CN103851077A - Zero-rigidity flexible bearing - Google Patents

Zero-rigidity flexible bearing Download PDF

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Publication number
CN103851077A
CN103851077A CN201410097678.6A CN201410097678A CN103851077A CN 103851077 A CN103851077 A CN 103851077A CN 201410097678 A CN201410097678 A CN 201410097678A CN 103851077 A CN103851077 A CN 103851077A
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China
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reed
cylindrical pins
hole
pin
negative stiffness
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CN201410097678.6A
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CN103851077B (en
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毕树生
刘浪
杨其资
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Beihang University
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Beihang University
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Abstract

The invention discloses a zero-rigidity flexible bearing which comprises an end cover, a negative rigidity component and a generalized triple-crossed reed flexible bearing, wherein the negative rigidity component is arranged on the end part of the generalized triple-crossed reed flexible bearing; the generalized triple-crossed reed flexible bearing comprises two single reed annular bodies, a pad and cylindrical pins; the pad is arranged between the two single reed annular bodies; each cylindrical pin penetrates through pin holes in the single reed annular bodies and the pad; due to the matching between the cylindrical pins and the pin holes, the stacked single reed annular bodies are connected with the pad to form a whole so as to form the generalized triple-crossed reed flexible bearing. The zero-rigidity flexible bearing has the characteristics of high precision and low shaft drifting. The negative rigidity component is connected in series with the generalized triple-crossed reed flexible bearing to form the zero-rigidity flexible bearing, so that the rotary deformation rigidity of the flexible bearing can be greatly reduced, and a requirement on an output torque of a driving unit such as a motor is lowered.

Description

A kind of zero stiffness flexible bearing
Technical field
The present invention relates to a kind of flexible bearing, more particularly, refer to a kind of zero stiffness flexible bearing forming by the negative stiffness assembly of connecting on broad sense three cross reed flexible bearings.
Background technique
Flexible bearing now application is more and more extensive, thereby its working principle is to utilize flexible unit to be out of shape and to produce relative rotation under external force.Flexible bearing because of its without friction, gapless, self contering, without lubricated, Maintenance free, can vacuum application etc. advantage, in the accurate field such as precision positioning, micromotion platform, deeply favored, and adjust at low temperature spectrometer, light source synchronous accelerator, weather satellite optical device, the applications such as the aligning guide of microwave antenna on adaptive field regulating mechanism, astrovehicle on astronomical telescope.
The design object of flexible bearing is to reduce as much as possible function rigidity (being rotational deformation rigidity), keeps larger non-functional rigidity (being axial deformation rigidity and radial deformation rigidity) simultaneously.But, because flexible bearing is to rely on the resiliently deformable of reed to realize motion, in the time that flexible bearing rotates, will certainly produce a restoring moment, thereby hinder the further distortion of flexible bearing, this just requires driver element (as motor etc.) need to provide a larger output torque to drive and to keep the motion of flexible bearing.Can reduce the rotational stiffness of flexible bearing by reducing reed thickness or increasing length of spring leaf, but the reduction rotational stiffness that this method can only limited extent does not reach desirable zero stiffness characteristic, and can reduce non-functional rigidity simultaneously.Therefore, how significantly to reduce the function rigidity of flexible bearing or directly construct a kind of zero stiffness flexible bearing, do not reduce non-functional rigidity, be a crucial difficult point of flexible bearing research simultaneously.
Summary of the invention
In order to overcome the restoring moment producing when traditional flexible bearing is out of shape, reduce the output requirement to driver element, the present invention has designed a kind of zero stiffness flexible bearing, and this flexible bearing with zero stiffness characteristic is realized by means of a negative stiffness assembly.By negative stiffness assembly and broad sense three cross reed flexible bearings are carried out to tandem compound, and the output rigidity value of reasonable disposition negative stiffness assembly, just can form a kind of flexible bearing that externally presents zero stiffness.Owing to need not changing any size of reed, this method can not reduce the each non-functional rigidity of flexible bearing simultaneously.Broad sense three cross reed flexible bearings in the present invention utilize spatially spiral combined crosswise successively of six single reed annular solids, consist of cylindrical pins tightening.This bearing has highi degree of accuracy, large stroke, ratio of rigidity (radial rigidity/rotational stiffness) is revolved in large footpath and macro-axis revolves the characteristics such as ratio of rigidity (axial rigidity/rotational stiffness), and its structure is very compact.
A kind of zero stiffness flexible bearing of the present invention's design, it includes negative stiffness assembly (16), broad sense three cross reed flexible bearings (15C), A end cap (15A), B end cap (15B) and many cylindrical pins;
Wherein, cylindrical pins refers to AA cylindrical pins (11A), AB cylindrical pins (11B), AC cylindrical pins (11C), AD cylindrical pins (11D), AE cylindrical pins (11E), AF cylindrical pins (11F), BA cylindrical pins (12A), BB cylindrical pins (12B) and BC cylindrical pins (12C); The structure of AA cylindrical pins (11A), AB cylindrical pins (11B) and AC cylindrical pins (11C) is identical; The structure of AD cylindrical pins (11D), AE cylindrical pins (11E) and AF cylindrical pins (11F) is identical; The structure of BA cylindrical pins (12A), BB cylindrical pins (12B) and BC cylindrical pins (12C) is identical;
The plate face of A end cap (15A) is provided with CA pin-and-hole (15A1), CB pin-and-hole (15A2), CC pin-and-hole (15A3); CA pin-and-hole (15A1) is for placing AD cylindrical pins (11D); CB pin-and-hole (15A2) is for placing AE cylindrical pins (11E); CC pin-and-hole (15A3) is for placing AF cylindrical pins (11F); A end cap (15A) is realized and being connected of negative stiffness outer shroud (16E) of negative stiffness assembly (16) by AD cylindrical pins (11D), AE cylindrical pins (11E), AF cylindrical pins (11F);
The plate face of B end cap (15B) is provided with cushion block (15B4), and described cushion block (15B4) position is provided with FA pin-and-hole (15B1), FB pin-and-hole (15B2), FC pin-and-hole (15B3); FA pin-and-hole (15B1) is for placing AA cylindrical pins (11A); FB pin-and-hole (15B2) is for placing AB cylindrical pins (11B); FC pin-and-hole (15B3) is for placing AC cylindrical pins (11C); B end cap (15B) is realized and being connected of motion rigid body (10A) of broad sense three cross reed flexible bearings (15C) by AA cylindrical pins (11A), AB cylindrical pins (11B), AC cylindrical pins (11C);
Negative stiffness assembly (16) includes the first bent reed (16A), the second bent reed (16B), the 3rd bent reed (16C), negative stiffness body (16D) and negative stiffness outer shroud (16E); Negative stiffness body (16D) is provided with EA pin-and-hole (16D1), EB pin-and-hole (16D2), EC pin-and-hole (16D3), the first tapped blind hole (16D4), the second tapped blind hole (16D5), the 3rd tapped blind hole (16D6); EA pin-and-hole (16D1) is for placing AA cylindrical pins (11A); EB pin-and-hole (16D2) is for placing AB cylindrical pins (11B); EC pin-and-hole (16D3) is for placing AC cylindrical pins (11C); The first tapped blind hole (16D4) is for placing the second screw (16G); The second tapped blind hole (16D5) is for placing the 4th screw (16J); The 3rd tapped blind hole (16D6) is for placing the 6th screw (16L); The inner wall of ring body of negative stiffness outer shroud (16E) is provided with DA pin-and-hole (16E1), DB pin-and-hole (16E2), DC pin-and-hole (16E3), DD pin-and-hole (16E4), DE pin-and-hole (16E5), DF pin-and-hole (16E6), A lug (16E7), B lug (16E8), C lug (16E9), and one end of negative stiffness outer shroud (16E) is provided with boss (16E10); DA pin-and-hole (16E1) is for placing AD cylindrical pins (11D); DB pin-and-hole (16E2) is for placing AE cylindrical pins (11E); DC pin-and-hole (16E3) is for placing AF cylindrical pins (11F); DD pin-and-hole (16E4) is for placing BC cylindrical pins (12C); DE pin-and-hole (16E5) is for placing BB cylindrical pins (12B); DF pin-and-hole (16E6) is for placing BA cylindrical pins (12A); A lug (16E7) is provided with tapped hole, and the first screw (16F) is installed in this tapped hole; B lug (16E8) is provided with tapped hole, and the 3rd screw (16H) is installed in this tapped hole;
One end of the first bent reed (16A) is provided with A snap close (16A1), and the other end of the first bent reed (16A) is provided with B snap close (16A2); A snap close (16A1) passes for the first screw (16F), and the first screw (16F) is connected in the tapped hole of A lug (16E7) of negative stiffness outer shroud (16E) through after A snap close (16A1); B snap close (16A2) passes for the second screw (16G), and the second screw (16G) is connected in first tapped blind hole (16D4) of negative stiffness body (16D) through after B snap close (16A2);
One end of the second bent reed (16B) is provided with C snap close (16B1), and the other end of the second bent reed (16B) is provided with D snap close (16B2); C snap close (16B1) passes for the 3rd screw (16H), and the 3rd screw (16H) is connected in the tapped hole of B lug (16E8) of negative stiffness outer shroud (16E) through after C snap close (16B1); D snap close (16B2) passes for the 4th screw (16J), and the 4th screw (16J) is connected in second tapped blind hole (16D5) of negative stiffness body (16D) through after D snap close (16B2);
