Built-in Nonholonomic Spherical Constraint Structure

Abstract

The invention relates to a structure with an incomplete spherical constraint added inside. The structure with the incomplete spherical constraint added inside comprises a spherical shell, a idler wheel supports, idler wheels, idler wheel shafts, a servo motor and a big support, wherein the big support is in a T shape, one end of a cross rod of the big support is fixedly connected with the servo motor, the idler wheel supports are fixedly connected with the servo motor through keys, the idler wheel shafts are fixedly connected with the idler wheel supports, and the idler wheels are connected with the idler wheel supports in a rotary mode; the same structure is connected to the other end of the cross rod of the big support, and the structures at the two ends of the cross rod of the big support are distributed symmetrically relative to a vertical rod shaft of the big support; the spherical shell makes contact with the idler wheels in a purely sliding mode, in other words, the idler wheels can only roll along the spherical shell and can not slide, and the directions of the axes of the idler wheels at the two ends are in the parallel and symmetrical state all the time. According to the structure with the incomplete spherical constraint added inside, the incomplete constraint is directly added into a spherical surface, an internal compete spherical constraint is omitted, space is saved, and meanwhile precision is improved.

Description

technical field [0001] The invention relates to a non-complete spherical constrained structure. Background technique [0002] The current non-holonomic spherical constraints are generally complete spherical constraints internally, and non-holonomic constraints are added externally. Internal complete spherical constraints generally use three directions of rotation axes, and there are gaps at the rotation axes, resulting in low accuracy of spherical constraints; at the same time, the existing non-holonomic spherical constraints use two constraint structures, internal and external, and the structure is more complex. However, the present invention adopts the pure rolling roller contact without internal gap, which simplifies the mechanical structure and improves the precision of the incomplete spherical constraint at the same time. Contents of the invention [0003] In view of the defects existing in the prior art, the object of the present invention is to provide a built-in n...

AI Technical Summary

Problems solved by technology

Internal complete spherical constraints generally use three directions of rotation axes, and there are gaps at the rotation axes, resulting in low accuracy of spherical constraints; at the same time, the existing incomplete spherical constraints use two constraint structures, internal and external, and the structure is more complicated

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