Positive and negative stiffness counteracting type full-tension-spring zero-stiffness spring model and full-tension-spring zero-stiffness spring mechanism based on same

Abstract

The invention discloses a positive and negative stiffness counteracting type full-tension-spring zero-stiffness spring model and a full-tension-spring zero-stiffness spring mechanism based on the same, relates to the technical field of zero-stiffness spring systems, and solves the problem that a triangular zero-stiffness spring system which is generally adopted at present is poor in rigidity. In order to solve the problems of poor zero stiffness characteristic, large friction force between springs and guide rods, difficulty in stiffness adjustment and the like in the prior art, tension springs are adopted as all the springs, and besides a vertical main spring, two connecting rods provide variable negative stiffness through a horizontal tension spring and then provide small variable positive stiffness through two inclined tension springs, so that the rigidity of the springs can be adjusted. The change rule of the total rigidity of the system is changed in a positive and negative rigidity counteracting mode, the problem that the zero-rigidity characteristic in the zero-rigidity spring system is poor is solved, the change rule of the total rigidity of the system can be changed in the mode that the stretching amount and the installation position of the cable-stayed spring are changed, and the problem that the total rigidity of the zero-rigidity spring system is difficult to adjust is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of zero-rigidity spring systems, and in particular to a positive-negative-rigidity offsetting full-tension spring zero-rigidity spring model and a full-tension spring zero-rigidity spring mechanism based on the model. Background Art

[0002] The zero-stiffness spring system can maintain a stable equilibrium state with very low stiffness within a certain displacement range. It has important applications in weightlessness simulation in the aerospace field. At the same time, the zero-stiffness spring system has excellent low-frequency vibration reduction characteristics and has broad application prospects in high-quality vibration isolation. The micro-low gravity environment in aerospace space makes the spacecraft and astronauts in it show different force states and dynamic performances than those in the ground gravity environment. Therefore, it is necessary to simulate this micro-low gravity environment on the ground. The suspension method is widely used because of its advantages of long simulation time, large simulation range, and no introduction of additional inertia. The zero-stiffness spring system has important applications in weightlessness simulation, large load constant force output, and low-frequency vibration isolation. The triangular zero-stiffness spring system commonly used at present has defects such as poor zero-stiffness characteristics, large friction between the spring and the guide rod, and difficulty in stiffness adjustment, and the actual application effect is not ideal. Summary of the invention

[0003] In view of the above-mentioned problems in the currently commonly used triangular zero-stiffness spring system, such as poor zero-stiffness characteristics, large friction between the spring and the guide rod, and difficulty in adjusting the stiffness, the purpose of the present invention is to provide a full-tension spring zero-stiffness spring mechanism.

[0004] In order to achieve the above object, the technical solution adopted by the present invention is:

[0005] A positive and negative stiffness offset type full tension spring zero stiffness spring model, which includes: a vertical spring, a transverse spring, a lateral spring, a slider, a rocker, a vibration block and a bearing seat, the vertical spring is vertically arranged, the upper end of the vertical spring is fixedly connected, the lower end of the vertical spring is connected to the vibration block, and the vibration block can be displaced in the vertical direction; two transverse springs are horizontally arranged and symmetrically arranged on the left and right sides of the vertical spring, one end of each transverse spring close to the vertical spring is fixedly connected, one end of each transverse spring away from the vertical spring is connected to a slider, and the two sliders can be displaced in the horizontal direction; two rockers are symmetrically arranged on the left and right sides of the vertical spring, one end of each rocker is hinged to a slider, and the other end of each rocker is hinged to the vibration block; two lateral springs are symmetrically arranged on the left and right sides of the vertical spring, one end of each lateral spring is hinged to a bearing seat, and the other end of each lateral spring is hinged to the vibration block; the two bearing seats and the two sliders are located in the same horizontal plane;

[0006] Vertical stiffness of zero stiffness spring system:

[0007]

[0008] Among them, F s is the elastic force of the vertical spring; F h is the elastic force of the horizontal spring; F c is the elastic force of the lateral spring; F g is the supporting force of the swing rod on the vibrating block; F is the loading force; b is the horizontal projection of the lateral spring; A is the vertical displacement of the vibrating block; L h0 is the original length of the horizontal spring; L h is the working length of the horizontal spring; k h is the stiffness of the horizontal spring; L c0 is the original length of the lateral spring; L c is the working length of the lateral spring; k c is the stiffness of the lateral spring; L g is the length of the swing rod; θ is the angle between the swing rod and the horizontal direction; α is the angle between the lateral spring and the horizontal direction; △L h0 The tensile deformation of the horizontal spring.

[0009] The first term is the vertical stiffness of the two lateral springs. Since L c0 < b, this stiffness is a positive stiffness, and the positive stiffness is the smallest at the equilibrium position and increases monotonically with the increase of the α angle away from the equilibrium position;

[0010] The second term is the vertical stiffness generated by the two horizontal springs acting on the vibrating block through the swing rod; if △L h0 = L g , this stiffness is a constant value; if △L h0 > L g , this stiffness is a negative stiffness, and the negative stiffness increases more and more with the increase of the θ angle away from the equilibrium position, and a stable zero-stiffness system cannot be formed; if △L h0 < L g , at the equilibrium position, this stiffness is the maximum negative value, and the stiffness increases monotonically with the increase of the θ angle away from the equilibrium position and reaches zero at a certain swing angle, and then becomes a positive stiffness, and a stable zero-stiffness system can be formed;

[0011] The third term is the stiffness of the vertical spring, which is a constant value;

[0012] A vertical spring, two horizontal springs and two lateral springs are all in a stretched state.

[0013] A full-tension spring zero-stiffness spring mechanism, which is implemented based on the above-mentioned positive and negative stiffness offset full-tension spring zero-stiffness spring model, including: a frame assembly, a vertical spring assembly, a horizontal tension spring assembly, a lateral adjustment tension spring assembly, a slider assembly, an adjustable bearing seat assembly and a vibration bracket assembly; the vertical spring assembly is used to simulate the vertical spring, the horizontal tension spring assembly is used to simulate the lateral spring, the lateral adjustment tension spring assembly is used to simulate the lateral spring, the slider assembly is used to simulate the slider, the adjustable bearing seat assembly is used to simulate the bearing seat, and the vibration bracket assembly is used to simulate the vibration block;

[0014] The rack assembly includes: a long axis, a panel, a first mounting plate, a top mounting plate, a third mounting plate and a bottom mounting plate. The two panels are arranged in parallel in front and rear, and the two ends of the top mounting plate are respectively connected to the top ends of the two panels, and the two ends of the bottom mounting plate are respectively connected to the middle parts of the bottom ends of the two panels; the top mounting plate and the bottom mounting plate are parallel to each other, the upper end of the long axis is connected to the top mounting plate, and the lower end of the long axis is connected to the bottom mounting plate; the two first mounting plates are symmetrically arranged on the left and right and are arranged between the two panels, and the two side edges of each first mounting plate are respectively connected to the two panels; two third mounting plates are installed on each first mounting plate, and the two third mounting plates located on the same first mounting plate are symmetrically arranged in front and rear;

[0015] The vertical spring assembly is sleeved on the long axis and its upper end is installed on the long axis. The vertical spring assembly can be stretched along the long axis. The vibration bracket assembly is installed at the lower end of the vertical spring assembly. The left and right sides of the vibration bracket assembly are respectively provided with a rotatable vibration bracket small shaft.

