Chidule: Kuuma kozungulira kwa hinji yosunthika ya zero ndi pafupifupi ziro, zomwe zimagonjetsa chilema chomwe mahinji osinthika wamba amafunikira torque yoyendetsa, ndipo atha kuyikidwa pa ma gripper osinthika ndi magawo ena. Kutenga mahinji osinthasintha amkati ndi akunja pansi pakuchita kwa torque yoyera ngati njira yabwino yowumitsira, kafukufuku Kachitidwe kakuuma koyipa ndi kufananiza kulimba kwabwino ndi koyipa kumatha kupanga ziro kuuma kosinthasintha. Lingalirani kachitidwe kozungulira koyipa——Crank kasupe kachitidwe, kutengera ndikusanthula mawonekedwe ake oyipa; pofananiza kuuma kwabwino ndi koyipa, kusanthula mphamvu zamapangidwe a makina a crank spring pa kuuma kwa zero; anakonza kasupe liniya ndi kuuma customizable ndi kukula——Chingwe cha masika amtundu wa diamondi, mtundu wowuma unakhazikitsidwa ndipo kutsimikizika kwazinthu zofananirako kunachitika; potsiriza, mapangidwe, kukonza ndi kuyesa kwa compact zero-stiffness flexible hinge sample anamalizidwa. Zotsatira zoyeserera zidawonetsa kuti: pansi pakuchita kwa torque yoyera,±18°M'makona ozungulira, kuuma kozungulira kwa hinji ya zero-stiffness flexible ndi 93% kutsika kuposa mahinji amkati ndi akunja osinthasintha pafupipafupi. Hinge yosinthika ya zero-stiffness ili ndi mawonekedwe ophatikizika komanso kuuma kwapamwamba kwa zero; kachitidwe kozungulira koyipa kokhazikika ndi mzere Kumasika kuli ndi phindu lalikulu pakuwerengera makina osinthika.

0 mawu oyamba

Hinge yosinthika (yonyamula)

^[1-2]

Kudalira mapindikidwe osinthika a gawo losinthika kuti atumize kapena kutembenuza zoyenda, mphamvu ndi mphamvu, zakhala zikugwiritsidwa ntchito kwambiri pakuyika bwino komanso magawo ena. Poyerekeza ndi mayendedwe okhazikika achikhalidwe, pali mphindi yobwezeretsa pamene hinge yosinthika imazungulira. Chifukwa chake, gawo loyendetsa liyenera kupereka torque yotulutsa kuti muyendetse ndikusunga kuzungulira kwa hinge yosinthika. Zero kuuma kosinthika hinge

^[3]

(Zero stiffness flexural pivot, ZSFP) ndi cholumikizira chosinthasintha chomwe kulimba kwake kumakhala pafupifupi ziro. Hinge yamtundu uwu imatha kukhala pamalo aliwonse mkati mwa sitiroko, yomwe imadziwikanso kuti static balance flexible hinge.

^[4]

, amagwiritsidwa ntchito kwambiri m'minda monga flexible grippers.

Kutengera lingaliro lokhazikika la makina osinthika, dongosolo lonse la zero-stiffness flexible hinge system litha kugawidwa m'magawo awiri a kuuma kwabwino ndi koyipa, ndipo dongosolo la zero-stiffness limatha kuzindikirika pofananiza kuuma kwabwino ndi koyipa.

^[5]

. Pakati pawo, kagawo kakang'ono kolimba kabwino kamakhala ka hinji kakang'ono kosunthika, monga hinge yosinthika ya bango.

^[6-7]

, hinji yosinthasintha ya bango itatu

^[8-9]

ndi mahinji a mphete amkati ndi akunja osinthika

^[10-11]

Ndinkho. Pakadali pano, kafukufuku wamahinji osinthika apeza zotsatira zambiri, chifukwa chake, chinsinsi chopangira ziro-ouma zosinthika ndikugwirizanitsa ma modulo olimba olimba a hinges osinthika[3].

Mahinji osinthasintha amkati ndi akunja (mapivoti a mphete amkati ndi akunja, IORFP) ali ndi mawonekedwe abwino kwambiri potengera kuuma, kulondola komanso kusuntha kwa kutentha. Module yofananira yowumayo imapereka njira yomangira hinge yokhazikika ya zero, ndipo pamapeto pake, imamaliza kupanga, kukonza zitsanzo ndikuyesa hinge yosinthika ya zero-stiffness.

1 makina opangira masika

1.1 Tanthauzo la kuuma koyipa

Tanthauzo la kuuma K ndi kuchuluka kwa kusintha pakati pa katundu F wonyamulidwa ndi chinthu chotanuka ndi deformation yofananira dx.

K= dF/dx (1)

Pamene kuwonjezeka kwa katundu wa zinthu zotanuka kumatsutsana ndi chizindikiro cha kuwonjezereka kofananako, ndiko kuuma koipa. Mwathupi, kuuma koyipa kumafanana ndi kusakhazikika kwazinthu zotanuka

^[12]

.Njira zosaumitsa zowonongeka zimakhala ndi gawo lofunika kwambiri pamagulu osinthika a static balance. Nthawi zambiri, njira zowumitsa zoyipa zimakhala ndi izi.

(1) Makinawa amasunga kuchuluka kwa mphamvu kapena amakumana ndi kusintha kwina.

(2) Makinawa ali muvuto lalikulu losakhazikika.

(3) Pamene makinawo akusokonezedwa pang'ono ndikusiya malo oyenerera, amatha kumasula mphamvu yaikulu, yomwe imakhala yofanana ndi kayendetsedwe kake.

1.2 Mfundo yomanga ya zero-stiffness flexible hinge

Hinge yosunthika ya zero imatha kupangidwa pogwiritsa ntchito kufananiza kwabwino komanso koyipa, ndipo mfundoyi ikuwonetsedwa pachithunzi 2.

(1) Pogwiritsa ntchito torque yeniyeni, mahinji osinthasintha amkati ndi akunja amakhala ndi ubale wozungulira mozungulira, monga momwe chithunzi 2a chikuwonera. Makamaka, pamene mphambanoyo ili pa 12.73% ya kutalika kwa bango, ubale wozungulira wa torque ndi mzere.

^[11]

, panthawiyi, mphindi yobwezeretsa Mpivot (njira yowongoka) ya hinge yosinthika ikugwirizana ndi ngodya yozungulira.θ(motsutsana ndi nthawi) ubale ndi

Mpivot=(8EI/L)θ (2)

Mu chilinganizo, E ndiye zotanuka modulus zakuthupi, L ndi kutalika kwa bango, ndipo ine ndi mphindi ya inertia ya gawolo.

(2) Malingana ndi chitsanzo cha kuuma kozungulira kwazitsulo zosinthika zamkati ndi kunja kwa mphete, njira yozungulira yozungulira imagwirizana, ndipo makhalidwe ake oipa akuwonetsedwa mu Chithunzi 2b.

(3) Poona kusakhazikika kwa makina okhwima olakwika

^[12]

, kuuma kwa hinji yokhotakhota kuyenera kukhala pafupifupi ziro ndi kukulirapo kuposa ziro, monga momwe chithunzi 2c chikusonyezera.

1.3 Tanthauzo la makina a crank spring

Malinga ndi zolemba [4], hinge yokhazikika yolimba zero imatha kupangidwa poyambitsa kasupe wopunduka pakati pa thupi loyenda lolimba ndi thupi lokhazikika la hinge yosinthika. Kwa mphete yamkati ndi yakunja yosinthika yowonetsedwa mu FIG. 1, kasupe amayambitsidwa pakati pa mphete yamkati ndi mphete yakunja, i.e., njira zopangira masika (SCM) zimayambitsidwa. Ponena za kachipangizo ka crank slider kamene kamawonetsedwa pa Chithunzi 3, magawo okhudzana ndi makina a crank spring akuwonetsedwa Chithunzi 4. Makina a crank-spring amapangidwa ndi crank ndi kasupe (kukhazikika ngati k). koyambirira koyambira ndi komwe kumaphatikizidwira pakati pa crank AB ndi maziko a AC pomwe kasupe sanapunduke. R imayimira kutalika kwa crank, l imayimira kutalika kwa maziko, ndikutanthauzira chiŵerengero cha kutalika kwa crank monga chiŵerengero cha r mpaka l, I.e. = r/l (0<<1).

Kupanga makina a crank-spring kumafuna kutsimikizika kwa magawo 4: kutalika kwa maziko l, kutalika kwa crank kutalika, ngodya yoyambira ndi kuuma kwa masika K.

Kusintha kwa makina a crank spring omwe akugwira ntchito akuwonetsedwa mu Chithunzi 5a, pakadali pano M

_{& gamma;}

Pansi pakuchitapo, crank imasuntha kuchokera pamalo oyamba AB

_Beta

kupita ku AB

_{& gamma;}

, panthawi yozungulira, mbali yophatikizika ya crank mogwirizana ndi malo opingasa

_{& gamma;}

amatchedwa crank angle.

