Multi-degree-of-freedom flexible universal shaft

Abstract

The utility model discloses a multi-degree-of-freedom flexible cardan shaft which comprises a first adjusting assembly, a second adjusting assembly is arranged on the first adjusting assembly, the first adjusting assembly and the second adjusting assembly are matched with each other, and the structure of a cross shaft, an adjusting frame and a flexible shaft is combined, so that the stability and the adjusting precision of the cardan shaft are remarkably improved; a connecting cylinder and a cross shaft in the first adjusting assembly form multi-degree-of-freedom support, and in cooperation with flexible transmission of a flexible shaft, stress concentration can be effectively dispersed, material creep deformation and fatigue risks are reduced, so that the service life is prolonged, and long-term movement precision is maintained; the bending angle is accurately limited, position deviation caused by external force or vibration is prevented, the transmission stability is ensured, meanwhile, the angle adjusting operation is simplified through the design of the adjusting handle and the limiting column, and practicability is enhanced.

Description

TECHNICAL FIELD

[0001] The utility model relates to flexible universal shaft technical field, concretely relates to a kind of multi-degree-of-freedom flexible universal shaft. BACKGROUND

[0002] Flexible universal shaft is a kind of transmission based on flexible material or structure, can realize multi-degree-of-freedom motion compensation and power transmission, with vibration reduction, noise reduction and the ability to adapt to complex working conditions, widely used in robot, aerospace, precision instrument and high-end equipment etc.

[0003] The flexible structure of the existing flexible universal shaft is prone to creep or fatigue in long-term use, resulting in a decrease in motion accuracy, and when bent to a certain angle, it is mostly in a movable state and cannot be limited, so that the flexible universal shaft will produce position deviation during use, thereby affecting the use effect.

[0004] For the problems in the related art, no effective solution has been proposed so far. UTILITY MODEL CONTENT

[0005] For the problems in the related art, the utility model provides a kind of multi-degree-of-freedom flexible universal shaft to overcome the above technical problems existing in the prior art.

[0006] Therefore, the utility model adopts the specific technical scheme as follows:

[0007] A kind of multi-degree-of-freedom flexible universal shaft, including first adjusting assembly, the second adjusting assembly is arranged on the first adjusting assembly, the first adjusting assembly includes connecting barrel, the both ends of the connecting barrel are connected with first cross shaft, the both ends of the first cross shaft are connected with first adjusting frame, and flexible shaft is fixedly arranged on the side of the first adjusting frame.

[0008] Further, to better ensure the adjustment effect of multi-degree-of-freedom, the other end of the flexible shaft is provided with the second adjusting frame, the second adjusting frame is connected with the second cross shaft in the inside, and the both ends of the second cross shaft are connected with the third adjusting frame.

[0009] Further, to better ensure the adjustment effect, the first cross shaft and the second cross shaft are both composed of horizontal shaft and vertical shaft, and one end of the horizontal shaft and the vertical shaft respectively penetrates one end of the connecting barrel, the first adjusting frame, the second adjusting frame and the third adjusting frame.

[0010] Further, to better ensure the fixed connection effect, a plurality of connecting holes are formed in the side of the third adjusting frame.

[0011] Further, in order to better guarantee the angle limiting effect, the second adjusting assembly comprises a ratchet wheel, which is arranged at one end of the transverse shaft and the vertical shaft, a pawl is engagedly connected on the ratchet wheel, and an adjusting handle is fixedly arranged on the pawl.

[0012] Further, in order to better guarantee the limiting effect, a tension spring is arranged on one side of the pawl, and a rotating shaft is arranged on the pawl and the tension spring, and a limiting column is arranged on one side of the pawl.

[0013] Further, in order to better guarantee the adjusting effect, the rotating shaft and the limiting column are respectively rotationally connected to the connecting barrel, the first adjusting frame, the second adjusting frame and the third adjusting frame.

