Torque self-adaptive resistor and function and control thereof
The planetary lever resistance mechanism with torque adaptive resistance device solves the problem of unstable acceleration control in existing resistance devices during the descent of heavy objects, achieving stable control of initial acceleration and improving safety. It is suitable for scenarios such as escape descent devices, electric hoists, and ship anchoring.
Patent Information
- Application Number
- CN202510451462.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-11
- Publication Date
- 2025-11-21
AI Technical Summary
Existing resistance devices cannot effectively control the initial acceleration during the descent of heavy objects, resulting in safety hazards and limited operating speed. This is especially true in scenarios such as escape descent devices, electric hoists, and ship anchoring, where the descent speed of heavy objects is too dependent on mass, posing safety hazards and energy consumption problems.
An adaptive torque resistance device is adopted, which realizes a linear proportional relationship between the resistance value and the power value through a planetary lever resistance mechanism. The resistance is automatically adjusted to control the acceleration. The special structure of the planetary lever and the friction torque of the friction ring realize the linear proportional feedback between the resistance torque and the power torque. The resistance coefficient ζ is set to adjust the initial acceleration.
It achieves stable control of the initial acceleration during the descent of heavy objects, reduces acceleration fluctuations, improves safety and operational efficiency, broadens the application range of the descent device, and reduces energy consumption.
Smart Images
Figure CN120991008A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] A torque adaptive resistance device relates to the technical field of motion speed control. In particular, for the case of heavy object descent, by weakening and stabilizing the acceleration of the heavy object, the purpose of limiting the descent speed is achieved. Specifically, a planetary lever resistance device. BACKGROUND
[0002] A resistance device is a device that provides motion resistance. Resistance devices come in many forms and can be divided into constant resistance devices and variable resistance devices according to the size of the resistance value. Constant resistance devices, such as "conical brake" on fan of hoist motor, "counterweight" on vertical elevator, "brake" on wheel, etc. There are many types of variable resistance devices, including spring (displacement) resistance device, centrifugal friction (speed) resistance device, liquid viscous flow (speed) resistance device, air pressure (displacement) resistance device, electromagnetic (speed) resistance device, etc. Torque adaptive resistance devices are still a blank. The planetary lever resistance device is a torque adaptive resistance device and also a variable resistance device.
[0003] Resistance devices have a wide range of applications in aerospace, automotive industry, mechanical engineering, military, shipping, industrial robots, logistics and freight, and people's livelihood, and have become an indispensable part in many fields. Although existing resistance devices have their own classic application scenarios, some application scenarios are still unsatisfactory. For example, in the descent process of the escape slow descent device, although the "constant resistance + speed resistance" control method is used, for objects with "excessive weight", it is easy to cause "overspeed" and fall, and there is still a problem of "too large dependence of descent speed on object weight", which limits the weight range of the slow descent device and leaves safety hazards. When the electric hoist and hoist motor (a motor that realizes lifting and lowering by reversing) are in the descending condition, the motor is in the process of "pulling the heavy object down", which acts as a resistance device; at the moment when the goods are descending, the torque of the motor will undergo a reversal from "consistent with the rotation direction" to "opposite to the rotation direction"; this change will cause a sudden impact of the steel wire rope tension and swinging oscillation of the hoist arm, which not only brings safety hazards but also affects the operation speed; electromagnetic resistance devices are also not the best application scenario. When a ship anchors, to avoid the brake failure and anchor machine damage caused by the excessive speed of the gravity pulling the anchor, the anchor machine always sends the chain to a height away from the water with great care; the whole process is time-consuming and power-consuming.
