CN110434836A - A kind of passive bending mechanism of multistage based on variable cross-section cross reed - Google Patents
A kind of passive bending mechanism of multistage based on variable cross-section cross reed Download PDFInfo
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- CN110434836A CN110434836A CN201910834666.XA CN201910834666A CN110434836A CN 110434836 A CN110434836 A CN 110434836A CN 201910834666 A CN201910834666 A CN 201910834666A CN 110434836 A CN110434836 A CN 110434836A
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- reed
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- multistage
- bending mechanism
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H1/00—Propulsive elements directly acting on water
- B63H1/30—Propulsive elements directly acting on water of non-rotary type
- B63H1/36—Propulsive elements directly acting on water of non-rotary type swinging sideways, e.g. fishtail type
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- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
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Abstract
The passive bending mechanism of multistage that the present invention relates to a kind of based on variable cross-section cross reed, the reed of two isometric variable cross-sections is symmetrically cross-linked two adjacent cambered surface free ends along its length direction and constitutes level-one, the section of each reed is most thin in crosspoint, most thick at the position being connected with free end.The cambered surface free end of this programme, the crosspoint of cross reed is Chong Die relative to the center of circle of entire bending mechanism outer free end with the unit of cross reed, so that each cross reed unit offset in crosspoint in passive bending deformation is declined, deformation accuracy is higher.Using the cross reed unit of variable cross-section, i.e. the section of each reed is most thin in crosspoint, it is most thick at the position being connected with free end, this to realize larger Passive deformation in the case where guaranteeing deformation accuracy, and under identical deformation extent, cross reed element deformation precision described in this scheme is higher.
Description
Technical field
The invention belongs to multistage passive bending mechanism fields, and it is passive curved to be related to a kind of multistage based on variable cross-section cross reed
Bent mechanism, a kind of mechanical mechanism for realizing multistage bending deformation under external force.
Background technique
Passive bending mechanism be it is a kind of under the effect of external force, generate the mechanism of bending deformation, it is a kind of very common
Mechanical structure, such as the springboard of diver, the bent body of bow and arrow.Traditional passive bending deformation mechanism is typically all to be similar to
Simple cantilever beam, or using the mechanism that there is the swing mechanism of friction to be formed by connecting, have in deformation biggish
Limitation.For being similar to the bending mechanism of cantilever beam, since it is single-stage distressed structure, deformation accuracy is low.For
Using the mechanism that is formed by connecting of swing mechanism with friction, friction loss will lead to the rising of energy consumption, the reduction of efficiency, and
The accumulation of distortion inaccuracy, often in the relatively high machinery of required precision, such as medical instrument, high-precision robot use
Influence of traditional Passive deformation mechanism for overall performance is very big.There is quilt in the patent that patent publication No. is CN1543907A
Method used by passive change mechanism in the production method of the endoscope of the bendable end of dynamic bending connection is single structure
The multilayer bend pipe structure of deformation, although Passive deformation range in actual use is big, it, which deforms controllable precision, extremely has
Limit.And the passive bending mechanism of multistage based on cross reed, other than being had the special feature that with common bending mechanism, deformation
Controllability it is more preferable.In the experimental study of the bionic caudal fin propeller of small and special electric machine the 7th interim SMA driving of volume 41 in 2013
Passive bending mechanism employed in one text is SMA, and since it carries the deformation of active simultaneously, this leads to its Passive deformation
By the restriction of active deformation, the Passive deformation effect for accomplishing Biomimetic Fish to greatest extent is not achieved.And traditional bending machine
Structure is usually all single elastic material, and multistage passive bending mechanism has more excellent mechanics special compared to common bending mechanism
Property.In actual application aspect, multistage passive bending mechanism not only can replace common bending mechanism, can also apply to it
His more aspects, such as bionical fish fin ray, the bending mechanism of multistage deformation can preferably simulate fish and have articulate fin
Structure, the fin ray structure of fish is all the multistage deformation structure being composed in series by multiple joints, and multiple fin ray parallel connections can group
Adult fish fin structure.
Summary of the invention
Technical problems to be solved
In order to avoid the shortcomings of the prior art, the present invention proposes that a kind of multistage based on variable cross-section cross reed is passive
Bending mechanism has passively along the bending deformation of its length direction under external force, has in practical engineering applications
Highly important meaning.
