JPH09242774A - Universal joint for shaft to pipe, excavator having this universal joint for shaft to pipe, industrial manipulator and work machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a universal joint for a shaft to a pipe which can impart deflectability to a connecting part of a shaft, a pipe or the like and is high in airtightness, liquidtightness, transmission of high torque, rigidity and fixing capability to the inside and outside of the joint. SOLUTION: A hollow ball-like sleeve 11 whose outer peripheral surface is formed as an outer spherical surface over the whole periphery, is joined to the inside end of a first flange 10 joined to one pipe end. A slidingly movable globe 31 whose inner peripheral surface is formed as an inner spherical surface over the whole periphery, is joined to the inside end of a second flange 30 joined to the other pipe end. An intermediate spherical surface ring 40 where the outer spherical surface of these hollow ball-like sleeve 11, the inner spherical surface of the slidingly movable globe and inner and outer two spherical surfaces mutually sliding to the respective spherical surfaces are concentrically formed, is provided. This intermediate spherical surface ring 40 is made different in a phase by 90 deg. around the central axis, and is pivotally fixed to the hollow ball-like sleeve 11 and the slidingly movable globe 31. A water stop ring 42 is provided in a mutual sliding part.

Description

Detailed Description of the Invention

[0001]

TECHNICAL FIELD The present invention mainly relates to sewer pipes,
For connecting water supply pipes, joint cable pipes, etc., for connecting pipes and excavation heads, or joint parts of articulated robot arms, industrial manipulators, work machine arms such as civil engineering machines BACKGROUND OF THE INVENTION Field of the Invention The present invention relates to a shaft or pipe universal joint that imparts refraction to a connecting portion, and an excavator equipped with this joint.

[0002]

2. Description of the Related Art Most of conventional joints for hollow objects such as these tubes cannot be bent at a connecting portion. Only a few Victoria joints can be bent because they are connected by rubber joints at the joints. For excavators,
Some have announced that the neck of the excavation head used for tunnel construction etc. can be inclined, but it is considerably large, and it is not suitable for connecting the above-mentioned sewer pipe, water supply pipe, common cable pipe, etc. is there.

Further, the universal joint in the general industry itself has no function of fixing at any refraction angle and no force of bending at any angle. The rotation of the shaft connected to one side of the universal joint is simply transmitted to the shaft connected to the other side of the universal joint at a rotation ratio of 1: 1. Moreover, the structure was not suitable for transmitting a large torque.

[0004]

SUMMARY OF THE INVENTION The present invention is mainly used for connecting sewage pipes, water supply pipes, common cable pipes, etc. to each other, connecting pipes to a drilling head, or joints of an articulated robot arm. The purpose of the present invention is to provide a market for a heavy-duty manipulator and a shaft or pipe universal joint used for joints or joints of arms of civil engineering machines. It is to have pressure tightness and pressure tight liquid tightness.
Further, the shaft or the pipe universal joint can be bent at an arbitrary angle and can maintain the angle within a permissible range by a fluid pressure from the outside. In addition, the rotational force can be transmitted from one shaft or tube to the other shaft or tube while being bent in a certain direction. In addition, it is to be able to transmit a large rotation transmission torque as needed. Further, an excavator equipped with the shaft or pipe universal joint, an industrial manipulator (including an industrial robot), other civil engineering, construction or electrical work, other fire fighting,
The purpose is to provide a work machine for lifesaving work to the market.

[0005]

In order to achieve the above object, the present invention is directed to an inner surface of a ring-shaped first flange which is connected to one shaft or a pipe end, and an outer peripheral surface of which is an outer spherical surface. A hollow ball-like sleeve is joined, and a sliding glove whose inner circumferential surface is an inner spherical surface is joined to the inner end of the ring-shaped second flange which is joined to the other shaft or tube end. There is provided an intermediate spherical ring concentrically formed with an outer spherical surface of the hollow ball-like sleeve, an inner spherical surface of the sliding glove, and inner and outer double spherical surfaces which are in sliding contact with the respective spherical surfaces. Has a pair of pins in the radial direction around the central axis at intervals of 90 °, and sets a pair of the pins having a 180 ° phase difference as one set, and the pair of pins of the first set is the intermediate spherical ring. The hollow ball-like sleeve is pivotally attached. Thus, a pair of pins of another set pivotally mounts the intermediate spherical ring and the sliding globe, and each spherical sliding surface has a ring-shaped liquid leakage packing on any member that slides on each other. A universal joint for a shaft or a pipe characterized by being provided.