[0014] The beneficial effects of the utility model are as follows: through the mutual cooperation of the first adjusting assembly and the second adjusting assembly, in combination with the structure of the cross shaft, the adjusting frame and the flexible shaft, the stability and the adjusting precision of the universal shaft are remarkably improved, the connecting barrel in the first adjusting assembly forms a multi-degree-of-freedom support with the cross shaft, cooperates with the flexible transmission of the flexible shaft, can effectively disperse stress concentration, reduces the creep and fatigue risk of the material, thereby prolongs the service life and maintains long-term motion precision, the ratchet mechanism of the second adjusting assembly is locked through the engagement of the pawl and the tension spring, realizes the accurate limiting of the bending angle, prevents the position deviation caused by external force or vibration, ensures the transmission stability, meanwhile, the design of the adjusting handle and the limiting column simplifies the angle adjusting operation and enhances the practicability. BRIEF DESCRIPTION OF DRAWINGS

[0015] In order to more clearly illustrate the technical scheme in the embodiments of the utility model or the prior art, the drawings needed to be used in the embodiments will be briefly introduced below, obviously, the drawings in the following description are only some embodiments of the utility model, and those skilled in the art can also obtain other drawings according to these drawings without creating creative labor.

[0016] Figure 1 It is a structure diagram of a multi-degree-of-freedom flexible universal shaft according to the utility model embodiment;

[0017] Figure 2 It is a first adjusting assembly exploded view of a multi-degree-of-freedom flexible universal shaft according to the utility model embodiment;

[0018] Figure 3 It is a first adjusting assembly structure partial view of a multi-degree-of-freedom flexible universal shaft according to the utility model embodiment;

[0019] Figure 4 It is a second adjusting assembly structure diagram of a multi-degree-of-freedom flexible universal shaft according to the utility model embodiment;

[0020] Figure 5 This is a partial structural view of the second adjustment component of a multi-degree-of-freedom flexible universal joint according to an embodiment of the present utility model.

[0021] In the picture:

[0022] 1. First adjusting assembly; 101. Connecting cylinder; 102. First cross shaft; 103. First adjusting frame; 104. Flexible shaft; 105. Second adjusting frame; 106. Second cross shaft; 107. Third adjusting frame; 2. Second adjusting assembly; 201. Ratchet; 202. Pawl; 203. Tension spring; 204. Rotating shaft; 3. Horizontal shaft; 4. Vertical shaft; 5. Connecting hole; 6. Adjusting handle; 7. Limiting post. Detailed Implementation

[0023] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0024] Example 1:

[0025] like Figures 1-5 As shown, a multi-degree-of-freedom flexible universal joint according to an embodiment of the present utility model includes a first adjustment component 1;

[0026] The first adjustment assembly 1 includes a connecting cylinder 101. The two ends of the connecting cylinder 101 are connected to a first cross shaft 102. The two ends of the first cross shaft 102 are connected to a first adjustment frame 103. A flexible shaft 104 is fixedly installed on one side of the first adjustment frame 103. The flexible shaft 104 is made of existing conventional materials, usually elastic materials or spiral winding structures. A second adjustment frame 105 is installed at the other end of the flexible shaft 104. A second cross shaft 106 is connected inside the second adjustment frame 105. A third adjustment frame 107 is connected to both ends of the second cross shaft 106. The first cross shaft 102 and the second cross shaft 106 are both composed of a horizontal shaft 3 and a vertical shaft 4. One end of the horizontal shaft 3 and the vertical shaft 4 respectively passes through one end of the connecting cylinder 101, the first adjustment frame 103, the second adjustment frame 105, and the third adjustment frame 107. A plurality of connection holes 5 are opened on one side of the third adjustment frame 107 for connecting to an external drive end.

