CN104728288A - Hook joint formed by cross reed flexible joints - Google Patents
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- 235000014676 Phragmites communis Nutrition 0.000 title claims abstract description 10
- 238000009434 installation Methods 0.000 claims abstract description 8
- 229910001094 6061 aluminium alloy Inorganic materials 0.000 claims description 2
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- 244000089486 Phragmites australis subsp australis Species 0.000 abstract description 2
- 230000005540 biological transmission Effects 0.000 abstract 2
- 238000000034 method Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 230000005489 elastic deformation Effects 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 238000003754 machining Methods 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 238000005868 electrolysis reaction Methods 0.000 description 1
- 238000005461 lubrication Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
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Abstract
一种交叉簧片柔性关节组成的虎克铰，涉及一种柔顺机构技术领域。该关节解决目前该柔顺机构的最大行程为±5至±10°，难以适应一些大转角的场合的问题。方案：芯体上有四个安装定位孔，分别与四个柔性转动关节的一端相连，四个柔性转动关节分别定义为柔性转动关节一、柔性转动关节二、柔性转动关节三和柔性转动关节四，柔性转动关节一和柔性转动关节三的另一端与支架一连接，同时柔性转动关节二和柔性转动关节四的另一端与支架二固接。本发明用于大行程精密传动机构和柔性传动领域。
A Hooke hinge composed of flexible joints of cross reeds relates to the technical field of compliant mechanisms. The joint solves the problem that the current maximum stroke of the compliance mechanism is ±5 to ±10°, which makes it difficult to adapt to some occasions with large rotation angles. Solution: There are four installation and positioning holes on the core, which are respectively connected to one end of the four flexible revolving joints. The four flexible revolving joints are respectively defined as flexible revolving joint 1, flexible revolving joint 2, flexible revolving joint 3 and flexible revolving joint 4 , the other ends of the first flexible revolving joint and the third flexible revolving joint are connected to the first support, and at the same time, the other ends of the second flexible revolving joint and the fourth flexible revolving joint are fixedly connected to the second support. The invention is used in the fields of large-stroke precision transmission mechanism and flexible transmission.
Description
技术领域technical field
本发明涉及一种交叉簧片柔性关节组成的虎克铰，涉及一种柔顺机构技术领域。The invention relates to a Hooke hinge composed of cross reed flexible joints, and relates to the technical field of compliance mechanism.
背景技术Background technique
传统的机构都是由刚性构件以运动副的形式连接而成的，组成运动副的构件间不可避免的存在间隙和摩擦，无法满足机构的高速、高精密、微型化等性能要求。柔顺机构利用自身的弹性变形传递运动和力，因此无机械摩擦、无需润滑，运动平稳，可一体化加工，便于维护，使其具有高精度和高分辨率等特点。Traditional mechanisms are connected by rigid components in the form of kinematic pairs. There are inevitably gaps and frictions between the components that make up the kinematic pairs, which cannot meet the performance requirements of the mechanism such as high speed, high precision, and miniaturization. The compliant mechanism uses its own elastic deformation to transmit motion and force, so there is no mechanical friction, no lubrication, smooth motion, integrated processing, easy maintenance, and high precision and high resolution.
虎克铰由两个转动副组合而成，有两个相对转动的自由度，两个转动的轴线相互垂直。由于虎克铰两个转角独立，运动范围较大，因而广泛地应用在各种形式的并联机器人中。普通虎克铰的转轴处存在间隙，降低了其绝对定位精度，采用柔顺机构制成的虎克铰，可以有效避免因构件间的间隙而引起的运动失真。中国专利CN 101985960 A公开了一种多簧片式柔性虎克铰，可以满足高精度的要求，但是由于受到材料特性的限制，该柔顺机构的最大行程为±5--±10°，难以适应一些大转角的场合。The Hooke hinge is composed of two revolving pairs, which have two degrees of freedom of relative rotation, and the axes of the two rotations are perpendicular to each other. Because the two corners of the Hooke hinge are independent and the range of motion is large, it is widely used in various forms of parallel robots. There is a gap at the rotating shaft of the ordinary Hooke hinge, which reduces its absolute positioning accuracy. The Hooke hinge made of a compliant mechanism can effectively avoid motion distortion caused by the gap between components. Chinese patent CN 101985960 A discloses a multi-leaf flexible Hooke hinge, which can meet the requirements of high precision, but due to the limitation of material characteristics, the maximum stroke of the compliant mechanism is ±5--±10°, which is difficult to adapt to Some big corner occasions.
