Device with spherical pair structure, Hall rocker and electromechanical equipment

Abstract

The invention discloses a device with a spherical pair structure, a Hall rocker and electromechanical equipment. The device comprises a fixing device and a rotating device, the fixing device at least comprises one of a top cover and a mounting plate; the outer barrel is fixedly connected with the top cover or the mounting plate; the outer barrel and the inner surface of the top cover or the inner surface of the mounting plate jointly form a spherical cavity or form a complete spherical cavity; the rotating device is a detachable movable ball body; the detachable movable ball body is formed by assembling two or more than two parts, and the main body appearance of the assembled assembly body is spherical or partially spherical; an assembly formed by assembling a single part or a plurality of parts of the detachable movable ball is provided with a partial spherical outer surface, and the partial spherical outer surface is in spatial spherical surface contact with the inner surface of the spherical cavity. According to the device, the Hall rocker is simple in structure, long in service life and high in protection performance, and a reliable friction positioning function or a self-resetting function is achieved in a limited space.

Description

Technical Field

[0001] The present invention relates to the field of mechanics, and in particular to a device with a ball pair structure, a Hall rocker or an electromechanical device. Background Art

[0002] In industrial control applications such as port cranes, construction machinery, marine vessels, high-speed trains, and aerospace, manual manipulation of control components to achieve machine motion is common. From aircraft and ships to automobiles and construction machinery, joysticks or gear selectors are essential components of electronic control systems and serve as the primary human-machine interface. For example, the joysticks of CLAAS's TUCANO series harvesters offer highly integrated control functions, including raising and lowering attachments, raising and lowering the header, opening and closing the grain bin discharge pipe, rotating and retracting the pipe, and raising and lowering the winch. Operators simply press buttons in the cab to achieve their desired control objectives. Loaders, on the other hand, require frequent gear changes, sometimes even while operating the system. Therefore, a gear selector with high integration, reliable functionality, and flexibility is essential. American companies Curtiss and German companies GESSMANN also offer a wide variety of joysticks or gear selectors, each with a diverse range of functions and applications.

[0003] Hall effect rockers currently on the market present numerous challenges, including complex structures, short lifespans, and poor protection. They also lack reliable friction positioning or self-reset functionality within limited spaces. Furthermore, friction-positioned electric joysticks struggle to simultaneously maintain a specific position while maintaining friction positioning, and reliability in vibrating, dusty, and humid environments is difficult to guarantee. Furthermore, it's impossible to achieve cost-effective products at a low price, replace metal with plastic as the primary raw material, and maintain reliability and all necessary functionality. It's also impossible to install switches on miniature rockers. Summary of the Invention

[0004] The technical problem to be solved by the present invention is: how to design a device with a dual-axis or single-axis rotating pair, which has a simple structure, long service life, strong protection performance, easy processing and assembly, and can achieve reliable friction positioning function or self-reset function in a limited space, and further design a Hall rocker structure based on the device.

[0005] The present invention is achieved through the following technical solutions: A device with a ball pair structure, comprising a fixing device and a rotating device; The fixing device includes at least one of a top cover and a mounting plate; The outer barrel is fixedly connected to the top cover or the mounting plate; The outer barrel and the inner surface of the top cover or the mounting plate form a common component or a complete spherical cavity; The rotating device is a detachable movable sphere; the detachable movable sphere is assembled from two or more parts, and the main body of the assembled assembly is spherical or partially spherical; A single part of the detachable movable sphere or an assembly formed by assembling several parts thereof has a partially spherical outer surface, and the partially spherical outer surface forms spatial spherical contact with the inner surface of the spherical cavity; or A single part or an assembly formed by assembling several parts of the detachable movable sphere has a partially spherical outer surface, and the partially spherical outer surface forms a plane rotation pair constraint with the inner surface of the spherical cavity.

[0006] In the aforementioned device having a ball pair structure, the spatial spherical contact forms a spatial rotational pair constraint.

[0007] In the aforementioned device having a ball pair structure, among the parts constituting the detachable movable sphere, at least two parts form a planar rotation pair.

[0008] The aforementioned device with a ball pair structure, the parts contained in the detachable movable sphere that form spatial spherical contact with the spherical cavity or the assembly composed of the parts and the parts contained in the detachable movable sphere that form a planar rotation pair constraint with the spherical cavity or the assembly composed of the parts, the two form a planar rotation pair.

[0009] In the aforementioned device with a ball pair structure, the inner surface of the spherical cavity is provided with an arcuate slideway, and the arcuate slideway is used to form a planar rotation pair with some parts of the detachable movable sphere.

[0010] The aforementioned device with a ball pair structure, one of the parts constituting the detachable movable sphere or the assembly after several of the parts constituting the detachable movable sphere are assembled has a partially spherical outer surface and forms a planar rotation pair constraint with the inner surface of the spherical cavity through the arc slide.

[0011] In the aforementioned device with a ball pair structure, the inner surface of the spherical cavity forms the arc-shaped slideway through grooves, protrusions, or a combination of a part of the slideway being grooves and a part of the slideway being protrusions.

[0012] In the aforementioned device with a ball pair structure, the detachable movable sphere includes a central body, and a lateral guide hemisphere is respectively assembled on both sides of the central body.

[0013] The aforementioned device with a ball pair structure, wherein the detachable movable sphere includes a spherical center body, and a lateral guide hemisphere is assembled on one side of the spherical center body.

[0014] In the aforementioned device having a ball pair structure, the main body of the lateral guide hemisphere is a spherical cap structure; The main body of the median body is a spherical ring structure; The outer surface of the main body of the lateral guide hemisphere includes a partial spherical surface and a plane; The outer surface of the main body of the central body includes a partial spherical surface and two planes.

[0015] In the aforementioned device having a ball pair structure, the main body of the lateral guide hemisphere is a spherical cap structure; The main body of the spherical center body is a spherical structure with one side of the spherical cap cut off; The outer surface of the main body of the lateral guide hemisphere includes a partial spherical surface and a plane; The outer surface of the main body of the spherical center body includes a large half spherical surface and a plane.

[0016] The aforementioned device with a ball pair structure, part of the outer surface of the side guide hemisphere is spherical, and the spherical outer surface of the side guide hemisphere is provided with an arc slide, and the arc slide is used to form a rotational pair with the spherical cavity.

[0017] The aforementioned device with a ball pair structure, wherein the outer surface of the partial spherical surface of the side guide hemisphere is provided with protrusions, grooves, or the arcuate slide is in the form of a groove and a protrusion; the arcuate slide of the side guide hemisphere cooperates with the arcuate slide provided on the inner surface of the spherical cavity to form a planar rotation pair.

[0018] In the aforementioned device with a ball pair structure, the lateral guide hemispheres are installed on both sides of the central body in the spherical cavity, and the central body and the lateral guide hemispheres form a planar rotation pair in the spherical cavity.

[0019] The aforementioned device with a ball pair structure has a cylindrical protrusion or a cylindrical hole in the middle of the planar outer surface of the side guide hemisphere in the spherical cavity, and the cylindrical protrusion or cylindrical hole cooperates with the cylindrical hole or cylindrical protrusion provided on the planar outer surface of the center body to form a planar rotation pair.

[0020] The aforementioned device with a ball pair structure has a circular cylindrical protrusion or a circular ring groove in the middle of the planar outer surface of the side guide hemisphere in the spherical cavity, and the circular cylindrical protrusion or circular ring groove cooperates with the circular ring groove or circular cylindrical protrusion provided on the planar outer surface of the center body to form a planar rotation pair.

[0021] In the aforementioned device with a ball pair structure, the lateral guide hemisphere is installed on one side of the plane of the spherical center body in the spherical cavity, and the spherical center body and the lateral guide hemisphere form a planar rotation pair in the spherical cavity.

[0022] The aforementioned device with a ball pair structure has a cylindrical protrusion or a cylindrical hole arranged in the middle of the planar outer surface of the side guide hemisphere in the spherical cavity, and the cylindrical protrusion or cylindrical hole cooperates with the cylindrical hole or cylindrical protrusion arranged on the planar outer surface of the spherical center body to form a planar rotation pair.

[0023] The aforementioned device with a ball pair structure has a circular cylindrical protrusion or a circular ring groove in the middle of the planar outer surface of the side guide hemisphere in the spherical cavity, and the circular cylindrical protrusion or circular ring groove cooperates with the circular groove or circular cylindrical protrusion provided on the planar outer surface of the spherical center body to form a planar rotation pair.

[0024] The aforementioned device having a ball pair structure, wherein the rotating device is connected to an operating component; The operating component is connected to the rotating device via an operating rod; One end of the operating rod is fixedly connected to the operating component, and the other end of the operating rod is fixedly connected to the rotating device.

[0025] In the aforementioned Hall rocker with a ball pair structure, the operating component is one of a handle, a switch head or a thumb cap.

[0026] The aforementioned device with a ball pair structure, the center body is a combination of parts, including a ball panel and a side panel; the main body shape after the ball panel and the side panel are assembled is a ball ring structure; the ball panel is formed by opening a side panel mounting groove on a plane of one side of the ball ring, and part of the main body of the side panel is embedded in the side panel mounting groove of the ball panel, and the ball panel and the side panel form a moving pair; after the side panel is embedded in the side panel mounting groove of the ball panel, the main body shape of the assembly of the ball panel and the side panel is the ball ring shape of the center body.

[0027] The aforementioned device with a ball pair structure, the spherical center body is a combination of parts, including a spherical ball panel and a side panel; the main body shape after the spherical ball panel and the side panel are assembled is the spherical center body; the spherical ball panel is formed by a side panel mounting groove on the plane side of the spherical center body; the side panel mounting groove is formed by extending the material from the plane side of the spherical center body to the inside of the spherical center body; the side panel is embedded in the side panel mounting groove of the spherical ball panel, and the spherical ball panel and the side panel form a moving pair; the main body shape of the assembly after the side panel is embedded in the side panel mounting groove of the spherical ball panel is the shape of the spherical center body.

[0028] In the aforementioned device with a ball pair structure, a spring cavity for placing a spring is provided inside the detachable movable ball; A compression spring is arranged in the spring cavity, and the compression spring presses the assembly of the detachable movable sphere tightly against the inner surface of the spherical cavity.

[0029] The detachable movable sphere is composed of the spherical panel, side panels and the side guide hemispheres on both sides. The spherical panel and the side panels form a moving pair, and the side panels cannot rotate relative to the center of the spherical panel. In this way, compared with the detachable movable sphere formed by a single central body component and the side guide hemispheres on both sides, after the central body is replaced with a combination of the spherical panel and the side panels, the friction force of the spherical panel relative to the side guide hemispheres is changed from single-sided friction to double-sided friction (the total friction force is equal to the sum of the friction forces of the spherical panel and the side panels with the side guide hemispheres respectively, plus the friction between the outer spherical surface of the spherical panel and the inner surface of the spherical cavity), and its friction force relative to the side guide hemispheres is improved.

[0030] The detachable movable sphere is composed of the spherical ball panel, the side panel and the side guide hemisphere on one side; the spherical ball panel and the side panel form a moving pair, and the side panel cannot rotate relative to the center of the spherical ball panel; in this way, compared with the detachable movable sphere formed by a single spherical center body component and a side guide hemisphere on one side, when the spherical center body becomes a combination of the spherical ball panel and the side panel, the friction force of the spherical ball panel relative to the side guide hemisphere is changed from single-sided friction to double-sided friction (the total friction force is equal to the sum of the friction forces of the spherical ball panel and the side panel with the inner surface of the spherical cavity and the side guide hemisphere respectively), and its friction force relative to the side guide hemisphere is improved.

[0031] In the aforementioned device with a ball pair structure, a spring cavity for placing a spring is provided inside the center body; the spring cavity is provided between the side plate and the ball surface plate.

[0032] In the aforementioned device with a ball pair structure, a spring cavity for placing a spring is provided inside the spherical center body, and the spring cavity is provided between the side plate and the spherical ball plate.

[0033] In the aforementioned device with a ball pair structure, a spring cavity for accommodating a spring is provided between the lateral guide hemisphere and its adjacent center body or spherical center body.

[0034] The detachable movable sphere is composed of the spherical panel, side panels and the side guide hemispheres on both sides. The spherical panel and the side panels form a moving pair, and the side panels cannot rotate relative to the center of the spherical panel. In this way, compared with the detachable movable sphere formed by a single central body component and the side guide hemispheres on both sides, after the central body is replaced with a combination of the spherical panel and the side panels, the friction force of the spherical panel relative to the side guide hemispheres is changed from single-sided friction to double-sided friction (the total friction force is equal to the sum of the friction forces of the spherical panel and the side panels with the side guide hemispheres respectively, plus the friction between the outer spherical surface of the spherical panel and the inner surface of the spherical cavity), and its friction force relative to the side guide hemispheres is improved.

[0035] The detachable movable sphere is composed of the spherical ball panel, the side panel and the side guide hemisphere on one side; the spherical ball panel and the side panel form a moving pair, and the side panel cannot rotate relative to the center of the spherical ball panel; in this way, compared with the detachable movable sphere formed by a single spherical center body component and a side guide hemisphere on one side, when the spherical center body becomes a combination of the spherical ball panel and the side panel, the friction force of the spherical ball panel relative to the side guide hemisphere is changed from single-sided friction to double-sided friction (the total friction force is equal to the sum of the friction forces of the spherical ball panel and the side panel with the inner surface of the spherical cavity and the side guide hemisphere respectively), and its friction force relative to the side guide hemisphere is improved.

[0036] In the aforementioned device with a ball pair structure, a wire groove is provided in the center body or the side plate mounting groove of the ball panel for passing the wire through the center body or the ball panel.

[0037] In the aforementioned device with a ball pair structure, a wire groove is provided in the spherical center body or the side plate mounting groove of the spherical ball panel for passing the wire through the spherical center body or the spherical ball panel.

[0038] In the aforementioned device having a ball pair structure, two adjacent components forming a rotation pair exist inside the detachable movable sphere, and a discrete locking structure is provided between the two adjacent components forming the rotation pair.

[0039] In the aforementioned device with a ball pair structure, a discrete latching structure is provided between the detachable movable ball and the inner surface of the spherical cavity.

[0040] In the aforementioned device with a ball-pair structure, the two adjacent components forming the rotating pair within the detachable movable sphere have a spring-loaded positioning bead on one outer surface and a retaining groove on the other outer surface. The positioning bead and retaining groove cooperate to form a retaining structure. Thus, when the two components rotate relative to each other, the position of several discrete points of the device with a ball-pair structure can be sensed.

[0041] In the aforementioned device with a ball-pair structure, a spring-loaded positioning bead is disposed on the outer surface of the detachable movable ball, and a retaining groove is disposed on the inner surface of the spherical cavity. When the detachable movable ball rotates within the spherical cavity, it can precisely stop at a specific point. Thus, when operating the device with a ball-pair structure, the user can sense several discrete points of the device.

[0042] The aforementioned device with a ball pair structure is provided with a mounting hole in the middle of the arc-shaped slideway of the side guide hemisphere for installing a positioning bead; and positioning pits or positioning slopes are provided in the corresponding positioning areas of the outer barrel and the top cover.

[0043] The aforementioned device with a ball pair structure has a mounting hole in the middle of the spherical outer surface of the spherical center body for installing a positioning bead; and positioning pits or positioning slopes are provided in the corresponding positioning areas of the outer barrel and the top cover or the mounting plate.

[0044] The aforementioned device with a ball pair structure has mounting holes on both sides of the center of the center body or the planar part of the spherical center body for installing positioning beads; and positioning pits are set in the corresponding positioning areas of the plane of the side guide hemisphere that cooperates with the center body or the spherical center body.

[0045] In the aforementioned device with a ball pair structure, some parts of the positioning structure are inlaid on the side guide hemisphere using metal inserts with holes, and one of the metal inserts is a positioning steel plate.

[0046] In the aforementioned device with a ball pair structure, some parts of the locking structure are metal inserts with pits embedded in the spherical cavity, and one of the metal inserts is a V-shaped locking block.

[0047] In the aforementioned device with a ball pair structure, some parts of the locking structure are embedded in the spherical cavity using plastic inserts with holes or pits.

