CN114838074A - Constant-tension buffer mechanism based on hinge zero-stiffness spring - Google Patents

Constant-tension buffer mechanism based on hinge zero-stiffness spring Download PDF

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Publication number
CN114838074A
CN114838074A CN202210600198.1A CN202210600198A CN114838074A CN 114838074 A CN114838074 A CN 114838074A CN 202210600198 A CN202210600198 A CN 202210600198A CN 114838074 A CN114838074 A CN 114838074A
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spring
zero
shaft
stiffness
hinge
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CN202210600198.1A
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CN114838074B (en
Inventor
张海兵
陈良
刘国华
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Heilongjiang University
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Heilongjiang 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
    • 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
    • F16F3/04—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 wound 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
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C11/00—Pivots; Pivotal connections
    • F16C11/04—Pivotal connections
    • 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
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C11/00—Pivots; Pivotal connections
    • F16C11/04—Pivotal connections
    • F16C11/12—Pivotal connections incorporating flexible connections, e.g. 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
    • F16F7/00—Vibration-dampers; Shock-absorbers
    • 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
    • F16F2238/026—Springs wound- or coil-like

Abstract

The invention discloses a constant tension buffer mechanism based on a hinge zero-stiffness spring, which relates to the technical field of constant tension buffer devices and the field of low-frequency vibration isolation and solves the problems that a common triangular zero-stiffness spring has a small range for keeping zero stiffness and cannot accurately adjust the stiffness characteristic and the problem that a scroll constant-force spring has small bearing capacity and low accuracy, the hinge zero-stiffness spring can keep the stiffness close to zero in a large range near a balance position, the maximum displacement can reach 30-40% of the length of a swing rod, the stiffness of the hinge zero-stiffness spring at the maximum displacement is about 1/27% of the stiffness of a vertical spring, the stiffness and restoring force of the hinge zero-stiffness spring are increased along with the increase of the vertical displacement, the whole system is in a stable balance state, and the zero-stiffness characteristic can also be accurately adjusted by changing the center distance of a hinge, the bearing capacity is strong, the zero rigidity characteristic is excellent, and the adjustment is convenient.

Description

Constant-tension buffer mechanism based on hinge zero-stiffness spring
Technical Field
The invention relates to the technical field of constant-tension buffering devices, in particular to a constant-tension buffering mechanism based on a hinge zero-stiffness spring.
Background
The bearing capacity of the common triangular zero-stiffness spring is strong, but the maximum displacement is only about 1/20 of the length of the lateral spring near the balance position, the state that the stiffness is close to zero is kept in a very small range, and if the stiffness is rapidly increased by deviating from the balance position, the zero-stiffness characteristic is poor and difficult to adjust; the flat spiral constant force spring can realize a large-range constant tension effect, but the precision is not high, the tension error is about 4%, the bearing capacity is weak, and the spring is generally only a few kilograms; in the aspect of low-frequency vibration isolation, the combination of a spring and a rod piece is also applied to realize zero stiffness, and the problems of poor zero stiffness characteristic and difficulty in adjustment exist.
In summary, the common triangular zero-stiffness spring and other zero-stiffness springs have the problems of poor zero-stiffness characteristics and difficulty in adjustment, and the planar spiral constant-force spring has the problems of low precision and weak bearing capacity.
Disclosure of Invention
In view of the above problems, the present invention provides a constant tension buffer mechanism based on a hinge zero-stiffness spring.