发明内容Contents of the invention
本发明的目的是提供一种交叉簧片柔性关节组成的虎克铰，以解决目前该柔顺机构的最大行程为±5至±10°，难以适应一些大转角的场合的问题。The purpose of the present invention is to provide a Hooke hinge composed of cross reed flexible joints to solve the problem that the maximum stroke of the current compliance mechanism is ±5 to ±10°, which is difficult to adapt to some occasions with large rotation angles.
本发明为解决上述技术问题采取的技术方案是：虎克铰包括支架一、支架二、芯体和四个柔性转动关节组成，每个柔性转动关节包括第一壳体、第二壳体、第一柔性板和第二柔性板，第一柔性板为工字形，第二柔性板为方形板且该方形板开有方形通孔，第一壳体和第二壳体结构相同，第一壳体由210°圆弧板和90°圆弧板制成一体，210°圆弧板的侧壁与90°圆弧板侧壁连接制成一体且90°圆弧板的厚度小于210°圆弧板的厚度，第一壳体的210°圆弧板设在第二壳体的90°圆弧板的外部且第一壳体的90°圆弧板设在第二壳体210°圆弧板的内部且第一壳体与第二壳体之间形成缝隙，第一壳体的内壁沿纵向开有二个第一通槽，第二壳体的内壁沿纵向开有二个第二通槽，第一柔性板通过第一通槽和第二通槽插接在第一壳体和第二壳体内部，第二柔性板通过余下的第一通槽和第二通槽插接在第一壳体和第二壳体的内部；The technical solution adopted by the present invention to solve the above-mentioned technical problems is: the Hooke hinge consists of bracket one, bracket two, core body and four flexible rotary joints, each flexible rotary joint includes a first shell, a second shell, a second shell, and a second shell. A flexible plate and a second flexible plate, the first flexible plate is I-shaped, the second flexible plate is a square plate and the square plate has a square through hole, the first shell and the second shell have the same structure, the first shell It is made of a 210° arc plate and a 90° arc plate, and the side wall of the 210° arc plate is connected with the side wall of the 90° arc plate to form a whole, and the thickness of the 90° arc plate is less than that of the 210° arc plate The thickness of the 210° arc plate of the first shell is set outside the 90° arc plate of the second shell and the 90° arc plate of the first shell is set on the 210° arc plate of the second shell Inside and a gap is formed between the first shell and the second shell, the inner wall of the first shell is longitudinally opened with two first through-slots, the inner wall of the second shell is longitudinally opened with two second through-slots, The first flexible board is plugged into the first housing and the second housing through the first slot and the second slot, and the second flexible board is plugged into the first housing through the remaining first slot and the second slot. body and the interior of the second housing;
芯体上有四个安装定位孔，分别与四个柔性转动关节的一端相连，四个柔性转动关节分别定义为柔性转动关节一、柔性转动关节二、柔性转动关节三和柔性转动关节四，柔性转动关节一和柔性转动关节三的另一端与支架一连接，同时柔性转动关节二和柔性转动关节四的另一端与支架二固接。There are four installation and positioning holes on the core, which are respectively connected to one end of the four flexible revolving joints. The four flexible revolving joints are respectively defined as flexible revolving joints 1, 2, 3 and 4. The other ends of the first revolving joint and the third flexible revolving joint are connected to the first support, while the other ends of the second flexible revolving joint and the fourth flexible revolving joint are fixedly connected to the second support.
本发明具有以下有益效果：1、本发明所设计的柔性虎克铰结构紧凑，安装方便，可以在小尺寸下保持无间隙、无摩擦的运动，运动精度高。The present invention has the following beneficial effects: 1. The flexible Hookee hinge designed by the present invention has a compact structure, is easy to install, can maintain gap-free and friction-free motion in a small size, and has high motion precision.
2、交叉分布的簧片(即第一柔性板和第二柔性板)，可以在运动时产生较大的弹性变形，从而使柔铰具有较大的运动行程，最大运动行程可达±30°，可用于精密机械，机器人关节等领域。2. The cross-distributed reeds (namely the first flexible plate and the second flexible plate) can produce large elastic deformation during movement, so that the flexible hinge has a large movement stroke, and the maximum movement stroke can reach ±30° , can be used in precision machinery, robot joints and other fields.
3、该虎克铰的两个支架采用正交方式布置，运动耦合小，同时在非转动方向上的刚度大，提高了机构的抗干扰特性。3. The two brackets of the Hooke hinge are arranged in an orthogonal manner, so the kinematic coupling is small, and the rigidity in the non-rotational direction is large, which improves the anti-interference characteristics of the mechanism.
