65results about How to "Wide range of stiffness adjustment" patented technology

The invention belongs to the pneumatic artificial technical field and in particular relates to a pneumatic artificial muscle with self-sensing and driving functions. The pneumatic artificial muscle comprises fibers, an elastic hose, a cylindrical sleeve pipe, a fiber collecting hoop, a fiber collecting hole, a piezoelectric body, an electrode, a sensing circuit, a drive circuit, a hoop and an air pipe joint. The pneumatic artificial muscle has the beneficial effects that via the direct piezoelectric effects of the piezoelectric body, the contractility of the fibers can be measured to obtain the external load driving force of the pneumatic muscle; meanwhile, collision of the pneumatic muscle can be self-sensed according to the real-time reading of a voltmeter; via the inverse piezoelectric effects of the piezoelectric body, the amount of contraction of the pneumatic muscle can be increased and the rigidity of the pneumatic muscle can be changed; compared with the same model of pneumatic muscle on the market, the pneumatic muscle provided by the invention can achieve the effects of detecting the external load driving force, self-sensing collision, increasing the amount of contraction of the pneumatic muscle and changing the rigidity of the pneumatic muscle; the properties of the pneumatic muscle are improved and enriched; and the pneumatic muscle has function innovation and extension and is worthy to be applied.

The invention discloses a series-stiffness, broadband and magnetorheological intelligent vibration absorbing device. The device comprises a bottom self-lubricating magnetic guide rail plate, a bottom magnetic yoke outer annular column, arc section circular ring sleeve keys, a bottom magnetic yoke anisotropic bar, disc-shaped springs, bottom inner column magnet exciting coils, bottom outer column magnet exciting coils, a bottom working clearance, a soft magnetic metal sealing plate, overlapped magnetorheological elastomers (MREs), overlapped magnetic conductive steel plates, an I-shaped iron connecting plate, bearing frame columns, an II-shaped iron connecting plate, a mass array, upper inner column magnet exciting coils, upper outer column magnet exciting coils and an upper working clearance; a negative stiffness system and a positive stiffness system form a basic power outputting unit of the series-stiffness, broadband and magnetorheological intelligent vibration absorbing device. With the adoption of the series-stiffness, broadband and magnetorheological intelligent vibration absorbing device, the shortages of narrow controllable broadband of a traditional passive vibration absorber, unadjustable performance, and complex active vibration absorbing assisting system. Compared with an existing intelligent vibration absorbing device, the series-stiffness, broadband and magnetorheological intelligent vibration absorbing device can reduce the low-frequency interference of flexible demands and high frequency vibration of rigid demand, applies a plurality of working conditions, and has a good economic advantage.

The invention discloses a shock insulating device resistant to pulling and twisting and belongs to the technical field of building shock resistance. The shock insulating device is mainly composed of a high-rise structure (1), an upper-portion rigid pedestal (2) with high rigidity and bearing capability, a base heat-insulating layer (3), viscous dampers (4), damping springs (5), springs, a damper supports (6), a lower-portion rigid pedestal (7) with high rigidity and bearing capability, horizontal limiting sliders (8), bottom horizontal shock-insulating linear guide rails (9), bottom longitudinal shock-insulating linear guide rails (10) and longitudinal limiting sliders (11). The shock insulating device is low in cost, simple in structure, convenient to construct, high in pulling resistance and twisting resistance and obvious in shock-insulating effect.

A permanent magnetic rigidity variable drive module for a flexible robot is suitable for establishing an antagonistic type flexible rigidity variable robot, especially a multi-freedom-degree flexible parallel rigidity variable robot. Compared with the prior art, the permanent magnetic rigidity variable drive module has the beneficial effect that under the situation that no motor torque is increased, the rigidity adjusting range is enlarged. When the multi-freedom-degree flexible robot is established, a drive unit and a rigidity variable module can be arranged on the rear part, the mass and the inertia of an operation arm are greatly reduced, and therefore the problem that in a traditional series manner, the rigidity change capacity is insufficient as the mass and the inertia are gradually increased is solved. According to the permanent magnetic rigidity variable drive module, one end of a rope is fixed to a rope winch, the rope sequentially penetrates through fixed pulleys, a movable pulley and a rope winch, the rope winch and the fixed pulleys are externally tangent to the same straight line, and the movable pulley is clamped to a symmetrical axis of the two fixed pulleys. The air gap interval between annular permanent magnets is reduced as the distance between a movable sliding base and a fixed base is reduced, and the rope tensile force and the rigidity are improved. The permanent magnetic rigidity variable drive module for the flexible robot is concise in movement type, easy and convenient to manufacture and easy to operate.