One end of the 3rd bent reed (16C) is provided with E snap close (16C1), and the other end of the 3rd bent reed (16C) is provided with F snap close (16C2); E snap close (16C1) passes for the 5th screw (16K), and the 5th screw (16K) is connected in the tapped hole of C lug (16E9) of negative stiffness outer shroud (16E) through after E snap close (16C1); F snap close (16C2) passes for the 6th screw (16L), and the 6th screw (16L) is connected in the 3rd tapped blind hole (16D6) of negative stiffness body 16D through after F snap close (16C2);
Negative stiffness body (16D) is placed in the bottom of negative stiffness outer shroud (16E), and negative stiffness body (16D) coordinate with the boss (16E10) of negative stiffness outer shroud (16E) make negative stiffness assembly (16) form a full circle ring;
The A snap close (16A1) of the first bent reed (16A) is arranged on the A lug (16E7) of negative stiffness outer shroud (16E), and the B snap close (16A2) of the first bent reed (16A) is arranged in first tapped blind hole (16D4) of negative stiffness body (16D); The C snap close (16B1) of the second bent reed (16B) is arranged on the B lug (16E8) of negative stiffness outer shroud (16E), and the D snap close (16B2) of the second bent reed (16B) is arranged in second tapped blind hole (16D5) of negative stiffness body (16D); The E snap close (16C1) of the 3rd bent reed (16C) is arranged on the C lug (16E9) of negative stiffness outer shroud (16E), and the F snap close (16C2) of the 3rd bent reed (16C) is arranged in the 3rd tapped blind hole (16D6) of negative stiffness body (16D);
The DA pin-and-hole (16E1) of negative stiffness outer shroud (16E), DB pin-and-hole (16E2), DC pin-and-hole (16E3) are connected with A end cap (15A) by AD cylindrical pins (11D), AE cylindrical pins (11E), AF cylindrical pins (11F) respectively; The DD pin-and-hole (16E4) of negative stiffness outer shroud (16E), DE pin-and-hole (16E5), DF pin-and-hole (16E6) are connected with the fixed rigid body (10B) of broad sense three cross reed flexible bearings (15C) by BC cylindrical pins (12C), BB cylindrical pins (12B), BA cylindrical pins (12A) respectively; The EA pin-and-hole (16D1) of negative stiffness body (16D), EB pin-and-hole (16D2), EC pin-and-hole (16D3) are connected with the motion rigid body (10A) of broad sense three cross reed flexible bearings (15C) by BA cylindrical pins (12A), BB cylindrical pins (12B), BC cylindrical pins (12C) respectively;
Wherein, broad sense three cross reed flexible bearings (15C) are made up of the single reed annular solid in upper centre (1), the single reed annular solid in lower centre (2), the single reed annular solid in upper end portion (3), underpart single reed annular solid (4), upper transition list reed annular solid (5), lower transition list reed annular solid (6) and multiple pad;
Described pad refers to AA pad (7A), AB pad (7B), AC pad (7C), AD pad (7D), AE pad (7E), BA pad (8A), BB pad (8B), BC pad (8C), BD pad (8D) and BE pad (8E);
Single reed annular solid in described broad sense three cross reed flexible bearings (15C) and pad are lamination assembling;
The single reed annular solid in upper centre (1) is provided with A reed (11), upper middle sports ring (12) and upper middle retaining ring (13), in the middle of upper, sports ring (12) is symmetrical arranged with horizontal line AB with upper middle retaining ring (13), A reed (11) is arranged between middle sports ring (12) and upper middle retaining ring (13), and the angle α of A reed (11) and described horizontal line AB 1equal 30 degree;
The single reed annular solid in lower centre (2) is provided with B reed (21), lower middle sports ring (22) and lower middle retaining ring (23), in the middle of lower, sports ring (22) is symmetrical arranged with horizontal line CD with lower middle retaining ring (23), B reed (21) is arranged between lower middle sports ring (22) and lower middle retaining ring (23), and the angle α of B reed (21) and described horizontal line CD 2equal 30 degree;
The single reed annular solid in upper end portion (3) is provided with C reed (31), upper end portion sports ring (32) and upper end portion retaining ring (33), upper end portion sports ring (32) is symmetrical arranged with horizontal line EF with upper end portion retaining ring (33), C reed (31) is arranged between upper end portion sports ring (32) and upper end portion retaining ring (33), and the angle α of C reed (31) and described horizontal line EF 3equal 90 degree;
The single reed annular solid in underpart (4) is provided with D reed (41), underpart sports ring (42) and underpart retaining ring (43), underpart sports ring (42) is symmetrical arranged with horizontal line GH with underpart retaining ring (43), D reed (41) is arranged between underpart sports ring (42) and underpart retaining ring (43), and the angle α of D reed (41) and described horizontal line GH 4equal 90 degree;
Upper transition list reed annular solid (5) is provided with E reed (51), upper transient motion ring (52) and upper transition retaining ring (53), upper transient motion ring (52) is symmetrical arranged with horizontal line IJ with upper transition retaining ring (53), E reed (51) is arranged between transient motion ring (52) and upper transition retaining ring (53), and the angle α of E reed (51) and described horizontal line IJ 5equal 30 degree;
Lower transition list reed annular solid (6) is provided with F reed (61), lower transient motion ring (62) and lower transition retaining ring (63), lower transient motion ring (62) is symmetrical arranged with horizontal line KL with lower transition retaining ring (63), F reed (61) is arranged between lower transient motion ring (62) and lower transition retaining ring (63), and the angle α of F reed (61) and described horizontal line KL 6equal 30 degree;
Between the lower face of the single reed annular solid in upper centre (1) and the upper plate surface of the single reed annular solid in lower centre (2), place AC pad (7C) and BC pad (8C), and reed (21) keeping parallelism in the reed (11) of the single reed annular solid in upper centre (1) and the single reed annular solid in lower centre (2); Between the upper plate surface of the single reed annular solid in upper centre (1) and the lower face of upper transition list reed annular solid (5), place AB pad (7B) and BB pad (8B), and established angle γ between reed (31) in the single reed annular solid in the reed (11) of the single reed annular solid in upper centre (1) and upper end portion (3) 2=60 °; Between the upper plate surface of upper transition list reed annular solid (5) and the lower face of the single reed annular solid in upper end portion (3), place AA pad (7A) and BA pad (8A), and established angle γ between reed (31) in the reed (51) of upper transition list reed annular solid (5) and upper end portion list reed annular solid (3) 1=60 °;
Between the lower face of the single reed annular solid in lower centre (2) and the upper plate surface of lower transition list reed annular solid (6), place AD pad (7D) and BD pad (8D), and established angle between reed (41) in reed (21) and the lower transition list reed annular solid (4) of the single reed annular solid in lower centre (2);
Between the lower face of lower transition list reed annular solid (6) and the upper plate surface of lower transition list reed annular solid (4), place AE pad (7E) and BE pad (8E), and established angle between reed (41) in reed (61) and the lower transition list reed annular solid (4) of lower transition list reed annular solid (6);
Cylindrical pins is arranged in the pin-and-hole on all single reed annular solids and pad; Connecting pin is only arranged in the mounting hole on all single reed annular solid and the pad of fixed rigid body (10B);
A end cap (15A) is connected with negative stiffness outer shroud (16E) by AD cylindrical pins (11D), AE cylindrical pins (11E), AF cylindrical pins (11F); Negative stiffness outer shroud (16E) is connected with the fixed rigid body (10B) of broad sense three cross reed flexible bearings (15C) by BA cylindrical pins (12A), BB cylindrical pins (12B), BC cylindrical pins (12C); B end cap (15B) is realized and being connected with motion rigid body (10A) and the negative stiffness body (16D) of broad sense three cross reed flexible bearings (15C) by AD cylindrical pins (11A), AE cylindrical pins (11B), AF cylindrical pins (11C).
The advantage of zero stiffness flexible bearing of the present invention is:
1. the zero stiffness flexible bearing of the present invention's design is the negative stiffness assembly of connecting in broad sense three cross reed flexible bearings, significantly reduce the rotational deformation rigidity of flexible bearing, externally output rotational stiffness is almost nil, thereby has significantly reduced the output requirement to driver element.
2. the negative stiffness assembly of the present invention design can with the combined formation zero stiffness of the flexible bearing of multiple not isomorphism type flexible bearing.
3. the zero stiffness flexible bearing kinematic accuracy of the present invention's design is high, and in the time that ± 20 spend, it is only 0.2 micron that axle floats.
4. the zero stiffness flexible bearing compact structure of the present invention's design, external interface is good, can directly apply to various precision positionings field.
5. the broad sense three cross reed flexible bearings that are combined with zero stiffness flexible bearing of the present invention adopt reed symmetric helix layout type, are subject to the buckling deformation of radial force while having overcome single-screw layout.
6. the broad sense three cross reed flexible bearings of the present invention design are by spatially spiral combined crosswise successively of six single reed annular solids, then by cylindrical pins tightening, finally cut breach with line cutting technology, the minimum value that this kind of processing method is suitable for the 2n(n of 4 reed unit, 6 reed unit, 8 reed unit, 12 reed unit, 14 reed unit etc. is in theory 2) processing of the flexible bearing of individual cell formation.
7. processing method of the present invention to make the minimum value of the 2n(n that forms flexible bearing be 2) processing model of individual unit before assembling be in full accord, simplified machine tool program design and process step, improved work efficiency.
Accompanying drawing explanation
Fig. 1 is the structural drawing of zero stiffness flexible bearing of the present invention.
Figure 1A is the end cap separation structure figure of zero stiffness flexible bearing of the present invention.
