Ball joint

Abstract

The invention discloses a spherical joint, comprising: a base comprising a fixed spherical shell; the motor frame is arranged in the fixed spherical shell, and a first driving motor, a second driving motor and a third driving motor are arranged on the motor frame; a spherical space is defined by the rotary table spherical shell and the fixed spherical shell; the first transmission structure is arranged in the spherical space; the output spherical shell is arranged on the rotary table spherical shell and can rotate around a second axis; the second transmission structure is arranged in the spherical space; the output disc is arranged on the output spherical shell and can rotate around a third axis; one part of the third transmission structure is located in the spherical space, the other part of the third transmission structure is located on the outer side of the rotary table spherical shell, and the third driving motor drives the output disc to rotate around the third axis through the third transmission structure. The technical effects that the overall size and occupied space of the spherical joint are reduced, and the flexibility of the joint is improved are achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of motion joints, in particular to a spherical joint. Background Art

[0002] In a multi-dimensional motion environment, it is necessary to configure a multi-degree-of-freedom joint structure for the motion equipment. For example, in the motion of a robotic arm, it is necessary to provide a three-degree-of-freedom motion joint to connect multiple robotic arms, and provide multi-dimensional motion for the robotic arm through the motion joint. In the camera's pan / tilt device, it is also necessary to provide multi-dimensional motion through the motion joint to ensure the stability of the camera during movement.

[0003] In the related art, a spherical joint capable of outputting three-axis motion generally includes a plurality of motion components connected in series. After each motion component is provided with a drive motor and a transmission structure, the overall volume of the joint is large, which occupies a large amount of space and has poor flexibility in use. Summary of the invention

[0004] The main purpose of the present invention is to provide a spherical joint to solve the problem that the multi-degree-of-freedom motion joint in the related art has a large overall volume, occupies a large amount of space, and has poor flexibility in use.

[0005] In order to achieve the above object, the present invention provides a spherical joint, comprising: A base, the base comprising a fixed spherical shell; A motor frame, wherein the motor frame is mounted in the fixed spherical shell, and a first drive motor, a second drive motor and a third drive motor are arranged on the motor frame; A turntable spherical shell, the turntable spherical shell is opposite to the fixed spherical shell and encloses a spherical space, and the turntable spherical shell can rotate around a first axis; A first transmission structure, wherein the first transmission structure is disposed in the spherical space, and the first driving motor drives the turntable spherical shell to rotate around the first axis through the first transmission structure; An output spherical shell, the output spherical shell is arranged on the turntable spherical shell and can rotate around a second axis, and the second axis is not colinear with the first axis; A second transmission structure, wherein the second transmission structure is disposed in the spherical space, and the second drive motor drives the output spherical shell to rotate around the second axis through the second transmission structure; an output disk, the output disk being disposed on the output spherical shell and being rotatable about a third axis; A third transmission structure, a part of which is located in the spherical space, and another part of which is located outside the turntable shell, and the third drive motor drives the output disc to rotate around a third axis through the third transmission structure.

[0006] Furthermore, the first transmission structure includes a spherical shell gear ring and a first gear, wherein the spherical shell gear ring is fixedly disposed on the inner side of the turntable spherical shell, and the first gear is fixedly disposed on the output shaft of the first drive motor, and the first gear is meshed with the spherical shell gear ring.

[0007] Furthermore, a first bearing is sleeved and fixed on the motor frame, and the lower end of the turntable ball shell is sleeved and fixed on the outer ring of the first bearing.

[0008] Furthermore, a first shaft body is fixed on the motor frame, the axis of the first shaft body is the first axis, a second bearing is sleeved and fixed on the upper end of the first shaft body, and the upper end of the turntable ball shell is sleeved and fixed on the outer ring of the second bearing.

[0009] Further, the second transmission structure includes a second gear, a third gear and a fourth gear; A second shaft body is disposed inside the output spherical shell, the axis of the second shaft body is the second axis, the end of the second shaft body passes through the turntable spherical shell and extends into the spherical space, and the second shaft body is rotatably connected to the turntable spherical shell; The second gear is fixed to the output shaft of the second driving motor, the third gear is rotatably disposed on the first shaft and meshes with the second gear, and the fourth gear is fixed on the second shaft and meshes with the third gear.

[0010] Further, the third gear includes a spur gear segment and a bevel gear segment, the fourth gear is configured as a bevel gear, the spur gear segment is meshed with the second gear, and the bevel gear segment is meshed with the fourth gear.

