CN112648281B - Umbrella type opening and locking metamorphic spherical hinge - Google Patents
Umbrella type opening and locking metamorphic spherical hinge Download PDFInfo
- Publication number
- CN112648281B CN112648281B CN202011462622.8A CN202011462622A CN112648281B CN 112648281 B CN112648281 B CN 112648281B CN 202011462622 A CN202011462622 A CN 202011462622A CN 112648281 B CN112648281 B CN 112648281B
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- hemisphere
- spherical shell
- spherical
- sliding seat
- locking
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- 230000008602 contraction Effects 0.000 claims description 2
- 230000037431 insertion Effects 0.000 claims 1
- 238000003780 insertion Methods 0.000 claims 1
- 230000007246 mechanism Effects 0.000 abstract description 2
- 239000012636 effector Substances 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000036544 posture Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005381 potential energy Methods 0.000 description 1
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C11/00—Pivots; Pivotal connections
- F16C11/04—Pivotal connections
- F16C11/06—Ball-joints; Other joints having more than one degree of angular freedom, i.e. universal joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
- B25J17/0275—Universal joints, e.g. Hooke, Cardan, ball joints
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C11/00—Pivots; Pivotal connections
- F16C11/04—Pivotal connections
- F16C11/10—Arrangements for locking
- F16C11/103—Arrangements for locking frictionally clamped
- F16C11/106—Arrangements for locking frictionally clamped for ball joints
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Pivots And Pivotal Connections (AREA)
Abstract
The invention relates to the technical field of mechanical mechanisms of operating arms, in particular to an umbrella type expansion locking metamorphic spherical hinge, it is characterized in that the spherical hinge comprises a connecting rod, an outer spherical shell, an inner spherical shell and a spherical hinge unit, wherein the spherical hinge unit comprises an upper hemisphere, a lower hemisphere, a sliding block, a push rod, a fixed wire, a sliding seat, a driving wire and a return spring, at least three upper connecting bulges and at least three lower connecting bulges are uniformly distributed on the edges of the corresponding surfaces of the upper hemisphere and the lower hemisphere, the upper connecting bulges and the lower connecting bulges are connected with each other to enable the upper hemisphere and the lower hemisphere to be connected to form a whole sphere, a sliding cavity is formed between the adjacent upper connecting bulges and the adjacent lower connecting bulges, the driving wire drives the sliding seat to move up and down outside the positioning pipe arranged on the lower hemisphere so as to drive the push rod to push the sliding block to move out or retract into the sliding cavity, and finally the spherical shell and the inner spherical shell are locked or loosened through the sliding block to realize the locking or loosening of the spherical hinge unit.
Description
Technical Field
The invention relates to the technical field of mechanical mechanisms of operating arms, in particular to an umbrella type expansion locking metamorphic spherical hinge which has the advantages of simple structure, small radial size, capability of realizing 3-degree-of-freedom free rotation in a release state, capability of locking at any position, sufficient load capacity provision, and stable and reliable locking.
Background
As is well known, an operation arm is an electromechanical integrated product, which can carry one or more end effectors to perform various operations under the remote control of a worker or the automatic control of a computer, and is widely used in various fields, such as: the production and manufacturing field, the safety explosion-proof field, the medical field and the like have huge application prospects, and various operation arms have been deeply researched at home and abroad.
At present, various existing operating arm products and research results are mostly active operating arms and are divided into built-in driving, external driving and hybrid driving. For built-in drive placement, a general deployment mode is that each joint of an operating arm is provided with a drive motor, the angle of a rotating joint is changed through the rotation of the motor, and the pose of an end effector is changed through the coupling of multi-joint postures. For the external driving mode, a driving motor is generally disposed outside the operating arm, and the posture of the operating arm is generally changed by pulling a driving wire by the driving motor. The active operating arms adopt controllers to control the rotation angles of the motors, further control the forward driving mode of the pose of the operating arm, and are only suitable for the structured operating environment. The passive operating arm which can be manually pulled by an operator and is passively positioned has few foreign researches and is blank at home.
