162 results about "Adjustable stiffness" patented technology

The present invention discloses a novel combined vibration damping device with adjustable stiffness and damping, which relates to the technical field of vibration damping; it includes a magneto-resistive stress negative stiffness spring located inside the housing and a piezoelectric friction assembly located inside the bearing seat; a central shaft is connected between the two, and a metal helical spring is sleeved outside the central shaft. The bottom of the metal helical spring is connected to a spring base located at the top of the housing, and the top of the metal helical spring is connected to the bottom of the bearing seat; the central shaft is fixedly connected to the top inside the housing through a metal cross leaf spring. The magneto-resistive stress negative stiffness spring and the metal cross leaf spring can be connected in parallel to achieve the adjustment of quasi-zero stiffness, and the piezoelectric friction assembly can achieve the adjustment of damping; a load platform is fixedly arranged at the top of the bearing seat. The present invention has non-linear frequency-varying characteristics of high static stiffness - low dynamic stiffness, large low-frequency damping - small high-frequency damping, and can well solve the contradiction between the bearing capacity and the vibration damping frequency band, as well as the contradiction between high-frequency and low-frequency vibration attenuation, and achieve high-performance vibration damping.

The invention relates to the technical field of constructional engineering equipment, in particular to a rigidity and energy dissipation adjustable composite energy dissipation bearing device which comprises a first connecting plate, a second connecting plate, a first damping part and a second damping part. The first damping piece is arranged on the first connecting plate on the column body in a friction sliding mode, and the second damping piece is connected between the beam body and the first damping piece in an included angle mode, so that the flexural rigidity of the beam-column joint can be effectively improved under the action of frequent earthquakes, and the initial rigidity and lateral displacement resistance of the structure are enhanced; the rigid response performance of the structure under the action of small earthquakes is improved; the second damping piece can adjust the energy dissipation path through the change of the included angle between the length direction of the second damping piece and the axis of the column body in the earthquake action process, the friction sliding mechanism of the first damping piece is matched, the energy dissipation capacity of the joint under the earthquake action is effectively improved, and therefore structural stress concentration is reduced, and structural damage is delayed. The structure is light in weight, convenient to install and wide in application range.

The invention discloses an elastic ring type squeeze oil film damper with adjustable rigidity and damping based on memory alloy, belongs to the technical field of vibration control of rotary machinery, and aims to solve the problems that a traditional damper is fixed in structural parameter and poor in adaptability, and the rigidity and damping cannot be adjusted according to the running state, the elastic ring type squeeze oil film damper comprises an outer ring, an inner ring, an oil supply shell and a mouse cage, a memory alloy ring is arranged between the outer ring and the inner ring, a first oil film is formed between the inner ring and the mouse cage, a second oil film is formed between the inner ring and the memory alloy ring, a third oil film is formed between the memory alloy ring and the outer ring, a fourth oil film is formed between the outer ring and the oil supply shell, and a heating structure is arranged on the memory alloy ring. And the temperature of the memory alloy ring is controlled through the heating structure, so that the rigidity of the memory alloy ring and the oil film forms of the second oil film and the third oil film are changed. The damping device is mainly used as a damping device of high-speed rotating equipment which needs to accurately control vibration and rigidity.

The invention discloses a rigidity-adjustable soft manipulator and a grabbing control method thereof, and belongs to the technical field of soft robots. The manipulator comprises an action execution assembly composed of a plurality of fingers arranged in the circumferential direction, and the action execution assembly is controlled by a driving mechanism to achieve multi-mode movement. Each finger comprises a sawtooth-shaped framework and at least two driving lines penetrating through the interior of the sawtooth-shaped framework in the length direction. The skeleton is integrally formed by adopting a flexible material, and the inner side and the outer side of the skeleton are provided with hole channels for the driving wire to pass through; the tensioning or loosening of the driving wire is controlled through the driving mechanism, so that the length or the bending degree of the finger skeleton is changed, and the stretching and the rigidity dynamic adjustment of the finger are further realized. The problems that an existing soft manipulator is single in function, and the rigidity and the load capacity are contradictory are solved.

