WO2022222923A1 - 运动转换机构及万能弹力器 - Google Patents
运动转换机构及万能弹力器 Download PDFInfo
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- WO2022222923A1 WO2022222923A1 PCT/CN2022/087659 CN2022087659W WO2022222923A1 WO 2022222923 A1 WO2022222923 A1 WO 2022222923A1 CN 2022087659 W CN2022087659 W CN 2022087659W WO 2022222923 A1 WO2022222923 A1 WO 2022222923A1
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- rail
- spring
- needle
- shuttle
- elastic
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- 238000006243 chemical reaction Methods 0.000 title claims abstract description 43
- 230000007246 mechanism Effects 0.000 title claims abstract description 26
- 230000009471 action Effects 0.000 claims abstract description 6
- 238000005096 rolling process Methods 0.000 claims description 21
- 230000009466 transformation Effects 0.000 claims description 7
- 230000003993 interaction Effects 0.000 claims description 6
- 238000006073 displacement reaction Methods 0.000 claims description 4
- 239000002131 composite material Substances 0.000 claims description 3
- 238000011065 in-situ storage Methods 0.000 abstract 1
- 230000006835 compression Effects 0.000 description 4
- 238000007906 compression Methods 0.000 description 4
- 230000007547 defect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000001131 transforming effect Effects 0.000 description 3
- 206010065954 Stubbornness Diseases 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 2
- 238000005452 bending Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 229920001971 elastomer Polymers 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 239000000806 elastomer Substances 0.000 description 1
- 238000004146 energy storage Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 239000007858 starting material Substances 0.000 description 1
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F1/00—Springs
- F16F1/02—Springs made of steel or other material having low internal friction; Wound, torsion, leaf, cup, ring or the like springs, the material of the spring not being relevant
- F16F1/04—Wound springs
- F16F1/12—Attachments or mountings
Definitions
- the invention relates to the technical field of mechanical energy saving, in particular to a motion conversion mechanism and a universal elastic device.
- Spring generally refers to an elastic body with deformation mechanical characteristics, is a kind of basic mechanical element with a wide range of uses, including coil springs and non-coil springs such as rod springs, leaf springs, bow springs, and barrel springs.
- the mechanical properties of springs are quantitatively related to the elastic force and the amount of deformation.
- the elastic force of a coil spring is proportional or approximately proportional to the elongation or shortening
- the elastic force of a non-coil spring depends on the degree of bending or twisting and other factors.
- Rubber band elastic is a kind of non-coil tension spring, and its elastic characteristics are similar or different from non-coil spring.
- An object of the present invention is to solve at least the above-mentioned problems and to provide at least the advantages which will be explained later.
- Another object of the present invention is to provide a motion conversion mechanism, which converts the reciprocating motion of the shuttle rail into the repetitive deformation motion of the spring through the cooperation of the shuttle rail and the spring needle, and performs the precise and on-demand operation of the elastic force of the spring by changing the shape of the rail surface. Transformation, the transformation of the mechanical characteristics of the spring has been upgraded to a universal level, and the functional scope of the spring has been expanded. Power and control provide precise and efficient solutions.
- the present invention provides a motion conversion mechanism, comprising:
- a spring needle which is an elastic component with a needle tip, and is composed of a fixed support, an elastic part and a movable support, the elastic part is jointly positioned by the fixed support and the movable support, and the needle tip is arranged on the movable support;
- the shuttle rail has a changing rail surface
- the elastic needle is positioned and associated with the cavity shell through a fixed support, and is kept in moving contact with the changing rail surface through the needle tip, and the elastic needle and the Elastic force conversion and energy exchange are performed between the shuttle rails through the needle tip and the conversion rail surface, so that the shuttle rail is bound by the elastic needle, or is bound by the elastic needle and the cavity shell jointly, Under the action of an external force, a directional reciprocating motion can be performed relative to the cavity shell.
- the interaction force between the shuttle rail and the cavity shell, or any side that is not perpendicular to the moving direction of the shuttle rail produces an equal elastic force
- the elastic force is a one-element function of the shuttle rail stroke, and within the range that the elastic portion can withstand, the elastic force size and direction can be arbitrarily continuously changed with the shuttle rail stroke, the elastic force direction can be reversed, and the elastic force characteristics can be arbitrarily changed;
- the cavity shell is composed of a transverse cavity shell and a vertical cavity shell, or is composed of only the transverse cavity shell, and the inner spaces formed by the transverse cavity shell and the vertical cavity shell respectively form a transverse cavity and a vertical cavity.
- the two chambers communicate with each other.
- the spring needles there are three kinds of the spring needles, namely: a shifting support spring needle, a swinging support spring needle and a swinging spring needle.
- the rail surfaces are connected in the same way; the needle tip abuts or pulls in contact with the changing rail surface, and maintains rolling contact or sliding contact with the changing rail surface, and the axis of the needle tip is perpendicular to the shuttle rail Movement direction; the needle tip and the changing rail surface maintain a physical fit.
- the transfer spring needle includes a rail bracket, a transfer bracket and an elastic part
- the tip of the transfer bracket is installed with the needle tip, and the opposite side of the tip of the tip is connected and positioned at one end of the elastic part
- the elastic The other end of the part is connected to and positioned by the rail bracket
- the rail bracket restricts the movement of the displacement bracket only along the center line of the elastic part
- the rail bracket is fixed on the inner wall of the vertical cavity, or is directly vertical with a bottom
- the cavity shell is used as the rail bracket, and the fixed bracket end of the elastic part is directly connected and positioned on the bottom of the vertical cavity shell.
- the swing support spring needle includes a spring seat, a swing support, an elastic part and a needle seat; the spring seat and the needle seat are fixed on the inner wall of the vertical cavity, and the needle seat can be fixed on the On the inner wall of the transverse cavity, or directly use the vertical cavity shell wall or/and the transverse cavity shell wall as the needle seat or the spring seat; the needle tip can be installed on the swing bracket; the swing bracket rotates with a fixed axis The way positioning is associated with the needle seat;
- the needle seat is a body with a certain length
- the swing bracket can swing along its axis
- the elastic part is arranged along the swing direction of the swing bracket, one end is positioned and associated with the swing bracket, and the other end is positioned and associated with the swing bracket on the spring seat.
- the pendulum spring needle includes an elastic portion, and the elastic portion is of a curved type.
- the shuttle rail is a heightened straight rail, and the associated number of the elastic needles is one or two.
- the elastic needle is arranged on one side of the shuttle rail , one of the changing rail surfaces is correspondingly arranged on the shuttle rail;
- the number of the spring needles is two, the two spring needles are symmetrically arranged on both sides of the shuttle rail, and the shuttle rails are correspondingly arranged back-to-back and parallel to each other.
- the two transforming rail surfaces are mirror-symmetrical, and one transforming rail surface contacts the tip of a spring needle; when the number of spring needles is multiple, a transforming track surface is set on the shuttle rail corresponding to one spring needle, and the spring needle It is a corresponding rotationally symmetrical layout or other layout with the changing rail surface; a guide feature is provided on the shuttle rail to undertake the movement contact and guide constraint of the cavity shell, or to undertake the needle tip guide constraint; when there is a When there are two or more spring needles, the guide rail surface may not be provided on the shuttle rail.
- the guide rail surface maintains direct sliding contact or indirect rolling contact with the inner wall of the transverse cavity of the cavity shell, and the indirect rolling contact includes completion by means of a rolling medium whose axis is perpendicular to the movement of the shuttle rail direction, sliding contact and rolling contact, the direct contact part of the shuttle rail, the cavity shell, and the rolling medium or the two can be used for the guide fit of the shuttle rail through the concave-convex fit of its own shape; or Add guiding features on three or both of the shuttle rail, the cavity shell and the rolling medium, and control the movement direction of the shuttle rail through the concave-convex cooperation of the three-way or two-way guiding features;
- the rail edge, the rail rib, the rail column or the rail wall can be arranged on the shuttle rail to enhance the structural strength of the shuttle rail, and the rail edge and the rail wall can control the movement direction of the shuttle rail;
- a stopper is arranged on the shuttle rail or/and the cavity shell to prevent the shuttle rail from breaking out of the movement contact constraint, so as to prevent the shuttle rail from moving beyond the stroke range.
