CN113107959B - Spiral flexible hinge - Google Patents
Spiral flexible hinge Download PDFInfo
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- CN113107959B CN113107959B CN202110388911.6A CN202110388911A CN113107959B CN 113107959 B CN113107959 B CN 113107959B CN 202110388911 A CN202110388911 A CN 202110388911A CN 113107959 B CN113107959 B CN 113107959B
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- spiral
- piece
- flexible hinge
- spare
- driving medium
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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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- 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
- F16C11/12—Pivotal connections incorporating flexible connections, e.g. leaf springs
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Pivots And Pivotal Connections (AREA)
Abstract
The invention discloses a spiral flexible hinge. It includes at least one spiral flexible hinge unit, spiral flexible hinge unit includes first driving medium, the intermediate drive spare, the second driving medium, first spiral spare, the second spiral spare, first spiral spare and second spiral spare structure are the same, it forms to close by at least two spiral spring convolutions that revolve to the same, the convolution of the spiral spring of first spiral spare is opposite with the convolution of the spiral spring of second spiral spare, the one end and the first driving medium of first spiral spare are connected, the other end and the one end of intermediate drive spare of first spiral spare are connected, the one end and the other end of intermediate drive spare of second spiral spare are connected, the other end and the second driving medium of second spiral spare are connected, first driving medium, first spiral spare, the intermediate drive spare, the second spiral spare, the second driving medium coaxial line sets up. The invention can realize large-angle rotation, has small shaft drift, can meet the requirements of flexibility and precision, and can meet the requirements of large stroke and high precision.
Description
Technical Field
The invention relates to a spiral flexible hinge, and belongs to the technical field of hinges.
Background
With the continuous expansion of the application range of the flexible hinge, the flexibility and the precision of the traditional flexible hinge are obvious in the technical application process, the corner range is small in the flexibility, and the shaft drift is caused in the precision. These defects affect the application of the flexible hinge, and especially in the application occasions with large stroke, the shaft drift problem of the traditional flexible hinge is more prominent, and the requirement of high precision is difficult to meet.
In the technical field of robots and the like, in order to meet the requirements of large stroke and high precision, a flexible hinge capable of realizing larger rotation angle and zero drift is required to be adopted, and the existing flexible hinge cannot meet the requirements. In order to meet the requirements of a flexible hinge with large stroke and high precision, the invention provides a novel flexible hinge.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides the flexible hinge which can realize a large rotation angle and small shaft drift.
The invention is realized by the following technical scheme: a spiral flexible hinge is characterized in that: including at least one spiral flexible hinge unit, spiral flexible hinge unit includes first driving medium, intermediate drive spare, second driving medium, first spiral spare, second spiral spare, first spiral spare with second spiral spare structure is the same, closes by at least two spiral spring soon that revolve to the same, the spiral spring of first spiral spare revolve to with the spiral spring of second spiral spare revolves to opposite, the one end of first spiral spare with first driving medium is connected, the other end of first spiral spare with intermediate drive spare's one end is connected, the one end of second spiral spare with intermediate drive spare's the other end is connected, the other end of second spiral spare with the second driving medium is connected, and first driving medium, first spiral spare, intermediate drive spare, second spiral spare, second driving medium coaxial line set up.