Disclosure of Invention
The invention aims to solve the defects of the prior art and provides an umbrella type expansion locking metamorphic spherical hinge which has the advantages of simple structure, small radial size, capability of realizing 3-degree-of-freedom free rotation in a release state, capability of locking at any position, sufficient load capacity and stable and reliable locking.
The technical scheme adopted by the invention for solving the technical problems is as follows:
the umbrella type expansion locking metamorphic spherical hinge is characterized by comprising a connecting rod, an outer spherical shell, an inner spherical shell and a spherical hinge unit, wherein the connecting rod is a hollow rod with external threads at both ends, the outer spherical shell is cylindrical, the cylindrical outer spherical shell is sleeved outside the inner spherical shell, a hemispherical groove is formed in the upper end of the inner spherical shell, the upper end of the outer spherical shell is contracted inwards to form an annular spherical shell, an upper end contraction opening of the spherical shell is set as a connecting rod movable opening, a spherical cavity is formed between the spherical shell formed in the upper end of the outer spherical shell and the hemispherical groove in the inner spherical shell, the spherical hinge unit is arranged in the spherical cavity and comprises an upper hemispherical body, a lower hemispherical body, a sliding block, a pushing rod, a fixed wire, a sliding seat driving wire, a driving wire and a reset spring, at least three upper connecting bulges and lower connecting bulges are uniformly distributed on the edges of corresponding surfaces of the upper hemispherical body and the lower hemispherical body, and the upper connecting bulges and the lower bulges are connected with each other to connect the upper hemispherical body and the lower hemispherical body to form the whole spherical hinge The ball body, form the sliding chamber between adjacent upper connection protrusion and adjacent lower connection protrusion, the said sliding chamber is equipped with the slide block, the inboard lower hemisphere middle part of the said slide block is equipped with the registration arm, the outside cover of the said registration arm has slide carriages, the outside cover of registration arm below the slide carriage has reset springs, the slide carriage is set as the waist-shaped structure that the middle of upper and lower both ends is wide and the middle is contracted, the middle part of slide carriage is covered with the annular fixed silk, the fixed silk is equipped with the push rod, one end of the said push rod is covered on the fixed silk, the other end of the push rod is hinged with the slide block, the lower end of the slide carriage is equipped with the driving hole, one end of the said driving wire is connected with the slide carriage through the driving hole, the other end of the driving wire is through the registration arm to wear out the lower hemisphere, the upper end of the upper hemisphere inside the said slide block is equipped with the upper screw hole connected with tie rod, the lower end middle part of the upper hemisphere is equipped with the cavity for the registration arm to insert, slide block and slide carriage to move, the driving wire drives the sliding seat to move up and down outside the positioning pipe so as to drive the push rod to push the sliding block to move out of or enter the sliding cavity, and finally the spherical shell and the inner spherical shell are locked or unlocked through the sliding block to realize the locking or the unlocking of the spherical hinge unit.
According to the invention, the funnel-shaped cavity is arranged at the bottom of the hemispherical groove of the inner spherical shell, the lower end of the funnel-shaped cavity is communicated with the lower threaded hole at the bottom of the inner spherical shell, so that a driving wire can smoothly pass through the funnel-shaped cavity when the spherical hinge unit rotates to any angle, and meanwhile, the lower threaded hole at the lower end of the funnel-shaped cavity can be connected with the connecting rod in another group of spherical hinges, so that the series connection of a plurality of groups of spherical hinges is realized.
The upper threaded hole at the upper end of the upper hemisphere is communicated with the cavity for inserting the positioning tube, so that the driving wire can penetrate through the cavity, and a plurality of groups of spherical hinges can be connected in series.
The inner spherical shell and the outer spherical shell are connected through the threads, so that the installation and the disassembly are convenient.
The upper hemisphere and the lower hemisphere are connected through the bolt and the nut.
