CN112377517B - Hooke joint for parallel manipulator - Google Patents
Hooke joint for parallel manipulator Download PDFInfo
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- CN112377517B CN112377517B CN202011394640.7A CN202011394640A CN112377517B CN 112377517 B CN112377517 B CN 112377517B CN 202011394640 A CN202011394640 A CN 202011394640A CN 112377517 B CN112377517 B CN 112377517B
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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
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Abstract
The invention relates to the technical field of auxiliary devices of parallel manipulators, and discloses a hooke joint for parallel manipulators, which comprises an upper hooke joint, wherein a first rotating shaft is rotatably connected between two straight plates of the upper hooke joint, a second upper rotating shaft and a second lower rotating shaft are respectively arranged on the upper side and the lower side of the first rotating shaft, a butt joint block is embedded in the center of the second upper rotating shaft, a butt joint block is also embedded in the center of the second lower rotating shaft, a splicing mechanism is arranged on the first rotating shaft, a lower support plate is arranged at the lower end of the upper hooke joint, two connecting plates are respectively arranged on the upper surface of the lower support plate, and an adjusting mechanism is arranged on the lower surface of the lower support plate. This a hooke hinge for parallelly connected manipulator, the device can demolish or install the hooke hinge, and then can change corresponding position according to the damage condition of hooke hinge, and then has avoided the condition of changing whole hooke hinge.
Description
Technical Field
The invention relates to the technical field of auxiliary devices of parallel manipulators, in particular to a Hooke joint for parallel manipulators.
Background
The current society is developing to the direction of artificial intelligence, the parallel manipulator is as coping with the loaded down with trivial details nature, the mechanical equipment of repeatability work can be applied to more extensive field more, solve some real loaded down with trivial details problems, the activity position in the parallel manipulator generally all is connected through the hooke hinge, and then the hooke hinge plays an important role on the parallel manipulator, the parallel manipulator is in long-time motion process, there is fine load to the hooke hinge, and then the condition that the hooke hinge appears damaging easily, but most current hooke hinge can not dismantle, and then if a certain part appears damaging in the hooke hinge, just need change whole hooke hinge device, and then just caused the unnecessary loss of parallel manipulator, expense when having improved the maintenance.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides the Hooke's joint for the parallel manipulator, which has the advantages that the Hooke's joint can be disassembled or assembled, and the like, and solves the problem that the Hooke's joint can not be disassembled.
(II) technical scheme
In order to achieve the purpose, the invention provides the following technical scheme: a Hooke's hinge for parallel manipulator comprises an upper Hooke's hinge, the upper Hooke's hinge is n-shaped, a first rotating shaft is rotatably connected between two straight plates of the upper Hooke's hinge, a second upper rotating shaft and a second lower rotating shaft are respectively arranged on the upper side and the lower side of the first rotating shaft, a butt joint block is inlaid in the center of the second upper rotating shaft, a butt joint block is inlaid in the center of the second lower rotating shaft, the first rotating shaft is arranged between the two butt joint blocks, a splicing mechanism is arranged on the first rotating shaft, a lower support plate is arranged at the lower end of the upper Hooke's hinge, two connecting plates are respectively arranged on the upper surface of the lower support plate, rotating holes are respectively formed in the two connecting plates, rotating holes in the two connecting plates are respectively penetrated through by the front and rear ends of the second upper rotating shaft and the second lower rotating shaft, hexagonal screws are respectively arranged at one end of the second upper rotating shaft and the second lower rotating shaft, the inside of lower backup pad is cavity, the upper surface of lower backup pad has seted up three and has run through the groove, three it all communicates with each other with the inside of lower backup pad to run through the groove, the lower surface of lower backup pad is provided with adjustment mechanism.
Preferably, the upper end of the butt-joint block extends out of the upper end of the second upper rotating shaft, the lower end of the butt-joint block extends out of the lower end of the second lower rotating shaft, and semicircular grooves are formed in the opposite surfaces of the two butt-joint blocks.
Preferably, the splicing mechanism includes the tenon shoulder, the quantity of tenon shoulder is two, two the upper and lower both sides surface of tenon shoulder difference fixed connection in first pivot, two all seted up on the opposite face to the joint block with the identical mortise of tenon shoulder, two all splice the joint block through mortise and the epaxial tenon shoulder of first pivot, two the upper and lower both ends of first pivot have all been seted up two tongue-and-grooves, two the tongue-and-groove sets up respectively in the left and right sides of tenon shoulder, two equal two fixedly connected with tenon pieces on the opposite face to the joint block, tenon piece and tongue-and-groove joint.
