降运动，从而实现所述短销22插入或是退出所述球体10的运动。
作为本方案的一实施例，如图3和图5所示，所述柱体21与所述短销22之间还成型有一圆锥台23，所述圆锥台23与所述槽体11相配合，当所述短销22插入所述球体10内时，所述圆锥台23契合在所述槽体11内，同所述槽体11的V型截面相吻合，在达到限制自由度的同时，还可以调整和补偿所述槽体11与所述圆锥台23之间的间隙。
作为本方案的一实施例，如图1至图3所示，所述外壳体40包括一成型有所述容置腔的基壳41、一卡设在所述基壳41顶部开口端上的顶环42，其中，如图3、图4和图7所示，所述顶环42与所述球体10的球面之间还夹设有一防尘垫50，所述防尘垫50的内圈壁上成型有一环形槽51，如图7和图8所示，所述防尘垫50内圈顶部的孔径值M小于所述球体10上与所述防尘垫50顶部相对应处球面的直径值N从而使得所述防尘垫50的顶部在所述环形槽51的作用下张紧在所述球体10上；本方案中，如图10、图11和图12所示，所述第一蜗轮腔412、所述第一蜗杆腔413和所述防转孔411均成型在所述基壳41上，所述第一蜗轮腔412成型在所述基壳41的底部，所述基壳41的底端面上还可拆卸设置有一用于将所述第一蜗轮31封置在所述第一蜗轮腔412内的底盖43，当转动所述第一蜗杆32时，所述第一蜗轮31在所述第一蜗杆32的驱动下在所述第一蜗轮腔412内转动，所述底盖43设置的目的：便于安装所述第一蜗轮31。
作为本方案的一实施例，如图6所示，所述顶环42的内圈壁上成型有一用于卡设所述防尘垫50的卡肩421，所述顶环42内圈的顶部成型有一用于限定所述防尘垫50位置的挡边422，具有结构简单、安装方便的优点。
作为本方案的一实施例，如图13至图16所示，还包括一位于所述外壳体40的容置腔内用于支撑所述球体10的球座60，所述球座60与所述球体10之间还夹设有一衬片70，其中，所述球座60和所述衬片70的底部均成型有供所述限动销柱20穿设的第一通孔，所述球座60和所述衬片70均呈碗状，所述球座60的外壁上成型有一底端面为平面的环柱体63，所述外壳体40的容置腔内成型有多个用于支撑所述环柱体63的凸台416，具有定位方便的优点。
作为本方案的一实施例，如图13至图16所示，还包括一设置在所述外壳体40上用于调整所述球座60与所述衬片70之间间隙大小以实现所述球体10锁紧定位的第二蜗轮蜗杆组件80。
作为本方案的一实施例，如图11至图13所示，所述第二蜗轮蜗杆组件80包括通过平面轴承83设置在所述外壳体40的容置腔腔底的第二蜗轮81、位于所述外壳体40内且与所述第二蜗轮81啮合的第二蜗杆82、紧固在所述第二蜗轮81顶部的三螺旋面垫块84，其中，所述外壳体40上成型有一用于容置所述第二蜗杆82的第二蜗杆腔414，所述第二蜗杆82的一端延伸至所述外壳体40的外侧，所述第二蜗杆82延伸至所述外壳体40外侧的端部上设置有手轮，所述第二蜗杆腔414内插设有一用于限定所述第二蜗杆82在所述第二蜗杆腔414内位置的第二限位柱85，所述第二蜗杆82上开设有一用于卡设所述第二限位柱85的第二限位槽，同理，所述第一蜗杆腔413内插设有一用于限定所述第一蜗杆32位置的第一限位柱（图未示），所述第一蜗杆32上开设有一用于卡设所述第一限位柱的第一限位槽（图未示），所述球座60的底部成型有与所述三螺旋面垫块84相抵靠的三螺旋面凸环61，所述三螺旋面垫块84与所述三螺旋面凸环61上、下配合形成一中空圆柱体，所述第二蜗轮81在所述第二蜗杆82的带动下在所述外壳体40的容置腔内转动，当所述第二蜗轮81在所述第二蜗杆82的作用下带动所述三螺旋面垫块84转动时，所述三螺旋面垫块84迫使所述三螺旋面凸环61抬升从而使得所述球座60抵紧在所述球体10的下方实现锁紧所述球体10的目的；本方案中，所述球座60是所述球体10定心转动的载体，所述第二蜗轮蜗杆组件80采用所述三螺旋面垫块84、所述三螺旋面凸环61调整支撑结构，在保证所述球体10定心转动的同时，还可以提供连续变化的阻力和强大的锁紧力。
作为本方案的一实施例，如图10和图14所示，所述球座60的顶部边沿上还成型有多个导向开口62，所述外壳体40容置腔的腔壁上成型有与所述导向开口62相对应的多个竖直导向柱415，具有运动平稳可靠的优点。
