CN101113766A - Hook joint with controllable damping moment - Google Patents
Hook joint with controllable damping moment Download PDFInfo
- Publication number
- CN101113766A CN101113766A CNA2007100126283A CN200710012628A CN101113766A CN 101113766 A CN101113766 A CN 101113766A CN A2007100126283 A CNA2007100126283 A CN A2007100126283A CN 200710012628 A CN200710012628 A CN 200710012628A CN 101113766 A CN101113766 A CN 101113766A
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- Prior art keywords
- damping
- hooke
- drum
- hinge
- shell body
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Abstract
The invention relates to a Hooke hinge with controllable damping torque, pertaining to mechanical joint technical field, and discloses a bearing which comprises a Hooke hinge base and cross shafts, aims at improving the disadvantages of poor shock resistance of the prior art and is characterized in that: each shaft root of the cross shafts is provided with a bearing matched with bearing holes of the Hooke hinge, the end surface of the Hooke hinge base that is vertical with all shafts is provided with a damping shell body and a damping end cap which is connected with the damping shell body; an excitation coil is arranged in the space enclosed by the damping shell body and the damping end cap, the inner wall of the coil is provided with a magnetic drum, a sealing coil which is matched and arranged in the shaft end part of the cross shaft of the damping shell body and is sealed with the damping the shell body, and a damping drum which is matched with the excitation coil, a magnetic rheological liquid is positioned between the damping drum and the magnetic drum. The Hooke hinge has the advantages of controllable damping, stable running, and exact transversion between dynamic status and static status.
Description
Technical field
The present invention relates to a kind of mechanical joint technology, especially the Hooke's hinge formula joint technology that generally adopts about parallel robot.
Background technique
At present, parallel robot in omnibearing automatic field constantly towards high intellectual development, so its each functional part is required also just to come more harshness, particularly to the requirement of mechanical joint motion situation, should be able to satisfy motion steadily, activity freely, vibration resistance is strong, technical functions such as reaction velocity is fast, and the sound conversion is accurate.The existing Hooke's hinge formula joint control mechanism majority of being made up of Hooke free bearing, cross axle and control mechanism is lever magnetic gate formula or controlled intelligent electric machine formula, the former structure complexity, and vibration resistance is poor, and performance index do not reach requirement; Latter's intelligent electric machine power is little, does not adapt to the strong sound conversion requirement of carrying, and dislocation easily takes place move, and causes accident to take place, and is desirable not to the utmost.
Summary of the invention
The present invention is for overcoming the deficiencies in the prior art part, satisfy at present to the requirement of the mechanical joint characteristics of motion, provide a kind of damping torque controlled Hooke's hinge, this Hooke's hinge can have motion steadily, activity freely, good anti-vibration, reaction velocity is fast, the sound conversion accurately is suitable for moving under the varying load, stops the superior function that misplaces and take place.
The present invention solves the technological scheme that its problem adopts: include Hooke free bearing and cross axle, it is characterized in that each root of cross axle is provided with Hooke free bearing bearing hole cooperates suitable bearing, the Hooke free bearing is provided with damper housing and the damper end cap that links to each other with this housing with each each perpendicular end face, in the space that damper housing and damper end cap are surrounded, be provided with field coil, this circle inwall is provided with the magnetic conduction drum, be fitted on the axle head of the cross axle in the damping housing, axle head is provided with the seal ring that consists of sealing with the damping housing, with the field coil group be the damping drum of flux path, between damping drum and magnetic conduction drum magnetic flow liquid is housed, on damper housing and damper end cap abutted surface, is provided with seal ring.
Beneficial effect of the present invention is: motion steadily freely, good anti-vibration, reaction velocity is fast, sound is switched accurately, particularly electric current is equipped with magnetic flow liquid at damping drum and magnetic conduction drum inner room, when the field coil no electric circuit, the magnetic flow liquid form that is in a liquid state, the damping drum separates with the damper housing, and Hooke's hinge moves freely, when the field coil energising, produce radial magnetic field between damping shell and damper housing, under the action of a magnetic field, magnetic flow liquid is solid-state form, makes between damper housing and cross axle to produce shear resistance and be tied apart from the Hooke's hinge motion, its restraining force is to change with change of magnetic field strength, thereby adjusting field current size just can be controlled it, and can reach purpose nimbly and freely.
Description of drawings
Fig. 1 is a cross-sectional configuration schematic representation of the present invention;
Among the figure: 1 damping drum, 2 seal rings, 3 damper housings, 4 bearings, 5 cross axles, 6 Hooke free bearings, 7 seal rings,
8 field coils, 9 magnetic conductions drum, 10 damper end caps, 11 magnetic flow liquids.
