CN101086278A - Flexible rotary bearing - Google Patents
Flexible rotary bearing Download PDFInfo
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- CN101086278A CN101086278A CN 200710035092 CN200710035092A CN101086278A CN 101086278 A CN101086278 A CN 101086278A CN 200710035092 CN200710035092 CN 200710035092 CN 200710035092 A CN200710035092 A CN 200710035092A CN 101086278 A CN101086278 A CN 101086278A
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Abstract
The invention discloses a flexible rotary bearing, the inner twist pipe (1) is nested in the outer twist pipe (2) coaxially and one end is fastening-connected, another end of inner twist pipe (1) and outer twist pipe (2) are the installing end which can be connected with other equipments separately, the outer twist pipe (2) and the inner twist pipe (1) are machined with several segments of twist section in same (or different) length axially. The twist section is composed by several flexible films (thin films) which are installed along circumference uniformly and axially, annular connecting solid in certain thickness is left between each twist sections and links each twist section sequentially. The flexible films are radial surface and installed between said annular connecting solids, and the number is even number and the flexible films are installed axial-symmetrically and circumferentially. The invention has high rotary movement precision and high replication rotary movement precision, stable movement, no lubrication needed when works, compact structure, not responsive to dust, strong corrosion resistance performance and low use cost, it is suitable for the replacement of traditional rotary bearings in micro precision equipments (such as micro-processing machine, micro-measurement equipment) to achieve the purposes of lifting equipment performance, reducing use and maintenance costs.
Description
Technical field
The present invention relates to a kind of bearing, particularly relate to a kind of flexible rotary bearing.
Background technique
Rotating accuracy is one of Key Performance Indicator of precision equipment, many applications of precision engineering, as the rotary main shaft in the micro swivel in the middle of the various precision measurement equipments (as roundness measuring instrument etc.), precise machining equipment and the micro-nano processing device, the revolution arm in the various accurate pose regulating device (as the micro-manipulating robot in the biologic medical) etc., all very high required precision has been proposed in rotation motion.
The key of rotating accuracy is its employed bearing.Traditional precision rotating bearing of development mainly is divided into sliding bearing and rolling bearing two big classes at present.Sliding bearing comprise plain bearing, aerostatic bearing, liquid moving/hydrostatic bearing, magnetic bearing etc.Rolling bearing comprises ball (ball) bearing, roller bearing, tapered roller bearing, needle bearing etc.The influence of factors such as the rotating accuracy of bearing (comprising run-out error, three kinds of basic patterns of axial float sum of errors inclination angle stagger) is subject to processing, assembling, temperature variation, oiling agent variation, wearing and tearing, resiliently deformable.Distinguish according to repeatability, the rotation motion error of bearing comprises asynchronous turn error (the turn error component that has nothing in common with each other in each circle that main shaft rotates) and synchronous two kinds of components of turn error.The axis system that uses traditional precision bearing to support still can not be realized the rotary precision requirement that nanometer is above at present, becomes the technical bottleneck that fields such as many limit processing of restriction (as: ultraprecise processing, micro machining) and precision measuremnt further develop.
According to working principle, sliding bearing relies on the slide relative between kinematic pair (that is: axle and axle sleeve) to support rotational components.Therefore the rotating accuracy (desaxe) of sliding bearing institute supports main shaft mainly is to be caused by the gap between axle and the axle sleeve.What rotating accuracy was the highest at present is aerostatic bearing.In the axis system of aerostatic bearing, separate and directly do not contact by the air pressure film between axle and the axle sleeve, because the viscosity of air is little, mobile fine, in very little bearing play, the error leveling effect that is had because of the air pressure film, the run-out error of main shaft gyration can (can reach 1/3～1/10 of axle journal deviation from circular from than the last machining error of axle journal and axle sleeve hole is much smaller, the axle sleeve deviation from circular from 1/100), can improve two orders of magnitude to rotating accuracy with respect to rolling bearing.But, form the air pressure film, the gap just can not infinitely reduce, and is subjected to the restriction of axle and axle journal machining accuracy and surface roughness etc. simultaneously, and the gap has certain lower limit.Therefore, because the existence in gap, there is certain asynchronous turn error (not reproducible error NRRO, non-repetitive run-out) component inevitably in bearing, and this asynchronous turn error also has certain lower limit.At present the asynchronous turn error of high-performance pneumatic bearing and liquid-bearing main shaft can reach about 5nm (referring to Hii K F, Vallance R R, Grejda R D, et al.Error Motion of aKinematic Spindle.Precision Engineering, 2004,28:204-217), therefore the rotation motion error of 5nm is near the limit (that is: the character of rotation motion error almost all be asynchronous turn error component, and synchronous turn error is eliminated fully) of this bearing rotating accuracy.Therefore, utilizing traditional sliding bearings such as aerostatic bearing to realize the rotary precision that 1nm is following, is impossible realize from principle basically.