[0011] Furthermore, a third shaft body is arranged on the outer side of the output spherical shell, the axis of the third shaft body is the third axis, and the output disc is rotatably arranged on the third shaft body; The third transmission structure includes a fifth gear, a sixth gear, a seventh gear and an eighth gear, wherein the fifth gear is fixed to the output shaft of the third driving motor, the sixth gear is rotatably disposed on the first shaft and meshed with the sixth gear, and the seventh gear is rotatably disposed on the second shaft and meshed with the sixth gear; The eighth gear is fixedly disposed on the inner side of the output disk and meshes with the seventh gear.

[0012] Further, the sixth gear includes a transmission lower tooth and a transmission upper tooth, the transmission lower tooth is meshed with the fifth gear, and the transmission upper tooth and the seventh gear are bevel gears and meshed with each other; The third gear is rotatably sleeved on the outer side of the sixth gear and is located between the transmission lower teeth and the transmission upper teeth.

[0013] Furthermore, the seventh gear includes transmission inner teeth and transmission outer teeth, the transmission inner teeth are meshed with the transmission upper teeth, and the transmission outer teeth are located on the outer side of the turntable ball shell and are meshed with the eighth gear.

[0014] Furthermore, the eighth gear includes an arc-shaped disk, the inner arc surface of the arc-shaped disk is concentric with the outer arc surface of the turntable spherical shell, the edge of the arc-shaped disk is provided with teeth, and the middle part of the arc-shaped disk is provided with a connecting protrusion, the connecting protrusion is fixedly connected to the output disk and is rotatably connected to the third shaft.

[0015] The present invention uses the turntable spherical shell, the output spherical shell and the output disk as components for outputting one degree of freedom of motion respectively, and a spherical space is formed by the fixed spherical shell and the turntable spherical shell. The first drive motor, the second drive motor and the third drive motor responsible for driving are all arranged in the spherical space, and a part of the first transmission structure, the second transmission structure and the third transmission structure responsible for transmission are arranged in the spherical space, thereby achieving the purpose of fully utilizing the spherical space surrounded by the fixed spherical shell and the turntable spherical shell to arrange the drive motor and the transmission structure, thereby achieving the technical effect of reducing the overall volume and occupied space of the spherical joint and increasing the flexibility of the joint. After the drive motor and the transmission structure are arranged inside, the surface of the spherical joint is relatively flat, which is conducive to the installation and use of the spherical joint in the sports equipment, thereby solving the problems of the multi-degree-of-freedom motion joint in the related art having a large overall volume, occupying a large amount of space and poor flexibility in use.

[0016] On the other hand, the turntable ball shell and the output ball shell in the present invention are components that respectively output two degrees of freedom of motion. The output ball shell can rotate on the turntable ball shell on a fixed axis. When the inner arc surface of the output ball shell and the outer arc surface of the turntable ball shell are concentric arc surfaces, a smaller spacing between the output ball shell and the turntable ball shell can be designed to allow the output ball shell to rotate freely, thereby further reducing the volume of the entire spherical joint. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention, so that other features, purposes and advantages of the present invention become more obvious. The accompanying drawings of the exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the accompanying drawings: Figure 1 is a schematic diagram of the external structure of a spherical joint according to an embodiment of the present invention; Figure 2 is a schematic diagram of the arrangement structure of the motor frame and the drive motor of the spherical joint according to an embodiment of the present invention; Figure 3 is a schematic cross-sectional view of a spherical joint according to an embodiment of the present invention; Figure 4is a schematic cross-sectional view of a spherical joint according to an embodiment of the present invention; Figure 5 is a schematic cross-sectional view of a spherical joint according to an embodiment of the present invention; Figure 6 is a schematic cross-sectional view of a spherical joint according to an embodiment of the present invention; Figure 7 is a schematic diagram of different actions of a spherical joint according to an embodiment of the present invention; Among them, 1 base, 101 fixed spherical shell, 2 turntable spherical shell, 3 output spherical shell, 4 output disk, 5 motor frame, 6 first drive motor, 7 second drive motor, 8 third drive motor, 9 first shaft, 10 first bearing, 11 second bearing, 12 spherical space, 13 first transmission structure, 130 first gear, 131 spherical shell gear ring, 14 second transmission structure, 140 second gear, 141 third gear, 1410 straight tooth segment, 1411 bevel tooth segment, 142 fourth gear, 15 third transmission structure, 150 fifth gear, 151 sixth gear, 1510 transmission lower gear, 1511 transmission upper gear, 152 seventh gear, 1520 transmission inner gear, 1521 transmission outer gear, 153 eighth gear, 1530 arc disk, 1531 connecting protrusion, 16 second shaft, 17 third shaft. DETAILED DESCRIPTION

[0018] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0019] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged under appropriate circumstances to facilitate the embodiments of the present invention described herein.