[0048] The aforementioned device with a ball pair structure has a V-shaped blocking block provided in the middle of the arc-shaped slideway of the spherical cavity. The V-shaped blocking block is a columnar structure, and a positioning hole or positioning pit is provided on the outer surface of one axial end of the columnar structure.

[0049] The aforementioned device with a ball pair structure, the space inside the outer barrel is an inner cavity, the inner cavity includes an upper cavity and a lower cavity, the upper cavity includes a hemispherical cavity or a small half-spherical cavity, and the lower cavity is a Hall circuit board mounting cavity or a bottom cover mounting cavity; the bottom cover mounting cavity is connected to the bottom cover; the inner surface of the hemispherical cavity of the outer barrel is provided with a slide, and the slide is a groove or protrusion along the spherical surface of the hemispherical cavity or a slide formed by combining partial grooves and partial protrusions.

[0050] The aforementioned device with a ball pair structure, the lower surface of the top cover or the mounting plate includes a hemispherical cavity or a small half-spherical cavity, which, after being assembled with the hemispherical cavity or the small half-spherical cavity of the upper cavity of the outer barrel, forms a spherical cavity spanning the diameter, and the spherical cavity is the rotating chamber of the detachable movable sphere.

[0051] In the aforementioned device with a ball pair structure, one or both of the upper and lower ends of the slideway are provided with a slope or a groove for cooperating with the positioning beads for locking.

[0052] In the aforementioned device having a ball pair structure, the outer barrel has at least one of the following structures: 1) The outer barrel body is barrel-shaped and has a cylindrical outer surface; 2) The upper cavity inside the outer barrel includes a hemispherical cavity or a small half-spherical cavity; 3) The upper cavity inside the outer barrel includes a cylindrical inner wall; 4) The upper cavity inside the outer barrel is provided with a positioning protrusion or groove for fixing the circumferential position of the outer barrel and the top cover or mounting plate; 5) The upper cavity of the outer barrel is provided with a glue isolation groove, which is arranged between the periphery of the hemispherical cavity and the cylindrical inner wall of the upper cavity of the outer barrel; the glue isolation groove prevents the glue from flowing into the hemispherical cavity.

[0053] 6) A flange is provided at the upper end of the outer barrel for mounting the outer barrel on the operating platform; 7) The upper surface of the flange is provided with a glue dripping groove and an adhesive flow channel; 8) The edge of the flange is provided with a slope for fitting and locking the dust cover fixing ring; 9) The lower end surface of the flange is provided with a sealing ring installation groove for installing the sealing ring; 10) The cylindrical outer surface of the outer barrel is provided with threads for mounting the outer barrel body; 11) A positioning plane is provided on the cylindrical outer surface of the outer barrel for positioning when installing the outer barrel body.

[0054] The aforementioned device with a ball pair structure also includes an operating rod, a swing window is opened between the upper and lower surfaces of the top cover, the operating rod swings within the range defined by the swing window, and the operating rod passes through the swing window of the top cover and is connected to the rotating device.

[0055] The aforementioned device with a ball joint structure further comprises an operating rod, wherein the operating rod is connected to the center body or the spherical center body to form a component or a part. A sliding groove or a swing window for the operating rod to move is provided on the top cover or the mounting plate.

[0056] In the aforementioned Hall effect rocker with a ball pair structure, the top cover has at least one of the following structures: 1) The lower end surface of the top cover includes an inner surface of a hemispherical cavity or a small half of a spherical cavity; 2) A slideway is provided on the inner surface of the hemispherical cavity or the small half-spherical cavity of the top cover; 3) The lower end surface of the top cover includes a thin-walled cylinder for mounting with the outer barrel; 4) The top cover is provided with a flange for mounting with the outer barrel; 5) The flange is provided with either or both of a glue dripping hole and a glue storage tank; 6) The bottom end of the top cover is open; 7) A rubber-isolating step is provided at the opening of the top cover, and the rubber-isolating step cooperates with the rubber-isolating groove of the upper cavity of the outer barrel; 8) A positioning socket is provided at the opening of the top cover, and the positioning socket cooperates with the upper cavity positioning protrusion of the outer barrel, or the positioning socket and the positioning protrusion are installed in interchangeable positions.

[0057] In the aforementioned device having a ball-pair structure, the combination of the spherical plate and the side plate comprises a spring mounting cavity and a wire guide groove, or both. Alternatively, the combination of the spherical plate and the side plate comprises a spring mounting cavity and a wire guide groove. After assembly, the spring mounting cavity and the wire guide groove form separate, isolated spaces, preventing spring deformation from damaging the wires in the guide groove.

[0058] In the aforementioned device with a ball pair structure, a spring mounting hole is provided at the end of the arcuate slideway of the side guide hemisphere, so that the spring deforms along the direction of the arcuate slideway, saving internal space while satisfying the reset function.

[0059] In the aforementioned device with a ball pair structure, an arcuate slide is provided on the outer spherical surface of the side guide hemisphere, and the arcuate slide adopts a combined slide structure, wherein part of the slide is grooved and part of the slide is convex.

[0060] The aforementioned device with a ball pair structure has a lower end of the arc-shaped slideway of the side guide hemisphere as a convex spherical structure, which cooperates with the groove provided in the inner cavity of the outer barrel to realize the planar rotation pair constraint of the two.

[0061] In the aforementioned device with a ball-pair structure, the protruding structure at the end of the curved slideway of the side guide hemisphere is provided with a spring mounting hole or spring mounting post along the slideway. One end of the spring is mounted on the spring mounting hole or spring mounting post; the other end of the spring is mounted on a corresponding spring mounting end on the top cover or mounting plate. The side guide hemisphere rotates relative to the spherical cavity, causing the spring to deform along the slideway. This saves internal space while still meeting the reset function.

[0062] In the aforementioned device with a ball-pair structure, the groove at the upper end of the curved slideway of the lateral guide hemisphere cooperates with the inwardly protruding spherical surface of the inner cavity of the top cover to achieve a planar rotational pair constraint between the two. The upper and lower ends of the slideway of the lateral guide hemisphere, respectively, form a single rotational pair with the spherical cavity formed by the top cover and the outer barrel, thereby improving the rigidity of the rotational pair.

[0063] In the aforementioned device with a ball pair structure, the inwardly protruding spherical surface of the top cover is composed of two flanges extending toward the center of the ball along the direction of the arc-shaped slideway, and a groove is provided between the two flanges.

[0064] In the aforementioned device with a ball pair structure, the radial groove in the middle of the arcuate slideway of the side guide hemisphere cooperates with the radial groove provided on the arcuate slideway in the inner cavity of the outer barrel to form a movable space for the spring; In the aforementioned device with a ball pair structure, the structure in which a groove is provided in the middle of the arcuate slideway of the side guide hemisphere cooperates with the groove of the arcuate slideway of the spherical cavity to form a movable space for the spring.

[0065] In the aforementioned Hall rocker with a ball pair structure, the groove is an arc-shaped groove.

[0066] In the aforementioned device with a ball-pair structure, the spring is a compression spring that controls the deflection of the lateral guide hemispheres by pre-compression. The deflection of the lateral guide hemispheres causes the deflection of an operating lever mounted on the center body or spherical center body; the deflected operating lever abuts against the edge of a slot provided on the top cover or mounting plate. This abutment generates friction during relative motion and, when locked, a reset force that automatically returns the lever to the locking slot.

[0067] In the aforementioned device with a ball-joint structure, the bilateral or unilateral contact surface between the operating lever and the edge of the slide groove provided on the top cover or the mounting plate is provided with a sawtooth-shaped micro-engaging structure or a micro-protrusion and groove cooperating therewith to ensure reliable engagement when the two contact.

[0068] In the aforementioned device with a ball pair structure, the slide groove type is one of the following three types: a straight-shaped, T-shaped or Z-shaped slide groove.

[0069] The aforementioned device with a ball pair structure, the slide groove is divided into two types: with a lateral locking groove and without a lateral locking groove; when the slide groove has a lateral locking groove, a locking groove is opened on one side of the slide groove; the locking groove is located in the middle of the slide groove or at the extreme positions of the front and rear ends.

[0070] In the aforementioned device with a ball-pair structure, when the outer barrel is fixedly connected to the mounting plate, the top cover is located between the outer barrel and the mounting plate.

[0071] In the aforementioned device with a ball-pair structure, the top cover and the outer barrel form a moving pair; a compression spring is installed between the top cover and the mounting plate. The compression spring generates or increases the friction force of the detachable movable ball rotating within the spherical cavity, thereby improving the uniformity of the friction force distribution. Furthermore, after the spherical surface provided at the lower end of the top cover and the spherical surface of the detachable movable ball wear, the top cover and the detachable movable ball remain in close contact due to the action of the compression spring, thereby providing a certain degree of compensation for the wear.

[0072] The aforementioned device with a ball-joint structure has a deformable pressure vessel installed between the top cover and the mounting plate; the deformable pressure vessel is selected from a hydraulic cylinder or a pneumatic cylinder and a liquid bag or an air bag.

[0073] The pressure vessel can be used to adjust the friction force of the detachable movable sphere rotating in the spherical cavity. When the hydraulic cylinder or pneumatic cylinder is extended or the volume of the liquid bag or air bag increases or there is a corresponding trend, the friction force of the detachable movable sphere rotating in the spherical cavity increases; conversely, when the hydraulic cylinder or pneumatic cylinder is shortened or the volume of the liquid bag or air bag decreases or there is a corresponding trend, the friction force of the detachable movable sphere rotating in the spherical cavity decreases.

[0074] The aforementioned device with a ball pair structure, the left side of the side plate is a left plane, a perforated axon extends outward from the middle of the left plane, and the right side is a friction positioning plane; the perforated axon of the side plate cooperates with the stepped hole set up on the center body or the spherical center body.

[0075] The aforementioned device with a ball pair structure, the side plate mounting groove of the spherical center body is provided with a spring mounting cavity, and the spring mounting cavity and the cylindrical hole provided on the perforated axon extending outward from one side plane of the side plate together constitute the activity space of the spring.

[0076] In the aforementioned device with a ball pair structure, positioning bead mounting holes are provided on the friction positioning plane of the side plate for mounting positioning beads.

[0077] In the aforementioned device with a ball pair structure, a rotating pair cylindrical hole is provided on the right plane of the side plate, and the rotating pair cylindrical hole cooperates with the axon extending outward along the plane of the lateral guide hemisphere to form a rotating pair.

[0078] The aforementioned device with a ball pair structure is provided with a columnar protrusion in the middle of the planar outer surface of the side guide hemisphere, and a bead removal through hole is provided on the columnar protrusion for removing the positioning bead installed in the positioning bead installation hole of the side guide hemisphere.

[0079] The aforementioned device having a ball-pair structure comprises a top cover, a spherical center body or center body, a side guide hemisphere, an outer barrel, and an operating rod; The spherical median body or the median body and the lateral guide hemispheres form a detachable movable sphere; The top cover and the outer barrel form a spherical cavity, and the detachable movable sphere is placed in the spherical cavity; The operating rod is fixedly connected to the spherical center body or the center body.

[0080] In the aforementioned device having a ball-joint structure, a window or a slide groove is provided on the top of the mounting plate to limit the swing range of the operating lever; and The mounting plate is provided with mounting holes or fixing grooves for fixing the mounting plate.

[0081] In the aforementioned device having a ball pair structure, the top cover has part or all of the following structures: 1) The lower surface of the top cover comprises an incomplete spherical surface; 2) a slideway is provided on the incomplete spherical surface of the top cover; 3) A window is provided between the upper and lower surfaces of the top cover; 4) The top cover includes cylindrical sides.

[0082] In the aforementioned device with a ball pair structure, the top cover is provided with a plurality of holes or a plurality of half-open holes for installing connecting pieces for fixing the top cover.

[0083] In the aforementioned device with a ball pair structure, the columnar side surface of the top cover is further provided with a positioning groove or a positioning protrusion for cooperative positioning.

[0084] In the aforementioned device with a ball pair structure, a pin hole is provided on the side of the spherical center body for installing a stop pin of the operating rod.

[0085] In the aforementioned device having a ball pair structure, the outer barrel has at least one of the following structures: 1) A circular hole or a semi-open cylindrical hole is provided on the inner side of the upper cavity of the outer barrel for inserting a half-thread bolt or a connecting piece; 2) An incomplete spherical cavity is provided inside the upper cavity of the outer barrel; 3) A slideway is provided on the surface of the incomplete spherical cavity inside the upper cavity of the outer barrel, which is used to form a revolute pair with other components, including a lateral guide hemisphere; The aforementioned device with a ball pair structure, the inner side of the upper cavity of the outer barrel includes a cylindrical inner surface; a plurality of positioning protrusions or positioning grooves are provided on the cylindrical inner surface, and the positioning protrusions or positioning grooves cooperate with the positioning grooves or positioning protrusions on the columnar side of the top cover to prevent the top cover from rotating relative to the outer barrel.

[0086] In the aforementioned device having a ball-joint structure, the fixing device further comprises a bottom cover, wherein the bottom cover has part or all of the following structures: 1) The bottom cover is provided with a hole or a half-open cylindrical hole for mounting the bottom cover; 2) The inner cavity of the bottom cover is provided with a protrusion with a hole, and the protrusion with a hole is used to install a Hall circuit board; 3) The inner cavity of the bottom cover is also provided with a hexagonal groove for installing a waterproof cable connector.

[0087] When assembling the aforementioned device with a ball-joint structure, the connector or half-thread bolt is sequentially passed through the countersunk hole provided on the upper surface of the mounting plate, the half-open hole of the top cover, the half-open cylindrical hole of the outer barrel, and the half-open cylindrical hole of the bottom cover, and the nut is screwed on to complete the assembly of the device with a ball-joint structure. Or when assembling, pass the connecting piece or half-thread bolt through the countersunk hole set on the upper surface of the mounting plate, the half-open hole of the top cover, and the half-open cylindrical hole of the outer barrel in sequence, screw on the nut, and then assemble the bottom cover and the outer barrel together.

[0088] In the aforementioned device with a ball pair structure, the detachable movable sphere of the rotating device forms a single rotating component or a single part; the detachable movable sphere and the inner surface of the spherical cavity form a planar rotation pair constraint.

[0089] The aforementioned device with a ball pair structure includes a top cover, one or all of the mounting plates, an operating rod, a spherical center body or a center body, a side guide hemisphere, an outer barrel, and optional accessories, wherein the optional accessories include a Hall circuit board, a bottom cover, a positioning steel plate, a positioning steel ball, a positioning spring, a top cover boosting spring, a V-shaped positioning block, a half-thread bolt, a locking nut, an operating rod stop pin, a positioning block stop pin, a positioning block stop spring, and part or all of the steel barrel; The spherical median body or the median body and the lateral guide hemispheres form a detachable movable sphere; The top cover or the mounting plate and the outer barrel form a spherical cavity, and the detachable movable sphere is placed in the spherical cavity; The operating rod is fixedly connected to the spherical center body or the center body; The mounting plate is fixedly connected to the outer barrel; The Hall circuit board is installed between the outer barrel and the bottom cover; The bottom cover is fixedly connected to the outer barrel; The clamping steel plate is fixedly connected to the lateral guide hemisphere; The positioning steel ball cooperates with the positioning steel plate or the V-shaped positioning block to achieve positioning; The positioning spring is used to cooperate with the positioning of the positioning steel ball; The top cover pressure boosting spring is placed between the top cover and the mounting plate; The V-shaped blocking block is fixedly connected to the outer barrel; The half-thread bolt is used to connect the mounting plate and the outer barrel; The locking nut cooperates with the half-thread bolt to connect the mounting plate and the outer barrel; The operating rod stop pin is used to fix the operating rod; The stop pin of the positioning block is used to fix the V-shaped positioning block; The positioning block retaining spring is used to assist the positioning block retaining pin in fixing the V-shaped positioning block; The steel barrel is sleeved on the outside of the outer barrel, which increases the strength and rigidity of the device with a ball pair structure and plays a role of electromagnetic isolation.

