CN115929861A - Constant force mechanism with adjustable internal connection or boundary constraint rigidity between rod pieces - Google Patents
Constant force mechanism with adjustable internal connection or boundary constraint rigidity between rod pieces Download PDFInfo
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Abstract
The invention provides a constant force mechanism with adjustable internal connection or boundary constraint rigidity between rod pieces, which comprises: the first rod piece, the second rod piece, the first connecting piece, the second connecting piece, the third connecting piece, the first fixing structure and the second fixing structure; the first rod piece is connected with the second rod piece through a first connecting piece, the first rod piece is connected with the first fixing structure through a second connecting piece, and the second rod piece is connected with the second fixing structure through a third connecting piece; the third connecting piece can move vertically along the second fixed structure. The invention has the beneficial effects that: the rigidity of the whole mechanism is adjusted by adjusting the boundary constraint/internal connection rigidity of the stressed rod piece, so that the output force of the whole mechanism is adjusted, the structure is simple, the problems of friction and abrasion are reduced/avoided, the service life is greatly prolonged, the constant force adjustable range and the effective displacement range are greatly improved, and the compactness of the system is improved.
Description
Technical Field
The invention relates to the technical field of constant force control, in particular to a constant force mechanism with adjustable internal connection or boundary constraint rigidity between rod pieces.
Background
The constant force mechanism can output almost constant force within a certain displacement range, and is very important for the application fields of mechanical clamping, robot tail end executing mechanisms and the like. The current constant force mechanism has two main realization modes: one is an active constant force system based on a feedback system, and the second is a constant torsion spring wound from spring steel or a constant force mechanism based on a cam. Active constant force systems require complex force feedback systems and are costly. The constant force of the constant-torque spring coiled by the spring steel cannot be adjusted. Cam-based constant force mechanisms are complex to design and manufacture and have problems with frictional wear and the like.
Through the search of the prior art, chinese patent number 201610003886.4 discloses an adjustable constant force mechanism, and the constant force is adjustable by adopting the combination of forces. The combined force comprises positive stiffness elastic force generated by the linear spring and negative stiffness force generated by the cam mechanism, wherein the slope of the force-displacement characteristic curve of the linear spring is equal to the absolute value of the slope of the force-displacement characteristic curve of the cam mechanism, and the combined force and the force-displacement characteristic curve make the final output force be constant; when the prepressing length of the linear spring is changed, the force-displacement characteristic curve of the linear spring can be translated upwards and downwards, the slope of the force-displacement characteristic curve can not be changed, and finally the constant force output after being combined with the force generated by the cam mechanism can be changed. After the cam mechanism of the device is machined, the cam mechanism needs to be matched with a linear spring with specified rigidity for use, so that the cam is complex in profile and needs high machining precision, friction abrasion exists between the cam and two horizontal moving assemblies, and the precision and the service life are low.
In addition, the constant force output of the existing constant force mechanism is realized by means of steady-state jump, and the displacement range of the mechanism is usually related to the size of the system, namely the displacement range of the system is limited by the size of the main structure. The effective displacement range of the existing constant force mechanism does not exceed 10% -15% of the size of the system, and the compactness of the system is insufficient (the displacement range of the system is smaller than the size of the system). In applications where displacement requirements are high, the size of these structures also increases, which increases the weight and cost of the system. For application scenarios where space is very limited (e.g., microelectromechanical systems) or where there are high requirements on the size/weight of the structure (e.g., aerospace or robotic design), this limitation presents a significant challenge to the design and application of constant force mechanisms.
Disclosure of Invention
In order to solve the technical problems, the invention discloses a constant force mechanism with adjustable rigidity of internal connection or boundary constraint between rod pieces, and the technical scheme of the invention is implemented as follows:
a constant force mechanism with adjustable stiffness for internal connections or boundary constraints between rods, comprising: the first rod piece, the second rod piece, the first connecting piece, the second connecting piece, the third connecting piece, the first fixing structure and the second fixing structure;
the first rod piece is connected with the second rod piece through the first connecting piece, the first rod piece is connected with the first fixing structure through the second connecting piece, and the second rod piece is connected with the second fixing structure through the third connecting piece;
the third connecting piece can move vertically along the second fixing structure.