[0020] In the present invention, the directions or positional relationships indicated by the terms "upper", "lower", "inner", etc. are based on the directions or positional relationships shown in the drawings. These terms are mainly used to better describe the present invention and its embodiments, and are not used to limit the indicated devices, elements or components to have a specific direction, or to be constructed and operated in a specific direction.

[0021] In addition, some of the above terms may be used to express other meanings in addition to indicating orientation or positional relationship. For example, the term "on" may also be used to express a certain dependency or connection relationship in some cases. For those skilled in the art, the specific meanings of these terms in the present invention can be understood according to specific circumstances.

[0022] In addition, the terms "disposed", "provided with", "connected", "fixed" and the like should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection, or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be an internal connection between two devices, elements or components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0023] In addition, the term "plurality" shall mean two or more.

[0024] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0025] To solve relevant technical problems, such as Figures 1 to 4 As shown, an embodiment of the present invention provides a spherical joint, comprising: Base 1, base 1 includes a fixed spherical shell 101; The motor frame 5 is arranged in the fixed spherical shell 101, and the motor frame 5 is provided with a first drive motor 6, a second drive motor 7 and a third drive motor 8; The turntable spherical shell 2 is opposite to the fixed spherical shell 101 and encloses a spherical space 12, and the turntable spherical shell 2 can rotate around a first axis; A first transmission structure 13, the first transmission structure 13 is arranged in the spherical space 12, and the first drive motor 6 drives the turntable spherical shell 2 to rotate around the first axis through the first transmission structure 13; An output spherical shell 3, which is arranged on the turntable spherical shell 2 and can rotate around a second axis, and the second axis is not colinear with the first axis; A second transmission structure 14, which is disposed in the spherical space 12, and the second drive motor 7 drives the output spherical shell 3 to rotate around the second axis through the second transmission structure 14; An output disc 4, which is arranged on the output spherical shell 3 and can rotate around a third axis; The third transmission structure 15 has a part located in the spherical space 12 and another part located outside the turntable spherical shell 2 . The third drive motor 8 drives the output disk 4 to rotate around the third axis through the third transmission structure 15 .

[0026] In this embodiment, the base 1 serves as a fixed end, including a fixed spherical shell 101 and a base fixed to the lower end of the fixed spherical shell 101, and the base can be fixed to the sports equipment. The fixed spherical shell 101 can be a hemispherical shell structure, or a spherical shell structure of any proportion. The motor frame 5 is fixedly installed in the fixed spherical shell 101, and the lower end of the motor frame 5 is fixedly connected to the fixed spherical shell 101. In order to reasonably allocate space, the motor frame 5 can be fixed in the middle position of the fixed spherical shell 101, so that a uniform space is formed around the motor frame 5 and between the fixed spherical shell 101. The motor frame 5 serves as a structure for installing the drive motor, and three installation positions for installing the drive motor can be formed on the motor frame 5. The installation position can be an installation slot, an installation hole, etc. set on the motor frame 5. Installing the drive motor through the installation slot or the installation hole structure can reasonably utilize the internal space and reduce the space occupied by the drive motor.

[0027] In this embodiment, three drive motors are provided, namely, a first drive motor 6, a second drive motor 7 and a third drive motor 8. The three drive motors can output rotational motion independently, and after being connected to the corresponding output components through the corresponding transmission structure, they can respectively realize motion output with three degrees of freedom. Of course, the three drive motors can also be linked in some cases to realize more complex motion output. Figure 2 As shown, three drive motors can be arranged on the motor frame 5 along the circumferential direction, and the output axes of the three drive motors are parallel.

[0028] The moving parts in this embodiment include a turntable spherical shell 2, an output spherical shell 3 and an output disk 4, wherein the turntable spherical shell 2 is a hemispherical shell structure, and can also be a spherical shell structure of any proportion. Figure 3 As shown, the turntable spherical shell 2 and the fixed spherical shell 101 are arranged relative to each other, thereby enclosing a spherical space 12. The motor frame 5 is located in the spherical space 12, and the first drive motor 6, the second drive motor 7 and the third drive motor 8 are also located in the spherical space 12. The turntable spherical shell 2 can rotate relative to the fixed spherical shell 101, and its rotation axis is the first axis. In one embodiment, the inner side of the turntable spherical shell 2 can be rotatably connected to the motor frame 5 through a bearing, and the axis of the bearing is the first axis. The lower end surface of the turntable spherical shell 2 corresponds to the upper end surface of the fixed spherical shell 101 and is close to each other. In another embodiment, the lower end surface of the turntable spherical shell 2 is rotatably connected to the upper end surface of the fixed spherical shell 101 through a plane bearing, and the turntable spherical shell 2 realizes fixed-axis rotation through a corresponding shaft or retaining ring, and the axis of the plane bearing is the first axis.

