CN114838074B - A Constant Tension Buffer Mechanism Based on Hinge Zero Stiffness Spring - Google Patents

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

A Constant Tension Buffer Mechanism Based on Hinge Zero Stiffness Spring

technical field

The invention relates to the technical field of a constant tension buffer device, in particular to a constant tension buffer mechanism based on a hinge zero stiffness spring.

Background technique

Ordinary triangular zero-stiffness springs have strong load-bearing capacity, but they can only guarantee that they are near the equilibrium position. The maximum displacement is only about 1/20 of the length of the lateral spring, and the stiffness is close to zero in a small range. If the stiffness deviates from the equilibrium position Rapid increase, poor zero stiffness characteristics and difficult to adjust; flat scroll constant force spring can achieve a wide range of constant tension effect, but the accuracy is not high, the tension error is about 4%, and the load capacity is weak, generally only a few kilograms; In terms of low-frequency vibration isolation, the combination of springs and rods is also used to achieve zero stiffness, which also has the problems of poor zero stiffness characteristics and difficult adjustments.

In summary, ordinary triangular zero-stiffness springs and other zero-stiffness springs have poor zero-stiffness characteristics and are difficult to adjust, and planar scroll constant force springs have problems of low precision and weak load-carrying capacity.

Contents of the invention

In view of the above-mentioned problems, the object of the present invention is to provide a constant tension buffer mechanism based on a hinge zero stiffness spring.

In order to achieve the above object, the technical scheme that the present invention takes is:

A constant tension buffer mechanism based on a hinge zero stiffness spring, including:

Frame 1, described frame 1 comprises: base plate 101 and vertical plate 102, the upper surface of base plate 101 is equipped with two described vertical plates 102, and two described vertical plates 102 are arranged parallel to each other;

The driving device 2, the driving device 2 includes: a kinetic energy device 201, a first shaft portion 202 and an adjustment bushing 203, the kinetic energy device 201 is installed on the bottom plate 101, and the first shaft portion 202 is arranged on two Between the vertical plates 102, the lower part of the first shaft part 202 is provided with threads, and the adjustment bushing 203 and the first shaft part 202 are connected by thread engagement, and the lower end of the first shaft part 202 and the kinetic energy device 201 The output end is connected, and the first shaft part 202 is driven to rotate around its central axis through the kinetic energy device 201;

A vertical buffer mechanism, the vertical buffer mechanism is arranged between the two vertical plates 102, the vertical buffer mechanism includes: a vertical spring 4 and a vibrating support 5, and the vertical spring 4 is sleeved on the The first shaft part 202, the lower end of the vibrating bracket 5 is sleeved on the upper part of the first shaft part 202, the vibrating bracket 5 is operable to slide along the upper part of the first shaft part 202, and the upper end of the vertical spring 4 abuts against At the lower end of the vibrating support 5, the lower end of the vertical spring 4 is against the adjustment bushing 203, and a limiting member is installed on the regulating bushing 203, and the regulating bushing 203 is limited to rotate around by the limiting member. The central axis of the first shaft part 202 rotates, and by rotating the first shaft part 202, the adjustment bushing 203 can be operatively displaced along the threaded structure of the first shaft part 202, and the side wall of the lower end of the vibration support 5 is opened There are two short shaft mounting slots;

As for the lateral buffer mechanism, one of the lateral buffer mechanisms is respectively connected to the two sides of the vertical buffer mechanism, and the two lateral buffer mechanisms are symmetrically arranged, and the two lateral buffer mechanisms are installed on the two vertical Between the plates 102, each of the lateral buffer mechanisms 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 sleeve 14, Connect the bushing 15 and the short shaft 13, the second shaft part 6 includes: a long shaft, a limiting plate and two rotating connecting parts, one side of the limiting plate is connected with two rotating connecting parts, limiting The other side of the bit plate is connected to the end of the long axis, and a connecting rod 8 is provided between each of the vertical plates 102 and the second shaft portion 6, and one end of the short axis 13 is installed on one of the In the short shaft installation groove, the connecting bushing 15 is mounted on the short shaft 13, and each of the rotating connection parts and the outer wall of the connecting bushing 15 are operatively connected in rotation through a third rotating shaft 10. The other end of the shaft 13 is operatively against the limiting plate, and one end of each connecting rod 8 is mounted on one of the third rotating shafts 10, and each connecting rod 8 can rotate around the third rotating shaft 10 connected thereto. Operatively rotate, the sliding sleeve 14 and the lateral spring 7 are sleeved on the long axis, the sliding sleeve 14 is operable to slide along the long axis, and one end of the lateral spring 7 abuts against On the limiting plate, the other end of the lateral spring 7 abuts against the sliding bushing 14, and the outer wall of the frame 1 and the sliding bushing 14 are operatively connected in rotation through two first rotating shafts 11, The other end of each connecting rod 8 is operatively rotationally connected to the frame 1 through a second rotating shaft 12 .