The invention relates to a rigidity-adjustable flexible continuum mechanical arm, a rigidity adjusting device and a rigidity adjusting method.The technical problem of how to improve the load capacity of the flexible continuum mechanical arm is solved, the rigidity-adjustable flexible continuum mechanical arm comprises a supporting base, a spiral body, a first driving rod, a second driving rod, a third driving rod and three sets of hole channels, each group of hole channels is composed of a plurality of clamping devices fixedly connected to the periphery of the spiral body, the first driving rod penetrates through each clamping device of the first group of hole channels, the second driving rod penetrates through each clamping device of the second group of hole channels, and the third driving rod penetrates through each clamping device of the third group of hole channels. The method can be applied to the technical field of solar wing in-orbit auxiliary unlocking.

The invention provides a hardness-adjustable spring structure which comprises a spring, an adjusting part and a wrapping part, the wrapping part is used for packaging the spring, and the adjusting part is used for adjusting the pre-tightening force of the spring; the adjusting piece is arranged at one end of the spring and extrudes the end of the spring; the adjusting piece comprises a rotating piece, a moving piece and a supporting piece, the moving piece is movably installed on the supporting piece, and the rotating piece is in linkage connection with the supporting piece; the rotating piece is rotated to drive the supporting piece to rotate, and the moving piece moves up and down along the supporting piece under the rotation of the supporting piece and extrudes the spring; the spring structure solves the problems that according to an existing spring structure, the pre-tightening force of a spring cannot be adjusted at will, the hardness cannot be adjusted during use, and the function is single.

The invention discloses a rigidity-adjustable fuel filling butt-joint locking mechanism which comprises a support, a filling connecting shaft and four locking mechanisms, the four locking mechanisms are fixed to the four side walls of the support respectively, and the filling connecting shaft is perpendicularly inserted into the support and located in the middles of the four locking mechanisms. The locking mechanism comprises a stepping motor, a worm, a worm gear, an elastic clamping mechanism and a four-bar mechanism, the stepping motor is connected with the worm, the worm and the worm gear are in meshing transmission, the elastic clamping mechanism comprises a base, a spring and a locking head, the four-bar mechanism is connected with the worm gear, an electromagnet is arranged on the base, a magnet is arranged in the locking head, and the spring is connected with the locking head. An annular groove is formed in the middle of the filling connecting shaft, and the radian of the front end of the locking head is the same as that of the annular groove. According to the butt-joint locking mechanism for fuel filling, when fuel conveying is conducted on different satellites, the fuel conveying mechanism can be locked and released, the butt-joint position can be adjusted and corrected, and the clamping phenomenon in the butt-joint process is prevented.

The invention discloses a rigidity-adjustable underground structure beam column replaceable joint and an installation method, and belongs to the technical field of reinforced concrete structures. An I-shaped steel beam and disc spring energy dissipation components are arranged on a concrete column, and the disc spring energy dissipation components are arranged on the two sides of the I-shaped steel beam; the I-shaped steel beam and the disc spring energy dissipation component are connected with the arc-shaped steel plates on the two sides, the arc-shaped steel plates are connected with the connecting steel plate through the multiple prefabricated energy dissipation rods and assemblies thereof, and the connecting steel plate is arranged on the side, facing the concrete column, of the concrete beam. The disc spring energy dissipation component rotates relative to the concrete column, the threaded steel sleeve slides up and down in the arc-shaped groove of the arc-shaped steel plate to generate relative angular displacement to extrude or stretch the disc spring to achieve energy dissipation and shock absorption, the adjusting range is large, and damage is not prone to occurring; axial rigidity is provided through the concrete beam and the I-shaped steel beam, and axial tension and compression energy dissipation is provided through the prefabricated energy dissipation rods and assemblies thereof. Rotation energy consumption and horizontal energy consumption are connected and are independent of each other, and when the beam columns rotate relatively, horizontal energy consumption assemblies cannot be damaged.