[0016] A set of slide rails is installed on each first mounting plate, and the slide rails are arranged between the two third mounting plates on the first mounting plate; a slider assembly is slidably installed on each set of slide rails, one end of each slider assembly is rotatably connected to one end of a connecting rocker member, and the other end of the connecting rocker member is connected to a small shaft of a vibration bracket; the connecting rocker member is used to simulate the rocker;

[0017] The frame assembly also includes: a movable connecting plate, one end of each horizontal tension spring assembly is connected to a third mounting plate, the other ends of the two horizontal tension spring assemblies on the left and the other end of the slider assembly on the left are connected through a movable connecting plate, and the other ends of the two horizontal tension spring assemblies on the right and the other end of the slider assembly on the right are connected through another movable connecting plate;

[0018] Two adjustable bearing seat assemblies are installed on each first mounting plate. The two adjustable bearing seat assemblies located on the same first mounting plate are symmetrically arranged on the front and rear sides of the slide rail. One end of each lateral adjustment spring assembly is rotatably connected to one end of a small shaft of a vibration bracket, and the other end of each lateral adjustment spring assembly is rotatably connected to an adjustable bearing seat assembly.

[0019] Due to the adoption of the above technology, the present invention has the following positive effects compared with the prior art:

[0020] (1) In the full tension spring zero stiffness spring system of the present invention, all springs are tension springs, which solves the problem of large friction between the spring and the guide rod in the zero stiffness spring system;

[0021] (2) In the full tension spring zero stiffness spring system of the present invention, in addition to the vertical main spring, the two connecting rods provide a changing negative stiffness through the horizontal tension spring, and then provide a slightly changing positive stiffness through the two inclined tension springs. The change law of the total stiffness of the system is changed by offsetting each other by the positive and negative stiffness, thereby solving the problem of poor zero stiffness characteristics in the zero stiffness spring system;

[0022] (3) The present invention adds two inclined-tension springs to the full-tension spring zero-stiffness spring system to provide a slightly changing positive stiffness. The variation pattern of the total stiffness of the system can be changed by changing the stretching amount and installation position of the inclined-tension springs, thereby solving the problem that the total stiffness of the zero-stiffness spring system is difficult to adjust. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the principle of a full-tension spring zero-stiffness spring system with positive and negative stiffness offsetting the full-tension spring zero-stiffness spring mechanism. Figure 2 It is a structural diagram of a full-tension spring zero-stiffness spring mechanism. Figure 3 It is the front view of the full tension spring zero stiffness spring mechanism. Figure 4 It is a side view of a full extension spring zero stiffness spring mechanism. Figure 5 It is a top view of a full-tension spring zero-stiffness spring mechanism. Figure 6 yes Figure 3 Cross-sectional view of . Figure 7 yes Figure 4 Cross-sectional view of . Figure 8 It is a structural diagram of the rack assembly. Fig. 9 is the front view of the rack assembly. Fig.10 is a side view of the rack assembly. Fig.11 is a top view of the rack assembly. Fig.12 yes Fig.10 Cross-sectional view of . Fig.13 yes Fig.11 Cross-sectional view of . Fig.14 It is a structural schematic diagram of the vertical spring assembly. Fig.15It is the front view of the vertical spring assembly. Fig.16 yes Fig.15 Cross-sectional view of . Fig.17 is a top view of the vertical spring assembly. Fig.18 It is a structural schematic diagram of the horizontal tension spring assembly. Fig.19 It is the front view of the horizontal tension spring assembly. Fig. 20 is a side view of the horizontal tension spring assembly. Fig.21 yes Fig. 20 Cross-sectional view of . Fig. 22 It is a structural schematic diagram of a lateral adjustment tension spring assembly. Fig.23 It is the front view of the lateral adjustment spring assembly. Fig.24 It is a top view of the lateral adjustment spring assembly. Fig.25 It is a structural diagram of the slider assembly. Fig.26 Is the main view of the slider component. Fig. 27 is a side view of the slider assembly. Fig.28 is a top view of the slider assembly. Fig.29 It is a structural schematic diagram of an adjustable bearing seat assembly. Fig.30 It is the front view of the adjustable bearing seat assembly. Fig.31 is a side view of the adjustable bearing seat assembly. Fig.32 is a top view of the adjustable bearing seat assembly. Fig.33 yes Fig.31 Cross-sectional view of . Fig.34 It is a structural schematic diagram of the vibration bracket assembly. Fig.35 is the front view of the vibration bracket assembly. Fig.36 is a side view of the vibration support assembly. Fig.37 is a top view of the vibration bracket assembly. Fig.38 yes Fig.36 Cross-sectional view of . Fig.39 yes Fig.37 Cross-sectional view of .

[0024] In the attached drawings: 1, frame assembly; 2, vertical spring assembly; 3, horizontal tension spring assembly; 4, lateral adjustment tension spring assembly; 5, slider assembly; 6, adjustable bearing seat assembly; 7, vibration bracket assembly; 11, panel; 12, support plate; 13, first mounting plate; 14, second mounting plate; 15, top mounting plate; 16, first rib plate; 17, third mounting plate; 18, second rib plate; 19, bottom mounting plate; 21, vertical spring fixing plate; 22, vertical tension spring; 23, vertical spring fixing end; 31. Transverse threaded tube; 32. Horizontal tension spring; 33. Transverse spring fixed end; 34. Transverse end fixing block; 41. Lateral spring fixed end; 42. Lateral tension spring; 43. Lateral threaded tube; 44. First bearing end cover; 45. Lateral end fixing block; 51. Lateral spring bearing seat; 52. Slider mounting plate; 53. Slider; 61. Split bearing seat; 62. Second bearing end cover; 63. Adjusting screw; 71. Vibration bracket; 72. Vibration bracket small shaft; 73. Third bearing end cover. DETAILED DESCRIPTION

[0025] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, but they are not intended to limit the present invention.

