CN205260719U - Positive and negative rigidity parallel mechanism - Google Patents
Positive and negative rigidity parallel mechanism Download PDFInfo
- Publication number
- CN205260719U CN205260719U CN201521013309.0U CN201521013309U CN205260719U CN 205260719 U CN205260719 U CN 205260719U CN 201521013309 U CN201521013309 U CN 201521013309U CN 205260719 U CN205260719 U CN 205260719U
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- Prior art keywords
- negative stiffness
- spring
- positive
- guide post
- rigidity
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Abstract
The utility model provides a positive and negative rigidity parallel mechanism, including the positive rigidity spring that is fixed in the base, positive rigidity spring other end fixedly connected with main tributary bracer, positive rigidity spring bilateral symmetry be provided with respectively with the chunk is adjusted to the negative rigidity that the main tributary bracer is connected, burden rigidity adjusts that the chunk includes the guide bar, turns to the bearing, stroke control piece, the burden first spring of rigidity and burden rigidity second spring, the guide bar can be at vertical flat rotation in surface, it has to wear the cover on the guide bar stroke control piece, the burden first spring of rigidity and burden rigidity second spring, the first spring of burden rigidity is in compression state and is located with burden rigidity second spring the position of stroke control piece one end is adjustable, increase progressively to both sides from top to bottom respectively from central authorities in the distance of horizontal direction between the first surface of stroke control piece and the second surface. The utility model discloses the creation has zero rigidity characteristic of big stroke and high accuracy.
Description
Technical field
The invention belongs to gravity unloading and superlow frequency vibration isolating technical field, relates in particular to a kind of high accuracy stroke that hasPositive and negative Stiffness mechanism.
Background technology
Zero stiffness equipment has a wide range of applications in gravity unloading, accurate manufacture and accurate measurement field, positive and negative StiffnessMechanism, as a kind of passive type zero stiffness equipment, compares the zero stiffness equipment of other type, has simple in structure, reliabilityThe advantages such as high, additional mass is little. But the positive and negative Stiffness mechanism of describing in the patent of delivering both at home and abroad at present and paper allThere is the problem that stroke accuracy is less, cause the range of application of positive and negative Stiffness mechanism to be restricted.
The schematic diagram of typical positive and negative Stiffness mechanism as shown in Figure 1. General positive and negative Stiffness mechanism is just negative by oneDegree mechanism, Ge Zheng rigidity mechanism formation in parallel. Negative stiffness mechanism by the horizontal direction effect have precompression etc. rigidity bulletSpring is hinged to be formed, and being parallel with by vertical main support spring with negative stiffness mechanism is the positive rigidity mechanism of main composition important document, getsNegative stiffness mechanism spring is horizontal as equalization point, and whole system rigidity realizes zero stiffness near equalization point. But withThe increase of movement travel, because negative stiffness mechanism does not mate with positive rigidity mechanism stressed generation, positive rigidity mechanism is with just negativeThe poor rigidity of degree mechanism increases sharply, and whole system no longer has zero stiffness characteristic.
Summary of the invention
The invention is for solving the problems of the prior art, and a kind of positive and negative Stiffness mechanism is provided, and can solve existingThere are in technology positive stiffness characteristics and the unmatched problem of negative stiffness characteristic, ensure large stroke and the height of positive and negative Stiffness mechanismPrecision zero stiffness characteristic.
The positive and negative Stiffness mechanism that the invention provides, comprises the positive rigid spring that is fixed on base, described positive rigidityThe spring other end is fixedly connected with main back-up block; Described positive rigid spring bilateral symmetry is provided with respectively and described main back-up blockThe negative stiffness connecting regulates chunk; Described negative stiffness regulates chunk to comprise guide post, steering bearing, stroke adjustment part, negativeRigidity the first spring and negative stiffness the second spring, described guide post one end and described main back-up block are hinged and can be around articulated sectionPosition in perpendicular, rotate, the described guide post other end through one with the relatively-stationary described steering bearing of position base alsoCan in perpendicular, rotate around described steering bearing, described guide post can be when described steering bearing rotates,On steering bearing, in supplying its passage passing, move back and forth; Described guide post upper sleeve through has described stroke adjustment part, instituteState stroke adjustment part be provided with for guide post by and the adjusting through hole that rotates in perpendicular, on described guide post, also divideBe not set with described negative stiffness the first spring and negative stiffness the second spring, described negative stiffness the first spring-compressed is in described hingedBetween the first outer surface on position (being the hinge point of guide post and main back-up block mentioned above) and stroke adjustment part,One end that is positioned at described stroke adjustment part of described negative stiffness the first spring and the relative position of described the first outer surface can be with institutesState the motion of guide post in perpendicular and change, described negative stiffness the second spring-compressed in described steering bearing andBetween the second outer surface on stroke adjustment part, one end that is positioned at described stroke adjustment part of described negative stiffness the second spring withThe relative position of described the second outer surface can change with described guide post in the motion in perpendicular; Described firstBetween outer surface and the second outer surface distance in the horizontal direction from central authorities respectively up and down both sides increase progressively.
