CN112081836A

CN112081836A - Hooke joint

Info

Publication number: CN112081836A
Application number: CN202010947947.9A
Authority: CN
Inventors: 李晔卓; 赵子铭; 李晶晶; 李锐明
Original assignee: Beijing Jiaotong University
Current assignee: Beijing Jiaotong University
Priority date: 2020-09-10
Filing date: 2020-09-10
Publication date: 2020-12-15
Anticipated expiration: 2040-09-10
Also published as: CN112081836B

Abstract

The invention relates to a hook hinge which comprises an upper platform, a first elastic piece, a reset rod, a lower platform and a support frame. The upper platform is provided with a support column positioned at the lower end, and the lower end of the support column is provided with a guide hole which extends downwards along the axial direction of the support column. The first elastic piece is accommodated in the guide hole, and the first end of the first elastic piece is opposite to the bottom surface of the guide hole. The reset rod is provided with a guide rod part positioned at the upper end of the reset rod and a limiting end surface positioned at the lower end of the reset rod, wherein the guide rod part can be slidably accommodated in the guide hole and is abutted against the second end of the first elastic part. The up end of lower platform includes the plane portion with spacing terminal surface adaptation. The support frame is fixed on the lower platform, and the support column is rotationally fixed on the lower platform by the support frame. In a natural state, the limiting end face is attached to the plane part, the supporting columns and the reset rods are vertically distributed, and the first elastic piece is in a pressed state; when the upper platform rotates relative to the lower platform, the plane part presses the limiting end face to intensify the compression degree of the first elastic part.

Description

Hooke joint

Technical Field

The invention relates to the field of mechanical parts, in particular to a hook joint.

Background

In a mechanical device, a U-pair mechanism capable of arbitrary rotation in a plane needs to be provided for the needs of its practical application scenario. However, in the existing U-pair mechanism, rigid collision occurs between the components in the movement process. In addition, the U-pair mechanism also has a problem of small working space.

Document CN109664329A discloses a compact high-rigidity hooke joint, which is provided with an upper U-shaped frame and a lower U-shaped frame from top to bottom. The upper U-shaped frame and the lower U-shaped frame respectively provide two-dimensional rotation axes for the Hooke joint, so that the Hooke joint can rotate in different dimensions. However, because all the components are rigidly connected, the deformation range of the Hooke's joint is small, and the reset cannot be carried out.

Document CN106122296A discloses a hooke hinge mechanism with a rolling kinematic pair. In the Hooke hinge mechanism, two ends of the Hooke hinge mechanism are respectively provided with a rotating rod and a sleeve, wherein the sleeve is sleeved on the rotating rod, and the Hooke hinge mechanism is connected by using a thrust bearing between the rotating rod and a supporting sleeve, so that the Hooke hinge mechanism increases a rolling degree of freedom compared with a conventional Hooke hinge. However, according to this structure, the deformation range is not substantially increased, and the hook hinge mechanism is large in size and does not have a return function.

Disclosure of Invention

In view of the above-mentioned drawbacks in the prior art, an object of the present invention is to provide a hooke joint with a self-resetting function.

This object is achieved by a hooke's joint according to the invention in the following form. The hook hinge comprises an upper platform, a first elastic piece, a reset rod, a lower platform and a support frame. The upper platform is provided with a support column positioned at the lower end, and the lower end of the support column is provided with a guide hole extending downwards along the axial direction of the support column. The first elastic piece is accommodated in the guide hole, and the first end of the first elastic piece is opposite to the bottom surface of the guide hole. The reset rod is provided with a guide rod part positioned at the upper end of the reset rod and a limiting end face positioned at the lower end of the reset rod, wherein the guide rod part can be slidably accommodated in the guide hole and is abutted against the second end of the first elastic piece. The upper end face of the lower platform comprises a plane portion matched with the limiting end face. The support frame is fixed on the lower platform, and the support column is rotationally fixed on the lower platform by the support frame.

In a natural state, the limiting end face is attached to the plane portion, the supporting columns and the reset rods are vertically distributed, and the first elastic piece is in a pressed state; when the upper platform rotates relative to the lower platform, the plane part presses the limiting end face to intensify the compression degree of the first elastic part.

According to the Hooke's hinge, in a natural state, the first elastic piece enables the supporting column and the reset rod to be in a vertical state under the elastic action of the first elastic piece; when taking place relative rotation between upper mounting plate and the lower platform, spacing terminal surface and plane portion are no longer laminated completely, and the replacement, spacing terminal surface changes into by its outer edge position butt plane portion along with the rotation of upper mounting plate. Therefore, the limiting end face is pressed upwards to enable the reset rod to move upwards, and the pressed degree of the first elastic piece is further increased. When the external force acting on the upper platform and the lower platform is released, the first elastic piece rebounds to apply pressure on the supporting column and the reset rod and enable the supporting column and the reset rod to respectively return to the vertical state (namely the natural state).