Preferably, the structure of tenon shoulder is regular triangle form, the tenon piece sets up to the U word form towards the one end of first pivot, the tongue-and-groove sets up to W word form recess.
Preferably, the lower surface of pivot is two joint pieces of fixedly connected with respectively on the second, two joint grooves have been seted up respectively to the upper surface of pivot under the second, joint piece and joint groove joint, two pinholes have been seted up respectively to both sides surface around the pivot under the second, two the pinhole communicates with each other with two joint grooves respectively, two the joint has two pins, two respectively in the pinhole the one end that the pin is relative all extends into the joint inslot, the pinhole has equally been seted up on the joint piece, the pin is located the joint inslot one end and carries out the joint with the pinhole on the joint piece equally.
Preferably, the adjusting mechanism includes a movable sliding block, the upper end of the movable sliding block is fixedly connected to the lower surface of the connecting plate, the lower end of the movable sliding block penetrates through a through groove in the center of the lower supporting plate and finally extends into the lower supporting plate, a threaded rod is rotatably connected to the inside of the lower supporting plate, the rear end of the threaded rod is rotatably connected to the inner wall of the rear side of the lower supporting plate, the front end of the threaded rod penetrates through the front side surface of the lower supporting plate, and a rotating handle is fixedly connected to one end of the threaded rod, which is located outside the lower supporting plate.
Preferably, one end of the threaded rod, which is located in the lower supporting plate, is provided with two thread teeth respectively, two thread teeth are arranged in opposite directions, the connecting structure of the lower supporting plate is the same, two thread grooves matched with the two thread teeth are formed in one end of the movable sliding block, which is located in the lower supporting plate, respectively, and the movable sliding block is in threaded connection with the two thread teeth on the threaded rod through the two thread grooves respectively.
Preferably, the lower surface of bottom suspension fagging is two fly leafs of fixedly connected with respectively, two the lower extreme of fly leaf all runs through the inside that the groove extended into the bottom suspension fagging through two, the fly leaf is located one of bottom suspension fagging and serves and be provided with the pulley, two respectively two sliders of fixedly connected with on the bottom inner wall of bottom suspension fagging, two the slider is in same vertical position with two fly leafs respectively, the fly leaf carries out sliding connection through pulley and slider.
(III) advantageous effects
Compared with the prior art, the invention provides a Hooke joint for parallel manipulators, which has the following beneficial effects:
1. this a hooke hinge for parallelly connected manipulator, the device can demolish or install the part in the hooke hinge, and then can be according to the damage condition of hooke hinge, can change corresponding position, and then has avoided the condition of changing whole hooke hinge, has reduced the expense when maintaining parallelly connected manipulator.
2. This a hooke hinge for parallelly connected manipulator, the device is through setting up adjustment mechanism, and then rotate through rotating handle, just can adjust according to the actual length of pivot, has avoided having avoided installing some longer or shorter pivots, and then has improved the practicality of the device when using, has increased the device's application range.
3. This a hooke hinge for parallelly connected manipulator, fly leaf carry out sliding connection through pulley and slider, and then reduced the frictional force that the connecting plate formed when the displacement, and then avoided appearing the dead risk of mechanical card, improved the device's stability to and the smoothness nature when having improved the device operation.
4. This a hooke hinge for parallelly connected manipulator sets up to regular triangle and tenon piece into the U word form through setting up the tenon shoulder, and then increased pivot and second down the pivot respectively and the first pivot between the intensity when being connected, avoided appearing not hard up or cracked condition when connecting between the three, further increased the device's life and result of use.
5. This a hooke's hinge for parallelly connected manipulator all sets up to semicircle form recess on the opposite face through with two butt joint pieces, when pivot and first pivot splice under pivot and the second on the second like this, and then make two better coincideings of carrying on of butt joint piece and first pivot, reduced the degree of difficulty when installing, and then improved the efficiency when the device installs.
Drawings
FIG. 1 is a schematic view of a Hooke's hinge structure for a parallel manipulator according to the present invention;
FIG. 2 is a schematic view of the connecting mechanism of the present invention;
FIG. 3 is a schematic structural diagram of a first rotating shaft according to the present invention;
FIG. 4 is a schematic structural view of a second upper rotating shaft and a second lower rotating shaft according to the present invention;
FIG. 5 is a disassembled view of the lower support plate and the connecting plate of the present invention;
FIG. 6 is a front plan view of the lower support plate of the present invention;
fig. 7 is a right plan view of the lower support plate of the present invention.
