Integral rod end knuckle bearing and application thereof on delta parallel mechanical arm

Abstract

The invention discloses an integral rod end knuckle bearing, which includes an inner ring and an outer ring both provided with spherical sliding surfaces, wherein the diameter of a pin shaft inner ball connecting part on the inner ring is 5.0-6.0 mm. The diameter of the pin shaft inner ball connecting part on the inner ring is reduced, improved and machined to 5.0-6.0 mm compared with the specified standard (about 8 mm) in GB / T9161-2001, as a result, the turning angle of the integral rod end knuckle bearing is bigger than 30 degrees, even 45 degrees to minus 45 degrees, namely 90 degrees, thereby meeting the structural requirements of a delta parallel mechanical arm; and the delta parallel mechanical arm adopting the integral rod end knuckle bearing provided by the invention prevents the inner ball outer ring from falling off, thereby improving the safety and stability of the delta mechanical arm.

Description

technical field [0001] The invention relates to the technical field of joint bearings, in particular to an integral rod end joint bearing and its use on a delta parallel mechanical arm. Background technique [0002] Rod end joint bearings are joint bearings with rod ends or mounted on rod ends, which belong to a category of joint bearings. Joint bearings are spherical sliding bearings, generally composed of inner and outer rings with spherical sliding surfaces, and can withstand large loads. According to its different types and structures, it can bear radial load, axial load or combined load in both radial and axial directions. The spherical sliding contact area of ​​joint bearings is large and the inclination angle is large. Therefore, joint bearings are widely used in low-speed swinging motions, tilting motions, and rotating motions, such as engineering hydraulic cylinders, forging machine tools, engineering machinery, automation equipment, automobiles, etc. Shock absorb...

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Problems solved by technology

[0003] In GB / T9161-2001, there are detailed regulations on rod end joint bearings. The maximum allowable flip angle can only reach ±15°, that is, flip within 30°. The same is true for the flip angle of the integral type on this basis. Due to the flip The angle is small, and it cannot meet the requirements for the use of delta parallel manipulators with a flip angle greater than 30°, and cannot be applied to delta parallel manipulators

[0004] However, the existing delta parallel manipulators are generally composed of inner balls and hemispherical grooves. This structure has two disadvantages: it needs to be customized and processed, and the cost is high; it needs to add a supporting structure to prevent the inner ball and The hemispherical grooves fall off each other. At present, some users have reported that the joint hinges of this structure have fallen off.

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