CN110480618A - A kind of passive bending mechanism of multistage based on cambered surface free end cross reed - Google Patents
A kind of passive bending mechanism of multistage based on cambered surface free end cross reed Download PDFInfo
- Publication number
- CN110480618A CN110480618A CN201910834652.8A CN201910834652A CN110480618A CN 110480618 A CN110480618 A CN 110480618A CN 201910834652 A CN201910834652 A CN 201910834652A CN 110480618 A CN110480618 A CN 110480618A
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- CN
- China
- Prior art keywords
- reed
- cambered surface
- free end
- surface free
- bending mechanism
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H1/00—Propulsive elements directly acting on water
- B63H1/30—Propulsive elements directly acting on water of non-rotary type
- B63H1/36—Propulsive elements directly acting on water of non-rotary type swinging sideways, e.g. fishtail type
Abstract
The passive bending mechanism of multistage that the present invention relates to a kind of based on cambered surface free end cross reed, including multiple cambered surface free ends and cross reed；Two isometric reeds are symmetrically cross-linked two adjacent cambered surface free ends along its length direction and constitute level-ones, and every grade of curved rigidity depends on the position of the material of reed, thickness, the angle of two reeds and its crosspoint；In the cross reed bending mechanism based on conventional parallel free end, the cambered surface free end that this programme uses, and the crosspoint of cross reed is Chong Die relative to the center of circle of entire bending mechanism outer free end with the unit of cross reed, this declines each cross reed unit offset in crosspoint in passive bending deformation, so that its deformation accuracy is higher.When free end is by external force, preferably deformed along its Impact direction.
Description
Technical field
The invention belongs to multistage passive bending mechanism fields, are related to a kind of multistage quilt based on cambered surface free end cross reed
Dynamic bending mechanism, a kind of mechanical mechanism for realizing multistage bending deformation under external force.
Background technique
Passive bending mechanism be it is a kind of under the effect of external force, generate the mechanism of bending deformation, it is a kind of very common
Mechanical structure, such as the springboard of diver, the bent body of bow and arrow.Traditional passive bending deformation mechanism is typically all to be similar to
Simple cantilever beam, or using the mechanism that there is the swing mechanism of friction to be formed by connecting, have in deformation biggish
Limitation.For being similar to the bending mechanism of cantilever beam, since it is single-stage distressed structure, deformation accuracy is low.For
Using the mechanism that is formed by connecting of swing mechanism with friction, friction loss will lead to the rising of energy consumption, the reduction of efficiency, and
The accumulation of distortion inaccuracy, often in the relatively high machinery of required precision, such as medical instrument, high-precision robot use
Influence of traditional Passive deformation mechanism for overall performance is very big.There is quilt in the patent that patent publication No. is CN1543907A
Method used by passive change mechanism in the production method of the endoscope of the bendable end of dynamic bending connection is single structure
The multilayer bend pipe structure of deformation, although Passive deformation range in actual use is big, it, which deforms controllable precision, extremely has
Limit.And the passive bending mechanism of multistage based on cross reed, other than being had the special feature that with common bending mechanism, deformation
Controllability it is more preferable.In the experimental study of the bionic caudal fin propeller of small and special electric machine the 7th interim SMA driving of volume 41 in 2013
Passive bending mechanism employed in one text is SMA, and since it carries the deformation of active simultaneously, this leads to its Passive deformation
By the restriction of active deformation, the Passive deformation effect for accomplishing Biomimetic Fish to greatest extent is not achieved.And traditional bending machine
Structure is usually all single elastic material, and multistage passive bending mechanism has more excellent mechanics special compared to common bending mechanism
Property.In actual application aspect, multistage passive bending mechanism not only can replace common bending mechanism, can also apply to it
His more aspects, such as bionical fish fin ray, the bending mechanism of multistage deformation can preferably simulate fish and have articulate fin
Structure, the fin ray structure of fish is all the multistage deformation structure being composed in series by multiple joints, and multiple fin ray parallel connections can group
Adult fish fin structure.
Summary of the invention
Technical problems to be solved
In order to avoid the shortcomings of the prior art, the present invention proposes a kind of multistage based on cambered surface free end cross reed
Passive bending mechanism mainly has under external force passively along the bending deformation of its length direction, in Practical Project
It is had a very important significance in.
