CN210461374U - Novel ball hinge based on space graduation location - Google Patents
Novel ball hinge based on space graduation location Download PDFInfo
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- CN210461374U CN210461374U CN201921401519.5U CN201921401519U CN210461374U CN 210461374 U CN210461374 U CN 210461374U CN 201921401519 U CN201921401519 U CN 201921401519U CN 210461374 U CN210461374 U CN 210461374U
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Abstract
The utility model discloses a novel ball hinge based on space graduation location. The existing high-precision ball hinge is complex in general structure. The utility model comprises a hemispherical shell, a ball head, a laser emitter, a ball socket, a photoelectric sensor, a spring and a ball; the ball head is provided with a blind hole group, and a spring and a ball are arranged in the blind hole; the ball socket is provided with a spherical hole group; a laser emitter is fixedly arranged on the top surface of the ball socket; the hemispherical shell is fixed on a ball head output rod of the ball head; the inner spherical surface of the hemispherical shell is provided with a photoelectric sensor group; each spherical hole of the ball socket is embedded with one corresponding ball at the position of the ball head. The utility model discloses as long as mark the angle in spherical hole in advance to numbering every photoelectric sensor, can measuring the azimuth and the yaw angle of bulb, utilize low precision and low-cost photoelectric sensor alright obtain the ball pivot space corner of high accuracy.
Description
Technical Field
The utility model belongs to the technical field of mechanical structure designs and measures, concretely relates to novel ball hinge based on space graduation location.
Background
With the rapid development of modern industry, the spherical hinge has the characteristics of flexible rotation, capability of realizing the transmission of space mechanism motion and force and the like, and is widely applied to the fields of robots, parallel machine tools, electronic mechanical equipment, medical instrument equipment, automobile parts and the like. The spherical hinge is used as a key component in system transmission, and the measurement of the motion space angle of the spherical hinge is beneficial to the accurate feedback control and compensation of the system transmission, and has important significance for improving the transmission precision of the system and the working performance of the whole machine.
The ball-and-socket joint motion is a typical multiple degree of freedom motion. Compared with single-degree-of-freedom displacement measurement, the multi-degree-of-freedom displacement measurement is difficult, the technology is not mature, and related researches are carried out by partial scholars at home and abroad. Abroad, the American society of Georgia and technology, Kok-Meng Lee and the like successively propose a contact type measuring method for obtaining the movement position of a variable reluctance spherical motor rotor by using an optical rotary encoder and a non-contact type measuring method for obtaining the position of the spherical rotor by using a vision sensor, a double optical sensor and the like. Patent CN1643343A proposes a device for measuring the rotation and tilt angle of a ball joint, based on the magneto-optical effect, which obtains the rotation and tilt angle of the ball joint by arranging a magnet in an articulated ball, and the magnetic field intensity of the articulated ball changes with the position of the ball head in the ball socket, and is reflected on a display device, received by an optical detection device, and processed by corresponding images. In China, the Beijing aerospace university Myriko bridge and the like develop the position measurement research of the three-freedom-degree spherical motor, and the method for installing the sensor and calculating the displacement is provided by utilizing the measurement principle that the two-freedom-degree optical sensor measures the three-freedom-degree displacement of the spherical motor. Relative researches on a permanent magnet spherical motor position detection method based on machine vision are conducted by the university of combined fertilizer industry, such as the Hupenhao, the Li Jiang and the like.
However, the ball hinge constructed based on the pose detection method generally has a complex structure, measurement data processing is complex, high measurement precision is difficult to guarantee, economic cost is high, and meanwhile, in practical application, the ball hinge is limited by installation space and working environment, and research schemes are limited.
Disclosure of Invention
The utility model aims at providing a novel ball hinge based on space graduation location to prior art not enough.
The utility model comprises a hemispherical shell, a ball head, a laser emitter, a ball socket, a photoelectric sensor, a spring and a ball; the ball head is provided with m blind hole groups which are equidistantly distributed along the warp direction, and m is more than or equal to 5; one of the blind hole groups is arranged at the position of the 0-degree weft, and the other blind hole groups are symmetrically arranged at two sides of the 0-degree weft; the blind hole group comprises n blind holes which are uniformly distributed along the weft direction; the number of blind holes in each blind hole group is equal; each blind hole is connected with one ball through a spring; the diameter of the ball is equal to the inner diameter of the blind hole, and half of the ball is embedded into the blind hole. The ball socket is provided with m spherical hole groups with the arrangement rule consistent with the arrangement rule of the m blind hole groups; the spherical hole group comprises k spherical holes which are uniformly distributed along the weft direction, wherein k is more than or equal to 8, and n is 2k or 3 k; the spherical hole has a radius equal to the diameter of the ball. A laser emitter is fixedly arranged on the top surface of the ball socket; each spherical hole of the ball socket is embedded with one corresponding ball at the position of the ball head. The hemispherical shell is fixed on a ball head output rod of the ball head and is concentric with the ball head. The inner spherical surface of the hemispherical shell is provided with m photoelectric sensor groups which are equidistantly arranged along the meridian direction; the photoelectric sensor group comprises k photoelectric sensors which are uniformly distributed along the weft direction; and under the state that the ball head output rod is vertical to the bottom surface of the ball socket, the laser emitter is aligned with the weft where the (m-1)/2 photoelectric sensor group is positioned from bottom to top.