The above-mentioned constant tension buffer mechanism based on the hinge zero stiffness spring, wherein, the frame 1 also includes: a linear bearing, the lower end of the vibrating support 5 is equipped with the linear bearing, the lower end of the vibrating support 5 and the first shaft part The upper part of 202 is slidingly connected by the linear bearing.

The above-mentioned constant tension buffer mechanism based on the hinge zero stiffness spring, wherein, the frame 1 also includes: a limit baffle 103, a through hole is opened in the middle of the vibration support 5, and the limit baffle 103 is located on the In the through hole, the two ends of the limit baffle 103 are respectively connected to the upper ends of the two vertical plates 102, and the displacement track of the vibration support 5 along the first shaft portion 202 is limited by the limit baffle 103, and the vibration is limited at the same time. Support 5 swings in the horizontal direction.

In the aforementioned constant tension buffer mechanism based on hinge zero stiffness springs, each of the connecting rods 8 is in a zigzag shape to avoid collision between the connecting rods 8 and the first rotating shaft 11 during movement.

In the aforementioned constant tension buffer mechanism based on hinge zero stiffness springs, the driving device 2 is a worm gear screw lifter.

In the aforementioned constant tension buffer mechanism based on hinge zero stiffness springs, the plurality of first rotating shafts 11 and the plurality of second rotating shafts 12 are arranged horizontally and at the same level.

In the above-mentioned constant tension buffer mechanism based on the hinge zero stiffness spring, the frame 1 further includes: a sliding installation plate 104, and two symmetrical provided chute, each of the sliding mounting plates 104 is installed in one of the chute, a plurality of the sliding mounting plates 104 and the vertical plate 102 are arranged parallel to each other, and each of the sliding mounting plates 104 is operable slide in the horizontal direction.

The above-mentioned constant tension buffer mechanism based on the hinge zero stiffness spring, wherein, each of the sliding mounting plates 104 is provided with at least one strip-shaped hole, and each of the strip-shaped holes is provided with a Each of the sliding installation plates 104 and one of the vertical plates 102 is fastened and connected by at least one of the screws.

In the aforementioned constant tension buffer mechanism based on hinge zero stiffness springs, each of the sliding mounting plates 104 and the outer wall of the sliding bushing 14 are operatively connected in rotation through one first rotating shaft 11 .

The above-mentioned constant tension buffer mechanism based on the hinge zero stiffness spring also includes: a pulley 3, which is installed on the upper end of the vibrating support 5, and the pulley 3 is operable to rotate around its central axis, and through the pulley 3 Suspended weights apply force to the vibrating support 5.

The present invention has adopted above-mentioned technology, makes it have positive effect compared with prior art and is:

(1) The present invention is loaded by the movable pulley, and the linear displacement of the steel wire rope is twice the vertical displacement of the movable pulley, which plays a good role in buffering, and the acceleration provided by the motor is greatly reduced;

(2) Without changing the structure, the present invention can precisely adjust the compression of the vertical spring through the worm gear lifter to offset the load, adjust the hinge zero stiffness spring to the balance position, and the load can be freely between zero and rated load choose;

(3) In the present invention, the hinge zero-stiffness spring can maintain a state of stiffness close to zero in a large range near the equilibrium position, and the maximum displacement can reach about half of the length of the connecting rod. At the maximum displacement, the stiffness of the hinge zero-stiffness spring is about It is 1/70 of the stiffness of the lateral spring, and the stiffness and restoring force of the zero stiffness spring of the hinge both increase with the increase of the vertical displacement, and the whole system is in a stable and balanced state.

