CN102878195A

CN102878195A - Two-degree-of-freedom hinged joint with single-direction return function

Info

Publication number: CN102878195A
Application number: CN201210359188XA
Authority: CN
Inventors: 陈金宝; 邓飞; 聂宏; 陈萌; 曾占魁; 博伟; 杨铭波; 陈传志
Original assignee: Nanjing University of Aeronautics and Astronautics
Current assignee: Nanjing University of Aeronautics and Astronautics
Priority date: 2012-09-12
Filing date: 2012-09-12
Publication date: 2013-01-16

Abstract

A two-degree-of-freedom hinged joint with a return function belongs to a wire rope connection return device for a mechanical arm tail end effector adopting a wire rope soft catching manner. The hinged joint is a two-degree-of-freedom hinged joint comprising housings (2 and 9), a centrally slotted cylinder (6), and a rotating shaft (4), wherein a return leaf spring (3) and a return torsion spring (5) form an automatic return device. The two-degree-of-freedom hinged joint is characterized in that the rotation axle centers of the hinged joint in two directions are on the same point, and the return leaf spring (3) and the return torsion spring (5) are additionally arranged on a common hinged joint, so that a wire rope (8) connected with the hinged joint can return to an initial position automatically after rotation.

Description

Two degrees of freedom articulated joint with one-way resetting function

Technical field

The invention belongs to a kind of wire rope of the mechanical arm tail end effector of the soft acquisition mode of wire rope that adopts and connect resetting means

Technical background

In space industry, a kind of mechanical arm tail end effector is arranged, what it adopted is that the mode that three wire rope rotate mutually realizes the soft of ABAP Adapter caught.Two of every wire rope is hinged on respectively two and can relatively turns on the right donut, under the original state, three wire rope are evenly distributed in the annulus inner side slot, near circle ring inner wall, when two annulus relatively rotate, wire rope is at the rotation with in surface that is approximately perpendicular to the annulus axis, and the space in 3 wire rope besieged cities dwindles gradually, finally finishes the crawl to ABAP Adapter bar section major part.When the end-effector capture mechanism resets, require wire rope can reply initial position so that the task of catching is next time finished smoothly.

Because wire rope has a tension process after finishing catching, this time, ABAP Adapter stock end had a power that is parallel to the annulus axle to wire rope, because angle approximates 90 ° between wire rope and ABAP Adapter stock, decompose and to obtain a very large power on the wire rope therefore this is parallel to the axial power of annulus, this moment, wire rope can turn an angle on the plane that is parallel to the annulus axis, when the tension process discharges, require wire rope to get back to the initial plane position so that wire rope can be got back in the groove of circle ring inner wall smoothly when catching release.

What the articulated joint that existing end-effector capture mechanism adopts was adopted is that two orthogonal axle dislocation connect, and directly links to each other with the axle of articulated joint ragged edge after the terminal punching of Steel Cable Terminal.This articulated joint has several defectives: only possess two rotational freedoms, do not possess the spring automatic reset function, when capture mechanism is repeatedly worked, the phenomenon that wire rope can't return the circle ring inner wall groove smoothly often can occur; Because capture mechanism is quite strict for the length requirement of three wire rope, this is just so that the difficulty increasing fixedly time of wire rope and joint; The pulling force of wire rope is being through being decomposed into two disjoint non-coplanar forces after the articulated joint, so that the axle of end can additionally be subject to a Moment, easily causes this axle mounting hole unbalance stress.

Summary of the invention

The purpose of invention: the articulated joint of existing capture mechanism wire rope can't automatically reset, and rope capacity can't free adjustment.The present invention is on traditional ball pivot basis, and with Returnning spring, reduction torsion spring joins in the articulated joint with regulating to be threaded, and remedies the deficiency of existing articulated joint.

