CN114838074B - Constant tension buffer mechanism based on hinge zero-stiffness spring - Google Patents
Constant tension buffer mechanism based on hinge zero-stiffness spring Download PDFInfo
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- CN114838074B CN114838074B CN202210600198.1A CN202210600198A CN114838074B CN 114838074 B CN114838074 B CN 114838074B CN 202210600198 A CN202210600198 A CN 202210600198A CN 114838074 B CN114838074 B CN 114838074B
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- 230000007246 mechanism Effects 0.000 title claims abstract description 49
- 238000006073 displacement reaction Methods 0.000 claims abstract description 37
- 238000002955 isolation Methods 0.000 abstract description 4
- 230000001105 regulatory effect Effects 0.000 abstract 2
- 230000006835 compression Effects 0.000 description 7
- 238000007906 compression Methods 0.000 description 7
- 229910000831 Steel Inorganic materials 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 239000010959 steel Substances 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 238000013016 damping Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 229910052799 carbon Inorganic materials 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 230000005489 elastic deformation Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- 230000004580 weight loss Effects 0.000 description 1
Classifications
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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
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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
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C11/00—Pivots; Pivotal connections
- F16C11/04—Pivotal connections
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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
- 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
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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
- F16F7/00—Vibration-dampers; Shock-absorbers
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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
- F16F2238/00—Type of springs or dampers
- F16F2238/02—Springs
- F16F2238/026—Springs wound- or coil-like
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Vibration Prevention Devices (AREA)
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, solves the problems that a normal triangle zero-stiffness spring has a small range for keeping zero stiffness and cannot be accurately regulated in stiffness characteristics, and a volute constant-force spring has low bearing precision, wherein the hinge zero-stiffness spring can keep a state with 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 both increased along with the increase of the vertical displacement, the whole system is in a stable balance state, the zero-stiffness characteristic can be accurately regulated in a mode of changing the center distance of the hinge, and the characteristics of strong bearing capacity, excellent zero-stiffness characteristic, convenience in regulation and the like.
Description
Technical Field
The invention relates to the technical field of constant tension buffer devices, in particular to a constant tension buffer mechanism based on a hinge zero-stiffness spring.
Background
The bearing capacity of the common triangle 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 stiffness is kept to be close to zero in a very small range, and if the stiffness is rapidly increased from the balance position, the zero-stiffness characteristic is poor and difficult to adjust; the plane spiral constant force spring can realize a large-scale constant tension effect, but the precision is not high, the tension error is about 4%, the bearing capacity is weak, and generally, only a few kilograms; in the aspect of low-frequency vibration isolation, the zero stiffness is realized by combining the spring and the rod piece, and the problems of poor zero stiffness characteristic and difficult adjustment are also existed.
In summary, the common triangle zero-stiffness spring and other zero-stiffness springs have the problems of poor zero-stiffness characteristics and difficult 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-mentioned problems, the present invention aims to provide a constant tension buffer mechanism based on a hinge zero-stiffness spring.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
a constant tension buffer mechanism based on a hinge zero-rate spring, comprising:
a frame 1, the frame 1 comprising: the device comprises a bottom plate 101 and upright plates 102, wherein two upright plates 102 are arranged on the upper surface of the bottom plate 101, and the two upright plates 102 are arranged in parallel;
a driving device 2, the driving device 2 comprising: the device comprises a kinetic energy device 201, a first shaft part 202 and an adjusting shaft sleeve 203, wherein the kinetic energy device 201 is arranged on a base plate 101, the first shaft part 202 is arranged between two vertical plates 102, threads are arranged at the lower part of the first shaft part 202, the adjusting shaft sleeve 203 is connected with the first shaft part 202 through threaded engagement, 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 shaft through the kinetic energy device 201;
