Heavy-duty combined flexible hinge

Abstract

The present invention relates to the technical field of flexible hinges, and in particular to a heavy-duty combined flexible hinge, comprising: a flexible beam component, a first flange assembly, a second flange assembly, and a flexible beam connecting assembly; the flexible beam component includes a first flexible beam assembly and a second flexible beam assembly that intersect in a cross shape; the first flange assembly clamps the second flexible beam assembly; the second flange assembly clamps the second flexible beam assembly; the first flexible beam assembly, the second flexible beam assembly, the first flange assembly, and the second flange assembly form four symmetrical areas centered on the cross intersection, and the flexible beam connecting assembly is respectively connected to the first flexible beam assembly and the second flexible beam assembly located in each area, so that the heavy-duty combined flexible hinge can achieve two degrees of freedom of rotation. The advantage of the present invention is that the overall structure of the heavy-duty combined flexible hinge is more compact through the connection of the flexible beam connecting assembly and the flexible beam component.

Description

Technical Field

[0001] The present invention relates to the technical field of flexible hinges, and in particular to a heavy-load combined flexible hinge. Background Art

[0002] Flexible hinges offer advantages such as zero clearance, zero friction, and the need for lubrication, significantly enhancing precision motion. For example, in the precision adjustment mechanism of the secondary mirror of a large-aperture ground-based telescope, the flexible hinge transmits precise motion through its own elastic deformation, significantly improving the mechanism's motion resolution and repeatability. However, as the aperture of ground-based telescopes continues to increase, the load capacity requirements for flexible hinges are also increasing. Under the influence of force or torque, flexible hinges utilize their rotational flexibility to transmit motion. However, this flexibility in the direction of the load can also affect motion accuracy and may even damage the flexible hinge if the load is excessive.

[0003] Most of the existing notch-type flexible hinges are made of stainless steel, spring steel or beryllium copper as a whole. The notch is usually processed by wire cutting, and then needs to undergo heat treatment and surface treatment. The internal processing quality of this flexible hinge processed from a large piece of billet is difficult to control, especially for large-load flexible hinges with loads reaching tons. If the subsequent processing is not thorough, it will affect the elasticity and yield strength of the deformed main part. In addition, the non-deformed main part of the flexible hinge processed in one piece occupies a large amount of space, which is not conducive to the parameter optimization of the deformed flexible beam. At the same time, the mass of the non-deformed part accounts for more than 95% of the overall mass, which is not conducive to the lightweight design of the overall equipment. During use, maintenance is also inconvenient and can only be achieved by replacing the entire hinge.

[0004] To address the above-mentioned issues, a Chinese patent application with the publication number CN 111503131A and the publication date of November 22, 2024, entitled "A Flexible Hinge with Large Rotation Angle Resistant to Axial Tension and Compression," was filed. The patent uses a wheel-type flexible hinge as the main body, and a spring is provided between the wheel-type flexible hinge and two rigid links; a rigid spherical sub-hinge is fixedly provided between the two rigid links. However, this design ensures the axial stiffness of the flexible hinge by adding a rigid support and spring with a spherical sub-hinge, which changes the overall flexibility characteristics of the flexible hinge. Typically, the flexibility characteristics of a flexible hinge are determined by the deformed main part, but after the spring is introduced, the rotational flexibility is no longer determined by the deformed main part, resulting in inaccurate rotational flexibility modeling. In addition, the clearance and uncertain rotational flexibility of the spherical sub-hinge introduce nonlinear terms into the kinematic and dynamic control of precision positioning and vibration isolation mechanisms, which is not conducive to active control. Summary of the Invention

[0005] In view of this, the present invention aims to provide a heavy-duty combined flexible hinge, which makes the overall structure of the heavy-duty combined flexible hinge more compact by connecting a focusing lens group and a flexible beam connecting assembly with a flexible beam component.

[0006] To achieve the above-mentioned purpose, the technical solution created by the present invention is implemented as follows: a heavy-load combined flexible hinge comprises: a flexible beam component, the flexible beam component includes a first flexible beam component and a second flexible beam component that cross in a cross shape; a first notch is provided at one end of the first flexible beam component; a second notch is provided at the end of the second flexible beam component away from the first notch; the first notch and the second notch are arranged opposite to each other along the axial direction of the flexible beam component; a first flange component, the first flange component passes through the first notch, is connected to one end of the second flexible beam component, and clamps the second flexible beam component; a second flange component, the second flange component passes through the second notch, is connected to one end of the first flexible beam component, and clamps the first flexible beam component; the first flange component and the second flange component are arranged vertically in space; the first flexible beam component, the second flexible beam component, the first flange component and the second flange component form four symmetrical areas, namely the first area, the second area, the third area and the fourth area; a flexible beam connecting component, the flexible beam connecting component is respectively connected to the first flexible beam component and the second flexible beam component located in each area, so that the heavy-load combined flexible hinge can realize two degrees of freedom of rotation.