The invention provides a flexible variable-stiffness joint mechanism. The flexible variable-stiffness joint mechanism comprises an input structure and an output structure. The input structure and the output structure are connected and vertically corresponding. The input structure comprises a pair of guide rod shafts, a pair of guide rods, a pair of compression springs, a pair of spring installation seats and an input plate. The output structure comprises a pair of linear guide rail assemblies, a pair of roller sets, a pair of roller installation frames, a linear displacement sensor push rod, a pair of racks, a driven gear, a drive gear, a linear displacement sensor, an output plate, multiple bearings, multiple clamp springs and multiple bolts. The flexible variable-stiffness joint mechanism solves the problems that in the prior art, the loading capacity is poor, the stiffness adjustment range is narrow, the energy consumption of stiffness adjustment is large, the coupling performance is high, the passive stiffness performance is poor, and external connection with an air cylinder is needed.

The invention provides a tension resisting and twisting resisting combined shock isolation device with the self-restoring function, and belongs to the technical field of shock absorbing and isolating technique of structural engineering. The device mainly comprises a high-flexibility device (1), a rigid supporting pedestal (2), a transverse limiting sliding block (3), a transverse shock isolation linear guide rail (4), a transverse shock absorbing tension spring (5), a transverse shock absorbing tension spring support (6), a layering separating plate (7), a longitudinal limiting sliding block (8), a longitudinal shock isolation linear guide rail (9), a longitudinal shock absorbing tension spring support (10) and a longitudinal shock absorbing tension spring (11). The combined shock isolation device has the advantages that the material performance of each part can be fully utilized; in addition, the shortcoming of poor tension resisting capacity and vertical bearing capacity of a rubber support seat is overcome; the advantages of high tension resisting capacity and twisting resisting capacity, and outstanding effect on shock isolation for bases of the high-flexibility device and a high-flexibility structure are brought.

The invention relates to a cascadable variable-stiffness robot joint. High-precision adjustment of the stiffness of the joint is conducted by using flexible shaft disc mechanisms composed of sheaves, steel wires and bent leaf springs for providing variable torque and using a rotary supporting mechanism composed of a supporting frame, a gear worm and a servo motor for uniquely determining the positions of working end points of the arc-shaped bent leaf springs which are symmetrically distributed on the shaft disc mechanisms; the energy storage capacity of the joint can be adjusted by changing the cascade number of the flexible shaft disc mechanisms; and a differential gear set mechanism is used for achieving coupled motions including rotation of the robot joint, rotation of the joint motor and rotation of an elastic mechanism, so that the balance position and stiffness of the joint are changed at the same time, and forward-rotation stiffness and reversed-rotation stiffness are made adjustable.

The invention discloses a lattice magneto-rheological intelligent vibration reduction structure, a magneto-rheological vibration isolating device and a manufacturing method of the lattice magneto-rheological intelligent vibration reduction structure. The lattice magneto-rheological intelligent vibration reduction structure comprises a plurality of lattice unit cells which are periodically and orderly arranged in a three-dimensional space and connected with one another; each lattice unit cell comprises spatially distributed joints and hollow rods connected between the joints; and the hollow rods are filled with magnetorheological fluid. The preparation method of the structure comprises the following steps that a three-dimensional model is constructed through computer modeling software, andcombining a high-precision stereolithography (SLA) technology, a lattice structure with a proper structure size is prepared; and meanwhile, the magneto-rheological vibration isolating body of the intelligent structure is prepared in combination with extrusion type magneto-rheological vibration isolating device product parameters, and the magneto-rheological vibration isolating body is applied to vibration isolating device products.