Kusanthula koyenera kukuwonetsa kuti crank imazungulira kuchokera ku AB (malo oyamba, M & gamma; Zero mpaka AB0 (“nsonga yakufa”malo, M

_{& gamma;}

ndi ziro), makina a crank-spring ali ndi mapindikidwe okhala ndi mawonekedwe osawuma.

1.4 Ubale pakati pa torque ndi ngodya yozungulira ya crank spring mechanism

Mku. 5, torque M & gamma; clockwise ndi positive, crank angle & gamma; counterclockwise ndi zabwino, ndipo mphindi katundu M amatsatiridwa ndi kusanthula pansipa.

_{& gamma;}

ndi crank angle

_{& gamma;}

Mgwirizano wapakati pa ndondomeko yachitsanzo ndi waukulu.

Monga momwe chithunzi 5b chikusonyezera, torque balance equation ya crank AB & gamma yalembedwa.

Mu formula, F & gamma; ndi mphamvu yobwezeretsa masika, d & gamma; ndi F & gamma; ku point A. Tangoganizani kuti kusamuka-katundu ubale wa masika ndi

Mu chilinganizo, K ndiye kuuma kwa kasupe (osati kufunika kokhazikika),δ

xγ

ndi kuchuluka kwa kusinthika kwa masika (kufupikitsidwa kukhala zabwino),δ

xγ

=|B

_Beta

C| – |B

_{& gamma;}

C|.

Mtundu wofanana (3) (5), mphindi M

_{& gamma;}

ndi kona

_{& gamma;}

Ubale ndi

1.5 Kuwunika kwa mawonekedwe osawuma a makina a crank-spring

Kuti muthandizire kuwunika kwa kuuma koyipa kwa makina a crank-spring (mphindi M

_{& gamma;}

ndi kona

_{& gamma;}

ubale), zitha kuganiziridwa kuti kasupe ali ndi kuuma koyenera, ndiye kuti chilinganizo (4) chikhoza kulembedwanso ngati

Mwachidule, Kconst ndi wamkulu nthawi zonse kuposa ziro. Pambuyo pa kukula kwa hinge yosinthika kutsimikiziridwa, kutalika kwa l kwa maziko kumatsimikiziridwanso. Chifukwa chake, poganiza kuti l ndi wokhazikika, chilinganizo (6) chikhoza kulembedwanso ngati

pomwe Kconstl2 imakhala yokulirapo mosalekeza kuposa ziro, ndi mphindi coefficient m & gamma; ali ndi gawo limodzi. Makhalidwe oyipa olakwika a makina a crank-spring amatha kupezeka posanthula ubale pakati pa torque coefficient m. & gamma; ndi ngodya yozungulira & gamma.

Kuchokera ku equation (9), Chithunzi 6 chikuwonetsa ngodya yoyamba =π mgwirizano wa m & gamma; ndi kutalika kwa crank ndi ngodya yozungulira & gamma;, & izi;[0.1, 0.9],& gamma;& ine;[0, π]. Chithunzi 7 chikuwonetsa mgwirizano pakati pa m & gamma; ndi ngodya yozungulira & gamma; kwa = 0.2 ndi zosiyana . Chithunzi 8 chikuwonetsa =π Pamene, mosiyana, mgwirizano pakati pa m & gamma; ndi angle & gamma.

Malinga ndi tanthauzo la crank spring mechanism (gawo 1.3) ndi chilinganizo (9), pamene k ndi l ndizokhazikika, m & gamma; Zogwirizana ndi ngodya yokha & gamma;, chiŵerengero cha kutalika kwa crank ndi ngodya yoyambira.

(1) Ngati komanso ngati & gamma; ndi 0 kapenaπ kapena, m & gamma; ndi wofanana ndi ziro; & gamma; & izi;[0,],m & gamma; ndi wamkulu kuposa ziro; & gamma; & ine;[π],m & gamma; zosakwana ziro. & izi;[0,],m & gamma; ndi wamkulu kuposa ziro; & gamma;& ine;[π],m & gamma; zosakwana ziro.

(2) & gamma; Pamene [0, ], ngodya yozungulira & gamma; kukula, m & gamma; amawonjezeka kuchokera ku zero kupita ku inflection point angle & gamma; 0 imatenga mtengo wapamwamba kwambiri m & gamma;max, ndiyeno pang'onopang'ono amachepetsa.

(3) Kuuma koyipa kosiyanasiyana kwa makina a crank spring: & gamma;& ine;[0, & gamma;0], pa nthawi ino & gamma; kumawonjezeka (motsatira koloko), ndi torque M & gamma; kuwonjezeka (motsatira nthawi). Inflection point angle & gamma; 0 ndiye mbali yayikulu yozungulira ya kuuma koyipa kwa makina a crank-spring ndi & gamma;0 & izi;[0,];m & gamma;max ndiye kuchuluka kwa mphindi zoipa. Kupatsidwa ndi , kutengeka kwa equation (9) zokolola & gamma;0

(4) kukula kwa ngodya yoyamba, & gamma; wamkulu 0,m

_γmax

chachikulu.

(5) kukula kwa chiŵerengero cha utali, & gamma; wamng'ono 0, m

_γmax

chachikulu.

Makamaka, =πMakhalidwe oyipa olakwika a makina a crank spring ndiabwino kwambiri (makona a kuuma kwapang'onopang'ono ndi kwakukulu, ndipo torque yomwe ingaperekedwe ndi yayikulu). =πPa nthawi yomweyo, pazikhalidwe zosiyanasiyana, pazipita kasinthasintha ngodya & gamma ya kuuma kwapang'onopang'ono kwa makina opangira masika; 0 ndi koyefiyeti negative torque m & gamma; Max adalembedwa mu tebulo 1.

2 Kupanga ziro-stiffness flexible hinge

Kufanana kwa kuuma kwabwino ndi koipa kwa 2.1 kukuwonetsedwa mu Chithunzi 9, n(n 2) magulu a njira zofananira za crank spring zimagawika mozungulira mozungulira, kupanga makina owuma osagwirizana ndi mahinji osinthika amkati ndi akunja.

Pogwiritsa ntchito mahinji osinthasintha amkati ndi akunja monga njira yolimba yolimba, pangani hinji yosunthika ya zero. Kuti mukwaniritse kuuma kwa zero, fananizani ndi kuuma kwabwino ndi koyipa

nthawi imodzi (2), (3), (6), (11), ndi & gamma;=θ, katundu F & gamma ya masika ingapezeke; ndi kusamukaδMgwirizano wa x & gamma; ndi

Malinga ndi gawo 1.5, kuuma koyipa kosiyanasiyana kwa makina a crank spring: & gamma;& ine;[0, & gamma;0] ndi & gamma;0 & isin;[0, ], kugunda kwa zero stiffness flexible hinge kudzakhala kochepa kuposa & gamma;0, ine. kasupe nthawi zonse amakhala wopunduka (δxγ≠0). The kasinthasintha osiyanasiyana mkati ndi kunja mphete kusinthasintha hinges ndi±0.35 mapaundi±20°), chepetsani ntchito za trigonometric tchimo & gamma; ndi cos & gamma; motere

Pambuyo kuphweka, katundu-kusamuka ubale wa masika

2.2 Kusanthula kolakwika kwa mtundu wabwino ndi woyipa wofananira

Unikani cholakwika chomwe chinayambitsidwa ndi njira yosavuta ya equation (13). Malinga ndi magawo enieni opangira ziro stiffness flexible hinge (Gawo 4.2):n = 3,l = 40mm, =π, = 0.2,E = 73 GPA; Miyeso ya mphete yamkati ndi yakunja yosinthika bango L = 46mm, T = 0.3mm,W = 9.4mm; Mafananidwe ofananitsa (12) ndi (14) amathandizira ubale wosuntha wonyamula katundu ndi zolakwika zapatsogolo ndi akasupe akumbuyo monga momwe zikuwonekera mu Zithunzi 10a ndi 10b motsatana.

Monga momwe chithunzi 10 chikusonyezera, & gamma; ndi zosakwana 0.35 rad (20°), cholakwika chachibale chomwe chimabwera chifukwa cha chithandizo chosavuta pamayendedwe osunthika sichidutsa 2.0%, ndi chilinganizo

Chithandizo chosavuta cha (13) chitha kugwiritsidwa ntchito popanga ziro-stiffness mahinji osinthika.

2.3 Kuuma kwa masika

Kungoganiza kuti kuuma kwa kasupe ndi K, nthawi imodzi (3), (6), (14)

Malinga ndi magawo enieni a kuuma kwa zero stiffness hinge (Gawo 4.2), kusintha kokhota kwa kuuma kwa masika K ndi ngodya & gamma; ikuwonetsedwa pa Chithunzi 11. Makamaka, liti & gamma; = 0, K imatenga mtengo wocheperako.