vertical buffer gear, vertical buffer gear locates two between riser 102, vertical buffer gear includes: 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, the upper end of the vertical spring 4 is propped against the lower end of the vibration bracket 5, the lower end of the vertical spring 4 is propped against the adjusting shaft sleeve 203, a limiting piece is arranged on the adjusting shaft sleeve 203, the limiting piece is used for limiting the adjusting shaft sleeve 203 to rotate around the central axis of the first shaft part 202, the adjusting shaft sleeve 203 can move in an operable displacement mode along the thread structure of the first shaft part 202 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 bracket 5;
the side direction buffer gear, the vertical buffer gear's both sides are connected with one respectively side direction buffer gear, two side direction buffer gear symmetry sets up, two side direction buffer gear is all installed two between the riser 102, every side direction buffer gear includes: a second shaft portion 6, a lateral spring 7, a connecting rod 8, a first rotating shaft 11, a second rotating shaft 12, a third rotating shaft 10, a sliding shaft sleeve 14, a connecting shaft sleeve 15 and a short shaft 13, wherein the second shaft portion 6 comprises: the device comprises a long shaft, a limiting plate and two rotating connecting parts, wherein one side of the limiting plate is connected with two rotating connecting 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 each second shaft part 6, one end of a short shaft 13 is arranged in one short shaft mounting groove, a connecting shaft sleeve 15 is arranged on the short shaft 13, each rotating connecting part and the outer wall of the connecting shaft sleeve 15 are in operable rotating connection through one third rotating shaft 10, the other end of the short shaft 13 is in operable abutting connection with the limiting plate, one end of each connecting rod 8 is arranged on one third rotating shaft 10, each connecting rod 8 is in operable rotating connection with the third rotating shaft 10, the sliding shaft sleeve 14 and the lateral spring 7 are sleeved on the long shaft, one end of the lateral spring 7 is in operable sliding along the long shaft, the other end of the lateral spring 7 is in abutting connection with the limiting plate, the other end of the lateral spring 7 is in operable abutting connection with the sliding shaft sleeve 14, one end of each connecting rod 8 is in operable rotating connection with the first rotating shaft 1 and the other end of the machine frame 1 is in operable rotating connection with the other end of the machine frame 1 through one connecting rod 11.
The constant tension buffer mechanism based on the hinge zero-stiffness spring, wherein the frame 1 further comprises: the linear bearing is mounted on the lower end of the vibration bracket 5, and the lower end of the vibration bracket 5 and the upper portion of the first shaft portion 202 are slidably connected through the linear bearing.
The constant tension buffer mechanism based on the hinge zero-stiffness spring, wherein the frame 1 further comprises: the limiting baffle 103, the through-hole has been seted up at the middle part of vibration support 5, and limiting baffle 103 locates in the through-hole, limiting baffle 103's both ends are connected with the upper end of two risers 102 respectively, limit through limiting baffle 103 vibration support 5 is followed the displacement orbit of first shaft portion 202, restriction vibration support 5 is at the horizontal direction swing simultaneously.
The constant tension buffer mechanism based on the hinge zero-stiffness spring, wherein each connecting rod 8 is in a zigzag shape, so that collision between the connecting rod 8 and the first rotating shaft 11 in the moving process is avoided.
The constant tension buffer mechanism based on the hinge zero-stiffness spring is characterized in that the driving device 2 is a worm wheel screw rod lifter.
The constant tension buffer mechanism based on the hinge zero-stiffness spring is characterized in that a plurality of first rotating shafts 11 and a plurality of second rotating shafts 12 are horizontally arranged and located at the same horizontal height.
The constant tension buffer mechanism based on the hinge zero-stiffness spring, wherein the frame 1 further comprises: slide mounting plates 104, two symmetrically arranged sliding grooves are formed in the side surface, facing away from the other vertical plate 102, of each vertical plate 102, each slide mounting plate 104 is mounted in one sliding groove, a plurality of slide mounting plates 104 and vertical plates 102 are arranged in parallel, and each slide mounting plate 104 is operable to slide in the horizontal direction.
The constant tension buffer mechanism based on the hinge zero-stiffness spring is characterized in that at least one strip-shaped hole is formed in each sliding mounting plate 104, a screw capable of sliding along the strip-shaped hole is arranged in each strip-shaped hole, and each sliding mounting plate 104 and one vertical plate 102 are fastened and connected through at least one screw.