[0007] Furthermore, the first flexible beam assembly includes a first flexible beam and a second flexible beam, the first flexible beam and the second flexible beam are symmetrical parts, and both include a first flexible sheet, a first mounting portion and a second mounting portion; the two ends of the first flexible sheet are respectively connected to the first mounting portion and the second mounting portion, and the connection between the first flexible sheet and the first mounting portion and the second mounting portion is transitioned through a rounded corner; the first mounting portion of the first flexible beam and the first mounting portion of the second flexible beam are respectively provided with a first L-shaped notch on the opposite sides, and the two first L-shaped notches together constitute the first notch; the second flexible beam assembly includes a third flexible beam and a fourth flexible beam, and the third flexible beam and the fourth The flexible beams are symmetrical to each other and each includes a second flexible sheet, a third mounting portion and a fourth mounting portion; the two ends of the second flexible sheet are respectively connected to the third mounting portion and the fourth mounting portion, and the connection is transitioned through a rounded corner; the third mounting portion of the third flexible beam and the third mounting portion of the fourth flexible beam are respectively provided with a second L-shaped notch on the opposite sides, and the two second L-shaped notches together constitute the second notch; the first mounting portion and the third mounting portion are both provided with a first through hole for connecting the flexible beam connecting assembly; the second mounting portion is provided with a second through hole for connecting the second flange assembly; the fourth mounting portion is provided with a third through hole for connecting the first flange assembly.

[0008] Furthermore, the equivalent flexibility of the flexible beam components is:

[0009] ;

[0010] ;

[0011] ;

[0012] ;

[0013] in, The flexible beam member is at Z h Directional force F zh Softness when and The flexible beam components are respectively h Rotational torque M xh and around y h Rotational torque M yh The rotational flexibility when is the flexibility of the first flexible beam, the second flexible beam, the third flexible beam, or the fourth flexible beam in the x-axis load direction; is the rotational flexibility of the first flexible beam or the second flexible beam or the third flexible beam or the fourth flexible beam around the Z axis; t is the thickness of the first flexible sheet and the second flexible sheet; w is the width of the first flexible sheet and the second flexible sheet; r is the fillet radius; l is the length of the first flexible sheet and the second flexible sheet; E is the elastic modulus of the material of the first flexible sheet and the second flexible sheet.

[0014] Furthermore, when the rotation of the first flexible beam assembly and / or the second flexible beam assembly reaches a maximum value θ max hour ， Stress of the first flexible beam assembly and / or the second flexible beam assembly for:

[0015] ;

[0016] ;

[0017] When the first flexible beam component and / or the second flexible beam component are subjected to a radial load force Fz, the stress of the first flexible beam component and / or the second flexible beam component for:

[0018] ;

[0019] ;

[0020] Among them, k b is the bending stress concentration factor of the first flexible beam assembly and / or the second flexible beam assembly, k t is the tensile and compressive stress concentration factor of the first flexible beam component and / or the second flexible beam component.

[0021] Furthermore, the first flange assembly is connected to one end of the second flexible beam assembly on the side of the first notch; the second flange assembly is connected to one end of the first flexible beam assembly on the side of the second notch; the first flange assembly and the second flange assembly have the same structure, both including a first flange plate and a second flange plate; one of the first flange plate and the second flange plate is provided with a first countersunk hole, and the other of the first flange plate and the second flange plate is provided with a first threaded hole.

[0022] Furthermore, the flexible beam connection assembly includes a first connecting beam, a second connecting beam, a third connecting beam and a fourth connecting beam; the first connecting beam is located in the first area, the second connecting beam is located in the second area, the third connecting beam is located in the third area, and the fourth connecting beam is located in the fourth area; one end of the first connecting beam is connected to one end of the second connecting beam through the first mounting portion of the first flexible beam; the other end of the first connecting beam is connected to one end of the fourth connecting beam through the third mounting portion of the fourth flexible beam; the other end of the second connecting beam is connected to one end of the third connecting beam through the third mounting portion of the third flexible beam; the other end of the third connecting beam is connected to the other end of the fourth connecting beam through the first mounting portion of the second flexible beam.

[0023] Furthermore, the first connecting beam includes a first connecting part, a second connecting part and a first supporting block; the first connecting part is connected to one end of the first supporting block, and the second connecting part is connected to the other end of the first supporting block; the first connecting part and the second connecting part are used to realize connections in two different directions; a second countersunk hole is provided on both the first connecting part and the second connecting part.

