CN104728288A - Hook joint formed by cross reed flexible joints - Google Patents
Hook joint formed by cross reed flexible joints Download PDFInfo
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- CN104728288A CN104728288A CN201510137124.9A CN201510137124A CN104728288A CN 104728288 A CN104728288 A CN 104728288A CN 201510137124 A CN201510137124 A CN 201510137124A CN 104728288 A CN104728288 A CN 104728288A
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Abstract
The invention provides a hook joint formed by cross reed flexible joints, relates to the technical field of compliant mechanisms and solves the problems that at present, the biggest stroke of a compliant mechanism ranges from +/- 5 degrees to +/- 10 degrees, and the compliant mechanism can not fit with occasions with large turning angles. According to the technical scheme, four installation locating holes are formed in a core body, the four installation locating holes are connected with one ends of four flexible rotation joints respectively, the four flexible rotation joints are defined as a first flexible rotation joint, a second flexible rotation joint, a third flexible rotation joint and a fourth flexible rotation joint respectively, the other end of the first flexible rotation joint and the other end of the third flexible rotation joint are connected with a first support, and meanwhile the other end of the second flexible rotation joint and the other end of the fourth flexible rotation joint are fixedly connected with a second support. The hook joint is used for large stroke precise transmission mechanisms and the field of flexible transmission.
Description
Technical field
The present invention relates to the Hooke's hinge of a kind of cross reed flexible joint composition, relate to a kind of compliant mechanism technical field.
Background technique
Traditional mechanism is formed by connecting with the form of kinematic pair by rigid member, inevitably there is gap and friction between the component of component movement pair, cannot meet the high speed of mechanism, the performance requirement such as high-accuracy, microminiaturized.Compliant mechanism utilizes self resiliently deformable transmission campaign and power, and therefore mechanical friction, without the need to lubrication, stable movement, can process, be convenient to maintenance, make it have the feature such as highi degree of accuracy and high-resolution in integration.
Hooke's hinge is combined by two revolute pairs, has two degrees of freedom in relative rotation, and two axis rotated are mutually vertical.Because Hooke's hinge two corners are independent, range of movement is comparatively large, is thus widely used in various forms of parallel robot.There is gap in rotating shaft place of common Hooke's hinge, reduces its absolute fix precision, adopts the Hooke's hinge made of compliant mechanism, the gap between can effectively avoiding because of component and the undercutting that causes.Chinese patent CN 101985960 A discloses the flexible Hooke's hinge of a kind of many reed-types, can meet high-precision requirement, but owing to being subject to the restriction of material behavior, the range of this compliant mechanism is ± 5--± 10 °, is difficult to the occasion adapting to some large corners.
Summary of the invention
The object of this invention is to provide the Hooke's hinge of a kind of cross reed flexible joint composition, be ± 5 to ± 10 ° with the range solving this compliant mechanism at present, be difficult to the problem of the occasion adapting to some large corners.
The present invention solves the problems of the technologies described above the technological scheme taked to be: Hooke's hinge comprises support one, support two, core body and four flexible rotational joint compositions, each flexible rotational joint comprises the first housing, second housing, first flexible board and the second flexible board, first flexible board is I-shaped, second flexible board is square plate and this square plate has square through hole, first housing is identical with the second shell construction, first housing makes one by 210 ° of circular arc plates and 90 ° of circular arc plates, the sidewall of 210 ° of circular arc plates is connected with 90 ° of circular arc plate sidewalls makes one and the thickness of 90 ° of circular arc plates is less than the thickness of 210 ° of circular arc plates, 210 ° of circular arc plates of the first housing are located at the outside of 90 ° of circular arc plates of the second housing and 90 ° of circular arc plates of the first housing are located at the inside of the second housing 210 ° of circular arc plates and form gap between the first housing and the second housing, the inwall of the first housing longitudinally has two the first grooves, the inwall of the second housing longitudinally has two the second grooves, first flexible board is plugged on the first housing and the second enclosure interior by the first groove and the second groove, second flexible board is plugged on the inside of the first housing and the second housing by the first remaining groove and the second groove,
Core body there are four mounting-positioning holes, be connected with one end of four flexible rotational joints respectively, four flexible rotational joints are defined as flexible rotational joint one, flexible rotational joint two, flexible rotational joint three and flexible rotational joint four respectively, flexible rotational joint one is connected with support one with the other end of flexible rotational joint three, simultaneously the other end of flexible rotational joint two and flexible rotational joint four and support two affixed.
The present invention has following beneficial effect: the flexible Hooke's hinge compact structure 1, designed by the present invention, easy for installation, and can under small size, keep gapless, frictionless to move, kinematic accuracy be high.