Kuti zitheke kupanga ndi kukonza, kasupe amatenga mzere wokhazikika wokhazikika, ndipo kuuma kwake ndi Kconst. Mu sitiroko yonse, ngati kuuma kwathunthu kwa zero kuuma kusinthasintha kwa hinge kuli kwakukulu kuposa kapena kofanana ndi ziro, Kconst iyenera kutenga mtengo wocheperako wa K.

Equation (16) ndi kuchuluka kwa kuuma kwa mzere wowuma wowoneka bwino popanga ziro kuuma kosinthasintha. 2.4 Kuwunika kwa kuuma kwa zero Ubale wosuntha-katundu wa hinge yosunthika yomangidwa ndi zero ndi

Njira imodzi (2), (8), (16) ingapezeke

Pofuna kuyesa kuuma kwa zero, kutsika kwa kuuma kwa hinji kosinthika musanayambe komanso mutawonjezera gawo lolimba la zero kumatanthauzidwa ngati zero stiffness quality coefficient.η

η Kuyandikira kwa 100%, kumapangitsanso kuuma kwa zero. Chithunzi 12 ndi 1-η Kugwirizana ndi kutalika kwa crank ndi ngodya yoyambira η Zimadziyimira pawokha pa nambala n ya njira zofananira za crank-spring ndi kutalika kwa l kwa maziko, koma zimangogwirizana ndi kuchuluka kwa kutalika kwa crank, ngodya yozungulira. & gamma; ndi ngodya yoyamba .

(1) Mbali yoyamba imawonjezeka ndipo kuuma kwa zero kumapita patsogolo.

(2) Kuchuluka kwautali kumawonjezeka ndipo kuuma kwa zero kumachepa.

(3) Ngongole & gamma; kumawonjezeka, zero kuuma khalidwe amachepetsa.

Kuti muwongolere kuuma kwa zero kulimba kwa zero, koyambira koyambira kuyenera kukhala kokulirapo; chiŵerengero cha kutalika kwa crank chiyenera kukhala chaching'ono momwe zingathere. Panthawi imodzimodziyo, malinga ndi zotsatira za kusanthula mu Gawo 1.5, ngati ili laling'ono kwambiri, mphamvu ya crank-spring mechanism yopereka kuuma koipa idzakhala yofooka. Pofuna kupititsa patsogolo kuuma kwa zero kwa zero stiffness hinge yosinthika, ngodya yoyamba =π, chiŵerengero cha kutalika kwa crank = 0.2, ndiko kuti, magawo enieni a ndondomeko ya gawo 4.2 zero stiffness flexible hinge.

Malinga ndi magawo enieni opangira ziro-stiffness flexible hinge (Gawo 4.2), mgwirizano wa torque-angle pakati pa mahinji osinthasintha amkati ndi akunja ndi hinge ya zero-stiffness flexible hinge ikuwonetsedwa Chithunzi 13; kuchepa kwa kuuma ndiko kukhazikika kwa khalidwe la zero-stiffnessηMgwirizano ndi ngodya & gamma; ikuwonetsedwa pa Chithunzi 14. Ndi Chithunzi 14: Mu 0.35 rad (20°) kasinthasintha, kuuma kwa zero-stiffness flexible hinge kumachepetsedwa ndi 97%; 0.26 mapaundi (15°) kumakona, imachepetsedwa ndi 95%.

3 Mapangidwe a linear positive stiffness spring

Kupanga kwa zero stiffness flexible hinge nthawi zambiri pambuyo pa kutsimikizika kwa kukula ndi kulimba kwa hinji yosinthika, ndiyeno kuuma kwa kasupe mu kasupe wa crank kasupe kumasinthidwa, kotero kuuma ndi kukula kwa masika kumakhala kovuta. Komanso, mbali yoyamba =π, kuchokera pa Chithunzi 5a, panthawi ya kuzungulira kwa zero-stiffness hinge flexible hinge, kasupe nthawi zonse amakhala woponderezedwa, ndiko kuti.“Compress masika”.

Kuuma ndi kukula kwa akasupe oponderezana achikhalidwe ndizovuta kusintha momwe zimakhalira, ndipo njira yowongolera imafunikira nthawi zambiri pamagwiritsidwe ntchito. Chifukwa chake, kasupe yemwe kuuma kwake ndi kukula kwake kumatha kusinthidwa kumaperekedwa——Chingwe chamasamba chooneka ngati diamondi. Chingwe cha masamba ooneka ngati diamondi (Chithunzi 15) chimapangidwa ndi akasupe amasamba angapo owoneka ngati diamondi olumikizidwa motsatizana. Ili ndi mawonekedwe a kapangidwe kake kaulere komanso makonda apamwamba. Ukadaulo wake wowongolera umagwirizana ndi mahinji osinthika, ndipo onse amakonzedwa ndi kudula waya wolondola.

3.1 Mtundu wosuntha wonyamula katundu wa zingwe zamasamba zooneka ngati diamondi

Chifukwa cha kufanana kwa kasupe wa masamba a rhombic, kasupe wa masamba amodzi okha ndi omwe amafunikira kuwunika kupsinjika, monga momwe chithunzi 16 chikusonyezera. α ndi ngodya pakati pa bango ndi yopingasa, utali, m'lifupi ndi makulidwe a bango ndi Ld, Wd, Td motero, f ndiye dimensionally ogwirizana katundu pa rhombus tsamba kasupe,δy ndikusintha kwa kasupe wa masamba a rhombic mu njira ya y, mphamvu fy ndi mphindi m ndi katundu wofanana kumapeto kwa bango limodzi, fv ndi fw ndi zigawo za mphamvu za fy mu wov coordinate system.

Malinga ndi chiphunzitso cha deformation cha AWTAR[13], mgwirizano wolumikizana wonyamula katundu wa bango limodzi.

Chifukwa cha ubale wopinga wa thupi lolimba pa bango, mbali yomaliza ya bango isanayambe komanso itatha kusinthika ndi zero, ndiye kuti.θ = 0. Nthawi yomweyo (20) (22)

Equation (23) ndi mtundu wogwirizanitsa wonyamula katundu wa masamba a rhombic. N2 ma rhombic masamba akasupe amalumikizidwa motsatizana, ndipo mtundu wake wonyamula katundu ndi

Kuchokera ku formula (24), litiαd ikakhala yaying'ono, kulimba kwa chingwe chamasamba chooneka ngati diamondi kumakhala kofanana ndi miyeso ndi katundu wamba.

3.2 Kutsimikizika komaliza kofananira kwachitsanzo

Chitsimikizo chofananira chofananira chamtundu wonyamula katundu wa masika atsamba ooneka ngati diamondi amachitika. Pogwiritsa ntchito ANSYS Mechanical APDL 15.0, magawo oyerekeza akuwonetsedwa mu Table 2, ndipo kukakamiza kwa 8 N kumagwiritsidwa ntchito ku kasupe wa masamba ooneka ngati diamondi.

Kufananiza pakati pa zotsatira zachitsanzo ndi zotsatira zofananira za ubale wamtundu wa rhombus kasupe wonyamula katundu ukuwonetsedwa mkuyu. 17 (dimensionalization). Kwa akasupe anayi a masamba a rhombus okhala ndi ngodya zosiyanasiyana, zolakwika zachibale pakati pa chitsanzo ndi zotsatira zofananira zomaliza sizidutsa 1.5%. Kutsimikizika ndi kulondola kwachitsanzo (24) kwatsimikiziridwa.

4 Kupanga ndi kuyesa kwa zero-stiffness hinge yosinthika

4.1 Mapangidwe a parameter a hinge yokhazikika ya zero-stiffness

Kuti mupange hinji yosunthika yolimba zero, mapangidwe a hinji yosinthika amayenera kutsimikiziridwa molingana ndi momwe amagwirira ntchito kaye, kenako magawo ofunikira a makina a crank spring ayenera kuwerengedwa mosiyana.

