CN104454961B - A kind of equivalent compound spherical hinge of tension - Google Patents
A kind of equivalent compound spherical hinge of tension Download PDFInfo
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- CN104454961B CN104454961B CN201410666267.4A CN201410666267A CN104454961B CN 104454961 B CN104454961 B CN 104454961B CN 201410666267 A CN201410666267 A CN 201410666267A CN 104454961 B CN104454961 B CN 104454961B
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- bearing
- angular contact
- rotating mechanism
- connector
- ball
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Abstract
The invention discloses a kind of equivalent compound spherical hinge of tension, it is included rotating mechanism, bearing pin, lower rotating mechanism, rotates upwardly and downwardly.Upper rotating mechanism includes connecting gudgeon, jaw flange, two angular contact ball bearings, bolt one, bearing (ball) covers one, the lower end of connection gudgeon is coordinated by angular contact ball bearing with the flange hole on jaw flange top, bolt one is screwed with the screw for being connected gudgeon bottom, and bearing (ball) cover is fixed on the upper surface of jaw flange.Lower rotating mechanism includes connector, bearing (ball) cover two, bolt two, bearing block, two angular contact ball bearings, oscillating bearings.The equivalent compound spherical hinge of the present invention can provide spatial rotational degree of freedom while bearing larger tensional load, to reach transmitting movement and power between connector and connected piece, realize deflection, freely adjust the purpose of displacement and angle.
Description
Technical field
The present invention relates to a kind of equivalent compound spherical hinge, specifically, is that one kind is related to bear drag load and obtain node
The spherical hinge structure of degree of freedom.
Technical background
Spherical hinge structure is used for transmitting torque and space motion between connector, and routine spherical hinge structure is typically adopted at present
" ball-ball-and-socket " formula structure, can only relatively rotate around the public centre of sphere between bulb and ball-and-socket, i.e. only one of which rotational freedom,
And its difficulty of processing is larger, and resistance to tension is weaker, can not typically bear larger pulling force, thus its range of application is limited
System.
Content of the invention
Problem to be solved by this invention is to provide a kind of equivalent compound spherical hinge, and it can bear the same of larger tensional load
When spatial rotational degree of freedom can be provided, to reach transmitting movement and power between connector and connected piece, realize deflection, freely
Adjust the purpose of displacement and angle.
A kind of equivalent compound spherical hinge of tension of the present invention, it includes rotating mechanism, bearing pin, lower rotating mechanism, turns up and down
Connected by bearing pin between motivation structure.
Wherein, upper rotating mechanism includes connecting gudgeon, jaw flange, two angular contact ball bearings, bolts one, bearing (ball) cover
One, connect gudgeon lower end coordinated by angular contact ball bearing with the flange hole on jaw flange top, bolt one be connected gudgeon
The screw of bottom is screwed, and bearing (ball) cover is fixed on the upper surface of jaw flange.
Lower rotating mechanism includes connector, bearing (ball) cover two, bolt two, bearing block, two angular contact ball bearings, joint shafts
Hold；The lower end of connector is coordinated by angular contact ball bearing with the dead eye of bearing block, the screw of bolt two and connector bottom
Screw, bearing (ball) cover two is fixed on the lower surface of bearing block, the upper end of connector is flat, left positioned at jaw flange bottom
In the neutral gear of right jaw, the hole at flat place embeds the hole of oscillating bearing, bearing pin and oscillating bearing, jaw flange bottom or so jaw
It is engaged, makes jaw flange be connected with connector.
It is an advantage of the invention that：（One）, connection gudgeon and jaw flange achievable relative by angular contact ball bearing cooperation
Between rotation；Connector coordinates the rotation that can achieve between with bearing block by angular contact ball bearing；Connector is around x-axis
Line large rotation angle, 360 ° of rotations around z-axis line and the small angle oscillation around y-axis（Angular range：0~6°）, i.e., of the invention
There are three rotational freedoms；（Two）, connect gudgeon and bolt one in the present invention and be threaded connection transmission tensional load, connection
Body is threaded connection the application of the axial tensional load of transmission and oscillating bearing with bolt two so which can bear larger drawing
Power load；（Three）Therefore, the present invention realizes displacement each other or deflection while power is transmitted, while having structure letter
Single, installation and debugging are convenient, be easy to the characteristics of ensureing precision；（Four）In parallel institution, two or three of the present invention are used as dynamic
When power source drags a part motion, if wherein there is the nonsynchronous situation of motion simultaneously, now need to adjust because of motion difference
The displacement for walking and causing or angular deviation, the purpose that just can reach smooth regulation with the spherical hinge structure of the present invention；（Five）This is multiple
Close ball pivot two ends coupling with the external world can be various ways（Flange, internal and external threads, welding type）；This structure is used as knot in the middle of
Structure, can achieve three axles（Meet at a bit）Rotate；Also apply be applicable in parallel institution, required for realizing while load is transmitted
Degree of freedom.