In order to achieve the above object, the hollow ball-like sleeve of the shaft or pipe universal joint of the present invention is divided into 4 to 6 in the circumferential direction, and a segment which can be disassembled and assembled and which is just inside the segment. It is formed by a fitting inner sleeve having an equal diameter, and both joint surfaces of at least one of the plurality of segments are flat surfaces parallel to the axial direction, and the width of the outer peripheral surface is the inner peripheral surface. Is formed to be the same as or slightly narrower than the width of the inner surface of the sliding globe, while the inner spherical surface of the sliding globe is divided by a plane perpendicular to the axis line at a portion where the inner spherical surface has a maximum diameter. It is preferable that the sliding glove main body and the sliding glove lid, which are individual members, are formed to be an exploded assembly type.

To achieve the above object, a dustproof ring having an outer spherical surface concentric with the inner spherical surface is fitted to the outer peripheral surface of the sliding globe of the shaft or pipe universal joint of the present invention. On the other hand, it is preferable that a dustproof cover sleeve that is slidably engaged with the outer peripheral surface of the dustproof ring is fixed to a part of the inner hollow coupling pipe member.

In order to achieve the above-mentioned object, a part of the first flange located between the hollow ball-like sleeve and the dustproof cover sleeve of the shaft or pipe universal joint of the present invention or an integral part thereof. The member is provided with 3 to 40 fluid pressure cylinders in the axial direction around these axes, and each fluid pressure cylinder is equipped with a plunger that slides in the axial direction. In some cases, the tip end portions of these plungers are abutted against the inner end surface of the sliding globe.

In order to achieve the above object, the fluid pressure pipe or hose line connecting portion of the shaft or pipe universal joint of the present invention is provided on the inner peripheral surface of the first flange or an integral member thereof. It is preferable that it is provided.

In order to achieve the above-mentioned object, the present invention provides the shaft or pipe universal joint according to any one of claims (claim 1, claim 2, claim 3, or claim 4). An excavation head is connected to an outer end of one of the first and second flanges, and a pipe for carrying out an excavated material is connected to an outer end of the other flange. The excavator is equipped with a universal joint.

In order to achieve the above-mentioned object, the present invention uses one shaft or pipe universal joint of one of the above claims (claim 1, claim 2, claim 3, or claim 4) as an arm. An industrial manipulator characterized by being equipped as a joint.

In order to achieve the above-mentioned object, the present invention uses one of the shafts (1), (2), (3), or (4) of the above-mentioned each item (claim 1, claim 2, claim 3, or claim 4) as an arm. A working machine characterized by being provided as a joint.

[0013]

BEST MODE FOR CARRYING OUT THE INVENTION

Embodiment 1 It includes the invention described in claims 1 to 5, and is shown in FIGS. 1 and 2. Reference numeral 10 denotes a ring-shaped first flange, which is a portion joined to the one pipe P or the shaft flange F on the outer end surface thereof. This inner diameter d1 is made equal to the inner diameter of the pipe P to be connected in FIG.

Reference numeral 11 denotes a hollow ball-like sleeve, the outer peripheral surface of the inner end portion of which is an outer spherical surface 13, and the center point thereof is provided on the flange 10 and the central axis O of the hollow ball-like sleeve 11.

Reference numeral 30 is a ring-shaped second flange,
It is a portion that is connected to the flange F of the other pipe P. This inner diameter is also equal to the inner diameter of the other first flange 10 described above. A sliding globe 31 is provided on the inner end of the second flange.
Is still fixed with a few bolts. This inner peripheral surface is larger than the outer spherical surface 13 and is concentric with it.
There are two.