The rolling bearing axis system relies on the rolling between primary component to contact (as: in rolling element and the bearing, rolling contact between the outer ring) supports rotational parts, therefore be that rotate in no gap, avoided the desaxe that causes because of the gap, but because axle sleeve, main shaft axle journal and rolling element have form error, when particularly rolling element has difference in size, main shaft gyration will produce displacement clocklike, simultaneously, when rolling contact, each rolling element and axle, between the axle sleeve because contact position and stressed size different, the distortion that it produced is also different, (because the shape of ball is not the spheroid of standard in the ball bearing, the size of ball is not absolute equating yet, ball and raceway all have slight distortion under the preload effect, and ball directly contacts with inside and outside raceway in ball bearing, and any damage on ball and the inside and outside raceway all can make main shaft depart from the origin-location, causes not reproducible error at random).Therefore, in the regular hour, spindle axis displacement amount and direction of displacement can constantly change (" drift " phenomenon).For rolling bearing, make spindle rotation accuracy reach 0.1 μ m, if each rolling element is measure-alike, then require its error in geometrical form less than 0.07～0.08 μ m and carry out preloading (referring to Xue Shifu, Li Qingxiang. precision machine design. Beijing, publishing house of Tsing-Hua University, 1991).Therefore, from processing conditions, want from improving rolling element, it is very difficult that the angle of main shaft axle journal and axle sleeve precision reaches the above spindle rotation accuracy of 0.1 μ m.Rolling bearing will realize that the following rotary precision of 1nm also is impossible on working principle.
Simultaneously, traditional bearing is after compact in size, and its turnability (as rotating accuracy, rigidity, stability etc.) also will sharply descend thereupon.For sliding bearing, when its size little after to a certain degree, the area of slide relative is very little, error homogenization (requirement has certain slide area) is almost lost, its rotating accuracy and rigidity will sharply descend, so all relatively large present many high performance sliding bearings (moving/hydrostatic bearing as aerostatic bearing, liquid) size.In many micromodule equipments that developed, generally adopt microminiature rolling bearing (as angular contact ball bearing, deep groove ball bearing), its spindle rotation accuracy be generally 1 μ m～5 μ m (referring to Wang Wenrui. the microtool machine technology is inquired into. mechanical industry (Taiwan), 2006 (3): 17-27), static rigidity is less than 10N/ μ m, greatly differs from each other with the rotating accuracy of stock size precision equipment (as super-precision machine tools).This is that friction factor increases because the rolling bearing size is more little, makes bearing revolution difficulty; The bearing capacity of rolling bearing is with square (d of rolling element diameter simultaneously
2) be directly proportional, d is more little, and the rigidity of rolling element is poor more, and it is big that distortion also becomes.
In addition, further microminiaturized to more among a small circle the time (as: characteristic size is at micromechanics, the nano-machine of micro-nano magnitude) when the size of bearing, the turnability of traditional bearing will further be affected.Because when size narrows down to certain limit, the variation of matter will take place in its physical property.The size effect and the skin effect of power play an important role at microscopic fields.Along with reducing of size, relative the reducing of effect (as inertial force, gravity etc.) with the proportional power of high order power of characteristic size L, and with relative increase of effect of the proportional power of low order power of size, surface to volume ratio increases relatively, therefore, miniature bearing under microsize tribological property and the performance under the macroscopic conditions have evident difference.And traditional bearing is with regard to its working principle, not that rolling is exactly a slide relative relatively, therefore there are rolling friction or sliding friction inevitably, under small range scale, principle according to scale effect (size effect), the influence of friction significantly increases in the time of will be than stock size, and the turnability that causes traditional bearing reduces and sharply descends with bearing size.