According to a preferred embodiment of the present invention, the lower end of the supporting column is provided with a first hinge shaft, the supporting frame comprises a transverse supporting frame and a longitudinal supporting frame, the first hinge shaft is rotatably fixed to the transverse supporting frame, the transverse supporting frame is rotatably fixed to the longitudinal supporting frame, and the rotation axis of the first hinge shaft and the rotation axis of the transverse supporting frame form an angle with each other. Preferably, the rotation direction of the first hinge shaft is perpendicular to the rotation direction of the transverse support frame. From this, the upper mounting plate can rotate on two mutually perpendicular dimensions for lower platform, improves the flexibility of hooke's hinge.

According to a preferred embodiment of the invention, the longitudinal support frame comprises two vertically distributed support plates.

According to a preferred embodiment of the present invention, the lower end surface of the limiting end surface has a groove portion, and the upper end surface of the flat surface portion has a limiting boss portion fitted with the groove portion, wherein the limiting boss portion falls into the groove portion in a natural state.

According to a preferred embodiment of the present invention, the guide rod portion is a hollow cylinder, and the guide hole is provided with a guide post adapted to the hollow cylinder.

According to a preferred embodiment of the present invention, the lower end of the reset lever is a circular disc having a cross-sectional area larger than that of the support post, and the groove portion is located on a lower end surface of the circular disc. After the disc in the above form is arranged, compared with the reset rod at the lower end in the conventional form, after the upper platform rotates for the same angle relative to the lower platform, the reset rod moves upwards for a larger distance, and the compression distance of the first elastic part is larger, so that the Hooke's joint is easier to restore to the natural state.

According to a preferred embodiment of the present invention, the lower stage includes a support groove at an upper end surface thereof and a boss detachably received in the support groove, and the stopper boss portion is located at an upper end surface of the boss.

According to a preferred embodiment of the present invention, a limiting post is disposed on an upper end surface of the upper platform and/or a lower end surface of the lower platform, the hooke joint further includes a second elastic member located on a periphery of the hooke joint, and the second elastic member is fixed to the limiting post to connect the upper platform and the lower platform.

According to a preferred embodiment of the present invention, the first elastic member is a spring.

According to a preferred embodiment of the present invention, the second elastic member is a spring.

The Hooke joint has the beneficial effects that: the Hooke's hinge has from the reset function, compact structure, and rigidity is higher and in the course of the work, its each constitution subassembly can not bump. Under the condition that no elastic sheet is arranged, the Hooke's joint is used as a U-pair mechanism, and the Hooke's joint has the characteristic of large working space; in addition, the rotation pair connection is used for realizing movement, so that the rotation pair connection has good torsion resistance. Under the condition that the elastic sheet is arranged, the Hooke's hinge is used as a ball pair mechanism, the three-axis rotation function of the ball pair is realized, and the working space is larger (about 150 degrees) than that of the existing ball hinge.

Drawings

For a better understanding of the above and other objects, features, advantages and functions of the present invention, reference should be made to the preferred embodiments illustrated in the accompanying drawings. Like reference numerals in the drawings refer to like parts. It will be appreciated by persons skilled in the art that the drawings are intended to illustrate preferred embodiments of the invention without any limiting effect on the scope of the invention, and that the various components in the drawings are not drawn to scale.

FIG. 1 is a schematic diagram of the general structure of a Hooke's joint according to a preferred embodiment of the present invention, wherein the Hooke's joint is in a natural state;

FIG. 2 is an exploded view of the hooke joint of FIG. 1;

FIG. 3 is a schematic view of the upper portion of the upper platform of the hook joint of FIG. 1;

FIG. 4 is a schematic cross-sectional view of the support bar, first resilient member and return bar of the hooke joint of FIG. 1;

FIG. 5 is a schematic structural view of a support frame of the hook joint shown in FIG. 1;

FIG. 6 is a schematic structural view of the lower platform of the Hooke's hinge shown in FIG. 1;

FIGS. 7 and 8 are schematic views showing the hook joint in the working state shown in FIG. 1, in which the upper platform of FIG. 7 is rotated with respect to the lateral support frame, the upper platform of FIG. 8 is rotated with respect to the lateral support frame, and the lateral support frame is rotated with respect to the longitudinal support frame;

fig. 9 is a schematic view showing an overall structure of a hooke joint according to another preferred embodiment of the present invention, wherein the hooke joint is in a natural state;

fig. 10 is a schematic view showing the hooke joint in the state shown in fig. 9 in an operating state.