Preferably, the first lever and the second lever are flexible levers.
Preferably, the second connecting member is selected from the group consisting of a spring and a first structure;
the first structure is a rolling pulley or a hinge.
Preferably, the third link comprises a second spring.
Preferably, the first link includes a third spring and a third rotation structure;
the third rotating structure is a rolling pulley or a hinge device.
Preferably, the number of the first spring or the second spring is 2 or more than 2.
Preferably, the first spring or the second spring is a linear spring or a rotational spring.
The invention has the following advantages:
the rigidity of the mechanism is adjusted by adjusting parameters such as boundary constraint rigidity of the rod piece, internal connection rigidity and the like, and then the output force of the mechanism is adjusted. Because the rigidity of the mechanism is very sensitive to the change of the parameters, the rigidity of the mechanism has a large change range, and further the output force of the mechanism has a large change range. Furthermore, the sliding distance between the second rod and the second fixing structure can be designed according to actual needs, and the sliding distance can be theoretically equivalent to the size of the whole mechanism in the direction. After the first rod piece, the second rod piece and the linear spring/rotating spring are reasonably designed, the constant force mechanism can be obtained, and the adjustable constant force mechanism can be obtained by adjusting the rigidity of the linear spring/rotating spring. Compared with the existing adjustable constant force mechanism, the adjustable constant force mechanism obtained by the method has the advantages of simple adjustment, large constant force adjustment range, large effective displacement and the like.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly described below, it is obvious that the drawings in the following description are only one embodiment of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
In which like parts are designated by like reference numerals. It should be noted that the terms "front," "back," "left," "right," "upper" and "lower" used in the following description refer to directions in the drawings, and the terms "bottom" and "top," "inner" and "outer" refer to directions toward and away from, respectively, the geometric center of a particular component.
FIG. 1 is a schematic structural view of example 1;
FIG. 2 is a diagram illustrating a force-deflection curve according to the present invention;
FIG. 3 is a schematic view of another force deflection curve of the present invention;
FIG. 4 is a diagram illustrating a deformation curve of the present invention when adjusted to a constant force state;
FIG. 5 is a schematic view of the structure of embodiment 2;
FIG. 6 is a schematic structural view of embodiment 3;
FIG. 7 is a schematic structural view of example 4.
In the above drawings, the reference numerals denote:
1, a first rod piece;
2, a second rod piece;
3, a first connecting piece;
4, a second connecting piece;
5, a third connecting piece;
6, a first spring;
7, rolling a roller;
8, a second spring;
9, a third spring;
100, a first fixation structure;
200, a second fixed structure;
1000, initial position of third link;
1000', first position of third link;
1000", a second position of the third link;
1000"', third position of third connector.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
In a specific embodiment 1, as shown in fig. 1, the present embodiment provides a constant force adjustable mechanism comprising: first member 1, second member 2, first connecting piece 3 between first member 1 and the second member 2, first fixed knot constructs 100, second fixed knot constructs 200, the second connecting piece 4 between first member 1 and the first fixed knot constructs 100, the third connecting piece 5 between second member 2 and the second fixed knot constructs 200, wherein, third connecting piece 5 can be vertical motion along second fixed knot constructs 200 under the effect of vertical force, and second connecting piece 4 includes: a first spring 6 and a rolling pulley 7. The first spring 6 is a linear spring.
