A detachable space rotation gap active hinge joint and a mechanical arm

Abstract

The present invention relates to a detachable spatial rotation gap active hinge joint, comprising a bearing seat and a transmission shaft, the transmission shaft is inserted into the bearing seat, an inner sleeve and an outer sleeve are arranged between the transmission shaft and the bearing seat from the inside to the outside, the inner sleeve is sleeved on the transmission shaft, the outer wall of the outer sleeve abuts against the inner wall of the bearing seat, the inner wall of the outer sleeve is sleeved on the inner sleeve, a boss is provided at one end of the inner sleeve, a groove matching the boss is provided at one end of the outer sleeve, and the boss abuts against the groove. The size of the hinge gap can be adjusted by changing the size of the outer sleeve and the inner sleeve. When an ideal bearing experiment is conducted, a cross roller bearing is used in the bearing seat for the experiment, which can be considered to have no gap and can be used as an experimental control group. When a gap-containing mechanism experiment is conducted, the size of the gap is adjusted by replacing the cross roller bearing with a designed sleeve assembly to conduct the experiment, which can highlight the influence of the hinge gap. The present invention also relates to a mechanical arm.

Description

Technical Field

[0001] The invention relates to the field of mechanism hinges, in particular to a detachable space rotation gap active hinge joint and a mechanical arm. Background Art

[0002] With the deepening of my country's economic structural upgrading and transformation and the rising labor costs in the manufacturing industry, the demand for industrial robots has grown rapidly. Robot mechanisms achieve motion and force transmission through components and hinges, and have high requirements for accuracy, speed and reliability.

[0003] However, due to the inevitable hinge gap, vibration and wear are generated during the operation of the mechanism, especially the coupling effect of multiple hinge gaps, which leads to strong nonlinear characteristics in its mechanical characteristics, which is one of the important factors affecting the motion and dynamic performance of the mechanism. Therefore, it is urgent to study the dynamic mechanical characteristics of the gap hinge in depth, reduce the adverse effects of the gap on the performance of the mechanism, and thus improve the performance of high-end precision mechanisms such as industrial robots. However, due to the complexity of the gap effect, the current research on the dynamic mechanical characteristics of the hinge gap is mainly focused on theoretical modeling and analysis, and it is difficult to measure and verify the dynamic characteristics through experiments. The main reasons are: 1. Because the mechanism hinge is generally connected by bearings, the hinge gap is small due to manufacturing, assembly, wear and other reasons, and the influence of the hinge gap is difficult to highlight in the experimental system; 2. When there is a gap in the hinge, the hinge has an axial tilting motion and becomes a space rotation hinge, and the design of a space rotation hinge with a gap is a difficult problem in the experimental system with a hinge gap. 3. When there is a gap in the hinge, especially when there is spatial movement, the collision and impact between the hinge shaft and the bearing will intensify. The shaft of the active hinge is directly connected to the drive, and the impact of the collision has a huge impact on the motor, which is far greater than the impact of the passive hinge on the motor. Therefore, the handling of the motor output shaft and the hinge input shaft in the active hinge becomes a difficult problem. Summary of the invention

[0004] In response to the technical problems existing in the prior art, one of the purposes of the present invention is to provide a detachable spatial rotation gap active hinge joint, which can highlight the influence of the hinge gap in the experimental system, provide experimental hardware conditions for the dynamic performance test of the hinge mechanism containing the gap, and has potential application prospects for improving the performance of the mechanism.

[0005] In response to the technical problems existing in the prior art, the second purpose of the present invention is to provide a robotic arm that adopts a detachable spatial rotation gap active hinge joint, which reduces the collision impact force on the motor, effectively improves the performance of the robotic arm, and extends the service life of the robotic arm.

