CN103277403A - Flexible ball joint suitable for in-orbit application of high-precision mechanism of spacecraft - Google Patents
Flexible ball joint suitable for in-orbit application of high-precision mechanism of spacecraft Download PDFInfo
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- CN103277403A CN103277403A CN2013102045623A CN201310204562A CN103277403A CN 103277403 A CN103277403 A CN 103277403A CN 2013102045623 A CN2013102045623 A CN 2013102045623A CN 201310204562 A CN201310204562 A CN 201310204562A CN 103277403 A CN103277403 A CN 103277403A
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- spherical surface
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- tight rope
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Abstract
The invention discloses a flexible ball joint suitable for the in-orbit application of a high-precision mechanism of a spacecraft, belonging to the technical field of mechanical structures. The flexible ball joint comprises two spherical bodies, a tensioning rope, tensioning studs and locking nuts, wherein the two spherical bodies are one part of a ball body, round holes and slots are arranged in the spherical bodies, and the tensioning rope penetrates through the round holes. The two spherical bodies are connected with each other through the tensioning rope, the tensioning studs and the locking nuts, and the contact surfaces of the two spherical bodies are spherical surfaces. The movement of the ball joint is restrained through the contact surfaces of the two spherical bodies and the tensioning rope, and the ball joint bears corresponding acting force. The reliable connection of the spherical bodies is ensured through the tensioning rope and the tensioning studs. The tensioning studs are in threaded connection with the corresponding locking nuts. According to the expected drawing force born by the ball joint, the tension of the tensioning rope is determined. The tightening torque of each locking nut is determined according to the magnitude of the tension of the tensioning rope. The contact parts of the two spherical bodies form the ball joint and can realize three-degree of freedom gap-free high-precision movement.
Description
Technical field
Invention relates to a kind of flexible ball joint, is specifically related to the flexible ball joint that a kind of suitable astrovehicle highi degree of accuracy mechanism uses at rail, belongs to the mechanical structure technical field.
Background technique
Ball-joint refers generally to joint shaft bearing, and it is made up of inner ring and outer ring, and inner ring outer surface and inner surface are realized the Three Degree Of Freedom relative movement between interconnective two objects for cooperating sphere.Owing to have the gap between the inner ring of joint shaft bearing and the outer ring, make it be difficult to satisfy the needs of highi degree of accuracy mechanism.Therefore, people have proposed to utilize the resiliently deformable of special structure form again, realize the Three Degree Of Freedom relative movement between two objects, to satisfy small, the high-precision motion of highi degree of accuracy mechanism.Though this method has solved the kinematic error of being brought by the joint shaft bearing gap, the structural type complexity in joint, high to the fatigability requirement of joint material, increased difficulty and the cost processed greatly.
Summary of the invention
In view of this, the invention provides the flexible ball joint that a kind of suitable astrovehicle highi degree of accuracy mechanism uses at rail, simple in structure, the precision height, easy to process, can adapt to astrovehicle mechanism and use at rail.
The flexible ball joint that suitable astrovehicle highi degree of accuracy of the present invention mechanism uses at rail comprises two spherical surface body, tight rope, tensioning double-screw bolt and locking nut, two spherical surface body are connected with locking nut by tight rope, tensioning double-screw bolt, two spherical surface body are the part that spheroid is intercepted by the cross section, the surface of contact of the two is sphere, contact segment constitutes ball-joint, and the surface of contact by two spherical surface body and tight rope retrain the space of ball-joint, and bear corresponding active force.
The size of spherical surface body determined by installing space and the load of bearing, and process perpendicular to the cross section on the spherical surface body and crosses the circular hole in the center of circle, cross section, and circular hole is for the installation tight rope.
The tight rope size is determined by the radial dimension of tight rope and tensioning double-screw bolt, the groove of processing centered by circular hole on the cross section of spherical surface body, and groove is used for installing locking nut.
The contact segment of spherical surface body applies molybdenum disulfide or lubriation material.
Tight rope adopts wire rope or super elastic marmen silk, the tight rope two ends achieve a fixed connection by crimping or welding and tensioning double-screw bolt, tensioning double-screw bolt and the locking nut of tight rope one end are processed into one, only the tension force of adjusting tight rope by tensioning double-screw bolt and the locking nut of the other end.