Further, the blind holes of the adjacent blind hole groups are arranged in a staggered mode along the weft direction.
Further, the ball socket includes an upper ball socket and a lower ball socket which are connected by a bolt.
The utility model has the advantages that:
1. the utility model discloses as long as mark the angle in spherical hole in advance to numbering every photoelectric sensor, can measuring the azimuth and the yaw angle of bulb. The photoelectric sensor inside the hemispherical shell only plays a role in acquiring the position when the ball head rotates, the real positioning depends on the matching of the ball and the spherical hole, and the high-precision spherical hinge space rotation angle can be obtained by using the photoelectric sensor with low precision and low cost.
2. The utility model discloses the cost is lower, and is not high to the equipment requirement, and the practicality is big.
3. External work environment is right the utility model discloses an implement and disturb less, implementability is high.
Drawings
Fig. 1 is an exploded view of the ball hinge of the present invention;
fig. 2 is a schematic view of a hemispherical shell according to the present invention;
FIG. 3 is a cross-sectional view of the ball head of the present invention;
fig. 4 is a cross-sectional view of a ball socket according to the present invention;
FIG. 5 is a plan view showing the arrangement rule of the balls or spherical holes according to the present invention;
FIG. 6 is an assembled cross-sectional view of the ball head and socket of the present invention;
reference numerals: the device comprises a hemispherical shell 1, a ball head 2, a laser emitter 3, a ball socket 4, a ball head output rod 5, a photoelectric sensor 6, a blind hole 7, a spring 8, a ball 9 and a spherical hole 10.
Detailed Description
The present invention will be further explained with reference to the accompanying drawings.
As shown in fig. 1 to 6, a novel ball hinge based on space indexing positioning comprises a hemispherical shell 1, a ball head 2, a laser emitter 3, a ball socket 4, a photoelectric sensor 6, a spring 8 and a ball 9; the ball head 2 is provided with m blind hole groups which are equidistantly distributed along the warp direction, and m is more than or equal to 5; one of the blind hole groups is arranged at the position of the 0-degree weft, and the other blind hole groups are symmetrically arranged at two sides of the 0-degree weft; the blind hole group comprises n blind holes 7 uniformly distributed along the weft direction; the number of blind holes in each blind hole group is equal; each blind hole 7 is connected with a ball 9 through a spring 8; the diameter of the ball 9 is equal to the inner diameter of the blind hole 7, and half of the ball 9 is embedded in the blind hole 7. The ball socket 4 is provided with m spherical hole groups with the arrangement rule consistent with the arrangement rule of the m blind hole groups; the spherical hole group comprises k spherical holes 10 uniformly distributed along the weft direction, wherein k is more than or equal to 8, and n is 2k or 3 k; the spherical hole 10 has a radius equal to the diameter of the ball 9. The top surface of the ball socket 4 is fixedly provided with a laser emitter 3; each spherical hole 10 of the ball socket 4 is embedded with one ball 9 corresponding to the position of the ball head 2. The hemispherical shell 1 is fixed on a ball head output rod 5 of the ball head 2, and the hemispherical shell 1 and the ball head 2 are concentric. M photoelectric sensor groups are arranged on the inner spherical surface of the hemispherical shell 1 at equal intervals along the meridian direction; the photoelectric sensor group comprises k photoelectric sensors 6 uniformly distributed along the weft direction; under the state that the ball head output rod 5 is vertical to the bottom surface of the ball socket 4, the laser emitter 3 is aligned with the weft where the (m-1)/2 photoelectric sensor group is located from bottom to top.
And the blind holes of the adjacent blind hole groups are arranged in a staggered manner along the weft direction. As shown in fig. 4, the ball socket 4 is of a split type, and includes an upper ball socket and a lower ball socket which are connected by a bolt.