[0027] In actual application, the first cross shaft 102 and the second cross shaft 106 connected at both ends of the connecting cylinder 101 are composed of the horizontal shaft 3 and the vertical shaft 4, so that the universal shaft can freely rotate in two perpendicular directions, that is, not only the rotation around the horizontal shaft 3 can be realized, but also the rotation around the vertical shaft 4 can be realized, thereby providing two main degrees of freedom, the flexible shaft 104 is fixedly arranged on one side of the first adjusting frame 103 and extends to the second adjusting frame 105, the unique property of the flexible shaft 104 facilitates the deformation of the flexible shaft 104 when subjected to external force, so as to adapt to various complex motion trajectories and increase additional degrees of freedom, in addition, the presence of the flexible shaft 104 makes the whole structure can more smoothly transmit torque and displacement, reduces the damage that may be caused by rigid collision, due to the connection mode of the first cross shaft 102 and the second cross shaft 106 with the connecting cylinder 101, the first adjusting frame 103, the second adjusting frame 105 and the third adjusting frame 107, the force applied to the universal shaft can be uniformly distributed in the whole structure, avoiding the occurrence of local stress concentration phenomenon, which greatly reduces the risk of creep of the material due to long-time stress.

[0028] Embodiment two:

[0029] As Figures 1-5 shown, according to the multi-degree-of-freedom flexible universal shaft, the first adjusting assembly 1 is provided with the second adjusting assembly 2.

[0030] The second adjusting assembly 2 comprises a ratchet wheel 201, the ratchet wheel 201 is arranged at one end through by the horizontal shaft 3 and the vertical shaft 4, the ratchet wheel 201 is engaged with a pawl 202, the pawl 202 is fixedly provided with an adjusting handle 6, one side of the pawl 202 is provided with a tension spring 203, the pawl 202 and the tension spring 203 are provided with a rotating shaft 204, one side of the pawl 202 is provided with a limiting column 7, and the rotating shaft 204 and one end of the limiting column 7 are respectively rotatably connected to the connecting cylinder 101, the first adjusting frame 103, the second adjusting frame 105 and the third adjusting frame 107.

[0031] In practical application, the stretch spring 203 exerts a pre-tightening force on the pawl 202 when there is no external operation, so that the pawl 202 is tightly engaged with the ratchet wheel 201, at this time, since the ratchet wheel 201 is fixedly arranged at one end of the transverse shaft 3 and the vertical shaft 4, the entire universal shaft is kept in a stable state and cannot be deviated in position due to slight external force or vibration, when the angle needs to be adjusted, the user overcomes the elastic force of the stretch spring 203 to move the pawl 202 by operating the adjusting handle 6, with the rotation of the adjusting handle 6, the pawl 202 slides along the toothed surface of the ratchet wheel 201, facilitating the rotation of the ratchet wheel 201 to a new position, in this process, the rotating shaft 204 and the limiting column 7 jointly provide a stable rotating fulcrum for the pawl 202 and limit the excessive movement of the pawl 202, ensuring the stability and accuracy of the adjusting process, once the required angle is reached, the user releases the adjusting handle 6, and the stretch spring 203 pushes the pawl 202 back to the position in close contact with the ratchet wheel 201 again, realizing self-locking, in this way, even if there is additional external force applied to the system, the ratchet wheel 201 will not easily reverse, thereby keeping the set angle unchanged.

[0032] In order to facilitate the understanding of the above technical solutions of the present application, the working principle or operation mode of the present application in the actual process will be described in detail below.

