CN102152303B

CN102152303B - Reconfigurable Hooke joint

Info

Publication number: CN102152303B
Application number: CN201110054834A
Authority: CN
Inventors: 甘东明; 戴建生
Original assignee: Tianjin University
Current assignee: Tianjin University
Priority date: 2011-03-08
Filing date: 2011-03-08
Publication date: 2012-09-26
Anticipated expiration: 2031-03-08
Also published as: CN102152303A

Abstract

The invention discloses a reconfigurable Hooke joint. The reconfigurable Hooke joint comprises a crossed connecting piece with long and short shafts, wherein two top opening ends of a U-shaped piece are rotationally connected with two ends of the long shaft of the crossed connecting piece with the long and short shafts by bearing revolute pairs respectively; a U-shaped piece connecting rod is connected with the middle at the bottom of the U-shaped piece fixedly; the reconfigurable Hooke joint also comprises a ring-like piece; two sliding blocks are rotationally connected with the two ends of the short shaft of the crossed connecting piece with the long and short shafts by the bearing revolute pairs of the sliding blocks respectively; the two sliding blocks can be connected to any positions on an inner ring sidewall of the ring-like piece fixedly by the connecting piece; and a ring-like piece connecting rod is connected with an outer ring sidewall of the ring-like piece fixedly. By the reconfigurable Hooke joint, the opposite direction of an axis in two rotary degrees of freedom and a member can be changed at any angle, the integral flexibility of the joint can be improved, and a working space which is formed by the two rotary degrees of freedom is adjusted so as to meet different requirements of working environments.

Description

The variable configuration Hooke's hinge

Technical field

The present invention relates to can be used for medical robot based on series and parallel mechanism; Bio-robot; Humanoid robot; Virtual-shaft machine tool and other need the robot of allosteric type or the Hooke's hinge of plant equipment, belong to the robot mechanism research field, are specifically related to a kind of two-freedom Hooke hinge of variable configuration.

Background technology

Robot is the product mechanical, electrical, that computer combines; It uses the every field that almost relates to modern sophisticated technology, like apery, bio-robot, numerical control machining center, delivery vehicle simulator, space equipment, medical operating robot, family entertainment robot and industrial robot etc.Mechanism is the basic composition of machine and robot.Traditional robot is learned under the connection of hinge (revolute pair, moving sets, Hooke's hinge etc.) and rod member at basic system, has the definite kinematic configurations and the free degree.Hooke's hinge; Claim the Cardan hinge again, the revolute pair angled pair of intersecting is formed by connecting, and the axes intersect of two revolute pairs becomes the connector of a T shape; The T hinge so this hinge is otherwise known as usually, two rod members that are hinged through T can have the free degree of two rotations each other.After T hinge was fixed, the axis of its two revolute pairs also had been fixed with respect to rod member separately.The application of Hooke's hinge can be traced back to Ancient Chinese before 2000 the earliest and substituted in the candlestick of balance candle under various postures or claim gimbal.In industrial equipment, the transmission that the Hooke hinge is used for rotatablely moving more, like the power transmission of automotive wheel, the power transmission of the transmission of aircraft engine power and other processing and manufacturing equipment etc.Learn in the research at robot mechanism, because its simple structure and have two rotary freedoms, Hooke's hinge becomes basic hinge commonly used.Existing Hooke's hinge is keeping the form when it occurs always, just changes to some extent in the occasion size of different application and the shape of connector, and the forms of motion of two rotary freedoms all remains unchanged.In order to adapt to the quick variation of industrial variation and social demand, but the robot with variable configuration and variable freedom changes in modern times and the commercial production of automation in become an important research direction.Therefore, urgent need is developed a kind of Hooke's hinge with variable configuration ability at present, can change to have the fixing configuration and the situation of the free degree after traditional mechanism is assembled, and makes new mechanism have the function of the variable configuration and the free degree.

Summary of the invention

The objective of the invention is to overcome the deficiency of prior art, a kind of variable configuration Hooke's hinge with function of allosteric type and variable freedom is provided.