作为本方案的一实施例，如图15所示，所述三螺旋面垫块84包括一基环，所述基环的上部被等分为三个圆弧块体，所述圆弧块体的顶部成型有第一螺旋面；如图14所示，所述三螺旋面凸环61包括一凸环本体，所述凸环本体的下部被等分为三个圆弧块体，所述圆弧块体的底部成型有与所述第一螺旋面相契合的第二螺旋面；本方案中，将所述第一螺旋面和所述第二螺旋面的数量分别设置为三个的用意是：使得所述球座60的上、下升降运动更为平面可靠，避免所述球座60在上升或是下降过程中发生水平方向上的左、右倾斜。
作为本方案的一实施例，如图3所示，还包括一设置在所述球体10的中空腔内且与所述限动销柱20的顶部相配合以使所述球体10复位的扭簧组件90，所述扭簧组件90使得所述球体10具备较好的动态平衡性能。
作为本方案的一实施例，如图17至图19所示，所述扭簧组件90包括一紧固在所述球体10中空腔内的扭簧座91、具有一第一支臂921和一第二支臂922且通过枢接轴93枢接在所述扭簧座91上的扭簧92、一紧固在所述扭簧座91上且位于所述第一支臂921与所述第二支臂922之间的限位螺栓94，其中，所述球体10的顶部成型有一安装口，所述安装口与所述槽体11位于所述球体10的相向两侧，所述扭簧座91通过所述安装口插入至所述球体10的中空腔内，所述扭簧座91的顶部通过螺栓紧固在所述安装口上，所述枢接轴93通过扭簧螺栓95设置在所述扭簧座91上，所述扭簧92的枢接轴线垂直于所述槽体11所在的竖直中心平面，当所述限动销柱20的顶部插入所述槽体11并转动所述球体10时，所述限动销柱20沿着所述槽体11的分布方向推动所述第一支臂921或是所述第二支臂922从而形成反向平衡弹力，具体的，所述第一支臂921或是所述第二支臂922被推动后会因形变而产生弹性恢复力，该弹性恢复力即为所述反向平衡弹力，所述球体10在该反向平衡弹力的作用下回到中心平衡位置而复位，该反向平衡弹力随着所述第一支臂921或是所述第二支臂922转动角度的增加而增加，具有动态平衡性能好的优点；所述限位螺栓94使得所述第一支臂921与所述第二支臂922位于其相向两侧，从而限制所述第一支臂921与所述第二支臂922的转动范围，若不设置所述限位螺栓94，那么在所述限动销柱20推动所述第一支臂921时，所述第二支臂922会跟随所述第一支臂921一起转动，则所述第一支臂921不能够产生一促使所述球体10复位的弹性恢复力；所述第一支臂921和所述第二支臂922底部与所述限动销柱20相接触处成型有圆弧弯曲部，所述圆弧弯曲部能够使得所述限动销柱20更好的推动所述第一支臂921和所述第二支臂922，当所述限动销柱20的顶部插入所述槽体11并转动所述球体10时，所述第一支臂921和所述第二支臂922分别位于所述限动销柱20的短销22的相向两侧，所述圆锥台23位于所述槽体11内。
尽管本发明的实施方案已公开如上，但其并不仅限于说明书和实施方式中所列运用，它完全可以被适用于各种适合本发明的领域，对于熟悉本领域的人员而言，可容易地实现另外的修改，因此在不背离权利要求及等同范围所限定的一般概念下，本发明并不限于特定的细节和这里示出与描述的图例。

Claims (10)

  1. 一种二自由度和三自由度可转换的球关节结构，其特征在于，包括：
    具有容置腔的外壳体（40）；
    位于所述外壳体（40）的容置腔内且可在所述容置腔内转动的中空球体（10），所述球体（10）的下半球面上开设有对称中心面位于所述球体（10）的竖直中心平面上的一槽体（11）；
    竖直插设在所述外壳体（40）内且位于所述球体（10）下方、轴心线通过所述球体（10）球心的限动销柱（20）；
    设置在所述外壳体（40）内用于驱使所述限动销柱（20）做竖直方向的直线往复运动的第一蜗轮蜗杆组件（30）；
    其中，所述第一蜗轮蜗杆组件（30）驱使所述限动销柱（20）的顶部插入或是退出所述槽体（11）以实现所述球体（10）转动自由度的调节。