The constant tension damper mechanism based on the hinge zero rate spring described above, wherein each of the slide mounting plate 104 and the outer wall of the slide bushing 14 are operatively rotatably connected by one of the first rotary shafts 11.
The constant tension buffer mechanism based on the hinge zero-stiffness spring further comprises: a pulley 3, said pulley 3 being mounted at the upper end of the vibration cradle 5, said pulley 3 being operable to rotate about its central axis, a weight being suspended by said pulley 3 exerting a force on said vibration cradle 5.
The invention adopts the technology, so that compared with the prior art, the invention has the positive effects that:
(1) According to the invention, the movable pulley is used for loading, the linear displacement of the steel wire rope is twice as large as the vertical displacement of the movable pulley, so that the buffer effect is well realized, 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 offset the load by accurately adjusting the compression amount of the vertical spring through the worm gear lifter, adjust the zero stiffness spring of the hinge to the balance position, and the load can be randomly selected from zero to rated load;
(3) In the invention, the zero-stiffness spring of the hinge can keep a state that the stiffness is 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 the vertical displacement, and the whole system is in a stable balance state.
Drawings
FIG. 1 is a schematic structural view of a constant tension cushioning mechanism based on a hinge zero rate spring of the present invention.
Fig. 2 is a front view of a constant tension cushioning mechanism based on a hinge zero rate 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 cushioning mechanism based on a hinge zero rate spring of the present invention.
Fig. 5 is a first cross-sectional view of a constant tension cushioning mechanism of the present invention in a horizontal equilibrium position based on a hinge zero-rate spring.
Fig. 6 is a second cross-sectional view of a constant tension cushioning mechanism of the present invention in a horizontal equilibrium position based on a hinge zero-rate spring.
Fig. 7 is a first cross-sectional view of a constant tension cushioning mechanism of the present invention based on a hinge zero-rate spring in a front view at an upper limit point position.
Fig. 8 is a second cross-sectional view of a constant tension cushioning mechanism of the present invention based on a hinge zero-rate spring in a front view at an upper limit point position.
Fig. 9 is a first cross-sectional view of a constant tension cushioning mechanism of the present invention based on a hinge zero-rate spring in a front view at a lower limit point position.
Fig. 10 is a second cross-sectional view of a constant tension cushioning mechanism of the present invention based on a hinge zero-rate spring in a front view at a lower limit point position.
Fig. 11 is a schematic diagram of a constant tension cushioning mechanism of the present invention in a horizontal equilibrium position based on a hinge zero rate spring.
Fig. 12 is a schematic diagram of a constant tension cushioning mechanism of the present invention based on a hinge zero rate spring at the upper limit point position.
Fig. 13 is a schematic diagram of a constant tension cushioning mechanism of the present invention based on a hinge zero rate spring at a lower limit point position.
Fig. 14 is a schematic diagram of a slider-crank zero-rate spring mechanism of the constant-tension buffer mechanism based on a hinge zero-rate spring of the present invention.
In the accompanying drawings: 1. a frame; 2. a driving device; 3. a pulley; 4. a vertical spring; 5. a vibration support; 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 short shaft; 14. a sliding sleeve; 15. a connecting shaft sleeve; 101. a bottom plate; 102. a vertical plate; 103. a limit baffle; 104. a sliding mounting plate; 201. a kinetic energy device; 202. a first shaft portion; 203. and adjusting the shaft sleeve.
Detailed Description
The invention is further described below with reference to the drawings and specific examples, which are not intended to be limiting.
