Linear motion mechanism with force control

Abstract

The invention discloses a linear motion mechanism with force control. The linear motion mechanism with force control comprises an output adapter, a tension and pressure sensor, a telescopic rod, a mounting flange, a sensor adjusting screw, a sensor, a ball screw, a shell, a cylindrical gear, a speed reducer, a motor, an input shaft, a brake, an encoder, a bevel gear, a hand-cranking assembly, a pointer assembly, a driver, a cable aviation plug and an anti-rotation sliding block. The tension and pressure sensor is located at one end of the telescopic rod; the output adapter is located at one end of the tension and pressure sensor; the telescopic rod is located on the outer side of the ball screw; the anti-rotation sliding block is located on the outer side of the telescopic rod; and the cylindrical gear is located at the other end of the ball screw. According to the linear motion mechanism with force control provided by the invention, force feedback is increased, the push-pull force of the linear motion mechanism can be read in real time, and then the torque of the motor is adjusted in real time to meet the control requirement, so that better use prospects are brought.

Description

technical field [0001] The invention relates to the field of motion mechanisms, in particular to a linear motion mechanism with force control. Background technique [0002] The linear motion mechanism is a mechanism that makes a certain point on the component move accurately or approximately linearly. In the late 17th century, before humans could create precise sliders and guide grooves, a mechanical design idea appeared. , the combination of connecting rods and hinges completes the functions of linear guide grooves and sliders, so that a certain point on the component can move accurately or approximately in a straight line. Since there is no difficulty in processing high-precision sliders and guide grooves, there are not many such mechanisms. See, it is only used in instruments and some machinery, but this design idea has an important inspiration for modern bionic mechanical design. Linear motion mechanisms are divided into two types: approximate linear motion and accurate ...

AI Technical Summary

Problems solved by technology

[0002] The linear motion mechanism is a mechanism that makes a certain point on the component move accurately or approximately linearly. In the late 17th century, before humans could create precise sliders and guide grooves, a mechanical design idea appeared. , the combination of connecting rods and hinges completes the functions of linear guide grooves and sliders, so that a certain point on the component can move accurately or approximately in a straight line. Since there is no difficulty in processing high-precision sliders and guide grooves, there are not many such mechanisms. See, it is only used in instruments and some machinery, but this design idea has an important inspiration for modern bionic mechanical design. Linear motion mechanisms are divided into two types: approximate linear motion and accurate linear motion. They have Their respective characteristics are used in different occasions. There are two main design ideas of precise linear motion mechanism: one is to use the inversion transformation in geometry to invert the arc path at the end of the connecting rod into a straight line, and use mechanical inversion The actuator can complete this function; the other is to limit the path to the intersection of two planes through two non-parallel connecting rod structures, and the approximate linear motion mechanism uses multiple rods to achieve a degree of freedom of 1 Adjust the length of the bar so that the motion track of a point contains an approximately straight line segment. Its motion characteristics are: 1. Simple structure, easy manufacture, reliable work, long transmission distance, large transmission load, and can realize emergency 2. Compact structure, reliable operation, easy adjustment, can obtain any law of motion, but the dynamic load is large, the transmission efficiency Low, 3. The transmission is stable and noiseless, and the reduction ratio is large; rotation and linear movement can be realized, the transmission is stable and noiseless, and interchangeable; the sliding screw can be made into a self-locking screw mechanism; the working speed is generally very low, only suitable for small power Transmission, 4. The allowable range of load and speed is large, the transmission ratio is constant, the outer dimension is small, the work is reliable, and the efficiency is high; the manufacturing and installation precision requirements are high, and the transmission noise is large when the precision is low, and there is no overload protection; The toothed cylindrical gear mechanism moves smoothly and has a strong load-bearing capacity, but it will generate axial force during transmission. Thrust bearings or angular contact bearings must be installed when in use. 5. The distance between the shafts is large, the work is stable and noise-free, and it can buffer and absorb vibrations. Friction-type belt transmission has overload protection function; simple structure, low installation requirements, and large external dimensions; friction-type belt transmission has elastic sliding and cannot be used in indexing systems; friction is easy to electrify, and is not suitable for inflammable and explosive Occasions; the shaft and bearing are stressed, and the service life of the transmission belt is short

[0003] There are certain disadvantages in the use of existing linear motion mechanisms. Most of the existing linear motion mechanisms do not have force feedback, so it is impossible to know the actual output force. In the case of power failure, it is impossible to use manual operations well. It is not conducive to people's use and has brought certain adverse effects on people's use process. Therefore, we propose a linear motion mechanism with force control

Images