Description of reference numerals:

and (3) Hooke joint: 100, respectively; an upper platform: 110;

supporting columns: 111; a guide hole: 112

First articulated shaft: 113; fixing a platform: 114, and a carrier;

pressing a cover: 115. 154; a guide column: 116;

a limiting column: 117. 153 support frame: 120 of a solvent;

horizontal support frame: 121, a carrier; first hinge hole: 122;

a second hinge shaft: 123; a support plate: 124;

a spring: 130, 130; a reset rod: 140

Groove part: 141, a solvent; disc: 142;

annular protrusion: 143; the following platform: 150;

supporting the groove: 151, and (b); a boss: 152;

limiting boss part: 155; spring plate: 160.

Detailed Description

The inventive concept of the present invention will be described in detail below with reference to the accompanying drawings. What has been described herein is merely a preferred embodiment in accordance with the present invention and other ways of practicing the invention will occur to those skilled in the art and are within the scope of the invention. In the following detailed description, directional terms, such as "upper", "lower", "inner", "outer", "vertical", and the like, are used with reference to the orientation as illustrated in the drawings. Components of embodiments of the present invention can be positioned in a number of different orientations and the directional terminology is used for purposes of illustration and is in no way limiting.

Fig. 1 shows a hooke's joint according to a preferred embodiment of the invention, and fig. 2 shows an exploded view of fig. 1. As shown in fig. 1 and 2, the hooke's joint 100 has an upper platform 110, a first elastic member, a restoring rod 140, a lower platform 150, and a supporting bracket 120. Referring to fig. 3, there is shown an upper portion of the upper platform 110 of a hooke's hinge 100 according to the present invention, the upper portion including a fixed platform 114 and a gland 115 enclosing a top surface of the fixed platform 114.

Referring to fig. 4 in conjunction with fig. 1 and 2, fig. 4 is a schematic cross-sectional view of the support post 111 and the reset lever 140 (described in detail below) of the upper plate 110. Wherein the support column 111 is provided at the lower end of the upper stage 110. Specifically, the top surface of the support column 111 may be provided with a threaded hole, and the support column 111 may be fixed below the fixing platform 114 by a fastener such as a screw. The lower end of the support column 111 is provided with a guide hole 112 extending downward in the axial direction thereof. A first elastic member such as a spring 130 is placed in the guide hole 112, wherein an upper end of the spring 130 is opposite to a bottom end of the guide hole 112.

The periphery of the lower end of the support column 111 is also provided with a first hinge shaft 113 as a hinge fulcrum of the upper platform 110.

Referring further to fig. 4 in conjunction with fig. 1 and 2, the reset lever 140 has a guide rod portion 144 at an upper end thereof and a limit end surface at a lower end thereof, wherein the guide rod portion 144 is slidably received in the guide hole 112 and abuts the spring 130.

In the preferred embodiment of fig. 2 and 4, the guiding rod part 144 of the restoring rod 140 is configured as a hollow cylinder, and the guiding hole 112 is configured with the guiding post 116 adapted to the hollow cylinder. The spring 130 may fit over the guide post 116. In this embodiment, during the sliding of the hollow cylinder along the guide hole 112, the outer surface of the hollow cylinder fits the inner periphery of the guide hole 112; the inner surface of the hollow cylinder fits around the periphery of the guide post 116, so that the guide rod part 144 will not deflect relative to the support post 111 during sliding, which is beneficial to avoid unnecessary deflection of the upper and

lower platforms

110, 150 during relative rotation.

It will be appreciated that although not shown, the guide rod portion 144 may also be provided as a solid cylindrical member, which is preferably a solid cylindrical member. At this time, the guiding post 116 in the guiding hole 112 may be set to have a smaller length, so that it is only used for sleeving the spring 130 to limit the spring 130, and the guiding post 116 does not hinder the upward movement of the reset rod 140; in addition, the guide posts 116 may also be omitted.

Referring to fig. 6, a lower platform 150 is shown according to a preferred embodiment of the present invention. Wherein, the upper end surface of the lower platform 150 has a plane portion (i.e. the upper end surface of the lower platform 150 shown in fig. 6) adapted to the limit end surface of the reset lever 140. The lower platform 150 serves as a support structure for the upper platform 110, to which the support frame 120 is fixed. The upper platform 110 is rotatably fixed above the lower platform 150 by a support bracket 120.