[0006] In order to achieve the above object, the present invention adopts the following technical solution:

[0007] A detachable spatial rotation gap active hinge joint comprises a bearing seat and a transmission shaft, the transmission shaft is inserted into the bearing seat, an inner sleeve and an outer sleeve are arranged between the transmission shaft and the bearing seat from the inside to the outside, the inner sleeve is sleeved on the transmission shaft, the outer wall of the outer sleeve abuts against the inner wall of the bearing seat, the inner wall of the outer sleeve is sleeved on the inner sleeve, a boss is provided at one end of the inner sleeve, a groove matching the boss is provided at one end of the outer sleeve, and the boss abuts against the groove.

[0008] Furthermore, a bearing inner end surface transparent cover is provided at one end of the bearing seat, the bearing inner end surface transparent cover is detachably connected to the end surface of the bearing seat, and the outer shaft sleeve abuts against the bearing inner end surface transparent cover.

[0009] Furthermore, a limiting portion is provided on the side wall of the transmission shaft, the limiting portion is parallel to the inner end surface of the bearing, and the inner sleeve abuts against the limiting portion.

[0010] Furthermore, the inner sleeve includes a first inner sleeve and a second inner sleeve, an inner sleeve sleeve is provided between the first inner sleeve and the second inner sleeve, the first inner sleeve, the second inner sleeve and the inner sleeve sleeve are respectively sleeved on the transmission shaft, and two ends of the inner sleeve sleeve are respectively abutted against the first inner sleeve and the second inner sleeve, and the outer sleeve includes a first outer sleeve and a second outer sleeve, and the outer side walls of the first outer sleeve and the second outer sleeve are respectively abutted against the inner side wall of the bearing seat, the inner side wall of the first outer sleeve is sleeved on the first inner sleeve, and the inner side wall of the second outer sleeve is sleeved on the second inner sleeve, an outer sleeve sleeve is provided between the first outer sleeve and the second outer sleeve, the outer sleeve sleeve is sleeved on the outside of the inner sleeve sleeve, and two ends of the outer sleeve sleeve are respectively abutted against the first outer sleeve and the second outer sleeve.

[0011] Furthermore, the transmission shaft is a hollow shaft, in which a slider and a rotating part are provided, a first protrusion and a second protrusion are respectively provided at both ends of the slider, a first recess matching the first protrusion is provided at one end of the hollow shaft, and a second recess matching the second protrusion is provided at one end of the rotating part, the slider is provided between one end of the hollow shaft and the rotating part, the first protrusion is clamped in the first recess, the second protrusion is clamped in the second recess, and a reducer is provided at the other end of the rotating part; the output end of the reducer is connected to the rotating part to drive the rotating part to rotate.

[0012] Further, the first protrusion is perpendicular to the second protrusion.

[0013] Furthermore, the reducer is a harmonic gear reducer, which includes a rigid wheel, a flexible wheel and a wave generator, and the wave generator drives the flexible wheel to rotate; the flexible wheel is connected to the other end of the rotating member to drive the rotating member to rotate.

[0014] Furthermore, a protrusion is provided on an end surface of one end of the flexible wheel, and a third groove is provided on the other end of the rotating member, and the protrusion is clamped in the third groove.

[0015] Furthermore, a plurality of protrusions and a plurality of third grooves are provided respectively, the plurality of protrusions are evenly arranged on the end surface of one end of the flexible wheel, the plurality of third grooves are evenly arranged on the other end of the rotating member, and the plurality of protrusions and the plurality of third grooves are arranged correspondingly.

[0016] A mechanical arm comprises a detachable spatial rotation gap active hinge joint.

