CN109990028B - A constant force compliance mechanism - Google Patents

A constant force compliance mechanism Download PDF

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CN109990028B
CN109990028B CN201910217941.3A CN201910217941A CN109990028B CN 109990028 B CN109990028 B CN 109990028B CN 201910217941 A CN201910217941 A CN 201910217941A CN 109990028 B CN109990028 B CN 109990028B
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guide rod
output end
base
constant force
fixed end
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CN109990028A (en
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陈贵敏
马付雷
李玲玲
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Xian Jiaotong University
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    • 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
    • F16F3/00—Spring units consisting of several springs, e.g. for obtaining a desired spring characteristic
    • 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
    • F16F3/00—Spring units consisting of several springs, e.g. for obtaining a desired spring characteristic
    • F16F3/02—Spring units consisting of several springs, e.g. for obtaining a desired spring characteristic with springs made of steel or of other material having low internal friction
    • F16F3/023—Spring units consisting of several springs, e.g. for obtaining a desired spring characteristic with springs made of steel or of other material having low internal friction composed only of leaf springs
    • 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
    • F16F2230/00—Purpose; Design features
    • F16F2230/0011—Balancing, e.g. counterbalancing to produce static balance
    • 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
    • F16F2230/00—Purpose; Design features
    • F16F2230/0052—Physically guiding or influencing
    • 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
    • F16F2238/00—Type of springs or dampers
    • F16F2238/02—Springs
    • F16F2238/022—Springs leaf-like, e.g. of thin, planar-like metal

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transmission Devices (AREA)
  • Vibration Dampers (AREA)

Abstract

一种恒力柔顺机构，包括基座和恒力单元；基座为边长相等的多边形，基座的每个边上均垂直于基座所在面设置有恒力单元，形成恒力柔顺机构；恒力单元包括固定端、输出端、簧片和导向杆；固定端为多边形框架结构，固定端的一端固定设置在基座上，另一端设置有导向杆，且导向杆与固定端之间滑动连接；固定端框架内部靠近导向杆一侧设置有输出端，输出端的两侧分别通过若干簧片与固定端框架连接，导向杆的一端输出端固定连接。本发明的整体结构对称布置，受力情况良好，输出力波动小且有导向装置，精度较高。

Figure 201910217941

A constant-force compliance mechanism includes a base and a constant-force unit; the base is a polygon with equal side lengths, and each side of the base is provided with a constant-force unit perpendicular to the surface of the base to form a constant-force compliance mechanism; The constant force unit includes a fixed end, an output end, a reed and a guide rod; the fixed end is a polygonal frame structure, one end of the fixed end is fixed on the base, the other end is provided with a guide rod, and the guide rod and the fixed end are slidably connected An output end is arranged inside the fixed end frame close to the side of the guide rod, the two sides of the output end are respectively connected with the fixed end frame through several reeds, and one end of the output end of the guide rod is fixedly connected. The overall structure of the present invention is symmetrically arranged, the force bearing condition is good, the output force fluctuation is small, the guide device is provided, and the precision is high.

Figure 201910217941

Description

一种恒力柔顺机构A constant force compliance mechanism

技术领域technical field

本发明属于机械领域，特别涉及一种恒力柔顺机构。The invention belongs to the field of machinery, and particularly relates to a constant force compliance mechanism.

背景技术Background technique

柔顺恒力机构可以在一段行程内保持恒定的输出力，因此在诸多领域和场合得到了广泛应用，如脆弱或不规则物体夹持、管道清洗、热力发电、力矫正、质量测量、机器人末端执行器等。目前，获得恒力的方法有：机电一体化、重力平衡等方法。机电一体化技术通过在系统中引入反馈作用，可以实现力的精确控制，但控制系统比较复杂，同时，力传感器造价较高，且其容易被噪声干扰，可靠性不高。重力平衡法通过重物受到的重力作为恒力的输入，可以获得很高的精度，但是这种装置对安装位置要求较高，难以满足实际应用条件。The compliant constant force mechanism can maintain a constant output force within a stroke, so it has been widely used in many fields and occasions, such as fragile or irregular object clamping, pipe cleaning, thermal power generation, force correction, quality measurement, robot end execution device, etc. At present, the methods of obtaining constant force include: mechatronics, gravity balance and other methods. Mechatronics technology can achieve precise force control by introducing feedback in the system, but the control system is relatively complex, and the force sensor is expensive, easily disturbed by noise, and has low reliability. The gravity balance method uses the gravity of the heavy object as the input of the constant force, and can obtain high precision, but this device has high requirements on the installation position and is difficult to meet the actual application conditions.

发明内容SUMMARY OF THE INVENTION

本发明的目的在于提供一种恒力柔顺机构，以解决上述问题。The purpose of the present invention is to provide a constant force compliance mechanism to solve the above problems.

