Three-degree-of-freedom spherical joint structure

The invention discloses a three-degree-of-freedom spherical joint structure which comprises a static support, a hemispherical rotating support, a semicircular rotating support, a control panel, a driving motor, a gyroscope sensor and an output shaft support. The static support is used for installing and fixing the whole structure, the Z-axis driving motor drives the hemispherical rotating support to achieve Z-axis rotation, the X-axis driving motor drives the semi-annular rotating support to achieve X-axis rotation, the Y-axis driving motor drives the output shaft support to achieve Y-axis rotation, and the external load can be installed on the output shaft support. And three-degree-of-freedom movement of an external load can be realized. The mechanism is simple in structure, small in size, large in output torque, easy to install and maintain and capable of meeting a large three-degree-of-freedom motion range. 本发明公开了一种三自由度球形关节结构，包括静止支架、半球形旋转支架、半圆环形旋转支架、控制板、驱动电机、陀螺仪传感器和输出轴支架；静止支架用于安装固定整体结构，Z轴驱动电机带动半球形旋转支架实现Z轴转