Near-zero stiffness mechanism with large bearing capacity

Abstract

The invention discloses a near-zero rigidity mechanism with large bearing capacity. The near-zero rigidity mechanism comprises a bottom plate, a plurality of mounting bases with mounting notches, a plurality of bent thin plates of arc-shaped structures and a plurality of pull-back blocks fixed to the bottom of a bearing plate. The multiple mounting bases are arranged on the bottom plate in a pairwise opposite mode, the two bent thin plates are fixedly installed on the two oppositely-arranged mounting bases through bolts, and the two bent thin plates are located on the two sides of the corresponding mounting bases correspondingly. The far ends of the two bent thin plates on the same mounting seat are fixedly connected with the suspended pull-back block through bolts; and the bending directions of the two bent thin plates on the same mounting seat are opposite. The near-zero rigidity mechanism has near-zero rigidity in the horizontal direction and has high rigidity and bearing capacity in the vertical direction.

Description

Technical Field

[0001] The present invention relates to the field of vibration isolation technology, and particularly relates to a near-zero stiffness mechanism with large load-bearing capacity. Background Art

[0002] In the fields of power equipment, semiconductor equipment, precision instruments / equipment, and buildings, etc., in order to eliminate the harm caused by vibration, active or passive vibration isolation technologies are usually used to provide protection for target components or structures. In order to achieve the attenuation and isolation of vibration in a wider frequency band, it is usually necessary to reduce the stiffness of the vibration isolation mechanism to obtain an ultra-low natural frequency, so as to obtain higher vibration isolation efficiency and provide better protection for the protected object. In addition, in the field of precision measurement, sensors such as ground noise sensors and displacement measurement sensors need to be installed on a near-zero stiffness mechanism so that weak signal input can be obtained, enabling the measurement sensor to generate a signal that can be recognized by the electrical system.

[0003] Existing horizontal low-stiffness mechanisms and near-zero stiffness mechanisms mainly include wire pendulum mechanisms, ball pendulum mechanisms, other types of pendulum mechanisms, or flexible hinges, etc. By analyzing the mechanism theory to obtain the optimal structural parameter configuration, a very small or even near-zero stiffness can be obtained. Based on the wire pendulum mechanism and ball pendulum mechanism, the main and passive vibration isolators can easily achieve a natural frequency at the sub-hertz level. There are few horizontal negative stiffness mechanisms that can be applied in engineering practice.

[0004] The main disadvantages of the existing technical solutions are as follows:

[0005] 1) The load-bearing capacity is not high. An overweight load will cause plastic deformation of the ball pendulum, and there will be safety hazards such as fracture or plastic elongation of the wire pendulum during its long service life. The load-bearing capacity of the mechanism is small, and it can only be used in the field of lighter and smaller precision instruments. The application of ball pendulum and wire pendulum mechanisms is rarely seen in heavy equipment and building fields.

[0006] 2) Complicated adjustment. The wire pendulum mechanism and ball pendulum mechanism have instability problems. If the mechanism is not adjusted properly or other situations occur, it is easy to enter an unstable state, resulting in the moving part deviating to one side and touching or rubbing against the fixed part, so that it cannot work properly or achieve low stiffness. Other types of pendulums, such as the folding pendulum based on a flexible hinge, require precise tuning of the load support position and mass to achieve low stiffness. Therefore, the mechanism can only work properly after complicated adjustment work.

[0007] Due to the above-mentioned disadvantages, near-zero stiffness or negative stiffness systems are mostly found in academic research or in the fields of precision and ultra-precision, and there are few large-scale industrial applications. Therefore, this application provides a near-zero stiffness mechanism with large load-bearing capacity to meet the requirements. Summary of the Invention

[0008] The purpose of this application is to provide a near-zero stiffness mechanism with large load-bearing capacity to solve the technical problems raised in the above background.

[0009] To achieve the above purpose, this application provides the following technical solutions: A near-zero stiffness mechanism with large load-bearing capacity includes a bottom plate, a plurality of mounting seats with mounting notches, a plurality of curved thin plates with arc structures, and a plurality of pulling-back blocks fixed to the bottom of the bearing plate;

[0010] The plurality of mounting seats are arranged in pairs on the bottom plate. Two of the curved thin plates are fixedly installed on the two relatively arranged mounting seats through bolts, and the two curved thin plates are respectively located on both sides of the corresponding mounting seat. The far ends of the two curved thin plates on the same mounting seat are fixedly connected to the suspended pulling-back block through bolts;

[0011] The bending directions of the two curved thin plates on the same mounting seat are opposite.

