Abstract: Juyiwar jujjuyawar madaidaicin madaidaicin sifili kusan sifili ne, wanda ke shawo kan lahani wanda madaidaicin hinges ɗin ke buƙatar jujjuyawar tuƙi, kuma ana iya amfani da su zuwa masu sassauƙan grippers da sauran filayen. Ɗaukar zobe masu sassauƙa na ciki da na waje a ƙarƙashin aikin tsattsauran ƙayyadaddun ƙarfi a matsayin ingantaccen tsarin ƙanƙara, bincike Tsarin ƙunci mara kyau da madaidaicin tauri mai kyau da mara kyau na iya gina madaidaicin madaidaicin sifili. Ba da shawarar tsarin jujjuyawar taurin mara kyau——Crank spring inji, wanda aka tsara da kuma nazarin halayen taurinsa mara kyau; ta hanyar daidaita madaidaicin taurin kai da mara kyau, an bincika tasirin sigogin tsari na injin bazara na crank akan ingancin sifili; ya ba da shawarar bazara mai linzami tare da taurin kai da girman da za a iya daidaitawa——Zaren bazara mai siffar lu'u-lu'u, an kafa samfurin taurin kai kuma an aiwatar da tabbacin simintin simintin ƙayyadaddun abubuwa; a ƙarshe, an kammala ƙira, sarrafawa da gwaji na ƙaramin sifili mai sassauƙan hinge. Sakamakon gwajin ya nuna cewa: a ƙarƙashin aikin matsi mai tsafta.±18°A cikin kewayon kusurwoyi na juyawa, juzu'in jujjuyawar jujjuyawar madaidaicin sifili shine 93% ƙasa da na ciki da na waje m hinges a matsakaita. Gine-ginen sifili mai sassauƙa mai sassauƙa yana da ƙaƙƙarfan tsari da ƙarancin sifili mai inganci; dabarar jujjuyawa mara kyau-taurin kai da madaidaiciyar bazarar tana da babban darajar tunani don nazarin tsarin sassauƙa.

0 gabatarwa

Hange mai sassauƙa (mai ɗaukar nauyi)

[1-2]

Dogaro da nakasawa na naúrar sassauƙa don watsawa ko canza motsi, ƙarfi da kuzari, an yi amfani da shi sosai a daidaitaccen matsayi da sauran fannoni. Idan aka kwatanta da ƙaƙƙarfan birai na gargajiya, akwai lokacin maidowa lokacin da madaidaicin madaidaicin ke juyawa. Saboda haka, naúrar tuƙi tana buƙatar samar da ƙarfin fitarwa don tuƙi da Ci gaba da jujjuyawar hinge mai sassauƙa. Sifili taurin m hinge

[3]

(Zero stiffness flexural pivot, ZSFP) haɗin haɗin gwiwa ne mai sassauƙa wanda taurin juyawa ya kai kusan sifili. Irin wannan hinge mai sassauƙa na iya tsayawa a kowane matsayi a cikin kewayon bugun bugun jini, wanda kuma aka sani da ma'aunin ma'auni mai sauƙi

[4]

, galibi ana amfani da su a fagage irin su masu sassauƙa.

Dangane da tsarin ƙirar ƙirar ƙirar ƙirar sassauƙa, gabaɗayan tsarin sifili mai sassauƙa mai sassauƙa za a iya kasu kashi biyu na ƙayyadaddun ƙayyadaddun ƙaƙƙarfan ƙarfi da mara kyau, kuma ana iya aiwatar da tsarin sifili ta hanyar madaidaicin tauri mai kyau da mara kyau.

[5]

. Daga cikin su, ingantaccen tsarin taurin kai yawanci babban madaidaicin madauri ne, kamar madaidaicin madaurin giciye.

[6-7]

, gabaɗaya mai sassauƙan hinge mai-giciye

[8-9]

da zobe masu sassauƙa na ciki da na waje

[10-11]

Duka. A halin yanzu, binciken da aka yi a kan madaidaicin hinges ya sami sakamako mai yawa, saboda haka, mabuɗin don ƙirƙira ƙwanƙwasa ƙwanƙwasa ƙwanƙwasa ƙwanƙwasa shi ne ya dace da madaidaicin madaidaicin ƙirar ƙira don masu sassauƙa [3].

Zoben ciki da na waje masu sassauƙan hinges (Cikin ciki da na waje zoben flexural pivots, IORFP) suna da ingantattun halaye dangane da taurin kai, daidaici da matsananciyar zafin jiki. Madaidaicin madaidaicin ƙwanƙwasa mara kyau yana ba da hanyar gini na sifili mai sassauƙa mai sassauƙa, kuma a ƙarshe, ya kammala ƙira, sarrafa samfuri da gwaji na madaidaicin madaidaicin sifili.

1 crank spring inji

1.1 Ma'anar taurin mara kyau

Babban ma'anar taurin kai shine ƙimar canji tsakanin nauyin F da ke ɗauke da sigar roba da madaidaicin nakasar dx.