Figure 1B is the structural drawing of broad sense three cross reed flexible bearing parts in zero stiffness flexible bearing of the present invention.
Fig. 1 C is the plan view of broad sense three cross reed flexible bearing parts in zero stiffness flexible bearing of the present invention.
Fig. 1 D is the sectional view of zero stiffness flexible bearing of the present invention.
Fig. 1 E is the exploded view of zero stiffness flexible bearing of the present invention.
Fig. 2 is the front view of middle single reed annular solid in the present invention.
Fig. 3 is the front view of the single reed annular solid in upper end portion of the present invention.
Fig. 4 is the front view of transition list reed annular solid in the present invention.
Fig. 5 is the front view of middle single reed annular solid under the present invention.
Fig. 6 is the front view of the single reed annular solid in underpart of the present invention.
Fig. 7 is the front view of transition list reed annular solid under the present invention.
Fig. 8 is the structural drawing of AA pad of the present invention.
Fig. 9 is the structural drawing of BB pad of the present invention.
Figure 10 is the structural drawing of negative stiffness assembly in zero stiffness flexible bearing of the present invention.
Figure 10 A is the outer shroud structural drawing of negative stiffness assembly in zero stiffness flexible bearing of the present invention.
Figure 10 B is the exploded view of negative stiffness assembly in zero stiffness flexible bearing of the present invention.
Figure 11 is the structural drawing of A end cap in zero stiffness flexible bearing of the present invention.
Figure 12 is the structural drawing of B end cap in zero stiffness flexible bearing of the present invention.
Figure 13 A is the motion schematic diagram of zero stiffness flexible bearing of the present invention at initial position.
Figure 13 B is the motion schematic diagram of zero stiffness flexible bearing of the present invention in clockwise position.
Figure 13 C is the motion schematic diagram of zero stiffness flexible bearing of the present invention in counterclockwise position.
Figure 14 A is the structural drawing that needs single reed annular solid of use in the present invention.
Figure 14 B is the gasket construction figure that needs use in the present invention.
Figure 14 C is the exploded view of preshaped body in the present invention.
Figure 14 D is the erection drawing of preshaped body in the present invention.
Figure 14 E is preshaped body excision otch schematic diagram in the present invention.
Figure 15 A is the motion schematic diagram of negative stiffness assembly initial deformation in the present invention.
Figure 15 B is the negative stiffness assembly motion schematic diagram of distortion clockwise in the present invention.
Figure 15 C is the negative stiffness assembly motion schematic diagram of distortion counterclockwise in the present invention.
Figure BDA0000477502820000051
Figure BDA0000477502820000061
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in further detail.
Shown in Fig. 1, Figure 1A～Fig. 1 E, a kind of zero stiffness flexible bearing of the present invention, this bearing includes negative stiffness assembly 16, broad sense three cross reed flexible bearing 15C, A end cap 15A, B end cap 15B and Duo Gen cylindrical pins (being 11A～11F, 12A～12C).
In the present invention, broad sense three cross reed flexible bearing 15C are made up of the single reed annular solid 1 in upper centre, the single reed annular solid 2 in lower centre, the single reed annular solid 3 in upper end portion, the single reed annular solid 4 in underpart, upper transition list reed annular solid 5, lower transition list reed annular solid 6 and multiple pad, and single reed annular solid and pad are lamination assembling.
In the present invention, pad refers to AA pad 7A, AB pad 7B, AC pad 7C, AD pad 7D, AE pad 7E, BA pad 8A, BB pad 8B, BC pad 8C, BD pad 8D and BE pad 8E; Wherein, AA pad 7A, AB pad 7B, AC pad 7C, AD pad 7D, AE pad 7E are the pad of motion rigid body 10A part use, and BA pad 8A, BB pad 8B, BC pad 8C, BD pad 8D and BE pad 8E are the pad of fixed rigid body 10B part use.In the present invention, the structure of pad is identical.
In the present invention, cylindrical pins refers to AA cylindrical pins 11A, AB cylindrical pins 11B, AC cylindrical pins 11C, AD cylindrical pins 11D, AE cylindrical pins 11E, AF cylindrical pins 11F, BA cylindrical pins 12A, BB cylindrical pins 12B and BC cylindrical pins 12C; In the present invention, the structure of AA cylindrical pins 11A, AB cylindrical pins 11B and AC cylindrical pins 11C is identical; The structure of AD cylindrical pins 11D, AE cylindrical pins 11E and AF cylindrical pins 11F is identical; The structure of BA cylindrical pins 12A, BB cylindrical pins 12B and BC cylindrical pins 12C is identical.
In the present invention, the rapidoprint that single reed annular solid, cylindrical pins, pad are used is all metallic material, and wherein single reed annular solid material can be Ti-6Al-4V, or aluminum alloy 7075-T6; Cylindrical pins material is stainless steel; Gasket material is common aluminum alloy.
In the present invention, broad sense three cross reed flexible bearing 15C are divided into motion rigid body 10A, fixed rigid body 10B by the first otch 10C and the second otch 10D.
A end cap 15A
Shown in Fig. 1, Figure 1A, Figure 11, the plate face of A end cap 15A is provided with CA pin-and-hole 15A1, CB pin-and-hole 15A2, CC pin-and-hole 15A3.CA pin-and-hole 15A1 is used for placing AD cylindrical pins 11D.CB pin-and-hole 15A2 is used for placing AE cylindrical pins 11E.CC pin-and-hole 15A3 is used for placing AF cylindrical pins 11F.
In the present invention, A end cap 15A realizes and being connected of the negative stiffness outer shroud 16E of negative stiffness assembly 16 by AD cylindrical pins 11D, AE cylindrical pins 11E, AF cylindrical pins 11F.
B end cap 15B
Shown in Fig. 1, Figure 1A, Figure 12, the plate face of B end cap 15B is provided with cushion block 15B4, and described cushion block 15B4 position is provided with FA pin-and-hole 15B1, FB pin-and-hole 15B2, FC pin-and-hole 15B3.FA pin-and-hole 15B1 is used for placing AA cylindrical pins 11A.FB pin-and-hole 15B2 is used for placing AB cylindrical pins 11B.FC pin-and-hole 15B3 is used for placing AC cylindrical pins 11C.
In the present invention, B end cap 15B realizes and being connected of the motion rigid body 10A of broad sense three cross reed flexible bearing 15C by AA cylindrical pins 11A, AB cylindrical pins 11B, AC cylindrical pins 11C.
The single reed annular solid 1 in upper centre
Shown in Figure 1A, Figure 1B, Fig. 1 D, Fig. 1 E, Fig. 2, in mistake, the center of circle O1 of middle single reed annular solid 1 makes a horizontal line AB.The single reed annular solid 1 in upper centre is provided with the non-uniform thickness reed 11 of A, upper middle sports ring 12 and upper middle retaining ring 13, in the middle of upper, sports ring 12 is symmetrical arranged with described horizontal line AB with upper middle retaining ring 13, A reed 11 is arranged between middle sports ring 12 and upper middle retaining ring 13, and the angle α of A reed 11 and described horizontal line AB 1equal 30 degree.One end of the non-uniform thickness reed 11 of described A is non-distortion reed 111, and the other end of the non-uniform thickness reed 11 of A is distortion reed 112, and non-distortion reed 111 designs on the non-uniform thickness reed 11 of A with distortion reed 112 simultaneously, can reduce axle and float.The length of the non-uniform thickness reed 11 of A is designated as the inner diameter that D(D is also bearing), the length of distortion reed 112 is designated as L, L=0.57287D.In the present invention, the non-uniform thickness reed 21 of B, the non-uniform thickness reed 31 of C, the non-uniform thickness reed 41 of D, the non-uniform thickness reed 51 of E, the non-uniform thickness reed 61 of F are identical with the structure of the non-uniform thickness reed 11 of A, the design of this reed can guarantee that the zero stiffness flexible bearing kinematic accuracy obtaining after assembling is high, in the time that ± 20 spend, it is only 0.2 micron that axle floats.In the middle of upper, sports ring 12 is provided with A mounting hole 121, B mounting hole 122, and A mounting hole 121 is for placing A attachment post 13A, and B mounting hole 122 is for placing B attachment post 13B.In the middle of upper, retaining ring 13 is provided with C mounting hole 131, D mounting hole 132, and C mounting hole 131 is for placing C attachment post 14A, and D mounting hole 132 is for placing D attachment post 14B.In Fig. 1 E, on the single reed annular solid 1 in upper centre, except four mounting holes (A mounting hole 121, B mounting hole 122, C mounting hole 131, D mounting hole 132), all the other are six pin-and-holes.Six pin-and-holes of described this are used for placing six roots of sensation pin (AA cylindrical pins 11A, AB cylindrical pins 11B, AC cylindrical pins 11C, BA cylindrical pins 12A, BB cylindrical pins 12B, BC cylindrical pins 12C).
In the present invention, the single reed annular solid 1 in upper centre is identical with the structure of the single reed annular solid 2 in lower centre, and is also identical on the rigging position of broad sense three cross reed flexible bearing 15C.