At the sliding end of the second rod 2, that is, the third connecting member 5, a downward force F is applied, under the action of the force, the third connecting member 5 gradually moves downward from the initial position 1000 to push the first connecting member 3 away from the second fixing structure 200, the first rod 1, the second rod 2 and the first spring 6 together resist the force F, the stiffness of the mechanism is the sum of the vertical contributions of the stiffness of the three, and K _ mechanism = F (K1) + F (K2) + F (K6), where K1 is the stiffness of the first rod 1, K2 is the stiffness of the second rod 2, and K6 is the stiffness of the first spring 6, until the third connecting member 5 on the second rod 2 moves downward to the first position 1000', and at this time, the distance between the first connecting member 3 and the second fixing structure 200 reaches the maximum. Thereafter, under the action of the force F, the third connecting member 5 continuously moves downwards to drive the first connecting member 3 to gradually approach the second fixing structure 200, at this time, the internal forces of the first rod member 1 and the first spring 6 gradually decrease, the stiffness contribution of the first rod member 1 and the first spring 6 to the mechanism is represented as negative stiffness, and the stiffness of the mechanism is the sum/difference of the contributions of the stiffness of the three members in the vertical direction: k _ mechanism = -f (K1) + f (K2) -f (K6) until the third connecting member 5 on the second rod member 2 reaches the second position 1000", at which point the position of the first connecting member 3 reaches the initial position where the first connecting member 3 was before the mechanism was stressed. Under the action of an external force F, the third connecting piece 5 on the second rod piece 2 continuously moves downwards to drive the first connecting piece 3 to further approach the second fixing structure 200, at this time, the contribution of the first rod piece 1 and the first spring 6 to the rigidity of the structure continuously shows negative rigidity, and the rigidity of the mechanism is the sum/difference of the contributions of the three rigidity in the vertical direction: the K _ mechanism = -f (K1) + f (K2) -f (K6), until the third connecting member 5 on the second rod 2 reaches the third position 1000"', at which time the stiffness of the whole mechanism changes nonlinearly due to geometric nonlinearity or material nonlinearity, etc. It can be seen that the force deformation of the mechanism goes through two distinct phases, and for the sake of illustration, assuming that the first rod 1, the second rod 2 and the first spring 6 are in the elastic phase, the force deformation curve of the mechanism is schematically shown in fig. 2.
The first rod 1, the second rod 2 and the first spring 6 are reasonably designed, so that in the second stage, the K _ mechanism = -f (K1) + f (K2) -f (K6) =0, that is, the stiffness in the second stage is 0, and the second-stage stiffness is 0, that is, the first-stage stiffness is: the sliding end of the mechanism and the third connecting piece 5 output a constant force from the first position 1000 'to the third position 1000' ", i.e. the mechanism is a constant force mechanism. The force deformation curve of the mechanism is schematically shown in figure 3.
The stiffness of the first spring 6 is adjusted, and the overall stiffness of the mechanism can be adjusted, so that the output force of the mechanism is adjusted, and an adjustable constant force mechanism is realized, wherein the stress-deformation curve diagram of the mechanism is shown in fig. 4.
In this embodiment, the first rod member 1 and the second rod member 2 are flexible rod members, and when the force F acts on the third connecting member 5 on the second rod member 2, the first rod member 1 and the second rod member 2 are deformed by the force F.
When the force F is removed, the first pin 1 and the second pin 2 are restored to their original shapes.
In this embodiment, the first spring 6 is used to transmit the component force of the first pin 1 in the horizontal direction.
Example 2
In a specific embodiment 2, as shown in fig. 5, this embodiment provides a constant force adjustable mechanism comprising: the connecting rod comprises a first rod piece 1, a second rod piece 2, a first connecting piece 3 between the first rod piece 1 and the second rod piece 2, a first fixing structure 100, a second fixing structure 200, a second connecting piece 4 between the first rod piece 1 and the first fixing structure 100, and a third connecting piece 5 between the second rod piece 2 and the second fixing structure 200, wherein the third connecting piece 5 can vertically move along the second fixing structure 200 under the action of a vertical force F, and a second spring 8 is arranged at the third connecting piece 5.
The second spring 8 is a linear spring.