[0090] In the aforementioned device having a ball pair structure, the top cover has part or all of the following structures: 1) A top cover boost spring mounting hole is provided on the upper end surface of the top cover for mounting the top cover boost spring; 2) The upper end surface of the top cover is provided with a plurality of through holes for installing the stop pins of the positioning block; 3) A positioning block installation slot is provided at the lower end of the top cover for installing a V-shaped positioning block.

[0091] The aforementioned device with a ball pair structure is provided with an installation groove for installing a clamping steel plate on the plane portion of the ball crown of the lateral guide hemisphere.

[0092] The aforementioned device with a ball pair structure has one or both of the two structures, special-shaped positioning protrusions or blind holes, provided in the installation groove of the positioning steel plate. The special-shaped positioning protrusions are used to fix the positioning steel plate, and the blind holes are used to accommodate part of the positioning steel balls when positioning.

[0093] In the aforementioned device with a ball pair structure, the center of the positioning steel plate is a special-shaped positioning hole, and the special-shaped positioning hole is positioned and matched with the special-shaped positioning protrusion provided at the center of one side of the plane of the side guide hemisphere.

[0094] The aforementioned device with a ball pair structure is provided with two or more positioning holes on both sides of the center of the positioning steel plate for cooperating with the positioning of the positioning steel ball.

[0095] In the aforementioned device with a ball pair structure, one side surface of the V-shaped positioning block is a V-shaped notch or groove for cooperating with the positioning of the positioning steel ball.

[0096] The aforementioned device with a ball pair structure, the upper end face of the V-shaped blocking block is provided with one or both of a through hole and a blocking block fixing hole; the through hole cooperates with a half-thread bolt or a connecting piece, and the blocking block fixing hole of the V-shaped blocking block is installed with a blocking block stop pin.

[0097] In the aforementioned device with a ball pair structure, the upper or lower end areas of the two planar side surfaces of the center body are configured as fan-shaped areas, mainly to avoid interference.

[0098] In the aforementioned device with a ball pair structure, a positioning bead mounting hole is provided on one side of the plane of the center body or the spherical center body for mounting the positioning steel ball and the positioning spring.

[0099] In the aforementioned device with a ball pair structure, a through hole is provided in the positioning bead mounting hole for taking out the positioning bead.

[0100] The aforementioned device with a ball pair structure has a locking block installation slot in the middle of the outer barrel for installing a V-shaped locking block, and the V-shaped locking block is used to cooperate with the positioning bead to achieve locking.

[0101] The aforementioned device with a ball pair structure is provided with one or both of a blind hole and a half-open bolt hole on the positioning block mounting groove provided in the middle of the outer barrel, which is used to install a half-thread bolt of the connecting piece or to install a positioning block stop pin.

[0102] The aforementioned device with a ball pair structure, wherein the outer barrel comprises a cylindrical outer surface, and the cylindrical outer surface is sheathed with an iron barrel or a steel barrel.

[0103] The aforementioned device having a ball-pair structure, wherein the assembly process of the device having the ball-pair structure includes some or all of the following steps: Step a: inserting the positioning steel plate into the positioning steel plate mounting groove of the lateral guide hemisphere to obtain the lateral guide hemisphere with a positioning function; Step b, inserting one end of the operating rod into the top mounting hole of the center body or the spherical center body to connect the operating rod to the spherical center body; Alternatively, insert the operating rod stop pin into the pin hole of the spherical center body, and make the operating rod stop pin pass through the pin hole of the operating rod, and finally screw the set screw into the pin hole of the spherical center body; Step c, placing the positioning springs into the positioning bead mounting holes of the center body or the spherical center body respectively, and then placing the positioning steel balls on the positioning springs in the two positioning bead mounting holes respectively; Step d, inserting the axon on one side of the plane of the lateral guide hemisphere into the blind hole on one side of the plane of the median body or the spherical median body, so that the lateral guide hemisphere and the median body or the spherical median body form a pair of rotation pairs; Step e, installing a positioning spring and a positioning steel ball in the positioning bead mounting holes provided at the center of the spherical surface of the lateral guide hemisphere and the spherical center body respectively; Step f, placing the detachable movable sphere into the incomplete spherical cavity of the outer barrel, and fitting the slideway of the side guide hemisphere with the slideway in the spherical cavity of the outer barrel; Step g, inserting the V-shaped blocking block from the blocking block installation slot on the side of the outer barrel so that the V-shaped blocking block presses the positioning steel ball; Alternatively, further, the stop pin of the positioning block is inserted into the through hole of the positioning block fixing hole of the V-shaped positioning block; Step h: inserting the top cover into the outer barrel, and making the positioning groove of the top cover match the positioning protrusion of the outer barrel, and making the slide of the top cover match the slide of the side guide hemisphere; Step i, placing the top cover boost spring into the upper end of the top cover; Step j, press the mounting plate onto the top cover; Step k: embed the bottom cover into the bottom of the outer barrel, and insert the bolts through the mounting plate, the top cover, and the outer barrel in sequence and install them.

[0104] The aforementioned device with a ball pair structure, the middle area between the upper surface and the lower surface of the top cover is designed to be an opening, and the opening shape is one of the following shapes: square opening, circular opening, I-shaped opening, I-shaped opening with a locking groove, T-shaped opening, H-shaped, W-shaped, L-shaped, C-shaped, E-shaped opening, cross-shaped opening, Z-shaped opening, Z-shaped opening with a locking groove, which is used to install an operating rod to swing in this opening to meet different functional requirements.

[0105] The installed operating lever swings in this opening to meet different functional requirements. Locking grooves can be opened on the side of the slide as needed, especially in the middle or at the extreme positions of the front and rear ends of the slide to avoid abnormal displacement of the operating lever due to vibration or misoperation.

[0106] The aforementioned device with a ball joint structure, the middle area between the upper surface and the lower surface of the mounting plate is designed to be an opening, and the opening shape is one of the following shapes: square opening, circular opening, I-shaped opening, I-shaped opening with a locking groove, T-shaped opening, H-shaped, W-shaped, L-shaped, C-shaped, E-shaped, cross-shaped opening, Z-shaped opening, Z-shaped opening with a locking groove, which is used to install an operating rod to swing in this opening to meet different functional requirements.

[0107] The installed operating lever can swing in this opening to meet different functional requirements; locking grooves can be opened on the side of the slide as needed, especially in the middle or at the extreme positions of the slide to avoid abnormal displacement of the operating lever due to vibration or misoperation.

[0108] The aforementioned device with a ball pair structure includes an operating rod, a reset spring, a reset disk, a top cover, a center body or a spherical center body, a side guide hemisphere, an outer barrel, and a Hall circuit board; The spherical median body or the median body and the lateral guide hemispheres form a detachable movable sphere; The top cover and the outer barrel form a spherical cavity, and the detachable movable sphere is placed in the spherical cavity; The operating rod is fixedly connected to the spherical center body or the center body; The Hall circuit board is mounted on the spherical center body or the lower end of the center body; The reset disk is mounted on the upper end of the top cover and passes through the operating rod; The reset spring is sleeved on the operating rod and installed on the upper end of the reset disk.

[0109] The aforementioned device having a ball pair structure, The reset plate is a disc-shaped structure with a through hole extending between the upper and lower surfaces. A spring is mounted on the upper portion of the reset plate, and a conical reset slope is provided on the lower portion. The reset slope effectively reduces the starting torque of the rocker.

[0110] In the aforementioned device with a ball-joint structure, the uppermost end of the conical reset slope extends horizontally outward to form a reset plane, which enhances the stability of the rocker when it is in the neutral position.

[0111] In the aforementioned device with a ball pair structure, an arc surface is provided at the outermost edge of the reset plane to achieve a transition from the lower surface of the reset disk to the upper surface of the reset disk.

[0112] The aforementioned device with a ball pair structure, the operating rod is connected to the center body or the spherical center body through the top cover, and the reset disk and the reset spring are mounted on the operating rod above the top cover, and the reset disk and the operating rod form a moving pair; one end of the reset spring is pressed against the reset disk.

[0113] The reset spring has the function of pressing the reset disk against the top cover, so that the operating rod tends to return to the equilibrium position under the action of the reset disk, realizing the function of the self-resetting rocker.

[0114] The aforementioned device with a ball pair structure, the main body of the reset disk is a rotating body structure, the lower end of the rotating body structure is a conical structure, and a cylindrical through hole is opened in the geometric center of the rotating body structure, and an annular edge is provided at the edge where the upper end of the rotating body and the lower end of the rotating body intersect.

[0115] In the aforementioned device with a ball pair structure, the overall structure of the top cover is a sheet-like structure, the middle of which is a through hole running through the upper and lower surfaces of the sheet-like structure for passing the operating rod.

[0116] In the aforementioned device with a ball pair structure, the upper surface of the top cover is provided with an inclined surface inclined toward the center with a higher periphery and a lower center.

[0117] The operating rod swings within the through-hole of the top cover. When the operating rod reaches its limit position, the arc-shaped surface at the outermost edge of the reset plate's reset plane abuts against the inclined upper surface of the top cover, supporting the entire reset plate. The reset plate further supports the operating rod, greatly preventing it from breaking due to excessive bending moment at the limit position.

[0118] In the aforementioned device with a ball pair structure, the reset disk must pass through the operating rod, and the reset disk and the operating rod form a moving pair. The reset spring passes through the operating rod, and one end is installed in the spring installation groove provided at the upper end of the reset disk. The lower end of the reset disk is pressed against the top cover under the action of the reset spring; the other end of the reset spring is installed in the thumb cap. After completing the above operation, the thumb cap is connected to the upper end of the operating rod, so that the thumb cap and the operating rod are firmly connected.

[0119] In the aforementioned device with a ball-joint structure, the through hole of the top cover is a tapered through hole; or an annular flange is provided around the through hole of the top cover, and the annular flange cooperates with the tapered reset slope or reset plane of the reset disk at the equilibrium position of the rocker to achieve stability of the rocker at the equilibrium position. The through hole of the top cover includes a tapered slope; or an annular flange is provided around the through hole of the top cover; the annular flange cooperates with the tapered reset slope or reset plane of the reset disk at the equilibrium position of the rocker to achieve stability of the rocker at the equilibrium position; or the tapered slope cooperates with the tapered reset slope of the reset disk at the equilibrium position of the rocker to achieve stability of the rocker at the equilibrium position.

[0120] The aforementioned device with a ball pair structure has a cylindrical hole at the center of the plane side surface of the center body or the spherical center body, and the cylindrical hole and the cylinder extending from the center of the plane side surface of the side guide hemisphere form a plane rotation pair; Alternatively, a cylindrical hole is provided at the center of the plane side surface of the lateral guide hemisphere, and the cylindrical hole and the cylinder extending from the center of the plane side surface of the center body or the spherical center body form a planar rotation pair.

[0121] In the aforementioned device with a ball pair structure, the thumb cap is provided with a switch slot for installing a micro switch or a connecting stud or nut for installing an extension rod.

[0122] In the aforementioned device with a ball pair structure, the side guide hemisphere of the detachable movable sphere is connected to the center body or the spherical center body through a connecting column or a threaded connector.

[0123] In the aforementioned device with a ball pair structure, the detachable movable ball is connected to the compression spring via a connecting column or a threaded connector.

[0124] In the aforementioned device with a ball pair structure, the detachable movable ball is connected to the thrust bearing and the compression spring through a connecting column or a threaded connection.

[0125] In the aforementioned device with a ball pair structure, the spherical center body and the lateral guide hemisphere are connected together through a connecting column or a threaded connector.

[0126] The aforementioned device with a ball pair structure has a mounting hole at the center of the spherical surface of the spherical center body for passing the connecting piece, and a mounting hole at the center of the spherical surface of the side guide hemisphere for passing the connecting piece.

[0127] The aforementioned device with a ball pair structure has a bolt mounting hole at the center of the spherical surface of the spherical center body for passing the threaded connector, and a nut mounting hole at the center of the spherical surface of the side guide hemisphere for installing a nut.

[0128] The aforementioned device with a ball pair structure has a thrust bearing, a compression spring and a bolt installed in the mounting hole of the spherical center body, and a mounting hole for mounting a nut is opened in the center of the spherical surface of the side guide hemisphere.

[0129] The aforementioned device with a ball pair structure has a compression spring, a thrust bearing, a spherical center body, a side guide hemisphere and a nut connected in series on the stud of the bolt in sequence and then tightened.

[0130] In the aforementioned device with a ball pair structure, the center body and the side guide hemispheres are connected together via connecting columns or threaded connectors.

[0131] The aforementioned device with a ball pair structure has a mounting hole at the center of the plane of the center body for passing the connecting piece, and a mounting hole at the center of the spherical surface of the side guide hemisphere for passing the connecting piece or installing the connecting piece.

[0132] The aforementioned device with a ball pair structure has a connector mounting hole at the center of the plane of the center body for passing the connector, and a connector mounting hole is opened at the center of the spherical surface of the side guide hemisphere for installing the connector.

[0133] The aforementioned device with a ball pair structure has a thrust bearing, a compression spring and a bolt installed in the connector mounting hole of one of the side guide hemispheres, and a mounting hole for mounting a nut is opened in the center of the spherical surface of the other side guide hemisphere.

[0134] The aforementioned device with a ball pair structure has a compression spring, a thrust bearing, a side guide hemisphere, a center body, a side guide hemisphere and a nut connected in series in sequence on the stud of the threaded connector and then tightened.

[0135] The aforementioned device with a ball pair structure includes a reset push rod, and the reset push rod, the side guide hemisphere, and the fixing device form a cam mechanism; the side guide hemisphere is a cam, the reset push rod is a follower, and the fixing device is a frame; the fixing device and the reset push rod form a moving pair; the side guide hemisphere and the fixing device form a planar rotation pair.

[0136] In the aforementioned device with a ball pair structure, the side guide hemisphere includes a convex spherical portion, and one end of the reset push rod is pressed against the convex spherical portion of the side guide hemisphere.

[0137] The aforementioned device with a ball pair structure, the reset push rod includes a guide rod and a convex head, the guide rod passes through the mounting plate to form a moving pair with the fixing device, and the convex head abuts the convex spherical part of the side guide hemisphere.

[0138] In the aforementioned device with a ball pair structure, a return spring is sleeved on the guide rod, and the return spring is a compression spring.

[0139] The aforementioned device with a ball pair structure, the outer cylinder includes a spherical inner surface, a slide groove is provided on the spherical inner surface, and a limiting step is provided on the slide groove for limiting the rotation range of the side guide hemisphere.

[0140] A Hall rocker with a ball pair structure, comprising a fixing device and a rotating device; The fixing device includes at least one of a top cover and a mounting plate; The outer barrel is fixedly connected to the top cover or the mounting plate; When the outer barrel is fixedly connected to the top cover, the inner surfaces of the outer barrel and the top cover form a common or complete spherical cavity; The rotating device is a detachable movable sphere; the detachable movable sphere is composed of two or more parts, and the main body of the assembled assembly has a spherical or partially spherical shape; A single part or a plurality of parts of the detachable movable sphere are assembled to form an assembly having a partially spherical outer surface and forming spatial spherical contact with the inner surface of the spherical cavity; or The assembly formed by assembling a single part or several parts of the detachable movable sphere has a partially spherical outer surface and forms a planar rotation pair constraint with the inner surface of the spherical cavity.

[0141] The aforementioned Hall effect rocker with a ball pair structure further includes a sensing device, which includes a magnetic sensing element or a Hall effect circuit board equipped with a magnetic sensing element.

[0142] The aforementioned Hall rocker with a ball pair structure further includes a magnet installed at the bottom of the detachable movable sphere.

[0143] In the aforementioned Hall effect rocker with a ball pair structure, a Hall effect circuit board with a magnetic sensing element is installed in the lower cavity of the outer barrel or the space connected thereto; the magnet is located above the magnetic sensing element; the detachable movable sphere drives the magnet to move relative to the magnetic sensing element, and the magnetic sensing element obtains a corresponding position signal of the detachable movable sphere based on the relative movement of the magnet.

[0144] An electromechanical device with a ball pair structure includes a Hall rocker with a ball pair structure or a device with a ball pair structure according to any one of the above.

[0145] When the joystick based on this principle rotates around the X-axis or Y-axis, its swing angle and the output voltage have a one-to-one or linear correspondence, and thus has the characteristics of a potentiometer.

