CN110480618B - Multistage passive bending mechanism based on crossed reed of free end of cambered surface - Google Patents
Multistage passive bending mechanism based on crossed reed of free end of cambered surface Download PDFInfo
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- CN110480618B CN110480618B CN201910834652.8A CN201910834652A CN110480618B CN 110480618 B CN110480618 B CN 110480618B CN 201910834652 A CN201910834652 A CN 201910834652A CN 110480618 B CN110480618 B CN 110480618B
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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
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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
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
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- 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
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Abstract
The invention relates to a multistage passive bending mechanism based on cambered surface free end crossed reeds, which comprises a plurality of cambered surface free ends and crossed reeds; two reeds with equal length are symmetrically and alternately connected with two adjacent cambered free ends along the length direction to form a stage, and the bending rigidity of each stage depends on the material and the thickness of the reeds, the included angle of the two reeds and the position of the intersection point of the two reeds; in a conventional parallel free end-based crossed reed bending mechanism, the cambered free end is adopted in the scheme, and the crossed point of the crossed reed is overlapped with the center of a circle of the unit of the crossed reed relative to the outer free end of the whole bending mechanism, so that the offset of the crossed point is reduced when each crossed reed unit is subjected to passive bending deformation, and the deformation precision is higher. When the free end is subjected to external force, the free end is better deformed along the stress direction.
Description
Technical Field
The invention belongs to the field of multi-stage passive bending mechanisms, relates to a multi-stage passive bending mechanism based on crossed reeds at free ends of cambered surfaces, and discloses a mechanical mechanism for realizing multi-stage bending deformation under the action of external force.
Background
The passive bending mechanism is a mechanism which generates bending deformation under the action of external force, and is a very common mechanical structure, such as a diving board of a diving athlete and a bow body of an arrow. The traditional passive bending deformation mechanism is generally similar to a simple cantilever beam, or a mechanism formed by connecting rotating mechanisms with friction, and has larger limitation in deformation. For the bending mechanism similar to the cantilever beam, the deformation precision is low because the bending mechanism is a single-stage deformation structure. In the case of a mechanism formed by connecting rotating mechanisms with friction, friction loss can cause the increase of energy consumption, the reduction of efficiency and the accumulation of deformation errors, and the influence of the traditional passive deformation mechanism on the overall performance is great in machines with higher precision requirements, such as medical instruments and high-precision robots. The passive deformation mechanism in the method of manufacturing a bendable distal end endoscope having passive bending connection disclosed in patent publication No. CN1543907A is a multi-layer bent tube structure with a single structure, and although the passive deformation range in actual use is large, the precision of controllable deformation is very limited. And besides the characteristics of the common bending mechanism, the multistage passive bending mechanism based on the crossed reeds has better deformation controllability. In 2013, volume 41 and phase 7, the passive bending mechanism adopted in the experimental study of the bionic tail fin propeller driven by the SMA wire is the SMA wire, and the passive deformation of the SMA wire is restricted by the active deformation because the SMA wire simultaneously bears the active deformation, so that the passive deformation effect of the bionic fish cannot be achieved to the maximum extent. Moreover, the conventional bending mechanism is usually made of a single elastic material, and the multi-stage passive bending mechanism has better mechanical properties than the common bending mechanism. In the aspect of practical application, the multi-stage passive bending mechanism can replace a common bending mechanism and can be applied to other more aspects, such as bionic fish fin lines, the multi-stage deformation bending mechanism can better simulate a fin line structure with joints of fish, the fin line structure of the fish is a multi-stage deformation structure formed by connecting a plurality of joints in series, and the plurality of fin lines are connected in parallel to form the fin structure.
Disclosure of Invention
Technical problem to be solved
In order to avoid the defects of the prior art, the invention provides a multi-stage passive bending mechanism based on cambered surface free end crossed reeds, which mainly has passive bending deformation along the length direction of the cambered surface free end crossed reeds under the action of external force and has very important significance in practical engineering application.
