A zero-axis drift multi-cross flexible hinge

Abstract

The present invention discloses a zero-axis drift multi-cross flexible hinge, comprising a left cross flexible body group, a right cross flexible body group, ten bearing rods with the same structure, and left and right collars with the same structure. The bearing rods are alternately distributed at equal angles in the positive and negative directions in the circumferential direction, the inner surfaces of all the bearing rods are located on the same cylindrical surface, and the length direction of the bearing rods is parallel to the center line of the cylindrical surface. The outer surface of the thick end of the bearing rod and the inner surface of the collar are located on the same cylindrical surface, and the two end faces of the bearing rod are respectively located on the same plane as the end face of the collar. The flexible body connects the two bearing rods in the radial direction, and is distributed at equal angles in the circumferential direction and at equal distances in the axial direction. The zero-axis drift multi-cross flexible hinge has the same axis drift in the five directions. Under the action of the rigid collar, the axis drift in the radial direction cancels each other out, and the ideal rotation center of the rotating end does not change, thereby achieving zero-axis drift.

Description

Technical Field

[0001] The present invention relates to a flexible hinge, in particular to a zero-axis drift multi-cross flexible hinge. Background Art

[0002] Unlike traditional rigid mechanisms like bearings, flexible hinges utilize the elastic deformation of their materials to transmit motion or force. Flexible hinges offer high reliability, zero backlash and friction, low noise, long life, no lubrication requirements, and impact resistance through their flexibility. They are widely used in robotics, precision equipment, nanopositioning stages, and intelligent structures.

[0003] Currently, for flexible hinge products that can be used in the field of industrial design, such as the flexible bearings produced by companies such as C-Flex and Riverhawk, due to distributed elastic deformation, the axial drift increases as the angle increases. The larger the axial drift, the greater the precision error.

[0004] Patent No. 201610084090.6 discloses a zero-drift, large-angle cross-spring flexible hinge. This hinge utilizes cross-springs to connect two rotating parts in reverse series via a rigid middle piece. This allows the two pairs of rotating cross-springs to drift in opposite directions, canceling out the drifts and achieving zero-drift rotation.

[0005] Patent No. 201810530245.3 discloses a zero-axis drift spring-type flexible hinge, which uses two sets of mirror-symmetrical cross springs to connect the rotating part and the fixed part. The two pairs of cross springs are connected end to end so that the axis drifts generated by the two pairs of cross springs during deformation offset each other, achieving zero axis drift.

[0006] In view of this, the present invention is proposed. Summary of the Invention

[0007] The purpose of the present invention is to provide a zero-axis drift multi-cross flexible hinge to solve the above-mentioned technical problems existing in the prior art and to achieve zero-axis drift rotation of the flexible hinge within a larger rotation angle range.

[0008] The purpose of the present invention is achieved through the following technical solutions:

[0009] The zero-axis drift multi-cross flexible hinge of the present invention comprises a left cross flexible body group, a right cross flexible body group, ten bearing rods with the same structure, and a left collar and a right collar with the same structure.

[0010] Ten bearing rods are arranged alternately in positive and negative directions and at equal angles on the same circumferential surface;

[0011] The left cross flexible body group and the right cross flexible body group are placed in series on the same central axis;

[0012] Each flexible body is connected to a pair of bearing rods at both ends in sequence and distributed at equal angles in the circumferential direction, and all flexible bodies are distributed at equal intervals in the axial direction;

[0013] Ten bearing rods of the same structure are arranged in a forward and reverse direction at intervals. The bearing rods arranged in the forward direction are fixed to the right collar, and the bearing rods arranged in the reverse direction are fixed to the left collar.

[0014] Any two mutually intersecting flexible body cross axes in the circumferential direction are the same ideal central axis.

[0015] Compared with the existing technology, the zero-axis drift multi-cross flexible hinge provided by the present invention generates the same axis drift in five directions. Under the action of the rigid ring, the radial axis drift offsets each other, and the ideal rotation center of the rotating end does not change, thereby achieving zero axis drift. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 Schematic diagram of the overall structure of the zero-axis drift multi-cross flexible hinge provided by an embodiment of the present invention.

[0017] Figure 2 It is a partial cross-sectional view of an embodiment of the present invention.

[0018] Figure 3 Schematic diagram of the circumferential distribution of two groups of bearing rods according to an embodiment of the present invention.

[0019] Figure 4 Schematic diagram of the spatial arrangement of flexible bodies according to an embodiment of the present invention.

[0020] Figure 5 Schematic diagram of the keyway on the bearing rod according to an embodiment of the present invention.

[0021] Figure 6 Schematic diagram of the flexible body structure according to an embodiment of the present invention.