[0146] The present invention achieves the following beneficial effects: The present invention provides a device and Hall effect rocker with a ball-pair structure. The outer barrel and the inner surface of the top cover or mounting plate jointly form or complete a spherical cavity. The detachable movable sphere forms a spatial spherical contact with the inner surface of the spherical cavity. Partial components of the detachable movable sphere form a planar rotational pair constraint with the outer barrel. Partial components of the detachable movable sphere form a spatial rotational pair constraint with the outer barrel. Optionally, partial components of the detachable movable sphere form a planar rotational pair. Optionally, partial components of the detachable movable sphere form a planar translation pair. This device structure can achieve both friction-type positioning and self-resetting positioning functions, as well as universal joint functions. The implementation method of the present invention has a simple structure, low cost, high reliability, and a wide range of applications. It is easy to manufacture, process, assemble, and maintain. The above structure can also be used to design electronically controlled rockers suitable for various devices, including but not limited to electronic rockers or electronic control handles for various types of machinery, such as drones, road rollers, loaders, and harvesters. BRIEF DESCRIPTION OF THE DRAWINGS

[0147] Figure 1 This is a schematic diagram of the assembly of Example 1 of the present invention; Figure 2This is an exploded schematic diagram of the main components of Example 1 of the present invention; Figure 3 It is a right side view of embodiment 1 of the present invention; Figure 4 A BB half-section view corresponding to the right side view of Example 1 of the present invention; Figure 5 This is an explosion diagram of Example 1 of the present invention; Figure 6 This is a schematic structural diagram of a ball panel according to Example 1 of the present invention; Figure 7 This is a rear view of the ball panel of Example 1 of the present invention; Figure 8 This is an axonometric view of the side panel of Example 1 of the present invention; Figure 9 This is a right side view of the side panel of Example 1 of the present invention; Figure 10 Axonometric view of the lateral guide hemisphere of embodiment 1 of the present invention Figure 1 ; Figure 11 Axonometric view of the lateral guide hemisphere of embodiment 1 of the present invention Figure 2 ; Figure 12 This is an axonometric view of the top cover of Example 1 of the present invention; Figure 13 This is a front view of the top cover of Example 1 of the present invention; Figure 14 This is a top view of the top cover of Example 1 of the present invention; Figure 15 A top view of the top cover of Example 1 of the present invention Figure 14 Middle AA half section view; Figure 16 This is an axonometric view of the outer barrel of Example 1 of the present invention; Figure 17 This is a right side view of the outer barrel of Example 1 of the present invention; Figure 18 Right view of embodiment 1 of the present invention Figure 17 Half-section view of the BB of the middle and outer barrels; Figure 19 This is a schematic structural diagram of the bottom cover of Example 1 of the present invention; Figure 20 This is a front view of the dust cover of Example 1 of the present invention; Figure 21 This is a front view of Example 1 of the present invention Figure 20 BB half-section view of the dust jacket; Figure 22 This is a bottom view of the switch head in Example 1 of the present invention; Figure 23 Bottom view of the switch head in embodiment 1 of the present invention Figure 22 AA half-section view; Figure 24 This is a schematic structural diagram of the dust cover fixing ring of Example 1 of the present invention; Figure 25 It is a right side view of Example 2; Figure 26 The right side view of Example 2 Figure 25 Corresponding AA half-section view; Figure 27 This is an explosion diagram of Example 2; Figure 28 Schematic diagram of a spherical ball panel of Example 2; Figure 29 Schematic diagram of the spherical ball panel of Example 2 Figure 2 ; Figure 30 This is an axonometric view of the side panel of Example 2; Figure 31 It is a right side view of the side panel of Example 2; Figure 32 is an axonometric view of the lateral guide hemisphere of Example 2; Figure 33 A right side view of the lateral guide hemisphere of Example 2; Figure 34 Schematic diagram of the outer barrel of Example 2; Figure 35 It is a right side view of Example 3; Figure 36 The right side view of embodiment 3 Figure 35 Corresponding AA half-section view; Figure 37 This is an explosion diagram of Example 3; Figure 38 This is an axonometric view of the lateral guide hemisphere of Example 3; Figure 39 It is a right side view of the lateral guide hemisphere of Example 3; Figure 40 A top view of the lateral guide hemisphere of Example 3; Figure 41 This is an axonometric view of the top cover of Example 3; Figure 42 This is a bottom view of the top cover of Example 3; Figure 43 This is a schematic diagram of the outer barrel of Example 3; Figure 44 Schematic diagram of the top cover of Example 3 (Z-shaped with locking groove); Figure 45 Schematic diagram of the top cover of Example 3 (L-shaped); Figure 46Schematic diagram of the top cover of Example 3 (C-shaped); Figure 47 Schematic diagram of the top cover of Example 3 (E-shaped); Figure 48 A schematic diagram of the circuit design of Example 4; Figure 49 Schematic diagram of a multi-state switch functional circuit of Example 4; Figure 50 is a schematic diagram of the assembly of Example 5; Figure 51 is a top view of the assembly of Example 5; Figure 52 A top view of Example 5 Figure 51 The corresponding half-section view AA; Figure 53 is an exploded schematic diagram of the assembly of Example 5; Figure 54 is a schematic diagram of the operating lever of Example 5; Figure 55 is a schematic diagram of the mounting plate of Example 5; Figure 56 is a schematic diagram of the top cover of Example 5; Figure 57 is a schematic diagram of the spherical mesobody of Example 5; Figure 58 This is a schematic diagram of the outer barrel of Example 5; Figure 59 This is a schematic diagram of the bottom of the outer barrel of Example 5; Figure 60 is a schematic diagram of the bottom cover of Example 5; Figure 61 This is a schematic diagram of the bottom of the bottom cover of Example 5; Figure 62 is a schematic diagram of the assembly of Example 6; Figure 63 is a top view of the assembly of Example 6; Figure 64 is a half-section view AA corresponding to the top view of the assembly of Example 6; Figure 65 This is an exploded schematic diagram of the assembly of Example 6; Figure 66 Schematic diagram of the explosion of the core part of the assembly of Example 6; Figure 67 This is a schematic diagram of the outer barrel of Example 6; Figure 68 is a schematic diagram of the top cover of Example 6; Figure 69 Schematic diagram of the V-shaped positioning block of Example 6; Figure 70 Schematic diagram of the lateral guide hemisphere of Example 6 Figure 1 ; Figure 71 Schematic diagram of the lateral guide hemisphere of Example 6 Figure 2 ; Figure 72 Schematic diagram of the spherical mesobody of Example 6 Figure 1 ; Figure 73 Schematic diagram of the spherical mesobody of Example 6 Figure 2 ; Figure 74 Schematic diagram of the clamping steel plate of Example 6; Figure 75 is a schematic diagram of the assembly of Example 7; Figure 76 1. A top view and a cross-sectional view of an assembly of Example 7; Figure 77 is an exploded schematic diagram of the assembly of Example 7; Figure 78 is a schematic diagram of the top cover of Example 7; Figure 79(a) is a cross-sectional view of the top cover of Example 7; Figure 79(b) is a top view of the top cover of Example 7; Figure 80 Schematic diagram of the reset disk of Example 7; Figure 81 It is a front view of the reset disk of Example 7; Figure 82 is a schematic diagram of the spherical mesobody of Example 7; Figure 83 This is a schematic diagram of the detachable movable sphere of Example 8; Figure 84 This is a schematic diagram of the explosion of the detachable movable sphere of Example 8; FIG85( a ) is a left side view of the spherical center body of Example 8; Figure 85(b) is a perspective view of the spherical center body of Example 8; Figure 86(a) is a perspective view of the lateral guide hemisphere of Example 8; Figure 86(b) is a right side view of the lateral guide hemisphere of Example 8; Figure 87 is a schematic diagram of the assembly of Example 9; Figure 88 A front view of the assembly of Example 9; Figure 89 For Example 9 Figure 88 The corresponding half-section view AA; Figure 90This is an explosion diagram of Example 9; Figure 91 is a schematic diagram of the mounting plate of Example 9; Figure 92 This is a schematic diagram of the bottom of the mounting plate of Example 9; Figure 93 This is a schematic diagram of the outer barrel of Example 9; Figure 94 Schematic diagram of the lateral guide hemisphere of Example 9; Figure 95 Schematic diagram of the lateral guide hemisphere-auxiliary hemisphere of Example 9; Figure 96 Schematic diagram of the reset ejector pin of Example 9; Reference numerals: Figure 1-Figure 24 : 1-Dustproof boot: 101-Dustproof boot top closed cavity, 102-flange, 103-U-shaped groove or ring groove, 104-Dustproof boot bottom open 2-Switch head: 201-thumb contact end, 202-switch slot, 203-slotted hole or mounting hole, 204-rectangular slot 1; 3- Spring 4-Side panel 1: 401-left side, 402-axon with hole, 403-axon end face, 404-hole, 405-right side plane, 406-step hole 1.

[0148] 5- Lateral guide hemisphere 1: 501- Slide groove 1, 502- Cylindrical hole, 503- V-shaped groove, 504- U-shaped cavity or annular groove, 505- Axon, 506- Hemisphere plane 6-Outer barrel 1: 601-Flange 1, 602-Positioning protrusion 1, 603-Annular groove 1, 604-Rectangular groove 2, 605-Wedge edge, 606-Positioning plane, 607-Thread, 608-Slide 1 or slide protrusion 1, 609-Upper cavity, 610-U-shaped ring groove or sealing groove, 611-Annular rubber isolation groove, 612-Lower cavity, 613-Positioning blind hole 1, 614-Limiting step 1 7-Gasket 8-Nut 9-Bottom cover: 901-bottom cover upper surface, 902-cylindrical protrusion 1, 903-special-shaped protrusion, 904-glue filling cavity, 905-T-shaped through hole, 906-reserved cavity 10-Hall circuit board: 1001-Hall element or magnetic sensing element, 1002-PCB board 11-O-ring 12-Spring positioning beads 13-Dust cover fixing ring: 1301-wedge-shaped buckle, 1302-rectangular groove three, 1303-U-shaped groove, 1304-protrusion one; 14-Top cover 1: 1401-Square window, 1402-Hemispherical cavity, 1403-Flange 2, 1404-Glue storage tank, 1405-Glue hole, 1406-Location socket, 1407-Ring groove, 1408-Rectangular groove 4, 1409-Slide 2, 1410-Step 1 15-Boost gasket 16-Ball panel: 1601-Protrusion 2, 1602-Operating rod 1, 1603-Over-diameter edge, 1604-Cylindrical hole, 1605-Right side, 1606-Special-shaped cavity 1, 1607-Rectangular wire groove, 1608-Step hole 2, 1609-Through hole 1, 1610-Axon with hole, 1611-Left side, 1612-Rectangular wire hole, 1613-Rectangular groove 5, 1614-Magnetic steel mounting hole 1, 1615-Magnetic steel mounting surface 1 Figures 25-34 : 1-Dust cover 2-Switch head 161-Spherical ball panel: 16101-Right plane, 16102-Special-shaped cavity 2, 16103-Magnetic steel mounting hole 2, 16104-Magnetic steel mounting surface 2, 16105-Rectangular slot 6, 16106-Rectangular wire hole, 16107-Left spherical surface, 16108-Square operating lever, 16109-Spring mounting cavity, 16110-Step hole 3, 16111-Curved wire slot 41-Side panel 2: 4101-Upper side plane, 4102-Partial spherical surface, 4103-Axon with hole, 4104-Spring mounting hole, 4105-Left side plane, 4106-Right side plane, 4107-Spring positioning bead mounting hole 1, 4108-Cylindrical hole 51- Lateral guide hemisphere 2: 5106- Hemisphere plane, 5103- V-groove, 5105- Cylindrical protrusion 2, 5104- End face of cylindrical protrusion, 5108- Spherical surface, 5101- Slide groove 2, 5102- Spring positioning bead mounting hole 2, 5107- Cylindrical through hole 1 12- Spring positioning beads (specifically positioning beads or positioning columns with spring preload) 61-Outer barrel 2: 6101-Annular groove 2, 6102-Slide or slide protrusion, 6103-Plunger, 6104-Hemispherical cavity 10-Hall circuit board 9-Bottom cover 8-Nut 7-Gasket 11-O-ring 13-Dust cover fixing ring 141-Top cover 2 3-Spring 1 Figures 35-43 : 1-Dust cover 2-Switch head 161-Spherical Ball Panel 41-Side panel 2 52-Lateral guide hemisphere three: 5203-V-groove, 5204-spherical surface, 5205-axon, 5206-left plane, 5207-guide block, 5208-arc-shaped smooth groove, 5209-arc-shaped smooth groove, 52010-spring mounting hole 121-locking spring 62-outer barrel three, 6201-annular groove three, 6202-guide groove, 6203-plunger, 6204-hemispherical cavity 10-Hall circuit board 9-Bottom cover 8-Nut 7-Gasket 11-O-ring 13-Dust cover fixing ring 142-Top cover three: 14201-T-type slide, 14202-locking groove, 14203-plunger hole, 14204-glue hole, 14205-arc smooth path, 14206-arc circular slide path, 14207-spring mounting column 3- Spring Figures 44-47 : 143-Top cover four: 14301-Z-type slide (with locking groove) 144-Top cover five: 14401-L-type chute 145-Top cover six: 14501-C type slide 147-Top cover seven: 14701-E type chute Figures 50-61 : 17-operating rod three, 1701-operating rod threaded part, 1702-operating rod optical axis part, 1703-pin hole one 18-Mounting plate: 1801-Mounting plate upper surface, 1802-Operating lever swing window, 1803-Mounting plate top flange, 1805-Universal special-shaped mounting hole, 1804-Annular groove 4 (or sealing groove), 1806-Countersunk hole 19-half thread bolt 143-Top cover eight: 14301-Special shaped window (or top window), 14302-Incomplete spherical cavity, 14305-Half open bolt hole one, 14306-Location groove one, 14309-Slide three 162-Ball panel 2: 16208-Operating lever mounting hole 1, 16212-Operating lever stop pin mounting hole 42-Side Plank Three 53-Lateral Guide Hemisphere Four 21-Operating lever stop pin (or operating lever mounting pin) 22-Set screw 63-Outer barrel 4: 6302-Location protrusion 2, 6304-Outer barrel upper cavity, 6305-Half-open bolt hole 2, 6308-Slideway 4, 6309-Incomplete spherical cavity, 6315-Annular groove 5, 6316-Location groove 2; 10-Hall circuit board 91-Bottom cover 2: 9102-Half-open bolt hole 3, 9103-Boss for mounting the Hall circuit board, 9105-Hexagonal slot, 9107-Positioning protrusion, 9108-Reinforcement rib, 9109-Locking nut mounting hole, 9112-Inner wall of bottom cover 20-lock nut Figures 62-74 : 17- Operation lever three 18-Mounting plate 19-half thread bolt 30-Top cover boost spring 144-Top cover nine: 14402-hemispherical cavity, 14405-half-open bolt hole four, 14406-locating slot three, 14409-slideway five, 14410-rectangular notch, 14411-blind hole for installing the top cover boost spring, 14412-through hole for installing the (V-shaped) stopper pin of the positioning block, 14413-incomplete spherical cavity; 163-center body 3: 16306-operating rod mounting hole 2, 16307-stepped hole 4, 16308-blind hole 2, 16309-through hole 2, 16310-sector area, 16312-pin hole 2 54-Lateral guide hemisphere five: 5401-slide groove three, 5402-locating bead mounting hole one, 5403-blind hole three, 5405-axon, 5406-plane, 5407-special-shaped positioning protrusion, 5408-locking steel plate mounting groove, 5409-spherical surface.