Reference numeral 40 denotes a spherical intermediate ring, the inner peripheral surface of which is slidably engaged with the outer spherical surface 13 and the outer peripheral surface of which is formed with a spherical surface slidably engaged with the inner spherical surface 32 inside and outside.
And the inner spherical surface 32, the spherical intermediate ring is provided with four radial direction pins 41 at every 90 °, and two sets of pins 180 ° out of phase are provided as one set. Pins 41a and 41b of the first set of pins 41
The inner hollow ball-like sleeve 11 and the spherical intermediate ring 40 are pivotally attached by a, and the second pin 41b that is 90 ° out of phase with these is provided on the outer sliding glove 30.
The spherical intermediate rings 40 are pivotally attached to each other.

Therefore, the first flange 10 and the spherical intermediate ring 40 can freely rotate around the first pin 41a within the permissible range, and the second flange 30 and the spherical intermediate ring 40 can be separated from each other. , Is a kind of universal joint that can freely rotate around the second pin 41b within its allowable range. The above-mentioned first flange 1
0 and the sliding surface of the spherical intermediate ring 40 and the second flange 3
0 and the spherical intermediate ring 40 are provided with ring-shaped liquid leakage preventing packings (usually referred to as O-rings) 42 on the sliding surfaces thereof.

For the convenience of assembly, the hollow ball-like sleeve 11 described above is divided into several segments (4 in the figure) in the circumferential direction and segments 11a to 11d of equal diameter which fit exactly inside this segment. The inner sleeve 12 is formed by and. Of the above-mentioned segments 11a to 11d, at least one side surface of one segment 11a is parallel to the axial direction, and the width of the outer peripheral portion is the same as or slightly narrower than the width of the inner peripheral portion. After being assembled inside the spherical intermediate ring 40 to form a hollow ball-like sleeve 11, the hollow ball-like sleeve 11 is fitted with the inner sleeve 12, and these are integrated by bolts. The number of the segments is, for example, 4 to 6, and a single outer spherical surface 13 is formed by the outer peripheral surfaces of these several segments 11a to 11d. The inner diameter of the inner sleeve 12 is the pipe P to be connected.
Although the diameter of the pipe P is the same as that of the pipe P in FIG. Although the pipe P is connected in the above example, a solid shaft may be connected, and the shaft itself may have a circular cross section or an H-shaped cross section. There is no.

The above-mentioned sliding glove 31 is also divided into two parts on the plane perpendicular to the central axis O for convenience of assembly, and is formed by the sliding glove body 31a and the sliding glove lid 31b, and the dividing position is inside. The position is such that the diameter of the spherical surface is the maximum on the divided surface. Therefore, one inner spherical surface 32 is formed by the inner peripheral surfaces of the sliding glove body 31a and the sliding glove lid 31b.

A dustproof ring 33 is fitted on the outer peripheral surface of the sliding glove 31 so as to straddle the joint between the sliding glove body 31a and the sliding glove lid 31b. The outer spherical surface is concentric with the spherical surface 32.
On the other hand, a single thin lid case ring 15 is fitted on the outer side of the base of the hollow ball-like sleeve 11 and can be freely disassembled and integrated with the respective segments 11a to 11d of the hollow ball-like sleeve 11 by appropriate fixing means. There is.

The cylinder cylinder ring 15 is provided with 4 to 40 fluid pressure cylinders 16 in the axial direction. Plungers (pistons) that slide independently in each fluid pressure cylinder 16 are provided. Equipped with 17,
The tip of each plunger 17 elastically abuts on the tip surface of the sliding globe 31 by a spring 18 provided in the fluid pressure cylinder 16. One end of each fluid pressure cylinder 16 is opened to the inner peripheral surface 12a of the inner sleeve 12 via a fluid pressure ring manifold 19 and is connected to a fluid pressure pipe 20 which is a type of fluid pressure line.

The number of the fluid pressure cylinders 16 is not particularly limited as long as it is 4 or more, but it is naturally determined by the diameter of the thin lider case ring 15 and the diameter of the fluid pressure cylinders 16, and is actually 4 to 20. It is a degree. For the convenience of designing the control system, it is preferable that the number is 4 or more and is a multiple of 2.