Further, described negative stiffness regulates chunk also to comprise the supporting seat that is fixed on base, described stroke adjustment part with described inSupporting seat is articulated and connected, and in stroke adjustment part being carried out to effectively support, makes to be compressed in the negative stiffness first of its both sidesSpring and negative stiffness the second spring can free power transmissions.
Further, the first outer surface on described stroke adjustment part is a perpendicular, and the second outer surface is an arc-shaped curved surface,Described adjusting through hole is opened between described the first outer surface and the second outer surface.
Further, described negative stiffness regulates chunk also to comprise the first slide block and the second slide block, described negative stiffness the first spring andNegative stiffness the second spring respectively by described the first slide block and the second slide block respectively with described stroke adjustment part on the first appearanceFace and the second outer surface produce interaction force. Described the first slide block one side is fixedly connected with described negative stiffness the first spring,Its relative one side contacts with the first outer surface on described stroke adjustment part and has an arc matching with the first outer surfaceDegree, described the first slide block both sides are connected with the first pulley, convenient in the time of described guide post motion, and the first slide block can be theOn one outer surface, slide, thereby change rapidly the decrement of negative stiffness the first spring, regulating system rigidity. Described second is slidingPiece one side is fixedly connected with described negative stiffness the second spring, the second appearance on its relative one side and described stroke adjustment partFace contacts and has the radian matching with the second outer surface, and described the second slide block both sides are connected with the second pulley, conveniently existsWhen described guide post motion, the second slide block can slide on the second outer surface, thereby changes rapidly negative stiffness the second springDecrement, regulating system rigidity.
Further, described negative stiffness regulates chunk also to comprise guide pad, described guide post end be fixed with vertical with the body of rod alsoProlong the turning-bar that horizontal plane arranges, described main back-up block is fixedly connected with described guide pad, and opening of described guide pad alsoBe provided with the through hole that turns to passing through for the turning-bar of described guide post, described guide post and described main back-up block turn to by describedBar is connected and realizes being articulated and connected of the two with guide pad coupling.
Further, described negative stiffness regulates chunk also to comprise ear seat, and described steering bearing is fixed on sidewall by described ear seatUpper, and can in ear seat, rotate, on sidewall, be also provided with for described guide post by and the via hole that rotates freely.
The invention can be by adjusting on stroke adjustment part between the first outer surface and the second outer surface in the horizontal directionDistance, eliminates positive and negative Stiffness mechanism positive stiffness characteristics and the unmatched problem of negative stiffness characteristic in stroke,The stroke of positive and negative Stiffness mechanism high accuracy zero stiffness is obviously increased, increase the application of positive and negative Stiffness mechanismField.
Brief description of the drawings
The schematic diagram of the typical positive and negative Stiffness of Fig. 1 mechanism.
Fig. 2 is the structural representation of a kind of preferred embodiment of the invention.
Wherein, 01-base; 02-sidewall; 021-via hole; The positive rigid spring of 03-; The main back-up block of 04-; 05-guide post; 051-Turning-bar; 06-steering bearing; 07-stroke adjustment part; 071-regulates through hole; 072-the first outer surface; 073-the second appearanceFace; 08-negative stiffness the first spring; 09-negative stiffness the second spring; 10-the first slide block; 101-the first pulley; 11-second is slidingPiece; 111-the second pulley; 12-guide pad; 121-turns to through hole; 13-ear seat; 14-supporting seat.
Detailed description of the invention
Below by by reference to the accompanying drawings the invention being further described.
