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Adjustable constant force mechanism

A technology for regulating mechanism and force, applied in the direction of control/regulation system, mechanical pressure/force control, instrument, etc., can solve the problems of high processing accuracy, poor interchangeability, high processing accuracy requirements, etc., to reduce friction loss, The effect of improving the service life and avoiding the reduction of precision

Pending Publication Date: 2021-12-17
CHONGQING UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Although the output constant force can be changed by adjusting the pre-compression of the linear spring, after the cam mechanism of the device is finished, it needs to be matched with a linear spring with a specified stiffness, and the interchangeability is poor. etc. require high machining accuracy; the cam profile is complex and requires high machining accuracy, which is not easy to process; there is friction and wear between the cam and the two horizontal moving components, and the accuracy and service life are low

Method used

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Effect test

Embodiment 1

[0038] Such as Figure 1-8 As shown, the present embodiment provides one, including a casing 1, an output shaft 2, an annular stator 3, an annular mover 4 and a positive stiffness mechanism 5, the annular stator 3 is sleeved in the casing 1 and is fixedly connected with the casing 1, and the annular movable The sub 4 is sleeved in the annular stator 3 and has a gap with the annular stator 3. The output shaft 2 is fixedly connected with the annular mover 4 and the positive stiffness mechanism 5. The output shaft 2 is arranged inside the casing 1 and is connected with the casing 1 in rotation. The output The shaft 2 can move along the axis direction of the output shaft 2, and the annular mover 4 can provide the first force F for the output shaft 2 under the action of the magnetic field in the inner cavity of the annular stator 3 a , the positive stiffness mechanism 5 can provide the second force F for the output shaft 2 b , the first force F a with the second force F b direct...

Embodiment 2

[0080] Such as Figure 1-12 As shown, in this embodiment, the annular stator 3 is the third coil 302, the annular mover 4 is the first permanent magnet 402, the magnetization direction of the first permanent magnet 402 is parallel to the axial direction of the output shaft 2, and the third coil 302 The direction of the magnetic field at the center is opposite to the magnetization direction of the first permanent magnet 402 after the current is applied. Such as Figure 9-11 As shown, the first permanent magnet 402 is axially magnetized and the direction is downward, and the current direction of the third coil 302 is counterclockwise (looking down at the first coil 301 from top to bottom). According to the ampere current model, the first permanent magnet 402 Equivalent to radius r m The first annular permanent magnet 10 and the radius R m The second annular permanent magnet 11, the first annular permanent magnet 10 is opposite to the magnetization direction of the first perma...

Embodiment 3

[0089] Such as Figure 1-13 As shown, in this embodiment, the annular stator 3 is the second permanent magnet 303, the annular mover 4 is the third permanent magnet 403, and the magnetic field directions of the second permanent magnet 303 and the third permanent magnet 403 are parallel to the direction of the output shaft 2. In the axial direction, the magnetic field directions of the second permanent magnet 303 and the third permanent magnet 403 are the same. The analysis method of the electromagnetic force that the third permanent magnet 403 receives in the magnetic field of the second permanent magnet 303 is the same as that in Embodiment 2. Within a certain range where the third permanent magnet 403 deviates from the midplane 9 of the second permanent magnet 303, the electromagnetic force that the third permanent magnet 403 receives in the magnetic field of the second permanent magnet 303 is the same as the displacement direction and is linear. Such as Figure 13 shown, ...

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Abstract

The invention discloses an adjustable constant force mechanism, and relates to the technical field of constant force control. The adjustable constant force mechanism comprises a shell, an output shaft, an annular stator, an annular rotor and a positive stiffness mechanism. The annular stator is sleeved with the shell and is fixedly connected with the shell. The annular rotor is sleeved with the annular stator, and a gap is reserved between the annular rotor and the annular stator. The output shaft is fixedly connected with the annular rotor and the positive stiffness mechanism, the output shaft is arranged in the shell and rotationally connected with the shell, the output shaft can move in the axis direction of the output shaft, and the annular rotor can provide first acting force for the output shaft under the action of a magnetic field in an inner cavity of the annular stator. The positive stiffness mechanism can provide second acting force for the output shaft. The first acting force and the second acting force are opposite in direction and collinear, and the variation of the first acting force along with the displacement of the output shaft is the same as the variation of the second acting force along with the displacement of the output shaft. The structure is simple, the requirement for machining precision is low, machining is convenient, friction loss is small, and the service life is prolonged.

Description

technical field [0001] The invention relates to the technical field of constant force control, in particular to an adjustable constant force mechanism. Background technique [0002] The constant force mechanism can provide almost constant output force within a certain displacement range. For the situation where the displacement input is uncertain and the reaction force must be kept constant, the constant force mechanism is particularly important, such as contour detection, mechanical clamping and robot end effectors Wait. At present, the main methods of obtaining constant force are: active constant force system based on feedback control and passive constant force mechanism. The active constant force system based on feedback control can realize precise control of force, but the system has complex structure, large volume and high cost. . [0003] Existing passive constant force mechanisms are mainly constant torsion springs rolled from spring steel or constant force mechanis...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D15/01
CPCG05D15/01H02K41/0356
Inventor 蒲华燕陈旭赵晶雷罗均景艳
Owner CHONGQING UNIV
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