Technical solution
A kind of passive bending mechanism of multistage based on cambered surface free end cross reed, it is characterised in that certainly including multiple cambered surfaces
By end and cross reed；Two isometric reeds are symmetrically cross-linked two adjacent cambered surface free ends structure along its length direction
At level-one, every grade of curved rigidity depends on the position of the material of reed, thickness, the angle of two reeds and its crosspoint；
The rigidity of reed and the intensity of material are directly proportional, directly proportional to the thickness of its reed, directly proportional to the corner dimension of two reeds,
It is directly proportional to the crosspoint two sides length of spring leaf scale of two reeds, i.e. the length Yu length of the small side of length it is big one
The ratio of the length of side.
Two isometric reeds are symmetrically cross-linked two adjacent cambered surface free ends along its length direction and constitute one
Cross reed unit, multiple cross reed units, which are connected in series, constitutes multistage passive bending mechanism.
The rigidity of the first order reed is maximum.
The rigidity of the multistage reed is sequentially reduced by first order reed to final stage, so that Passive deformation is occurred by external force
When, it is bigger closer to the curved deformation of the tip of warp architecture.
The rigidity of the multistage reed is maximum in the rigidity for keeping first order reed, other are at different levels as needed rigid
Degree is combined on the material of reed, thickness, the angle of two reeds and the position in its crosspoint.
The size of the cambered surface free end is successively successively decreased along spanwise direction.
The bending direction of the cambered surface free end is consistent, curves inwardly along spanwise direction.
Beneficial effect
A kind of passive bending mechanism of multistage based on cambered surface free end cross reed proposed by the present invention, by multiple and different rulers
Very little cross reed unit composition, according to the line style demand of different bending mechanisms, selects various sizes of cross reed unit
The structure of combination, single cross reed is made of the cross reed of the two cambered surface free ends in two cambered surface free ends and connection,
Each cross reed unit is that have two isometric reeds symmetrically staggeredly to form along its length direction.It is passive curved in composition
When bent mechanism, it is connected between reed unit by its corresponding free end, forms multi-stage cross reed structure, reaches multistage passive
Curved motor pattern.Cross reed is adjusted according to multistage passive Stiffness Distribution demand of the bending mechanism on spanwise direction
The Stiffness Distribution of unit, the rigidity of the cross reed unit under identical external condition and the material of its reed, thickness, two springs
The position in the angle of piece and its crosspoint is related.The rigidity of cross reed unit and its spring in the case where other conditions are constant
The intensity of the material of piece is directly proportional, in the case where other conditions are constant the thickness of the rigidity of cross reed unit and its reed at
Direct ratio, in the case where other conditions are constant, the rigidity of cross reed unit and the corner dimension of its reed are directly proportional, at other
(length is small for the crosspoint two sides length of spring leaf scale of the rigidity of cross reed unit and its reed in the case that condition is constant
Side length and the ratio of the length of the big side of length) it is directly proportional.For example, can be in the root of multistage passive bending mechanism
Portion uses the biggish cross reed unit of rigidity, uses the lesser cross reed list of rigidity in multistage passive bending mechanism tip
Member is got over to reach when by external force Passive deformation is occurred for bending mechanism closer to the curved deformation of the tip of warp architecture
Greatly.
In the cambered surface free end that the cross reed bending mechanism based on conventional parallel free end, this programme use, and
The crosspoint of cross reed is Chong Die relative to the center of circle of entire bending mechanism outer free end with the unit of cross reed, this makes
Each cross reed unit offset in crosspoint in passive bending deformation is declined, so that its deformation accuracy is higher.
When free end is by external force, preferably deformed along its Impact direction.
Cross reed plastic deformation body has the lot of advantages of its own, such as high-precision, nothing compared to rigid deformation body
Friction, no lag, no abrasion, no stiction exempt from lubrication etc..These features based on cross reed, in terms of practical application,
Cross reed comes usually as flexible hinge using slewing area is big, and stress is small.Therefore, cross reed can mutually be gone here and there
Connection constitutes multistage bending deformation mechanism, and compared to traditional bending mechanism, the multistage bending mechanism based on cross reed, which has, to be turned
Dynamic precision is high, and slewing area is big, and stress is small, based on the existing research to cross reed, can be very good to analyze it and is moved through
Journey.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention
Fig. 2 is overall structure stress diagram of the invention
Fig. 3 is overall structure deformation schematic diagram of the invention
Fig. 4 is No. 1 cross reed cell schematics of the embodiment of the present invention
Fig. 5 is No. 2 cross reed cell schematics of the embodiment of the present invention
Fig. 6 is No. 3 cross reed cell schematics of the embodiment of the present invention
Fig. 7 is No. 4 cross reed cell schematics of the invention
Fig. 8 is No. 5 cross reed cell schematics of the embodiment of the present invention
Fig. 9 is No. 6 cross reed cell schematics of the embodiment of the present invention
1 --- No. 1 cross reed unit, 2 --- No. 2 cross reed unit, 3 --- No. 3 cross reed unit,
4 --- No. 4 cross reed unit, 5 --- No. 5 cross reed unit, 6 --- No. 6 cross reed unit, 7 --- arc
Face free end, 8 --- cross reed
Specific embodiment
Now in conjunction with embodiment, attached drawing, the invention will be further described:
The present embodiment is six grades of passive bending mechanisms, including No. 1 cross reed unit, No. 2 cross reed unit, the
No. 3 cross reed units, No. 4 cross reed unit, No. 5 cross reed unit and No. 6 cross reed unit.