The base of the dustproof cover sleeve 21 is closely fitted to the outside of the cylinder case ring 15, and the tip end thereof extends in the direction of the dustproof ring 33 and is slidably engaged therewith. In the embodiment, a dustproof seal ring 22 is provided at the tip sliding portion of the dustproof cover sleeve 21. Therefore, the tip of the plunger 17 group has a hollow ball-like sleeve 11, a cylinder case ring 15, a dustproof cover sleeve 21, and a sliding glove 31.
It is located in a space C surrounded by, and this space C is usually filled with lubricating oil. The shaft or tube hollow joint A described above can be bent in any direction with respect to the central axis O, and its inclination range is about 15 °, but the illustrated range of the first embodiment is 7 °.

Second Embodiment The fluid pressure cylinder 16 and the plunger 17 of the first embodiment are omitted, and are embodiments of the invention described in claims 1 to 3.

Embodiment 3 An embodiment of the invention described in claim 6 is shown in FIG. That is, the pipe universal joint A, which is a kind of the shaft or the pipe universal joint A of the first embodiment, is used, and the pipe P that rotates or does not rotate around the axis O is connected to the outer end surface of the first flange 10 at one end. Drilling head 6 on flange 30 of 2
It is a combination of 0s. That is, as the excavation head 60, one in which a large number of excavation bits that swivel around the central axis O of the universal joint A1 are attached, or the excavation head 60 and the second flange 30 of the universal joint A1 are fixed, It is also possible to drive the second flange 30 around the axis to rotate the excavation head 60 together with the universal joint A1 around the central axis thereof.

Although the excavation head 60 is attached to the outside of the second flange 30 in the above-described example, the excavation head 60 is attached to the outside of the first flange 10 and the second flange 30 side is the base. Even the side is included in the embodiment of the present invention. Further, instead of the excavating bit, a large number of high-pressure water jetting nozzles may be provided, and the excavating head 60
The model does not matter. As shown in the drawing, all the coupling and fixing portions of the respective constituent members of the shaft and the universal joint A are fixed by bolts (not shown).

Fourth Embodiment An embodiment of the invention described in claim 7 is shown in FIG. The shaft-to-tube universal joint A of the first embodiment is used as the joint of the arm 61 of the industrial manipulator. At least the pipe P is connected to the flange on the side close to the tip. The industrial manipulator also includes an industrial robot, and even if it is used for joints such as shoulders, elbows, wrists, and fingers of this robot, it is included in this embodiment.

Embodiment 5 This is an embodiment of the invention described in claim 8 and an example thereof is shown in FIG. A power shovel, a power grip, a universal work vehicle for aerial work (see FIG. 6), which uses the shaft or pipe universal joint A according to the first embodiment for construction work, electric work, civil engineering work, firefighting or lifesaving work, etc. It is used as a joint of the arm 62 such as a crushing grip. Of course, the working machine is not limited to the above example.

Operation of Embodiment To assemble the first embodiment, first, the disjointed segments 11a to 11 inside the intermediate spherical ring 40 are formed.
Assembling d, from the root side of these, sliding glove lid 31
b is fitted on the outside of the intermediate spherical ring 40, and then the cylinder case ring 15 is fitted at the base of the hollow ball-like sleeve 11 in the form of a sleeve.
Then, the cylinder case ring 15 is fixed with appropriate bolts. Before and after the assembly of these segments 11a to 11d, the hollow ball-like sleeve 11 and the intermediate spherical ring 40 are pivotally connected to each other by the first pair of pins 41a (the lower half of the center line O in FIG. 1). See FIG. 2). Next, the fluid pressure ring manifold 19 is fixed to the rear surface of the cylinder case ring 15.

Next several assembled segments 11
The inner sleeve 12 is inserted inside a to 11d, these are fixed by bolts, and the inner end surface of the first flange 10 is aligned with the outer end of the inner sleeve 12 and fixed by bolts. The locking ring 23 is also fitted to the inner ends of the several segments 11a to 11d and the inner end of the inner sleeve 12 and fixed with appropriate bolts.

Next, the sliding glove main body 31 is provided outside the intermediate spherical ring 40 from the side opposite to the sliding glove lid 31b.
a is fitted and the second pair of pins 41b projecting from the outer peripheral surface of the intermediate spherical ring 40 are sandwiched by the bearing portion provided at the mating portion of the sliding globe body 31a and the sliding globe lid 31b, and these are appropriately bolted. The outer spherical surface of the intermediate spherical ring 40 is held by the sliding glove body 31a and the sliding glove lid 31b to form the sliding glove 31. At the same time, the sliding globe 31 and the intermediate spherical ring 40 are pivotally mounted by the second pair of pins 41b (the upper half of the center line O in FIG. 1 and see FIG. 2).