4、圆柱型外壁缺口尺寸限制柔铰的运动范围，可以起到限位保护的作用。4. The size of the notch on the cylindrical outer wall limits the movement range of the flexible hinge, which can play the role of limit protection.
附图说明Description of drawings
图1是本发明装置的结构示意图，图2是簧片式柔性关节结构示意图，图3是本发明柔板安装示意图，图4是弓状环形间隙电解加工视图。Fig. 1 is a schematic structural diagram of the device of the present invention, Fig. 2 is a schematic structural diagram of a reed type flexible joint, Fig. 3 is a schematic diagram of the installation of a flex plate of the present invention, and Fig. 4 is a view of electrolytic machining of an arcuate annular gap.
具体实施方式Detailed ways
具体实施方式一：结合图1和图2说明本实施方式，本实施方式虎克铰包括支架一5、支架二6、芯体7和四个柔性转动关节8组成，每个柔性转动关节8包括第一壳体1、第二壳体2、第一柔性板3和第二柔性板4，第一柔性板3为工字形，第二柔性板4为方形板且该方形板开有方形通孔4-1，第一壳体1和第二壳体2结构相同，第一壳体由210°圆弧板和90°圆弧板制成一体，210°圆弧板的侧壁与90°圆弧板侧壁连接制成一体且90°圆弧板的厚度小于210°圆弧板的厚度，第一壳体的210°圆弧板设在第二壳体的90°圆弧板的外部且第一壳体的90°圆弧板设在第二壳体210°圆弧板的内部且第一壳体与第二壳体之间形成缝隙，第一壳体1的内壁沿纵向开有二个第一通槽1-1，第二壳体2的内壁沿纵向开有二个第二通槽2-1，第一柔性板3通过第一通槽1-1和第二通槽插2-1接在第一壳体1和第二壳体2内部，第二柔性板4通过余下的第一通槽1-1和第二通槽2-1插接在第一壳体1和第二壳体2的内部；Specific Embodiment 1: This embodiment is described in conjunction with FIG. 1 and FIG. 2. The Hooke hinge in this embodiment includes a bracket 5, a bracket 6, a core body 7 and four flexible rotary joints 8, and each flexible rotary joint 8 includes The first shell 1, the second shell 2, the first flexible board 3 and the second flexible board 4, the first flexible board 3 is I-shaped, the second flexible board 4 is a square board and the square board has a square through hole 4-1. The first shell 1 and the second shell 2 have the same structure. The first shell is made of a 210° arc plate and a 90° arc plate. The arc plate side wall is connected and made into one and the thickness of the 90° arc plate is less than the thickness of the 210° arc plate, the 210° arc plate of the first housing is arranged outside the 90° arc plate of the second shell and The 90° arc plate of the first shell is arranged inside the 210° arc plate of the second shell and a gap is formed between the first shell and the second shell, and the inner wall of the first shell 1 is longitudinally opened with two holes. A first through slot 1-1, the inner wall of the second housing 2 has two second through slots 2-1 along the longitudinal direction, the first flexible board 3 inserts 2 through the first through slot 1-1 and the second through slot -1 is connected inside the first housing 1 and the second housing 2, and the second flexible board 4 is inserted into the first housing 1 and the second through slot 1-1 and the second through slot 2-1 through the remaining The interior of the second casing 2;
芯体7上有四个安装定位孔，分别与四个柔性转动关节8的一端相连，四个柔性转动关节分别定义为柔性转动关节一、柔性转动关节二、柔性转动关节三和柔性转动关节四，柔性转动关节一和柔性转动关节三的另一端与支架一5连接，同时柔性转动关节二和柔性转动关节四的另一端与支架二6固接。There are four installation and positioning holes on the core 7, which are respectively connected to one end of four flexible revolving joints 8, and the four flexible revolving joints are respectively defined as flexible revolving joint 1, flexible revolving joint 2, flexible revolving joint 3 and flexible revolving joint 4 , the other ends of the first flexible revolving joint and the third flexible revolving joint are connected to the first support 5 , while the other ends of the second flexible revolving joint and the fourth flexible revolving joint are fixedly connected to the second support 6 .
具体实施方式二：结合图1说明本实施方式第一柔性板3和第二柔性板4均为6061铝合金板，此材质具有优良的焊接特性且韧性高。其它实施方式与具体实施方式一相同。Embodiment 2: In conjunction with FIG. 1 , the first flexible board 3 and the second flexible board 4 of this embodiment are both 6061 aluminum alloy boards, which have excellent welding properties and high toughness. Other implementation manners are the same as the specific implementation manner 1.
