Multi-cross variable-thickness variable-width spring-type flexible bearing

Abstract

The application discloses a multi-cross variable-thickness variable-width spring type flexible bearing and belongs to the field of flexible hinge design. The flexible bearing comprises a rigid support one, a rigid support two, a variable-thickness variable-width spring group one, a variable-thickness variable-width spring group two, a shaft sleeve one and a shaft sleeve two. The center lines of the rigid support one and the rigid support two are located on the same axis and the two end faces are respectively aligned. The two rigid supports are placed in a cross shape with equal angles in the circumferential direction. The springs in the variable-thickness variable-width spring group one and the variable-thickness variable-width spring group two are arranged in a cross shape with equal angles in the circumferential direction and connect the rigid support one and the rigid support two. The end face profile and the width edge profile of the variable-thickness variable-width spring are both symmetrical bathtub-shaped curves. The shaft sleeve one is connected with the rigid support two and the shaft sleeve two is connected with the rigid support one. The rigid support bears part of the radial force, improves the radial deformation stiffness of the flexible bearing and reduces the interference of the radial force on the rotation accuracy. The variable-thickness variable-width spring group can make the flexible bearing have high bearing capacity and low rotation stiffness simultaneously.

Description

TECHNICAL FIELD

[0001] The present application relates to a flexible hinge, in particular to a multi-crossing variable-thickness and variable-width spring type flexible bearing. BACKGROUND

[0002] The flexible bearing is different from the rigid mechanism such as the traditional bearing, and is a new type of mechanism for realizing motion transmission by using reversible elastic deformation of the material. The flexible bearing has the characteristics of high reliability, no friction, no need for lubrication, and the like, and has been widely applied in the fields of robots, precision equipment, angular vibration turntables and intelligent structures.

[0003] At present, the flexible bearing products that can be applied to the industrial design field, such as the flexible bearings produced by C-Flex, Riverhawk and the like, have the problems of greater shaft drift with the increase of the rotation angle due to the distributed elastic deformation, greater precision error caused by the larger shaft drift, and high difficulty in integrated processing design, which limit the production and application of the flexible hinge.

[0004] The design target of the flexible bearing is to reduce the working stiffness and improve the non-working stiffness, and the working stiffness can be reduced by reducing the thickness, width and length of the flexible spring, but the non-working stiffness will also be reduced; at present, there is no effective method to solve the problem.

[0005] In view of this, the present application is proposed. SUMMARY

[0006] The purpose of the present application is to provide a multi-crossing variable-thickness and variable-width spring type flexible bearing for radial bearing, so as to solve the above technical problems in the prior art.

[0007] The purpose of the present application is achieved by the following technical scheme:

[0008] The multi-crossing variable-thickness and variable-width spring type flexible bearing of the present application comprises a rigid support one 1, a rigid support two 2, a variable-thickness and variable-width spring group one 3, a variable-thickness and variable-width spring group two 4, a shaft sleeve one 5 and a shaft sleeve two 6;

[0009] The rigid support one 1 and the rigid support two 2 are located on the same axis and the two end faces are aligned respectively, and the two rigid supports are placed at equal angles in the circumferential direction.

[0010] The rigid support one 1 and the rigid support two 2 are connected by the variable-thickness and variable-width spring group one 3 and the variable-thickness and variable-width spring group two 4 respectively, and the shaft sleeve one 5 and the shaft sleeve two 6 are connected to the rigid support two 2 and the rigid support one 1 respectively;

[0011] The variable-thickness and variable-width spring group one 3 and the variable-thickness and variable-width spring group two 4 are respectively located on two sides of a radial plane passing through the bearing center point, and the springs at corresponding positions in each group are mirror-symmetrically distributed about the radial plane.

[0012] Compared with the prior art, the multi-cross variable-thickness and variable-width spring type flexible bearing provided by the application can bear part of the radial force by the rigid support under the action of the radial load, reduce the force distribution on the flexible spring, and increase the radial bearing capacity of the flexible bearing; improve the non-working stiffness of the structure, i.e., the radial deformation stiffness, while reducing the interference of the radial force on the rotation accuracy; the variable-thickness and variable-width spring group can make the bearing have high bearing capacity and low rotation stiffness at the same time. BRIEF DESCRIPTION OF DRAWINGS

[0013] Figure 1 The overall structure schematic diagram of the multi-cross variable-thickness and variable-width spring type flexible bearing provided by the embodiment of the application is shown.

[0014] Figure 2 The internal structure schematic diagram of the application is shown.

[0015] Figure 3a , Figure 3b The structure schematic diagrams of two angles of the rigid support of the application are shown.