  2. 如权利要求1所述的二自由度和三自由度可转换的球关节结构，其特征在于，所述第一蜗轮蜗杆组件（30）包括一第一蜗轮（31）和一第一蜗杆（32），所述外壳体（40）上成型有相连通的一第一蜗轮腔（412）和一第一蜗杆腔（413），所述外壳体（40）内还成型有一用于插设所述限动销柱（20）的防转孔（411），所述防转孔（411）连通位于其上方的所述外壳体（40）容置腔和位于其下方的所述第一蜗轮腔（412），所述限动销柱（20）包括一插设在所述防转孔（411）内的柱体（21）、一成型在所述柱体（21）顶部可插入所述球体（10）内的短销（22），其中，所述第一蜗轮（31）螺纹连接于所述柱体（21），所述柱体（21）的外圆周壁上还成型有与所述防转孔（411）相配合的止转平面（211）。
  3. 如权利要求1所述的二自由度和三自由度可转换的球关节结构，其特征在于，所述外壳体（40） 包括一成型有所述容置腔的基壳（41）、一卡设在所述基壳（41）顶部开口端上的顶环（42），其中，所述顶环（42）与所述球体（10）的球面之间还夹设有一防尘垫（50），所述防尘垫（50）的内圈壁上成型有一环形槽（51），所述防尘垫（50）内圈顶部的孔径值M小于所述球体（10）上与所述防尘垫（50）顶部相对应处球面的直径值N从而使得所述防尘垫（50）的顶部在所述环形槽（51）的作用下张紧在所述球体（10）上。
  4. 如权利要求1所述的二自由度和三自由度可转换的球关节结构，其特征在于，还包括一位于所述外壳体（40）的容置腔内用于支撑所述球体（10）的球座（60），所述球座（60）与所述球体（10）之间还夹设有一衬片（70），其中，所述球座（60）和所述衬片（70）的底部均成型有供所述限动销柱（20）穿设的第一通孔。
  5. 如权利要求4所述的二自由度和三自由度可转换的球关节结构，其特征在于，还包括一设置在所述外壳体（40）上用于调整所述球座（60）与所述衬片（70）之间间隙大小以实现所述球体（10）锁紧定位的第二蜗轮蜗杆组件（80）。
  6. 如权利要求5所述的二自由度和三自由度可转换的球关节结构，其特征在于，所述第二蜗轮蜗杆组件（80）包括设置在所述外壳体（40）的容置腔腔底的第二蜗轮（81）、位于所述外壳体（40）内且与所述第二蜗轮（81）啮合的第二蜗杆（82）、紧固在所述第二蜗轮（81）顶部的三螺旋面垫块（84），其中，所述球座（60）的底部成型有与所述三螺旋面垫块（84）相抵靠的三螺旋面凸环（61），所述三螺旋面垫块（84）与所述三螺旋面凸环（61）上、下配合形成一中空圆柱体，当所述第二蜗轮（81）在所述第二蜗杆（82）的作用下带动所述三螺旋面垫块（84）转动时，所述三螺旋面垫块（84）迫使所述三螺旋面凸环（61）抬升从而使得所述球座（60）抵紧在所述球体（10）的下方。
  7. 如权利要求6所述的二自由度和三自由度可转换的球关节结构，其特征在于，所述球座（60）的顶部边沿上还成型有多个导向开口（62），所述外壳体（40）容置腔的腔壁上成型有与所述导向开口（62）相对应的多个竖直导向柱（415）。
  8. 如权利要求6所述的二自由度和三自由度可转换的球关节结构，其特征在于，所述三螺旋面垫块（84）包括一基环，所述基环的上部被等分为三个圆弧块体，所述圆弧块体的顶部成型有第一螺旋面；所述三螺旋面凸环（61）包括一凸环本体，所述凸环本体的下部被等分为三个圆弧块体，所述圆弧块体的底部成型有与所述第一螺旋面相契合的第二螺旋面。
  9. 如权利要求1所述的二自由度和三自由度可转换的球关节结构，其特征在于，还包括一设置在所述球体（10）的中空腔内且与所述限动销柱（20）的顶部相配合以使所述球体（10）复位的扭簧组件（90）。
  10. 如权利要求9所述的二自由度和三自由度可转换的球关节结构，其特征在于，所述扭簧组件（90）包括一紧固在所述球体（10）中空腔内的扭簧座（91）、具有一第一支臂（921）和一第二支臂（922）且通过枢接轴（93）枢接在所述扭簧座（91）上的扭簧（92）、一紧固在所述扭簧座（91）上且位于所述第一支臂（921）与所述第二支臂（922）之间的限位螺栓（94），其中，所述扭簧（92）的枢接轴线垂直于所述槽体（11）所在的竖直中心平面，当所述限动销柱（20）的顶部插入所述槽体（11）并转动所述球体（10）时，所述限动销柱（20）沿着所述槽体（11）的分布方向推动所述第一支臂（921）或是所述第二支臂（922）。
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