CN110039570B - Composite ball hinge - Google Patents
Composite ball hinge Download PDFInfo
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- CN110039570B CN110039570B CN201910397370.6A CN201910397370A CN110039570B CN 110039570 B CN110039570 B CN 110039570B CN 201910397370 A CN201910397370 A CN 201910397370A CN 110039570 B CN110039570 B CN 110039570B
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- sleeve
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- revolute pair
- sliding column
- column
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- 239000002131 composite material Substances 0.000 title claims abstract description 26
- 230000007704 transition Effects 0.000 claims description 19
- 239000007787 solid Substances 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 9
- 238000000034 method Methods 0.000 abstract description 4
- 230000008569 process Effects 0.000 abstract description 3
- 230000007246 mechanism Effects 0.000 description 17
- 150000001875 compounds Chemical class 0.000 description 9
- 230000008878 coupling Effects 0.000 description 6
- 238000010168 coupling process Methods 0.000 description 6
- 238000005859 coupling reaction Methods 0.000 description 6
- 230000009286 beneficial effect Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000005457 optimization 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Pivots And Pivotal Connections (AREA)
Abstract
The invention relates to a composite ball hinge which comprises a central column, a first layer of hinge and a second layer of hinge, wherein the first layer of hinge and the second layer of hinge are arranged on the central column, the first layer of hinge consists of a first sleeve, an inner fork and a first sliding column, the first sleeve is arranged at the middle section of the central column, the inner fork is connected to the first sleeve, and the first sliding column is arranged on the inner fork; the second-layer hinge consists of a second sleeve, an outer fork and a second sliding column, wherein the second sleeve is arranged at the end part of the central column, the outer fork is connected with the second sleeve, and the second sliding column is arranged on the outer fork. The invention can synchronously realize six-degree-of-freedom independent rotation among three components, has large rotation angle range, and all rotation axes are always intersected with one fixed point; meanwhile, the whole structure is simple, symmetrical and compact, not only can not generate extra centrifugal inertia force and centrifugal inertia moment, but also is convenient to process and manufacture and suitable for miniaturized manufacture.
Description
Technical Field
The invention relates to a composite ball hinge, in particular to a composite ball hinge widely applied to a multi-degree-of-freedom and multi-closed-loop motion mechanism, and belongs to the technical fields of machine manufacturing and robots.
Background
With the coming of the artificial intelligence era, the demands of people on multi-degree-of-freedom and multi-closed-loop motion mechanisms are more and more urgent, and the requirements are particularly in the fields of mechanical manufacturing technology and robots. However, the forward kinematics solution of the existing multi-degree-of-freedom and multi-closed-loop motion mechanism is very difficult, or the full resolution solution is not available, or the calculation efficiency is low. The subsequent work of dynamics calculation, singular configuration analysis, track planning, motion control and the like is influenced, and the practical application of the mechanism in machinery and machines is further restricted. It is known that the literature on study of solving the positive solution of the position of a 6-SPS parallel mechanism based on topological structure analysis finds that the solving difficulty of the forward kinematics of the multi-degree-of-freedom and multi-closed-loop movement mechanism is related to the coupling degree index of the mechanism, and the lower the coupling degree is, the simpler the forward kinematics is solved. In addition, the coupling degree index is related to the layout of ball chains in the mechanism, and if a plurality of general ball hinges can be combined into one compound ball hinge, the coupling degree of the corresponding mechanism is lower than that of the mechanism without the compound ball hinge. That is, the introduction of a compound ball hinge into the mechanism is an important break that reduces the difficulty of solving the forward kinematics.
In general, a ball hinge refers to a three-degree-of-freedom rotation formed by two members at the same point, and the ball hinge has three rotation axes which are perpendicular to each other. The composite hinge means that three or more components form a plurality of kinematic pairs at the same point, and the kinematic pairs comprise three types of composite rotary hinges, composite Hooke hinges and composite ball hinges. The search shows that the compound hinge with the patent number 99209879.3 discloses a compound rotating hinge which consists of two parallel rotating shafts and two L-shaped plates; a three degree of freedom compound hinge of patent number 201711172538.0 discloses a compound rotary hinge utilizing multiple bearings to realize three axial rotations. The compound hook hinge and the compound ball hinge have higher realization requirements, at least 4 and 6 rotation axes are respectively required to be always intersected at one point, and all the rotation are completely independent. The composite ball hinge is a hinge in which the rotation centers of two or more general ball hinges are overlapped with the same fixed point. At present, no innovative design of such a hinge is known which fully fulfils the above functions.