Description of drawings

Fig. 1 is a structural schematic diagram of a constant tension buffer mechanism based on a hinge zero stiffness spring of the present 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 buffer mechanism based on a hinge zero-stiffness spring of the present invention.

Fig. 4 is a top view of a constant tension buffer mechanism based on a hinge zero-stiffness spring of the present invention.

Fig. 5 is a first cross-sectional view of a constant tension buffer mechanism based on a hinge zero-stiffness spring of the present invention in a horizontal balance position in the front direction.

Fig. 6 is a second cross-sectional view of a constant tension buffer mechanism based on a hinge zero-stiffness spring of the present invention in a horizontal balance position.

Fig. 7 is a first cross-sectional view in the front view direction of a constant tension buffer mechanism based on a hinge zero stiffness spring of the present invention at the upper limit point.

Fig. 8 is a second cross-sectional view in the front view direction of a constant tension buffer mechanism based on a hinge zero stiffness spring of the present invention at the upper limit point.

Fig. 9 is a first cross-sectional view in the front view direction of a constant tension buffer mechanism based on a hinge zero stiffness spring of the present invention located at the lower limit point.

Fig. 10 is a second cross-sectional view in the front view direction of a constant tension buffer mechanism based on a hinge zero stiffness spring of the present invention at the lower limit point.

Fig. 11 is a schematic diagram of the principle of a constant tension buffer mechanism based on a hinge zero-stiffness spring in a horizontal equilibrium position according to the present invention.

Fig. 12 is a schematic diagram of the principle of a constant tension buffer mechanism based on a hinge zero-stiffness spring located at the upper limit point of the present invention.

Fig. 13 is a schematic diagram of the principle of a constant tension buffer mechanism based on a hinge zero-stiffness spring located at the lower limit point of the present invention.

Fig. 14 is a schematic diagram of the principle of a crank slider zero-stiffness spring mechanism based on a hinge zero-stiffness spring constant tension buffer mechanism of the present invention.

In the accompanying drawings: 1. frame; 2. driving device; 3. pulley; 4. vertical spring; 5. vibrating support; 6. second shaft; 7. lateral spring; 8. connecting rod; Three rotating shafts; 11, first rotating shaft; 12, second rotating shaft; 13, short shaft; 14, sliding bushing; 15, connecting bushing; 101, bottom plate; Sliding mounting plate; 201, kinetic energy device; 202, first shaft part; 203, adjusting shaft sleeve.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, but not as a limitation of the present invention.

Please refer to Figures 1 to 14, which show a constant tension buffer mechanism based on a hinge zero-stiffness spring, which includes:

Frame 1, frame 1 comprises: base plate 101 and vertical plate 102, the upper surface of base plate 101 is equipped with two vertical plates 102, and two vertical plates 102 are arranged parallel to each other;

The driving device 2, the driving device 2 includes: a kinetic energy device 201, a first shaft portion 202 and an adjustment bushing 203, the kinetic energy device 201 is installed on the bottom plate 101, the first shaft portion 202 is arranged between two vertical plates 102, the first The lower part of the shaft part 202 is provided with threads, and the adjusting bushing 203 and the first shaft part 202 are connected by thread engagement, and 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 by the kinetic energy device 201 rotate around its central axis;

Vertical buffer mechanism, the vertical buffer mechanism is located between two vertical plates 102, the vertical buffer mechanism includes: vertical spring 4 and vibration support 5, vertical spring 4 is sleeved on the first shaft part 202, vibration support 5 The lower end of the vertical spring 4 is sleeved on the upper part of the first shaft part 202, and the vibrating support 5 is operatively slid along the upper part of the first shaft part 202. The upper end of the vertical spring 4 is against the lower end of the vibrating support 5, and the lower end of the vertical spring 4 is against On the adjusting shaft sleeve 203, a limiting member is installed on the adjusting shaft sleeve 203, and the adjusting shaft sleeve 203 is restricted from rotating around the central axis of the first shaft portion 202 by the limiting member. By rotating the first shaft portion 202, the adjusting shaft sleeve 203 moves along the The threaded structure of a shaft part 202 is operable to carry out displacement movement, and the side wall of the lower end of the vibrating support 5 is provided with two short axis installation grooves;