具体实施方式三：结合图1说明本实施方式第一柔性板3的竖直梁穿过方形通孔4-1内且第一柔性板3的两个横梁分别设在第二柔性板4的两侧。其它实施方式与具体实施方式一相同。Specific Embodiment Three: In conjunction with FIG. 1, the vertical beam of the first flexible board 3 in this embodiment passes through the square through hole 4-1 and the two beams of the first flexible board 3 are respectively arranged on the two sides of the second flexible board 4. side. Other implementation manners are the same as the specific implementation manner 1.
具体实施方式四：结合图1说明本实施方式第一柔性板3的竖直梁的宽度等于第二柔性板4上端面和下端面的宽度之和。其它实施方式与具体实施方式一相同。Embodiment 4: In conjunction with FIG. 1 , the width of the vertical beam of the first flexible board 3 in this embodiment is equal to the sum of the widths of the upper end surface and the lower end surface of the second flexible board 4 . Other implementation manners are the same as the specific implementation manner 1.
具体实施方式五：结合图1说明本实施方式第一柔性板3和第二柔性板4的厚度相同。其它实施方式与具体实施方式一相同。Embodiment 5: Referring to FIG. 1 , the first flexible board 3 and the second flexible board 4 in this embodiment have the same thickness. Other implementation manners are the same as the specific implementation manner 1.
具体实施方式六：结合图1说明本实施方式由柔性转动关节一和柔性转动关节三组成的转动副与柔性转动关节二和柔性转动关节四组成的转动副互相正交。其它实施方式与具体实施方式一相同。Embodiment 6: In this embodiment, the rotating pair consisting of flexible rotating joint 1 and flexible rotating joint 3 and the rotating pair consisting of flexible rotating joint 2 and flexible rotating joint 4 are orthogonal to each other with reference to FIG. 1 . Other implementation manners are the same as the specific implementation manner 1.
工作原理：本发明中，所使用的第一柔性板3和第二柔性板4的结构示意图，主体为圆柱形，柔性板的两侧分别固定在两个外壁上，通过两个交叉的平面柔板的弹性变形，可以实现绕单轴的双向有限转动。将外壁一A固定，在外壁二B上施加转矩，固连在外壁二B上的弹性柔板会发生弹性变形，进而实现外壁一A与外壁二B之间的无间隙转动，反之亦然。本实施例中所使用的四个柔性关节完全相同，通过改变柔性板的结构形式和柔板之间的夹角可以满足不同的转角和转动刚度要求。Working principle: In the present invention, the structural schematic diagram of the first flexible board 3 and the second flexible board 4 used, the main body is cylindrical, and the two sides of the flexible board are respectively fixed on the two outer walls, through two intersecting plane flexible The elastic deformation of the plate can realize bidirectional limited rotation around a single axis. Fix the outer wall A and apply a torque on the outer wall B, the elastic flexible plate fixed on the outer wall B will elastically deform, and then realize the gapless rotation between the outer wall A and the outer wall B, and vice versa . The four flexible joints used in this embodiment are identical, and different rotation angles and rotational stiffness requirements can be met by changing the structure of the flexible board and the angle between the flexible boards.
在柔性关节的制备过程中，为了保证柔板的安装定位精度，本发明中采用先固定柔板，再切割圆柱型外壁得到柔铰的运动空间的方式。具体的方式如下，第一柔性板3和第二柔性板4的材料为铝合金，通过冲压的方法得到对应的形状。第一柔性板3和第二柔性板4交叉垂直放置后插入到圆筒的插槽中，柔性板与外壳采用一定的工艺(焊接、化学粘贴等)固定。外壁一A、外壁二B是由同一段空心圆柱通过一定的去除材料的方式得到的。In the preparation process of the flexible joint, in order to ensure the installation and positioning accuracy of the flexible board, the method of fixing the flexible board first, and then cutting the cylindrical outer wall to obtain the movement space of the flexible joint is adopted in the present invention. The specific method is as follows. The material of the first flexible board 3 and the second flexible board 4 is aluminum alloy, and the corresponding shapes are obtained by stamping. The first flexible board 3 and the second flexible board 4 are intersected and vertically placed and then inserted into the slots of the cylinder. The flexible board and the shell are fixed by a certain process (welding, chemical bonding, etc.). Outer wall 1A and outer wall 2B are obtained from the same section of hollow cylinder through a certain method of material removal.