The present invention discloses a working method of a steel pipe stacking, bundling and conveying device with adjustable stiffness and damping, comprising: a ground rail, a conveying mechanism, a coding mechanism and a bundling mechanism; the ground rail is installed on a ground foundation through anchor bolts; the conveying mechanism is installed in a longitudinal track groove of the ground rail; the coding mechanism is installed on the ground foundation through anchor bolts; the bundling mechanism is installed in a transverse track groove of the ground rail; the coding mechanism stacks the steel pipes in a blanking chute of the conveying mechanism, and then the bundling mechanism moves left to a working position, and the conveying mechanism moves forward and backward to respectively send the two ends of the stacked steel pipes into two front and rear bundling machines for bundling; after bundling is completed, the bundling mechanism moves right to reset, and the conveying mechanism advances in the track groove of the ground rail to transport the bundled steel pipes to a designated position.

The application discloses a kind of active and passive adjustable stiffness heave compensation systems based on underwater electro-hydraulic actuator, including motion sensing control system, passive compensation hydraulic module, electro-hydraulic actuator active compensation hydraulic module, electro-hydraulic actuator rigidity module, sensor module.The application absorbs and releases energy by passive compensation hydraulic module under low frequency / large heave, maintains stable load, and the residual displacement after passive chain compensation is corrected in real time by electro-hydraulic actuator active compensation hydraulic module, and the compensation stiffness is set before operation or gap by electro-hydraulic actuator rigidity module, so that the system can obtain better dynamic performance and energy efficiency under different sea conditions.

This invention provides an electromagnetic quasi-zero stiffness vibration isolation device with adjustable stiffness. It utilizes an electromagnetic coil to provide variable nonlinear negative stiffness, achieving quasi-zero stiffness characteristics. The invention includes a lower housing of a support, a lower end cover, a lower coil, a lower annular permanent magnet, a top block, an upper coil, an upper housing of the support, an upper end cover, a guide rod, an upper outer spring, an upper housing of the permanent magnet, an upper inner spring, an upper permanent magnet, an intermediate permanent magnet, a lower housing of the permanent magnet, a lower inner spring, and a lower outer spring. The permanent magnet and the electromagnetic coil provide variable nonlinear negative stiffness, achieving variable quasi-zero stiffness characteristics. This invention is particularly suitable for applications requiring isolation of wide-frequency excitations, including low-frequency ones.

The invention belongs to the field of offshore new energy and space structure engineering, and particularly discloses a rigidity-adjustable tension integral floating type photovoltaic system based on air bag type pressure regulation and a control method, the photovoltaic system comprises a tension bearing structure, and the tension bearing structure comprises a plurality of hinge rod assemblies and cable components connected with the hinge rod assemblies; the floating body is arranged at the bottom of the tension bearing structure; the photovoltaic module suspension unit is matched with the tension bearing structure and is used for bearing a photovoltaic module; the air bag type constant-tension assembly is connected with the cable component and comprises an air bag, and the tension level of the cable component can be changed by adjusting the internal pressure of the air bag, so that the equivalent stiffness of the hinge rod assembly is adjusted. According to the invention, the equivalent stiffness of the whole structure can be adjusted, so that the adaptability of the floating photovoltaic structure to the marine environment load and the structural safety are improved.

The invention discloses a driving device of a bionic variable-rigidity flexible mechanical arm, the flexible mechanical arm is formed by connecting a plurality of flexible joints with multi-degree-of-freedom bending in series end to end, and the driving device is used for controlling each flexible joint to act. The driving device comprises a first driving sub-module, a second driving sub-module, a third driving sub-module and a closed-loop control system, and the first driving sub-module is connected with the flexible air bag of each flexible joint and works cooperatively with the flexible air bag of each flexible joint so as to achieve flexible adjustment of each flexible joint; the second sub-driving module and the third sub-driving module are used for regulating and controlling the deformation rigidity of the flexible mechanical arm, and the second sub-driving module is a piezoelectric driving module based on voltage regulation and control. By integrating novel rigidity-adjustable materials such as the shape memory alloy and the piezoelectric material, the rigidity of the flexible mechanical arm can be adjusted in real time according to different working environments and task requirements, and the adaptability of the mechanical arm in variable environments is enhanced.