In order to achieve the purpose, the invention adopts the technical scheme that:
a constant tension buffer mechanism based on a hinge zero-stiffness spring, comprising:
frame 1, frame 1 includes: the vertical plate structure comprises a bottom plate 101 and vertical plates 102, wherein the two vertical plates 102 are arranged on the upper surface of the bottom plate 101, and the two vertical plates 102 are arranged in parallel;
a drive device 2, the drive device 2 comprising: the kinetic energy device 201, a first shaft part 202 and a shaft sleeve 203, the kinetic energy device 201 is installed on the bottom plate 101, the first shaft part 202 is arranged between the two vertical plates 102, the lower part of the first shaft part 202 is provided with threads, the adjusting shaft sleeve 203 is meshed with the first shaft part 202 through the threads, the lower end of the first shaft part 202 is connected with the output end of the kinetic energy device 201, and the kinetic energy device 201 drives the first shaft part 202 to rotate around the central axis thereof;
vertical buffer gear, vertical buffer gear locates two between the riser 102, vertical buffer gear includes: the vertical spring 4 is sleeved on the first shaft portion 202, the lower end of the vibration support 5 is sleeved on the upper portion of the first shaft portion 202, the vibration support 5 can slide along the upper portion of the first shaft portion 202 in an operable manner, the upper end of the vertical spring 4 abuts against the lower end of the vibration support 5, the lower end of the vertical spring 4 abuts against the adjusting shaft sleeve 203, a limiting piece is mounted on the adjusting shaft sleeve 203, the adjusting shaft sleeve 203 is limited by the limiting piece to rotate around the central axis of the first shaft portion 202, the adjusting shaft sleeve 203 can perform displacement motion along the threaded structure of the first shaft portion 202 in an operable manner by rotating the first shaft portion 202, and two short-shaft installation grooves are formed in the side wall of the lower end of the vibration support 5;
lateral buffer gear, vertical buffer gear's both sides are connected with one respectively lateral buffer gear, two lateral buffer gear symmetry sets up, two lateral buffer gear all installs two between the riser 102, each lateral buffer gear includes: second shaft portion 6, lateral spring 7, connecting rod 8, first pivot 11, second pivot 12, third pivot 10, sliding shaft sleeve 14, connecting shaft sleeve 15 and stub axle 13, second shaft portion 6 includes: a long shaft, a limiting plate and two rotating connection parts, wherein one side of the limiting plate is connected with the two rotating connection parts, the other side of the limiting plate is connected with the end part of the long shaft, one connecting rod 8 is arranged between each vertical plate 102 and the second shaft part 6, one end of the short shaft 13 is arranged in one short shaft installation groove, the connecting shaft sleeve 15 is arranged on the short shaft 13, each rotating connection part is operatively and rotatably connected with the outer wall of the connecting shaft sleeve 15 through one third rotating shaft 10, the other end of the short shaft 13 operatively abuts against the limiting plate, one end of each connecting rod 8 is arranged on one third rotating shaft 10, each connecting rod 8 operatively rotates around the third rotating shaft 10 connected with the connecting rod, the sliding shaft sleeve 14 and the lateral spring 7 are both sleeved on the long shaft, and the sliding shaft sleeve 14 operatively slides along the long shaft, one end of the lateral spring 7 abuts against the limiting plate, the other end of the lateral spring 7 abuts against the sliding shaft sleeve 14, the outer walls of the rack 1 and the sliding shaft sleeve 14 are operatively and rotatably connected through two first rotating shafts 11, and the other end of each connecting rod 8 is operatively and rotatably connected with the rack 1 through one second rotating shaft 12.
Foretell permanent pulling force buffer gear based on hinge zero-stiffness spring, wherein, frame 1 still includes: the lower end of the vibration bracket 5 is provided with the linear bearing, and the lower end of the vibration bracket 5 is connected with the upper part of the first shaft part 202 in a sliding way through the linear bearing.
The constant tension buffer mechanism based on the hinge zero-stiffness spring is characterized in that the frame 1 further comprises: the middle of the vibration support 5 is provided with a through hole, the limit baffle 103 is arranged in the through hole, two ends of the limit baffle 103 are respectively connected with the upper ends of the two vertical plates 102, the displacement track of the vibration support 5 along the first shaft part 202 is limited through the limit baffle 103, and meanwhile, the vibration support 5 is limited to swing in the horizontal direction.
In the constant-tension buffer mechanism based on the hinge zero-stiffness spring, each connecting rod 8 is in a zigzag shape, so that the connecting rods 8 are prevented from colliding with the first rotating shaft 11 in the movement process.
In the constant-tension buffer mechanism based on the hinge zero-stiffness spring, the driving device 2 is a worm gear lead screw lifter.
In the constant tensile force buffering mechanism based on the hinge zero-stiffness spring, the plurality of first rotating shafts 11 and the plurality of second rotating shafts 12 are all horizontally arranged and located at the same horizontal height.
The constant tension buffer mechanism based on the hinge zero-stiffness spring is characterized in that the frame 1 further comprises: the side surface of each vertical plate 102, which faces away from the other vertical plate 102, is provided with two symmetrically arranged sliding grooves, each sliding mounting plate 104 is installed in one sliding groove, the plurality of sliding mounting plates 104 and the plurality of vertical plates 102 are arranged in parallel, and each sliding mounting plate 104 can operatively slide along the horizontal direction.
In the constant-tension buffer mechanism based on the hinge zero-stiffness spring, each of the sliding mounting plates 104 is provided with at least one strip-shaped hole, each of the strip-shaped holes is provided with a screw capable of sliding along the strip-shaped hole, and each of the sliding mounting plates 104 and one of the vertical plates 102 are fastened and connected by at least one of the screws.