为实现上述目的，本发明采用以下技术方案：To achieve the above object, the present invention adopts the following technical solutions:

一种恒力柔顺机构，包括基座和恒力单元；基座为边长相等的多边形，基座的每个边上均垂直于基座所在面设置有恒力单元，形成恒力柔顺机构；A constant-force compliance mechanism includes a base and a constant-force unit; the base is a polygon with equal side lengths, and each side of the base is provided with a constant-force unit perpendicular to the surface of the base to form a constant-force compliance mechanism;

恒力单元包括固定端、输出端、簧片和导向杆；固定端为多边形框架结构，固定端的一端固定设置在基座上，另一端设置有导向杆，且导向杆与固定端之间滑动连接；固定端框架内部靠近导向杆一侧设置有输出端，输出端的两侧分别通过若干簧片与固定端框架连接，导向杆的一端输出端固定连接。The constant force unit includes a fixed end, an output end, a reed and a guide rod; the fixed end is a polygonal frame structure, one end of the fixed end is fixed on the base, the other end is provided with a guide rod, and the guide rod and the fixed end are slidably connected An output end is arranged inside the fixed end frame near the side of the guide rod, two sides of the output end are respectively connected with the fixed end frame through several reeds, and one end of the output end of the guide rod is fixedly connected.

进一步的，固定端远离基座一侧的端部设置有连接块，连接块上设置有导向槽，导向杆一端设置在导向槽内，另一端固定设置在输出端的表面；输出端中心和导向杆中心轴线重合。Further, the end of the fixed end away from the base is provided with a connecting block, the connecting block is provided with a guide groove, one end of the guide rod is set in the guide groove, and the other end is fixed on the surface of the output end; the center of the output end and the guide rod The central axis coincides.

进一步的，固定端远离基座一侧的端部上开设有导向孔，导向杆的一端穿过导向孔设置，另一端与输出端的端部固定连接；输出端中心和导向杆中心轴线重合。Further, the end of the fixed end away from the base is provided with a guide hole, one end of the guide rod is arranged through the guide hole, and the other end is fixedly connected with the end of the output end; the center of the output end coincides with the central axis of the guide rod.

进一步的，簧片两端与输出端和固定端之间为固定连接或铰接。Further, the two ends of the reed are fixedly connected or hinged to the output end and the fixed end.

进一步的，导向杆为圆柱体或多棱柱。Further, the guide rod is a cylinder or a polygonal prism.

进一步的，输出端两侧的簧片相对于输出端对称设置；簧片的个数大于等于2。Further, the reeds on both sides of the output end are symmetrically arranged with respect to the output end; the number of the reeds is greater than or equal to 2.

进一步的，簧片与导向杆延长线形成直角三角形，其锐角角度范围为20°～85°。。Further, the reed and the extension line of the guide rod form a right-angled triangle, and the acute angle thereof ranges from 20° to 85°. .

与现有技术相比，本发明有以下技术效果：Compared with the prior art, the present invention has the following technical effects:

本发明的整体结构对称布置，受力情况良好，输出力波动小且有导向装置，精度较高。The overall structure of the present invention is symmetrically arranged, the force bearing condition is good, the output force fluctuation is small, the guide device is provided, and the precision is high.

本发明恒力机构的整体运动行程大，可以达到簧片长度的60％。The overall movement stroke of the constant force mechanism of the present invention is large, which can reach 60% of the length of the reed.

本发明通过改变簧片的厚度、长度和数量，可以精准提供所需恒力。The present invention can precisely provide the required constant force by changing the thickness, length and quantity of the reed.

本发明通过改变簧片尺寸和分布、输出端和固定端的形状、导向装置的方式，可以适应多种限制空间。The present invention can adapt to various restricted spaces by changing the size and distribution of the reeds, the shape of the output end and the fixed end, and the way of the guiding device.

附图说明Description of drawings

图1是本发明结构示意图；Fig. 1 is the structural representation of the present invention;

图2是本发明恒力单元结构示意图；Fig. 2 is the structural representation of constant force unit of the present invention;

图3是本发明恒力单元结构示意图。FIG. 3 is a schematic structural diagram of the constant force unit of the present invention.