4.1.1 Zosintha za hinge

Malo ophatikizika a mahinji osinthasintha amkati ndi akunja ali pa 12.73% ya kutalika kwa bango, ndipo magawo ake akuwonetsedwa mu Gulu 3. Kulowa m'malo mwa equation (2), ubale wozungulira wa torque wa mkati ndi kunja kwa mahinji osinthasintha ndi

4.1.2 Negative stiffness mechanism parameters

Monga momwe tawonetsera mkuyu. 18, kutenga nambala n ya makina a crank spring molingana ndi 3, kutalika kwa l = 40 mm kumatsimikiziridwa ndi kukula kwa hinji yosinthika. malinga ndi kutha kwa gawo 2.4, ngodya yoyamba =π, chiŵerengero cha kutalika kwa crank = 0.2. Malinga ndi equation (16), kuuma kwa masika (I.e. diamondi tsamba kasupe chingwe) ndi Kconst = 558.81 N/m (26)

4.1.3 Magawo a zingwe zamtundu wa diamondi

pa l = 40mm, =π, = 0.2, kutalika koyambirira kwa masika ndi 48mm, ndi kupunduka kwakukulu (& gamma; = 0) ndi 16mm. Chifukwa cha zofooka zamapangidwe, zimakhala zovuta kuti kasupe wa tsamba limodzi la rhombus apange kupindika kwakukulu kotere. Pogwiritsa ntchito akasupe anayi a masamba a rhombus motsatizana (n2 = 4), kuuma kwa kasupe wa tsamba limodzi la rhombus ndi

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

Malinga ndi kukula kwa stiffness limagwirira (Chithunzi 18), kupatsidwa kutalika kwa bango, m'lifupi ndi bango kupendekera ngodya ya diamondi woboola pakati tsamba kasupe, bango likhoza kutengedwa kuchokera chilinganizo (23) ndi stiffness chilinganizo (27) wa kasupe wa masamba ooneka ngati diamondi Kukhuthala. Mapangidwe a akasupe a masamba a rhombus alembedwa mu Gulu 4.

pamwamba4

Mwachidule, magawo a hinge ya zero-stiffness flexible kutengera makina a crank spring onse atsimikiziridwa, monga momwe tawonetsera mu Table 3 ndi Table 4.

4.2 Kupanga ndi kukonza kwa zero-stiffness flexible samples Onani zolemba [8] za kukonza ndi kuyesa njira yosinthira. Hinge yosunthika ya zero imapangidwa ndi makina osawuma komanso hinge yamkati ndi yakunja yosinthika molumikizana. Kamangidwe kapangidwe kawonekedwe mu Chithunzi 19.

Mahinji osinthasintha amkati ndi akunja ndi zingwe zamasamba zooneka ngati diamondi zimakonzedwa ndi zida zamakina odulira mawaya olondola. Mahinji osinthasintha amkati ndi akunja amakonzedwa ndikusonkhanitsidwa m'magulu. Chithunzi 20 ndi chithunzi chamagulu atatu a zingwe zowoneka ngati diamondi zamasamba, ndipo Chithunzi 21 ndizomwe zasokonekera zolimba ziro

4.3 Pulatifomu yoyezetsa kuuma kozungulira kwa hinge ya zero-stiffness flexible Potengera njira yoyesera yozungulira mu [8], nsanja yoyeserera ya kuuma kwa hinge ya zero-stiffness flexible imamangidwa, monga momwe chithunzi 22 chikusonyezera.

4.4 Kuyesa kwa data ndikusanthula zolakwika

Kuuma kozungulira kwa mahinji osinthika amkati ndi akunja ndi mahinji osunthika a zero adayesedwa papulatifomu yoyeserera, ndipo zotsatira zoyesa zikuwonetsedwa Chithunzi 23. Werezerani ndikujambulitsa kokhota kokhazikika kwa zero-kuuma kosinthasintha molingana ndi formula (19), monga momwe zasonyezedwera mkuyu. 24.

Zotsatira zoyezetsa zikuwonetsa kuti kuuma kozungulira kwa hinge yokhazikika ya zero kuli pafupi ndi ziro. Poyerekeza ndi mahinji osinthasintha amkati ndi akunja, hinge yolimba ya zero±0.31 mapaundi18°) kuuma kunachepetsedwa ndi 93%; 0.26 mapaundi (15°), kuuma kumachepetsedwa ndi 90%.

Monga momwe ziwonetsedwera mu Zithunzi 23 ndi 24, pali kusiyana kwina pakati pa zotsatira zoyesa za zero stiffness quality ndi zotsatira zachitsanzo (zolakwika zachibale ndi zosakwana 15%), ndipo zifukwa zazikulu za zolakwikazo ndi izi.

(1) Zolakwika zachitsanzo zomwe zimayambitsidwa ndi kuphweka kwa ntchito za trigonometric.

(2) Kukangana. Pali mkangano pakati pa chingwe cha masika a diamondi ndi shaft yokwera.

(3) Kulakwitsa pokonza. Pali zolakwika mu kukula kwenikweni kwa bango, ndi zina zotero.

(4) Kulakwitsa kwa msonkhano. Kusiyana pakati pa dzenje la unsembe wa diamondi woboola pakati tsamba kasupe chingwe ndi kutsinde, kusiyana unsembe chipangizo nsanja mayeso, etc.

4.5 Kuyerekeza kwa magwiridwe antchito ndi hinge yokhazikika yokhazikika ya zero M'mabuku [4], hinge yokhazikika ya zero ZSFP_CAFP idapangidwa pogwiritsa ntchito cross-axis flexural pivot (CAFP), monga momwe tawonetsera pa Chithunzi 25.

Kuyerekeza kwa zero-stiffness hinge ZSFP_IORFP (Chith. 21) ndi ZSFP_CAFP (Chith. 25) yomangidwa pogwiritsa ntchito mphete zamkati ndi zakunja zosinthika

(1) ZSFP_IORFP, kapangidwe kake ndi kocheperako.

(2) Makona a ZSFP_IORFP ndi ochepa. Mbali ya ngodya imachepetsedwa ndi ngodya ya hinge yosinthika yokha; makona a ZSFP_CAFP80°, ZSFP_IORFP pamakona40°.

(3) ±18°M'makona angapo, ZSFP_IORFP ili ndi kuuma kwa zero. Kuuma kwapakati kwa ZSFP_CAFP kumachepetsedwa ndi 87%, ndipo pafupifupi kuuma kwa ZSFP_IORFP kumachepetsedwa ndi 93%.

5 mapeto

Kutenga hinge yosinthika ya mphete zamkati ndi zakunja pansi pa torque yoyera ngati njira yolimba yolimba, ntchito yotsatirayi yachitidwa kuti apange hinge yokhazikika yolimba zero.

(1) Lingalirani njira yozungulira yolimba yoyipa——Pa makina a crank spring, choyimira (Fomula (6)) chinakhazikitsidwa kuti chiwunikire momwe magawo amapangidwira pa mawonekedwe ake oyipa, ndipo kusiyanasiyana kwa mawonekedwe ake oyipa kunaperekedwa (Table 1).

(2) Pofananiza kuuma kwabwino ndi koyipa, mawonekedwe owuma a kasupe mu kasupe wa crank (Equation (16)) amapezeka, ndipo mtundu (Equation (19)) umakhazikitsidwa kuti awunike momwe magawo amapangidwira. za crank spring mechanism pa zero stiffness quality of zero stiffness flexible hinge±20°), kuchepa kwapakati pa kuuma kumatha kufika 97%.

(3) Fotokozerani kuuma kosinthika makonda“masika”——Chingwe chamasamba chooneka ngati diamondi chinakhazikitsidwa kuti chitsimikizire kuuma kwake (Equation (23)) ndikutsimikiziridwa ndi njira yomaliza.

(4) Anamaliza kupanga, kukonza ndi kuyesa kwa compact zero-stiffness flexible hinge sample. Zotsatira zoyeserera zikuwonetsa kuti: pansi pakuchita kwa torque yoyera, the36°M'makona ozungulira, poyerekeza ndi mahinji osinthasintha amkati ndi akunja, kulimba kwa hinji yosunthika ya zero kumachepetsedwa ndi 93% pafupifupi.

Hinge yokhazikika yokhazikika ya zero-zero imangogwira ntchito ndi torque yoyera, yomwe imatha kuzindikira.“zero kuuma”, popanda kuganizira za kunyamula zinthu zovuta kutsitsa. Chifukwa chake, kupanga ziro-stiffness flexible hinges pansi pa zovuta zolemetsa ndiye cholinga cha kafukufuku wina. Kuphatikiza apo, kuchepetsa mikangano yomwe imakhalapo pakuyenda kwa ziro-stiffness hinges ndi njira yofunikira yokwaniritsira mahinji osinthika a zero-stiffness.

maumboni

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[3] MORSCH F M, Herder J L. Mapangidwe a Generic Zero Stiffness Compliant Joint[C]// ASME International Design Engineering Misonkhano. 2010:427-435.

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[5] HOETMER K, Woo G, Kim C, et al. Zomangamanga Zosalimba Zomangira Njira Zogwirizana Zokhazikika: Mapangidwe ndi Kuyesa[J]. Journal of Mechanisms & Maloboti, 2010, 2 (4): 041007.

[6] JENSEN B D, Howell L L. Kapangidwe ka ma cross-axis flexural pivots[J]. Mechanism ndi chiphunzitso cha makina, 2002, 37 (5): 461-476.

[7] WITTRICK W H. Makhalidwe a ma crossed flexure pivots ndi mphamvu ya mfundo yomwe mizere imadutsa[J]. The Aeronautical Quarterly, 1951, II: 272-292.