Summary of the invention
Technical problem to be solved by this invention provides a kind of rotary precision and repeats the rotary precision height, and motion steadily need not during work to lubricate, compact structure, and insensitive to dust, anti-corrosion capacity is strong, the flexible rotary bearing that user cost is lower.
In order to solve the problems of the technologies described above, flexible rotary bearing provided by the invention, the intort pipe is coaxial to be nested in the outer torque tube and at one end affixed connection, described intort pipe is respectively the mounting end that can be connected with miscellaneous equipment with the outer torque tube the other end, process vertically on described outer torque tube and the intort pipe multistage length identical or different reverse joint, the described joint that reverses is made up of the multi-disc flexible sheet that axially is provided with that is uniformly distributed along the circumference, and each section reverses and leaves certain thickness annular connection entity between the joint and will respectively reverse joint and link up successively.
Described flexible sheet is that the radial plane is arranged at described annular and connects between the entity, and its quantity is even number and along the circumferential axis symmetric arrangement.
Adopt the flexible rotary bearing of technique scheme, though flexible rotary bearing can be designed to complete all-in-one-piece structure on principle, but consider the feasibility of processing, it is designed to inside and outside torque tube two-part, they are mutually nested and at one end fixedly connected.Inside and outside torque tube saves the monolithic construction of forming after unit (the inside and outside joints that reverse that size the is different) axial series by several same reversing substantially, the structure creep that all-in-one-piece torque tube structure can be avoided erection stress and may cause because of institutes such as bondings, and make structure more compact.
Inside and outside torque tube is designed to the integrated monolithic construction that processes, and can save assembling, has reduced assembly error, has avoided the generation of erection stress.
Each reverses joint in its circumferential uniform flexible sheet that axially is being symmetrical arranged some same size shapes.Because the thickness of flexible sheet is more much smaller than other both direction sizes, therefore, whole flexible rotary bearing has in the very high flexibility of gyratory directions, and in the characteristics of the relative higher rigidity of other directions.By axial series, inside and outside nested configuration, can make bearing realize unidirectional torsion angle reversing and resiliently deformable only takes place greater than 180 ° (that is: two-way complete cycle reverses), do not produce fatigue ruption, thereby can effectively overcome the less restriction of resiliently deformable mechanism (that is: compliant mechanism) movement travel (angular displacement), realize the function of rotary main shaft.The uniform number of reversing in the joint of flexible sheet is designed to even number, can adopt the processing method of spark-erosion wire cutting (WEDM) that flexible sheet is processed, two flexible sheet of relative distribution can time processing be come out, not only improved work efficiency, and can also greatly reduce the nonsymmetry that causes because of machining error, help guaranteeing the rotating precision of beating.
Advantage of the present invention is:
(1) (run-out error is less than 0.1 μ m can to realize very high rotary precision, be better than rolling bearing) and be better than nano level repetition rotary precision, and motion steadily, can design corresponding working life according to application need, turnability (rotating accuracy, rigidity) but stable for extended periods of time; Need not during work to lubricate, the pollution that may exist when therefore having avoided lubricated can be implemented under the environment such as vacuum or liquid and uses;
(2) bearing structure compactness, there are not mechanical fretting wear and movement clearance during motion, therefore can not generate heat when working and cause thermal distortion and influence precision, can when diminishing, physical dimension not have a strong impact on rotating accuracy because of scale effect yet, bearing performance and bearing overall dimension do not have positive connection, more help microminiaturization on the principle, can suitably design as required, be expected to develop into a kind of high performance miniature bearing (MEMS bearing);
(3) simultaneously bearing radial force and axial force of flexible rotary bearing, and its radial and axial rigidity is all higher, and therefore a bearing just can be realized the function that radial bearing and thrust-bearing make up, and helps reducing overall dimension, is applied in the middle of the microminiature equipment;
When (4) selecting material, then fine if select titanium alloy, and need not oiling agent because of the biocompatibility of titanium as manufactured materials, can be used for some special applications, as medically transplanting in the middle of the equipment such as (organ or tissues); Simultaneously, flexible rotary bearing is insensitive to dust, and anti-corrosion capacity is strong, need not special maintenance, and user cost is lower.