[0149] 27-card slot steel plate: 2703-round card slot hole, 2707-special-shaped positioning hole 28-Location spring 25-Positioning steel ball 26-V-type card block: 2601-step hole five, 2602-pin hole three, 2603-V-type notch, 2605-half-open bolt hole five 24-Block block stop pin 21-Operating lever stop pin (or operating lever mounting pin) 22-Set screw 29-Locking block retaining spring 10-Hall circuit board 23-Steel Drum 64-Outer barrel five: 6402 positioning protrusion four, 6405-half-open bolt hole six, 6408-slide six, 6409-incomplete spherical cavity, 6417-notch, 6418-blind hole four, 6419-step two 91-bottom cover 2 20-lock nut Figures 75-82 : 21-Thumb cap 3- Spring 370-Reset plate: 3701 reset slope, 3702 reset plane, 3705 arc surface, 3703 cylindrical through hole 2, 3704 spring mounting groove 148-Top cover ten: 14801 reset protrusion, 14803 upper surface of the large end of the top cover, 14802 spherical cavity, 14809 slide seven, 14805 glue hole, 14806 plunger hole, 14807 reset slope 164-Spherical center body: 16401 right plane, 16409 cylindrical hole, 16407 spherical surface, 16408 operating rod three, 164081 pin hole four 55-lateral guide hemisphere six 65-outer barrel six 10-Bottom cover three Figure 83-Figure 8 6: 165-Spherical center body 1: 16507 positioning bead mounting hole 2, 16508 cylindrical hole, 16509 through hole 3, 16513 disc spring mounting hole 1, 16514 bolt hole 1, 16515 right side plane 56-Side guide hemisphere seven: 5607 guide protrusion (including spring mounting groove), 5608 guide groove, 5609 arc groove, 56011 hexagonal nut mounting hole, 56012 bolt hole two 191-Hexagon socket bolt 31-Disc Spring 151-Thrust bearing 271-Station steel plate 1 20-Hexagonal nut Figures 87-96 : 181-Mounting plate 1: 18102 operating lever swing window, 18103 mounting plate top flange, 18105 universal special-shaped mounting hole, 18106 countersunk hole, 18107 wire hole, 18108 column, 18109 through hole 4, 181010, 181011 supporting protrusion, 181012 slide 8, 181013 ball socket 1 66-Outer barrel seven: 6604 positioning protrusion five, 6605 bolt hole three, 6608 slide, 6609 ball socket two, 66081 limit step two 241-Reset ejector: 24101 guide rod, 24102 convex head 57- Lateral guide hemisphere eight: 5707 guide protrusion (or guide block), 5708 guide groove, 57011 disc spring mounting hole two, 57012 bolt hole five, 57013 reset push rod mounting step.

[0150] 572- Lateral guide hemisphere-auxiliary hemisphere: 57207 guide protrusion (or guide block), 57208 guide groove, 572011 hexagonal nut mounting hole, 572012 bolt hole four, 572013 reset push rod mounting step.

[0151] 166-median body 191-Hexagon socket bolt 31-Disc Spring 271-Station steel plate 20-Hexagonal nut 291-Compression spring 231-Magnetic Steel 221-Magnetic steel baffle 91-bottom cover 171-Operating lever DETAILED DESCRIPTION

[0152] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions 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 making creative efforts shall fall within the scope of protection of the present invention.

[0153] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "big end", "small end", "top", "bottom" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0154] Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature identified with "first," "second," etc., may explicitly or implicitly include one or more of the features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

[0155] In the present invention, unless otherwise expressly specified or limited, terms such as "mounted," "connected," "connect," and "fixed" should be understood broadly. For example, they may refer to fixed connection, detachable connection, or integration; they may refer to direct connection or indirect connection through an intermediate medium; they may refer to internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0156] In the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Furthermore, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0157] A small piece is cut off from a sphere using a plane. This small piece is called a "spherical fragment" or "spherical crown". On the remaining sphere, another small piece is cut parallel to the upper plane (beyond the center of the sphere). The remaining piece is called a "spherical ring". Example

[0158] See also Figure 1-Figure 24The present embodiment provides a Hall rocker with a ball pair structure, comprising a dust cover (1), a dust cover fixing ring (13), a switch head (2), a top cover (14), a ball panel (16), a side panel (4), a booster gasket (15), a spring (3), a side guide hemisphere (5), a spring positioning bead (12), an outer barrel (6), an O-ring (11), a gasket (7), a nut (8), a Hall circuit board (10), and a bottom cover (9).

[0159] The spherical panel (16), the side panel (4) and the side guide hemispheres (5) on both sides are assembled together to form a detachable movable sphere. The top cover (14) is fixedly connected to the outer barrel (6). The inner surface of the outer barrel (6) and the top cover (14) together form a complete spherical cavity. The detachable movable sphere forms a spatial spherical contact in the spherical cavity. The side guide hemispheres and the spherical cavity form a plane rotation pair. The spherical panel (16) and the spherical cavity form a spatial rotation pair constraint through the spatial spherical contact. The spherical panel (16) and the side panel (4) form a plane moving pair. The spherical panel (16) and the side guide hemispheres (5) form a plane rotation pair. The switch head (2) is connected to the operating rod (1602) of the spherical panel (16). The dust cover (1) is installed on the outside of the switch head (2) and is installed in conjunction with the dust cover fixing ring (13). The Hall circuit board (10) is installed in the lower cavity of the outer barrel (6). The bottom cover (9) is installed outside the Hall circuit board (10).

[0160] like Figure 20-21 As shown, the top of the dust cover (1) is surrounded by an outer wall to form a semi-enclosed cavity (101), and the semi-enclosed cavity is used to place the switch head (2); the bottom of the dust cover (1) is an opening (104), and the edge of the opening (104) is a flange (102) and a U-shaped groove (103) is provided on the inner side of the flange (102); the opening (104) is fitted with the upper end surface of the flange 2 (1403) of the top cover 1 (14), so as to achieve full sealing of the upper half of the rocker; like Figure 4 、 Figure 24 As shown, the inner surface of the small end of the dust cover fixing ring (13) is provided with a U-shaped groove (1303), which cooperates with the U-shaped groove (103) of the dust cover, and the inner wall of the large end of the dust cover fixing ring is a wedge-shaped buckle (1301), and the wedge-shaped buckle (1301) is locked with the wedge-shaped edge (605) of the large end flange of the outer barrel (6); the inner wall of the large end of the dust cover fixing ring is also provided with four rectangular grooves (1302) at equal intervals for dripping glue, so that the dust cover fixing ring, the large end flange (601) of the outer barrel, the flange (1403) of the top cover (14) and the large end (104) of the dust cover are completely bonded.

[0161] like Figure 6 and Figure 22-23As shown, both ends of the switch head (2) are open, the small end is provided with a slotted hole (203) inside, and the large end is a thumb contact end (201); the large end is provided with a switch slot (202) for placing a micro switch, and a limit step is provided inside. The limit step is a boss, and the structure matches the shape of the button. The small end is connected to the operating rod (1602) of the ball panel (16) through the slotted hole (203). The operating rod (1602) of the ball panel is provided with a second protrusion (1601) on the side, which matches the rectangular groove (204) on the inner wall of the slotted hole (203) of the small end of the switch head, effectively preventing the switch head from rotating relative to the ball panel or the ball panel operating rod. The slotted hole (203) can also be a square hole connected to the square operating rod (1602).

[0162] like Figure 12-15 As shown, the top cover 1 (14) includes a hemispherical structure with open ends. A square window (1401) is provided on the top of the spherical structure. The interior of the top cover 1 is a hemispherical cavity (1402). The inner wall of the hemispherical cavity is provided with a slideway 2 (1409). The slideway 2 (1409) is a protrusion or groove that cooperates with other parts. The end of the slideway 2 (1409) is provided with an inclined surface. The middle part of the outer surface of the hemispherical structure is provided with a flange 2 (1403) with a hole. The lower end surface of the flange 2 with a hole serves as a mounting surface to cooperate with the large end flange 1 (601) of the outer barrel 1 (6); the lower edge of the hemispherical structure A positioning socket (1406) is provided, and the positioning socket (1406) cooperates with the positioning protrusion 2 (602) on the inner wall of the large end of the outer barrel; the outer surface of the lower half of the hemispherical structure is provided with an annular groove (1407) and a rectangular groove 4 (1408), and the rectangular groove 4 (1408) and the annular groove (1407) are arranged vertically and cross-arranged to serve as a flow channel for the adhesive. A step 1 (1410) is provided on the inner side of the bottom of the hemispherical structure, and the step 1 cooperates with the annular adhesive isolation groove (611) on the inner wall of the large end of the outer barrel 1 (6) to form a channel that blocks the adhesive from flowing into the internal cavity of the outer barrel.

[0163] like Figure 6-7As shown, the main body of the spherical panel (16) is a partial sphere, including an annular spherical surface and two flat surfaces on both sides. The edge (1603) that exceeds the diameter is a part of the spherical surface. Therefore, the spherical panel can rotate in any direction within the spherical cavity formed by the outer barrel (6) and the top cover (14). The upper part of the spherical surface of the spherical panel is provided with an operating rod (1602), and the lower part of the spherical surface of the spherical panel is provided with a magnetic steel mounting surface (1615); the side of the operating rod (1602) is provided with a rectangular protrusion (1601), and the rectangular protrusion (1601) is matched with the rectangular groove (204) with a slotted hole of the switch head. The magnetic steel mounting surface (1) is provided with a magnetic steel mounting hole (1614), and a rectangular wire hole (1612) is provided adjacent to the magnetic steel mounting hole (1614) for placing a wire. The edge of the magnetic steel mounting hole (1614) is provided with a rectangular groove (1613) for dripping glue. The two side surfaces of the spherical panel are planes. The center of the circle of the left side surface (1611) is provided with an axon with a hole (1610), which can be embedded with the lateral guide hemisphere (5) so that the spherical panel (16) can rotate around the axon (505) of the lateral guide hemisphere. The right side plane (1605) is provided with a symmetrical cylindrical hole (1604) for installing a spring positioning bead (12). In addition, the spring positioning bead can also be installed on the side plate (4). The right side of the spherical panel is provided with a special-shaped cavity (1606). The surface of the special-shaped cavity is provided with a rectangular wire groove (1607). The two ends of the wire groove are respectively connected to the through hole (1609) of the operating rod (1602) and the rectangular wire hole (1612) of the magnetic steel mounting surface (1615). The special-shaped cavity (1606) and the side plate (4) form a moving pair. The side plate can move along the vertical line of the side surface of the spherical panel with a small displacement in the special-shaped cavity. A second hole or stepped hole (1608) connected to the special-shaped cavity is provided in the spherical panel, serving as a part of the mounting hole for the first spring (3), and a part of the spring is mounted in the mounting hole.

[0164] like Figure 8-9 As shown, a hole or stepped hole (406) is provided at the inner axis of the side plate (4) as a partial mounting hole for the spring (3). The other end surface of the side plate is provided with a hole-bearing axon (402), which is embedded in the axon (505) of the lateral guide hemisphere to form a revolving pair. The left side surface (401) of the side plate serves as a friction surface to improve the friction effect of the side surface of the ball panel.

[0165] The boost gasket (15) is shaped like a washer and is used to adjust the compression of the spring (3). The boost gasket is placed at one end of the adjustment spring to adjust the friction between the side guide hemisphere (5) and the ball panel (16), the side guide hemisphere (5) and the side panel (4), and the side guide hemisphere (5) and the spherical inner cavity.

[0166] like Figure 10-11As shown, the main body of the side guide hemisphere 1 (5) is a partial sphere, including a plane and a partial spherical surface. The spherical surface is provided with a slide groove 1 (501) of a certain width in a certain cross-axial section direction. The slide groove 1 (501) and the slideway 1 (608) of the outer barrel and the slideway 2 (1409) of the top cover realize a plane rotation pair. The surface of the slide groove 1 (501) is also provided with a cylindrical hole (502) for installing a spring positioning bead (12); the interior of the side guide hemisphere 1 is provided with a U-shaped cavity (504) or an annular groove, and a columnar protrusion (505) is provided at the center of the U-shaped cavity. The U-shaped cavity (504) and the protrusion (505) are respectively embedded with the hole-bearing axon (1610) of the spherical panel and the hole-bearing axon (402) of the side plate to realize a rotation pair. V-shaped grooves (503) are provided on the plane of the side guide hemisphere and on both sides of the U-shaped cavity (504) for positioning spring positioning beads installed on adjacent side plates (4) or spherical face plates (16).

[0167] like Figure 16-18As shown, the outer barrel (6) is cylindrical in shape and includes two chambers, an upper chamber (609) and a lower chamber (612), wherein the upper chamber (609) is a hemispherical chamber and the lower chamber (612) is a chamber for mounting a PCB board. The upper chamber and the lower chamber are connected, and the upper end of the upper chamber and the lower end of the lower chamber are both open. The large end of the outer barrel is provided with a flange (601), the upper end surface of the flange contacts the lower end surface of the middle flange (1403) of the top cover, and the upper surface of the large end flange of the outer barrel is provided with an annular groove (603) as a flow channel for the adhesive. The circumferential edge of the flange (601) is a wedge-shaped slope (605) with a set angle, and the wedge-shaped slope (605) cooperates with the wedge-shaped edge (1301) of the dust cover fixing ring to achieve mutual locking. A second rectangular groove (604) is provided on the wedge-shaped slope (605) as a channel for dripping adhesive. The lower end surface of the large end flange (601) is provided with a U-shaped ring groove (610) as the mounting surface of the rocker for mounting an O-ring (11). The inner wall of the upper cavity (609) is provided with a second positioning protrusion (602), which cooperates with the lower positioning socket (1406) of the top cover to achieve positioning. An annular groove (611) is also provided on the inner wall of the upper cavity, which cooperates with the first step (1410) at the lower part of the top cover to achieve blocking of the adhesive and prevent the adhesive from flowing into the hemispherical cavity (609). The inner surface of the hemispherical cavity is provided with a slideway (608), which cooperates with a spherical slideway (501) of the side guide hemisphere. The starting end of the slideway is provided with an inclined surface for positioning the spring positioning bead. The inner wall of the PCB mounting cavity (612) is provided with a limiting step (614) to limit the distance between the upper surface of the Hall circuit board and the lower end surface of the magnetic steel mounted on the spherical panel. The PCB mounting cavity (612) has the characteristics of a cylindrical surface and a flat surface, which can circumferentially position the Hall circuit board. The small end surface of the outer barrel is provided with a positioning blind hole (613) for connecting to a cylindrical protrusion (902) of the bottom cover (9). The outer cylindrical surface of the outer barrel is threaded (607) as a connection method between the rocker and the workbench. A positioning plane (606) is also provided on the side for positioning the rocker installation to prevent the rocker as a whole from rotating around the Z axis.

[0168] As shown in FIG19 , the upper surface (901) of the bottom cover (9) is provided with a cylindrical protrusion (902), which is connected to a blind hole (613) at the bottom surface of the small end of the outer barrel. The upper surface of the bottom cover is provided with a special-shaped protrusion (903), and the outer dimensions and shape of the special-shaped protrusion (903) are the same as or matched with the PCB mounting cavity (612) of the outer barrel (6). The special-shaped protrusion (903) can press the Hall circuit board (10) and the limiting step (614) into a tight fit. The bottom of the bottom cover is provided with a T-shaped through hole (905) for leading six wire harnesses from the inside of the rocker to the outside. After the T-shaped hole is glued, the lower half of the rocker can be isolated from the external environment. The reserved cavity (906) is separated from the glue-filling cavity surrounding the T-shaped hole, which can reduce the required sealing area and thus improve the reliability of the seal.

[0169] The O-ring (11), gasket (7) and nut (8) are all standard parts and are used for sealing and installation respectively.

[0170] This embodiment provides a novel Hall potentiometer or Hall rocker, including six wiring harnesses, namely output terminal 1, output terminal 2, ground terminal, 5V power terminal, and input terminal and output terminal of a micro switch installed on the switch head 2.

