CN101025189A - Large deformation flexible Hooke's hinge with virtual rotating center - Google Patents
Large deformation flexible Hooke's hinge with virtual rotating center Download PDFInfo
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- CN101025189A CN101025189A CN 200710064993 CN200710064993A CN101025189A CN 101025189 A CN101025189 A CN 101025189A CN 200710064993 CN200710064993 CN 200710064993 CN 200710064993 A CN200710064993 A CN 200710064993A CN 101025189 A CN101025189 A CN 101025189A
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Abstract
The invention discloses a large deformation flexible Hooke joint with virtual rotating center, comprising dynamic platform, middle moving blocks and static platform, and having a virtual rotating center. And it symmetrically designs two plane flexible double isosceles trapezoidal flexible hinge, where the sides A and B compose a set and the sides C and D compose the other set, and the structures of the sides A and C are the same and the structures of the sides B and D are the same; the middle moving blocks can classified by sides into A, B, C and D middle moving blocks, respectively arranged on the A, B, C and D sides; the A and C middle moving blocks have the same structure, and the B and D middle moving blocks have the same structure. And the flexible Hooke hinge is of a multi-reel flexible structure having advantages of large stroke and high accuracy.
Description
Technical field
The present invention relates to a kind of flexible Hooke's hinge, be particularly useful for technical fields such as precision optical machinery, robot.
Background technique
Flexible hinge is meant under the effect of power externally or moment, utilizes the resiliently deformable of material to produce a kind of kinematic pair structural type of relative movement between the adjacent rigid bar, and the structure of this and conventional rigid kinematic pair has a great difference.Compare to traditional rigid hinge (mechanism), flexible hinge and compliant mechanism have many advantages: (1) can integration (or integrated) design and processing, so but simplified structure, reduce volume and weight, avoid assembling; (2) no gap and friction can realize high-precision motion; (3) avoid wearing and tearing, improve the life-span; (4) avoid lubricating, avoid polluting; (5) can increase structural rigidity.Can be applicable to fields such as microposition and little feeding, little attitude adjustment, microactrator, micromanipulator and little assembling.
Flexible Hooke's hinge is a kind of typical flexible element in the compliant mechanism.The flexible Hooke's hinge distortion of traditional undercut profile is little, causes its application area narrower.And generally based on the flexible hinge design of reed-type, though can reach big stroke, kinematic accuracy is low.
Summary of the invention
The purpose of this invention is to provide a kind of large deformation flexible Hooke's hinge, this Hooke's hinge is realized the two-dimentional rotational motion of highi degree of accuracy, wide-angle by many reed designs.
The designed flexible Hooke's hinge of the present invention is to be made of the two isosceles trapezoid flexible hinges of two cover planar flexibles.Two isosceles trapezoid flexible hinges are made up of 4 reeds, are in series by two cover isosceles trapezoid flexible hinges, have that stroke is big, advantage of high precision.The center of rotation of two isosceles trapezoid flexible hinges is the common intersection of 4 reed center elongation lines, can by adjust between reed angle and trapezoidal on the position of the Level Change fulcrum of going to the bottom.
The advantage of the flexible Hooke's hinge of the present invention is: the flexible Hooke's hinge of (1) the present invention design can be realized the two-dimentional rotational motion of highi degree of accuracy, wide-angle (range is ± 5 °～± 10 °) can be used for fields such as accurate flexible mechanical, joint of robot.
(2) the flexible Hooke's hinge of the present invention's design has a virtual center of rotation, thereby can make structure hollow, be beneficial to weight reduction, and be easy to cabling, this advantage can make it be applied to more easily in robot wrist joint, waist joint etc. and the optical device leveling aligning.
(3), virtual center of rotation can be arranged in different positions for different application backgrounds.
(4) with the Hooke's hinge serial connection of two the present invention design, and their virtual center point overlapped, then can form a flexible Hooke's hinge of combination, its stroke is 2 times of single structure.
(5) by the design of many reeds, the internal stress of hinge reduces, and the life-span improves.
(6) adopt line cutting and brill miller skill integral forming, reduce assembly error.
Description of drawings
Fig. 1, Figure 1A be large deformation flexible Hooke's hinge of the present invention etc. shaft side figure.
Fig. 2 is an A face structure front view of the present invention.
Fig. 3 is a B face structure front view of the present invention.
