CN110925293A - Novel ball pair mechanism and multi-degree-of-freedom composite ball pair joint hinge - Google Patents
Novel ball pair mechanism and multi-degree-of-freedom composite ball pair joint hinge Download PDFInfo
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- CN110925293A CN110925293A CN201911262128.4A CN201911262128A CN110925293A CN 110925293 A CN110925293 A CN 110925293A CN 201911262128 A CN201911262128 A CN 201911262128A CN 110925293 A CN110925293 A CN 110925293A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C11/00—Pivots; Pivotal connections
- F16C11/04—Pivotal connections
- F16C11/06—Ball-joints; Other joints having more than one degree of angular freedom, i.e. universal joints
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Abstract
The utility model provides a novel ball pair mechanism and compound ball pair joint hinge of multi freedom, relates to drive mechanism technical field, to the problem that ball pair structure is complicated among the prior art, motion range is little, including at least one rotation group, the rotation group includes: the rod piece rotating connecting part, the pitching rotating connecting part, the rolling rotating connecting part and the rack are arranged on the rack; the rod piece rotating connecting part is rotatably connected with the pitching rotating connecting part, the pitching rotating connecting part is connected with the rolling rotating connecting part through a moving pair, and the moving pair is arc-shaped; the transverse rolling rotary connecting component is rotatably connected with the rack; the axes of the rod piece rotating connecting part and the roll rotating connecting part and the arc track axis of the pitching rotating connecting part are intersected at one point. The invention has large movement range, can ideally move for 360 degrees, obviously improves the movement space compared with the traditional composite ball pair, and each ball pair in the invention can independently move without interference and can be overlapped in a plurality of ways.
Description
Technical Field
The invention relates to the technical field of transmission mechanisms, in particular to a novel ball pair mechanism and a multi-degree-of-freedom composite ball pair joint hinge.
Background
There must be a defined relative movement between the various components of the mechanism. Therefore, the connection of the components is required to enable the two components to be in direct contact and generate certain relative movement, and the movable connection in direct contact is called a kinematic pair. A spherical kinematic pair, called ball pair for short, is a kinematic pair widely applied to mechanical systems. Generally, ball pairs are widely used in parallel mechanisms, space mechanisms, novel hinge mechanisms, and the like. Because the ball pair has three degrees of freedom, the number of components and kinematic pairs in the mechanism can be reduced, and the structure of the mechanism is greatly simplified.
Three-degree-of-freedom spatial ball pairs are often included in parallel mechanism configurations. However, the application of the spatial ball pair in the parallel mechanism is very limited because the ball pair has the disadvantages of high manufacturing difficulty, high processing cost, low assembly precision and the like, and the ball pair is easy to wear in the using process, so that the position precision and the transmission efficiency in the motion process are low. Due to self structural constraint, the ball pair has small rotation angle range and poor bearing capacity. The disadvantages of the ball pairs limit further development and application of the parallel mechanism.
For some mechanisms, it is advantageous for the ball pair joints to have a center of rotation. This simplifies the kinematics of the mechanism, such as the Gough-Stewart platform, and can improve the performance of the mechanism. The two most common types of space ball pairs are ball joints and universal joints. However, neither of these joints allows more than two links to be connected to a node so that they share a common center of rotation.
The composite hinge is a hinge formed by connecting more than two components at one position by a rotating pair. More than two components are hinged at an axle center by a rotating pair to form the composite hinge. Compound hinges are one of the most common forms of compound kinematic pairs. The use of composite ball pairs in the parallel mechanism instead of space ball pairs would be one of the ways to effectively improve the performance of the parallel mechanism. Meanwhile, the parallel mechanism adopts a composite ball pair to reduce the use of a three-degree-of-freedom ball pair. Therefore, the composite ball pair device has wide application prospect in a space mechanism.
Disclosure of Invention
The purpose of the invention is: aiming at the problems of complex structure and small motion range of a ball pair in the prior art, a novel ball pair mechanism and a multi-degree-of-freedom composite ball pair joint hinge are provided.
The technical scheme adopted by the invention to solve the technical problems is as follows:
a ball pair mechanism comprising at least one rotating group, said rotating group comprising: the device comprises a rod piece rotating connecting part 1, a pitching rotating connecting part 2, a rolling rotating connecting part 3 and a rack 4;
the rod piece rotating connecting part 1 is rotatably connected with the pitching rotating connecting part 2;
the pitching rotating connecting part 2 and the rolling rotating connecting part 3 are connected through a moving pair, and the moving pair is arc-shaped;
the roll rotating connecting part 3 is rotatably connected with the frame 4;
the axes of the rod rotating connecting part 1 and the roll rotating connecting part 3 and the circular arc track axis of the pitch rotating connecting part 2 intersect at a point.