The constant tension damper mechanism based on the hinge zero-stiffness spring is described above, wherein each of the slide mounting plates 104 and the outer wall of the slide bushing 14 are operatively and rotatably connected by one of the first rotating shafts 11.
The constant tension force buffer mechanism based on the hinge zero-stiffness spring further comprises: the pulley 3 is installed at the upper end of the vibration bracket 5, the pulley 3 can rotate around the central axis of the pulley 3, and a heavy object is hung through the pulley 3 to exert force on the vibration bracket 5.
Due to the adoption of the technology, compared with the prior art, the invention has the following positive effects:
(1) the invention is loaded by the movable pulley, the linear displacement of the steel wire rope is twice of the vertical displacement of the movable pulley, the buffering effect is well played, and the acceleration required to be provided by the motor is greatly reduced;
(2) under the condition of not changing the structure, the invention can accurately adjust the compression amount of the vertical spring through the worm gear lifter to offset the load, adjust the zero-stiffness spring of the hinge to a balance position, and the load can be randomly selected from zero to a rated load;
(3) in the invention, the zero-stiffness spring of the hinge can keep the state of stiffness close to zero in a large range near the balance position, the maximum displacement can reach about half of the length of the connecting rod, the stiffness of the zero-stiffness spring of the hinge at the maximum displacement is about 1/70 of the stiffness of the lateral spring, the stiffness and the restoring force of the zero-stiffness spring of the hinge are increased along with the increase of vertical displacement, and the whole system is in a stable balance state.
Drawings
Fig. 1 is a schematic structural diagram of a constant-tension buffer mechanism based on a hinge zero-stiffness spring of the invention.
Fig. 2 is a front view of a constant tension buffer mechanism based on a hinge zero-stiffness spring of the present invention.
Fig. 3 is a side view of a constant tension cushioning mechanism based on a hinge zero rate spring of the present invention.
Fig. 4 is a top view of a constant tension damper mechanism based on a hinge zero rate spring of the present invention.
Fig. 5 is a first cross-sectional view in front elevation of a zero-rate spring hinge-based constant tension buffer mechanism of the present invention in a horizontal equilibrium position.
Fig. 6 is a second cross-sectional view in front elevation of a zero-rate spring hinge-based constant tension buffer mechanism of the present invention in a horizontal equilibrium position.
Fig. 7 is a first cross-sectional view of a constant tension damper mechanism based on a zero spring rate hinge of the present invention in a front view at an upper limit position.
Fig. 8 is a second cross-sectional view in front view of a zero spring rate hinge-based constant tension damper mechanism of the present invention at an upper limit position.
Fig. 9 is a first cross-sectional view in front view of a zero spring rate hinge-based constant tension cushioning mechanism of the present invention at a lower extreme position.
Fig. 10 is a second cross-sectional view in front view of a zero spring rate hinge-based constant tension cushioning mechanism of the present invention at a lower extreme position.
Fig. 11 is a schematic diagram of a constant tension damper mechanism based on a zero rate spring of a hinge according to the present invention in a horizontal equilibrium position.
Fig. 12 is a schematic diagram of a constant tension damper mechanism based on a zero spring rate hinge of the present invention at an upper limit position.
Fig. 13 is a schematic diagram of a constant tension damper mechanism based on a zero spring rate hinge at a lower limit position according to the present invention.
Fig. 14 is a schematic diagram of a slider-crank zero-stiffness spring mechanism of a constant-tension buffer mechanism based on a hinge zero-stiffness spring according to the invention.
In the drawings: 1. a frame; 2. a drive device; 3. a pulley; 4. a vertical spring; 5. a vibration bracket; 6. a second shaft portion; 7. a lateral spring; 8. a connecting rod; 10. a third rotating shaft; 11. a first rotating shaft; 12. a second rotating shaft; 13. a minor axis; 14. a sliding shaft sleeve; 15. connecting the shaft sleeve; 101. a base plate; 102. a vertical plate; 103. a limit baffle; 104. a slide mounting plate; 201. a kinetic energy device; 202. a first shaft portion; 203. and an adjusting shaft sleeve.
Detailed Description
The invention is further described with reference to the following drawings and specific examples, which are not intended to be limiting.