Next, the dustproof ring 33 is fitted on the outer side of the sliding globe 31. On the other hand, a dustproof cover sleeve 21 is fitted on the outside of the cylinder case ring 15, and the outer end portion is fixed to the cylinder case ring 15. In this way, the tip portion of the dustproof cover sleeve 21 slides on the outer peripheral surface of the dustproof ring 33. Further, the inner end surface of the second flange 30 is aligned with the outer end surface of the sliding globe 31, and these are fixed with bolts. A fluid pressure pipe 20 corresponding to each fluid pressure cylinder 16 is connected to the fluid pressure ring manifold 19.

In the second embodiment, since the fluid pressure cylinder 16 and the fluid pressure ring manifold 19 are not provided, it is not necessary to assemble the fluid pressure pipe 21. In the third embodiment, the excavation head 60 is fixed to the outer end surface of either the first flange 10 or the second flange 30 of the flange 10 or 30, and the opposite flange is used for discharging excavated soil or rocks. The pipe P is connected.

If the fluid pressure in the first embodiment is set to 0,
The bending force applied from the outside to the universal joint A for pipes of this embodiment causes the spherical connection portion to be inclined in any direction within its allowable range. In this case, since the respective joint portions are in sliding contact with each other by spherical contact, the fluid or gas inside and outside is almost completely blocked, and the liquid leakage prevention ring 42 is further connected to each sliding portion as in the embodiment. If they are fitted together, 10
Even if there is a pressure difference up to about atmospheric pressure, the fluid is sufficiently blocked. Further, since the inner diameter of the inner sleeve 12 which is the inner surface of the hollow ball-like sleeve 11 of the first embodiment is equal to the inner diameter of the pipe P to be connected, the pipe P
Does not impede the flow of the fluid flowing through the pipe, and does not cause any obstacle when laying an electric cable, other fluid hoses, ducts, etc. in the pipeline using the shaft or the universal joint A for pipes. Further, as described above, since the universal connection portions are connected by spherical contact, so-called undercuts are formed mutually in the axial direction, so even if a force applied in the axial direction acts, this connection portion is There is no risk of separation. Therefore, when it is buried under the road, it can sufficiently follow the partial vibration or change of the ground due to the vehicle traveling on the road, the earthquake, and the floating of the pipe P due to the rise of the groundwater level. It is possible to extremely reduce the rate of breakage of the joint portion and the pipe P connected by the joint portion. The operation so far is the second embodiment.
It is the same action in.

In the first embodiment, a fluid pressure line such as the fluid pressure pipe 20 applies pressure to the fluid pressure cylinders 16 on the opposite side of the respective fluid pressure cylinders 16 from the direction of refraction, and the fluid pressure cylinders 16 on the other side are pressurized. When the pressure of the fluid pressure line is released, the plunger 17 on the pressure rising side is pushed out, the tip of the sliding globe 31 is pushed by this, and the axes of the first flange 10 and the second flange 30 are spherical. It is bent at the joint portion, and the plunger 17 on the opposite side acts to be pushed into the fluid pressure cylinder 17 on the contrary. When the bubble (not shown) in the fluid pressure line is closed, the fluid in the fluid pressure cylinder 16 does not move, and the angle of refraction of the shaft or the universal joint A for pipes maintains that state.

As the operation of the third embodiment, in addition to the operation of the above-described embodiment, by controlling the fluid pressure of the fluid pressure cylinder 16 from the outside, the universal joint A1 for pipe can be operated within an allowable range. Since it can be tilted also in the direction of, the excavation of a drainage pipe, a water pipe, or the like that bends with a radius of curvature formed by the refraction angle, or a tunnel becomes possible. In addition, when excavating the ground with a high groundwater level, there is a phenomenon in which the substantially sealed excavation head 60 floats in the groundwater, or there is hard rock or the like in a part of the ground. It is rare that the phenomenon of uneven distribution in one direction occurs and it becomes impossible to excavate accurately in the intended direction.However, in the case of the present invention, in such a phenomenon, due to the fluid pressure control, the opposite direction to the uneven distribution can be obtained. By tilting the excavation head 60, the excavation direction can be corrected by uneven distribution of the excavation head 60.