K= dF/dx (1)

Lokacin da ƙarar nauyin nau'i na roba ya saba da alamar haɓakar nakasar da ta dace, taurin kai mara kyau ne. A zahiri, rashin ƙarfi mara kyau yayi daidai da rashin kwanciyar hankali na nau'in roba

[12]

.Hanyoyin ƙwanƙwasa mara kyau suna taka muhimmiyar rawa a fagen daidaita ma'auni. Yawancin lokaci, hanyoyin ƙwanƙwasa mara kyau suna da halaye masu zuwa.

(1) Na'urar tana adana wani adadin kuzari ko kuma ta sami wani nakasu.

(2) Tsarin yana cikin yanayin rashin kwanciyar hankali.

(3) Lokacin da injin ya ɗan dame kuma ya bar matsayin ma'auni, zai iya sakin ƙarfi mafi girma, wanda ke cikin hanya ɗaya da motsi.

1.2 Ƙa'idar ginin sifili mai sassauƙan hinge

Za'a iya gina madaidaicin madaidaicin sifili ta hanyar amfani da daidaitaccen taurin kai da mara kyau, kuma ana nuna ƙa'idar a cikin Hoto 2.

(1) Karkashin aikin juzu'i mai tsafta, zobe masu sassauƙa na ciki da na waje suna da kusancin kusurwar jujjuyawar juzu'i, kamar yadda aka nuna a Hoto 2a. Musamman, lokacin da madaidaicin madaidaicin yake a 12.73% na tsayin redi, madaidaicin kusurwar jujjuyawar juzu'i shine madaidaiciya.

[11]

, a wannan lokacin, lokacin maidowa Mpivot (a gefen agogo) na madaidaicin hinge yana da alaƙa da kusurwar jujjuyawar juyi.θ(counterclockwise) dangantakar ita ce

Mpivot=(8EI/L)θ (2)

A cikin dabarar, E shine ma'auni na roba na kayan, L shine tsayin reed, kuma ni ne lokacin inertia na sashin.

(2) Dangane da tsarin jujjuyawar jujjuyawar ƙugiya masu sassaucin ra'ayi na ciki da na waje, tsarin juyawa mara kyau yana daidaita, kuma ana nuna halayen taurinsa mara kyau a cikin Hoto 2b.

(3) Bisa la'akari da rashin kwanciyar hankali na ma'auni mara kyau

[12]

, Ƙaƙƙarfan ƙwanƙwasa mai sauƙi mai sauƙi ya kamata ya zama kusan sifili kuma ya fi girma fiye da sifili, kamar yadda aka nuna a cikin Hoto 2c.

1.3 Ma'anar crank spring inji

Dangane da wallafe-wallafen [4], za a iya gina madaidaicin madaurin sifili ta hanyar gabatar da ramin da ya rigaya ya canza tsakanin madaidaicin jiki mai motsi da kafaffen jikin mai sassauƙa. Don zoben ciki da na waje m hinge wanda aka nuna a FIG. 1, an gabatar da maɓuɓɓugar ruwa tsakanin zobe na ciki da zobe na waje, I.e., an gabatar da hanyoyin ruwa-crank (SCM). Dangane da injin sildilar crank da aka nuna a Hoto na 3, ana nuna ma'auni masu alaƙa na injin bazara na crank a cikin hoto na 4. Tsarin crank-spring ya ƙunshi crank da maɓuɓɓugar ruwa (saitin tsauri kamar k). kusurwar farko ita ce kusurwar da aka haɗa tsakanin crank AB da tushe AC lokacin da bazara ba ta lalace ba. R yana wakiltar tsayin crank, l yana wakiltar tsayin tushe, kuma yana bayyana ma'anar crank tsawon a matsayin rabo daga r zuwa l, I .e. = r/l0<<1).

Gina tsarin crank-spring yana buƙatar ƙaddarar sigogi 4: tsayin tushe l, crank tsawon rabo, kusurwar farko da taurin bazara K.

Ana nuna nakasar hanyar bazara ta crank a ƙarƙashin ƙarfi a cikin hoto na 5a, a halin yanzu M

γ

A ƙarƙashin aikin, crank yana motsawa daga matsayi na farko AB

Beta

juya AB

γ

, a lokacin tsarin juyawa, kusurwar da aka haɗa na crank dangane da matsayi na kwance

γ

ake kira da crank kwana.

Ƙididdigar ƙididdiga ya nuna cewa crank yana juyawa daga AB (matsayi na farko, M & gamma; Zero) zuwa AB0“matattu batu”inda, M

γ

sifili ne), tsarin crank-spring yana da nakasu tare da halaye mara kyau.

1.4 Alakar da ke tsakanin karfin juyi da kusurwar jujjuyawar injin bazara

A cikin siffa. 5 ,kafin m & gamma; a gefen agogo yana tabbatacce, kusurwar crank & gamma; daidai agogon gefe yana da inganci, kuma lokacin lodin M an ƙirƙira kuma an bincika a ƙasa.

γ

tare da crank kwana

γ

Dangantakar da ke tsakanin tsarin ƙirar ƙira tana da girma.

Kamar yadda aka nuna a cikin Hoto 5b, ma'auni na ma'auni don crank AB & an jera gamma.

