CN114536392B - High-precision high-rigidity self-locking hinge joint device - Google Patents
High-precision high-rigidity self-locking hinge joint device Download PDFInfo
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- CN114536392B CN114536392B CN202210136660.7A CN202210136660A CN114536392B CN 114536392 B CN114536392 B CN 114536392B CN 202210136660 A CN202210136660 A CN 202210136660A CN 114536392 B CN114536392 B CN 114536392B
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- locking
- lock
- lock tongue
- hook
- main body
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
Abstract
The invention discloses a high-precision high-rigidity self-locking hinge joint device which comprises a main body, a joint arm, a lock tongue, a lock hook, an elastic piece, a rotation limiting part and an axial limiting part, wherein the joint arm and the lock hook are both rotationally connected to the main body; one end of the lock tongue is fixedly connected with the joint arm, and the opposite end is a locking end part; the lock hook is provided with a locking protrusion positioned on the rotating path of the locking end part, the elastic piece is arranged between the main body and the lock hook, and the elastic piece applies elastic force for the lock hook to rotate towards the lock tongue; the rotation limiting part is arranged between the main body and the joint arm and is used for limiting when the joint arm rotates towards the lock hook; the axial limiting part is arranged on the main body, is opposite to the two sides of the lock tongue and limits the lock tongue; when the locking end leaves the locking protrusion, the locking protrusion is abutted against and applied to the locking force of the wall surface of the lock tongue through elastic force. The device has high bearing capacity and high positioning precision.
Description
Technical Field
The invention belongs to the technical field of hinges, and particularly relates to a high-precision high-rigidity self-locking hinge joint device.
Background
The self-locking hinge joint is a movable component which is connected with the rotary arm to enable the rotary arm to move unidirectionally, is widely applied to the ground and the space mechanical arm, and can realize automatic locking after the space mechanical arm is unfolded in place. The space manipulator is an important component of satellite on-orbit maintenance and is a main supporting structure for unfolding the antenna. At present, along with the continuous expansion of the scale of the antenna, the repeated folding and unfolding distance is continuously increased, and the requirement on the mechanical arm is also higher and higher, so that the traditional mechanical arm hinge joint cannot meet the use requirement under the existing condition, and therefore, the innovation is needed.
The bearing capacity of the hinge joint indirectly determines the application capacity of the space manipulator, and the bearing capacity of the hinge joint is embodied in two aspects of joint strength and rigidity. The invention patent with publication number CN104675846a proposes a single-turn hinge joint, which considers the problem of joint strength under heavy load from the viewpoint of manufacturing and processing, but does not provide a practical and effective solution to the problem of rigidity caused by joint heavy load deformation.
The hinge joint applied to the space environment not only considers the bearing capacity, but also needs to meet the requirement of high positioning precision, thereby ensuring that the antenna can continuously and effectively transmit communication information. The invention patent number CN103322028A discloses a device of a precise flexible spherical hinge, which is limited to be applied to small-bearing optical equipment and is not suitable for the application environment of a space manipulator with higher bearing requirements.
Disclosure of Invention
In order to solve the problems, the invention aims to provide a high-precision high-rigidity self-locking hinge joint device which has high bearing capacity and high positioning precision.
In order to achieve the above purpose, the technical scheme of the invention is as follows:
the high-precision high-rigidity self-locking hinge joint device comprises a main body, a joint arm, a lock tongue, a lock hook, an elastic piece, a rotation limiting part and an axial limiting part, wherein the joint arm and the lock hook are both rotationally connected to the main body;
one end of the lock tongue is fixedly connected to the joint arm, and the opposite end is a locking end part;
the lock hook is provided with a locking protrusion positioned on the rotating path of the locking end part, the elastic piece is arranged between the main body and the lock hook, and elastic force applied to the lock hook to rotate towards the lock tongue is applied to the lock hook;
the rotation limiting part is arranged between the main body and the joint arm and is used for limiting when the joint arm rotates towards the lock hook;
the axial limiting part is arranged on the main body, is opposite to two sides of the lock tongue and limits the lock tongue;
when the locking end leaves the locking protrusion, the locking protrusion is abutted against and applied to the wall surface locking force of the lock tongue through the elastic force.