Technological scheme of the present invention: two inside are processed with the shell of cylindrical groove and spring sheet installation position, shell one end has semicircle extension, tapping on the semi-cylindrical, the semicircle extension of two shells can form a screw altogether, and the tapped metallic sheath that is consolidated with wire rope can be installed; Also comprise the cylinder that is processed with symmetrical grooves that can in the cylindrical cavity that two shells form, roll, be processed with the smooth through hole of installation shaft in the symmetrical unilateral direction perpendicular to cylinder axis of two grooves; Also comprise being installed on the axle, outermost end has the reduction torsion spring of flat segments.Comprise that also two ends are consolidated with the wire rope with the internal thread metallic sheath, thread rotary orientation is opposite in the metallic sheath of two ends.

Beneficial effect of the present invention:

1. the central shaft of both direction rotational freedom intersects on the central point of articulated joint axis, and the power that will be parallel to the annulus axis is converted into the axial force of articulated joint axis, greatly improves the articulated joint bearing capacity;

2. the internal reset spring sheet is in Pre strained state after in being installed to shell, and no matter articulated joint is rotated up and down all has reset function;

3. be cemented in metallic sheath internal thread rotation on the wire rope on the contrary, but two ends only need to rotate a wire rope and can regulate two distances between the articulated joint when respectively connecting an articulated joint.

Description of drawings

Fig. 1 has the two degrees of freedom articulated joint structural representation of reset function

Fig. 2 has the two degrees of freedom articulated joint External view of reset function

Label title among the figure: 1, base, 2, shell, 3, reseting spring leaf, 4, rotatingshaft, 5, reduction torsion spring, 6, the fluting cylinder, 7, be cemented in the metallic sheath of steel cord ends, 8, wire rope, 9, shell (band counter sink).

Specific embodiments

Basic principle of the present invention:

1. as shown in Figure 1, wire rope is when rotating perpendicular to the paper direction, and rotate moving axis 4 of fluting cylinder 6 rotates, and does not have relative movement between fluting cylinder 6 and the shell 2, and the part that the extension of shell is installed metal sleeve 7 forces torsion spring 5 to twist, generation torsion.After the power that drives wire rope 8 rotations disappeared, the torsion of torsion spring 5 forced shell 2 to drive fluting cylinders 6 and rotates towards initial position, realizes resetting;

2. as shown in Figure 1, wire rope is when being parallel to the rotation of paper direction, and fluting cylinder 6 is relative static with rotatingshaft 4, relatively rotates between shell 2 and the fluting cylinder 6, because contact is Cylindrical Surfaces Contact herein, therefore bearing capacity is strong.Relatively rotate one side compressing reseting spring leaf 3 of the groove that makes the fluting cylinder between shell 2 and the fluting cylinder 6, because symmetrical configuration is arranged, therefore the equal pressing spring sheet of two grooves of fluting cylinder makes spring sheet 3 produce distortion, produce larger restoring force, when the power that drives the wire rope rotation disappears, power cover of driver 2 on the spring sheet 3 is replied initial position, finishes to reset.

Wire rope 8 two ends respectively are connected with an articulated joint, and sleeve 7 internal thread rotations at two ends when both sides articulated joint base 1 does not rotate, rotate wire rope 8 on the contrary, the metal sleeve 7 at wire rope two ends is simultaneously toward the precession of articulated joint direction or back-outs, thereby adjusts the length of wire rope between two articulated joints.

Claims

1. two degrees of freedom articulated joint with reset function, it is characterized in that: be processed with cylindrical groove and spring sheet mounting groove in each articulated joint two shell, shell one end has semicircle Zhongchang section, tapping on the semi-cylindrical, the semicircle extension of two shells can form a complete screw altogether, can install to be consolidated with wire rope and tapped metal sleeve.

2. the two degrees of freedom articulated joint with reset function according to claim 1, it is characterized in that: a ganoid cylinder, can in the cylindrical cavity that two shells form, roll, be symmetrily processed with groove in its side, on the symmetry plane of two grooves and be processed with the smooth through hole of installation shaft perpendicular to the direction of cylinder axis.

3. the two degrees of freedom articulated joint with reset function according to claim 1 is characterized in that: an outermost end has the reduction torsion spring of flat segments to be installed on the axle.

4. the two degrees of freedom articulated joint with reset function according to claim 1, it is characterized in that: two ends are consolidated with the wire rope with the internal thread metallic sheath, and thread rotary orientation is opposite in the metallic sheath of two ends.