[0017] In general, the present invention has the following advantages:

[0018] The size of the hinge gap can be adjusted by changing the size of the outer sleeve and the inner sleeve. The sleeve assembly consisting of the inner sleeve and the outer sleeve is a replaceable part. When conducting an ideal bearing experiment, a cross roller bearing is used in the bearing seat for the experiment. Because the internal clearance of the high-rigidity cross roller bearing is very small, at the micron level, it can be considered that there is no clearance, so it can be used as an experimental control group. When conducting an experiment with a clearance mechanism, the size of the clearance is adjusted by replacing the cross roller bearing with the designed sleeve assembly, and the experimental results are compared with the data of the control group to highlight the influence of the hinge gap. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a structural schematic diagram of a detachable spatial rotation gap active hinge joint;

[0020] Figure 2 It is a structural schematic diagram of a hollow shaft and a sleeve assembly;

[0021] Figure 3 It is a schematic diagram of the three-dimensional structure of the hollow shaft;

[0022] Figure 4 It is a schematic diagram of the three-dimensional structure of the bearing seat;

[0023] Figure 5 It is a three-dimensional structural schematic diagram of the inner sleeve;

[0024] Figure 6 It is a schematic diagram of the three-dimensional structure of the first inner sleeve or the second inner sleeve;

[0025] Figure 7 It is a three-dimensional structural schematic diagram of the outer shaft sleeve;

[0026] Figure 8 It is a schematic diagram of the three-dimensional structure of the first outer sleeve or the second outer sleeve;

[0027] Fig. 9 It is a three-dimensional structural schematic diagram of a slider and a rotating part;

[0028] Fig.10 It is a three-dimensional structural schematic diagram of a rotating part;

[0029] Fig.11It is a schematic diagram of the three-dimensional structure of the cross slider;

[0030] Fig.12 It is the structural schematic diagram of the harmonic gear reducer;

[0031] Fig.13 is a schematic diagram of the three-dimensional structure of the wave generator;

[0032] Fig.14 Schematic diagram of the three-dimensional structure of the rigid wheel;

[0033] Fig.15 It is a schematic diagram of the three-dimensional structure of the flexible wheel.

[0034] Description of reference numerals:

[0035] 1——hollow shaft, 11——first recessed portion;

[0036] 21——first outer sleeve, 22——second outer sleeve;

[0037] 31——first inner sleeve, 32——second inner sleeve;

[0038] 41——outer shaft sleeve, 42——inner shaft sleeve;

[0039] 51 - cross slider, 511 - first protrusion, 512 - second protrusion, 52 - rotating member, 521 - second recess, 522 - third recess;

[0040] 61 – rigid wheel, 62 – flexible wheel, 621 – protrusion, 63 – wave generator;

[0041] 7——bearing seat;

[0042] 8——Bearing inner end face transparent cover. DETAILED DESCRIPTION

[0043] The present invention will be described in further detail below.

[0044] Example 1

[0045] like Figure 1 to Figure 4 As shown, a detachable spatial rotation gap active hinge joint includes a bearing seat 7 and a transmission shaft. The transmission shaft is inserted into the bearing seat 7. An inner sleeve and an outer sleeve are arranged between the transmission shaft and the bearing seat 7 from the inside to the outside. The inner sleeve is sleeved on the transmission shaft, and the outer wall of the outer sleeve abuts against the inner wall of the bearing seat 7. The inner wall of the outer sleeve is sleeved on the inner sleeve. A boss is provided at one end of the inner sleeve, and a groove matching the boss is provided at one end of the outer sleeve, and the boss abuts against the groove.

[0046] Specifically, the boss abuts against the groove to prevent axial movement between the inner sleeve and the outer sleeve. The inner sleeve and the inner sleeve sleeve 42 are respectively interference fit with the transmission shaft, and the outer sleeve and the outer sleeve sleeve 41 are respectively interference fit with the bearing seat 7. The size of the hinge gap can be adjusted by changing the size of the outer sleeve and the inner sleeve. The sleeve assembly composed of the inner sleeve and the outer sleeve is a replaceable part. When an ideal bearing experiment is performed, a cross roller bearing is used in the bearing seat 7 for the experiment. Because the internal clearance of the high-rigidity cross roller bearing is very small, at the micron level, it can be considered that there is no clearance, so it can be used as an experimental control group. When conducting an experiment with a clearance mechanism, the size of the clearance is adjusted by replacing the cross roller bearing with the designed sleeve assembly to conduct the experiment, and the experimental results are compared with the data of the control group, which can highlight the influence of the hinge clearance.

