CN110039570A - A kind of composite balls hinge - Google Patents
A kind of composite balls hinge Download PDFInfo
- Publication number
- CN110039570A CN110039570A CN201910397370.6A CN201910397370A CN110039570A CN 110039570 A CN110039570 A CN 110039570A CN 201910397370 A CN201910397370 A CN 201910397370A CN 110039570 A CN110039570 A CN 110039570A
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- sleeve
- traveller
- fork
- revolute pair
- newel
- Prior art date
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- 239000002131 composite material Substances 0.000 title claims abstract description 31
- 230000007704 transition Effects 0.000 claims description 14
- 239000000203 mixture Substances 0.000 claims description 6
- 210000000245 forearm Anatomy 0.000 claims description 5
- 239000007787 solid Substances 0.000 claims description 4
- 239000004744 fabric Substances 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 abstract description 8
- 238000012545 processing Methods 0.000 abstract description 3
- 230000007246 mechanism Effects 0.000 description 15
- 238000005516 engineering process Methods 0.000 description 6
- 150000001875 compounds Chemical class 0.000 description 5
- 230000008878 coupling Effects 0.000 description 5
- 238000010168 coupling process Methods 0.000 description 5
- 238000005859 coupling reaction Methods 0.000 description 5
- 230000033001 locomotion Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000009434 installation Methods 0.000 description 4
- 238000013461 design Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000001360 synchronised effect Effects 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 239000011159 matrix material Substances 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0283—Three-dimensional joints
Abstract
The present invention relates to a kind of composite balls hinges, including newel and the first layer hinge and second layer hinge that are set on newel, the first layer hinge is made of first sleeve, interior fork and the first traveller, the first sleeve is set at the interlude of newel, the interior fork is connected in first sleeve, and first traveller is mounted on interior fork；The second layer hinge is made of second sleeve, outer fork and the second traveller, and the end of the newel is arranged in the second sleeve, and the outer fork connects second sleeve, and second traveller is mounted on outer fork.The present invention, which can synchronize, realizes that the six degree of freedom between three components independently rotates, and rotation angular region is big, and all pivot centers meet at a fixed point always；Overall structure is simple, symmetrical, compact simultaneously, not but not generates additional centrifugal intertia force, centrifugal intertia force square, and convenient processing and manufacture, is suitable for micromation manufacture.
Description
Technical field
The present invention relates to a kind of composite balls hinges, and in particular to one kind is widely used in multiple degrees of freedom, more closed loop moving machines
The composite balls hinge of structure, belongs to machine-building and robotic technology field.
Background technique
At hand with the artificial intelligence epoch, demand of the people to multiple degrees of freedom, more closed loop moving mechanisms is increasingly compeled
It cuts, especially in Machine Manufacturing Technology and robot field.However, the positive fortune of existing multiple degrees of freedom, more closed loop moving mechanisms
Dynamic solves extremely difficult or low without full analytic solutions or computational efficiency.This influences its dynamics calculation, Singularity
The follow-up works such as conformal analysis, trajectory planning, motion control, and then this kind of mechanism is constrained in practical application mechanical, in machine.
It is reported that document " research of the solution 6-SPS parallel institution position forecast based on Analysis of Topological Structure " discovery, multiple degrees of freedom,
The solution of more closed loop moving mechanisms direct kinematics is ease related with the overlapping index of mechanism, the more low then positive fortune of the degree of coupling
The dynamic resolving learned is simpler.In addition, overlapping index is related with the layout type of ball chain in mechanism, if it is possible to will be multiple general
Spherical hinge synthesizes a composite balls hinge, then the degree of coupling of corresponding mechanism is relative to the coupling for being free of compound spherical hinge chain mechanism
Degree wants low.That is, introducing composite balls hinge is one of reduction its direct kinematics solution difficulty important prominent in mechanism
Cut.