[0004] These scenarios all have a common problem, that is, under the action of gravity, the initial acceleration is almost equal to the free-fall acceleration 9.8 m / s 2 . Taking the escape slow descent device scenario as an example, let's analyze this initial acceleration: Assume that the mass of the person is M (Kg) and the initial resistance of the descent device is F (Kg f); then the initial acceleration of the person descending can be written as a = (M x 9.8 - F x 9.8) / M = (1 - F / M) x 9.8 … … … … … (1) Here, a conservative estimate is made by setting the initial resistance as a constant F = 15 (Kg f); from formula (1), it can be calculated that when the mass M of the person changes between 15 and 150 (Kg), the initial acceleration a will change between 0 and 8.82 m / s 2 ; the greater the mass of the person, the closer the acceleration is to the free-fall acceleration of 9.8 m / s 2 . This shows that the escape descent device cannot limit the initial acceleration to a stable value with a small amount. It should be said that the initial acceleration of the heavy object descending cannot be limited in other application scenarios. SUMMARY
[0005] The torque self-adapting resistance device is a device that can automatically adjust the resistance according to the power, and is a device that can suppress the power acceleration. The "power" referred to here refers to the force (or torque) consistent with the direction of motion, mainly referring to gravity, human power, wind power, friction, and other non-motor power. The characteristic of the self-adapting resistance device is that the resistance value and the power value form a linear proportional relationship; the resistance value can automatically follow the change of the power value to form a self-adapting feedback. In particular, for some purely gravity scenarios, the self-adapting resistance device can suppress the power acceleration to become a constant value with a small amount; In formula (1), if the resistance value of the self-adapting resistance device is set to F = ζM (ζ is the resistance coefficient, 0 < ζ ≤ 1) and substituted, the initial acceleration of the person descending can be obtained as a = (1 - ζ) x 9.8 … … … … (2) If the resistance coefficient ζ is set to 0.70-0.95 and substituted into formula (2), a constant initial acceleration a ≈ 2.9-0.5 m / s 2 can be obtained; the initial acceleration becomes a constant value much smaller than 9.8 m / s 2 , indicating that the initial acceleration of the heavy object descending can be controlled. If the resistance coefficient ζ is set to 1.0 and substituted into formula (2), a constant acceleration a = 0 m / s 2 can be obtained. It also indicates that the heavy object is in a state of force balance and can be controlled to be stationary.
[0006] The adaptive resistance mechanism is mainly implemented using a planetary lever resistance mechanism (also known as the Beidou resistance mechanism). The planetary lever resistance mechanism mainly includes a housing, a friction ring, a central shaft, a drive wheel, a support arm, and a planetary lever that can rotate around the central shaft. The friction ring is fixed inside the housing; the central shaft is mounted on the housing and coincides with the axis of the friction ring; the drive wheel is rotatably mounted on the central shaft; the support end of the support arm is rotatably mounted on the central shaft, and the fulcrum B of the planetary lever is rotatably mounted on the sliding end of the support arm; the fulcrum B on the planetary lever is not fixed, but can also float and rotate around the central shaft along with the support arm under the constraint of the support arm; the drive end A of the planetary lever is connected to the drive shaft fixed to the drive wheel through a beveled bushing, receiving the torque M transmitted by the drive wheel. d This is converted into the driving force of the planetary lever; the resistance end C on the planetary lever is tightly pressed against the friction ring fixed to the shell, generating frictional resistance against the sliding tendency, thus forming the lever resistance torque M. z Due to the unique structure of the planetary lever, the lever resistance torque M generated at the resistance end C of the planetary lever... z The dynamic torque M received at the dynamic point A d They can form a linear proportional relationship, that is, M z =ζM d This proportionality coefficient ζ is the "resistance coefficient". The construction of the planetary lever determines the value of this "resistance coefficient" ζ; when the construction sets the resistance coefficient ζ to a value between 0.70 and 0.95, it indicates that the lever's resistance torque M... z Always less than the driving torque M d The planetary lever cannot reach equilibrium due to insufficient resistance; thus, it carries the lever resistance torque M. z Together with the fulcrum B on the planetary lever, it rotates around the central axis to achieve planetary motion, causing the planetary lever to operate in a "resistance sliding" state, while still being able to transfer the driving torque M. d The acceleration is reduced by approximately ζ times, achieving the goal of curbing acceleration. When the drag coefficient is set to ζ = 1.0, that is, M z =M d This indicates that the planetary lever is in a state of force balance due to sufficient resistance, and the resistance end C of the lever will not slide relative to the friction ring, so that the planetary lever is kept in a reliable "static locking" state.