[0024] Furthermore, the second connecting beam includes a third connecting part, a fourth connecting part and a second support block; the third connecting part is connected to one end of the second support block, and the fourth connecting part is connected to the other end of the second support block; the third connecting part and the fourth connecting part are used to realize connections in two different directions; a second threaded hole is provided on the third connecting part and the fourth connecting part; the first bolt passes through the second countersunk hole of the first connecting part, the first through hole of the first mounting part of the first flexible beam and the second threaded hole of the third connecting part in sequence, so that the first connecting part and the third connecting part clamp the first mounting part of the first flexible beam.

[0025] Furthermore, the third connecting beam includes a fifth connecting part, a sixth connecting part and a third support block; the fifth connecting part is connected to one end of the third support block, and the sixth connecting part is connected to the other end of the third support block; the fifth connecting part and the sixth connecting part are used to realize connections in two different directions; a second countersunk hole is provided on both the fifth connecting part and the sixth connecting part; the second bolt passes through the second countersunk hole of the sixth connecting part, the first through hole of the third mounting part of the third flexible beam and the second threaded hole of the fourth connecting part in sequence, so that the sixth connecting part and the fourth connecting part clamp the third mounting part of the third flexible beam.

[0026] Furthermore, the fourth connecting beam includes a seventh connecting part, an eighth connecting part and a fourth support block; the seventh connecting part is connected to one end of the fourth support block, and the eighth connecting part is connected to the other end of the fourth support block; the seventh connecting part and the eighth connecting part are used to realize connections in two different directions; a third threaded hole is provided on both the seventh connecting part and the eighth connecting part; the third bolt passes through the second countersunk hole of the fifth connecting part, the first through hole of the first mounting part of the second flexible beam and the third threaded hole of the seventh connecting part in sequence, so that the fifth connecting part and the seventh connecting part clamp the first mounting part of the second flexible beam; the fourth bolt passes through the second countersunk hole of the second connecting part, the first through hole of the third mounting part of the fourth flexible beam and the second threaded hole of the eighth connecting part in sequence, so that the second connecting part and the eighth connecting part clamp the third mounting part of the fourth flexible beam.

[0027] The invention can achieve the following beneficial effects:

[0028] 1) In the flexible beam component of this invention, each flexible beam features rounded corners at both ends of its flexible strip. By optimizing only four parameters—the strip's thickness t, width w, rounded corner radius r, and strip length l—a large-angle flexible hinge capable of carrying tons of loads can be achieved, thus meeting the motion transmission requirements of a heavy-duty combined flexible hinge.

[0029] 2) The flexible beam assembly of this invention consists of four independent flexible beams. After processing, these flexible beams are assembled and connected by a first flange assembly, a second flange assembly, and a flexible beam connecting assembly. This design eliminates the need for heat treatment of the entire heavy-duty combined flexible hinge; only the flexible beam components need to be heat treated. Furthermore, the surface treatment of the flexible beam components can be performed simultaneously with the surface treatment of the first flange assembly, the second flange assembly, and the flexible beam connecting assembly, significantly reducing the processing cycle.

[0030] 3) By connecting the flexible beam connection assembly to the flexible beam member, the overall structure of the heavy-duty combined flexible hinge is more compact. This compact structure not only facilitates lightweight design but also provides greater optimization space for the flexible beam member within a limited space.

[0031] 4) The first, second, third, and fourth flexible beams are assembled after processing. This process allows for quality assessment during processing and subsequent handling, effectively preventing the performance degradation of traditional flexible hinges under harsh operating conditions due to internal quality issues. Furthermore, this design facilitates easy inspection, inspection, and maintenance of the hinge during use. If parts need to be replaced, only one or several components need to be replaced, thanks to its modularity and versatility, eliminating the need to replace the entire hinge. This modular design not only improves maintenance efficiency but also reduces repair costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The accompanying drawings, which constitute part of the present invention, are intended to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are intended to explain the present invention and do not constitute an undue limitation of the present invention. In the accompanying drawings:

[0033] Figure 1 2 is a schematic structural diagram of a heavy-duty combined flexible hinge according to an embodiment of the present invention;

[0034] Figure 2 is the maximum rotation angle θ of the flexible beam member in the heavy-duty combined flexible hinge provided by the embodiment of the present invention. max Schematic diagram of;

[0035] Figure 3 2 is a schematic structural diagram of a flexible beam component, a first flange assembly, and a second flange assembly provided in an embodiment of the present invention;

[0036] Figure 4 is a structural schematic diagram of a flexible beam component provided according to an embodiment of the present invention;

[0037] Figure 5 is a structural schematic diagram of a first flexible beam (fourth flexible beam) provided according to an embodiment of the present invention;

[0038] Figure 6 is a structural schematic diagram of a first flange assembly provided according to an embodiment of the present invention;

[0039] Figure 7 is a structural diagram of a flexible beam member and a flexible beam connection assembly provided according to an embodiment of the present invention;

[0040] Figure 8 This is a structural schematic diagram of a flexible beam connection assembly according to one perspective provided by an embodiment of the present invention;

[0041] Figure 9 3 is a structural schematic diagram from another perspective of a flexible beam connection assembly provided according to an embodiment of the present invention.