其中：1、输出端；2、簧片；3、固定端；4、导向杆；Among them: 1. Output end; 2. Reed; 3. Fixed end; 4. Guide rod;

具体实施方式Detailed ways

以下结合附图对本发明进一步说明：Below in conjunction with accompanying drawing, the present invention is further described:

请参阅图1至图3，一种恒力柔顺机构，包括基座6和恒力单元；基座6为边长相等的多边形，基座6的每个边上均垂直于基座6所在面设置有恒力单元，形成恒力柔顺机构；Please refer to FIGS. 1 to 3 , a constant force compliance mechanism includes a base 6 and a constant force unit; the base 6 is a polygon with equal side lengths, and each side of the base 6 is perpendicular to the surface where the base 6 is located A constant force unit is provided to form a constant force compliance mechanism;

恒力单元包括固定端3、输出端1、簧片2和导向杆4；固定端3为多边形框架结构，固定端3的一端固定设置在基座6上，另一端设置有导向杆4，且导向杆4与固定端3之间滑动连接；固定端3框架内部靠近导向杆4一侧设置有输出端1，输出端1的两侧分别通过若干簧片2与固定端3框架连接，导向杆4的一端输出端1固定连接。The constant force unit includes a fixed end 3, an output end 1, a reed 2 and a guide rod 4; the fixed end 3 is a polygonal frame structure, one end of the fixed end 3 is fixed on the base 6, and the other end is provided with a guide rod 4, and The guide rod 4 and the fixed end 3 are slidably connected; the inner frame of the fixed end 3 is provided with an output end 1 on the side close to the guide rod 4, and the two sides of the output end 1 are respectively connected with the frame of the fixed end 3 through a number of reeds 2, and the guide rod One end of 4 is fixedly connected to output 1.

固定端3远离基座6一侧的端部设置有连接块7，连接块7上设置有导向槽，导向杆4一端设置在导向槽内，另一端固定设置在输出端1的表面；输出端1中心和导向杆4中心轴线重合。The end of the fixed end 3 away from the base 6 is provided with a connecting block 7, the connecting block 7 is provided with a guide groove, one end of the guide rod 4 is set in the guide groove, and the other end is fixed on the surface of the output end 1; the output end The center of 1 and the center axis of guide rod 4 are coincident.

固定端3远离基座6一侧的端部上开设有导向孔，导向杆4的一端穿过导向孔设置，另一端与输出端1的端部固定连接；输出端1中心和导向杆4中心轴线重合。The end of the fixed end 3 away from the base 6 is provided with a guide hole, one end of the guide rod 4 is arranged through the guide hole, and the other end is fixedly connected with the end of the output end 1; the center of the output end 1 and the center of the guide rod 4 Axes coincide.

簧片2两端与输出端1和固定端3之间为固定连接或铰接。The two ends of the reed 2 are fixedly connected or hinged to the output end 1 and the fixed end 3 .

导向杆4为圆柱体或多棱柱。The guide rod 4 is a cylinder or a polygonal prism.

输出端1两侧的簧片2相对于输出端1对称设置；簧片2的个数大于等于2。The reeds 2 on both sides of the output end 1 are arranged symmetrically with respect to the output end 1; the number of the reeds 2 is greater than or equal to 2.

簧片2与导向杆4延长线形成直角三角形，其锐角角度范围为20°～85°。。The reed 2 and the extension line of the guide rod 4 form a right-angled triangle, and its acute angle ranges from 20° to 85°. .

实施例1：Example 1:

一种恒力柔顺机构，包括基座6和恒力单元；基座6为等边三角形，基座6的每个边上均垂直于基座6所在面设置有恒力单元，形成恒力柔顺机构；A constant force compliance mechanism includes a base 6 and a constant force unit; the base 6 is an equilateral triangle, and each side of the base 6 is provided with a constant force unit perpendicular to the surface of the base 6 to form a constant force compliance mechanism;

恒力单元包括固定端3、输出端1、簧片2和导向杆4；固定端3为六边形框架结构，固定端3的一端固定设置在基座6上，另一端设置有导向杆4，且导向杆4与固定端3之间滑动连接；固定端3框架内部靠近导向杆4一侧设置有输出端1，输出端1的两侧分别通过若干簧片2与固定端3框架连接，导向杆4的一端输出端1固定连接。The constant force unit includes a fixed end 3, an output end 1, a reed 2 and a guide rod 4; the fixed end 3 is a hexagonal frame structure, one end of the fixed end 3 is fixed on the base 6, and the other end is provided with a guide rod 4 , and the guide rod 4 and the fixed end 3 are slidably connected; the fixed end 3 frame is provided with an output end 1 on the side close to the guide rod 4, and the two sides of the output end 1 are respectively connected with the fixed end 3 frame through a number of reeds 2, One end of the output end 1 of the guide rod 4 is fixedly connected.

固定端3远离基座6一侧的端部设置有连接块7，连接块7上设置有导向槽，导向杆4一端设置在导向槽内，另一端固定设置在输出端1的表面；输出端1中心和导向杆4中心轴线重合。The end of the fixed end 3 away from the base 6 is provided with a connecting block 7, the connecting block 7 is provided with a guide groove, one end of the guide rod 4 is set in the guide groove, and the other end is fixed on the surface of the output end 1; the output end The center of 1 and the center axis of guide rod 4 are coincident.