In summary, the existing composite ball hinge technology has the following problems:
(1) It cannot be ensured that all the rotation centers of two or more general ball hinges always coincide with one fixed point;
(2) It is not guaranteed that all rotational movements of two or more general ball joints are independent of each other, i.e. independent of each other.
Disclosure of Invention
The invention aims at: aiming at the defects existing in the prior art, the composite ball hinge is reasonable in design, convenient to use and simple to manufacture, and can realize six-degree-of-freedom independent rotation among three independent components.
In order to achieve the above purpose, the invention provides a composite ball hinge, which comprises a central column, and a first layer hinge and a second layer hinge which are arranged on the central column, wherein the first layer hinge consists of a first sleeve, an inner fork and a first sliding column, the first sleeve is arranged at the middle section of the central column, the inner fork is connected to the first sleeve, and the first sliding column is arranged on the inner fork; the second-layer hinge consists of a second sleeve, an outer fork and a second sliding column, wherein the second sleeve is arranged at the end part of the central column, the outer fork is connected with the second sleeve, and the second sliding column is arranged on the outer fork.
Preferably, two first circular through holes which are symmetrically distributed are formed in the outer circumferential wall of the first sleeve, the two first circular through holes are coaxial, the axis of the two first circular through holes is a perpendicular bisector of the axis of the central column, the first circular through holes are perpendicular to the axis direction of the first sleeve, and two ends of the inner fork are respectively arranged in the first circular through holes of the first sleeve.
Preferably, the second sleeve comprises two collars symmetrically arranged on the central column and two transition rings connected between the two collars, the two collars are coaxially arranged, and the two transition rings are symmetrically arranged.
Preferably, a second circular through hole is formed in the middle of the side face of the transition ring, the two second circular through holes are coaxially arranged, the axis of each second circular through hole is a perpendicular bisector of the axis of each two lantern rings, the second circular through holes are perpendicular to the axis direction of each lantern ring, and two ends of each outer fork are respectively arranged in the second circular through holes of the transition ring.
Preferably, the central column is a solid cylinder, and the first sliding column and the second sliding column are hollow cylinders.
Preferably, the inner fork and the outer fork are composed of two upper end cylinders, one lower end cylinder and a U-shaped transition section connecting the upper end cylinder and the lower end cylinder, wherein the axes of the upper end cylinder and the lower end cylinder are perpendicular.
Preferably, the upper end cylinder of the inner fork is matched with the first circular through hole of the first sleeve to form a first revolute pair, and the lower end cylinder of the inner fork is matched with the inner wall of the first sliding column to form a second revolute pair; the upper end cylinder of the outer fork is matched with a second circular through hole of the second sleeve to form a third revolute pair, and the lower end cylinder of the outer fork is matched with the inner wall of the second sliding column to form a fourth revolute pair; the inner wall of the first sleeve is matched with the central column to form a fifth revolute pair; the inner wall of the lantern ring is matched with the central column to form a sixth revolute pair; the axes of the first revolute pair, the second revolute pair, the third revolute pair, the fourth revolute pair, the fifth revolute pair and the sixth revolute pair intersect at a point.
Preferably, the outer wall of the central column is fixedly connected with a first member, the outer wall of the first sliding column is fixedly connected with a second member, and the outer wall of the second sliding column is fixedly connected with a third member.
Wherein "component" is a mechanical term of art, being the basic unit of movement. In short, it is an object that is capable of movement. The composite ball hinge can be connected with three different components, and six degrees of freedom of rotation exist among the three components after connection.