Description of the drawings
Fig. 1 is the axonometric chart of ball pivot of the present invention.
Fig. 2 is the front view of ball pivot of the present invention.
Fig. 3 is the structural representation of the jaw flange of the present invention.
Fig. 4 is the structural representation of the connector of the present invention.
Fig. 5 is the schematic diagram that the present invention is used in parallel-connection structure.
Specific embodiment
Knowable to Fig. 1, Fig. 2, Fig. 3, Fig. 4, a kind of equivalent compound spherical hinge of tension of the invention, it include rotating mechanism,
Bearing pin 6, lower rotating mechanism, are rotated upwardly and downwardly.
Wherein, upper rotating mechanism includes connecting gudgeon 1, jaw flange 2, two angular contact ball bearings 3, bolts one 4, bearing
End cap 1, the lower end for connecting gudgeon 1 are coordinated by angular contact ball bearing 3 with the flange hole on 2 top of jaw flange, bolt 1 and
The screw of 1 bottom of connection gudgeon is screwed, and bearing (ball) cover 5 is fixed on the upper surface of jaw flange 2.Wherein, upper and lower angular contact ball
The inner ring of bearing 3 limits positioning by the step surface of the step surface and bolt 1 of connection gudgeon 1 respectively, and outer ring is respectively by bearing end
The endoporus step surface of the lower surface of lid 1 and jaw flange 2 limits positioning.The characteristics of this kind of structure is：（One）Connection gudgeon 1 with
Bolt 1 is threaded connection transmission tensional load；（Two）Connection gudgeon 1 is coordinated by angular contact bearing 3 with jaw flange 2,
While load is transmitted, which can realize 360 ° of rotations each other.
Lower rotating mechanism includes connector 7, bearing (ball) cover 28, bolt 29,10, two angular contact ball bearings of bearing block
11st, oscillating bearing 12；The lower end of connector 7 is coordinated by angular contact ball bearing 11 with the dead eye of bearing block 10, bolt 29 with
The screw of 7 bottom of connector is screwed, and bearing (ball) cover 28 is fixed on the lower surface of bearing block 10, and the upper end of connector 7 is flat
Shape, in the neutral gear of 2 bottom of jaw flange or so jaw, the hole at flat place embeds oscillating bearing 12, bearing pin 6 and oscillating bearing
12nd, the axis hole of 2 bottom of jaw flange or so jaw is engaged, and makes jaw flange 2 be connected with connector 7.Wherein, angular contact ball
The inner ring of bearing 11 limits positioning by the step surface of the step surface and bolt 29 of connector 7 respectively, and outer ring is respectively by bearing block 10
Endoporus step surface and bearing (ball) cover 28 endoporus step surface limit positioning.The both sides of oscillating bearing 12 pass through circlip 13
Positioning.The characteristics of this kind of structure is：（One）Connector 7 is threaded connection the axial tensional load of transmission with bolt 29；（Two）Even
Junctor 7 is coordinated by angular contact ball bearing 11 with bearing block 10, and while load is transmitted, which can realize 360 ° each other
Rotate；（Three）The shaft hole matching of oscillating bearing 12,2 bottom of jaw flange in bearing pin 6 and connector 7 or so jaw, makes up and down
Two rotors are coupled together becomes an entirety, can achieve connector 7 and puts around x-axis large rotation angle, around the low-angle of y-axis
Dynamic, while jaw flange 2 can drive connector 7 to make 360 ° of rotations around z-axis line.
Wherein, two 3 back-to-back assemblings of angular contact ball bearing, two 11 back-to-back assemblings of angular contact ball bearing.This kind of group
Dress mode can bear the axial load of both direction, and rigidity is high, can bear compared with big load, can also bear tilting moment.
