A permanent magnet ball joint with built-in attitude sensor and its measuring method

Abstract

A permanent magnet ball joint with a posture sensing function and a measuring method thereof. The permanent magnet ball joint comprises a first permanent magnet (2), a second permanent magnet (7), a rotary shaft (8), a spherical shell (1), an upper base (3), a lower base (4), and a Hall sensor (6). The first permanent magnet (2) is sealed in the spherical shell (1). The second permanent magnet (7) is fixedly provided on the lower base (4). The Hall sensor (6) is provided on the second permanent magnet (7). A groove with an opening facing upwards is formed in the lower base (4). One end of the spherical shell (1) is embedded in the groove of the lower base (4), and the other end of the spherical shell (1) stretches out of the upper base (3) to be fixedly connected to the rotary shaft (8). The rotary shaft (8) drives the spherical shell (1) to rotate relative to the upper base (3), the second permanent magnet (7), and the lower base (4). Multi-degree-of-freedom rotation of the rotary shaft (8) of the ball joint is achieved; the upper permanent magnet and the lower permanent magnet have opposite directions of polarization, and part of gravity of the rotary shaft (8) is counteracted by repulsive force, so that the positive pressure on a contact portion between the rotary shaft (8) and a bearing is reduced, the friction is reduced, the abrasion is reduced, the service life of the bearing is prolonged, and vibration and noise are reduced; the position of the rotary shaft (8) can be obtained by means of detection of the Hall sensor (6) and the mapping relationship.

Description

technical field [0001] The invention relates to the field of magnetic field sensing, in particular to a permanent magnet ball joint with built-in attitude sensing and a measuring method thereof. Background technique [0002] Traditional mechanical bearings are generally composed of inner rings, outer rings, rolling elements, and cages. There is friction between the bearings and the shaft, resulting in useless power consumption, which not only reduces transmission efficiency but also generates noise. In addition, due to the large relative movement space in the rolling bearings in the traditional bearings, the bearings have poor ability to withstand impact loads, low service life under high-speed and heavy-load conditions, and there are large mechanical vibrations and noises. [0003] In some occasions where rotation with multiple degrees of freedom is required, designers often use multi-degree-of-freedom bearings. Traditional multi-degree-of-freedom bearings include spherica...

AI Technical Summary

Problems solved by technology

Traditional multi-degree-of-freedom bearings include spherical rolling bearings, universal joints, Hooke hinges, etc. Although these multi-degree-of-freedom bearings can achieve multi-degree-of-freedom rotation, they have some shortcomings: the manufacturing of spherical rolling bearings requires high precision, and long-term motion wear The accuracy of the movement cannot be guaranteed; the structure of the universal joint and Hooke hinge is complex, and the movement is not flexible enough

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