Others As described above, in the third embodiment, the excavating head 60 is attached to one end of the shaft-to-pipe universal joint A.
When mounting a pipe for driving on the opposite side, when driving the pipe P around its axis and rotating both the shaft or the pipe universal joint A and the drilling head 60 around the axis, the drilling is performed. In the above, when the fluid pressure cylinders 16 reach the predetermined phase position of the hole to be drilled, the plungers 17 in the fluid pressure cylinders 16 are provided.
If the amount and pressure of the fluid fed into each of the fluid pressure cylinders 16 are controlled so that the extruded dimension of is constant, the shaft or pipe universal joint A is inclined in a specific direction with respect to the outside. As it is, there is an effect that the root side pipe can be rotationally driven around its axis to drive the excavation head 60 at the tip around the axis.

Operation of Embodiments 4 and 5 Because of the construction as described above, since the shaft 61 or the universal joint A is jointed to the arm 61 of the industrial manipulator or the arm 62 of the working machine, these joints are described above. And the torque can be transmitted around the axis of the arm from the root side to the tip side through the joint. In particular, since the pipe P is connected to the flange on the tip end side, lines for electric system, fluid pressure system, etc. can be housed therein, and these do not interfere with the operation of the manipulator and working machine, and these lines are connected. Acts to protect.

[0039]

EXAMPLE In the case of the universal joint A1 for pipes used for the pipe P having an inner diameter of 19 cm, the inner diameters of the first flange 10, the second flange 30, and the inner sleeve 12 were also 19 cm. The outer diameters of the first flange 10, the second flange 30, and the dustproof cover sleeve 21 are equal to the outer diameter of the flange F of the pipe P, and the axial length of the universal joint A for pipe is 24 cm. . The number of fluid pressure cylinders 17 and the number of plungers 18 are 12 at equal angular intervals over the entire circumference.
I set it up.

As for the material, the first flange 10,
The second flange 30 and the inner sleeve 12 are made of steel, and each of the segments 11a to 11d and the sliding globe 3
1. The materials of the sliding parts such as the dustproof ring 33 and the spherical intermediate ring 40 are materials having a small friction coefficient such as bronze aluminum alloy, gun metal, brass and white metal. Moreover, the thickness of each part was 10 mm or more. Of course, the materials of these sliding parts are not limited to the above-mentioned materials, but engineering plastics having a small friction coefficient are also included in the embodiment of the present invention. The fluid used for the fluid pressure may be water, air or oil, but oil is generally common.

When it is used as an excavating head 60 for excavating a lateral hole for laying a sewer pipe or the like, pits are usually excavated at intervals of 20 m to 50 m before starting excavation. Further, a control device for controlling the fluid pressure supplied to each of the cylinders 16 and a drive device for rotating the pipe tube P around the axis are provided. The numerical values of the above-described embodiment are merely examples, and a thinner pipe, a connection of a large pipe that allows human walking, or a shaft is included in the embodiment of the present invention.
If the diameter is small, the cylinder 16 and the plunger 1
The number of 7 may be 4 to 6, and when the diameter is large, these numbers may exceed 20. Also regarding the material,
Select and use according to the application.

[0042]

According to the first aspect of the present invention, the shaft-to-pipe universal joint A can be used as a general shaft or pipe P universal joint because it is constructed and operates as described above. Therefore, it is possible to refract in any direction around the axis O within the allowable range. The hollow ball-like sleeve 11 and the intermediate spherical ring 40 and the intermediate spherical ring 40
Since the sliding glove 31 and the sliding glove 31 are pivotally attached to each other in close contact with each other, the bending moment does not act on each pin 41, and only the shearing force in the diametrical direction acts on each pin 41, so that the pin diameter is sufficient. If it is thick, it can withstand a large torque.

Further, since the hollow ball-like sleeve 11, the sliding globe and the intermediate spherical ring 40 are all pipe-shaped, a twisting moment is generated, but there is no bending moment, and a conventional cross-shaped or bifurcated arm is used. It has the effect of transmitting much larger torque than a universal joint.