The invention relates to a vibration reduction suspension, an adjusting method, a compressor assembly and an air conditioning system. The vibration reduction suspension comprises a bearing rack used for supporting to-be-borne equipment, a main cylinder and an auxiliary cylinder. A main air cavity is formed in the main cylinder, and the air pressure in the main air cavity is used for supporting thebearing rack and can be adjusted. An auxiliary air cavity is formed in the auxiliary cylinder and communicates with the main air cavity, and the air pressure in the auxiliary air cavity can be adjusted so as to adjust the air pressure in the main air cavity. According to the vibration reduction suspension, the adjusting method, the compressor assembly and the air conditioning system, the supporting height of the vibration reduction suspension can be adjusted, the rigidity adjustment range of the vibration reduction suspension is wide, and effective compensation can be carried out on the mounting height of the to-be-borne equipment.

The invention aims at providing a permanent electromagnetic compounding semi-active vibration isolation actuator. A permanent magnet is arranged between a first shell and a second shell. A hollow shell structure is jointly formed by the first shell, the permanent magnet and the second shell. A spindle is mounted in an armature, the armature is mounted in the shell structure, and the first end of the armature stretches out of the second shell. A flange and the end of the second shell are fixed. A first bearing end cover is fixed to the end of the first shell. A second bearing end cover is fixed to the end of the flange. The first bearing end cover and the second bearing end cover are arranged outside the two ends of the spindle correspondingly. The outer sides of the two ends of the spindle are each provided with a nut. Springs are mounted between one nut and the first bearing end cover and between the other nut and the second bearing end cover correspondingly. The permanent electromagnetic compounding semi-active vibration isolation actuator combines the functions of a passive vibration isolator and a controllable rigidity actuator in a traditional semi-active vibration isolation system, and meanwhile the problem that the passive vibration isolator in the traditional semi-active vibration isolation system is instable is solved.

The invention discloses a quasi-zero stiffness vibration isolation device with a mechanical frequency modulation type dynamic vibration absorber. The vibration isolation device is formed by combining a quasi-zero stiffness vibration isolation main system and a dynamic vibration absorber subsystem; and a bearing platform, a negative stiffness mechanism and a dynamic vibration absorber are mainly comprised. On the basis of a traditional "spring-mass block" vibration absorber, a frequency-adjustable dynamic vibration absorber of a "spring plate-sliding mass block" structure is provided, four negative stiffness mechanisms are additionally arranged on the basis of a traditional linear main system, positive stiffness and negative stiffness are connected in parallel to form the quasi-zero stiffness vibration isolation main system, and the quasi-zero stiffness vibration isolation device with the mechanical frequency modulation type dynamic vibration absorber is designed. According to the vibration isolation device, the inherent frequency of the dynamic vibration absorber can be adjusted by changing the effective length of a spring plate, the limitation that a traditional dynamic vibration absorption device is only suitable for single excitation frequency is broken through, the excitation frequency application range can be widened, excitation frequency self-adaptability is achieved, the amplitude of the quasi-zero stiffness vibration isolation main system is reduced, and self-adaptive ultralow-frequency vibration isolation effect is achieved.

The invention relates to an active-passive variable stiffness joint and a stiffness adjustment method thereof. The active-passive variable stiffness joint comprises a joint output rod, a joint drive rod, a central shaft, a stepping motor, a motor mounting base, a helical rack wheel, a torsion spring, a helical pinion, a first set of steel balls, a first cone disk, a first disc spring, a first slider, a second slider, a second disc spring, a second cone disk, a second set of steel balls, a left end cover, a first compression spring, a right-handed Nut, a left-handed nut, a sleeve, a second compression spring, a first shaft sleeve and a second shaft sleeve. By adjusting the compression of the two disc springs, the joint stiffness is changed to achieve the active variable stiffness function of the joint; when joints are relatively turned, the torsion spring is twisted and the sleeve is squeezed and deformed, so that the first set of steel balls and the first cone disk cooperate with eachother, and the second set of steel balls and the second cone disk cooperate with each other to convert the radial displacement into axial displacement, the first disc spring and the second disc springare compressed to hinder the relative rotation of the joint drive rod and the joint output rod, and therefore flexible output of the joint is achieved.