- the conversion rail surface is a scanning curved surface formed by a plane generatrix moving along a plane alignment, and the plane where the rail alignment is located is parallel to the moving direction of the shuttle rail and perpendicular to the corresponding to the conversion rail plane.
- the axis of the needle tip, the normal direction of the plane where the rail surface busbar is moving remains unchanged;
- the rail surface busbar can be a composite line segment;
- the rail surface alignment line is the functional characteristic curve of the shuttle rail, and the distance from each point on the line to a reference plane is the rail height.
- the reference plane is any plane parallel to the movement direction of the shuttle rail and parallel to the axis of the needle tip;
- the rail height is a one-dimensional function of the rail surface position or the stroke of the shuttle rail, which is a function of rail height, and the shuttle rail Through the transverse cavity of the cavity shell, it can perform linear reciprocating motion relative to the cavity shell; in the length direction of the shuttle rail, the linear distance between the starting point and the end point of the rail height curve is the shuttle, and the shuttle rail can be at its maximum stroke. Back-and-forth movement between any two points within the range;
- N is the elastic force of the elastic device
- F is the elastic force of the elastic part
- x is the stroke of the shuttle rail
- y is the rail height
- ⁇ is the angle between the direction of the elastic force and the movement direction of the shuttle rail
- n is the number of spring needles
- n is a constant
- ⁇ can be a constant or a function of the shuttle track stroke.
- the elastic force and the rail height characteristic can be adjusted.
- the relationship is:
- k is the stubbornness coefficient of the spring
- L min is the minimum deformation of the spring
- k and L min are both constants
- x min is the stroke at the minimum rail height, which is a known constant.
- a universal elastic device includes the motion conversion mechanism.
- the invention provides a motion conversion mechanism, which converts the reciprocating motion of the shuttle rail into the repeated deformation motion of the spring through the cooperation of the shuttle rail and the spring needle, and changes the elastic force of the spring according to the position and on demand by changing the shape of the rail surface.
- a motion conversion mechanism which converts the reciprocating motion of the shuttle rail into the repeated deformation motion of the spring through the cooperation of the shuttle rail and the spring needle, and changes the elastic force of the spring according to the position and on demand by changing the shape of the rail surface.
- the invention provides the quantitative relationship among the mechanical properties of the elastic device, the mechanical properties of the spring and the rail height properties. If any two of the three are known, the third can be obtained according to this quantitative relationship, so that the characteristics of the elastic device can be formulated and changed as required.
- the method and device provided by the invention overcome the defect of the single mechanical characteristic of the spring, upgrade the mechanical characteristic transformation of the spring to a universal level, expand the functional scope of the spring, and save energy for various reciprocating mechanical devices with symmetrical mechanical characteristics. , adaptation, coupling, transformation, vibration cancellation, vibration start, power assist and control, etc. provide accurate and efficient solutions.
- Fig. 1 is a schematic diagram of a single-shifting support spring needle universal elastic device (compression spring) according to the present invention
- Fig. 2 is the schematic diagram of the universal elastic device (compression spring) of the double pendulum support spring needle according to the present invention
- FIG. 3 is a schematic diagram of the universal elastic device (leaf spring) of the double pendulum spring needle according to the present invention.
- the present invention provides a motion conversion mechanism, comprising:
- a spring needle is an elastic component with a needle tip 300, and is composed of a fixed support, an elastic part and a movable support, wherein the elastic part is a spring.
- the spring is jointly positioned by the fixed support and the movable support, and the needle tip 300 is arranged on the movable support;
- the shuttle rail 200 has a changing rail surface 220 .
- the elastic needle is positioned and associated with the cavity shell 100 through the fixed support, and is kept in moving contact with the converted rail surface 220 through the needle tip 300.
- the needle tip 300 and the conversion rail surface 220 perform elastic force conversion and energy exchange, and convert the spring elastic force into the elastic force of the elastic device.
- the shuttle rail 200 is constrained by the elastic needle, or is constrained by the combination of the elastic needle and the cavity shell 100, and can perform a directional reciprocating motion relative to the cavity shell 100 under the action of an external force.
- the external force produces an equivalent elastic force of the elastic device (the interaction force between the shuttle rail 200 and the cavity shell 100 in the moving direction of the shuttle rail 200, or the The interaction force between the shuttle rail 200 and the cavity shell 100 in any direction perpendicular to the movement direction of the 200), the elastic force of the elastic device is a one-dimensional function of the stroke of the shuttle rail 200 (the displacement of the shuttle rail relative to the cavity shell 100), and the Within the range that the spring capacity can bear, the size and direction of the elastic force of the elastic device can be continuously changed with the 200 stroke of the shuttle rail (except for the sudden change of the elastic force), the direction of the elastic force can be reversed, and the elastic characteristics of the elastic device (the function of the elastic force on the stroke of the shuttle rail) can be changed. Make any changes.
- the cavity shell 100 is composed of a transverse cavity shell and a vertical cavity shell, or only composed of a transverse cavity shell.
- the inner spaces formed by the transverse cavity shell and the vertical cavity shell are referred to as the transverse cavity 110 and the vertical cavity 120, respectively.
- the two chambers communicate with each other.
- the spring needles there are three kinds of the spring needles: a moving needle, a swinging needle and a swinging spring needle.
- the needle tip structures of the three types of elastic needles are the same, and the three types of elastic needles are respectively associated with the changing rail surface 220 in the same manner: the needle tip 300 abuts or pulls on the changing rail surface 220, and is connected to the changing rail surface 220. 220 maintains rolling contact or sliding contact, and the axis of the needle tip is perpendicular to the moving direction of the shuttle rail 200; the needle tip 300 and the changing rail surface 220 maintain a form fit.
- the shifting support pin includes a rail bracket 320, a shifting support 310 and an elastic part.
- the elastic part is a coil spring 330
- the support 310 is a movable support
- the rail support 320 is a fixed support.
- the needle tip 300 is installed on the tip of the tip. The opposite side of the needle tip 300 of the tip is connected to and positioned at one end of the coil spring 330, and the other end of the coil spring 330 is connected to and positioned by the rail bracket 320.
- the rail bracket 320 constrains the transfer holder 310 to move only along the centerline of the coil spring 330 .
- the rail bracket 320 is fixed on the inner wall of the vertical cavity 120, or the vertical cavity shell with bottom is directly used as the rail bracket 320, and the fixed bracket end of the coil spring 330 is directly connected and positioned on the bottom of the vertical cavity shell.
- the swinging support spring needle includes a spring seat 350, a swinging support 340, a coil spring 330 and a needle seat 360, the swinging support 340 is a moving support, and the spring seat 350 ,
- the needle seat 360 is a fixed support; the spring seat 350 and the needle seat 360 are fixed on the inner wall of the vertical cavity 120, and the needle seat 360 can also be fixed on the inner wall of the horizontal cavity 110, or directly use the vertical cavity shell
- the wall or/and the lateral cavity shell wall is used as the needle seat 360 or the spring seat 350; the needle tip 300 can be installed on the tip, side or other parts of the swing bracket 340;
- the axis rotation is positioned on the needle seat 360.
- the needle seat 360 can be a seat body, a pile body or other shapes with a certain length. When it is not in the form of a seat body, it can also be used as the spring.
- the associated mounting carrier of the seat 350; the swing bracket 340 can swing along its axis, the coil spring 330 is arranged along the swing direction of the swing bracket 340, one end is positioned and associated with the swing bracket 340, and the other end is positioned and associated with the swing bracket 340. on the spring seat 350.