[0007] When the planetary lever is in the "resistance sliding" state, the planetary lever resistance mechanism can also be controlled by speed limiting, braking, etc. Both control measures are connected by the movable end of the support arm or the planetary support shaft. When the planetary lever is in the "static locking" state, the planetary lever resistance mechanism is in the self-locking state, and it can also be controlled by "forward driving assistance" or "reverse lifting", etc. Among them, the "reverse lifting" control measure is connected by the power wheel or the driving shaft; the "forward driving assistance" control measure is connected by the movable end of the support arm or the planetary support shaft, and the force state of the planetary lever is changed by adjusting the adjusting torque M v of the fulcrum B, and for speed limiting, braking or "forward driving assistance" control, it has the characteristics of "precise speed limiting and easy operation". BRIEF DESCRIPTION OF DRAWINGS
[0008] Figure 1 Principle diagram of the basic structure and control of the adaptive resistance device
[0009] Figure 2 Principle diagram of the planetary lever resistance mechanism 30 (right view of section I-I)
[0010] Figure 3 Structure schematic diagram of the edge-reduced bushing 35
[0011] Figure 4 Principle diagram of the double-acting planetary lever 33b (with bidirectional resistance function)
[0012] Figure 5 Structure schematic diagram of the double-acting planetary lever 33b
[0013] Figure 6 Principle diagram of the two-set planetary lever resistance mechanism 30 arranged in a circle (default control measure) (Example 1, Example 2)
[0014] Figure 7 Principle diagram of the single-set planetary lever resistance mechanism 30 arrangement (default control measure) (Example 1, Example 2)
[0015] Figure 8 Principle diagram of the speed limiting mechanism connected by the support arm or the planetary support shaft
[0016] Figure 9 Principle diagram of the speed change mechanism inserted from the power input area (Example 3)
[0017] Figure 10 Principle diagram of the braking mechanism connected by the support arm or the planetary support shaft (Example 4)
[0018] Figure 11 Principle diagram of a gravity sliding device (Example 5)
[0019] Figure 12Principle diagram of the "forward assist" measure with access via the branch or planet shaft (example 6)
[0020] Figure 13 Principle diagram of the "reverse assist" measure with access via the power wheel or drive shaft (example 6)
[0021] Figure 14 Principle diagram of the order switching measure between two different access points (example 6) DETAILED DESCRIPTION
[0022] Principle diagram of the adaptive resistance device basic structure and control, see Figure 1 ; external base body, comprising: housing 11; friction ring 12; fixedly connected with the housing 11, the inner wall of which is a cylindrical surface, and the inside is a cavity. middle core shaft 13; shaft structure, installed on the housing 11, the axis of which coincides with the center line of the friction ring 12.
[0023] internal mechanism, from left to right, divided into three areas: power input area, resistance feedback area, speed control area, etc. Power input area (part on the left of section I), including: power wheel 21 that can rotate around the middle core shaft 13. The type of the power wheel 21 can be gear, chain wheel, belt wheel, friction wheel, rope wheel, winch, half clutch, half shaft, axle, etc. The main function is to convert the input non-motorized force such as gravity, human power, wind power, friction, etc. into power moment M d , to drive the planet lever resistance mechanism 30 to operate.