A kind of preferred embodiment of the invention structure as shown in Figure 1, comprises the positive rigid spring 03 that is fixed on base 01,Described positive rigid spring 03 other end is fixedly connected with main back-up block 04; Described positive rigid spring 03 bilateral symmetry is provided withThe negative stiffness being connected with described main back-up block 04 respectively regulates chunk; Described negative stiffness regulates chunk to comprise guide post 05, turnTo bearing 06, stroke adjustment part 07, negative stiffness the first spring 08 and negative stiffness the second spring 09, described guide post 05One end and described main back-up block 04 are hinged and can in perpendicular, rotate around hinge point, described guide post 05 anotherEnd also can vertically put down around described steering bearing 06 with the base 01 relatively-stationary described steering bearing 06 in position through oneRotate in face, described guide post 05 can be when described steering bearing 06 rotates, on steering bearing 06 in confessionIn its passage passing, move back and forth; Described guide post 05 upper sleeve through has described stroke adjustment part 07, described stroke adjustment part07 be provided with for guide post 05 by and the adjusting through hole 071 that rotates in perpendicular, on described guide post 05, also divideBe not set with described negative stiffness the first spring 08 and negative stiffness the second spring 09, described negative stiffness the first spring 08 is compressed inOn described hinge point (being guide post mentioned above 05 and the hinge point of main back-up block 04) and stroke adjustment part 07The first outer surface 072 between, one end that is positioned at described stroke adjustment part 07 of described negative stiffness the first spring 08 and instituteThe relative position of stating between the first outer surface 072 can change with described guide post 05 in the motion in perpendicular,Described negative stiffness the second spring 09 be compressed in the second outer surface 073 on described steering bearing 06 and stroke adjustment part 07 itBetween, one end that is positioned at described stroke adjustment part 07 of described negative stiffness the second spring 09 and described the second outer surface 073 itBetween relative position can the motion in perpendicular change with described guide post 05; Described the first outer surface 072And second distance in the horizontal direction between outer surface 073 from central authorities respectively up and down both sides increase progressively.
Further, described negative stiffness regulates chunk also to comprise the supporting seat 14 that is fixed on base 01, described stroke adjustment part07 is articulated and connected with described supporting seat 14, in stroke adjustment part 07 being carried out effectively support, make to be compressed in its twoNegative stiffness the first spring 08 and negative stiffness second spring 09 of side can free power transmissions.
Further, the first outer surface 072 on described stroke adjustment part 07 is a perpendicular, and the second outer surface 073 isOne arc-shaped curved surface, described adjusting through hole 071 is opened between described the first outer surface 072 and the second outer surface 073.
Further, described negative stiffness regulates chunk also to comprise the first slide block 10 and the second slide block 11, described negative stiffness the first bulletSpring 08 and negative stiffness the second spring 09 are adjusted with described stroke respectively by described the first slide block 10 and the second slide block 11 respectivelyThe first outer surface 072 and the second outer surface 073 on joint part 07 produce interaction force. Described the first slide block 10 one sidesBe fixedly connected with the first appearance on its relative one side and described stroke adjustment part 07 with described negative stiffness the first spring 08Face 072 contacts and has the radian matching with the first outer surface 072, can on the first outer surface 072, facilitateGround slides, and described the first slide block 10 both sides are connected with the first pulley 101, convenient in the time that described guide post 05 moves, and firstSlide block 10 can slide rapidly on the first outer surface 072, thereby changes rapidly the decrement of negative stiffness the first spring 08,Regulating system rigidity. Described the second slide block 11 one side is fixedly connected with described negative stiffness the second spring 09, and it is relative one years oldFace contacts with the second outer surface 073 on described stroke adjustment part 07 and has a radian matching with the second outer surface 073,Can on the second outer surface 073, slide easily, described the second slide block 11 both sides are connected with the second pulley 111,Convenient in the time that described guide post 05 moves, the second slide block 11 can slide rapidly on the second outer surface 073, thereby fastSpeed changes the decrement of negative stiffness the second spring 09, regulating system rigidity.
Further, described negative stiffness regulates chunk also to comprise guide pad 12, and described guide post 05 end is fixed with the body of rod hangs downThe turning-bar 051 that horizontal plane arranges is prolonged in direct join, and described main back-up block 04 is fixedly connected with described guide pad 12, described guiding12 1 openings of piece and be provided with that turning-bar 051 for described guide post 05 passes through turn to through hole 121, described guide post05 is connected and is realized being articulated and connected of the two by described turning-bar 051 and guide pad 12 couplings with described main back-up block 04.
Further, described negative stiffness regulates chunk also to comprise ear seat 13, and described steering bearing 06 is solid by described ear seat 13Fix on sidewall 02, and can be in the interior rotation of ear seat 13, on sidewall 02, be also provided with for described guide post 05 and pass through also certainlyBy the via hole 021 rotating.