Among the figure: 1.A face 101.A reed 102.B reed 103.C reed 104.D reed 105. backplate end 106.A joint-cutting 107.B joint-cutting 111.A connectivity slot 112.A fan groove 113.B fan groove 114.B connectivity slot 121.A face local center piece 2.B face 201.A reed 202.B reed 203.C reed 204.D reeds 205. backplate end 206.C joint-cutting 207.D joint-cutting 211.A connectivity slot 212.A fan groove 213.B fan groove 214.B connectivity slot 221.A face local center piece 3.C face 306.E joint-cutting 307.F joint-cutting 4.D face 406.G joint-cutting 407.H joint-cuttings 5. bottom surfaces 11. moving platform 11a.A face moving platform 11b.B face moving platform 11c.C face moving platform 11d.D face moving platforms 12. silent flatform 12a.A face silent flatform 12b.B face silent flatform 13.D motion intermediate mass 14.A motion intermediate mass 15.B motion intermediate mass 16.C motion intermediate mass
Embodiment
The present invention is described in further detail below in conjunction with accompanying drawing.
The present invention is a kind of large deformation flexible Hooke's hinge with virtual rotation center, is made up of moving platform 11, middle moving blocks and silent flatform 12; Described middle moving blocks comprises A middle moving blocks 14, B middle moving blocks 15, C middle moving blocks 16 and D middle moving blocks 13; A middle moving blocks 14 is arranged on the A face 1, and B middle moving blocks 15 is arranged on the B face 2, and C middle moving blocks 16 is arranged on the C face 3, and D middle moving blocks 13 is arranged on the D face 4; A middle moving blocks 14 is identical with C middle moving blocks 16 structures, and B middle moving blocks 15 is identical with D middle moving blocks 13 structures.The flexible Hooke's hinge of the present invention has a virtual center of rotation, and it is positioned on the geometrical center O point of bottom surface 5, sets up XYZ coordinate system at geometrical center O point.In XYZ coordinate system, silent flatform 12 transfixions; Moving platform 11 can rotate around X-axis and Y-axis, and its range is ± 5 °～± 10 ° two-dimentional rotational motion.The flexible Hooke's hinge of the present invention has been a symmetric design two isosceles trapezoid flexible hinges of two cover planar flexibles, A face 1 is a cover with B face 2, and C face 3 is another set of with D face 4, and A face 1 structure is identical with C face 3 structures, and B face 2 structures are identical with D face 4 structures.
In the present invention, the top of A face 1 is provided with A face moving platform 11a, the backplate end 105 of A face moving platform 11a has been cut B connectivity slot 114, the both sides of B connectivity slot 114 respectively with A fan groove 112, B reed 102 is arranged between the B fan groove 113, C reed 103, A fan groove 112, B fan groove 113 respectively and A reed 101 arranged between the A connectivity slot 111, D reed 104, A reed 101, B reed 102, C reed 103, one end of D reed 104 is connected on the local intermediate mass 121 of A face, the outer rim of A connectivity slot 111 is A motion intermediate mass 14, the bottom of A face 1 is provided with A face silent flatform 12a, and A face silent flatform 12a does not link to each other with A motion intermediate mass 14.A joint-cutting 106, B joint-cutting 107 separate A face moving platform 11a with A motion intermediate mass 14.The elongation line of A reed 101, B reed 102, C reed 103, D reed 104 meets at the Q point, and the Q point is positioned at the central point on A face 1 base.A reed 101 and D reed 104 are isometric, and B reed 102 and C reed 103 are isometric, and the length of each reed and the angle between them influence the characteristics such as range of movement, flexibility and kinematic accuracy of hinge; Stroke, flexibility and the life-span of the thickness effect hinge of each reed.
In the present invention, the top of B face 2 is provided with B face moving platform 11b, the bottom is B face silent flatform 12b, the centre is a B motion intermediate mass 15, the backplate end 205 of B motion intermediate mass 15 has been cut B connectivity slot 214, the both sides of B connectivity slot 214 respectively with A fan groove 212, B reed 202 is arranged between the B fan groove 213, C reed 203, A fan groove 212, B fan groove 213 respectively and A reed 201 arranged between the A connectivity slot 211, D reed 204, A reed 201, B reed 202, C reed 203, one end of D reed 204 is connected on the local intermediate mass 221 of B face, the outer rim of A connectivity slot 211 is B face silent flatform 12b, and B face silent flatform 12b does not link to each other with B motion intermediate mass 15.C joint-cutting 206, D joint-cutting 207 separate B face moving platform 11b with B motion intermediate mass 15.The elongation line of A reed 201, B reed 202, C reed 203, D reed 204 meets at the P point, and the P point is positioned at the central point on B face 2 bases.A reed 201 and D reed 204 are isometric, and B reed 202 and C reed 203 are isometric, and the length of each reed and the angle between them influence the characteristics such as range of movement, flexibility and kinematic accuracy of hinge; Stroke, flexibility and the life-span of the thickness effect hinge of each reed.