The single reed annular solid 2 in lower centre
Shown in Figure 1A, Figure 1B, Fig. 1 D, Fig. 1 E, Fig. 5, the center of circle O2 that crosses lower middle single reed annular solid 2 makes a horizontal line CD.The single reed annular solid 2 in lower centre is provided with the non-uniform thickness reed 21 of B, lower middle sports ring 22 and lower middle retaining ring 23, in the middle of lower, sports ring 22 is symmetrical arranged with described horizontal line CD with lower middle retaining ring 23, B reed 21 is arranged between lower middle sports ring 22 and lower middle retaining ring 23, and the angle α of B reed 21 and described horizontal line CD 2equal 30 degree.One end of the non-uniform thickness reed 21 of described B is non-distortion reed 211, and the other end of the non-uniform thickness reed 21 of B is distortion reed 212, and non-distortion reed 211 designs on the non-uniform thickness reed 21 of B with distortion reed 212 simultaneously, can reduce axle and float.In the middle of lower, sports ring 22 is provided with E mounting hole 221, F mounting hole 222, and E mounting hole 221 is for placing A attachment post 13A, and F mounting hole 222 is for placing B attachment post 13B.In the middle of lower, retaining ring 23 is provided with G mounting hole 231, H mounting hole 232, and G mounting hole 231 is for placing C attachment post 14A, and H mounting hole 232 is for placing D attachment post 14B.In Fig. 1 E, on the single reed annular solid 2 in lower centre, except four mounting holes (E mounting hole 221, F mounting hole 222, G mounting hole 231, H mounting hole 232), all the other are six pin-and-holes.Six pin-and-holes of described this are used for placing six roots of sensation pin (AA cylindrical pins 11A, AB cylindrical pins 11B, AC cylindrical pins 11C, BA cylindrical pins 12A, BB cylindrical pins 12B, BC cylindrical pins 12C).
In the present invention, the single reed annular solid 1 in upper centre is identical with the structure of the single reed annular solid 2 in lower centre, and is also identical on the rigging position of broad sense three cross reed flexible bearing 15C.
The single reed annular solid 3 in upper end portion
Shown in Figure 1A, Figure 1B, Fig. 1 D, Fig. 1 E, Fig. 3, the center of circle O3 that crosses the single reed annular solid 3 in upper end portion makes a horizontal line EF.The single reed annular solid 3 in upper end portion is provided with the non-uniform thickness reed 31 of C, upper end portion sports ring 32 and upper end portion retaining ring 33, upper end portion sports ring 32 is symmetrical arranged with described horizontal line EF with upper end portion retaining ring 33, C reed 31 is arranged between upper end portion sports ring 32 and upper end portion retaining ring 33, and the angle α of C reed 31 and described horizontal line EF 3equal 90 degree.One end of the non-uniform thickness reed 31 of described C is non-distortion reed 311, and the other end of the non-uniform thickness reed 31 of C is distortion reed 312, and non-distortion reed 311 designs on the non-uniform thickness reed 31 of C with distortion reed 312, can reduce axle and float.Upper end portion sports ring 32 is provided with I mounting hole 321, J mounting hole 322, and I mounting hole 321 is for placing A attachment post 13A, and J mounting hole 322 is for placing B attachment post 13B.Upper end portion retaining ring 33 is provided with K mounting hole 331, L mounting hole 332, and K mounting hole 331 is for placing C attachment post 14A, and L mounting hole 332 is for placing D attachment post 14B.In Fig. 1 E, on the single reed annular solid 3 in upper end portion, except four mounting holes (I mounting hole 321, J mounting hole 322, K mounting hole 331, L mounting hole 332), all the other are six pin-and-holes.Six pin-and-holes of described this are used for placing six roots of sensation pin (AA cylindrical pins 11A, AB cylindrical pins 11B, AC cylindrical pins 11C, BA cylindrical pins 12A, BB cylindrical pins 12B, BC cylindrical pins 12C).
In the present invention, the single reed annular solid 3 in upper end portion is identical with the structure of the single reed annular solid 4 in underpart, and is also identical on the rigging position of broad sense three cross reed flexible bearing 15C.
The single reed annular solid 4 in underpart
Shown in Figure 1A, Figure 1B, Fig. 1 D, Fig. 1 E, Fig. 6, the center of circle O4 that crosses the single reed annular solid 4 in underpart makes a horizontal line GH.The single reed annular solid 4 in underpart is provided with the non-uniform thickness reed 41 of D, underpart sports ring 42 and underpart retaining ring 43, underpart sports ring 42 is symmetrical arranged with described horizontal line GH with underpart retaining ring 43, D reed 41 is arranged between underpart sports ring 42 and underpart retaining ring 43, and the angle α of D reed 41 and described horizontal line GH 4equal 90 degree.One end of the non-uniform thickness reed 41 of described D is non-distortion reed 411, and the other end of the non-uniform thickness reed 41 of D is distortion reed 412, and non-distortion reed 411 designs on the non-uniform thickness reed 41 of D with distortion reed 412, can reduce axle and float.Underpart sports ring 42 is provided with M mounting hole 421, N mounting hole 422, and M mounting hole 421 is for placing A attachment post 13A, and N mounting hole 422 is for placing B attachment post 13B.Underpart retaining ring 43 is provided with O mounting hole 431, P mounting hole 432, and O mounting hole 431 is for placing C attachment post 14A, and P mounting hole 432 is for placing D attachment post 14B.In Fig. 1 E, on the single reed annular solid 4 in underpart, except four mounting holes (M mounting hole 421, N mounting hole 422, O mounting hole 431, P mounting hole 432), all the other are six pin-and-holes.Six pin-and-holes of described this are used for placing six roots of sensation pin (AA cylindrical pins 11A, AB cylindrical pins 11B, AC cylindrical pins 11C, BA cylindrical pins 12A, BB cylindrical pins 12B, BC cylindrical pins 12C).
In the present invention, the single reed annular solid 3 in upper end portion is identical with the structure of the single reed annular solid 4 in underpart, and is also identical on the rigging position of broad sense three cross reed flexible bearing 15C.
Upper transition list reed annular solid 5
Shown in Figure 1A, Figure 1B, Fig. 1 D, Fig. 1 E, Fig. 4, in mistake, the center of circle O5 of transition list reed annular solid 5 makes a horizontal line IJ.Upper transition list reed annular solid 5 is provided with the non-uniform thickness reed 51 of E, upper transient motion ring 52 and upper transition retaining ring 53, upper transient motion ring 52 is symmetrical arranged with described horizontal line IJ with upper transition retaining ring 53, E reed 51 is arranged between transient motion ring 52 and upper transition retaining ring 53, and the angle α of E reed 51 and described horizontal line IJ 5equal 30 degree.One end of the non-uniform thickness reed 51 of described E is non-distortion reed 511, and the other end of the non-uniform thickness reed 51 of E is distortion reed 512, and non-distortion reed 511 designs on the non-uniform thickness reed 51 of E with distortion reed 512, can reduce axle and float.Upper transient motion ring 52 is provided with Q mounting hole 521, R mounting hole 522, and Q mounting hole 521 is for placing A attachment post 13A, and R mounting hole 522 is for placing B attachment post 13B.Upper transition retaining ring 53 is provided with S mounting hole 531, T mounting hole 532, and S mounting hole 531 is for placing C attachment post 14A, and T mounting hole 532 is for placing D attachment post 14B.In Fig. 1 E, on upper transition list reed annular solid 5, except four mounting holes (Q mounting hole 521, R mounting hole 522, S mounting hole 531, T mounting hole 532), all the other are six pin-and-holes.Six pin-and-holes of described this are used for placing six roots of sensation pin (AA cylindrical pins 11A, AB cylindrical pins 11B, AC cylindrical pins 11C, BA cylindrical pins 12A, BB cylindrical pins 12B, BC cylindrical pins 12C).
In the present invention, upper transition list reed annular solid 5 is identical with the structure of lower transition list reed annular solid 6, and is also identical on the rigging position of broad sense three cross reed flexible bearing 15C.
Lower transition list reed annular solid 6
Shown in Figure 1A, Figure 1B, Fig. 1 D, Fig. 1 E, Fig. 7, the center of circle O6 that crosses lower transition list reed annular solid 6 makes a horizontal line KL.Lower transition list reed annular solid 6 is provided with the non-uniform thickness reed 61 of F, lower transient motion ring 62 and lower transition retaining ring 63, lower transient motion ring 62 is symmetrical arranged with described horizontal line KL with lower transition retaining ring 63, F reed 61 is arranged between lower transient motion ring 62 and lower transition retaining ring 63, and the angle α of F reed 61 and described horizontal line KL 6equal 30 degree.One end of the non-uniform thickness reed 61 of described F is non-distortion reed 611, and the other end of the non-uniform thickness reed 61 of F is distortion reed 612, and non-distortion reed 611 designs on the non-uniform thickness reed 61 of F with distortion reed 612, can reduce axle and float.Lower transient motion ring 62 is provided with U mounting hole 621, V mounting hole 622, and U mounting hole 621 is for placing A attachment post 13A, and V mounting hole 622 is for placing B attachment post 13B.Lower transition retaining ring 63 is provided with W mounting hole 631, X mounting hole 632, and W mounting hole 631 is for placing C attachment post 14A, and X mounting hole 632 is for placing D attachment post 14B.In Fig. 1 E, on lower transition list reed annular solid 6, except four mounting holes (U mounting hole 621, V mounting hole 622, W mounting hole 631, X mounting hole 632), all the other are six pin-and-holes.Six pin-and-holes of described this are used for placing six roots of sensation pin (AA cylindrical pins 11A, AB cylindrical pins 11B, AC cylindrical pins 11C, BA cylindrical pins 12A, BB cylindrical pins 12B, BC cylindrical pins 12C).
In the present invention, upper transition list reed annular solid 5 is identical with the structure of lower transition list reed annular solid 6, and is also identical on the rigging position of broad sense three cross reed flexible bearing 15C.