Technical scheme
A multi-stage passive bending mechanism based on cambered surface free end crossed reeds is characterized by comprising a plurality of cambered surface free ends and crossed reeds; two reeds with equal length are symmetrically and alternately connected with two adjacent cambered free ends along the length direction to form a stage, and the bending rigidity of each stage depends on the material and the thickness of the reeds, the included angle of the two reeds and the position of the intersection point of the two reeds; the rigidity of the reeds is in direct proportion to the strength of the material, the thickness of the reeds, the included angle of the two reeds and the length proportion of the reeds on two sides of the intersection point of the two reeds, namely the ratio of the length of the side with small length to the length of the side with large length.
Two equal-length reeds are symmetrically and alternately connected with two adjacent cambered free ends along the length direction of the reeds to form a crossed reed unit, and a plurality of crossed reed units are connected in series to form a multi-stage passive bending mechanism.
The stiffness of the first stage reed is at a maximum.
The rigidity of the multi-stage reeds is sequentially reduced from the first-stage reeds to the last-stage reeds, so that the bending deformation of the tip close to the bending structure is larger when the tip is subjected to passive deformation caused by external force.
The rigidity of the multi-stage reeds is kept to be the maximum when the rigidity of the first stage of reeds is kept, and other stages of reeds are combined according to the required rigidity on the material and the thickness of the reeds, the included angle of the two reeds and the position of the intersection point of the two reeds.
The size of the free end of the cambered surface is sequentially reduced along the spanwise direction.
The free ends of the cambered surfaces are consistent in bending direction and are bent inwards along the spanwise direction.
Advantageous effects
The invention provides a multistage passive bending mechanism based on cambered surface free end crossed reeds, which consists of a plurality of crossed reed units with different sizes, wherein the crossed reed units with different sizes are selected to be combined according to line type requirements of different bending mechanisms, a single crossed reed structure consists of two cambered surface free ends and a crossed reed connected with the two cambered surface free ends, and each crossed reed unit is formed by symmetrically and alternately arranging two reeds with equal length along the length direction of the crossed reed unit. When the passive bending mechanism is formed, the reed units are connected by the corresponding free ends to form a multi-stage crossed reed structure, so that a multi-stage passive bending motion mode is achieved. The rigidity distribution of the crossed reed unit is adjusted according to the rigidity distribution requirement of the multistage passive bending mechanism in the spanwise direction, and the rigidity of the crossed reed unit under the same external condition is related to the material and the thickness of reeds, the included angle of the two reeds and the position of a crossed point of the two reeds. The rigidity of the cross reed unit is in direct proportion to the strength of the material of the reed under the condition that other conditions are not changed, the rigidity of the cross reed unit is in direct proportion to the thickness of the reed under the condition that other conditions are not changed, the rigidity of the cross reed unit is in direct proportion to the size of an included angle of the reed under the condition that other conditions are not changed, and the rigidity of the cross reed unit is in direct proportion to the size of the length of the reeds on two sides of the cross point of the reed under the condition that other conditions are not changed (the ratio of the length of the side with the small length to the length of the side with the large length). For example, a cross spring unit with high rigidity can be used at the root of the multi-stage passive bending mechanism, and a cross spring unit with low rigidity can be used at the tip of the multi-stage passive bending mechanism, so that when the bending mechanism is subjected to passive deformation caused by external force, the deformation of the tip bending closer to the bending structure is larger.
In a conventional parallel free end-based crossed reed bending mechanism, the cambered free end is adopted in the scheme, and the crossed point of the crossed reed is overlapped with the center of a circle of the unit of the crossed reed relative to the outer free end of the whole bending mechanism, so that the offset of the crossed point is reduced when each crossed reed unit is subjected to passive bending deformation, and the deformation precision is higher. When the free end is subjected to external force, the free end is better deformed along the stress direction.
