CN106122326A - Continuous elastic rigidity adjuster - Google Patents
Continuous elastic rigidity adjuster Download PDFInfo
- Publication number
- CN106122326A CN106122326A CN201610785460.9A CN201610785460A CN106122326A CN 106122326 A CN106122326 A CN 106122326A CN 201610785460 A CN201610785460 A CN 201610785460A CN 106122326 A CN106122326 A CN 106122326A
- Authority
- CN
- China
- Prior art keywords
- central shaft
- continuous elastic
- opening annulus
- elastic rigidity
- opening
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F1/00—Springs
- F16F1/02—Springs made of steel or other material having low internal friction; Wound, torsion, leaf, cup, ring or the like springs, the material of the spring not being relevant
- F16F1/025—Springs made of steel or other material having low internal friction; Wound, torsion, leaf, cup, ring or the like springs, the material of the spring not being relevant characterised by having a particular shape
- F16F1/028—Springs made of steel or other material having low internal friction; Wound, torsion, leaf, cup, ring or the like springs, the material of the spring not being relevant characterised by having a particular shape cylindrical, with radial openings
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
- H02K7/1163—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears where at least two gears have non-parallel axes without having orbital motion
- H02K7/1166—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears where at least two gears have non-parallel axes without having orbital motion comprising worm and worm-wheel
Abstract
A kind of continuous elastic rigidity adjuster, including: opening annulus, central shaft and connector, wherein: opening annulus, central shaft and connector, wherein: one end of opening annulus is connected with one end of central shaft by connecting rod, the other end of central shaft is provided with drive mechanism, connector is sheathed on opening annulus, central shaft in the present invention is solely subjected to the pressure of bearing, there is no moment of flexure, it is prone to keep required rigidity, the rigidity of device can easily be accommodated, rigidity can be freely regulated in the case of bearing external force, the input power of overall structure simple motor is little, easy to operate, precision is high.
Description
Technical field
The present invention relates to the technology of a kind of mechanical structure field, specifically a kind of continuous elastic rigidity adjuster.
Background technology
Cantilever part can occur bending and deformation under the effect of horizontal concentration power, and then produces amount of deflection.Flexible rigidity is by cantilever
The Young's modulus of elasticity of part, cross sectional moment of inertia and arm of force size etc. determine.For a given cantilever part, Young springform
Amount and cross sectional moment of inertia are certain, and the arm of force of cantilever part is the biggest, and the flexible rigidity of cantilever part is the least；Otherwise, cantilever part
The arm of force is the least, and the flexible rigidity of cantilever part is the biggest.
Summary of the invention
The present invention is directed to prior art more employing hydraulic servomechanism be driven, its sealing requirements to plunger shaft
The most high restriction, proposes a kind of continuous elastic rigidity adjuster, and simple and compact for structure, easy to operate, precision is high, can be suitable for
In micro-step motor, it is easy to accomplish overall structure is miniaturized.
The present invention is achieved by the following technical solutions:
The present invention includes: opening annulus, central shaft and connector, wherein: connecting rod and center are passed through in one end of opening annulus
One end of axle is connected, and the other end of central shaft is provided with drive mechanism, and connector is sheathed on opening annulus.
Described drive mechanism includes: worm gear and the worm screw being connected with motor, wherein: worm gear is fixed on central shaft end, snail
Worm and wheel is meshed to drive worm gear to rotate.
Described motor is motor.
Described central shaft outer wall is provided with rectangular boss vertically.
Described connecting rod is connected with rectangular boss.
The radial section of described opening annulus is rectangle, and its area of section is preferably by open at one end to the opening other end
Being gradually increased, one end of the radial section maximum of the opening part of opening annulus is connected with one end of central shaft by connecting rod, thus
Realize the range of accommodation of the flexible rigidity of bigger opening annulus.
The interval difference of the flexible rigidity that the length-width ratio of described rectangle needs in applying according to reality, can have different
Length-width ratio, preferably 1～1.6.
The cross section of described connecting rod is rectangle.
The radial section of described opening annulus is circular.
Described connector includes: Y type head and roller, wherein: roller is arranged at the Y type opening part of Y type head.
Technique effect
Compared with prior art, the central shaft in the present invention is solely subjected to the pressure of bearing, does not has moment of flexure, it is easy to keep required
Rigidity；The rigidity of device can easily be accommodated, it is possible to freely regulates rigidity in the case of bearing external force；Overall structure is simple, motor
Input power little, easy to operate, precision is high.
Accompanying drawing explanation
Fig. 1 is overall structure schematic diagram of the present invention；
Fig. 2 is top view of the present invention；
Fig. 3 is Y type head and roller structure schematic diagram；
Fig. 4 is rigidity test result figure；
In figure: 1 opening annulus, 2 central shafts, 3 worm gears, 4 worm screws, 5Y type head, 6 rollers, 7 motors, 8 connecting rods.
Detailed description of the invention
Elaborating embodiments of the invention below, the present embodiment is carried out under premised on technical solution of the present invention
Implement, give detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following enforcement
Example.
