CN109519468A - A kind of gapless spherical joint of low friction is secondary and its assembly method and application - Google Patents
A kind of gapless spherical joint of low friction is secondary and its assembly method and application Download PDFInfo
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- CN109519468A CN109519468A CN201811368419.7A CN201811368419A CN109519468A CN 109519468 A CN109519468 A CN 109519468A CN 201811368419 A CN201811368419 A CN 201811368419A CN 109519468 A CN109519468 A CN 109519468A
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- spherical
- gapless
- fulcrum bearing
- low friction
- joint
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C11/00—Pivots; Pivotal connections
- F16C11/04—Pivotal connections
- F16C11/06—Ball-joints; Other joints having more than one degree of angular freedom, i.e. universal joints
- F16C11/0685—Manufacture of ball-joints and parts thereof, e.g. assembly of ball-joints
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C11/00—Pivots; Pivotal connections
- F16C11/04—Pivotal connections
- F16C11/06—Ball-joints; Other joints having more than one degree of angular freedom, i.e. universal joints
- F16C11/0695—Mounting of ball-joints, e.g. fixing them to a connecting rod
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Pivots And Pivotal Connections (AREA)
Abstract
The present invention relates to a kind of gapless spherical joint pair of low friction and its assembly method and applications, belong in multiple-degree-of-freedom mechanism and micro- transmission control technology field, spherical joint pair is that a kind of very effective kind of drive of multifreedom motion is realized in simple joint, the manufacturing process of spherical surface subjoint and cooperation will directly affect the transmission accuracy and efficiency in joint, by utilizing nonmetallic materials --- the tight fit between polytetrafluoroethylene (PTFE) and metal ball-head connecting rod, the ball-joint transmission of low friction, gapless, high reliability is realized.
Description
Technical field
The present invention relates to a kind of gapless spherical joint pair of low friction and its assembly method and applications, belong to mostly freely
Mechanism and micro- transmission control technology field are spent, spherical joint pair is to realize that one kind of multifreedom motion has very much in simple joint
The kind of drive of effect, the manufacturing process of spherical surface subjoint and cooperation will directly affect the transmission accuracy and efficiency in joint, pass through benefit
With nonmetallic materials --- low friction, gapless, Gao Ke are realized in the tight fit between polytetrafluoroethylene (PTFE) and metal ball-head connecting rod
Ball-joint by property is driven.
Background technique
In multiple-degree-of-freedom mechanism and micro- transmission control field, spherical pair is that the one of multifreedom motion is realized in simple joint
The very effective kind of drive of kind.However spherical pair be different from shaft hole matching single-degree-of-freedom transmission mechanism, manufacturing process with
Assembly technology plays the role of the transmission efficiency of spherical pair vital.
Spherical joint is secondary to be of wide application, such as than more typical case: the piston shoes structure of the plunger pump of hydraulic system
Deng.However its assembly technology is complex, by the globe joint insertion cylindrical hole of connecting rod, then leads on the end face of cylindrical hole
Application external force is crossed, makes end face that forced deformation occur, aperture is to contract, so that connecting rod spherical connector is fixed on cylindrical hole
It is interior, constitute spherical pair.Which is more demanding to assembly technology, and needs by special installation.Traditional closing in type spherical surface
Auxiliary structure is all often the cooperation between metal and metal, if gap is too small, often generates greatly friction.In addition, ball
The face subtask time is longer, may cause the abrasion of metal surface, and serious situation causes transmission system there may be stuck
Failure, especially in high-power mechanical-electrical or hydraulic system, may result in transmission mechanism and is damaged.
Summary of the invention
Technology of the invention solves the problems, such as: overcoming not knowing for the prior art, proposes a kind of gapless spherical surface of low friction
Joint pair and its assembly method and application, the spherical joint pair is by utilizing nonmetallic materials --- polytetrafluoroethylene (PTFE) and metal ball
Low friction, the transmission of gapless ball-joint are realized in tight fit between head connecting rod.