Referring to fig. 1 to 14, a constant tension buffer mechanism based on a hinge zero-stiffness spring is shown, which includes:
frame 1, frame 1 includes: the vertical plate type air conditioner comprises a bottom plate 101 and vertical plates 102, wherein the two vertical plates 102 are arranged on the upper surface of the bottom plate 101, and the two vertical plates 102 are arranged in parallel;
drive arrangement 2, drive arrangement 2 includes: the device comprises a kinetic energy device 201, a first shaft part 202 and a shaft sleeve 203, wherein the kinetic energy device 201 is installed on a bottom plate 101, the first shaft part 202 is arranged between two vertical plates 102, the lower part of the first shaft part 202 is provided with threads, the adjusting shaft sleeve 203 is in meshed connection with the first shaft part 202 through the threads, the lower end of the first shaft part 202 is connected with the output end of the kinetic energy device 201, and the kinetic energy device 201 drives the first shaft part 202 to rotate around the central axis of the first shaft part 202;
vertical buffer gear, vertical buffer gear locate between two risers 102, and vertical buffer gear includes: the vibration support comprises a vertical spring 4 and a vibration support 5, wherein the vertical spring 4 is sleeved on a first shaft part 202, the lower end of the vibration support 5 is sleeved on the upper part of the first shaft part 202, the vibration support 5 can slide along the upper part of the first shaft part 202 in an operable manner, the upper end of the vertical spring 4 is abutted against the lower end of the vibration support 5, the lower end of the vertical spring 4 is abutted against an adjusting shaft sleeve 203, a limiting piece is arranged on the adjusting shaft sleeve 203, the adjusting shaft sleeve 203 is limited by the limiting piece to rotate around the central axis of the first shaft part 202, the adjusting shaft sleeve 203 can perform displacement motion along the thread structure of the first shaft part 202 in an operable manner by rotating the first shaft part 202, and two short shaft mounting grooves are formed in the side wall of the lower end of the vibration support 5;
lateral buffer gear, vertical buffer gear's both sides are connected with a lateral buffer gear respectively, and two lateral buffer gear symmetries set up, and two lateral buffer gear all install between two risers 102, and each lateral buffer gear includes: second shaft portion 6, side spring 7, connecting rod 8, first pivot 11, second pivot 12, third pivot 10, slip axle sleeve 14, connecting shaft sleeve 15 and minor axis 13, second shaft portion 6 includes: a long shaft, a limit plate and two rotation connecting parts, wherein one side of the limit plate is connected with the two rotation connecting parts, the other side of the limit plate is connected with the end part of the long shaft, a connecting rod 8 is arranged between each vertical plate 102 and the second shaft part 6, one end of the short shaft 13 is arranged in a short shaft mounting groove, a connecting shaft sleeve 15 is arranged on the short shaft 13, each rotation connecting part is operatively and rotatably connected with the outer wall of the connecting shaft sleeve 15 through a third rotating shaft 10, the other end of the short shaft 13 operatively abuts against the limit plate, one end of each connecting rod 8 is arranged on one third rotating shaft 10, each connecting rod 8 operatively rotates around the third rotating shaft 10 connected with the connecting rod, a sliding shaft sleeve 14 and a lateral spring 7 are both sleeved on the long shaft, the sliding shaft sleeve 14 operatively slides along the long shaft, one end of the lateral spring 7 abuts against the limit plate, and the other end of the lateral spring 7 abuts against the sliding shaft sleeve 14, the frame 1 and the outer wall of the sliding sleeve 14 are operatively and rotatably connected by two first shafts 11, and the other end of each link 8 is operatively and rotatably connected to the frame 1 by a second shaft 12.
Further, in a preferred embodiment, the rack 1 further comprises: and a linear bearing is mounted at the lower end of the vibration bracket 5, and the lower end of the vibration bracket 5 and the upper part of the first shaft part 202 are in sliding connection through the linear bearing.
Further, in a preferred embodiment, the rack 1 further comprises: limiting baffle 103, the through-hole has been seted up at the middle part of vibration support 5, and in the through-hole was located to limiting baffle 103, limiting baffle 103's both ends were connected with the upper end of two risers 102 respectively, and limit vibration support 5 along the displacement orbit of first axial region 202 through limiting baffle 103, the restriction vibration support 5 swings at the horizontal direction simultaneously.
Further, in a preferred embodiment, each link 8 is formed in a zigzag shape to avoid collision between the link 8 and the first rotating shaft 11 during movement.
Further, in a preferred embodiment, the driving device 2 is a worm screw elevator.
Further, in a preferred embodiment, the first rotating shafts 11 and the second rotating shafts 12 are all horizontally disposed and located at the same horizontal level.
Further, in a preferred embodiment, the rack 1 further comprises: the side of each vertical plate 102, which faces away from the other vertical plate 102, is provided with two symmetrically arranged sliding grooves, each sliding mounting plate 104 is mounted in one sliding groove, the plurality of sliding mounting plates 104 and the plurality of vertical plates 102 are arranged in parallel, and each sliding mounting plate 104 can operatively slide along the horizontal direction.