[8] l IU l, BIS, yang Q, ETA. Kupanga ndi kuyesa ma pivots amtundu wa triple-cross-spring flexure omwe amagwiritsidwa ntchito pazida zolondola kwambiri[J]. Ndemanga ya Zida Zasayansi, 2014, 85(10): 105102.

[9] Yang Qizi, Liu Lang, Bi Shusheng, etc. Kafukufuku wokhudza kuuma kozungulira kwa hinge yosinthika ya bango atatu [J]. Chinese Journal of Mechanical Engineering, 2015, 51 (13): 189-195.

yang Q I mawu, l IU Lang, BIS voice, ETA. Kuuma Kosinthasintha Mawonekedwe a Generalized Triple-cross-spring Flexure Pivots[J]. Journal of Mechanical Engineering, 2015, 51 (13): 189-195.

[10] l IU l, Zhao H, BIS, ETA. Kafukufuku wa Performance Comparison of Topology Structure of Cross-Spring Flexural Pivots[C]// ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, August 17–20, 2014, Buffalo, New York, USA. ASME, 2014 : V05AT08A025.

[11] l IU l, BIS, yang Q. Kuuma mawonekedwe amkati–ma pivots akunja opindika omwe amagwiritsidwa ntchito ku zida zolondola kwambiri[J]. ARCHIVE Proceedings of the Institution of Mechanical Engineers Part C Journal of Mechanical Engineering Science 1989-1996 (vols 203-210), 2017:095440621772172.

[12] SANCHEZ J A G. Zofunikira za Kusamalitsa Kokhazikika kwa Njira Zogwirizana[C]// ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, August 15–18, 2010, Montreal, Quebec, Canada. ASME, 2010:465-473.

[13] AWTAR S, Sen S. Chitsanzo chokhazikika cha ma flexure amitundu iwiri: Kupanga mphamvu kwamphamvu kosagwirizana [J]. Journal of Mechanical Design, 2010, 132: 81009.

Za wolemba: Bi Shusheng (wolemba wogwirizana), wamwamuna, wobadwa mu 1966, dokotala, pulofesa, woyang'anira udokotala. Njira yake yayikulu yofufuzira ndi makina osinthika komanso loboti ya bionic.

Ndi zinthu ziti zomwe Wujinjiaoian akuphatikiza? Kodi mumadziwa?

1. Wujinjiaodian imaphatikizapo zinthu zotsatirazi: hardware imatanthauza zinthu zisanu zachitsulo za golidi, siliva, mkuwa, chitsulo, ndi malata. Hardware ndiye mayi wamakampani; maziko a chitetezo cha dziko ndi katundu wa hardware zipangizo nthawi zambiri amangogawidwa mu hardware yaikulu Ndi hardware yaing'ono magulu awiri.

2. Dawujin amatanthauza mbale zitsulo, mipiringidzo zitsulo, lathyathyathya chitsulo, chilengedwe ngodya zitsulo, njira chitsulo, I woboola pakati chitsulo ndi mitundu yosiyanasiyana ya zipangizo zitsulo, pamene hardware amatanthauza hardware zomangamanga, malata, misomali zokhoma, waya chitsulo, zitsulo waya mauna, zitsulo waya shears, Zida zapakhomo, zida zosiyanasiyana, etc. Pankhani ya chikhalidwe ndi ntchito ya hardware, iyenera kugawidwa m'magulu asanu ndi atatu: zitsulo ndi zitsulo, zipangizo zopanda chitsulo, zida zamakina, zida zotumizira, zida zothandizira, zida zogwirira ntchito, zomangamanga, ndi zipangizo zapakhomo.

Ndi zinthu zotani zomwe zikuphatikizidwa mu hardware ndi makina amagetsi?

Hardware electromechanical imaphatikizapo mipando yamagetsi, zida zamagetsi, ndi zina. zogwirizana ndi hardware. Hardware amatanthauza golide, siliva, mkuwa, chitsulo, malata, ndipo nthawi zambiri amatanthauza chitsulo

Tonse tikudziwa kuti pali zinthu zambiri zomwe zimagulitsidwa m'masitolo a hardware, ndipo kuchuluka kwa kufalikira kulinso kwakukulu kwambiri. Kuphatikiza pa zida zodziwika bwino, palinso zinthu zamakina ndi zamagetsi. Komabe, ngati mukufuna kugula, muyenera kuwerenga Kodi lingaliro la hardware electromechanical ndi chiyani, komanso m'pofunika kudziwa zomwe zili m'magulu a electromechanical hardware.

Tonse tikudziwa kuti pali zinthu zambiri zomwe zimagulitsidwa m'masitolo a hardware, ndipo kuchuluka kwa kufalikira kulinso kwakukulu kwambiri. Kuphatikiza pa zida zodziwika bwino, palinso zinthu zamakina ndi zamagetsi. Komabe, ngati mukufuna kugula, muyenera kuwerenga Kodi lingaliro la hardware electromechanical ndi chiyani, komanso m'pofunika kudziwa zomwe zili m'magulu a hardware electromechanical, kuti tithe kusankha molingana ndi mtunduwo.

Lingaliro la hardware la Electromechanical?

Hardware electromechanical ndi mawu wamba, kuphatikiza mipando yamagetsi, zida zamagetsi ndi zida zina zopangira zinthu zokhudzana ndi ma hardware ndi zinthu zomwe zili mkati mwake.

1. Kodi hardware ndi chiyani?

Hardware amatanthauza golide, siliva, mkuwa, chitsulo, malata, ndipo nthawi zambiri amatanthauza chitsulo. Zipangizo zamakono zamakono zimagwiritsidwa ntchito ngati mawu ambiri azitsulo kapena zamkuwa ndi zitsulo.

2. Kodi electromechanical ndi chiyani?

Monga dzina limatanthawuzira, electromechanical ndi zamagetsi zamagetsi, zomwe zimatanthawuza gulu lazinthu zokhudzana ndi makina ndi magetsi.

Electromechanical hardware classification?

Zida za Hardware, zida za Hardware, zida zomangira, zida zatsiku ndi tsiku, maloko ndi ma abrasives, khitchini ndi bafa, zida zapanyumba, zida zowotcherera, zida zamagetsi, mawaya ndi zingwe, zida zowunikira, zida ndi mita, zida zotetezera ndi katundu, makina ndi magetsi zipangizo, makina zipangizo ndi hardware zipangizo.

1. Zida za Hardware

Amatanthawuza mawu akuti zida zosiyanasiyana zachitsulo zopangidwa ndi chitsulo, chitsulo, aluminiyamu ndi zitsulo zina kudzera pakufota, kugudubuza, kudula ndi zina zakuthupi. Ili ndi mitundu yambiri komanso zinthu zambiri. Imagawidwa m'magulu 12 malinga ndi kagwiritsidwe ntchito ndi gulu lazinthu.

Zida za Hardware zimaphatikizapo zida zosiyanasiyana zamanja, magetsi, pneumatic, kudula, zida zopangira magalimoto, zida zaulimi, zida zonyamulira, zida zoyezera, zida zamakina, zida zodulira, zokonza, mipeni, nkhungu, zida zodulira, mawilo opera, kubowola, makina opukutira, Chida. zipangizo, zida zoyezera, abrasives, etc.

2. Zida zowonjezera

Zida zamagetsi zimatanthawuza zigawo zamakina kapena zida zopangidwa ndi hardware, komanso zinthu zina zazing'ono za Hardware. Itha kugwiritsidwa ntchito yokha kapena ngati chida chothandizira. Mwachitsanzo, zida za Hardware, zida za Hardware, zida zatsiku ndi tsiku, zida zomangira ndi chitetezo, ndi zina. Zogulitsa zazing'ono zazing'ono Zambiri mwazo sizogulitsa zomaliza. Amathandizira zinthu, zomalizidwa pang'ono ndi zida zomwe zimagwiritsidwa ntchito popanga, ndi zina. kwa mafakitale opanga. Gawo laling'ono chabe la zinthu zatsiku ndi tsiku (zowonjezera) ndi zida zogulira zinthu zofunika pamoyo wa anthu.

3. Zomangamanga

Zomangamanga ndi mawu omwe amagwiritsidwa ntchito popanga zitsulo ndi zinthu zopanda zitsulo zomwe zimagwiritsidwa ntchito pomanga nyumba kapena zomanga. Nthawi zambiri, imakhala ndi zotsatira ziwiri zakuchita komanso kukongoletsa.

4. Zida za tsiku ndi tsiku

Zida zogwiritsira ntchito tsiku ndi tsiku zimatanthawuza zinthu zomwe zimagwiritsidwa ntchito tsiku ndi tsiku monga kudya, kuvala, kukhala ndi kugwiritsa ntchito. Nthawi zambiri amapangidwa ndi zitsulo. Miphika yachitsulo ndi yamkuwa, beseni, mipeni, lumo, singano, nyali zamafuta, ndi zina zotero. ndi machitidwe a tsiku ndi tsiku a hardware product.