Referring to fig. 1 to 14, there is shown a constant tension buffer mechanism based on a hinge zero rate spring, comprising:
frame 1, frame 1 includes: the device comprises a bottom plate 101 and upright plates 102, wherein two upright plates 102 are arranged on the upper surface of the bottom plate 101, and the two upright plates 102 are arranged in parallel;
driving device 2, driving device 2 includes: the device comprises a kinetic energy device 201, a first shaft part 202 and an adjusting shaft sleeve 203, wherein the kinetic energy device 201 is arranged on a bottom plate 101, the first shaft part 202 is arranged between two vertical plates 102, threads are arranged at the lower part of the first shaft part 202, the adjusting shaft sleeve 203 is connected with the first shaft part 202 through threaded engagement, 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 202 through the kinetic energy device 201;
vertical buffer gear locates between two risers 102, and vertical buffer gear includes: the vertical spring 4 and the vibration support 5, the vertical spring 4 is sleeved on the first shaft 202, the lower end of the vibration support 5 is sleeved on the upper portion of the first shaft 202, the vibration support 5 can slide along the upper portion of the first shaft 202, the upper end of the vertical spring 4 is propped against the lower end of the vibration support 5, the lower end of the vertical spring 4 is propped against the adjusting shaft sleeve 203, a limiting piece is arranged on the adjusting shaft sleeve 203, the adjusting shaft sleeve 203 is limited to rotate around the central axis of the first shaft 202 through the limiting piece, the adjusting shaft sleeve 203 can move in an operative displacement mode along the threaded structure of the first shaft 202 through rotating the first shaft 202, and two short shaft mounting grooves are formed in the side wall of the lower end of the vibration support 5;
the side direction buffer gear, the both sides of vertical buffer gear are connected with a side direction buffer gear respectively, and two side direction buffer gear symmetry sets up, and two side direction buffer gear are all installed between two riser 102, and every side direction 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 axle sleeve 15 and minor axis 13, second shaft portion 6 includes: one side of the limiting plate is connected with two rotating connecting parts, the other side of the limiting 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 installed in a short shaft installation groove, the connecting shaft sleeve 15 is installed on the short shaft 13, the outer wall of each rotating connecting part and the outer wall of the connecting shaft sleeve 15 are in operative rotating connection through a third rotating shaft 10, the other end of the short shaft 13 is in operative abutting connection with the limiting plate, one end of each connecting rod 8 is installed on the third rotating shaft 10, each connecting rod 8 is in operative rotating connection with the third rotating shaft 10, the sliding shaft sleeve 14 and the lateral spring 7 are sleeved on the long shaft, the sliding shaft sleeve 14 is in operative sliding 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 wall of the frame 1 and the sliding shaft sleeve 14 is in operative rotating connection through two first rotating shafts 11, and the other end of each connecting rod 8 and the frame 1 are in operative rotating connection through a second rotating shaft 12.
Further, in a preferred embodiment, the frame 1 further comprises: linear bearings are mounted to the lower ends of the vibration brackets 5, and the lower ends of the vibration brackets 5 and the upper portion of the first shaft portion 202 are slidably connected by the linear bearings.
Further, in a preferred embodiment, the frame 1 further comprises: the through hole is opened at the middle part of limit baffle 103, vibration support 5, and limit baffle 103 locates in the through hole, and limit baffle 103's both ends are connected with the upper end of two risers 102 respectively, limit the displacement orbit of vibration support 5 along first axial region 202 through limit baffle 103, limit vibration support 5 at the horizontal direction swing simultaneously.
Further, in a preferred embodiment, each link 8 is shaped like a fold line, avoiding collisions between the link 8 and the first shaft 11 during movement.
Further, in a preferred embodiment, the driving device 2 is a worm gear screw lifter.
Further, in a preferred embodiment, the plurality of first rotating shafts 11 and the plurality of second rotating shafts 12 are disposed horizontally and at the same level.
Further, in a preferred embodiment, the frame 1 further comprises: two symmetrically arranged sliding grooves are formed in the side surface, facing away from the other vertical plate 102, of each vertical plate 102, each sliding mounting plate 104 is arranged in one sliding groove, a plurality of sliding mounting plates 104 and the vertical plates 102 are arranged in parallel, and each sliding mounting plate 104 is operable to slide in the horizontal direction.