Further, in a preferred embodiment, each sliding mounting plate 104 is provided with at least one strip-shaped hole, each strip-shaped hole is provided with a screw capable of sliding along the strip-shaped hole, and each sliding mounting plate 104 and one vertical plate 102 are fastened and connected through at least one screw.
Further, in a preferred embodiment, each of the slide mounting plates 104 and the outer wall of the slide bushing 14 are operatively rotatably connected by a first shaft 11.
Further, in a preferred embodiment, the method further comprises: pulley 3, pulley 3 is mounted on the upper end of vibration bracket 5, pulley 3 is operable to rotate around its central axis, and a weight is suspended by pulley 3 to apply force to vibration bracket 5.
The above are merely preferred embodiments of the present invention, and the embodiments and the protection scope of the present invention are not limited thereby.
The present invention also has the following embodiments in addition to the above:
in a further embodiment of the present invention, as shown in fig. 14, the total stiffness of the zero-stiffness spring of the hinge is calculated as:
Figure BDA0003669661680000061
wherein the lateral cushioning mechanisms are arranged in bilateral symmetry, the following data are described by using single parts of the lateral cushioning mechanisms on either side, K is the total stiffness of the hinge zero-stiffness spring, alpha is the angle of rotation of the connecting rod 8 around the second rotating shaft 12 relative to the horizontal equilibrium position, theta is the angle of rotation of the second shaft part 6 around the first rotating shaft 11 relative to the horizontal equilibrium position, C is the center distance between the second rotating shaft 12 and the third rotating shaft 10, L is the center distance between the first rotating shaft 11 and the third rotating shaft 10, A is the displacement of the vibration support 5 relative to the horizontal equilibrium position, B is the center distance between the first rotating shaft 11 and the second rotating shaft 12, K is 1 Is the stiffness, k, of the lateral spring 7 2 Is the stiffness of the vertical spring 4, L 0 Is the original length of the lateral spring.
In a further embodiment of the present invention, as shown in fig. 14, the total stiffness calculation formula of the zero-stiffness hinge spring is satisfied among the pendulum rod length C, the spring working length L, the pendulum rod angle α, the spring angle θ, the hinge center distance B, and the vertical displacement a.
In a further embodiment of the invention, the vertical spring provides positive stiffness; the lateral spring and the swing rod are combined to provide negative stiffness; the overall positive and negative stiffness substantially offsets achieving zero stiffness.
In a further embodiment of the invention, according to fig. 5, 6 and 11, the hinge zero-stiffness spring is in a horizontal equilibrium position, both lateral springs 7 are in a horizontal direction and the vertical spring 4 is in a vertical direction.
In a further embodiment of the invention, shown in figures 7, 8 and 12, the zero-rate spring of the hinge is in the upper limit position, and the lower surface of the end of the stub shaft 13 on either lateral damping mechanism abuts against the end of the second shaft portion 6.
In a further embodiment of the invention, shown in figures 9, 10 and 13, the zero-rate spring of the hinge is in the lower limit position, the upper surface of the end of the stub shaft 13 on either lateral damping mechanism abutting against the end of the second shaft portion 6.
In a further embodiment of the present invention, the sliding shaft sleeve 14 located on any one of the lateral damping mechanisms is slidably connected to the short shaft 13, the stroke of the sliding shaft sleeve 14 on the short shaft 13 is much smaller than the length of the sliding shaft sleeve 14, when the second shaft portion 6 moves up or down to the limit position, the end of the short shaft 13 abuts against the end of the second shaft portion 6, and the sliding shaft sleeve 14 is still tightly sleeved on the short shaft 13, so as to prevent the sliding shaft sleeve 14 from sliding off the short shaft 13.
In a further embodiment of the present invention, the first rotating shaft 11 is installed on the frame 1 through the sliding installation plate 104, the distance between the first rotating shaft 11 and the second rotating shaft 12 can be adjusted by adjusting the relative position between the sliding installation plate 104 and the vertical plate 102 connected thereto, and it can be known from the calculation formula of the total stiffness of the hinge zero-stiffness spring that the total stiffness of the hinge zero-stiffness spring can be adjusted by adjusting the distance between the first rotating shaft 11 and the second rotating shaft 12, so as to enhance the constant-tension buffering effect of the hinge zero-stiffness spring.
In a further embodiment of the present invention, the driving device 2 is a worm screw elevator meeting the applicable specification of a hinge zero-stiffness spring, the first shaft portion 202 is a screw structure extended from the worm screw elevator, the adjusting shaft sleeve 203 is a structure provided on the worm screw elevator, and the worm screw elevator drives the hinge zero-stiffness spring to perform a constant tension buffer test.