[0047] When there is a gap between the outer sleeve and the inner sleeve, the spatial movement of the hinge can be achieved by tilting and staggering the outer sleeve and the inner sleeve, thereby realizing the spatial hinge design and solving the difficult problem of the spatial rotation hinge design in the experimental system containing hinge gap in the prior art.

[0048] A bearing inner end surface transparent cover 8 is provided at one end of the bearing seat 7 . The bearing inner end surface transparent cover 8 is detachably connected to the end surface of the bearing seat 7 , and the outer shaft sleeve abuts against the bearing inner end surface transparent cover 8 .

[0049] The bearing inner end surface transparent cover 8 can limit the axial movement of the outer sleeve.

[0050] A limiting portion is provided on the side wall of the transmission shaft, the limiting portion is parallel to the inner end surface transparent cover 8 of the bearing, and the inner sleeve abuts against the limiting portion.

[0051] The limiting part is in contact with the inner sleeve, limiting the axial movement of the inner sleeve. The limiting part is parallel to the inner end surface cover 8 of the bearing, and together limits the axial looseness of the outer sleeve and the inner sleeve.

[0052] like Figures 5 to 8 As shown, the inner sleeve includes a first inner sleeve 31 and a second inner sleeve 32, an inner sleeve sleeve 42 is provided between the first inner sleeve 31 and the second inner sleeve 32, the first inner sleeve 31, the second inner sleeve 32 and the inner sleeve sleeve 42 are respectively sleeved on the transmission shaft, and the two ends of the inner sleeve sleeve 42 are respectively abutted against the first inner sleeve 31 and the second inner sleeve 32, the outer sleeve includes a first outer sleeve 21 and a second outer sleeve 22, the outer side walls of the first outer sleeve 21 and the second outer sleeve 22 are respectively abutted against the inner side wall of the bearing seat 7, the inner side wall of the first outer sleeve 21 is sleeved on the first inner sleeve 31, and the inner side wall of the second outer sleeve 22 is sleeved on the second inner sleeve 32, an outer sleeve sleeve 41 is provided between the first outer sleeve 21 and the second outer sleeve 22, the outer sleeve sleeve 41 is sleeved on the outside of the inner sleeve sleeve 42, and the two ends of the outer sleeve sleeve 41 are respectively abutted against the first outer sleeve 21 and the second outer sleeve 22.

[0053] Specifically, the first outer sleeve 21 and the second outer sleeve 22 have the same shape and size, and the first inner sleeve 31 and the second inner sleeve 32 have the same shape and size. A first boss is provided at one end of the first inner sleeve 31, and a first groove matching the first boss is provided at one end of the first outer sleeve 21, and the first boss abuts against the first groove. A second boss is provided at one end of the second inner sleeve 32, and a second groove matching the second boss is provided at one end of the second outer sleeve 22, and the second boss abuts against the second groove.

[0054] By disposing the first inner sleeve 31 , the second inner sleeve 32 , the first outer sleeve 21 and the second outer sleeve 22 , the hinge joint can be applied to a hinge joint with a larger size.

[0055] Example 2

[0056] The difference between this embodiment and embodiment 1 is that:

[0057] like Figure 1 , Figures 9 to 15 As shown, the transmission shaft is a hollow shaft 1, in which a slider and a rotating member 52 are provided, and a first protrusion 511 and a second protrusion 512 are provided at both ends of the slider respectively, a first recessed portion 11 matching the first protrusion 511 is provided at one end of the hollow shaft 1, and a second recessed portion 521 matching the second protrusion 512 is provided at one end of the rotating member 52, the slider is arranged between one end of the hollow shaft 1 and the rotating member 52, the first protrusion 511 is clamped in the first recessed portion 11, the second protrusion 512 is clamped in the second recessed portion 521, and a reducer is provided at the other end of the rotating member 52; the output end of the reducer is connected to the rotating member 52 to drive the rotating member 52 to rotate.

