Compound spherical hinge with angle detection function

Abstract

This invention proposes a composite ball joint with angle detection function, comprising: a fixed frame, a load frame, an inner frame inner frame, an inner frame middle frame, and an encoder; the inner frame inner frame can rotate relative to the fixed frame along the azimuth axis; the inner frame middle frame can rotate relative to the inner frame inner frame along the pitch axis; the load frame can rotate relative to the inner frame middle frame along the roll axis; the encoder is used to detect the rotation angle of each axis. The composite ball joint with angle detection function provided by this invention has high motion accuracy, low frictional resistance, small structural size, high versatility, and can realize three-axis angle detection function, making it easy to directly apply in various applications requiring ball joints.

Description

Technical Field

[0001] This invention relates to the field of ball hinge technology, and more particularly to a composite ball hinge with angle detection function. Background Technology

[0002] In the field of mechanics, hinges are often used to connect the links of various motion mechanisms. Among them, the ball joint is a structure with three constraints that allows only three degrees of freedom of relative rotation between the two connected links. It has been widely used in various mechanical devices such as robot joints and parallel mechanisms.

[0003] Traditional ball joints consist of two main parts: a ball-and-socket structure with wear-resistant bearing bushes and a ball head structure. The ball head can rotate freely in three degrees of freedom within the ball-and-socket. During operation, the ball head and ball-and-socket in this type of traditional ball joint experience sliding friction, resulting in relatively high frictional resistance, easy wear, and a short lifespan. With increasing use, the gap gradually widens, leading to decreased motion accuracy, and it becomes difficult for the three axes to intersect at a single point. In addition, there is a composite ball joint with the same function as the traditional ball joint. This composite ball joint is composed of three pairs of parts capable of relative one-dimensional rotation with their axes perpendicular to each other. Each axis of the composite ball joint can use rolling bearings, offering advantages such as low frictional resistance, long lifespan, and high motion accuracy. However, due to its multiple nested parts, existing composite ball joints are relatively large in size and dimensions.

[0004] For a ball joint with three rotational degrees of freedom, the angle information of the output component is crucial for the control of the entire system. Currently, to detect the angle information of the output component, various angle sensors need to be installed on external components. With the increasing demand for modularity and the requirements for miniaturization and integration, more and more application scenarios require the ball joint structure itself to have the function of detecting angle information.

[0005] Therefore, there is an urgent need for a ball joint with a compact structure, high motion accuracy, and the ability to detect the rotation angle of three axes. Summary of the Invention

[0006] The technical problem this invention aims to solve is how to address the issues of low motion accuracy, large structural dimensions, and inability to detect the angle information of the three pivot axes in existing ball joints. Therefore, this invention provides a composite ball joint with angle detection functionality.

[0007] The technical solution adopted in this invention is that the composite ball hinge with angle detection function includes:

[0008] Fixed frame, load-bearing frame, inner frame inner frame, inner frame middle frame;

[0009] The fixed frame is connected to the inner frame via an upper half-shaft and a lower half-shaft of the azimuth axis. The two half-shafts are coaxially installed, and each half-shaft is also equipped with an angular contact ball bearing. The two angular contact ball bearings are installed back to back, so that the inner frame can rotate relative to the fixed frame along the azimuth axis.

[0010] The inner frame and the middle frame of the inner frame are connected by the left half-axis and the right half-axis of the pitch axis. The two half-axis are coaxially installed, and each half-axis is equipped with an angular contact ball bearing. The two angular contact ball bearings are installed back to back, so that the middle frame of the inner frame can rotate relative to the inner frame along the pitch axis.

[0011] The inner frame and the load frame are connected by a front half-shaft and a rear half-shaft of a roll shaft. The two half-shafts, the front half-shaft and the rear half-shaft, are coaxially installed. Each half-shaft is equipped with an angular contact ball bearing. The two angular contact ball bearings are installed back to back, so that the load frame can rotate relative to the inner frame along the roll shaft.

[0012] The encoder is used to detect rotation angles along at least one of the azimuth axis, pitch axis, and roll axis.

[0013] In one embodiment, the encoder further includes:

[0014] The azimuth axis encoder, pitch axis encoder, and roll axis encoder, each of which adopts a split structure.

[0015] In one embodiment, the azimuth axis encoder consists of an azimuth axis code wheel and an azimuth axis detection plate. The azimuth axis code wheel is fixed to the lower half of the azimuth axis, and the azimuth axis detection plate is fixed on the inner frame of the inner frame to realize the angle detection of the azimuth axis.

[0016] The pitch axis encoder consists of a pitch axis code wheel and a pitch axis detection plate. The pitch axis code wheel is fixed to the left half of the pitch axis, and the pitch axis detection plate is fixed on the inner frame of the inner frame to realize the angle detection of the pitch axis.