In sum, the present invention is a kind of rotary precision and repeats the rotary precision height, moves steadily, need not during work to lubricate, and compact structure, insensitive to dust, anti-corrosion capacity is strong, the flexible rotary bearing that user cost is lower.
Description of drawings
The present invention is further illustrated below in conjunction with the drawings and specific embodiments.
Fig. 1 is a structural representation of the present invention;
Fig. 2 is along A-A line sectional view among Fig. 1;
Fig. 3 is the miniature axis system schematic diagram that is supported by flexible rotary bearing;
Fig. 4 is a flexible rotary bearing axial float error counteracting principle schematic;
Fig. 5 adds the special fixture schematic representation in man-hour for flexible rotary bearing WEDM.
Embodiment
Referring to Fig. 1 and Fig. 2, intort pipe 1 is coaxial to be nested in the outer torque tube 2 and the affixed connections of an end, intort pipe 1 is respectively the interior mounting end 10 and the outer mounting end 9 that can be connected with miscellaneous equipment with outer torque tube 2 the other ends, outer torque tube 2 is composed in series by a plurality of identical outer joint front and back of reversing, reverse joint outward and be arranged at outer ring by multi-disc along the outer flexible sheet 3 of circumferentially uniform axial setting, radial plane and connect that institute forms between the entity 4, and every joint quantity of reversing the outer flexible sheet 3 of joint outward is even number and in the circumferential axis symmetric arrangement.Intort pipe 1 is respectively by being composed in series before and after a plurality of identical intort joints, annular connected that institute forms between the entity 5 in intort joint was arranged at along the interior flexible sheet 6 of circumferentially uniform axial setting, radial plane by multi-disc, and the quantity of the interior flexible sheet 6 that saves of every joint intort is even number and in the circumferential axis symmetric arrangement.
Referring to Fig. 1 and Fig. 2, reverse joint is being provided with some same size shapes in its circumferentially even axisymmetric flexible sheet (thin slice) at each.Because the thickness of flexible sheet is more much smaller than other both direction sizes, therefore, whole flexible rotary bearing has in the very high flexibility of gyratory directions, and in the characteristics of the relative higher rigidity of other directions.By axial series, inside and outside nested configuration, can make bearing realize unidirectional torsion angle reversing and resiliently deformable only takes place greater than 180 ° (that is: two-way complete cycle reverses), do not produce fatigue ruption, thereby can effectively overcome the less restriction of resiliently deformable mechanism (promptly so-called " compliant mechanism ") movement travel (angular displacement), realize the function of rotary main shaft.The uniform number of reversing in the joint of flexible sheet is designed to even number, then the processing method when employing spark-erosion wire cutting (WEDM) adds man-hour to flexible sheet, two flexible sheet that distribute can time processing be come out relatively, not only improved work efficiency, and can also greatly reduce the nonsymmetry that causes because of machining error, help guaranteeing the rotating precision of beating.
From Fig. 1 and Fig. 2 as can be seen, the structure of flexible rotary bearing is quite compact, by reversing series connection before and after the joint, inside and outside nested configuration, make total torsion angle that flexible rotary bearing can bear greater than 180 ° (bidirectional torsion angle＞360 °, can realize that complete cycle reverses); And two flexible sheet that relatively distribute can time processing come out, and realize axisymmetric structure easily; Easy to manufacture, each reverses uniform even number flexible sheet number in the joint, and time processing goes out relative two, has not only improved work efficiency, and can also greatly reduce the nonsymmetry that causes because of machining error, helps guaranteeing the rotating precision of beating.Simultaneously, the rigidity and the bearing capacity that reduce directly not influence bearing of bearing overall dimension can guarantee that bearing obtains higher rigidity according to actual usage requirement during design.