Furthermore, the number of the rotating groups is multiple, and the rotating groups are connected through a connecting mechanism.
Further, the connecting mechanism is a supporting part 11,
the mechanism is connected to the support member 11 by the roll rotation connecting member 3.
Further, the connecting mechanism includes a rotating lever connecting part 12, a pitch connecting part 13, a roll connecting part 14, and a fixed connecting part 15;
dwang adapting unit 12 and every single move connecting part 13 rotate to be connected, every single move connecting part 13 and roll adapting unit 14 move vice the connection through four arcs of dissimilarity, roll adapting unit 14 and fixed connection part 15 are connected through two revolutes pair, the axis of dwang adapting unit 12, the circular arc axis of every single move connecting part 13, the axis of roll adapting unit 14 and fixed connection part 15 intersect in a bit
A multi-degree-of-freedom composite ball pair joint hinge comprises: a rod member connecting member 16, a rotating connecting member 17, an arc-shaped guide rail 18, a guide rail sliding block 19, a middle supporting member 20, a first outer rotating connecting member 21 and a second outer rotating connecting member 22;
the rod connecting piece 16 is rotatably connected with the rotating connecting piece 17, the rotating connecting piece 17 is fixedly connected with the arc-shaped guide rail 18, the arc-shaped guide rail 18 and the guide rail sliding block 19 form a moving pair connecting mechanism, the moving pair is arc-shaped, and the guide rail sliding block 19 is rotatably connected with the middle supporting piece 20;
the rotation axes of the rod connecting piece 16 and the rotation connecting piece 17, the arc track axes of the arc-shaped guide rail 18 and the guide rail sliding block 19 and the rotation axes of the guide rail sliding block 19 and the middle supporting piece 20 are intersected at one point, namely an intersection point;
the first outer rotating connecting piece 21 and the second outer rotating connecting piece 22 are rotatably connected with the middle supporting piece 20,
the axes of rotation of the first outer swivel connection 21, the second outer swivel connection 22 and the middle support 20 are perpendicular to the axes of rotation of the curved guide rail 18 and the guide rail slider 19 and pass through the above-mentioned intersection points.
Further, the rotating connecting piece 17, the arc-shaped guide rail 18, the guide rail sliding block 19 and the middle supporting piece 20 are all made of aluminum alloy materials.
A multi-degree-of-freedom composite ball pair joint hinge comprises: a first rod member connection 23, a first rotating connection 24, a first arc-shaped guide rail 25, a first guide rail sliding block 26, a second rod member connection 31, a second rotating connection 30, a second arc-shaped guide rail 29, a second guide rail sliding block 27, an intermediate connecting rotating shaft 28, a first outer rotating connecting rod 32 and a second outer rotating connecting rod 33 which are symmetrically arranged;
the first rod member connection 23 is rotatably connected with a first rotating connection 24, the first rotating connection 24 is fixedly connected with a first arc-shaped guide rail 25, the first arc-shaped guide rail 25 and the first guide rail slide block 26 form a moving pair connecting mechanism, the moving pair is arc-shaped, the first guide rail sliding block 26 is rotatably connected with the intermediate connecting rotating shaft 28, the rotating axes of the first rod piece connection 23 and the first rotating connection 24, the circular arc track axes of the first arc-shaped guide rail 25 and the first guide rail sliding block 26 and the rotating axes of the first guide rail sliding block 26 and the intermediate connecting rotating shaft 28 are intersected at the central point of the intermediate connecting rotating shaft 28, i.e., the intersection point, the first outer rotating link 32 and the second outer rotating link 33 are rotatably connected, the rotation axes of the first outer rotation link 32 and the second outer rotation link 33 are perpendicular to the rotation axes of the first rail slider 26 and the first arc-shaped rail 25 and pass through the intersection point.
Further, the first rotating connection 24, the first arc-shaped guide rail 25, the first guide rail sliding block 26, the second rotating connection 30, the second arc-shaped guide rail 29, the second guide rail sliding block 27 and the middle connecting rotating shaft 28 are made of aluminum alloy materials.