A downward force F is applied to the sliding end of the second rod 2, that is, the third connecting member 5, under the action of the force, the third connecting member 5 gradually moves downward from the initial position 1000 to push the first connecting member 3 away from the second fixing structure 200, the first rod 1, the second rod 2 and the second spring 8 together resist the force F, the stiffness of the mechanism is the sum of the vertical contributions of the stiffness of the three, and K _ mechanism = F (K1) + F (K2) + F (K8), where K1 is the stiffness of the first rod 1, K2 is the stiffness of the second rod 2, and K8 is the stiffness of the second spring 8, until the third connecting member 5 moves downward to the flat first position 1000', and the distance between the first connecting member 3 and the second fixing structure 200 reaches the maximum. Thereafter, under the action of the force F, the third connecting member 5 continues to move downward, driving the first connecting member 3 to gradually approach the second fixing structure 200, at this time, the internal force of the first rod member 1 gradually decreases, the contribution of the first rod member 1 to the stiffness of the entire structure is represented as negative stiffness, and the stiffness of the mechanism is the sum/difference of the contributions of the three stiffness in the vertical direction: k _ mechanism = -f (K1) + f (K2) + f (K8), until the third connecting member 5 on the second rod 2 reaches the second position 1000 ″, at which point the position of the first connecting member 3 reaches the initial position where the first connecting member 3 was located before the mechanism was stressed. Under the action of the external force F, the third connecting member 5 on the second rod member 2 continuously moves downwards to drive the first connecting member 3 to further approach the second fixing structure 200, at this time, the contribution of the first rod member 1 to the rigidity of the whole structure continues to be negative rigidity, and the rigidity of the mechanism is the sum/difference of the contributions of the three rigidities in the vertical direction: k _ mechanism = -f (K1) + f (K2) + f (K8), until the third connecting member 5 on the second rod 2 reaches the third position 1000"', at which time the stiffness of the entire mechanism changes nonlinearly due to geometric or material nonlinearities, etc. It can be seen that the force-deflection curve of the mechanism exhibits two distinct phases, as shown in figure 2.
The first rod 1, the second rod 2 and the first spring 6 are reasonably designed, so that the second stage, K _ mechanism = -f (K1) + f (K2) + f (K8) =0, that is, the second stage stiffness is 0, and the second stage stiffness is 0 means that: the sliding end of the mechanism and the third connecting piece 5 output a constant force from the first position 1000 'to the third position 1000' ", i.e. the mechanism is a constant force mechanism. The force deformation curve of the mechanism is schematically shown in figure 3.
As in embodiment 1, the stiffness of the second spring 8 is adjusted, and the overall stiffness of the mechanism can be adjusted, so that the output force of the mechanism can be adjusted, and an adjustable constant force mechanism can be realized.
In this embodiment, the first rod member 1 and the second rod member 2 are flexible rod members, and when the force F acts on the third connecting member 5 on the second rod member 2, the first rod member 1 and the second rod member 2 are deformed by the force F.
When the force F is removed, the first pin 1 and the second pin 2 are restored.
In this embodiment, the second spring 8 is used to resist part of the external force F.
Example 3
In a specific embodiment 3, shown in fig. 6, a constant force adjustable mechanism comprises: the first rod piece 1, the second rod piece 2, the first connecting piece 3 between the first rod piece 1 and the second rod piece 2, the first fixing structure 100, the second fixing structure 200, the second connecting piece 4 between the first rod piece 1 and the first fixing structure 100, and the third connecting piece 5 between the second rod piece 2 and the second fixing structure 200, wherein the third connecting piece 5 can move vertically along the second fixing structure 200 under the action of vertical force, and the third spring 9 is arranged at the first connecting piece 3.
The third spring 9 is a rotational spring.
Similar to embodiment 1, a downward force F is applied to the sliding end of the second rod 2, that is, the third link 5, and under the action of the downward force, the third link 5 gradually moves downward from the initial position 1000 to push the first link 3 away from the second fixing structure 200, and the first rod 1, the second rod 2 and the third spring 9 together provide a resisting force F, and the stiffness of the mechanism is the sum of the vertical contributions of the three.
K _ mechanism = f (K1) + f (K2) + f (K9).