Adopt the flexible rotary bearing of technique scheme, because of simple shape, the error link of flexible sheet few and also each reverse per two flexible sheet that circumferentially distribute relatively in the joint and can time processing come out, therefore can reach very high rotating accuracy (in theory, under same accuracy of manufacturing and technological level, its rotating accuracy should be higher than the rotating accuracy of rolling bearing).
Static strength and fatigue strength design:
Must guarantee during design that flexible rotary bearing when realizing unidirectional torsion angle greater than the reversing of 180 ° (that is: two-way complete cycle reverses) resiliently deformable only takes place, and have certain fatigue life., need analyze for this reason, carry out static strength check and anti-fatigue performance design the stress in the flexible rotary bearing structure.This can guarantee by selecting methods such as material, adjustment corresponding structure dimensional parameters rightly.Needs according to different practical application, can adopt unlimited fatigue life design method to make the work of flexible rotary bearing long-term safety, also can adopt limited design method fatigue life (also claiming the safe life design method) to make flexible rotary bearing guarantee certain working life, thereby help reducing physical dimension and performance.
The rotating accuracy design:
Run-out error
Mainly by the machining accuracy of inside and outside torque tube and the symmetrical degree of flexible sheet distribution, the assembly precision between the inside and outside torque tube etc. causes the run-out error of flexible rotary bearing.From the angle of making, be designed to even number with reversing the circumferential flexible sheet number that distributes of joint, the axial symmetry of flexible sheet is effectively guaranteed.
The axial float error
The axial float error of flexible rotary bearing can be cancelled out each other and is effectively controlled by the axial coupling play error of inside and outside torque tube.Its principle as shown in Figure 4.In the process that flexible bearing reverses, its inside and outside axial length that reverses joint all produces the variation (coupled motions error) of shortening direction, thereby they cancel out each other to the effect of bearing centre point axial float, and the axial movement value of bearing centre point is less than the axial float of individual layer torque tube (interior or outer torque tube).The appropriate dimensional parameters of choice structure during design makes the axial shortening rule of inside and outside torque tube in the twist process consistent as far as possible, then the axial float error of bearing centre point can be controlled at very little amplitude.
Many fields at precision engineering, the error that thermal distortion causes has a strong impact on global error, that have in addition account for total error 50% (such as in precision grinding [referring to Yang Jianghe, Cheng Jixue. the precision machining practical technique. Beijing: China Machine Press, 2006]).And flexible rotary bearing is on working principle, is not friction and contacts, so can not generate heat during bearing working.Simultaneously, the mutually nested structure of inside and outside torque tube also is very beneficial for offsetting the axial float error that inside and outside torque tube is caused because of variation of ambient temperature etc.
Application of the present invention, in Fig. 3, miniature axis system mainly is made up of following four parts: micromachine (as: micro servo motor provides driving moment), miniature elastic pipe coupling 7, flexible rotary bearing (inside and outside torque tube), miniature main shaft 8.Micromachine is in order to provide flexible rotary bearing required moment of torsion of when work; The two ends of miniature elastic pipe coupling 7 link with motor output shaft and miniature main shaft 8 respectively, miniature main shaft 8 links with the interior mounting end 10 of intort pipe 1, the outer mounting end 9 of outer torque tube 2 is installed on the fitting seat, thereby realize the transmission of moment of torsion, and other directive effect power (moment) except that moment of torsion can be eliminated fully, have the effect of buffering and absorbing simultaneously, the vibration transfer of avoiding motor is to working spindle; Flexible rotary bearing is significantly less than rigidity on other directions because of its rigidity at torsional direction, thereby can realize that Fig. 4 is a flexible rotary bearing axial float error counteracting principle schematic to the guiding of main shaft gyration motion.