[0016] Figure 4 The variable-thickness and variable-width spring structure schematic diagram of the application is shown.

[0017] Figure 5 , Figure 6 The spring end face profile and width edge profile structure schematic diagrams of the application are shown.

[0018] In the drawings:

[0019] 1, rigid support one, 2, rigid support two, 3, variable-thickness and variable-width spring group one, 4, variable-thickness and variable-width spring group two, 5, shaft sleeve one, 6, shaft sleeve two;

[0020] 7, variable-thickness and variable-width spring one, 8, variable-thickness and variable-width spring two, 9, variable-thickness and variable-width spring three;

[0021] 10, variable-thickness and variable-width spring four, 11, variable-thickness and variable-width spring five, 12, variable-thickness and variable-width spring six. DETAILED DESCRIPTION

[0022] With reference to the drawings of the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described; obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application, and do not constitute a limitation of the present application. Based on the embodiments of the present application, all other embodiments obtained by a person of ordinary skill in the art without creative labor fall within the protection scope of the present application.

[0023] Firstly, the terms possibly used in the present application are described as follows:

[0024] The term "and / or" means either one or both, for example, X and / or Y means three cases including "X", "Y" or "X and Y".

[0025] The terms "include", "contain", "have", "possess" or other similar semantic descriptions should be interpreted as non-exclusive inclusion. For example, including a technical feature element (such as raw materials, components, ingredients, carriers, dosage forms, materials, sizes, parts, components, mechanisms, devices, steps, processes, methods, reaction conditions, processing conditions, parameters, algorithms, signals, data, products or articles, etc.) should be interpreted as not only including the explicitly listed technical feature element, but also including other technical feature elements not explicitly listed in the art.

[0026] The term "consisting of" means excluding any technical feature element not explicitly listed. If this term is used in the claims, the term will make the claim closed, so that it does not contain technical feature elements other than the explicitly listed technical feature elements, except for conventional impurities related thereto. If the term only appears in a certain clause of the claim, it is only limited to the elements explicitly listed in the clause, and the elements described in other clauses are not excluded from the overall claim.

[0027] Unless otherwise explicitly specified or limited, the terms "mount", "connect", "connect", "fix", and the like should be broadly understood, for example: it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be connected inside two elements. For a person of ordinary skill in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0028] The orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of description and simplification of the description, and do not mean that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting herein.

[0029] The contents not described in detail in the embodiments of the present application belong to the prior art known to those skilled in the art. If the specific conditions are not indicated in the embodiments of the present application, the conventional conditions or the conditions recommended by the manufacturer are used. If the manufacturers of the reagents or instruments used in the embodiments of the present application are not indicated, they are all conventional products that can be purchased on the market.

[0030] The multi-cross variable-thickness variable-width spring type flexible bearing of the present application comprises a rigid support one 1, a rigid support two 2, a variable-thickness variable-width spring group one 3, a variable-thickness variable-width spring group two 4, a shaft sleeve one 5 and a shaft sleeve two 6.

[0031] The rigid support one 1 and the rigid support two 2 are located on the same axis and the two end faces are respectively aligned, and the two rigid supports are placed at equal angles in the circumferential direction.

[0032] The rigid support one 1 and the rigid support two 2 are connected by the variable-thickness variable-width spring group one 3 and the variable-thickness variable-width spring group two 4 respectively, and the shaft sleeve one 5 and the shaft sleeve two 6 are connected to the rigid support two 2 and the rigid support one 1 respectively.

[0033] The variable-thickness variable-width spring group one 3 and the variable-thickness variable-width spring group two 4 are respectively located on both sides of a radial plane passing through the center point of the bearing, and the springs at corresponding positions in each group are distributed in mirror symmetry about the radial plane.

[0034] The variable-thickness variable-width spring group one 3 and the variable-thickness variable-width spring group two 4 each consist of three variable-thickness variable-width springs, and the three variable-thickness variable-width springs are arranged at equal angles in the circumferential direction.

[0035] The structure and size of each variable-thickness variable-width spring are the same, and the intersection axes of any two variable-thickness variable-width springs are located on the same rotation center axis.

[0036] The variable-thickness variable-width spring has a symmetric bathtub-shaped curve as the change feature of the end face profile;

[0037] The variable-thickness variable-width spring has a symmetric bathtub-shaped curve as the change feature of the width edge profile;

[0038] The bathtub-shaped curve is a non-linear curve such as a parabola, an ellipse or a circular arc.