[0029] like Figure 3As shown, the output spherical shell 3 is installed on the turntable spherical shell 2 and can rotate relative to the turntable spherical shell 2. The rotation axis of the output spherical shell 3 is the second axis. In order to achieve multi-degree-of-freedom motion output, after the rotating spherical shell can output the rotational motion around the first axis, the output spherical shell 3 needs to output the rotational motion around another axis. Therefore, the second axis is not colinear with the first axis, and there is a certain angle between the two. In one embodiment, a rotating shaft can be set on the turntable spherical shell 2 and the output spherical shell 3 can be connected through the rotating shaft, or a rotating shaft can be set on the output spherical shell 3 and the turntable spherical shell 2 can be connected through the rotating shaft.

[0030] like Figure 3 As shown, the output disc 4 is mounted on the output spherical shell 3 and can rotate relative to the output spherical shell 3. The rotation axis of the output disc 4 is the third axis. The output disc 4 and the output spherical shell 3 can be connected by a corresponding shaft, and the axis of the shaft is used as the third axis. The third axis is not colinear with the second axis. The output disc 4 serves as the end motion structure of the spherical joint. The motion of the rotating spherical shell and the output spherical shell 3 can also act on the output disc 4. Therefore, the output disc 4 can be connected to the end of the motion device, such as the movable mechanical arm of the robot, or the end effector of the mechanical arm, etc.

[0031] In order to realize the drive of the turntable spherical shell 2, the output spherical shell 3 and the output disk 4 to rotate, the corresponding transmission structure needs to be configured in this embodiment. Specifically, the transmission structure includes a first transmission structure 13, a second transmission structure 14 and a third transmission structure 15, wherein the first transmission structure 13 is used to transmit the rotational force of the first drive motor 6 to the turntable spherical shell 2 to drive the turntable spherical shell 2 to rotate around the first axis. The second transmission structure 14 is used to transmit the rotational force of the second drive motor 7 to the output spherical shell 3 to drive the output spherical shell 3 to rotate around the second axis. Both the first transmission structure 13 and the second transmission structure 14 can be completely arranged in the spherical space 12. The third transmission structure 15 is used to transmit the rotational force of the third drive motor 8 to the output disk 4. Since the output disk 4 is installed on the output spherical shell 3 and the third drive motor 8 is installed in the spherical space 12, a part of the third transmission structure 15 needs to be located between the turntable spherical shell 2 and the output spherical shell 3, and a part needs to be located in the spherical space 12. The part located between the turntable spherical shell 2 and the output spherical shell 3 can be covered by the output spherical shell 3 to avoid exposure.

[0032] The first transmission structure 13, the second transmission structure 14 and the third transmission structure 15 can be arranged in a variety of ways as long as they can achieve the transmission of rotational power. In one embodiment, the first transmission structure 13, the second transmission structure 14 and the third transmission structure 15 are all gear transmission structures, which have the advantages of high transmission accuracy and easy control.

[0033] The present invention uses the turntable spherical shell 2, the output spherical shell 3 and the output disk 4 as components for outputting one degree of freedom motion respectively, and a spherical space 12 is formed by the fixed spherical shell 101 and the turntable spherical shell 2. The first drive motor 6, the second drive motor 7 and the third drive motor 8 responsible for driving are all arranged in the spherical space 12, and a part of the first transmission structure 13, the second transmission structure 14 and the third transmission structure 15 responsible for transmission are arranged in the spherical space 12, so as to achieve the purpose of fully utilizing the spherical space 12 surrounded by the fixed spherical shell 101 and the turntable spherical shell 2 to arrange the drive motor and the transmission structure, thereby achieving the goal of reducing the overall volume and occupied space of the spherical joint, increasing the flexibility of the joint, and the technical effect that the surface of the spherical joint is relatively flat after the drive motor and the transmission structure are arranged inside, which is conducive to the installation and use of the spherical joint in the sports equipment, thereby solving the problem that the overall volume of the multi-degree-of-freedom motion joint is large, occupies a large amount of space and has poor flexibility in use in the related art.