[0026] Please refer to Figures 1 to 39 As shown, a positive and negative stiffness offset type full tension spring zero stiffness spring model is shown, which includes: a vertical spring, a transverse spring, a lateral spring, a slider, a rocker arm, a vibration block and a bearing seat. The vertical spring is vertically arranged, the upper end of the vertical spring is fixedly connected, the lower end of the vertical spring is connected to the vibration block, and the vibration block can be displaced in the vertical direction; the two transverse springs are horizontally arranged and symmetrically arranged on the left and right sides of the vertical spring, one end of each transverse spring close to the vertical spring is fixedly connected, and one end of each transverse spring away from the vertical spring is connected to a slider, and the two sliders can be displaced in the horizontal direction; the two rockers are symmetrically arranged on the left and right sides of the vertical spring, one end of each rocker arm is hinged to a slider, and the other end of each rocker arm is hinged to the vibration block; the two lateral springs are symmetrically arranged on the left and right sides of the vertical spring, one end of each lateral spring is hinged to a bearing seat, and the other end of each lateral spring is hinged to the vibration block; the two bearing seats and the two sliders are located in the same horizontal plane;

[0027] Vertical stiffness of zero stiffness spring system:

[0028]

[0029] Among them, F s is the elastic force of the vertical spring; F h is the elastic force of the transverse spring; F c is the elastic force of the lateral spring; F g$F_0$ is the supporting force of the swing rod on the vibration block; $F$ is the loading force; $b$ is the horizontal projection of the lateral spring; $A$ is the vertical displacement of the vibration block; $L$ h0 is the original length of the transverse spring; $L$ h is the working length of the transverse spring; $k$ h is the stiffness of the transverse spring; $L$ c0 is the original length of the lateral spring; $L$ c is the working length of the lateral spring; $k$ c is the stiffness of the lateral spring; $L$ g is the length of the swing rod; $\theta$ is the angle between the swing rod and the horizontal direction; $\alpha$ is the angle between the lateral spring and the horizontal direction; $\Delta L$ h0 The tensile deformation of the transverse spring.

[0030] The first term is the vertical stiffness of the two lateral springs:

[0031]

[0032] Since $L$ c0 $>b$, this stiffness is a positive stiffness, and the positive stiffness is the smallest at the equilibrium position and increases monotonically with the increase of the $\alpha$ angle away from the equilibrium position;

[0033] The second term is the vertical stiffness generated by the two transverse springs acting on the vibration block through the swing rod:

[0034]

[0035] If $\Delta L$ h0 $=L$ g , this stiffness is a constant value; if $\Delta L$ h0 $>L$ g , this stiffness is a negative stiffness, and the negative stiffness increases more and more with the increase of the $\theta$ angle away from the equilibrium position, and a stable zero-stiffness system cannot be formed; if $\Delta L$ h0 $<L$ g , at the equilibrium position, this stiffness is the maximum negative value, and the stiffness increases monotonically with the increase of the $\theta$ angle away from the equilibrium position, and the stiffness reaches zero at a certain swing angle and then becomes a positive stiffness, and a stable zero-stiffness system can be formed;

[0036] The third term is the stiffness $k$ of the vertical spring s , which is a constant value;

[0037] One vertical spring, two transverse springs and two lateral springs are all in a tensile state.

[0038] A full-tension spring zero-stiffness spring mechanism is realized based on the above-mentioned positive and negative stiffness offset full-tension spring zero-stiffness spring model, which includes: a frame component 1, a vertical spring component 2, a horizontal tension spring component 3, a lateral adjustment tension spring component 4, a slider component 5, an adjustable bearing seat component 6 and a vibration bracket component 7; the vertical spring component 2 is used to simulate a vertical spring, the horizontal tension spring component 3 is used to simulate a transverse spring, the lateral adjustment tension spring component 4 is used to simulate a lateral spring, the slider component 5 is used to simulate a slider, the adjustable bearing seat component 6 is used to simulate a bearing seat, and the vibration bracket component 7 is used to simulate a vibration block;

[0039] The rack assembly 1 includes: a long axis, a panel 11, a first mounting plate 13, a top mounting plate 15, a third mounting plate 17 and a bottom mounting plate 19. The two panels 11 are arranged in parallel front and rear, and the two ends of the top mounting plate 15 are respectively connected to the top ends of the two panels 11, and the two ends of the bottom mounting plate 19 are respectively connected to the middle parts of the bottom ends of the two panels 11; the top mounting plate 15 and the bottom mounting plate 19 are parallel to each other, the upper end of the long axis is connected to the top mounting plate 15, and the lower end of the long axis is connected to the bottom mounting plate 19; the two first mounting plates 13 are symmetrically arranged on the left and right and are arranged between the two panels 11, and the two side edges of each first mounting plate 13 are respectively connected to the two panels 11; two third mounting plates 17 are installed on each first mounting plate 13, and the two third mounting plates 17 located on the same first mounting plate 13 are symmetrically arranged front and rear;

[0040] The vertical spring assembly 2 is sleeved on the long axis and its upper end is installed on the long axis. The vertical spring assembly 2 can be stretched along the long axis. The vibration bracket assembly 7 is installed at the lower end of the vertical spring assembly 2. The left and right sides of the vibration bracket assembly 7 are respectively provided with a rotatable vibration bracket small shaft 72;

[0041] A set of slide rails is installed on each first mounting plate 13, and the slide rails are arranged between two third mounting plates 17 on the first mounting plate 13; a slider assembly 5 is slidably installed on each set of slide rails, and one end of each slider assembly 5 is rotatably connected to one end of a connecting rocker member, and the other end of the connecting rocker member is connected to a vibration bracket small shaft 72; the connecting rocker member is used to simulate a rocker;

[0042] The frame assembly 1 further includes: a movable connecting plate, one end of each horizontal tension spring assembly 3 is connected to a third mounting plate 17, the other ends of the two horizontal tension spring assemblies 3 on the left and the other end of the slider assembly 5 on the left are connected via a movable connecting plate, and the other ends of the two horizontal tension spring assemblies 3 on the right and the other end of the slider assembly 5 on the right are connected via another movable connecting plate;

[0043] Two adjustable bearing seat assemblies 6 are installed on each first mounting plate 13. The two adjustable bearing seat assemblies 6 located on the same first mounting plate 13 are symmetrically arranged on the front and rear sides of the slide rail. One end of each lateral adjustment spring assembly 4 is rotatably connected to one end of a vibration bracket shaft 72, and the other end of each lateral adjustment spring assembly 4 is rotatably connected to an adjustable bearing seat assembly 6.