General spherical hinge refers to the Three Degree Of Freedom rotation that two components are formed in same point, has three pivot centers, and
They are orthogonal.Compound hinges refer to that three and three form several kinematic pairs in same point with upper member, including multiple
Close turning joint, compound hook hinge, composite balls hinge three classes.It is found through retrieval, the composite hinge of Patent No. 99209879.3
Chain discloses a kind of composite rotation hinge being made of two parallel shafts and two pieces of L shaped plates；Patent No.
A kind of 201711172538.0 Three Degree Of Freedom compound hinges, which disclose, a kind of to be realized three using multiple bearings and axially rotates
Composite rotation hinge.Compound hook hinge, the realization of composite balls hinge are more demanding, they require at least 4,6 respectively
Pivot center is met at a bit always, and all rotations are completely independent.It can be said that composite balls hinge refer to by two and two with
The rotation center of upper general spherical hinge coincides with the hinge of same fixed point.Currently, there is not yet above-mentioned function can be fully achieved
The innovation design of such hinge of energy.
In summary, there are the following problems for existing composite balls hinge technology:
(1) it cannot be guaranteed that whole centers of rotation of two and more than two general spherical hinge coincide with a fixed point always；
(2) it cannot be guaranteed that it is independent mutually between whole rotary motions of two and more than two general spherical hinge, i.e., it closes without relying on
System.
Summary of the invention
It is an object of the invention to: be directed to above-mentioned disadvantage of the existing technology, propose it is a kind of design rationally, user
Just, the composite balls hinge being simple to manufacture, the six degree of freedom that can be realized between three individual members independently rotate.
In order to reach the goals above, the present invention provides a kind of composite balls hinge, including newel and it is set to center
First layer hinge and second layer hinge on column, the first layer hinge is made of first sleeve, interior fork and the first traveller, described
First sleeve is set at the interlude of newel, and the interior fork is connected in first sleeve, and first traveller is mounted on interior
On fork；The second layer hinge is made of second sleeve, outer fork and the second traveller, and the second sleeve is arranged in the newel
End, the outer fork connects second sleeve, and second traveller is mounted on outer fork.
Preferably, the first symmetrical circular through hole there are two being made on the outer circle wall of the first sleeve, two
First circular through hole is coaxial and its axis is the perpendicular bisector of center mast axis, and first circular through hole is perpendicular to first sleeve
The both ends of axis direction, the interior fork are respectively arranged in the first circular through hole of first sleeve.
Preferably, the second sleeve includes two lantern rings being symmetricly set on newel and is connected to two lantern rings
Between two sections of transition rings, two lantern ring coaxial lines arrangement, two sections of transition rings are arranged symmetrically.
Preferably, the second circular through hole, two the second circular through hole coaxial lines are formed in the middle part of the side of the transition rings
Arrangement, the axis of the second circular through hole are the perpendicular bisector of two set ring axis, axis of second circular through hole perpendicular to lantern ring
The both ends in line direction, the outer fork are respectively arranged in the second circular through hole of transition rings.
Preferably, the newel is solid cylinder, and first traveller, the second traveller are hollow cylinder.
Preferably, the upper end cylinder that the interior fork, outer fork are arranged symmetrically by two, a lower end cylinder, and connection
The U-shaped set of transitions of upper end cylinder and lower end cylinder is at the axis of the upper end cylinder and the axis perpendicular of lower end cylinder.
Preferably, the upper end cylinder of the interior fork matches the first rotation of composition with the first circular through hole of first sleeve
Pair, the lower end cylinder of the interior fork is matched with the inner wall of the first traveller constitutes the second revolute pair；The upper end cylinder of the outer fork
It is matched with the second circular through hole of second sleeve and constitutes third revolute pair, the lower end cylinder of the outer fork is interior with the second traveller
Wall, which matches, constitutes the 4th revolute pair；The inner wall of the first sleeve is matched with newel constitutes the 5th revolute pair；The set
The inner wall of ring is matched with newel constitutes the 6th revolute pair；First revolute pair, the second revolute pair, third revolute pair,
The axis of four revolute pairs, the 5th revolute pair and the 6th revolute pair intersects at a point.
Preferably, the center column outer wall is fixedly connected with first component, and the outer wall of first traveller is fixedly connected with
The outer wall of second component, second traveller is fixedly connected with third component.