The technical solution of the invention is as follows:
A kind of gapless spherical joint pair of low friction, the spherical joint pair include spherical connecting bar, anti-attrition set, fulcrum bearing and
Holding screw；
The spherical connecting bar includes intermediate connecting rod and the bulb positioned at intermediate connecting rod both ends, i.e. one end of intermediate connecting rod
It is connected with a bulb, the other end of intermediate connecting rod is connected with a bulb；
The cylinder that the anti-attrition set has hemispherical groove for one, hemispherical groove are located at the side of the cylinder；
The fulcrum bearing includes the cylinder and ring flange for having phase perforation, and the cylinder with phase perforation is fixedly mounted on
On the end face of ring flange, phase perforation includes hemispherical-shaped aperture and cylindrical hole, and the hemispherical-shaped aperture of the cylinder is opened in the axial direction of the cylinder,
The cylindrical hole of the cylinder is opened on the cylinder and axially vertical direction, i.e., opens on the end face that the cylinder is not connect with ring flange
There is hemispherical-shaped aperture, the hemispherical-shaped aperture that cylindrical hole is provided on the side of the cylinder, and is provided with is mutually to pass through relationship with cylindrical hole；
The hemispherical groove of anti-attrition set and the hemispherical-shaped aperture of fulcrum bearing form a spherical structure, and the spherical structure and spherical shape are even
The bulb of bar matches；
Anti-attrition set is located in the cylindrical hole of fulcrum bearing；
A part of the bulb of spherical connecting bar is located in the hemispherical-shaped aperture of fulcrum bearing, another part of the bulb of spherical connecting bar
In the hemispherical groove of anti-attrition set；
The ring flange of fulcrum bearing has screwed hole of centre, and holding screw can apply anti-attrition set after passing through the screwed hole of centre
Add pretightning force.
The material of the anti-attrition set is polytetrafluoroethylene (PTFE)；
The material of the spherical connecting bar is metal, preferably stainless steel；
The material of the fulcrum bearing is metal, preferably stainless steel；
The material of the holding screw is metal, preferably stainless steel.
A kind of assembly method of the gapless spherical joint pair of low friction, steps of the method are:
(1) bulb of spherical connecting bar is embedded in from the cylindrical hole of fulcrum bearing, then along laterally pulling in the ball for making spherical connecting bar
A part of head is located in the hemispherical-shaped aperture of fulcrum bearing；
(2) anti-attrition set is placed into the cylindrical hole of fulcrum bearing, and is located at another part of the bulb of spherical connecting bar and subtracts
In the hemispherical groove of grinding set；
(3) holding screw is passed through from the screwed hole of centre on the ring flange of fulcrum bearing, holding out against anti-attrition set covers anti-attrition
The bulb of hemispherical groove and spherical connecting bar is fitted close, and eliminates gap, simultaneous with lubrication, friction reducing effect.
A kind of application of the gapless spherical joint pair of low friction, it is small to be applied to joint of robot for the spherical joint pair
In the precision drive in space, as joint of mechanical arm, robot delicate, humanoid dexterous wrist joint, exoskeleton robot ankle close
Section etc..
Beneficial effect
(1) transmission mechanism that spherical joint pair of the invention is suitable for multi-freedom joint designs, and is particularly suitable for robot
The precision drive of joint short space, such as: joint of mechanical arm, robot delicate, humanoid dexterous wrist joint, ectoskeleton machine
People's ankle-joint etc. can realize precision drive while guaranteeing high-intensitive connection.
(2) cylindrical hole is provided with inside open ball-joint fulcrum bearing of the invention and the ball-type inner hole that mutually passes through therewith, dress
With in the process, the globe joint of connecting rod is inserted into from cylindrical hole, after arrival mutually passes through intersection point, is laterally embedded into ball-type inner hole, is realized bulb
The hemisphere face of side and the cooperation in ball-type hole.
(3) present invention is in order to guarantee the compactness of spherical pair cooperation, while reducing joint-friction power, using polytetrafluoroethylene (PTFE)
Material processes the cylindrical structure for having hemisphere face groove.
(4) there is plasticity using polytetrafluoroethylene material itself in the present invention, insertion ball-joint fulcrum bearing can be squeezed
Cylindrical hole in, and spherical groove is matched with the ball joint of connecting rod.In order to further eliminate fit clearance, improve
The compactness of spherical surface subjoint cooperation installs holding screw in the rear end of ball-joint fulcrum bearing, covers ball from polytetrafluoroethylene (PTFE) antifriction
The other end of face groove is fastened, the friction system since material itself has very big plasticity, and between plastics and metal
Number is very low, can reduce friction and wear while eliminating fit clearance, guarantee the lubricant effect in joint.