Especially when used as a joint for the pipe P, there is no risk of liquid leakage at the shaft or the universal joint A for pipes.
It can be used not only for liquid transfer but also as a joint for a joint tunnel through which various cables, hoses or electric wires are passed. Further, it has an effect that it can be used as an industrial manipulator or a joint part of a robot arm.

According to the second aspect of the present invention, as described above, the structure of the universal joint A for shafts and pipes, in particular, the hollow ball-like sleeve 11 has 4 to 6 segments 11a in the circumferential direction.
The segment 11 is divided into 11 to 11d and can be disassembled and assembled.
formed by an inner sleeve 12 of equal diameter that fits exactly inside a to 11d,
At least one of a to 11d, for example, both joint surfaces of the segment 11a is a flat surface in the axial direction, and the width of the outer peripheral surface is formed to be the same as or slightly narrower than the width of the inner peripheral surface. Yes,

On the other hand, the inner spherical surface of the sliding glove 31 slides on the sliding glove main body 31a, which is two members divided by a portion at which the inner spherical surface has the maximum diameter by a plane perpendicular to this axis. Formed with the glove lid 31b,
Since it is of a disassembled and assembled type, the hollow ball-like sleeve 11 and the sliding glove 31 having a large undercut
Can be assembled by closely contacting the inside and outside of the intermediate spherical ring 40,
Further, after being assembled, they are joined by the undercut formed by the spherical surface, and the shaft or the pipe universal joint A does not come off even if an axial force is applied.

In the invention according to claim 3, a dustproof ring 33 having an outer spherical surface 34 concentric with the inner spherical surface is fitted to the outer peripheral surface of the sliding globe 31, while the first gland is provided. Since a dustproof cover sleeve 21 that slides on the outer peripheral surface of the dustproof ring is fixedly attached to a part of the flange 10 of the intermediate spherical ring 40.
It has the effect of preventing the intrusion of external dirt, dust, etc. into the sliding surface part of the.

In the invention described in claim 4, in addition to the effects of the claims up to the preceding claim, a large number (4 to 40) as described above.
Fluid pressure cylinders 16 are provided, and each fluid pressure cylinder 16 is provided with a plunger 17 that slides in the axial direction. The tip end portion of these plungers 17 is the inner end of the sliding globe 31. It is installed on the end face,
Each of the fluid pressure cylinders 16 has the plunger 17
Since a fluid pressure pipe or hose line 20 for advancing and retracting the shaft is connected, the fluid pressure can be used to forcibly bend the shaft or the universal joint A for pipes from the outside, and the bending joint A can be left in a bent state. It is also possible to fix, and depending on the fluid pressure control, while keeping the inclination angle in a specific direction with respect to the outside, the rotation about its axis given to one flange is the rotation about the axis of the other flange,
Has the effect of being output.

According to the invention of claim 5, in addition to the effects of the above-mentioned claims, the connecting portion of the fluid pressure pipe or the hose line 20 is the inner periphery of the first flange 10 or a member integrated with the first flange 10. Since they are respectively provided on the surface 12a, they can be provided inside a pipe or the like using the shaft or pipe universal joint A, and the fluid pressure pipes or hose lines 20 for fluid pressure control are sufficiently protected. Have the effect.

In the sixth aspect of the invention, the outer end of one of the first and second flanges 10 and 30 of the shaft or pipe universal joint A of the fourth aspect of the invention. The excavation head 60 is connected to the excavator B, and the excavator B is connected to the outer end of the other flange to form the excavator B. Therefore, when excavating in the soil, the invention according to claim 4 is provided. Has the same effect as the effect. Therefore, it is possible to dig a hole in a bent state within the refraction allowable range of the shaft or the pipe universal joint A, and even if the digging head 60 exhibits a floating tendency at a high groundwater level, it is expected. There is an effect that can be excavated in the direction of.

According to the seventh aspect of the invention, the degree of freedom of movement of the arm 61 of the manipulator is improved, and a large force can be bent and torque can be transmitted. According to the eighth aspect of the invention, the degree of freedom of movement of the arm 62 of the working machine is improved, and a large force can be bent and torque can be transmitted.

