Spherical hinge capable of realizing rotation angle measurement and measurement method of rotation angle

Abstract

The invention discloses a spherical hinge capable of realizing the rotation angle measurement and a measurement method of the rotation angle. The spherical hinge is characterized in that a ball seat provided with a ball socket therein is formed by a base and an end closure, a ball head is placed in the ball socket, a spherical crown is exposed at an opening of the end closure, and the top surface of the spherical crown of the ball head is connected to a ball-jointed rod; the ball head and the ball socket are concentric, and the ball head can concentrically rotate relatively to the ball socket; permanent magnets are embedded and uniformly distributed on the surface of a low half ball of the ball head; magnetic effect sensors are embedded and uniformly distributed on the surface of the ball socket; sensing output signals of the magnetic effect sensors are used for judging the relative location between the ball head and the ball socket and the direction of the relative movement. The spherical hinge can be used for realizing the three-dimensional angle measurement under the condition of having no influence on the movement accuracy and the mechanical property of ball joints and no damage on the structures of the ball joints.

Description

technical field [0001] The invention relates to a ball hinge, more specifically to a ball hinge capable of measuring the rotation angle in space and a measuring method thereof. Background technique [0002] Angle measurement is the most basic measurement. Various angle sensors have been widely used in the prior art, including gratings, magnetic gratings, inductive synchronizers, etc., but these sensors can only measure one-dimensional rotation angles. In scientific research and industrial production, when it is necessary to measure the rotation angle in multiple directions, only the combination of multiple angle sensors can be used. For example, in precision measuring instruments, articulated arm measuring machines, laser trackers and precision digital turntables, etc. These combined angle measurement components have complex structures, high cost, large equipment volume, and heavy follow-up circuits and data acquisition workloads, which greatly limit the application; tradit...

AI Technical Summary

Problems solved by technology

This technology is essentially an optical measurement method based on machine vision. During the actual movement of the ball joint, it is necessary to add grease to reduce the friction between the ball joint rod and the ball socket. The existence of grease seriously affects the optical imaging quality, and the structural size It is difficult to shrink and cannot be embedded inside the ball hinge

[0005] Germany's ZF Friedrichshafen AG proposed a spherical universal joint with a swing angle sensor. The purpose of the research and development is to use it on the chassis of a car to detect the deformation of the chassis and the deformation during motion. A permanent magnet magnet is embedded at the bottom, and a magnetoresistive sensor is embedded on the ball socket to sense the swing of the club and the ball. The magnetoresistive sensor can directly obtain the direct value of the angle of the magnetic field line passing through the sensor. This method is used The magnetic effect is used for sensing, which overcomes the influence of grease and is not demanding on the use environment. However, only one sensor and one permanent magnet are used to realize the combination, so it is inevitable that the measurement angle range is small and the measurement accuracy is relatively low. Defects, unable to meet the accuracy requirements and range of parallel mechanisms used in high-precision occasions

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