CN201866122U - Distributed multi-reed flexible Hooke hinge - Google Patents
Distributed multi-reed flexible Hooke hinge Download PDFInfo
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- CN201866122U CN201866122U CN2010206344700U CN201020634470U CN201866122U CN 201866122 U CN201866122 U CN 201866122U CN 2010206344700 U CN2010206344700 U CN 2010206344700U CN 201020634470 U CN201020634470 U CN 201020634470U CN 201866122 U CN201866122 U CN 201866122U
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- outer ring
- reed
- reeds
- hinge
- core body
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Abstract
The utility model discloses a distributed multi-reed flexible Hooke hinge which comprises an outer ring 1, an outer ring 2, a core body and two groups of reeds; the outer ring 1 and the outer ring 2 which are vertical and orthogonal are respectively connected with the core body through a group of reeds, and the outer ring 1 and the outer ring 2 are in circle shapes; each group of reeds at least comprise three pairs of reeds which are uniformly distributed in the outer ring 1 and the outer ring 2; each pair of reeds comprise two reeds, and the two reeds form circular arcs in opposite directions from a position which is close to the core body to be connected onto the outer ring 1 and the outer ring 2, so as to form a pair of reeds; grooves are respectively arranged at the crossed positions of the outer ring 1 and the outer ring 2, wherein the opening of the groove of the outer ring 1 is outwards and the opening of the groove of the outer ring 2 is inwards, so that the outer ring 1 and the outer ring 2 are separated at the crossed positions, wherein the outer ring 1 is arranged on the outer side of the outer ring 2. The flexible Hooke hinge is in a multi-reed flexible hinge structure, and has the advantages of large stroke and high precision. In addition, the axis is drifted very little when the distributed multi-reed flexible Hooke hinge is rotated, so that the distributed multi-reed flexible Hooke hinge is applicable to large-stroke precise control structures.
Description
Technical field
The utility model relates to a kind of flexible hinge, particularly relates to the flexible Hooke's hinge of a kind of distributed many reeds, is applicable to technical fields such as precision optical machinery, robot.
Background technique
Flexible hinge is meant under the effect of power externally or moment, utilizes the resiliently deformable of material to produce a kind of kinematic pair structural type of relative movement between the adjacent rigid bar, and the structure of this and conventional rigid kinematic pair has a great difference.Compare to traditional rigid hinge (mechanism), flexible hinge and compliant mechanism have many advantages: (1) can integration (or integrated) design and processing, so but simplified structure, reduce volume and weight, avoid assembling; (2) no gap and friction can realize high-precision motion; (3) avoid wearing and tearing, improve the life-span; (4) avoid lubricating, avoid polluting; (5) can increase structural rigidity.Can be applicable to fields such as microposition and little feeding, little attitude adjustment, microactrator, micromanipulator and little assembling.
Hooke's hinge claims universal hinge again, and Hooke's hinge is the combination that axis passes through two revolute pairs of same point, allows two members along orthogonal axis two degrees of freedom in relative rotation to be arranged.Two independent corner range of movement are big, the gap is little and the tensile strength advantages of higher, is widely used in various forms of parallel manipulator philtrums because Hooke's hinge has.
Flexible hinge is a kind of typical flexible element in the compliant mechanism.And in the fine motion field, the design of flexible Hooke's hinge is actually rare.In traditional flexible hinge, there are some that the hinge of similar Hooke's hinge function is arranged, but mostly be the undercut profile flexible hinge greatly, this undercut profile flexible hinge distortion is little, be difficult to adapt to the occasion of the big displacement of some big corners, and the center of rotation drift is serious, is difficult to improve its rotation precision under the large deformation situation.
The model utility content
The purpose of this utility model provides a kind of distributed large deformation flexible Hooke's hinge, and this Hooke's hinge is realized the two-dimentional rotational motion of highi degree of accuracy, wide-angle, and range is ± 5 °～± 10 °.
