CN110206428A - A kind of non-co-planar hinge of shaft and the robot with the hinge - Google Patents
A kind of non-co-planar hinge of shaft and the robot with the hinge Download PDFInfo
- Publication number
- CN110206428A CN110206428A CN201910487298.6A CN201910487298A CN110206428A CN 110206428 A CN110206428 A CN 110206428A CN 201910487298 A CN201910487298 A CN 201910487298A CN 110206428 A CN110206428 A CN 110206428A
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- Prior art keywords
- hinge
- steel ball
- hinge axis
- axis
- planar
- Prior art date
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Classifications
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05D—HINGES OR SUSPENSION DEVICES FOR DOORS, WINDOWS OR WINGS
- E05D11/00—Additional features or accessories of hinges
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05D—HINGES OR SUSPENSION DEVICES FOR DOORS, WINDOWS OR WINGS
- E05D11/00—Additional features or accessories of hinges
- E05D11/04—Additional features or accessories of hinges relating to the use of free balls as bearing-surfaces
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05D—HINGES OR SUSPENSION DEVICES FOR DOORS, WINDOWS OR WINGS
- E05D3/00—Hinges with pins
- E05D3/06—Hinges with pins with two or more pins
- E05D3/10—Hinges with pins with two or more pins with non-parallel pins
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05D—HINGES OR SUSPENSION DEVICES FOR DOORS, WINDOWS OR WINGS
- E05D7/00—Hinges or pivots of special construction
- E05D7/0009—Adjustable hinges
- E05D7/0018—Adjustable hinges at the hinge axis
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Pivots And Pivotal Connections (AREA)
Abstract
The invention discloses a kind of non-co-planar hinges of shaft, comprising: hinge seat, rotational installation in the hinge axis of hinge seat, steel ball that rolling friction is provided for the rotation for hinge axis, for by the Ball Retainer of steel ball location and installation and being used to avoid steel ball from falling off and provide the pre-tightening apparatus of pretightning force for the installation of steel ball retainer；Ball Retainer is set to the peripheral part of hinge axis, and pre-tightening apparatus is set to the peripheral part of hinge axis and can move along the length direction of hinge axis, and steel ball is bonded setting with hinge axis and hinge seat.During use, hinge axis Shi Huiyu steel ball generates rolling friction, pre-tightening apparatus can be made to move relative to hinge axis along the length direction of hinge axis, so that Ball Retainer and hinge seat cooperate, steel ball is bonded with hinge seat, rotate hinge axis relative to hinge seat by the way that bearing is arranged in compared with the prior art, the setting of steel ball can be to avoid the presence of installation process intermediate gap, and reduces the size of the non-co-planar hinge of shaft.
Description
Technical field
The present invention relates to fields of automation technology, more specifically to a kind of non-co-planar hinge of shaft.In addition, this hair
It is bright to further relate to a kind of robot including the non-co-planar hinge of above-mentioned shaft.
Background technique
Parallel robot has the characteristics that high rigidity, without cumulative motion error, is directed toward and micro- positioning field in optical precision
Have and is widely applied very much.The main composition of parallel robot includes the company between upper lower platform, supporting leg and supporting leg and upper lower platform
Connect hinge.Currently, hinge used in the prior art is usually traditional hook hinge, structure composition generally comprises cross friendship
Fork shaft, rolling bearing, hinge seat and bearing gland etc..
Traditional hook hinge rigidity is lower, during bearing is installed, holds between bearing and bearing block, between bearing and axis
Be also easy to produce gap, therefore required space is larger, and it is more difficult eliminate bearing installation gap and expand with heat and contract with cold to hinge movement
The influence of generation.
In conclusion how to reduce the size of hinge, it is a problem to be solved by those skilled in the art.
Summary of the invention
In view of this, meeting Hooke's hinge in the prior art the object of the present invention is to provide a kind of non-co-planar hinge of shaft
Under the premise of the function of chain, it is possible to reduce the volume of hinge, and improve the precision of hinge.
It is a further object of the present invention to provide a kind of robots including the non-co-planar hinge of above-mentioned shaft, can effectively reduce
The package size of robot improves complete machine carrying capacity and delivery precision.