Wherein, K1 is the stiffness of the first rod 1, K2 is the stiffness of the second rod 2, and K9 is the stiffness of the third spring 9, until the third connecting member 5 moves down to the first position 1000', at which time the distance between the first connecting member 3 and the second fixing structure 200 reaches the maximum. Thereafter, under the action of the force F, the third connecting member 5 continues to move downward, driving the first connecting member 3 to gradually approach the second fixing structure 200, at this time, the internal force of the first rod member 1 gradually decreases, the contribution of the first rod member 1 to the stiffness of the entire structure is represented as negative stiffness, and the stiffness of the mechanism is the sum/difference of the contributions of the three stiffness in the vertical direction: k _ mechanism = -f (K1) + f (K2) + f (K9), until the third connecting member 5 on the second rod 2 reaches the second position 1000", at which point the position of the first connecting member 3 reaches the initial position where the first connecting member 3 was before the mechanism was stressed. Under the action of an external force F, the third connecting piece 5 on the second rod piece 2 continuously moves downwards to drive the first connecting piece 3 to further approach the second fixing structure 200, at this time, the contribution of the first rod piece 1 to the rigidity of the whole structure is continuously expressed as negative rigidity, and the rigidity of the mechanism is the sum/difference of the contributions of the three rigidity in the vertical direction: k _ mechanism = -f (K1) + f (K2) + f (K9) until the third connecting member 5 on the second rod 2 reaches the third position 1000"', at which time the stiffness of the entire mechanism changes nonlinearly due to geometric or material nonlinearities. It can be seen that the force-deflection curve of the mechanism exhibits two distinct phases, as shown in figure 2.
The first rod 1, the second rod 2 and the third spring 9 are reasonably designed so that the K _ mechanism = -f (K1) + f (K2) + f (K3) =0 in the second stage, that is, the stiffness in the second stage is 0, and the stiffness in the second stage is 0, which means: between the first position 1000 'and the third position 1000' ″, the sliding end of the mechanism outputs a constant force, i.e., the mechanism is a constant force mechanism, and the stress deformation curve is shown in fig. 3.
As in embodiment 1, the stiffness of the third spring 9 is adjusted, and the overall stiffness of the mechanism can be adjusted, so that the output force of the mechanism can be adjusted, and an adjustable constant force mechanism can be realized.
In this embodiment, the third spring 9 is used to transfer bending moment.
Example 4
In a specific embodiment 4, shown in fig. 7, a constant force adjustable mechanism comprises: the first rod piece 1, the second rod piece 2, the first connecting piece 3 between the first rod piece 1 and the second rod piece 2, the first fixing structure 100, the second fixing structure 200, the second connecting piece 4 between the first rod piece 1 and the first fixing structure 100, and the third connecting piece 5 between the second rod piece 2 and the second fixing structure 200, wherein the third connecting piece 5 can move vertically along the second fixing structure 200 under the action of vertical force, and the first spring 6 is arranged at the second connecting piece 4.
The first spring 6 is a rotational spring.
Similar to embodiment 1, a downward force F is applied to the sliding end of the second rod 2, that is, the third link 5, and under the action of the downward force, the third link 5 gradually moves downward from the initial position 1000 to push the first link 3 away from the second fixing structure 200, and the first rod 1, the second rod 2 and the first spring 6 together provide a resisting force F, and the stiffness of the mechanism is the sum of the vertical contributions of the stiffness of the three.
K _ mechanism = f (K1) + f (K2) + f (K6).
Wherein, K1 is the stiffness of the first rod 1, K2 is the stiffness of the second rod 2, and K6 is the stiffness of the first spring 6, until the sliding end of the second rod 2 moves down to the first position 1000', at which time the distance between the first connecting member 3 and the second fixing structure 200 reaches the maximum. Thereafter, under the action of the force F, the third connecting member 5 continuously moves downward to drive the first connecting member 3 to gradually approach the second fixing structure 200, at this time, the internal force of the first rod 1 gradually decreases, the internal force of the first spring 6 decreases, the contribution of the first rod 1 and the first spring 6 to the stiffness of the whole structure is expressed as negative stiffness, and the stiffness of the mechanism is the sum/difference of the contributions of the three stiffness in the vertical direction: k _ mechanism = -f (K1) + f (K2) -f (K6) until the third connecting member 5 on the second rod member 2 reaches the second position 1000", at which point the position of the first connecting member 3 reaches the initial position where the first connecting member 3 was before the mechanism was stressed. Under the action of the external force F, the third connecting member 5 on the second rod 2 continuously moves downwards to drive the first connecting member 3 to further approach the second fixing structure 200, at this time, the contribution of the first rod 1 and the first spring 6 to the stiffness of the whole structure continues to be negative stiffness, and the stiffness of the mechanism is the sum/difference of the contributions of the three stiffnesses in the vertical direction: the K _ mechanism = -f (K1) + f (K2) -f (K6), until the third connecting member 5 on the second rod 2 reaches the third position 1000"', at which time the stiffness of the whole mechanism changes nonlinearly due to geometric nonlinearity or material nonlinearity, etc. It can be seen that the force deflection curve of the mechanism exhibits two distinct phases, as shown in figure 2.