It is mainly made of the different cross reed unit of size based on the multistage passive bending mechanism of cross reed, cross reed
Unit is made of the cross reed of the two cambered surface free ends in two cambered surface free ends and connection.The size of specific cross reed
It is determined according to the line style of specific multistage passive bending mechanism, by changing the combination of differently curved unit, while can be controlled
The rigidity and size of the every level-one of the entire multistage bending mechanism of system, so as to be accurately controlled the Stiffness Distribution of entire bending mechanism
And multistage bending deformation distribution.Bending mechanism as shown in the figure, the rigidity of every level-one of the present embodiment, i.e. bending degree depend on
In the crossover location of cross reed.
By No. 1 cross reed unit to No. 6 cross reed unit, with the difference of the crossover location of cross reed,
Rigidity is gradually increased, and bending degree is gradually reduced.
Larger in bending degree, relatively soft place can arrange No. 1 lesser unit of this rigidity of cross reed unit,
Smaller in bending degree, the biggish place of rigidity can arrange the biggish units of the single this rigidity of reed unit of No. 6 intersections, in figure
Entire passive bending mechanism is made of 1 to No. 6 cross reed unit, and No. 6 cross reed rigidity is sequentially increased from No. 1 to, size
Also increase, it is notable that influence of the size of cross reed to its rigidity is little, and the variation of size is to meet reality
Size requirements in engineering.It is entire according to required deformation range and mode of texturing and reality in actual engineer application
The stress condition of bending mechanism selects the cross reed unit being applicable in, due to the rigidity of different units and the mode of deformation
Difference so that multistage passive bending deformation mechanism can carry out complicated bending deformation, such as can produce S type
Deformation, or the combination by designing its cross reed unit is to reach required complex deformation mode.
The cambered surface free end that this programme uses, and the crosspoint of cross reed and the unit of cross reed are relative to entire
The center of circle of bending mechanism outer free end is overlapped, this makes each cross reed unit crosspoint in passive bending deformation
Offset is declined, so that its deformation accuracy is higher.When free end is by external force, preferably become along its Impact direction
Shape.
Installation and use process of the invention:
According to the requirement of the size and curve form of required multistage bending mechanism, suitable cross reed unit is selected
Combination, by the way of link between cross reed unit is using gluing, according to selected cross reed unit sequence successively
Link, i.e., the upper level of next stage free end connection, thus composition be composed of one group of set cross reed unit it is more
The passive bending mechanism of grade generates corresponding bending deformation in the case where being subject to external force.As shown in Fig. 2, this passive bending mechanism
It is concentrated mainly on the free end of each cross reed in suffered external force position, by the left side of No. 6 cross reed units
Free end is fixed, in FIG. 2, it is assumed that the Impact direction of all free ends is downward, this makes the passive curved of every level-one cross reed
Curvature square is as shown in Figure 2.In Fig. 3, if all free end stress are downward, there is reclinate movement tendency, if stress side
To upward, there will be upward warp tendencies.In a practical situation, not due to the free end stress condition of each cross reed
Together, this makes the passive warp tendency of every level-one different, but since the bending property of cross reed can control, more
The passive bending mechanism of grade can form more complicated and controllable bending deformation.
Claims (7)
1. a kind of passive bending mechanism of multistage based on cambered surface free end cross reed, it is characterised in that free including multiple cambered surfaces
End and cross reed；Two isometric reeds are symmetrically cross-linked two adjacent cambered surface free ends along its length direction and constitute
Level-one, every grade of curved rigidity depend on the position of the material of reed, thickness, the angle of two reeds and its crosspoint；Spring
The rigidity of piece and the intensity of material are directly proportional, directly proportional to the thickness of its reed, directly proportional to the corner dimension of two reeds, with
The crosspoint two sides length of spring leaf scale of two reeds is directly proportional, i.e. the length of the small side of length and the big side of length
Length ratio.