[0017] The roll axis encoder uses the inner frame as the code wheel and the roll axis detection plate is fixed on the load frame plate to realize the angle detection function of the roll axis.

[0018] In one embodiment, the composite ball hinge further includes:

[0019] A load frame plate, which is fixed to the load frame by screws.

[0020] By adopting the above technical solution, the present invention has at least the following advantages:

[0021] The composite ball joint with angle detection function provided by this invention can realize three-axis angle detection function, which can be directly applied to various occasions where ball joints are required. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the external structure of a composite ball hinge with angle detection function according to an embodiment of the present invention;

[0023] Figure 2 According to the embodiments of the present invention, along Figure 3 A cross-sectional view of the AA plane;

[0024] Figure 3 According to the embodiments of the present invention, along Figure 2 A cross-sectional view of the BB plane.

[0025] Figure Labels

[0026] 1-Fixed frame, 2-Load frame plate, 3-Load frame, 4-Azimuth axis bearing, 5-Left half-shaft of pitch axis, 6-Pitch axis code wheel, 7-Lower half-shaft of azimuth axis, 8-Azimuth axis code wheel, 9-Middle frame of inner frame, 10-Pitch axis bearing, 11-Right half-shaft of pitch axis, 12-Inner frame inner frame, 13-Upper half-shaft of azimuth axis, 14-Azimuth axis detection plate, 15-Front half-shaft of roll axis, 16-Roll axis detection plate, 17-Pitch axis detection plate, 18-Rear half-shaft of roll axis, 19-Roll axis bearing. Detailed Implementation

[0027] To further illustrate the technical means and effects of the present invention in achieving its intended purpose, the present invention will be described in detail below with reference to the accompanying drawings and preferred embodiments.

[0028] It should be understood that the terms "comprising," "including," "having," "containing," and / or "comprises," when used in this specification, indicate the presence of the stated features, integrals, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or combinations thereof. Furthermore, when expressions such as "at least one of..." appear after a list of listed features, they modify the entire listed feature, not individual elements in the list. Additionally, when describing embodiments of this application, the word "may" is used to mean "one or more embodiments of this application." And the term "exemplary" is intended to refer to an example or illustration.

[0029] As used herein, the terms “basically,” “approximately,” and similar terms are used as terms of approximation rather than terms of degree, and are intended to describe inherent biases in measured or calculated values ​​that will be recognized by those skilled in the art.

[0030] Unless otherwise specified, all terms used herein (including technical and scientific terms) shall have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. It should also be understood that terms (e.g., those defined in common dictionaries) shall be interpreted as having the meaning consistent with their meaning in the context of the relevant art and shall not be interpreted in an idealized or overly formal sense unless expressly so specified herein.

[0031] The first embodiment of the present invention provides a composite ball hinge with angle detection function, such as... Figures 1 to 3 As shown, it includes: a fixed frame 1, a load-bearing frame 3, an inner frame 12, and an inner frame middle frame 9.

[0032] Specifically, refer to Figures 2 to 3 The composite ball hinge provided in this embodiment is composed of multiple nested parts that can rotate in one dimension. The four frames, namely the fixed frame 1, the inner frame 12, the middle frame 9, and the load frame 3, form an azimuth axis system, a pitch axis system, and a roll axis system in pairs. Each axis system is equipped with an encoder to detect angle information. The load frame 3 can finally achieve three-degree-of-freedom rotational motion relative to the fixed frame 1.

[0033] The fixed frame 1 and the inner frame 12 are connected by the upper half shaft 13 and the lower half shaft 7 of the azimuth axis. The two half shafts, the upper half shaft 13 and the lower half shaft 7, are coaxially installed. Each half shaft is also equipped with an angular contact ball bearing. The two bearings are installed back to back, so that the inner frame 12 can rotate relative to the fixed frame 1 along the azimuth axis.

[0034] The inner frame 12 and the middle frame 9 of the inner frame are connected by the left half-shaft 5 and the right half-shaft 11 of the pitch axis. The two half-shafts, the left half-shaft 5 and the right half-shaft 11, are also installed coaxially. Each half-shaft is also equipped with an angular contact ball bearing. The two bearings are also installed back to back, so that the middle frame 9 of the inner frame can rotate relative to the inner frame 12 along the pitch axis.

[0035] The inner frame 9 and the load frame 3 are connected by the front half-shaft 15 and the rear half-shaft 18 of the roll shaft. The two half-shafts, the front half-shaft 15 and the rear half-shaft 18, are also coaxially installed. Each half-shaft is also equipped with an angular contact ball bearing. The two bearings are installed back to back, so that the load frame 3 can rotate relative to the inner frame 9 along the roll shaft.