The invention discloses an adhesion gripper for robust grabbing and dynamic capturing of a three-dimensional object, which comprises a buckle pipe and a buckle disc, and the buckle pipe is clamped with the buckle disc and can move along the buckle disc; one end of the buckle pipe is rotatably connected with the ball socket structure, the ball socket structure comprises a hinge block and a connecting block which are connected with each other, the hinge block is rotatably connected with the buckle pipe, and the connecting block is connected with an elastic adhesive film which provides gripping force during gripping. And the hinging block is spherical and is matched with the buckling pipe in a clamping manner. And the connecting block is T-shaped. The gripper obtained by the invention has the characteristics of shape adaptability, energy absorption, reusability and adjustable rigidity; the gripper has excellent adaptability to various three-dimensional and dynamic objects, and the adhesive force of the gripper on a curved surface is higher than that of an existing adhesive gripper; due to the shape adaptability and the energy absorption characteristic, moving objects can be captured, objects higher in speed can also be captured compared with an existing gripper, and a thought is provided for processing complex curved surfaces and moving objects.

The utility model discloses a vibration isolator with adjustable rigidity, which relates to the field of vibration isolators and comprises a main support column, an outer mounting ring is horizontally welded on the outer side edge of the main support column, fixing through holes are uniformly formed in the top surface of the outer mounting ring, and a discharge side groove is horizontally formed in the outer side edge of the main support column. A placing channel is vertically formed in the top end of the main supporting column, a sealing cover plate is fixedly connected to the inner side edge of the placing channel through a horizontal bolt, a rotating top block is clamped to the top end of the main supporting column, a penetrating channel is horizontally formed in the outer side edge of the main supporting column, and a rotating disc is horizontally clamped to the inner side edge of the penetrating channel. Clamping through grooves are symmetrically formed in the top face of the rotating disc, main shock insulation pads are horizontally connected to the inner side edges of the clamping through grooves in a clamped mode, a modular replacement structure is adopted, so that the device is more convenient to adjust and replace, and meanwhile, the existing replacement and connection requirements are met through rotating type replacement operation.

The utility model discloses a sole with adjustable rigidity, which comprises an outsole and a midsole which are sequentially arranged from top to bottom, the outsole and the midsole are bonded together, the upper end of the midsole is provided with an embedding groove, an insole is embedded in the embedding groove, the bottom of the insole is bonded with a rigid support plate, and the rigid support plate is connected with the outsole and the midsole. The insole is provided with an embedded groove, the rigid supporting plate is arranged between the embedded groove and the insole, the Shore hardness C of the insole ranges from 38 degrees to 45 degrees, the thickness of the insole ranges from 10 mm to 30 mm, the thickness of the rigid supporting plate ranges from 0.6 mm to 1.5 mm, the Shore hardness C of the insole ranges from 38 degrees to 45 degrees, and the thickness of the insole ranges from 10 mm to 20 mm. The depth of the embedded groove is equal to the sum of the thickness of the insole and the thickness of the rigid supporting plate, and the shape and the size of the embedded groove are matched with the shape and the size of the insole respectively. According to the shoe sole with the adjustable rigidity and the shoe, the overall longitudinal rigidity of the shoe sole is adjusted to adapt to different crowds and exercise types, so that the shoe sole has better cushioning performance and exercise performance.