[0044] Further, in a preferred embodiment, the frame assembly 1 also includes: a support plate 12, a first rib plate 16 and a second rib plate 18, the left and right sides of the two panels 11 are respectively connected by two support plates 12; the two second rib plates 18 are symmetrically arranged on the left and right, and the two ends of each second rib plate 18 are respectively connected to the two panels 11, and the upper end of each second rib plate 18 is connected to a first mounting plate 13, and the two first rib plates 16 are symmetrically arranged front and rear, and the two ends of each first rib plate 16 are respectively connected to the two second rib plates 18.

[0045] Further, in a preferred embodiment, the vertical spring assembly 2 comprises: a first adjusting nut, a vertical spring fixing plate 21, a vertical tension spring 22 and a vertical spring fixing end 23, the two vertical spring fixing plates 21 are symmetrically arranged at the upper and lower parts, each vertical spring fixing plate 21 is provided with at least one first assembly groove matching the vertical spring fixing end 23 on the side away from the other vertical spring fixing plate 21, and a first mounting through hole is provided at the bottom of each first assembly groove, at least one vertical tension spring 22 is provided between the two vertical spring fixing plates 21, and the upper and lower ends of each vertical tension spring 22 are respectively connected to a vertical spring fixing end 23, and one end of each vertical tension spring 22 penetrates into a first mounting through hole of a vertical spring fixing plate 21 and is clamped in the first assembly groove where the first mounting through hole is located through the vertical spring fixing end 23 located at the end; the upper and lower sides of the vertical spring fixing plate 21 located on the upper side are provided with first adjusting nuts, and the long axis is provided with external threads, and the two first adjusting nuts are both assembled on the external threads of the long axis;

[0046] The vertical spring assembly 2 further includes a load-bearing plate, which is mounted on the vertical spring fixing plate 21 located at the lower side.

[0047] Furthermore, in a preferred embodiment, the vertical spring assembly 2 also includes: a first locking screw, a plurality of vertical tension springs 22 located between the two vertical spring fixing plates 21 and arranged at equal intervals around the axis of the vertical spring fixing plate 21; a plurality of vertical spring fixing ends 23 are all hexagonal nuts, and a thread groove matching the vertical tension spring 22 is provided on the inner circumference of each hexagonal nut, and a plurality of first locking screws are installed on each vertical spring fixing plate 21, and the end of each first locking screw abuts against the outer wall of the hexagonal nut.

[0048] Further, in a preferred embodiment, the horizontal tension spring assembly 3 includes: a second adjusting nut, a second locking screw, a transverse threaded tube 31, a horizontal tension spring 32, a transverse spring fixed end 33 and a transverse end fixing block 34, one end of the horizontal tension spring 32 is connected to the transverse spring fixed end 33, the other end of the horizontal tension spring 32 is connected to the transverse end fixing block 34, a plurality of second locking screws are installed on the transverse spring fixed end 33 and the transverse end fixing block 34, the end of each second locking screw is against the horizontal tension spring 32, and the transverse threaded tube 31 is sleeved on the horizontal tension spring 32 and is arranged between the transverse spring fixed end 33 and the transverse end fixing block 34; the transverse spring fixed end 33 of each horizontal tension spring assembly 3 is connected to a third mounting plate 17, and each horizontal tension spring assembly 3 is inserted into a movable connecting plate. Two second adjusting nuts are assembled on the transverse threaded tube 31 of each horizontal tension spring assembly 3, and the two second adjusting nuts are respectively arranged on the left and right sides of the movable connecting plate. When the horizontal tension spring 32 is in a stretched state, the end of the transverse threaded tube 31 abuts against the transverse end fixing block 34.

[0049] Further, in a preferred embodiment, the adjustable bearing seat assembly 6 includes: a rotating mounting seat, a split bearing seat 61, a second bearing end cover 62 and an adjusting screw 63. The split bearing seat 61 is symmetrically provided with two second bearing mounting holes at the front and rear. Each second bearing mounting hole is installed with a second bearing end cover 62. Each corner of the bottom surface of the split bearing seat 61 is provided with a screw mounting hole for the adjusting screw 63. The rotating mounting seat and the split bearing seat 61 are rotatably connected through the two second bearings. The first mounting plate 13 is provided with a plurality of strip assembly holes parallel to the panel 11. The plurality of adjusting screws 63 are all inserted into the strip assembly holes from the bottom of the first mounting plate 13. Each split bearing seat 61 and a first mounting plate 13 are connected through a plurality of adjusting screws 63.

[0050] Further, in a preferred embodiment, the lateral adjustment tension spring assembly 4 includes: a third adjustment nut, a third locking screw, a lateral spring fixed end 41, a lateral tension spring 42, a lateral threaded tube 43, a first bearing end cover 44 and a lateral end fixing block 45, one end of the lateral tension spring 42 is connected to the lateral spring fixed end 41, the other end of the lateral tension spring 42 is connected to the lateral end fixing block 45, a plurality of third locking screws are installed on the lateral spring fixed end 41 and the lateral end fixing block 45, the end of each third locking screw is against the lateral tension spring 42, and the lateral threaded tube 43 is sleeved on the lateral tension spring 42 and is arranged at the lateral spring fixed end 41 and the lateral end fixing block 45, a first bearing mounting hole is opened on the lateral spring fixing end 41, and a first bearing end cover 44 is respectively installed at both ends of the first bearing mounting hole; the first bearing mounting hole of each lateral adjustment tension spring assembly 4 and one end of a vibration bracket small shaft 72 are rotatably connected through the first bearing, and each lateral adjustment tension spring assembly 4 is inserted into a rotating mounting seat, and two third adjusting nuts are installed on the lateral threaded tube 43 of each lateral adjustment tension spring assembly 4, and the two third adjusting nuts are respectively arranged at both ends of the rotating mounting seat, and when the lateral tension spring 42 is in a stretched state, the end of the lateral threaded tube 43 abuts against the lateral end fixing block 45.

[0051] Further, in a preferred embodiment, the slider assembly 5 includes: a lateral spring bearing seat 51, a slider mounting plate 52 and a slider 53, the lateral spring bearing seat 51 is installed on one end of the upper surface of the slider mounting plate 52, and a group of sliders 53 are installed on the lower surface of the slider mounting plate 52; a group of slide rails on each first mounting plate 13 and a group of sliders 53 of the slider assembly 5 are slidably connected, the lateral spring bearing seat 51 of each slider assembly 5 and one end of a connecting rocker member are rotatably connected through a rotating shaft, and the other end of the slider mounting plate 52 is connected to a movable connecting plate.