Wherein, " component " is mechanical major term, is the basic unit of movement.It is simple a little to say, it is to movement
Object.Composite balls hinge of the invention, it can connect three different components, after connection between three components there are six from
By the rotation spent.
The present invention can guarantee that three individual members form composite balls hinge in same point, and between any two component
Rotary motion be all it is independent, the degree of coupling of corresponding mechanism is low, this help to obtain the complete of mechanism direct kinematics equation
Analytic solutions.This just provides a kind of new approaches to reduce the number of mechanism end actuator upper link point, is conducive to opening up for mechanism
Flutter structure optimization.
Preferably, the first component is bar, and the second component is the large arm or forearm of robot, the third component
For the large arm or forearm of robot.
After applying the present invention, it is able to solve the deficiency of traditional technology, is brought the following benefits:
(1) synchronous to realize that the six degree of freedom between three components independently rotates, rotation angular region is big, and all pivot centers are always
Meet at a fixed point；
(2) overall structure is simple, symmetrical, compact, not but not generates additional centrifugal intertia force, centrifugal intertia force square, and
Convenient processing and manufacture, while applying also for micromation manufacture.
Detailed description of the invention
The present invention will be further described below with reference to the drawings.
Fig. 1 is the structural schematic diagram of one embodiment of the invention.
Fig. 2 is the scheme of installation of first layer hinge in the present invention.
Fig. 3 is the structural schematic diagram of first sleeve in the present invention.
Fig. 4 is the structural schematic diagram of interior fork, outer fork in the present invention.
Fig. 5 is the scheme of installation of second layer hinge in the present invention.
Fig. 6 is the structural schematic diagram of second sleeve in the present invention.
In figure: 1. newels, 2. first sleeves, 3. interior forks, 4. first travellers, 5. second sleeves, 6. pitch outside, and 7. second
Traveller, 8. first circular through holes, 9. upper end cylinders, 10.U shape changeover portion, 11. lower end cylinders, 12. second circular through holes.
Specific embodiment
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention without any creative labor, may be used also for those of ordinary skill in the art
To obtain other drawings based on these drawings.
Embodiment one
As shown in Figures 1 to 6, a kind of composite balls hinge, including newel 1 and the first layer hinge being set on newel 1
With second layer hinge, first layer hinge is set between first component and second component, and second layer hinge is set to first component
Between third component, first layer hinge, second layer hinge are general spherical hinge, all have three pivot centers, and three turn
Shaft line is orthogonal, and three pivot centers of first layer hinge meet at same point P, three rotation axis of second layer hinge always
Line meets at same point Q always, and when practical set, P point is overlapped with Q point.Wherein, first layer hinge is by first sleeve 2,3 and of interior fork
First traveller 4 composition, first sleeve 2 are set at the interlude of newel 1, and interior fork 3 is connected in first sleeve 2, and first is sliding
Column 4 is mounted on interior fork 3；Second layer hinge is made of second sleeve 5, outer fork 6 and the second traveller 7, and second sleeve 5 is arranged in
The end of stem 1, outer 6 connection second sleeve 5 of fork, the second traveller 7 are mounted on outer fork 6.
Newel 1 is solid cylinder, and first sleeve 2, the first traveller 4, the second traveller 7 are hollow cylinder.First
System is there are two the first symmetrical circular through hole 8 on the outer circle wall of sleeve 2, and two the first circular through holes 8 are coaxial and its axis
Line is the perpendicular bisector of 1 axis of center column, axis direction of first circular through hole 8 perpendicular to first sleeve 2, the both ends point of interior fork 3
It is not set in the first circular through hole 8 of first sleeve 2.Second sleeve 5 includes two lantern rings being symmetricly set on newel 1
And two sections of transition rings being connected between two lantern rings, two lantern ring coaxial line arrangements, two sections of transition rings are arranged symmetrically, in transition
The second circular through hole 12 is formed in the middle part of the side of ring, two 12 coaxial lines of the second circular through hole are arranged, the second circular through hole 12
Axis is the perpendicular bisector of two set ring axis, axis direction of second circular through hole 12 perpendicular to lantern ring, the both ends difference of outer fork 6
It is set in the second circular through hole 12 of transition rings.