To achieve the goals above, the invention provides the following technical scheme:
A kind of non-co-planar hinge of shaft, comprising: hinge seat, rotational installation in the hinge axis of the hinge seat, for for institute
The rotation for stating hinge axis provides the steel ball of rolling friction, for by the Ball Retainer of the steel ball location and installation and being used to keep away
Exempt from the steel ball to fall off and provide the pre-tightening apparatus of pretightning force for the installation of the steel ball retainer (9)；
The Ball Retainer is set to the peripheral part of the hinge axis, and the pre-tightening apparatus is set to the outer of the hinge axis
Circumference can simultaneously be moved along the length direction of the hinge axis, and the steel ball is bonded with the hinge axis and the hinge seat
Setting.
Preferably, the hinge seat is provided with the conical socket for cooperating with the steel ball, and the conical socket with
Mounting hole for installing the hinge axis is connected to；
The Ball Retainer is provided with the tapered surface for cooperating with the conical socket.
Preferably, the apex angle of the tapered surface is 90 °, and the apex angle of the conical surface of the conical socket is 90 °.
Preferably, the hinge axis includes first axle axis and second hinge axis, and the first axle axis is relative to institute
It states second hinge axis to be vertically arranged, the second central axis of the first central axis of the first axle axis and the second hinge axis
The non-co-planar setting of line.
Preferably, the mounting hole includes first through hole for installing the first axle axis and described for installing
Second through-hole of second hinge axis；
The Ball Retainer include be set to the first through hole both ends the first Ball Retainer and the second Ball Retainer, with
And it is set to the third Ball Retainer and the 4th Ball Retainer at second through-hole both ends.
Preferably, the steel ball is uniformly arranged along the circumferential direction of the Ball Retainer, and described in the single Ball Retainer
The quantity of steel ball is the odd number greater than 1.
Preferably, the pre-tightening apparatus includes for cooperating the steel ball to fall off to avoid the steel ball with the Ball Retainer
Gland and for providing the locking nut of pretightning force for the installation of the steel ball；
The locking nut is threadedly coupled with the hinge axis, and the steel ball gland is set in the periphery of the hinge axis
Portion, and be movably arranged along the length direction of the hinge axis.
Preferably, the steel ball gland is provided with the first groove for installing the first sealing ring, the hinge axis it is big
End is provided with the second groove for installing the second sealing ring.
A kind of robot, the driving leg assembly including upper mounting plate, lower platform, the connection upper mounting plate and the lower platform,
The both ends of the driving leg assembly pass through hinge and connect respectively with the upper mounting plate and the lower platform, and the hinge is above-mentioned
The non-co-planar hinge of described in any item shafts.
Preferably, further include hinge briquetting for fixing the non-co-planar hinge of the shaft, the hinge briquetting with it is described
Upper mounting plate or lower platform connection；
The big end side surface of the hinge axis is provided with the threaded hole for connecting with the upper mounting plate or the lower platform.
The non-co-planar hinge of shaft provided by the invention, comprising: hinge seat, rotational installation in hinge seat hinge axis, be used for
The steel ball of rolling friction is provided, for by the Ball Retainer of steel ball location and installation and being used to avoid steel for the rotation of hinge axis
Ball falls off and provides the pre-tightening apparatus of pretightning force for the installation of steel ball retainer；Ball Retainer is set to the peripheral part of hinge axis,
Pre-tightening apparatus is set to the peripheral part of hinge axis and can move along the length direction of hinge axis, and steel ball and hinge axis and hinge
Seat fitting setting.
During use, hinge axis Shi Huiyu steel ball generate rolling friction, can make pre-tightening apparatus relative to
Hinge axis is moved along the length direction of hinge axis, so that Ball Retainer and hinge seat cooperate, steel ball is bonded with hinge seat, compared to
In the prior art by be arranged bearing make hinge axis relative to hinge seat rotate, the setting of steel ball can be to avoid installation process among
The presence of gap, and reduce the size of the non-co-planar hinge of shaft.
In addition, when hinge axis is installed, steel ball can be realized automatic right under the action of pre-tightening apparatus during assembly
Heart adjustment, the registration of the central axis of circular arc increases where making the central axis and the steel ball centre of sphere of hinge axis, avoids installation
The process of debugging is repeated in the process.
Detailed description of the invention
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
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 is the explosive view of the specific embodiment one of the non-co-planar hinge of shaft provided by the present invention；
Fig. 2 is the structural schematic diagram of the non-co-planar hinge of shaft；
Fig. 3 is the cross-sectional view of the non-co-planar hinge of shaft；
Fig. 4 is the structural schematic diagram of the specific embodiment one of robot provided by the present invention；
Fig. 5 is the enlarged drawing of part A in Fig. 4；
Fig. 6 is the fixed form schematic diagram of the non-co-planar hinge of shaft in Fig. 1.