固定端3远离基座6一侧的端部上开设有导向孔，导向杆4的一端穿过导向孔设置，另一端与输出端1的端部固定连接；输出端1中心和导向杆4中心轴线重合。The end of the fixed end 3 away from the base 6 is provided with a guide hole, one end of the guide rod 4 is arranged through the guide hole, and the other end is fixedly connected with the end of the output end 1; the center of the output end 1 and the center of the guide rod 4 Axes coincide.

簧片2两端与输出端1和固定端3之间为铰接。The two ends of the reed 2 are hinged to the output end 1 and the fixed end 3 .

导向杆4为圆柱体。The guide rod 4 is a cylinder.

输出端1两侧的簧片2相对于输出端1对称设置；簧片2的个数为6。The reeds 2 on both sides of the output end 1 are arranged symmetrically with respect to the output end 1; the number of the reeds 2 is 6.

簧片2与导向杆4延长线形成直角三角形，其中两个锐角呈64.5°和25.5°。The reed 2 and the extension line of the guide rod 4 form a right triangle, wherein the two acute angles are 64.5° and 25.5°.

输出端1，固定端3，导向杆4是刚体，簧片2是可变形柔性材料。The output end 1, the fixed end 3, the guide rod 4 are rigid bodies, and the reed 2 is a deformable flexible material.

Claims (5)

1. A constant force compliant mechanism is characterized by comprising a base (6) and a constant force unit; the base (6) is a polygon with equal side length, and each side of the base (6) is provided with a constant force unit which is vertical to the surface of the base (6) to form a constant force compliant mechanism;
the constant force unit comprises a fixed end (3), an output end (1), a reed (2) and a guide rod (4); the fixed end (3) is of a polygonal frame structure, one end of the fixed end (3) is fixedly arranged on the base (6), the other end of the fixed end is provided with the guide rod (4), and the guide rod (4) is connected with the fixed end (3) in a sliding mode; an output end (1) is arranged on one side, close to the guide rod (4), in the frame of the fixed end (3), two sides of the output end (1) are respectively connected with the frame of the fixed end (3) through a plurality of reeds (2), and the output end (1) at one end of the guide rod (4) is fixedly connected;
a connecting block (7) is arranged at the end part of one side of the fixed end (3) far away from the base (6), a guide groove is arranged on the connecting block (7), one end of the guide rod (4) is arranged in the guide groove, and the other end of the guide rod is fixedly arranged on the surface of the output end (1); the center of the output end (1) is superposed with the central axis of the guide rod (4);
a guide hole is formed in the end part of one side, away from the base (6), of the fixed end (3), one end of the guide rod (4) penetrates through the guide hole, and the other end of the guide rod is fixedly connected with the end part of the output end (1); the center of the output end (1) is coincided with the central axis of the guide rod (4).
2. The constant force compliant mechanism according to claim 1, wherein the two ends of the spring (2) are fixedly connected or hinged with the output end (1) and the fixed end (3).
3. A constant force compliant mechanism according to claim 1 where the guide bar (4) is a cylinder or a polygonal prism.
4. A constant force compliant mechanism according to claim 1 wherein the spring leaves (2) on both sides of the output end (1) are symmetrically arranged with respect to the output end (1); the number of the reeds (2) is more than or equal to 2.
5. The constant force compliant mechanism of claim 3, wherein the extension of the spring plate (2) and the guide bar (4) form a right triangle with an acute angle ranging from 20 ° to 85 °.
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US5649454A (en) * 1995-05-15 1997-07-22 Purdue Research Foundation Compliant constant-force mechanism and devices formed therewith
WO2003003396A1 (en) * 2001-06-15 2003-01-09 Brigham Young University Self-retracting fully compliant bistable micromechanism
US8807614B2 (en) * 2011-07-26 2014-08-19 The Chinese University Of Hong Kong Gripping devices
CN103198922B (en) * 2013-04-15 2016-11-23 北方工业大学 A kind of comb electric capacity Precise Assembling Method based on bi-stable state compliant mechanism
CN104857630A (en) * 2015-05-08 2015-08-26 上海交通大学 Low-damage implanted nerve electrode
CN104889950A (en) * 2015-06-08 2015-09-09 广东工业大学 Dynamic characteristic adjustable micro-motion platform
CN206877166U (en) * 2017-07-07 2018-01-12 佛山科学技术学院 A flexible and adjustable constant force system
CN107877487B (en) * 2017-12-17 2020-09-25 北京工业大学 SU-8 compliant electrothermal drive micro-gripper with parallel opening and closing ports

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