5. Kitchen ndi bafa hardware

Kuphatikizira masilindala ampunga, madengu achitsulo, mahinji, njanji zoyala, mahinji andege, zogwirira

6. Zida zam'nyumba

Zida zam'mipando zimatanthawuza zigawo za hardware za mipando ya hardware kapena zitsulo za slide, mahinji, miyendo ya sofa, zonyamulira, zoyimitsa kumbuyo, akasupe, misomali yamfuti, zizindikiro za phazi, malumikizidwe, ntchito, zomangira, mabasiketi okoka, zokongoletsera pamipando Zigawo zachitsulo ndi ntchito zina, zomwe zimadziwikanso. monga zipangizo zapanyumba. Kale kwambiri mu Nyengo ya Spring ndi Yophukira ndi Nyengo Yankhondo za Mayiko ku China, panali mahinjiro amkuwa a makabati, ngodya zamabokosi okhala ndi lacquered, zingwe zamkuwa zokutidwa ndi golide pamapazi, ndi mphete zamkuwa.

Pambuyo poyambira pamwambapa, ndimamvetsetsa kwambiri zomwe zili muzinthu zamagetsi zamagetsi. M'nkhaniyi, hardware ndi chiyani ndi electromechanical, ndidakupatsani chiyambi. Ngati tikufuna kugula, titha kuyang'ana kaye lingaliro lake. Ndiye mutha kudziwa ngati mukufuna chinthu chamtunduwu, ngati mukuchifuna, mutha kuchigula, ndipo, m'nkhaniyi, mumadziwanso kuti gulu lamagetsi amagetsi ndi chiyani.

Magawo a Hardware electromechanical a hardware electromechanical

Zida za Hardware, zida za Hardware, zida zomangira, zida zatsiku ndi tsiku, maloko ndi ma abrasives, khitchini ndi bafa, zida zapanyumba, zida zowotcherera, zida zamagetsi, mawaya ndi zingwe, zida zowunikira, zida ndi mita, zida zotetezera ndi katundu, makina ndi magetsi zipangizo, makina zipangizo ndi hardware zipangizo. Amatanthawuza mawu akuti zida zosiyanasiyana zachitsulo zopangidwa ndi chitsulo, chitsulo, aluminiyamu ndi zitsulo zina kudzera pakufota, kugudubuza, kudula ndi zina zakuthupi. Ili ndi mitundu yambiri komanso zinthu zambiri. Imagawidwa m'magulu 12 malinga ndi kagwiritsidwe ntchito ndi gulu lazinthu.

Zida za Hardware zimaphatikizapo zida zosiyanasiyana zamanja, magetsi, pneumatic, kudula, zida zopangira magalimoto, zida zaulimi, zida zonyamulira, zida zoyezera, zida zamakina, zida zodulira, zokonza, mipeni, nkhungu, zida zodulira, mawilo opera, kubowola, makina opukutira, Chida. zipangizo, zida zoyezera, abrasives, etc. Zida zamagetsi ndi zamagetsi zimafunikira kusinthasintha nthawi zonse kuti zisinthe malamulo otukula msika. Pakalipano, zinthu zambiri zimakhala zopikisana kwambiri. Kutengera nkhungu mwachitsanzo, gawo la msika wapakhomo la nkhungu zotsika limaposa 99%. Komabe, mpikisano wamtengo wamsika ndi wovuta kwambiri ndipo malire a phindu ndi otsika kwambiri. Zoumba zapamwamba Phindu ndilokwera koma 80% imadalira zogulitsa kunja. Koma makampani ambiri azindikira izi ndikuyamba kuchita zosintha zatekinoloje ndi kafukufuku wazinthu zatsopano komanso chitukuko. M'tsogolomu, mafakitale a hardware ndi magetsi adzasunthira pang'onopang'ono ku nthawi ya mpikisano wamakono kusiyana ndi mpikisano wamtengo wapatali.

Pakalipano, malonda a hardware ndi magetsi akugwiritsidwa ntchito kwambiri m'misika yogulitsa m'mizinda ikuluikulu. Kutengera chitsanzo cha Chengdu, pali misika ingapo ya hardware ndi magetsi mdera la Jinfu Road, monga Wanguan, Jinfu, West, ndi Steel City. Biliyoni chigawo cha bizinesi. Komabe, mtundu uwu wamsika wamsika umalowetsedwa kwambiri ndi intaneti. Pakadali pano, mawebusayiti ambiri akulu akuyamba kukhazikitsa misika yapaintaneti yamakampani opanga zida zamagetsi ndi zamagetsi. Ngakhale kugulitsa kwa msika wakuthupi kukadali kofala, koma ponena za hardware ndi makampani opanga magetsi akadali ogulitsa Msika ukutsatira intaneti, ndipo chitukuko chamtsogolo chidzapanga mkhalidwe umene malo ochezera a pa Intaneti ndi osagwirizana ndi theka la mlengalenga. Msika wapaintaneti uli ndi chizolowezi chosinthira kumizinda yaying'ono komanso yapakati.

Zipangizo zamagetsi zamagetsi zimatanthawuza zida zamagetsi zopangidwa ndi golide, siliva, mkuwa, chitsulo, aluminiyamu, malata ndi zitsulo zina.

Zida zodziwika bwino za zida zamagetsi zimaphatikizapo magetsi, nyali zamagetsi, zotengera zamagetsi, zosinthira zamagetsi, zolumikizira zamagetsi, zida zachitsulo monga zopinga, ma capacitor, ma reactor, ndi zina zambiri.

Hardware: zinthu zachikhalidwe zamakompyuta, zomwe zimadziwikanso kuti "hardware". Amatanthauza zitsulo zisanu: golidi, siliva, mkuwa, chitsulo, ndi tini. Pambuyo pokonza pamanja, imatha kupangidwa kukhala mipeni, malupanga ndi ntchito zina zaluso kapena zitsulo. Zida zamakono m'magulu amakono ndizowonjezereka, monga zida za hardware, zida za hardware, zida za tsiku ndi tsiku, zida zomanga ndi chitetezo, ndi zina zotero. Zambiri mwazinthu zazing'ono zazing'ono sizikhala zomaliza zogula.

Zambiri:

Kugwira ntchito:

Zimatanthawuza ku mphamvu za zinthu zomwe zimatha kupirira kukonzanso ndi kusamalira zosiyanasiyana.

Ntchito yoponya: Imatanthawuza zaukadaulo wina woti chitsulo kapena aloyi ndi yoyenera kuponyera, makamaka kuphatikiza magwiridwe antchito, kuthekera kodzaza nkhungu; kuchepa, kuthekera kochepetsa kuchuluka kwa kuponyera pamene kulimba; tsankho amatanthauza inhomogeneity wa mankhwala zikuchokera.

ntchito kuwotcherera: amatanthauza makhalidwe kuti zitsulo ziwiri kapena kuposerapo welded pamodzi ndi kutentha kapena kutentha ndi kuthamanga kuwotcherera, ndipo mawonekedwe akhoza kukwaniritsa cholinga ntchito.

Kuchita bwino kwa gawo la gasi: kumatanthawuza magwiridwe antchito azitsulo zomwe zimatha kupirira kukhumudwa popanda kusweka.

Kupinda kozizira: kumatanthauza kuthekera kwa zitsulo kupirira kupindika popanda kusweka ndi kutentha. Mlingo wa kupindika nthawi zambiri umawonetsedwa ndi kuchuluka kwa ngodya yopindika (ngodya yakunja) kapena kupindika pakati d mpaka makulidwe azinthu a, yokulirapo ndi kapena yaying'ono d/a ndi, ndipamene kuzizira kumapinda kwazinthuzo.

Stamping performance: kuthekera kwazinthu zachitsulo kupirira mapindikidwe a stamping popanda kusweka. Kupondaponda pamalo otentha kumatchedwa cold stamping. Njira yowunikira imayesedwa ndi mayeso a cupping.

Kupanga magwiridwe antchito: kuthekera kwazinthu zachitsulo kupirira kupindika kwa pulasitiki popanda kusweka panthawi yopanga.

Kodi zida, ma electromechanical, zida zomangira, zida zamagetsi, zida zamafakitale ndi chiyani

Hardware electromechanical ndi mawu wamba, kuphatikiza mipando yamagetsi, zida zamagetsi ndi zida zina zopangira ndi zinthu zomwe zili mkati mwake. Hardware amatanthauza golide, siliva, mkuwa, chitsulo, malata, ndipo nthawi zambiri amatanthauza chitsulo. Zida zamakono zimagwiritsidwa ntchito ngati zitsulo Kapena dzina lazinthu monga mkuwa ndi chitsulo. Electromechanical ndi zamagetsi zamagetsi, zomwe zimatanthawuza gulu lazinthu zokhudzana ndi makina ndi magetsi.