Variable configuration Hooke's hinge of the present invention; It comprises the cross connecting element that has major and minor axis; Two open top end of a U-shaped spare are rotatedly connected respectively through the two ends of major axis that bearing revolute pair and described has a cross connecting element of major and minor axis separately; Center fixed is connected with a U-shaped spare connecting rod in the bottom of described U-shaped spare; It also comprises annular element, and two slide blocks are rotatedly connected through the two ends of minor axis that slipper bearing revolute pair and described has a cross connecting element of major and minor axis separately, on its circumferencial direction of the interior ring-side wall upper edge of described annular element, have annular groove; Described two slide blocks can be fixedly connected on optional position in the described annular groove along the annular groove slip and through connector, on the outer shroud sidewall of described annular element, are fixedly connected with the annular element connecting rod.

Compare with traditional Hooke's hinge, the variable configuration Hooke's hinge (Reconfigurable Hooke Joint) that the present invention proposes has following beneficial effect:

1. the present invention has the annular element of inside groove through introducing, its axis and relative direction of its member in can two rotary freedoms of arbitrarily angled change.

2. the present invention can increase the whole flexibility of hinge and adjust the working space that its two rotary freedom forms, to adapt to the different working environments demand through introducing the characteristic that can change the rotation relative direction.

3. patent of the present invention is through the configuration of its compact inside groove and rotation, kept traditional Hooke's hinge simple in structure and have characteristics of two rotary freedoms that intersect vertically.

4. the present invention can change the geometrical constraint state of this hinge institution where he works side chain and the free degree of entire mechanism through introducing the characteristic that can change the rotation relative direction, makes mechanism have the function of variable configuration and variable freedom.

Description of drawings

Fig. 1 is a kind of general structure sketch map of variable configuration Hooke's hinge;

Fig. 2 is a kind of sketch map of each part of variable configuration Hooke's hinge;

Fig. 3-13-2 is the forms of motion of variable configuration Hooke's hinge two rotary freedoms of the present invention;

Fig. 4 rotates the forms of motion of the relative position that changes rotation along the annular element inside groove for slide block of the present invention;

Fig. 5-Fig. 6 is the peculiar several kinds of typical configuration forms of the present invention.

Wherein:

The cross connecting element 3-slide block 4-that 1-U shape part 2-has a major and minor axis has the annular element 5-annular element end cap 101-U shape part connecting rod 102-bearing cap 103-bearing cap hold-down screw 201-U shape part bearing 301-slipper bearing 401-annular groove 402-annular element connecting rod 501-end cap hold-down screw 502-slide block set bolt of inside groove

The specific embodiment

Below in conjunction with concrete embodiment, and, the present invention is done further explanation with reference to accompanying drawing:

The present invention is based on the research of theory of mechanisms geometrical constraint.Fig. 1, Fig. 2 are respectively the general structure sketch map of a kind of variable configuration Hooke's hinge of the present invention and the sketch map of each part.

Variable configuration Hooke's hinge of the present invention; It comprises the cross connecting element 2 that has major and minor axis; Two open top end of a U-shaped spare 1 are separately through bearing revolute pair (U-shaped spare bearing 201; Be provided with bearing cap 102 through bearing cap hold-down screw 103 on the bearing) be rotatedly connected respectively with the two ends of the major axis of the described cross connecting element 2 that has a major and minor axis; Center fixed is connected with a U-shaped spare connecting rod 101 in the bottom of described U-shaped spare 1; It also comprises annular element 4; Two slide blocks 3 are rotatedly connected through the two ends of slipper bearing revolute pair (slipper bearing 301) with the minor axis of the described cross connecting element 2 that has a major and minor axis separately, and described two slide blocks 3 can be fixedly connected on the interior ring-side wall optional position of described annular element 4 through connector, on the outer shroud sidewall of described annular element 4, are fixedly connected with annular element connecting rod 402.Described connector can be conventional fasteners such as screw or bolt.In use in order to keep clean, annular element 4 can be fixedly connected with annular element end cap 5 through end cap hold-down screw 501.

Preferably on its circumferencial direction of the interior ring-side wall upper edge of described annular element 4, have annular groove; Described two slide blocks can be fixedly connected on optional position in the described annular groove along the annular groove slip and through connector; Can make the slide position easy to adjust like this, accurate positioning.The major axis that the annular groove 401 of annular element and slide block 3 constitute with the cross connecting element 2 that has major and minor axis is the revolute pair at center; Slide block 3 is fixed through locating hole on slide block set bolt 502 and the slide block 3 and the locating hole on the annular element 4, thus the fixing position of slide block in the annular groove 401 of annular element.

