CN115182974A - Prevent torsional multi freedom link mechanism - Google Patents
Prevent torsional multi freedom link mechanism Download PDFInfo
- Publication number
- CN115182974A CN115182974A CN202210783251.6A CN202210783251A CN115182974A CN 115182974 A CN115182974 A CN 115182974A CN 202210783251 A CN202210783251 A CN 202210783251A CN 115182974 A CN115182974 A CN 115182974A
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- Prior art keywords
- guide
- piece
- connecting rod
- bearing
- guide groove
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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
- F16H—GEARING
- F16H21/00—Gearings comprising primarily only links or levers, with or without slides
- F16H21/46—Gearings comprising primarily only links or levers, with or without slides with movements in three dimensions
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Pivots And Pivotal Connections (AREA)
Abstract
The invention relates to an anti-torsion multi-degree-of-freedom connecting rod mechanism, which comprises a connecting rod and a guide device, wherein the connecting rod is connected with the guide device; at least one end of two axial ends of the connecting rod is provided with a hinged part which can rotate around a spherical center, and the spherical center is positioned on the axis of the connecting rod; the guide device comprises a guide groove arranged along the axial direction of the connecting rod, a guide piece and a guide connecting piece, wherein the guide piece is positioned in the guide groove and can slide along the guide groove, the guide piece is rigidly connected with the connecting rod through the guide connecting piece, and the central axis of the guide piece always passes through the spherical center of the hinged piece and the central axis of the guide piece always coincides with the central plane of the guide groove.
Description
Technical Field
The invention relates to the technical field of mechanical connection, in particular to an anti-torsion multi-degree-of-freedom connecting rod mechanism.
Background
Connecting rods are used as transmission components in many mechanical structures, such as connecting rods with ball joints or rod end bearings at both ends. When rod end bearings are used, large torsional motions of the connecting rod are not permitted because the rod end bearings do not allow large tilt angles in individual directions. The ball joint allows rotation in various directions, but if the link has a sensor, the link is not allowed to have a large torsional movement due to space limitations in order to protect the harness of the sensor.
In order to avoid large torsional movements of the connecting rod, the prior art generally limits the degrees of freedom of the connecting rod by means of guides. As shown in fig. 1 to 3, in a link mechanism in the prior art, a rod 101 is connected with a piston rod 103 through a rod end bearing 102, a guide device includes a guide bearing 203 located in a guide groove 204 and a fixing rod 201 rigidly connected with the rod 101, the guide bearing 203 is fixed on the fixing rod 201 through a nut 202, the guide bearing 203 can move in the guide groove 204, and a central axis line of the guide bearing 203 always coincides with a central plane of the guide groove 204. In operation of this link mechanism, the link 101 is movable along the X1 axis and can swing up and down around the rod end bearing 102 at a predetermined angle around the Y1 axis.
The above-described guides limit the linkage mechanism from other forms of motion, such as swinging about the Z1 axis, centered on the rod end bearing 102, in addition to the above motion, of the link 101. If the guide device is not used, the connecting rod 101 can freely twist around the axis X1 at a certain angle during movement, the rod end bearing 102 generally allows the connecting rod 101 to rotate at a certain angle (for example, 5 °) in the axis X1 direction, the connecting rod 101 may collide with the rod end bearing itself or scratch the surface of a steel ball inside the rod end bearing when exceeding the limited angle, and if the colliding or the spherical scratch occurs, the rod end bearing can be greatly damaged. In addition, the connecting rod 101 may have electronic components such as sensors, and considering the protection of the wire harness or avoiding collision, the connecting rod 101 may not be allowed to have an excessively large free torsion angle.
Therefore, the existing common guide device has larger limitation on the freedom degree of movement of the connecting rod, and is not suitable for a connecting rod structure with more flexible movement in space.
Disclosure of Invention
The invention aims to provide an anti-torsion multi-degree-of-freedom connecting rod mechanism which can lead a connecting rod to respectively swing around a Y axis and a Z axis at a certain angle when moving along the X axis, and can prevent the connecting rod from torsion during operation.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
an anti-torsion multi-degree-of-freedom connecting rod mechanism comprises a connecting rod and a guide device;
at least one end of two axial ends of the connecting rod is provided with a hinged part which can rotate around a spherical center, and the spherical center is positioned on the axis of the connecting rod;
the guide device comprises a guide groove arranged along the axial direction of the connecting rod, a guide piece and a guide connecting piece, wherein the guide piece is positioned in the guide groove and can slide along the guide groove, the guide piece is rigidly connected with the connecting rod through the guide connecting piece, and the central axis of the guide piece always passes through the spherical center of the hinged piece and the central axis of the guide piece always coincides with the central plane of the guide groove. Because the central axis of the guide piece always passes through the spherical center of the hinge piece, the connecting rod can respectively swing by a certain angle around the Y axis and the Z axis, and because the central axis of the guide piece always moves in the central plane of the guide groove, the connecting rod cannot twist around the axial direction of the connecting rod under any action condition.