Further, in a preferred embodiment, at least one bar-shaped hole is formed in each of the slide mounting plates 104, and each bar-shaped hole is provided with a screw slidable along the bar-shaped hole, and each of the slide mounting plates 104 and one of the vertical plates 102 are fastened by at least one screw.
Further, in a preferred embodiment, each slide mounting plate 104 is operatively rotatably coupled to the outer wall of slide bushing 14 by a first shaft 11.
Further, in a preferred embodiment, the method further comprises: pulley 3, pulley 3 is installed in the upper end of vibration support 5, and pulley 3 is operable to rotate around its central axis, through pulley 3 suspension weight to apply effort to vibration support 5.
The foregoing is merely a preferred embodiment of the present invention, and is not intended to limit the embodiments and the protection scope of the present invention.
The present invention has the following embodiments based on the above description:
in a further embodiment of the present invention, as shown in fig. 14, the total stiffness of the hinge zero stiffness spring is calculated as:
wherein the lateral buffer mechanisms are symmetrically arranged left and right, the following data are described by single component of the lateral buffer mechanism at any side, K is the total rigidity of the hinge zero-rigidity spring, alpha is the rotation angle of the connecting rod 8 around the second rotating shaft 12 relative to the horizontal balance position, theta is the rotation angle of the second shaft part 6 around the first rotating shaft 11 relative to the horizontal balance 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 bracket 5 relative to the horizontal balance position, B is the center distance between the first rotating shaft 11 and the second rotating shaft 12, and K is the center distance between the first rotating shaft 11 and the second rotating shaft 12 1 For the stiffness, k, of the lateral springs 7 2 For the stiffness of the vertical springs 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 hinge zero stiffness spring is satisfied between the swing rod length C, the spring working length L, the swing rod swing angle α, the spring swing angle θ, the hinge center distance B and the vertical displacement a.
In a further embodiment of the invention, the vertical spring provides a positive stiffness; the lateral spring and the swing rod combination provide negative stiffness; the overall positive and negative stiffness substantially counteracts to achieve zero stiffness.
In a further embodiment of the invention, according to the figures 5, 6 and 11, the hinge zero-rate 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, according to fig. 7, 8 and 12, the hinge zero rate spring is in the upper limit position, the lower surface of the end of the stub shaft 13 on either side damping mechanism being in abutment with the end of the second shaft portion 6.
In a further embodiment of the invention, according to fig. 9, 10 and 13, the hinge zero rate spring is in a lower extreme point position, the upper surface of the end of the stub shaft 13 on either side damping mechanism being in abutment with the end of the second shaft portion 6.
In a further embodiment of the invention, the sliding sleeve 14 on either side buffer mechanism is in sliding connection with the stub shaft 13, the travel of the sliding sleeve 14 on the stub shaft 13 is much smaller than the length of the sliding sleeve 14, when the second shaft portion 6 moves up or down to the limit position, the end of the stub shaft 13 abuts against the end of the second shaft portion 6, the sliding sleeve 14 still is tightly sleeved on the stub shaft 13, and the sliding sleeve 14 is prevented from sliding off the stub shaft 13.
In a further embodiment of the present invention, the first rotating shaft 11 is mounted on the frame 1 through the sliding mounting plate 104, the distance between the first rotating shaft 11 and the second rotating shaft 12 can be adjusted by adjusting the relative positions of the sliding mounting plate 104 and the vertical plate 102 connected with the sliding mounting plate, according to the total stiffness calculation formula of the hinge zero stiffness spring, 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, and the constant tension buffering effect of the hinge zero stiffness spring is enhanced.
In a further embodiment of the present invention, the driving device 2 is a worm screw rod lifter which meets the applicable specification of the hinge zero stiffness spring, the first shaft portion 202 is a lengthened screw rod structure on the worm screw rod lifter, the adjusting shaft sleeve 203 is a self-contained structure on the worm screw rod lifter, and the constant tension buffer test is performed by driving the hinge zero stiffness spring through the worm screw rod lifter.