[0042] The reference numerals include: 1. flexible beam component; 11. first flexible beam; 111. first flexible sheet; 112. first mounting portion; 113. second mounting portion; 114. first L-shaped notch; 115. first through hole; 116. second through hole; 12. second flexible beam; 13. third flexible beam; 131. second flexible sheet; 132. third mounting portion; 133. fourth mounting portion; 134. second L-shaped notch; 135. third through hole; 14. fourth flexible beam; 2. first flange assembly; 21. first flange plate; 22. second flange plate; 23. first countersunk hole; 24. first threaded hole; 3. second flange assembly; 4. flexible beam connecting assembly ;41. First connecting beam;411. First connecting part;412. Second connecting part;413. First supporting block;414. Second countersunk hole;42. Second connecting beam;421. Third connecting part;422. Fourth connecting part;423. Second supporting block;424. Second threaded hole;43. Third connecting beam;431. Fifth connecting part;432. Sixth connecting part;433. Third supporting block;434. Third countersunk hole;44. Fourth connecting beam;441. Seventh connecting part;442. Eighth connecting part;443. Fourth supporting block;444. Third threaded hole;5. First area;6. Second area;7. Third area;8. Fourth area. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and do not constitute a limitation of the present invention.

[0044] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other.

[0045] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, the terms "first", "second" and the like are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, features defined as "first", "second" and the like may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0046] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to internal connections between two components. Those skilled in the art can understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0047] The present invention will be described in detail below with reference to the embodiments.

[0048] like Figures 1 to 9 As shown, an embodiment of the present invention provides a heavy-duty combined flexible hinge comprising a flexible beam component 1, a first flange assembly 2, a second flange assembly 3, and a flexible beam connection assembly 4. The flexible beam component 1 comprises a first flexible beam component and a second flexible beam component arranged in a cross-shaped pattern. A first notch is defined at one end of the first flexible beam component, and a second notch is defined at an end of the second flexible beam component, distal from the first notch. The first and second notches are disposed opposite each other along the axial direction of the flexible beam component.

[0049] The first flange assembly 2 connects to the end of the second flexible beam assembly located on one side of the first notch through the first notch, thereby clamping the first flexible beam assembly. The second flange assembly 3 connects to the end of the second flexible beam assembly located away from the first flange assembly 2 through the second notch, and the first flange assembly 2 and the second flange assembly 3 are arranged vertically in space. The first flexible beam assembly, the second flexible beam assembly, the first flange assembly 2, and the second flange assembly 3 form four symmetrical regions centered on the cross intersection: a first region 5, a second region 6, a third region 7, and a fourth region 8. These four regions are arranged in a clockwise direction.

[0050] The flexible beam connection assembly 4 is respectively connected to the first flexible beam assembly and the second flexible beam assembly in each area, so that the heavy-load combined flexible hinge can achieve two degrees of freedom of rotation.

[0051] like Figure 4 、 Figure 5As shown, the first flexible beam assembly includes a first flexible beam 11 and a second flexible beam 12. The first flexible beam 11 and the second flexible beam 12 are symmetrical parts, each including a first flexible sheet 111, a first mounting portion 112, and a second mounting portion 113. The two ends of the first flexible sheet 111 are respectively connected to the first mounting portion 112 and the second mounting portion 113, and the connection between the first flexible sheet 111 and the first mounting portion 112 and the second mounting portion 113 is transitioned through a rounded corner. First L-shaped notches 114 are respectively provided on the opposite sides of the first mounting portion 112 of the first flexible beam 11 and the first mounting portion 112 of the second flexible beam 12. The two first L-shaped notches 114 together constitute the first notch of the first flexible beam assembly.

[0052] The second flexible beam assembly includes a third flexible beam 13 and a fourth flexible beam 14. The third and fourth flexible beams 13 and 14 are symmetrical components, each comprising a second flexible sheet 131, a third mounting portion 132, and a fourth mounting portion 133. The ends of the second flexible sheet 131 are connected to the third mounting portion 132 and the fourth mounting portion 133, respectively. The connection between the second flexible sheet 131, the third mounting portion 132, and the fourth mounting portion 133 is transitioned through a rounded corner. Second L-shaped notches 134 are provided on opposing sides of the third mounting portion 132 of the third flexible beam 13 and the third mounting portion 132 of the fourth flexible beam 14. Together, the two second L-shaped notches 134 constitute the second notch of the second flexible beam assembly.