Compared with a rigid deformable body, the crossed reed flexible deformable body has many advantages of the crossed reed flexible deformable body, such as high precision, no friction, no hysteresis, no abrasion, no static resistance, no lubrication and the like. Based on these characteristics of the cross spring, in practical applications, the cross spring is usually used as a flexible hinge, which has a large rotation range and small stress. Therefore, the cross reeds can be connected in series to form a multi-stage bending deformation mechanism, compared with a traditional bending mechanism, the multi-stage bending mechanism based on the cross reeds is high in rotation precision, large in rotation range and small in stress, and the movement process of the cross reeds can be well analyzed based on the existing research on the cross reeds.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention
FIG. 2 is a force diagram of the overall structure of the invention
FIG. 3 is a schematic diagram of the overall structural variation of the present invention
FIG. 4 is a schematic view of cross reed unit No. 1 according to an embodiment of the present invention
FIG. 5 is a schematic view of cross reed unit No. 2 according to an embodiment of the present invention
FIG. 6 is a schematic view of cross reed unit No. 3 according to an embodiment of the present invention
Fig. 7 is a schematic view of a cross reed unit number 4 of the present invention
FIG. 8 is a schematic view of cross reed unit No. 5 according to an embodiment of the present invention
FIG. 9 is a schematic view of cross reed unit No. 6 according to an 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-cambered surface free end, 8-cross reed
Detailed Description
The invention will now be further described with reference to the following examples and drawings:
this embodiment is a six-stage passive bending mechanism, which includes a No. 1 cross reed unit, a No. 2 cross reed unit, a No. 3 cross reed unit, a No. 4 cross reed unit, a No. 5 cross reed unit, and a No. 6 cross reed unit.
The multistage passive bending mechanism based on the crossed reeds mainly comprises crossed reed units with different sizes, wherein each crossed reed unit comprises two cambered surface free ends and a crossed reed connected with the two cambered surface free ends. The size of the specific crossed reed is determined according to the line type of the specific multistage passive bending mechanism, and the rigidity and the size of each stage of the whole multistage bending mechanism can be controlled by changing the combination of different bending units, so that the rigidity distribution and the multistage bending deformation distribution of the whole bending mechanism can be accurately controlled. The stiffness, i.e., degree of bending, of each stage of the present embodiment is dependent on the crossing position of the crossing leaves, as shown in the bending mechanism.
From the No. 1 cross reed unit to the No. 6 cross reed unit, the rigidity is gradually increased and the bending degree is gradually reduced along with the difference of the crossing positions of the cross reeds.
The unit with smaller rigidity, namely the No. 1 crossed reed unit, can be arranged at a place with larger bending degree and softer flexibility, the unit with larger rigidity, namely the No. 6 crossed single reed unit, can be arranged at a place with smaller bending degree and larger rigidity, the whole passive bending mechanism in the figure is composed of the No. 1 to No. 6 crossed reed units, the rigidity of the No. 1 to No. 6 crossed reeds is increased in sequence, the size is also increased, and the influence of the size of the crossed reeds on the rigidity is not large, and the size change is to meet the size requirement in the actual engineering. In practical engineering application, according to a required deformation range, a required deformation mode and a stress condition of an actual whole bending mechanism, an applicable cross reed unit is selected, and due to the fact that the rigidity and the deformation mode of different units are different, the multi-stage passive bending deformation mechanism can perform complex bending deformation, for example, S-shaped deformation can be generated, or a combination mode of the cross reed units is designed, so that a required complex deformation mode is achieved.
The cambered surface free end that this scheme adopted to the intersection point of crossing reed overlaps with the unit of crossing reed for the centre of a circle of the outside free end of whole bending mechanism, and this makes the offset of crossing point decline to some extent when every crossing reed unit is moved bending deformation, makes its deformation accuracy higher. When the free end is subjected to external force, the free end is better deformed along the stress direction.