The invention discloses an intelligent regulation and control optimization method for the rigidity of a spring set matched with a sample and a related device, and relates to the technical field of geotechnical engineering test.The method comprises the steps that a designed rigidity-adjustable spring assembly and the target rigidity of a to-be-loaded sample are obtained; the rigidity-adjustable spring assembly comprises a main spring and an auxiliary spring. The auxiliary springs are uniformly distributed at intervals by taking the main spring as the center; and determining rigidity values and effective turns of a main spring and an auxiliary spring in the rigidity-adjustable spring assembly according to the target rigidity. According to the application, the stiffness values and the number of effective turns of the main spring and the auxiliary spring in the stiffness-adjustable spring assembly can be intelligently adapted according to the target stiffness, so that the stiffness-adjustable spring assembly adapted to the to-be-loaded sample is obtained, and a constant stiffness boundary which is the same as the actual stiffness of the to-be-loaded sample is provided when the assembly applies pressure to the to-be-loaded sample; and the real environment of the sample can be simulated more truly.

The application belongs to the technical field of mechanical transmission devices, and discloses a robot polishing and grinding terminal three-degree-of-freedom series-parallel hybrid electromagnetic variable stiffness actuator, which is a series-parallel hybrid variable stiffness structure, a single-degree-of-freedom electromagnetic direct-drive variable stiffness module, a two-degree-of-freedom parallel electromagnetic direct-drive variable stiffness module, and a carefully designed structural member and peripheral sensor system. The application realizes three-degree-of-freedom stiffness independent adjustment and driving force decoupling control. Through the series-parallel hybrid variable stiffness structure design, the Z-direction unit and the X-Y plane parallel system are separated in the structure level, and through the parallel configuration of the electromagnetic spring unit and the voice coil direct-drive motor unit, the equivalent stiffness adjustment and the active driving force output in each direction are independent of each other, so that the stiffness coupling problem in the traditional parallel mechanism is avoided, and the continuous adjustable stiffness and high-precision force control output in the three-degree-of-freedom directions are realized.

An integrated, graded, adjustable stiffness variable-diameter anchor cable system and method belongs to the field of mining and underground engineering support technology. The system comprises a hollow anchor cable body consisting of a first equal-diameter section, a variable-diameter section, a second equal-diameter section, and an exposed tensioning section, arranged from left to right. The diameter of the variable-diameter section gradually decreases from the large-diameter end to the small-diameter end in a continuous manner, with its large and small-diameter ends coaxially connected to the first and second equal-diameter sections, respectively. A grout outlet is provided on the right side of the variable-diameter section. A grout stop plug is fitted onto the left end of the second equal-diameter section. A sliding tray is fitted onto the outside of the exposed tensioning section. A locking device is fitted onto the outside of the exposed tensioning section and located on the right side of the tray. Resin anchoring agent is bonded to the outside of the first equal-diameter section. The method includes: drilling and anchoring; anchor cable installation and initial pre-tightening; surrounding rock deformation monitoring and stiffness requirement decision-making; controllable grouting based on stiffness adaptation; and stable support based on graded stiffness. This invention enables graded adjustment of support stiffness according to the stage of surrounding rock deformation.

The invention discloses a hydraulic suspension control method and control system with stepless, rapid and real-time adjustable rigidity, the suspension system receives vehicle information in real time and adjusts the rigidity of a suspension according to the received information, including adjusting the rigidity of the suspension according to the received vehicle roll / pitch angle information or roll / pitch angular velocity information or vertical acceleration information, and adjusting the rigidity of the suspension according to the received vehicle roll / pitch angle information or roll / pitch angular velocity information or vertical acceleration information. According to the received information and the action areas of the rodless cavity and the rod cavity of the shock absorber, the pressure variation required by the rod cavity and the rodless cavity of the shock absorber and the target pressure value of the required rigidity are solved; according to the target pressure value and the pressure variation, the oil pressure of the rod cavity and the oil pressure of the rodless cavity are rapidly adjusted to the target value by controlling the power of a control motor of the oil way and / or the opening degree of a valve, and the rigidity of the suspension is rapidly adjusted to the required rigidity value. According to the method, the oil supply pressure in the shock absorber is adjusted in real time according to the target value and the actual value of the pressure of the shock absorber, so that the pressure value in the shock absorber reaches the required value, and the real-time rapid stepless adjustment of the rigidity is realized.

