CN110206428B - Non-coplanar hinge of pivot and have robot of this hinge - Google Patents

Non-coplanar hinge of pivot and have robot of this hinge Download PDF

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Publication number
CN110206428B
CN110206428B CN201910487298.6A CN201910487298A CN110206428B CN 110206428 B CN110206428 B CN 110206428B CN 201910487298 A CN201910487298 A CN 201910487298A CN 110206428 B CN110206428 B CN 110206428B
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China
Prior art keywords
hinge
steel ball
hinge shaft
shaft
coplanar
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CN201910487298.6A
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Chinese (zh)
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CN110206428A (en
Inventor
韩哈斯敖其尔
徐振邦
毛阿龙
于阳
韩春杨
朱嘉琦
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Changchun Institute of Optics Fine Mechanics and Physics of CAS
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Changchun Institute of Optics Fine Mechanics and Physics of CAS
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Priority to CN201910487298.6A priority Critical patent/CN110206428B/en
Publication of CN110206428A publication Critical patent/CN110206428A/en
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    • EFIXED CONSTRUCTIONS
    • E05LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05DHINGES OR SUSPENSION DEVICES FOR DOORS, WINDOWS OR WINGS
    • E05D11/00Additional features or accessories of hinges
    • EFIXED CONSTRUCTIONS
    • E05LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05DHINGES OR SUSPENSION DEVICES FOR DOORS, WINDOWS OR WINGS
    • E05D11/00Additional features or accessories of hinges
    • E05D11/04Additional features or accessories of hinges relating to the use of free balls as bearing-surfaces
    • EFIXED CONSTRUCTIONS
    • E05LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05DHINGES OR SUSPENSION DEVICES FOR DOORS, WINDOWS OR WINGS
    • E05D3/00Hinges with pins
    • E05D3/06Hinges with pins with two or more pins
    • E05D3/10Hinges with pins with two or more pins with non-parallel pins
    • EFIXED CONSTRUCTIONS
    • E05LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05DHINGES OR SUSPENSION DEVICES FOR DOORS, WINDOWS OR WINGS
    • E05D7/00Hinges or pivots of special construction
    • E05D7/0009Adjustable hinges
    • E05D7/0018Adjustable hinges at the hinge axis

Abstract

The invention discloses a non-coplanar hinge with a rotating shaft, which comprises: the device comprises a hinge base, a hinge shaft rotatably mounted on the hinge base, a steel ball used for providing rolling friction for the rotation of the hinge shaft, a ball retainer used for positioning and mounting the steel ball, and a pre-tightening device used for preventing the steel ball from falling off and providing pre-tightening force for the mounting of the steel ball retainer; the ball retainer is arranged on the periphery of the hinge shaft, the pre-tightening device is arranged on the periphery of the hinge shaft and can move along the length direction of the hinge shaft, and the steel ball, the hinge shaft and the hinge seat are attached. In the use process, the hinge shaft can generate rolling friction with the steel ball when rotating, the pre-tightening device can move relative to the hinge shaft along the length direction of the hinge shaft, so that the ball retainer is matched with the hinge seat, the steel ball is attached to the hinge seat, compared with the prior art that the hinge shaft rotates relative to the hinge seat through the bearing, the arrangement of the steel ball can avoid the existence of a gap in the installation process, and the size of the non-coplanar hinge of the rotating shaft is reduced.

Description

Non-coplanar hinge of pivot and have robot of this hinge
Technical Field
The invention relates to the technical field of automation, in particular to a rotating shaft non-coplanar hinge. In addition, the invention also relates to a robot comprising the rotating shaft non-coplanar hinge.
Background
The parallel robot has the characteristics of high rigidity, no accumulated motion error and the like, and has wide application in the fields of optical precision pointing and micro positioning. The parallel robot mainly comprises an upper platform, a lower platform, supporting legs and connecting hinges between the supporting legs and the upper platform and the lower platform. At present, the hinge used in the prior art is generally a traditional hooke hinge, and the structural components of the hinge generally include a cross shaft, a rolling bearing, a hinge seat, a bearing gland and the like.