[0052] Further, in a preferred embodiment, the vibration support assembly 7 also includes: a vibration support 71 and a third bearing end cover 73, the vibration support 71 is installed on the vertical spring fixing plate 21 located on the lower side, the vibration support 71 and the long axis are connected through a linear bearing, and two third bearing mounting holes are respectively opened on the left and right sides of the vibration support 71, the two third bearing mounting holes on the left side are coaxially arranged, and the two third bearing mounting holes on the right side are coaxially arranged, each third bearing mounting hole is installed with a third bearing end cover 73, the two third bearing mounting holes on the left side and a vibration support small shaft 72 are rotatably connected through two third bearings, and the two third bearing mounting holes on the right side and another vibration support small shaft 72 are rotatably connected through another two third bearings.

[0053] The above are only preferred embodiments of the present invention, and are not intended to limit the implementation and protection scope of the present invention.

[0054] The present invention also has the following implementation modes based on the above:

[0055] In a further embodiment of the present invention, based on the analysis and research of the stiffness characteristics of various spring combinations, this project uses a group of negative stiffness spring combinations to counteract the vertical main springs with positive stiffness, and uses a group of small-amplitude positive stiffness spring combinations to offset part of the negative stiffness, thereby changing the stiffness characteristics of the spring system, so that the entire spring system has excellent zero stiffness characteristics, and the stiffness characteristics can be easily adjusted. At the same time, the entire spring system uses tension springs as elastic elements, which fundamentally avoids the influence of the friction between the spring and the guide rod, thereby greatly improving the actual working performance of the system.

[0056] In a further embodiment of the present invention, the full-tension spring zero-stiffness spring system involves a new positive and negative stiffness offset full-tension spring zero-stiffness spring system. Previous studies have preliminarily confirmed that it has the advantages of high load, large stroke, good zero-stiffness characteristics, easy stiffness adjustment, and no friction between the spring and the guide rod. It will have broad application prospects in weightlessness simulation, large load constant force output, and low-frequency vibration isolation.

[0057] In a further embodiment of the present invention, the full tension spring zero stiffness spring system has the following features and innovations:

[0058] 1) In the full tension spring zero stiffness spring system, all springs are tension springs to solve the problem of large friction between the spring and the guide rod in the zero stiffness spring system.

[0059] The spiral spring is not symmetrical in structure. When it is compressed, it will inevitably become unstable and stick to the guide rod, which will generate a lot of friction, making the actual working performance of the system deviate greatly from the theoretical calculation results. In the zero-stiffness spring system studied in this project, all springs are in a stretched state during operation, and the inner coil of the spring will not contact the guide rod, thus fundamentally avoiding the influence of the friction between the spring and the guide rod on the system performance.

[0060] 2) In the full tension spring zero stiffness spring system, in addition to the vertical main spring, the two connecting rods provide a changing negative stiffness through the horizontal tension spring, and then provide a slightly changing positive stiffness through the two inclined tension springs. The positive and negative stiffnesses offset each other to change the change law of the total stiffness of the system, thereby solving the problem of poor zero stiffness characteristics in the zero stiffness spring system.

[0061] The zero stiffness characteristic of the commonly used triangular zero stiffness spring system is not good. The entire zero stiffness spring system only maintains the zero stiffness characteristic near the equilibrium position. When it deviates from the equilibrium position, the total vertical stiffness of the system increases rapidly, and the actual application effect is not ideal.

[0062] In the preliminary research, a test prototype of a hinged zero-stiffness spring system was developed. On the basis of the triangular zero-stiffness spring system, two rocker rods were added as positive stiffness elements to offset part of the negative stiffness, thereby greatly improving the zero-stiffness characteristics of the system. When the structural parameters are basically the same, the stiffness of the hinged zero-stiffness spring system is reduced by dozens of times compared with the triangular zero-stiffness spring system.

[0063] In this full-tension spring zero-stiffness spring system, the idea has been changed. The vertical tension spring provides a constant positive stiffness, the two connecting rods provide a changing negative stiffness through the horizontal tension spring, and then provide a slightly changing positive stiffness through the two inclined tension springs. The vertical stiffnesses of the springs in the whole system offset each other, thereby improving the zero-stiffness characteristics of the entire zero-stiffness spring system and keeping the vertical stiffness of the entire zero-stiffness spring system within a relatively low stiffness range within a large range.

[0064] 3) In the full-tension spring zero-stiffness spring system, two inclined-tension springs are added to provide a slightly changing positive stiffness. The change law of the total stiffness of the system can be changed by changing the stretching amount and installation position of the inclined-tension spring, thereby solving the problem that the total stiffness of the zero-stiffness spring system is difficult to adjust.

[0065] In the commonly used triangular zero-stiffness spring system, the stiffness of the vertical main spring is a fixed value, and the stiffness of the lateral spring itself is also a fixed value. The stiffness of the entire zero-stiffness spring system is difficult to adjust. In the positive and negative stiffness offset full-tension spring zero-stiffness spring system involved in this project, the two connecting rods provide a variable negative stiffness through the horizontal tension spring, and then provide a slightly variable positive stiffness through the two diagonal springs. By changing the corresponding parameters such as the hinge center distance, the compression amount of the diagonal spring and the installation position of the diagonal spring, the vertical stiffness change law of the entire spring system can be easily changed, thereby adjusting the total stiffness of the zero-stiffness spring system.

[0066] In a further embodiment of the present invention, referring to Figure 1 The diagram shows the principle diagram of the positive and negative stiffness offset full tension spring zero stiffness spring system. s ——elastic force of vertical spring; F h ——elastic force of transverse spring; F c ——elastic force of lateral spring; F g ——Support force of the rocker arm on the vibration block; F——Loading force; b——Horizontal projection of the lateral spring; A——Vertical displacement of the vibration block; L h0 ——Original length of transverse spring; L h ——working length of transverse spring; k h ——Stiffness of transverse spring; L c0 ——Original length of lateral spring; L c ——working length of lateral spring; k c—— Stiffness of the lateral spring; L g —— Length of the swing rod; θ —— Angle between the swing rod and the horizontal direction; α —— Angle between the lateral spring and the horizontal direction; △L h0 —— Tensile deformation of the lateral spring.

