CN109990028B - Constant force compliant mechanism - Google Patents

Constant force compliant mechanism Download PDF

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Publication number
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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China
Prior art keywords
guide rod
constant force
output end
base
fixed end
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CN201910217941.3A
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Chinese (zh)
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CN109990028A (en
Inventor
陈贵敏
马付雷
李玲玲
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Xian Jiaotong University
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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

A constant force compliant mechanism comprises a base and a constant force unit; the base is a polygon with equal side length, and each side of the base is provided with a constant force unit which is vertical to the surface of the base to form a constant force compliant mechanism; the constant force unit comprises a fixed end, an output end, a reed and a guide rod; the fixed end is of a polygonal frame structure, one end of the fixed end is fixedly arranged on the base, the other end of the fixed end is provided with a guide rod, and the guide rod is connected with the fixed end in a sliding manner; the fixed end frame is internally provided with an output end close to one side of the guide rod, the two sides of the output end are respectively connected with the fixed end frame through a plurality of reeds, and the output end of one end of the guide rod is fixedly connected. The invention has symmetrical arrangement of the whole structure, good stress condition, small output force fluctuation, a guide device and higher precision.

Description

Constant force compliant mechanism
Technical Field
The invention belongs to the field of machinery, and particularly relates to a constant force compliant mechanism.
Background
The flexible constant force mechanism can keep constant output force in a section of stroke, so the flexible constant force mechanism is widely applied to various fields and occasions, such as fragile or irregular object clamping, pipeline cleaning, thermal power generation, force correction, quality measurement, robot end effectors and the like. Currently, methods for obtaining constant force are: electromechanical integration, gravity balance and the like. The mechatronic technology can realize accurate control of force by introducing a feedback effect into the system, but the control system is more complicated, and meanwhile, the force sensor has higher manufacturing cost, is easily interfered by noise and has low reliability. The gravity balance method can obtain high precision by taking the gravity borne by a heavy object as the input of constant force, but the device has higher requirement on the installation position and is difficult to meet the actual application condition.
Disclosure of Invention
The invention aims to provide a constant force compliant mechanism to solve the above problems.
In order to achieve the purpose, the invention adopts the following technical scheme:
a constant force compliant mechanism comprises a base and a constant force unit; the base is a polygon with equal side length, and each side of the base is provided with a constant force unit which is vertical to the surface of the base to form a constant force compliant mechanism;
the constant force unit comprises a fixed end, an output end, a reed and a guide rod; the fixed end is of a polygonal frame structure, one end of the fixed end is fixedly arranged on the base, the other end of the fixed end is provided with a guide rod, and the guide rod is connected with the fixed end in a sliding manner; the fixed end frame is internally provided with an output end close to one side of the guide rod, the two sides of the output end are respectively connected with the fixed end frame through a plurality of reeds, and the output end of one end of the guide rod is fixedly connected.
Furthermore, a connecting block is arranged at the end part of the fixed end, which is far away from one side of the base, a guide groove is arranged on the connecting block, one end of the guide rod is arranged in the guide groove, and the other end of the guide rod is fixedly arranged on the surface of the output end; the center of the output end coincides with the central axis of the guide rod.
Furthermore, a guide hole is formed in the end part of the fixed end, which is far away from one side of the base, one end of the guide rod penetrates through the guide hole, and the other end of the guide rod is fixedly connected with the end part of the output end; the center of the output end coincides with the central axis of the guide rod.
Furthermore, the two ends of the reed are fixedly connected or hinged with the output end and the fixed end.
Further, the guide rod is a cylinder or a polygon prism.
Furthermore, the reeds on two sides of the output end are symmetrically arranged relative to the output end; the number of the reeds is more than or equal to 2.
Furthermore, the extension lines of the reeds and the guide rod form a right triangle, and the acute angle range of the right triangle is 20-85 degrees. .
Compared with the prior art, the invention has the following technical effects:
the invention has symmetrical arrangement of the whole structure, good stress condition, small output force fluctuation, a guide device and higher precision.
The constant force mechanism of the invention has large overall motion stroke which can reach 60 percent of the length of the reed.
The invention can accurately provide the required constant force by changing the thickness, the length and the number of the reeds.
The invention can adapt to various limited spaces by changing the sizes and the distribution of the reeds, the shapes of the output end and the fixed end and the mode of the guiding device.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic diagram of the constant force unit structure of the present invention;
fig. 3 is a schematic structural diagram of the constant force unit of the present invention.
Wherein: 1. an output end; 2. a reed; 3. a fixed end; 4. a guide bar;
Detailed Description
The invention is further described below with reference to the accompanying drawings:
referring to fig. 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 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 manner; the output end 1 is arranged on one side, close to the guide rod 4, of the inner portion of the fixed end 3 framework, the two sides of the output end 1 are respectively connected with the fixed end 3 framework through a plurality of reeds 2, and the output end 1 of one end of the guide rod 4 is fixedly connected.
The end part of the fixed end 3, which is far away from the base 6, is provided with a connecting block 7, a guide groove is arranged on the connecting block 7, one end of a 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 coincides with the central axis of the guide rod 4.
A guide hole is formed in the end part of the fixed end 3, which is far away from the base 6, 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 coincides with the central axis of the guide rod 4.
The two ends of the reed 2 are fixedly connected or hinged with the output end 1 and the fixed end 3.
The guide rod 4 is a cylinder or a polygonal column.
The reeds 2 on the two sides of the output end 1 are symmetrically arranged relative to the output end 1; the number of the reeds 2 is more than or equal to 2.
The extension lines of the reed 2 and the guide rod 4 form a right triangle, and the acute angle range of the right triangle is 20-85 degrees. .
Example 1:
a constant force compliant mechanism comprises a base 6 and a constant force unit; the base 6 is an equilateral triangle, and each edge of the base 6 is provided with a constant force unit perpendicular 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 hexagonal 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 manner; the output end 1 is arranged on one side, close to the guide rod 4, of the inner portion of the fixed end 3 framework, the two sides of the output end 1 are respectively connected with the fixed end 3 framework through a plurality of reeds 2, and the output end 1 of one end of the guide rod 4 is fixedly connected.
The end part of the fixed end 3, which is far away from the base 6, is provided with a connecting block 7, a guide groove is arranged on the connecting block 7, one end of a 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 coincides with the central axis of the guide rod 4.
A guide hole is formed in the end part of the fixed end 3, which is far away from the base 6, 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 coincides with the central axis of the guide rod 4.
The two ends of the reed 2 are hinged with the output end 1 and the fixed end 3.
The guide rod 4 is a cylinder.
The reeds 2 on the two sides of the output end 1 are symmetrically arranged relative to the output end 1; the number of the reeds 2 is 6.
The extension lines of the reed 2 and the guide rod 4 form a right triangle, and two acute angles of the right triangle form an angle of 64.5 degrees and an angle of 25.5 degrees.
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 °.
CN201910217941.3A 2019-03-21 2019-03-21 Constant force compliant mechanism Active CN109990028B (en)

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Application Number Priority Date Filing Date Title
CN201910217941.3A CN109990028B (en) 2019-03-21 2019-03-21 Constant force compliant mechanism

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Application Number Priority Date Filing Date Title
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CN109990028A CN109990028A (en) 2019-07-09
CN109990028B true CN109990028B (en) 2020-08-18

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Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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 kind of submissive adjustable constance 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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