Traditional hooke hinge rigidity is lower, and the in-process of bearing installation, produces the clearance easily between bearing and the bearing frame, between bearing and the axle, therefore the required space is great to difficult installation clearance and the expend with heat and contract with cold of eliminating the bearing produce the influence to the hinge motion.
In summary, how to reduce the size of the hinge is a problem to be solved by those skilled in the art.
Disclosure of Invention
In view of the above, the present invention provides a hinge with non-coplanar rotation shafts, which can reduce the volume of the hinge and improve the precision of the hinge on the premise of satisfying the function of the hooke hinge in the prior art.
The invention also aims to provide a robot comprising the rotating shaft non-coplanar hinge, which can effectively reduce the whole size of the robot and improve the carrying capacity and carrying precision of the whole robot.
In order to achieve the above purpose, the invention provides the following technical scheme:
a hinge with non-coplanar axes of rotation, comprising: the device comprises a hinge base, a hinge shaft rotatably mounted on the hinge base, a steel ball used for providing rolling friction for the rotation of the hinge shaft, a ball retainer used for positioning and mounting the steel ball, and a pre-tightening device used for preventing the steel ball from falling off and providing pre-tightening force for the mounting of the steel ball retainer (9);
the ball retainer is arranged on the periphery of the hinge shaft, the pre-tightening device is arranged on the periphery of the hinge shaft and can move along the length direction of the hinge shaft, and the steel ball, the hinge shaft and the hinge seat are attached.
Preferably, the hinge seat is provided with a conical groove used for being matched with the steel ball, and the conical groove is communicated with a mounting hole used for mounting the hinge shaft;
the ball retainer is provided with a tapered surface for mating with the tapered recess.
Preferably, the vertex angle of the tapered surface is 90 °, and the vertex angle of the tapered surface of the tapered groove is 90 °.
Preferably, the hinge axis includes a first hinge axis and a second hinge axis, the first hinge axis is vertically disposed with respect to the second hinge axis, and a first central axis of the first hinge axis is disposed non-coplanar with a second central axis of the second hinge axis.
Preferably, the mounting hole includes a first through hole for mounting the first hinge shaft and a second through hole for mounting the second hinge shaft;
the ball retainer includes first and second ball retainers provided at both ends of the first through hole, and third and fourth ball retainers provided at both ends of the second through hole.
Preferably, the steel balls are uniformly arranged along the circumferential direction of the ball retainer, and the number of the steel balls in a single ball retainer is an odd number greater than 1.
Preferably, the pre-tightening device comprises a steel ball gland which is used for being matched with the ball retainer to prevent the steel ball from falling off, and a locking nut which is used for providing pre-tightening force for the installation of the steel ball;
the locking nut is in threaded connection with the hinge shaft, and the steel ball gland is sleeved on the periphery of the hinge shaft and can be movably arranged along the length direction of the hinge shaft.
Preferably, the steel ball gland is provided with a first groove for mounting a first sealing ring, and the large end of the hinge shaft is provided with a second groove for mounting a second sealing ring.
The robot comprises an upper platform, a lower platform and a driving leg assembly connected with the upper platform and the lower platform, wherein two ends of the driving leg assembly are respectively connected with the upper platform and the lower platform through hinges, and the hinges are any one of the hinges with non-coplanar rotating shafts.
Preferably, the hinge device further comprises a hinge pressing block for fixing the rotating shaft non-coplanar hinge, and the hinge pressing block is connected with the upper platform or the lower platform;
and a threaded hole for connecting the upper platform or the lower platform is formed in the side surface of the large end of the hinge shaft.
The invention provides a rotating shaft non-coplanar hinge, which comprises: the device comprises a hinge base, a hinge shaft rotatably mounted on the hinge base, a steel ball used for providing rolling friction for the rotation of the hinge shaft, a ball retainer used for positioning and mounting the steel ball, and a pre-tightening device used for preventing the steel ball from falling off and providing pre-tightening force for the mounting of the steel ball retainer; the ball retainer is arranged on the periphery of the hinge shaft, the pre-tightening device is arranged on the periphery of the hinge shaft and can move along the length direction of the hinge shaft, and the steel ball, the hinge shaft and the hinge seat are attached.