2, the reed (i.e. the first flexible board and the second flexible board) of cross-distribution, larger resiliently deformable can be produced when moving, thus make soft hinge have larger movement travel, maximum stroke movement can reach ± and 30 °, can be used for precision optical machinery, the fields such as joint of robot.
3, two supports of this Hooke's hinge adopt orthogonal manner to arrange, sports coupling is little, and the rigidity simultaneously on nonrotational direction is large, improves the noiseproof feature of mechanism.
4, cylinder type outer wall notch size limits the range of movement of soft hinge, can play the effect of position limitation protection.
Accompanying drawing explanation
Fig. 1 is the structural representation of apparatus of the present invention, and Fig. 2 is reed-type flexible joint structural representation, and Fig. 3 is adagio scheme of installation of the present invention, and Fig. 4 is arciform annular space electrolytic machining view.
Embodiment
Embodiment one: composition graphs 1 and Fig. 2 illustrate present embodiment, present embodiment Hooke's hinge comprises support 1, support 26, core body 7 and four flexible rotational joints 8 form, each flexible rotational joint 8 comprises the first housing 1, second housing 2, first flexible board 3 and the second flexible board 4, first flexible board 3 is I-shaped, second flexible board 4 is for square plate and this square plate has square through hole 4-1, first housing 1 is identical with the second housing 2 structure, first housing makes one by 210 ° of circular arc plates and 90 ° of circular arc plates, the sidewall of 210 ° of circular arc plates is connected with 90 ° of circular arc plate sidewalls makes one and the thickness of 90 ° of circular arc plates is less than the thickness of 210 ° of circular arc plates, 210 ° of circular arc plates of the first housing are located at the outside of 90 ° of circular arc plates of the second housing and 90 ° of circular arc plates of the first housing are located at the inside of the second housing 210 ° of circular arc plates and form gap between the first housing and the second housing, the inwall of the first housing 1 longitudinally has two the first groove 1-1, the inwall of the second housing 2 longitudinally has two the second groove 2-1, first flexible board 3 is inserted 2-1 by the first groove 1-1 and the second groove and is connected on the first housing 1 and the second housing 2 inside, second flexible board 4 is plugged on the inside of the first housing 1 and the second housing 2 by the first remaining groove 1-1 and the second groove 2-1,
Core body 7 there are four mounting-positioning holes, be connected with one end of four flexible rotational joints 8 respectively, four flexible rotational joints are defined as flexible rotational joint one, flexible rotational joint two, flexible rotational joint three and flexible rotational joint four respectively, flexible rotational joint one is connected with support 1 with the other end of flexible rotational joint three, simultaneously the other end of flexible rotational joint two and flexible rotational joint four and support 26 affixed.
Embodiment two: composition graphs 1 illustrates that present embodiment first flexible board 3 and the second flexible board 4 are 6061 aluminium alloy plates, and this material has excellent welding characteristic and toughness is high.Other mode of execution is identical with embodiment one.
Embodiment three: the vertical beam that composition graphs 1 illustrates present embodiment first flexible board 3 is through in square through hole 4-1 and two crossbeams of the first flexible board 3 are located at the both sides of the second flexible board 4 respectively.Other mode of execution is identical with embodiment one.
Embodiment four: composition graphs 1 illustrates that the width of the vertical beam of present embodiment first flexible board 3 equals the width sum of the second flexible board 4 upper-end surface and lower end surface.Other mode of execution is identical with embodiment one.
Embodiment five: composition graphs 1 illustrates that present embodiment first flexible board 3 is identical with the thickness of the second flexible board 4.Other mode of execution is identical with embodiment one.
Embodiment six: composition graphs 1 illustrates that the revolute pair that revolute pair that present embodiment is made up of flexible rotational joint one and flexible rotational joint three and flexible rotational joint two and flexible rotational joint four form is mutually orthogonal.Other mode of execution is identical with embodiment one.
Working principle: in the present invention, the first flexible board 3 used and the structural representation of the second flexible board 4, main body is cylindrical, and the both sides of flexible board are separately fixed on two outer walls, the resiliently deformable of the plane adagio intersected by two, can realize the two-way restricted rotational movement around single shaft.Being fixed by outer wall one A, outer wall two B applies torque, can there is resiliently deformable in the elasticity adagio be connected on outer wall two B, and then the gapless realized between outer wall one A and outer wall two B is rotated, and vice versa.Four flexible joints used in the present embodiment are identical, can meet different corners and rotational stiffness requirement by the angle changed between the structural type of flexible board and adagio.