[0067] Vertical stiffness K of the zero-stiffness spring system:

[0068]

[0069] The first term is the vertical stiffness of the two lateral springs. Because L c0 <b, this stiffness is a positive stiffness. The positive stiffness is the smallest at the equilibrium position and increases monotonically with the increase of the α angle away from the equilibrium position;

[0070] The second term is the vertical stiffness generated by the two lateral springs acting on the vibrating block through the swing rod. If △L h0 = L g , this stiffness is a constant value; if △L h0 > L g , this stiffness is a negative stiffness. The negative stiffness increases more and more with the increase of the θ angle away from the equilibrium position, and a stable zero-stiffness system cannot be formed; if △L h0 < L g , at the equilibrium position, this stiffness is the maximum negative value. Away from the equilibrium position, the stiffness increases monotonically with the increase of the θ angle and reaches zero at a certain swing angle, and then becomes a positive stiffness, and a stable zero-stiffness system can be formed.

[0071] The third term is the stiffness of the k s vertical spring, which is a constant value.

[0072] In a further embodiment of the present invention, through the above analysis, it can be seen that the vertical total stiffness of the positive and negative stiffness cancellation type full extension spring zero-stiffness spring system is the algebraic sum of the above three stiffnesses. If the parameters are selected appropriately, the stiffness of the entire system can be zero at the equilibrium position, and the zero-stiffness characteristic can also be maintained within a large vertical displacement range. The stiffness characteristic of the entire system can also be conveniently adjusted by adjusting the tensile amount and installation position of the lateral spring. In terms of performance, it should be close to the hinge zero-stiffness spring system. Because there is no helical compression spring and the friction between the spring and the guide rod, the actual use performance should be more consistent with the theoretical analysis results.

[0073] In a further embodiment of the present invention, Figure 1It is a preliminary three-dimensional model of a full-tension spring zero-stiffness spring system with positive and negative stiffness offsetting. Considering that the stiffness of the vertical spring is roughly twice that of the transverse spring, in order to avoid interference and structural symmetry, eight identical springs are used, four of which are connected in parallel as vertical springs, and four are divided into two groups as transverse springs. In addition, four springs with small stiffness are installed as adjustment springs. All springs are in a stretched state during work.

[0074] In a further embodiment of the present invention, referring to Figures 1 to 39 As shown, the full-tension spring zero-stiffness spring mechanism is realized based on the above-mentioned positive and negative stiffness offset full-tension spring zero-stiffness spring model. The vertical spring component 2 is used to simulate the vertical spring, the horizontal tension spring component 3 is used to simulate the transverse spring, the lateral adjustment tension spring component 4 is used to simulate the lateral spring, the slider component 5 is used to simulate the slider, the adjustable bearing seat component 6 is used to simulate the bearing seat, and the vibration bracket component 7 is used to simulate the vibration block; the connecting rocker member is used to simulate the rocker; because the length of the connecting rocker member does not change, under the support of the connecting rocker member, multiple horizontal tension spring components 3 are all in a stretched state, and the load-bearing plate is used to place heavy objects to provide a loading force F, so that the vertical spring component 2 is in a stretched state, and the first mounting plate 13 is provided with multiple strip assembly holes parallel to the panel 11, and multiple adjustment screws 63 are all inserted into the strip assembly holes from the bottom of the first mounting plate 13. Each split bearing seat 61 and a first mounting plate 13 are connected by a plurality of adjusting screws 63. By loosening the plurality of adjusting screws 63, the mounting position of the adjustable bearing seat assembly 6 on the first mounting plate 13 can be adjusted, thereby adjusting the horizontal projection b of the lateral spring. The upper and lower sides of the vertical spring fixing plate 21 located on the upper side are provided with first adjusting nuts, and an external thread is provided on the long axis. The two first adjusting nuts are both assembled on the external thread of the long axis. By adjusting the two first adjusting nuts, the mounting height of the vertical spring fixing plate 21 located on the upper side on the long axis can be adjusted. Two second adjusting nuts are assembled on the transverse threaded tube 31 of each horizontal tension spring assembly 3. The two second adjusting nuts are respectively arranged on the left and right sides of the movable connecting plate. By adjusting the two second adjusting nuts, the elongation of the horizontal tension spring 32 can be adjusted, thereby adjusting the elastic force F of the transverse spring. h The size of each lateral adjustment tension spring assembly 4 is equipped with two third adjustment nuts on the lateral threaded tube 43, and the two third adjustment nuts are respectively arranged at the two ends of the rotating mounting seat. By adjusting the two third adjustment nuts, the elongation of the lateral tension spring 42 can be adjusted, thereby adjusting the elastic force F of the lateral spring. cThe slider 53 is slidably mounted on the first mounting plate 13 through the slide rail, so as to adjust the elongation of the lateral tension spring 42. By adjusting the lateral adjustment tension spring assembly 4 and the adjustable bearing seat assembly 6, the angle θ between the swing arm and the horizontal direction and the angle α between the lateral spring and the horizontal direction can be adjusted. The full tension spring zero stiffness spring mechanism is symmetrically arranged on the left and right. In order to maintain the structural symmetry, the same model and the same number of springs are selected in this embodiment.

[0075] In summary, according to the previous research results, the positive and negative stiffness offset full tension spring zero stiffness spring system involved in this project is a brand-new zero stiffness spring system with excellent zero stiffness characteristics, and the stiffness characteristics can be easily adjusted according to actual needs, while solving the problem of the friction between the inner ring of the spring and the guide rod affecting the system performance. If the conclusion of this project research is correct, it will have broad application prospects in the fields of weightlessness simulation, constant force output, low-frequency vibration isolation, etc.

[0076] The above are only preferred embodiments of the present invention, and are not intended to limit the implementation methods and protection scope of the present invention. Those skilled in the art should be aware that all solutions obtained by equivalent substitutions and obvious changes made using the description and illustrations of the present invention should be included in the protection scope of the present invention.