Lateral buffer mechanism, the two sides of the vertical buffer mechanism are respectively connected with a lateral buffer mechanism, the two lateral buffer mechanisms are arranged symmetrically, and the two lateral buffer mechanisms are installed between the two vertical plates 102, each side The buffer mechanism includes: a second shaft part 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 sleeve 14, a connecting sleeve 15 and a short shaft 13, the second The two-axis part 6 includes: a long shaft, a limiting plate and two rotating connection parts, one side of the limiting plate is connected with two rotating connecting parts, the other side of the limiting plate is connected to the end of the long axis, A connecting rod 8 is arranged between each vertical plate 102 and the second shaft part 6, and one end of the short shaft 13 is installed in a short shaft installation groove, and the connecting sleeve 15 is installed on the short shaft 13, and each rotating joint It is operatively connected to the outer wall of the connecting shaft sleeve 15 through a third rotating shaft 10, the other end of the short shaft 13 is operatively against the limit plate, and one end of each connecting rod 8 is mounted on a third rotating shaft 10, Each connecting rod 8 is operable to rotate around the third rotating shaft 10 connected thereto. The sliding sleeve 14 and the lateral spring 7 are all sleeved on the long axis. The sliding sleeve 14 is operative to slide along the long axis. The lateral spring One end of 7 is against the limit plate, and the other end of the lateral spring 7 is against the sliding bushing 14. The outer walls of the frame 1 and the sliding bushing 14 are operatively connected by two first rotating shafts 11, and each connecting rod The other end of 8 is operatively connected in rotation with the frame 1 through a second rotating shaft 12 .

Further, in a preferred embodiment, the frame 1 further includes: a linear bearing, the lower end of the vibrating support 5 is installed with a linear bearing, and the lower end of the vibrating support 5 is slidably connected to the upper part of the first shaft part 202 through the linear bearing.

Further, in a preferred embodiment, the frame 1 also includes: a limit baffle 103, the middle part of the vibration support 5 is provided with a through hole, the limit baffle 103 is located in the through hole, the limit baffle 103 The two ends are respectively connected to the upper ends of the two vertical plates 102, and the displacement track of the vibrating support 5 along the first shaft part 202 is limited by the limit baffle 103, and the vibrating support 5 is restricted from swinging in the horizontal direction at the same time.

Further, in a preferred embodiment, each connecting rod 8 is in a zigzag shape, so as to avoid collision between the connecting rod 8 and the first rotating 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 horizontally arranged and located at the same level.

Further, in a preferred embodiment, the frame 1 also includes: a sliding mounting plate 104, each vertical plate 102 is provided with two symmetrically arranged slide grooves on the side facing away from the other vertical plate 102, and each sliding mounting plate 104 is installed in a chute, a plurality of sliding mounting plates 104 and vertical plates 102 are arranged parallel to each other, and each sliding mounting plate 104 is operable to slide along the horizontal direction.

Further, in a preferred embodiment, each sliding mounting plate 104 is provided with at least one bar-shaped hole, and each bar-shaped hole is provided with a screw that can slide along the bar-shaped hole, and each sliding mounting plate 104 and A vertical plate 102 is fastened and connected by at least one screw.

Further, in a preferred embodiment, each sliding mounting plate 104 is operatively connected to the outer wall of the sliding bushing 14 through a first rotating shaft 11 .

Further, in a preferred embodiment, it also includes: a pulley 3, the pulley 3 is installed on the upper end of the vibration support 5, the pulley 3 is operable to rotate around its central axis, and the weight is suspended by the pulley 3 to exert an effect on the vibration support 5 force.

The above are only preferred embodiments of the present invention, and are not intended to limit the implementation and protection scope of the present invention.