In the present invention, the E joint-cutting 306 on the C face 3, F joint-cutting 307 separate C face moving platform 11c with C motion intermediate mass 16.
In the present invention, the G joint-cutting 406 on the D face 4, H joint-cutting 407 separate D face moving platform 11d with D motion intermediate mass 13.
A joint-cutting 106, B joint-cutting 107, E joint-cutting 306 and F joint-cutting 307 are camber line, and central point is a geometrical center O point.C joint-cutting 206, D joint-cutting 207, G joint-cutting 406 and H joint-cutting 407 are straight line.These eight joint-cuttings are machined at twice by wire cutting machine tool.
With the Hooke's hinge serial connection of two the present invention design, silent flatform dock with another silent flatform, and with their virtual center point coincidence, then can form one and make up flexible Hooke's hinge, and its stroke is 2 times of single structure.
The designed flexible Hooke's hinge of the present invention is to overlap the two isosceles trapezoid flexible hinges of planar flexibles by two to constitute, and the two isosceles trapezoid flexible hinges of described planar flexible are meant the local intermediate mass 121 of A reed 101, D reed 104, A face and A motion intermediate mass 14 first isosceles trapezoid flexible hinges of composition on the A face 1; B reed 102, C reed 103, the local intermediate mass 121 of A face are formed second isosceles trapezoid flexible hinge with A face moving platform 11a; A reed 201 on the B face 2, D reed 204, the local intermediate mass 221 of B face are formed the 3rd isosceles trapezoid flexible hinge with B face silent flatform 12b; B reed 202, C reed 203, the local intermediate mass 221 of B face are formed the 4th isosceles trapezoid flexible hinge with B motion intermediate mass 15.Because Hooke's hinge of the present invention is with diagonal (shown in Figure 1) symmetric design, four isosceles trapezoid flexible hinges on A face 1 and the B face 2 constitute the two isosceles trapezoid flexible hinges of the first cover planar flexible; Four isosceles trapezoid flexible hinges on C face 3 and the D face 4 constitute the two isosceles trapezoid flexible hinges of the second cover planar flexible.And the isosceles trapezoid flexible hinge on the C face 3 is identical with A face 1, and the isosceles trapezoid flexible hinge on the D face 4 is identical with B face 2.Two isosceles trapezoid flexible hinges are made up of 4 reeds, are in series by two cover isosceles trapezoid flexible hinges, have that stroke is big, advantage of high precision.The center of rotation of two isosceles trapezoid flexible hinges is that the elongation line common intersection at 4 reed centers (is defined as the Q point on A face 1, be defined as the P point on the B face 2, as Fig. 2, shown in Figure 3), can by adjust between reed angle and trapezoidal on the position of the Level Change fulcrum of going to the bottom.
At the present invention's large deformation flexible Hooke's hinge shown in Figure 1 is the regular cube configuration.Also can be designed to configurations such as cuboid or cylindrical body according to actual needs.
Claims (9)
1, a kind of large deformation flexible Hooke's hinge with virtual rotation center, it is characterized in that: form by moving platform (11), middle moving blocks and silent flatform (12), has a virtual rotation center point, symmetric design the two isosceles trapezoid flexible hinges of two cover planar flexibles, A face (1) is a cover with B face (2), C face (3) is another set of with D face (4), and A face (1) structure is identical with C face (3) structure, and B face (2) structure is identical with D face (4) structure;
Described middle moving blocks comprises A middle moving blocks (14), B middle moving blocks (15), C middle moving blocks (16) and D middle moving blocks (13); A middle moving blocks (14) is arranged on the A face (1), and B middle moving blocks (15) is arranged on the B face (2), and C middle moving blocks (16) is arranged on the C face (3), and D middle moving blocks (13) is arranged on the D face (4); A middle moving blocks (14) is identical with C middle moving blocks (16) structure, and B middle moving blocks (15) is identical with D middle moving blocks (13) structure;
The top of described A face (1) is provided with A face moving platform (11a), the backplate end (105) of A face moving platform (11a) has been cut B connectivity slot (114), the both sides of B connectivity slot (114) respectively with A fan groove (112), B reed (102) is arranged between the B fan groove (113), C reed (103), A fan groove (112), B fan groove (113) respectively and A reed (101) arranged between the A connectivity slot (111), D reed (104), A reed (101), B reed (102), C reed (103), one end of D reed (104) is connected on the local intermediate mass of A face (121), the outer rim of A connectivity slot (111) is an A motion intermediate mass (14), the bottom of A face (1) is provided with A face silent flatform (12a), and A face silent flatform (12a) does not link to each other with A motion intermediate mass (14); A joint-cutting (106), B joint-cutting (107) separate A face moving platform (11a) and A motion intermediate mass (14);
The top of described B face (2) is provided with B face moving platform (11b), the bottom of B face (2) is a B face silent flatform (12b), the centre of B face (2) is a B motion intermediate mass (15), the backplate end (205) of B motion intermediate mass (15) has been cut B connectivity slot (214), the both sides of B connectivity slot (214) respectively with A fan groove (212), B reed (202) is arranged between the B fan groove (213), C reed (203), A fan groove (212), B fan groove (213) respectively and A reed (201) arranged between the A connectivity slot (211), D reed (204), A reed (201), B reed (202), C reed (203), one end of D reed (204) is connected on the local intermediate mass of B face (221), the outer rim of A connectivity slot (211) is a B face silent flatform (12b), and B face silent flatform (12b) does not link to each other with B motion intermediate mass (15); C joint-cutting (206), D joint-cutting (207) separate B face moving platform (11b) and B motion intermediate mass (15);
E joint-cutting (306) on the described C face (3), F joint-cutting (307) separate C face moving platform (11c) and C motion intermediate mass (16);
G joint-cutting (406) on the described D face (4), H joint-cutting (407) separate D face moving platform (11d) and D motion intermediate mass (13).