AA pad 7A
Shown in Figure 1A, Fig. 1 D, Fig. 1 E, Fig. 8, AA pad 7A is provided with AA pin-and-hole 7A11, AB pin-and-hole 7A12, AC pin-and-hole 7A13, AA through hole 7A21 and AB through hole 7A22; Described AA pin-and-hole 7A11 passes for AA cylindrical pins 11A; Described AB pin-and-hole 7A12 passes for AB cylindrical pins 11B; Described AC pin-and-hole 7A13 passes for AC cylindrical pins 11C; Described AA through hole 7A21 passes for A attachment post 13A; Described AB through hole 7A22 passes for B attachment post 13B.
BA pad 8A
Shown in Figure 1A, Fig. 1 D, Fig. 1 E, Fig. 9, BA pad 8A is provided with BA pin-and-hole 8A11, BB pin-and-hole 8A12, BC pin-and-hole 8A13, BA through hole 8A21 and BB through hole 8A22; Described BA pin-and-hole 8A11 passes for BA cylindrical pins 12A; Described BB pin-and-hole 8A12 passes for BB cylindrical pins 12B; Described BC pin-and-hole 8A13 passes for BC cylindrical pins 12C.Described BA through hole 8A21 passes for C attachment post 14A; Described BB through hole 8A22 passes for D attachment post 14B.
Negative stiffness assembly 16
Shown in Figure 1A, Fig. 1 D, Fig. 1 E, Figure 10, Figure 10 A, Figure 10 B, negative stiffness assembly 16 includes the first bent reed 16A, the second bent reed 16B, the 3rd bent reed 16C, negative stiffness body 16D and negative stiffness outer shroud 16E.
Shown in Fig. 1 E, Figure 10 A, Figure 10 B, negative stiffness body 16D is provided with EA pin-and-hole 16D1, EB pin-and-hole 16D2, EC pin-and-hole 16D3, the first tapped blind hole 16D4, the second tapped blind hole 16D5, the 3rd tapped blind hole 16D6.EA pin-and-hole 16D1 is used for placing AA cylindrical pins 11A.EB pin-and-hole 16D2 is used for placing AB cylindrical pins 11B.EC pin-and-hole 16D3 is used for placing AC cylindrical pins 11C.The first tapped blind hole 16D4 is used for placing the second screw 16G.The second tapped blind hole 16D5 is used for placing the 4th screw 16J.The 3rd tapped blind hole 16D6 is used for placing the 6th screw 16L.
Shown in Fig. 1 E, Figure 10 A, the inner wall of ring body of negative stiffness outer shroud 16E is provided with DA pin-and-hole 16E1, DB pin-and-hole 16E2, DC pin-and-hole 16E3, DD pin-and-hole 16E4, DE pin-and-hole 16E5, DF pin-and-hole 16E6, A lug 16E7, B lug 16E8, C lug 16E9, and one end of negative stiffness outer shroud 16E is provided with boss 16E10.DA pin-and-hole 16E1 is used for placing AD cylindrical pins 11D.DB pin-and-hole 16E2 is used for placing AE cylindrical pins 11E.DC pin-and-hole 16E3 is used for placing AF cylindrical pins 11F.DD pin-and-hole 16E4 is used for placing BC cylindrical pins 12C.DE pin-and-hole 16E5 is used for placing BB cylindrical pins 12B.DF pin-and-hole 16E6 is used for placing BA cylindrical pins 12A.A lug 16E7 is provided with tapped hole, and the first screw 16F is installed in this tapped hole.B lug 16E8 is provided with tapped hole, and the 3rd screw 16H is installed in this tapped hole.C lug 16E9 is provided with tapped hole, and the 5th screw 16K is installed in this tapped hole.By coordinating of screw (the first screw 16F, the 3rd screw 16H, the 5th screw 16K) and lug (A lug 16E7, B lug 16E8, C lug 16E9), realize bent reed (the first bent reed 16A, the second bent reed 16B, the 3rd bent reed 16C) is arranged on negative stiffness outer shroud 16E.
Shown in Fig. 1 E, Figure 10 A, Figure 10 B, one end of the first bent reed 16A is provided with A snap close 16A1, and the other end of the first bent reed 16A is provided with B snap close 16A2; A snap close 16A1 passes for the first screw 16F, and the first screw 16F is connected in the tapped hole of A lug 16E7 of negative stiffness outer shroud 16E through after A snap close 16A1; B snap close 16A2 passes for the second screw 16G, and the second screw 16G is connected in the first tapped blind hole 16D4 of negative stiffness body 16D through after B snap close 16A2.
One end of the second bent reed 16B is provided with C snap close 16B1, and the other end of the second bent reed 16B is provided with D snap close 16B2; C snap close 16B1 passes for the 3rd screw 16H, and the 3rd screw 16H is connected in the tapped hole of B lug 16E8 of negative stiffness outer shroud 16E through after C snap close 16B1; D snap close 16B2 passes for the 4th screw 16J, and the 4th screw 16J is connected in the second tapped blind hole 16D5 of negative stiffness body 16D through after D snap close 16B2.
One end of the 3rd bent reed 16C is provided with E snap close 16C1, and the other end of the 3rd bent reed 16C is provided with F snap close 16C2; E snap close 16C1 passes for the 5th screw 16K, and the 5th screw 16K is connected in the tapped hole of C lug 16E9 of negative stiffness outer shroud 16E through after E snap close 16C1; F snap close 16C2 passes for the 6th screw 16L, and the 6th screw 16L is connected in the 3rd tapped blind hole 16D6 of negative stiffness body 16D through after F snap close 16C2.
In the present invention, the assembly relation of negative stiffness assembly 16 is:
Negative stiffness body 16D is placed in the bottom of negative stiffness outer shroud 16E, and negative stiffness body 16D coordinates and makes negative stiffness assembly 16 form a full circle ring with the boss 16E10 of negative stiffness outer shroud 16E;
The A snap close 16A1 of the first bent reed 16A is arranged on the A lug 16E7 of negative stiffness outer shroud 16E, and the B snap close 16A2 of the first bent reed 16A is arranged in the first tapped blind hole 16D4 of negative stiffness body 16D.
The C snap close 16B1 of the second bent reed 16B is arranged on the B lug 16E8 of negative stiffness outer shroud 16E, and the D snap close 16B2 of the second bent reed 16B is arranged in the second tapped blind hole 16D5 of negative stiffness body 16D.
The E snap close 16C1 of the 3rd bent reed 16C is arranged on the C lug 16E9 of negative stiffness outer shroud 16E, and the F snap close 16C2 of the 3rd bent reed 16C is arranged in the 3rd tapped blind hole 16D6 of negative stiffness body 16D.
DA pin-and-hole 16E1, DB pin-and-hole 16E2, the DC pin-and-hole 16E3 of negative stiffness outer shroud 16E are connected with A end cap 15A by AD cylindrical pins 11D, AE cylindrical pins 11E, AF cylindrical pins 11F respectively;
DD pin-and-hole 16E4, DE pin-and-hole 16E5, the DF pin-and-hole 16E6 of negative stiffness outer shroud 16E are connected with the fixed rigid body 10B of broad sense three cross reed flexible bearing 15C by BC cylindrical pins 12C, BB cylindrical pins 12B, BA cylindrical pins 12A respectively; EA pin-and-hole 16D1, EB pin-and-hole 16D2, the EC pin-and-hole 16D3 of negative stiffness body 16D are connected with the motion rigid body 10A of broad sense three cross reed flexible bearing 15C by BA cylindrical pins 12A, BB cylindrical pins 12B, BC cylindrical pins 12C respectively.
Assembly relation
Assembly relation between each part on zero stiffness flexible bearing as shown in Fig. 1, Fig. 1 C, Fig. 1 E is:
Between the upper plate surface of the single reed annular solid 2 of lower face and lower centre of the single reed annular solid 1 in upper centre, place AC pad 7C and BC pad 8C, and reed 21 keeping parallelisms in the reed 11 of the single reed annular solid 1 in upper centre and the single reed annular solid 2 in lower centre;
Between the upper plate surface of the single reed annular solid 1 in upper centre and the lower face of upper transition list reed annular solid 5, place AB pad 7B and BB pad 8B, and established angle between reed 31 in the single reed annular solid 3 in the reed 11 of the single reed annular solid 1 in upper centre and upper end portion is designated as γ 2, this γ 2=60 degree (as shown in Figure 1 C);
Between the lower face of the single reed annular solid 3 of the upper plate surface of upper transition list reed annular solid 5 and upper end portion, place AA pad 7A and BA pad 8A, and established angle between reed 31 in reed 51 in upper transition list reed annular solid 5 and upper end portion list reed annular solid 3 is designated as γ 1, this γ 1=60 degree (as shown in Figure 1 C);
Between the lower face of the single reed annular solid 2 in lower centre and the upper plate surface of lower transition list reed annular solid 6, place AD pad 7D and BD pad 8D; The single reed annular solid in upper centre 1 is overlapping with the single reed annular solid 2 in lower centre, and established angle and γ between reed 41 in the reed 21 of the single reed annular solid 2 in lower centre and lower transition list reed annular solid 4 2identical;
Between the lower face of lower transition list reed annular solid 6 and the upper plate surface of lower transition list reed annular solid 4, place AE pad 7E and BE pad 8E; The single reed annular solid 3 in upper end portion is consistent with lower transition list reed annular solid 4 layouts, descends established angle and γ between the reed 41 in reed 61 and the lower transition list reed annular solid 4 in transition list reed annular solid 6 1identical;
Cylindrical pins is arranged in the pin-and-hole on all single reed annular solids and pad;
Shown in Fig. 1 E, Figure 10, Figure 10 B, the negative stiffness body 16D of negative stiffness assembly 16 is positioned at the upper plate surface of the upper end portion sports ring 32 of the single reed annular solid 3 in upper end portion, the boss 16E10 of negative stiffness outer shroud 16E is positioned at the upper plate surface of the upper end portion retaining ring 33 of the single reed annular solid 3 in upper end portion, and negative stiffness body 16D is placed in the bottom of negative stiffness outer shroud 16E; The A snap close 16A1 of the first bent reed 16A is arranged on the A lug 16E7 of negative stiffness outer shroud 16E, and the B snap close 16A2 of the first bent reed 16A is arranged in the first tapped blind hole 16D4 of negative stiffness body 16D; The C snap close 16B1 of the second bent reed 16B is arranged on the B lug 16E8 of negative stiffness outer shroud 16E, and the D snap close 16B2 of the second bent reed 16B is arranged in the second tapped blind hole 16D5 of negative stiffness body 16D; The E snap close 16C1 of the 3rd bent reed 16C is arranged on the C lug 16E9 of negative stiffness outer shroud 16E, and the F snap close 16C2 of the 3rd bent reed 16C is arranged in the 3rd tapped blind hole 16D6 of negative stiffness body 16D.