[0053] The first mounting portion 112 and the third mounting portion 132 are both provided with a first through hole 115 for connecting to the flexible beam connection assembly 4. The second mounting portion 113 is provided with a second through hole 116 for the second flange assembly 3. The fourth mounting portion 133 is provided with a third through hole 135 for connecting to the first flange assembly 2.

[0054] exist Figure 4 The two dotted lines in the figure represent the rotation axes of the first flexible beam 11, the second flexible beam 12, and the rotation axes of the third flexible beam 13 and the fourth flexible beam 14, respectively. The arc lines with arrows represent the rotation directions of the first flexible beam 11, the second flexible beam 12, the third flexible beam 13 and the fourth flexible beam 14.

[0055] In this embodiment, the first flexible beam 11 , the second flexible beam 12 , the third flexible beam 13 and the fourth flexible beam 14 are made of 17-7PH austenitic-martensitic precipitation hardening stainless steel.

[0056] The first notch provided in the first flexible beam assembly and the second notch provided in the second flexible beam assembly make the structure of the heavy-duty combined flexible hinge more compact and reduce the overall size of the heavy-duty combined flexible hinge. In addition, by adjusting the size of the first notch and the second notch, the gap between the flexible beam member 1 and the first flange assembly 2 and the second flange assembly 3 can be changed, thereby setting the rotation angle limit values of the first flexible beam 11, the second flexible beam 12, the third flexible beam 13, and the fourth flexible beam 14. This prevents the stress of the flexible beam member 1 from exceeding the allowable stress during rotation, thereby avoiding permanent damage to the heavy-duty combined flexible hinge due to plastic deformation.

[0057] The first flange assembly 2 and the second flange assembly 3 have the same structure. Figure 6 As shown, both include a first flange plate 21 and a second flange plate 22. The first flange plate 21 is provided with a first countersunk hole 23, and the second flange plate 22 is provided with a first threaded hole 24.

[0058] Specifically, the first flange plate 21 and the second flange plate 22 of the first flange assembly 2 pass through the first notch, positioning the third flexible beam 13 and the fourth flexible beam 14 between the two flange plates. A first bolt sequentially passes through the first countersunk hole 23 of the first flange plate 21, the third through-hole 135 on the fourth mounting portion 133 of the third flexible beam 13 and the fourth flexible beam 14, and is screwed into the first threaded hole 24 of the second flange plate 22. This clamps the ends of the third and fourth flexible beams 13 and 14 located on the first notch side of the first flange plate 21 and 22, creating a parallel arrangement of the third and fourth flexible beams 13 and 14. This parallel arrangement of the third and fourth flexible beams 13 and 14 improves load-bearing capacity compared to a single flexible beam.

[0059] The second flange assembly 3 is connected to the first flexible beam 11 and the second flexible beam 12 in the same manner, which will not be described in detail here.

[0060] The flexible beam connection assembly 4 includes a first connection beam 41, a second connection beam 42, a third connection beam 43, and a fourth connection beam 44. The first connection beam 41 is located in the first area 5, the second connection beam 42 is located in the second area 6, the third connection beam 43 is located in the third area 7, and the fourth connection beam 44 is located in the fourth area 8.

[0061] One end of the first connecting beam 41 is connected to one end of the second connecting beam 42 via the first mounting portion 112 of the first flexible beam 11 , and the other end of the first connecting beam 41 is connected to one end of the fourth connecting beam 44 via the third mounting portion 132 of the fourth flexible beam 14 .

[0062] The other end of the second connecting beam 42 is connected to one end of the third connecting beam 43 via the third mounting portion 132 of the third flexible beam 13. The other end of the third connecting beam 43 is connected to the other end of the fourth connecting beam 44 via the first mounting portion 112 of the second flexible beam 12.

[0063] Specifically, the first connecting beam 41 includes a first connecting portion 411, a second connecting portion 412, and a first support block 413. The first connecting portion 411 is connected to one end of the first support block 413, and the second connecting portion 412 is connected to the other end of the first support block 413. The first connecting portion 411 and the second connecting portion 412 are used to achieve connections in two different directions. In this embodiment, the first connecting portion 411 and the second connecting portion 412 are arranged vertically in space. A second countersunk hole 414 is provided on each of the first connecting portion 411 and the second connecting portion 412.

[0064] The second connecting beam 42 includes a third connecting portion 421, a fourth connecting portion 422, and a second support block 423. The third connecting portion 421 is connected to one end of the second support block 423, and the fourth connecting portion 422 is connected to the other end of the second support block 423. The third connecting portion 421 and the fourth connecting portion 422 are used to achieve connections in two different directions. In this embodiment, the third connecting portion 421 and the fourth connecting portion 422 are arranged vertically in space. A second threaded hole 424 is provided on each of the third connecting portion 421 and the fourth connecting portion 422.