In Fig. 1-6:
1 it is upper mounting plate, 2 be driving leg assembly, 3 be threaded hole, 4 be hinge briquetting, 5 be the first soket head cap screw, 6 is the
Two soket head cap screws, 7 be lower platform, 8 be hinge seat, 9 be Ball Retainer, 10 be steel ball, 11 be sealing ring, 12 be steel ball pressure
Lid, 13 be locking nut, 14 be hinge axis.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Core of the invention is to provide a kind of non-co-planar hinge of shaft, can reduce the size of hinge, and improve hinge
Installation accuracy.
Another core of the invention is to provide a kind of robot including the non-co-planar hinge of above-mentioned shaft.
Fig. 1-6 is please referred to, Fig. 1 is the explosive view of the specific embodiment one of the non-co-planar hinge of shaft provided by the present invention；
Fig. 2 is the structural schematic diagram of the non-co-planar hinge of shaft；Fig. 3 is the cross-sectional view of the non-co-planar hinge of shaft；Fig. 4 is provided by the present invention
Robot specific embodiment one structural schematic diagram；Fig. 5 is the enlarged drawing of part A in Fig. 4；Fig. 6 is that shaft is non-total in Fig. 1
The fixed form schematic diagram of face hinge.
The non-co-planar hinge of shaft provided by the invention, comprising: hinge seat 8, rotational installation in hinge seat 8 hinge axis 14,
There is provided the steel ball 10 of rolling friction for the rotation for hinge axis 14, for by the Ball Retainer 9 of 10 location and installation of steel ball and
For avoiding steel ball 10 from falling off and providing the pre-tightening apparatus of pretightning force for the installation of steel ball retainer 9；Ball Retainer 9 is set to hinge
The peripheral part of chain rivet 14, pre-tightening apparatus are set to the peripheral part of hinge axis 14 and can move along the length direction of hinge axis 14, and
Steel ball 10 is bonded setting with hinge axis 14 and hinge seat 8.
Hinge axis 14 is rotatably arranged relative to Ball Retainer 9, steel ball gland 12 and pre-tightening apparatus.
During use, hinge axis 14 rotates Shi Huiyu steel ball 10 and generates rolling friction, can make pre-tightening apparatus phase
Length direction for hinge axis 14 along hinge axis 14 moves, so that Ball Retainer 9 and hinge seat 8 cooperate, steel ball 10 and hinge
Seat 8 be bonded, compared with the prior art in by using bearing make hinge axis 14 relative to hinge seat 8 rotate, the setting of steel ball 10
Can be to avoid the presence of installation process intermediate gap, and reduce the size of the non-co-planar hinge of shaft.
In addition, when hinge axis 14 is installed, steel ball 10 can be realized certainly under the action of pre-tightening apparatus during assembly
Dynamic to adjust to the heart, the registration of the central axis of circular arc increases where making the central axis and 10 centre of sphere of steel ball of hinge axis 14, keeps away
The process that debugging is repeated in installation process is exempted from.
It needs to be illustrated, it, can be to the non-co-planar hinge of shaft by adjusting the diameter and quantity of steel ball 10
The bearing capacity of chain is adjusted, and the process specifically adjusted needs determines according to actual conditions, and this will not be repeated here；In addition, shaft
The precision of non-co-planar hinge mainly determines by the machining accuracy of the machining accuracy of steel ball 10, hinge seat 8 and hinge axis 14, Ke Yigen
According to the demand of available accuracy, the different machining accuracies of components are selected.
The quantity of steel ball 10 is at least two, and particular number needs determines according to actual conditions, it is preferred that all steel balls 10
It is the identical ball of size.
On the basis of the above embodiments, the conical socket for cooperating with steel ball 10 can be set in hinge seat 8, and bores
Connected in star is connected to the mounting hole for installing hinge axis 14；Ball Retainer 9 is provided with the taper for cooperating with conical socket
Face.