A cikin tsari, F & gamma; shine ƙarfin dawo da bazara, d & gamma; da F & gamma; don nuna A. A ɗauka cewa alaƙar ƙaura-load na bazara shine

A cikin dabara, K shine taurin bazara (ba lallai ba ne ƙima mai tsayi),δ
xγ

shine adadin nakasar bazara (an gajarta zuwa tabbatacce),δ
xγ

=|B

Beta

C| – |B

γ

C|.

Nau'in lokaci ɗaya (3)(5), lokacin M

γ

tare da kusurwa

γ

Dangantakar ita ce

1.5 Binciken halayen rashin ƙarfi na crank-spring inji

Don sauƙaƙe nazarin halaye mara kyau na crank-spring inji (lokacin M

γ

tare da kusurwa

γ

dangantaka), ana iya ɗauka cewa bazara yana da taurin kai tsaye, sannan za a iya sake rubuta dabara (4).

A cikin dabarar, Kconst ya kasance mafi girma fiye da sifili. Bayan an ƙayyade girman madaidaicin maɗaukaki, tsayin l na tushe kuma an ƙaddara. Don haka, idan aka ɗauka cewa l akai akai, dabara (6) za a iya sake rubutawa azaman

inda Kconstl2 ke dawwama fiye da sifili, kuma daidaitaccen lokacin m & gamma; yana da girma na daya. Za'a iya samun halayen rashin ƙarfi mara kyau na injin crank-spring ta hanyar nazarin alaƙar da ke tsakanin ma'aunin ƙarfi mai ƙarfi m. & gamma; da kusurwar juyawa & gamma.

Daga lissafin (9), Hoto 6 yana nuna kusurwar farko =π dangantaka tsakanin m & gamma; da crank tsawon rabo da juyi kwana & gamma;, & irin;[0.1, 0.9],& gamma;& irin;[0, π]. Hoto na 7 yana nuna alakar da ke tsakanin m & gamma; da kusurwar juyawa & gamma; don = 0.2 kuma daban-daban. Hoto na 8 yana nuna =π Lokacin, a ƙarƙashin daban-daban , dangantaka tsakanin m & gamma; da kwana & gamma.

Dangane da ma'anar ma'anar crank spring inji (sashe 1.3) da dabara (9), lokacin da k da l suna dawwama, m & gamma; Sai kawai mai alaƙa da kusurwa & gamma;, crank tsawon rabo da crank farkon kusurwa.

(1) Idan kuma kawai idan & gamma; daidai yake da 0 koπ ko ,m & gamma; daidai yake da sifili; & gamma; & irin;[0,], m & gamma; ya fi sifili; & gamma; & irin;[π], m & gamma; kasa da sifili. & irin;[0,], m & gamma; ya fi sifili; & gamma;& irin;[π], m & gamma; kasa da sifili.

(2) & gamma; Lokacin [0,], kusurwar juyawa & gamma; girma, m & gamma; yana ƙaruwa daga sifili zuwa kusurwar juyawa & gamma; 0 yana ɗaukar iyakar ƙimar m & gamma; max, sannan a hankali yana raguwa.

(3) The korau stiffness halayyar kewayon crank spring inji: & gamma;& irin;[0, & gamma; 0], a wannan lokacin & gamma; yana ƙaruwa (madaidaicin agogo baya), da karfin juyi M & gamma; yana ƙaruwa (a gefen agogo). Kusurwar jujjuyawa & gamma; 0 shine matsakaicin kusurwar jujjuyawa na mummunan taurin sifa na tsarin crank-spring da & gamma;0 & cin;[0,];m & gamma; max shine matsakaicin madaidaicin lokaci mara kyau. An ba da , ƙaddamar da ƙididdiga (9) ya haifar & gamma;0

(4) mafi girman kusurwar farko, & gamma; mafi girma 0, m

γ max

girma.

(5) mafi girman girman rabo. & gamma; mafi karami 0, m

γ max

girma.

Musamman, =πSiffofin rashin ƙarfi mara kyau na crank spring inji su ne mafi kyau (madaidaicin kusurwar kusurwa yana da girma, kuma karfin da za a iya ba da shi yana da girma). =πA lokaci guda, a ƙarƙashin yanayi daban-daban, matsakaicin kusurwar juyawa & gamma na mummunan taurin siffa na crank spring inji; 0 da matsakaicin madaidaicin madaidaicin magudanar ruwa m & gamma; An jera Max a cikin tebur 1.

Tebura 1 Farkon kusurwar shineπ Matsakaicin kusurwa mara kyau & gamma; 0 da matsakaicin matsakaicin lokaci m ƙarƙashin ma'auni daban-daban na tsawon crank

γ max

siga

darajar

rabo tsawon crank

0.1

0.2

0.3

0.4

0.5

Madaidaicin kusurwar juyawa & gamma;

0
/ rad

0.98

0.91

0.84

0.76

0.68

Matsakaicin adadin lokaci m

γ max

0.013

0.055

0.13

0.23

0.37

2 Gina sifili mai sassauƙan hinge

An nuna ma'auni na tabbatacce da rashin ƙarfi na 2.1 a cikin Hoto 9, n (n 2) ƙungiyoyi na daidaitattun hanyoyin crank spring ana rarraba su a ko'ina a kewayen kewayen, suna samar da ingantacciyar ingantacciyar ingantacciyar hanyar da ta dace da na ciki da na waje m hinges.