- the spring of the pendulum spring needle is a curved type, including but not limited to a leaf spring, a rod spring, a bow spring (the curved or bent body of a leaf spring or a various special shapes), barrel springs (open rotating bodies of leaf springs, rod springs or bow springs or variants of these rotating bodies, cylindrical, disc, conical, shuttle, boat and various special shapes), ball springs ( Closed rotating bodies of leaf springs, rod springs or bow springs or variants of these rotating bodies, spherical, ellipsoidal, conical, spindle, boat, flat and various special shapes), according to which the pendulum spring needle can be It is divided into leaf spring, rod spring, bow spring, cylinder spring, ball spring and special-shaped pendulum spring needle and so on.
- the leaf spring and the rod spring pendulum spring needle use one end of the spring as a fixed support, which is directly fixed on the transverse cavity shell or integrated with the transverse cavity shell, and the other end is used as a movable support, the needle tip 300 is installed, or directly used as a movable support Also the needle tip, the needle tip 300 drives the leaf spring or the rod spring to swing relative to the fixed holder.
- Bow springs, barrel springs and ball springs are essentially variants of leaf springs or rod springs.
- Springs, barrel springs and ball springs are regarded as a whole combined by two or more leaf springs or rod springs sharing a pin tip, and one or more parts on the spring are used as fixed supports or feet to be fixed on the wall of the transverse cavity On; the spring part where the needle tip 300 is located swings relative to the spring part where the pin tip 300 is located, or the spring part where the needle tip is located swings relative to a spring part where the pin tip 300 is located relative to a spring part where the pin tip 300 is located The swing root part of the swivel swings relative to the spring part where the fixed support is located.
- the elastic body of the elastic type is the same as the coil spring, and the leaf spring, rod spring, bow spring, cylinder equipped with pull wire or connecting rod.
- Springs, ball springs, and even torsion springs and other elastomers can also be used as candidate springs to form special tension or/and compression springs for shifting or swinging springs.
- the reciprocating direction of the shuttle rail 200 relative to the cavity shell 100 can be set as a straight line or other predetermined directions.
- the present invention discloses the content of the invention by taking the linear reciprocating motion of the shuttle rail 200 as a typical example, and the principle of the technical invention is also applicable to the movement of the shuttle rail in other prescribed directions.
- the shuttle rail 200 is a heightened straight rail, and the associated number of the spring pins is one or two (or more, but at this time, the vertical cavity is correspondingly more than one).
- the number of the spring needles is one
- the spring needles are arranged on one side of the shuttle rail 200
- one of the conversion rail surfaces 220 is correspondingly arranged on the shuttle rail 200 .
- the number of the spring needles is two
- the two spring needles are symmetrically arranged on both sides of the shuttle rail 200, and the shuttle rail 200 is correspondingly provided with two back-to-back and mirror-symmetrical changing rail surfaces 220, one for changing
- the rail surface 220 contacts a pin tip 300 of a spring pin.
- the shuttle rail 200 is provided with a changing rail surface 220 corresponding to one spring needle, and the spring needles and the changing rail surface 220 are in a corresponding rotationally symmetrical layout or other layouts.
- a guide rail surface or/and other guide features are provided on the shuttle rail 200 to receive the movement contact and guide restraint of the cavity shell 100 , or to receive the guide restraint of the needle tip 300 .
- the shuttle rail 200 may not be provided with a guide rail surface.
- the guide rail surface 210 maintains direct sliding contact or indirect rolling contact with the inner wall of the lateral cavity 110 of the cavity shell.
- the indirect rolling contact refers to the completion of the rolling medium 240, and the axis of the rolling medium is perpendicular to the shuttle rail. 260 movement direction.
- the shuttle rail 200, the cavity shell 100, and the rolling medium 240 can be directly contacted by three or both of the three or both of them to guide the shuttle rail 200 through the concave-convex fit of its own shape; or Other guide features such as guide grooves and guide teeth are added on three or both of the shuttle rail 200 , the cavity shell 100 , and the rolling medium 240 , and the shuttle is controlled by the concave-convex cooperation of the other guide features on three or two sides. Orbital movement direction.
- the shuttle rail 200 can be provided with a rail edge 230, rail bars 250, rail columns or rail walls to enhance the structural strength of the shuttle rail 200.
- the rail edge 230 and the rail wall can have other guiding characteristics. , participate in controlling the movement direction of the shuttle rail 200 .
- a stopper 260 is provided on the shuttle rail 200 or/and the cavity shell 100 to prevent the shuttle rail 200 from escaping from movement contact constraints and to prevent the shuttle rail 200 from moving beyond the stroke range.
- the conversion rail surface 220 is a scanning curved surface formed by a plane generatrix moving along a plane alignment, for example, a single slope or a multi-slope with high and low undulations can be used, and the plane where the rail alignment is located moves parallel to the shuttle rail 200.
- the direction is perpendicular to the line 305 of the needle tip axis corresponding to the changing rail surface, and the plane where the bus bar of the rail surface is moved keeps the normal direction unchanged.
- the rail surface busbar can be a straight line segment, an arc line segment or other compound line segments.
- the guideline of the rail surface is the functional characteristic curve of the shuttle rail. The distance from each point on the line to a reference plane is called the rail height.
- the reference plane is parallel to the moving direction of the shuttle rail 200 and in line with the needle tip axis 305. any plane that is parallel.
- the rail height is a one-dimensional function of the position of the rail surface or the stroke of the shuttle rail 200, which is called a rail height function, and is a characteristic of the shuttle rail, which is geometrically expressed as a rail height curve and a rail surface alignment.
- the shuttle rail 200 passes through the transverse cavity 110 of the cavity shell, and can perform linear reciprocating motion relative to the cavity shell 100 . In the length direction of the shuttle rail 200, the linear distance between the starting point and the ending point of the rail height curve is called the shuttle, which is the maximum stroke (displacement) of the linear motion of the shuttle rail.
- the shuttle rail 200 can reciprocate between any two points within its maximum travel range, and the spring force of the spring is a state function of the shuttle rail travel.
- the reciprocating motion of the shuttle rail 200 moving through the horizontal cavity 110 drives the elastic needle moving support to reciprocate in the vertical cavity 120 or/and the horizontal cavity 110, and the reciprocating motion of the elastic needle moving support drives the spring to expand and contract. , bending or twisting and springing back.
- the relationship between the elastic force and the stroke of the universal elastic device under the full stroke can be obtained, as shown in formula 1), that is, the elastic force of the elastic device is both equal to
- the spring force of the spring is proportional to the slope of the rail height. Equation 1) is called the mechanical characteristic equation or mechanical characteristic equation of the elastic device.
- N is the elastic force of the elastic device
- F is the elastic force of the spring (when the spring needle has multiple springs, it is regarded as having a composite spring)
- x is the stroke of the shuttle rail
- y is the rail height
- ⁇ is the direction of the elastic force and the movement direction of the shuttle rail.
- the included angle of , n is the number of spring needles; n is a constant, ⁇ can be a constant or a function of the shuttle rail stroke.
- Equation 2 is also called the mechanical characteristic equation or the mechanical characteristic equation of the elastic device.
- k is the stubbornness coefficient of the spring
- L min is the minimum deformation amount of the spring, that is, the spring deformation amount at the minimum rail height. Both k and L min are constants.
- the rail height characteristic equation with a fixed spring force direction can be obtained according to Equation 2), as shown in Equation 3).
- Equation 2 When ⁇ is a variable, because it is a one-dimensional function of the shuttle rail travel, the expression 2) is still a one-dimensional function of the rail height or the elastic force of the elastic device on the shuttle rail travel.
- ⁇ is a known function, the rail height characteristic equation with variable spring force direction can also be obtained by formula 2) or formula 1).
- x min is the stroke at the minimum rail height, which is a known constant.
