Joint
阅读说明:本技术 接头 (Joint ) 是由 赖因哈德·胡布纳 于 2018-07-04 设计创作,主要内容包括:本发明涉及一种接头,该接头具有至少三个旋转自由度,具有刚性的承载元件和至少两个以至少部分地重叠的布置形成在所述承载元件上的弹性可变形的接头元件,其中,每个接头元件包括布置在承载元件上并且从承载元件延伸的两个杆状的腹板部分,两个腹板部分相对于彼此汇聚地或者发散地布置,并且腹板部分在背离承载元件的端部处通过接触部分彼此连接,其中,两个彼此连接的腹板部分在第一公共平面中延伸,而另外两个彼此连接的腹板部分在第二公共平面中延伸,并且第一公共平面和第二公共平面相交。本发明还涉及一种平行运动调节装置,其具有至少一个根据本发明的接头。(The invention relates to a joint having at least three rotational degrees of freedom, having a rigid carrier element and at least two elastically deformable joint elements which are formed on the carrier element in an at least partially overlapping arrangement, wherein each joint element comprises two rod-shaped web portions which are arranged on the carrier element and extend from the carrier element, the two web portions being arranged convergent or divergent with respect to one another, and the web portions being connected to one another at the end facing away from the carrier element by a contact portion, wherein the two web portions connected to one another extend in a first common plane and the other two web portions connected to one another extend in a second common plane, and the first common plane and the second common plane intersect. The invention also relates to a parallel movement adjusting device having at least one joint according to the invention.)
1. Joint (1), the joint (1) having at least three rotational degrees of freedom, having a rigid carrier element (2) and at least two elastically deformable joint elements (3) formed thereon in an at least partially overlapping arrangement, wherein each joint element (3) comprises two rod-like web portions (4) arranged on the carrier element (2) and extending from the carrier element (2), the web portions (4) being arranged convergent or divergent with respect to each other, and the two web portions (4) being connected to each other at an end facing away from the carrier element (2) by a contact portion (5), wherein the two web portions (4) connected to each other extend in a first common plane and the other two web portions (4) connected to each other extend in a second common plane, and the first common plane and the second common plane intersect.
2. A joint according to claim 1, wherein the web portion (4) of one of the joint elements (3) extends at least partially between the web portions (4) of the other joint element (3).
3. Joint according to claim 1 or 2, wherein the contact portions are formed integrally with the two associated rod-like web portions (4).
4. The joint according to any one of the preceding claims, wherein the two web portions (4) of a joint element (3) are connected to each other at the end facing the carrier element (2) by a fixing portion (6), the fixing portion (6) being formed integrally with the web portions (4), and each joint element (3) is connected to the carrier element (2) by the fixing portion (6).
5. Joint according to any of the preceding claims, characterized in that the angle defined between the web portions (4) of the joint elements (3) is between 60 ° and 120 °, preferably between 70 ° and 95 °.
6. Joint according to any of the preceding claims, characterized in that at least one elastically deformable support element (7) is arranged on the carrying element (2).
7. A joint according to claim 5, characterized in that the support element (7) extends between two of the joint elements (3) in a direction away from the carrier element (2).
8. The joint according to any one of the preceding claims, characterized in that the joint comprises four joint elements (3) arranged on the carrier element (2) and two support elements (7) arranged on the carrier element (2), wherein the joint elements (3) are arranged in pairs and the support elements (7) are located at opposite ends of the carrier element (2), respectively.
9. A parallel movement adjustment device having a fixed base and a platform adjustable relative to the base, wherein at least one joint according to any one of the preceding claims is arranged between the base and the platform.
10. Parallel motion adjustment device according to claim 9, characterized in that the parallel motion adjustment device comprises six joints, wherein drive elements are arranged on three joints, respectively, for driving the respective joints, respectively, and three further joints are connected to a common guiding platform by one end of the three further joints.
11. The parallel motion adjustment apparatus of claim 10 wherein the joints connected to the common guide platform are connected to the internal holding portion of the platform by respective other ends of the joints.