Zomangamanga zinayambira m'mashopu a ntchito zamanja monga masitolo osula zitsulo, masitolo osula mkuwa, ndi masitolo osula malata. China inali ndi zokambirana zopangira misomali mu Mzera wa Tang, ndi misomali, zotsekera zitseko, maloko, zogogoda zitseko, ndi zina zambiri. anapangidwa ndi manja. Komabe, chifukwa nyumba zamakedzana nthawi zambiri zimagwiritsa ntchito matabwa Ndi miyala, zida zomangira zidayamba pang'onopang'ono zaka masauzande apitawa. Pambuyo pa zaka za m'ma 19, ndi kufala kwa zipangizo zitsulo ndi zosowa za moyo wa anthu, hardware zomangamanga zakula mofulumira, ndipo ambiri kupanga misomali zitsulo, hinges, mafakitale Small kapena workshops kwa mabawuti, mbedza zenera, mbali valavu faucet, waya nsalu zenera. skrini, etc. Pambuyo pake, zida zopangira makina zidagwiritsidwa ntchito pang'onopang'ono m'malo mwa zopangidwa ndi manja, kupanga mabizinesi ambiri apadera. Ndi kuwongolera kosalekeza kwa miyezo yosiyanasiyana ya zomangamanga Kupititsa patsogolo, zida zamakono zomangira zida zapangidwa kuchokera kumitundu yosiyanasiyana mpaka kusanja, ndipo zofunikira pazokongoletsa ndi kukongoletsa kwawo zikuchulukirachulukira. Ukadaulo wopangira zinthu zama Hardware wapita patsogolo kwambiri. Zambiri mwazogulitsa zasinthidwa kuchokera pa semi-manual yoyambirira, Semi-mechanical operation yapanga semi-automatic kapena automatic mechanical line line line line. Zida zomwe zimagwiritsidwa ntchito muzomangamanga zawonjezeredwa kuchokera kuzitsulo zamkuwa zamkuwa ndi zitsulo zotsika kaboni mpaka kuzitsulo za zinc, zitsulo zotayidwa, zitsulo zosapanga dzimbiri, mapulasitiki, zitsulo zamagalasi ndi zipangizo zosiyanasiyana. .

Pali mitundu yambiri yazomangamanga. Nthawi zambiri, amatha kugawidwa m'magulu asanu: zida zapakhomo ndi zenera, zida zamapaipi, zokongoletsera zokongoletsera, zida za silika za misomali ndi zida zakukhitchini.

Zitseko ndi zenera hardware ndi mawu wamba kwa zosiyanasiyana zitsulo ndi sanali zitsulo zoikamo pa zitseko ndi mawindo a nyumba. Malinga ndi cholingacho, zimagawidwa kukhala zomangira zitseko, zogwirira, zomangira, zotsekera, zotsekera zitseko, zogwirira, mabawuti, mbedza zazenera, maunyolo odana ndi kuba, kutsegulira ndi kutseka kwa chitseko, etc.

Zida zamapaipi ndi mawu omwe amagwiritsidwa ntchito pomanga makina operekera madzi ndi ngalande, makina otenthetsera ndi zimbudzi. Nthawi zambiri zimakhala ndi faucets, shawa, madzi akugwa, zida zachimbudzi, zida zachimbudzi, zida zamadzi osambira, ma valve, kulumikizana ndi mapaipi ndi zimbudzi. zida zina.

Zida zodzikongoletsera ndi mawu omwe amagwiritsidwa ntchito pazokongoletsera ndi zinthu zomwe zimagwiritsidwa ntchito mkati ndi kunja kwa nyumba. Nthawi zambiri amakhala ndi ntchito komanso chitetezo. Pali denga lachitsulo lophatikizika, magawo opepuka opepuka, ndi mapanelo okongoletsa achitsulo.

Waya misomali mauna hardware zinthu zambiri zopangidwa ndi zitsulo za kaboni kapena zitsulo zopanda chitsulo. Ndi mawu wamba pa mawaya osiyanasiyana, misomali, maukonde ndi zinthu za mesh. Amagwiritsidwa ntchito kwambiri pantchito zomanga monga nyumba.

Waya amakokedwa ndi kuzizira ndipo amakulungidwa kuchokera ku chitsulo cha carbon kapena chitsulo chosakhala ndi chitsulo, ndipo ali ndi makulidwe osiyanasiyana. Iwo makamaka anawagawa kanasonkhezereka chitsulo waya, zosapanga dzimbiri waya ndi wapadera zitsulo waya. Waya wachitsulo: womwe umadziwikanso kuti waya wachitsulo wocheperako wa carbon, umakokedwa ndi kuzizira Pamwamba pa waya wachitsulo ndi wokutidwa ndi wosanjikiza zinki. Amagwiritsidwa ntchito kwambiri pakupalasa, mpanda, kukonza zitsime, kuluka ukonde, kuluka sieve, hoop ndi waya wamingaminga, kuwongolera kusefukira kwamadzi, kumanga, kukonza mlatho ndi ntchito zomangira zitsime ndi ma telegraph mizere yolumikizirana pamutu monga matelefoni, kuwulutsa kwa chingwe, ndi zina zambiri. Zingwe ziwiri za waya wachitsulo wopindidwa wina ndi mzake ndi waya wamingaminga wokhala ndi minga (Chithunzi 1), zimagwiritsidwa ntchito makamaka pomanga malo odzitetezera kuzungulira madera oletsedwa ndi asilikali kapena mafakitale ofunika ndi nyumba zosungiramo katundu. Waya wachitsulo chosapanga dzimbiri: makina abwino kwambiri, kukana kutentha kwambiri, kukana kwa dzimbiri, komwe amagwiritsidwa ntchito kwambiri kuluka mawaya osiyanasiyana, omwe amagwiritsidwa ntchito pazida zosiyanasiyana, zida zapakhomo, zida zamankhwala ndi ukhondo, makina amankhwala ndi chakudya. Waya Wachitsulo Wapadera: Zinthu zodziwika bwino zimaphatikizapo waya wachitsulo, waya wachitsulo, waya wa Dumet, waya wamkuwa wozungulira, ndi zina zambiri, zomwe zimagwiritsidwa ntchito kwambiri pamakampani opanga magetsi. Zomangamanga

Misomali imakhomeredwa kuchokera ku mawaya achitsulo otsika mpweya kapena mawaya amkuwa ndi aluminiyamu. Amagwiritsidwa ntchito kulumikiza matabwa ndi zinthu zina za fiber. Misomali ili ndi magawo atatu: mutu wa msomali, shank ya msomali ndi nsonga ya msomali. Pali mitundu itatu ya misomali ya nsapato ndi misomali yapadera. Misomali yomangirira: Zogulitsa zimaphatikizapo misomali yozungulira yachitsulo, misomali yomveka, misomali yachishalo, misomali yamalata, zomangira zamalata ndi misomali yamkuwa yamutu wathyathyathya, ndi zina zambiri. (Chithunzi 2). Itha kugwiritsidwa ntchito kukhomera mabokosi amatabwa, mipando, milatho yamatabwa, zida zaulimi, ndi zina. Misomali yopangira nsapato: zinthuzo zimaphatikizapo misomali wamba ya nsapato (misomali yachikopa), misomali ya sesame, misomali ya mchira wa nsomba, misomali yozungulira yachitsulo ya nsapato zachikopa, ndi zina zotero, zomwe zimagwiritsidwa ntchito makamaka pokhomerera nsapato za Nsalu, nsapato zachikopa, ndi zina zotero. amagwiritsidwanso ntchito kwambiri m'nyumba. Misomali yapadera: zopangidwa ndi misomali yozungulira yachitsulo yolumikizira, misomali yachitsulo ya simenti ndi misomali yopera matayala, etc. Zomangamanga