- Equation 2) and Equation 3) are suitable for transferring the spring needle (except for special tension springs or compression springs).
- formulas 2) and 3) are corrected accordingly according to the structural parameters of the pendulum needle.
- the rail height characteristic is obtained from Equation 1) according to the spring characteristic of the pendulum pogo pin.
- the elastic force characteristic of any elastic device can be obtained by changing the rail height characteristic.
- the rail height characteristic that meets the requirements can be obtained based on any elastic force characteristic requirements.
- a reciprocating force adapter can seamlessly butt together two mechanical elements with unequal external instantaneous forces, so it is also called a reciprocating force adapter; it can also transform the mechanical properties of an external mechanical element, Therefore, it is also called a reciprocating force converter; it can also couple and match multiple mechanical elements that exchange forces, so it is also called a reciprocating force coupler; it can also be used as a flexible power assist device for reciprocating elements. Therefore, it can also be called a universal booster; it can eliminate the instantaneous difference in the acting force between two or more external mechanical components, so it can also be called a reciprocating force damper; its own elastic force has the property of periodic variation, so it is also It can be called a reciprocating force starter.
- the stroke size of the shuttle rail 200 can be divided into positive and negative, and one of the forward stroke and the return stroke is set as positive, and the other is set as negative, then the elastic force of the elastic device presents an axisymmetric characteristic with respect to the stroke of the shuttle rail, so the present invention provides
- the resulting device can be called a reciprocating symmetrical universal elastic device.
- the elastic force of the spring is also axisymmetric.
- a universal elastic device includes the motion conversion mechanism.
- the invention provides a motion conversion mechanism, which converts the reciprocating motion of the shuttle rail into the telescopic motion of the spring through the cooperation of the shuttle rail and the spring needle, and converts the elastic force of the spring according to the position and on demand by changing the shape of the rail surface, thereby forming a A universal elastic device.
- the invention provides the quantitative relationship among the mechanical properties of the elastic device, the mechanical properties of the spring and the rail height properties. If any two of the three are known, the third can be obtained according to this quantitative relationship, so that the characteristics of the elastic device can be formulated and changed as required.
- the method and device provided by the invention overcome the defect of the single mechanical characteristic of the spring, upgrade the mechanical characteristic transformation of the spring to a universal level, expand the functional scope of the spring, and save energy for various reciprocating mechanical devices with symmetrical mechanical characteristics. , adaptation, coupling, transformation, vibration cancellation, vibration start, power assist and control, etc. provide accurate and efficient solutions.
- the spring needle is a shifting support spring needle
- the shifting support spring needle includes a rail support 320, a shifting support 310 and an elastic part.
- the elastic part is a coil spring 330
- the shifting support 310 is a moving support
- the rail support 320 is a fixed support.
- the needle tip 300 is installed on the tip of the tip. The opposite side of the needle tip 300 of the tip is connected to and positioned at one end of the coil spring 330, and the other end of the coil spring 330 is connected to and positioned by the rail bracket 320.
- the rail bracket 320 constrains the transfer holder 310 to move only along the centerline of the coil spring 330 .
- the rail bracket 320 is fixed on the inner wall of the vertical cavity 120, or the vertical cavity shell with bottom is directly used as the rail bracket 320, and the fixed bracket end of the coil spring 330 is directly connected and positioned on the bottom of the vertical cavity shell.
- the spring needle is a swing support spring needle.
- the swing support spring needle includes a spring seat 350, a swing support 340, a coil spring 330 and a needle seat 360.
- the swing support 340 is a movable support.
- the spring seat 350 and the needle seat 360 are fixed supports; the spring seat 350 and the needle seat 360 are fixed on the inner wall of the vertical cavity 120, and the needle seat 360 can also be fixed on the inner wall of the horizontal cavity 110, or directly
- the vertical cavity shell wall or/and the lateral cavity shell wall serve as the needle seat 360 or the spring seat 350;
- the needle tip 300 can be installed on the tip, side or other parts of the swing bracket 340;
- the swing bracket 340 is positioned and associated with the needle seat 360 in a fixed axis rotation manner.
- the needle seat 360 can be a seat body, a pile body or other shapes with a certain length. When it is not in the form of a seat body, it can also be used as a The associated mounting carrier of the spring seat 350; the swing bracket 340 can swing along its axis, the coil spring 330 is arranged along the swing direction of the swing bracket 340, one end is positioned and associated with the swing bracket 340, and the other end is positioned Associated with the spring seat 350 .
- the spring needle is a pendulum spring needle 370
- the spring of the pendulum spring needle 370 is a curved type, including but not limited to a leaf spring, a rod spring, a bow spring (a curved body or a bent body of a leaf spring or a rod spring, Arc, several, saddle, wave and various special shapes), barrel springs (leaf springs, rod springs or bow springs open rotating bodies or variants of these rotating bodies, cylindrical, disc, conical, shuttle shape, boat shape and various special shapes), ball springs (closed rotating bodies of leaf springs, rod springs or bow springs or variants of these rotating bodies, spherical, ellipsoidal, conical, spindle, boat, flat and Various special shapes), the pendulum spring needle 370 can be divided into leaf spring, rod spring, bow spring, cylinder spring, ball spring and special-shaped pendulum spring needle and so on.
- the leaf spring and the rod spring pendulum spring needle use one end of the spring as a fixed support, which is directly fixed on the transverse cavity shell or integrated with the transverse cavity shell, and the other end is used as a movable support, the needle tip 300 is installed, or directly used as a movable support Also the needle tip, the needle tip 300 drives the leaf spring or the rod spring to swing relative to the fixed holder.
- Bow springs, barrel springs and ball springs are essentially variants of leaf springs or rod springs.
- Springs, barrel springs and ball springs are regarded as a whole combined by two or more leaf springs or rod springs sharing a pin tip, and one or more parts on the spring are used as fixed supports or feet to be fixed on the wall of the transverse cavity On; the spring part where the needle tip 300 is located swings relative to the spring part where the pin tip 300 is located, or the spring part where the needle tip is located swings relative to a spring part where the pin tip 300 is located relative to a spring part where the pin tip 300 is located The swing root part of the swivel swings relative to the spring part where the fixed support is located.