(5) spherical joint pair of the invention is matched by ball-type connecting rod with open half ball, it can be achieved that in the centre of sphere being
The space three-freedom of the heart rotates.In order to improve the cooperation precision of spherical pair while reduce the friction of ball and ball, in half ball
The other side install polytetrafluoroethylene (PTFE) hemisphere anti-attrition set, anti-attrition set rear end by holding screw fastening.On the one hand, polytetrafluoroethyl-ne
Half ball of alkene and half ball of ball-joint fulcrum bearing can be such that two and half ball and ball-type connecting rod are fitted close, and eliminate gap；It is another
The coefficient of friction of the ball joint of aspect, polytetrafluoroethylene (PTFE) and connecting rod is lower, can play the role of antifriction, lubrication.
(6) manufacturing process of spherical joint pair of the invention and cooperation will directly affect the transmission accuracy and efficiency in joint.
Half ball anti-attrition of the ball-type connecting rod of double bulbs, the ball-joint fulcrum bearing of open half ball, polytetrafluoroethylene material is covered and is opened
Half ball of metal for putting formula merges, and constitutes the spherical groove of ball-joint；Pass through half ball of metal and half ball phase of polytetrafluoroethylene (PTFE)
The mode of cooperation reduces the friction of ball-joint, improves cooperation precision and transmission accuracy；Polytetrafluoroethyl-ne is squeezed using holding screw
Alkene anti-attrition set completely eliminates fit clearance, while also guaranteeing the lubricant effect in joint；Open half ball fulcrum bearing uses hemisphere
The mode that groove is mutually passed through with cylindrical hole, convenient for the installation and removal of ball head connecting rod；By the open-mouth ruler for changing open spherical pore
It is very little, thus it is possible to vary the angle range of spherical pair pitching and yaw；It is low using the high-ductility of polytetrafluoroethylene (PTFE) and between metal
The characteristic of coefficient of friction realizes that the gapless of spherical joint pair, low friction are fitted close.
Detailed description of the invention
Fig. 1 is the schematic perspective view of spherical joint pair of the invention；
Fig. 2 is the schematic diagram of the section structure of spherical joint pair of the invention；
Fig. 3 is the structural schematic diagram of open ball-joint fulcrum bearing of the invention；
Fig. 4 is the structural schematic diagram that half ball anti-attrition of polytetrafluoroethylene material of the invention covers.
Specific embodiment
When assembly, the ball end of spherical connecting bar is embedded in from the cylindrical hole of open ball-joint fulcrum bearing first, then along side
To ball-type inside grooves are pulled in, match half of bulb with ball-and-socket；
To be squeezed into the polytetrafluoroethylene (PTFE) anti-attrition set of half ball along cylindrical hole, half ball that covers anti-attrition and bulb it is another
Half matches；
In the rear end face mounting screw of ball-joint fulcrum bearing, hold out against polytetrafluoroethylene (PTFE) anti-attrition set, make anti-attrition set with it is open
Ball-joint fulcrum bearing forms a complete spherical groove, is fitted close with ball head connecting rod, and eliminate gap, simultaneous with profit
Sliding, friction reducing effect.