[0024] Resistance feedback area (part between section I and section II), including: planet lever resistance mechanism 30, which is compared with Figure 1 and Figure 2 ; mainly including: branch 31, drive shaft 34, planet lever {one-way planet lever 33 (331, 332) or double-acting planet lever 33b (331, 332, 333)}. Branch 31; crank-like structure. Its first end is the supporting end, which is rotatably sleeved on the middle core shaft 13; its second end is the floating end, which is perpendicular to the axis of the middle core shaft 13 in the direction away from the supporting end, and the planet shaft 32 is fixed on the floating end, and the axis of the planet shaft 32 is parallel to the axis of the middle core shaft 13. Drive shaft 34; shaft structure, its first end is fixed on the side of the power wheel 21; its second end is a shaft neck, and the axis of the shaft neck is parallel to the middle core shaft 13. The shaft neck is rotatably sleeved with a chamfered bushing 35 Figure 3The two chamfered surfaces on the bushing and the slotted surface on the power end A of the planetary lever form a planar pair. The drive shaft 34 drives the power end A of the planetary lever through this planar pair. A one-way planetary lever 33 (331, 332) is formed by a power arm 331 and a resistance arm 332 fixedly connected. The power arm 331 and the resistance arm 332 form a folded rod shape, with a fulcrum B at the corner. The fulcrum B is rotatably mounted on the planetary support shaft 32, and the axis of the fulcrum B is (nearly) perpendicular to the lever plane formed by the power arm 331 and the resistance arm 332. The end of the power arm 331 away from the fulcrum B is the power end A, which has a slot and receives the driving torque M of the drive shaft 34 through a beveled bushing 35. d The end of the resistance arm 332 furthest from the fulcrum B is the resistance end C. Resistance end C is tightly pressed and rubbed against the inner cylindrical surface of the friction ring 12, generating a lever resistance torque M. z . Double-acting planetary lever 33b (331, 332, 333); it is derived from the unidirectional planetary lever 33 by adding a reverse resistance arm 333, providing bidirectional resistance in both forward and reverse directions; see simplified diagram for details. Figure 4 In this arrangement, the reverse resistance arm 333 and the resistance arm 332 are axially symmetrical about the support arm 31, and the reverse resistance point C' is the mirror image of the resistance point C, making the resistance function the same for both forward and reverse rotations. A schematic diagram of the double-acting planetary lever 33b is shown below. Figure 5 .
[0025] The special structure of the planetary lever resistance mechanism 30 results in a lever resistance torque M generated at the planetary lever resistance end C (or C'). z The driving torque M at the power point A d They form a linear proportional relationship, but in opposite directions. Figure 2 The unidirectional planetary lever 33 is illustrated as follows: Point O is the abbreviated point of the central shaft 13, line segment BO is the projection line of the support arm 31, line segment AB is the projection line of the theoretical length of the power arm 331, and line segment BC is the projection line of the theoretical length of the resistance arm 332. The power end A of the lever can rotate freely left and right around the fulcrum B; however, when the power end A rotates towards the resistance end C (clockwise in the diagram), it forces the resistance end C to press against the inner cylindrical surface of the friction ring 12, generating frictional resistance. Obviously, since the linear relationship of the dimensions of the planetary lever resistance mechanism 30 components remains constant, the frictional resistance torque M on this resistance end C... z With the driving torque M on the power end A d The resulting linear proportional relationship will not change, and the resistance torque M z With dynamic torque M dthe direction of the resistance force is always opposite. However, the fulcrum B is not fixed, but can rotate around the point O under the constraint of the line segment OB; only when the frictional resistance generated at the resistance end C is insufficient to make the planetary lever unable to reach force balance, the planetary lever will carry this resistance moment M z around the point O, the projection of the core shaft 13, to rotate. When the planetary lever rotates, the overall system structure and size remain unchanged, and the force state will not change, i.e., the linear proportional relationship between the resistance moment M z and the driving moment M d remains unchanged. Stable and load operation is achieved.
[0026] The special structure of the planetary lever resistance mechanism 30 determines the value of the resistance coefficient ζ. Figure 2 When the driving end A of the planetary lever receives the driving moment M d , a component f 34T will be decomposed in the direction perpendicular to BO at the intersection of the reverse extension of the tangent of the driving arm radius OA and BO; the support force of the support arm 31 (or the planetary support shaft 32) on the fulcrum B of the planetary lever is f 32 ; and the total resistance of the friction ring 12 on the resistance end C is f 12 . The angle between the line OC and the total resistance f 12 is the static friction angle φ of the friction pair material between the resistance end C and the friction ring 12, which is determined by the friction pair material. The angle θ between the line connecting the point C and the force point of f 34T and the line OC is called the "resistance control angle". The "resistance control angle" is an important indicator reflecting the structural characteristics of the planetary lever resistance mechanism 30. The positions of the driving end A and the resistance end C are adjusted so that the resistance control angle θ > φ; a perpendicular line AD is drawn from the force point of f 34T to the extension line of CO; and the extension line of the total resistance f 12 is drawn to intersect the line segment AD at E. In this way, if the line segment DA is regarded as the "equivalent driving force" of f 34T , then the line segment DE is the "feedback resistance" that can be generated by the total resistance f 12 . The ratio of the "feedback resistance" to the "equivalent driving force" is the resistance coefficient ζ of the planetary lever resistance mechanism 30. According to the geometric relationship, the relationship between the resistance coefficient ζ and the material static friction angle φ and the resistance control angle θ is ζ = DE / DA = tanφ / tanθ …………………………………………………(3)
[0027] In Figure 2When the resistance coefficient ζ of the planetary lever resistance mechanism 30 is set to 0.70-0.95, the relationship between the resistance control angle θ and the static friction angle φ of the friction pair is tan θ ≈ (1.43-1.05) tan φ (4) when the resistance coefficient ζ of the planetary lever resistance mechanism 30 is set to 0.70-0.95. tan θ ≈ (1.43-1.05) tan φ (4) when the resistance coefficient ζ of the planetary lever resistance mechanism 30 is set to 0.70-0.95. At this time, the planetary lever resistance mechanism 30 cannot be in equilibrium due to insufficient resistance, and is in a "resistance sliding" state. At this time, the one-way planetary lever 33 or the double-acting planetary lever 33b can operate at a relatively stable acceleration without too much dependence on the size of the driving force.