[0034] On the other hand, the turntable ball shell 2 and the output ball shell 3 in the present invention are components that respectively output two degrees of freedom of motion. The output ball shell 3 can rotate on the turntable ball shell 2. When the inner arc surface of the output ball shell 3 and the outer arc surface of the turntable ball shell 2 are concentric arc surfaces, a smaller spacing is designed between the output ball shell 3 and the turntable ball shell 2 to ensure the free rotation of the output ball shell 3, thereby further reducing the volume of the entire spherical joint.

[0035] In one embodiment of the first transmission structure 13, as Figure 4 As shown, the first transmission structure 13 includes a spherical shell gear ring 131 and a first gear 130 . The spherical shell gear ring 131 is fixed to the inner side of the turntable spherical shell 2 . The first gear 130 is fixed to the output shaft of the first drive motor 6 . The first gear 130 is meshed with the spherical shell gear ring 131 .

[0036] Specifically, in this embodiment, the ball shell gear ring 131 is fixed to the inner side of the turntable ball shell 2 and is located at the lower part of the turntable ball shell 2. The ball shell gear ring 131 and the turntable ball shell 2 can be an integrally formed structure. The first gear 130 is sleeved and fixed on the output shaft of the first drive motor 6. The first drive motor 6 drives the first gear 130 to rotate around the fixed axis, thereby driving the ball shell gear ring 131 meshed with it to rotate around the first axis, and then driving the turntable ball shell 2 to rotate around the first axis to complete the following operation. Figure 7 Action 2 shown. It can be understood that, since the output spherical shell 3 and the output disk 4 are both arranged on the turntable spherical shell 2, the output spherical shell 3 and the output disk 4 rotate synchronously during the rotation of the turntable spherical shell 2.

[0037] In one embodiment, Figure 3 As shown, a first bearing 10 is sleeved and fixed on the motor frame 5 , and the lower end of the turntable ball shell 2 is sleeved and fixed on the outer ring of the first bearing 10 .

[0038] Specifically, in this embodiment, the upper portion of the motor frame 5 is sleeved and fixed with the first bearing 10 , and the lower portion of the turntable spherical shell 2 is sleeved and fixed on the outer ring of the first bearing 10 , so that the turntable spherical shell 2 can rotate relative to the fixed spherical shell 101 .

[0039] The turntable ball shell 2 is not only a moving part, but also a mounting base for the other two moving parts. Therefore, the turntable ball shell 2 needs to have a high structural stability to improve the motion accuracy of the spherical joint. Figure 3 As shown, a first shaft body 9 is fixed on the motor frame 5 , the axis of the first shaft body 9 is the first axis, a second bearing 11 is sleeved and fixed on the upper end of the first shaft body 9 , and the upper end of the turntable ball shell 2 is sleeved and fixed on the outer ring of the second bearing 11 .

[0040] Specifically, in this embodiment, the first shaft 9 is located in the middle of the motor frame 5 and extends upward, the upper end of the turntable spherical shell 2 is rotatably connected to the upper end of the first shaft 9 through the second bearing 11, and the lower end of the turntable spherical shell 2 is rotatably connected to the motor frame 5 through the first bearing 10, so that the turntable spherical shell 2 has high rotation stability. A groove or hole can be provided at the upper end of the turntable spherical shell 2 for installing the first shaft 9 and the second bearing 11.

[0041] like Figure 4 As shown, in one embodiment of the second transmission structure 14, the second transmission structure 14 includes a second gear 140, a third gear 141 and a fourth gear 142; A second shaft 16 is disposed inside the output ball shell 3. The axis of the second shaft 16 is the second axis. The end of the second shaft 16 passes through the turntable ball shell 2 and extends into the spherical space 12. The second shaft 16 is rotatably connected to the turntable ball shell 2. The second gear 140 is fixed to the output shaft of the second driving motor 7 . The third gear 141 is rotatably disposed on the first shaft 9 and meshes with the second gear 140 . The fourth gear 142 is fixed to the second shaft 16 and meshes with the third gear 141 .

[0042] Specifically, in this embodiment, an axial hole is provided on the turntable ball shell 2, and the second shaft body 16 passes through the axial hole and is rotatably connected to the axial hole. The portion of the second shaft body 16 extending into the spherical space 12 is fixedly provided with a fourth gear 142, and the fourth gear 142 is driven to rotate, thereby driving the second shaft body 16 to rotate in the axial hole, thereby driving the output ball shell 3 to rotate. In order to realize the driving of the fourth gear 142, in this embodiment, a second gear 140 is fixed to the output shaft of the second drive motor 7, and due to space limitations, the power of the second gear 140 is transmitted to the fourth gear 142. In this embodiment, a third gear 141 is provided on the first shaft body 9, and the third gear 141 can be connected to the first shaft body 9 through a bearing, so that the third gear 141 can rotate on the first shaft body 9. At the same time, the two ends of the third gear 141 are respectively meshed with the second gear 140 and the fourth gear 142, and the second drive motor 7 drives the second gear 140 to rotate, thereby driving the third gear 141 to rotate on the first shaft 9, and then driving the fourth gear 142 and the second shaft 16 to rotate, and finally driving the output ball shell 3 to rotate around the second axis to complete the operation as shown in FIG. Figure 7 Action 1 shown.