[0039] The outer surfaces of the two ends of the variable-thickness and variable-width spring piece are circular arc surfaces, and the outer circular arc surface radius of each spring piece is the same.

[0040] One expression form of the thickness t(x) and the width s(x) of the variable-thickness and variable-width spring piece is respectively:

[0041]

[0042]

[0043] In the formula, a is the inner circular arc radius, b is the length of the equal-thickness section, c is the length of the short semi-axis of the ellipse, d is the thickness of the equal-thickness section, e is the width of the equal-thickness section, and L is the length of the flexible body. Adjusting the inner circular arc radius a and the short semi-axis length c of the spring piece can affect the parameters of the equal-thickness section, and further affect the performance of the overall flexible bearing. The rigid support one 1 and the rigid support two 2 are the same in structure and size.

[0044] The rigid support one 1 and the rigid support two 2 are rigid structures connected by three variable-thickness rods through end covers.

[0045] The outer surfaces of the thicker ends of all the rods share the same cylindrical surface with the inner surface of the shaft sleeve.

[0046] The outer circular arc surfaces of the two ends of the variable-thickness and variable-width spring piece are respectively connected with the diametric inner circular arc surfaces of the rigid support one 1 and the rigid support two 2.

[0047] The above connection mode can be cementing.

[0048] As can be seen from the above, the multi-crossing variable-thickness and variable-width spring piece type flexible bearing of the embodiment of the present application can improve the radial deformation stiffness of the flexible bearing and reduce the interference of the radial force on the rotation accuracy. The variable-thickness and variable-width spring piece group can make the flexible bearing have high bearing capacity and low rotation stiffness at the same time. The external load interference is reduced as a whole to realize high-precision rotation of the flexible hinge under a large rotation angle and radial load.

[0049] In order to more clearly show the technical solutions provided by the present application and the technical effects generated, the following will describe the in detail with specific embodiments.

[0050] Embodiment 1

[0051] As Figure 1As shown in the figure: the flexible bearing includes rigid support one 1, rigid support two 2, variable thickness and width spring piece group one 3, variable thickness and width spring piece group two 4; wherein the rigid support one 1 and the rigid support two 2 are located on the same axis and the two end faces are respectively aligned; the two rigid supports are placed at equal angles in the circumferential direction; the rigid support one 1 and the rigid support two 2 are connected through the variable thickness and width spring piece group one 3 and the variable thickness and width spring piece group two 4 respectively; the shaft sleeve one 5 and the shaft sleeve two 6 are connected to the right rigid support one 1 and the left rigid support two 2 respectively; the intersection axis of any two variable thickness and width spring pieces is the same rotation center axis.

[0052] As shown in the figure Figure 2 , the variable thickness and width spring piece group one 3 is composed of variable thickness and width spring pieces 7, 8, 9, and the variable thickness and width spring piece group two 4 is composed of variable thickness and width spring pieces 10, 11, 12; the variable thickness and width spring piece group one 3 and the variable thickness and width spring piece group two 4 are located on both sides of the radial plane passing through the bearing center point, and the spring pieces at the corresponding positions in each group are mirror symmetrically distributed about the radial plane.

[0053] As shown in the figure Figure 3a , Figure 3b , the rigid support one 1 and the rigid support two 2 are the same in structure and size; the rigid support one 1 and the rigid support two 2 are rigid structures connected by three variable thickness fan-shaped rods through end covers.

[0054] As shown in the figure Figure 4 , the thickness and width of the end face profile and the width edge profile of the variable thickness and width spring piece are both in the form of a symmetrical bathtub-shaped curve, and the nonlinear curve form can be a parabola, an ellipse or a circular arc, etc.; the outer surfaces of both ends of the variable thickness and width spring piece are circular arc surfaces with the same radius; the structures and sizes of the variable thickness and width spring pieces are the same.

[0055] As shown in the figure Figure 5 , Figure 6 , a curve change form of the variable thickness and width spring piece.

[0056] The thickness t(x) expression of any point on the spring piece is:

[0057]

[0058] The width s(x) expression of any point on the spring piece is:

[0059]

[0060] In the expression, a is the inner arc radius, b is the length of the equal thickness section, c is the length of the short semi-axis of the ellipse, d is the thickness of the equal thickness section, e is the width of the equal thickness section, and L is the length of the flexible body. Adjusting the inner arc radius a and the short semi-axis length c of the spring leaf can affect the parameters of the equal thickness section, and thus the performance of the overall flexible bearing. Further, the variable-thickness and variable-width spring leaf is connected with the rigid support; the two end arc surfaces of the variable-thickness and variable-width spring leaf 7, 12 are respectively connected with the inner arc surfaces of the upper and lower rods of the rigid support one 1 and the rigid support two 2; the two end arc surfaces of the variable-thickness and variable-width spring leaf 8, 11 are respectively connected with the inner arc surfaces of the lower right and upper left rods of the rigid support one 1 and the rigid support two 2; and the two end arc surfaces of the variable-thickness and variable-width spring leaf 9, 10 are respectively connected with the inner arc surfaces of the lower left and upper right rods of the rigid support one 1 and the rigid support two 2.