The invention can ensure that three independent components form a composite ball hinge at the same point, and the rotary motion between any two components is independent, and the coupling degree of the corresponding mechanism is low, which is beneficial to obtaining the full-resolution solution of the forward kinematics equation of the mechanism. The method provides a new thought for reducing the number of the hinge points on the end effector of the mechanism, and is beneficial to the topological structure optimization of the mechanism.
Preferably, the first member is a rod, the second member is a boom or an arm of a robot, and the third member is a boom or an arm of a robot.
After the invention is adopted, the defects of the traditional technology can be overcome, and the following beneficial effects are brought:
(1) Six-degree-of-freedom independent rotation among three components is synchronously realized, the rotation angle range is large, and all rotation axes are always intersected with a fixed point;
(2) The whole structure is simple, symmetrical and compact, not only can not generate extra centrifugal inertia force and centrifugal inertia moment, but also is convenient to process and manufacture, and is also suitable for miniaturized manufacture.
Drawings
The invention is further described below with reference to the accompanying drawings.
Fig. 1 is a schematic structural view of an embodiment of the present invention.
FIG. 2 is a schematic view of the first layer hinge of the present invention.
Fig. 3 is a schematic structural view of a first sleeve according to the present invention.
Fig. 4 is a schematic structural view of an inner fork and an outer fork in the present invention.
Fig. 5 is a schematic view showing the installation of a second layer hinge according to the present invention.
Fig. 6 is a schematic structural view of a second sleeve according to the present invention.
In the figure: 1. the device comprises a central column, a first sleeve, an inner fork, a first sliding column, a second sleeve, an outer fork, a second sliding column, a first circular through hole, a9 upper end cylinder, a 10U-shaped transition section, a 11 lower end cylinder and a second circular through hole, wherein the central column, the first sleeve, the inner fork, the first sliding column, the 5 second sleeve, the 6 outer fork, the 7 second sliding column, the 8 first circular through hole, the 9 upper end cylinder, the 10U-shaped transition section, the 11 lower end cylinder and the 12 second circular through hole.
Detailed Description
In order to more clearly illustrate the embodiments of the invention or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are only some embodiments of the invention, and that other drawings can be obtained according to these drawings without inventive faculty for a person skilled in the art.
Example 1
As shown in fig. 1 to 6, a composite ball hinge includes a center pillar 1, and a first layer of hinge and a second layer of hinge disposed on the center pillar 1, wherein the first layer of hinge is disposed between a first member and a second member, the second layer of hinge is disposed between the first member and a third member, the first layer of hinge and the second layer of hinge are general ball hinges, all have three rotation axes, the three rotation axes are mutually perpendicular, the three rotation axes of the first layer of hinge are always intersected at the same point P, the three rotation axes of the second layer of hinge are always intersected at the same point Q, and the P point coincides with the Q point during actual assembly. The first layer hinge consists of a first sleeve 2, an inner fork 3 and a first sliding column 4, wherein the first sleeve 2 is arranged at the middle section of the center column 1, the inner fork 3 is connected to the first sleeve 2, and the first sliding column 4 is arranged on the inner fork 3; the second layer hinge comprises a second sleeve 5, an outer fork 6 and a second sliding column 7, wherein the second sleeve 5 is arranged at the end part of the center column 1, the outer fork 6 is connected with the second sleeve 5, and the second sliding column 7 is arranged on the outer fork 6.
The central column 1 is a solid cylinder, and the first sleeve 2, the first sliding column 4 and the second sliding column 7 are hollow cylinders. Two first circular through holes 8 which are symmetrically distributed are formed in the outer circumferential wall of the first sleeve 2, the two first circular through holes 8 are coaxial, the axis of the two first circular through holes is a perpendicular bisector of the axis of the central column 1, the first circular through holes 8 are perpendicular to the axis direction of the first sleeve 2, and two ends of the inner fork 3 are respectively arranged in the first circular through holes 8 of the first sleeve 2. The second sleeve 5 comprises two lantern rings symmetrically arranged on the center column 1 and two sections of transition rings connected between the two lantern rings, the two lantern rings are coaxially arranged, the two sections of transition rings are symmetrically arranged, a second circular through hole 12 is formed in the middle of the side face of the transition ring, the two second circular through holes 12 are coaxially arranged, the axis of the second circular through hole 12 is a perpendicular bisector of the axes of the two lantern rings, the second circular through hole 12 is perpendicular to the axis direction of the lantern rings, and two ends of the outer fork 6 are respectively arranged in the second circular through holes 12 of the transition rings.