[0012] As a preferred implementation in this embodiment, the ratio of the length, width, thickness, and bending radius of the curved thin plate is 100:50:1:(20-30).

[0013] As a preferred implementation in this embodiment, it further includes a pulling-back mechanism for straightening the curved thin plate to facilitate the fixed connection between the far end of the curved thin plate away from the mounting seat and the pulling-back block.

[0014] As a preferred implementation in this embodiment, the pulling-back mechanism includes a plurality of I-shaped rods, a plurality of extrusion cylinders, a plurality of toothed rods, a plurality of inclined rods 9 arranged in a shape of 'eight' and fixedly installed at the lower end of the bearing plate 4, and a straight rod 10 fixedly connected to the end of the inclined rod 9;

[0015] The plurality of I-shaped rods are arranged in two rows. The two curved thin plates on a single mounting seat are located between two adjacent I-shaped rods. The plurality of toothed rods are fixedly connected to the corresponding I-shaped rods. A slider is slidably arranged at the upper end of the toothed rod, and the upper end of the slider is fixedly connected to the bearing plate;

[0016] The two U-shaped cavities of the I-shaped rod are both provided with the extrusion cylinders. Rotating joints are rotatably arranged at the upper ends of the two extrusion cylinders, and the two rotating joints are both slidably arranged on the corresponding inclined rods. The inclined rod and the corresponding straight rod are both provided with movable grooves adapted to the rotating joints, and the two movable grooves are connected end to end;

[0017] A plurality of first rotating shafts and second rotating shafts arranged in rows are provided on the bearing plate. A first driving gear and a transmission gear are arranged vertically on each of the plurality of first rotating shafts. A second driving gear and a first worm gear are arranged vertically on each of the second rotating shafts. The first driving gear is located between two correspondingly arranged toothed rods and is in tooth engagement with the two toothed rods.

[0018] A first worm is rotatably arranged on the bearing plate and is in meshing connection with the plurality of first worm gears.

[0019] As a preferred implementation manner in this embodiment, the second driving gear includes a circular ring and a plurality of driving teeth arranged in a semi-circular pattern on the outer wall of the circular ring. Among the plurality of second driving gears arranged in a row, counting from left to right, the driving teeth of the plurality of second driving gears located in odd positions have the same orientation, the driving teeth of the plurality of second driving gears located in even positions have the same orientation, and the driving teeth of the second driving gears in odd positions and the second driving gears in even positions are arranged oppositely.

[0020] As a preferred implementation manner in this embodiment, it further includes a suspended positioning mechanism for suspending and positioning the pulling-back block.

[0021] As a preferred implementation manner in this embodiment, the suspended positioning mechanism includes a second worm rotatably arranged on the bearing plate and two screws rotatably arranged at the lower end of the bearing plate. The lower ends of the two screws are threadedly connected to the threaded cavities on the corresponding positioning blocks. A limiting post is slidably arranged in the inner cavity of the positioning block, and the upper end of the limiting post is fixedly connected to the lower end of the bearing plate. A second worm gear meshing with the second worm is installed on the screw, and a positioning groove adapted to the lower end of the positioning block is arranged on the bottom plate.

[0022] In summary, the technical effects and advantages of the present invention are as follows:

[0023] 1. The structure of the present invention is reasonable. The near-zero stiffness mechanism of the present invention has near-zero stiffness in the horizontal direction and has great stiffness and load-bearing capacity in the vertical direction.

[0024] 2. In the present invention, a pulling-back mechanism is provided for straightening the bent thin plate and fitting the end thereof to the pulling-back block, facilitating the fixed connection between the end of the bent thin plate far from the mounting seat and the pulling-back block.

[0025] 3. In the present invention, the edge pressing is carried out in two steps, which is beneficial for the operator to drive the first worm to rotate and avoids the situation that the first worm cannot rotate due to excessive required force. Description of the Drawings

[0026] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those skilled in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0027] Figure 1 Schematic diagram of the overall structure of the present invention;

[0028] Figure 2 is Figure 1 Schematic diagram of the partial removal structure of the bearing plate in;

[0029] Figure 3 is Figure 2 Schematic diagram of the partial enlarged structure in;

[0030] Figure 4 is Figure 1 Schematic diagram of the upward view and partial enlarged structure in;

[0031] Figure 5 is Figure 2 Schematic diagram of the top view arrangement of the transmission gears in;

[0032] Figure 6 is Figure 1 Schematic diagram of the split structure of the bent thin plate and the pull-back block in;

[0033] Figure 7 Principle diagram of the cantilever beam under compression;

[0034] Figure 8 Principle diagram of forming a negative stiffness mechanism by bending a cantilever beam;

[0035] Figure 9 Principle diagram of a proposed near-zero stiffness mechanism;

[0036] Figure 10 Principle diagram of the near-zero stiffness mechanism applied in the horizontal direction;

[0037] Figure 11 is the topological structure of the proposed bent thin plate.