The present invention also has following embodiment on above-mentioned basis:

In a further embodiment of the present invention, as shown in Figure 14, the formula for calculating the total stiffness of the hinge zero stiffness spring is:

Among them, the lateral buffer mechanism is arranged symmetrically on the left and right, and the following data are described with a single part of the lateral buffer mechanism on either side, K is the total stiffness of the hinge zero stiffness spring, α is the connecting rod 8 around the horizontal balance position relative to the first The rotation angle of the second rotation shaft 12, θ is the rotation angle of the second shaft portion 6 around the first rotation shaft 11 relative to the horizontal balance position, C is the center distance between the second rotation shaft 12 and the third rotation shaft 10, and L is the first rotation shaft 11 and the center distance between the third rotating shaft 10, A is the displacement of the vibrating 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, and k ₁ is the displacement of the lateral spring 7 Stiffness, k ₂ is the stiffness of the vertical spring 4, and L ₀ is the original length of the lateral spring.

In a further embodiment of the present invention, as shown in Figure 14, the length C of the swing rod, the working length L of the spring, the swing angle α of the swing rod, the swing angle θ of the spring, the center distance B of the hinge and the vertical displacement A satisfy the zero stiffness of the hinge The formula for calculating the total stiffness of the spring.

In a further embodiment of the present invention, the vertical spring provides positive stiffness; the combination of lateral spring and swing rod provides negative stiffness; the overall positive and negative stiffness substantially cancels out to achieve zero stiffness.

In a further embodiment of the present invention, according to FIG. 5 , FIG. 6 and FIG. 11 , the zero-stiffness spring of the hinge is in the horizontal equilibrium position, the two lateral springs 7 are in the horizontal direction, and the vertical spring 4 is in the vertical direction.

In a further embodiment of the present invention, according to Fig. 7, Fig. 8 and Fig. 12, the hinge zero-stiffness spring is at the upper limit position, and the lower surface of the end of the short shaft 13 on any one of the lateral buffer mechanisms is against the the end of the second shaft portion 6 .

In a further embodiment of the present invention, according to Fig. 9, Fig. 10 and Fig. 13, the hinge zero-stiffness spring is at the lower limit point position, and the upper surface of the end of the short shaft 13 on any one of the lateral buffer mechanisms is against the the end of the second shaft portion 6 .

In a further embodiment of the present invention, the sliding bushing 14 on any side buffer mechanism is in sliding connection with the short shaft 13, and the stroke of the sliding bushing 14 on the short shaft 13 is much smaller than the length of the sliding bushing 14. When the second shaft part 6 moves up or down to the extreme position, the end of the short shaft 13 is against the end of the second shaft part 6, and the sliding bushing 14 is still tight on the short shaft 13, so as to prevent the sliding bushing 14 from Sliding on minor axis 13.

In a further embodiment of the present invention, the first rotating shaft 11 is installed on the frame 1 through a sliding mounting plate 104, and the first rotating shaft 11 and the second rotating shaft 12 can be adjusted by adjusting the relative position of the sliding mounting plate 104 and the vertical plate 102 connected thereto. According to the calculation formula of the total stiffness 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 of the hinge zero-stiffness spring can be enhanced. cushioning effect.

In a further embodiment of the present invention, the driving device 2 is a worm gear screw lift that meets the applicable specifications of the hinge zero stiffness spring, the first shaft portion 202 is an extended screw structure on the worm gear screw lift, and the adjusting sleeve 203 is a worm gear screw. The self-contained structure of the elevator is used to drive the zero stiffness spring of the hinge through the worm gear screw elevator to perform constant tension buffer test.

In a further embodiment of the present invention, after the worm gear screw lift is in operation, the first shaft part 202 of the worm gear screw lift rotates around its central axis, and the adjusting shaft sleeve 203 moves vertically upward or downward along the first shaft part 202 The displacement movement exerts tension or pressure on the vertical spring 4, prompting the vertical spring 4 to undergo elastic deformation.

In a further embodiment of the present invention, when the vertical spring 4 is elastically deformed, the vibrating support 5 is driven to perform a displacement movement in the vertical direction, and the second shaft part 6 is pulled to slide in the sliding bush 14 connected to it, and at the same time Both the rod 8 and the second shaft part 6 rotate in the vertical plane to ensure the constant tension change of the zero stiffness spring of the hinge.

In a further embodiment of the present invention, the vertical spring 4 can be used as both a tension spring and a compression spring, and its mode of action 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. In any working state of the hinge zero stiffness spring, the lateral spring 7 is in a compressed state to push the sliding sleeve 14 to prevent the sliding sleeve 14 from short Shaft 13 falls off.