Embodiment
The present invention includes Hooke free bearing 6, cross axle 5, wherein each root of cross axle 5 is provided with the bearing 4 that matches with Hooke free bearing bearing hole, on Hooke free bearing 6 and each each perpendicular end face, be provided with damper housing 3, the damper end cap 10 that links to each other with this housing in the space that damper housing 3 and damper end cap 10 are surrounded, is provided with at least one group of field coil 8, this circle inwall is provided with magnetic conduction drum 9, and this drum is that copper material or polymer material or stupalith are made.Be fitted on the axle head of the cross axle 5 in the damper housing 3, be provided with successively: with the seal ring 7 of sealing at least of damper housing 3 sealings, with 8 groups of field coils be the radial flux road, at least one group of damping drum 1,9 of damping drum 1 and magnetic conduction drums are equipped with commercially available magnetic flow liquid 11, are provided with seal ring 2 at least at damper housing 3 on damper end cap 10 abutted surfaces.
Claims (6)
1. Hooke's hinge that damping torque is controlled, include the Hooke free bearing, cross axle, it is characterized in that each root of cross axle is provided with the bearing that matches with Hooke free bearing bearing hole, on Hooke free bearing and each end face that each is perpendicular, be provided with the damper housing, the damper end cap that links to each other with this housing, in the space that damper housing and damper end cap are surrounded, be provided with field coil, the coil inwall is provided with the magnetic conduction drum, is fitted on the axle head of the cross axle in the damping housing, and axle head is provided with the seal ring with the damper housing seal, also be provided with the damping of field coil auxiliary work and rouse, between damping drum and the magnetic conduction drum magnetic flow liquid is housed.
2. the controlled Hooke's hinge of a kind of damping torque according to claim 1 is characterized in that said resistance magnetic drum is copper magnetic conduction drum.
3. the controlled Hooke's hinge of a kind of damping torque according to claim 1 is characterized in that said field coil is at least one group.
4. the controlled Hooke's hinge of a kind of damping torque according to claim 1 is characterized in that the shaft end of said cross axle is provided with seal ring at least one.
5. the controlled Hooke's hinge of a kind of damping torque according to claim 1 is characterized in that said seal ring is at least one sealing.
6. the controlled Hooke's hinge of a kind of damping torque according to claim 1 is characterized in that said damping drum is at least one group of damping drum.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2007100126283A CN101113766A (en) | 2007-08-30 | 2007-08-30 | Hook joint with controllable damping moment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2007100126283A CN101113766A (en) | 2007-08-30 | 2007-08-30 | Hook joint with controllable damping moment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN101113766A true CN101113766A (en) | 2008-01-30 |
Family
ID=39022255
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNA2007100126283A Pending CN101113766A (en) | 2007-08-30 | 2007-08-30 | Hook joint with controllable damping moment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101113766A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN101328936B (en) * | 2008-07-01 | 2010-09-29 | 北京航空航天大学 | Large load gapless accurate hooke hinge |
| CN102848401A (en) * | 2011-07-01 | 2013-01-02 | 山东科技大学 | Universal power coupling |
| CN107627323A (en) * | 2017-10-31 | 2018-01-26 | 东莞市太行机电科技有限公司 | A kind of cross positioning joint for manipulator |
| CN108843696A (en) * | 2018-07-23 | 2018-11-20 | 东南大学 | Adjustable damping universal joint |
| CN108869561A (en) * | 2018-07-23 | 2018-11-23 | 东南大学 | Elastic damping universal joint |
-
2007
- 2007-08-30 CN CNA2007100126283A patent/CN101113766A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101328936B (en) * | 2008-07-01 | 2010-09-29 | 北京航空航天大学 | Large load gapless accurate hooke hinge |
| 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 |
| CN102848401A (en) * | 2011-07-01 | 2013-01-02 | 山东科技大学 | Universal power coupling |
| CN102848401B (en) * | 2011-07-01 | 2015-04-22 | 山东科技大学 | Universal power coupling |
| CN107627323A (en) * | 2017-10-31 | 2018-01-26 | 东莞市太行机电科技有限公司 | A kind of cross positioning joint for manipulator |
| CN108843696A (en) * | 2018-07-23 | 2018-11-20 | 东南大学 | Adjustable damping universal joint |
| CN108869561A (en) * | 2018-07-23 | 2018-11-23 | 东南大学 | Elastic damping universal joint |
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| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |