A multi-degree-of-freedom connecting rod mechanism that prevents torsion

Abstract

The present invention relates to an anti-torsion multi-degree-of-freedom link mechanism, comprising a connecting rod and a guiding device; at least one end of the axial two ends of the connecting rod is provided with a hinge member, the hinge member can rotate around a spherical center, and the spherical center is located on the axis of the connecting rod; the guiding device includes a guiding groove axially opened along the connecting rod, a guiding member located in the guiding groove and capable of sliding along the guiding groove, and a guiding connecting member, the guiding member is rigidly connected to the connecting rod through the guiding connecting member, and the central axis of the guiding member always passes through the spherical center of the hinge member and the central axis of the guiding member always coincides with the central plane of the guiding groove.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical connection, and particularly relates to an anti-torsion multi-degree-of-freedom connecting rod mechanism. Background Art

[0002] In many mechanical structures, connecting rods are used as transmission parts. For example, ball joint connectors or rod end bearings are respectively connected to both ends of the connecting rod. When using rod end bearings, since large tilts are not allowed in individual directions of the rod end bearings, large torsional movements of the connecting rod are not allowed. Although ball joint connectors allow rotation in all directions, if there are sensors on the connecting rod, in order to protect the wire harness of the sensors, or due to space limitations, large torsional movements of the connecting rod are not allowed.

[0003] To avoid large torsional movements of the connecting rod, the prior art generally limits the degrees of freedom of the connecting rod through a guiding device. As Figures 1-3 shown, in a connecting rod mechanism in the prior art, the connecting rod 101 is connected to the piston rod 103 through the rod end bearing 102. The guiding device includes a guiding bearing 203 located in a guiding groove 204 and a fixing rod 201 rigidly connected to the connecting rod 101. The guiding bearing 203 is fixed on the fixing rod 201 through a nut 202. The guiding bearing 203 can move in the guiding groove 204, and the central axis of the guiding bearing 203 always coincides with the central plane of the guiding groove 204. When this connecting rod mechanism is working, the connecting rod 101 can move along the X1 axis, and at the same time, it can swing up and down at a certain angle around the Y1 axis with the rod end bearing 102 as the center.

[0004] The above-mentioned guiding device limits that in addition to the above movements, the connecting rod 101 cannot have other movement forms, such as swinging around the Z1 axis with the rod end bearing 102 as the center. Without using this guiding device, when the connecting rod 101 is moving, it will freely twist at a certain angle around the X1 axis. The rod end bearing 102 generally allows the connecting rod 101 to rotate at a certain angle in the X1 axis direction (such as ±5°). Exceeding the limited angle may cause collision with the rod end bearing itself or scratch the surface of the steel balls inside the rod end bearing. If there is a collision or spherical surface scratch, it will cause great damage to the rod end bearing. In addition, there may be electronic components such as sensors on the connecting rod 101. Considering wire harness protection or avoiding collision, large free torsion angles of the connecting rod 101 may not be allowed either.

[0005] Therefore, the existing ordinary guiding device limits the degrees of freedom of the connecting rod relatively greatly, and is not suitable for a connecting rod structure with more flexible movement in space. Summary of the Invention

[0006] The object of the present invention is to provide an anti-torsion multi-degree-of-freedom connecting rod mechanism that allows the connecting rod to swing at a certain angle around the Y-axis and Z-axis respectively while axially moving along the X-axis, and the connecting rod itself does not twist during operation.

[0007] To achieve the above object, the technical solution adopted by the present invention is as follows:

[0008] An anti-torsion multi-degree-of-freedom connecting rod mechanism includes a connecting rod and a guiding device;

[0009] At least one end of the axial ends of the connecting rod is provided with a hinge member, the hinge member can rotate around a spherical center, and the spherical center is located on the axis of the connecting rod;

[0010] The guiding device includes a guiding groove opened along the axial direction of the connecting rod, a guiding member located in the guiding groove and capable of sliding along the guiding groove, and a guiding connecting member. The guiding member is rigidly connected to the connecting rod through the guiding connecting member, and the central axis of the guiding member always passes through the spherical center of the hinge member and the central axis of the guiding member always coincides with the central plane of the guiding groove. Since the central axis of the guiding member always passes through the spherical center of the hinge member, the connecting rod can swing at a certain angle around the Y-axis and Z-axis respectively, and since the central axis of the guiding member always moves within the central plane of the guiding groove, the connecting rod will not twist around its own axis under any operating conditions.

[0011] In one embodiment, the guiding member and the hinge member are arranged opposite to each other in the radial direction of the connecting rod.

[0012] In one embodiment, the guiding connecting member includes a fixing rod and an extension plate. The fixing rod extends along the radial direction of the connecting rod. One end of the fixing rod is rigidly connected to the middle part of the connecting rod, and the other end is fixedly connected to the extension plate. The extension plate extends along the axial direction of the connecting rod, and the extension plate is fixedly connected to the guiding member.

[0013] In one embodiment, the guiding member is a bearing, and the central axis of the bearing always passes through the spherical center of the hinge member and the central axis of the bearing always coincides with the central plane of the guiding groove.

[0014] In one embodiment, it further includes a bearing support. The bearing support has a column body that is matched with the inner ring of the bearing, and the bearing is fixed on the column body.

[0015] In one embodiment, a shoulder for preventing the bearing from disengaging from the column body is further provided at one end of the axial direction of the column body, and a pressing piece for preventing the bearing from disengaging from the column body is fixedly installed at the other end of the axial direction of the column body.

[0016] In one embodiment, the guiding connecting member is fixedly connected to the bearing support.

[0017] In one embodiment, the guiding groove includes two side walls arranged opposite to each other, and the outer circumferential surface of the bearing abuts against the two side walls.

[0018] In one embodiment, when the connecting rod moves, the outer circumferential surface of the bearing maintains a state of abutting against the two side walls of the guiding groove.

[0019] In one embodiment, the hinge member is a rod end bearing or a ball joint.

[0020] By adopting the above technical solutions, the beneficial effect of the present invention is that for the anti-torsion multi-degree-of-freedom connecting rod mechanism provided by the present invention, since the central axis of the guiding member always passes through the center of the ball of the hinge member, the connecting rod can swing by a certain angle around the Y-axis and the Z-axis respectively. And since the central axis of the guiding member always moves within the central plane of the guiding groove, under any operating conditions, the connecting rod will not twist around its own axis. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 A three-dimensional schematic diagram of a connecting rod mechanism in the prior art is shown.

[0022] Figure 2 A front view of a connecting rod mechanism in the prior art is shown.

[0023] Figure 3 A schematic diagram of a guiding device of a connecting rod mechanism in the prior art is shown.

[0024] Figure 4 A three-dimensional schematic diagram of the multi-degree-of-freedom connecting rod mechanism provided by the present invention is shown.

[0025] Figure 5 A front view of the multi-degree-of-freedom connecting rod mechanism provided by the present invention is shown.

[0026] Figure 6 A side view of the multi-degree-of-freedom connecting rod mechanism provided by the present invention is shown.

[0027] Figure 7 A cross-sectional schematic diagram of the guiding device of the multi-degree-of-freedom connecting rod mechanism provided by the present invention is shown.

[0028] Figure 8 A three-dimensional schematic diagram of the guiding device of the multi-degree-of-freedom connecting rod mechanism provided by the present invention is shown. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0029] The preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings, so as to more clearly understand the purpose, features and advantages of the present invention. It should be understood that the embodiments shown in the drawings are not a limitation on the scope of the present invention, but only to illustrate the essential spirit of the technical solution of the present invention.

[0030] In the following description, for the purpose of illustrating the various disclosed embodiments, certain specific details are set forth in order to provide a thorough understanding of the various disclosed embodiments. However, those skilled in the relevant art will recognize that the embodiments may be practiced without one or more of these specific details. In other instances, well-known devices, structures, and techniques associated with the present application may not be shown or described in detail so as not to unnecessarily obscure the description of the embodiments.

[0031] Unless the context requires otherwise, throughout the specification and claims, the words "comprising" and its variations, such as "comprises" and "having", should be understood in an open, inclusive sense, i.e., interpreted as "including, but not limited to".

[0032] References to "an embodiment" or "one embodiment" in the specification throughout represent that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. Thus, the appearances of "in an embodiment" or "in one embodiment" in various places throughout the specification are not necessarily all referring to the same embodiment. Additionally, the particular features, structures, or characteristics may be combined in any manner in one or more embodiments.

[0033] As used in this specification and the appended claims, the singular forms "a" and "the" include plural referents unless the context clearly dictates otherwise. It should be noted that the term "or" is generally used in its inclusive sense of "and / or" unless the context clearly dictates otherwise.

[0034] In the following description, in order to clearly show the structure and working mode of the present invention, many directional terms will be used for description. However, words such as "front", "rear", "left", "right", "outer", "inner", "outward", "inward", "up", "down", etc. should be understood as convenient terms and should not be understood as limiting terms.

[0035] Furthermore, terms such as "horizontal", "vertical", "overhanging", etc. do not mean that the components are required to be absolutely horizontal or overhanging, but may be slightly inclined. For example, "horizontal" merely means that its direction is more horizontal relative to "vertical", and does not mean that the structure must be completely horizontal, but may be slightly inclined.