When the novel ball hinge based on space indexing positioning is used for measuring space angles, each photoelectric sensor is required to be arrangedThe sensors 6 are numbered in the form of (i, j), wherein i is the number of the photoelectric sensor group from bottom to top, and j is the sequential number of all the photoelectric sensors in the photoelectric sensor group along the same surrounding direction; when j is not less than 2, theta is definedi,jThe number of the photoelectric sensor aligned with the laser emitter 3 is changed from (i, j-1) to (i, j), and the ball head 2 rotates by an angle in the weft direction; when i is greater than or equal to 2, define
The number of the photoelectric sensor aligned with the laser emitter 3 is changed from (i-1, j) to (i, j), and the ball head 2 rotates by an angle in the direction of the longitude line; in addition, let θ1,1＝0，
Except for theta1,1And
other than θi,jAre calibrated in advance by a high-precision instrument (which can be a three-coordinate measuring machine). When the ball 2 rotates in the ball socket 4 until the laser emitted by the laser emitter 3 strikes the photoelectric sensor 6 with the number (i, j), the azimuth angle and the yaw angle of the ball 2 are respectively:
therefore, in the rotating process of the ball head 2, the spatial rotation angle of the ball head 2 can be known by reading the number of the photoelectric sensor 6. And the ball 2 rotates in the ball socket 4 by thetai,jAnd
at the same time, a partial spherical hole 10 is embedded in the ball 9 in the ball socket 4, so that the accurate positioning of the ball head 2 in the ball socket 4 is ensured. For more clearly explaining the movement of the ball head 2, the arrangement rule of the ball 9 and the spherical hole 10 is developed into a planeAs shown in fig. 5, the X-axis direction represents the horizontal (in the weft direction) circular motion of the ball 2, the Y-axis direction represents the vertical (in the warp direction) circular motion of the ball 2, and the Z-axis direction represents the two-direction coupled motion of the ball 2.
Claims (3)
1. The utility model provides a novel ball hinge based on space graduation location, includes bulb and ball socket, its characterized in that: the device also comprises a hemispherical shell, a laser emitter, a photoelectric sensor, a spring and a ball; the ball head is provided with m blind hole groups which are equidistantly distributed along the warp direction, and m is more than or equal to 5; one of the blind hole groups is arranged at the position of the 0-degree weft, and the other blind hole groups are symmetrically arranged at two sides of the 0-degree weft; the blind hole group comprises n blind holes which are uniformly distributed along the weft direction; the number of blind holes in each blind hole group is equal; each blind hole is connected with one ball through a spring; the diameter of the ball is equal to the inner diameter of the blind hole, and half of the ball is embedded into the blind hole; the ball socket is provided with m spherical hole groups with the arrangement rule consistent with the arrangement rule of the m blind hole groups; the spherical hole group comprises k spherical holes which are uniformly distributed along the weft direction, wherein k is more than or equal to 8, and n is 2k or 3 k; the radius of the spherical hole is equal to the diameter of the ball; a laser emitter is fixedly arranged on the top surface of the ball socket; each spherical hole of the ball socket is embedded with a ball corresponding to the position of the ball head; the hemispherical shell is fixed on a ball head output rod of the ball head and is concentric with the ball head; the inner spherical surface of the hemispherical shell is provided with m photoelectric sensor groups which are equidistantly arranged along the meridian direction; the photoelectric sensor group comprises k photoelectric sensors which are uniformly distributed along the weft direction; and under the state that the ball head output rod is vertical to the bottom surface of the ball socket, the laser emitter is aligned with the weft where the (m-1)/2 photoelectric sensor group is positioned from bottom to top.
2. The novel ball hinge based on space indexing positioning as claimed in claim 1, wherein: the blind holes of adjacent blind hole groups are arranged in a staggered mode along the weft direction.
3. The novel ball hinge based on space indexing positioning as claimed in claim 1, wherein: the ball socket includes an upper ball socket and a lower ball socket connected by a bolt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921401519.5U CN210461374U (en) | 2019-08-27 | 2019-08-27 | Novel ball hinge based on space graduation location |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921401519.5U CN210461374U (en) | 2019-08-27 | 2019-08-27 | Novel ball hinge based on space graduation location |
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| CN210461374U true CN210461374U (en) | 2020-05-05 |
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| CN201921401519.5U Expired - Fee Related CN210461374U (en) | 2019-08-27 | 2019-08-27 | Novel ball hinge based on space graduation location |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111922782A (en) * | 2020-07-06 | 2020-11-13 | 杭州电子科技大学 | Method for detecting machine tool space error by using ball bar instrument constructed by ball hinge |
| CN112747666A (en) * | 2020-12-17 | 2021-05-04 | 武昌船舶重工集团有限公司 | Shafting is detection device in school |
-
2019
- 2019-08-27 CN CN201921401519.5U patent/CN210461374U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111922782A (en) * | 2020-07-06 | 2020-11-13 | 杭州电子科技大学 | Method for detecting machine tool space error by using ball bar instrument constructed by ball hinge |
| CN112747666A (en) * | 2020-12-17 | 2021-05-04 | 武昌船舶重工集团有限公司 | Shafting is detection device in school |
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Granted publication date: 20200505 |