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- Transmission Devices (AREA)
Abstract
一种运动转换机构，包括腔壳（100）和弹针，弹针具有针梢（300），由定托、弹性部和动托构成，弹性部由定托和动托联合定位，针梢设置在动托上；还具有梭轨（200）及变换轨面（220），弹针通过定托定位并关联在腔壳（100）上，并通过针梢（300）与变换轨面（220）保持运动触接，弹针和梭轨（200）之间通过针梢（300）和变换轨面（220）进行弹力变换和能量交换，以实现梭轨受弹针约束，或受弹针和腔壳的联合约束，在外力的作用下相对于腔壳（100）可做定向往复运动。一种万能弹力器，包括该种运动转换机构。如此设置通过梭轨与弹针的配合将梭轨的往复运动转化为弹簧的反复形变运动，通过变换轨面造型对弹簧弹力进行按位按需精准变换，将弹簧的力学特性变换提升到了万能层级，扩大了弹簧的功能范围。
Description
本发明涉及机械节能技术领域，特别涉及一种运动转换机构及万能弹力器。
弹簧，泛指具有形变力学特征的弹性体，是一类用途广泛的基础机械元件，包括螺旋弹簧以及杆簧、片簧、弓簧、筒簧等非螺旋弹簧。
弹簧的机械特性是弹力与形变量定量相关，如，螺旋弹簧的弹力与伸长或缩短呈正比或近似正比，非螺旋弹簧的弹力取决于弯曲或扭曲程度及其他因素。皮筋类弹性体为一种非螺旋拉力弹簧，其弹力特性与非螺旋弹簧类似或不同。尽管弹簧种类繁多，弹力特性不一，但共有的缺陷是弹力变化不够丰富，以至于仍无法很好地满足相当多变力应用场景的需要。
故需要开发新的弹性元件或储能元件，以便能够克服弹簧机械特性的局限性。
发明内容
本发明的一个目的是解决至少上述问题，并提供至少后面将说明的优点。
本发明还有一个目的是提供一种运动转换机构，通过梭轨与弹针的配合将梭轨的往复运动转化为弹簧的反复形变运动，通过变换轨面造型对弹簧弹力进行按位按需精准变换，将弹簧的力学特性变换提升到了万能层级，扩大了弹簧的功能范围，为力学特征往返对称的各种各样往复运动力学器件的节能、适配、耦合、变换、消振、起振、助力和控制等提供了精准高效解决方案。
第一方面，为了实现这些目的和其它优点，本发明提供了一种运动转换机构，包括：
腔壳；
弹针，其为具有针梢的弹性组件，由定托、弹性部和动托构成，所述弹性部由定托和动托联合定位，所述针梢设置在动托上；
梭轨，其具有变换轨面，所述弹针通过定托定位并关联在所述腔壳上，并通过所述针梢与所述变换轨面保持运动触接，所述弹针和所述梭轨之间通过所述针梢和所述变换轨面进行弹力变换和能量交换，以实现所述梭轨受所述弹针约束，或受所述弹针和所述腔壳的联合约束，在外力的作用下相对于所述腔壳可做定向往复运动。
优选的是，在外力的作用下，在所述梭轨运动方向上，所述梭轨与所述腔壳之间的相互作用力，或在不与所述梭轨运动方向相垂直的任一方向上所述梭轨与所述腔壳之间的相互作用力，产生对等的弹力；
所述弹力为梭轨行程的一元函数，在所述弹性部能力可承受的范围内，弹力大小和方向 可随所述梭轨行程任意连续变化，弹力方向可反转，弹力特性可任意更改；
所述腔壳由横腔壳和竖腔壳构成，或仅由所述横腔壳构成，所述横腔壳和所述竖腔壳形成的内部空间分别形成横腔和竖腔，当同时具有所述横腔壳和所述竖腔壳时，两个腔室相互贯通。
优选的是，所述弹针有三种，分别为：移托弹针、摆托弹针和摆簧弹针，三种弹针的所述针梢结构均相同，三种弹针与所述变换轨面关联方式均相同；所述针梢抵接或拉接于所述变换轨面，与所述变换轨面保持滚动触接或滑动触接，所述针梢的轴线垂直于所述梭轨运动方向；所述针梢和所述变换轨面保持形体配合。
优选的是，所述移托弹针包括轨托、移托和弹性部，所述移托的梢部安装所述针梢，梢部的针梢对侧连接并定位弹性部一端，所述弹性部的另一端连接所述轨托并由其定位，所述轨托约束所述移托仅沿弹性部中心线运动，所述轨托固定在所述竖腔内壁上，或者直接以有底竖腔壳作为所述轨托，弹性部的定托端直接连接定位在竖腔壳底上。
优选的是，所述摆托弹针包括簧座、摆托、弹性部及针座；所述簧座和所述针座固定在所述竖腔内壁上，所述针座可固定在所述横腔内壁上，或者直接以竖腔壳壁或/和横腔壳壁作为所述针座或所述簧座；所述摆托上可安装所述针梢；所述摆托以定轴线转动方式定位关联在所述针座上；
其中，所述针座为具有一定长度的形体，所述摆托可沿其轴线摆动，所述弹性部沿所述摆托摆动方向布置，一端定位关联在所述摆托上，另一端定位关联在所述簧座上。
优选的是，所述摆簧弹针包括弹性部，所述弹性部为弯曲型。
优选的是，所述梭轨为变高直轨，关联的所述弹针数量为一个或两个，当所述弹针数量为一个时，所述弹针设置在所述梭轨的一侧，所述梭轨上对应设置一个所述变换轨面；当所述弹针数量为两个时，两个弹针对称设置在所述梭轨的两侧，所述梭轨上对应设置背对背并呈镜像对称的两个变换轨面，一个变换轨面触接一个弹针针梢；当弹针数量为多个时，所述梭轨上对应一个弹针设置一个变换轨面，所述弹针与所述变换轨面为相应的旋转对称布局或其他布局；所述梭轨上设置导接特征，以承接所述腔壳运动触接和导向约束，或承接所述针梢导向约束；当具有两个或多个弹针时，所述梭轨上可不设导接轨面。
所述导接轨面与所述腔壳横腔内壁保持直接滑动触接或间接滚动触接，所述间接滚动触接包括借助滚动媒介来完成，所述滚动媒介的轴线垂直于所述梭轨运动方向，滑动触接和滚动触接时，所述梭轨、腔壳、滚动媒介中的三者或两者的直接接触部位可通过自身形体的凹凸配合来进行所述梭轨导向配合；也可在梭轨、腔壳、滚动媒介中的三者或两者上增设导接特征，通过三方或两方导接特征的凹凸配合来把控所述梭轨运动方向；
所述梭轨上可设置所述轨沿、所述轨筋、轨柱或轨墙，以增强所述梭轨结构强度，所述轨沿和轨墙可把控所述梭轨运动方向；所述梭轨或/和腔壳上设置止桩，以防所述梭轨脱离运动触接约束，以防所述梭轨运动超越行程范围。
优选的是，所述变换轨面为一平面母线沿一平面准线移动而形成的扫描曲面，轨面准线所在平面平行于所述梭轨运动方向、垂直于变换轨面所对应的所述针梢轴线，移动中轨面母线所在平面保持法向不变；轨面母线可为复合线段；轨面准线为梭轨的功能特征曲线，线上各点到一个参考平面的距离为轨高，参考平面为与所述梭轨运动方向相平行、与所述针梢轴线相平行的任一平面；轨高为轨面位置或梭轨行程的一元函数，为轨高函数，所述梭轨穿越腔壳横腔，相对于所述腔壳可做直线往复运动；在所述梭轨长度方向上，轨高曲线起点和终点之间的直线距离为梭程，梭轨可在处于其最大行程范围内的任何两点之间往返运动；
所述梭轨穿所述梭横腔的往复运动带动弹针动托在所述竖腔内或/和横腔内进行往复运动，弹针动托的往复运动带动弹簧进行伸缩、弯曲或扭曲及回弹；以所述梭轨在最大行程往返情况下的往返起点作为行程零点，则可得到全行程下弹力与行程的关系：
，其中，N为弹力器弹力，F为弹性部弹力，x为梭轨行程，y为轨高，α为弹力方向与梭轨运动方向的夹角，n为弹针的个数；n为常数，α可为常数也可为梭轨行程的函数。