Technical solution
A kind of passive bending mechanism of multistage based on variable cross-section cross reed, it is characterised in that including multiple cambered surface free ends
With the cross reed of variable cross-section；The reed of two isometric variable cross-sections is symmetrically cross-linked two adjacent along its length direction
Cambered surface free end constitutes level-one, and the section of each reed is most thin in crosspoint, most thick at the position being connected with free end；Every grade
Curved rigidity depends on the position of the material of reed, thickness, the angle of two reeds and its crosspoint；The rigidity of reed with
The intensity of material is directly proportional, directly proportional to the thickness of its reed, directly proportional to the corner dimension of two reeds, with two reeds
Crosspoint two sides length of spring leaf scale is directly proportional, i.e. the ratio of the length of the length of the small side of length and the big side of length
Value.
The reed of two isometric variable cross-sections is symmetrically cross-linked two adjacent cambered surface free ends along its length direction
A cross reed unit is constituted, multiple cross reed units, which are connected in series, constitutes multistage passive bending mechanism.
The rigidity of the first order reed is maximum.
The rigidity of the multistage reed is sequentially reduced by first order reed to final stage, so that Passive deformation is occurred by external force
When, it is bigger closer to the curved deformation of the tip of warp architecture.
The rigidity of the multistage reed is maximum in the rigidity for keeping first order reed, other are at different levels as needed rigid
Degree is combined on the material of reed, thickness, the angle of two reeds and the position in its crosspoint.
The size of the cambered surface free end is successively successively decreased along spanwise direction.
The bending direction of the cambered surface free end is consistent, curves inwardly along spanwise direction.
Beneficial effect
A kind of passive bending mechanism of multistage based on variable cross-section cross reed proposed by the present invention, has high-precision, nothing is rubbed
The advantages that wiping, no lag, no abrasion, no stiction, exempting from lubrication can replace many similar in terms of practical engineering application
Passive deformation structure.Such as can be applied to the pectoral fin push structure of aquatic bionic aircraft, can very well simulation fish it is soft
Passive deformation when property pectoral fin moves under water.
The present invention is made of the cross reed unit of multiple and different sizes, according to the line style demand of different bending mechanisms,
Various sizes of cross reed unit is selected to combine, the structure of single cross reed is by two cambered surface free ends and connection two
The cross reed of the variable cross-section of cambered surface free end forms, and the cross reed unit of each variable cross-section is that have two isometric springs
Piece is symmetrically staggeredly formed along its length direction.When forming passive bending mechanism, by its corresponding freedom between reed unit
End is connected, and forms multi-stage cross reed structure, reaches multistage passive curved motor pattern.According to multistage passive bending mechanism
Stiffness Distribution demand on spanwise direction adjusts the Stiffness Distribution of cross reed unit, friendship under identical external condition
The material of the rigidity of hook switch blade unit and its reed, thickness, the angle of two reeds and the position in its crosspoint are related.At it
The intensity of material of rigidity and its reed of cross reed unit is directly proportional in the case that his condition is constant, constant in other conditions
In the case where cross reed unit rigidity it is directly proportional to the thickness of its reed, the cross reed in the case where other conditions are constant
The rigidity of unit and the corner dimension of its reed are directly proportional, in the case where other conditions are constant the rigidity of cross reed unit with
The crosspoint two sides length of spring leaf scale (ratio of the length of the length and big side of length of the small side of length of its reed
Value) it is directly proportional.For example, the biggish cross reed unit of rigidity can be used in the root of multistage passive bending mechanism, in multistage
Passive bending mechanism tip uses the lesser cross reed unit of rigidity, is occurred passively in bending mechanism by external force to reach
It is bigger closer to the curved deformation of the tip of warp architecture when deformation.
In the cambered surface free end that the cross reed bending mechanism based on conventional parallel free end, this programme use, and
The crosspoint of cross reed is Chong Die relative to the center of circle of entire bending mechanism outer free end with the unit of cross reed, this makes
Each cross reed unit offset in crosspoint in passive bending deformation is declined, so that its deformation accuracy is higher.
When free end is by external force, preferably deformed along its Impact direction.The opposite prismatic cross reed in cambered surface free end, this
Invention uses the cross reed unit of variable cross-section, i.e. the section of each reed is most thin in crosspoint, what is be connected with free end
Position is most thick, this to realize larger Passive deformation in the case where guaranteeing deformation accuracy, and under identical deformation extent, this
Cross reed element deformation precision described in scheme is higher.