The lower hemisphere below the positioning tube is provided with a lower spring limiting groove, the lower end face of the sliding seat is provided with an upper spring limiting groove, the lower end of the reset spring is inserted into the lower spring limiting groove, and the upper end of the reset spring is inserted into the upper spring limiting groove, so that the reset spring is fixed and limited.
The outer side of the sliding block is provided with a spherical surface matched with the upper hemisphere and the lower hemisphere, and the sliding block is supported on the spherical surface formed by the outer spherical shell and the inner spherical shell when the spherical hinge is locked.
The sliding seat is square, the middle part of the lower end of the hemisphere is provided with a square groove for limiting the sliding seat, and avoidance grooves corresponding to the push rod are arranged on the periphery of the square groove, so that the push rod can move conveniently.
By adopting the structure, the invention has the advantages of simple structure, small radial size, capability of realizing 3-degree-of-freedom free rotation in a release state, capability of locking at any position, sufficient load capacity, stable and reliable locking and the like.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is an exploded view of fig. 1.
Fig. 3 is a cross-sectional view of fig. 1.
Fig. 4 is an exploded view of the ball-and-socket joint unit of fig. 2.
Fig. 5 is a schematic structural view of the upper hemisphere.
Fig. 6 is a schematic structural view of the lower hemisphere.
Fig. 7 is a schematic structural view of the carriage.
FIG. 8 is a schematic diagram of the results of the slider.
Fig. 9 is a sectional view showing a state in which the ball-joint unit of the present invention is used, wherein 9-1 is a release state view and 9-2 is a locking state view.
Detailed Description
The invention is further described below with reference to the accompanying drawings:
as shown in the attached drawing, the umbrella type distraction locking metamorphic spherical hinge is characterized by comprising a connecting rod 1, an outer spherical shell 2, an inner spherical shell 3 and a spherical hinge unit 4, wherein the connecting rod 1 is a hollow rod with external threads at two ends, the outer spherical shell 2 is cylindrical, the cylindrical outer spherical shell 2 is sleeved outside the inner spherical shell 3, a hemispherical groove 5 is formed at the upper end of the inner spherical shell 3, an annular spherical housing 6 is formed by necking the upper end of the outer spherical shell 2 towards the inner side, a connecting rod movable opening 7 is formed by necking at the upper end of the spherical housing 6, a spherical cavity is formed between the spherical housing 6 formed at the upper end of the outer spherical shell 2 and the hemispherical groove 5 on the inner spherical shell 3, the spherical hinge unit 4 is arranged in the spherical cavity, the spherical hinge unit 4 comprises an upper hemispherical body 8, a lower hemispherical body 9, a sliding block 10, a pushing rod 11, a fixed wire 12, a sliding seat 13, a driving wire 14 and a reset spring 15, at least three upper connecting bulges 16 and lower connecting bulges are uniformly distributed on the corresponding surfaces of the upper hemispherical body 8 and the lower hemispherical body 9 The upper connecting bulge 16 and the lower connecting bulge 17 are connected with each other to enable the upper hemisphere 8 and the lower hemisphere 9 to be connected to form a whole sphere, a sliding cavity is formed between the adjacent upper connecting bulge 16 and the adjacent lower connecting bulge 17, a sliding block 10 is arranged in the sliding cavity, a positioning pipe 18 is arranged in the middle of the lower hemisphere 9 on the inner side of the sliding block 10, a sliding seat 13 is sleeved on the outer side of the positioning pipe 18, a return spring 15 is sleeved on the outer side of the positioning pipe 18 below the sliding seat 13, the sliding seat 13 is of a waist-shaped structure with wide upper ends and wide lower ends and inwards contracted middle parts, an annular fixing wire 12 is sleeved in the middle of the sliding seat 13, a push rod 11 is arranged on the fixing wire 12, one end of the push rod 11 is sleeved on the fixing wire 12, the other end of the push rod 11 is hinged with the sliding block 10, a driving hole 19 is arranged at the lower end of the sliding seat 13, one end of the driving wire 14 is connected with the sliding seat 13 through the driving hole 19, the other end of the driving wire 14 penetrates out of the lower hemisphere 9 through the positioning tube 18, an upper threaded hole 20 connected with the connecting rod 1 is formed in the upper end of the upper hemisphere 8 on the inner side of the sliding block 10, a cavity into which the positioning tube 18 is inserted and which allows the sliding block 10 and the sliding seat 13 to move is formed in the middle of the lower end of the upper hemisphere 8, the driving wire 14 drives the sliding seat 13 to move up and down outside the positioning tube 18 so as to drive the push rod 11 to push the sliding block 10 to move out of or retract into the sliding cavity, and finally the spherical hinge unit 4 is locked or unlocked by locking or unlocking the outer spherical shell 2 and the inner spherical shell 3 through the sliding block 10.