[0038] In the figure: 1, bottom plate; 2, mounting seat; 3, bent thin plate; 4, bearing plate; 5, pull-back block; 6, I-shaped rod; 7, extrusion cylinder; 8, rotary joint; 9, inclined rod; 10, straight rod; 11, rack; 12, slider; 13, first driving gear; 14, transmission gear; 15, second driving gear; 16, first worm gear; 17, first worm; 18, positioning block; 19, limit post; 20, second worm gear; 21, screw; 22, second worm. Detailed implementation manners

[0039] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0040] Embodiment: Refer to Figure 1 and Figures 6 - 11 a near-zero stiffness mechanism with large bearing capacity shown, which is characterized in that it includes a bottom plate 1, a plurality of mounting seats 2 with mounting notches, a plurality of curved thin plates 3 in an arc shape, and a plurality of pulling-back blocks 5 fixed to the bottom of a bearing plate 4;

[0041] A plurality of the mounting seats 2 are arranged in pairs on the bottom plate 1. Two of the curved thin plates 3 are fixedly installed on the two relatively arranged mounting seats 2 through bolts, and the two curved thin plates 3 are respectively located on both sides of the corresponding mounting seat 2. The far ends of the two curved thin plates 3 on the same mounting seat 2 are fixedly connected to the suspended pulling-back block 5 through bolts;

[0042] The bending directions of the two curved thin plates 3 on the same mounting seat 2 are opposite.

[0043] This technical solution uses a cantilever beam as a basic unit to illustrate the mechanism principle.

[0044] Attached Figure 7 The cantilever beam shown by the solid line in. A force F1 is applied to the end. Under the action of F1, the cantilever beam generates a downward bending deformation, as shown by the dotted line in Figure 7 If the end deformation displacement is δx, its stiffness is shown by the following formula:

[0045]

[0046] This stiffness, as a conventional stiffness, can also be used as positive stiffness after the concept of negative stiffness appears.

[0047] If the straight cantilever beam in Figure 7 is processed into a curved cantilever beam, as shown by the solid line in attached Figure 8 . Apply a suitable force F3 to the end of the cantilever beam, and the curved beam will become a straight beam. As shown by the dotted line in attached Figure 8 , it can be known that after the curved beam in the straight state is compressed and straightened, there is an internal force F2 inside it, which attempts to restore it from the straight state to the initial curved state (solid line). This can be verified by the fact that after removing the pre-pressure F2, the cantilever beam can return to the curved state (solid line). Here, it can also be known that |F2| = |F3|.

[0048] In this state, Figure 8 the stiffness of the mechanism can be expressed by the following formula. Since F2 and F3 are equal in magnitude and opposite in direction, the total stiffness can be obtained as follows:

[0049]

[0050] Since |F2| = |F3|, it can be known that k total = 0

[0051] In practical engineering applications, it is not easy to apply the pre-pressure F3. Therefore, this patent proposes a near-zero stiffness mechanism based on a symmetric structure, and its principle is as follows.

[0052] As shown in the attached Figure 9 figure, two curved beams A and C are symmetrically arranged, and the connecting part B is used. Through the tensile force, beams A and C are simultaneously made straight. The restoring forces F 2-1 and F 2-2 inside beams A and C are equal in magnitude and opposite in direction, and F 2-1 + F 2-2 = 0. Finally, the assembly composed of beam A, beam C and part B is in a theoretically zero stiffness state in the direction perpendicular to the beams.

[0053] The beams in the above principle are idealized rods. The stiffness of the mechanism in the vertical direction depends on the structure of the beams. The beams are parts with a large length-diameter ratio and their stiffness is limited. Therefore, the load-bearing capacity of the mechanism in the vertical direction is limited.

[0054] In practical applications, the slender beams are usually transformed into thin plate structures, as shown in the attached Figure 10 figure. The thin plates are arranged vertically. The mechanism has near-zero stiffness in the horizontal direction and good load-bearing capacity F1 in the vertical direction.