The inner fork 3 and the outer fork 6 have the same shape, the inner fork 3 consists of two symmetrically arranged upper end cylinders 9, a lower end cylinder 11 and a U-shaped transition section 10 connecting the upper end cylinders 9 and the lower end cylinder 11, the outer fork 6 also consists of two symmetrically arranged upper end cylinders 9, a lower end cylinder 11 and a U-shaped transition section 10 connecting the upper end cylinders 9 and the lower end cylinder 11, and the axis of the upper end cylinder 9 is perpendicular to the axis of the lower end cylinder 11. The two upper end cylinders 9 of the inner fork 3 are respectively matched with the two first round through holes 8 of the first sleeve 2 to form two first revolute pairs, and the lower end cylinder 11 of the inner fork 3 is matched with the inner wall of the first sliding column 4 to form a second revolute pair; the two upper end cylinders 9 of the outer fork 6 are respectively matched with the two second round through holes 12 of the second sleeve 5 to form two third revolute pairs, and the lower end cylinder 11 of the outer fork 6 is matched with the inner wall of the second sliding column 7 to form a fourth revolute pair; the inner wall of the first sleeve 2 is matched with the central column 1 to form a fifth revolute pair; the inner walls of the two collars of the second sleeve 5 are respectively matched with the central column 1 to form two sixth revolute pairs. In this way, the axes of the nine revolute pairs, such as the first revolute pair, the second revolute pair, the third revolute pair, the fourth revolute pair, the fifth revolute pair, and the sixth revolute pair, intersect at a point, which is the center point of the composite ball hinge.
In addition, the outer wall of the center post 1 is fixedly connected with a first member (the first member is a rod), the outer wall of the first slide post 4 is fixedly connected with a second member (the second member is a big arm of the robot), and the outer wall of the second slide post 7 is fixedly connected with a third member (the third member is a small arm of the robot).
In operation, this embodiment employs the following steps:
And step 1, assembling parts so as to ensure that the axes of all the revolute pairs intersect at the same point. Specifically, the first sleeve 2 is sleeved in the middle section of the central column 1, two ends of the inner fork 3 are inserted into the first circular through hole 8 of the first sleeve 2, and then the first sliding column 4 is sleeved on the lower end column 11 of the inner fork 3; the second sleeve 5 is arranged at the end part of the central column 1, namely two lantern rings are sleeved at two ends of the central column 1, two ends of the outer fork 6 are inserted into the second circular through holes 12 of the transition rings, and then the second sliding column 7 is sleeved on the lower end cylinder 11 of the outer fork 6.
And 2, fixedly connecting a first member, a second member and a third member on the outer surfaces of the central column 1, the first sliding column 4 and the second sliding column 7 respectively.
And 3, synchronously driving the two first revolute pairs, the second revolute pair and the fifth revolute pair to realize three-degree-of-freedom independent rotation between the second member and the first member. The four pairs of revolute pairs can be driven actively or passively. For example, when the four pairs of revolute pairs are driven actively, a rotating motor is installed at each pair of revolute pairs, and an output shaft of the rotating motor is fixedly connected with the revolute pair, so that the rotation of the motor drives the connected revolute pair to rotate.
And 4, synchronously driving two third revolute pairs, one fourth revolute pair and two sixth revolute pairs to realize three-degree-of-freedom independent rotation between the third member and the first member. The five pairs of revolute pairs can be driven actively or passively. For example, when the driving mode of the five pairs of revolute pairs is active driving, a rotating motor is installed at each pair of revolute pairs, and an output shaft of the rotating motor is fixedly connected with the revolute pair, so that the rotation of the motor drives the connected revolute pair to rotate.