In a further embodiment of the present invention, the constant tension buffer mechanism of the hinge zero-stiffness spring is applicable to various situations requiring constant tension buffer.

In a further embodiment of the present invention, the constant tension buffer mechanism of the hinge zero stiffness spring can be applied to weightlessness simulation, low frequency vibration isolation, lifting balance device, motor carbon brush spring, constant force spring support hanger, medical lifting bed, wiper motor And many other situations.

In a further embodiment of the present invention, the present 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 problem of maintaining zero stiffness in ordinary triangular zero stiffness springs. The range is very small, the stiffness characteristics cannot be adjusted accurately, and the scroll constant force spring load is small and the accuracy is not high. The hinge zero stiffness spring can keep the stiffness close to zero in a wide range near the equilibrium position, the maximum displacement can reach 30-40% of the length of the pendulum, and the stiffness of the hinge zero stiffness spring at the maximum displacement is about the lateral spring stiffness 1/70 of that, and the stiffness and restoring force of the hinge zero-stiffness spring both increase with the increase of the vertical displacement, the whole system is in a stable and balanced state, and the zero-stiffness characteristic can also be precisely adjusted by changing the center distance of the hinge, with Strong bearing capacity, excellent zero stiffness characteristics, easy to adjust and so on. On the basis of the zero-stiffness spring of the hinge, the adjustment of the balance position is realized by compressing the vertical spring of the worm gear screw lifter, and the displacement of the steel wire rope is twice the vertical displacement of the movable pulley when loaded by the movable pulley, pre-tensioned or relaxed before the action of the torque motor The steel wire rope greatly reduces the acceleration that needs to be provided by the motor.

In a further embodiment of the present invention, the structural features: the structure is left-right symmetrical, and all horizontal component forces cancel each other; the whole mechanism consists of a frame, a vibrating support, a vertical spring, two lateral springs, and two connecting rods , five moving pairs and six rotating pairs, the connecting rod is located outside the lateral spring, and the swing angle θ of the guide rod of the lateral spring is always greater than the swing angle α of the connecting rod; the length C of the connecting rod and the center distance B of the hinge are constant; The working length L of the spring, the swing angle θ of the lateral spring guide rod and the swing angle α of the connecting rod are variables, which change with the vertical displacement A; the lower hinge of the lateral spring and the lower hinge of the connecting rod are fixed on the frame ; The hinges on the four sliders are composite hinges.

In a further embodiment of the present invention, in the equilibrium position, the vertical displacement A=0, the compression amount of the lateral spring is the largest but the vertical component of the elastic force is zero, the elastic force of the vertical spring just offsets the load, and the vertical force of the lateral spring Stiffness is a negative maximum value. If the stiffness of the lateral spring and the vertical spring are properly matched, the total stiffness of the hinge zero stiffness spring can be zero;

In a further embodiment of the present invention, when the load decreases slightly, the vibrating support moves upward, the elastic force in the vertical spring decreases, the lateral spring generates an upward elastic force component, and at the same time, a downward vertical component force is generated in the connecting rod, In the vertical direction, most of the three forces cancel each other, leaving only a small vertical restoring force, and the restoring force is proportional to the vertical displacement A, and the total stiffness K of the hinge zero stiffness spring becomes larger.

In a further embodiment of the present invention, when the load increases slightly, the vibrating support moves downward, the elastic force in the vertical spring increases, the lateral spring generates a downward elastic force component, and at the same time, an upward vertical component force is generated in the connecting rod , most of the three forces cancel each other out in the vertical direction, leaving only a small vertical restoring force, and the restoring force is proportional to the vertical displacement A, and the total stiffness K of the zero-stiffness spring of the hinge becomes larger.

In a further embodiment of the present invention, when other parameters remain unchanged, the smaller the hinge center distance B is, the smaller the maximum total stiffness K of the hinge zero-stiffness spring is, and the smaller the maximum restoring force is.

In a further embodiment of the present invention, when the vertical displacement A changes in a wide range, the total stiffness K of the zero stiffness spring of the hinge does not change much, and the change of the restoring force is not large, and only the vertical displacement A is close to the maximum value When , the change of the total stiffness K of the zero stiffness spring of the hinge appears an extreme point and decreases rapidly, and the restoring force increases rapidly.