[0055] As shown in the attached Figure 11 figure, the curved thin plate 3 is mechanically bent to form a curved plate with a special curve. The manufacturing method can be cold working such as stamping or bending, or hot working such as rolling or tying.

[0056] This near-zero stiffness mechanism has near-zero stiffness in the horizontal direction and great stiffness and load-bearing capacity in the vertical direction.

[0057] As a preferred implementation mode in this embodiment, the ratio of the length, width, thickness and bending radius of the curved thin plate 3 is 100:50:1:(20 - 30).

[0058] The values of the length, width, thickness, and bending radius of the bent thin plate 3 within this range ensure that the bent thin plate has good flexibility in the horizontal direction, enhance the deformation ability of the bent thin plate in the horizontal direction, ensure that the bent thin plate 3 has sufficient stiffness in the vertical direction, and at the same time avoid material stress concentration due to too small a bending radius.

[0059] It should be noted that the bent thin plate is made of alloy or stainless steel material.

[0060] As a preferred implementation mode in this embodiment, it further includes a pulling-back mechanism for straightening the bent thin plate 3, facilitating the fixed connection between the end of the bent thin plate 3 far from the mounting seat 2 and the pulling-back block 5.

[0061] As a preferred implementation mode in this embodiment, as Figures 1 - 3 shown, the pulling-back mechanism includes a plurality of I-shaped rods 6, a plurality of extrusion cylinders 7, a plurality of toothed rods 11, a plurality of inclined rods 9 arranged in a V-shape and fixedly installed at the lower end of the bearing plate 4, and a straight rod 10 fixedly connected to the end of the inclined rod 9;

[0062] The plurality of I-shaped rods 6 are arranged in two rows, and the two bent thin plates 3 on a single mounting seat 2 are located between two adjacent I-shaped rods 6. The plurality of toothed rods 11 are fixedly connected to the corresponding I-shaped rods 6. A slider 12 is slidably arranged at the upper end of the toothed rod 11, and the upper end of the slider 12 is fixedly connected to the bearing plate 4;

[0063] The two U-shaped cavities of the I-shaped rod 6 are each provided with the extrusion cylinder 7. Rotating joints 8 are rotatably arranged at the upper ends of the two extrusion cylinders 7, and the two rotating joints 8 are slidably arranged on the corresponding inclined rod 9. The inclined rod 9 and the corresponding straight rod 10 are each provided with an activity groove adapted to the rotating joint 8, and the two activity grooves are connected end to end;

[0064] A plurality of first rotating shafts and second rotating shafts arranged in rows are provided on the bearing plate 4. A first driving gear 13 and a transmission gear 14 are arranged from top to bottom on each of the plurality of first rotating shafts. A second driving gear 15 and a first worm gear 16 are arranged from top to bottom on each of the second rotating shafts. The first driving gear 13 is located between the two corresponding toothed rods 11 and is in tooth engagement with the two toothed rods 11;

[0065] A first worm 17 meshingly connected with the plurality of first worm gears 16 is rotatably arranged on the bearing plate 4.

[0066] During use, a cushion block can be placed on the bottom plate 1 first, and then the bearing plate 4 can be placed on the cushion block and fixed, so that the pulling-back block 5 is suspended and located between two adjacent bent thin plates 3. During installation, the first worm 17 can be rotated, and the first driving gear 13 can be driven to rotate through the meshing connection of the first worm gear 16, the second driving gear 15 and the transmission gear 14, so that the two oppositely arranged toothed rods 11 move closer together, thereby driving the oppositely arranged extrusion cylinders 7 to move along the movable grooves on the inclined rod 9 and the straight rod 10. At the beginning, due to the action of the inclined rod 9, the outer wall of the extrusion cylinder 7 quickly contacts the bent thin plate 3 and forms extrusion, and then moves along a straight line (to bend and adjust the bent thin plate 3), and finally the bent end of the bent thin plate 3 is closely attached to the installation end face of the pulling-back block 5 (finally making the bent thin plate 3 straight), so that the side ends of all the bent thin plates 3 are closely attached to the corresponding installation ends of the pulling-back blocks 5. At this time, the end of the bent thin plate 3 can be installed and fixed to the corresponding pulling-back block 5 with bolts, which is convenient for the installation of the equipment.