Claims

1. A positive and negative stiffness offset full tension spring zero stiffness spring model, characterized in that: include: A vertical spring, a transverse spring, a lateral spring, a slider, a rocker arm, a vibration block and a bearing seat. The vertical spring is arranged vertically, the upper end of the vertical spring is fixedly connected, the lower end of the vertical spring is connected to the vibration block, and the vibration block can be displaced in the vertical direction; the two transverse springs are arranged horizontally and symmetrically on the left and right sides of the vertical spring, one end of each transverse spring close to the vertical spring is fixedly connected, one end of each transverse spring away from the vertical spring is connected to a slider, and the two sliders can be displaced in the horizontal direction; the two rocker arms are symmetrically arranged on the left and right sides of the vertical spring, one end of each rocker arm is hinged to a slider, and the other end of each rocker arm is hinged to the vibration block; the two lateral springs are symmetrically arranged on the left and right sides of the vertical spring, one end of each lateral spring is hinged to a bearing seat, and the other end of each lateral spring is hinged to the vibration block; the two bearing seats and the two sliders are located in the same horizontal plane; Vertical stiffness of zero stiffness spring system: Among them, F s is the elastic force of the vertical spring; F h is the elastic force of the transverse spring; F c is the elastic force of the lateral spring; F g is the support force of the pendulum to the vibration block; F is the loading force; b is the horizontal projection of the lateral spring; A is the vertical displacement of the vibration block; L h0 is the original length of the transverse spring; L h is the working length of the transverse spring; k h is the stiffness of the transverse spring; L c0 is the original length of the lateral spring; L c is the working length of the lateral spring; k c is the stiffness of the lateral spring; L g is the length of the pendulum; θ is the angle between the pendulum and the horizontal direction; α is the angle between the lateral spring and the horizontal direction; △L h0 is the tensile deformation of the transverse spring; The first item is the vertical stiffness of two lateral springs, because L c0 <b, this stiffness is a positive stiffness, which is the smallest at the equilibrium position and monotonically increases with the increase of the α angle when away from the equilibrium position; The second term is the vertical stiffness generated by the two transverse springs acting on the vibration block through the rocker; if △L h0 =L g , this stiffness is a constant value; if △L h0 >L g , this stiffness is negative stiffness. When far away from the equilibrium position, the negative stiffness increases with the increase of angle θ, and a stable zero stiffness system cannot be formed. If △L h0 <L g , this stiffness is the negative maximum value at the equilibrium position, and the stiffness increases monotonically with the increase of angle θ when it is far away from the equilibrium position, and reaches zero at a certain swing angle, and then becomes positive stiffness, which can form a stable zero stiffness system; The third term is the stiffness of the vertical spring, which is a constant value; One vertical spring, two transverse springs and two lateral springs are all in tension.

2. A full-tension spring zero-stiffness spring mechanism, which is realized based on a positive and negative stiffness offset full-tension spring zero-stiffness spring model as described in claim 1, characterized in that: include: A frame assembly (1), a vertical spring assembly (2), a horizontal tension spring assembly (3), a lateral adjustment tension spring assembly (4), a slider assembly (5), an adjustable bearing seat assembly (6) and a vibration bracket assembly (7); the vertical spring assembly (2) is used to simulate the vertical spring described in claim 1, the horizontal tension spring assembly (3) is used to simulate the transverse spring described in claim 1, the lateral adjustment tension spring assembly (4) is used to simulate the lateral spring described in claim 1, the slider assembly (5) is used to simulate the slider described in claim 1, the adjustable bearing seat assembly (6) is used to simulate the bearing seat described in claim 1, and the vibration bracket assembly (7) is used to simulate the vibration block described in claim 1; The frame assembly (1) comprises: a long axis, a panel (11), a first mounting plate (13), a top mounting plate (15), a third mounting plate (17) and a bottom mounting plate (19); the two panels (11) are arranged in parallel in front and rear; the two ends of the top mounting plate (15) are respectively connected to the top ends of the two panels (11); the two ends of the bottom mounting plate (19) are respectively connected to the middle parts of the bottom ends of the two panels (11); the top mounting plate (15) and the bottom mounting plate (19) are parallel to each other; the long axis is arranged in parallel with the top mounting plate (15); the third mounting plate (17) and the bottom mounting plate (19) are arranged in parallel with each other; The upper end of the shaft is connected to the top mounting plate (15), and the lower end of the long shaft is connected to the bottom mounting plate (19); the two first mounting plates (13) are symmetrically arranged on the left and right and are arranged between the two panels (11), and the two side edges of each first mounting plate (13) are respectively connected to the two panels (11); each first mounting plate (13) is mounted with two third mounting plates (17), and the two third mounting plates (17) located on the same first mounting plate (13) are symmetrically arranged in front and rear; The vertical spring assembly (2) is sleeved on the long axis and its upper end is mounted on the long axis. The vertical spring assembly (2) can be stretched along the long axis. The vibration bracket assembly (7) is mounted on the lower end of the vertical spring assembly (2). A rotatable vibration bracket small shaft (72) is respectively provided on the left and right sides of the vibration bracket assembly (7). A set of slide rails is mounted on each first mounting plate (13), and the slide rails are arranged between two third mounting plates (17) on the first mounting plate (13); a slider assembly (5) is slidably mounted on each set of slide rails, one end of each slider assembly (5) is rotatably connected to one end of a connecting rocker member, and the other end of the connecting rocker member is connected to a small shaft (72) of a vibration bracket; the connecting rocker member is used to simulate the rocker described in claim 1; The frame assembly (1) further comprises: a movable connecting plate, one end of each horizontal tension spring assembly (3) being connected to a third mounting plate (17), the other ends of the two horizontal tension spring assemblies (3) on the left and the other end of the slider assembly (5) on the left being connected via a movable connecting plate, and the other ends of the two horizontal tension spring assemblies (3) on the right and the other end of the slider assembly (5) on the right being connected via another movable connecting plate; Two adjustable bearing seat assemblies (6) are installed on each first mounting plate (13), and the two adjustable bearing seat assemblies (6) located on the same first mounting plate (13) are symmetrically arranged on the front and rear sides of the slide rail. One end of each lateral adjustment spring assembly (4) is rotatably connected to one end of a vibration bracket shaft (72), and the other end of each lateral adjustment spring assembly (4) is rotatably connected to an adjustable bearing seat assembly (6).

3. The full-tension spring zero-stiffness spring mechanism according to claim 2, characterized in that: The frame assembly (1) further comprises: a support plate (12), a first rib plate (16) and a second rib plate (18); the left and right sides of the two panels (11) are respectively connected via the two support plates (12); the two second rib plates (18) are symmetrically arranged on the left and right, the two ends of each second rib plate (18) are respectively connected to the two panels (11), the upper end of each second rib plate (18) is connected to a first mounting plate (13), the two first rib plates (16) are symmetrically arranged front and rear, and the two ends of each first rib plate (16) are respectively connected to the two second rib plates (18).