In a further embodiment of the present invention, the greater the compression amount of the lateral spring during operation, the smaller the required stiffness of the lateral spring under the same load and stiffness requirements.

In a further embodiment of the present invention, the mechanism is loaded by a movable pulley, and the linear displacement of the wire rope is twice the vertical displacement of the movable pulley, which plays a good role in buffering, and the acceleration provided by the motor is greatly reduced.

In a further embodiment of the present invention, without changing the structure, the compression of the vertical spring can be precisely adjusted through the worm gear screw lifter to offset the load, and the zero stiffness spring of the hinge can be adjusted to a balanced position, and the load can be adjusted from zero to rated Choose between loads at will.

In a further embodiment of the present invention, the hinge zero-stiffness spring can maintain a state of stiffness close to zero in a large range near the equilibrium position, and the maximum displacement can reach about half of the length of the connecting rod. At the maximum displacement, the stiffness of the hinge zero-stiffness spring is It is about 1/70 of the lateral spring stiffness and about 1/27 of the lateral spring stiffness, and both the stiffness and restoring force of the hinge zero stiffness spring increase with the vertical displacement, and the whole system is in a stable and balanced state. Ordinary triangular zero-stiffness springs can only ensure that the stiffness is close to zero in a small range near the equilibrium position, and the maximum displacement is only about 1/20 of the length of the lateral spring. At the maximum displacement, the stiffness of the triangular zero-stiffness spring is about It is about 1/5 of the lateral spring stiffness and about 1/10 of the vertical spring stiffness.

The above are only preferred embodiments of the present invention, and are not intended to limit the implementation and protection scope of the present invention. For those skilled in the art, they should be able to realize the equivalent replacement and The solutions obtained by obvious changes shall all be included in the protection scope of the present invention.

Claims (10)