[0067] It should be noted that: First, the extrusion cylinder 7 is connected to the inclined rod 9 through an adapter joint 8, which can make the extrusion cylinder 7 form rolling extrusion with the bent thin plate 3, avoid scratches on the bent thin plate 3, and reduce the frictional force between the extrusion cylinder 7 and the bent thin plate 3, so that it is more labor-saving for personnel to install; Second, the angle between the inclined rod 9 and the horizontal plane is controlled between 30° and 45°. If the angle is too large, it will be more laborious to move the extrusion cylinder 7. If the angle is too small, it is not conducive to the bent thin plate 3 being straight and the end being closely attached to the pulling-back block 5, and it is not conducive to the alignment of the installation holes on it and the installation holes on the pulling-back block 3.

[0068] As a preferred implementation method in this embodiment, as Figure 2 and Figure 5 shown, the second driving gear 15 includes a circular ring and a plurality of driving teeth arranged in a semicircular arrangement on the outer wall of the circular ring. Among the plurality of second driving gears 15 arranged in a row, counting from left to right, the driving teeth of the plurality of second driving gears 15 in the odd positions have the same orientation, the driving teeth of the plurality of second driving gears 15 in the even positions have the same orientation, and the driving teeth of the second driving gears 15 in the odd positions and the second driving gears 15 in the even positions are oppositely arranged.

[0069] When the first worm 17 is rotated, the second drive gears 15 at odd positions thereof are in tooth engagement with the transmission gear 14 (at this time, the second drive gears 15 at even positions are not in tooth engagement with the transmission gear 14), and drive the first rotating shafts at corresponding odd positions to rotate. Eventually, the two corresponding racks 11 move relative to each other. After the second drive gears 15 at odd positions rotate half a turn, the second drive gears 15 at even positions are in tooth engagement with the corresponding transmission gears 14 (at this time, the second drive gears 15 at odd positions are not in tooth engagement with the transmission gear 14). At this time, the first rotating shafts at corresponding even positions are driven to rotate, and eventually the two corresponding racks 11 move relative to each other. Eventually, all the extrusion cylinders 7 form a bead on the corresponding bent thin plates 2, which is convenient for subsequent bolt fixing. The bead forming is carried out in two steps (that is, the extrusion cylinder 7 is in extrusion contact with the outermost end of the bent thin plate 3, and the end of the bent thin plate 3 is extruded and attached to the pulling-back block 5, which is convenient for the subsequent installation of bolts). This is beneficial for the operator to drive the first worm 17 to rotate and avoids the inability to rotate the first worm 17 due to excessive required force.

[0070] As a preferred implementation manner in this embodiment, it further includes a suspended positioning mechanism for suspending and positioning the pulling-back block 5.

[0071] As a preferred implementation manner in this embodiment, as Figure 4 shown, the suspended positioning mechanism includes a second worm 22 rotatably arranged on the bearing plate 4 and two screws 21 rotatably arranged at the lower end of the bearing plate 4. The lower ends of the two screws 21 are both threadedly connected in the threaded cavities on the corresponding positioning blocks 18. A limiting column 19 is slidably arranged in the inner cavity of the positioning block 18, and the upper end of the limiting column 19 is fixedly connected to the lower end of the bearing plate 4. A second worm gear 20 meshingly connected with the second worm 22 is installed on the screw 21. A positioning groove adapted to the lower end of the positioning block 18 is arranged on the bottom plate 1.

[0072] At the beginning, the lower end of the positioning block 18 is rotated by rotating the second worm 22 to make the screw 21 rotate, and eventually the lower end of the positioning block 18 is located below the pulling-back block 5. The lower end of the positioning block 18 is inserted into the positioning groove. The positioning block 18 makes the pulling-back block 5 suspended between the two bent thin plates 3 and limits and fixes the bearing plate 3, which is convenient for subsequent installation. After the bent thin plate 3 and the pulling-back block 5 are fixed, the second worm 22 is rotated in the reverse direction to move the lower end of the positioning block 18 out of the positioning groove and suspend it.

[0073] It should be noted that the distance from the axis of the positioning groove to two adjacent and oppositely arranged mounting bases 2 is equal, so as to ensure that after installation and adjustment, the mounting hole positions on the pulling-back block 5 are consistent with the mounting hole positions on the bent thin plate 3.