The utility model purpose is achieved through the following technical solutions:
The flexible Hooke's hinge of a kind of distributed many reeds comprises outer ring one, outer ring two, core body and two groups of reeds; Perpendicular outer ring one is connected with core body by one group of reed respectively with outer ring two, and outer ring one and outer ring two are ring shape; Every group of reed is evenly distributed to few two pairs of reeds in outer ring one and outer ring two; Each is made up of 2 reeds reed, and two reeds form circular arc from the approaching position of core body from opposite direction and are connected on outer ring one or the outer ring two, constitute a pair of reed; Outer ring one and outer ring two have groove in the intersection, and wherein outer ring one slot opening is outside, and outer ring two slot openings make outer ring one and outer ring two keep at interval in the intersection to inwardly, and wherein outer ring one is positioned at two outsides, outer ring; Outer ring one and outer ring two are provided with a mounting hole respectively at least, are used for linking to each other with connecting rod and/or base.
For further realizing the utility model purpose, every group of reed three reeds of uniform array distribution in the outer ring are right, and the center line angle of every pair of reed is 120 degree.
The circular arc radius of curvature R of the thickness t of each reed and reed satisfies t＜0.1R.
The width w of outer ring one and outer ring two is 20～50 times of reed thickness t.
The groove both sides angle of outer ring one and outer ring two is the 30-50 degree.
Described core body is sphere, cube or polyhedron.
The utility model is the center with the spheroid axis on core body, perpendicular quadrature distribution outer ring one and outer ring two and two groups of reeds, and each reed group three reeds that evenly distribute in the outer ring are right.The utility model adopts the design of curve reed symmetrical distribution flexibility, higher axial rigidity and radial rigidity are preferably arranged, compare with traditional undercut profile flexible hinge, slewing area increases greatly, and the axle center drift is very little when rotating, be a kind of flexible Hooke's hinge of large deformation of function admirable, be useful for the accurate control mechanism of big stroke.
The advantage of the flexible Hooke's hinge of the distributed many reeds of the utility model is:
(1) adopts hollow design, thereby reduced the internal stress of structure, so just improved its slewing area and fatigue life.
(2) the flexible Hooke's hinge of the utility model design can be realized the two-dimentional rotational motion of highi degree of accuracy, wide-angle, can adjust the physical dimension of flexible Hooke's hinge according to the real work demand, and the maximum rotation scope of both direction is ± 5 °～± 10 °; Can be used for fields such as accurate flexible mechanical, joint of robot.
(3) first reed in the outer ring one and second reed constitute first pair of reed, and the 3rd reed and the 4th reed constitute second pair of reed, the 5th reed and the 3rd pair of reed of the 6th reed structure; The 7th reed in the outer ring two and the 8th reed constitute the 4th pair of reed, and the 9th reed and the tenth reed constitute five pairs of reeds, the 11 reed and the 6th pair of reed of the 12 reed structure.The tight subtend of three pairs of curve reeds in each outer ring is arranged, has improved the hinge stiffness characteristic, makes it when finishing the large deformation function, obtains rigidity preferably.
(4) be the center with the spheroid axis on spheroid, perpendicular quadrature distribution outer ring one and outer ring two and two groups of reeds, each reed group uniform array in the outer ring three reeds that distribute are right.Three curve reeds are carried out uniform array to the central axis with spheroid distribute, improved the axial rigidity and the radial rigidity of hinge.And the distribution form of this flexible unit makes flexible hinge rotate in wide-angle very high axial precision, and two outer ring couplings when rotating are very little, and the axle center drift is very little when rotating.
(5) adopt the integrated machine shaping of wire cutting machine tool, the error of having avoided assembling to introduce.
Description of drawings
Fig. 1 is the structural drawing of the flexible Hooke's hinge of the distributed many reeds of the utility model.
Fig. 2 is the plan view of Fig. 1.
Fig. 3 is the left view of Fig. 2.
Shown in the figure: outer ring 1, A mounting hole 101, B mounting hole 102, A groove 103, B groove 104, reed is to center line 105, first reed 111, second reed 112, the 3rd reed 113, the 4th reed 114, the 5th reed 115, the 6th reed 116, outer ring 22, C mounting hole 201, D mounting hole 202, C groove 203, D groove 204, the 7th reed 211, the 8th reed 212, the 9th reed 213, the tenth reed 214, the 11 reed 215, the 12 reed 216, ball core 3.