[0171] The installation method and operating principle of the Hall effect rocker in this embodiment are as follows: Place the boost gasket (15) into the stepped hole 2 (1608) of the spherical panel (16), then place the spring 1 (3) into the stepped hole 2 (1608), and the spring 1 (3) is pressed on the boost gasket, place the side plate 1 (4) into the special-shaped cavity 1 (1606) of the spherical panel (16), and connect the stepped hole 1 (406) of the side plate with the stepped hole 2 (1608) of the spherical panel to form a complete cylindrical cavity, which is sleeved on the outer surface of the spring 1 (3) or the spring 1 (3) is installed in the cylindrical cavity. In the cavity, two spring positioning beads (12) are respectively installed in the two cylindrical holes (1604) of the ball panel, and a spring positioning bead (12) is installed in the cylindrical hole (502) of the spherical slide groove (501) of the two side guide hemispheres (5). The assembled side guide hemisphere (5) is installed on the left cylindrical axon (1610) of the ball panel, and the other assembled side guide hemisphere is installed on the right cylindrical axon (402) of the side plate. After completing the above assembly work, a movable ball can be obtained. The movable ball is pressed into the hemispherical cavity (609) of the outer barrel (6). The groove edges of the spherical slide grooves (501) of the two side guide hemispheres of the movable ball should be flush with the edge of the slideway (608) of the outer barrel, so that the movable ball rotates along the slideway (608) in the cavity. After completing the above assembly work, insert the positioning socket (1406) of the top cover (14) onto the positioning protrusion (602) of the outer barrel. At this time, the slideway (1409) on the inner wall of the hemispherical cavity (1402) of the top cover is aligned with the spherical slideway (501) of the movable ball. Then press the top cover down so that the lower end surface of its flange (1403) fits with the upper end surface (601) of the flange of the outer barrel. In this way, the half spherical cavity (1402) of the top cover and the half spherical cavity (609) of the outer barrel together form a complete spherical cavity, and the movable ball can move in the spherical cavity. After completing the above assembly work, drip adhesive into the several glue holes (1405) of the flange of the top cover so that the contact surface of the top cover and the outer barrel is firmly bonded. The slotted hole (203) at the small end of the switch head (2) is matched with the operating rod (1602) of the ball panel and fixed with adhesive. The micro switch is installed in the switch head, and the wire is led out through the through hole (1609), the rectangular wire groove (1607), and the rectangular wire hole (1612). Then the small end (101) of the tower-shaped dust cover (1) is put on the switch head, the bottom opening (104) of the dust cover contacts the upper end surface of the flange (1403) of the top cover, the protrusion (1304) of the dust cover fixing ring is pressed into the U-shaped groove (103) on the upper end surface of the dust cover opening, and the wedge-shaped buckle (1301) on the inner wall of the dust cover fixing ring is engaged with the wedge-shaped edge (605) of the outer barrel, and the bottom of the dust cover is locked. Rotate the dust cover fixing ring to align the rectangular groove three (1302) at the bottom with the rectangular groove two (604) at the wedge-shaped edge of the outer barrel so that the adhesive can be dripped in.Press the Hall effect circuit board into the PCB mounting cavity (612) from the bottom of the outer barrel. The upper surface of the PCB board is aligned with the limiting step (614). The six wire harnesses of the PCB board are passed through the T-shaped hole (905) of the bottom cover. The special-shaped protrusion (903) of the bottom cover is aligned with the inner surface of the PCB mounting cavity (612) of the outer barrel. The positioning protrusion (902) of the bottom cover is inserted into the positioning blind hole (613) at the bottom of the outer barrel. Adhesive is dripped along the edge of the mating surface of the bottom cover and the outer barrel to firmly adhere the bottom cover and the outer barrel. Sealant is poured into the T-shaped hole of the bottom cover to completely isolate the inside of the rocker from the outside. After completing the assembly of the rocker, the O-ring (11) is pressed into the U-shaped groove (610) at the bottom of the large end flange of the outer barrel. The entire rocker is then installed on the work surface and positioned against the positioning plane (606) of the outer barrel body. Finally, the rocker arm is fastened to the work surface using a gasket (7) and a nut (8). Example

[0172] See also Figure 25-34 The present embodiment provides a single-track Hall rocker with a ball pair structure, comprising a dust cover (1), a dust cover fixing ring (13), a switch head (2), a top cover (141), a spherical ball panel (161), a side plate (41), a spring (3), a side guide hemisphere (51), a spring positioning bead (12), an outer barrel (61), an O-ring (11), a gasket (7), a nut (8), a Hall circuit board (10), and a bottom cover (9).

[0173] The main features of the dust cover (1) are similar to those of Example 1. The U-shaped groove (1303) matches the U-shaped groove (103) of the dust cover.

[0174] The main features of the dust cover fixing ring (13) are the same as those of embodiment 1.

[0175] The switch head (2) has the same main features as those of embodiment 1.

[0176] The main features of the top cover 2 (141) are the same as those of embodiment 1, except that only one slideway is provided on the inner surface of the hemispherical cavity.

[0177] The spherical ball panel (161) has a main body that is half a sphere. The main body consists of a half sphere and a plane. The left side is the half sphere (16107) and the right side is the plane (16101). The interior is provided with a second special-shaped cavity (16102) and a spring installation cavity (16109). The second special-shaped cavity cooperates with the special-shaped plane (4101) of the second side panel (41) to form a moving pair. The spring installation cavity (16109) and the cylindrical hole (4104) of the hole-bearing axon (4103) of the second side panel (41) together form the spring installation cavity. The hole-bearing axon (4103) cooperates with the stepped hole (16110) to form a moving pair. A magnetic steel installation hole (16103) is provided on the second magnetic steel installation surface (16104).

[0178] like Figure 30-31 The left side of the side plate 2 (41) is provided with an axon with a hole (4103), and the right side is a plane (4106); two symmetrical spring positioning bead mounting holes (4107) and a cylindrical hole (4108) are provided on the plane (4106); the cylindrical hole (4108) cooperates with the cylindrical protrusion (5105) of the side guide hemisphere 2 (51) to form a rotating pair.

[0179] like Figures 32-33 As shown, the main features of the side guide hemisphere 2 (51) are the same as those of Example 1, except that a cylindrical through hole 1 (5107) is provided on the end surface (5104) of the cylindrical protrusion 2 (5105) for disassembling the spring positioning bead (12) located in the mounting hole 2 (5102).

[0180] like Figure 34 As shown, the main features of the outer barrel 2 (61) are the same as those of the outer barrel of Example 1, except that only one slideway (6102) is provided on the inner surface of its hemispherical cavity.

[0181] The main features of the bottom cover (9) are the same as those of embodiment 1.

[0182] The spherical ball panel (161), the second side panel (41) and the second side guide hemisphere (51) are assembled together to form a detachable movable sphere. The second top cover (141) is fixedly connected to the second outer barrel (61). The inner surface of the second outer barrel (61) and the second top cover (141) together form a complete spherical cavity. The detachable movable sphere forms a spatial spherical contact in the spherical cavity. The second side guide hemisphere (51) and the spherical cavity form a plane rotation pair. The spherical ball panel (161) and the spherical cavity form a spatial rotation pair constraint through the spatial spherical contact. The spherical ball panel (161) and the second side panel (41) form a plane movement pair. The switch head (2) is connected to the operating rod (16108) of the ball panel (161). The dust cover (1) is installed on the outside of the switch head (2) and is installed in conjunction with the dust cover fixing ring (13). The Hall circuit board (10) is installed in the lower cavity of the outer barrel (61). The bottom cover (9) is installed outside the Hall circuit board (10). The spherical ball panel (161) and the side guide hemisphere (51) form a plane rotation pair.

[0183] The installation method and usage principle of Example 2 are basically the same as those of Example 1. Example

[0184] See also Figures 35-43 The present embodiment provides a Hall rocker with a ball pair structure and a locking function, comprising a dust cover (1), a dust cover fixing ring (13), a switch head (2), a top cover three (142), a spherical ball panel (161), a spring one (3), a side plate two (41), a locking spring (121), a side guide hemisphere three (52), an outer barrel three (62), an O-ring (11), a gasket (7), a nut (8), a Hall circuit board (10), and a bottom cover (9).

[0185] The main features of the dust cover (1) are the same as those of Example 2.

[0186] The main features of the dust cover fixing ring (13) are the same as those of embodiment 2.

[0187] The main features of the switch head (2) are the same as those of embodiment 2.

[0188] like Figures 41-42 As shown, the inner surface of the hemispherical cavity of the top cover three (142) is provided with a raised combined slide along the axial section direction. The combined slide includes an arc-shaped smooth path (14205). An arc-shaped circular slide (14206) is provided in the middle of the arc-shaped smooth path (14205). The raised combined slide cooperates with the combined slide grooves (5208 and 5209) of the side guide hemisphere three (52) to form a plane rotation pair. A spring mounting column (14207) is provided at the starting end of the raised combined slide for mounting one end of the locking spring (121).

[0189] The main features of the spherical ball panel (161) are the same as those of the spherical ball panel in Example 2.

[0190] The main features of the side panel 2 (41) are the same as those of the side panel in Example 2.

[0191] like Figures 38-40 As shown, the left side of the lateral guide hemisphere three (52) is a plane (5206), and an axon (5205) is provided at the center of the plane (5206). The axon cooperates with the cylindrical hole (4108) of the side plate two (41) to form a plane rotation pair. Two V-shaped grooves (5203) are provided on the plane (5206) and on both sides of the axon (5205). The right side of the lateral guide hemisphere three is a spherical surface (5204), and an inwardly concave combined sliding groove is provided on the spherical surface along the axial section direction. The combined sliding groove includes an arc-shaped smooth groove 5208. An arc-shaped circular smooth groove 5209 is provided in the middle of the arc-shaped smooth groove 5208. A guide block (5207) is provided at the bottom of the combined sliding groove, and a spring mounting hole (52010) is provided inside the guide block.

[0192] The main features of the outer barrel 3 (62) are the same as those of the outer barrel 2 in Example 2, except that only one guide groove (6202) is provided on the inner surface of the hemispherical cavity.

[0193] The spherical ball panel (161), the side panel 2 (41) and the side guide hemisphere 3 (52) are assembled together to form a detachable movable sphere. The top cover 3 (142) is fixedly connected to the outer barrel 3 (63). The inner surface of the outer barrel 3 (62) and the top cover 3 (142) together form a complete spherical cavity. The detachable movable sphere forms a spatial spherical contact in the spherical cavity. The side guide hemisphere 3 (52) and the spherical cavity form a plane rotation pair. The spherical ball panel (161) and the spherical cavity form a spatial rotation pair constraint through the spatial spherical contact. The spherical ball panel (161) and the side panel 2 (41) form a plane translation pair. The spherical ball panel (161) and the side guide hemisphere 3 (52) form a plane rotation pair. The guide block (5207) at the bottom of the side guide hemisphere 3 (52) cooperates with the guide groove (6202) of the outer barrel 3 (62) to form a plane rotation pair.

[0194] The main features of the bottom cover (9) are the same as those of Example 2.

[0195] Installation method and usage principle of embodiment 3: Place spring one (3) into the spring mounting cavity (16109) of the spherical ball panel (161). Place side panel two (41) into the special-shaped cavity two (16102) of the spherical ball panel. The perforated axon (4103) of side panel two cooperates with the stepped hole three (16110) of the spherical center body ball panel to form a complete cylindrical cavity. The cylindrical cavity is sleeved on the outer surface of spring one (3). In this way, the arc groove (16111) of the spherical ball panel (161) and spring one (3) can be isolated. Then, the axon (5205) of the side guide hemisphere three (52) is matched with the cylindrical hole (4108) of the side panel one (41). Press one side of the locking spring (121) into the spring mounting hole (52010) of the side guide hemisphere three. After completing the above assembly work, a detachable movable sphere is obtained. Press the detachable movable sphere into the hemispherical cavity (6204) of the outer barrel 2 (62). And make the guide block (5207) of the side guide hemisphere 3 (52) slide and fit with the guide groove (6202) of the outer barrel 2. Then make the top cover 3 (142) fit with the outer barrel 2 (62), so that the combined slides (14205 and 14206) of the top cover fit with the combined slides (5208 and 5209) of the side guide hemisphere 3 (52) respectively. And make the spring mounting column (14207) of the top cover 3 insert the other end of the locking spring (121). At the same time, the plunger hole (14203) of the top cover fits with the plunger (6203) of the outer barrel. After completing the above assembly work, drip adhesive into the glue hole (14204) of the top cover to solidify the top cover and the outer barrel. The installation of other accessories, such as the dust cover, switch head, dust cover fixing ring, O-ring, gasket and nut, is the same as that of the embodiment 2. In addition, the shapes of the limit window that can be opened on the top of the top cover include square, circular, T-shaped, L-shaped, C-shaped, E-shaped, Z-shaped, W-shaped, and I-shaped. Under the action of the locking spring, the square operating rod (16108) of the spherical ball panel (161) presses against one side of the limit window, generating friction and locking effect. Example

[0196] See also Figures 48-49 This embodiment provides a logic circuit for converting the output of a Hall effect rocker with a ball pair structure into a multi-state switch, including a Hall effect chip, a resistor, a comparator chip, a capacitor, etc.

[0197] Figure 48 It is the peripheral circuit of the Hall chip. In the figure, Sensor1 outputs analog signal 1, and Sensor2 outputs analog signal 2.

[0198] Figure 49It is the peripheral circuit of the comparator chip. In the figure, Sensor1 is the input analog signal 1, Sensor2 is the input analog signal 2, and the four output terminals with bit number H2 can output four switching signals. The level of the switching signal is variable and is determined by the power supply level of this part of the circuit. The power supply level can range from 5V to 12V. This part of the circuit drives a large load through a power amplifier circuit.

[0199] Figure 48 and Figure 49 The circuit combination can realize the conversion from analog quantity to discrete quantity. In this way, a Hall effect rocker with a ball pair structure is transformed from a position sensor to a multi-state switch. Example

[0200] See also Figures 50-61 The present embodiment provides a heavy-duty Hall rocker with a ball pair structure, comprising an operating rod three (17), a mounting plate (18), a top cover eight (143), a ball panel two (162), a side plate three (42), a side guide hemisphere four (53), an outer barrel four (63), a bottom cover two (91), a Hall circuit board (10), a half-thread bolt (19), a locking nut (20), an operating rod stop pin (21), and a set screw (22).

[0201] like Figure 54 As shown, the top of the operating rod 3 (17) is provided with a thread (1701), and the bottom is provided with a pin hole; the thread (1701) of the operating rod 3 (17) can be connected to a handle with an internal thread.

[0202] The spherical panel 2 (162), the side panel 3 (42) and the side guide hemispheres 4 (53) on both sides are assembled together to form a detachable movable sphere. The top cover 8 (143) is fixedly connected to the outer barrel 4 (63). The inner surface of the outer barrel 4 (63) and the top cover 8 (143) together form a complete spherical cavity. The detachable movable sphere forms a spatial spherical contact in the spherical cavity. The side guide hemisphere 4 (53) and the spherical cavity form a plane rotation pair. The spherical panel 2 (162) and the spherical cavity form a spatial rotation pair constraint through the spatial spherical contact. The spherical panel 2 (162) and the side panel 2 (41) form a plane translation pair. The spherical panel 2 (162) and the side guide hemisphere 4 (53) form a plane rotation pair. The side guide hemisphere 4 (53) cooperates with the outer barrel 4 (63) to form a plane rotation pair.

[0203] like Figure 55As shown, the top (1803) of the mounting plate (18) is provided with an operating lever swing window (1802) to limit the swing range of the operating lever three (17). The shape of the operating lever swing window (1802) can be designed in various ways and is not limited. The top (1803) of the mounting plate (18) is also provided with a countersunk hole (1806) for installing a half-thread bolt (19). The surface (1801) of the mounting plate (18) is the mounting surface of the dust cover, and a plurality of special-shaped mounting holes (1805) are provided on the surface (1801), which are the fixed mounting holes of the rocker.

[0204] like Figure 56 As shown, the main body of the top cover eight (143) is a columnar structure, and the inner side surface of the lower end is an incomplete spherical surface (14302). The incomplete spherical surface (14302) is provided with an arc-shaped protruding slideway three (14309) from top to bottom for guiding, so that the top cover eight and the side guide hemisphere four form a plane rotation pair. A special-shaped window (14301) is provided on the upper part of the top cover eight for passing the operating rod. The columnar side surface of the top cover eight (143) is provided with a plurality of half-open bolt holes one (14305) along the axial direction for installing half-thread bolts (19). The columnar side surface of the top cover eight (143) is also provided with a plurality of positioning grooves one (14306) along the axial direction.