Yin amfani da madaidaicin madaidaicin zobe na ciki da na waje azaman ingantacciyar tsarin ƙanƙara, gina madaidaicin madaidaicin sifili. Domin cimma taurin sifili, daidaita taurin mai kyau da mara kyau

lokaci guda (2), (3), (6), (11), da & gamma;=θ, da lodi F & ana iya samun gamma na bazara; da ƙauraδDangantakar x & gamma; shine

Dangane da sashe na 1.5, kewayon kusurwa mara kyau na crank spring inji: & gamma;& irin;[0, & gamma; 0] & gamma;0 & isin;[0,], bugun sifili mai sassauƙan hinge zai zama ƙasa da & gamma; 0, i.e. Ruwan ruwa koyaushe yana cikin gurɓataccen yanayi (δxγ≠0). Kewayon juyawa na ciki da waje zoben m hinges shine±0.35 radi±20°), sauƙaƙe ayyukan trigonometric zunubi & gamma; da cos & gamma; mai bi

Bayan sauƙaƙawa, alaƙar ɗaukar nauyi na bazara

2.2 Kuskuren bincike na samfuri mai daidaitawa mai kyau da mara kyau

Yi la'akari da kuskuren da aka samu ta hanyar sauƙaƙan jiyya na lissafin (13). Dangane da ainihin sigogin aiki na sifili stiffness m hinge (Sashe 4.2): n = 3,l = 40mm, =π, = 0.2, E = 73 GPA; Girman zobe na ciki da na waje m reed hinge L = 46mm, T = 0.3mm, W = 9.4mm; Ƙididdigar kwatancen (12) da (14) suna sauƙaƙe alaƙar ƙaura nauyi da kuskuren dangi na maɓuɓɓugan ruwa na gaba da na baya kamar yadda aka nuna a Figures 10a da 10b bi da bi.

Kamar yadda aka nuna a hoto na 10. & gamma; kasa da 0.35 rad (20°), Kuskuren dangi ya haifar da sauƙaƙan jiyya zuwa madaidaicin matsuguni bai wuce 2.0% ba, kuma dabarar

Za'a iya amfani da sauƙaƙan jiyya na (13) don gina madaidaitan madaidaicin sifili.

2.3 Halayen taurin bazara

Tsammanin tsaurin bazara shine K, na lokaci guda (3), (6), (14)

Dangane da ainihin sigogin aiki na sifili stiffness m hinge (Sashe na 4.2), canjin canjin yanayin bazara K tare da kusurwa & gamma; yana nunawa a hoto na 11. Musamman lokacin & gamma;= 0, K yana ɗaukar mafi ƙarancin ƙima.

Don dacewar ƙira da sarrafawa, bazarar tana ɗaukar madaidaiciyar bazara mai taurin kai, kuma taurin shine Kconst. A cikin duka bugun jini, idan jimillar taurin sifili mai sassaucin hinge ya fi ko daidai da sifili, Kconst yakamata ya ɗauki mafi ƙarancin ƙimar K.

Equation (16) ita ce ƙimar ƙunci na madaidaiciyar madaidaiciyar bazarar bazara lokacin gina madaidaicin madaidaicin sifili. 2.4 Binciken ingancin sifili-taurin Dangantakar matsuguni na madaidaicin madaurin sifili da aka gina.

Za a iya samun dabarar lokaci ɗaya (2), (8), (16).

Don kimanta ingancin sifili taurin, rage kewayon m hinge stiffness kafin da kuma bayan ƙara da korau stiffness module an ayyana matsayin sifili ingancin coefficient.ηη Mafi kusa da 100%, mafi girman ingancin taurin sifili. Hoto na 12 shine 1-η Dangantaka tare da rabo tsawon crank da kusurwar farko η Ya kasance mai zaman kanta daga lambar n na daidaitattun hanyoyin crank-spring da kuma tsawon l na tushe, amma kawai yana da alaƙa da crank tsawon rabo, kusurwar juyawa. & gamma; da kusurwar farko .

(1) Ƙarƙashin farko yana ƙaruwa kuma ƙimar taurin sifili yana inganta.

(2) Matsakaicin tsayi yana ƙaruwa kuma ƙimar ƙarancin sifili yana raguwa.

(3) Kungiya & gamma; yana ƙaruwa, ƙimar taurin sifili yana raguwa.

Domin inganta sifilin sifili ingancin ƙwanƙwasa ƙwanƙwasa ƙwanƙwasa ƙwanƙwasa, kusurwar farko yakamata ya ɗauki ƙimar mafi girma; da crank tsawon rabo ya zama ƙarami kamar yadda zai yiwu. A lokaci guda, bisa ga sakamakon bincike a cikin Sashe na 1.5, idan ya yi ƙanƙara, ikon crank-spring inji don samar da rashin ƙarfi mara kyau zai zama mai rauni. Domin inganta sifili ingancin taurin sifili m hinge, kusurwar farko =π, crank tsawon rabo = 0.2, wato, ainihin aiki sigogi na sashe 4.2 sifili stiffness m hinge.