In one embodiment, the guide member is disposed opposite to the hinge member in a radial direction of the link.
In an embodiment, the guide connecting member includes a fixing rod and an extension plate, the fixing rod extends along a radial direction of the connecting rod, one end of the fixing rod is rigidly connected to a middle portion of the connecting rod, the other end of the fixing rod is fixedly connected to the extension plate, the extension plate extends along an axial direction of the connecting rod, and the extension plate is fixedly connected to the guide member.
In one embodiment, the guide member is a bearing, and the central axis of the bearing always passes through the spherical center of the hinge member and the central axis of the bearing always coincides with the central plane of the guide groove.
In one embodiment, the bearing support is provided with a cylinder matched with an inner ring of the bearing, and the bearing is fixed on the cylinder.
In one embodiment, a shoulder for preventing the bearing from falling out of the cylinder is further arranged on one axial end part of the cylinder, and a pressing sheet for preventing the bearing from falling out of the cylinder is fixedly arranged on the other axial end part of the cylinder.
In one embodiment, the guide connecting piece is fixedly connected with the bearing support.
In an embodiment, the guide groove includes two side walls disposed opposite to each other, and the outer ring peripheral surface of the bearing contacts against the two side walls.
In one embodiment, when the link is operated, the outer ring peripheral surface of the bearing is maintained in contact with both side walls of the guide groove.
In one embodiment, the articulation is a rod end bearing or a ball joint.
By adopting the technical scheme, the anti-torsion multi-degree-of-freedom connecting rod mechanism has the advantages that the central axis of the guide piece always passes through the spherical center of the hinge piece, so that the connecting rod can respectively swing at a certain angle around the Y axis and the Z axis, and the central axis of the guide piece always moves in the central plane of the guide groove, so that the connecting rod cannot be twisted around the axial direction of the connecting rod under any action condition.
Drawings
Fig. 1 shows a schematic perspective view of a prior art link mechanism.
Fig. 2 shows a front view of a prior art linkage.
Fig. 3 shows a schematic view of a guiding device of a link mechanism in the prior art.
Fig. 4 is a perspective view of a multiple degree of freedom linkage provided by the present invention.
FIG. 5 illustrates a front view of a multiple degree of freedom linkage provided by the present invention.
FIG. 6 illustrates a side view of a multiple degree of freedom linkage provided by the present invention.
Fig. 7 shows a schematic cross-sectional view of a guide of a multiple degree of freedom linkage provided by the present invention.
Fig. 8 is a perspective view showing a guide device of a multi-degree-of-freedom link mechanism provided by the present invention.
Detailed Description
The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings in order to more clearly understand the objects, features and advantages of the present invention. It should be understood that the embodiments shown in the drawings are not intended to limit the scope of the present invention, but are merely intended to illustrate the spirit of the technical solution of the present invention.
In the following description, for the purposes of illustrating various disclosed embodiments, certain specific details are set forth in order to provide a thorough understanding of the various disclosed embodiments. One skilled in the relevant art will recognize, however, that the embodiments may be practiced without one or more of the specific details. In other instances, well-known devices, structures and techniques associated with this application may not be shown or described in detail to avoid unnecessarily obscuring the description of the embodiments.
Throughout the specification and claims, the word "comprise" and variations thereof, such as "comprises" and "comprising", will be understood to have an open, inclusive meaning, i.e., will be interpreted to mean "including, but not limited to", unless the context requires otherwise.
Reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.
As used in this specification and the appended claims, the singular forms "a", "an", and "the" include plural referents unless the context clearly dictates otherwise. It should be noted that the term "or" is generally employed in its sense including "and/or" unless the context clearly dictates otherwise.
In the following description, for the purposes of clearly illustrating the structure and operation of the present invention, directional terms will be used, but terms such as "front", "rear", "left", "right", "outer", "inner", "outer", "inward", "upper", "lower", etc. should be construed as words of convenience and should not be construed as limiting terms.
Furthermore, the terms "horizontal", "vertical", "suspended" and the like do not imply that the components are absolutely horizontal or suspended, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the present application, it is further noted that, unless expressly stated or limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
The utility model provides a torsion-proof multi-degree-of-freedom connecting rod mechanism, which comprises a connecting rod and a guiding device, wherein at least one end of the two axial ends of the connecting rod is provided with an articulated piece which can rotate around a sphere center, and the sphere center is positioned on the axis of the connecting rod; the guide device comprises a guide groove formed in the axial direction of the connecting rod and a guide piece which is positioned in the guide groove and can slide along the guide groove, the guide piece is rigidly connected with the connecting rod through a guide connecting piece, and the central axis of the guide piece always passes through the spherical center of the hinged piece and coincides with the central plane of the guide groove.