Embodiment
As shown in Figs 1-4, the gapless spherical joint pair of a kind of low friction, the spherical joint pair include spherical connecting bar 1, subtract
Grinding set 2, fulcrum bearing 3 and holding screw 4；
The spherical connecting bar 1 includes intermediate connecting rod and the bulb positioned at intermediate connecting rod both ends, i.e. the one of intermediate connecting rod
End is connected with a bulb, and the other end of intermediate connecting rod is connected with a bulb；
The cylinder that the anti-attrition set 2 has hemispherical groove for one, hemispherical groove are located at the side of the cylinder；
The fulcrum bearing 3 includes the cylinder and ring flange for having phase perforation, and the cylinder with phase perforation is fixedly mounted
On the end face of ring flange, phase perforation includes hemispherical-shaped aperture and cylindrical hole, and the hemispherical-shaped aperture of the cylinder is opened in the axial direction of the cylinder
On, the cylindrical hole of the cylinder is opened on the cylinder and axially vertical direction, i.e., in the end face that the cylinder is not connect with ring flange
On be provided with hemispherical-shaped aperture, the hemispherical-shaped aperture that cylindrical hole is provided on the side of the cylinder, and is provided with and cylindrical hole are mutually to pass through relationship；
The hemispherical groove of anti-attrition set 2 and the hemispherical-shaped aperture of fulcrum bearing 3 form a spherical structure, the spherical structure and spherical shape
The bulb of connecting rod 1 matches；
Anti-attrition set 2 is located in the cylindrical hole of fulcrum bearing 3；
A part of the bulb of spherical connecting bar 1 is located in the hemispherical-shaped aperture of fulcrum bearing 3, the bulb of spherical connecting bar 1 it is another
Part is located in the hemispherical groove of anti-attrition set 2；
The ring flange of fulcrum bearing 3 has screwed hole of centre, and holding screw 4 can be to anti-attrition set after passing through the screwed hole of centre
2 apply pretightning force.
The material of the anti-attrition set 2 is polytetrafluoroethylene (PTFE)；
The material of the spherical connecting bar 1 is metal, preferably stainless steel；
The material of the fulcrum bearing 3 is metal, preferably stainless steel；
The material of the holding screw 4 is metal, preferably stainless steel.
A kind of assembly method of the gapless spherical joint pair of low friction, steps of the method are:
(1) bulb of spherical connecting bar 1 is embedded in from the cylindrical hole of fulcrum bearing 3, then makes spherical connecting bar 1 along laterally pulling in
A part of bulb is located in the hemispherical-shaped aperture of fulcrum bearing 3；
(2) anti-attrition set 2 is placed into the cylindrical hole of fulcrum bearing 3, and is located at another part of the bulb of spherical connecting bar 1
In the hemispherical groove of anti-attrition set 2；
(3) holding screw 4 is passed through from the screwed hole of centre on the ring flange of fulcrum bearing 3, holding out against anti-attrition set 2 makes anti-attrition set
2 hemispherical groove and the bulb of spherical connecting bar 1 are fitted close, and eliminate gap, simultaneous with lubrication, friction reducing effect.
A kind of application of the gapless spherical joint pair of low friction, it is small to be applied to joint of robot for the spherical joint pair
In the precision drive in space, as joint of mechanical arm, robot delicate, humanoid dexterous wrist joint, exoskeleton robot ankle close
Section etc..
Claims (10)
1. a kind of gapless spherical joint pair of low friction, it is characterised in that: the spherical joint pair includes spherical connecting bar (1), subtracts
Grinding set (2), fulcrum bearing (3) and holding screw (4)；
The spherical connecting bar (1) includes intermediate connecting rod and the bulb positioned at intermediate connecting rod both ends；
The anti-attrition set (2) is a cylinder for having hemispherical groove, and hemispherical groove is located at the side of the cylinder；
The fulcrum bearing (3) includes the cylinder and ring flange for having phase perforation, and the cylinder with phase perforation is fixedly mounted on
On the end face of ring flange, phase perforation includes hemispherical-shaped aperture and cylindrical hole, and the hemispherical-shaped aperture of the cylinder is opened in the axial direction of the cylinder,
The cylindrical hole of the cylinder is opened on the cylinder and axially vertical direction, i.e., opens on the end face that the cylinder is not connect with ring flange
There is hemispherical-shaped aperture, the hemispherical-shaped aperture that cylindrical hole is provided on the side of the cylinder, and is provided with is mutually to pass through relationship with cylindrical hole.
2. the gapless spherical joint pair of a kind of low friction according to claim 1, it is characterised in that: anti-attrition set (2)
Hemispherical groove and the hemispherical-shaped aperture of fulcrum bearing (3) form a spherical structure, the bulb phase of the spherical structure and spherical connecting bar (1)
Matching.
3. the gapless spherical joint pair of a kind of low friction according to claim 1, it is characterised in that: anti-attrition set (2) position
In in the cylindrical hole of fulcrum bearing (3).