In a further embodiment of the present invention, after the worm screw elevator operates, the first shaft 202 of the worm screw elevator rotates around its central axis, and the adjusting bushing 203 performs a displacement motion vertically upward or vertically downward along the first shaft 202 to apply a pulling force or a pressing force to the vertical spring 4, so as to cause the vertical spring 4 to elastically deform.
In a further embodiment of the invention, when the vertical spring 4 is elastically deformed, the vibration bracket 5 is driven to perform displacement motion in the vertical direction, the second shaft part 6 is pulled to slide in the sliding shaft sleeve 14 connected with the second shaft part, and simultaneously the connecting rod 8 and the second shaft part 6 both rotate in a vertical plane, so that the hinge zero-stiffness spring is ensured to perform constant tension change.
In a further embodiment of the invention, the vertical spring 4 can be used as both a tension spring and a compression spring, and the mode of action of the vertical spring changes according to the working state of the hinge zero-stiffness spring.
In a further embodiment of the present invention, the lateral spring 7 is a compression spring, and in any working state of the hinge zero-stiffness spring, the lateral spring 7 is in a compression state, pushing the sliding shaft sleeve 14, and preventing the sliding shaft sleeve 14 from falling off from the short shaft 13.
In a further embodiment of the present invention, the constant tension cushioning mechanism of the hinge zero stiffness spring is adaptable to a variety of situations requiring constant tension cushioning.
In a further embodiment of the invention, the constant-tension buffer mechanism of the hinge zero-stiffness spring can be applied to weightlessness simulation, low-frequency vibration isolation, lifting balance devices, motor carbon brush springs, constant-force spring hangers and supports, medical lifting beds, wiper motors and the like.
In a further embodiment of the invention, the invention discloses a constant tension buffer mechanism based on a hinge zero-stiffness spring, relates to the technical field of constant tension buffer devices and the field of low-frequency vibration isolation, and solves the problems that a common triangular zero-stiffness spring has a small zero-stiffness maintaining range and cannot accurately adjust stiffness characteristics, and a volute constant-force spring is small in bearing and low in precision. The hinge zero-stiffness spring can keep a state that the stiffness is close to zero in a large range near a balance position, the maximum displacement can reach 30-40% of the length of the swing rod, the stiffness of the hinge zero-stiffness spring at the maximum displacement is about 1/70% of the stiffness of a lateral spring, the stiffness and the restoring force of the hinge zero-stiffness spring are increased along with the increase of vertical displacement, the whole system is in a stable balance state, the zero-stiffness characteristic can be accurately adjusted in a mode of changing the center distance of the hinge, and the hinge zero-stiffness spring has the characteristics of strong bearing capacity, excellent zero-stiffness characteristic, convenience in adjustment and the like. On the basis of a hinge zero-stiffness spring, the balance position is adjusted by compressing a vertical spring through a worm gear lead screw lifter, the displacement of a steel wire rope is twice of the vertical displacement of a movable pulley through the loading of the movable pulley, and the steel wire rope is pre-tensioned or loosened before the action of a torque motor, so that the acceleration required to be provided by the motor is greatly reduced.
In a further embodiment of the invention, the structural features are: the structure is symmetrical left and right, and the component forces in all horizontal directions are mutually offset; the whole mechanism consists of a rack, a vibration bracket, a vertical spring, two lateral springs, two connecting rods, five moving pairs and six rotating pairs, wherein the connecting rods are positioned outside the lateral springs, and the swing angle theta of a guide rod of the lateral spring is always larger than the swing angle alpha of the connecting rods; the length C of the connecting rod and the center distance B of the hinge are constant; the working length L of the lateral spring, the swing angle theta of the lateral spring guide rod and the swing angle alpha of the connecting rod are variables and change along with the change of the vertical displacement A; the lower end hinge of the lateral spring and the lower end hinge of the connecting rod are fixed on the rack; the hinges on the four sliding blocks are composite hinges.
In a further embodiment of the present invention, at the equilibrium position, the vertical displacement a is 0, the lateral spring has the largest compression amount but the vertical component of the elastic force is zero, the elastic force of the vertical spring just offsets with the load, the vertical stiffness of the lateral spring is the negative maximum, and if the stiffness matching between the lateral spring and the vertical spring is proper, the total stiffness of the hinge zero-stiffness spring can be made zero;
in a further embodiment of the invention, when the load is slightly reduced, the vibration support moves upwards, the elastic force in the vertical spring is reduced, the lateral spring generates an upward elastic force component, and meanwhile, a downward vertical component force is generated in the connecting rod, most of the three forces in the vertical direction are mutually offset, only a small vertical restoring force is left, the restoring force is in direct proportion to the vertical displacement A, and the total stiffness K of the zero-stiffness spring of the hinge is increased.