Embodiment
For better understanding the utility model, below in conjunction with accompanying drawing the utility model is described further, but the claimed scope of the utility model is not limited to the scope that mode of execution is represented.
As shown in Figure 1, 2, 3, the flexible Hooke's hinge of a kind of distributed many reeds comprises outer ring 1, outer ring 22, core body 3 and two groups of reeds; Perpendicular outer ring 1 is connected with core body 3 by one group of reed respectively with outer ring 22, and outer ring 1 and outer ring 22 are ring shape; Every group of reed is evenly distributed to few three pairs of reeds in the outer ring; Each is made up of 2 reeds reed, and each reed becomes circular-arc and is connected on core body and outer ring 1 or the outer ring 22, and two reeds form circular arc from the approaching position of core body from opposite direction and are connected on outer ring 1 and the outer ring 22, constitute a pair of reed; Outer ring 1 and outer ring 22 have groove in the intersection, and wherein outer ring one 1 slot openings are outside, and outer ring 22 slot openings make outer ring 1 and outer ring 22 keep at interval in the intersection to inwardly, and wherein outer ring 1 is positioned at 22 outsides, outer ring.Outer ring 1 and outer ring 22 are provided with a mounting hole respectively at least, are used for linking to each other with connecting rod and/or base.Be provided with A mounting hole 101 and B mounting hole 102 as outer ring 1, C mounting hole 201 that outer ring 22 is provided with and D mounting hole 202.Outer ring 1 links to each other with base with connecting rod with B mounting hole 102 by A mounting hole 101 respectively; Outer ring 22 links to each other with base with connecting rod with D mounting hole 202 by C mounting hole 201.The position of mounting hole and number can with the connection state of connecting rod and base, be adjusted on the circumference of outer ring according under the actual use condition.Core body 3 can adopt sphere, also can adopt cube or polyhedron.
With the spheroid axis is the center, and every group of reed three reeds of uniform array distribution in the outer ring are right in two groups of reeds, and the center line angle of every pair of reed is 120 degree.
Being provided with three pairs of connection reeds between outer ring 1 and the core body 3, is respectively first reed 111, second reed 112, the 3rd reed 113, the 4th reed 114, the 5th reed 115 and the 6th reed 116; Wherein first reed 111 and second reed 112 constitute first pair of reed, the 3rd reed 113 and the 4th reed 114 constitute two pairs of reeds, the 5th reed 115 and the 3rd pair of reed of the 6th reed 116 structures, the center line angle of first pair, second pair, the 3rd pair reed are 120 degree; Wherein two of a pair of reed its center lines of reed are symmetrically distributed, and bending direction is seen Fig. 2 on the contrary.Be symmetrically distributed about its center line as first reed 111 and second reed 112, bending direction is opposite.Two reeds directly are connected with outer ring 1 with core body 3, can adopt integrated processing, also can process outer ring, the centre of sphere and reed respectively, assemble again.
Be provided with three groups between outer ring 22 and the core body 3 and connect reed, be respectively the 7th reed 211, the 8th reed 212, the 9th reed 213, the tenth reed the 214, the 11 reed the 215, the 12 reed 216, the 7th reed 211 and the 8th reed 212 constitute the 4th pair of reed, the 9th reed 213 and the tenth reed 214 constitute five pairs of reeds, the 11 reed 215 and the 6th pair of reed of the 12 reed 216 structures, the center line angle of the 4th pair, the 5th pair, the 6th pair reed are 120 degree.The distribution of reed is with first reed 111 and second reed 112.
The circular arc radius of curvature R of the thickness t of each reed and reed satisfies t＜0.1R.Radius of curvature R as the thickness and first reed 111 of first reed 111
1The pass be t
1＜0.1R
1Other 11 reed thickness are identical with the thickness of first reed 111, and radius of curvature is also identical.
The width w of outer ring one and outer ring two is 20～50 times of reed thickness t, to guarantee the outer ring enough rigidity is arranged.Be the width 20t＜w＜50t of outer ring one and outer ring two.