Further, the bottom of the hemispherical groove 5 of the inner spherical shell 3 is provided with a funnel-shaped cavity 21, the lower end of the funnel-shaped cavity 21 is communicated with a lower threaded hole 22 at the bottom of the inner spherical shell 3, so that the driving wire 14 can smoothly pass through the lower threaded hole 22 at the lower end of the funnel-shaped cavity 21 when the spherical hinge unit 4 rotates to any angle, and meanwhile, the lower threaded hole 22 at the lower end of the funnel-shaped cavity 21 can be connected with the connecting rod 1 in another group of spherical hinges, so that the series connection of multiple groups of spherical hinges is realized.
Further, an upper threaded hole 20 at the upper end of the upper hemisphere 8 is communicated with a cavity for inserting the positioning tube 18, so that the driving wire 14 can penetrate through the cavity, and multiple groups of spherical hinges can be connected in series.
Furthermore, the inner spherical shell 3 and the outer spherical shell 2 are connected through threads, so that the installation and the disassembly are convenient.
Further, the upper hemisphere 8 is provided with a bolt counter bore and a bolt through hole, the lower hemisphere 9 is provided with a bolt through hole and a hexagon nut counter bore which are in the same position as the bolt through hole, and the upper hemisphere 8 is connected with the lower hemisphere 9 through a bolt and a nut.
Furthermore, a lower spring limiting groove 23 is formed in the lower hemisphere 9 below the positioning tube 18, an upper spring limiting groove 24 is formed in the lower end face of the sliding seat 13, the lower end of the return spring 15 is inserted into the lower spring limiting groove 23, and the upper end of the return spring 15 is inserted into the upper spring limiting groove 24, so that the return spring 15 is fixed and limited.
Furthermore, the outer side of the sliding block 10 is provided with a spherical surface matched with the upper hemisphere 8 and the lower hemisphere 9, and the sliding block is supported on the spherical surface formed by the outer spherical shell 2 and the inner spherical shell 3 when the spherical hinge is locked.
Further, the sliding seat 13 is square, a square groove 25 for limiting the sliding seat 13 is formed in the middle of the lower end of the hemisphere, and avoidance grooves 26 corresponding to the positions of the push rod 11 are formed in the periphery of the square groove 25, so that the push rod 11 can be conveniently moved.
Further, the slide block 10 inboard be equipped with the spout 27 that supplies the push rod 11 to move, be equipped with the hinge hole on the slide block 10 of spout both sides, the push rod 11 passes the hinge hole through the hinge shaft and is connected with slide block 10, the hinge hole can be set as bolt head counter bore, hexagon nut counter bore and screw rod hole, push rod 11 accessible bolt is articulated.