The application discloses an adhering robot capable of stable and compliant landing, comprising a fuselage, a plurality of three-degree-of-freedom single legs arranged on the bottom side of the fuselage, an adhering foot sole arranged at the end of the three-degree-of-freedom single leg, and a single leg sub-controller, a main controller and a power battery arranged on the fuselage respectively, the three-degree-of-freedom single leg corresponding to the adhering foot sole and the single leg sub-controller one by one; the power battery is electrically connected with the three-degree-of-freedom single leg, the adhering foot sole, the single leg sub-controller and the main controller respectively; the single leg sub-controller is communicatively connected with the main controller and the corresponding three-degree-of-freedom single leg respectively; the single leg sub-controller makes the three-degree-of-freedom single leg and the adhering foot sole move according to the instruction of the main controller, so as to realize the walking and buffer landing of the robot. The adhering foot sole is used as a primary buffer mechanism, and the three-degree-of-freedom single leg is used as a secondary buffer mechanism with adjustable stiffness and damping, the adhering foot sole and the three-degree-of-freedom single leg jointly work to improve the success rate and stability of the robot and the target spacecraft adhesion, and effectively reduce the disturbance to the target spacecraft.

This invention discloses a horizontal vibration isolation device with adjustable stiffness, comprising: a base plate; a middle plate, which is horizontally positioned above the base plate and forms a first vibration isolation layer with the base plate; an upper plate, which is horizontally positioned above the middle plate and forms a second vibration isolation layer with the middle plate; sliding tracks, a first set of sliding tracks symmetrically arranged on the left and right sides of the first vibration isolation layer, the upper and lower ends of the first set of sliding tracks being connected to the middle plate and the base plate respectively, a second set of sliding tracks symmetrically arranged on the front and rear sides of the second vibration isolation layer, the upper and lower ends of the second set of sliding tracks being fixedly connected to the upper plate and the middle plate respectively; spring fixing members, two sets of spring fixing members symmetrically arranged on the left and right sides of the upper surface of the base plate, and two sets of spring fixing members symmetrically arranged on the front and rear sides of the upper surface of the middle plate; and two spring connecting members, one of which is fixed to the middle plate and the other is fixed to the upper plate, with a supporting spring connecting each spring connecting member to each spring fixing member.

The present invention belongs to the field of rail transit technology and proposes an anti-snaking shock absorber with adjustable stiffness and damping and a control method thereof. The main scheme is: first, detecting the displacement signal of the anti-snaking shock absorber; second, processing the displacement signal to obtain the frequency domain characteristics of the shock absorber's vibration displacement and the time domain characteristics of the shock absorber's displacement; then, judging the type of snaking motion of the vehicle and whether it passes through a curve based on the processing results; finally, adjusting the opening of the electromagnetic proportional valve to change the opening of the variable inertia channel based on the judgment result, thereby changing the stiffness of the hydraulic rubber node to adjust the stiffness of the anti-snaking shock absorber, and adjusting the valve opening pressure of the corresponding inverse proportional relief valve based on the judgment result to adjust the damping of the anti-snaking shock absorber. The present invention can simultaneously take into account the operating conditions of the vehicle experiencing primary snaking, secondary snaking instability, and passing through a curve, and can separately adjust the stiffness and damping of the anti-snaking shock absorber under the above operating conditions.

The utility model relates to a rigidity-adjustable composite air spring, which belongs to the technical field of air springs, and comprises a sealing ring, a sealing bearing, an anti-collision rubber pad, an upper electrified coil, a support piston rod, a cylinder barrel, an annular permanent magnet, a locking nut, a lower electrified coil and a membrane type air spring, and the annular permanent magnet is mounted at the support piston rod through the locking nut. According to the air spring, the characteristic that the rigidity of the electromagnetic spring can be changed to be positive and negative is utilized, so that the total rigidity of the air spring which is connected in parallel is reduced to be nearly zero under low frequency and small displacement, the effect of filtering low frequency vibration is achieved, the total rigidity is further improved under large displacement, the effect of improving the bearing capacity is achieved, and the service life of the air spring is prolonged. And compared with an existing electromagnetic composite air spring, the movable magnet does not penetrate through the interior of the static magnet, it is guaranteed that the size of the movable magnet can be as large as possible, and therefore the rigidity of the electromagnetic spring has a larger adjusting range.