[0022] Figure 7 Schematic diagram of the internal structure explosion of an embodiment of the present invention.

[0023] Figure 8 Schematic diagram of a collar according to an embodiment of the present invention.

[0024] In the picture:

[0025] The bearing rods with the thick end on the right include: bearing rod 1, bearing rod 3, bearing rod 5, bearing rod 7, and bearing rod 9;

[0026] The bearing rods with the thick end on the left include: bearing rod 2, bearing rod 4, bearing rod 6, bearing rod 8, and bearing rod 10;

[0027] The left cross flexible body group includes: flexible body 11, flexible body 12, flexible body 13, flexible body 14, and flexible body 15;

[0028] The right cross flexible body group includes: flexible body 16, flexible body 17, flexible body 18, flexible body 19, and flexible body 20;

[0029] Right collar 21 and left collar 22. DETAILED DESCRIPTION

[0030] The following is a clear and complete description of the technical solutions in the embodiments of the present invention, in conjunction with the accompanying drawings. It is obvious that the described embodiments are only some of the embodiments of the present invention, not all of them, and do not constitute a limitation of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0031] First, the following terms may be used in this article:

[0032] The term “and / or” means that either or both of them can be realized at the same time. For example, X and / or Y includes both “X” or “Y” and “X and Y”.

[0033] The terms "include," "comprises," "contains," "has," or other similar expressions should be interpreted as non-exclusive. For example, "including certain technical features (such as raw materials, components, ingredients, carriers, dosage forms, materials, dimensions, parts, components, mechanisms, devices, steps, procedures, methods, reaction conditions, processing conditions, parameters, algorithms, signals, data, products, or manufactured articles, etc.) should be interpreted as including not only the technical features explicitly listed, but also other technical features known in the art that are not explicitly listed.

[0034] The term "consisting of" excludes any technical features not explicitly listed. If used in a claim, this term renders the claim closed, excluding any technical features other than those explicitly listed, except for conventional impurities associated with them. If this term appears only in a clause of a claim, it limits only the elements explicitly listed in that clause; elements listed in other clauses are not excluded from the claim as a whole.

[0035] Unless otherwise specified or limited, the terms "mounted," "connected," "connect," and "fixed" should be interpreted broadly. For example, they can refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediary; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in this document based on specific circumstances.

[0036] The terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings and are only for the convenience and simplification of description, and do not explicitly or implicitly indicate that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be understood as a limitation to this document.

[0037] The contents not described in detail in the examples of the present invention belong to the prior art known to those skilled in the art. If specific conditions are not specified in the examples of the present invention, the methods are carried out according to conventional conditions in the art or the conditions recommended by the manufacturer. If the manufacturers of the reagents or instruments used in the examples of the present invention are not specified, they are all conventional products that can be purchased commercially.

[0038] The zero-axis drift multi-cross flexible hinge of the present invention comprises a left cross flexible body group, a right cross flexible body group, ten bearing rods with the same structure, and a left collar and a right collar with the same structure.

[0039] Ten bearing rods are arranged alternately in positive and negative directions and at equal angles on the same circumferential surface;

[0040] The left cross flexible body group and the right cross flexible body group are placed in series on the same central axis;

[0041] Each flexible body is connected to a pair of bearing rods at both ends in sequence and distributed at equal angles in the circumferential direction, and all flexible bodies are distributed at equal intervals in the axial direction;

[0042] Ten bearing rods of the same structure are arranged in a forward and reverse direction at intervals. The bearing rods arranged in the forward direction are fixed to the right collar, and the bearing rods arranged in the reverse direction are fixed to the left collar.

[0043] Any two mutually intersecting flexible body cross axes in the circumferential direction are the same ideal central axis.

[0044] The left cross flexible body group is composed of five spatial cross flexible bodies on the left side, and the right cross flexible body group is composed of five spatial cross flexible bodies on the right side. The structures and sizes of all flexible bodies are the same;

[0045] After the leftmost flexible body of the left cross flexible body group is fixed vertically, the rightward flexible bodies are rotated in equal parts relative to the left flexible body in the circumferential direction and then placed;

[0046] After the rightmost flexible body of the right cross flexible body group is fixed vertically, the left flexible bodies are rotated in equal parts relative to the right flexible body in the circumferential direction and then placed;

[0047] The rotation direction of the flexible bodies of the left cross flexible body group and the right cross flexible body group in the circumferential direction is the same, which is forward or reverse.

[0048] The bearing rods are of a stepped structure with a fan-shaped cross section. The thick ends of the five bearing rods placed in the forward direction are on the right, while the thick ends of the five bearing rods placed in the reverse direction are on the left.