In a further embodiment of the invention, when the load is slightly increased, the vibration support moves downwards, the elastic force in the vertical spring is increased, the lateral spring generates a downward elastic force component, and meanwhile, an upward vertical component force is generated in the connecting rod, most of the three forces in the vertical direction are mutually offset, only a small vertical restoring force is left, the restoring force is in direct proportion to the vertical displacement A, and the total stiffness K of the zero-stiffness spring of the hinge is increased.
In a further embodiment of the present invention, under the condition that other parameters are not changed, the smaller the hinge center distance B is, the smaller the maximum total stiffness K of the zero-stiffness spring of the hinge is, and the smaller the maximum restoring force is.
In a further embodiment of the invention, when the vertical displacement A is changed in a large range, the total stiffness K of the zero-stiffness spring of the hinge is not changed greatly, and the restoring force is not changed greatly.
In a further embodiment of the invention, the greater the amount of compression the lateral spring operates in, the less stiffness the lateral spring requires at the same load and stiffness requirements.
In a further embodiment of the invention, the mechanism is loaded by the movable pulley, the linear displacement of the steel wire rope is twice of the vertical displacement of the movable pulley, the buffering effect is well realized, and the acceleration required to be provided by the motor is greatly reduced.
In a further embodiment of the invention, under the condition of not changing the structure, the load can be offset by precisely adjusting the compression amount of the vertical spring through the worm gear-screw elevator, the zero-stiffness spring of the hinge is adjusted to a balance position, and the load can be randomly selected from zero to a rated load.
In a further embodiment of the invention, the zero-stiffness hinge spring can keep a state of stiffness close to zero in a large range near the equilibrium position, the maximum displacement can reach about half of the length of the connecting rod, the stiffness of the zero-stiffness hinge spring at the maximum displacement is about 1/70 of the lateral spring stiffness and about 1/27 of the lateral spring stiffness, the stiffness and the restoring force of the zero-stiffness hinge spring are increased along with the increase of the vertical displacement, and the whole system is in a stable equilibrium state. While the ordinary triangular zero-stiffness spring can only ensure that the stiffness is kept close to zero in a very small range near the equilibrium position, the maximum displacement is only about 1/20 times the length of the lateral spring, and the stiffness of the triangular zero-stiffness spring at the maximum displacement is about 1/5 times the stiffness of the lateral spring and about 1/10 times the stiffness of the vertical spring.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made without departing from the spirit and scope of the invention.

Claims (10)

1. The utility model provides a constant tension buffer gear based on zero rigidity spring of hinge which characterized in that includes:
a chassis (1), the chassis (1) comprising: the vertical plate structure comprises a bottom plate (101) and vertical plates (102), wherein the two vertical plates (102) are mounted on the upper surface of the bottom plate (101), and the two vertical plates (102) are arranged in parallel;
a drive device (2), the drive device (2) comprising: the vertical plate vertical adjusting device comprises a kinetic energy device (201), a first shaft part (202) and a shaft sleeve (203), wherein the kinetic energy device (201) is installed on the bottom plate (101), the first shaft part (202) is arranged between the two vertical plates (102), the lower part of the first shaft part (202) is provided with a thread, the adjusting shaft sleeve (203) is in meshed connection with the first shaft part (202) through the thread, the lower end of the first shaft part (202) is connected with the output end of the kinetic energy device (201), and the first shaft part (202) is driven to rotate around the central axis of the first shaft part (201);
the vertical buffer mechanism is arranged between the two vertical plates (102), and comprises: a vertical spring (4) and a vibration bracket (5), wherein the vertical spring (4) is sleeved on the first shaft part (202), the lower end of the vibration bracket (5) is sleeved on the upper part of the first shaft part (202), the vibration bracket (5) can slide along the upper part of the first shaft part (202) in an operable way, the upper end of the vertical spring (4) is abutted against the lower end of the vibration bracket (5), the lower end of the vertical spring (4) is abutted against the adjusting shaft sleeve (203), a limiting piece is arranged on the adjusting shaft sleeve (203), the limiting piece limits the adjusting shaft sleeve (203) to rotate around the central axis of the first shaft part (202), the adjusting shaft sleeve (203) can operatively perform displacement motion along the thread structure of the first shaft part (202) by rotating the first shaft part (202), and the side wall of the lower end of the vibration bracket (5) is provided with two short shaft installation grooves;