The coil spring is deformed when subjected to a bending moment, i.e., the coil spring expands or contracts when subjected to a bending moment. For a single helical spring, when the single helical spring is subjected to bending moment, central shaft drift and axial displacement occur, and the central shaft drift changes due to different stress point positions of the helical spring. According to experiments, when two identical spiral springs are acted by the same bending moment and the stress points are opposite, the numerical values of the central axis drifts of the two identical spiral springs are opposite. Therefore, after two spiral springs are screwed together to form a spiral piece, when the two spiral springs are under the action of the same bending moment, central shafts generated by the two spiral springs can offset each other, so that the central shafts of the spiral piece float to zero, but the spiral piece still has axial displacement at the moment, namely when the spiral piece is expanded or contracted under the action of the bending moment, the spiral piece can extend or compress in the axial direction to cause the axial displacement. When two spiral pieces with opposite spiral directions are coaxially connected, when the two spiral pieces are subjected to the action of the same bending moment, the axial displacements generated by the two spiral pieces are opposite, and the axial displacements generated by the two spiral pieces are mutually offset, so that the whole connecting piece realizes zero axial drift. According to the invention, the flexible hinge can realize large-angle rotation motion and zero axis drift. Because the spiral spring of first spiral spare is opposite with the spiral spring's of second spiral spare soon to, when the driving medium received moment of flexure effect, then the spiral spring of second spiral spare expands to the outside when the spiral spring of first spiral spare converges to the inboard, then the spiral spring of second spiral spare converges to the inboard when the spiral spring of first spiral spare expands to the outside, when the expansion volume or the contraction volume of the spiral spring of first spiral spare and the contraction volume/expansion volume of the spiral spring of second spiral spare are unanimous, produced axial displacement offsets each other, thereby make the overall structure of flexible hinge prevent the drift of axis, can realize zero drift. Because the spiral flexible hinge unit adopts two spiral pieces with opposite rotation directions, the spiral flexible hinge unit can realize large-angle rotation.
Further, in order to reduce the drift of the axis, the first spiral piece and the second spiral piece are both formed by screwing an even number of spiral springs.
More preferably, the first screw member and the second screw member are each formed by twisting two or four coil springs.
Furthermore, in order to ensure that zero shaft drift is realized, the first spiral piece and the second spiral piece are the same in size and material.
Further, including a plurality of spiral flexible hinge units of establishing ties mutually, all spiral flexible hinge units all set up the coaxial line to the link of two adjacent spiral flexible hinge units shares a driving medium. The flexible hinge formed by the spiral flexible hinge units which are coaxial and connected in series can realize larger rotation angle and realize zero shaft drift.
Furthermore, in order to facilitate connection and ensure coaxiality of all parts, the intermediate transmission part is of a circular ring structure.
The invention has the beneficial effects that: when the flexible hinge is subjected to the action of bending moment, the shaft drift is small, even zero shaft drift can be realized, and large-angle rotation can be realized, so that the requirements on flexibility and precision can be met. The invention can limit the central shaft floating while realizing the large stroke of the flexible hinge, thereby reaching the high-precision requirement and meeting the requirements of large stroke and high precision. The invention can be used in the fields of robots and the like, and realizes the rotary motion with larger rotation angle and zero shaft drift. In addition, the invention has simple structure and assembly and reduces the production and assembly difficulty.
Drawings
FIG. 1 is a schematic structural diagram of the present invention in a specific embodiment;
FIG. 2 is a schematic view of the construction of the spiral of the present invention in an embodiment (two-wire system);
FIG. 3 is a schematic view of the construction of an intermediate transmission member in the present invention in an embodiment;
FIG. 4 is a schematic view of the connection of the intermediate drive member to the screw member in accordance with the present invention in an exemplary embodiment;
FIG. 5 is a front view of FIG. 4;
FIG. 6 is a top view of FIG. 5;
FIG. 7 is a test result of the present helical flexible hinge under positive bending moment in an embodiment;
FIG. 8 is a test result of the present invention in an embodiment when the helical flexible hinge is subjected to a negative bending moment;
FIG. 9 is a center axis excursion of the helical flexible hinge of the present invention under a pure bending moment in an exemplary embodiment;
in the figure, 1, a first transmission piece, 2, an intermediate transmission piece, 3, a second transmission piece, 4, a first spiral piece, 5 and a second spiral piece.