During preparation, adopt precision to walk integrated core body 3, outer ring 1 and the outer ring 22 of being processed with of silk cutting machine tool; Processing A mounting hole 101, B mounting hole 102, A groove 103, B groove 104 on outer ring 1; Processing C groove 203, D groove 204, C mounting hole 201 and D mounting hole 202 on outer ring two; Whole flexible Hooke's hinge can adopt precision to walk the integrated processing of silk cutting machine tool, also can use line cutting process outer ring, core body and reed respectively, assembles with the method for welding, or by slotting on core body and outer ring, reed is inserted assemble then.
The flexible Hooke's hinge of the distributed many reeds of the utility model has two kinds of motion modes.
Motion mode one: by the fixing outer ring 1 of A mounting hole 101, B mounting hole 102, on the C mounting hole 201 on the outer ring 22, D mounting hole 202, applying with geometrical center O point (being the centre of sphere of spheroid 3) is the torque at center, making the outer ring 22 of flexible Hooke's hinge produce the centre of sphere with spheroid 3 is that the two dimension at center is rotated, be exactly specifically outer ring 22 centre of sphere with spheroid 3 in the plane at one 1 places, outer ring be that the center has produced the one dimension rotation, and outer ring 22 centre of sphere with spheroid 3 in the plane at 22 places, outer ring is that the center has produced the one dimension rotation.The maximum rotation scope of both direction is ± and 5 °～± 10 °, the axle drift approaches 0, has rigidity preferably on the not function direction.
Motion mode two: by the fixing outer ring 22 of C mounting hole 201, D mounting hole 202, on the A mounting hole 101 on the outer ring 1, B mounting hole 102, applying with geometrical center O point (being the centre of sphere of spheroid 3) is the torque at center, making the outer ring 1 of flexible Hooke's hinge produce the centre of sphere with spheroid 3 is that the two dimension at center is rotated, be exactly specifically outer ring 1 centre of sphere with spheroid 3 in the plane at one 1 places, outer ring be that the center has produced the one dimension rotation, and outer ring 1 centre of sphere with spheroid 3 in the plane at 22 places, outer ring is that the center has produced the one dimension rotation.The maximum rotation scope of both direction is ± and 5 °～± 10 °, the axle drift approaches 0, has rigidity preferably on the not function direction.
The rotation of the wide-angle that the flexible Hooke's hinge of distributed many reeds not only can be realized, and can reduce the axle drift, and increased the rigidity on the not function direction.First reed 111, second reed 112, the 3rd reed 113, the 4th reed 114, the 5th reed 115, the 6th reed 116 evenly distribute in outer ring 1 with ball centre axis symmetry; The 7th reed 211, the 8th reed 212, the 9th reed 213, the tenth reed the 214, the 11 reed the 215, the 12 reed 216 are with ball centre axis symmetry, in outer ring 22, evenly distribute, form the flexible Hooke's hinge of distributed many reeds that outer ring one and outer ring two perpendicular quadratures distribute.The amount of deformation of thin plate flexible unit itself is just bigger, and curve thin plate flexible unit can realize double-deformation, promptly can be out of shape to the direction that curvature increases, also can be out of shape to the direction that curvature reduces, this has just guaranteed that can do wide-angle around core body by the outer ring of curve reed connection rotates.Because 12 curve reed geometrical constructioies are identical, be symmetrically distributed fully, suppose that there is not material nonlinearity in the hinge material therefor when stress deformation, when the hinge center was subjected to torque, this pivoting flexible hinge did not have the drift of center of rotation.Because two outer rings of this flexible Hooke's hinge have enough thickness and rigidity, 12 reeds also have certain width on the not function direction, and therefore, this flexible Hooke's hinge has rigidity preferably on the not function direction, can bear certain load.