When the invention is used, the invention is divided into two states of locking and releasing, when in the locking state, the driving wire 14 is strained, the sliding seat 13 moves downwards along the positioning tube 18 on the lower hemisphere 9 to drive the push rod 11 to push the sliding block 10 to extend out of the spherical surface of the upper and lower hemispheres to press the spherical surface formed by the inner spherical shell 3 and the outer spherical shell 2, the rotation of the spherical hinge is locked through friction force, when in the releasing state, the driving wire 14 is relaxed, the reset spring 15 releases the stored elastic potential energy to push the sliding seat 13 to move upwards along the positioning tube 18 of the lower hemisphere 9 to drive the push rod 11 to pull the sliding block 10 to retract the sliding block 10, the spherical hinge can freely realize 3-degree-of-freedom rotation, the series connection of a plurality of groups of spherical hinges is realized, a single spherical hinge has 3 degrees of freedom, N spherical hinges have 3N degrees of freedom after being connected in series, each spherical hinge can be independently locked, the degree of freedom can be changed into 3M (M < N) and can be used in series connection, the freedom can be many, and each can independently lock, realize the multiple change of degree of freedom, because of adopting above-mentioned structure, have simple in construction, radial size is small, the release state can realize 3 degrees of freedom free rotation, can lock in the arbitrary position, provide sufficient load capacity, lock advantages such as being steady and reliable.
Claims (8)
1. An umbrella type expansion locking metamorphic spherical hinge is characterized by comprising a connecting rod, an outer spherical shell, an inner spherical shell and a spherical hinge unit, wherein the connecting rod is a hollow rod with external threads at two ends, the outer spherical shell is cylindrical, the cylindrical outer spherical shell is sleeved outside the inner spherical shell, a hemispherical groove is formed in the upper end of the inner spherical shell, the upper end of the outer spherical shell is contracted towards the inner side to form an annular spherical shell, a contraction opening in the upper end of the spherical shell is a connecting rod movable opening, a spherical cavity is formed between the spherical shell formed in the upper end of the outer spherical shell and the hemispherical groove in the inner spherical shell, the spherical hinge unit is arranged in the spherical cavity and comprises an upper hemispherical body, a lower hemispherical body, a sliding block, a pushing rod, a fixed wire, a sliding seat, a driving wire and a reset spring, at least three upper connecting bulges and at least three lower connecting bulges are uniformly distributed on the edges of corresponding surfaces of the upper hemispherical body and the lower hemispherical body, the upper connecting bulge and the lower connecting bulge are connected with each other to enable the upper hemisphere and the lower hemisphere to be connected to form a whole sphere, a sliding cavity is formed between the adjacent upper connecting bulge and the adjacent lower connecting bulge, a sliding block is arranged in the sliding cavity, a positioning pipe is arranged in the middle of the lower hemisphere on the inner side of the sliding block, a sliding seat is sleeved on the outer side of the positioning pipe, a reset spring is sleeved on the outer side of the positioning pipe below the sliding seat, the sliding seat is of a waist-shaped structure with upper and lower ends wide and middle retracted, an annular fixing wire is sleeved in the middle of the sliding seat, a push rod is arranged on the fixing wire in a sleeved mode, one end of the push rod is hinged to the sliding seat, a driving hole is formed in the lower end of the sliding seat, one end of a driving wire is connected with the sliding seat through the driving hole, the other end of the driving wire penetrates out of the lower hemisphere through the positioning pipe, an upper threaded hole connected with the connecting rod is formed in the upper end of the upper hemisphere on the inner side of the sliding block, the middle part of the lower end of the upper hemisphere is provided with a cavity for the insertion of the positioning pipe and the movement of the sliding block and the sliding seat, the driving wire drives the sliding seat to move up and down outside the positioning pipe so as to drive the push rod to push the sliding block to move out or retract into the sliding cavity, and finally the spherical shell and the inner spherical shell are locked or unlocked through the sliding block to realize the locking or the unlocking of the spherical hinge unit.
2. The umbrella-type distracting and locking metamorphic ball hinge as set forth in claim 1, wherein the bottom of the hemispherical groove of the inner spherical shell is provided with a funnel-shaped cavity, the lower end of the funnel-shaped cavity is connected with the lower threaded hole at the bottom of the inner spherical shell, so as to ensure that the driving wire can pass through smoothly when the ball hinge unit rotates to any angle, and the lower threaded hole at the lower end of the funnel-shaped cavity can be connected with the connecting rod of another set of ball hinges, thereby realizing the series connection of multiple sets of ball hinges.