[0058] Specifically, the hollow shaft 1 is processed with a first recessed portion 11 as a coupling limit groove, and the hollow shaft 1 serves as a driven half coupling. The slider and the rotating member 52 serve as an active half coupling. The hollow shaft 1, the slider and the rotating member 52 together constitute a slider coupling.

[0059] In the prior art, when there is a gap in the hinge joint, especially when spatial movement occurs, the collision and impact between the hinge shaft and the bearing are intensified. The shaft of the active hinge is directly connected to the drive, and the collision impact force has a huge impact on the motor. Therefore, the handling of the motor output shaft and the hinge input shaft in the active hinge becomes a difficult problem.

[0060] In the embodiment of the present invention, when the output end of the reducer drives the rotating member 52 to rotate, since the two ends of the slider are respectively clamped on the hollow shaft 1 and the rotating member 52, the hollow shaft 1 is also driven to rotate. The active hinge joint is connected to the external motor drive through the slider coupling. Since the slider coupling cancels the axial and radial constraints of the reducer transmission, only the circumferential constraints are retained to transmit torque, the collision and impact between the hollow shaft 1 and the bearing (or sleeve assembly) in the active hinge joint are effectively reduced, and the collision impact force on the motor is greatly reduced, solving the difficult problem of processing the motor output shaft and the hinge joint input shaft in the active hinge joint.

[0061] The first protrusion 511 is perpendicular to the second protrusion 512 .

[0062] Specifically, the slider is a circular cross slider 51 with a strong torque.

[0063] The reducer is a harmonic gear reducer, which includes a rigid wheel 61, a flexible wheel 62 and a wave generator 63. The wave generator 63 drives the flexible wheel 62 to rotate; the flexible wheel 62 is connected to the other end of the rotating member 52 to drive the rotating member 52 to rotate.

[0064] Harmonic gear reducers have the advantages of high precision and high load-bearing capacity. Compared with ordinary reducers, they use 50% less material, and their volume and weight are reduced by at least 1 / 3, further reducing the collision impact force on the motor.

[0065] A protrusion 621 is formed on one end of the flexible wheel 62 , and a third groove 522 is formed on the other end of the rotating member 52 . The protrusion 621 is engaged with the third groove 522 .

[0066] By engaging the protrusion 621 with the third groove 522 , the flexible wheel 62 can be effectively connected to the rotating member 52 , thereby driving the rotating member 52 to rotate.

[0067] There are multiple protrusions 621 and multiple third grooves 522 respectively. The multiple protrusions 621 are evenly arranged on the end surface of one end of the flexible wheel 62, and the multiple third grooves 522 are evenly arranged on the other end of the rotating member 52. The multiple protrusions 621 and the multiple third grooves 522 are arranged correspondingly.

[0068] By providing a plurality of protrusions 621 and a plurality of third grooves 522 , the connection between the flexible wheel 62 and the rotating member 52 is more firm and reliable.

[0069] Example 3

[0070] A mechanical arm comprises a detachable spatial rotation gap active hinge joint.

[0071] Since the detachable spatial rotation gap active hinge joint is connected to the external motor drive through a slider coupling, the axial and radial constraints of the reducer transmission are eliminated, and only the circumferential constraints are retained to transmit torque, thereby effectively reducing the collision and impact between the hollow shaft 1 and the bearing (or sleeve assembly) in the active hinge joint. Therefore, the robotic arm of the embodiment of the present invention greatly reduces the collision impact force on the motor, effectively improves the performance of the robotic arm, and extends its service life.

[0072] The above embodiments are preferred implementation modes of the present invention, but the implementation modes of the present invention are not limited to the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications that do not deviate from the spirit and principles of the present invention should be equivalent replacement methods and are included in the protection scope of the present invention.