When the invention is used, target load is installed to directly over main back-up block 04, makes positive rigid spring 03 verticalCarrying target load, negative stiffness regulates chunk full symmetric to arrange and the complete level of guide post 05, negative stiffness the first spring 08Keep rational compressive state with negative stiffness the second spring 09, stroke adjustment part 07 is also positioned at vertical state position. Work as orderWhen mark load is subject to External Force Acting, above-mentioned balance was broken by moment, and target load drives main back-up block 04 to be subjected to displacement, thisTime negative stiffness regulate the guide post 05 of chunk in perpendicular, to rotate respectively, due on stroke adjustment part 07 firstSpecial distance relation setting between outer surface 072 and the second outer surface 073, regulates in chunk two negative stiffnesses just negativeSpend the first spring 08 and negative stiffness the second spring 09 and under different displacement effects, produce respectively different spring-compressed quantitative changesChange, the restoring force that winner's back-up block 04 is subject in vertical component and horizontal component direction matches, i.e. positive stiffness characteristicsMate with negative stiffness characteristic, and return back to reset condition rapidly, thereby realize the high accuracy zero stiffness characteristic of whole system.
The foregoing is only the preferred embodiment of the invention, in order to limit the invention, not all at thisWithin the spirit and principle of bright creation, any amendment of doing, be equal to replacement, improvement etc., all should be included in the present invention's woundWithin the protection domain of making.
Claims (10)
1. a positive and negative Stiffness mechanism, comprises the positive rigid spring that is fixed on base, the described positive rigid spring other endBe fixedly connected with main back-up block; Described positive rigid spring bilateral symmetry is provided be connected with described main back-up block respectively just negativeDegree regulates chunk; Described negative stiffness regulates chunk to comprise guide post, steering bearing, stroke adjustment part, negative stiffness the first bulletSpring and negative stiffness the second spring, described guide post one end and described main back-up block are hinged and can be around hinge point vertically flatRotate in face, the described guide post other end through one with the relatively-stationary described steering bearing of position base can be around describedSteering bearing rotates in perpendicular, and described guide post can be when described steering bearing rotates, in steering spindleHold in moving back and forth in its passage passing; Described guide post upper sleeve through has described stroke adjustment part, and described stroke is adjustedJoint part be provided with for guide post by and the adjusting through hole that rotates in perpendicular, on described guide post, be also respectively installed withDescribed negative stiffness the first spring and negative stiffness the second spring, described negative stiffness the first spring-compressed is in described hinge point and rowBetween the first outer surface on journey regulating part, one end that is positioned at described stroke adjustment part of described negative stiffness the first spring and instituteThe relative position of stating the first outer surface can change with described guide post in the motion in perpendicular, described negative stiffnessBetween second outer surface of the second spring-compressed on described steering bearing and stroke adjustment part, described negative stiffness the second springThe one end that is positioned at described stroke adjustment part and the relative position of described the second outer surface can be with described guide post at perpendicularIn motion and change; Between described the first outer surface and the second outer surface, distance in the horizontal direction from central authorities respectivelyBoth sides increase progressively up and down.
2. the positive and negative Stiffness of one according to claim 1 mechanism, is characterized in that, described negative stiffness adjusting groupPiece also comprises the supporting seat that is fixed on base, and described stroke adjustment part and described supporting seat are articulated and connected.
3. the positive and negative Stiffness of one according to claim 1 mechanism, is characterized in that, on described stroke adjustment partThe first outer surface be a perpendicular, the second outer surface is an arc-shaped curved surface, described adjusting through hole is opened in described firstBetween outer surface and the second outer surface.
4. the positive and negative Stiffness of one according to claim 1 mechanism, is characterized in that, described negative stiffness adjusting groupPiece also comprises the first slide block and the second slide block, and described negative stiffness the first spring and negative stiffness the second spring are respectively by described theOne slide block and the second slide block respectively with described stroke adjustment part on the first outer surface and the second outer surface produce interactPower.
5. the positive and negative Stiffness of one according to claim 4 mechanism, is characterized in that, described the first slide block one sideBe fixedly connected with described negative stiffness the first spring, its relative one side contacts with the first outer surface on described stroke adjustment partAnd thering is the radian matching with the first outer surface, the first slide block can slide on the first outer surface.
6. the positive and negative Stiffness of one according to claim 5 mechanism, is characterized in that, described the first slide block both sidesBe connected with the first pulley.
7. the positive and negative Stiffness of one according to claim 4 mechanism, is characterized in that, described the second slide block one sideBe fixedly connected with described negative stiffness the second spring, its relative one side contacts with the second outer surface on described stroke adjustment partAnd thering is the radian matching with the second outer surface, the second slide block can slide on the second outer surface.
8. the positive and negative Stiffness of one according to claim 7 mechanism, is characterized in that, described the second slide block both sidesBe connected with the second pulley.