[0033] In summary, by means of the above technical scheme of the utility model, the first cross shaft 102 and the second cross shaft 106 connected at both ends of the connecting cylinder 101 are composed of the horizontal shaft 3 and the vertical shaft 4, so that the universal shaft can rotate freely in two perpendicular directions, that is, not only the rotation around the horizontal shaft 3 can be realized, but also the rotation around the vertical shaft 4 can be realized, thereby providing two main degrees of freedom, the flexible shaft 104 is fixedly arranged at one side of the first adjusting frame 103 and extends to the second adjusting frame 105, the unique property of the flexible shaft 104 facilitates the deformation of the flexible shaft 104 when subjected to external force, so as to adapt to various complex motion trajectories and increase the additional degree of freedom, in addition, the existence of the flexible shaft 104 enables the whole structure to transmit the torque and displacement more smoothly, reduces the damage possibly caused by the rigid collision, due to the connection mode of the first cross shaft 102 and the second cross shaft 106 with the connecting cylinder 101, the first adjusting frame 103, the second adjusting frame 105 and the third adjusting frame 107, the force applied to the universal shaft can be uniformly distributed in the whole structure, the local stress concentration phenomenon is avoided, which greatly reduces the risk of creep of the material due to long-time stress, when there is no external operation, the stretching spring 203 exerts a pre-tightening force on the pawl 202, so that the pawl 202 is tightly engaged with the ratchet wheel 201, at this time, since the ratchet wheel 201 is fixedly arranged at one end of the horizontal shaft 3 and the vertical shaft 4, the whole universal shaft remains in a stable state and will not be deviated due to slight external force or vibration, when the angle needs to be adjusted, the user moves the pawl 202 by operating the adjusting handle 6 to overcome the elastic force of the stretching spring 203. With the rotation of the adjusting handle 6, the pawl 202 slides along the toothed surface of the ratchet wheel 201, so that the ratchet wheel 201 is conveniently rotated to a new position, in this process, the shaft 204 and the limiting column 7 jointly act to provide a stable rotation fulcrum for the pawl 202 and limit the excessive movement of the pawl 202, thereby ensuring the stability and accuracy of the adjusting process, once the required angle is reached, the user releases the adjusting handle 6, and the stretching spring 203 pushes the pawl 202 back to the position in close contact with the ratchet wheel 201 again to realize self-locking, so that even if there is additional external force applied to the system, the ratchet wheel 201 will not easily reverse, thereby keeping the set angle unchanged.

[0034] The above merely describes the preferred embodiments of the utility model and is not intended to limit the utility model, and any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.

Claims

1. A multi-degree of freedom flexible cardan shaft, characterized in that, The utility model provides a kind of adjustable assembly, including first adjusting component (1), second adjusting component (2) are provided on the first adjusting component (1); The first adjusting component (1) includes connecting cylinder (101), first cross shaft (102) is connected at both ends of connecting cylinder (101), first adjusting frame (103) is connected at both ends of first cross shaft (102), flexible shaft (104) is fixedly arranged on one side of first adjusting frame (103).

2. The multi-degree of freedom flexible cardan shaft according to claim 1, characterized in that, Second adjusting frame (105) is arranged at the other end of flexible shaft (104), second cross shaft (106) is connected in the second adjusting frame (105), third adjusting frame (107) is connected at both ends of second cross shaft (106).

3. A multi-degree of freedom flexible cardan shaft according to claim 2, characterized in that, The first cross shaft (102) and the second cross shaft (106) are both composed of horizontal shaft (3) and vertical shaft (4), one end of the horizontal shaft (3) and the vertical shaft (4) respectively penetrates one end of the connecting cylinder (101), the first adjusting frame (103), the second adjusting frame (105) and the third adjusting frame (107).

4. A multi-degree of freedom flexible cardan shaft according to claim 3, characterized in that, A plurality of connecting holes (5) are formed on one side of the third adjusting frame (107).

5. A multi-degree of freedom flexible cardan shaft according to claim 4, characterized in that, The second adjusting component (2) includes ratchet wheel (201), the ratchet wheel (201) is arranged at one end of horizontal shaft (3) and vertical shaft (4), the pawl (202) is engaged and connected on the ratchet wheel (201), the adjusting handle (6) is fixedly arranged on the pawl (202).

6. A multi-degree of freedom flexible cardan shaft according to claim 5, characterized in that, Stretching spring (203) is arranged on one side of the pawl (202), the rotating shaft (204) is arranged on the pawl (202) and the stretching spring (203), the limit post (7) is arranged on one side of the pawl (202).

7. A multi-degree of freedom flexible cardan shaft according to claim 6, characterized in that, The rotating shaft (204) and one end of the limit post (7) are respectively rotatably connected on the connecting cylinder (101), the first adjusting frame (103), the second adjusting frame (105) and the third adjusting frame (107).

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