Claims

1. A detachable space rotation gap active hinge joint, characterized in that: It includes a bearing seat and a transmission shaft, the transmission shaft is inserted into the bearing seat, an inner sleeve and an outer sleeve are arranged between the transmission shaft and the bearing seat from the inside to the outside, the inner sleeve is sleeved on the transmission shaft, the outer wall of the outer sleeve abuts against the inner wall of the bearing seat, the inner wall of the outer sleeve is sleeved on the inner sleeve, one end of the inner sleeve is provided with a boss, one end of the outer sleeve is provided with a groove matching the boss, and the boss abuts against the groove; The inner sleeve comprises a first inner sleeve and a second inner sleeve, an inner sleeve sleeve is provided between the first inner sleeve and the second inner sleeve, the first inner sleeve, the second inner sleeve and the inner sleeve sleeve are respectively sleeved on the transmission shaft, two ends of the inner sleeve sleeve are respectively abutted on the first inner sleeve and the second inner sleeve, the outer sleeve comprises a first outer sleeve and a second outer sleeve, outer side walls of the first outer sleeve and the second outer sleeve are respectively abutted on the inner side wall of the bearing seat, the inner side wall of the first outer sleeve is sleeved on the first inner sleeve, the inner side wall of the second outer sleeve is sleeved on the second inner sleeve, an outer sleeve sleeve is provided between the first outer sleeve and the second outer sleeve, the outer sleeve sleeve is sleeved on the outside of the inner sleeve sleeve, and two ends of the outer sleeve sleeve are respectively abutted on the first outer sleeve and the second outer sleeve; One end of the bearing seat is provided with a bearing inner end surface transparent cover, the bearing inner end surface transparent cover is detachably connected to the end surface of the bearing seat, and the outer shaft sleeve abuts against the bearing inner end surface transparent cover.

2. A detachable spatial rotation gap active hinge joint according to claim 1, characterized in that: A limiting portion is arranged on the side wall of the transmission shaft, the limiting portion is parallel to the inner end surface of the bearing, and the inner shaft sleeve abuts against the limiting portion.

3. A detachable spatial rotation gap active hinge joint according to claim 1, characterized in that: The transmission shaft is a hollow shaft, in which a slider and a rotating part are arranged, a first protrusion and a second protrusion are respectively arranged at both ends of the slider, a first recess matching the first protrusion is arranged at one end of the hollow shaft, a second recess matching the second protrusion is arranged at one end of the rotating part, the slider is arranged between one end of the hollow shaft and the rotating part, the first protrusion is clamped in the first recess, the second protrusion is clamped in the second recess, and a reducer is arranged at the other end of the rotating part; the output end of the reducer is connected to the rotating part to drive the rotating part to rotate.

4. A detachable spatial rotation gap active hinge joint according to claim 3, characterized in that: The first protrusion is perpendicular to the second protrusion.

5. A detachable spatial rotation gap active hinge joint according to claim 3, characterized in that: The reducer is a harmonic gear reducer, which includes a rigid wheel, a flexible wheel and a wave generator. The wave generator drives the flexible wheel to rotate; the flexible wheel is connected to the other end of the rotating member to drive the rotating member to rotate.

6. A detachable spatial rotation gap active hinge joint according to claim 5, characterized in that: A protrusion is arranged on the end surface of one end of the flexible wheel, and a third groove is arranged on the other end of the rotating member, and the protrusion is clamped in the third groove.

7. A detachable spatial rotation gap active hinge joint according to claim 6, characterized in that: There are multiple protrusions and multiple third grooves respectively, the multiple protrusions are evenly arranged on the end surface of one end of the flexible wheel, the multiple third grooves are evenly arranged on the other end of the rotating member, and the multiple protrusions and the multiple third grooves are arranged correspondingly.

8. A robotic arm, characterized in that: It comprises a detachable spatial rotation gap active hinge joint as described in any one of claims 1-7.

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