In a further embodiment of the present invention, after the worm screw elevator is operated, the first shaft portion 202 of the worm screw elevator rotates around the central axis thereof, and the adjusting shaft sleeve 203 performs a vertical upward or vertical downward displacement movement along the first shaft portion 202, so as to apply a tensile force or a compressive force to the vertical spring 4, and promote the elastic deformation of the vertical spring 4.
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 vibration bracket, and meanwhile, the connecting rod 8 and the second shaft part 6 rotate in the 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 a tension spring or a compression spring, and the mode of action of the vertical spring is changed according to the working state of the hinge zero-stiffness spring.
In a further embodiment of the 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 to push the sliding shaft sleeve 14, so that the sliding shaft sleeve 14 is prevented from falling off from the short shaft 13.
In a further embodiment of the invention, the constant tension buffer mechanism of the hinge zero-stiffness spring can be applied to various situations requiring constant tension buffer.
In a further embodiment of the invention, the constant tension buffer mechanism of the hinge zero-stiffness spring can be suitable for various conditions such as weight loss simulation, low-frequency vibration isolation, lifting balance device, motor carbon brush spring, constant force spring support and hanger, medical lifting bed, wiper motor 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 normal triangle zero-stiffness spring has a small range for keeping zero stiffness, the stiffness characteristic cannot be accurately adjusted and the scroll constant-force spring has small bearing precision. The zero-stiffness spring of the hinge can keep the state that the stiffness is close to zero in a large range near the balance position, the maximum displacement can reach 30-40% of the length of the swing 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 the vertical displacement, the whole system is in a stable balance state, the zero-stiffness characteristic can be accurately adjusted by changing the center distance of the hinge, and the zero-stiffness spring has the characteristics of strong bearing capacity, excellent zero-stiffness characteristic, convenience in adjustment and the like. On the basis of the hinge zero-stiffness spring, the balance position is adjusted by compressing the vertical spring through the worm wheel screw rod lifter, the movable pulley is loaded, the displacement of the steel wire rope is twice as large as the vertical displacement of the movable pulley, and the steel wire rope is pre-tensioned or loosened before the moment motor acts, 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: structurally, the left and right symmetry is achieved, and component forces in all horizontal directions are mutually offset; the whole mechanism consists of a frame, 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 at the outer sides of the lateral springs, and the swing angle theta of the lateral spring guide rods 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 frame; the hinges on the four sliding blocks are compound hinges.
In a further embodiment of the invention, in the equilibrium position, the vertical displacement a=0, the lateral spring compression is maximum but the vertical component of the spring force is zero, the spring force of the vertical spring is exactly offset with the load, the vertical stiffness of the lateral spring is negative maximum, and if the stiffness of the lateral spring and the vertical spring are matched properly, the total stiffness of the hinge zero-stiffness spring can be zero;
in a further embodiment of the invention, when the load is slightly reduced, the vibration bracket moves upwards, the elastic force in the vertical spring is reduced, the lateral spring generates an upward elastic force component, meanwhile, the connecting rod generates a downward vertical force component, three forces in the vertical direction are mostly mutually offset, only a small vertical restoring force is remained, the restoring force is in direct proportion to the vertical displacement A, and the total stiffness K of the hinge zero-stiffness spring is increased.
In a further embodiment of the invention, when the load is slightly increased, the vibration bracket moves downwards, the elasticity in the vertical spring is increased, the lateral spring generates a downward elasticity component, and simultaneously an upward vertical component is generated in the connecting rod, three forces in the vertical direction are mostly offset each other, only a small vertical restoring force is remained, the restoring force is in direct proportion to the vertical displacement A, and the total stiffness K of the hinge zero-stiffness spring is increased.
In a further embodiment of the invention, the smaller the hinge center distance B, the smaller the maximum total stiffness K of the zero-stiffness spring of the hinge, and the smaller the maximum restoring force, with the other parameters unchanged.