[0043] like Figure 5 As shown, since there is a certain angle between the second shaft body 16 and the first shaft body 9, and the first shaft body 9 is parallel to the output shaft of the second drive motor 7, the third gear 141 installed on the first shaft body 9 is required to transmit power to the fourth gear 142 sleeved on the second shaft body 16. Therefore, in this embodiment, the third gear 141 includes a spur gear segment 1410 and a bevel gear segment 1411, and the fourth gear 142 is set as a bevel gear, the spur gear segment 1410 is meshed with the second gear 140, and the bevel gear segment 1411 is meshed with the fourth gear 142.

[0044] Specifically, in this embodiment, the fourth gear 142 is a bevel gear, and the third gear 141 can be formed by combining a spur gear and a bevel gear. The spur gear can be keyed or welded to the lower end of the bevel gear to mesh with the second gear 140 as a spur tooth segment 1410, and the bevel gear meshes with the fourth gear 142 as a bevel tooth segment 1411, thereby realizing power transmission when there is an angle in the power transmission direction.

[0045] In one embodiment, the second shaft 16 and the first shaft 9 form an angle of 45°. Of course, the two may also form other angles, which are not limited in the present invention.

[0046] In one embodiment, Figure 5 As shown, a third shaft body 17 is disposed on the outer side of the output ball shell 3, the axis of the third shaft body 17 is a third axis, and the output disc 4 is rotatably disposed on the third shaft body 17; The third transmission structure 15 includes a fifth gear 150, a sixth gear 151, a seventh gear 152 and an eighth gear 153. The fifth gear 150 is fixed to the output shaft of the third driving motor 8. The sixth gear 151 is rotatably disposed on the first shaft 9 and meshes with the sixth gear 151. The seventh gear 152 is rotatably disposed on the second shaft 16 and meshes with the sixth gear 151. The eighth gear 153 is fixedly disposed on the inner side of the output disk 4 and meshes with the seventh gear 152 .

[0047] Specifically, in the present embodiment, the output spherical shell 3 and the output disk 4 are connected via a third shaft 17. The third shaft 17 may be an axial structure fixed on the top of the output spherical shell 3. The output disk 4 may be rotatably mounted on the third shaft 17 via a bearing. There is a space between the output spherical shell 3 and the turntable spherical shell 2 to install a portion of the structure of the third transmission structure 15 located outside the turntable spherical shell 2. Specifically, in the present embodiment, the space is used to install the eighth gear 153 in the third transmission structure 15, and at least a portion of the seventh gear 152. In the third transmission structure 15, the fifth gear 150 is fixed on the output shaft of the third drive motor 8, the sixth gear 151 is rotatably connected to the first shaft 9 via a bearing, and the seventh gear 152 is rotatably connected to the second shaft 16 via a bearing. The third drive motor 8 drives the fifth gear 150 to rotate, thereby driving the sixth gear 151 to rotate, and then the seventh gear 152 to rotate, which in turn drives the eighth gear 153 to rotate, and finally drives the output disk 4 fixedly connected to the eighth gear 153 to rotate. Figure 7 Action 3 shown.

[0048] Since the sixth gear 151 is mounted on the first shaft 9 and the seventh gear 152 is mounted on the second shaft 16, the axis of the sixth gear 151 and the axis of the seventh gear 152 also have a certain angle, and since the output shaft of the third drive motor 8 is parallel to the first shaft 9, in order for the third drive motor 8 to drive the seventh gear 152 to rotate, the sixth gear 151 and the seventh gear 152 also need to be meshed through the bevel gear segment 1411. Therefore, in this embodiment, the sixth gear 151 includes a transmission lower tooth 1510 and a transmission upper tooth 1511, the transmission lower tooth 1510 is meshed with the fifth gear 150, and the transmission upper tooth 1511 and the seventh gear 152 are bevel gears and meshed with each other.