lateral buffer gear, vertical buffer gear's both sides are connected with one respectively lateral buffer gear, two lateral buffer gear symmetry sets up, two lateral buffer gear all installs two between riser (102), each lateral buffer gear includes: second shaft portion (6), side direction spring (7), connecting rod (8), first pivot (11), second pivot (12), third pivot (10), slip axle sleeve (14), connecting shaft sleeve (15) and minor axis (13), second shaft portion (6) include: one side of each limiting plate is connected with two rotating connecting parts, the other side of each limiting plate is connected with the end of the long shaft, one connecting rod (8) is arranged between each vertical plate (102) and the second shaft part (6), one end of each short shaft (13) is arranged in one short shaft mounting groove, each connecting shaft sleeve (15) is connected with the corresponding short shaft (13) in a sliding manner, the outer wall of each rotating connecting part and the outer wall of each connecting shaft sleeve (15) are connected with each other in an operable and rotating manner through one third rotating shaft (10), the other end of each short shaft (13) is operably abutted to the limiting plate, one end of each connecting rod (8) is arranged on one third rotating shaft (10), each connecting rod (8) is operably rotated around the third rotating shaft (10) connected with the connecting rod, and the sliding shaft sleeve (14) and the lateral spring (7) are sleeved on the long shaft, the long shaft is slided along operationally sliding shaft sleeve (14), and the one end of side direction spring (7) is supported the limiting plate, and the other end of side direction spring (7) is supported sliding shaft sleeve (14), the outer wall of frame (1) and sliding shaft sleeve (14) is through two first pivot (11) operationally rotate and connect, the other end of each connecting rod (8) with frame (1) is through one second pivot (12) operationally rotate and connect.
2. The constant tension buffer mechanism based on hinge zero-stiffness spring according to claim 1, wherein the frame (1) further comprises: the lower end of the vibration support (5) is provided with the linear bearing, and the lower end of the vibration support (5) is connected with the upper part of the first shaft part (202) in a sliding mode through the linear bearing.
3. The constant tension buffer mechanism based on hinge zero-stiffness spring according to claim 2, wherein the frame (1) further comprises: the middle of the vibration support (5) is provided with a through hole, the limiting baffle (103) is arranged in the through hole, two ends of the limiting baffle (103) are respectively connected with the upper ends of the two vertical plates (102), the displacement track of the vibration support (5) along the first shaft part (202) is limited through the limiting baffle (103), and meanwhile the vibration support (5) is limited to swing in the horizontal direction.
4. The constant-tension buffer mechanism based on the hinge zero-stiffness spring as claimed in claim 1, wherein each connecting rod (8) is in a zigzag shape, so that collision between the connecting rods (8) and the first rotating shaft (11) in the moving process is avoided.
5. The constant tension buffer mechanism based on the hinge zero-stiffness spring as claimed in claim 1, wherein the driving device (2) is a worm screw elevator.
6. The constant-tension buffer mechanism based on the hinge zero-stiffness spring as claimed in claim 1, wherein the first rotating shafts (11) and the second rotating shafts (12) are all horizontally arranged and located at the same horizontal height.
7. The constant tension buffer mechanism based on hinge zero-stiffness spring according to claim 1, wherein the frame (1) further comprises: the side face, away from the other vertical plate (102), of each vertical plate (102) is provided with two symmetrically-arranged sliding grooves, each sliding mounting plate (104) is mounted in one sliding groove, the sliding mounting plates (104) and the vertical plates (102) are arranged in parallel, and each sliding mounting plate (104) can slide along the horizontal direction in an operable mode.
8. The constant-tension buffer mechanism based on the hinge zero-stiffness spring as claimed in claim 7, wherein each sliding mounting plate (104) is provided with at least one strip-shaped hole, each strip-shaped hole is provided with a screw capable of sliding along the strip-shaped hole, and each sliding mounting plate (104) and one vertical plate (102) are fastened and connected through at least one screw.
9. The constant tension damper mechanism based on the hinge zero-rate spring as claimed in claim 8, wherein each of the sliding mounting plate (104) and the outer wall of the sliding bushing (14) are operatively and rotatably connected by one of the first rotating shafts (11).
10. The constant tension buffer mechanism based on the hinge zero-stiffness spring as claimed in claim 1, further comprising: a pulley (3), the pulley (3) being mounted at the upper end of a vibration support (5), the pulley (3) being operable to rotate about its central axis, a weight being suspended via the pulley (3) to exert a force on the vibration support (5).
CN202210600198.1A 2022-05-30 2022-05-30 Constant tension buffer mechanism based on hinge zero-stiffness spring Active CN114838074B (en)

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