The first rod 1, the second rod 2 and the first spring 6 are reasonably designed so that the K _ mechanism = -f (K1) + f (K2) + f (K3) =0 in the second stage, that is, the stiffness in the second stage is 0, and the stiffness in the second stage is 0, which means: the sliding end of the mechanism outputs a constant force from the first position 1000 'to the third position 1000' ", i.e. the mechanism is a constant force mechanism, and the stress-deformation curve is shown in fig. 3.
As in embodiment 1, the stiffness of the first spring 6 is adjusted, and the overall stiffness of the mechanism can be adjusted, so that the output force of the mechanism can be adjusted, and an adjustable constant force mechanism can be realized.
The four embodiments are listed above, and mainly serve to illustrate the idea of the present invention, that is, the stiffness of the whole mechanism is changed by changing the connection stiffness between the mechanism and the fixed structure or the connection stiffness between the internal components of the mechanism, so as to change the output constant force of the whole mechanism, and further realize an adjustable constant force mechanism. In practice, the material and geometry, size, connection mode, and different parameters such as the direction of external force application, the direction of the fixing structure, and the direction of the linear spring in the above-mentioned embodiments may be changed, or the components and the spring may be combined, increased or decreased, so as to achieve similar effects of the present invention.
In the invention, the linear spring is elastically deformed under the action of force, and the linear spring is restored after the force disappears. The linear spring can be set with pretightening force and adjustable rigidity.
The rotating spring elastically deforms under the action of force, and the rotating spring restores to the original shape after the force disappears. The stiffness of the rotating spring is adjustable.
It should be understood that the above-described embodiments are merely exemplary of the present invention, and are not intended to limit the present invention, and that any modification, equivalent replacement, or improvement made without departing from the spirit and principle of the present invention shall fall within the protection scope of the present invention.
Claims (7)
1. A constant force mechanism with adjustable internal connection or boundary constraint rigidity between rod pieces is characterized by comprising: the first rod piece, the second rod piece, the first connecting piece, the second connecting piece, the third connecting piece, the first fixing structure and the second fixing structure are arranged on the first rod piece;
the first rod piece is connected with the second rod piece through the first connecting piece, the first rod piece is connected with the first fixing structure through the second connecting piece, and the second rod piece is connected with the second fixing structure through the third connecting piece;
the third connecting piece can move vertically along the second fixing structure.
2. The mechanism of claim 1, wherein said first and second rods are flexible rods.
3. The mechanism of claim 2, wherein said second connection member is selected from the group consisting of a spring and a first structure;
the first structure is a rolling pulley or a hinge assembly.
4. The mechanism of claim 2, wherein said third link comprises a second spring.
5. The mechanism of claim 2, wherein the first connecting member comprises a third spring and a third structure;
the third structure is a rolling pulley or a hinge device.
6. The mechanism of claim 3, 4 or 5, wherein the first spring, the second spring or the third spring is a linear spring or a rotational spring.
7. The mechanism of claim 3, 4 or 5, wherein the number of the first spring, the second spring or the third spring is 2 or more than 2.
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| CN202211397972.XA CN115929861A (en) | 2022-11-09 | 2022-11-09 | Constant force mechanism with adjustable internal connection or boundary constraint rigidity between rod pieces |
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|---|---|---|---|
| CN202211397972.XA CN115929861A (en) | 2022-11-09 | 2022-11-09 | Constant force mechanism with adjustable internal connection or boundary constraint rigidity between rod pieces |
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