According to an embodiment of the present invention, the main body includes a lock frame, and the lock hook and the elastic member are both disposed on the lock frame.
According to an embodiment of the present invention, the lock frame is provided with a tightening lug, and the elastic member includes:
the tensioning screw rod sequentially penetrates through the lock hook and the tensioning lug, and the head of the tensioning screw rod is positioned at one side of the lock hook;
the locking nut is in threaded connection with the other end of the tensioning screw rod and is positioned at one side of the tensioning lug away from the locking hook;
and the reset spring penetrates through the tensioning screw rod and is positioned between the tensioning lug and the locking hook, and the reset spring is in a compressed state.
According to an embodiment of the present invention, the contact surfaces of the locking end portion and the locking protrusion are both arc surfaces.
According to an embodiment of the present invention, the rotation limiting portion includes:
the limiting lug is arranged on the side wall of the joint arm;
the limiting screw rod is penetrated through and connected with the limiting lug through threads;
and the rotation limit stop is arranged on the main body and positioned on the rotation path of the limit screw.
According to an embodiment of the present invention, two rotation limiting portions are provided and are respectively located at two sides of the joint arm.
According to an embodiment of the present invention, the axial limiting portion includes two axial limiting stops, the two axial limiting stops are opposite to two sides of the lock tongue, respectively, and the lock tongue enters between the two axial limiting stops when rotating toward the lock hook.
According to an embodiment of the present invention, a gap between the axial limit stop and the lock tongue is less than or equal to 0.1mm.
According to one embodiment of the present invention, a contact point between the locking protrusion and the lock tongue wall surface is O, an included angle between a normal line of the lock tongue wall surface at the contact point O and a connecting line of the contact point O and the lock hook rotating shaft is α, and a friction coefficient between the locking protrusion and the lock tongue wall surface is μ, α < arctan (μ).
By adopting the technical scheme, the invention has the following advantages and positive effects compared with the prior art:
the embodiment of the invention is provided with the lock hook and the lock tongue, so that the joint arm can finish self-locking after rotating in place, and the locking force is strong. The rotation limiting part is arranged, so that the joint arm is limited to continuously rotate towards the lock hook due to the influence of external force after locking, and the lock hook and the lock tongue are matched to limit the joint arm to rotate away from the lock hook, that is to say, the rotation degrees of freedom of the joint arm in two directions after self locking are limited. And an axial limiting part is also arranged to limit the displacement of the joint arm along the rotation axis direction after locking. The positioning accuracy is higher through the rotation limiting part and the axial limiting part.
Drawings
The invention is described in further detail below with reference to the attached drawing figures, wherein:
FIG. 1 is a cross-sectional view of the present invention;
FIG. 2 is an enlarged view of a portion of FIG. 1 in accordance with the present invention;
FIG. 3 is a front view of the present invention;
FIG. 4 is a schematic illustration of the locking process of the present invention;
FIG. 5 is a schematic view of an in-place lock of the present invention;
fig. 6 is a schematic view of the in-place locking fulcrum geometry of the present invention.
Reference numerals illustrate:
1: a main body; 2: an articulated arm; 3: a bolt; 4: a latch hook; 5: an elastic member; 6: a first rotating shaft; 7: a second rotating shaft; 8: a lock frame; 9: tightening the lugs; 10: tensioning the screw; 11: a lock nut; 12: a return spring; 13: a locking end; 14: a locking protrusion; 15: a limit lug; 16: a limit screw; 17: a rotational limit stop; 18: an axial limit stop; 19: and a triangular mounting seat.
Detailed Description
The invention is described in further detail below with reference to the drawings and the specific examples. Advantages and features of the invention will become more apparent from the following description and from the claims. It is noted that the drawings are in a very simplified form and utilize non-precise ratios, and are intended to facilitate a convenient, clear, description of the embodiments of the invention.