In the figure: the device comprises an upper Hooke hinge 1, a first rotating shaft 2, a second upper rotating shaft 3, a second lower rotating shaft 4, a butt joint block 5, a tenon shoulder 6, a mortise 7, a tenon block 8, a mortise 9, a tenon socket 10, a tenon socket 11, a pinhole 12, a pin 13, a lower supporting plate 14, a connecting plate 15, a hexagonal screw 16, a through groove 17, a movable slider 18, a movable plate 19, a pulley 20, a rotating handle 21, a slider 22, a threaded rod 23 and a threaded groove 24.
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.
Referring to fig. 1-7, the present invention provides a new technical solution: a Hooke's hinge for parallel manipulator comprises an upper Hooke's hinge 1, the upper Hooke's hinge 1 is n-shaped, a first rotating shaft 2 is rotatably connected between two straight plates of the upper Hooke's hinge 1, a second upper rotating shaft 3 and a second lower rotating shaft 4 are respectively arranged on the upper side and the lower side of the first rotating shaft 2, the second upper rotating shaft 3 is half cylindrical, the second lower rotating shaft 4 is half cylindrical, the second upper rotating shaft 3 and the second lower rotating shaft 4 are spliced to form a cylinder, a butt-joint block 5 is embedded in the center of the second upper rotating shaft 3, the upper end of the butt-joint block 5 extends out of the upper end of the second upper rotating shaft 3, a butt-joint block 5 is also embedded in the center of the second lower rotating shaft 4, the lower end of the butt-joint block 5 extends out of the lower end of the second lower rotating shaft 4, the opposite surfaces of the two butt-joint blocks 5 are both provided with semicircular grooves, when the two butt-joint blocks 5 are overlapped, the upper end and the lower end of the first rotating shaft 2 are respectively fixedly connected with two mortises 6, the structure of each mortises 6 is in a regular triangle shape, the two mortises 6 are arranged in an opposite mode, the opposite surfaces of the two butt joint blocks 5 are respectively provided with a mortise 9 matched with the mortises 6, the two butt joint blocks 5 are spliced with the mortises 6 on the first rotating shaft 2 through the mortises 9, the second upper rotating shaft 3 and the second lower rotating shaft 4 are respectively arranged on the first rotating shaft 2, the upper end and the lower end of the first rotating shaft 2 are respectively provided with two mortises 7, the two mortises 7 are respectively arranged at the left side and the right side of the mortises 6, the opposite surfaces of the two butt joint blocks 5 are respectively and fixedly connected with two mortises 8, the two mortises 8 are respectively in the same vertical position with the two mortises 7, one end of each mortises 8 facing the first rotating shaft 2 is in a U shape, and the mortises 7 are arranged in a W-shaped groove, the tenon block 8 is clamped with the tenon groove 7, the tenon shoulder 6 is arranged to be in a regular triangle shape, and the tenon block 8 is arranged to be in a U shape, so that the strength of the connection between the second upper rotating shaft 3 and the second lower rotating shaft 4 and the first rotating shaft 2 is increased;
the lower surface of the second upper rotating shaft 3 is fixedly connected with two clamping blocks 10 respectively, the two clamping blocks 10 are arranged on the front side and the rear side of the butt joint block 5 respectively, the upper surface of the second lower rotating shaft 4 is provided with two clamping grooves 11 respectively, the two clamping grooves 11 are in the same vertical position with the two clamping blocks 10 respectively, the lower ends of the clamping blocks 10 extend into the clamping grooves 11, the clamping blocks 10 are provided with pin holes 12 respectively, the pin holes 12 extend out of the front side and the rear side surfaces of the clamping blocks 10 respectively, the front side and the rear side surfaces of the second lower rotating shaft 4 are also provided with two pin holes 12 respectively, the two pin holes 12 are communicated with the two clamping grooves 11 respectively, the front side and the rear side of the clamping blocks 10 are provided with two pins 13 respectively, the two pins 13 are clamped with the two pin holes 12 respectively, the opposite ends of the two pins 13 extend into the clamping grooves 11 respectively, and when the second upper rotating shaft 3 is, the pin hole 12 on the clamping block 10 and the pin hole 12 on the second lower rotating shaft 4 are in the same horizontal position, and then the pin 13 is also clamped with the pin hole 12 on the clamping block 10, so that the situation that the second upper rotating shaft 3 is separated from the second lower rotating shaft 4 is avoided;