Detailed Description
The invention will now be further illustrated by way of non-limiting examples in conjunction with the accompanying drawings:
as shown in the accompanying drawings, a spiral flexible hinge comprises at least one spiral flexible hinge unit, wherein the spiral flexible hinge unit comprises a first transmission piece 1, an intermediate transmission piece 2, a second transmission piece 3, a first spiral piece 4 and a second spiral piece 5, the first spiral piece 4 and the second spiral piece 5 are identical in structure and are formed by screwing at least two spiral springs with the same screwing direction, the screwing direction of the spiral spring of the first spiral piece 4 is opposite to that of the spiral spring of the second spiral piece 5, one end of the first spiral piece 4 is connected with the first transmission piece 1, the other end of the first spiral piece 4 is connected with one end of the intermediate transmission piece 2, one end of the second spiral piece 5 is connected with the other end of the intermediate transmission piece 2, the other end of the second spiral piece 5 is connected with the second transmission piece 3, and the first transmission piece 1, the first spiral piece 4, the intermediate transmission piece 2, the second spiral piece 5 and the second transmission piece 3 are arranged coaxially. The first screw member 4 and the second screw member 5 in the present invention can be formed by screwing more than two coil springs, and the first screw member 4 and the second screw member 5 shown in the present embodiment are formed by screwing two coil springs.
In order to reduce the axial drift, it is preferable that the first screw member 4 and the second screw member 5 in the present invention are each formed by screwing an even number of coil springs, for example, 2, 4, 6, etc. Since the larger the number of coil springs, the larger the entire structure and the more complicated the structure, it is preferable that 2 or 4 coil springs are wound.
In order to reduce the axial drift, it is preferable that the first screw 4 and the second screw 5 have the same size and material, so as to ensure that various displacements generated by the first screw 4 and the second screw 5 when they are subjected to a bending moment are equal to each other, and can cancel each other out, thereby ensuring zero axial drift of the flexible hinge.
For the convenience of connection and for ensuring the coaxiality of the parts, it is preferable that the intermediate transmission member 2 has a circular ring structure.
The spiral flexible hinge units can be connected in series to form a multi-stage series flexible hinge, when the spiral flexible hinge units are connected in series, all the spiral flexible hinge units are coaxially arranged, and the connecting ends of two adjacent spiral flexible hinge units share one transmission part. The flexible hinges connected in series by adopting a plurality of spiral flexible hinge units greatly increase the rotation angle of the hinges and realize zero axis drift.
The spiral flexible hinge is subjected to a rotation angle test and a shaft drift test. The test method and data are obtained by simulation through a finite element method. The flexible hinge used in the test is made of aluminum alloy, and the yield limit of the flexible hinge is 505MPa.
As shown in fig. 7 to 8, the rotation range of the flexible hinge is obtained by using one end of the flexible hinge as a fixed end and applying a gradually increasing torque to the other end, wherein fig. 7 shows the test result when the flexible hinge is subjected to a positive bending moment, and fig. 8 shows the test result when the flexible hinge is subjected to a negative bending moment. According to the test, when the rotating angle reaches +/-150 degrees, the maximum stress of the flexible hinge is 447MPa, and plastic deformation cannot occur, namely the flexible hinge can rotate at the positive and negative 150 degrees, and the rotating angle of the flexible hinge is far larger than the rotating angle range of 40-50 degrees of the flexible hinge in the prior art.
And applying pure bending moment M to the flexible hinge, wherein the value range is-44-44N.mm. The flexible hinge rotates, the central axis drift of the flexible hinge changes along with the change of M, and according to the simulation result of the finite element model, the central axis drift simulation data under the pure bending moment M is shown in figure 9, and the figure 9 shows that the flexible hinge realizes the integral limitation of the central axis drift, and the maximum is 0.023mm.
Therefore, the spiral flexible hinge can realize large-angle rotation, has small shaft drift, can meet the requirement of high precision, and can meet the requirements of large stroke and high precision. The invention can be used in the fields of robots and the like, and realizes the rotary motion with larger rotation angle and zero shaft drift.
Other parts in this embodiment are the prior art, and are not described herein again.