Technical Field
The invention relates to a joint according to
Background
Publication US 2014/0147193 a1 describes a universal joint having two flexible frame elements arranged orthogonally to each other, wherein the frame elements are connected to each other by a flexible joint.
A flexible joint is known from DE 102014006727B 3, which has two bearing elements which are arranged pivotably about an axis of rotation and are connected to one another by means of a spring element. According to the invention, a helical or spiral-shaped elastic element is arranged between the two bearing elements.
DE 102014002182 a1 teaches a two-axis deflectable integral flexible joint with two pairs of oppositely disposed curved cross springs connected to each other by a web.
DE 69703871T 2 relates to a flexible planar pivot joint with intersecting blades, wherein the blades are each configured integrally with a connecting element.
US 2011/0188926 a1 describes a joint in which two elements movable relative to each other are connected to each other by intersecting annular web portions.
From the general state of the art, a ball joint is also known in which the ball head is mounted in a complementary shaped ball seat. Such a spherical joint is capable of rotational or swiveling movement about all three spatial axes.
The main disadvantage of the ball joints known from the general prior art is that there is a disengagement moment which must first be overcome to move (i.e. pivot or twist) the ball joint. This disengagement torque is due to the fact that: in a friction pair of a ball head and a ball seat in a rest state, there is friction between the ball head and the ball disc, which is higher than the coefficient of sliding friction that prevails in the relative movement between the ball head and the ball seat. In order to achieve a range of sliding friction coefficients, a certain force must first be overcome, which force is essentially determined by the static friction coefficient.
Such a breakaway torque is particularly disadvantageous when, for example, a ball joint is used in the case of an adjusting device, where high-resolution and high-precision adjusting movements are to be achieved. In addition, the breakaway torque has a detrimental effect on the wear of the friction pair of the ball head and the ball seat. Increased wear results in reduced positioning accuracy for positioning applications and corresponding wear particles may cause corresponding contamination problems in certain applications, such as clean room conditioning equipment.
Disclosure of Invention
It is therefore an object of the present invention to provide a joint having at least three rotational degrees of freedom, i.e. having the function of a ball joint, in which the breakaway torque is completely or largely eliminated and at the same time a simple and inexpensive manner is possible.
This object is achieved by a joint according to
Throughout the following part of the description, the term "substantially" used for geometrical data such as angles, dimensions, positions, orientations or orientations is to be understood as meaning that the corresponding geometrical data may deviate +/-5% compared to the respectively specified geometrical data, wherein the deviation is for example due to manufacturing or assembly tolerances.
The joint according to the invention comprises a rigid carrier element and at least two elastically deformable joint elements formed on the carrier element in an at least partially overlapping arrangement. Each joint element comprises two rod-like web portions arranged on and extending from the carrier element. The two rod-like web portions of the joint element extend respectively such that they are arranged to extend towards each other, i.e. to converge with respect to each other, or they are arranged to diverge away from each other, i.e. to diverge with respect to each other.
The two web portions of the joint element are connected to each other at their ends facing away from the carrier element by contact portions. Two web portions connected by respective contact portions extend or define a first common plane, respectively, in a first common plane, and two further web portions connected to each other by respective contact portions extend or define a second common plane, in a second common plane, wherein the first and second common planes intersect, i.e. the first and second common planes are not arranged parallel to each other.
Advantageously, the web portion of one joint element extends at least partially between the web portions of the other joint element. The intersecting arrangement of the web portions of the two joint elements is thus relatively easy to achieve.
It is also advantageous that the contact portions are formed integrally with the two associated rod-like web portions. This achieves a reduction of parts of the joint, thereby simplifying the assembly of the joint, and can be achieved more quickly and cheaply, respectively.
It is furthermore advantageous if the two web portions of the joint element at their ends facing the carrier element are connected to each other by a fixing portion, which is integrally formed with the web portions, and the respective joint element is connected to the carrier element by the fixing portion. This makes it particularly easy to connect the joint element to the carrier element.
In addition, it is advantageous if the angle defined between the web portions of the joint elements is between 60 ° and 120 °, preferably between 70 ° and 95 °.