As shown in fig. 4-7, the present embodiment provides a torsion-proof multi-degree-of-freedom link mechanism including a link and a guide. A three-axis coordinate system is defined by taking the axial direction of the piston rod 303 as an X2 axis and taking the X2 axis, the Y2 axis and the Z2 axis as axial directions, a rod end bearing 302 as a hinge is rigidly connected to the rear end of the connecting rod 301, and the connecting rod 301 is connected to an external mechanism through the rod end bearing 302 in an articulated manner, for example, in this embodiment, the connecting rod 301 is connected to the piston rod 303 through the rod end bearing 302 in an articulated manner. The rod end bearing 302 includes a rod end knuckle bearing seat 3021 and a spherical plain bearing 3022 mounted on the eye-shaped tip of the rod end knuckle bearing seat, the spherical plain bearing 3022 having a spherical center A. The axial end of the link 301 has a U-shaped slot 3011 for receiving a spherical sliding bearing 3022, the joint end of the rod end bearing 302 extends into the U-shaped slot 3011, and the spherical sliding bearing 3022 of the rod end bearing 302 is fixedly mounted on the link 301 by a fixing pin 3023 arranged along the radial direction of the link 301, so that the link 301 can hinge around the center a of the spherical sliding bearing 3022. The axial direction defining the fixing pin 3023 is arranged in the Y2 axis direction. It should be noted that the hinge is not limited to the rod end bearing 302, and other hinges that perform the same function may be used, such as a ball joint.
The guide means includes a guide groove 401, a guide member, and a guide link 403. Wherein the guide groove 401 is extended along the X2 axis direction, and the center plane B of the guide groove 401 coincides with the axis of the piston rod 303. The guide slot 401 in this embodiment includes two guide plates 4010 that set up in opposite directions, and the opposite inner sidewalls of the two guide plates 4010 are the two sidewalls of the guide slot 401.
The guide is located in the guide slot 401 and is able to move in the direction of the X2 axis within the guide slot 401 and to rotate about the central axis of the guide itself. The central axis C of the guide always passes through the centre of sphere of the hinge. The guide in this embodiment is a bearing 402, and the center axis C of bearing 402 always passes through the center a of spherical sliding bearing 3022.
Referring to fig. 7 and 8, at least one bearing 402 is secured to a bearing support 404. Wherein the bearing support 404 has a column 4041 which is matched with the inner ring of the bearing 402, and a shoulder 4042 which prevents the bearing 402 from being removed from the column 4041 is provided on one axial end of the column 4041. In this embodiment, the number of the bearings 402 is two, but the invention is not limited thereto, and the number of the bearings 402 may be increased or decreased according to actual requirements, for example, one or three or more. A spacer 405 is interposed between the two bearings 402, and the other end of the column 4041 in the axial direction is fixed to the bearing support 404 via a pressing plate 406 and a bolt 407 by the two bearings 402 and the spacer 405. The outer ring of the bearing 402 is in contact with both side walls of the guide groove 401 extending in the X2 axis direction, so that the bearing 402 can move in the guide groove 401 in the X2 axis direction.
One end of the guiding connecting piece 403 is fixedly connected with the guiding element, and the other end is rigidly connected with the connecting rod 301, so that the connecting rod 301 drives the guiding element to move in the guiding groove 401 through the guiding connecting piece 403.
The multi-degree-of-freedom link mechanism in the embodiment can realize the following motions:
(1) The link 301 can move along the X2 axis of the X2Y2Z2 three-axis coordinate system, and at this time, the guide moves in the X2 axis direction in the guide groove 401.
(2) The link 301 can swing up and down around the Y2 axis at a certain angle around the rod end bearing 302, that is, the link 301 can swing up and down at a certain angle in the Z2 axis direction with the spherical center a of the rod end bearing 302 as an end point, and the guide deflects in the guide groove 401 in accordance with the swing width of the link 301 when the up and down swing is within the allowable movement range as long as the guide does not come off the guide groove.
(3) The link 301 can rotate around the central axis C of the guide by a certain angle, that is, the link 301 can swing in the Y2 axis direction by a certain angle with the center a of the rod end bearing 302 as an end point, and since the central axis C of the guide always coincides with the central plane B of the guide groove 401, the link 301 can freely swing in the left-right direction around the central axis C of the guide as long as the guide link 403 does not collide with the both side walls of the guide groove 401 within the range allowed by the swing angle of the rod end bearing.
(4) The link 301 can swing around the center axis C of the guide, and the link 301 can also swing up and down around the rod end bearing 302 around the Y2 axis at a predetermined angle, and at this time, the link 301 can also move in the X2 axis direction.
