Three-freedom active ball-baring

A ball bearing, active technology, used in the field of three-degree-of-freedom active ball bearings, can solve problems such as flexibility and working space.

Inactive Publication Date: 2007-08-29
BEIHANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
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AI Technical Summary

Problems solved by technology

Due to the limitations of the existing technology, it is still very difficult to realize a three-degree-of-freedom active ball joint. Therefore, in the field of robotics, this ball joint is replaced by other devices with three axes intersecting at one point. Although the function of the ball joint is functionally realized, the flexibility and working space are not as good as the real ball joint

Method used

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Embodiment Construction

[0010] The present invention will be further described in detail below in conjunction with the accompanying drawings.

[0011] See also shown in Fig. 1, the present invention is a kind of three-degree-of-freedom active ball bearing that is suitable for use in the hip joint of cockroach robot, consists of three branch chains (the first branch chain 1, the second branch chain 2, the third branch chain Chain 3), a support shaft 4, a moving platform 5 and a static platform 6 constitute.

[0012] The moving platform 5 and the static platform 6 are disc-shaped, circular or quadrilateral, and ball bearings A 51, ball bearings B 52, and ball bearings C 53 are evenly distributed on the circumference of the bottom of the moving platform 5, and the bottom of the moving platform 5 A ball bearing D 54 is installed at the center of the center, and a mounting hole B 56 is provided on the moving platform 5; coupling shaft A 61, coupling shaft B 62, and coupling shaft C 63 are evenly distribut...

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Abstract

The invention discloses a three-freedom active ball bearing, comprising first branch chain, second branch chain, third branch chain, support shaft, dynamic platform and static platform, where the three branch chains have the same structure and are uniformly distributed between the dynamic and static platforms; the support shaft is equipped in the center between the dynamic and static platforms, and one end of the support shaft is equipped in a support seat of the static platform, and the spherical end of the support shaft is equipped in the ball socket of a ball bearing. And the invention adopts extensional movement of branch chains to drive the platforms to move up and down and right and left, implementing large-range motional space; and it adopts the combined structure of branch chains and dynamic platform to implement ball joint function.

Description

technical field [0001] The invention relates to a ball bearing, more particularly, to a three-degree-of-freedom active ball bearing suitable for use in the hip joint of a cockroach robot. Background technique [0002] In the long-term biological evolution, human wrist and shoulder joints, and biological hip joints have formed three-degree-of-freedom ball joints, which have the best flexibility and a larger working space. A robot is an anthropomorphic device, and simulating the functions of humans and creatures is one of the important contents of this subject. Due to the limitations of the existing technology, it is still very difficult to realize a three-degree-of-freedom active ball joint. Therefore, in the field of robotics, this ball joint is replaced by other devices with three axes intersecting at one point. Although the function of the ball joint is functionally realized, the flexibility and working space are not as good as the real ball joint. In view of this situat...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): F16M11/00A63H3/46
Inventor 陈伟海于守谦张建斌宋蔚阳
Owner BEIHANG UNIV
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