优选的是，若所述弹性部的特性为弹力与形变量呈正比，以轨高最小点所在平面作为参考平面，并忽略弹针针梢几何的影响，则可弹力与轨高特性之间的关系为：
其中，k为弹簧的倔强系数，L min为弹簧的最小形变量，k和L min均为常数；
当α为常数时，可获得弹力方向固定的轨高特性方程；当α为变量时，轨高或弹力为梭轨行程的一元函数；当α为已知函数时，可获得弹力方向可变的轨高特性方程：
其中，x min为轨高最小处的行程，为一已知常量。
第二方面，一种万能弹力器，包括所述的运动转换机构。
本发明至少包括以下有益效果：
本发明给出了一种运动转换机构，通过梭轨与弹针的配合将梭轨的往复运动转化为弹簧的反复形变运动，通过变换轨面造型对弹簧弹力进行按位按需精准变换，从而形成了一种万能弹力器。
本发明给出了弹力器力学特性、弹簧力学特性和轨高特性三者之间的定量关系。若三者之中任两个已知，则可依据这一定量关系得到第三者，从而可以根据需要对弹力器特性进行公式化设定和更改。
本发明提出的方法和装置克服了弹簧单一力学特性的缺陷，将弹簧的力学特性变换提升 到了万能层级，扩大了弹簧的功能范围，为力学特征往返对称的各种各样往复运动力学器件的节能、适配、耦合、变换、消振、起振、助力和控制等提供了精准高效解决方案。
本发明的其它优点、目标和特征将部分通过下面的说明体现，部分还将通过对本发明的研究和实践而为本领域的技术人员所理解。
图1为本发明所述的单移托弹针万能弹力器(压簧)示意图；
图2为本发明所述的双摆托弹针万能弹力器(压簧)示意图；
图3为本发明所述的双摆簧弹针万能弹力器(片簧)示意图。
下面结合附图对本发明做进一步的详细说明，以令本领域技术人员参照说明书文字能够据以实施。
应当理解，本文所使用的诸如“具有”、“包含”以及“包括”术语并不排除一个或多个其它元件或其组合的存在或添加，且各种近似、非理想修改、或非关键元件的构型改变均在本申请保护范围之内。
第一方面，如图1-3所示，本发明提供一种运动转换机构，包括：
腔壳100；
弹针，所述弹针为具有针梢300的弹性组件，由定托、弹性部和动托构成，其中，所述弹性部为弹簧。所述弹簧由定托和动托联合定位，所述针梢300设置在所述动托上；
梭轨200，所述梭轨200具有变换轨面220。
所述弹针通过所述定托定位并关联在所述腔壳100上，并通过所述针梢300与所变换轨面220保持运动触接，所述弹针和梭轨200之间通过所述针梢300和变换轨面220进行弹力变换和能量交换，将弹簧弹力转化为弹力器弹力。所述梭轨200受弹针约束，或受弹针和所述腔壳100的联合约束，在外力的作用下相对于所述腔壳100可做定向往复运动。
在本发明实施例所述的运动转换机构中，外力作用产生对等的弹力器弹力(在梭轨200运动方向上梭轨200与腔壳100之间的相互作用力，或在不与梭轨200运动方向相垂直的任一方向上梭轨200与腔壳100之间的相互作用力)，弹力器弹力为所述梭轨200行程(梭轨相对于腔壳100的位移)的一元函数，在弹簧能力可承受的范围内，弹力器弹力大小和方向可随梭轨200行程任意连续变化(弹力大小突变除外)，弹力方向可以反转，弹力器弹力特性(弹力关于梭轨行程的函数)可任意更改。
在本发明实施例所述的运动转换机构中，所述腔壳100由横腔壳和竖腔壳构成，或仅由横腔壳构成。所述横腔壳和所述竖腔壳形成的内部空间分别称为横腔110和竖腔120。当同 时具有所述横腔壳和所述竖腔壳时，两个腔室相互贯通。
在本发明实施例所述的运动转换机构中，所述弹针有三种：移托弹针、摆托弹针和摆簧弹针。三种弹针的针梢结构相同，三种弹针分别与所述变换轨面220关联方式相同：所述针梢300抵接或拉接于所述变换轨面220，与所述变换轨面220保持滚动触接或滑动触接，针梢轴线垂直于所述梭轨200运动方向；所述针梢300和所述变换轨面220保持形体配合。
在本发明实施例所述的运动转换机构中，所述移托弹针包括轨托320、移托310和弹性部，在所述移托弹针中，所述弹性部为螺旋弹簧330，移托310为动托，轨托320为定托。移托梢部安装针梢300，梢部的针梢300对侧连接并定位所述螺旋弹簧330一端，所述螺旋弹簧330的另一端连接所述轨托320并由其定位，所述轨托320约束所述移托310仅沿所述螺旋弹簧330中心线运动。所述轨托320固定在所述竖腔120内壁上，或者直接以有底竖腔壳作为所述轨托320，所述螺旋弹簧330的定托端直接连接定位在竖腔壳底上。
在本发明实施例所述的运动转换机构中，所述摆托弹针包括簧座350、摆托340、螺旋弹簧330及针座360，所述摆托340为动托，所述簧座350、针座360为定托；所述簧座350和所述针座360固定在所述竖腔120内壁上，所述针座360也可固定在横腔110内壁上，或者直接以竖腔壳壁或/和横腔壳壁作为所述针座360或所述簧座350；所述摆托340梢部、侧部或其他部位均可安装所述针梢300；所述摆托340以定轴线转动方式定位关联在所述针座360上，所述针座360可为座体，也可为桩体或其他具有一定长度的形体，当为非座体形式时，亦可作为所述簧座350的关联安装载体；所述摆托340可沿其轴线摆动，所述螺旋弹簧330沿所述摆托340摆动方向布置，一端定位关联在所述摆托340上，另一端定位关联在所述簧座350上。
所述摆簧弹针的弹簧为弯曲型，包括但不限于片簧、杆簧、弓簧(片簧或杆簧的弯曲体或折弯体，弧形、几形、鞍形、波形及各种异形)、筒簧(片簧、杆簧或弓簧的开放性旋转体或这些旋转体的变体，柱形、碟形、锥形、梭形、舟形及各种异形)、球簧(片簧、杆簧或弓簧的闭合性旋转体或这些旋转体的变体，圆球形、椭球形、圆锥形、纺锤形、舟形、瘪形及各种异形)，摆簧弹针据此可分为片簧、杆簧、弓簧、筒簧、球簧及异形摆簧弹针等多种。片簧和杆簧摆簧弹针以弹簧的一端作为定托，直接固定在横腔壳上或与横腔壳成为一体，另一端作为动托，安装所述针梢300，或直接作为动托兼针梢，针梢300带动片簧或杆簧相对于定托摆动。弓簧、筒簧和球簧在本质上是片簧或杆簧的变种，从广义上讲，弓簧、筒簧和球簧摆簧弹针也属于片簧或杆簧摆簧弹针，弓簧、筒簧和球簧视为由两个或多个片簧或杆簧共享一个针梢合并而成的一个整体，以弹簧上的一个或多个部位作为定托或支脚固定在横腔壁上；所述针梢300所在的弹簧部位相对于定托所在的弹簧部位摆动，或者针梢所在的弹簧部 位相对于一处或一带非定托所在的弹簧部位摆动、而针梢300所在弹簧部位的摆根部位又相对于定托所在的弹簧部位摆动。
对所述移托弹针和所述摆托弹针而言，除螺旋弹簧外，与螺旋弹簧同属伸缩型的皮筋类弹性体，配备拉线或连杆的片簧、杆簧、弓簧、筒簧、球簧，甚至扭簧以及其他弹性体，亦可作为候选弹簧，构成特殊的拉簧式或/和压簧式移托弹针或摆托弹针。
所述梭轨200相对于所述腔壳100的往复运动方向可设为直线也可设为其他规定方向。本发明以所述梭轨200直线往复运动作为典型对发明内容进行公开，技术发明原理同样适用于梭轨按照其他规定方向运动。