During installation, the conical socket in tapered surface and hinge seat 8 in Ball Retainer 9 cooperates, such as Fig. 1 institute
Show, contact steel ball 10 with the surface of conical socket, the setting of conical socket can make hinge axis 14 that there is certain axial direction to hold
Loading capability and radial bearing capacity, it is preferred that the central axis of the central axis of conical socket and corresponding hinge axis 14
It is overlapped, conical socket is isosceles trapezoid along the radial section of hinge axis 14, and the side of isosceles trapezoid and the angle on bottom edge are 45 °
With 135 °, the central axis of the central axis of circular cone and corresponding conical socket coincidence where tapered surface, and tapered surface institute
It is 90 ° in the apex angle of circular cone.At this point, axial carrying capacity possessed by hinge axis 14 is equal to its radial bearing capacity；For side
Just the installation of hinge axis 14, conical socket are open biggish one end towards outside.
On the basis of the above embodiments, in order to make hinge during connecting use with other components, as far as possible
The interference during component movement is avoided, can make hinge axis 14 includes first axle axis and second hinge axis, and first cuts with scissors
Chain rivet is vertically arranged relative to second hinge axis, the first central axis of first axle axis and the second central axis of second hinge axis
The non-co-planar setting of line.
As shown in Fig. 2, first axle axis can be carried out with the length of second hinge axis according to the size of connect components
Setting, this will not be repeated here；When first axle axis and second hinge axis are vertically arranged and are non-coplanar, for example, first axle axis
It being connect with components A, second hinge axis is connect with components B, during first axle axis drives components A rotation, by
Non-coplanar in second hinge axis and first axle axis, therefore, compared with the prior art, the rotatable range of components A increases, can
So that components A can have bigger slewing area relative to components B.
It can include logical for installing the first of first axle axis with mounting hole to keep the installation of hinge axis 14 more firm
Hole and the second through-hole for installing second hinge axis；Ball Retainer 9 includes the first ball guarantor for being set to first through hole both ends
Holder and the second Ball Retainer and the third Ball Retainer and the 4th Ball Retainer for being set to the second through-hole both ends.
As shown in Figure 1, hinge seat 8 is provided with orthogonal first mounting hole of central axis and the second mounting hole, and
The end of one mounting hole and the second mounting hole is provided with conical socket, and first axle axis is rotatablely installed in the first mounting hole, the
Two hinge axis is rotatablely installed in the second mounting hole, and the both ends of first axle axis are respectively arranged with the first Ball Retainer and the second ball
Retainer, the both ends of second hinge axis are respectively arranged with third Ball Retainer and the 4th Ball Retainer, and all Ball Retainers 9 are equal
It is provided with steel ball 10.
On the basis of the above embodiments, in order to avoid the quantity of steel ball 10 in single Ball Retainer be even number when, shaft
There is periodic error in non-co-planar hinge, can make odd number of the quantity of steel ball 10 in single Ball Retainer greater than 1.
Preferably, steel ball 10 can be made to be uniformly arranged along the circumferential direction of Ball Retainer 9.
Preferably, as shown in Figure 1, Ball Retainer 9 is the funnel-shaped structure with tapered surface, and along the week of Ball Retainer 9
To being provided at least three for installing 10 mounting hole of steel ball of steel ball 10, steel ball 10 is rotatably set in 10 mounting hole of steel ball
It sets.
On the basis of the above embodiments, in order to avoid steel ball 10 falls off, can make pre-tightening apparatus includes for protecting with ball
Steel ball gland 12 that the cooperation of holder 9 falls off to avoid steel ball 10 and for providing the locking of pretightning force for the installation of steel ball 10
Nut 13；Locking nut 13 is threadedly coupled with hinge axis 14, and steel ball gland 12 is set in the peripheral part of hinge axis 14, and along hinge
The length direction of axis 14 is movably arranged.
The first groove for installing the first sealing ring can also be set in steel ball gland 12, be set in the big end of hinge axis 14
Set the second groove for installing the second sealing ring.
As shown in Figure 1, Figure 3, the big end of hinge axis 14, which refers to, has the one of the circular step being relatively large in diameter in hinge axis 14
End.
During assembling, the first sealing ring is mounted in the first groove of steel ball gland 12 first；Again by 2 groups of surprises
The several correspondences of steel ball 10 are encased in 2 Ball Retainers 9, form 2 groups of 10 arrays of steel ball；The hinge of the second sealing ring will be installed again
Axis 14 successively passes through one group of 10 array of steel ball, hinge seat 8 corresponding through-hole, another group of 10 array of steel ball, is reloaded into steel ball gland 12,
And pushed down Ball Retainer 9 using steel ball gland 12, locking nut 13 is screwed, locking nut 13 is made to drive steel ball gland 12 along hinge
The axial movement of chain rivet 14, until the compression of steel ball gland 12 lock locking；Above-mentioned installation operation is repeated, another is completed
The assembly of hinge axis 14 is finally completed the installation of entire hinge.