The invention has the beneficial effects that:
1. the invention has large movement range, can achieve 360 degrees of movement under ideal conditions, has obvious improvement on the movement space compared with the traditional composite ball pair, and has simple structure;
2. each ball pair in the invention can move independently without interference and can be overlapped in a plurality of ways;
3. in the invention, all the rotating axes are intersected at one point, and the rotating centers are the same, thus simplifying the kinematics of the mechanism and improving the performance of the mechanism;
4. the invention realizes the combination of the connecting hinges, leads the structure to be simpler, does not need additional equivalent replacement of the moving joint and has accurate motion relation.
Drawings
FIG. 1 is a mechanical schematic of a ball set mechanism;
FIG. 2 is a schematic view of a derivative design mechanism of the ball set mechanism;
FIG. 3 is a schematic view of another derivative design mechanism of the ball set mechanism;
FIG. 4 is a schematic view of a stabilizing ball set mechanism;
FIG. 5 is a schematic structural diagram of the novel ball pair mechanism;
fig. 6 is a schematic diagram of a novel ball pair mechanism derivative design mechanism.
Detailed Description
The first embodiment is as follows: specifically describing the present embodiment with reference to fig. 1, the ball pair mechanism of the present embodiment includes at least one rotating group, and the rotating group includes: the device comprises a rod piece rotating connecting part 1, a pitching rotating connecting part 2, a rolling rotating connecting part 3 and a rack 4;
the rod piece rotating connecting part 1 is rotatably connected with the pitching rotating connecting part 2;
the pitching rotating connecting part 2 and the rolling rotating connecting part 3 are connected through a moving pair, and the moving pair is arc-shaped;
the roll rotating connecting part 3 is rotatably connected with the frame 4;
the axes of the rod rotating connecting part 1 and the roll rotating connecting part 3 and the circular arc track axis of the pitch rotating connecting part 2 intersect at a point.
The second embodiment is as follows: this embodiment mode is a further description of the first embodiment mode, and the present embodiment mode differs from the first embodiment mode in that a plurality of rotation groups are provided, and the plurality of rotation groups are connected by a connection mechanism.
The third concrete implementation mode: this embodiment is a further description of the second embodiment, and the difference between this embodiment and the second embodiment is that the connecting mechanism is the supporting member 11, and the mechanism is connected to the supporting member 11 by the roll turning connecting member 3. As shown in fig. 2 and 3.
Each individual novel ball pair mechanism is connected to the support member 11 by a roll to form a freely rotatable connection. Similarly, according to the analysis of the novel ball pair mechanism, the axis intersection points of each single novel ball pair mechanism of the composite ball pair mechanism formed by combining the novel ball pair mechanisms are overlapped, so that the movement center is not changed.
The fourth concrete implementation mode: this embodiment is a further description of the second embodiment, and the difference between this embodiment and the second embodiment is that the connection mechanism includes a rotating lever connection member 12, a pitch connection member 13, a roll connection member 14, and a fixed connection member 15;
Example 1: referring to fig. 5, this embodiment is specifically described, and includes: a rod member connecting member 16, a rotating connecting member 17, an arc-shaped guide rail 18, a guide rail sliding block 19, a middle supporting member 20, a first outer rotating connecting member 21 and a second outer rotating connecting member 22;
the rod connecting piece 16 is rotatably connected with the rotating connecting piece 17, the rotating connecting piece 17 is fixedly connected with the arc-shaped guide rail 18, the arc-shaped guide rail 18 and the guide rail sliding block 19 form a moving pair connecting structure, the moving pair is arc-shaped, and the guide rail sliding block 19 is rotatably connected with the middle supporting piece 20;
the rotation axes of the rod connecting piece 16 and the rotation connecting piece 17, the arc track axes of the arc-shaped guide rail 18 and the guide rail sliding block 19 and the rotation axes of the guide rail sliding block 19 and the middle supporting piece 20 are intersected at one point, namely an intersection point;
the first outer rotating connecting piece 21 and the second outer rotating connecting piece 22 are rotatably connected with the middle supporting piece 20,
the axes of rotation of the first outer swivel connection 21, the second outer swivel connection 22 and the middle support 20 are perpendicular to the axes of rotation of the curved guide rail 18 and the guide rail slider 19 and pass through the above-mentioned intersection points.
The rotating connecting piece 17, the arc-shaped guide rail 18, the guide rail sliding block 19 and the middle supporting piece 20 are all made of aluminum alloy materials.