Shown in Fig. 3-1, Fig. 3-2; After slide block is fixed on a position in the annular groove 401 of annular element; U-shaped spare connecting rod 101 has the two-freedom relative motion that strip winding has the major and minor axis of the cross connecting element 2 of major and minor axis to rotate with annular element connecting rod 402, and annular element connecting rod 402 has fixing relative position with the minor axis that has the cross connecting element 2 of major and minor axis.As shown in Figure 4; When slide block 3 arbitrarily angled after another fixed-site along 401 rotations of the annular groove of annular element; Annular element connecting rod 402 will have new relative position with the minor axis that has the cross connecting element 2 of major and minor axis, and U-shaped spare connecting rod 101 and annular element connecting rod 402 strip windings have the working space of the two-freedom relative motion that the major and minor axis of the cross connecting element 2 of major and minor axis rotates also to change to some extent.

Thus on the basis of traditional Hooke's hinge; The present invention has realized having revolute pair axis (minor axis that has the cross connecting element 2 of major and minor axis) annular element connecting rod 402 functions of adjustment arbitrarily relatively of the annular element 4 of annular groove through the revolute pair that increases an annular element that has an annular groove 4 and slide block 3 and form, this is maximum characteristics of the present invention.After being assembled to this hinge in the robot mechanism through U-shaped spare connecting rod 101 and annular element connecting rod 402; The revolute pair axis of the annular element that has annular groove 4 that can change hinge through the minor axis that adjustment has a cross connecting element 2 of major and minor axis is with respect to the direction of annular element connecting rod 402; Thereby change the geometrical constraint state of this hinge institution where he works side chain and the free degree of entire mechanism, make mechanism have the function of variable configuration and variable freedom.

Fig. 5, shown in Figure 6 be two typical configurations of the present invention.Wherein shown in Figure 5, the revolute pair axis (minor axis that has the cross connecting element 2 of major and minor axis) that has the annular element 4 of annular groove is orthogonal with annular element connecting rod 402, and this configuration is similar with traditional Hooke's hinge.Shown in Figure 6, revolute pair axis (minor axis that has the cross connecting element 2 of major and minor axis) that has an annular element 4 of annular groove and annular element connecting rod 402 conllinear, this is a particular configuration, traditional Hooke's hinge was not met similar configuration.Among the present invention; The revolute pair axis (minor axis that has the cross connecting element 2 of major and minor axis) that has the annular element 4 of annular groove can become arbitrarily angled with annular element connecting rod 402; Be illustrated in figure 4 as an optional position, therefore, can change this position according to actual needs.

Hooke's hinge of the present invention has kept the characteristics of the simple in structure of traditional Hooke's hinge and two rotary freedoms, can be used as the robot that needs allosteric type and the critical component of plant equipment, and also can be used as independently, robot mechanism uses.

Below schematically the present invention and embodiment thereof are described, this description does not have restricted, and shown in the accompanying drawing also is one of embodiment of the present invention, and practical structure is not limited thereto.So; If those skilled in the art is enlightened by it; Under the situation that does not break away from the invention aim, the part configuration and the connected mode that adopt other form all should belong to protection scope of the present invention without creationary design frame mode and the embodiment similar with this technical scheme.

Claims

1. variable configuration Hooke's hinge; It comprises the cross connecting element that has major and minor axis; Two open top end of a U-shaped spare are rotatedly connected respectively through the two ends of major axis that bearing revolute pair and described has a cross connecting element of major and minor axis separately; Center fixed is connected with a U-shaped spare connecting rod in the bottom of described U-shaped spare; It is characterized in that: it also comprises annular element, and two slide blocks are rotatedly connected through the two ends of minor axis that slipper bearing revolute pair and described has a cross connecting element of major and minor axis separately, on its circumferencial direction of the interior ring-side wall upper edge of described annular element, have annular groove; Described two slide blocks can be fixedly connected on optional position in the described annular groove along the annular groove slip and through connector, on the outer shroud sidewall of described annular element, are fixedly connected with the annular element connecting rod.