The manufacture method of flexible rotary bearing and technology
Under the prerequisite that guarantees machining accuracy, the manufacturing of flexible rotary bearing needs to adopt the antifatigue manufacturing technology simultaneously, has corresponding anti-fatigue performance (as: guaranteeing the surface roughness of flexible sheet, to reduce its influence to fatigue behaviour) to guarantee it.
In the manufacture process of flexible rotary bearing, what machining accuracy was had the greatest impact is the whole torsional stiffness of the bending rigidity and the flexible rotary bearing of flexible sheet itself in the course of working.For this reason, specialized designs indexing fixture guarantee processing.This clamp structure as shown in Figure 5.Its effect is: by the tension that anchor clamps make each flexible sheet of flexible rotary bearing bear a certain size, utilize the stress principle of rigidization, improve the bending rigidity of flexible sheet itself; Simultaneously, each rigid rod in the anchor clamps prevent flexible rotary bearing in course of working, twist (because of torsional stiffness very little).In the WEDM course of working, take following measure simultaneously: 1, eliminate residualinternal stress before the processing as far as possible; 2, adopt the little energy discharge of high frequency; 3, the WEDM technology mode that take the centreless cutting, repeatedly cuts.By taking the measure of above-mentioned WEDM processing technology, successfully processed each torque tube of flexible rotary bearing.The material of flexible rotary bearing is a titanium alloy, and the thickness that respectively reverses flexible sheet in the joint only is 0.15mm.
Among Fig. 4, the special fixture of flexible rotary bearing WEDM processing by two Octagon stainless steel calibration pieces 12, eight rigid supporting rod 3, compress cushion block 16 and institutes such as locking nut a14, locking nut b15 form.Octagon piece of stainless steel 12 is once cut through the silk cutting machine tool of being careful (WEDM) by same block of material and forms, convenient calibration accurately when being used to be implemented in the flexible sheet on the processing different distributions angle, misoperation in the time of can farthest avoiding adopting index plate identical graduation method, simultaneously, two Octagon calibration pieces in the course of working of WEDM from two fixed support workpiece, the amount of deflection of torque tube reduces in the time of also making clamping, thereby guarantees the coaxality of line cutting back flexible rotary bearing better; The effect of rigid supporting rod 13 is when avoiding indexing operation, the relative changing of the relative positions between two Octagon calibration pieces 12.Design the distance between two Octagon calibration pieces (that is: the length of rigid supporting rod) to such an extent that omit long a bit (as: 0.02mm) than the length of workpiece to be cut (flexible rotary bearing torque tube), two ends in torque tube rely on (eight the locking nut a14 at workpiece to be processed two ends that are threaded, compressing cushion block 6 is locked at torque tube on the Octagon calibration piece, thereby make torque tube in the course of working of WEDM, bear certain pulling force, the mode that is threaded can be avoided the torsional stiffness not enough torsional deflection that produce of flexible rotary bearing torque tube because of itself effectively, the effect of pulling force can improve the flexural rigidity (just having changed effect) of flexible sheet itself simultaneously, thereby guarantees the machining accuracy of flexible sheet.Therefore, line cutting special fixture is the key that guarantees the success of flexible sheet line cutting process.The effect of anchor clamps can also make calibration centering, size in WEDM processing and the measuring phase divide medium more convenient to operate except above-mentioned " working grading " and " raising torsional rigidity ".
Flexible rotary bearing is that a kind of compliant mechanism working principle of utilizing (that is: relies on the interior elastomeric resiliently deformable of structure to realize the transmission of motion and power, thereby the novel bearing realization motion guide), its working principle is different from the working principle (that is: rolling relatively or slide relative between the moving element) of traditional bearing, can realize unidirectional torsion angle greater than 180 ° reciprocating rotating/two-way torsional oscillation motion by design, thereby realize the rotating function of main shaft complete cycle.Its rotary precision is influenced by material property defective and variation, processing and assembly error etc. only, and repeating motion precision very high (the repeating motion precision of atom level) therefore has the potentiality that realize nanometer even higher level rotary precision on this flexible rotary bearing principle.Simultaneously, there are not gap and rubbing contact between the moving element of flexible rotary bearing, its rotation motion performance (as: rotating accuracy and rigidity etc.) can be as traditional bearing when bearing size is decreased to a certain degree and sharply reduce, therefore suit very much in the middle of the equipment of microminaturization, to use.