Example 2: referring to fig. 6, a composite ball pair mechanism according to this embodiment includes: a first rod member connection 23, a first rotating connection 24, a first arc-shaped guide rail 25, a first guide rail sliding block 26, a second rod member connection 31, a second rotating connection 30, a second arc-shaped guide rail 29, a second guide rail sliding block 27, an intermediate connecting rotating shaft 28, a first outer rotating connecting rod 32 and a second outer rotating connecting rod 33 which are symmetrically arranged;
the first rod member connection 23 is rotatably connected with a first rotating connection 24, the first rotating connection 24 is fixedly connected with a first arc-shaped guide rail 25, the first arc-shaped guide rail 25 and the first guide rail slide block 26 form a moving pair connecting structure, the moving pair is arc-shaped, the first guide rail sliding block 26 is rotatably connected with the intermediate connecting rotating shaft 28, the rotating axes of the first rod piece connection 23 and the first rotating connection 24, the circular arc track axes of the first arc-shaped guide rail 25 and the first guide rail sliding block 26 and the rotating axes of the first guide rail sliding block 26 and the intermediate connecting rotating shaft 28 are intersected at the central point of the intermediate connecting rotating shaft 28, i.e., the intersection point, the first outer rotating link 32 and the second outer rotating link 33 are rotatably connected, the rotation axes of the first outer rotation link 32 and the second outer rotation link 33 are perpendicular to the rotation axes of the first rail slider 26 and the first arc-shaped rail 25 and pass through the intersection point.
The first rotating connection 24, the first arc-shaped guide rail 25, the first guide rail sliding block 26, the second rotating connection 30, the second arc-shaped guide rail 29, the second guide rail sliding block 27 and the middle connecting rotating shaft 28 are made of aluminum alloy materials.
It should be noted that the detailed description is only for explaining and explaining the technical solution of the present invention, and the scope of protection of the claims is not limited thereby. It is intended that all such modifications and variations be included within the scope of the invention as defined in the following claims and the description.
Claims (8)
1. A ball pair mechanism comprising at least one rotating group, said rotating group comprising: the device comprises a rod piece rotating connecting part (1), a pitching rotating connecting part (2), a rolling rotating connecting part (3) and a rack (4);
the rod piece rotating connecting part (1) is rotatably connected with the pitching rotating connecting part (2);
the pitching rotating connecting part (2) and the rolling rotating connecting part (3) are connected through a sliding pair, and the sliding pair is arc-shaped;
the transverse rolling rotary connecting part (3) is rotatably connected with the rack (4);
the axes of the rod piece rotating connecting part (1) and the roll rotating connecting part (3) and the arc track axis of the pitching rotating connecting part (2) are intersected at one point.
2. A ball set mechanism as claimed in claim 1, wherein: the rotating groups are multiple and are connected through a connecting mechanism.
3. A ball set mechanism as claimed in claim 2, wherein: the connecting mechanism is a supporting part (11), and the mechanism is connected to the supporting part (11) through a transverse rolling rotating connecting part (3).
4. A ball set mechanism as claimed in claim 2, wherein: the connecting mechanism comprises a rotating rod connecting part (12), a pitching connecting part (13), a rolling connecting part (14) and a fixed connecting part (15);
dwang adapting unit (12) and every single move adapting unit (13) and rotate to be connected, every single move adapting unit (13) and roll adapting unit (14) are connected through the arc of four diversifications removal pair, roll adapting unit (14) and fixed connection part (15) are connected through two revolutes pair, the axis of axis, the circular arc axis of every single move adapting unit (13) of dwang adapting unit (12), the axis and the fixed connection part (15) of roll adapting unit (14) intersect in a point.
5. A multi-degree-of-freedom composite ball pair joint hinge is characterized by comprising: a rod piece connecting piece (16), a rotating connecting piece (17), an arc-shaped guide rail (18), a guide rail sliding block (19), a middle supporting piece (20), a first outer rotating connecting piece (21) and a second outer rotating connecting piece (22);
the rod connecting piece (16) is rotationally connected with the rotational connecting piece (17), the rotational connecting piece (17) is fixedly connected with the arc-shaped guide rail (18), the arc-shaped guide rail (18) and the guide rail sliding block (19) form a moving pair connecting mechanism, the moving pair is arc-shaped, and the guide rail sliding block (19) is rotationally connected with the middle supporting piece (20);
the rotating axes of the rod piece connecting piece (16) and the rotating connecting piece (17), the arc track axes of the arc-shaped guide rail (18) and the guide rail sliding block (19) and the rotating axes of the guide rail sliding block (19) and the middle supporting piece (20) are intersected at one point, namely an intersection point;
the first outer rotating connecting piece (21) and the second outer rotating connecting piece (22) are rotatably connected with the middle supporting piece (20),
the rotating axes of the first outer rotating connecting piece (21), the second outer rotating connecting piece (22) and the middle supporting piece (20) are vertical to the rotating axes of the arc-shaped guide rail (18) and the guide rail sliding block (19) and pass through the intersection points.