2. the passive bending mechanism of multistage based on cambered surface free end cross reed according to claim 1, it is characterised in that: two
The isometric reed of root is symmetrically cross-linked two adjacent cambered surface free ends along its length direction and constitutes a cross reed list
Member, multiple cross reed units, which are connected in series, constitutes multistage passive bending mechanism.
3. the multistage passive bending mechanism according to claim 1 or claim 2 based on cambered surface free end cross reed, feature exist
In: the rigidity of the first order reed is maximum.
4. the multistage passive bending mechanism according to claim 1 or claim 2 based on cambered surface free end cross reed, feature exist
In: the rigidity of the multistage reed is sequentially reduced by first order reed to final stage, when so that Passive deformation is occurred by external force, more
The curved deformation of tip close to warp architecture is bigger.
5. the multistage passive bending mechanism according to claim 1 or claim 2 based on cambered surface free end cross reed, feature exist
In: the rigidity of the multistage reed is maximum, other rigidity as needed at different levels, in spring in the rigidity for keeping first order reed
It is combined on the material of piece, thickness, the angle of two reeds and the position in its crosspoint.
6. the multistage passive bending mechanism according to claim 1 or claim 2 based on cambered surface free end cross reed, feature exist
In: the size of the cambered surface free end is successively successively decreased along spanwise direction.
7. the multistage passive bending mechanism according to claim 1 or claim 2 based on cambered surface free end cross reed, feature exist
In: the bending direction of the cambered surface free end is consistent, curves inwardly along spanwise direction.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910834652.8A CN110480618B (en) | 2019-09-05 | 2019-09-05 | Multistage passive bending mechanism based on crossed reed of free end of cambered surface |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910834652.8A CN110480618B (en) | 2019-09-05 | 2019-09-05 | Multistage passive bending mechanism based on crossed reed of free end of cambered surface |
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| CN110480618A true CN110480618A (en) | 2019-11-22 |
| CN110480618B CN110480618B (en) | 2022-07-05 |
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| US5354327A (en) * | 1993-04-07 | 1994-10-11 | Medtronic, Inc. | Conductor coil with specific ratio of torque to bending stiffness |
| CN202176130U (en) * | 2011-02-22 | 2012-03-28 | 杨战明 | Telescopic folding lifting-type lightweight sedan garage |
| CN203678961U (en) * | 2013-12-30 | 2014-07-02 | 浙江兴宇汽车零部件有限公司 | Multifunctional automatic draw bender |
| US20140311271A1 (en) * | 2013-04-23 | 2014-10-23 | Northwestern University | Translational parallel manipulators and methods of operating the same |
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| CN108622356A (en) * | 2018-04-09 | 2018-10-09 | 西北工业大学 | A kind of aquatic bionic Computation of Flexible Flapping-Wing propulsion device |
| US20190126497A1 (en) * | 2017-10-31 | 2019-05-02 | Worcester Polytechnic Institute | Robotic gripper member |
| CN110056602A (en) * | 2019-04-19 | 2019-07-26 | 北京科技大学 | A kind of tensioning integral vibration isolation device of Frequency Adjustable |
| CN110104440A (en) * | 2019-06-12 | 2019-08-09 | 白轩 | A kind of soft fluid conveying pipeline flow control switch |
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2019
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Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5354327A (en) * | 1993-04-07 | 1994-10-11 | Medtronic, Inc. | Conductor coil with specific ratio of torque to bending stiffness |
| CN202176130U (en) * | 2011-02-22 | 2012-03-28 | 杨战明 | Telescopic folding lifting-type lightweight sedan garage |
| US20140311271A1 (en) * | 2013-04-23 | 2014-10-23 | Northwestern University | Translational parallel manipulators and methods of operating the same |
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| CN203678961U (en) * | 2013-12-30 | 2014-07-02 | 浙江兴宇汽车零部件有限公司 | Multifunctional automatic draw bender |
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| US20190126497A1 (en) * | 2017-10-31 | 2019-05-02 | Worcester Polytechnic Institute | Robotic gripper member |
| CN108622356A (en) * | 2018-04-09 | 2018-10-09 | 西北工业大学 | A kind of aquatic bionic Computation of Flexible Flapping-Wing propulsion device |
| CN110056602A (en) * | 2019-04-19 | 2019-07-26 | 北京科技大学 | A kind of tensioning integral vibration isolation device of Frequency Adjustable |
| CN110104440A (en) * | 2019-06-12 | 2019-08-09 | 白轩 | A kind of soft fluid conveying pipeline flow control switch |
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