Claims (6)
1. the flexible Hooke's hinge of distributed many reeds is characterized in that: comprise outer ring one (1), outer ring two (2), core body (3) and two groups of reeds; Perpendicular outer ring one (1) is connected with core body (3) by one group of reed respectively with outer ring two (2), and outer ring one (1) and outer ring two (2) are ring shape; Every group of reed is evenly distributed to few two pairs of reeds in outer ring one (1) and outer ring two (2); Each is made up of 2 reeds reed, and two reeds form circular arc from the approaching position of core body from opposite direction and are connected on outer ring one (1) or the outer ring two (2), constitute a pair of reed; Outer ring one (1) and outer ring two (2) have groove in the intersection, wherein outer ring one (1) slot opening is outside, outer ring two (2) slot openings keep at interval outer ring one (1) and outer ring two (2) to inwardly in the intersection, wherein outer ring one (1) is positioned at two (2) outsides, outer ring; Outer ring one (1) and outer ring two (2) are provided with a mounting hole respectively at least, are used for linking to each other with connecting rod and/or base.
2. the flexible Hooke's hinge of distributed many reeds according to claim 1 is characterized in that: every group of reed three pairs of reeds of uniform array distribution in the outer ring, the center line angle of every pair of reed is 120 degree.
3. the flexible Hooke's hinge of distributed many reeds according to claim 1, it is characterized in that: the circular arc radius of curvature R of the thickness t of each reed and reed satisfies t＜0.1R.
4. the flexible Hooke's hinge of distributed many reeds according to claim 1, it is characterized in that: the width w of outer ring one and outer ring two is 20～50 times of reed thickness t.
5. the flexible Hooke's hinge of distributed many reeds according to claim 1, it is characterized in that: the groove both sides angle of outer ring one and outer ring two is the 30-50 degree.
6. the flexible Hooke's hinge of distributed many reeds according to claim 1, it is characterized in that: described core body is sphere, cube or polyhedron.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010206344700U CN201866122U (en) | 2010-11-30 | 2010-11-30 | Distributed multi-reed flexible Hooke hinge |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010206344700U CN201866122U (en) | 2010-11-30 | 2010-11-30 | Distributed multi-reed flexible Hooke hinge |
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| Publication Number | Publication Date |
|---|---|
| CN201866122U true CN201866122U (en) | 2011-06-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010206344700U Expired - Fee Related CN201866122U (en) | 2010-11-30 | 2010-11-30 | Distributed multi-reed flexible Hooke hinge |
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| Country | Link |
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| CN (1) | CN201866122U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101985960A (en) * | 2010-11-30 | 2011-03-16 | 华南理工大学 | Multi-reed large-deformation flexible hook hinge |
| CN104006087A (en) * | 2014-06-09 | 2014-08-27 | 北京航空航天大学 | Crossed spring leaf flexible hookeHooke joint |
| CN107121753A (en) * | 2017-05-27 | 2017-09-01 | 中国科学院上海技术物理研究所 | A kind of integrated bidimensional pivoting flexible hinge |
| CN110657168A (en) * | 2019-09-18 | 2020-01-07 | 西安工业大学 | Flexible coupling applicable to precise air floatation rotary table |
| CN111365378A (en) * | 2020-03-19 | 2020-07-03 | 南京林业大学 | Flexible Hooke hinge |
-
2010
- 2010-11-30 CN CN2010206344700U patent/CN201866122U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101985960A (en) * | 2010-11-30 | 2011-03-16 | 华南理工大学 | Multi-reed large-deformation flexible hook hinge |
| CN104006087A (en) * | 2014-06-09 | 2014-08-27 | 北京航空航天大学 | Crossed spring leaf flexible hookeHooke joint |
| CN104006087B (en) * | 2014-06-09 | 2015-12-30 | 北京航空航天大学 | The flexible Hooke's hinge of a kind of cross reed |
| CN107121753A (en) * | 2017-05-27 | 2017-09-01 | 中国科学院上海技术物理研究所 | A kind of integrated bidimensional pivoting flexible hinge |
| CN110657168A (en) * | 2019-09-18 | 2020-01-07 | 西安工业大学 | Flexible coupling applicable to precise air floatation rotary table |
| CN110657168B (en) * | 2019-09-18 | 2021-09-03 | 西安工业大学 | Flexible coupling applicable to precise air floatation rotary table |
| CN111365378A (en) * | 2020-03-19 | 2020-07-03 | 南京林业大学 | Flexible Hooke hinge |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20110615 Termination date: 20151130 |
|
| EXPY | Termination of patent right or utility model |