Dangane da ainihin ma'auni na aiki na sifili mai sauƙi mai sauƙi (Sashe na 4.2), dangantaka mai ƙarfi-kwangiyar da ke tsakanin ciki da na waje zoben m hinges da sifili-stiffness m hinge aka nuna a cikin Hoto 13; raguwar taurin kai shine ƙimar ingancin sifiliηAlakar da kusurwa & gamma; yana nunawa a hoto na 14. Ta Hoto 14: A cikin 0.35 rad (20°) kewayon jujjuyawar, ƙwanƙarar sifili mai ɗorewa mai ɗorewa yana raguwa da matsakaicin 97%; 0.26 raka'a15°) sasanninta, an rage shi da 95%.

3 Zane na madaidaiciyar madaidaiciyar bazara

Gina sifili stiffness m hinge yawanci bayan da aka ƙaddara girman da ƙima na m hinge, sa'an nan da stiffness na bazara a cikin crank spring inji aka koma baya, don haka stiffness da girman bukatun da bazara ne in mun gwada da m. Bugu da ƙari, kusurwar farko =π, daga Hoto na 5a, a lokacin jujjuyawar madaidaicin sifili mai sassauƙa, bazara koyaushe yana cikin yanayin matsawa, wato.“Matsi bazara”.

Tsauri da girman maɓuɓɓugan matsawa na gargajiya suna da wahalar keɓancewa daidai, kuma ana buƙatar tsarin jagora a aikace-aikace. Sabili da haka, ana ba da shawarar bazara wanda taurinsa da girmansa za'a iya daidaita shi——Zaren bazara mai siffar lu'u-lu'u. Zaren bazara mai siffar lu'u-lu'u (Hoto na 15) ya ƙunshi maɓuɓɓugan ganye masu siffar lu'u-lu'u da yawa da aka haɗa cikin jeri. Yana da halaye na ƙirar tsarin kyauta da babban matakin gyare-gyare. Fasahar sarrafa ta ya yi daidai da na madaidaicin hinges, kuma duka biyun ana sarrafa su ta hanyar yankan waya daidai.

3.1 Samfurin ƙaura mai ɗaukar nauyi na kirgin bazara mai siffar lu'u-lu'u

Saboda ma'auni na bazara na ganyen rhombic, bazarar ganye ɗaya ce kawai ake buƙatar yin nazarin damuwa, kamar yadda aka nuna a hoto na 16. α shine kusurwar da ke tsakanin sandar da a kwance, tsayi, faɗi da kauri daga cikin redi ne Ld, Wd, Td bi da bi, f shine nauyin haɗin kai a kan maɓuɓɓugar leaf rhombus,δy shine nakasar ganyen rhombic a cikin y shugabanci, ƙarfin fy da lokacin m suna daidai da lodi akan ƙarshen reed guda, fv da fw sune ƙungiyoyin fy a cikin tsarin haɗin gwiwar wov.

Bisa ga ka'idar nakasar katako na AWTAR[13], haɗin kai-ɗaukaki-daki-daki-daki na reed guda.

Saboda takura dangantakar da taurin jiki a kan redu, karshen kwana na redi kafin da kuma bayan nakasawa ba zero, wato sifili.θ = 0. Na lokaci daya (20)(22)

Equation (23) shine nau'in haɗin kai mai girman ƙaura na rhombic leaf spring. n2 rhombic leaf maɓuɓɓugar ruwa an haɗa su a cikin jeri, kuma nau'in maɓalli na kaya shine

Daga dabara (24), lokacinαLokacin d ƙarami ne, taurin kirtanin bazara mai siffar lu'u-lu'u yana kusan layi ne a ƙarƙashin ma'auni na al'ada da kayan aiki na yau da kullun.

3.2 Tabbacin simintin simintin ƙayyadadden ƙayyadaddun samfurin

Ana aiwatar da tabbataccen simintin simintin ƙayyadaddun ƙayyadaddun samfur na matsuguni na magudanar ruwa mai siffar lu'u-lu'u. Yin amfani da ANSYS Mechanical APDL 15.0, ana nuna sigogin siminti a cikin Tebura 2, kuma ana amfani da matsi na 8 N zuwa maɓuɓɓugar ganye mai siffar lu'u-lu'u.

Tebura 2 Ƙayyadaddun sigogin simintin gyare-gyare na rhombic leaf spring kirtani

siga

darajar

Nazari

AL7075-T6

Tsawon Reed L

Dab

/mm

18

Fadin Reed W

Dab

/mm

10

Reed Kauri T

Dab

/mm

0.25

kusurwar reed karkataα/°
10/20/30/40

Module na roba E/GPa

73

Kwatanta tsakanin sakamakon samfurin da sakamakon kwaikwayi na rhombus leaf spring lodin matsuwa an nuna shi a cikin siffa. 17 (dimensionalization). Don maɓuɓɓugan ganyen rhombus guda huɗu tare da kusurwoyi daban-daban, kuskuren dangi tsakanin samfurin da ƙarancin simintin simintin ba ya wuce 1.5%. An tabbatar da inganci da daidaiton samfurin (24).