Tight rope is installed the back and is applied predetermined screw-down torque by locking nut, thereby makes tight rope bear certain pretightening force, and the size of pre-fastening moment should guarantee not occur the gap between spherical surface body and the spherical surface body under the effect of greatest expected pulling force.
Further, the present invention also comprises a compression spring, and compression spring is installed between the bottom surface of groove on locking nut and the spherical surface body.
In addition, the sphere of one of them is replaced by the plane in two spherical surface body.
Beneficial effect: by tight rope two spherical surface body are compressed, when realizing three dimensional motion, the gap of having eliminated ball-joint.Bear the suffered pressure in joint by spherical surface body, bear the suffered pulling force in joint by tight rope.If the pulling force that bear in the joint is very little, the tension force of tight rope just can be very little so, and this almost completely can eliminate the required extra moment in drive ball joint.All parts all adopt the close metallic material manufacturing of thermal expansion coefficient, make the variation of space environment can ignore the influence of kinematic accuracy, and therefore, this ball-joint is particularly suitable for using at rail of highi degree of accuracy, micro-displacement mechanism.
Description of drawings
Fig. 1 is longitudinal section of the present invention organigram;
Fig. 2 is the schematic representation that the present invention has the fixed force spring pad;
Fig. 3 is another structural representation of the present invention.
Wherein, the last spherical surface body of 1-, 2-lower peripheral surface body, 3-tight rope, 4-tensioning double-screw bolt, 5-locking nut, 6,7-circular hole, 8,9-groove, 10-fixed force spring pad.
Embodiment
As shown in Figure 1, the invention provides the flexible ball joint that a kind of suitable astrovehicle highi degree of accuracy mechanism uses at rail, the present invention mainly comprises spherical surface body 1, lower peripheral surface body 2, tight rope 3, tensioning double-screw bolt 4 and locking nut 5.Spherical surface body 1 and spherical surface body 2 are the part of spheroid, have circular hole 7 and groove 8 on the last spherical surface body 1, have circular hole 6 and groove 9 on the spherical surface body 2, and tight rope 3 is passed circular hole 6 and circular hole 7.Spherical surface body 1 is connected by tight rope 3, tensioning double-screw bolt 4 and locking nut 5 with spherical surface body 2, and the sphere of spherical surface body 1 and spherical surface body 2 contact segments constitutes ball-joint.Retrain by the contact sphere of last spherical surface body 1, lower peripheral surface body 2 and the motion of 3 pairs of ball-joints of tight rope, and bear corresponding active force.Tight rope 3 and two tensioning double-screw bolts 4 be connected to crimping or welding, guarantee that the connection between the two is reliable.Being connected between two tensioning double-screw bolts 4 and the corresponding locking nut 5 is spirally connected, the pulling force that expection is born according to ball-joint is determined the tension force F of tight rope 3, guarantee that the tension force F of tight rope 3 greater than pulling force, again according to the tension force F size of tight rope 3, determines the screw-down torque M of locking nut 5.The big I of screw-down torque M is calculated as follows:
R is the exradius of locking nut 5 supporting surfaces in the formula, and r is the interior circle radius of locking nut 5 supporting surfaces, and μ is the friction factor between locking nut 5 and the spherical surface body supporting surface, d
0Be the effective diameter of thread of tensioning double-screw bolt 4 and locking nut 5, λ is the lead angle of tensioning double-screw bolt 4 and locking nut 5, and ρ is the equivalent friction angle of tensioning double-screw bolt 4 and locking nut 5 auxiliary connections.In the engineering, also can estimate the size of screw-down torque M with following formula:
M＝KdF
Wherein K is equivalent screw-down torque coefficient, and d is the nominal diameter of tensioning double-screw bolt 4.
The described size that goes up spherical surface body 1 and lower peripheral surface body 2 can be determined by ball-joint installing space and required carrying situation.The diameter of circular hole 6 and circular hole 7 is definite by the radial dimension of tight rope 3 and tensioning double-screw bolt 4, and as far as possible little.The size of groove 8 and groove 9 will satisfy the fitting operation spatial requirement of locking nut 4, can also be for being connected with the external world with the side of time slot 8 and groove 9.