Cross reed plastic deformation body has the lot of advantages of its own, such as high-precision, nothing compared to rigid deformation body
Friction, no lag, no abrasion, no stiction exempt from lubrication etc..These features based on cross reed, in terms of practical application,
Cross reed comes usually as flexible hinge using slewing area is big, and stress is small.Therefore, cross reed can mutually be gone here and there
Connection constitutes multistage bending deformation mechanism, and compared to traditional bending mechanism, the multistage bending mechanism based on cross reed, which has, to be turned
Dynamic precision is high, and slewing area is big, and stress is small, based on the existing research to cross reed, can be very good to analyze it and is moved through
Journey.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention
Fig. 2 is overall structure stress diagram of the invention
Fig. 3 is overall structure deformation schematic diagram of the invention
Fig. 4 is No. 1 cross reed cell schematics of the embodiment of the present invention
Fig. 5 is No. 2 cross reed cell schematics of the embodiment of the present invention
Fig. 6 is No. 3 cross reed cell schematics of the embodiment of the present invention
Fig. 7 is No. 4 cross reed cell schematics of the invention
Fig. 8 is No. 5 cross reed cell schematics of the embodiment of the present invention
Fig. 9 is No. 6 cross reed cell schematics of the embodiment of the present invention
1 --- No. 1 cross reed unit, 2 --- No. 2 cross reed unit, 3 --- No. 3 cross reed unit,
4 --- No. 4 cross reed unit, 5 --- No. 5 cross reed unit, 6 --- No. 6 cross reed unit, 7 --- arc
Face free end, 8 --- variable cross-section cross reed
Specific embodiment
Now in conjunction with embodiment, attached drawing, the invention will be further described:
The present embodiment is six grades of passive bending mechanisms, including No. 1 cross reed unit, No. 2 cross reed unit, the
No. 3 cross reed units, No. 4 cross reed unit, No. 5 cross reed unit and No. 6 cross reed unit.
It is mainly made of the different cross reed unit of size based on the multistage passive bending mechanism of cross reed, cross reed
Unit is made of the cross reed of the two cambered surface free ends in two cambered surface free ends and connection.Cross reed is using variable cross-section
Cross reed unit, the i.e. section of each reed are most thin in crosspoint, and most thick at the position being connected with free end, this makes
Guarantee to realize larger Passive deformation in the case where deformation accuracy, and under identical deformation extent.The ruler of specific cross reed
The line style of the specific multistage passive bending mechanism of very little basis determines, by changing the combination of differently curved unit, while can be with
The rigidity and size of the every level-one of the entire multistage bending mechanism of control, so as to be accurately controlled the rigidity point of entire bending mechanism
Cloth and multistage bending deformation distribution.Bending mechanism as shown in the figure, the rigidity of every level-one of the present embodiment, i.e. bending degree take
Certainly in the crossover location of cross reed.
By No. 1 cross reed unit to No. 6 cross reed unit, with the difference of the crossover location of cross reed,
Rigidity is gradually increased, and bending degree is gradually reduced.
Larger in bending degree, relatively soft place can arrange No. 1 lesser unit of this rigidity of cross reed unit,
Smaller in bending degree, the biggish place of rigidity can arrange the biggish units of the single this rigidity of reed unit of No. 6 intersections, in figure
Entire passive bending mechanism is made of 1 to No. 6 cross reed unit, and No. 6 cross reed rigidity is sequentially increased from No. 1 to, size
Also increase, it is notable that influence of the size of cross reed to its rigidity is little, and the variation of size is to meet reality
Size requirements in engineering.It is entire according to required deformation range and mode of texturing and reality in actual engineer application
The stress condition of bending mechanism selects the cross reed unit being applicable in, due to the rigidity of different units and the mode of deformation
Difference so that multistage passive bending deformation mechanism can carry out complicated bending deformation, such as can produce S type
Deformation, or the combination by designing its cross reed unit is to reach required complex deformation mode.
The cambered surface free end that this programme uses, and the crosspoint of cross reed and the unit of cross reed are relative to entire
The center of circle of bending mechanism outer free end is overlapped, this makes each cross reed unit crosspoint in passive bending deformation
Offset is declined, so that its deformation accuracy is higher.When free end is by external force, preferably become along its Impact direction
Shape.