4 Zane da gwajin sifili mai sassauƙan hinge

4.1 Siffar ƙirar sifili mai sassauƙan hinge

Don zayyana madaidaicin madaidaicin madaidaicin sifili, ya kamata a ƙayyade sigogin ƙira na madaidaicin madaidaicin daidai gwargwadon yanayin sabis na farko, sa'an nan kuma yakamata a lissafta ma'auni masu dacewa na injin crank spring inversely.

4.1.1 Matsalolin hinge masu sassauƙa

Matsakaicin tsaka-tsakin zobe mai sassauƙa na ciki da na waje yana kan 12.73% na tsayin redi, kuma ana nuna sigoginsa a cikin Tebura 3. Maye gurbin zuwa lissafi (2), dangantakar kusurwar jujjuyawar juyi na ciki da na waje m hinges shine.

Tebura 3 Siffofin tsari da kaddarorin kayan aiki na ciki da waje zoben m hinges

siga

darajar

Nazari

AL7075-T6

Tsawon Reed L/mm

46

Fadin Reed W/mm

9.4

Kaurin Reed T/mm

0.30

Module na roba E/GPa

73

4.1.2 Matsalolin innabi mara kyau

Kamar yadda aka nuna a cikin fig. 18, ɗaukar lambar n na hanyoyin crank spring injuna a layi daya kamar 3, tsayin l = 40 mm an ƙaddara ta girman madaidaicin hinge. bisa ga ƙarshen sashe na 2.4, kusurwar farko =π, rabo tsawon crank = 0.2. Bisa ga lissafin (16), taurin bazara (I .e. Lu'u lu'u lu'u lu'u lu'u lu'u lu'u lu'u lu'u lu'u lu'u lu'u lu'u lu'u lu'u lu'u lu'u lu'u lu'u lu'u lu'u lu'u lu'u lu'u lu'u lu'u lu'u lu'u lu'u lu'u 558.81 N/m (26)

4.1.3 Diamond leaf spring kirtani sigogi

da l = 40mm, =π, = 0.2, ainihin tsawon lokacin bazara shine 48mm, kuma matsakaicin nakasawa (& gamma; = 0) shine 16mm. Saboda ƙayyadaddun tsari, yana da wahala ga bazarar ganyen rhombus guda ɗaya don samar da irin wannan babban nakasa. Yin amfani da maɓuɓɓugan ganyen rhombus guda huɗu a jere (n2 = 4), taurin ganyen ganyen rhombus guda ɗaya shine.

Kd=4Kconst=2235.2 N/m (27)

Dangane da girman ma'aunin taurin mara kyau (Hoto 18), idan aka ba da tsayin redi, faɗi da kusurwar reed na bazara mai siffar lu'u-lu'u, ana iya fitar da redu daga dabara (23) da dabarar taurin kai (27) na leaf mai siffar lu'u-lu'u kauri. An jera sigogin tsarin tushen maɓuɓɓugar leaf rhombus a cikin Tebura 4.

farfajiya4

A taƙaice, an ƙayyade ma'auni na madaidaicin madauri mai sauƙi wanda ya dogara da tsarin bazara na crank, kamar yadda aka nuna a cikin Table 3 da Table 4.

4.2 Zane-zane da sarrafa sifili mai sassauƙa mai sassauƙan hinge samfurin Komawa ga wallafe-wallafe [8] don sarrafawa da hanyar gwaji na madaidaicin madauri. Madaidaicin madaidaicin sifili ya ƙunshi na'ura mara kyau da taurin ciki da waje m hinge a layi daya. An nuna ƙirar tsarin a hoto na 19.

Duka zoben ciki da na waje m hinges da lu'u-lu'u nau'i na leaf spring kirtani ana sarrafa su ta ainihin kayan aikin yankan waya. Ana sarrafa zobe masu sassauƙa na ciki da na waje kuma ana haɗa su cikin yadudduka. Hoto na 20 shine hoton zahiri na saiti uku na igiyoyin bazara mai siffar lu'u-lu'u, kuma Hoto na 21 shine sifili da aka haɗe Hoton jiki na samfurin hinge mai sassauƙa.

4.3 Dandalin gwajin jujjuyawar jujjuyawar hinge mai sassauƙan sifili Dangane da hanyar gwajin jujjuyawar juyi a cikin [8], an gina dandalin gwajin jujjuyawar juzu'i na madaidaicin madaidaicin sifili, kamar yadda aka nuna a hoto 22.

4.4 Gwajin sarrafa bayanai da bincike na kuskure

An gwada taurin juzu'in zobe masu sassauƙa na ciki da na waje da ƙugiya masu sassauƙan sifili akan dandalin gwaji, kuma an nuna sakamakon gwajin a hoto na 23. Yi ƙididdigewa kuma zana madaidaicin ƙimar sifili na madaidaicin madaidaicin sifili bisa ga dabara (19), kamar yadda aka nuna a cikin siffa. 24.