[0049] Specifically, in this embodiment, the transmission lower teeth 1510 may be spur gears, the transmission upper teeth 1511 may be bevel gears, and the seventh gear 152 includes a bevel gear that can mesh with the transmission upper teeth 1511. In one embodiment, the transmission upper teeth 1511 and the transmission lower teeth 1510 are two gears, and the lower end of the transmission upper teeth 1511 and the upper end of the transmission lower teeth 1510 may be keyed or welded, and may be rotatably connected to the first shaft 9 via a bearing.

[0050] Similarly, since the seventh gear 152 needs to mesh with the eighth gear 153 while maintaining a meshing relationship with the upper transmission teeth 1511, the seventh gear 152 in this embodiment includes an inner transmission tooth 1520 and an outer transmission tooth 1521, and the inner transmission tooth 1520 meshes with the upper transmission teeth 1511, and the outer transmission tooth 1521 is located on the outside of the turntable ball shell 2 and meshes with the eighth gear 153.

[0051] Specifically, in this embodiment, the transmission inner teeth 1520 and the transmission outer teeth 1521 can be two gears, and the outer end of the transmission inner teeth 1520 and the inner end of the transmission outer teeth 1521 can be keyed or welded and fixed and each is rotatably connected to the second shaft 16 through a bearing. The tooth portion of the transmission inner teeth 1520 is located in the spherical space 12 and meshes with the transmission upper teeth 1511, and the tooth portion of the transmission outer teeth 1521 is located on the outer side of the turntable ball shell 2 and meshes with the eighth gear 153.

[0052] In one embodiment, the fourth gear 142 is fixed at the end of the second shaft 16, the transmission inner teeth 1520 can be installed on the fourth gear 142 through bearings, and the transmission outer teeth 1521 can be installed on the second shaft 16 through bearings, thereby reasonably clutching the axial space of the fourth gear 142, reducing the length requirement for the second shaft 16, and further reducing the volume and space occupancy.

[0053] Since in the present invention, the third gear 141 is installed on the first shaft body 9 through a bearing, and the transmission inner teeth 1520 and the transmission outer teeth 1521 are also installed on the first shaft body 9 through bearings, in order to reasonably utilize the axial space of the first shaft body 9 and reasonably transmit power, the third gear 141 can be rotatably sleeved on the outside of the sixth gear 151 and is located between the transmission lower teeth 1510 and the transmission upper teeth 1511.

[0054] Specifically, in this embodiment, the height of the second gear 140 is higher than that of the fifth gear 150, so that the meshing of the second gear 140 and the third gear 141 will not interfere with the meshing of the fifth gear 150 and the sixth gear 151. The fourth gear 142 is closer to the center of the spherical space 12 relative to the transmission inner teeth 1520, so that the meshing of the fourth gear 142 and the third gear 141 will not interfere with the meshing of the transmission upper teeth 1511 and the transmission inner teeth 1520. Through this layout, the spherical space 12 is fully utilized, the volume and space occupation of the transmission structure are reduced, and the volume of the spherical space 12 is further reduced.

[0055] Since the output spherical shell 3 needs to rotate around the axis of the second shaft 16 on the turntable spherical shell 2, and the output disc 4 is installed on the output spherical shell 3, the output disc 4 and the eighth gear 153 fixedly connected to the output disc 4 also need to rotate relative to the turntable spherical shell 2 during the rotation of the output spherical shell 3. At the same time, since at least a part of the eighth gear 153 needs to be located between the turntable spherical shell 2 and the output spherical shell 3, in order to enable the eighth gear 153 to rotate smoothly relative to the turntable spherical shell 2 and reduce space occupation, as shown in FIG. Figure 6 As shown, in this embodiment, the eighth gear 153 includes an arc disk 1530, the inner arc surface of the arc disk 1530 is concentric with the outer arc surface of the turntable ball shell 2, the edge of the arc disk 1530 is provided with teeth, and the middle part of the arc disk 1530 is provided with a connecting protrusion 1531, the connecting protrusion 1531 is fixedly connected to the output disk 4, and is rotatably connected to the third shaft 17.

[0056] Specifically, in this embodiment, a hole is provided at the top of the output spherical shell 3, and the third shaft body 17 is fixed at the top of the output spherical shell 3 and has a through shaft hole, which corresponds to the hole at the top of the output spherical shell 3. The arc disk 1530 of the eighth gear 153 is located between the turntable spherical shell 2 and the output spherical shell 3, the connecting protrusion 1531 is located at the top of the arc disk 1530 and is fixedly connected to the output disk 4 after passing through the shaft hole of the third shaft body 17, and the outer side of the connecting protrusion 1531 is rotatably connected to the third shaft body 17 through a bearing.