Flexible rotary bearing can be applied in some to the demanding occasion of rotating accuracy (as fields such as micro-nano manufacturing, ultraprecise processing, ultra precise measurements), be particluarly suitable for being used for replacing traditional floating bearing in the middle of some microminiature precision equipments (as little working machine tool, miniature measuring equipment), to reach purposes such as lifting means performance, reduction operation and maintenance cost.
Claims (2)
1, a kind of flexible rotary bearing, it is characterized in that: intort pipe (1) is coaxial to be nested in the outer torque tube (2) and at one end affixed connection, described intort pipe (1) is respectively the mounting end that can be connected with miscellaneous equipment with outer torque tube (2) the other end, process vertically on described outer torque tube (2) and the intort pipe (1) multistage length identical or different reverse joint, the described joint that reverses is made up of the multi-disc flexible sheet that axially is provided with that is uniformly distributed along the circumference, and each section reverses and leaves certain thickness annular connection entity (5) between the joint and will respectively reverse joint and link up successively.
2, flexible rotary bearing according to claim 1 is characterized in that: described flexible sheet is that the radial plane is arranged at described annular and connects between the entity (5), and its quantity is even number and along the circumferential axis symmetric arrangement.
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| Application Number | Priority Date | Filing Date | Title |
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| CN200710035092A CN100595445C (en) | 2007-06-11 | 2007-06-11 | Flexible rotary bearing |
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| Application Number | Priority Date | Filing Date | Title |
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| CN200710035092A CN100595445C (en) | 2007-06-11 | 2007-06-11 | Flexible rotary bearing |
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| CN101086278A true CN101086278A (en) | 2007-12-12 |
| CN100595445C CN100595445C (en) | 2010-03-24 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102494229A (en) * | 2011-12-22 | 2012-06-13 | 福建捷联电子有限公司 | Rotating mechanism for display panel |
| CN103216526A (en) * | 2013-04-15 | 2013-07-24 | 北京航空航天大学 | Flexible bearing for symmetrical spiral crossed reed |
| CN103851077A (en) * | 2014-03-14 | 2014-06-11 | 北京航空航天大学 | Zero-rigidity flexible bearing |
| CN108302085A (en) * | 2018-03-15 | 2018-07-20 | 江苏大学 | A kind of double acting air supporting friction-free air cylinder of cylinder barrel independent gas supply |
| CN116255390A (en) * | 2023-03-30 | 2023-06-13 | 福州大学 | Bistable torsion structure based on composite material thin shell |
-
2007
- 2007-06-11 CN CN200710035092A patent/CN100595445C/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102494229A (en) * | 2011-12-22 | 2012-06-13 | 福建捷联电子有限公司 | Rotating mechanism for display panel |
| CN103216526A (en) * | 2013-04-15 | 2013-07-24 | 北京航空航天大学 | Flexible bearing for symmetrical spiral crossed reed |
| CN103216526B (en) * | 2013-04-15 | 2015-10-07 | 北京航空航天大学 | A kind of symmetric helix cross reed flexible bearing |
| CN103851077A (en) * | 2014-03-14 | 2014-06-11 | 北京航空航天大学 | Zero-rigidity flexible bearing |
| CN108302085A (en) * | 2018-03-15 | 2018-07-20 | 江苏大学 | A kind of double acting air supporting friction-free air cylinder of cylinder barrel independent gas supply |
| CN108302085B (en) * | 2018-03-15 | 2023-09-22 | 江苏大学 | Double-acting air-floatation friction-free cylinder with cylinder barrel capable of independently supplying air |
| CN116255390A (en) * | 2023-03-30 | 2023-06-13 | 福州大学 | Bistable torsion structure based on composite material thin shell |
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| Publication number | Publication date |
|---|---|
| CN100595445C (en) | 2010-03-24 |
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