9. the positive and negative Stiffness of one according to claim 1 mechanism, is characterized in that, described negative stiffness adjusting groupPiece also comprises guide pad, described guide post end be fixed with vertical with the body of rod and prolong horizontal plane arrange turning-bar, described masterBack-up block is fixedly connected with described guide pad, and opening of described guide pad the turning-bar being provided with for described guide post pass throughTurn to through hole, described guide post is connected and is realized the two by described turning-bar and guide pad coupling with described main back-up blockBe articulated and connected.
10. the positive and negative Stiffness of one according to claim 1 mechanism, is characterized in that, described negative stiffness adjusting groupPiece also comprises ear seat, and described steering bearing is fixed on sidewall by described ear seat, and can in ear seat, rotate sidewallOn be also provided with for described guide post by and the via hole that rotates freely.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521013309.0U CN205260719U (en) | 2015-12-08 | 2015-12-08 | Positive and negative rigidity parallel mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521013309.0U CN205260719U (en) | 2015-12-08 | 2015-12-08 | Positive and negative rigidity parallel mechanism |
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| Publication Number | Publication Date |
|---|---|
| CN205260719U true CN205260719U (en) | 2016-05-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201521013309.0U Withdrawn - After Issue CN205260719U (en) | 2015-12-08 | 2015-12-08 | Positive and negative rigidity parallel mechanism |
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| CN (1) | CN205260719U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105299133A (en) * | 2015-12-08 | 2016-02-03 | 天津航天机电设备研究所 | Positive and negative stiffness parallel mechanism |
| CN106836543A (en) * | 2017-03-03 | 2017-06-13 | 哈尔滨工业大学 | The adjustable passive negative stiffness damper of series mechanism |
| CN107092038A (en) * | 2017-06-19 | 2017-08-25 | 华中科技大学 | A kind of MEMS gravimeters |
| CN110139996A (en) * | 2017-01-12 | 2019-08-16 | Hrl实验室有限责任公司 | Adjustable negative rigidity mechanism |
| CN110848307A (en) * | 2019-07-18 | 2020-02-28 | 常州大学 | One-dimensional linear rigidity multiplication compression-resistant metal vibration isolator |
| WO2021230549A1 (en) * | 2020-05-13 | 2021-11-18 | 한국철도기술연구원 | Vibration-proofing mount using combination of multiple springs |
| CN116221335A (en) * | 2023-03-24 | 2023-06-06 | 大连地拓电子工程技术有限公司 | Ultra-low frequency quasi-zero stiffness adjustable vibration isolator |
-
2015
- 2015-12-08 CN CN201521013309.0U patent/CN205260719U/en not_active Withdrawn - After Issue
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105299133A (en) * | 2015-12-08 | 2016-02-03 | 天津航天机电设备研究所 | Positive and negative stiffness parallel mechanism |
| CN105299133B (en) * | 2015-12-08 | 2017-05-31 | 天津航天机电设备研究所 | A kind of positive and negative Stiffness mechanism |
| CN110139996A (en) * | 2017-01-12 | 2019-08-16 | Hrl实验室有限责任公司 | Adjustable negative rigidity mechanism |
| CN110139996B (en) * | 2017-01-12 | 2022-04-19 | Hrl实验室有限责任公司 | Adjustable negative stiffness mechanism |
| CN106836543A (en) * | 2017-03-03 | 2017-06-13 | 哈尔滨工业大学 | The adjustable passive negative stiffness damper of series mechanism |
| CN106836543B (en) * | 2017-03-03 | 2023-03-14 | 哈尔滨工业大学 | Series mechanism adjustable passive negative stiffness damper |
| CN107092038A (en) * | 2017-06-19 | 2017-08-25 | 华中科技大学 | A kind of MEMS gravimeters |
| CN110848307A (en) * | 2019-07-18 | 2020-02-28 | 常州大学 | One-dimensional linear rigidity multiplication compression-resistant metal vibration isolator |
| WO2021230549A1 (en) * | 2020-05-13 | 2021-11-18 | 한국철도기술연구원 | Vibration-proofing mount using combination of multiple springs |
| CN116221335A (en) * | 2023-03-24 | 2023-06-06 | 大连地拓电子工程技术有限公司 | Ultra-low frequency quasi-zero stiffness adjustable vibration isolator |
| CN116221335B (en) * | 2023-03-24 | 2023-07-28 | 大连地拓电子工程技术有限公司 | Ultra-low frequency quasi-zero stiffness adjustable vibration isolator |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20160525 Effective date of abandoning: 20170531 |