2, flexible Hooke's hinge according to claim 1 is characterized in that: described virtual rotation center point overlaps with the geometrical center O point of bottom surface 5.
3, flexible Hooke's hinge according to claim 1 is characterized in that: A joint-cutting 106, B joint-cutting 107, E joint-cutting 306 and F joint-cutting 307 are camber line, and central point is a geometrical center O point; C joint-cutting 206, D joint-cutting 207, G joint-cutting 406 and H joint-cutting 407 are straight line; These eight joint-cuttings are machined at twice by wire cutting machine tool.
4, flexible Hooke's hinge according to claim 1 is characterized in that: the elongation line of the A reed (101) on the described A face (1), B reed (102), C reed (103), D reed (104) meets at the Q point.
5, flexible Hooke's hinge according to claim 1 is characterized in that: A reed (101) and D reed (104) on the described A face (1) are isometric, and B reed (102) and C reed (103) are isometric.
6, flexible Hooke's hinge according to claim 1 is characterized in that: the elongation line of the A reed (201) on the described B face (2), B reed (202), C reed (203), D reed (204) meets at the P point.
7, flexible Hooke's hinge according to claim 1 is characterized in that: A reed (201) and D reed (204) on the described B face (2) are isometric, and B reed (202) and C reed (203) are isometric.
8, flexible Hooke's hinge according to claim 1 is characterized in that: the A reed (101) on the A face (1), D reed (104), the local intermediate mass of A face (121) are formed first isosceles trapezoid flexible hinge with A motion intermediate mass (14); B reed (102) on the A face (1), C reed (103), the local intermediate mass of A face (121) are formed second isosceles trapezoid flexible hinge with A face moving platform (11a);
A reed (201) on the B face (2), D reed (204), the local intermediate mass of B face (221) are formed the 3rd isosceles trapezoid flexible hinge with B face silent flatform (12b); B reed (202) on the B face (2), C reed (203), the local intermediate mass of B face (221) are formed the 4th isosceles trapezoid flexible hinge with B motion intermediate mass (15);
Isosceles trapezoid flexible hinge on the C face (3) is identical with A face (1);
Isosceles trapezoid flexible hinge on the D face (4) is identical with B face (2).