In order to ensure that the link 301 performs the above-described operation, the outer circumferential surface of the bearing 402 is kept in contact with both side walls of the guide groove 401 when the link 301 operates.
In all the above motion states: since the central axis C of the guide always moves within the central plane B of the guide slot 401, the link 301 does not twist about its axis in any event. Therefore, during operation, the connecting rod 301 does not twist, and the connecting rod 301 and the rod end bearing 302 do not freely deflect uncontrollably, thereby effectively protecting the rod end bearing 302 or a sensor connected thereto.
In one embodiment, referring to fig. 7 and 8, the guide is positioned directly opposite the hinge to facilitate assembly of the guide while ensuring that the center axis C of the guide always passes through the center of the sphere of the hinge. The guide connecting member 403 in this embodiment includes a fixing rod 4031 and an extension plate 4032, wherein the fixing rod 4031 extends in the Z2 axis direction, one end of the fixing rod 4031 is rigidly connected to the middle of the connecting rod 301 by welding or the like, the other end of the fixing rod 4032 is fixed to the extension plate 4032 by welding or nut locking or the like, the extension plate 4032 extends in the X2 axis direction, the extension plate 4032 is fixed to the bearing support 404 by a bolt 407, and the extension plate 4032 extends in the X2 axis direction so that the bearing 402 serving as a guide is located right below the rod end bearing 302, thereby facilitating positioning and assembling of the bearing 402.
The preferred embodiments of the present invention have been described in detail hereinabove, but it should be understood that various changes or modifications of the present invention can be made by those skilled in the art after reading the above teachings of the present invention. Such equivalents are intended to fall within the scope of the claims appended hereto.
Claims (10)
1. The utility model provides an anti-twist multi freedom link mechanism which characterized in that: comprises a connecting rod and a guide device;
at least one end of two axial ends of the connecting rod is provided with a hinge piece, the hinge piece can rotate around a spherical center, and the spherical center is positioned on the axis of the connecting rod;
the guide device comprises a guide groove arranged along the axial direction of the connecting rod, a guide piece and a guide connecting piece, wherein the guide piece is positioned in the guide groove and can slide along the guide groove, the guide piece is rigidly connected with the connecting rod through the guide connecting piece, and the central axis of the guide piece always passes through the spherical center of the hinged piece and the central axis of the guide piece always coincides with the central plane of the guide groove.
2. The multiple degree of freedom linkage mechanism of claim 1, wherein: the guide piece and the hinge piece are arranged just opposite to each other in the radial direction of the connecting rod.
3. The multiple degree of freedom linkage mechanism of claim 2, wherein: the direction connecting piece includes dead lever and extension plate, the dead lever is followed the radial direction of connecting rod extends the setting, the one end of dead lever with the middle part rigid connection of connecting rod, the other end with extension plate fixed connection, the extension plate is followed the axial direction of connecting rod extends the setting, just the extension plate with guide fixed connection.
4. The multiple degree of freedom linkage mechanism of claim 1, wherein: the guide piece is a bearing, and the central axis of the bearing always passes through the spherical center of the hinged piece and the central axis of the bearing always coincides with the central plane of the guide groove.
5. The multiple degree of freedom linkage mechanism of claim 4, wherein: the bearing support is provided with a cylinder matched with the inner ring of the bearing, and the bearing is fixed on the cylinder.
6. The multiple degree of freedom linkage mechanism of claim 5, wherein: the end part of one axial side of the cylinder is also provided with a convex shoulder for preventing the bearing from falling out of the cylinder, and the end part of the other axial side of the cylinder is fixedly provided with a pressing sheet for preventing the bearing from falling out of the cylinder.
7. The multiple degree of freedom linkage mechanism of claim 5, wherein: the guide connecting piece is fixedly connected with the bearing support.
8. The multiple degree of freedom linkage mechanism of claim 4, wherein: the guide groove comprises two side walls which are arranged oppositely, and the peripheral surface of the outer ring of the bearing is abutted against the two side walls.
9. The multiple degree of freedom linkage mechanism of claim 8, wherein: when the connecting rod acts, the peripheral surface of the outer ring of the bearing is kept in contact with the two side walls of the guide groove.
10. The multiple degree of freedom linkage mechanism of claim 1, wherein: the articulated piece is a rod end bearing or a ball joint.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210783251.6A CN115182974A (en) | 2022-07-05 | 2022-07-05 | Prevent torsional multi freedom link mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210783251.6A CN115182974A (en) | 2022-07-05 | 2022-07-05 | Prevent torsional multi freedom link mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115182974A true CN115182974A (en) | 2022-10-14 |
Family
ID=83517254
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210783251.6A Pending CN115182974A (en) | 2022-07-05 | 2022-07-05 | Prevent torsional multi freedom link mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115182974A (en) |
-
2022
- 2022-07-05 CN CN202210783251.6A patent/CN115182974A/en active Pending
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