[Brief description of drawings]

FIG. 1 is a vertical cross-sectional side view in which the center line of the first embodiment is sandwiched by 90 ° vertically.

FIG. 2 is a vertical sectional front view taken along line 2-2 of FIG.

FIG. 3 is a vertical front view taken along line 3-3 of FIG.

FIG. 4 is a schematic side view of a third embodiment.

FIG. 5 is a partial external view of an example of a manipulator.

FIG. 6 is a schematic side view of a part of an example of a working machine.

[Explanation of symbols]

 A Universal joint for shaft or pipe B Drilling device P Pipe 10 First flange 11 Hollow ball-like sleeve 11a to 11d Segment 12 Inner sleeve 13 Outer spherical surface 15 Cylinder case 16 Fluid pressure cylinder 17 Plunger 20 Fluid pressure pipe 30 Second flange 31 sliding glove 31a sliding glove main body 31b sliding glove lid 32 inner spherical surface 33 dust-proof ring 40 spherical intermediate ring 41, 41a, 41b pin 60 excavating head

Claims (8)

[Claims] 1. A hollow ball-like sleeve having an outer peripheral surface formed as an outer spherical surface is connected to an inner end of a ring-shaped first flange which is connected to one shaft or a pipe end, and the other shaft or A sliding globe having an inner peripheral surface as an inner spherical surface is coupled to the inner end of a ring-shaped second flange that is coupled to the pipe end, and the outer spherical surface of the hollow ball-like sleeve and the sliding globe are coupled to each other. An intermediate spherical ring is provided, which is concentrically formed with an inner spherical surface and inner and outer double spherical surfaces that are in sliding contact with the respective spherical surfaces. The intermediate spherical ring is provided with radial pins at 90 ° intervals around the central axis. The pair of pins having a 180 ° phase difference are set as one set, and the pair of pins of the first set pivotally attach the intermediate spherical ring and the hollow ball-like sleeve to each other. The pair of pins slide on the intermediate spherical ring A universal joint for a shaft or a pipe, wherein a globe is pivotally attached, and each spherical sliding surface is provided with a ring-shaped liquid leakage packing on any member that slides on each other. 2. The hollow ball-like sleeve has a circumference of 4
To 6 pieces and formed by a segment which can be disassembled and assembled and an inner sleeve having an equal diameter which fits exactly inside the segment. Both joint surfaces of at least one of the plurality of segments are arranged in the axial direction. And the width of the outer peripheral surface is the same as or slightly narrower than the width of the inner peripheral surface, which is a disassembled type, while the inner spherical surface of the sliding globe is a plane perpendicular to this axis. According to the invention, it is formed as an exploded assembly type by being formed by a sliding glove main body and a sliding glove lid which are two members divided at a portion where the diameter of the inner spherical surface is maximum. The shaft or pipe universal joint described. 3. A dustproof ring having an outer spherical surface concentric with the inner spherical surface is fitted on the outer circumferential surface of the sliding globe, while the outer circumference of the dustproof ring is fitted to a part of the second flange. The shaft-to-tube universal joint according to claim 1, wherein a dust-proof cover sleeve that slides on the surface is fixed. 4. A part of the second flange, which is located between the hollow ball-like sleeve and the dust-proof cover sleeve, or a member integrated with the second flange, is provided with four parts around these axes and parallel to the axes. Up to 40 fluid pressure cylinders are provided, and each fluid pressure cylinder is equipped with a plunger that slides in the axial direction by fluid pressure. The shaft or pipe universal joint according to claim 1, 2 or 3, wherein the shaft or pipe universal joint is provided on the end face. 5. The shaft or pipe universal joint according to claim 4, wherein the fluid pressure pipe or hose line coupling portion is provided on an inner peripheral surface of the first flange or a member integrated with the first flange. . 6. A drilling head is coupled to the outer end of one of the first and second flanges of the shaft or pipe universal joint according to claim 4 or 5, and another An excavator equipped with a shaft or a pipe universal joint, characterized in that a pipe for carrying out excavated material is connected to an outer end of the flange. 7. An industrial manipulator comprising the shaft or pipe universal joint according to claim 4 or 5 as an arm joint. 8. A working machine comprising the shaft or pipe universal joint according to claim 4 or 5 as a joint of an arm.