1. A constant tension buffer mechanism based on a hinge zero stiffness spring, characterized in that it comprises: The frame (1), the frame (1) includes: a bottom plate (101) and a vertical plate (102), the upper surface of the bottom plate (101) is equipped with two vertical plates (102), and the two vertical plates the plates (102) are arranged parallel to each other; A driving device (2), the driving device (2) comprising: a kinetic energy device (201), a first shaft part (202) and an adjustment bushing (203), the kinetic energy device (201) is installed on the bottom plate (101 ), the first shaft part (202) is set between the two vertical plates (102), the lower part of the first shaft part (202) is threaded, and the adjusting bushing (203) and the The first shaft part (202) is connected through threaded engagement, the lower end of the first shaft part (202) is connected to the output end of the kinetic energy device (201), and the first shaft part (202) is driven by the kinetic energy device (201) around it Central axis rotation; A vertical buffer mechanism, the vertical buffer mechanism is arranged between the two vertical plates (102), the vertical buffer mechanism includes: a vertical spring (4) and a vibrating support (5), the vertical The spring (4) is sheathed on the first shaft part (202), the lower end of the vibrating support (5) is sheathed on the upper part of the first shaft part (202), and the vibrating support (5) is operable along the The upper part of the first shaft part (202) slides, the upper end of the vertical spring (4) abuts against the lower end of the vibrating support (5), and the lower end of the vertical spring (4) abuts against the adjustment bushing (203), A limiting member is installed on the adjusting bushing (203), and the regulating bushing (203) is restricted from rotating around the central axis of the first shaft portion (202) by the limiting member. By rotating the first shaft portion (202) making the adjusting bushing (203) operatively perform displacement movement along the threaded structure of the first shaft part (202), and the side wall of the lower end of the vibrating support (5) is provided with two short shaft installation grooves; As for the lateral buffer mechanism, one of the lateral buffer mechanisms is respectively connected to the two sides of the vertical buffer mechanism, and the two lateral buffer mechanisms are symmetrically arranged, and the two lateral buffer mechanisms are installed on the two vertical Between the plates (102), each of the lateral buffer mechanisms includes: a second shaft part (6), a lateral spring (7), a connecting rod (8), a first rotating shaft (11), a second rotating shaft (12 ), the third rotating shaft (10), the sliding bushing (14), the connecting bushing (15) and the short shaft (13), the second shaft part (6) includes: a long shaft, a limiting plate and two One rotating connection part, one side of the limiting plate is connected with two said rotating connecting parts, the other side of the limiting plate is connected with the end of the long axis, each of the vertical plate (102) and the second A connecting rod (8) is arranged between the shaft parts (6), and one end of the short shaft (13) is installed in a short shaft installation groove, and the connecting sleeve (15) and the short shaft ( 13) Sliding connection, each of the rotating connection parts and the outer wall of the connecting sleeve (15) is operatively connected through a third rotating shaft (10), and the other end of the short shaft (13) is operatively abutted against In the limiting plate, one end of each connecting rod (8) is mounted on one of the third rotating shafts (10), and each connecting rod (8) is operable around the third rotating shaft (10) connected to it Rotate, the sliding sleeve (14) and the lateral spring (7) are sleeved on the long axis, the sliding sleeve (14) is operable to slide along the long axis, the lateral spring One end of (7) is against the limit plate, the other end of the lateral spring (7) is against the sliding bushing (14), and the outer wall of the frame (1) and the sliding bushing (14) passes through The two first rotating shafts (11) are operatively connected in rotation, and the other end of each connecting rod (8) is operatively connected in rotation through one of the second rotating shafts (12) to the frame (1). 2. The constant tension buffer mechanism based on the hinge zero-stiffness spring according to claim 1, characterized in that, the frame (1) further comprises: a linear bearing, and the lower end of the vibrating support (5) is installed with the linear bearing , the lower end of the vibrating support (5) is slidingly connected to the upper part of the first shaft part (202) through the linear bearing. 3. The constant tension buffer mechanism based on hinge zero-stiffness spring according to claim 2, characterized in that, the frame (1) further comprises: a limit baffle (103), the vibrating support (5) There is a through hole in the middle part, and the limit baffle (103) is arranged in the through hole, and the two ends of the limit baffle (103) are respectively connected with the upper ends of the two vertical plates (102), through the limit baffle ( 103) Restricting the displacement track of the vibrating support (5) along the first shaft portion (202), and simultaneously restricting the vibrating support (5) from swinging in the horizontal direction. 4. The constant tension buffer mechanism based on hinge zero-stiffness spring according to claim 1, characterized in that, each of the connecting rods (8) is in the shape of a broken line to prevent the connecting rods (8) from moving collides with the first rotating shaft (11). 5. The constant tension buffer mechanism based on hinge zero stiffness spring according to claim 1, characterized in that, the driving device (2) is a worm gear screw lifter. 6. The constant tension buffer mechanism based on hinge zero-stiffness spring according to claim 1, characterized in that, a plurality of the first rotating shafts (11) and a plurality of the second rotating shafts (12) are arranged horizontally and located at the same level. 7. The constant tension buffer mechanism based on hinge zero stiffness spring according to claim 1, characterized in that, the frame (1) further comprises: sliding mounting plates (104), each of the vertical plates (102) There are two symmetrically arranged chutes on the side facing away from the other vertical plate (102), each of the sliding installation plates (104) is installed in one of the chute, and a plurality of the sliding installation plates (104 ) and the vertical plates (102) are arranged parallel to each other, and each of the sliding mounting plates (104) is operable to slide along the horizontal direction. 8. The constant tension buffer mechanism based on hinge zero stiffness spring according to claim 7, characterized in that, each of the sliding mounting plates (104) is provided with at least one strip-shaped hole, and each of the strip-shaped holes A screw that can slide along the strip-shaped hole is provided, and each of the sliding installation plates (104) and one of the vertical plates (102) are fastened and connected by at least one of the screws. 9. The constant tension buffer mechanism based on hinge zero stiffness spring according to claim 8, characterized in that, the outer wall of each of the sliding mounting plate (104) and the sliding bushing (14) passes through one of the first rotating shafts (11) Operable swivel connection. 10. The constant tension buffer mechanism based on hinge zero stiffness spring according to claim 1, characterized in that it further comprises: a pulley (3), the pulley (3) is installed on the upper end of the vibrating support (5), the The pulley (3) is operable to rotate around its central axis, and a weight is suspended through the pulley (3) to exert force on the vibrating support (5).