In the use process, the hinge shaft can generate rolling friction with the steel ball when rotating, the pre-tightening device can move relative to the hinge shaft along the length direction of the hinge shaft, so that the ball retainer is matched with the hinge seat, the steel ball is attached to the hinge seat, compared with the prior art that the hinge shaft rotates relative to the hinge seat through the bearing, the arrangement of the steel ball can avoid the existence of a gap in the installation process, and the size of the non-coplanar hinge of the rotating shaft is reduced.
In addition, in the assembling process, when the hinge shaft is installed, the steel ball can realize automatic centering adjustment under the action of the pre-tightening device, so that the contact ratio of the central axis of the hinge shaft and the central axis of the arc where the spherical center of the steel ball is located is increased, and the process of repeated debugging in the installing process is avoided.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is an exploded view of a first embodiment of a hinge having non-coplanar axes of rotation provided by the present invention;
FIG. 2 is a schematic structural view of a hinge with non-coplanar rotating shafts;
FIG. 3 is a cross-sectional view of a hinge with a non-coplanar hinge axis;
FIG. 4 is a schematic structural diagram of a first embodiment of a robot provided by the present invention;
FIG. 5 is an enlarged view of portion A of FIG. 4;
FIG. 6 is a schematic view of the hinge of FIG. 1 with non-coplanar hinge shafts.
In FIGS. 1-6:
1 is an upper platform, 2 is a driving leg component, 3 is a threaded hole, 4 is a hinge pressing block, 5 is a first inner hexagon screw, 6 is a second inner hexagon screw, 7 is a lower platform, 8 is a hinge seat, 9 is a ball retainer, 10 is a steel ball, 11 is a sealing ring, 12 is a steel ball gland, 13 is a locking nut, and 14 is a hinge shaft.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The core of the invention is to provide a hinge with non-coplanar rotating shafts, which can reduce the size of the hinge and improve the installation precision of the hinge.
Another core of the invention is to provide a robot comprising the rotating shaft non-coplanar hinge.
Referring to fig. 1-6, fig. 1 is an exploded view of a first embodiment of a hinge with non-coplanar shafts according to the present invention; FIG. 2 is a schematic structural view of a hinge with non-coplanar rotating shafts; FIG. 3 is a cross-sectional view of a hinge with a non-coplanar hinge axis; FIG. 4 is a schematic structural diagram of a first embodiment of a robot provided by the present invention; FIG. 5 is an enlarged view of portion A of FIG. 4; FIG. 6 is a schematic view of the hinge of FIG. 1 with non-coplanar hinge shafts.
The invention provides a rotating shaft non-coplanar hinge, which comprises: the device comprises a hinge base 8, a hinge shaft 14 rotatably mounted on the hinge base 8, a steel ball 10 used for providing rolling friction for the rotation of the hinge shaft 14, a ball retainer 9 used for positioning and mounting the steel ball 10, and a pre-tightening device used for preventing the steel ball 10 from falling off and providing pre-tightening force for the mounting of the steel ball retainer 9; the ball retainer 9 is arranged on the periphery of the hinge shaft 14, the pre-tightening device is arranged on the periphery of the hinge shaft 14 and can move along the length direction of the hinge shaft 14, and the steel ball 10 is attached to the hinge shaft 14 and the hinge seat 8.
The hinge axis 14 is arranged rotatably relative to the ball retainer 9, the ball gland 12 and the pretensioning device.
In the using process, when the hinge shaft 14 rotates, rolling friction is generated between the hinge shaft 14 and the steel ball 10, the pre-tightening device can move relative to the hinge shaft 14 along the length direction of the hinge shaft 14, so that the ball retainer 9 is matched with the hinge seat 8, the steel ball 10 is attached to the hinge seat 8, compared with the prior art that the hinge shaft 14 rotates relative to the hinge seat 8 through a bearing, the arrangement of the steel ball 10 can avoid the existence of a gap in the installation process, and the size of the non-coplanar hinge of the rotating shaft is reduced.