In a further embodiment of the invention, when the vertical displacement A changes within a large range, the change of the total stiffness K of the hinge zero stiffness spring is not large, the change of the restoring force is also not large, and when the vertical displacement A is close to the maximum value, the change of the total stiffness K of the hinge zero stiffness spring is at an extreme point and becomes small rapidly, and the restoring force is increased rapidly.
In a further embodiment of the invention, the greater the amount of compression the lateral spring is operated with, the less stiffness the lateral spring requires under equal load and stiffness requirements.
In a further embodiment of the invention, the mechanism is loaded through the movable pulley, the linear displacement of the steel wire rope is twice as large as the vertical displacement of the movable pulley, the buffer function is well achieved, and the acceleration provided by the motor is required to be greatly reduced.
In a further embodiment of the invention, the load can be counteracted by precisely adjusting the compression amount of the vertical spring through the worm wheel screw lifter without changing the structure, the zero-stiffness spring of the hinge is adjusted to the balance position, and the load can be randomly selected from zero to rated load.
In a further embodiment of the invention, the zero-stiffness spring of the hinge can maintain a state with stiffness close to zero in a large range near the balance position, the maximum displacement can reach about half 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 and about 1/27 of the stiffness of the lateral spring, the stiffness and restoring force of the zero-stiffness spring of the hinge are increased along with the increase of the vertical displacement, and the whole system is in a stable balance state. The normal triangle zero-stiffness spring can only ensure that the stiffness is kept to be close to zero in a small range near the balance position, the maximum displacement is only about 1/20 of the length of the lateral spring, and the stiffness of the triangle zero-stiffness spring at the maximum displacement is about 1/5 of the stiffness of the lateral spring and about 1/10 of the stiffness of the vertical spring.
The foregoing is merely illustrative of the preferred embodiments of the present invention and is not intended to limit the embodiments and scope of the present invention, and it should be appreciated by those skilled in the art that equivalent substitutions and obvious variations may be made using the description and illustrations of the present invention, and are intended to be included in the scope of the present invention.
Claims (10)
1. Constant tension buffer gear based on hinge zero stiffness spring, characterized by, include:
a frame (1), the frame (1) comprising: the device comprises a bottom plate (101) and vertical plates (102), wherein 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 driving device (2), the driving device (2) comprising: the device comprises a kinetic energy device (201), a first shaft part (202) and an adjusting shaft sleeve (203), wherein the kinetic energy device (201) is arranged on a base plate (101), the first shaft part (202) is arranged between two vertical plates (102), threads are formed on the lower part of the first shaft part (202), the adjusting shaft sleeve (203) is connected with the first shaft part (202) through threaded engagement, 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 shaft part through the kinetic energy device (201);
vertical buffer gear, vertical buffer gear locates two between riser (102), vertical buffer gear includes: the vertical spring (4) is sleeved on the 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 propped against the lower end of the vibration support (5), the lower end of the vertical spring (4) is propped against the adjusting shaft sleeve (203), a limiting piece is arranged on the adjusting shaft sleeve (203), the limiting piece is used for limiting the adjusting shaft sleeve (203) to rotate around the central axis of the first shaft part (202), the first shaft part (202) is rotated to enable the adjusting shaft sleeve (203) to move in a displacement manner along the threaded structure of 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);
the side direction buffer gear, the vertical buffer gear's both sides are connected with one respectively side direction buffer gear, two side direction buffer gear symmetry sets up, two side direction buffer gear is all installed two between riser (102), every side direction 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 axle sleeve (15) and minor axis (13), second shaft portion (6) include: a long shaft, a limiting plate and two rotating connecting parts, wherein one side of the limiting plate is connected with two rotating connecting 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 a short shaft (13) is arranged in one short shaft mounting groove, the connecting shaft sleeve (15) is slidably connected with the short shaft (13), the outer wall of each rotating connecting part and the outer wall of the connecting shaft sleeve (15) are rotatably connected through one third rotating shaft (10), the other end of the short shaft (13) is operatively abutted against the limiting plate, one end of each connecting rod (8) is arranged on one third rotating shaft (10), each connecting rod (8) is operatively rotated 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, the sliding shaft sleeve (14) is operatively abutted against the other end of the sliding shaft sleeve (14) and the other end of the sliding shaft sleeve (7) is slidably connected with the frame (1) through one end of the sliding shaft sleeve (14), the other end of each connecting rod (8) is in operative rotary connection with the frame (1) via one of the second rotary shafts (12).