[0061] Further, the rigid support is connected with the shaft sleeve; the maximum outer arc surfaces of the rigid support one 1 and the rigid support two 2 are respectively connected with the inner arc surfaces of the right shaft sleeve two 6 and the left shaft sleeve one 5.

[0062] The connection mode of the above rigid support and the variable-thickness and variable-width spring leaf adopts cementing, and the connection mode of the rigid support and the shaft sleeve adopts cementing.

[0063] When either shaft sleeve of the flexible bearing is fixed and the other shaft sleeve bears the torque and the radial load, the variable-thickness and variable-width spring leaf provides the working stiffness, the rigid support and the variable-thickness and variable-width spring leaf provide the radial non-working stiffness, and the interference of the radial force on the rotation accuracy of the flexible bearing is reduced; the variable-thickness and variable-width spring leaf group can make the bearing have high bearing capacity and low rotation stiffness at the same time.

[0064] The above merely describes the preferred embodiments of the present application, but the protection scope of the present application is not limited to this. Any changes or replacements within the disclosed technical scope of the present application can be easily thought by those skilled in the art, and should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims. The information disclosed in the background section of the present application is merely intended to deepen the understanding of the general background of the present application, and should not be regarded as acknowledging or implying in any form that the information constitutes the prior art known by those skilled in the art.

Claims

1. A flexible bearing with multiple intersecting variable thickness and width springs, characterized in that, It includes rigid support one (1), rigid support two (2), variable thickness and variable width spring group one (3), variable thickness and variable width spring group two (4), bushing one (5) and bushing two (6); The rigid bracket one (1) and rigid bracket two (2) are located on the same axis and their two end faces are aligned respectively. The two rigid brackets are placed at equal angles in the circumferential direction to jointly bear the radial load and improve the radial stiffness of the bearing. The rigid support one (1) and the rigid support two (2) are connected by the variable thickness and variable width spring group one (3) and the variable thickness and variable width spring group two (4), respectively; The bushing one (5) and bushing two (6) are respectively connected to the rigid bracket two (2) and the rigid bracket one (1); The variable thickness and variable width spring group one (3) and the variable thickness and variable width spring group two (4) are located on both sides of the radial plane passing through the center point of the bearing, and the springs at corresponding positions in each group are distributed in a mirror symmetrical manner about the radial plane; the variable thickness and variable width spring group one (3) and the variable thickness and variable width spring group two (4) are each composed of three variable thickness and variable width springs, and the three variable thickness and variable width springs are arranged at equal angles in the circumferential direction; Each variable thickness and width spring has the same structure and size, and the intersecting axes of any two variable thickness and width springs are located on the same rotation center axis; The end face profile of the variable thickness and width spring is characterized by a symmetrical bathtub-shaped curve. The variation characteristic of the width edge contour of the variable thickness and variable width spring is a symmetrical bathtub-shaped curve. The bathtub-shaped curve is in the form of a non-linear curve such as a parabola, an ellipse, or a circular arc. The outer surfaces of both ends of the variable thickness and variable width springs are arc surfaces, and the outer arc surfaces of each spring have the same radius. One way to express the thickness t(x) and width s(x) of the variable thickness and variable width spring is as follows: In the formula, a is the radius of the inner arc, b is the length of the uniform thickness segment, c is the length of the minor semi-axis of the ellipse, d is the thickness of the uniform thickness segment, e is the width of the uniform thickness segment, and L is the length of the flexible body. Adjusting the inner radius 'a' of the reed and the length 'c' of the short half-shaft can affect the parameters of the equal-thickness section, thereby affecting the overall performance of the flexible bearing. The rigid support one (1) and the rigid support two (2) have the same structure and dimensions; Rigid bracket one (1) and rigid bracket two (2) are rigid structures consisting of three variable thickness rods connected by end caps; The thicker outer surface of all rods shares the same cylindrical surface with the inner surface of the bushing; The outer arc surfaces at both ends of the variable thickness and variable width spring are respectively connected to the inner arc surfaces of the rigid bracket one (1) and the rigid bracket two (2); The above connection method can be a hinge.

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