In addition, in the assembling process, when the hinge shaft 14 is installed, the steel ball 10 can realize automatic centering adjustment under the action of the pre-tightening device, so that the contact ratio of the central axis of the hinge shaft 14 and the central axis of the arc where the spherical center of the steel ball 10 is located is increased, and the process of repeated debugging in the installing process is avoided.
It should be noted that the bearing capacity of the non-coplanar hinge of the rotating shaft can be adjusted by adjusting the diameter and the number of the steel balls 10, and the specific adjusting process needs to be determined according to actual conditions, which is not described herein again; in addition, the precision of the rotating shaft non-coplanar hinge is mainly determined by the machining precision of the steel ball 10 and the machining precision of the hinge seat 8 and the hinge shaft 14, and different machining precision of parts can be selected according to the requirement of actual precision.
The number of the steel balls 10 is at least two, the specific number needs to be determined according to actual conditions, and preferably, all the steel balls 10 are round balls with the same size.
On the basis of the above embodiment, a conical groove for matching with the steel ball 10 can be arranged on the hinge base 8, and the conical groove is communicated with a mounting hole for mounting the hinge shaft 14; the ball retainer 9 is provided with a conical surface for cooperation with the conical recess.
In the installation process, the conical surface in the ball retainer 9 is matched with the conical groove in the hinge seat 8, as shown in fig. 1, the steel ball 10 is in contact with the surface of the conical groove, the arrangement of the conical groove can enable the hinge shaft 14 to have certain axial bearing capacity and radial bearing capacity, preferably, the central axis of the conical groove is superposed with the central axis of the corresponding hinge shaft 14, the radial section of the conical groove along the hinge shaft 14 is an isosceles trapezoid, the included angle between the side edge of the isosceles trapezoid and the bottom edge is 45 degrees and 135 degrees, the central axis of the cone where the conical surface is located is superposed with the central axis of the corresponding conical groove, and the vertex angle of the cone where the conical surface is located is 90 degrees. At this point, the hinge axis 14 has an axial bearing capacity equal to its radial bearing capacity; to facilitate the mounting of the hinge shaft 14, the larger end of the conical recess is directed outwardly.
On the basis of the above-mentioned embodiment, in order to avoid the interference of the hinge during the movement of the components as much as possible during the connection and use of the hinge with other components, the hinge shaft 14 may include a first hinge shaft and a second hinge shaft, the first hinge shaft is vertically disposed with respect to the second hinge shaft, and the first central axis of the first hinge shaft is disposed non-coplanar with the second central axis of the second hinge shaft.
As shown in fig. 2, the lengths of the first hinge axis and the second hinge axis may be set according to the size of the connected component, which is not described herein; when the first hinge shaft and the second hinge shaft are vertically arranged and are not coplanar, for example, the first hinge shaft is connected with the part A, and the second hinge shaft is connected with the part B, and when the first hinge shaft drives the part A to rotate, because the second hinge shaft and the first hinge shaft are not coplanar, compared with the prior art, the rotatable range of the part A is increased, and the part A can have a larger rotatable range relative to the part B.
In order to make the mounting of the hinge shaft 14 more stable, the mounting holes may include a first through hole for mounting the first hinge shaft and a second through hole for mounting the second hinge shaft; the ball retainer 9 includes first and second ball retainers provided at both ends of the first through hole, and third and fourth ball retainers provided at both ends of the second through hole.
As shown in fig. 1, the hinge base 8 is provided with a first mounting hole and a second mounting hole having central axes perpendicular to each other, and the ends of the first mounting hole and the second mounting hole are provided with tapered grooves, the first hinge shaft is rotatably mounted in the first mounting hole, the second hinge shaft is rotatably mounted in the second mounting hole, and the two ends of the first hinge shaft are provided with a first ball retainer and a second ball retainer, respectively, the two ends of the second hinge shaft are provided with a third ball retainer and a fourth ball retainer, respectively, and all the ball retainers 9 are provided with steel balls 10.
On the basis of the above embodiment, in order to avoid the periodic error of the non-coplanar hinge of the rotating shaft when the number of the steel balls 10 in the single ball retainer is even, the number of the steel balls 10 in the single ball retainer can be made to be an odd number larger than 1.