所述梭轨200为变高直轨，关联的所述弹针数量为一个或两个(或为多个，但此时竖腔也相应为多个)。当弹针数量为一个时，所述弹针设置在所述梭轨200的一侧，所述梭轨200上对应设置一个所述变换轨面220。当所述弹针数量为两个时，两个弹针对称设置在所述梭轨200的两侧，所述梭轨200上对应设置背对背并呈镜像对称的两个变换轨面220，一个变换轨面220触接一个弹针针梢300。当弹针数量为多个时，所述梭轨200上对应一个弹针设置一个变换轨面220，所述弹针与所述变换轨面220为相应的旋转对称布局或其他布局。所述梭轨200上设置导接轨面或/和其他导接特征，以承接所述腔壳100运动触接和导向约束，或承接所述针梢300导向约束。当具有两个或多个弹针时，所述梭轨200上可以不设导接轨面。
所述导接轨面210与所述腔壳横腔110内壁保持直接滑动触接或间接滚动触接，间接滚动触接指的是借助滚动媒介240来完成，滚动媒介的轴线垂直于所述梭轨260运动方向。滑动触接和滚动触接时，所述梭轨200、腔壳100、滚动媒介240中的三者或两者的直接接触部位可通过自身形体的凹凸配合来进行梭轨200导向配合；也可在所述梭轨200、腔壳100、滚动媒介240中的三者或两者上增设导槽、导牙等其他导接特征，通过三方或两方其他导接特征的凹凸配合来把控梭轨运动方向。
所述梭轨200上可设置轨沿230、轨筋250、轨柱或轨墙，以增强所述梭轨200结构强度，所述轨沿230和所述轨墙可兼具其他导接特征性质，参与把控所述梭轨200运动方向。所述梭轨200或/和所述腔壳100上设置止桩260，防止所述梭轨200脱离运动触接约束，防止所述梭轨200运动超越行程范围。
所述变换轨面220为一平面母线沿一平面准线移动而形成的扫描曲面，例如可以采用单坡面或高低起伏的多坡面，轨面准线所在平面平行于所述梭轨200运动方向、垂直于变换轨面所对应的针梢轴305线，移动中轨面母线所在平面保持法向不变。轨面母线可为直线段、弧线段或其他复合线段。轨面准线为梭轨的功能特征曲线，线上各点到一个参考平面的距离 称为轨高，参考平面为与所述梭轨200运动方向相平行、与所述针梢轴305线相平行的任一平面。轨高为轨面位置或所述梭轨200行程的一元函数，称为轨高函数，系梭轨特性，在几何上表现为轨高曲线及轨面准线。所述梭轨200穿越腔壳横腔110，相对于所述腔壳100可做直线往复运动。在所述梭轨200长度方向上，轨高曲线起点和终点之间的直线距离称为梭程，其是梭轨直线运动的最大行程(位移)。所述梭轨200可在处于其最大行程范围内的任何两点之间往返运动，弹力器弹力是梭轨行程的状态函数。
所述梭轨200穿梭所述横腔110的往复运动带动弹针动托在所述竖腔120内或/和所述横腔110内进行往复运动，弹针动托的往复运动带动弹簧进行伸缩、弯曲或扭曲及回弹。以所述梭轨200在最大行程往返情况下的往返起点作为行程零点，则可得到全行程下万能弹力器的弹力与行程的关系，如式1)所示，亦即弹力器的弹力既与弹簧的弹力呈正比，也与轨高斜率呈正比。式1)称为弹力器的机械特性方程或力学特性方程。
1)其中，N为弹力器弹力，F为弹簧弹力(弹针具有多个弹簧时视为具有一个复合弹簧)，x为梭轨行程，y为轨高，α为弹力方向与梭轨运动方向的夹角，n为弹针的个数；n为常数，α可为常数也可为梭轨行程的函数。
假定弹簧机械特性为弹力与形变量呈正比，以轨高最小点所在平面作为参考平面，并忽略弹针针梢几何的影响，则根据1)可得到弹力器弹力与轨高特性之间关系第二种形式，如式2)所示。式2)也称为弹力器的机械特性方程或力学特性方程。
2)其中，k为弹簧的倔强系数，L min为弹簧的最小形变量，也即轨高最小处的弹簧形变量。k和L min均为常数。
当α为常数时，根据式2)可获得弹力方向固定的轨高特性方程，如式3)所示。当α为变量时，因其为梭轨行程的一元函数，故式2)所表达的仍是轨高或弹力器弹力关于梭轨行程的一元函数。当α为已知函数时，通过式2)或式1)亦可获得弹力方向可变的轨高特性方程。
3)其中，x min为轨高最小处的行程，为一已知常量。
式2)和式3)适用于移托弹针(应用特殊拉簧或压簧的除外)。当采用摆托弹针时，根据摆托弹针的结构参数对式2)和式3)进行相应的修正。当采用摆簧弹针时，根据摆簧弹针的弹簧特性从式1)获得轨高特性。
根据式1)和式2)，可以通过改变轨高特性获得任意弹力器弹力特性。根据式3)，可以基于任意弹力特性需求获得满足需要的轨高特性。从这两个方面讲，本发明给出的新装置被命名为万能弹力器。从工作原理上讲，它是一个正时按需吸功和吐功装置，往返一个来回，总的来看它既不产功，也不耗功，故它也称为往复功吸吐器。从功能上讲，它可以将外部瞬 时作用力不相等的两个力学元件之间的无缝对接在一起，故也称为往复力适配器；它也可以对一个外部力学元件的力学特性进行变换，故也称为往复力变换器；它还可以将发生作用力交换的多个力学元件耦合匹配在一起，故也称为往复力耦合器；它还可以作为往复运动元件的灵活助力装置来使用，故也可称为万能助力器；它可以消除外部两个或多个力学元件之间的作用力的瞬时差异，故也可称为往复力消振器；它自身弹力具有周期变动属性，故也可称为往复力起振器。
所述梭轨200行程大小可给予正负区分，往程和返程二者之一设为正，另一个设为负，则弹力器的弹力关于梭轨行程呈现为轴对称特性，故本发明给出的装置可称为往返对称型万能弹力器。弹簧的弹力亦为轴对称特性。
第二方面，一种万能弹力器，包括所述的运动转换机构。
本发明至少包括以下有益效果：
本发明给出了一种运动转换机构，通过梭轨与弹针的配合将梭轨的往复运动转化为弹簧的伸缩运动，通过变换轨面造型对弹簧弹力进行按位按需精准变换，从而形成了一种万能弹力器。
本发明给出了弹力器力学特性、弹簧力学特性和轨高特性三者之间的定量关系。若三者之中任两个已知，则可依据这一定量关系得到第三者，从而可以根据需要对弹力器特性进行公式化设定和更改。
本发明提出的方法和装置克服了弹簧单一力学特性的缺陷，将弹簧的力学特性变换提升到了万能层级，扩大了弹簧的功能范围，为力学特征往返对称的各种各样往复运动力学器件的节能、适配、耦合、变换、消振、起振、助力和控制等提供了精准高效解决方案。
实施例1
如图1所示，在本发明实施例所述的运动转换机构中，所述弹针为移托弹针，所述移托弹针包括轨托320、移托310和弹性部，在所述移托弹针中，所述弹性部为螺旋弹簧330，移托310为动托，轨托320为定托。移托梢部安装针梢300，梢部的针梢300对侧连接并定位所述螺旋弹簧330一端，所述螺旋弹簧330的另一端连接所述轨托320并由其定位，所述轨托320约束所述移托310仅沿所述螺旋弹簧330中心线运动。所述轨托320固定在所述竖腔120内壁上，或者直接以有底竖腔壳作为所述轨托320，所述螺旋弹簧330的定托端直接连接定位在竖腔壳底上。
实施例2
如图2所示，所述弹针为摆托弹针，所述摆托弹针包括簧座350、摆托340、螺旋弹簧330及针座360，所述摆托340为动托，所述簧座350、针座360为定托；所述簧座350和所 述针座360固定在所述竖腔120内壁上，所述针座360也可固定在横腔110内壁上，或者直接以竖腔壳壁或/和横腔壳壁作为所述针座360或所述簧座350；所述摆托340梢部、侧部或其他部位均可安装所述针梢300；所述摆托340以定轴线转动方式定位关联在所述针座360上，所述针座360可为座体，也可为桩体或其他具有一定长度的形体，当为非座体形式时，亦可作为所述簧座350的关联安装载体；所述摆托340可沿其轴线摆动，所述螺旋弹簧330沿所述摆托340摆动方向布置，一端定位关联在所述摆托340上，另一端定位关联在所述簧座350上。