After the structure is adopted, the beneficial effects of the invention are as follows:
1. Six-degree-of-freedom independent rotation among three components can be realized simultaneously, the rotation angle range is large, and all rotation axes are always intersected with the same fixed point;
2. the composite ball hinge has simple, symmetrical and compact integral structure, can not generate extra centrifugal inertia force and centrifugal inertia moment, is convenient to process and manufacture, and is also suitable for miniaturized manufacture;
3. when the composite ball hinge is applied to a multi-degree-of-freedom multi-closed-loop motion mechanism, the degree of coupling of the mechanism and the solving difficulty of forward kinematics can be reduced, and a technical foundation is laid for designing machines and machines with better kinematics and dynamics performance.
The foregoing has shown and described the basic principles and main features of the present invention and the advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (7)
1. A composite ball hinge, characterized in that: the sliding column comprises a central column, a first layer of hinges and a second layer of hinges, wherein the first layer of hinges are arranged on the central column, the first layer of hinges comprise a first sleeve, an inner fork and a first sliding column, the first sleeve is arranged at the middle section of the central column, the inner fork is connected to the first sleeve, and the first sliding column is arranged on the inner fork; the second-layer hinge consists of a second sleeve, an outer fork and a second sliding column, the second sleeve is arranged at the end part of the central column, the outer fork is connected with the second sleeve, and the second sliding column is arranged on the outer fork; the inner fork and the outer fork are composed of two symmetrically arranged upper end cylinders, a lower end cylinder and a U-shaped transition section for connecting the upper end cylinder and the lower end cylinder, and the axis of the upper end cylinder is perpendicular to the axis of the lower end cylinder; the upper end cylinder of the inner fork is matched with the first circular through hole of the first sleeve to form a first revolute pair, and the lower end cylinder of the inner fork is matched with the inner wall of the first sliding column to form a second revolute pair; the upper end cylinder of the outer fork is matched with a second circular through hole of the second sleeve to form a third revolute pair, and the lower end cylinder of the outer fork is matched with the inner wall of the second sliding column to form a fourth revolute pair; the inner wall of the first sleeve is matched with the central column to form a fifth revolute pair; the inner wall of the lantern ring is matched with the central column to form a sixth revolute pair; the axes of the first revolute pair, the second revolute pair, the third revolute pair, the fourth revolute pair, the fifth revolute pair and the sixth revolute pair intersect at a point.
2. A composite ball hinge according to claim 1, wherein: two first circular through holes which are symmetrically distributed are formed in the outer circumferential wall of the first sleeve, the first circular through holes are perpendicular to the axis direction of the first sleeve, and two ends of the inner fork are respectively arranged in the first circular through holes of the first sleeve.
3. A composite ball hinge according to claim 2, wherein: the second sleeve comprises two lantern rings symmetrically arranged on the central column and two sections of transition rings connected between the two lantern rings, the two lantern rings are coaxially arranged, and the two sections of transition rings are symmetrically arranged.
4. A composite ball hinge according to claim 3, wherein: the middle part of the side surface of the transition ring is provided with a second circular through hole, the second circular through hole is perpendicular to the axis direction of the lantern ring, and two ends of the outer fork are respectively arranged in the second circular through hole of the transition ring.
5. A composite ball hinge according to claim 1, wherein: the center column is a solid cylinder, and the first sliding column and the second sliding column are hollow cylinders.
6. A composite ball hinge according to claim 1, wherein: the outer wall of the center column is fixedly connected with a first component, the outer wall of the first sliding column is fixedly connected with a second component, and the outer wall of the second sliding column is fixedly connected with a third component.
7. A composite ball hinge according to claim 6, wherein: the first component is a rod, the second component is a big arm or a small arm of the robot, and the third component is the big arm or the small arm of the 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 |
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| Publication Number | Publication Date |
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| CN110039570A CN110039570A (en) | 2019-07-23 |
| CN110039570B true CN110039570B (en) | 2024-04-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910397370.6A Active CN110039570B (en) | 2019-05-14 | 2019-05-14 | Composite ball hinge |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112145544B (en) * | 2020-09-29 | 2023-02-21 | 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 |
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| CN110039570A (en) | 2019-07-23 |
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