A end cap 15A is connected with negative stiffness outer shroud 16E by AD cylindrical pins 11D, AE cylindrical pins 11E, AF cylindrical pins 11F; Negative stiffness outer shroud 16E is connected with the fixed rigid body 10B of broad sense three cross reed flexible bearing 15C by BA cylindrical pins 12A, BB cylindrical pins 12B, BC cylindrical pins 12C.B end cap 15B is realized and being connected with motion rigid body 10A and the negative stiffness body 16D of broad sense three cross reed flexible bearing 15C by AD cylindrical pins 11A, AE cylindrical pins 11B, AF cylindrical pins 11C.
The broad sense three cross reed flexible bearings that the present invention relates to, this bearing includes six single reed annular solids, ten pads and four attachment posts; Pad is arranged between two single reed annular solids, and each attachment post is through the pin-and-hole on single reed annular solid, pad.Realize six single reed annular solids and ten pads are linked into an integrated entity by attachment post and coordinating of pin-and-hole, thereby form broad sense three cross reed flexible bearings.This bearing is divided into motion rigid body 10A and fixed rigid body 10B(as shown in Figure 1B by the first otch 10C and the second otch 10D).
Broad sense three cross reed flexible bearing line cutting process
(a) adopt line cutting to make single reed annular solid that six block structures are identical, as Figure 14 A; For convenience of description, six single reed annular solids are named as respectively the first pre-shaping list reed annular solid 101, the second pre-shaping list reed annular solid 102, the 3rd pre-shaping list reed annular solid 103, the 4th pre-shaping list reed annular solid 104, the 5th pre-shaping list reed annular solid 105 and the 6th pre-shaping list reed annular solid 106;
(b) adopt line cutting to make the pad that five block structures are identical, as Figure 14 B; For convenience of description, five pads are named as respectively the first pre-shaping pad 201, the second pre-shaping pad 202, the 3rd pre-shaping pad 203, the 4th pre-shaping pad 204, the 5th pre-shaping pad 205;
(c) by the pre-shaping list reed annular solid of (a) step and (b) the pre-shaping pad interval overlapping placement of step, and through hole conducting; In four through holes, place respectively attachment post (13A, 13B, 14A, 14B), obtain preshaped body 401; The preshaped body 401 assembling is as shown in Figure 14 D;
(d), under clamp condition, adopt line cutting filament 301 on preshaped body 401, to process the first otch and the second otch, as shown in Figure 14 E;
(e) pull down fixture, obtain broad sense three cross reed flexible bearing 15C.
Shown in Figure 14 C, the order that described interval overlapping is placed refers to, the first pre-shaping list reed annular solid 101, the first pre-shaping pad 201, the second pre-shaping list reed annular solid 102, the second pre-shaping pad 202, the 3rd pre-shaping list reed annular solid 103, the 3rd pre-shaping pad 203, the 4th pre-shaping list reed annular solid 104, the 4th pre-shaping pad 204, the 5th pre-shaping list reed annular solid 105, the 5th pre-shaping pad 205 and the 6th pre-shaping list reed annular solid 106.Through hole on attention pre-shaping list reed annular solid and the through hole on pre-shaping pad will keep conducting, not dislocation.The state of concrete overlapping placement is:
The 3rd pre-shaping list reed annular solid 103 and the 4th pre-shaping list reed annular solid 104 keep same position;
The second pre-shaping list reed annular solid 102 rotates 120 degree in the counterclockwise direction with respect to the 3rd pre-shaping list reed annular solid 103;
The first pre-shaping list reed annular solid 101 rotates 120 degree along clockwise direction with respect to the 3rd pre-shaping list reed annular solid 103;
The 5th pre-shaping list reed annular solid 105 rotates 120 degree in the counterclockwise direction with respect to the 4th pre-shaping list reed annular solid 104;
The 6th pre-shaping list reed annular solid 106 rotates 120 degree along clockwise direction with respect to the 4th pre-shaping list reed annular solid 104.
Zero stiffness flexible bearing motion mode
(A) broad sense three cross reed flexible bearing motion modes
The broad sense three cross reed flexible bearings of the present invention design, the sketch of its motion as shown in Figure 13 A, Figure 13 B, Figure 13 C, the established angle γ between the single reed annular solid 3 in upper end portion and upper transition list reed annular solid 5 1=60 degree, the established angle γ between the single reed annular solid 3 in the single reed annular solid 1 in upper centre and upper end portion 2=60 °, because the single reed annular solid 1 in upper centre overlaps temporary location with the single reed annular solid 2 in lower centre, and on the place an order assembling of reed annular solid be with temporary location symmetric configuration, in like manner can obtain, established angle between the single reed annular solid 4 in underpart and the single reed annular solid 2 in lower centre is also 60 degree, and the established angle between the single reed annular solid 4 in lower transition list reed annular solid 6 and underpart is also 60 degree.The size of β angle has represented breach size between motion rigid body 10A and fixed rigid body 10B, and the size at β angle has determined the rotating range of flexible bearing, i.e. stroke size is generally got β=15 degree～25 degree.When motion rigid body 10A is subject to external force F(tangential force), P(axial force), M(moment of flexure) effect time, motion rigid body 10A can be similar to and rotate around reed point of intersection O along with the distortion of six reeds.Under the texturizing condition of six reeds, motion rigid body 10A rotates a certain angle and is designated as rotation angle θ with respect to fixed rigid body 10B, the size of described rotation angle θ determines by size and the rotational stiffness of this bearing of external force F, P, M, and the scope of θ is 0 to spend between β.After external force F, P, M disappear, motion rigid body 10A returns to initial position (as shown in FIG. 13A) automatically.While moving clockwise, as shown in Figure 13 B; While counterclockwise moving, as shown in Figure 13 C.
(B) negative stiffness assembly motion mode
The negative stiffness assembly motion schematic diagram of the present invention's design is as shown in Figure 15 A, Figure 15 B, Figure 15 C, three bent reeds (the first bent reed 16A, the second bent reed 16B and the 3rd bent reed 16C) have certain pre compressed magnitude (as shown in Figure 15 A) when mounted, when negative stiffness body 16D does not have in the time that negative stiffness outer shroud 16E rotates, three bent reeds do not produce moment to negative stiffness body 16D; In the time that the relative negative stiffness outer shroud of negative stiffness body 16D 16E turns clockwise θ angle, the distortion of the first bent reed 16A, the second bent reed 16B and the 3rd bent reed 16C obtains certain release, but still all in compressive state, now the line of inner bolt (the second screw 16G, the 4th screw 16J, the 6th screw 16L) and male screw thread (the first screw 16F, the 3rd screw 16H, the 5th screw 16K) is not after center O, three bent reeds produce a moment to negative stiffness body 16D, are designated as M ns, as shown in Figure 15 B.In the time that the relative negative stiffness outer shroud of negative stiffness body 16D 16E is rotated counterclockwise θ angle, the distortion of the first bent reed 16A, the second bent reed 16B and the 3rd bent reed 16C obtains certain release, but still all in compressive state, now the line of inner bolt (the second screw 16G, the 4th screw 16J, the 6th screw 16L) and male screw thread (the first screw 16F, the 3rd screw 16H, the 5th screw 16K) is not after center O, three bent reeds produce a moment to negative stiffness body 16D, are designated as M nn, as shown in Figure 15 C.
(C) zero stiffness flexible bearing motion mode
Negative stiffness assembly 16 is installed in series on broad sense three cross reed flexible bearing 15C, its motion along with broad sense three cross reed flexible bearing 15C and moving.In the time that broad sense three cross reed flexible bearing 15C are subject to rotate clockwise θ angle under External Force Acting, on motion rigid body 10A, will there is a restoring moment M pn, as shown in Figure 13 B.Now the negative stiffness body 16D on negative stiffness assembly 16 also rotates corresponding angle, and negative stiffness body 16D will produce a rightabout moment M ns, as shown in Figure 15 A.By designing suitable bent reed rigidity, can make M ns=M pnthereby negative stiffness moment just balances the restoring moment of the upper motion rigid body 10A of broad sense three cross reed flexible bearing 15C, makes flexible bearing externally present zero stiffness.