[0065] The third connecting beam 43 includes a fifth connecting portion 431, a sixth connecting portion 432, and a third support block 433. The fifth connecting portion 431 is connected to one end of the third support block 433, and the sixth connecting portion 432 is connected to the other end of the third support block 433. The fifth connecting portion 431 and the sixth connecting portion 432 are used to achieve connections in two different directions. In this embodiment, the fifth connecting portion 431 and the sixth connecting portion 432 are arranged vertically in space. A third countersunk hole 434 is provided on each of the fifth connecting portion 431 and the sixth connecting portion 432.

[0066] The fourth connecting beam 44 includes a seventh connecting portion 441, an eighth connecting portion 442, and a fourth support block 443. The seventh connecting portion 441 is connected to one end of the fourth support block 443, and the eighth connecting portion 442 is connected to the other end of the fourth support block 443. The seventh connecting portion 441 and the eighth connecting portion 442 are used to achieve connections in two different directions. In this embodiment, the seventh connecting portion 441 and the eighth connecting portion 442 are arranged vertically in space. A third threaded hole 444 is provided on each of the seventh connecting portion 441 and the eighth connecting portion 442.

[0067] The connection method of the flexible beam connection component 4 and the flexible beam member 1 is:

[0068] The second bolt passes through the second countersunk hole 414 of the first connecting part 411, the first through hole 115 of the first mounting part 112 of the first flexible beam 11 and the second threaded hole 424 of the third connecting part 421 in sequence, so that the first connecting part 411 and the third connecting part 421 clamp the first mounting part 112 of the first flexible beam 11.

[0069] The third bolt passes through the third countersunk hole 434 of the sixth connecting part 432, the first through hole 115 of the third mounting part 132 of the third flexible beam 13 and the second threaded hole 424 of the fourth connecting part 332 in sequence, so that the sixth connecting part 432 and the fourth connecting part 332 clamp the third mounting part 132 of the third flexible beam 13.

[0070] The fourth bolt passes through the third countersunk hole 434 of the fifth connecting part 431, the first through hole 115 of the first mounting part 112 of the second flexible beam 12 and the third threaded hole 444 of the seventh connecting part 441 in sequence, so that the fifth connecting part and the seventh connecting part clamp the first mounting part 112 of the second flexible beam 12.

[0071] The fifth bolt passes through the second countersunk hole 414 of the second connecting part 412, the first through hole 115 of the third mounting part 132 of the fourth flexible beam 14 and is screwed into the second threaded hole 424 of the eighth connecting part 442 in sequence, so that the second connecting part and the eighth connecting part clamp the third mounting part of the fourth flexible beam 14.

[0072] The first flexible beam 11, the second flexible beam 12, the third flexible beam 13 and the fourth flexible beam 14 are connected in series through the first connecting beam 41, the second connecting beam 42, the third connecting beam 43 and the fourth connecting beam 44, so that the heavy-loaded combined flexible hinge has two degrees of freedom and realizes independent rotation of the two degrees of freedom.

[0073] According to the above-mentioned parallel connection relationship between the first flexible beam 11 and the second flexible beam 12, the third flexible beam 13 and the fourth flexible beam 14, and the series connection relationship between the first flexible beam 11, the second flexible beam 12, the third flexible beam 13 and the fourth flexible beam 14. h Directional force F zh When the flexible beam member 1 is subjected to the torsion x h Rotational torque M xh and around y h Rotational torque M yh At this time, the equivalent flexibility of the flexible beam component 1 is:

[0074] ;

[0075] ;

[0076] ;

[0077] ;

[0078] in, The flexible beam member 1 is at Z h Directional force F zh Softness when and They are respectively the flexible beam component 1 around x h Rotational torque M xh and around y h Rotational torque M yh The rotational flexibility when is the flexibility of the first flexible beam 11 or the second flexible beam 12 or the third flexible beam 13 or the fourth flexible beam 14 in the x-axis load direction; is the rotational flexibility of the first flexible beam 11 or the second flexible beam 12 or the third flexible beam 13 or the fourth flexible beam 14 around the Z axis; t is the thickness of the first flexible sheet 111 and the second flexible sheet 131; w is the width of the first flexible sheet 111 and the second flexible sheet 131; r is the fillet radius; l is the length of the first flexible sheet 111 and the second flexible sheet 131; E is the elastic modulus of the material of the first flexible sheet 111 and the second flexible sheet 131.

[0079] When the rotation of the first flexible beam assembly and / or the second flexible beam assembly reaches the maximum value θ max hour ， Stress of the first flexible beam assembly and / or the second flexible beam assembly for:

[0080] ; ;

[0081] When the first flexible beam assembly and / or the second flexible beam assembly is subjected to a radial load force F z When the stress of the first flexible beam component and / or the second flexible beam component is for:

[0082] ; ;

[0083] Among them, k b is the bending stress concentration factor of the first flexible beam assembly and the second flexible beam assembly, k t is the tensile and compressive stress concentration factor of the first flexible beam assembly and the second flexible beam assembly.