4. the gapless spherical joint pair of a kind of low friction according to claim 1, it is characterised in that: spherical connecting bar (1)
A part of bulb be located in the hemispherical-shaped aperture of fulcrum bearing (3), another part of the bulb of spherical connecting bar (1) is located at anti-attrition set
(2) in hemispherical groove.
5. the gapless spherical joint pair of a kind of low friction according to claim 1, it is characterised in that: fulcrum bearing (3)
Ring flange has screwed hole of centre, and holding screw (4) can apply pretightning force to anti-attrition set (2) after passing through the screwed hole of centre.
6. the gapless spherical joint pair of a kind of low friction according to claim 1, it is characterised in that: the anti-attrition set
(2) material is polytetrafluoroethylene (PTFE)；
The material of the spherical connecting bar (1) is metal；
The material of the fulcrum bearing (3) is metal；
The material of the holding screw (4) is metal.
7. the gapless spherical joint pair of a kind of low friction according to claim 6, it is characterised in that: the spherical shape is even
The material of bar (1) is stainless steel；
The material of the fulcrum bearing (3) is stainless steel；
The material of the holding screw (4) is stainless steel.
8. a kind of assembly method of the gapless spherical joint pair of low friction, it is characterised in that steps of the method are:
(1) bulb of spherical connecting bar (1) is embedded in from the cylindrical hole of fulcrum bearing (3), then makes spherical connecting bar (1) along lateral pull in
A part of bulb be located in the hemispherical-shaped aperture of fulcrum bearing (3)；
(2) anti-attrition set (2) is placed into the cylindrical hole of fulcrum bearing (3), and makes another part position of the bulb of spherical connecting bar (1)
In in the hemispherical groove of anti-attrition set (2)；
(3) holding screw (4) is passed through from the screwed hole of centre on the ring flange of fulcrum bearing (3), holding out against anti-attrition set (2) makes anti-attrition
The bulb of the hemispherical groove and spherical connecting bar (1) that cover (2) is fitted close, and completes the assembly of spherical joint pair.
9. a kind of application of the gapless spherical joint pair of low friction, it is characterised in that: the spherical joint pair is applied to machine
In the precision drive of person joint's short space.
10. a kind of application of the gapless spherical joint pair of low friction according to claim 9, it is characterised in that: described
Joint of robot be joint of mechanical arm, robot delicate, humanoid dexterous wrist joint or exoskeleton robot ankle-joint.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811368419.7A CN109519468B (en) | 2018-11-16 | 2018-11-16 | Low-friction gapless spherical joint pair and assembling method and application thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811368419.7A CN109519468B (en) | 2018-11-16 | 2018-11-16 | Low-friction gapless spherical joint pair and assembling method and application thereof |
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| Publication Number | Publication Date |
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| CN109519468A true CN109519468A (en) | 2019-03-26 |
| CN109519468B CN109519468B (en) | 2020-05-12 |
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ID=65778205
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811368419.7A Active CN109519468B (en) | 2018-11-16 | 2018-11-16 | Low-friction gapless spherical joint pair and assembling method and application thereof |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110346100A (en) * | 2019-07-12 | 2019-10-18 | 成都宝利根自动化技术有限公司 | A kind of shaking platform multiple degrees of freedom precision flexible linking device |
| CN113090639A (en) * | 2021-02-22 | 2021-07-09 | 中国科学院深圳先进技术研究院 | Ball joint device and mechanical electronic equipment |
| WO2022083530A1 (en) * | 2020-10-20 | 2022-04-28 | 中山市金三模特道具有限公司 | Figurine ball joint and figurine skeleton |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110346100A (en) * | 2019-07-12 | 2019-10-18 | 成都宝利根自动化技术有限公司 | A kind of shaking platform multiple degrees of freedom precision flexible linking device |
| WO2022083530A1 (en) * | 2020-10-20 | 2022-04-28 | 中山市金三模特道具有限公司 | Figurine ball joint and figurine skeleton |
| CN113090639A (en) * | 2021-02-22 | 2021-07-09 | 中国科学院深圳先进技术研究院 | Ball joint device and mechanical electronic equipment |
| CN113090639B (en) * | 2021-02-22 | 2023-02-28 | 中国科学院深圳先进技术研究院 | Ball joint device and mechanical electronic equipment |
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| Publication number | Publication date |
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| CN109519468B (en) | 2020-05-12 |
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