Installation and use process of the invention:
According to the requirement of the size and curve form of required multistage bending mechanism, suitable cross reed unit is selected
Combination, by the way of link between cross reed unit is using gluing, according to selected cross reed unit sequence successively
Link, i.e., the upper level of next stage free end connection, thus composition be composed of one group of set cross reed unit it is more
The passive bending mechanism of grade generates corresponding bending deformation in the case where being subject to external force.As shown in Fig. 2, this passive bending mechanism
It is concentrated mainly on the free end of each cross reed in suffered external force position, by the left side of No. 6 cross reed units
Free end is fixed, in FIG. 2, it is assumed that the Impact direction of all free ends is downward, this makes the passive curved of every level-one cross reed
Curvature square is as shown in Figure 2.In Fig. 3, if all free end stress are downward, there is reclinate movement tendency, if stress side
To upward, there will be upward warp tendencies.In a practical situation, not due to the free end stress condition of each cross reed
Together, this makes the passive warp tendency of every level-one different, but since the bending property of cross reed can control, more
The passive bending mechanism of grade can form more complicated and controllable bending deformation.
Claims (7)
1. a kind of passive bending mechanism of multistage based on variable cross-section cross reed, it is characterised in that including multiple cambered surface free ends and
The cross reed of variable cross-section；The reed of two isometric variable cross-sections is symmetrically cross-linked two adjacent arcs along its length direction
Face free end constitutes level-one, and the section of each reed is most thin in crosspoint, most thick at the position being connected with free end；Every grade curved
Bent rigidity depends on the position of the material of reed, thickness, the angle of two reeds and its crosspoint；The rigidity and material of reed
The intensity of material is directly proportional, directly proportional to the thickness of its reed, directly proportional to the corner dimension of two reeds, the friendship with two reeds
Crunode two sides length of spring leaf scale is directly proportional, i.e. the ratio of the length of the length of the small side of length and the big side of length
Value.
2. the passive bending mechanism of multistage based on variable cross-section cross reed according to claim 1, it is characterised in that: two etc.
The reed of long variable cross-section is symmetrically cross-linked two adjacent cambered surface free ends along its length direction and constitutes an intersection spring
Blade unit, multiple cross reed units, which are connected in series, constitutes multistage passive bending mechanism.
3. the multistage passive bending mechanism according to claim 1 or claim 2 based on variable cross-section cross reed, it is characterised in that: institute
The rigidity of first order reed is stated as maximum.
4. the multistage passive bending mechanism according to claim 1 or claim 2 based on variable cross-section cross reed, it is characterised in that: institute
The rigidity for stating multistage reed is sequentially reduced by first order reed to final stage, when so that Passive deformation is occurred by external force, closer to
The curved deformation of the tip of warp architecture is bigger.
5. the multistage passive bending mechanism according to claim 1 or claim 2 based on variable cross-section cross reed, it is characterised in that: institute
State the rigidity of multistage reed keep the rigidity of first order reed for maximum, other rigidity as needed at different levels, in reed
It is combined on material, thickness, the angle of two reeds and the position in its crosspoint.
6. the multistage passive bending mechanism according to claim 1 or claim 2 based on variable cross-section cross reed, it is characterised in that: institute
The size for the cambered surface free end stated successively is successively decreased along spanwise direction.
7. the multistage passive bending mechanism according to claim 1 or claim 2 based on variable cross-section cross reed, it is characterised in that: institute
The bending direction for the cambered surface free end stated is consistent, curves inwardly along spanwise direction.
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| US20190126497A1 (en) * | 2017-10-31 | 2019-05-02 | Worcester Polytechnic Institute | Robotic gripper member |
| CN110056602A (en) * | 2019-04-19 | 2019-07-26 | 北京科技大学 | A kind of tensioning integral vibration isolation device of Frequency Adjustable |
| CN110104440A (en) * | 2019-06-12 | 2019-08-09 | 白轩 | A kind of soft fluid conveying pipeline flow control switch |
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2019
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5354327A (en) * | 1993-04-07 | 1994-10-11 | Medtronic, Inc. | Conductor coil with specific ratio of torque to bending stiffness |
| CN202176130U (en) * | 2011-02-22 | 2012-03-28 | 杨战明 | Telescopic folding lifting-type lightweight sedan garage |
| US20140311271A1 (en) * | 2013-04-23 | 2014-10-23 | Northwestern University | Translational parallel manipulators and methods of operating the same |
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