[0036] In the description of the present application, it should also be noted that, unless otherwise clearly specified and defined, the terms "set", "installed", "connected", and "coupled" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0037] The utility model provides an anti-torsion multi-degree-of-freedom link mechanism, including a link and a guiding device. At least one end of the axial ends of the link is provided with a hinge member, and the hinge member can rotate around a spherical center, and the spherical center is located on the axis of the link; the guiding device includes a guiding groove axially opened along the link and a guiding member located in the guiding groove and capable of sliding along the guiding groove. The guiding member is rigidly connected to the link through a guiding connecting member, and the central axis of the guiding member always passes through the spherical center of the hinge member and the central axis of the guiding member always coincides with the central plane of the guiding groove.

[0038] As Figures 4-7 As shown, this embodiment provides an anti-torsion multi-degree-of-freedom link mechanism, including a link and a guiding device. Among them, taking the axial direction of the piston rod 303 as the X2 axis, a three-axis coordinate system with the X2 axis, Y2 axis, and Z2 axis as the axial directions is defined. A rod end bearing 302 serving as a hinge member is rigidly connected to the rear end of the link 301. The link 301 is hingedly connected to an external mechanism through the rod end bearing 302. For example, in this embodiment, the link 301 is hingedly connected to the piston rod 303 through the rod end bearing 302. The rod end bearing 302 includes a rod end spherical plain bearing housing 3021 and a spherical plain bearing 3022 installed on the eye-shaped top end of the rod end spherical plain bearing housing. The spherical plain bearing 3022 has a spherical center A. The axial end of the link 301 is provided with a U-shaped groove 3011 that cooperates with the spherical plain bearing 3022. The hinged end of the rod end bearing 302 extends into the U-shaped groove 3011, and the spherical plain bearing 3022 of the rod end bearing 302 is fixedly installed on the link 301 by a fixing pin 3023 arranged along the radial direction of the link 301, so that the link 301 can perform a hinged action around the spherical center A of the spherical plain bearing 3022. It is defined that the axial direction of the fixing pin 3023 is arranged along the Y2 axis direction. It should be noted here that the hinge member is not limited to the rod end bearing 302, and other hinge members that can achieve the same function are also applicable here, such as a ball joint head.

[0039] The guiding device includes a guiding groove 401, a guiding member, and a guiding connecting member 403. The guiding groove 401 extends along the X2 axis, and the central plane B of the guiding groove 401 coincides with the axis of the piston rod 303. In this embodiment, the guiding groove 401 includes two guiding plates 4010 arranged opposite to each other, and the opposite inner side walls of the two guiding plates 4010 are the two side walls of the guiding groove 401.

[0040] The guiding member is located in the guiding groove 401 and can move along the X2 axis in the guiding groove 401 and rotate around the central axis of the guiding member itself. The central axis C of the guiding member always passes through the center of the spherical hinge. In this embodiment, the guiding member is a bearing 402, and the central axis C of the bearing 402 always passes through the center A of the spherical plain bearing 3022.

[0041] See Figure 7 and Figure 8 , at least one bearing 402 is fixed on the bearing support 404. The bearing support 404 has a cylinder 4041 that is matched with the inner ring of the bearing 402. A shoulder 4042 for preventing the bearing 402 from disengaging from the cylinder 4041 is also provided at one end of the cylinder 4041 in the axial direction. In this embodiment, the number of bearings 402 is two, but it is not limited thereto. The number of bearings 402 can be increased or decreased according to actual needs, such as one, three, or more than three. A spacer 405 is placed between the two bearings 402, and the two bearings 402 and the spacer 405 are fixed on the bearing support 404 through a pressing plate 406 and bolts 407 at the other end of the cylinder 4041 in the axial direction. The outer ring of the bearing 402 is in contact with the two side walls of the guiding groove 401 extending along the X2 axis, so that the bearing 402 can move along the X2 axis in the guiding groove 401.

[0042] One end of the guiding connecting member 403 is fixedly connected to the guiding member, and the other end is rigidly connected to the connecting rod 301, so that the connecting rod 301 drives the guiding member to act in the guiding groove 401 through the guiding connecting member 403.

[0043] The multi-degree-of-freedom connecting rod mechanism in this embodiment can achieve the following movements:

[0044] (1) The connecting rod 301 can move along the X2 axis of the X2Y2Z2 three-axis coordinate system. At this time, the guiding member moves along the X2 axis in the guiding groove 401.

[0045] (2) The connecting rod 301 can swing up and down at a certain angle around the Y2 axis with the rod end bearing 302 as the center, that is, the connecting rod 301 can swing at a certain angle in the Z2 axis direction with the center of the ball A of the rod end bearing 302 as the end point. As long as the guiding member does not disengage from the guiding groove, the up and down swing is within its allowable motion range. At this time, the guiding member deflects in the guiding groove 401 corresponding to the swing amplitude of the connecting rod 301.