In the preparation process of flexible joint, in order to ensure the installation positioning precision of adagio, adopting in the present invention and first fixing adagio, then cut the mode that cylinder type outer wall obtains the space of soft hinge.Concrete mode is as follows, and the material of the first flexible board 3 and the second flexible board 4 is aluminum alloy, obtains corresponding shape by the method for punching press.First flexible board 3 and the second flexible board 4 intersecting vertical are inserted in the slot of cylinder after placing, and flexible board and shell adopt certain technique (weld, chemical paste) to fix.Outer wall one A, outer wall two B are obtained by the mode of same section of hollow cylinder by certain removal material.
What adopt in the present embodiment is the mode of electrolytic machining.Processing method is as follows: to be angles be arciform annular space one, arciform annular space two cylinder of 210 °, there is radian to be 30 ° of radial convex portions extended at two ends, the metal in annular space is removed by electrolytic method, be machined to the middle l/2 place (l is body length) of hollow cylinder, thus process arc annular space and axially extended groove at shell.Put upside down by assembly, forward diagonal plane to and process, working depth is constant, defines two spaces diagonally distributed at cylinder two ends.Finally cut hollow cylinder from centre, thus obtain two cylindrical members.The function of position limitation protection, just in time for flexible joint provides space, also can be played in gap between two parts simultaneously.
The major function of core body 7 is connection four flexible joints, by changing relative position and the size of core body 7 four mounting-positioning holes, can obtain the flexible Hooke's hinge of different performance requirement.Support 1 and support 26 are the connection interface of Hooke's hinge and miscellaneous part, and concrete installation form is determined by actual conditions.
The Hooke's hinge of the present invention's design can realize highi degree of accuracy, high-resolution, wide-angle bidirectional two-dimensional rotate, maximum stroke movement can reach ± 30 °, is specially adapted to the occasion needing to provide accurate Long Distances to rotate.
Claims (6)
1. the Hooke's hinge of a cross reed flexible joint composition, it is characterized in that described Hooke's hinge comprises support one (5), support two (6), core body (7) and four flexible rotational joint (8) compositions, each flexible rotational joint (8) comprises the first housing (1), second housing (2), first flexible board (3) and the second flexible board (4), first flexible board (3) is for I-shaped, second flexible board (4) is for square plate and this square plate has square through hole (4-1), first housing (1) is identical with the second housing (2) structure, first housing makes one by 210 ° of circular arc plates and 90 ° of circular arc plates, the sidewall of 210 ° of circular arc plates is connected with 90 ° of circular arc plate sidewalls makes one and the thickness of 90 ° of circular arc plates is less than the thickness of 210 ° of circular arc plates, 210 ° of circular arc plates of the first housing are located at the outside of 90 ° of circular arc plates of the second housing and 90 ° of circular arc plates of the first housing are located at the inside of the second housing 210 ° of circular arc plates and form gap between the first housing and the second housing, the inwall of the first housing (1) longitudinally has two the first grooves (1-1), the inwall of the second housing (2) longitudinally has two the second grooves (2-1), first flexible board (3) is inserted 2-1 by the first groove (1-1) and the second groove and is connected on the first housing (1) and the second housing (2) inside, second flexible board (4) is plugged on the inside of the first housing (1) and the second housing (2) by remaining the first groove (1-1) and the second groove (2-1),
Core body (7) there are four mounting-positioning holes, be connected with one end of four flexible rotational joints (8) respectively, four flexible rotational joints are defined as flexible rotational joint one, flexible rotational joint two, flexible rotational joint three and flexible rotational joint four respectively, flexible rotational joint one is connected with support one (5) with the other end of flexible rotational joint three, simultaneously the other end of flexible rotational joint two and flexible rotational joint four and support two (6) affixed.
2. the Hooke's hinge of a kind of cross reed flexible joint composition according to claim 1, is characterized in that the first flexible board (3) and the second flexible board (4) are 6061 aluminium alloy plates.
3. the Hooke's hinge of a kind of cross reed flexible joint composition according to claim 1 and 2, is characterized in that the vertical beam of the first flexible board (3) is through in square through hole (4-1) and two crossbeams of the first flexible board (3) are located at the both sides of the second flexible board (4) respectively.
4. the Hooke's hinge of a kind of cross reed flexible joint composition according to claim 3, is characterized in that the width of the vertical beam of the first flexible board (3) equals the width sum of the second flexible board (4) upper-end surface and lower end surface.
5. the large corner flexible joint of a kind of double-reed according to claim 4, is characterized in that the first flexible board (3) is identical with the thickness of the second flexible board (4).