Sakamakon gwajin ya nuna cewa jujjuyawar juzu'i na madaidaicin madaidaicin sifili yana kusa da sifili. Idan aka kwatanta da na ciki da na waje zobe masu sassauƙa, madaidaicin madaidaicin sifili±0.31 raka'a18°) an rage taurin da matsakaita na 93%; 0.26 raka'a15°), an rage taurin da 90%.

Kamar yadda aka nuna a cikin Figures 23 da 24, har yanzu akwai wani tazara tsakanin sakamakon gwajin sifili mai ƙarfi da sakamakon ƙirar ƙira (kuskuren dangi bai wuce 15%) ba, kuma manyan dalilan kuskuren sune kamar haka.

(1) Kuskuren ƙirar da aka haifar ta hanyar sauƙaƙe ayyukan trigonometric.

(2) Tashin hankali. Akwai gogayya tsakanin zaren bazara na leaf lu'u-lu'u da ramin hawa.

(3) Kuskuren sarrafawa. Akwai kurakurai a cikin ainihin girman ramin, da sauransu.

(4) Kuskuren majalisa. Rata tsakanin ramin shigarwa na kirtani mai launin lu'u-lu'u mai launin lu'u-lu'u da shaft, ratar shigarwa na na'urar dandalin gwaji, da dai sauransu.

4.5 Kwatancen aiki tare da madaidaicin madaidaicin madaidaicin sifili A cikin wallafe-wallafe [4], an gina madaidaicin sifili ZSFP_CAFP ta amfani da madaidaicin flexural pivot (CAFP), kamar yadda aka nuna a Hoto 25.

Kwatanta madaidaicin madaurin sifili ZSFP_IORFP (Siffa. 21) da ZSFP_CAFP (Fig. 25) gina ta amfani da ciki da waje zobe m hinges

(1) ZSFP_IORFP, tsarin ya fi m.

(2) Wurin kusurwa na ZSFP_IORFP ƙanana ne. Ƙaƙwalwar kusurwa yana iyakance ta hanyar kusurwar maɗaukaki mai sauƙi da kanta; kewayon kusurwar ZSFP_CAFP80°, ZSFP_IORFP kewayon kusurwa40°.

(3) ±18°A cikin kewayon kusurwoyi, ZSFP_IORFP yana da mafi girman ingancin taurin sifili. Matsakaicin taurin ZSFP_CAFP an rage shi da 87%, kuma an rage matsakaicin taurin ZSFP_IORFP da 93%.

5 ƙarshe

Ɗaukar madaidaicin madaidaicin zobba na ciki da na waje a ƙarƙashin tsattsauran juzu'i azaman ingantaccen tsarin ƙanƙara, an yi aikin da ke gaba don gina madaidaicin madaidaicin sifili.

(1) Ba da shawarar tsarin jujjuyawa mara kyau——Don tsarin crank spring inji, an kafa wani samfuri (Formula (6)) don nazarin tasirin sigogi na tsarin akan halayen taurinsa mara kyau, kuma an ba da kewayon halayen halayensa mara kyau (Table 1).

(2) Ta hanyar daidaita ma'auni mai kyau da mara kyau, ana samun halayen halayen bazara a cikin injin crank spring (Equation (16)), kuma an kafa samfurin (Equation (19)) don nazarin tasirin sigogi na tsarin. na crank spring inji a kan sifili stiffness ingancin sifili stiffness m hinge Tasiri, a ka'idar, a cikin samuwa bugun jini na m hinge na ciki da na waje zobba (±20°), matsakaicin raguwa a cikin taurin zai iya kaiwa 97%.

(3) Ba da shawarar taurin da za a iya daidaita shi“bazara”——An kafa zaren bazara mai siffar lu'u-lu'u don kafa ƙirar taurinsa (Equation (23)) kuma an tabbatar da shi ta hanyar ƙayyadadden tsari.

(4) An kammala ƙira, sarrafawa da gwaji na ƙaramin sifili mai sassauƙan hinge. Sakamakon gwajin ya nuna cewa: a ƙarƙashin aikin tsattsauran ra'ayi, da36°A cikin kewayon kusurwoyi na juyawa, idan aka kwatanta da na ciki da na waje zobe masu sassauƙa masu sassauƙa, ƙaƙƙarfan madaidaicin sifili mai ɗorewa yana raguwa da 93% a matsakaici.

Gine-ginen sifili mai sassauƙa mai sassauƙa yana ƙarƙashin aikin tsaftataccen ƙarfi, wanda zai iya ganewa“sifili taurin”, ba tare da la'akari da yanayin ɗaukar yanayi mai rikitarwa ba. Saboda haka, gina sifili-tauri m hinges a karkashin hadaddun kaya yanayi ne mayar da hankali na ƙarin bincike. Bugu da ƙari, rage juzu'in da ke wanzuwa yayin motsi na ƙwanƙwasa masu sassauƙa na sifili shine muhimmin jagorar ingantawa don madaidaicin madaidaicin sifili.

nassoshi

[1] HOWELL L L. Hanyoyi masu dacewa[M]. New York: John Wiley&Sons, Inc, 2001.