[0205] The main features of the second spherical panel (162) are similar to those of the spherical spherical panel (161) of Example 2, except that a pin hole (16212) is provided on one side of the second spherical panel (162) for mounting the operating rod stop pin (21). In addition, the main body of the second spherical panel (162) is a spherical ring structure, while the main body of the spherical spherical panel (161) is a sphere with one side of the spherical crown cut off.

[0206] The main features of the side panel three (42) are basically the same as those of the side panel one (41) of Example 2.

[0207] The main features of the lateral guide hemisphere four (53) are basically the same as those of the lateral guide hemisphere three (52) of Example 2.

[0208] like Figures 58-59 As shown, a plurality of positioning protrusions 2 (6302) are provided on the inner side of the upper chamber (6304) of the outer barrel 4 (63). The positioning protrusions 2 (6302) cooperate with the positioning grooves 1 (14306) on the side of the top cover 8 (143) to prevent the top cover 8 (143) from rotating relative to the outer barrel. A half-open bolt hole 2 (6305) is provided on the inner side of the upper chamber (6304) to insert a half-thread bolt (19). An incomplete spherical cavity (6309) is provided on the inner side of the upper chamber (6304) to cooperate with the incomplete spherical surface (14302). A slideway 4 (6308) is provided on the surface of the incomplete spherical cavity (6309) to cooperate with the slideway 3 (14309).

[0209] like Figures 60-61 As shown, the bottom cover 2 (91) includes an annular body, a bottom plate is provided at one side of the annular body, and a plurality of half-open bolt holes 3 (9102) are provided on the side of the annular body along the axial direction. The inner cavity (9112) of the bottom cover 2 (91) is provided with a hole-carrying protrusion (9103) on the bottom plate. The hole-carrying protrusion (9103) is used to firmly install the Hall circuit board (10). A hexagonal groove (9105) is also provided at the inner center of the bottom plate, which is a stepped groove for installing a waterproof cable connector.

[0210] A reinforcing rib 9108 is provided on the outer side of the bottom plate at a position corresponding to the inner hexagonal groove (9105); the bottom plate is wrapped around the annular body by an upward flange, and a positioning protrusion 9107 is provided on the flange to cooperate with the positioning groove 2 6316 at the lower part of the outer barrel 3 (63) to position the bottom plate. The bottom plate is also provided with a locking nut mounting hole 9109.

[0211] Installation method and usage principle of embodiment 5: The assembly method of the movable sphere of Example 5 is basically the same as that of Example 3, except that a mounting plate (18) is added in Example 5. First, the half-thread bolt (19) is passed through the countersunk hole (1806) of the mounting plate (18), and then the half-thread bolt (19) is passed through the half-open bolt hole 1 (14305) of the top cover 8 (143), and then through the half-open bolt hole 2 (6305) of the outer barrel 4 (63), and finally through the half-open bolt hole 3 (9102) of the bottom cover 2 (91), and the nut (20) is screwed on to complete the assembly of the rocker. Example

[0212] See also Figures 62-74 The present embodiment provides a heavy-duty Hall rocker with a ball pair structure, comprising an operating rod three (17), a mounting plate (18), a top cover nine (144), a center body (163), a positioning steel plate (27), a positioning steel ball (25), a positioning spring (28), a top cover boost spring (30), a V-shaped positioning block (26), a side guide hemisphere five (54), an outer barrel five (64), a bottom cover two (91), a Hall PCB board (10), a half-thread bolt (19), a locking nut (20), an operating rod stop pin (21), a positioning block stop pin (24), a positioning block stop spring (29), a set screw (22), and a steel barrel (23).

[0213] The main features of the operating lever three (17) are basically the same as those of the operating lever three (17) of Example 5.

[0214] The main features of the mounting plate (18) are substantially the same as those of the mounting plate (18) of Example 5.

[0215] The center body (163) and the side guide hemispheres five (54) on both sides are assembled together to form a detachable movable sphere. The mounting plate (18) is fixedly connected to the outer barrel five (64). The top cover nine (144) is placed between the mounting plate (18) and the outer barrel five (64). The inner surface of the outer barrel five (64) and the top cover nine (144) together form a complete spherical cavity. The detachable movable sphere forms a spatial spherical contact in the spherical cavity. The side guide hemispheres five (54) and the spherical cavity form a plane rotation pair. The center body (163) and the spherical cavity form a spatial rotation pair constraint through the spatial spherical contact. The center body (163) and the side guide hemispheres five (54) form a plane rotation pair. The side guide hemispheres five (54) and the outer barrel five (64) cooperate to form a plane rotation pair. The V-shaped positioning block (26) is installed between the outer barrel five (64) and the top cover nine (144).

[0216] like Figure 68 As shown, the main features of the top cover nine (144) are basically the same as those of the top cover eight (143) of Example 5, except that the upper end surface of the top cover nine (144) is additionally provided with a plurality of blind holes (14411) and a plurality of through holes (14412). The blind holes (14411) are used to install the top cover booster spring (30). The through holes (14412) are used to install the stop pin (24) of the positioning block. A notch (14410) is additionally provided at the lower end of the top cover nine (144), and the notch (14410) is used to install the V-shaped positioning block (26).

[0217] like Figure 70 As shown, the main features of the lateral guide hemisphere five (54) are basically the same as those of the lateral guide hemisphere four (53) of Example 5. The difference is that a mounting groove (5408) for the positioning steel plate (27) is provided on the plane of the lateral guide hemisphere five (54), and a blind hole three (5403) and a special-shaped positioning protrusion (5407) are provided in the mounting groove (5408).

[0218] In order to improve the sense of engagement or to achieve the metal impact sound when engaging, some parts of the engagement structure are inlaid on the side guide hemisphere using metal inserts with holes; one method is to use an engagement steel plate with holes. The center of the engagement steel plate (27) is a special-shaped positioning hole (2707), and the special-shaped positioning hole (2707) can cooperate with the special-shaped positioning protrusion (5407) of the side guide hemisphere five (54). Two positioning through holes (2703) are provided on both sides of the special-shaped positioning hole (2707), and the positioning through holes (2703) can be used to position the positioning steel ball (25).

[0219] like Figure 69As shown, the upper end of the V-shaped blocking block (26) is provided with one or both of a half-open bolt hole five (2605) and a stepped hole five (2601). The half-open bolt hole five (2605) cooperates with the optical axis portion of the half-thread bolt (19). The stepped hole five (2601) is installed with the blocking block stop pin (24) and the blocking block stop spring (29). The pin passes through the spring, and the two are placed in the stepped hole five (2601). The side of the V-shaped blocking block (26) is provided with a V-shaped notch (2603) for positioning the positioning steel ball (25).

[0220] As shown in FIG72 , the two side surfaces of the center body (163) are fan-shaped areas (16310). A stepped hole 4 (16307) is provided on the side surface of the spherical center body (163). A through hole 2 (16309) is provided in the stepped hole 4 (16307). The stepped hole 4 (16307) is used to install the positioning steel ball (25) and the positioning spring (28).

[0221] The outer barrel (5) (64) has the same basic features as the outer barrel (4) (63) of Example 5, with the main difference being that a notch (6417) is added to the middle of the outer barrel (64) for mounting a V-shaped block (26). A fourth blind hole (6418) and a sixth half-open bolt hole (6405) are provided on the upper surface of the notch (6417). A second step (6419) is provided on the cylindrical side of the outer barrel (5) (64) for mounting the steel barrel (23).

[0222] Installation method and usage principle of embodiment 6: First, insert the two positioning steel plates (27) into the positioning steel plate mounting grooves (5408) of the two side guide hemispheres (54) respectively. After completing this operation, two side guide hemispheres (54) with positioning functions can be obtained. Next, insert the non-threaded end of the operating rod (17) into the operating rod mounting hole (16306) of the center body (163). Then insert the operating rod stop pin (21) into the pin hole (16312) of the center body (163) and pass it through the pin hole (1703) of the operating rod. Finally, screw the set screw (22) into the pin hole (16312) of the center body (163). After completing the above operations, the two positioning springs (28) are respectively placed in the two stepped holes (16307) of the center body (163); then the two positioning steel balls (25) are respectively placed on the positioning springs (28) in the two stepped holes (16307). Then, the axons (5405) of the two lateral guide hemispheres (54) are inserted into the blind holes (16308) of the center body (163). These three constitute two pairs of rotating pairs. Finally, the two positioning springs (28) are respectively placed in the positioning bead mounting holes (5402) of the two lateral guide hemispheres (54), and the positioning steel balls (25) are placed. After completing the above operations, a detachable movable sphere can be obtained. Similar to Example 5, the detachable movable sphere is placed into the incomplete spherical cavity (6409) of the outer barrel (5) and the slide groove (5401) of the side guide hemisphere (54) is ensured to accurately match the slideway (6408) in the spherical cavity (6409). After completing the above operations, the V-shaped blocking block (26) is inserted from the notch (6417) on the side of the outer barrel to press the positioning steel ball (25). The blocking block stop pin (24) is inserted into the pin hole (2602) in the stepped hole (2601) of the V-shaped blocking block. Finally, the blocking block stop spring (29) is placed into the stepped hole (2601) of the V-shaped blocking block. After completing the above operations, insert the top cover nine (144) into the outer barrel five (64), and ensure that the positioning groove three (14406) of the top cover nine accurately matches the positioning protrusion four (6402) of the outer barrel, the slideway five (14409) of the top cover accurately matches the slideway three (5401) of the side guide hemisphere (54), and the through hole (14412) of the top cover accurately matches the stop pin (24) of the positioning block. Then, place the four top cover pressure boosting springs (30) into the blind holes (14411) at the upper end of the top cover. Then, put the steel barrel (23) on the outside of the outer barrel five (64), and make the bottom end of the steel barrel fit with the step two (6419) of the outer barrel. Then press the mounting plate (18) onto the top cover nine (144), and ensure that the countersunk hole (1806) of the mounting plate, the half-open bolt hole four (14405) of the top cover and the half-open bolt hole six (6405) of the outer barrel are aligned.Then, insert the second bottom cover (91) into the bottom of the fifth outer barrel (64), and insert the four bolts through the countersunk hole (1806) of the mounting plate, the fourth half-open bolt hole (14405) of the top cover, the sixth half-open bolt hole (6405) of the outer barrel, and the half-open bolt hole (9102) of the bottom cover. Finally, tighten the four locking nuts (20). After completing the above operations, you will have a fully functional, positionable, heavy-duty friction rocker. Example

[0223] See also Figures 75-82 This embodiment provides a self-resetting Hall effect rocker, comprising a thumb cap (21), a spring (3), a reset disk (370), a top cover (148), a spherical center body (164), a side guide hemisphere (55), an outer barrel (65), and a PCB board (9). Optionally, a self-resetting Hall effect rocker is further provided with a bottom cover (10).

[0224] The thumb cap (21) is a main component operated by the operator, and the operating surface of the thumb cap (21) is provided with anti-slip protrusions. Optionally, the thumb cap is provided with a switch slot for installing a micro switch, which is used to install a switch or a key switch.

[0225] The spherical center body (164) and the main body of the side guide hemisphere six (55) are assembled together to form a detachable movable sphere. The top cover ten (148) is fixedly connected to the outer barrel six (65). The inner surface of the top cover ten (148) and the outer barrel six (65) together form a complete spherical cavity. The detachable movable sphere forms a spatial spherical contact in the spherical cavity. The side guide hemisphere six (55) and the spherical cavity form a plane rotation pair. The spherical center body (164) and the spherical cavity form a spatial rotation pair constraint through the spatial spherical contact. The spherical center body (164) and the side guide hemisphere six (55) form a plane rotation pair. The side guide hemisphere six (55) and the outer barrel six (65) cooperate to form a plane rotation pair. The reset disk (370) and the spherical center body (164) form a moving pair.

[0226] As shown in FIG81 , the reset disk (370) includes a cylinder. A cylindrical through hole (3703) is provided at the center of the cylinder, extending between the upper and lower surfaces. A disk is provided on the outer periphery of the lower portion of the cylinder. A spring mounting groove (3704) is provided on the upper portion of the disk. A cone with a larger upper portion and a smaller lower portion is provided on the lower portion of the disk, and the diameter of the upper surface of the cone is less than or equal to the diameter of the disk. The inclined surface of the cone is a reset inclined surface (3701). The reset inclined surface can effectively reduce the starting torque of the rocker. The annular band on the lower surface of the disk is a reset plane (3702). The reset plane (3702) enhances the stability of the rocker when it is in the middle position. A circular arc surface (3705) is provided at the outermost edge of the disk to achieve a transition from the lower portion of the reset disk to the upper portion of the reset disk.

[0227] The overall structure of the top cover ten (148) is a sheet-like body, and the middle part is a through hole that runs through the upper and lower surfaces of the sheet-like body. The edge of the through hole is provided with an upward convex edge. The upper surface (14803) of the top cover ten (148) is provided with an inclined surface with a low center and a high edge. In this way, the operating rod of the spherical center body (164) swings in the through hole of the top cover ten. When the operating rod swings to the extreme position, the arc surface (3705) provided at the outermost edge of the reset plane of the reset disk is pressed against the inclined upper surface of the top cover ten. The top cover ten plays a supporting role for the entire part of the reset disk. The reset disk further supports the operating rod to prevent the operating rod from being broken due to excessive bending moment at the extreme position.

[0228] like Figure 82 As shown, the spherical center body (164) is evolved from the spherical ball panel (161) of Example 2. The difference is that the operating rod three (16408) is longer. The main body of the spherical center body (164) is a sphere with at least one spherical cap removed. Optionally, a cylindrical hole (16409) is provided at the center of the plane side surface (16401) of the spherical center body. The cylindrical hole (16409) forms a plane rotation pair with the cylinder extending from the center of the plane side surface of the lateral guide hemisphere six (55). The spherical center body (164) is also provided with a slender rod-shaped operating rod.

[0229] The main features of the lateral guide hemisphere 6 (55) are the same as those of the lateral guide hemisphere 2 (51) of Example 2. The main structure of the lateral guide hemisphere 6 (55) is provided with a spherical crown with a sliding groove on its spherical surface. Optionally, a protruding cylinder is provided at the center of the planar side surface of the lateral guide hemisphere, thereby forming a planar rotation pair with the cylindrical hole (16409) provided at the center of the planar side surface (16401) of the spherical center body.

[0230] The main features of the outer barrel six (65) are the same as those of the outer barrel two (61) of Example 2.

[0231] Installation method and usage principle of Example 7: The assembly method of the movable sphere of Example 7 is similar to that of Example 2. The assembly method of the top cover 10 (148), the spherical center body (164), the side guide hemisphere 6 (55), the outer barrel 6 (65), the PCB board 3 (9), and the bottom cover 3 (10) is similar to that of Example 2. The difference is that in this embodiment, the reset disk (370) passes through the operating rod 3 (16408) of the spherical center body (164), and the two form a moving pair. The reset spring 1 (3) passes through the operating rod 3 (16408), and one end is installed in the spring installation groove (3704) of the reset disk (370). The lower end of the reset disk is pressed against the top cover under the action of the reset spring; the other end of the reset spring is installed in the thumb cap. After completing the above operations, the thumb cap (21) is connected to the operating rod 3 (16408), and a metal pin is passed through the pin hole 4 (164081) on the operating rod 3 (16408) to make the connection between the thumb cap and the operating rod more secure. When the operating lever deviates from the equilibrium position, the reset disk compresses the reset spring, causing the operating lever to tend to return to the equilibrium position. At the equilibrium position, the lower end of the reset disk includes a conical inclined surface (3701). The conical inclined surface (3701) at the lower end of the reset disk cooperates with the conical inclined surface of the through hole on the top cover to achieve overall stability of the rocker at the equilibrium position. And / or, the reset plane (3702) at the lower end of the reset disk cooperates with the convex edge of the through hole on the top cover to achieve overall stability of the rocker at the equilibrium position.

[0232] The reset disk body is a rotating body structure, the lower end of which is a tapered structure. A cylindrical through hole is opened at the geometric center of the rotating body structure. An annular edge is provided radially outward along the large end edge of the tapered structure.

[0233] The opening of the top cover is configured as a tapered slope. And / or, An annular flange is provided around the opening of the top cover, and the annular flange cooperates with the annular edge of the reset disk at the equilibrium position of the rocker to achieve stability of the equilibrium position.