Therefore, it is an advantage of the invention that：（One）, connection gudgeon and jaw flange achievable by angular contact ball bearing cooperation
Rotation between；Connector coordinates the rotation that can achieve between with bearing block by angular contact ball bearing；Connector
Around x-axis large rotation angle, 360 ° of rotations around z-axis line and the small angle oscillation around y-axis（Angular range：0~6°）, i.e.,
The present invention has three rotational freedoms；（Two）, connect gudgeon and bolt one in the present invention and be threaded connection transmission tension load
Lotus, connector are threaded connection the application of the axial tensional load of transmission and oscillating bearing with bolt two so which can hold
Receive larger drag load；（Three）Therefore, the present invention realizes displacement each other or deflection while power is transmitted, while tool
There is simple structure, installation and debugging are convenient, be easy to the characteristics of ensureing precision.
Ball pivot of the present invention is can also be used in parallel institution, such as two or three power sources drag a part fortune simultaneously
When dynamic, if wherein there is the nonsynchronous situation of motion, displacement or angle that cause are inclined because motion is asynchronous now to need regulation
Difference, the purpose that just can reach smooth regulation with the spherical hinge structure of the present invention.As shown in figure 5, there is three balls of the invention in figure
Hinge, connection gudgeon 1 therein is in motor or other type of drive drive lower while hauling disk motion, ideally three
Motor movement synchronization, disk move vertically, if occurring the nonsynchronous situation of motion in the short time, will certainly cause disk
Incline, now the ball pivot at inclination produces corresponding sphere and swings, adjust the asynchronous displacement difference for causing, and do not affect upper end
Motor connection is moved, so as to improve the stability of mass motion.
It can be various ways that this compound spherical hinge two ends is coupled with the external world（Flange, internal and external threads, welding type）；This structure is made
For an intermediate structure, three axles are can achieve（Meet at a bit）Rotate；Also apply be applicable in parallel institution, while load is transmitted
Degree of freedom required for realizing.
Present invention is mainly applied to realizing transmission load in the connector of angled requirement and providing multiple degree of freedom fortune
Dynamic occasion, such as parallel robot, parallel machine, motion simulator etc., to reach transmission fortune between connector and connected piece
Dynamic and power, realizes deflection, freely adjusts the purpose of displacement and angle.
Claims (6)
1. the equivalent compound spherical hinge of a kind of tension, it is characterised in that：It includes rotating mechanism, bearing pin (6), lower rotating mechanism,
Connected by bearing pin (6) between upper rotating mechanism and lower rotating mechanism；Upper rotating mechanism includes connecting gudgeon (1), jaw flange
(2), two angular contact ball bearings (3), bolts one (4), bearing (ball) covers one (5), connect lower end and the jaw flange of gudgeon (1)
(2) flange hole on top is coordinated by two angular contact ball bearings (3), and bolt one (4) is revolved with the screw for being connected gudgeon (1) bottom
Close, bearing (ball) cover one (5) is fixed on the upper surface of jaw flange (2)；Upper angular contact in above-mentioned two angular contact bearing (3)
The inner ring of ball bearing and lower angular contact ball bearing is limited by the step surface of the step surface and bolt one (4) of connection gudgeon (1) respectively
Positioning, outer ring limit positioning by the lower surface of bearing (ball) cover one (5) and the endoporus step surface of jaw flange (2) respectively.
2. equivalent compound spherical hinge according to claim 1, it is characterised in that：Lower rotating mechanism includes connector (7), bearing
End cap two (8), bolt two (9), bearing block (10), two angular contact ball bearings (11), oscillating bearings (12)；Connector (7)
Lower end passes through two angular contact ball bearings (11) cooperations, bolt two (9) and connector (7) bottom with the dead eye of bearing block (10)
Screw screw, bearing (ball) cover two (8) is fixed on the lower surface of bearing block (10), and the upper end of connector (7) is flat, position
In the neutral gear of jaw flange (2) bottom or so jaw, the hole at the upper end of connector (7) flat embeds oscillating bearing
(12), bearing pin (6) is engaged with the hole of oscillating bearing (12), jaw flange (2) bottom or so jaw, make jaw flange (2) and
Connector (7) is connected.
3. equivalent compound spherical hinge according to claim 2, it is characterised in that：Two angular contact ball bearings in lower rotating mechanism
(11) inner ring of upper angular contact ball bearing and lower angular contact ball bearing in is respectively by the step surface and bolt two of connector (7)
(9) step surface limits positioning, and outer ring is respectively by the endoporus step of the endoporus step surface and bearing (ball) cover two (8) of bearing block (10)
Face limits positioning.
4. equivalent compound spherical hinge according to claim 2, it is characterised in that：The both sides of oscillating bearing (12) are kept off by elasticity
Circle (13) positioning.
5. equivalent compound spherical hinge according to claim 2, it is characterised in that：Described two angular contact balls of upper rotating mechanism
Bearing (3) is assembled back-to-back, and described two angular contact ball bearings (11) of lower rotating mechanism are assembled back-to-back.