Referring to fig. 7 in conjunction with fig. 1 and 2, fig. 7 shows a support bracket 120 according to a preferred embodiment of the present invention. Wherein, the supporting frame 120 includes a transverse supporting frame 121 and a longitudinal supporting frame 120. The lateral support frame 121 may be configured to have a substantially U-shaped cross section, and the central portion of the lateral support frame 121 has a through hole for the reset lever 140 to pass through, and two risers extending in the lateral direction and distributed substantially vertically. The riser is provided with a first hinge hole 122 adapted to the first hinge shaft 113 of the support column 111. The support post 111 is rotatable about the first hinge hole 122.

The transverse support frame 121 is further provided at both ends thereof with second hinge shafts 123. The upper end of the longitudinal support frame 120 is provided with a second hinge hole adapted to the second hinge shaft 123. In this embodiment, the longitudinal support frame 120 is composed of two support plates 124 distributed vertically, and alternatively, the longitudinal support frame 120 may be a support frame 120 in the form of a frame. Preferably, the rotation axis defined by the first hinge hole 122 (the rotation axis of the upper platform 110/support column 111) and the rotation axis defined by the second hinge hole (the rotation axis of the lateral support frame 121) are perpendicular to each other. That is, the rotation direction of the first hinge shaft 113 is perpendicular to the rotation direction of the lateral support frame 121. Thus, the upper platform 110 can rotate relative to the lower platform 150 in two dimensions perpendicular to each other, increasing the flexibility of the hooke joint 100.

Referring to fig. 4, as a preferred embodiment, a lower end surface of a stopper end surface of the reset lever 140 is provided with a groove portion 141, and an upper end surface of a flat surface portion of the lower stage 150 is provided with a stopper boss portion 155 fitted with the groove portion 141. The depth of the recessed portion 141 may be set to 1cm, 1.5cm, 2cm, etc., accordingly, according to the elastic coefficient of the spring 130 and the magnitude of the external force of the use environment of the hooke's hinge 100.

Preferably, the lower end of the reset lever 140 is provided as a disc 142 having a cross-sectional area larger than that of the support post 111, wherein the groove portion 141 of the reset lever 140 is located on the lower end surface of the disc 142.

To further enhance the applicability of the hooke joint 100 of the present invention, the lower platform 150 may be configured as a separate body. Specifically, referring to fig. 2, the lower stage 150 is configured to include a support groove 151 at an upper end surface thereof and a boss 152 detachably received in the support groove 151, wherein a stopper boss portion 155 is located at an upper end surface of the boss 152. The boss 152 is preferably made of a material having a certain lubricating effect. Accordingly, when the hooke joint 100 needs to withstand a large external force environment, the boss 152 with a high height may be selected, and in the natural state shown in fig. 1, the spring 130 has a relatively large compression length; after the upper platform 110 rotates relative to the lower platform 150 (see fig. 7 and 8), the spring 130 has a larger restoring force, which is more favorable for the hooke joint 100 to return to the state of fig. 1.

Referring to fig. 9, 10, another preferred embodiment according to the present invention is shown. In this embodiment, the main body of the hooke joint 100 has the same structure as the hooke joint 100 shown in fig. 1 to 8, and therefore, the description thereof is omitted, and only the additional members and the portions interacting with the additional members in this embodiment will be described below.

As shown in fig. 9-10 and 2, the upper end surface of the upper platform 110 and the lower end surface of the lower platform 150 are provided with limiting

posts

117, 153. A second elastic member, such as a spring 160, is disposed around the hooke's hinge 100, wherein the spring 160 is fixed on the position-limiting

posts

117, 153 to connect the upper platform 110 and the lower platform 150. When the upper platform 110 rotates relative to the lower platform 150 (see fig. 10), the spring 130 and the resilient piece 160 can provide a restoring force to restore the hooke's joint 100 to the natural state of fig. 9.

The working principle of the hooke's joint 100 according to the invention is explained below with reference to fig. 1, 7-10. In the natural state shown in fig. 1 and 9, the limiting end surface at the lower end of the release link 140 is attached to the planar portion at the upper end of the lower platform 150, and the first elastic member is in a pressed state and abuts against the support column 111 and the release link 140 respectively to enable the two to be in a vertical state.