It should be noted that all directional indicators (such as up, down, left, right, front, and rear … …) in the embodiments of the present invention are merely used to explain the relative positional relationship, movement, etc. between the components in a particular posture (as shown in the drawings), and if the particular posture is changed, the directional indicator is changed accordingly.
Referring to fig. 1 to 6, the core of the present invention is to provide a high-precision high-rigidity self-locking hinge joint device, which comprises a main body 1, a joint arm 2, a lock tongue 3, a lock hook 4 and an elastic member 5, wherein the joint arm 2 and the lock hook 4 are both rotatably connected to the main body 1.
The main body 1 is a box body, the box body is a cuboid cavity, and mounting holes for connecting satellites or aircrafts are reserved at four corners and middle edges of the bottom surface of the box body. The joint arm 2 is used for connecting external loads such as an antenna, a mechanical arm and the like, and interfaces of the joint arm 2 for connecting the loads can be subjected to interface matching according to actual use requirements.
The articulated arm 2 is connected to the main body 1 by a first shaft 6, the first shaft 6 is fixed to the main body 1 by bearings, and the types and the number of the bearings can be adaptively selected according to the structural rigidity requirement. Such as deep groove ball bearings, angular contact ball bearings, etc. And the first shaft 6 may be supported at both ends or cantilever-supported. The articulated arm 2 is rotatable relative to the main body 1 by means of a first swivel shaft 6.
One end of the lock tongue 3 is fixedly connected with the joint arm 2, the opposite end is a locking end part 13, and the locking end part 13 is an arc surface. The width directions of the two sides of the lock tongue 3 are axially arranged along the first rotating shaft 6.
The main body 1 comprises a lock frame 8, and the lock hook 4 and the elastic piece 5 are arranged on the lock frame 8. One end of the latch hook 4 is rotatably connected to a lock frame 8 through a second rotating shaft 7. The latch hook 4 is provided with a locking protrusion 14 located on the rotational path of the locking end 13, and the locking protrusion 14 has an arc surface, which can play a guiding role. And the locking hook 4 is provided with a groove at one side of the locking protrusion 14 away from the lock tongue 3.
The elastic piece 5 is arranged between the main body 1 and the latch hook 4, and applies elastic force to the latch hook 4 to rotate towards the latch bolt 3, so as to realize a reset function after the latch hook 4 is pushed by the latch bolt 3. Specifically, the lock frame 8 is provided with a tightening lug 9, and the elastic member 5 includes a tightening screw 10, a lock nut 11, and a return spring 12. The tensioning screw rod 10 penetrates through the locking hook 4 and the tensioning lug 9 in sequence, the head of the tensioning screw rod 10 is located on one side of the locking hook 4, the locking nut 11 is connected to the other end of the tensioning screw rod 10 in a threaded mode, and the tensioning screw rod is located on one side, away from the locking hook 4, of the tensioning lug 9. The return spring 12 is arranged through the tensioning screw 10 and between the tensioning lug 9 and the locking hook 4, and the return spring 12 is in a compressed state. The lock nut 11 is used to adjust the length of the return spring 12 to adjust its elastic force.
When the locking device works, the joint arm 2 rotates towards the lock hook 4, the arc surface of the locking end part 13 of the lock tongue 3 is driven to contact with the arc surface of the locking protrusion 14 on the lock hook 4, the locking end part 13 pushes the locking protrusion 14 to rotate against the elastic force, the locking end part 13 slides on the locking protrusion 14 relatively, when the locking end part 13 leaves the locking protrusion 14 and enters the groove of the lock hook 4, the locking protrusion 14 moves to be opposite to the wall surface of the lock tongue 3, and the locking protrusion 14 is abutted against the wall surface of the lock tongue 3 through the elastic force and applies locking force to the wall surface of the lock tongue 3, so that the self-locking of the lock tongue 3 and the lock hook 4 is realized.
