CN201359006Y

CN201359006Y - Hinge device

Info

Publication number: CN201359006Y
Application number: CNU2008202323411U
Authority: CN
Inventors: 孙元; 姜春英; 昌成刚; 吴强
Original assignee: Shenyang Institute of Automation of CAS
Current assignee: Shenyang Institute of Automation of CAS
Priority date: 2008-12-30
Filing date: 2008-12-30
Publication date: 2009-12-09
Anticipated expiration: 2018-12-30

Abstract

A hinge device comprises three serially connected revolute pairs, wherein the axes of the two revolute pairs connected with each other are vertical, the axis of the other revolute pair passes through the intersection point of the vertical axes, and the axes of the three revolute pairs spatially meet at the intersection point to form an Euler angle configuration of ZYZ. The utility model discloses a standard parts such as bearing cross three revolute pair triaxial line in a bit, realize the motion separation, can realize the space rotary motion of three degree of freedom, simple structure moreover easily realizes. The three revolute pairs can be intersected at a point in space through adjustment, the concentric rotation function of the spherical hinge is realized, and meanwhile, the rotary mechanism also becomes an implementation form of an Euler angle. When the method is applied to the robot, the control algorithm is simplified, and the method is easy to solve. The method can be applied to processing equipment such as robots and machine tools.

Description

Hinge means

Technical field

The utility model relates to a kind of hinge means.It can be used for the ball pivot joint of robot, finishes the three-degree-of-freedom motion function.

Technical background

At present, adopt various joints that robot end position and attitude are adjusted per capita for serial machine.For parallel robot, when adjusting locations of structures and attitude, usually need to have the spherical hinge structure of three rotational freedoms.At present the ball pivot of widespread usage all adopts spheroid processing or ball joint bearing, and processing request precision height costs an arm and a leg, and inside and outside have the gap, be difficult to eliminate, make the robot overall precision descend.

Summary of the invention

At the technical problem of above-mentioned existence, the utility model provides a kind of novel hinge means.It is to realize whole Three dimensional rotation motion by the rotating mechanism of three directions, and has simple in structurely, is easy to adjust, and precision is high and use characteristics such as flexible.

The utility model is achieved through the following technical solutions:

The utility model comprises the revolute pair of three series connection, the axis of wherein interconnective two revolute pairs is perpendicular, another revolute pair axis is by described orthogonal crossing point of axes, and three revolute pair axis spatially intersect at this intersection point, forms the Eulerian angle configuration of ZYZ.

Axle and outer shaft in described three revolute pairs include, interior axle is connected by bearing with outer shaft.The interior axle of second revolute pair is fixed on the first revolute pair outer shaft in described three revolute pairs, and the second revolute pair outer shaft is connected by connecting rod with the 3rd revolute pair outer shaft.On the described second revolute pair outer shaft and second mating face of revolute pair bearing, pad is set perpendicular to axis.Between centers is installed pad outside the described second revolute pair bearing (ball) cover and second revolute pair, by adjusting screw.

The beneficial effects of the utility model are:

1. the utility model is by standard piece such as bearings three revolute pair three axis to be intersected in a bit, realizes moved apart, can realize that the space of three degree of freedom rotatablely moves, and simple structure, is easy to realize.

2. three revolute pairs can be intersected in the space a bit by adjusting, realize the concentric rotating function of ball pivot, also become simultaneously a kind of way of realization of Eulerian angle, compare with common three series connection revolute pair rotating mechanisms, because motion with one heart, make motion of mechanism more flexible, have precision height, accurate, the advantages of simple structure and simple in location.Make in the time of on being applied to robot and simplified on the control algorithm, be easy to find the solution.

3. the utility model adopts standard piece such as bearing to make, and it is low to have a cost, is easy to realize that advantages such as flexibility is good, applied range can be applied in the process equipments such as robot, lathe.

Description of drawings

Fig. 1 is the utility model principle assumption diagram.

Fig. 2 is the utility model structural representation.

Fig. 3 is the utility model perspective view.

Fig. 4 is embodiment's 2 structural representations.

Fig. 5 is that embodiment 2 uses schematic representation.

Among the figure: 1. axle in the 3rd revolute pair, 2. the 3rd revolute pair bearing, 3. connecting rod, the 4. second revolute pair bearing, 5. axle in second revolute pair, 6. axle in first revolute pair; 7. the first revolute pair bearing; 8. the first revolute pair outer shaft, the 9. second revolute pair outer shaft, 10. the 3rd revolute pair outer shaft, 11. second revolute pair bearing (ball) covers, 12. adjust screws.