Ukondewo umalukidwa kuchokera ku waya wachitsulo kapena waya wopanda chitsulo, kapena kukhomeredwa ndi chitsulo. Zimaphatikizapo zenera, ma mesh achitsulo owonjezera komanso mawaya otentha a dip. Sewero lazenera: nsalu ya silika yolukidwa ndi waya wachitsulo kapena waya wosakhala wachitsulo Mawaya achitsulo omwe amagwiritsidwa ntchito pazithunzi zazenera nthawi zambiri amakhala mawaya achitsulo otsika mpweya, mawaya a aluminiyamu, mawaya a magnesium, mawaya amkuwa ndi mawaya achitsulo chosapanga dzimbiri, mawaya osapanga zitsulo omwe amagwiritsidwa ntchito ndi pulasitiki, ulusi wamapepala, ulusi wa hemp, ndi zina zambiri. Pamwamba pa zenera lazitsulo zazitsulo zojambulidwa ndi utoto wobiriwira, wopangidwa ndi galvanized kapena slush-mold; mazenera ena osakhala azitsulo amapaka utoto, ndipo ena amakhala amtundu wachilengedwe. Chitsulo chokhala ndi mauna. Pali mauna owonjezera achitsulo ndi mauna owonjezera a aluminiyamu. Ma mesh owonjezera amapangidwa ndi pepala lotsika la carbon steel annealed kapena pepala lozizira. Ukondewo ndi wooneka ngati diamondi. Malinga ndi kutalika kwa ma mesh, amagawidwa kukhala mauna akulu ndi mauna ang'onoang'ono. Large mauna Pamwamba pa mauna yokutidwa ndi chitsulo wofiira odana ndi dzimbiri utoto, amene nthawi zambiri ntchito ngati chivundikiro zoteteza pa makina, kapena ntchito ngati wosanjikiza zoteteza pa galasi greenhouses ndi mazenera, kapena ntchito ngati kudzipatula mpweya khoma m'mafakitale. , malo osungiramo katundu, malo ocheperako ndi malo ena. Popanda utoto, nthawi zambiri amagwiritsidwa ntchito pamakoma, zipilala, kudenga, ndi zina. za nyumba, kotero kuti simenti ndi laimu si zophweka kugwa, ndipo amasewera mbali zitsulo mipiringidzo. Ukonde wachitsulo wandiweyani umathanso kugwira ntchito yonyamula katundu komanso anti-skid, ndipo umagwiritsidwa ntchito kwambiri ngati doko, zombo, kanjira ka chipinda cha makina ndi ma escalator pedals. Chitsulo chowonjezera cha aluminiyamu chimakhomeredwa ndi mbale yopyapyala ya aluminiyamu, mauna ake ndi ooneka ngati diamondi kapena herringbone, ndipo pamwamba pake amapaka utoto wamagetsi mumitundu yosiyanasiyana. Zili ndi makhalidwe a kulemera kopepuka, maonekedwe okongola komanso kukhazikika. Waukulu Ntchito zida, mamita, zipangizo zapakhomo, ndi mafakitale makina ndi zipangizo mpweya mpweya, chitetezo, kusefera, ndi zokongoletsera. Waya wothira wothira malata: Amapangidwa ndi kuluka waya wachitsulo wapamwamba kwambiri. Ili ndi anti-corrosion komanso kukana kwa okosijeni. Malinga ndi kuluka mawonekedwe a gululi akhoza kugawidwa mu lalikulu mauna ndi hexagonal mauna, etc. Amagwiritsidwa ntchito kwambiri m'malo osiyanasiyana omwe amafunika kuzingidwa, ndipo mauna akuluakulu a square mesh woluka amagwiritsidwanso ntchito kwambiri m'mabwalo a simenti.

Zipangizo za Kitchen Zida ndi makina ogwirira ntchito kukhitchini. Zimaphatikizaponso matebulo ochapira, matebulo opangira ntchito, ocheka masamba, masitovu, masitovu, mavuni, makabati akukhitchini, zosungiramo zinthu komanso zotsekera. Zina mwa izo zimagwiritsidwa ntchito ngati zida zothandizira kukhitchini. Imamangidwa pamodzi ndi nyumba ndikuperekedwa kuti igwiritsidwe ntchito; gawo lina limakonzedwa ndi wogwiritsa ntchito nyumba malinga ndi zosowa (onani zida za tsiku ndi tsiku).

Kuzindikira kwa Hardware: Kodi madontho apansi ndi chiyani?

Kukhetsa pansi ndi njira yofunika kwambiri yolumikizira chitoliro cha ngalande ndi pansi mkati. Monga gawo lofunikira la kayendedwe ka madzi m'nyumba, ntchito yake imakhudza mwachindunji ubwino wa mpweya wamkati, ndipo ndizofunikira kwambiri kuti fungo liwonongeke mu bafa. Kukhetsa pansi ndikofunikira pakukongoletsa kwanyumba Kodi malo ochepa ali kuti, madontho apansi ndi ati? Mkonzi wotsatira awadziwitsa mmodzimmodzi.

Kuzindikira kwa Hardware: Kodi madontho apansi ndi chiyani?

Kodi ma drains apansi ndi chiyani? Malinga ndi njira yochotsera fungo, ngalande zapansi zimagawika m'magulu atatu: ngalande zapansi zochotsera fungo lamadzi, ngalande zomata zotsekera pansi ndi zotayira pansi zotsimikizira katatu.

Kukhetsa kwapansi koletsa fungo ndiye chikhalidwe chathu komanso chofala. Amagwiritsa ntchito kuthina kwamadzi kuti asatulutse fungo lachilendo. Mu dongosolo la kukhetsa pansi, malo osungira madzi ndiye chinsinsi. Kukhetsa pansi koteroko kuyenera kuyesa kusankha malo osungira madzi akuya. Simungangoyang'ana maonekedwe okongola. Malinga ndi miyezo yoyenera, thupi la kukhetsa kwapansi kwatsopano liyenera kuwonetsetsa kuti kutalika kwa chisindikizo chamadzi ndi 5cm, komanso kukhala ndi luso loletsa chisindikizo chamadzi kuti chisawume kuti fungo lisanuke.

Tsopano pali madontho otsika kwambiri pamsika, omwe ndi okongola kwambiri, koma zotsutsana ndi fungo sizowoneka bwino. Ngati malo anu osambira si chipinda chowala, ndiye kuti ndi bwino kusankha zina zachikhalidwe. Zotsekera zoletsa kununkhiza zapansi zimatanthawuza kuwonjezera chivundikiro chapamwamba chimamata pansi kuti musanunkhe. Ubwino wa kukhetsa kwapansi uku ndikuti umawoneka wamakono komanso avant-garde, koma choyipa ndichakuti muyenera kugwada pansi kuti mukweze chivundikirocho nthawi zonse mukachigwiritsa ntchito, zomwe ndizovuta.

Koma posachedwapa, kukhetsa kwapansi kotsekedwa bwino kwawonekera pamsika. Pali kasupe pansi pa chivundikiro chapamwamba. Mukamagwiritsa ntchito chivundikiro chapamwamba ndi phazi lanu, chivundikiro chapamwamba chimatuluka, ndipo mutha kubwerera m'mbuyo pamene sichikugwiritsidwa ntchito. Ndikosavuta kwambiri. Zitatu zodzitchinjiriza Kukhetsa pansi ndiye njira yotsogola kwambiri yoletsa fungo la pansi mpaka pano. Imayika mpira waung'ono woyandama kumapeto kwa pansi kukhetsa thupi, ndipo imagwiritsa ntchito kuthamanga kwa madzi ndi kuthamanga kwa mpweya mu chitoliro cha ngalande kupirira mpirawo kuti ukhale wotsekedwa kwathunthu ndi kukhetsa pansi, potero Sewerani gawo la deodorization, mankhwala othamangitsa tizilombo komanso oletsa kusefukira.

Zomwe zili ndi zida zamagetsi zamagetsi

Zida zapanyumba za Hardware makamaka zimatanthawuza zida zamagetsi zopangidwa ndi zitsulo, kuphatikiza zida, zida zatsiku ndi tsiku, zida zomangira, zida zamkati, zida zotetezera, ndi zina zambiri, zomwe zida zamagetsi zimatanthawuza misomali, zomangira, zotsekera, akasupe, ndi zina zambiri, zida zatsiku ndi tsiku zimakhala ndi Scissors. , singano zokometsera, zida zomanga kuphatikiza zotsekera zitseko, maloko a zitseko, maunyolo odana ndi kuba, masitovu, ndi zina zambiri.

Ndi mitundu yanji ya zida za Hardware

Zida zapanyumba za Hardware zimatanthawuza zida zamagetsi zopangidwa ndi golidi, siliva, aluminiyamu, malata, mkuwa, chitsulo ndi zitsulo zina. Iwo amagawidwa m'magulu awiri, kuphatikizapo magetsi, nyali, sockets, switches, capacitors, reactors, resistors, etc. .

Zida zapanyumba za Hardware zimagawidwa m'mitundu iwiri: zida zamagetsi ndi zamagetsi. Pakati pawo, hardware imatchedwanso hardware, yomwe imatanthawuza zinthu za hardware mwachikhalidwe, monga mipeni yachitsulo, malupanga ndi zida zokonzera.

Mitundu yosiyanasiyana ya zida zamakono m'magulu amakono ndi ochulukirapo, makamaka amagawidwa kukhala zida za hardware, zida za hardware, zida za tsiku ndi tsiku, zida zomangira, zotetezera, ndi zina zotero, zomwe zida za tsiku ndi tsiku zimatanthawuza zinthu monga mapoto, mbale, singano, lumo, ndi zida zomangamanga amatanthauza zokhoma zitseko. , zitseko ndi zina zowonjezera zitsulo.