And when in locking, the contact surface of the lock hook 4 and the lock tongue 3 is required to have high surface roughness so as to increase friction force.
Further, the device also comprises a rotation limiting part and an axial limiting part which are arranged on the main body 1. The rotation limiting part is arranged between the main body 1 and the joint arm 2 and is used for limiting when the joint arm 2 rotates towards the lock hook 4. Specifically, the rotation limiting parts are two and are respectively positioned at two sides of the joint arm 2. The main body 1 is provided with a triangular mounting seat 19, and the rotation limiting part comprises a limiting lug 15, a limiting screw 16 and a rotation limiting stop 17. The limiting lug 15 is arranged on the side wall of the joint arm 2, and the limiting screw 16 is arranged in a penetrating way and connected with the limiting lug 15 in a threaded way. The rotation limit stop 17 is arranged on the triangle mounting seat 19 and is positioned on the rotation path of the limit screw 16, the position of the limit screw 16 is adjusted after the lock tongue 3 and the lock hook 4 are self-locked to enable the lock tongue 3 and the lock hook 4 to be abutted against the rotation limit stop 17, the joint arm 2 is limited to continue to rotate towards the lock hook 4 due to the influence of external force after the lock is locked, the lock hook 4 and the lock tongue 3 are matched to limit the joint arm 2 to rotate far away from the lock hook 4, that is to say, the rotation degrees of freedom of the joint arm 2 in two directions after the self-locking are limited.
The axial limiting part is arranged on the triangular mounting seat 19, and is opposite to and limits the two sides of the lock tongue 3. Specifically, the axial limiting portion includes two axial limiting blocks 18 disposed on the triangular mounting base 19, the two axial limiting blocks 18 are opposite to two sides of the lock tongue 3, and when the lock tongue 3 rotates toward the lock hook 4, the lock tongue enters between the two axial limiting blocks 18 to limit displacement of the locked joint arm 2 along the rotation axis direction thereof. And the clearance between the axial limit stop 18 and the lock tongue 3 is less than or equal to 0.1mm.
The invention is further described in conjunction with the principles and operation of the following:
as shown in fig. 2, the present invention can realize the angle of locking the joint arm 2 in place by adjusting the installation positions of the lock bracket 8 and the triangle installation seat 19, namely, the angle β shown in fig. 2, and the value range of the angle β is theoretically 0 to 90 °, and the present embodiment is only described by way of example with β=60°.
When external load rotates, the joint arm 2 is driven to rotate towards the lock hook 4, the joint arm 2 drives the lock tongue 3 to rotate, the locking end 13 of the lock tongue 3 is in contact with the locking protrusion 14 on the lock hook 4, the locking end 13 pushes the locking protrusion 14 and the lock hook 4 to rotate away from the joint arm 2 against elastic force, the reset spring 12 is compressed, and meanwhile, the locking end 13 slides on the locking protrusion 14 relatively, when the locking end 13 leaves the locking protrusion 14 and enters the groove of the lock hook 4, the thrust of the lock tongue 3 to the lock hook 4 disappears, the lock hook 4 rotates towards the lock tongue 3 to an initial position under the action of the elastic force of the reset spring 12, at the moment, the locking protrusion 14 of the lock tongue 4 moves to be opposite to the wall surface of the lock tongue 3, and the locking protrusion 14 is abutted against and applied to the wall surface locking force of the lock tongue 3 through elastic force, so that self-locking of the lock tongue 3 and the lock hook 4 is realized.
Let the contact point between the locking protrusion 14 and the wall surface of the lock tongue 3 be O, the angle between the normal line of the wall surface of the lock tongue 3 at the contact point O and the connection line between the contact point O and the rotation axis of the lock hook 4 be α, the α angle is the self-locking angle, and the friction coefficient between the locking protrusion 14 and the wall surface of the lock tongue 3 is μ, and α < arctan (μ). The coefficient of friction of the metal surface is typically 0.2, i.e., α should be less than 11 ° 18'.