在本实施例中采用的是电解加工的方式。加工方法如下：弓状环形间隙一、弓状环形间隙二是一个角度为210°的圆筒，在两端有弧度为30°径向延伸的凸起部分，通过电解方法去除环形间隙内的金属，加工至空心圆筒的中l/2处(l为圆柱长度)，从而在外壳加工出弓形环形间隙和轴向延伸的凹槽。将装配体颠倒，转到对角面进行加工，加工深度不变，在圆筒两端形成了两个成对角分布的运动空间。最后从中间切开空心圆柱，从而得到两个圆柱部件。两个部件间的间隙正好为柔性关节提供运动空间，同时也可以起到限位保护的功能。In this embodiment, the method of electrolytic machining is adopted. The processing method is as follows: arcuate annular gap 1 and arcuate annular gap 2 are a cylinder with an angle of 210°, and there are convex parts with a radian of 30° at both ends, and the metal in the annular gap is removed by electrolysis , processed to the middle l/2 of the hollow cylinder (l is the length of the cylinder), so that the arcuate annular gap and the axially extending groove are processed in the shell. Turn the assembly upside down and turn it to the diagonal surface for processing, the processing depth remains unchanged, and two diagonally distributed movement spaces are formed at both ends of the cylinder. Finally the hollow cylinder is cut in the middle, thus obtaining two cylindrical parts. The gap between the two parts just provides a movement space for the flexible joint, and can also function as a limit protection.
芯体7的主要功能是连接四个柔性关节，通过改变芯体7四个安装定位孔的相对位置和尺寸，可以得到不同性能要求的柔性虎克铰。支架一5和支架二6为虎克铰与其他部件的连接接口，具体的安装形式通过实际情况确定。The main function of the core 7 is to connect the four flexible joints. By changing the relative positions and sizes of the four installation and positioning holes of the core 7, flexible Hooke hinges with different performance requirements can be obtained. The first bracket 5 and the second bracket 6 are the connection interfaces between the Hooke hinge and other components, and the specific installation form is determined by the actual situation.
本发明设计的虎克铰可以实现高精度、高分辨率、大角度的双向二维转动，最大运动行程可达±30°，特别适用于需要提供精密大行程转动的场合。The Hooke hinge designed by the present invention can realize high-precision, high-resolution, large-angle two-way and two-dimensional rotation, and the maximum motion stroke can reach ±30°, which is especially suitable for occasions that need to provide precise large-stroke rotation.
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105252530A (en) * | 2015-11-27 | 2016-01-20 | 哈尔滨工业大学 | Six-degree-of-freedom large-stroke flexible parallel platform |
| CN109973515A (en) * | 2019-04-08 | 2019-07-05 | 北京航空航天大学 | A pure rolling contact RCM flexible hinge |
| CN111251316A (en) * | 2020-02-24 | 2020-06-09 | 西安交通大学 | Stretch bending type continuum robot torsion-resistant unit and robot |
| CN112128224A (en) * | 2020-10-19 | 2020-12-25 | 南通伊诺精密塑胶导管有限公司 | Device based on hooke hinge control is gentle to lock drive flexible joint motion |
| CN112882225A (en) * | 2021-01-14 | 2021-06-01 | 中国科学院光电技术研究所 | Large-stroke flexible two-dimensional motion platform |
| CN112998864A (en) * | 2021-04-20 | 2021-06-22 | 哈尔滨工业大学 | Parallel robot system for lower limb fracture reduction operation |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105252530A (en) * | 2015-11-27 | 2016-01-20 | 哈尔滨工业大学 | Six-degree-of-freedom large-stroke flexible parallel platform |
| CN109973515A (en) * | 2019-04-08 | 2019-07-05 | 北京航空航天大学 | A pure rolling contact RCM flexible hinge |
| CN111251316A (en) * | 2020-02-24 | 2020-06-09 | 西安交通大学 | Stretch bending type continuum robot torsion-resistant unit and robot |
| CN112128224A (en) * | 2020-10-19 | 2020-12-25 | 南通伊诺精密塑胶导管有限公司 | Device based on hooke hinge control is gentle to lock drive flexible joint motion |
| CN112128224B (en) * | 2020-10-19 | 2024-05-31 | 南通伊诺精密塑胶导管有限公司 | Device for controlling flexible lock to drive flexible joint to move based on Hooke hinge |
| CN112882225A (en) * | 2021-01-14 | 2021-06-01 | 中国科学院光电技术研究所 | Large-stroke flexible two-dimensional motion platform |
| CN112998864A (en) * | 2021-04-20 | 2021-06-22 | 哈尔滨工业大学 | Parallel robot system for lower limb fracture reduction operation |
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