The installation and use processes of the invention are as follows:
according to the size of the required multistage bending mechanism and the requirement of the bending form, a proper combination of crossed reed units is selected, the crossed reed units are connected in sequence in the selected sequence in a gluing mode, namely, the free ends of the upper stage of the lower stage are connected, so that the multistage passive bending mechanism formed by combining a set of established crossed reed units is formed, and corresponding bending deformation is generated under the condition of external force. As shown in fig. 2, the passive bending mechanism is mainly concentrated on the free end of each cross reed at the position where the external force is applied, and the free end at the left side of the No. 6 cross reed unit is fixed, in fig. 2, the force direction of all the free ends is assumed to be downward, so that the passive bending moment of each stage of cross reeds is shown in fig. 2. In fig. 3, all the free ends have a downward bending tendency if they are forced downward, and have an upward bending tendency if they are forced upward. In practical situations, the free ends of the cross reeds are stressed differently, so that the passive bending tendency of each stage is different, but the bending performance of the cross reeds can be controlled, so that the multi-stage passive bending mechanism can form more complex and controllable bending deformation.
Claims (5)
1. A multi-stage passive bending mechanism based on cambered surface free end crossed reeds is characterized by comprising a plurality of cambered surface free ends and crossed reeds; two reeds with equal length are symmetrically and alternately connected with two adjacent cambered free ends along the length direction to form a stage, and the bending rigidity of each stage depends on the material and the thickness of the reeds, the included angle of the two reeds and the position of the intersection point of the two reeds; the rigidity of the reeds is in direct proportion to the strength of materials, the thickness of the reeds, the included angle of the two reeds and the length proportion of the reeds on two sides of the intersection point of the two reeds, namely the ratio of the length of one side with small length to the length of one side with large length, and the rigidity of the multistage reeds is sequentially reduced from the first-stage reeds to the last stage, so that the bending deformation of the tip which is closer to the bending structure is larger when the external force is applied to the multistage reeds to generate passive deformation.
2. The multi-stage passive bending mechanism based on cambered free end cross reed of claim 1, wherein: two equal-length reeds are symmetrically and alternately connected with two adjacent cambered free ends along the length direction of the reeds to form a crossed reed unit, and a plurality of crossed reed units are connected in series to form a multi-stage passive bending mechanism.
3. The multistage passive bending mechanism based on the cambered free end cross reed as in claim 1 or 2, wherein: the rigidity of the multi-stage reeds is kept to be the maximum when the rigidity of the first stage of reeds is kept, and other stages of reeds are combined according to the required rigidity on the material and the thickness of the reeds, the included angle of the two reeds and the position of the intersection point of the two reeds.
4. The multistage passive bending mechanism based on the cambered free end cross reed as in claim 1 or 2, wherein: the size of the free end of the cambered surface is sequentially reduced along the spanwise direction.
5. The multistage passive bending mechanism based on the cambered free end cross reed as in claim 1 or 2, wherein: the free ends of the cambered surfaces are in the same bending direction and are bent inwards along the spanwise direction.
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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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 |
| JP2015030056A (en) * | 2013-08-01 | 2015-02-16 | 株式会社村田製作所 | Bending mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
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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 |
| WO2014176334A1 (en) * | 2013-04-23 | 2014-10-30 | Northwestern University | Translational parallel manipulators and methods of operating the same |
| CN205154998U (en) * | 2015-10-23 | 2016-04-13 | 上海理工大学 | Passive vibration isolation platform of multi freedom |
| US11097430B2 (en) * | 2017-10-31 | 2021-08-24 | Worcester Polytechnic Institute | Robotic gripper member |
| CN108622356B (en) * | 2018-04-09 | 2019-06-21 | 西北工业大学 | A kind of aquatic bionic Computation of Flexible Flapping-Wing propulsion device |
| CN110056602B (en) * | 2019-04-19 | 2020-03-17 | 北京科技大学 | Frequency-adjustable stretching integral vibration isolator |
| CN110104440A (en) * | 2019-06-12 | 2019-08-09 | 白轩 | A kind of soft fluid conveying pipeline flow control switch |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2015030056A (en) * | 2013-08-01 | 2015-02-16 | 株式会社村田製作所 | Bending mechanism |
| 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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