[0049] The inner surface of the left collar is connected to the thick ends of the five bearing rods placed in the opposite direction and has a certain radial distance from the bearing rods placed in the forward direction. The inner surface of the right collar is connected to the thick ends of the five bearing rods placed in the forward direction and has a certain radial distance from the bearing rods placed in the opposite direction. The distance is the radial thickness of the bearing rod step.

[0050] The inner surface of the bearing rod has a keyway, and the shape and size of the keyway are the same as those of the two ends of the flexible body. Each flexible body is fixedly connected to a pair of bearing rods placed in the radial direction in the positive and negative directions through the keyway;

[0051] The above connection methods are strengthened and fixed by gluing or welding.

[0052] The left and right sleeve rings and the bearing rod are rigid structures, and the two sleeve rings have a certain distance in the axial direction.

[0053] The thick end of the bearing rod placed in the forward direction and the two end faces of the right sleeve are respectively the same end face, and the thick end of the bearing rod placed in the reverse direction and the two end faces of the left sleeve are respectively the same end face.

[0054] The flexible bodies of the two groups of five cross flexible bodies bear the external torque on average. Under the action of the rigid collar, the axial drifts generated in the five directions offset each other. The ideal rotation center axis of the rotating end remains unchanged, realizing zero axial drift rotation of the flexible hinge.

[0055] In summary, it can be seen that the zero-axis drift multi-cross flexible hinge of the embodiment of the present invention generates the same axis drift in the five directions. Under the action of the rigid ring, the radial axis drift offsets each other, the ideal rotation center of the rotating end does not change, and zero-axis drift is achieved.

[0056] In order to more clearly demonstrate the technical solutions and technical effects provided by the present invention, the embodiments of the present invention are described in detail below with reference to specific embodiments.

[0057] Example 1

[0058] like Figures 1 to 2As shown, a zero-axis drift multi-cross flexible hinge includes a left cross flexible body group, a right cross flexible body group, ten bearing rods with the same structure and left and right rings with the same structure; the left cross flexible body group and the right cross flexible body group are respectively composed of five flexible bodies on the left and right sides, and the flexible bodies are distributed at equal angles from the two end surfaces to the middle surface in the circumferential direction and at equal distances in the axial direction; all the bearing rods are distributed at equal angles alternately in the positive and reverse directions in the circumferential direction, and their inner surfaces are the same cylindrical surface and have the same end face; the flexible bodies are inserted into the key slots on the inner sides of the two bearing rods in the radial direction to achieve connection, and each flexible body is connected to a pair of bearing rods.

[0059] like Figures 3 to 4 As shown, the bearing rod with the thick end on the right is placed in the forward direction, and is composed of bearing rod 1, bearing rod 3, bearing rod 5, bearing rod 7, and bearing rod 9; the bearing rod with the thick end on the left is placed in the reverse direction, and is composed of bearing rod 2, bearing rod 4, bearing rod 6, bearing rod 8, and bearing rod 10; the left cross flexible body group is composed of flexible body 11, flexible body 12, flexible body 13, flexible body 14, and flexible body 15; the right cross flexible body group is composed of flexible body 16, flexible body 17, flexible body 18, flexible body 19, and flexible body 20.

[0060] like Figure 5 As shown, the following bearing rod keyways are arranged from left to right, from the first keyway to the tenth keyway.

[0061] like Figures 6 to 8 As shown, first, one end of the flexible body 11 is inserted into the first keyway of the bearing rod 1; one end of the flexible body 12 is inserted into the second keyway of the bearing rod 3; one end of the flexible body 13 is inserted into the third keyway of the bearing rod 5; one end of the flexible body 14 is inserted into the fourth keyway of the bearing rod 7; one end of the flexible body 15 is inserted into the fifth keyway of the bearing rod 9.

[0062] Further, one end of the flexible body 16 is inserted into the tenth keyway of the bearing rod 1; one end of the flexible body 17 is inserted into the ninth keyway of the bearing rod 3; one end of the flexible body 18 is inserted into the eighth keyway of the bearing rod 5; one end of the flexible body 19 is inserted into the seventh keyway of the bearing rod 7; one end of the flexible body 20 is inserted into the sixth keyway of the bearing rod 9.