6. The multi-degree-of-freedom composite ball pair joint hinge according to claim 5, wherein the rotating connecting piece (17), the arc-shaped guide rail (18), the guide rail sliding block (19) and the middle supporting piece (20) are all made of aluminum alloy materials.
7. A multi-degree-of-freedom composite ball pair joint hinge is characterized by comprising: the device comprises a first rod piece connection (23), a first rotating connection (24), a first arc-shaped guide rail (25), a first guide rail sliding block (26), a second rod piece connection (31), a second rotating connection (30), a second arc-shaped guide rail (29), a second guide rail sliding block (27), a middle connection rotating shaft (28), a first outer rotating connecting rod (32) and a second outer rotating connecting rod (33), wherein the second rod piece connection (31), the second rotating connection (30), the second arc-shaped guide rail (29), the second guide rail sliding block (27), the;
the first rod connection (23) is rotationally connected with the first rotational connection (24), the first rotational connection (24) is fixedly connected with the first arc-shaped guide rail (25), the first arc-shaped guide rail (25) and the first guide rail sliding block (26) form a moving pair connection mechanism, the moving pair is in an arc shape, the first guide rail sliding block (26) is rotationally connected with the middle connection rotating shaft (28), the rotational axis of the first rod connection (23) and the first rotational connection (24), the circular arc track axis of the first arc-shaped guide rail sliding block (25) and the first guide rail sliding block (26) and the rotational axis of the first guide rail sliding block (26) and the middle connection rotating shaft (28) are intersected at the central point, namely the intersection point, of the rotational axis of the first outer rotational connection rod (32) and the rotational axis of the second outer rotational connection rod (33), and the rotational axis of the first outer rotational connection rod (32) and the rotational axis of the second outer rotational connection rod (33) and the first guide rail sliding block (26) Perpendicular to the axis of rotation of the first arcuate guide (25) and passing through the intersection.
8. The multi-degree-of-freedom composite ball pair joint hinge is characterized in that the first rotating connection (24), the first arc-shaped guide rail (25), the first guide rail sliding block (26), the second rotating connection (30), the second arc-shaped guide rail (29), the second guide rail sliding block (27) and the middle connection rotating shaft (28) are all made of aluminum alloy materials.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911262128.4A CN110925293B (en) | 2019-12-10 | 2019-12-10 | Novel ball pair mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911262128.4A CN110925293B (en) | 2019-12-10 | 2019-12-10 | Novel ball pair mechanism |
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| CN110925293A true CN110925293A (en) | 2020-03-27 |
| CN110925293B CN110925293B (en) | 2022-03-15 |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20120067354A1 (en) * | 2009-06-03 | 2012-03-22 | Moog B.V. | Skewed-axis three degree-of-freedom remote-center gimbal |
| CN106405297A (en) * | 2016-11-02 | 2017-02-15 | 大连东信微波技术有限公司 | Radome testing system |
| CN106903678A (en) * | 2017-04-25 | 2017-06-30 | 中国科学院深圳先进技术研究院 | A kind of 3-freedom parallel mechanism with arc prismatic pair |
| CN108356802A (en) * | 2018-05-16 | 2018-08-03 | 湖北理工学院 | A kind of two-freedom-degree parallel mechanism of partly decoupled |
-
2019
- 2019-12-10 CN CN201911262128.4A patent/CN110925293B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20120067354A1 (en) * | 2009-06-03 | 2012-03-22 | Moog B.V. | Skewed-axis three degree-of-freedom remote-center gimbal |
| CN106405297A (en) * | 2016-11-02 | 2017-02-15 | 大连东信微波技术有限公司 | Radome testing system |
| CN106903678A (en) * | 2017-04-25 | 2017-06-30 | 中国科学院深圳先进技术研究院 | A kind of 3-freedom parallel mechanism with arc prismatic pair |
| CN108356802A (en) * | 2018-05-16 | 2018-08-03 | 湖北理工学院 | A kind of two-freedom-degree parallel mechanism of partly decoupled |
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| CN110925293B (en) | 2022-03-15 |
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