3. The umbrella type distracting locking metamorphic ball hinge according to claim 1, wherein the upper threaded hole at the upper end of the upper hemisphere is communicated with the cavity for inserting the positioning tube.
4. The umbrella-type distracting and locking metamorphic ball hinge according to claim 1, wherein the inner and outer ball shells are connected by screw threads.
5. The umbrella type distracting and locking metamorphic spherical hinge according to claim 1, wherein the upper hemisphere is provided with a bolt counter bore and a bolt through hole, the lower hemisphere is provided with a bolt through hole and a hexagon nut counter bore which are at the same positions as the bolt through hole, and the upper hemisphere is connected with the lower hemisphere through a bolt and a nut.
6. An umbrella type expansion locking metamorphic ball hinge according to claim 1, wherein the lower hemisphere under the positioning tube is provided with a lower spring limiting groove, the lower end face of the sliding seat is provided with an upper spring limiting groove, the lower end of the return spring is inserted into the lower spring limiting groove, and the upper end of the return spring is inserted into the upper spring limiting groove, so that the fixation and limiting of the return spring are realized.
7. The umbrella-type distracting and locking metamorphic spherical hinge according to claim 1, wherein the outer side of the sliding block is provided with a spherical surface matched with the upper hemisphere and the lower hemisphere, and the outer side of the sliding block is supported on the spherical surface formed by the outer spherical shell and the inner spherical shell when the spherical hinge is locked.
8. The umbrella type distracting and locking metamorphic ball hinge according to claim 1, wherein the sliding seat is square, a square groove for limiting the sliding seat is arranged in the middle of the lower end of the hemisphere, and avoidance grooves corresponding to the positions of the push rods are arranged around the square groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011462622.8A CN112648281B (en) | 2020-12-14 | 2020-12-14 | Umbrella type opening and locking metamorphic spherical hinge |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011462622.8A CN112648281B (en) | 2020-12-14 | 2020-12-14 | Umbrella type opening and locking metamorphic spherical hinge |
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| Publication Number | Publication Date |
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| CN112648281A CN112648281A (en) | 2021-04-13 |
| CN112648281B true CN112648281B (en) | 2022-04-19 |
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| CN202011462622.8A Expired - Fee Related CN112648281B (en) | 2020-12-14 | 2020-12-14 | Umbrella type opening and locking metamorphic spherical hinge |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114001087B (en) * | 2021-11-19 | 2022-12-09 | 北京广利核系统工程有限公司 | Universal fixing device |
| CN115030654B (en) * | 2022-06-15 | 2024-01-12 | 大庆市佰昂石油科技有限公司 | Adjustable flexible screw drilling tool |
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| JP2018517875A (en) * | 2015-06-16 | 2018-07-05 | ツェットエフ、フリードリッヒスハーフェン、アクチエンゲゼルシャフトＺｆ Ｆｒｉｅｄｒｉｃｈｓｈａｆｅｎ Ａｇ | Ball joint |
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| CN111365361A (en) * | 2020-01-21 | 2020-07-03 | 重庆中泽拓邦生物技术有限公司 | Loose joint assembly body |
| DE102019101278A1 (en) * | 2019-01-18 | 2020-07-23 | Otto-Von-Guericke-Universität Magdeburg | Ball joint and holding arm with such ball joints |
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2020
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5921694A (en) * | 1992-02-24 | 1999-07-13 | Syron Engineering And Manufacturing Corporation | Ball jointed links |
| DE202011052525U1 (en) * | 2011-06-17 | 2012-02-28 | Cheng-Chia Peng | Universal joint with locking and positioning device |
| CN102996617A (en) * | 2011-09-08 | 2013-03-27 | 鸿富锦精密工业（深圳）有限公司 | Spherical hinge mechanism, branched chain employing spherical hinge mechanism, and parallel robot thereof |
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| Publication number | Publication date |
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| CN112648281A (en) | 2021-04-13 |
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