a lower support plate 14 is arranged at the lower end of the upper hooke joint 1, two connecting plates 15 are respectively arranged on the upper surface of the lower support plate 14, rotating holes are formed in the two connecting plates 15, the front end and the rear end of the second upper rotating shaft 3 and the second lower rotating shaft 4 penetrate through the rotating holes in the two connecting plates 15, hexagonal screws 16 are arranged at one end of the second upper rotating shaft 3 and one end of the second lower rotating shaft 4 penetrating through the hexagonal screws, and the connecting plates 15 are fixed on the second upper rotating shaft 3 and the second lower rotating shaft 4, so that the connecting plates 15 are prevented from being separated;
the interior of the lower support plate 14 is hollow, the upper surface of the lower support plate 14 is provided with three through grooves 17, the three through grooves 17 are communicated with the interior of the lower support plate 14, the connecting structures of the lower surfaces of the two connecting plates 15 are the same, the lower surface of the connecting plate 15 is fixedly connected with a movable slider 18, the lower end of the movable slider 18 penetrates through the through groove 17 at the center of the lower support plate 14 and finally extends into the interior of the lower support plate 14, the interior of the lower support plate 14 is rotatably connected with a threaded rod 23, the rear end of the threaded rod 23 is rotatably connected on the inner wall of the rear side of the lower support plate 14, the front end of the threaded rod 23 penetrates out of the front side surface of the lower support plate 14, the end of the threaded rod 23 outside the lower support plate 14 is fixedly connected with a rotating handle 21, the end of the threaded rod 23 inside the lower support plate 14 is respectively provided with two thread, meanwhile, two thread grooves 24 which are matched with the two thread teeth are respectively formed in one end, located in the lower supporting plate 14, of each of the two movable sliding blocks 18, the two movable sliding blocks 18 are in threaded connection with the two thread teeth on the threaded rod 23 through the two thread grooves 24 respectively, and then the rotating handle 21 is rotated, so that the two movable sliding blocks 18 can respectively perform opposite or opposite displacement on the threaded rod 23, and further the two connecting plates 15 respectively perform opposite or opposite displacement;
the lower surface of bottom suspension fagging 14 is two fly leaf 19 of fixedly connected with respectively, the lower extreme of two fly leaf 19 all runs through the inside that groove 17 extended into bottom suspension fagging 14 through two, one of fly leaf 19 is located bottom suspension fagging 14 is served and is provided with pulley 20, pulley 20 does not do too much redundant description for current structure, simultaneously on the bottom inner wall of bottom suspension fagging 14 respectively two sliders 22 of fixedly connected with, two sliders 22 are in same vertical position with two fly leaf 19 respectively, and then fly leaf 19 carries out sliding connection through pulley 20 and slider 22, and then reduced the frictional force that connecting plate 15 formed when the displacement, and then reduced the dead risk of mechanical lock, the fluency when having improved the device operation.
The working principle is as follows: when the Hooke joint for the parallel manipulator is used;
the first step is as follows: the second upper rotating shaft 3 and the second lower rotating shaft 4 are respectively arranged at the upper end and the lower end of the first rotating shaft 2, then the tenon shoulder 6 on the first rotating shaft 2 extends into the tenon socket 9 in the butt joint block 5, then the tenon shoulder 6 is clamped with the tenon socket 9, the tenon block 8 is clamped with the tenon groove 7 on the first rotating shaft 2, meanwhile, the clamping block 10 on the second upper rotating shaft 3 extends into the clamping groove 11 of the second lower rotating shaft 4, when the second upper rotating shaft 3 is overlapped with the second lower rotating shaft 4, a pin 13 is inserted into the pin hole 12, and then the second upper rotating shaft 3 and the second lower rotating shaft 4 are completely fixed on the first rotating shaft 2;
the second step is that: the rotating handle 21 on the lower supporting plate 14 is reversed, so that the two moving sliders 18 on the threaded rod 23 are displaced in opposite directions, the distance between the two connecting plates 15 is long, when the distance between the two connecting plates 15 is the same as the length of the second upper rotating shaft 3, the two connecting plates 15 are respectively placed at the front end and the rear end of the second upper rotating shaft 3 and the second lower rotating shaft 4, the rotating handle 21 is reversed again, so that the two connecting plates 15 are displaced in opposite directions, and the rotating holes in the connecting plates 15 are respectively movably sleeved on the second upper rotating shaft 3 and the second lower rotating shaft 4;