Interior fork 3,6 shapes of outer fork are identical, the upper end cylinder 9 that interior fork 3 is arranged symmetrically by two, a lower end cylinder 11, with
And the composition of U-shaped changeover portion 10 of a connection upper end cylinder 9 and lower end cylinder 11, it is outer to pitch 6 and be arranged symmetrically by two upper
The U-shaped changeover portion 10 of cylinder 9, a lower end cylinder 11 and a connection upper end cylinder 9 and lower end cylinder 11 is held to form, and
And the axis perpendicular of the axis of upper end cylinder 9 and lower end cylinder 11.It is interior fork 3 two upper end cylinders 9 respectively with first sleeve 2
Two the first circular through holes 8 match and constitute two the first revolute pairs, lower end cylinder 11 and the first traveller 4 of interior fork 3 it is interior
Wall, which matches, constitutes the second revolute pair；It is outer fork 6 two upper end cylinders 9 respectively with two the second circular through holes of second sleeve 5
12 match two third revolute pairs of composition, and the lower end cylinder 11 of outer fork 6 matches the 4th turn of composition with the inner wall of the second traveller 7
Dynamic pair；The inner wall of first sleeve 2 is matched with newel 1 constitutes the 5th revolute pair；The inner wall of two lantern rings of second sleeve 5 point
It is not matched with newel 1 and constitutes two the 6th revolute pairs.In this way, the first revolute pair, the second revolute pair, third revolute pair,
The axis of nine revolute pairs such as four revolute pairs, the 5th revolute pair and the 6th revolute pair intersects at a point, which is composite balls hinge
Central point.
In addition, the outer wall of newel 1 is fixedly connected with first component (first component is bar), the outer wall of the first traveller 4 is solid
Surely it is connected with second component the large arm of robot (second component be), the outer wall of the second traveller 7 is fixedly connected with third component (the
Three components are the forearm of robot).
When operation, the present embodiment uses following steps:
Step 1, assembly components, to guarantee that the axis of whole revolute pairs intersects at same point.Specifically, by 2 sets of first sleeve
Enter the interlude of newel 1, then the both ends of interior fork 3 are inserted into the first circular through hole 8 of first sleeve 2, then by first
4 sets of traveller is pitched inside on 3 lower end cylinder 11；Second sleeve 5 is mounted on to the end of newel 1, i.e., is inserted in two lantern rings
The both ends of newel 1, then the both ends of outer fork 6 are inserted into the second circular through hole 12 of transition rings, then by 7 sets of the second traveller
Outside on the lower end cylinder 11 of fork 6.
Step 2, newel 1, the outer surface of the first traveller 4, the second traveller 7 outer surface on, be respectively and fixedly connected with the first structure
Part, second component and third component.
Step 3, synchronous driving two the first revolute pairs, second revolute pair, the 5th revolute pair, realize the second structure
Three Degree Of Freedom between part and first component independently rotates.This above-mentioned fourth officer revolute pair can use active drive, can also adopt
Use passive matrix.For example, when the driving method of this above-mentioned fourth officer revolute pair is active drive, in each secondary rotation vice division chief installation one
Platform rotating electric machine, the output shaft of rotating electric machine and the revolute pair are connected, and the rotation of such motor just drives connected revolute pair to turn
It is dynamic.
Step 4, synchronous driving two third revolute pairs, the 4th revolute pair, two the 6th revolute pairs, realize third structure
Three Degree Of Freedom between part and first component independently rotates.This above-mentioned five secondary revolute pair can use active drive, can also adopt
Use passive matrix.For example, when the driving method of this above-mentioned five secondary revolute pair is active drive, in each secondary rotation vice division chief installation one
Platform rotating electric machine, the output shaft of rotating electric machine and the revolute pair are connected, and the rotation of such motor just drives connected revolute pair to turn
It is dynamic.