6. according to the arbitrary described equivalent compound spherical hinge of claim 1-5, it is characterised in that：The equivalent compound spherical hinge applies to
In parallel institution, multiple equivalent compound spherical hinges are applied in combination and can achieve to connected piece because moving position that is asynchronous and causing
Move or angular deflection carries out free regulation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410666267.4A CN104454961B (en) | 2014-11-20 | 2014-11-20 | A kind of equivalent compound spherical hinge of tension |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410666267.4A CN104454961B (en) | 2014-11-20 | 2014-11-20 | A kind of equivalent compound spherical hinge of tension |
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| Publication Number | Publication Date |
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| CN104454961A CN104454961A (en) | 2015-03-25 |
| CN104454961B true CN104454961B (en) | 2017-03-15 |
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| CN201410666267.4A Active CN104454961B (en) | 2014-11-20 | 2014-11-20 | A kind of equivalent compound spherical hinge of tension |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105299401A (en) * | 2015-11-25 | 2016-02-03 | 武汉科技大学 | Universal hinge joint for multi-freedom-degree pose adjustment platform and assembly method thereof |
| CN105437216B (en) * | 2015-12-23 | 2017-12-19 | 北京交通大学 | A kind of parallel institution with restructural characteristic |
| CN105927222B (en) * | 2016-06-15 | 2018-09-18 | 凯盛重工有限公司 | A kind of universal pin type hitch |
| CN107237813A (en) * | 2017-06-14 | 2017-10-10 | 苏州金钜松机电有限公司 | A kind of metal connecting piece |
| CN108006091A (en) * | 2017-12-25 | 2018-05-08 | 辽宁三三工业有限公司 | A kind of shield machine universal connector |
| CN110107599A (en) * | 2018-12-05 | 2019-08-09 | 哈尔滨工业大学 | A kind of hook hinge structure for electronic 6-dof motion platform |
| CN110142801A (en) * | 2019-06-24 | 2019-08-20 | 派罗(廊坊)机器人科技有限公司 | Composite balls hinge |
| CN116275946B (en) * | 2023-03-20 | 2023-10-27 | 至新自动化(北京)有限公司 | Hinge mechanism with zero clearance and quantitatively adjustable rigidity for six-degree-of-freedom parallel platform |
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|---|---|---|---|---|
| JPS523953A (en) * | 1975-06-24 | 1977-01-12 | Koyo Seiko Co Ltd | Device for connecting a drive shaft and a drive transmitting member |
| US4491436A (en) * | 1983-03-21 | 1985-01-01 | Deere & Company | Pivot pin assembly |
| CN1641178A (en) * | 2004-01-02 | 2005-07-20 | 清华大学 | Integrated hinge unit |
| CN101328936A (en) * | 2008-07-01 | 2008-12-24 | 北京航空航天大学 | Large load gapless accurate hooke hinge |
| CN102518689A (en) * | 2011-12-29 | 2012-06-27 | 江苏大学 | High-precision spherical hinge structure for parallel machine tools |
| CN103906947A (en) * | 2011-11-04 | 2014-07-02 | Ntn株式会社 | Parallel link mechanism, constant velocity universal joint, and link actuator |
| CN204253584U (en) * | 2014-11-20 | 2015-04-08 | 泰尔重工股份有限公司 | A kind of equivalent compound spherical hinge of tension |
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2014
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Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS523953A (en) * | 1975-06-24 | 1977-01-12 | Koyo Seiko Co Ltd | Device for connecting a drive shaft and a drive transmitting member |
| US4491436A (en) * | 1983-03-21 | 1985-01-01 | Deere & Company | Pivot pin assembly |
| CN1641178A (en) * | 2004-01-02 | 2005-07-20 | 清华大学 | Integrated hinge unit |
| CN101328936A (en) * | 2008-07-01 | 2008-12-24 | 北京航空航天大学 | Large load gapless accurate hooke hinge |
| CN103906947A (en) * | 2011-11-04 | 2014-07-02 | Ntn株式会社 | Parallel link mechanism, constant velocity universal joint, and link actuator |
| CN102518689A (en) * | 2011-12-29 | 2012-06-27 | 江苏大学 | High-precision spherical hinge structure for parallel machine tools |
| CN204253584U (en) * | 2014-11-20 | 2015-04-08 | 泰尔重工股份有限公司 | A kind of equivalent compound spherical hinge of tension |
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| CN104454961A (en) | 2015-03-25 |
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