[0074] Finally, it should be noted that the above are only preferred embodiments of the present invention and are not used to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions recorded in the foregoing embodiments or perform equivalent replacements on some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A near-zero stiffness mechanism with large load-bearing capacity, characterized in that: It comprises a bottom plate (1), a plurality of mounting seats (2) with mounting notches, a plurality of curved thin plates (3) with arc-shaped structures, and a plurality of pull-back blocks (5) fixed at the bottom of a bearing plate (4); A plurality of mounting seats (2) are arranged on the bottom plate (1) in pairs, and two of the two mounting seats (2) arranged opposite to each other are fixedly mounted with two curved thin plates (3) by means of bolts, and the two curved thin plates (3) are respectively located on two sides of the corresponding mounting seats (2), and the distal ends of the two curved thin plates (3) on the same mounting seat (2) are fixedly connected to the suspended pull-back block (5) by means of bolts; The bending directions of the two curved thin plates (3) on the same mounting seat (2) are opposite.

2. A near-zero stiffness mechanism with large load-bearing capacity according to claim 1, characterized in that: The ratio of the length, width, thickness and bending radius of the curved thin plate (3) is 100:50:1:(20-30).

3. A near-zero stiffness mechanism with large load-bearing capacity according to claim 1, characterized in that: It also comprises a pull-back mechanism for straightening the bent thin plate (3) to facilitate the fixed connection between the end of the bent thin plate (3) away from the mounting seat (2) and the pull-back block (5).

4. A near-zero stiffness mechanism with large load-bearing capacity according to claim 3, characterized in that: The pull-back mechanism comprises a plurality of I-shaped rods (6), a plurality of extruded cylinders (7), a plurality of toothed rods (11), a plurality of oblique rods (9) arranged in an eight-shaped pattern and fixedly mounted on the lower end of the bearing plate (4), and a straight rod (10) fixedly connected to the ends of the oblique rods (9); The plurality of I-shaped rods (6) are arranged in two rows, the two curved thin plates (3) on a single mounting seat (2) are located between two adjacent I-shaped rods (6), the plurality of toothed rods (11) are fixedly connected to the corresponding I-shaped rods (6), a slider (12) is slidably provided at the upper end of the toothed rod (11), and the upper end of the slider (12) is fixedly connected to the bearing plate (4); The extrusion cylinders (7) are arranged in the two U-shaped cavities of the I-shaped rod (6), the upper ends of the two extrusion cylinders (7) are rotatably provided with rotary joints (8), and the two rotary joints (8) are slidably arranged on the corresponding inclined rods (9), and the inclined rods (9) and the corresponding straight rods (10) are provided with movable grooves adapted to the rotary joints (8), and the two movable grooves are connected end to end; The carrier plate (4) is provided with a plurality of first rotating shafts and second rotating shafts arranged in a row, each of the plurality of first rotating shafts is provided with a first driving gear (13) and a transmission gear (14) from top to bottom, each of the second rotating shafts is provided with a second driving gear (15) and a first worm gear (16) from top to bottom, and the first driving gear (13) is located between two correspondingly arranged toothed rods (11) and is gear-connected with the two toothed rods (11); A first worm (17) meshingly connected with a plurality of first worm wheels (16) is rotatably arranged on the bearing plate (4).

5. A near-zero stiffness mechanism with large load-bearing capacity according to claim 4, characterized in that: The second driving gear (15) comprises a circular ring and a plurality of driving teeth arranged on the outer wall of the circular ring and arranged in a semicircle. Among the plurality of second driving gears (15) arranged in an array, from left to right, the driving teeth of the plurality of second driving gears (15) at odd positions have the same direction, and the driving teeth of the plurality of second driving gears (15) at even positions have the same direction. The driving teeth of the second driving gears (15) at odd positions are arranged opposite to the driving teeth of the second driving gears (15) at even positions.

6. A near-zero stiffness mechanism with large load-bearing capacity according to claim 1, characterized in that: It also comprises a suspended positioning mechanism, which is used to suspend the pull-back block (5) in the air and perform positioning.

7. A near-zero stiffness mechanism with large load-bearing capacity according to claim 5, characterized in that: The suspended positioning mechanism comprises a second worm (22) rotatably arranged on the bearing plate (4) and two screws (21) rotatably arranged at the lower end of the bearing plate (4), the lower ends of the two screws (21) are threadedly connected in the threaded cavity on the corresponding positioning block (18), a limiting column (19) is slidably arranged in the inner cavity of the positioning block (18), and the upper end of the limiting column (19) is fixedly connected to the lower end of the bearing plate (4), a second worm wheel (20) meshingly connected with the second worm (22) is installed on the screw (21), and a positioning groove adapted to the lower end of the positioning block (18) is provided on the base plate (1).

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