[0234] In order to realize the function of single-axis self-resetting, selectively, in the spherical cavity of the fixing device, the side guide hemisphere is formed into a component that moves together by setting a non-cylindrical protrusion or a non-cylindrical hole in the middle of its planar outer surface and cooperating with the non-cylindrical hole or non-cylindrical protrusion set on the adjacent surface of the center body or the spherical center body.

[0235] In the spherical cavity of the fixing device, the lateral guide hemisphere forms a component by forming a non-cylindrical hole in the middle of its planar outer surface and cooperating with the non-cylindrical hole provided on the center body or the adjacent surface of the spherical center body. Example

[0236] See also Figure 83-86. This embodiment provides a ball pair structure for achieving frictional force inside a detachable movable sphere. The structure includes a spherical center body (165), a side guide hemisphere (7) (56), a positioning steel plate (271), a hexagon socket bolt (191), a disc spring (31), a thrust bearing (151), and a hexagonal nut (20).

[0237] The spherical center body (165) is evolved from the spherical ball panel (161) of Example 3. The difference is that a disc spring mounting hole 1 (16513) and a bolt hole 1 (16514) are additionally provided on the left spherical surface of the spherical center body (165). The bolt hole 1 (16514) passes through the center of the spherical center body (165) to its right side surface (16515).

[0238] The main features of the side guide hemisphere seven (56) are basically the same as those of the side guide hemisphere (52) of Example 3, except that a bolt hole two (56012) and a hexagonal nut mounting hole (56011) are additionally provided at the center of the side guide hemisphere seven (56).

[0239] The spherical center body (165) and the lateral guide hemisphere seven (56) are assembled together to form a detachable movable sphere. The detachable movable sphere forms a spatial spherical contact in the spherical cavity. The lateral guide hemisphere seven (56) and the spherical center body (165) form a plane rotation pair.

[0240] Installation method and usage principle of Example 8: The assembly method of the movable sphere of Example 8 is similar to that of Example 3. On the original basis, the hexagon socket bolt (191) is sequentially passed through the disc spring (31), the thrust bearing (151), the disc spring mounting hole 1 (16513) of the spherical center body (165), the bolt hole 1 (16514) of the spherical center body (165), and the bolt hole 2 (56012) of the side guide hemisphere 7 (56). Then, the hexagon nut (20) is installed into the hexagon nut mounting hole (56011) of the side guide hemisphere 7 (56). Finally, the hexagon socket bolt (191) is screwed into the hexagon nut (20). The friction force of the relative rotation between the spherical center body (165) and the side guide hemisphere 7 (56) can be increased or decreased by adjusting the screwing depth of the hexagon socket bolt (191). Example

[0241] See also Figures 87-94The present embodiment provides a ball-pair Hall rocker with both a single-axis friction function and a single-axis reset function, comprising a center body (166), a side guide hemisphere eight (57), a side guide hemisphere-sub-hemisphere (572), a positioning steel plate one (271), a hexagon socket bolt (191), a disc spring or a disc spring and bearing assembly (31), a hexagonal nut (20), a reset push rod (241), a compression spring (291), a mounting plate one (181), an outer barrel seven (66), a bottom cover (91), a magnet (231), a magnet baffle (221), and an operating rod (171).

[0242] The lateral guide hemisphere eight (57), the center body (166) and the lateral guide hemisphere-sub-hemisphere (572) are assembled together to form a detachable movable sphere. The mounting plate one (181) is fixedly connected to the outer barrel seven (66). The mounting plate one (181) and the inner surface of the outer barrel seven (66) together form a complete spherical cavity. The detachable movable sphere forms a spatial spherical contact in the spherical cavity. The lateral guide hemisphere eight (57) forms a plane rotation pair with the spherical cavity. The lateral guide hemisphere-sub-hemisphere (572) forms a plane rotation pair with the spherical cavity. The center body (166) and the lateral guide hemisphere eight (57) form a rotation pair. The center body (166) and the lateral guide hemisphere-sub-hemisphere (572) form a rotation pair.

[0243] The reset push rod (241) and the mounting plate (181) form a moving pair.

[0244] The reset push rod (241), the mounting plate 1 (181) and the side guide hemisphere 8 (57) form a cam mechanism; wherein the side guide hemisphere 8 (57) is a cam and the reset push rod (241) is a follower.

[0245] The reset push rod (241), the mounting plate 1 (181), and the side guide hemisphere-sub-hemisphere (572) form a cam mechanism; wherein the side guide hemisphere-sub-hemisphere (572) is a cam, and the reset push rod (241) is a follower.

[0246] The reset push rod (241) is pressed against the cam under the action of the compression spring (291).

[0247] The characteristics of the mesosome (166) are consistent with those of the mesosome (163) in Example 6.

[0248] The main features of the side guide hemisphere eight (57) are consistent with those of the side guide hemisphere (56) of Example 8, except that a step (57013) is added at the guide block 5707 to install the reset push rod (241), and a disc spring mounting hole two (57011) is provided in the middle area of the spherical surface of the side guide hemisphere eight (57).

[0249] The main features of the side guide hemisphere-sub-hemisphere (572) are similar to those of the side guide hemisphere eight (57) of this embodiment. A step (572013) is added to the guide block (57207) of the side guide hemisphere-sub-hemisphere (572) to install the reset push rod (241). The difference is that a hexagonal nut mounting hole (572011) is provided in the middle area of the spherical surface of the side guide hemisphere-sub-hemisphere (572).

[0250] The mounting plate one (181) can be regarded as a combination of the mounting plate (18) and the top cover nine (144) of Example 6. Therefore, the mounting plate one (181) of this embodiment has all the main characteristics of the mounting plate (18) and the top cover nine (144) of Example 6 after being installed in combination. In addition, a wire hole (18107) is added to the upper end surface of the mounting plate one (181). A spring limit hole (181011) is provided at the slide eight (181012). A column (18108) is provided on the upper end surface of the mounting plate one (181). A through hole four (18109) is provided at the axis of the column (18108). The through hole four (18109) is connected to the spring limit hole (181011).

[0251] like Figure 93 As shown, the outer barrel seven (66) has the same main features as the outer barrel four (63) of Example 5, except that, in this embodiment, the slideway three (14309) of the outer barrel four (63) of Example 5 is changed to a slide groove (6608), and a limiting step two (66081) is provided at the slide groove (6608).

[0252] The reset push rod (241) has various forms, including a guide rod (24101) with a protrusion (24102) provided at one end of the guide rod (24101), similar to a push rod in a cam mechanism.

[0253] Installation method and usage principle of embodiment 9: The assembly method of the movable sphere of Example 9 is similar to that of Example 8. On the original basis, the hexagon socket bolt (191) is sequentially passed through the disc spring (31), the disc spring mounting hole 2 (57011) and the bolt hole 5 (57012) of the side guide hemisphere 8 (57), the center body (166), the bolt hole 4 (572012) of the side guide hemisphere-sub-hemisphere (572) and the hexagonal nut mounting hole (572011); then, the hexagonal nut (20) is installed into the hexagonal nut mounting hole (572011) of the side guide hemisphere-sub-hemisphere (572); finally, the hexagon socket bolt (191) is screwed into the hexagonal nut (20). In addition, compared with the aforementioned embodiment 5, the spherical cavity of this embodiment is only composed of the ball socket (181013) or the spherical inner surface of the mounting plate 1 (181) and the ball socket 2 (6609) or the spherical inner surface of the outer barrel 7 (66), with fewer parts, higher matching accuracy, more compact structure, and a larger swing range of the operating rod.

[0254] In addition, the single-axis friction function of this embodiment is derived from the relative rotation between the center body (166) and the side guide hemisphere eight (57) and the side guide hemisphere-sub-hemisphere (572). The friction force generated by the relative rotation can be increased or decreased by adjusting the screwing depth of the hexagon socket bolt (191) in the nut. The single-axis reset function of this embodiment is derived from two sets of cam mechanisms. The first set of cam mechanisms is composed of the mounting plate one (181), the side guide hemisphere eight (57) and the reset push rod (241). The second set of cam mechanisms is composed of the mounting plate one (181), the side guide hemisphere-sub-hemisphere (572) and the reset push rod (241). The two sets of cam mechanisms are symmetrically distributed. The reset force of the follower of the two sets of cam mechanisms is derived from the compression spring (291) on the guide rod (24101) mounted on the reset push rod (241). One end of the compression spring is pressed on the protrusion (24102) of the reset push rod (241), and the other end is placed in the spring limit hole (181011) of the mounting plate (181). The guide rod (24101) of the reset push rod (241) passes through the through hole four (18109) of the mounting plate (181), and the two form a moving pair. At this point, the core components of this embodiment have been installed. The installation method of the remaining parts is similar to that of Example 5 and will not be repeated here. When (13) is a combination of a disc spring and a bearing, a bearing is installed between the disc spring and the side guide hemisphere eight (57), which can reduce or avoid loosening of the bolt connection. Alternatively, a bearing is installed between the disc spring and the bolt, which can also reduce or avoid loosening of the bolt connection.

[0255] Anything not described in detail in the present invention is well known to those skilled in the art.

[0256] The functions and implementation methods of parts not described in the present invention can be inferred based on the existing description and will not be repeated here. Of course, the above description is not a limitation of the present invention. Although the present invention has been described in detail with reference to the embodiments, the present invention is not limited to the above examples. Changes, modifications, additions or substitutions made by technicians in this technical field within the essential scope of the present invention should also fall within the scope of protection of the present invention.

Claims

1. A device having a ball pair structure, characterized in that: including a fixing device and a rotating device; The fixing device includes at least one of a top cover and a mounting plate; The outer barrel is fixedly connected to the top cover or the mounting plate; The outer barrel and the inner surface of the top cover or the mounting plate form a common component or a complete spherical cavity; The rotating device is a detachable movable sphere; the detachable movable sphere is assembled from two or more parts, and the main body of the assembled assembly is spherical or partially spherical; A single part of the detachable movable sphere or an assembly formed by assembling several parts thereof has a partially spherical outer surface, and the partially spherical outer surface forms spatial spherical contact with the inner surface of the spherical cavity; or A single part or an assembly formed by assembling several parts of the detachable movable sphere has a partially spherical outer surface, and the partially spherical outer surface forms a plane rotation pair constraint with the inner surface of the spherical cavity.

2. The device with a ball pair structure according to claim 1, characterized in that: The spatial spherical contact forms a spatial rotational pair constraint.

3. The device with a ball pair structure according to claim 1, characterized in that: Among the parts constituting the detachable movable sphere, at least two parts form a planar rotation pair.

4. The device with a ball pair structure according to claim 1, characterized in that: The parts contained in the detachable movable sphere and forming a spatial spherical contact with the spherical cavity or the assembly composed of the parts and the parts contained in the detachable movable sphere and forming a planar rotation pair constraint with the spherical cavity or the assembly composed of the parts, both form a planar rotation pair.

5. The device with a ball pair structure according to claim 1, characterized in that: An arc-shaped slide is provided on the inner surface of the spherical cavity, and the arc-shaped slide is used to form a plane rotation pair with some parts of the detachable movable sphere.

6. The device with a ball pair structure according to claim 5, characterized in that: One of the parts constituting the detachable movable sphere or the assembly of several parts constituting the detachable movable sphere has a partially spherical outer surface and forms a planar rotation pair constraint with the inner surface of the spherical cavity through the arc slide.

7. The device with a ball pair structure according to claim 5, characterized in that: The inner surface of the spherical cavity forms the arc-shaped slideway through grooves, protrusions, or a combination of a part of the slideway being grooves and a part of the slideway being protrusions.

8. The device with a ball pair structure according to claim 1, characterized in that: The detachable movable sphere comprises a central body, and a lateral guide hemisphere is respectively assembled on both sides of the central body.

9. The device with a ball pair structure according to claim 1, characterized in that: The detachable movable sphere comprises a spherical center body, and a lateral guide hemisphere is assembled on one side of the spherical center body.

10. The device with a ball pair structure according to claim 8, characterized in that: The main body of the lateral guide hemisphere is a spherical cap structure; The main body of the median body is a spherical ring structure; The outer surface of the main body of the lateral guide hemisphere includes a partial spherical surface and a plane; The outer surface of the main body of the central body includes a partial spherical surface and two planes.

11. The device with a ball pair structure according to claim 9, characterized in that: The main body of the lateral guide hemisphere is a spherical cap structure; The main body of the spherical center body is a spherical structure with one side of the spherical cap cut off; The outer surface of the main body of the lateral guide hemisphere includes a partial spherical surface and a plane; The outer surface of the main body of the spherical center body includes a large half spherical surface and a plane.

12. A device with a ball pair structure according to claim 10 or claim 11, characterized in that: Part of the outer surface of the lateral guide hemisphere is a spherical surface, and the spherical outer surface of the lateral guide hemisphere is provided with an arc-shaped slideway, and the arc-shaped slideway is used to form a rotation pair with the spherical cavity.

13. The device with a ball pair structure according to claim 12, characterized in that: The outer surface of the partial spherical surface of the side guide hemisphere is provided with protrusions, grooves, or part of the slide is a groove and part of the slide is a protrusion in the form of an arc slide; the arc slide of the side guide hemisphere cooperates with the arc slide provided on the inner surface of the spherical cavity to form a planar rotation pair.

14. The device with a ball pair structure according to claim 10, characterized in that: In the spherical cavity, the lateral guide hemispheres are installed on both sides of the central body, and the central body and the lateral guide hemispheres form a plane rotation pair in the spherical cavity.

15. The device with a ball pair structure according to claim 14, characterized in that: In the spherical cavity, a cylindrical protrusion or a cylindrical hole is provided in the middle of the planar outer surface of the lateral guide hemisphere, and the cylindrical protrusion or cylindrical hole cooperates with the cylindrical hole or cylindrical protrusion provided on the planar outer surface of the center body to form a planar rotation pair.

16. The device with a ball pair structure according to claim 14, characterized in that: In the spherical cavity, a circular cylindrical protrusion or a circular ring groove is provided in the middle of the planar outer surface of the lateral guide hemisphere, and the circular cylindrical protrusion or the circular ring groove cooperates with the circular ring groove or the circular cylindrical protrusion provided on the planar outer surface of the center body to form a planar rotation pair.

17. The device with a ball pair structure according to claim 11, characterized in that: In the spherical cavity, the lateral guide hemisphere is installed on one side of the plane of the spherical center body, and the spherical center body and the lateral guide hemisphere form a planar rotation pair in the spherical cavity.

18. The device with a ball pair structure according to claim 17, characterized in that: In the spherical cavity, a cylindrical protrusion or a cylindrical hole is provided in the middle of the planar outer surface of the lateral guide hemisphere, and the cylindrical protrusion or cylindrical hole cooperates with the cylindrical hole or cylindrical protrusion provided on the planar outer surface of the spherical center body to form a planar rotation pair.

19. The device with a ball pair structure according to claim 17, characterized in that: In the spherical cavity, a circular cylindrical protrusion or a circular ring groove is provided in the middle of the planar outer surface of the lateral guide hemisphere, and the circular cylindrical protrusion or the circular ring groove cooperates with the circular groove or the circular cylindrical protrusion provided on the planar outer surface of the spherical center body to form a planar rotation pair.

20. A Hall effect rocker with a ball pair structure, characterized in that: including a fixing device and a rotating device; The fixing device includes at least one of a top cover and a mounting plate; The outer barrel is fixedly connected to the top cover or the mounting plate; When the outer barrel is fixedly connected to the top cover, the inner surfaces of the outer barrel and the top cover form a common or complete spherical cavity; The rotating device is a detachable movable sphere; the detachable movable sphere is composed of two or more parts, and the main body of the assembled assembly has a spherical or partially spherical shape; A single part or a plurality of parts of the detachable movable sphere are assembled to form an assembly having a partially spherical outer surface and forming spatial spherical contact with the inner surface of the spherical cavity; or The assembly formed by assembling a single part or several parts of the detachable movable sphere has a partially spherical outer surface and forms a planar rotation pair constraint with the inner surface of the spherical cavity.

21. An electromechanical device having a ball pair structure, characterized in that: It comprises a Hall rocker with a ball pair structure or a device with a ball pair structure according to any one of claims 1 to 20.

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