Preferably, the steel balls 10 may be uniformly arranged in the circumferential direction of the ball holder 9.
Preferably, as shown in fig. 1, the ball retainer 9 has a funnel-shaped structure with a conical surface, and at least three steel ball 10 mounting holes for mounting the steel ball 10 are arranged along the circumferential direction of the ball retainer 9, and the steel ball 10 is rotatably arranged in the steel ball 10 mounting hole.
On the basis of the above embodiment, in order to prevent the steel ball 10 from falling off, the pre-tightening device may include a steel ball gland 12 for cooperating with the ball retainer 9 to prevent the steel ball 10 from falling off, and a lock nut 13 for providing a pre-tightening force for installation of the steel ball 10; the lock nut 13 is in threaded connection with the hinge shaft 14, and the steel ball gland 12 is sleeved on the outer periphery of the hinge shaft 14 and can be movably arranged along the length direction of the hinge shaft 14.
A first groove for mounting a first sealing ring can be arranged on the steel ball pressing cover 12, and a second groove for mounting a second sealing ring can be arranged at the large end of the hinge shaft 14.
As shown in fig. 1 and 3, the large end of the hinge shaft 14 refers to an end of the hinge shaft 14 having a ring-shaped step with a large diameter.
In the assembling process, a first sealing ring is arranged in a first groove of the steel ball gland 12; correspondingly loading 2 groups of odd steel balls 10 into 2 ball holders 9 to form 2 groups of steel ball 10 arrays; then, the hinge shaft 14 provided with the second sealing ring sequentially passes through one group of steel ball 10 arrays, the through hole corresponding to the hinge seat 8 and the other group of steel ball 10 arrays, then the steel ball gland 12 is arranged, the ball retainer 9 is pressed by the steel ball gland 12, and the locking nut 13 is screwed, so that the locking nut 13 drives the steel ball gland 12 to move along the axial direction of the hinge shaft 14 until the steel ball gland 12 is pressed to lock and prevent looseness; the above-described mounting operation is repeated to complete the assembly of the other hinge axis 14, and finally the mounting of the entire hinge is completed.
The first seal ring and the second seal ring are collectively referred to as the seal ring 11, and include two first seal rings and two second seal rings because two hinge shafts 14 are provided.
In addition to the non-coplanar hinge of the rotating shaft, the invention also provides a robot comprising the non-coplanar hinge of the rotating shaft disclosed in the above embodiment, the robot comprises an upper platform 1, a lower platform 7, and a driving leg assembly 2 connecting the upper platform 1 and the lower platform 7, both ends of the driving leg assembly 2 are respectively connected with the upper platform 1 and the lower platform 7 through hinges, and the hinge here is any one of the non-coplanar hinges of the rotating shaft. For the structure of other parts of the robot, please refer to the prior art, and the description is omitted here.
Preferably, the robot is a parallel robot.
On the basis of the embodiment, in order to facilitate the installation of the rotating shaft non-coplanar hinge, a hinge pressing block 4 for fixing the rotating shaft non-coplanar hinge can be arranged on the robot, and the hinge pressing block 4 is connected with the upper platform 1 or the lower platform 7; the large end side of the hinge shaft 14 is provided with a threaded hole 3 for connecting with the upper platform 1 or the lower platform 7.
As shown in fig. 1 and 3, the large end side of the hinge shaft 14 refers to a surface of the large end of the hinge shaft 14 that is perpendicular to the longitudinal direction of the hinge shaft 14 and faces outward.
As shown in fig. 4-6, the upper platform 1 or the lower platform 7 is provided with a through hole corresponding to the threaded hole 3, the second socket head cap screw 6 passes through the through hole and is connected with the threaded hole 3, preferably, each steel ball pressing cover 12 is provided with 3 threaded holes 3 distributed in a triangular shape, the hinge pressing block 4 is arranged on the upper portion of the hinge shaft 14 and is provided with a recess for being matched with the hinge shaft 14, and is connected with the lower platform 7 or the upper platform 1 through the first socket head cap screw 5.