[2] Yu Jingjun, Pei Xu, Bi Shusheng, da dai sauransu. Ci gaban bincike akan hanyoyin ƙira na injin hinge mai sassauƙa [J]. Jaridar Sinanci na Injiniyan Injiniya, 2010, 46 (13): 2-13. Y u jin zakara, PEI X U, kira BIS, ETA sama. Hanyar Ƙirƙirar Ƙira na zamani don kayan aikin sassauƙa[J]. Jaridar Injiniya Injiniya, 2010, 46 (13): 2-13.

[3] MORSCH F M, Makiyayi JL. Ƙirƙirar Haɗin Haɗin Haɗin Zurfin Sifili [C]// ASME Taron Injiniya Na Duniya. 2010:427-435.

[4] MERRIAM E G, Howell L. Hanyar da ba ta da girma don daidaita ma'auni na jujjuyawar juzu'i[J]. Makanikai & Ka'idar Injin, 2015, 84 (84): 90-98.

[5] HOETMER K, Woo G, Kim C, et al. Tubalan Ginin Mara Kyau don Madaidaitan Ma'auni masu dacewa: Ƙira da Gwaji[J]. Jaridar Makanikai & Robotics, 2010, 2 (4): 041007.

[6] JENSEN B D, Howell L. Samfurin ƙirar giciye-axis flexural pivots[J]. Injiniyanci da ka'idar inji, 2002, 37 (5): 461-476.

[7] WITTRICK W H. Kaddarorin ƙetaren gyare-gyaren gyare-gyare da kuma tasirin wurin da sassan ke ketare[J]. The Aeronautical Quarterly, 1951, II: 272-292.

[8] l IU l, BIS, yang Q, ETA. Zane da gwaji na gabaɗaya na juzu'i uku-cross-spring flexure pivots da aka yi amfani da su a kan ingantattun kayan aikin[J]. Bita na Kayan Aikin Kimiyya, 2014, 85 (10): 105102.

[9] Yang Qizi, Liu Lang, Bi Shusheng, da dai sauransu. Bincike kan halayen jujjuyawar taurin kai na gabaɗaya mai sassauƙan raƙuman raƙuman giciye guda uku[J]. Jaridar Sinanci na Injiniyan Injiniya, 2015, 51 (13): 189-195.

yang Q I kalma, l IU Lang, muryar BIS, ETA. Juya Halin Ƙarfin Juyi na Gabaɗaya Sau Uku-cross-spring Flexure Pivots[J]. Jaridar Injiniya Injiniya, 2015, 51 (13): 189-195.

[10] l IU l, Zhao H, BIS, ETA. Binciken Ayyukan Kwatancen Tsarin Tsarin Topology na Gishiri Mai Sauƙi na Cross-Spring [C]// ASME 2014 International Design Injiniya Taro na Fasaha da Kwamfuta da Bayani a Taron Injiniya, Agusta 17–20, 2014, Buffalo, New York, Amurka. ASME, 2014 : V05AT08A025.

[11] l IU l, BIS, yang Q. Halayen taurin ciki–Matsakaicin madaidaicin zobe na waje da aka yi amfani da su zuwa kayan aikin madaidaici [J]. Ayyukan ARCHIVE na Cibiyar Injiniyan Injiniya Sashe na C Journal of Injiniya Injiniya 1989-1996 (vols 203-210), 2017: 095440621772172.

[12] SANCHEZ J A G. Ma'auni don Ma'auni na Daidaitaccen Ma'auni na Ƙaƙwalwar Ƙwararren Ƙwararren Ƙwararren Ƙwararren Ƙwararren Ƙwararrun Ƙwararrun Ƙwararrun Ƙwararrun Ƙwararrun Ƙwararrun Ƙwararrun Ƙwararrun Ƙwararrun Ƙwararrun Ƙira ta Duniya na 2010 da Kwamfuta da Bayani a Taron Injiniya, Agusta 15–18, 2010, Montreal, Quebec, Kanada. ASME, 2010:465-473.

[13] AWTAR S, Sen S. Samfurin ƙuntatawa na gabaɗaya don jujjuyawar katako mai girma biyu: Ƙirƙirar makamashi mara ƙima[J]. Jaridar Injiniya, 2010, 132: 81009.

Game da marubucin: Bi Shusheng (marubuci daidai), namiji, haifaffen 1966, likita, farfesa, mai kula da digiri. Babban jagorar bincikensa shine cikakken tsarin sassauƙa da kuma robot bionic.

Sifili m hinge dangane da crank spring inji wata sabuwar fasaha ce ta juyin juya hali wacce ke ba da izinin motsi daidai da santsi a aikace-aikace daban-daban. A cikin wannan labarin, za mu bincika ka'idodin aiki na wannan hinge da yuwuwar aikace-aikacen sa.

Idan ana maganar rufe ƙofofi, hanyar rufewa na iya yin komai. Hanyoyi na yau da kullun na iya rufewa da ƙara mai ƙarfi, haifar da tasiri da rashin jin daɗi. I