After adopting the above structure, the beneficial effects of the present invention are as follows:
1, the six degree of freedom that can be achieved at the same time between three components independently rotates, and rotation angular region is big, and all pivot centers
Always the same fixed point is met at；
2, the overall structure of composite balls hinge is simple, symmetrical, compact, not but not generates additional centrifugal intertia force, is centrifuged and is used to
Property torque, and convenient processing and manufacture, while applying also for micromation manufacture；
3, composite balls hinge be used in multiple degrees of freedom, in more closed loop moving mechanisms when, can reducing mechanism the degree of coupling and positive fortune
The dynamic solution difficulty learned, and then for design kinematics, more preferably machine and machinery establish technical foundation to dynamic performance.
Basic principles and main features and advantages of the present invention of the invention have been shown and described above.The skill of the industry
Art personnel it should be appreciated that the present invention is not limited to the above embodiments, the above embodiments and description only describe
The principle of the present invention, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these
Changes and improvements all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and
Its equivalent thereof.
Claims (9)
1. a kind of composite balls hinge, it is characterised in that: including newel and the first layer hinge being set on newel and
Two layers of hinge, the first layer hinge are made of first sleeve, interior fork and the first traveller, and the first sleeve is set to newel
Interlude at, it is described it is interior fork be connected in first sleeve, first traveller is mounted on interior fork；The second layer hinge by
Second sleeve, outer fork and the second traveller composition, the second sleeve are arranged in the end of the newel, and the outer fork connects the
Two sleeves, second traveller are mounted on outer fork.
2. a kind of composite balls hinge according to claim 1, it is characterised in that: made on the outer circle wall of the first sleeve
There are two the first symmetrical circular through hole, first circular through hole perpendicular to first sleeve axis direction, it is described in
The both ends of fork are respectively arranged in the first circular through hole of first sleeve.
3. a kind of composite balls hinge according to claim 2, it is characterised in that: the second sleeve includes two and is symmetrical arranged
In the lantern ring on newel and two sections of transition rings being connected between two lantern rings, two lantern ring coaxial line arrangements, two sections of mistakes
Ring is crossed to be arranged symmetrically.
4. a kind of composite balls hinge according to claim 3, it is characterised in that: be formed in the middle part of the side of the transition rings
Two circular through holes, for second circular through hole perpendicular to the axis direction of lantern ring, the both ends of the outer fork are respectively arranged at transition
In second circular through hole of ring.
5. a kind of composite balls hinge according to claim 1, it is characterised in that: the newel is solid cylinder, described
First traveller, the second traveller are hollow cylinder.
6. a kind of composite balls hinge according to claim 5, it is characterised in that: the interior fork, outer fork are by two symmetrical cloth
The U-shaped set of transitions of the upper end cylinder set, a lower end cylinder, and connection upper end cylinder and lower end cylinder is at the upper end
The axis of cylinder and the axis perpendicular of lower end cylinder.
7. a kind of composite balls hinge according to claim 6, it is characterised in that: the upper end cylinder and first sleeve of the interior fork
The first circular through hole match and constitute the first revolute pair, the lower end cylinder of the interior fork matches structure with the inner wall of the first traveller
At the second revolute pair；The upper end cylinder of the outer fork is matched with the second circular through hole of second sleeve constitutes third revolute pair,
The lower end cylinder of the outer fork is matched with the inner wall of the second traveller constitutes the 4th revolute pair；The inner wall of the first sleeve is in
Stem, which matches, constitutes the 5th revolute pair；The inner wall of institute's lantern ring is matched with newel constitutes the 6th revolute pair；Described first turn
The axis of dynamic pair, the second revolute pair, third revolute pair, the 4th revolute pair, the 5th revolute pair and the 6th revolute pair intersects at a point.
8. a kind of composite balls hinge according to claim 1, it is characterised in that: the center column outer wall is fixedly connected with first
Component, the outer wall of first traveller are fixedly connected with second component, and the outer wall of second traveller is fixedly connected with third structure
Part.