[0084] In this embodiment, if Figure 5As shown, the thickness of the first flexible sheet 111 and the second flexible sheet 131 is t=5mm, the width is w=54mm, the fillet radius is r=4mm, the length is l=50mm, and the maximum rotation angle is θ z is 2.5°.

[0085] By connecting the flexible beam connection assembly 4 with the flexible beam member 1, the overall structure of the heavy-duty combined flexible hinge is more compact. This compact structure is not only conducive to lightweight design, but also provides a larger optimization design space for the flexible beam member 1 within a limited space. Specifically, the first flexible beam 11, the second flexible beam 12, the third flexible beam 13 and the fourth flexible beam 14 are combined after processing is completed. This process makes it possible to evaluate the quality during the processing and subsequent processing stages, thereby effectively avoiding the performance degradation of traditional flexible hinges under harsh working conditions due to internal quality problems. In addition, during use, this design facilitates observation, inspection and maintenance of the hinge. If parts need to be replaced, only one or several components need to be replaced. The modularity is strong and there is no need to replace the entire hinge. This modular design not only improves maintenance efficiency, but also reduces maintenance costs.

[0086] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. A heavy-duty combined flexible hinge, characterized in that: include: A flexible beam component, the flexible beam component comprising a first flexible beam component and a second flexible beam component intersecting in a cross shape; one end of the first flexible beam component is provided with a first notch; an end of the second flexible beam component away from the first notch is provided with a second notch; the first notch and the second notch are arranged opposite to each other along the axial direction of the flexible beam component; a first flange assembly, the first flange assembly passing through the first notch, connected to one end of the second flexible beam assembly, and clamping the second flexible beam assembly; a second flange assembly, the second flange assembly passing through the second notch, connected to one end of the first flexible beam assembly, and clamping the first flexible beam assembly; the first flange assembly and the second flange assembly are vertically arranged in space; The first flexible beam assembly, the second flexible beam assembly, the first flange assembly, and the second flange assembly form four symmetrical regions, namely, a first region, a second region, a third region, and a fourth region; A flexible beam connection assembly is respectively connected to the first flexible beam assembly and the second flexible beam assembly located in each area, so that the heavy-load combined flexible hinge can achieve two degrees of freedom of rotation.

2. The heavy-duty combined flexible hinge according to claim 1, characterized in that: The first flexible beam assembly includes a first flexible beam and a second flexible beam, the first flexible beam and the second flexible beam being symmetrical to each other, and each including a first flexible sheet, a first mounting portion, and a second mounting portion; two ends of the first flexible sheet are connected to the first mounting portion and the second mounting portion, respectively, and the connection between the first flexible sheet and the first mounting portion and the second mounting portion is transitioned through a rounded corner; first L-shaped notches are respectively provided on opposite sides of the first mounting portion of the first flexible beam and the first mounting portion of the second flexible beam, and the two first L-shaped notches together constitute a first notch; The second flexible beam assembly includes a third flexible beam and a fourth flexible beam, the third flexible beam and the fourth flexible beam being symmetrical to each other and each including a second flexible sheet, a third mounting portion, and a fourth mounting portion; two ends of the second flexible sheet are respectively connected to the third mounting portion and the fourth mounting portion, with the connection points being transitioned by rounded corners; second L-shaped notches are respectively provided on opposite sides of the third mounting portion of the third flexible beam and the third mounting portion of the fourth flexible beam, and the two second L-shaped notches together constitute a second notch; The first mounting portion and the third mounting portion are both provided with a first through hole for connecting the flexible beam connection assembly; The second mounting portion is provided with a second through hole for connecting to the second flange assembly; the fourth mounting portion is provided with a third through hole for connecting to the first flange assembly.

3. The heavy-duty combined flexible hinge according to claim 2, characterized in that: The equivalent flexibility of the flexible beam components are: ； ； ； ； in, The flexible beam member is at Z h Directional force F zh Softness when and The flexible beam components are respectively h Rotational torque M xh and around y h Rotational torque M yh The rotational flexibility when is the flexibility of the first flexible beam, the second flexible beam, the third flexible beam, or the fourth flexible beam in the x-axis load direction; is the rotational flexibility of the first flexible beam or the second flexible beam or the third flexible beam or the fourth flexible beam around the Z axis; t is the thickness of the first flexible sheet and the second flexible sheet; w is the width of the first flexible sheet and the second flexible sheet; r is the fillet radius; l is the length of the first flexible sheet and the second flexible sheet; E is the elastic modulus of the material of the first flexible sheet and the second flexible sheet.