the third step: through pivot 3 and second down pivot 4 run through out one of connecting plate 15 in the second and serve and all set up hexagon screw 16, and then fix connecting plate 15 on pivot 3 and second down pivot 4 in the second, avoided connecting plate 15 the condition of separation to appear.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. The utility model provides a hooke's hinge for parallelly connected manipulator, includes hooke's hinge (1), the structure of going up hooke's hinge (1) is n word form, its characterized in that: the upper hook hinge is characterized in that a first rotating shaft (2) is rotatably connected between two straight plates of the upper hook hinge (1), the upper and lower sides of the first rotating shaft (2) are respectively provided with a second upper rotating shaft (3) and a second lower rotating shaft (4), the center of the second upper rotating shaft (3) is inlaid with a butt-joint block (5), the center of the second lower rotating shaft (4) is inlaid with a butt-joint block (5), the first rotating shaft (2) is arranged between the two butt-joint blocks (5), the first rotating shaft (2) is provided with a splicing mechanism, the lower end of the upper hook hinge (1) is provided with a lower supporting plate (14), the upper surface of the lower supporting plate (14) is respectively provided with two connecting plates (15), the two connecting plates (15) are both provided with rotating holes, the front end and the rear end of the second upper rotating shaft (3) and the second lower rotating shaft (4) are both penetrated through the rotating holes on the two connecting plates (15), hexagonal screws (16) are arranged at one end, penetrating through the second upper rotating shaft (3) and the second lower rotating shaft (4), of the lower supporting plate (14), the inner portion of the lower supporting plate (14) is hollow, three penetrating grooves (17) are formed in the upper surface of the lower supporting plate (14), the three penetrating grooves (17) are communicated with the inner portion of the lower supporting plate (14), and an adjusting mechanism is arranged on the lower surface of the lower supporting plate (14).
2. A hooke joint for parallel robots according to claim 1, wherein: the upper end of the butt joint block (5) extends out of the upper end of the second upper rotating shaft (3), the lower end of the butt joint block (5) extends out of the lower end of the second lower rotating shaft (4), and semicircular grooves are formed in opposite surfaces of the two butt joint blocks (5).
3. A hooke joint for parallel robots according to claim 1, wherein: splicing mechanism includes tenon shoulder (6), the quantity of tenon shoulder (6) is two, two tenon shoulder (6) fixed connection is upper and lower both sides surface in first pivot (2) respectively, two all seted up on the opposite face to splice piece (5) with identical mortise (9) of tenon shoulder (6), two splice piece (5) all splice through mortise (9) and tenon shoulder (6) on first pivot (2), two tongue-and-groove (7), two have all been seted up at the upper and lower both ends of first pivot (2) tongue-and-groove (7) set up respectively in the left and right sides of tenon shoulder (6), two equal fixedly connected with two tenon piece (8) on the opposite face to splice piece (5), tenon piece (8) and tongue-and-groove (7) joint.
4. A hooke joint for parallel robots according to claim 3, wherein: the structure of tenon shoulder (6) is regular triangle form, tenon piece (8) set up to the U word form towards the one end of first pivot (2), tongue-and-groove (7) set up to W word form recess.
5. A hooke joint for parallel robots according to claim 3, wherein: the lower surface of pivot (3) is two joint piece (10) of fixedly connected with respectively on the second, two joint groove (11) have been seted up respectively to the upper surface of pivot (4) under the second, joint piece (10) and joint groove (11) joint, two pinhole (12), two have been seted up respectively to both sides surface around pivot (4) under the second pinhole (12) communicate with each other with two joint groove (11) respectively, two the difference joint has two pin (13), two in pinhole (12) the one end that pin (13) is relative all extends into in joint groove (11), pinhole (12) have been seted up equally on joint piece (10), pin (13) are located joint groove (11) one end and pinhole (12) on joint piece (10) carry out the joint equally.
6. A hooke joint for parallel robots according to claim 1, wherein: the adjusting mechanism comprises a movable sliding block (18), the upper end of the movable sliding block (18) is fixedly connected to the lower surface of the connecting plate (15), the lower end of the movable sliding block (18) penetrates through a penetrating groove (17) in the center of the lower supporting plate (14) and finally extends into the lower supporting plate (14), a threaded rod (23) is rotatably connected to the inner portion of the lower supporting plate (14), the rear end of the threaded rod (23) is rotatably connected to the inner wall of the rear side of the lower supporting plate (14), the front end of the threaded rod (23) penetrates out of the front side surface of the lower supporting plate (14), and a rotating handle (21) is fixedly connected to one end, located outside the lower supporting plate (14), of the threaded rod (23).