[0057] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Within the spirit and principle of the present invention, any modification, equivalent replacement, improvement, etc. made shall be included in the protection scope of the present invention.

Claims

1. A spherical joint, characterized in that: include: A base, the base comprising a fixed spherical shell; A motor frame, wherein the motor frame is mounted in the fixed spherical shell, and a first drive motor, a second drive motor and a third drive motor are arranged on the motor frame; A turntable spherical shell, the turntable spherical shell is opposite to the fixed spherical shell and encloses a spherical space, and the turntable spherical shell can rotate around a first axis; A first transmission structure, wherein the first transmission structure is disposed in the spherical space, and the first driving motor drives the turntable spherical shell to rotate around the first axis through the first transmission structure; An output spherical shell, the output spherical shell is arranged on the turntable spherical shell and can rotate around a second axis; A second transmission structure, wherein the second transmission structure is disposed in the spherical space, and the second drive motor drives the output spherical shell to rotate around the second axis through the second transmission structure; an output disk, the output disk being disposed on the output spherical shell and being rotatable about a third axis; A third transmission structure, a part of which is located in the spherical space, and another part of which is located outside the turntable shell, and the third drive motor drives the output disc to rotate around a third axis through the third transmission structure.

2. The spherical joint according to claim 1, characterized in that: The first transmission structure includes a spherical shell gear ring and a first gear. The spherical shell gear ring is fixedly arranged on the inner side of the turntable spherical shell. The first gear is fixedly arranged on the output shaft of the first driving motor. The first gear is meshed with the spherical shell gear ring.

3. The spherical joint according to claim 2, characterized in that: A first bearing is sleeved and fixed on the motor frame, and the lower end of the turntable ball shell is sleeved and fixed on the outer ring of the first bearing.

4. The spherical joint according to claim 1, characterized in that: A first shaft body is fixed on the motor frame, the axis of the first shaft body is the first axis, a second bearing is sleeved and fixed on the upper end of the first shaft body, and the upper end of the turntable ball shell is sleeved and fixed on the outer ring of the second bearing.

5. The spherical joint according to claim 4, characterized in that: The second transmission structure includes a second gear, a third gear and a fourth gear; A second shaft body is disposed inside the output spherical shell, the axis of the second shaft body is the second axis, the end of the second shaft body passes through the turntable spherical shell and extends into the spherical space, and the second shaft body is rotatably connected to the turntable spherical shell; The second gear is fixed to the output shaft of the second driving motor, the third gear is rotatably disposed on the first shaft and meshes with the second gear, and the fourth gear is fixed on the second shaft and meshes with the third gear.

6. The spherical joint according to claim 5, characterized in that: The third gear includes a spur gear segment and a bevel gear segment, the fourth gear is configured as a bevel gear, the spur gear segment is meshed with the second gear, and the bevel gear segment is meshed with the fourth gear.

7. The spherical joint according to claim 5, characterized in that: A third shaft body is arranged on the outer side of the output spherical shell, the axis of the third shaft body is the third axis, and the output disc is rotatably arranged on the third shaft body; The third transmission structure includes a fifth gear, a sixth gear, a seventh gear and an eighth gear, wherein the fifth gear is fixed to the output shaft of the third driving motor, the sixth gear is rotatably disposed on the first shaft and meshed with the sixth gear, and the seventh gear is rotatably disposed on the second shaft and meshed with the sixth gear; The eighth gear is fixedly disposed on the inner side of the output disk and meshes with the seventh gear.

8. The spherical joint according to claim 7, characterized in that: The sixth gear comprises a transmission lower tooth and a transmission upper tooth, the transmission lower tooth meshes with the fifth gear, and the transmission upper tooth and the seventh gear are bevel gears and mesh with each other; The third gear is rotatably sleeved on the outer side of the sixth gear and is located between the transmission lower teeth and the transmission upper teeth.

9. The spherical joint according to claim 8, characterized in that: The seventh gear includes inner transmission teeth and outer transmission teeth, the inner transmission teeth are meshed with the upper transmission teeth, and the outer transmission teeth are located on the outer side of the turntable ball shell and meshed with the eighth gear.

10. The spherical joint according to claim 9, characterized in that: The eighth gear includes an arc-shaped disk, the inner arc surface of the arc-shaped disk is concentric with the outer arc surface of the turntable spherical shell, the edge of the arc-shaped disk is provided with teeth, and the middle of the arc-shaped disk is provided with a connecting protrusion, the connecting protrusion is fixedly connected to the output disk and rotatably connected to the third shaft.

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