When the upper platform 110 and the lower platform 150 rotate relatively to each other, and the working state is changed to that shown in fig. 7, 8 or 10, the limit end surface and the planar portion do not keep a fit relation, and instead, the limit end surface abuts against the planar portion from the outer edge position thereof along with the rotation of the upper platform 110. Therefore, the limit end surface is pressed upwards to move the reset rod 140 upwards, and the pressed degree of the first elastic element is further increased. When the external force applied to the upper and

lower stages

110 and 150 is released, the spring 130 rebounds to apply pressure to the support column 111 and the restoring rod 140 and restore the two to the vertical state (i.e., the natural state).

It will be appreciated that, in the preferred embodiment of the disc 142, the reset lever 140 moves upward more and the first elastic member is compressed more, which helps the hooke's joint 100 to return to the natural state more easily, compared to the reset lever 140 of the lower end in the conventional form, when the upper platform 110 rotates relative to the lower platform 150 by the same angle.

With respect to the groove portion 141 at the lower end of the reset lever 140 and the limit boss portion 155 matching with the groove portion 141, the limit boss portion 155 just falls completely into the groove portion 141 in the natural state of fig. 1 and 9. At this time, the limiting boss portion 155 can limit the groove portion 141 to a certain extent, and prevent the hooke joint 100 from being unnecessarily separated from the natural state when the upper platform 110 and the lower platform 150 are subjected to undesirable external interference such as shaking or other external interference.

Referring to fig. 4, as a further preferred mode of the present invention, the groove portion 141 is preferably defined by an annular projection 143. Wherein the end surface of the annular protrusion 143 facing the lower platform 150 is configured in an arc shape. When groove portion 141 has passed over stop boss portion 155 (i.e., hooke joint 100 is in the working state) and is to be restored, stop boss portion 155 can easily pass over annular projection 143 and fall into groove portion 141.

The scope of the invention is limited only by the claims. Persons of ordinary skill in the art, having benefit of the teachings of the present invention, will readily appreciate that alternative structures to the structures disclosed herein are possible alternative embodiments, and that combinations of the disclosed embodiments may be made to create new embodiments, which also fall within the scope of the appended claims.

Claims

1. A hooke joint, the hooke joint comprising:

the upper platform is provided with a support column positioned at the lower end, and the lower end of the support column is provided with a guide hole which extends downwards along the axial direction of the support column;

the first elastic piece is accommodated in the guide hole, and the first end of the first elastic piece is opposite to the bottom surface of the guide hole;

the reset rod is provided with a guide rod part positioned at the upper end of the reset rod and a limiting end surface positioned at the lower end of the reset rod, wherein the guide rod part can be slidably accommodated in the guide hole and is abutted against the second end of the first elastic piece;

the upper end surface of the lower platform comprises a plane part matched with the limiting end surface; and

the supporting frame is fixed on the lower platform, and the supporting column is rotatably fixed on the lower platform by the supporting frame;

2. The hooke joint of claim 1, wherein the support column has a first hinge shaft at a lower end thereof, the support frame comprises a transverse support frame and a longitudinal support frame, the first hinge shaft is rotatably fixed to the transverse support frame, the transverse support frame is rotatably fixed to the longitudinal support frame, and a rotation axis of the first hinge shaft and a rotation axis of the transverse support frame form an angle with each other.

3. A hook hinge according to claim 2,

the rotating direction of the first hinge shaft is perpendicular to the rotating direction of the transverse support frame.

4. The hooke joint of claim 2, wherein the longitudinal support frame comprises two vertically disposed support plates.

5. A hook hinge according to claim 1, wherein a lower end surface of said stopper end surface has a groove portion, and an upper end surface of said flat surface portion has a stopper boss portion fitted into said groove portion, wherein said stopper boss portion falls into said groove portion in a natural state.

6. A hook hinge according to any one of claims 1-5, wherein the guiding rod part is a hollow cylinder, and the guiding hole is provided with a guiding post adapted to the hollow cylinder.

7. The hooke joint of claim 6, wherein the lower end of the release link is a disc having a cross-sectional area larger than a cross-sectional area of the support post, and the recessed portion is located on a lower end surface of the disc.

8. A hook hinge according to claim 5 or 7, wherein the lower platform comprises a support groove on an upper end surface thereof and a boss detachably received in the support groove, and the limit boss part is located on an upper end surface of the boss.

9. The hooke joint of claim 1, wherein a limiting post is disposed on an upper end surface of the upper platform and/or a lower end surface of the lower platform, the hooke joint further comprising a second elastic member disposed on a periphery of the hooke joint, the second elastic member being fixed to the limiting post to connect the upper platform and the lower platform.

10. The hooke joint of claim 9, wherein the second resilient member is a leaf spring; and/or

The first elastic piece is a spring.