Described spherical surface body 1 and spherical surface body 2 will obtain enough hardness requirements by heat treatment process, and apply molybdenum disulfide or other lubriation material in the contact segment of spherical surface body 1 and spherical surface body 2, avoid cold welding occurring between spherical surface body 1 and the spherical surface body 2.
The tight rope 3 of described flexible ball joint can adopt materials such as wire rope, super elastic marmen silk.For guaranteeing that the tension force in the tight rope 3 can not change because of the motion of ball-joint, between locking nut 5 and spherical surface body 1, spherical surface body 2, also can fill up fixed force spring pad 10, as shown in Figure 2.In the certain deformation scope, the elastic force value of fixed force spring pad 10 remains unchanged substantially, thereby guarantees that the tension force in the tight rope 3 keeps constant, is convenient to the motion control of ball-joint
The tensioning double-screw bolt 4 and the locking nut 5 that are positioned at an end in the described flexible ball joint also can be made of one, only the tension force of adjusting tight rope by tensioning double-screw bolt 4 and the locking nut 5 of the other end.
The sphere of going up spherical surface body 2 in the described flexible ball joint can substitute with the plane, and according to ball-joint intensity, rigidity requirement, the side of spherical surface body is processed accordingly, as shown in Figure 3.
In sum, more than be preferred embodiment of the present invention only, be not for limiting protection scope of the present invention.Within the spirit and principles in the present invention all, any modification of doing, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (8)
1. flexible ball joint that suitable astrovehicle highi degree of accuracy mechanism uses at rail, it is characterized in that, comprise: comprise two spherical surface body, tight rope, tensioning double-screw bolt and locking nut, two spherical surface body are connected with locking nut by tight rope, tensioning double-screw bolt, two spherical surface body are the part that spheroid is intercepted by the cross section, the surface of contact of the two is sphere, contact segment constitutes ball-joint, surface of contact by two spherical surface body and tight rope retrain the space of ball-joint, and bear corresponding active force.
2. the flexible ball joint used at rail of suitable astrovehicle highi degree of accuracy as claimed in claim 1 mechanism, the size that it is characterized in that described spherical surface body is determined by installing space and the load of bearing, process the circular hole perpendicular to cross section and the mistake center of circle, cross section on the spherical surface body.
3. the flexible ball joint used at rail of suitable astrovehicle highi degree of accuracy as claimed in claim 1 or 2 mechanism is characterized in that described tight rope size determined the groove of processing centered by circular hole on the cross section of spherical surface body by the radial dimension of tight rope and tensioning double-screw bolt.
4. the flexible ball joint used at rail of suitable astrovehicle highi degree of accuracy as claimed in claim 3 mechanism is characterized in that the contact segment of described spherical surface body applies molybdenum disulfide or lubriation material.
5. the flexible ball joint used at rail of suitable astrovehicle highi degree of accuracy as claimed in claim 4 mechanism, it is characterized in that described tight rope adopts wire rope or super elastic marmen silk, the tight rope two ends achieve a fixed connection by crimping or welding and tensioning double-screw bolt, tensioning double-screw bolt and the locking nut of tight rope one end are processed into one, only the tension force of adjusting tight rope by tensioning double-screw bolt and the locking nut of the other end.
6. the flexible ball joint used at rail of suitable astrovehicle highi degree of accuracy as claimed in claim 5 mechanism, it is characterized in that applying predetermined screw-down torque by locking nut after described tight rope is installed, thereby make tight rope bear certain pretightening force, the size of pre-fastening moment should guarantee not occur the gap between spherical surface body and the spherical surface body under the effect of greatest expected pulling force.
7. the flexible ball joint used at rail of suitable astrovehicle highi degree of accuracy as claimed in claim 6 mechanism is characterized in that also comprising compression spring, and described compression spring is installed between the bottom surface of groove on locking nut and the spherical surface body.