[0036] The inner frame 12 can rotate relative to the fixed frame 1 along the azimuth axis, the middle frame 9 of the inner frame can rotate relative to the inner frame 12 along the pitch axis, and the load frame 3 can rotate relative to the middle frame 9 of the inner frame along the roll axis, thus enabling the load frame 3 to perform three-degree-of-freedom rotational motion relative to the fixed frame 1.

[0037] The encoders include azimuth encoders, pitch encoders, and roll encoders. Each encoder adopts a split structure to adapt to installation in confined spaces and angle detection functions, and uses its own photoelectric sensing technology to achieve high-resolution rotation angle feedback on small-diameter shafts.

[0038] The azimuth axis encoder consists of an azimuth axis code wheel 8 and an azimuth axis detection plate 14. The azimuth axis code wheel 8 is fixed to the lower half shaft 7 of the azimuth axis, and the azimuth axis detection plate 14 is fixed on the inner frame 12 of the inner frame, thereby realizing the angle detection function of the azimuth axis.

[0039] The pitch axis encoder consists of a pitch axis code wheel 6 and a pitch axis detection plate 17. The pitch axis code wheel 6 is fixed to the left half-shaft 5 of the pitch axis, and the pitch axis detection plate 17 is also fixed on the inner frame 12 of the inner frame, thereby realizing the angle detection function of the pitch axis.

[0040] The roll axis encoder directly uses the inner frame 9 as the code wheel, and the roll axis detection plate 16 is fixed on the load frame plate 2, thereby realizing the function of roll axis angle detection.

[0041] The three-axis rotation information of the load frame 3 relative to the fixed frame 1 is realized by the joint detection of the azimuth axis encoder, the pitch axis encoder and the roll axis encoder.

[0042] Compared with the prior art, this embodiment has at least the following advantages:

[0043] 1) The composite ball joint with angle detection function provided in this embodiment can realize the three-axis angle detection function, which is convenient to be directly applied in various occasions where ball joints are required.

[0044] 2) The composite ball hinge with angle detection function provided in this embodiment has high motion accuracy, low frictional resistance, small structural size, and high versatility.

[0045] The second embodiment of the present invention describes an application example based on the first embodiment, and the specific content is as follows:

[0046] In this embodiment, the proposed composite ball hinge with angle detection function adopts a nested structure. By connecting multiple frame-shaped parts from the inside out in pairs through shafts, the fixed frame 1 and the load frame 3 can achieve three degrees of freedom of rotational motion. A miniature photoelectric encoder is installed at each shaft to detect the angle information of a single shaft.

[0047] The composite ball hinge is constructed by nesting the fixed frame 1, the inner frame 12, the middle frame 9, and the load frame 3.

[0048] One end of the upper half-shaft 13 and the lower half-shaft 7 of the azimuth axis are fixed to the fixed frame 1 with screws, and the other end is inserted into the inner ring of the corresponding azimuth axis bearing 4. The outer ring of the azimuth axis bearing 4 is installed in the hole of the inner frame 12 of the inner frame, and the upper half-shaft 13 and the lower half-shaft 7 of the azimuth axis are coaxial, so that the inner frame 12 of the inner frame and the fixed frame 1 can undergo one-dimensional azimuth rotation.

[0049] One end of the left half-axis 5 and the right half-axis 11 of the pitch axis are fixed to the middle frame 9 of the inner frame with screws, and the other end is inserted into the inner ring of the corresponding pitch axis bearing 10. The outer ring of the pitch bearing is installed in the hole of the inner frame 12 of the inner frame, and the left half-axis 5 and the right half-axis 11 of the pitch axis are coaxial, so that the inner frame 12 of the inner frame and the middle frame 9 of the inner frame can undergo one-dimensional pitch rotation.

[0050] One end of the front half-shaft 15 of the roll shaft is fixed to the load frame plate 2 with screws, and the other end is inserted into the inner ring of the corresponding roll bearing 19. The outer ring of the roll bearing is installed in the hole of the inner frame 9. One end of the rear half-shaft 18 of the roll shaft is fixed to the load frame 3 with screws, and the other end is also inserted into the inner ring of the corresponding roll bearing 19. The outer ring of the roll bearing is also installed in the hole of the inner frame 9, ensuring that the front half-shaft 15 and the rear half-shaft 18 of the roll shaft are coaxial. The load frame plate 2 and the load frame 3 are fixed together with screws, and one-dimensional rolling rotation can also occur between the load frame 3 and the inner frame 9.