It needs to be illustrated, the first sealing ring and the second sealing ring are referred to as sealing ring 11, due to there are two settings
Hinge axis 14, therefore including two the first sealing rings and two the second sealing rings.
It include that shaft disclosed in above-described embodiment is non-co-planar the present invention also provides one kind in addition to the non-co-planar hinge of above-mentioned shaft
The robot of hinge, the robot include upper mounting plate 1, lower platform 7, the driving leg assembly 2 for connecting upper mounting plate 1 and lower platform 7, are driven
The both ends of dynamic leg assembly 2 pass through hinge and connect respectively with upper mounting plate 1 and lower platform 7, and hinge herein is any of the above-described
The non-co-planar hinge of shaft.Refer to the prior art for the structure of other each sections of the robot, and repeats no more herein.
Preferably, the artificial parallel robot of machine.
On the basis of the above embodiments, for the ease of the installation of the non-co-planar hinge of shaft, it can be arranged in robot and use
In the hinge briquetting 4 of the non-co-planar hinge of fixed rotating shaft, hinge briquetting 4 is connect with upper mounting plate 1 or lower platform 7；Hinge axis 14 it is big
End side surface is provided with the threaded hole 3 for connecting with upper mounting plate 1 or lower platform 7.
As shown in Figure 1, Figure 3, the big end side surface of hinge axis 14 refers to long perpendicular to hinge axis 14 in the big end of hinge axis 14
Spend direction and face outwardly.
As Figure 4-Figure 6, upper mounting plate 1 or lower platform 7 are provided with for through-hole corresponding with threaded hole 3, hexagonal in second
Screw 6 passes through through-hole and connect with threaded hole 3, it is preferred that each steel ball gland 12 is provided with the threaded hole of 3 distributions triangular in shape
3, hinge briquetting 4 is set to the top of hinge axis 14, and is provided with the recessed portion for cooperating with hinge axis 14, and passes through first
Soket head cap screw 5 is connect with lower platform 7 or upper mounting plate 1.
It needs to be illustrated, first axle axis and second hinge axis, the first mounting hole mentioned in present specification
With the second mounting hole, the first soket head cap screw 5 and the second soket head cap screw 6, the first sealing ring and the second sealing ring, the first groove
With first, in the second groove, the first Ball Retainer and the second Ball Retainer, third Ball Retainer and the 4th Ball Retainer
Two, third and fourth simply to illustrate that position difference, there is no sequencing point.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.All realities provided by the present invention
Any combination mode of example is applied in the protection scope of the invention, this will not be repeated here.
The robot to the non-co-planar hinge of shaft provided by the present invention and with the hinge is described in detail above.
Used herein a specific example illustrates the principle and implementation of the invention, and the explanation of above embodiments is only used
In facilitating the understanding of the method and its core concept of the invention.It should be pointed out that for those skilled in the art,
Without departing from the principle of the present invention, can be with several improvements and modifications are made to the present invention, these improvement and modification
It falls into the protection scope of the claims in the present invention.
Claims (10)
1. a kind of non-co-planar hinge of shaft characterized by comprising hinge seat (8), rotational installation are in the hinge seat (8)
Hinge axis (14), is used for the steel ball steel ball (10) that rolling friction is provided for the rotation for the hinge axis (14)
(10) Ball Retainer (9) of location and installation and for avoiding the steel ball (10) from falling off and for the steel ball retainer (9)
Installation provides the pre-tightening apparatus of pretightning force；
The Ball Retainer (9) is set to the peripheral part of the hinge axis (14), and the pre-tightening apparatus is set to the hinge axis
(14) peripheral part simultaneously can be mobile along the length direction of the hinge axis (14), and the steel ball (10) and the hinge axis
(14) and the hinge seat (8) is bonded setting.
2. the non-co-planar hinge of shaft according to claim 1, which is characterized in that the hinge seat (8) be provided with for
The conical socket of steel ball (10) cooperation, and the conical socket connects with the mounting hole for installing the hinge axis (14)
It is logical；
The Ball Retainer (9) is provided with the tapered surface for cooperating with the conical socket.