The invention discloses a heavy car engine rear suspension cushion assembly, and relates to the technical field of car manufacturing. The heavy car engine rear suspension cushion assembly comprises a hollow cone-shaped outer shell with holes in two ends and an inner frame arranged in a cavity of the outer shell, wherein the bigger end of the outer shell is flanged outwards, the smaller end of the outer shell is flanged inwards, and the shape of one end of the inner frame is a hexahedral hollow cavity; the shape of the other end of the inner frame is cuboid, the cuboid of the inner frame stretches out from the hole of the smaller end of the outer shell, a main rubber block and a plastic plate are radially and successively arranged between the hollow cavity of the inner frame and an inner cavity of the outer shell; the hollow cavity of the inner frame is internally and successively provided with a vibration block and a limiting block, and the limiting block props against a baffle plate, the baffle plate is fixedly arranged on the bigger end of the outer shell. The heavy car engine rear suspension cushion assembly is used for solving the problem that the existing heavy car engine damper device is time-consuming and labor-consuming in installation and poor in damping effect.

The invention provides a variable-stiffness joint with symmetrical compression springs, and belongs to the field of bionic robots. The variable-stiffness joint comprises a base, a joint connecting rod, a position motor, a stiffness motor and a stiffness adjusting module, the stiffness adjusting module is composed of rollers and symmetrical structures comprising cam discs and the springs, the rollers are connected onto a roller retainer, the position motor is fixed on the base, the output end of the position motor is connected with the roller retainer, the stiffness adjusting module is arrangedon the base, the joint connecting rod is fixedly connected with one cam disc, the stiffness motor is fixedly connected with the joint connecting rod, and the output end of the stiffness motor is connected with the other cam disc. The variable-stiffness joint structure composed of the rollers, and the cam discs and the springs which are symmetrically arranged on the two sides is adopted, the structure is simple and reliable, the size is small, the same flexible effect can be achieved through forward driving and reverse driving, the advantages of being large in output torque and wide in rigidity adjusting range are achieved, and the variable-stiffness joint can be applied to various different occasions as a modular design.

The invention provides a tension resisting and twisting resisting combined shock isolation device based on a linear guide rail, and belongs to the technical field of shock absorbing and isolating technique of structural engineering. The device mainly comprises a high-flexibility device (1), a rigid shock isolation pedestal (2) with relatively high rigidity and bearing capacity, a transverse limiting sliding block (3), a transverse shock isolation linear guide rail (4), a longitudinal limiting sliding block (5), a longitudinal shock isolation linear guide rail (6) and a rubber support seat (7). The tension resisting and twisting resisting combined shock isolation device based on the linear guide rail is low in cost, simple in structure, and convenient to construct; each part is clearly divided to bear force; the linear guide rails bear only the vertical load of an upper structure and bring tension resisting capacity, twisting resisting capacity and tumbling resisting capacity; the rubber support seat provides only the horizontal rigidity for the high-flexibility device; with the adoption of such combined shock isolation device, the material performance of each part can be fully utilized; in addition, the shortcoming of poor tension resisting capacity and vertical bearing capacity of the rubber support seat is overcome; the advantages of high tension resisting capacity and twisting resisting capacity, and outstanding effect on shock isolation for bases of the high-flexibility device and a high-flexibility structure are brought.

The invention provides a hydraulic bushing, comprising: a mandrel; a first runner member sleeving the mandrel and in sleeve shape, wherein a gap between the mandrel and the first runner member is filled with first rubber, the outer surface of the first runner member is provided with a first runner for a hydraulic fluid; and an outer sleeve that sleeves the first runner member radially in compressing manner. The first rubber is radially oppositely provided with two main fluid cavities to hold the hydraulic fluid, and the two main fluid cavities are communicated with each other via the first runner. A sealing component is arranged on the at least one axial outer side of the first runner member; the sealing component and the outer sleeve jointly define two auxiliary fluid cavities. A second runner member is arranged in each auxiliary fluid cavity; the outer surface of each second runner member is provided with a second runner for the hydraulic fluid; the two auxiliary fluid cavities are communicated with each other via the second runners.