Embodiment 1
As shown in Fig. 1～2, the present embodiment includes: opening annulus 1, central shaft 2 and connector, wherein: opening annulus 1
Radial section area is gradually increased to the opening other end by open at one end, the radial section maximum of the opening part of opening annulus 1
One end is connected with central shaft 2 one end by connecting rod 8, and the other end of central shaft 2 is provided with drive mechanism, and connector is sheathed on open circles
On ring 1.
Described drive mechanism includes: worm gear 3 and the worm screw 4 being connected with motor, wherein: worm gear 3 is fixed on central shaft 2 one
End, worm screw 4 is meshed with worm gear 3 to drive worm gear 3 to rotate.This motor is motor 7, to drive worm screw 4 to rotate, thus is
Whole device provides power.
The outer wall of described central shaft 2 is provided with rectangular boss vertically.Connecting rod 8 is flat with the rectangular boss of central shaft 2 lower end
Face is connected.And worm gear 3 is sheathed on the upper end of central shaft 2, realize worm gear 3 and the synchronous axial system of central shaft 2 by boss.
The radial section of the opening annulus 1 described in the present embodiment is rectangle, and its length-width ratio is 1～1.6.The horizontal stroke of connecting rod 8
Cross section is also rectangle.The radial section of opening annulus 1 can also be circular.
As it is shown on figure 3, described connector includes: Y type head 5 and roller 6, wherein: the both sides bifurcated of Y type head 5 respectively with
Roller 6 two ends be connected, be i.e. arranged at Y type opening part, so that connector rolls along opening annulus 1, it is achieved rigidity can
Regulation.
During use, Y type head 5 is by external pull, and this pulling force is along the radial direction of opening annulus 1.Motor 7 drives
Opening annulus 1 rotates, so that the radial section area of the opening annulus 1 at Y type head 5 is different, it is achieved whole device rigidity
Change.
As shown in Figure 4, eight measurement positions P1, P2, P3, P4, P5, P6, P7 and P8 of opening annulus 1 are respectively and connecting rod
8 angles are at 22.5 °, 67.5 °, 112.5 °, 157.5 °, 202.5 °, 247.5 °, 292.5 ° and 337.5 °.Opening in experiment
The a diameter of 40mm of annulus 1, at its radial section minimum, a size of 2 × 2mm then becomes larger, and the cross sectional dimensions of connecting rod 8 is 2
×3mm.As seen from the figure, the pulling force deformation curve that Y type head 5 is in each position is overall linearly, illustrates that Y type head 5 is in
The rigidity of each position opening annulus 1 is certain, and along with Y type head 5 is gradually rolled to P8 from P1 position, the rigidity of device gradually becomes
Greatly, and closer to P8 position stiffness change the most greatly.The meansigma methods of rigidity test result is shown in Table 1, rigidity unit N/mm.
The meansigma methods of table 1 rigidity test result
| Position | P1 | P2 | P3 | P4 | P5 | P6 | P7 | P8 |
| Rigidity | 0.3 | 0.35 | 0.48 | 0.61 | 0.75 | 0.92 | 1.81 | 17.09 |
Compared with prior art, when the opening annulus in the present invention bears pulling force by Y type head, it is connected with opening annulus
Central shaft is solely subjected to the pressure of its bearing, not by moment of flexure, it is to avoid energy or device that employing is extra carry out resist torque, it is easy to protect
Hold the rigidity of setting.Not by the case of external force during the rigidity of adjusting means, central shaft is not by any end reaction or moment of flexure, step
Enter motor to have only to the least energy and drive worm gear to rotate, it is easy to rigidity is adjusted.If needing bearing external force
Effect under rigidity is adjusted, now central shaft is also primarily subjected to abutment pressure, horizontal between roller and opening annulus
Friction can cause the moment of flexure at bearing, and the present invention uses to roll to connect and at utmost reduces rubbing between roller and opening annulus
Wiping, the moment that therefore opening annulus centre bearing is subject in the case of opening annulus bears external force is the most limited, even if bearing
Regulating rigidity in the case of external force, the demand to the output of motor is also limited.Present configuration is the compactest,
Using motor to drive the mode of worm gear to regulate the output rigidity of opening annulus, easy to operate, precision is high, and to stepping
The demanded power output of motor is the least, can select micro-step motor, it is easy to accomplish overall structure is miniaturized.
Claims (10)
1. a continuous elastic rigidity adjuster, it is characterised in that including: opening annulus, central shaft and connector, wherein:
One end of opening annulus is connected with one end of central shaft by connecting rod, and the other end of central shaft is provided with drive mechanism, connector set
It is located at opening annulus；
Described drive mechanism includes: worm gear and be connected with the worm screw of motor, wherein: worm gear is fixed on central shaft end, worm screw with
Worm gear is meshed to drive worm gear to rotate.
Continuous elastic rigidity adjuster the most according to claim 1, is characterized in that, described motor is motor.