4. The full-tension spring zero-stiffness spring mechanism according to claim 2, characterized in that: The vertical spring assembly (2) comprises: a first adjusting nut, a vertical spring fixing plate (21), a vertical tension spring (22) and a vertical spring fixing end (23); the two vertical spring fixing plates (21) are symmetrically arranged at the top and the bottom; at least one first assembly groove matching the vertical spring fixing end (23) is provided on the side of each vertical spring fixing plate (21) facing away from the other vertical spring fixing plate (21); a first mounting through hole is provided at the bottom of each first assembly groove; at least one vertical tension spring (22) is provided between the two vertical spring fixing plates (21). Spring (22), each vertical tension spring (22) has its upper and lower ends respectively connected to a vertical spring fixing end (23), one end of each vertical tension spring (22) is inserted into a first mounting through hole of a vertical spring fixing plate (21) and is clamped in a first assembly groove where the first mounting through hole is located through the vertical spring fixing end (23) located at the end; the upper and lower sides of the vertical spring fixing plate (21) located at the upper side are both provided with first adjustment nuts, the long shaft is provided with external threads, and the two first adjustment nuts are both assembled on the external threads of the long shaft; The vertical spring assembly (2) also includes a load-bearing plate, which is mounted on the vertical spring fixing plate (21) located at the lower side.

5. The full-tension spring zero-stiffness spring mechanism according to claim 4, characterized in that: The vertical spring assembly (2) further comprises: a first locking screw; a plurality of vertical tension springs (22) located between two vertical spring fixing plates (21) and arranged at equal intervals around the axis of the vertical spring fixing plate (21); a plurality of vertical spring fixing ends (23) are all hexagonal nuts, each of the hexagonal nuts having an inner circumference provided with a thread groove matching the vertical tension spring (22); a plurality of first locking screws are mounted on each vertical spring fixing plate (21), and the end of each first locking screw abuts against the outer wall of the hexagonal nut.

6. The full-tension spring zero-stiffness spring mechanism according to claim 2, characterized in that: The horizontal tension spring assembly (3) comprises: a second adjusting nut, a second locking screw, a transverse threaded tube (31), a horizontal tension spring (32), a transverse spring fixed end (33) and a transverse end fixing block (34); one end of the horizontal tension spring (32) is connected to the transverse spring fixed end (33); the other end of the horizontal tension spring (32) is connected to the transverse end fixing block (34); a plurality of second locking screws are installed on the transverse spring fixed end (33) and the transverse end fixing block (34); the end of each second locking screw abuts against the horizontal tension spring (32); the transverse threaded tube (31) is sleeved on the horizontal tension spring (32); The horizontal tension spring (32) is arranged between the transverse spring fixed end (33) and the transverse end fixing block (34); the transverse spring fixed end (33) of each horizontal tension spring assembly (3) is connected to a third mounting plate (17), each horizontal tension spring assembly (3) is inserted into a movable connecting plate, and two second adjusting nuts are installed on the transverse threaded tube (31) of each horizontal tension spring assembly (3), and the two second adjusting nuts are respectively arranged on the left and right sides of the movable connecting plate. When the horizontal tension spring (32) is in a stretched state, the end of the transverse threaded tube (31) abuts against the transverse end fixing block (34).

7. The full-tension spring zero-stiffness spring mechanism according to claim 2, characterized in that: The adjustable bearing seat assembly (6) comprises: a rotating mounting seat, a split bearing seat (61), a second bearing end cover (62) and an adjusting screw (63); the split bearing seat (61) is provided with two second bearing mounting holes symmetrically arranged at the front and rear, each second bearing mounting hole is provided with a second bearing end cover (62); each corner of the bottom surface of the split bearing seat (61) is provided with a screw mounting hole for the adjusting screw (63); the rotating mounting seat and the split bearing seat (61) are rotatably connected via the two second bearings; the first mounting plate (13) is provided with a plurality of strip-shaped assembly holes parallel to the panel (11); the plurality of adjusting screws (63) are inserted into the strip-shaped assembly holes from the bottom of the first mounting plate (13); each split bearing seat (61) is connected to a first mounting plate (13) via a plurality of adjusting screws (63).

8. The full-tension spring zero-stiffness spring mechanism according to claim 7, characterized in that: The lateral adjustment tension spring assembly (4) comprises: a third adjustment nut, a third locking screw, a lateral spring fixed end (41), a lateral tension spring (42), a lateral threaded tube (43), a first bearing end cover (44) and a lateral end fixing block (45); one end of the lateral tension spring (42) is connected to the lateral spring fixed end (41); the other end of the lateral tension spring (42) is connected to the lateral end fixing block (45); a plurality of third locking screws are mounted on the lateral spring fixed end (41) and the lateral end fixing block (45); the end of each third locking screw abuts against the lateral tension spring (42); the lateral threaded tube (43) is sleeved on the lateral tension spring (42) and is arranged on the lateral spring fixed end (41). A first bearing mounting hole is provided on the lateral spring fixed end (41) between the lateral spring and the lateral end fixing block (45), and a first bearing end cover (44) is respectively installed at both ends of the first bearing mounting hole; the first bearing mounting hole of each lateral adjustment tension spring assembly (4) and one end of a vibration bracket small shaft (72) are rotatably connected through a first bearing, and each lateral adjustment tension spring assembly (4) is inserted into a rotating mounting seat, and two third adjustment nuts are installed on the lateral threaded tube (43) of each lateral adjustment tension spring assembly (4), and the two third adjustment nuts are respectively arranged at both ends of the rotating mounting seat, and when the lateral tension spring (42) is in a stretched state, the end of the lateral threaded tube (43) abuts against the lateral end fixing block (45).

9. The full-tension spring zero-stiffness spring mechanism according to claim 2, characterized in that: The slider assembly (5) comprises: a lateral spring bearing seat (51), a slider mounting plate (52) and a slider (53); the lateral spring bearing seat (51) is mounted on one end of the upper surface of the slider mounting plate (52); a group of sliders (53) are mounted on the lower surface of the slider mounting plate (52); a group of slide rails on each first mounting plate (13) and a group of sliders (53) of the slider assembly (5) are slidably connected; the lateral spring bearing seat (51) of each slider assembly (5) is rotatably connected to one end of a connecting rocker member via a rotating shaft; the other end of the slider mounting plate (52) is connected to a movable connecting plate.

10. The full-tension spring zero-stiffness spring mechanism according to claim 4, characterized in that: The vibration support assembly (7) further comprises: a vibration support (71) and a third bearing end cover (73); the vibration support (71) is mounted on the vertical spring fixing plate (21) located at the lower side; the vibration support (71) and the long axis are connected via a linear bearing; two third bearing mounting holes are respectively provided on the left and right sides of the vibration support (71); the two third bearing mounting holes located on the left side are coaxially arranged; the two third bearing mounting holes located on the right side are coaxially arranged; each third bearing mounting hole is equipped with a third bearing end cover (73); the two third bearing mounting holes located on the left side and a vibration support small shaft (72) are rotatably connected via two third bearings; the two third bearing mounting holes located on the right side and another vibration support small shaft (72) are rotatably connected via another two third bearings.

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