Claims (4)
1. A spiral flexible hinge is characterized in that: the flexible hinge comprises at least one flexible spiral hinge unit, wherein the flexible spiral hinge unit comprises a first transmission piece (1), an intermediate transmission piece (2), a second transmission piece (3), a first spiral piece (4) and a second spiral piece (5), the first spiral piece (4) and the second spiral piece (5) are identical in structure and are formed by screwing at least two spiral springs with the same screwing direction, the screwing direction of the spiral spring of the first spiral piece (4) is opposite to that of the spiral spring of the second spiral piece (5), one end of the first spiral piece (4) is connected with the first transmission piece (1), the other end of the first spiral piece (4) is connected with one end of the intermediate transmission piece (2), one end of the second spiral piece (5) is connected with the other end of the intermediate transmission piece (2), the other end of the second spiral piece (5) is connected with the second transmission piece (3), and the first transmission piece (1), the first spiral piece (4), the intermediate transmission piece (2), the second spiral piece (5) and the second transmission piece (3) are arranged coaxially; the first spiral piece (4) and the second spiral piece (5) are formed by screwing two or four spiral springs, and the rotation starting points of every two spiral springs in each spiral piece are symmetrically arranged.
2. The spiral flexible hinge of claim 1, further comprising: the first spiral piece (4) and the second spiral piece (5) are the same in size and material.
3. The spiral flexible hinge according to claim 1 or 2, characterized in that: including a plurality of spiral flexible hinge units of establishing ties mutually, all spiral flexible hinge units all coaxial line sets up to a driving medium is shared to two adjacent spiral flexible hinge unit's link.
4. The spiral flexible hinge according to claim 3, characterized in that: the intermediate transmission member (2) is of a circular ring structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110388911.6A CN113107959B (en) | 2021-04-12 | 2021-04-12 | Spiral flexible hinge |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110388911.6A CN113107959B (en) | 2021-04-12 | 2021-04-12 | Spiral flexible hinge |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113107959A CN113107959A (en) | 2021-07-13 |
| CN113107959B true CN113107959B (en) | 2022-10-21 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110388911.6A Active CN113107959B (en) | 2021-04-12 | 2021-04-12 | Spiral flexible hinge |
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| CN (1) | CN113107959B (en) |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2648009Y (en) * | 2003-09-24 | 2004-10-13 | 罗启文 | Hinge having return buffer |
| US7891645B2 (en) * | 2006-10-27 | 2011-02-22 | Hayes Bicycle Group, Inc. | Adjustable and progressive coil spring system for two wheeled vehicles |
| CN101000249B (en) * | 2007-01-04 | 2011-01-26 | 钟胜 | Machine core of flexible hinge capaciance sensor and senser using the machine core |
| US20150065259A1 (en) * | 2013-08-29 | 2015-03-05 | Flexous B.V. | Compliant constant velocity constant torque universal joint |
| CN204985455U (en) * | 2015-07-31 | 2016-01-20 | 诸暨市旋和弹簧技术有限公司 | Two coil spring |
| CN108662010B (en) * | 2018-05-29 | 2020-08-07 | 湖南大学 | Zero-axis floating reed type flexible hinge |
| CN109988702A (en) * | 2019-05-10 | 2019-07-09 | 苏州大学 | A kind of piezoelectric supersonic microinjection device of many types of syringe needle of adaptation of modularized design |
| CN111828535A (en) * | 2020-08-18 | 2020-10-27 | 铭天汽车设计(无锡)有限公司 | Series helical spring type step energy storage mechanism and use method thereof |
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- 2021-04-12 CN CN202110388911.6A patent/CN113107959B/en active Active
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| CN113107959A (en) | 2021-07-13 |
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Inventor after: Liu Pengbo Inventor after: Li Huan Inventor after: Yao Guoming Inventor after: Yan Peng Inventor before: Liu Pengbo Inventor before: Li Huan Inventor before: Yao Guoming Inventor before: Yan Peng |
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