8. the flexible ball joint used at rail of suitable astrovehicle highi degree of accuracy as claimed in claim 7 mechanism is characterized in that the sphere of one of them is replaced by the plane in described two spherical surface body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310204562.3A CN103277403B (en) | 2013-05-28 | 2013-05-28 | Flexible ball joint suitable for in-orbit application of high-precision mechanism of spacecraft |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310204562.3A CN103277403B (en) | 2013-05-28 | 2013-05-28 | Flexible ball joint suitable for in-orbit application of high-precision mechanism of spacecraft |
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| Publication Number | Publication Date |
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| CN103277403A true CN103277403A (en) | 2013-09-04 |
| CN103277403B CN103277403B (en) | 2015-04-15 |
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| CN201310204562.3A Active CN103277403B (en) | 2013-05-28 | 2013-05-28 | Flexible ball joint suitable for in-orbit application of high-precision mechanism of spacecraft |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104455057A (en) * | 2014-10-31 | 2015-03-25 | 北京空间飞行器总体设计部 | Flexible universal joint suitable for on-orbit application of spacecraft high-precision mechanism |
| CN105840677A (en) * | 2016-05-20 | 2016-08-10 | 北京空间飞行器总体设计部 | Six-freedom-degree self-adaptive flexible universal joint |
| CN108098831A (en) * | 2017-12-26 | 2018-06-01 | 常州大学 | A kind of three-degree of freedom flexible joint structure |
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| EP1426016A1 (en) * | 2002-12-02 | 2004-06-09 | BIEDERMANN MOTECH GmbH | Member having a shaft connected to a holding member for coupling to a rod |
| US20040238715A1 (en) * | 2000-12-21 | 2004-12-02 | Donnelly Corporation, A Corporation Of The State Of Michigan | Interior rearview mirror assembly with polymeric components |
| WO2008151805A2 (en) * | 2007-06-14 | 2008-12-18 | Johnson Controls Gmbh | Coupling/uncoupling device for a transmission means in particular on a vehicle seat with a crash-active headrest and vehicle seat |
| CN101709748A (en) * | 2009-12-10 | 2010-05-19 | 江苏大学 | Double universal joint consisting flexible knuckles |
| CN101260904B (en) * | 2008-04-23 | 2010-06-02 | 中国科学院国家天文台南京天文光学技术研究所 | Ball hinge device based on flexible member |
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2013
- 2013-05-28 CN CN201310204562.3A patent/CN103277403B/en active Active
Patent Citations (5)
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| US20040238715A1 (en) * | 2000-12-21 | 2004-12-02 | Donnelly Corporation, A Corporation Of The State Of Michigan | Interior rearview mirror assembly with polymeric components |
| EP1426016A1 (en) * | 2002-12-02 | 2004-06-09 | BIEDERMANN MOTECH GmbH | Member having a shaft connected to a holding member for coupling to a rod |
| WO2008151805A2 (en) * | 2007-06-14 | 2008-12-18 | Johnson Controls Gmbh | Coupling/uncoupling device for a transmission means in particular on a vehicle seat with a crash-active headrest and vehicle seat |
| CN101260904B (en) * | 2008-04-23 | 2010-06-02 | 中国科学院国家天文台南京天文光学技术研究所 | Ball hinge device based on flexible member |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104455057A (en) * | 2014-10-31 | 2015-03-25 | 北京空间飞行器总体设计部 | Flexible universal joint suitable for on-orbit application of spacecraft high-precision mechanism |
| CN104455057B (en) * | 2014-10-31 | 2017-01-18 | 北京空间飞行器总体设计部 | Flexible universal joint suitable for on-orbit application of spacecraft high-precision mechanism |
| CN105840677A (en) * | 2016-05-20 | 2016-08-10 | 北京空间飞行器总体设计部 | Six-freedom-degree self-adaptive flexible universal joint |
| CN105840677B (en) * | 2016-05-20 | 2018-05-04 | 北京空间飞行器总体设计部 | A kind of six degree of freedom self-adapting flexible universal joint |
| CN108098831A (en) * | 2017-12-26 | 2018-06-01 | 常州大学 | A kind of three-degree of freedom flexible joint structure |
| CN108098831B (en) * | 2017-12-26 | 2020-11-10 | 常州大学 | Three-degree-of-freedom flexible joint structure |
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| CN103277403B (en) | 2015-04-15 |
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