实施例3
所述弹针为摆簧弹针370，所述摆簧弹针370的弹簧为弯曲型，包括但不限于片簧、杆簧、弓簧(片簧或杆簧的弯曲体或折弯体，弧形、几形、鞍形、波形及各种异形)、筒簧(片簧、杆簧或弓簧的开放性旋转体或这些旋转体的变体，柱形、碟形、锥形、梭形、舟形及各种异形)、球簧(片簧、杆簧或弓簧的闭合性旋转体或这些旋转体的变体，圆球形、椭球形、圆锥形、纺锤形、舟形、瘪形及各种异形)，摆簧弹针370据此可分为片簧、杆簧、弓簧、筒簧、球簧及异形摆簧弹针等多种。片簧和杆簧摆簧弹针以弹簧的一端作为定托，直接固定在横腔壳上或与横腔壳成为一体，另一端作为动托，安装所述针梢300，或直接作为动托兼针梢，针梢300带动片簧或杆簧相对于定托摆动。弓簧、筒簧和球簧在本质上是片簧或杆簧的变种，从广义上讲，弓簧、筒簧和球簧摆簧弹针也属于片簧或杆簧摆簧弹针，弓簧、筒簧和球簧视为由两个或多个片簧或杆簧共享一个针梢合并而成的一个整体，以弹簧上的一个或多个部位作为定托或支脚固定在横腔壁上；所述针梢300所在的弹簧部位相对于定托所在的弹簧部位摆动，或者针梢所在的弹簧部位相对于一处或一带非定托所在的弹簧部位摆动、而针梢300所在弹簧部位的摆根部位又相对于定托所在的弹簧部位摆动。
尽管本发明的实施方案已公开如上，但其并不仅仅限于说明书和实施方式中所列运用，它完全可以被适用于各种适合本发明的领域，对于熟悉本领域的人员而言，可容易地实现另外的修改，因此在不背离权利要求及等同范围所限定的一般概念下，本发明并不限于特定的细节和这里示出与描述的图例。
Claims (8)
- 一种运动转换机构，其特征在于，包括：腔壳；弹针，其为具有针梢的弹性组件，由定托、弹性部和动托构成，弹性部由定托和动托联合定位，针梢设置在动托上；梭轨，其具有变换轨面，弹针通过定托定位并关联在腔壳上，并通过针梢与变换轨面保持运动触接，弹针和梭轨之间通过针梢和变换轨面进行弹力变换和能量交换，以实现梭轨受弹针约束，或受弹针和腔壳的联合约束，在外力的作用下相对于腔壳可做定向往复运动；在外力的作用下，在梭轨运动方向上，梭轨与腔壳之间的相互作用力，或在不与梭轨运动方向相垂直的任一方向上梭轨与腔壳之间的相互作用力，产生对等的弹力；所述弹力为梭轨相对于腔壳(100)的位移的一元函数，在弹性部能力可承受的范围内，弹力大小和方向可随梭轨行程任意连续变化，弹力方向可反转，弹力特性可任意更改；所述腔壳由横腔壳和竖腔壳构成，或仅由横腔壳构成，横腔壳和竖腔壳形成的内部空间分别形成横腔和竖腔，当同时具有横腔壳和竖腔壳时，两个腔室相互贯通；所述变换轨面为一平面母线沿一平面准线移动而形成的扫描曲面，轨面准线所在平面平行于梭轨运动方向、垂直于变换轨面所对应的针梢轴线，移动中轨面母线所在平面保持法向不变；轨面母线为复合线段；轨面准线为梭轨的功能特征曲线，轨面准线上各点到一个参考平面的距离为轨高，参考平面为与梭轨运动方向相平行、与针梢轴线相平行的任一平面；轨高为轨面位置或梭轨行程的一元函数，为轨高函数，梭轨穿越腔壳横腔，相对于腔壳做直线往复运动；在梭轨长度方向上，轨高曲线起点和终点之间的直线距离为梭程，梭轨在处于其最大行程范围内的任何两点之间往返运动；梭轨穿梭横腔的往复运动带动弹针动托在竖腔内或/和横腔内进行往复运动，弹针动托的往复运动带动弹性部进行伸缩、弯曲或扭曲及回弹；以梭轨在最大行程往返情况下的往返起点作为行程零点，则得到全行程下弹力与行程的关系：，其中，N为运动转换机构弹力，F为弹性部弹力，x为梭轨行程，y为轨高，α为弹力方向与梭轨运动方向的夹角，n为弹针的个数；n为常数，α为常数或为梭轨行程的函数。
- 根据权利要求1所述的运动转换机构，其特征在于，所述弹针有三种，分别为：移托弹针、摆托弹针和摆簧弹针，三种弹针的针梢结构均相同，三种弹针与变换轨面关联方式均相同；针梢抵接或拉接于变换轨面，与变换轨面保持滚动触接或滑动触接，针梢的轴线垂直于梭轨运动方向；针梢和变换轨面保持形体配合。
- 根据权利要求2所述的运动转换机构，其特征在于，所述移托弹针包括定托、动托和 弹性部，动托的梢部安装针梢，梢部的针梢对侧连接并定位弹性部一端，弹性部的另一端连接定托并由其定位，定托约束动托仅沿弹性部中心线运动，定托固定在竖腔内壁上，或者直接以有底竖腔壳作为定托，弹性部的定托端直接连接定位在竖腔壳底上。
- 根据权利要求2所述的运动转换机构，其特征在于，所述摆托弹针包括簧座、动托、弹性部及针座；簧座和针座固定在竖腔内壁上，或者直接以竖腔壳壁作为针座和簧座，或者针座固定在横腔内壁上，或者直接以横腔壳壁作为针座或簧座；动托上可安装针梢；动托以定轴线转动方式定位关联在针座上；其中，针座为具有一定长度的形体，动托可沿其轴线摆动，弹性部沿动托摆动方向布置，一端定位关联在动托上，另一端定位关联在簧座上。
- 根据权利要求2所述的运动转换机构，其特征在于，所述摆簧弹针包括弹性部，弹性部为弯曲型。
- 根据权利要求3至5中任一项所述的运动转换机构，其特征在于，梭轨为变高直轨，关联的弹针数量为一个或多个，当弹针数量为一个时，弹针设置在梭轨的一侧，梭轨上对应设置一个变换轨面；当弹针数量为多个时，梭轨上对应一个弹针设置一个变换轨面，弹针与变换轨面为相应的旋转对称布局或其他布局；梭轨上设置导接特征，以承接腔壳运动触接和导向约束，或承接针梢导向约束；当具有多个弹针时，梭轨上不设导接特征；导接特征与腔壳横腔内壁保持直接滑动触接或间接滚动触接，所述间接滚动触接包括借助滚动媒介来完成，滚动媒介的轴线垂直于梭轨运动方向，滚动触接时，梭轨、腔壳、滚动媒介中的三者或两者的直接接触部位通过自身形体的凹凸配合来进行梭轨导向配合；或者，在梭轨、腔壳、滚动媒介中的三者或两者上增设导接特征，通过三方或两方导接特征的凹凸配合来把控梭轨运动方向；梭轨上设置轨沿、轨筋、轨柱或轨墙，以增强梭轨结构强度，轨沿和轨墙把控梭轨运动方向；梭轨或/和腔壳上设置止桩，以防梭轨脱离运动触接约束，以防梭轨运动超越行程范围。
- 根据权利要求6所述的运动转换机构，其特征在于，若弹性部的特性为弹力与形变量呈正比，以轨高最小点所在平面作为参考平面，并忽略弹针针梢几何的影响，则弹力与轨高特性之间的关系为：其中，k为弹性部的倔强系数，L min为弹性部的最小形变量，k和L min均为常数；当α为常数时，可获得弹力方向固定的轨高特性方程；当α为变量时，轨高或弹力为梭轨行程的一元函数；当α为已知函数时，可获得弹力方向可变的轨高特性方程：其中，x min为轨高最小处的行程，为一已知常量。
- 一种万能弹力器，其特征在于，包括权利要求1至5以及7中任一项的所述的运动转换机构。
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