6. the Hooke's hinge of a kind of cross reed flexible joint composition according to claim 5, is characterized in that the revolute pair that the revolute pair that is made up of flexible rotational joint one and flexible rotational joint three and flexible rotational joint two and flexible rotational joint four form is mutually orthogonal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510137124.9A CN104728288A (en) | 2015-03-26 | 2015-03-26 | Hook joint formed by cross reed flexible joints |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510137124.9A CN104728288A (en) | 2015-03-26 | 2015-03-26 | Hook joint formed by cross reed flexible joints |
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| CN104728288A true CN104728288A (en) | 2015-06-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510137124.9A Pending CN104728288A (en) | 2015-03-26 | 2015-03-26 | Hook joint formed by cross reed flexible joints |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105252530A (en) * | 2015-11-27 | 2016-01-20 | 哈尔滨工业大学 | Six-degree-of-freedom large-stroke flexible parallel platform |
| CN109973515A (en) * | 2019-04-08 | 2019-07-05 | 北京航空航天大学 | A kind of RCM flexible hinge of pure rolling contact |
| CN111251316A (en) * | 2020-02-24 | 2020-06-09 | 西安交通大学 | Stretch bending type continuum robot torsion-resistant unit and robot |
| CN112128224A (en) * | 2020-10-19 | 2020-12-25 | 南通伊诺精密塑胶导管有限公司 | Device based on hooke hinge control is gentle to lock drive flexible joint motion |
| CN112882225A (en) * | 2021-01-14 | 2021-06-01 | 中国科学院光电技术研究所 | Large-stroke flexible two-dimensional motion platform |
| CN112998864A (en) * | 2021-04-20 | 2021-06-22 | 哈尔滨工业大学 | Parallel robot system for lower limb fracture reduction operation |
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|---|---|---|---|---|
| CN101328936A (en) * | 2008-07-01 | 2008-12-24 | 北京航空航天大学 | Large load gapless accurate hooke hinge |
| CN101985960A (en) * | 2010-11-30 | 2011-03-16 | 华南理工大学 | Multi-reed large-deformation flexible hook hinge |
| CN202360622U (en) * | 2011-11-23 | 2012-08-01 | 华南理工大学 | Novel large-travel flexible Hooke hinge |
| CN104006087A (en) * | 2014-06-09 | 2014-08-27 | 北京航空航天大学 | Crossed spring leaf flexible hookeHooke joint |
| CN204152995U (en) * | 2014-08-12 | 2015-02-11 | 柳州市恒力传动轴有限责任公司 | A kind of novel intermediate propeller shaft |
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2015
- 2015-03-26 CN CN201510137124.9A patent/CN104728288A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101328936A (en) * | 2008-07-01 | 2008-12-24 | 北京航空航天大学 | Large load gapless accurate hooke hinge |
| CN101985960A (en) * | 2010-11-30 | 2011-03-16 | 华南理工大学 | Multi-reed large-deformation flexible hook hinge |
| CN202360622U (en) * | 2011-11-23 | 2012-08-01 | 华南理工大学 | Novel large-travel flexible Hooke hinge |
| CN104006087A (en) * | 2014-06-09 | 2014-08-27 | 北京航空航天大学 | Crossed spring leaf flexible hookeHooke joint |
| CN204152995U (en) * | 2014-08-12 | 2015-02-11 | 柳州市恒力传动轴有限责任公司 | A kind of novel intermediate propeller shaft |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105252530A (en) * | 2015-11-27 | 2016-01-20 | 哈尔滨工业大学 | Six-degree-of-freedom large-stroke flexible parallel platform |
| CN109973515A (en) * | 2019-04-08 | 2019-07-05 | 北京航空航天大学 | A kind of RCM flexible hinge of pure rolling contact |
| CN111251316A (en) * | 2020-02-24 | 2020-06-09 | 西安交通大学 | Stretch bending type continuum robot torsion-resistant unit and robot |
| CN112128224A (en) * | 2020-10-19 | 2020-12-25 | 南通伊诺精密塑胶导管有限公司 | Device based on hooke hinge control is gentle to lock drive flexible joint motion |
| CN112128224B (en) * | 2020-10-19 | 2024-05-31 | 南通伊诺精密塑胶导管有限公司 | Device for controlling flexible lock to drive flexible joint to move based on Hooke hinge |
| CN112882225A (en) * | 2021-01-14 | 2021-06-01 | 中国科学院光电技术研究所 | Large-stroke flexible two-dimensional motion platform |
| CN112998864A (en) * | 2021-04-20 | 2021-06-22 | 哈尔滨工业大学 | Parallel robot system for lower limb fracture reduction operation |
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