Similarly, when broad sense three cross reed flexible bearing 15C are subject under External Force Acting when being rotated counterclockwise θ angle, will to have a restoring moment M on motion rigid body 10A ps, as shown in FIG. 13A.Now the negative stiffness body 16D on negative stiffness assembly 16 also rotates corresponding angle, and negative stiffness body 16D will produce a rightabout moment M nn, as shown in Figure 15 B.By designing suitable bent reed rigidity, can make M nn=M psthereby negative stiffness moment just balances the restoring moment of the upper motion rigid body 10A of broad sense three cross reed flexible bearing 15C, makes flexible bearing externally present zero stiffness.

Claims (4)

1. a zero stiffness flexible bearing, is characterized in that: this bearing includes negative stiffness assembly (16), broad sense three cross reed flexible bearings (15C), A end cap (15A), B end cap (15B) and many cylindrical pins;
Wherein, cylindrical pins refers to AA cylindrical pins (11A), AB cylindrical pins (11B), AC cylindrical pins (11C), AD cylindrical pins (11D), AE cylindrical pins (11E), AF cylindrical pins (11F), BA cylindrical pins (12A), BB cylindrical pins (12B) and BC cylindrical pins (12C); The structure of AA cylindrical pins (11A), AB cylindrical pins (11B) and AC cylindrical pins (11C) is identical; The structure of AD cylindrical pins (11D), AE cylindrical pins (11E) and AF cylindrical pins (11F) is identical; The structure of BA cylindrical pins (12A), BB cylindrical pins (12B) and BC cylindrical pins (12C) is identical;
The plate face of A end cap (15A) is provided with CA pin-and-hole (15A1), CB pin-and-hole (15A2), CC pin-and-hole (15A3); CA pin-and-hole (15A1) is for placing AD cylindrical pins (11D); CB pin-and-hole (15A2) is for placing AE cylindrical pins (11E); CC pin-and-hole (15A3) is for placing AF cylindrical pins (11F); A end cap (15A) is realized and being connected of negative stiffness outer shroud (16E) of negative stiffness assembly (16) by AD cylindrical pins (11D), AE cylindrical pins (11E), AF cylindrical pins (11F);
The plate face of B end cap (15B) is provided with cushion block (15B4), and described cushion block (15B4) position is provided with FA pin-and-hole (15B1), FB pin-and-hole (15B2), FC pin-and-hole (15B3); FA pin-and-hole (15B1) is for placing AA cylindrical pins (11A); FB pin-and-hole (15B2) is for placing AB cylindrical pins (11B); FC pin-and-hole (15B3) is for placing AC cylindrical pins (11C); B end cap (15B) is realized and being connected of motion rigid body (10A) of broad sense three cross reed flexible bearings (15C) by AA cylindrical pins (11A), AB cylindrical pins (11B), AC cylindrical pins (11C);
Negative stiffness assembly (16) includes the first bent reed (16A), the second bent reed (16B), the 3rd bent reed (16C), negative stiffness body (16D) and negative stiffness outer shroud (16E); Negative stiffness body (16D) is provided with EA pin-and-hole (16D1), EB pin-and-hole (16D2), EC pin-and-hole (16D3), the first tapped blind hole (16D4), the second tapped blind hole (16D5), the 3rd tapped blind hole (16D6); EA pin-and-hole (16D1) is for placing AA cylindrical pins (11A); EB pin-and-hole (16D2) is for placing AB cylindrical pins (11B); EC pin-and-hole (16D3) is for placing AC cylindrical pins (11C); The first tapped blind hole (16D4) is for placing the second screw (16G); The second tapped blind hole (16D5) is for placing the 4th screw (16J); The 3rd tapped blind hole (16D6) is for placing the 6th screw (16L); The inner wall of ring body of negative stiffness outer shroud (16E) is provided with DA pin-and-hole (16E1), DB pin-and-hole (16E2), DC pin-and-hole (16E3), DD pin-and-hole (16E4), DE pin-and-hole (16E5), DF pin-and-hole (16E6), A lug (16E7), B lug (16E8), C lug (16E9), and one end of negative stiffness outer shroud (16E) is provided with boss (16E10); DA pin-and-hole (16E1) is for placing AD cylindrical pins (11D); DB pin-and-hole (16E2) is for placing AE cylindrical pins (11E); DC pin-and-hole (16E3) is for placing AF cylindrical pins (11F); DD pin-and-hole (16E4) is for placing BC cylindrical pins (12C); DE pin-and-hole (16E5) is for placing BB cylindrical pins (12B); DF pin-and-hole (16E6) is for placing BA cylindrical pins (12A); A lug (16E7) is provided with tapped hole, and the first screw (16F) is installed in this tapped hole; B lug (16E8) is provided with tapped hole, and the 3rd screw (16H) is installed in this tapped hole;
One end of the first bent reed (16A) is provided with A snap close (16A1), and the other end of the first bent reed (16A) is provided with B snap close (16A2); A snap close (16A1) passes for the first screw (16F), and the first screw (16F) is connected in the tapped hole of A lug (16E7) of negative stiffness outer shroud (16E) through after A snap close (16A1); B snap close (16A2) passes for the second screw (16G), and the second screw (16G) is connected in first tapped blind hole (16D4) of negative stiffness body (16D) through after B snap close (16A2);
One end of the second bent reed (16B) is provided with C snap close (16B1), and the other end of the second bent reed (16B) is provided with D snap close (16B2); C snap close (16B1) passes for the 3rd screw (16H), and the 3rd screw (16H) is connected in the tapped hole of B lug (16E8) of negative stiffness outer shroud (16E) through after C snap close (16B1); D snap close (16B2) passes for the 4th screw (16J), and the 4th screw (16J) is connected in second tapped blind hole (16D5) of negative stiffness body (16D) through after D snap close (16B2);
One end of the 3rd bent reed (16C) is provided with E snap close (16C1), and the other end of the 3rd bent reed (16C) is provided with F snap close (16C2); E snap close (16C1) passes for the 5th screw (16K), and the 5th screw (16K) is connected in the tapped hole of C lug (16E9) of negative stiffness outer shroud (16E) through after E snap close (16C1); F snap close (16C2) passes for the 6th screw (16L), and the 6th screw (16L) is connected in the 3rd tapped blind hole (16D6) of negative stiffness body 16D through after F snap close (16C2);
Negative stiffness body (16D) is placed in the bottom of negative stiffness outer shroud (16E), and negative stiffness body (16D) coordinate with the boss (16E10) of negative stiffness outer shroud (16E) make negative stiffness assembly (16) form a full circle ring;
The A snap close (16A1) of the first bent reed (16A) is arranged on the A lug (16E7) of negative stiffness outer shroud (16E), and the B snap close (16A2) of the first bent reed (16A) is arranged in first tapped blind hole (16D4) of negative stiffness body (16D);
The C snap close (16B1) of the second bent reed (16B) is arranged on the B lug (16E8) of negative stiffness outer shroud (16E), and the D snap close (16B2) of the second bent reed (16B) is arranged in second tapped blind hole (16D5) of negative stiffness body (16D);
The E snap close (16C1) of the 3rd bent reed (16C) is arranged on the C lug (16E9) of negative stiffness outer shroud (16E), and the F snap close (16C2) of the 3rd bent reed (16C) is arranged in the 3rd tapped blind hole (16D6) of negative stiffness body (16D);
The DA pin-and-hole (16E1) of negative stiffness outer shroud (16E), DB pin-and-hole (16E2), DC pin-and-hole (16E3) are connected with A end cap (15A) by AD cylindrical pins (11D), AE cylindrical pins (11E), AF cylindrical pins (11F) respectively;
The DD pin-and-hole (16E4) of negative stiffness outer shroud (16E), DE pin-and-hole (16E5), DF pin-and-hole (16E6) are connected with the fixed rigid body (10B) of broad sense three cross reed flexible bearings (15C) by BC cylindrical pins (12C), BB cylindrical pins (12B), BA cylindrical pins (12A) respectively; The EA pin-and-hole (16D1) of negative stiffness body (16D), EB pin-and-hole (16D2), EC pin-and-hole (16D3) are connected with the motion rigid body (10A) of broad sense three cross reed flexible bearings (15C) by BA cylindrical pins (12A), BB cylindrical pins (12B), BC cylindrical pins (12C) respectively;
Wherein, broad sense three cross reed flexible bearings (15C) are made up of the single reed annular solid in upper centre (1), the single reed annular solid in lower centre (2), the single reed annular solid in upper end portion (3), underpart single reed annular solid (4), upper transition list reed annular solid (5), lower transition list reed annular solid (6) and multiple pad;
Described pad refers to AA pad (7A), AB pad (7B), AC pad (7C), AD pad (7D), AE pad (7E), BA pad (8A), BB pad (8B), BC pad (8C), BD pad (8D) and BE pad (8E);
Single reed annular solid in described broad sense three cross reed flexible bearings (15C) and pad are lamination assembling;
The single reed annular solid in upper centre (1) is provided with A reed (11), upper middle sports ring (12) and upper middle retaining ring (13), in the middle of upper, sports ring (12) is symmetrical arranged with horizontal line AB with upper middle retaining ring (13), A reed (11) is arranged between middle sports ring (12) and upper middle retaining ring (13), and the angle α of A reed (11) and described horizontal line AB 1equal 30 degree;
The single reed annular solid in lower centre (2) is provided with B reed (21), lower middle sports ring (22) and lower middle retaining ring (23), in the middle of lower, sports ring (22) is symmetrical arranged with horizontal line CD with lower middle retaining ring (23), B reed (21) is arranged between lower middle sports ring (22) and lower middle retaining ring (23), and the angle α of B reed (21) and described horizontal line CD 2equal 30 degree;
The single reed annular solid in upper end portion (3) is provided with C reed (31), upper end portion sports ring (32) and upper end portion retaining ring (33), upper end portion sports ring (32) is symmetrical arranged with horizontal line EF with upper end portion retaining ring (33), C reed (31) is arranged between upper end portion sports ring (32) and upper end portion retaining ring (33), and the angle α of C reed (31) and described horizontal line EF 3equal 90 degree;