2. The constant tension cushioning mechanism based on a hinge zero rate spring of claim 1, wherein the frame (1) further comprises: the linear bearing is arranged at the lower end of the vibration support (5), 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. Constant tension buffer mechanism based on a hinge zero rate spring according to claim 2, characterized in that the frame (1) further comprises: limiting baffle (103), the through-hole has been seted up at the middle part of vibration support (5), and limiting baffle (103) are located in the through-hole, limiting baffle (103) both ends are connected with the upper end of two riser (102) respectively, restrict through limiting baffle (103) vibration support (5) are followed the displacement orbit of first shaft part (202), restriction vibration support (5) are swung at the horizontal direction simultaneously.
4. Constant tension buffer gear based on hinge zero-rate spring according to claim 1, characterized in that each of the links (8) is in the shape of a broken line avoiding collision between the links (8) and the first rotation shaft (11) during movement.
5. Constant tension buffer mechanism based on hinge zero-rate spring according to claim 1, characterized in that the driving means (2) is a worm gear screw elevator.
6. The constant tension buffer mechanism based on the hinge zero-rate spring according to claim 1, wherein a plurality of the first rotating shafts (11) and a plurality of the second rotating shafts (12) are horizontally arranged and positioned at the same level.
7. The constant tension cushioning mechanism based on a hinge zero rate spring of claim 1, wherein the frame (1) further comprises: sliding mounting plates (104), wherein two symmetrically arranged sliding grooves are formed in the side faces, away from the other vertical plate (102), of each vertical plate (102), each sliding mounting plate (104) is mounted in one sliding groove, a plurality of sliding mounting plates (104) and vertical plates (102) are arranged in parallel, and each sliding mounting plate (104) can slide in the horizontal direction in an operating mode.
8. The constant tension buffer mechanism based on the hinge zero-rate spring according to claim 7, wherein at least one strip-shaped hole is formed in each sliding mounting plate (104), 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 a hinge zero rate spring as recited in claim 8, wherein each of said slide mounting plate (104) and an outer wall of the slide bushing (14) are operatively rotatably connected by one of said first shafts (11).
10. The constant tension cushioning mechanism based on a hinge zero rate spring of claim 1, further comprising: the pulley (3) is arranged at the upper end of the vibration bracket (5), the pulley (3) can rotate around the central axis of the pulley (3), and the weight is hung by the pulley (3) to apply an acting force to the vibration bracket (5).
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| CN202210600198.1A CN114838074B (en) | 2022-05-30 | 2022-05-30 | Constant tension buffer mechanism based on hinge zero-stiffness spring |
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| CN202210600198.1A CN114838074B (en) | 2022-05-30 | 2022-05-30 | Constant tension buffer mechanism based on hinge zero-stiffness spring |
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| CN114838074A CN114838074A (en) | 2022-08-02 |
| CN114838074B true CN114838074B (en) | 2023-08-18 |
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| CN202210600198.1A Active CN114838074B (en) | 2022-05-30 | 2022-05-30 | Constant tension buffer mechanism based on hinge zero-stiffness spring |
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| CN116078714B (en) * | 2023-04-07 | 2023-06-30 | 国机传感科技有限公司 | Fixed-force scraping plate device, cleaning device and cleaning vehicle |
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Effective date of registration: 20240428 Address after: No. 12, No. 2103, Lishuiwan Phase III, Laocheng Town, Chengmai County, Hainan Province, 571900 Patentee after: Hainan Chengmai Haotong Technology Co.,Ltd. Country or region after: China Address before: 150080 No. 74, Xuefu Road, Nangang District, Heilongjiang, Harbin Patentee before: Heilongjiang University Country or region before: China |