9, flexible Hooke's hinge according to claim 1 is characterized in that: described flexible Hooke's hinge is regular cube configuration, rectangular parallelepiped or cylindrical body configuration.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007100649939A CN100453833C (en) | 2007-03-30 | 2007-03-30 | Large deformation flexible Hooke's hinge with virtual rotating center |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007100649939A CN100453833C (en) | 2007-03-30 | 2007-03-30 | Large deformation flexible Hooke's hinge with virtual rotating center |
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| Publication Number | Publication Date |
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| CN101025189A true CN101025189A (en) | 2007-08-29 |
| CN100453833C CN100453833C (en) | 2009-01-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNB2007100649939A Expired - Fee Related CN100453833C (en) | 2007-03-30 | 2007-03-30 | Large deformation flexible Hooke's hinge with virtual rotating center |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101504030B (en) * | 2009-03-10 | 2010-09-08 | 北京航空航天大学 | One-dimensional flexible linear guiding mechanism for slanting spring combination |
| CN101380737B (en) * | 2008-09-22 | 2010-09-15 | 北京航空航天大学 | Initiative hook joint mechanism with output driving shaft inside |
| CN103177636A (en) * | 2013-03-26 | 2013-06-26 | 北京航空航天大学 | Reconfigurable flexible teaching aid for demonstrating the duality relation of freedom degree and restraint in mechanical principle teaching |
| CN107152988A (en) * | 2016-11-22 | 2017-09-12 | 北京航空航天大学 | A kind of static balance measurer based on RCM flexible hinges |
| CN110900588A (en) * | 2019-12-04 | 2020-03-24 | 北京航空航天大学 | Flexible structure based on reed and snake-shaped arm with same |
| CN111365378A (en) * | 2020-03-19 | 2020-07-03 | 南京林业大学 | Flexible Hooke hinge |
| CN112012983A (en) * | 2020-09-12 | 2020-12-01 | 长沙理工大学 | Negative Poisson ratio flexible buffering hydraulic cylinder |
| CN112389678A (en) * | 2020-11-16 | 2021-02-23 | 北京航空航天大学 | Passive planetary obstacle crossing vehicle based on flexible mechanism |
| 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 |
| CN113958217A (en) * | 2021-10-09 | 2022-01-21 | 中国科学院力学研究所 | Seamless hinge device using virtual rotating shaft |
Families Citing this family (1)
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| CN104006087B (en) * | 2014-06-09 | 2015-12-30 | 北京航空航天大学 | The flexible Hooke's hinge of a kind of cross reed |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| DE3636194C1 (en) * | 1986-10-24 | 1988-06-30 | Walterscheid Gmbh Jean | Homokinetic double joint |
| GB8805380D0 (en) * | 1988-03-07 | 1988-04-07 | Creanova Ag | Snap-hinge construction |
| JPH095464A (en) * | 1995-06-19 | 1997-01-10 | Nikon Corp | Support mechanism |
| CN1173594A (en) * | 1996-08-08 | 1998-02-18 | 德克萨斯仪器股份有限公司 | Non-linear hinge for micro-mechanical device |
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2007
- 2007-03-30 CN CNB2007100649939A patent/CN100453833C/en not_active Expired - Fee Related
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| CN101380737B (en) * | 2008-09-22 | 2010-09-15 | 北京航空航天大学 | Initiative hook joint mechanism with output driving shaft inside |
| CN101504030B (en) * | 2009-03-10 | 2010-09-08 | 北京航空航天大学 | One-dimensional flexible linear guiding mechanism for slanting spring combination |
| CN103177636A (en) * | 2013-03-26 | 2013-06-26 | 北京航空航天大学 | Reconfigurable flexible teaching aid for demonstrating the duality relation of freedom degree and restraint in mechanical principle teaching |
| CN103177636B (en) * | 2013-03-26 | 2014-10-08 | 北京航空航天大学 | Reconfigurable flexible teaching aid for demonstrating the duality relation of freedom degree and restraint in mechanical principle teaching |
| CN107152988A (en) * | 2016-11-22 | 2017-09-12 | 北京航空航天大学 | A kind of static balance measurer based on RCM flexible hinges |
| CN110900588B (en) * | 2019-12-04 | 2021-05-28 | 北京航空航天大学 | Flexible structure based on reed and snake-shaped arm with same |
| CN110900588A (en) * | 2019-12-04 | 2020-03-24 | 北京航空航天大学 | Flexible structure based on reed and snake-shaped arm with same |
| CN111365378A (en) * | 2020-03-19 | 2020-07-03 | 南京林业大学 | Flexible Hooke hinge |
| CN112012983A (en) * | 2020-09-12 | 2020-12-01 | 长沙理工大学 | Negative Poisson ratio flexible buffering hydraulic cylinder |
| CN112012983B (en) * | 2020-09-12 | 2022-08-30 | 长沙理工大学 | Negative Poisson ratio flexible buffering hydraulic cylinder |
| CN112389678A (en) * | 2020-11-16 | 2021-02-23 | 北京航空航天大学 | Passive planetary obstacle crossing vehicle based on flexible mechanism |
| CN112389678B (en) * | 2020-11-16 | 2022-03-11 | 北京航空航天大学 | Passive planetary obstacle crossing vehicle based on flexible mechanism |
| 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 |
| CN113958217A (en) * | 2021-10-09 | 2022-01-21 | 中国科学院力学研究所 | Seamless hinge device using virtual rotating shaft |
| CN113958217B (en) * | 2021-10-09 | 2023-03-07 | 中国科学院力学研究所 | Seamless hinge device using virtual rotating shaft |
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| CN100453833C (en) | 2009-01-21 |
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