7. A hooke's joint for parallel manipulators as claimed in claim 6, wherein: threaded rod (23) are located one of lower backup pad (14) and serve and be provided with two thread teeth respectively, two the thread tooth becomes opposite direction and sets up, two the connection structure of lower backup pad (14) is the same, two remove slider (18) and serve and offer respectively two thread grooves (24) identical with two thread teeth on being located one of lower backup pad (14), two remove slider (18) and carry out threaded connection respectively through two thread grooves (24) and two thread teeth on threaded rod (23).
8. A hooke's joint for parallel manipulators as claimed in claim 6, wherein: the lower surface of lower support plate (14) is fixedly connected with two fly leaves (19) respectively, two the lower extreme of fly leaf (19) all runs through groove (17) through two and extends into the inside of lower support plate (14), one of fly leaf (19) position in lower support plate (14) is served and is provided with pulley (20), two slider (22) of fixedly connected with respectively on the bottom inner wall of lower support plate (14), two slider (22) are in same vertical position with two fly leaves (19) respectively, fly leaf (19) carry out sliding connection through pulley (20) and slider (22).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011394640.7A CN112377517B (en) | 2020-12-03 | 2020-12-03 | Hooke joint for parallel manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011394640.7A CN112377517B (en) | 2020-12-03 | 2020-12-03 | Hooke joint for parallel manipulator |
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| CN112377517A CN112377517A (en) | 2021-02-19 |
| CN112377517B true CN112377517B (en) | 2021-07-02 |
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| CN202011394640.7A Active CN112377517B (en) | 2020-12-03 | 2020-12-03 | Hooke joint for parallel manipulator |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114165513B (en) * | 2021-11-16 | 2023-02-03 | 航天时代(青岛)海洋装备科技发展有限公司 | Novel hook hinge |
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| JP2012115927A (en) * | 2010-11-30 | 2012-06-21 | Nsk Ltd | Joint for manipulator |
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| CN107842561A (en) * | 2017-12-21 | 2018-03-27 | 兴化市三诚精密锻造有限公司 | A kind of cross shaft rigid universal joint |
| CN207999434U (en) * | 2018-01-12 | 2018-10-23 | 厦门市安康发工贸有限公司 | The articulated link mechanism that suspension turns |
| CN212003934U (en) * | 2020-03-30 | 2020-11-24 | 北京卓立汉光仪器有限公司 | Hooke joint and multi-axis parallel robot |
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- 2020-12-03 CN CN202011394640.7A patent/CN112377517B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB574706A (en) * | 1940-05-28 | 1946-01-17 | Robert Cecil Braithwaite | Improvements in low-friction bearings or pivots for use in connecting links of philosophical electrical or other precision instruments |
| GB1270925A (en) * | 1968-04-05 | 1972-04-19 | Motor Gear And Engineering Com | Improvements in or relating to universal joints of the hooke's type |
| GB1427170A (en) * | 1972-09-05 | 1976-03-10 | Bendix Corp | Flexural universal coupling |
| GB1435584A (en) * | 1973-05-16 | 1976-05-12 | Gkn Transmissions Ltd | Hookes joints |
| JP2012115927A (en) * | 2010-11-30 | 2012-06-21 | Nsk Ltd | Joint for manipulator |
| CN102619892A (en) * | 2012-04-01 | 2012-08-01 | 北京航空航天大学 | Profiled cross-axle coupler being applicable to combined loading |
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| CN207999434U (en) * | 2018-01-12 | 2018-10-23 | 厦门市安康发工贸有限公司 | The articulated link mechanism that suspension turns |
| CN212003934U (en) * | 2020-03-30 | 2020-11-24 | 北京卓立汉光仪器有限公司 | Hooke joint and multi-axis parallel robot |
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| CN112377517A (en) | 2021-02-19 |
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Effective date of registration: 20221202 Address after: No. 225, Houfengyan, Tianfu Town, Beibei District, Chongqing 400704 Patentee after: CHONGQING TIANJUCHENG MACHINERY MANUFACTURING Co.,Ltd. Address before: 402260 No. 501, North South Avenue, Shengquan street, Jiangjin District, Chongqing Patentee before: CHONGQING VOCATIONAL INSTITUTE OF ENGINEERING |
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