9. a kind of composite balls hinge according to claim 8, it is characterised in that: the first component is bar, second structure
Part is the large arm or forearm of robot, and the third component is the large arm or forearm of robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910397370.6A CN110039570B (en) | 2019-05-14 | 2019-05-14 | Composite ball hinge |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910397370.6A CN110039570B (en) | 2019-05-14 | 2019-05-14 | Composite ball hinge |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110039570A true CN110039570A (en) | 2019-07-23 |
| CN110039570B CN110039570B (en) | 2024-04-19 |
Family
ID=67281845
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910397370.6A Active CN110039570B (en) | 2019-05-14 | 2019-05-14 | Composite ball hinge |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110039570B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112145544A (en) * | 2020-09-29 | 2020-12-29 | 重庆大学 | Fixed rotation center multi-shaft fully-flexible hinge with series structure |
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|---|---|---|---|---|
| US4609364A (en) * | 1983-10-04 | 1986-09-02 | Roland Labbe | Universal coupling between a first rotary shaft and a second rotary shaft |
| CN2120914U (en) * | 1992-03-01 | 1992-11-04 | 第二汽车制造厂 | Cross ring type constant velocity universal joint |
| CN101328936A (en) * | 2008-07-01 | 2008-12-24 | 北京航空航天大学 | Large load gapless accurate hooke hinge |
| CN102152303A (en) * | 2011-03-08 | 2011-08-17 | 天津大学 | Reconfigurable Hooke joint |
| WO2012007014A1 (en) * | 2010-07-13 | 2012-01-19 | Abdallah Ezzat Abdallah Abozaied | Joint |
| CN103216582A (en) * | 2013-05-03 | 2013-07-24 | 同济大学 | Bevel gear universal reducer |
| CN105221587A (en) * | 2015-11-09 | 2016-01-06 | 沈阳工业大学 | A kind of Three Degree Of Freedom Hooke's hinge |
| CN205260659U (en) * | 2015-12-23 | 2016-05-25 | 郑州日产汽车有限公司 | Car a steering system integrated form constant velocity cardan joint |
| CN210025356U (en) * | 2019-05-14 | 2020-02-07 | 尤天宇 | Composite ball hinge |
-
2019
- 2019-05-14 CN CN201910397370.6A patent/CN110039570B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4609364A (en) * | 1983-10-04 | 1986-09-02 | Roland Labbe | Universal coupling between a first rotary shaft and a second rotary shaft |
| CN2120914U (en) * | 1992-03-01 | 1992-11-04 | 第二汽车制造厂 | Cross ring type constant velocity universal joint |
| CN101328936A (en) * | 2008-07-01 | 2008-12-24 | 北京航空航天大学 | Large load gapless accurate hooke hinge |
| WO2012007014A1 (en) * | 2010-07-13 | 2012-01-19 | Abdallah Ezzat Abdallah Abozaied | Joint |
| CN102152303A (en) * | 2011-03-08 | 2011-08-17 | 天津大学 | Reconfigurable Hooke joint |
| CN103216582A (en) * | 2013-05-03 | 2013-07-24 | 同济大学 | Bevel gear universal reducer |
| CN105221587A (en) * | 2015-11-09 | 2016-01-06 | 沈阳工业大学 | A kind of Three Degree Of Freedom Hooke's hinge |
| CN205260659U (en) * | 2015-12-23 | 2016-05-25 | 郑州日产汽车有限公司 | Car a steering system integrated form constant velocity cardan joint |
| CN210025356U (en) * | 2019-05-14 | 2020-02-07 | 尤天宇 | Composite ball hinge |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112145544A (en) * | 2020-09-29 | 2020-12-29 | 重庆大学 | Fixed rotation center multi-shaft fully-flexible hinge with series structure |
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| Publication number | Publication date |
|---|---|
| CN110039570B (en) | 2024-04-19 |
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Effective date of registration: 20191225 Address after: Luxi community, high tech Development Zone, Jiangbei new district, Nanjing City, Jiangsu Province Applicant after: You Tianyu Address before: Longpan road Xuanwu District of Nanjing city of Jiangsu Province, No. 159 210037 Applicant before: Nanjing Forestry University |
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