4. The heavy-duty combined flexible hinge according to claim 3, characterized in that: When the rotation of the first flexible beam assembly and / or the second flexible beam assembly reaches the maximum value θ max hour ， The stress of the first flexible beam component and / or the second flexible beam component for: ； ； When the first flexible beam component and / or the second flexible beam component is subjected to a radial load force Fz, the stress of the first flexible beam component and / or the second flexible beam component is for: ； ； Among them, k b is the bending stress concentration factor of the first flexible beam assembly and / or the second flexible beam assembly, k t is the tensile and compressive stress concentration factor of the first flexible beam component and / or the second flexible beam component.

5. The heavy-duty combined flexible hinge according to claim 2, characterized in that: The first flange assembly is connected to one end of the second flexible beam assembly located on the first notch side; the second flange assembly is connected to one end of the first flexible beam assembly located on the second notch side; The first flange assembly and the second flange assembly have the same structure, both including a first flange plate and a second flange plate; one of the first flange plate and the second flange plate is provided with a first countersunk hole, and the other of the first flange plate and the second flange plate is provided with a first threaded hole.

6. The heavy-duty combined flexible hinge according to claim 2, characterized in that: The flexible beam connection assembly includes a first connection beam, a second connection beam, a third connection beam and a fourth connection beam; the first connection beam is located in the first area, the second connection beam is located in the second area, the third connection beam is located in the third area, and the fourth connection beam is located in the fourth area; One end of the first connecting beam is connected to one end of the second connecting beam through the first mounting portion of the first flexible beam; the other end of the first connecting beam is connected to one end of the fourth connecting beam through the third mounting portion of the fourth flexible beam; The other end of the second connecting beam is connected to one end of the third connecting beam through the third mounting portion of the third flexible beam; the other end of the third connecting beam is connected to the other end of the fourth connecting beam through the first mounting portion of the second flexible beam.

7. The heavy-duty combined flexible hinge according to claim 6, characterized in that: The first connecting beam includes a first connecting portion, a second connecting portion and a first supporting block; the first connecting portion is connected to one end of the first supporting block, and the second connecting portion is connected to the other end of the first supporting block; the first connecting portion and the second connecting portion are used to achieve connections in two different directions; a second countersunk hole is provided on both the first connecting portion and the second connecting portion.

8. The heavy-duty combined flexible hinge according to claim 7, characterized in that: The second connecting beam includes a third connecting portion, a fourth connecting portion, and a second support block; the third connecting portion is connected to one end of the second support block, and the fourth connecting portion is connected to the other end of the second support block; the third connecting portion and the fourth connecting portion are used to achieve connection in two different directions; and a second threaded hole is provided on each of the third connecting portion and the fourth connecting portion. The first bolt passes through the second countersunk hole of the first connecting part, the first through hole of the first mounting part of the first flexible beam and the second threaded hole of the third connecting part in sequence, so that the first connecting part and the third connecting part clamp the first mounting part of the first flexible beam.

9. The heavy-duty combined flexible hinge according to claim 8, characterized in that: The third connecting beam includes a fifth connecting portion, a sixth connecting portion, and a third support block; the fifth connecting portion is connected to one end of the third support block, and the sixth connecting portion is connected to the other end of the third support block; the fifth connecting portion and the sixth connecting portion are used to achieve connection in two different directions; and a second countersunk hole is provided on each of the fifth connecting portion and the sixth connecting portion. The second bolt passes through the second countersunk hole of the sixth connecting part, the first through hole of the third mounting part of the third flexible beam and the second threaded hole of the fourth connecting part in sequence, so that the sixth connecting part and the fourth connecting part clamp the third mounting part of the third flexible beam.

10. The heavy-duty combined flexible hinge according to claim 9, characterized in that: The fourth connecting beam includes a seventh connecting portion, an eighth connecting portion, and a fourth support block; the seventh connecting portion is connected to one end of the fourth support block, and the eighth connecting portion is connected to the other end of the fourth support block; the seventh connecting portion and the eighth connecting portion are used to achieve connection in two different directions; and a third threaded hole is provided on each of the seventh connecting portion and the eighth connecting portion. A third bolt is sequentially passed through the second countersunk hole of the fifth connecting portion, the first through hole of the first mounting portion of the second flexible beam, and the third threaded hole of the seventh connecting portion, so that the fifth connecting portion and the seventh connecting portion clamp the first mounting portion of the second flexible beam; The fourth bolt passes through the second countersunk hole of the second connecting part, the first through hole of the third mounting part of the fourth flexible beam and the second threaded hole of the eighth connecting part in sequence, so that the second connecting part and the eighth connecting part clamp the third mounting part of the fourth flexible beam.

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