[0046] (3) The connecting rod 301 can rotate at a certain angle around the central axis C of the guiding member, that is, the connecting rod 301 can swing at a certain angle in the Y2 axis direction with the center of the ball A of the rod end bearing 302 as the end point. Since the central axis C of the guiding member always coincides with the central plane B of the guiding groove 401, within the allowable range of the swing angle of the rod end bearing, as long as the guiding connecting member 403 does not collide with the two side walls of the guiding groove 401, the connecting rod 301 can freely swing left and right around the central axis C of the guiding member.

[0047] (4) While the connecting rod 301 is swinging around the central axis C of the guiding member, the connecting rod 301 can also swing up and down at a certain angle around the Y2 axis with the rod end bearing 302 as the center. At this time, the connecting rod 301 can also move along the X2 axis direction.

[0048] In order to ensure that the connecting rod 301 realizes the above actions, when the connecting rod 301 moves, the outer circumferential surface of the bearing 402 maintains a state of being in contact with the two side walls of the guiding groove 401.

[0049] In all the above motion states: Since the central axis C of the guiding member always moves within the central plane B of the guiding groove 401, in any action case, the connecting rod 301 will not twist around its own axis. Therefore, during operation, since the connecting rod 301 itself does not twist, it will not cause uncontrolled free deflection between the connecting rod 301 and the rod end bearing 302, and can effectively protect devices such as the rod end bearing 302 or the sensor connected thereto.

[0050] In an embodiment, refer to Figure 7 and Figure 8, the guide member and the hinge member are disposed opposite to each other, so as to facilitate the assembly of the guide member while ensuring that the central axis C of the guide member always passes through the center of the ball of the hinge member. The guide connecting member 403 in this embodiment includes a fixing rod 4031 and an extension plate 4032. The fixing rod 4031 extends along the Z2 axis direction, one end of which is rigidly connected to the middle of the connecting rod 301 by welding or the like, and the other end is fixed to the extension plate 4032 by welding, nut locking or the like. The extension plate 4032 extends along the X2 axis direction, and the extension plate 4032 is fixed together with the bearing support 404 by bolts 407. The extension plate 4032 extends along the X2 axis direction so that the bearing 402 as the guide member is located directly below the rod end bearing 302, so as to facilitate the positioning and assembly of the bearing 402.

[0051] The preferred embodiments of the present invention have been described in detail above. However, it should be understood that after reading the above teachings of the present invention, those skilled in the art can make various changes or modifications to the present invention. These equivalent forms also fall within the scope defined by the appended claims of this application.

Claims

1. A multi-degree-of-freedom link mechanism with anti-torsion, characterized in that: It includes a connecting rod and a guiding device; At least one end of the axial two ends of the connecting rod is provided with a hinge member, the hinge member can rotate around a spherical center, and the spherical center is located on the axis of the connecting rod; The guiding device includes a guiding groove axially opened along the connecting rod, a guiding member located in the guiding groove and capable of sliding along the guiding groove, and a guiding connecting member. The guiding member is rigidly connected to the connecting rod through the guiding connecting member, and the central axis of the guiding member always passes through the spherical center of the hinge member and the central axis of the guiding member always coincides with the central plane of the guiding groove; The guiding member and the hinge member are arranged opposite to each other in the radial direction of the connecting rod; the guiding connecting member includes a fixing rod and an extension plate. The fixing rod extends along the radial direction of the connecting rod. One end of the fixing rod is rigidly connected to the middle part of the connecting rod, and the other end is fixedly connected to the extension plate. The extension plate extends along the axial direction of the connecting rod, and the extension plate is fixedly connected to the guiding member; The guiding member is a bearing, the central axis of the bearing always passes through the spherical center of the hinge member and the central axis of the bearing always coincides with the central plane of the guiding groove; it further includes a bearing support. The bearing support has a column body that is matched with the inner ring of the bearing, and the bearing is fixed on the column body; A shoulder for preventing the bearing from disengaging from the column body is further provided at one end of the column body axially, and a pressing plate for preventing the bearing from disengaging from the column body is fixedly installed at the other end of the column body axially.

2. The multi-degree-of-freedom link mechanism according to claim 1, wherein: The guiding connecting member is fixedly connected to the bearing support.

3. The multi-degree-of-freedom linkage mechanism according to claim 1, wherein: The guiding groove includes two side walls arranged oppositely, and the outer circumferential surface of the bearing is in contact with the two side walls.

4. The multi-degree-of-freedom linkage mechanism according to claim 3, characterized in that: When the connecting rod moves, the outer circumferential surface of the bearing maintains a state of being in contact with the two side walls of the guiding groove.

5. The multi-degree-of-freedom linkage mechanism according to claim 1, wherein: The hinge member is a rod end bearing or a ball joint head.

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