This invention discloses a single-degree-of-freedom composite-driven adjustable stiffness micro-motion platform, relating to the field of precision motion platform technology. It can achieve real-time stiffness adjustment while ensuring precise micro-motion. The specific solution is as follows: A single-degree-of-freedom composite-driven adjustable stiffness micro-motion platform includes a flexible micro-motion platform with a stage at its center. A composite parallel guide flexible component is provided on the first opposite side of the stage. A piezoelectric ceramic actuator is installed on one side of the second opposite side of the stage. A normal stress electromagnetic adjustable stiffness actuator is installed on the second opposite side of the stage and is positioned opposite to the piezoelectric ceramic actuator. It includes a T-shaped stator core, with an excitation coil on the winding square column in the middle of the T-shaped stator core. L-shaped stator cores are provided on both sides of the excitation coil. The first end of the L-shaped stator core is connected to the T-shaped stator core, and an air gap is provided between the second end and the armature. The normal stress electromagnetic adjustable stiffness actuator is connected to the flexible micro-motion platform through the armature. External leads are connected to the excitation coil to adjust the stiffness.

This invention belongs to the field of intelligent actuators and flexible actuators, and relates to a segmented shape memory alloy driven actuator with adjustable stiffness and its control method. The actuator includes a flexible shell, an isolation element, a shape memory alloy driving element, and a phase change stiffness control material. The isolation element divides the flexible shell into multiple axially arranged cavity structures. The phase change stiffness control material fills each cavity, and the phase change temperatures are not completely identical. Each temperature parameter and driving force satisfies a preset matching relationship. The control method involves controlling the heating temperature of the shape memory alloy driving element to sequentially unlock the equivalent stiffness of the cavities through phase changes of the phase change stiffness control material. This allows for multi-segment controllable equivalent stiffness adjustment under a single driving source. The actuator of this invention has a simple structure and programmable response, making it suitable for soft robots, deformable support structures, and intelligent execution systems.

The application relates to a stiffness-adjustable and transformable helical spring suspension, and relates to the technical field of vehicle machinery, which comprises two suspension devices arranged on the two sides of a vehicle body and connected with wheel shafts on the two sides of the vehicle body and a connecting mechanism for connecting the two suspension devices, wherein each suspension device comprises a rotating rod, a mounting frame, a pull rod, a buffer sleeve, a buffer spring and a fixing assembly. The mounting frame is driven to move by the wheel shaft of the vehicle body, the rotating rod and the pull rod are driven to move by the movement of the mounting frame, the damping sheet is driven to move by the movement of the pull rod, the buffer spring is extruded by the movement of the damping sheet, and the impact force generated by the movement of the wheel shaft is damped and buffered by the buffer spring.

A multi-tooth mechanical metamaterial with adjustable stiffness, and its preparation method and application. The present invention belongs to the field of mechanical metamaterials. In order to overcome the shortcomings of existing fixed stiffness structures. The metamaterial unit cell of the present invention is assembled from an inner and outer barrel. The variable stiffness shell is the main load-bearing structure of the inner and outer barrels. In order to facilitate the assembly between the unit cells, a first limiting ring, a second limiting ring and a limiting block are designed on the inner and outer barrels respectively. The function of the first limiting ring and the second limiting ring is to "clamp" when adjacent unit cells are connected to prevent different unit cells from detaching. The limiting block plays the role of transferring the load between adjacent unit cells. By making the inner and outer barrels of the unit cell rotate relative to each other, the fan-shaped teeth of different sizes are brought into contact with each other, thereby realizing the stiffness adjustment of the metamaterial. The multi-tooth mechanical metamaterial proposed by the present invention can be used in the joint transmission of flexible robots, adaptive adjustment of mechanical arms and the manufacture of aircraft landing gear.