The single reed annular solid in underpart (4) is provided with D reed (41), underpart sports ring (42) and underpart retaining ring (43), underpart sports ring (42) is symmetrical arranged with horizontal line GH with underpart retaining ring (43), D reed (41) is arranged between underpart sports ring (42) and underpart retaining ring (43), and the angle α of D reed (41) and described horizontal line GH 4equal 90 degree;
Upper transition list reed annular solid (5) is provided with E reed (51), upper transient motion ring (52) and upper transition retaining ring (53), upper transient motion ring (52) is symmetrical arranged with horizontal line IJ with upper transition retaining ring (53), E reed (51) is arranged between transient motion ring (52) and upper transition retaining ring (53), and the angle α of E reed (51) and described horizontal line IJ 5equal 30 degree;
Lower transition list reed annular solid (6) is provided with F reed (61), lower transient motion ring (62) and lower transition retaining ring (63), lower transient motion ring (62) is symmetrical arranged with horizontal line KL with lower transition retaining ring (63), F reed (61) is arranged between lower transient motion ring (62) and lower transition retaining ring (63), and the angle α of F reed (61) and described horizontal line KL 6equal 30 degree;
Between the lower face of the single reed annular solid in upper centre (1) and the upper plate surface of the single reed annular solid in lower centre (2), place AC pad (7C) and BC pad (8C), and reed (21) keeping parallelism in the reed (11) of the single reed annular solid in upper centre (1) and the single reed annular solid in lower centre (2);
Between the upper plate surface of the single reed annular solid in upper centre (1) and the lower face of upper transition list reed annular solid (5), place AB pad (7B) and BB pad (8B), and established angle γ between reed (31) in the single reed annular solid in the reed (11) of the single reed annular solid in upper centre (1) and upper end portion (3) 2=60 °;
Between the upper plate surface of upper transition list reed annular solid (5) and the lower face of the single reed annular solid in upper end portion (3), place AA pad (7A) and BA pad (8A), and established angle γ between reed (31) in the reed (51) of upper transition list reed annular solid (5) and upper end portion list reed annular solid (3) 1=60 °;
Between the lower face of the single reed annular solid in lower centre (2) and the upper plate surface of lower transition list reed annular solid (6), place AD pad (7D) and BD pad (8D), and established angle between reed (41) in reed (21) and the lower transition list reed annular solid (4) of the single reed annular solid in lower centre (2);
Between the lower face of lower transition list reed annular solid (6) and the upper plate surface of lower transition list reed annular solid (4), place AE pad (7E) and BE pad (8E), and established angle between reed (41) in reed (61) and the lower transition list reed annular solid (4) of lower transition list reed annular solid (6);
Cylindrical pins is arranged in the pin-and-hole on all single reed annular solids and pad;
Connecting pin is only arranged in the mounting hole on all single reed annular solid and the pad of fixed rigid body (10B);
A end cap (15A) is connected with negative stiffness outer shroud (16E) by AD cylindrical pins (11D), AE cylindrical pins (11E), AF cylindrical pins (11F); Negative stiffness outer shroud (16E) is connected with the fixed rigid body (10B) of broad sense three cross reed flexible bearings (15C) by BA cylindrical pins (12A), BB cylindrical pins (12B), BC cylindrical pins (12C); B end cap (15B) is realized and being connected with motion rigid body (10A) and the negative stiffness body (16D) of broad sense three cross reed flexible bearings (15C) by AD cylindrical pins (11A), AE cylindrical pins (11B), AF cylindrical pins (11C).
2. zero stiffness flexible bearing according to claim 1, is characterized in that: single reed annular solid material is Ti-6Al-4V, or aluminum alloy 7075-T6.
3. zero stiffness flexible bearing according to claim 1, it is characterized in that: the first bent reed (16A), the second bent reed (16B) and the 3rd bent reed (16C) in negative stiffness assembly (16) have certain pre compressed magnitude when mounted, when negative stiffness body (16D) does not have in the time that negative stiffness outer shroud (16E) rotates, the first bent reed (16A), the second bent reed (16B) and the 3rd bent reed (16C) do not produce moment to negative stiffness body (16D);
In the time that the relative negative stiffness outer shroud (16E) of negative stiffness body (16D) turns clockwise θ angle, the first bent reed (16A), the distortion of the second bent reed (16B) and the 3rd bent reed (16C) obtains certain release, but still all in compressive state, the first screw (16F) now and the second screw (16G), the 3rd screw (16H) and the 4th screw (16J), the line of the 5th screw (16K) and the 6th screw (16L) is not after center O, the first bent reed (16A), the second bent reed (16B) and the 3rd bent reed (16C) produce a moment M to negative stiffness body (16D) ns,
In the time that the relative negative stiffness outer shroud (16E) of negative stiffness body (16D) is rotated counterclockwise θ angle, the first bent reed (16A), the distortion of the second bent reed (16B) and the 3rd bent reed (16C) obtains certain release, but still all in compressive state, the first screw (16F) now and the second screw (16G), the 3rd screw (16H) and the 4th screw (16J), the line of the 5th screw (16K) and the 6th screw (16L) is not after center O, the first bent reed (16A), the second bent reed (16B) and the 3rd bent reed (16C) produce a moment M to negative stiffness body (16D) nn.
4. zero stiffness flexible bearing according to claim 1, it is characterized in that: negative stiffness assembly (16) is installed in series on broad sense three cross reed flexible bearings (15C), and negative stiffness assembly (16) moves along with the motion of broad sense three cross reed flexible bearings (15C); In the time that broad sense three cross reed flexible bearings (15C) are subject to rotate clockwise θ angle under External Force Acting, on motion rigid body (10A), will there is a restoring moment M pn, now the negative stiffness body (16D) on negative stiffness assembly (16) also rotates corresponding angle, and negative stiffness body (16D) will produce a rightabout moment M ns, and keep M ns=M pnthereby negative stiffness moment just balances the restoring moment of the upper motion rigid body (10A) of broad sense three cross reed flexible bearings (15C), makes flexible bearing externally present zero stiffness.
When broad sense three cross reed flexible bearings (15C) are subject under External Force Acting when being rotated counterclockwise θ angle, will to have a restoring moment M on motion rigid body (10A) ps, now the negative stiffness body (16D) on negative stiffness assembly (16) also rotates corresponding angle, and negative stiffness body (16D) will produce a rightabout moment M nn, and keep M nn=M psthereby negative stiffness moment just balances the restoring moment of the upper motion rigid body (10A) of broad sense three cross reed flexible bearings (15C), makes flexible bearing externally present zero stiffness.
CN201410097678.6A 2014-03-14 2014-03-14 A kind of zero stiffness flexible bearing Expired - Fee Related CN103851077B (en)

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CN105605090A (en) * 2016-02-14 2016-05-25 西安电子科技大学 Zero-pivot and large-corner crossed reed type flexible hinge
CN106837999A (en) * 2017-01-16 2017-06-13 中国科学院长春光学精密机械与物理研究所 A kind of C-shaped flexible bearing and its manufacture method
CN108662010A (en) * 2018-05-29 2018-10-16 湖南大学 A kind of zero axle drift reed-type flexible hinge
CN109973515A (en) * 2019-04-08 2019-07-05 北京航空航天大学 A kind of RCM flexible hinge of pure rolling contact
CN110525620A (en) * 2019-09-05 2019-12-03 西北工业大学 A kind of axial rotating mechanism of the passive bending of the cross reed based on variable cross-section
CN110550170A (en) * 2019-09-05 2019-12-10 西北工业大学 Bending and axial rotating mechanism based on parallel free end crossed reed
CN110550171A (en) * 2019-09-05 2019-12-10 西北工业大学 Passive bending axial rotation mechanism based on cambered surface free end and three-reed crossed reed

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CN105605090A (en) * 2016-02-14 2016-05-25 西安电子科技大学 Zero-pivot and large-corner crossed reed type flexible hinge
CN105605090B (en) * 2016-02-14 2018-05-11 西安电子科技大学 A kind of zero axle floats big corner cross reed formula flexible hinge
CN106837999A (en) * 2017-01-16 2017-06-13 中国科学院长春光学精密机械与物理研究所 A kind of C-shaped flexible bearing and its manufacture method
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CN109973515A (en) * 2019-04-08 2019-07-05 北京航空航天大学 A kind of RCM flexible hinge of pure rolling contact
CN110525620A (en) * 2019-09-05 2019-12-03 西北工业大学 A kind of axial rotating mechanism of the passive bending of the cross reed based on variable cross-section
CN110550170A (en) * 2019-09-05 2019-12-10 西北工业大学 Bending and axial rotating mechanism based on parallel free end crossed reed
CN110550171A (en) * 2019-09-05 2019-12-10 西北工业大学 Passive bending axial rotation mechanism based on cambered surface free end and three-reed crossed reed
CN110550171B (en) * 2019-09-05 2021-04-02 西北工业大学 Passive bending axial rotation mechanism based on cambered surface free end and three-reed crossed reed
CN110525620B (en) * 2019-09-05 2021-06-11 西北工业大学 Passive bending axial rotating mechanism of cross reed based on variable cross section

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