When the lock tongue 3 is locked into the lock hook 4, the position of the limit screw 16 is adjusted to be abutted against the rotation limit stop 17, so that the joint arm 2 cannot rotate towards the lock hook 4 continuously.
The arm 2 may be subjected to an external disturbance moment after locking in place so that the arm 2 tends to rotate away from the shackle 4. At this time, the contact point O is subjected to a force analysis, which is applied by the thrust force F of the locking tongue 3 to the locking hook 4, and the contact surface friction force F. The thrust force F can be decomposed into a tangential force F in a tangential direction along the line connecting the contact point O and the second rotation shaft 7 t =f×sin (α), and positive pressure F in contact surface normal direction n =f×cos (α), the friction force can be expressed as f=f×cos (α) ×μ, the friction force and the tangential force F t The opposite direction. Since the initial design parameter α < arctan (μ) holds, then the tangential force F t The friction force f is always smaller than the friction force f, so that the lock hook 4 and the lock tongue 3 complete self-locking, and the joint arm 2 cannot be pushed away from the lock hook 4 to rotate by external force. Therefore, after the lock tongue 3 slides into the lock hook 4 to lock, the rotation degrees of freedom of the joint arm 2 in both directions are limited.
As shown in fig. 5 and 6. The contact position of the lock hook 4 and the lock tongue 3 is the point A when the self-locking is not used, the fixed end of the lock frame 8 and the main body 1 is the point B, and the mounting positions of the two ends of the first rotating shaft 6 of the joint arm 2 and the main body 1 are the point C and the point D respectively. ABCD forms an approximately regular tetrahedron geometry and forms a cube and approximately regular tetrahedron nest structure with body 1, thereby increasing the overall stiffness of the structure.
The point A is a contact locking point, namely a main stress point, the point A is stressed and transmits force to the point B, C, D, and the stress is decomposed through the design of the device configuration, so that the device can bear larger external force action after the joint arm 2 rotates in place to perform self-locking, the device locking capability is good under the action of small-amplitude external force, and the unfolding precision of the joint arm 2 after in-place locking can be effectively ensured.
The high-precision high-rigidity self-locking hinge joint device provided by the invention is innovatively locked in place by adopting the lock hook 4 and the lock tongue 3, has novel conception, reliable locking function and no clearance and idle stroke during locking, can meet the requirement of on-orbit high-precision locking of a space mechanical arm, and has a wide application prospect.
The structural design of the invention is independent of the traditional curing mode of locally reinforcing the supporting points of the moving members, comprehensively considers the mutual relations of parts from the overall situation of the hinge joint, creatively combines the parts by restraining each other through the supporting positioning points of the mechanism part assembly, and enhances the structural rigidity in a manner of forming an ABCD bearing geometry. The tetrahedron formed by the thin-wall cubic cavity of the main body 1 and the supporting points forms a main body 1 structure, is beneficial to obtaining the maximum rigidity under the minimum weight of the hinge joint, and meets the requirement of space mechanical arm bearing.
The embodiments of the present invention have been described in detail with reference to the drawings, but the present invention is not limited to the above embodiments. Even if various changes are made to the present invention, it is within the scope of the appended claims and their equivalents to fall within the scope of the invention.