Continuous elastic rigidity adjuster the most according to claim 1, is characterized in that, described central shaft outer wall is vertically
It is provided with rectangular boss.
Continuous elastic rigidity adjuster the most according to claim 3, is characterized in that, described connecting rod and rectangular boss phase
Even.
Continuous elastic rigidity adjuster the most according to claim 1, is characterized in that, the radial direction of described opening annulus is cut
Face is rectangle.
Continuous elastic rigidity adjuster the most according to claim 1, is characterized in that, the radial direction of described opening annulus is cut
Face is circular.
7., according to the continuous elastic rigidity adjuster described in claim 1 or 5 or 6, it is characterized in that, described opening annulus
The area of section of radial section for be gradually increased by open at one end to the opening other end, the radial section of the opening part of opening annulus
Maximum one end is connected with one end of central shaft by connecting rod, thus realizes the regulation model of the flexible rigidity of bigger opening annulus
Enclose.
Continuous elastic rigidity adjuster the most according to claim 5, is characterized in that, the length-width ratio of described rectangle is 1
～1.6.
9. according to the continuous elastic rigidity adjuster described in claim 1 or 4 or 7, it is characterized in that, described connecting rod transversal
Face is rectangle.
Continuous elastic rigidity adjuster the most according to claim 1, is characterized in that, described connector includes: Y type
Head and roller, wherein: roller is arranged at the Y type opening part of Y type head.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610785460.9A CN106122326B (en) | 2016-08-31 | 2016-08-31 | Continuous elastic rigidity adjuster |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610785460.9A CN106122326B (en) | 2016-08-31 | 2016-08-31 | Continuous elastic rigidity adjuster |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106122326A true CN106122326A (en) | 2016-11-16 |
| CN106122326B CN106122326B (en) | 2018-03-06 |
Family
ID=57273367
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610785460.9A Active CN106122326B (en) | 2016-08-31 | 2016-08-31 | Continuous elastic rigidity adjuster |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106122326B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107041805A (en) * | 2016-12-30 | 2017-08-15 | 上海交通大学 | The continuously adjustable ankle orthopedic insoles of rigidity |
| CN109968399A (en) * | 2017-12-28 | 2019-07-05 | 中国科学院沈阳自动化研究所 | A kind of single motor variation rigidity joint |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3690194A (en) * | 1971-05-14 | 1972-09-12 | Gen Motors Corp | Work drive mechanism |
| US4183280A (en) * | 1977-12-01 | 1980-01-15 | Taiyo Hatsujo Mfg. Co., Ltd. | C-shaped retaining ring |
| US20020121152A1 (en) * | 2001-03-05 | 2002-09-05 | White David C. | Phased gear set comprised of a pair of phased gears |
| JP3713792B2 (en) * | 1996-02-29 | 2005-11-09 | アイシン精機株式会社 | Power window regulator device |
| CN104245247A (en) * | 2012-04-13 | 2014-12-24 | 睿信科机器人有限公司 | Flexure elements for series elastic actuators and related methods |
| CN204213239U (en) * | 2014-11-10 | 2015-03-18 | 长安大学 | The dynamic vibration absorber that a kind of rigidity is adjustable |
-
2016
- 2016-08-31 CN CN201610785460.9A patent/CN106122326B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3690194A (en) * | 1971-05-14 | 1972-09-12 | Gen Motors Corp | Work drive mechanism |
| US4183280A (en) * | 1977-12-01 | 1980-01-15 | Taiyo Hatsujo Mfg. Co., Ltd. | C-shaped retaining ring |
| JP3713792B2 (en) * | 1996-02-29 | 2005-11-09 | アイシン精機株式会社 | Power window regulator device |
| US20020121152A1 (en) * | 2001-03-05 | 2002-09-05 | White David C. | Phased gear set comprised of a pair of phased gears |
| CN104245247A (en) * | 2012-04-13 | 2014-12-24 | 睿信科机器人有限公司 | Flexure elements for series elastic actuators and related methods |
| CN204213239U (en) * | 2014-11-10 | 2015-03-18 | 长安大学 | The dynamic vibration absorber that a kind of rigidity is adjustable |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107041805A (en) * | 2016-12-30 | 2017-08-15 | 上海交通大学 | The continuously adjustable ankle orthopedic insoles of rigidity |
| CN109968399A (en) * | 2017-12-28 | 2019-07-05 | 中国科学院沈阳自动化研究所 | A kind of single motor variation rigidity joint |
| CN109968399B (en) * | 2017-12-28 | 2021-05-11 | 中国科学院沈阳自动化研究所 | Single-motor variable-rigidity joint |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106122326B (en) | 2018-03-06 |
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Effective date of registration: 20200119 Address after: 200240 Shanghai city Minhang District Jianchuan Road No. 951 Building 5 layer 1 (centralized registration) Patentee after: Shanghai Zushi Intelligent Technology Co., Ltd Address before: 200240 Dongchuan Road, Shanghai, No. 800, No. Patentee before: Shanghai Jiaotong University |