Embodiment

Embodiment 1: as shown in Figure 1, the utility model is made of three revolute pair R1, R2 and R3 series connection, wherein revolute pair R1 and R2, the axis of R2 and R3 is perpendicular, the axis of revolute pair R3 is by the crossing point of axes O of revolute pair R1 and R2, the axis of revolute pair R1 is by the crossing point of axes O of revolute pair R2 and R3, and three revolute pair axis spatially intersect at 1 O, makes entire mechanism constitute the Eulerian angle configuration of ZYZ form.Three revolute pairs of the utility model form three degree of freedom, realize the rotating function of ball pivot.

As shown in Figure 2, axle and outer shaft in three revolute pair R1, R2 that the utility model adopts and R3 include, interior axle is connected by bearing with outer shaft.Wherein axle 5 is fixed on the first revolute pair outer shaft 8 in second revolute pair, and the second revolute pair outer shaft 9 is fixedlyed connected by connecting rod 3 with the 3rd revolute pair outer shaft 10.

As shown in Figure 3, the utility model is provided with pad for guaranteeing that three rotation axiss meet at same center on the second revolute pair outer shaft 9 and its bearing 4 mating face perpendicular to axis; Also can pad be installed at the second revolute pair bearing (ball)

cover

11 and 9 of the second revolute pair outer shafts, fixing by adjusting screw 12.The first revolute pair R1 and the second revolute pair R2 guarantee that total possesses under the same coordinate system the function of rotating around both direction, and these two rotations are to be in same centrostalticly, and promptly two revolute pairs of R1 and R2 meet at 1 O.And, can guarantee that the 3rd revolute pair R3 axis and first, second revolute pair R1 and R2 axis meet at same point O by adjusting pad for the rotation of the 3rd revolute pair R3 around himself center of rotation.This kind adjusted simple, makes three revolute pair R1, R2 and R3 axis intersect at 1 O, finishes universal rotation, replaces the ball pivot function, realizes the adjustment of machine pose.

Working principle of the present utility model:

Three revolute pairs are connected in series together and realize the pose adjustment that Three Degree Of Freedom rotates.Suppose axle 6 in first revolute pair fixingly, then axle 1 can be relatively and the rotation of O point realization three degree of freedom form in the 3rd revolute pair, each pose of arrival space.The utility model can be done modularization and handle, and can be used in the various process equipments such as robot and lathe, and flexibility is better.

Embodiment 2: as shown in Figure 5, the utility model is applied among the laser welding robot in parallel.Structure of the present utility model, as shown in Figure 4, comprise two cover hinge meanss, every cover hinge means structure is identical with embodiment 1, axle 6 in shared first revolute pair of two cover hinges, promptly the first revolute pair outer shaft 8 and 8 ' in two hinges is installed on the interior axle 6 of first revolute pair.As shown in Figure 1, every cover revolute pair structure includes in turn three revolute pair R1, R2 and the R3 that connects, wherein revolute pair R1 and R2, the axis of R2 and R3 is perpendicular, the axis of revolute pair R3 is by the crossing point of axes O of revolute pair R1 and R2, the axis of revolute pair R1 is by the crossing point of axes O of revolute pair R2 and R3, and three revolute pair axis spatially intersect at 1 O, makes entire mechanism constitute the Eulerian angle configuration of ZYZ form.

The utility model can use many group hinges as required, is not limited to above-mentioned two kinds of forms, axle in all shared, the first revolute pair outer shaft of promptly many group hinges all by Bearing Installation in first revolute pair on the axle 6.

Claims

1. hinge means, it is characterized in that: the revolute pair that comprises three series connection, the axis of wherein interconnective two revolute pairs is perpendicular, another revolute pair axis is by described orthogonal crossing point of axes, three revolute pair axis spatially intersect at this intersection point, form the Eulerian angle configuration of ZYZ.

2. according to the described hinge means of claim 1, it is characterized in that: axle and outer shaft in described three revolute pairs include, interior axle is connected by bearing with outer shaft.

3. according to the described hinge means of claim 2, it is characterized in that: the interior axle of second revolute pair is fixed on the first revolute pair outer shaft in described three revolute pairs, and the second revolute pair outer shaft is connected by connecting rod with the 3rd revolute pair outer shaft.

4. according to the described hinge means of claim 2, it is characterized in that: on the described second revolute pair outer shaft and second mating face of revolute pair bearing, pad is set perpendicular to axis.

5. according to the described hinge means of claim 2, it is characterized in that: between centers is installed pad outside the described second revolute pair bearing (ball) cover and second revolute pair, by adjusting screw.