[0051] The azimuth axis bearing 4, pitch axis bearing 10, and roll axis bearing 19 all employ angular contact ball bearings, installed back-to-back. Eliminating backlash allows for high rotational accuracy across the shaft system. Since the azimuth, pitch, and roll axes are perpendicular to each other, nesting these components in pairs allows for one-dimensional rotation between corresponding parts, ultimately enabling the load frame 3 to achieve three-degree-of-freedom rotational motion relative to the fixed frame 1. Both the fixed frame 1 and the load frame 3 have threaded holes for fixed connection to other external components.

[0052] There are three miniature photoelectric encoders in total: azimuth axis encoder, pitch axis encoder, and roll axis encoder.

[0053] The azimuth encoder consists of an azimuth code wheel 8 and an azimuth detection plate 14. The azimuth code wheel 8 has a code track engraved on its circumferential surface. The azimuth code wheel 8 is fixed together with the lower half shaft 7 of the azimuth axis. The azimuth detection plate 14 is installed on the inner frame 12 of the inner frame. When there is relative rotation between the fixed frame 1 and the inner frame 12, the angle information between them can be detected.

[0054] The pitch axis encoder consists of a pitch axis code wheel 6 and a pitch axis detection plate 17. The pitch axis code wheel 6 has a code track engraved on its circumference. The pitch axis code wheel 6 is fixed together with the left half shaft 5 of the pitch axis. The pitch axis detection plate 17 is also installed on the inner frame 12 of the inner frame. When there is relative rotation between the middle frame 9 of the inner frame and the inner frame 12 of the inner frame, the angle information between them can be detected.

[0055] The roll axis encoder has a slightly different structure from the other two axes. To make the composite ball joint more compact, the code track is directly applied to the outer cylindrical surface of a cylinder in the inner frame 9, making the inner frame 9 itself a code wheel. The roll axis detection plate 16 is mounted on the load frame plate 2. When there is relative rotation between the load frame plate 2 and the inner frame 9, the angle information between them can be detected. Based on the angle information from the three axes fed back by the azimuth encoder, pitch encoder, and roll axis encoder, the motion information of the load frame 3 relative to the fixed frame 1 can be obtained.

[0056] Through the description of specific embodiments, a more in-depth and specific understanding should be gained of the technical means and effects adopted by the present invention to achieve the intended purpose. However, the accompanying drawings are only provided for reference and illustration and are not intended to limit the present invention.

Claims

1. A composite ball hinge with angle detection function, characterized in that, include: Fixed frame, load frame, inner frame inner frame, inner frame middle frame, encoder; The fixed frame and the inner frame are connected by an upper half-shaft and a lower half-shaft of the azimuth axis. The two half-shafts of the azimuth axis are coaxially installed, and each half-shaft is also equipped with an angular contact ball bearing. The two angular contact ball bearings are installed back to back, so that the inner frame of the inner frame can rotate relative to the fixed frame along the azimuth axis. The inner frame and the middle frame of the inner frame are connected by the left half-axis and the right half-axis of the pitch axis. The two half-axis are coaxially installed, and each half-axis is equipped with an angular contact ball bearing. The two angular contact ball bearings are installed back to back, so that the middle frame of the inner frame can rotate relative to the inner frame along the pitch axis. The inner frame and the load frame are connected by a front half-shaft and a rear half-shaft of a roll shaft. The two half-shafts, the front half-shaft and the rear half-shaft, are coaxially installed. Each half-shaft is equipped with an angular contact ball bearing. The two angular contact ball bearings are installed back to back, so that the load frame can rotate relative to the inner frame along the roll shaft. The encoder is used to detect rotation angles along at least one of the azimuth axis, pitch axis, and roll axis.

2. The composite ball hinge with angle detection function according to claim 1, characterized in that, The encoder specifically includes: The azimuth axis encoder, pitch axis encoder, and roll axis encoder, each of which adopts a split structure.

3. The composite ball hinge with angle detection function according to claim 2, characterized in that, The azimuth axis encoder consists of an azimuth axis code wheel and an azimuth axis detection plate. The azimuth axis code wheel is fixed to the lower half of the azimuth axis, and the azimuth axis detection plate is fixed on the inner frame of the inner frame to realize the angle detection of the azimuth axis. The pitch axis encoder consists of a pitch axis code wheel and a pitch axis detection plate. The pitch axis code wheel is fixed to the left half of the pitch axis, and the pitch axis detection plate is fixed on the inner frame of the inner frame to realize the angle detection of the pitch axis. The roll axis encoder uses the inner frame as the code wheel and the roll axis detection plate is fixed on the load frame plate to realize the angle detection function of the roll axis.

4. The composite ball hinge with angle detection function according to claim 1, characterized in that, The composite ball hinge also includes: A load frame plate, which is fixed to the load frame by screws.

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