It should be noted that the first and second hinge shafts, the first and second mounting holes, the first and second socket head cap screws 5 and 6, the first and second seal rings, the first and second grooves, the first and second ball retainers, and the first, second, third, and fourth ball retainers mentioned in this document are only for illustrating the difference in position and are not in order.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. Any combination of all embodiments provided by the present invention is within the scope of the present invention, and will not be described herein.
The hinge with non-coplanar rotating shafts and the robot with the hinge provided by the invention are described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.

Claims (8)

1. A hinge having a non-coplanar axis of rotation, comprising: the device comprises a hinge seat (8), a hinge shaft (14) rotatably mounted on the hinge seat (8), a steel ball (10) used for providing rolling friction for the rotation of the hinge shaft (14), a ball retainer (9) used for positioning and mounting the steel ball (10), and a pre-tightening device used for preventing the steel ball (10) from falling off and providing pre-tightening force for the mounting of the steel ball retainer (9);
the ball retainer (9) is arranged on the periphery of the hinge shaft (14), the pre-tightening device is arranged on the periphery of the hinge shaft (14) and can move along the length direction of the hinge shaft (14), and the steel ball (10) is attached to the hinge shaft (14) and the hinge seat (8);
the steel balls (10) are uniformly arranged along the circumferential direction of the ball retainer (9), and the number of the steel balls (10) in a single ball retainer (9) is an odd number greater than 1; the hinge seat (8) is provided with a conical groove used for being matched with the steel ball (10), and the conical groove is communicated with a mounting hole used for mounting the hinge shaft (14);
the ball retainer (9) is provided with a conical surface for cooperation with the conical recess.
2. The hinge according to claim 1, wherein the vertex angle of the tapered surface is 90 ° and the vertex angle of the tapered surface of the tapered recess is 90 °.
3. The spindle non-coplanar hinge according to claim 1, wherein the hinge axis (14) comprises a first hinge axis and a second hinge axis, and wherein the first hinge axis is disposed perpendicularly with respect to the second hinge axis, and wherein a first central axis of the first hinge axis is disposed non-coplanar with a second central axis of the second hinge axis.
4. The rotating shaft non-coplanar hinge as set forth in claim 3 wherein said mounting holes comprise a first through hole for mounting said first hinge shaft and a second through hole for mounting said second hinge shaft;
the ball retainer (9) includes first and second ball retainers provided at both ends of the first through hole, and third and fourth ball retainers provided at both ends of the second through hole.
5. Rotating shaft non-coplanar hinge according to claim 4, characterized in that the pre-tightening means comprise a steel ball gland (12) for cooperating with the ball retainer (9) to avoid the steel ball (10) falling off, and a lock nut (13) for providing pre-tightening force for the installation of the steel ball (10);
the locking nut (13) is in threaded connection with the hinge shaft (14), and the steel ball gland (12) is sleeved on the periphery of the hinge shaft (14) and can be movably arranged along the length direction of the hinge shaft (14).
6. Rotating shaft non-coplanar hinge according to claim 5, characterized in that the steel ball gland (12) is provided with a first groove for mounting a first sealing ring, and the large end of the hinge shaft (14) is provided with a second groove for mounting a second sealing ring.
7. A robot is characterized by comprising an upper platform (1), a lower platform (7) and a driving leg assembly (2) for connecting the upper platform (1) and the lower platform (7), wherein both ends of the driving leg assembly (2) are respectively connected with the upper platform (1) and the lower platform (7) through hinges, and the hinges are rotating shaft non-coplanar hinges according to any one of claims 1 to 6.
8. The robot according to claim 7, characterized in that it further comprises a hinge block (4) for fixing the rotation axis non-coplanar hinge, said hinge block (4) being connected to said upper platform (1) or said lower platform (7);
the large end side face of the hinge shaft (14) is provided with a threaded hole (3) used for being connected with the upper platform (1) or the lower platform (7).
CN201910487298.6A 2019-06-05 2019-06-05 Non-coplanar hinge of pivot and have robot of this hinge Active CN110206428B (en)

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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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