Claims (6)
1. The high-precision high-rigidity self-locking hinge joint device is characterized by comprising a main body, a joint arm, a lock tongue, a lock hook, an elastic piece, a rotation limiting part and an axial limiting part, wherein the joint arm and the lock hook are both rotationally connected with the main body;
one end of the lock tongue is fixedly connected to the joint arm, and the opposite end is a locking end part;
the lock hook is provided with a locking protrusion positioned on the rotating path of the locking end part, the elastic piece is arranged between the main body and the lock hook, and elastic force applied to the lock hook to rotate towards the lock tongue is applied to the lock hook;
the rotation limiting part is arranged between the main body and the joint arm and is used for limiting when the joint arm rotates towards the lock hook;
the axial limiting part is arranged on the main body, is opposite to two sides of the lock tongue and limits the lock tongue;
when the locking end part leaves the locking protrusion, the locking protrusion is abutted against and applied to the locking force of the lock tongue wall surface through the elastic force;
the main body comprises a lock frame, and the lock hook and the elastic piece are both arranged on the lock frame;
the lock frame is provided with a tensioning lug, and the elastic piece comprises:
the tensioning screw rod sequentially penetrates through the lock hook and the tensioning lug, and the head of the tensioning screw rod is positioned at one side of the lock hook;
the locking nut is in threaded connection with the other end of the tensioning screw rod and is positioned at one side of the tensioning lug away from the locking hook;
the reset spring penetrates through the tensioning screw rod and is positioned between the tensioning lug and the locking hook, and the reset spring is in a compressed state;
the rotation limiting portion includes:
the limiting lug is arranged on the side wall of the joint arm;
the limiting screw rod is penetrated through and connected with the limiting lug through threads;
and the rotation limit stop is arranged on the main body and positioned on the rotation path of the limit screw.
2. The high precision high rigidity self-locking hinge joint apparatus according to claim 1, wherein contact surfaces of the locking end portion and the locking protrusion are both arc surfaces.
3. The high-precision high-rigidity self-locking hinge joint device according to claim 1, wherein two rotation limiting parts are respectively arranged on two sides of the joint arm.
4. The high precision high rigidity self-locking hinge joint device according to claim 1, wherein the axial limit portion comprises two axial limit stops, the two axial limit stops are respectively opposite to two sides of the lock tongue, and the lock tongue enters between the two axial limit stops when rotating towards the lock hook.
5. The high precision high rigidity self-locking hinge joint arrangement according to claim 4, wherein a clearance between the axial limit stop and the locking tongue is 0.1mm or less.
6. The high-precision high-rigidity self-locking hinge joint device according to claim 1, wherein a contact point of the locking protrusion and the lock tongue wall surface is O, an included angle between a normal line of the lock tongue wall surface at the contact point O and a connecting line of the contact point O and the lock hook rotating shaft is α, a friction coefficient of the locking protrusion and the lock tongue wall surface is μ, and α < arctan (μ).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210136660.7A CN114536392B (en) | 2022-02-15 | 2022-02-15 | High-precision high-rigidity self-locking hinge joint device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210136660.7A CN114536392B (en) | 2022-02-15 | 2022-02-15 | High-precision high-rigidity self-locking hinge joint device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114536392A CN114536392A (en) | 2022-05-27 |
| CN114536392B true CN114536392B (en) | 2023-07-21 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210136660.7A Active CN114536392B (en) | 2022-02-15 | 2022-02-15 | High-precision high-rigidity self-locking hinge joint device |
Country Status (1)
| Country | Link |
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| CN (1) | CN114536392B (en) |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3117033A1 (en) * | 1981-04-29 | 1982-11-18 | Edelhoff Polytechnik GmbH, 5860 Iserlohn | Lock for large containers |
| CN103267098B (en) * | 2013-05-16 | 2015-07-29 | 北京空间飞行器总体设计部 | A kind of hinge of quadratic crank mechanism locking |
| CN103407385A (en) * | 2013-07-18 | 2013-11-27 | 镇江泰源电器科技有限公司 | Frame locking mechanism of child safety seat |
| CN203961497U (en) * | 2014-05-30 | 2014-11-26 | 刘浩 | Electronic lock |
| CN209413544U (en) * | 2018-11-29 | 2019-09-20 | 南通润物互联网科技有限公司 | A kind of shockproof lock |
| CN110325427B (en) * | 2019-05-22 | 2021-11-12 | 深圳市喜德盛自行车股份有限公司 | Large joint structure of baby carriage |
| CN110486371A (en) * | 2019-08-21 | 2019-11-22 | 新乡市恒润机电有限公司 | Position-limit mechanism with unidirectional self-lock function |
-
2022
- 2022-02-15 CN CN202210136660.7A patent/CN114536392B/en active Active
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| CN114536392A (en) | 2022-05-27 |
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