In addition, it is advantageous if at least one elastically deformable supporting element is arranged on the carrier element. In this case, it is particularly advantageous if the support element extends between the two joint elements in a direction away from the carrier element. By means of the supporting element, a tensile force can easily be exerted on the web section of the joint element, so that a pretensioning force of the joint element is generated in the direction of extension of the joint.
In addition, it is advantageous if the joint comprises four joint elements arranged on the carrier element and two support elements arranged on the carrier element, wherein the joint elements are arranged in pairs at opposite ends of the carrier element and the support elements are provided at opposite ends of the carrier element, respectively. Due to the respective symmetrical construction of the joint, approximately the same flexibility with respect to all rotational degrees of freedom is achieved on both sides of the carrier element.
The invention also relates to a parallel movement adjustment device having a fixed base and a platform which is adjustable relative to the base, wherein at least one joint as described above is arranged between the base and the platform.
It is particularly advantageous at present to use six joints, in each of which four joint elements and two support elements are arranged on the carrier element, respectively, and wherein the drive elements are arranged to three joints, which are defined as active joints, respectively, for driving the respective joints, and three further joints, which are defined as passive joints, are connected by one of their ends to a common guide platform.
In this case, it is advantageous that the joints connected to the common guide platform are connected to the internal holding portion of the platform by their respective other ends.
Drawings
Embodiments of the present invention will be described below with reference to the accompanying drawings, in which
FIG. 1 shows an embodiment of a joint according to the present invention;
fig. 2 shows the arrangement of the joint according to the invention according to fig. 1 in a parallel-motion adjustment device.
List of reference numerals
1 joint
2 bearing element
21 upper side of the carrier element
22 underside of the carrier element
3 connector element
4 Web part
5 contact part
6 fixing part
7 support element
8 fixing element
30 parallel motion adjusting device
40 platform
50 contact element
60 guide platform
70 guide element
80 internal holding part
90 outer holding part
100 actuating part
Detailed Description
Fig. 1 shows an embodiment of a joint 1 according to the invention, in which there are a total of four elastically deformable
The carrier element may be made of, for example, another metal than aluminum (e.g., steel), or may also be made of ceramic, which has a substantially rectangular shape with a central region having a greater thickness, whereupon the carrier element tapers with respect to its thickness towards its two distal ends.
Two joint elements arranged at the same distal end of the
The respective
With the
The two
The
The two
In the case of the
The two
The
The two
The first common plane in which the web portion of the joint element arranged at the distal end of the carrier element extends therein and there above is a web portion thereof differs from the second common plane in which the web portion of the element arranged at the same distal end of the carrier element extends therein and there below is a web portion thereof. In other words, the first common plane and the second common plane are not arranged parallel to each other such that the first common plane and the second common plane intersect or cross. This is achieved in particular in that the
The
Elastically
The support element extends in its elongated shape in a direction away from the carrier element and comprises a widened end portion at its free end, wherein the free end portion is provided for engagement with a higher-order structure, wherein the joint according to the invention is preferably used by means of a clamping connection. By connecting the support element to the higher-order structure, the support element will be subjected to a compressive force, and this compressive force will cause a tensile load of the joint element, in particular a corresponding pretension of the web portions in a direction substantially corresponding to the direction of extension of the carrier element or the joint, respectively.
Fig. 2 shows the arrangement or use, respectively, of the joint according to the invention of fig. 1 in a hexapod-shaped parallel
Each of the six
Three of the six
The passive fitting or its
At its end facing the
The passive joint there is mainly used for guiding the platform when the platform is tilted in two tilting axes extending perpendicular to each other, wherein the intersection of the tilting axes defines a so-called pivot point. The tilt axis or the pivot point, respectively, is ideally located outside the parallel motion adjustment means, i.e. on the surface of the object to be adjusted, e.g. a mirror. Other positions or locations of the pivot point, for example within the
The
The three joints actively moved by the drive element are arranged spaced apart from and not connected to the guiding platform. The
The
Since the
On the other hand, the support element of the passive joint provides a stable position or location around the movement defined by the tilting axis and the pivot point.
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