[0063] Further, the other end of the flexible body 11 is inserted into the first keyway of the bearing rod 6, and the other end of the flexible body 16 is inserted into the tenth keyway of the bearing rod 6; the other end of the flexible body 12 is inserted into the second keyway of the bearing rod 8, and the other end of the flexible body 17 is inserted into the ninth keyway of the bearing rod 8; the other end of the flexible body 13 is inserted into the third keyway of the bearing rod 10, and the other end of the flexible body 18 is inserted into the eighth keyway of the bearing rod 10; the other end of the flexible body 14 is inserted into the fourth keyway of the bearing rod 2, and the other end of the flexible body 19 is inserted into the seventh keyway of the bearing rod 2; the other end of the flexible body 15 is inserted into the fifth keyway of the bearing rod 4, and the other end of the flexible body 20 is inserted into the sixth keyway of the bearing rod 4.

[0064] Furthermore, the right collar 21 is fixed to the outside of the forward bearing rod, and the right end of the right collar 21 is the same end face as the right end of the forward bearing rod; the left collar 22 is fixed to the outside of the reverse bearing rod, and the left end of the left collar 22 is the same end face as the left end of the reverse bearing rod; the left and right collars have a certain axial distance, the left collar and the forward bearing rod have a certain radial distance, and the right collar and the reverse bearing rod have a certain radial distance to avoid mutual contact and friction.

[0065] In the above fixing method, the flexible body and the keyway are fixed by bonding or outer ring welding, and the outer circle of the bearing rod and the collar are fixed by bonding.

[0066] The right-side collar of the flexible hinge is fixed. After the torque is applied to the left-end collar, the positive bearing rod is fixed and the negative bearing rod swings in the circumferential direction. The five bearing rods bear the external torque evenly and produce the same axial drift in the five directions. Under the rigidity of the external collar, the axial drift in each direction offsets each other.

[0067] The above are preferred embodiments of the present invention.

[0068] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by any person skilled in the art within the technical scope disclosed in the present invention should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims. The information disclosed in the background technology section of this article is only intended to deepen the understanding of the overall background technology of the present invention, and should not be regarded as an admission or any form of implication that the information constitutes prior art already known to those skilled in the art.

Claims

1. A zero-axis drift multi-cross flexible hinge, characterized by: It includes a left cross flexible body group, a right cross flexible body group, ten bearing rods with the same structure, and a left collar and a right collar with the same structure; Ten bearing rods are arranged alternately in positive and negative directions and at equal angles on the same circumferential surface; The left cross flexible body group and the right cross flexible body group are placed in series on the same central axis; Each flexible body is connected to a pair of bearing rods at both ends in sequence and distributed at equal angles in the circumferential direction, and all flexible bodies are distributed at equal intervals in the axial direction; Ten bearing rods of the same structure are arranged in a forward and reverse direction at intervals. The bearing rods arranged in the forward direction are fixed to the right collar, and the bearing rods arranged in the reverse direction are fixed to the left collar. Any two intersecting flexible body axes in the circumferential direction are the same ideal central axis; The left cross flexible body group is composed of five spatial cross flexible bodies on the left side, and the right cross flexible body group is composed of five spatial cross flexible bodies on the right side. The structures and sizes of all flexible bodies are the same; After the leftmost flexible body of the left cross flexible body group is fixed vertically, the rightward flexible bodies are rotated in equal parts relative to the left flexible body in the circumferential direction and then placed; After the rightmost flexible body of the right cross flexible body group is fixed vertically, the left flexible bodies are rotated in equal parts relative to the right flexible body in the circumferential direction and then placed; The rotation direction of the flexible bodies of the left cross flexible body group and the right cross flexible body group in the circumferential direction is the same, which is forward or reverse; The bearing rods are of a stepped structure with a fan-shaped cross section. The thick ends of the five bearing rods placed in the forward direction are on the right, while the thick ends of the five bearing rods placed in the reverse direction are on the left. The inner surface of the left collar is connected to the thick ends of the five bearing rods placed in the opposite direction and has a certain radial distance from the bearing rods placed in the forward direction. The inner surface of the right collar is connected to the thick ends of the five bearing rods placed in the forward direction and has a certain radial distance from the bearing rods placed in the opposite direction. The distance is the radial thickness of the bearing rod step. The inner surface of the bearing rod has a keyway, and the shape and size of the keyway are the same as those of the two ends of the flexible body. Each flexible body is fixedly connected to a pair of bearing rods placed in the radial direction in the positive and negative directions through the keyway; The above connection methods are strengthened and fixed by gluing or welding.

2. The zero-axis drift multi-cross flexible hinge according to claim 1, characterized in that: The left and right sleeve rings and the bearing rod are rigid structures, and the two sleeve rings have a certain distance in the axial direction.

3. The zero-axis drift multi-cross flexible hinge according to claim 2, characterized in that: The thick end of the bearing rod placed in the forward direction and the two end faces of the right sleeve are respectively the same end face, and the thick end of the bearing rod placed in the reverse direction and the two end faces of the left sleeve are respectively the same end face.

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