3. the non-co-planar hinge of shaft according to claim 2, which is characterized in that the apex angle of the tapered surface is 90 °, described
The apex angle of the conical surface of conical socket is 90 °.
4. the non-co-planar hinge of shaft according to claim 2, which is characterized in that the hinge axis (14) includes first axle
Axis and second hinge axis, and the first axle axis is vertically arranged relative to the second hinge axis, the first axle axis
The setting non-co-planar with the second central axis of the second hinge axis of first central axis.
5. the non-co-planar hinge of shaft according to claim 4, which is characterized in that the mounting hole includes described for installing
The first through hole of first axle axis and the second through-hole for installing the second hinge axis；
The Ball Retainer (9) include be set to the first through hole both ends the first Ball Retainer and the second Ball Retainer, with
And it is set to the third Ball Retainer and the 4th Ball Retainer at second through-hole both ends.
6. the non-co-planar hinge of shaft according to claim 1-5, which is characterized in that the steel ball (10) is along described
The circumferential direction of Ball Retainer (9) is uniformly arranged, and the quantity of steel ball (10) described in the single Ball Retainer (9) is greater than 1
Odd number.
7. the non-co-planar hinge of shaft according to claim 6, which is characterized in that the pre-tightening apparatus include for it is described
Steel ball gland (12) that Ball Retainer (9) cooperation falls off to avoid the steel ball (10) and for for the steel ball (10)
Installation provides the locking nut (13) of pretightning force；
The locking nut (13) is threadedly coupled with the hinge axis (14), and the steel ball gland (12) is set in the hinge axis
(14) peripheral part, and be movably arranged along the length direction of the hinge axis (14).
8. the non-co-planar hinge of shaft according to claim 7, which is characterized in that the steel ball gland (12), which is provided with, to be used for
First groove of the first sealing ring is installed, second that the big end of the hinge axis (14) is provided with for installing the second sealing ring is recessed
Slot.
9. a kind of robot, which is characterized in that including upper mounting plate (1), lower platform (7), the connection upper mounting plate (1) and it is described under
The driving leg assembly (2) of platform (7), it is described driving leg assembly (2) both ends pass through hinge respectively with the upper mounting plate (1) and
Lower platform (7) connection, the hinge are the non-co-planar hinge of the described in any item shafts of claim 1-8.
10. robot according to claim 9, which is characterized in that further include for fixing the non-co-planar hinge of the shaft
Hinge briquetting (4), the hinge briquetting (4) connect with the upper mounting plate (1) or the lower platform (7)；
The big end side surface of the hinge axis (14) is provided with the spiral shell for connecting with the upper mounting plate (1) or the lower platform (7)
Pit (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910487298.6A CN110206428B (en) | 2019-06-05 | 2019-06-05 | Non-coplanar hinge of pivot and have robot of this hinge |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910487298.6A CN110206428B (en) | 2019-06-05 | 2019-06-05 | Non-coplanar hinge of pivot and have robot of this hinge |
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| CN110206428B CN110206428B (en) | 2020-07-24 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113969937A (en) * | 2021-11-11 | 2022-01-25 | 中国科学院长春光学精密机械与物理研究所 | Dense-bead joint hinge and parallel mechanism with same |
| CN114707274A (en) * | 2022-04-13 | 2022-07-05 | 中国科学院长春光学精密机械与物理研究所 | Method for calculating working space of rotating shaft non-coplanar hinge |
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| CN108406584A (en) * | 2018-04-19 | 2018-08-17 | 广州大学 | A kind of flexibility milling robot |
| CN109444468A (en) * | 2018-11-27 | 2019-03-08 | 中国地质大学（武汉） | A kind of six-dimension acceleration sensor based on micro-displacement parallel institution |
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| CN113969937A (en) * | 2021-11-11 | 2022-01-25 | 中国科学院长春光学精密机械与物理研究所 | Dense-bead joint hinge and parallel mechanism with same |
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| CN114707274A (en) * | 2022-04-13 | 2022-07-05 | 中国科学院长春光学精密机械与物理研究所 | Method for calculating working space of rotating shaft non-coplanar hinge |
| CN114707274B (en) * | 2022-04-13 | 2023-08-29 | 中国科学院长春光学精密机械与物理研究所 | Calculation method for working space of rotating shaft non-coplanar hinge |
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