[0028] In the case of Figure 2 When the resistance coefficient ζ of the planetary lever resistance mechanism 30 is set to 1.0, the relationship between the resistance control angle θ and the friction angle φ (static φ converted to friction angle) is θ = φ (5) when the resistance coefficient ζ of the planetary lever resistance mechanism 30 is set to 1.0. θ = φ (5) when the resistance coefficient ζ of the planetary lever resistance mechanism 30 is set to 1.0. At this time, the three forces f 34T , f 32 , and f 12 meet at the same point (in fact, as long as θ is not greater than the static friction angle of the friction pair, the three forces f 34T , f 32 , and f 12 will meet at the same point); that is, the planetary lever resistance mechanism 30 is in a "static locking" state due to force balance. At this time, when the driving shaft 34 rotates clockwise, it can drive the friction ring 12 to rotate in the same direction (assuming that the friction ring 12 and the housing 11 can also rotate around the central shaft 13); when the friction ring 12 is actively overspeeding clockwise, it will be driven away from the driving shaft 34. This "one-way force transmission" function is applicable to the one-way planetary lever 33.
[0029] The radial bending moment of the single planetary lever resistance mechanism 30 acting on the central shaft 13 is large, which will affect the structural strength and reliability of the central shaft 13. In some heavy load or high reliability embodiments, two sets of planetary lever resistance mechanisms 30 are preferably provided, which are evenly distributed on the circumference of the central shaft 13. Among them, the two arms 31 are distributed at 180°, or the support ends of the two arms 31 are integrated, and the movable ends of the two arms are distributed at 180° to each other; see Figure 6 . The support forces on the two arms 31 are offset to each other, eliminating the radial bending moment on the central shaft 13.
[0030] Embodiment one: a planetary lever resistance device applied to a four-limb strength fitness training equipment. A single set of planetary lever resistance mechanism 30 (see Figure 7 ) or two sets of circumferentially distributed planetary lever resistance mechanisms 30 (see Figure 6), the double-acting planetary lever 33b is used, the resistance control angle tan θ = (1.43-1.05) tan φ is set, and the planetary lever resistance mechanism 30 is operated in the "resistance sliding" state. This device is applied to light load and low speed occasions, and no additional control measures are needed in the speed control area. The equipment using this resistance device can default the existing gravity counterweight and force adjustment device, and the force level range of the equipment is widened.
[0031] Example two: a high-power overrunning clutch. A single set of planetary lever resistance mechanism 30 (see Figure 7 ) or two sets of circumferentially distributed planetary lever resistance mechanism 30 (see Figure 6 ) is used, the one-way planetary lever 33 is used, the resistance control angle θ = φ is set, and the planetary lever resistance mechanism 30 is operated in the "static locking" state. In this device, the one-way planetary lever 33 is in a force balance state, and no additional control measures are needed in the speed control area. This overrunning clutch has a strong carrying capacity and can be directly installed on a low-speed shaft, breaking the limitation of other clutches "only applied to high-speed shafts".
[0032] The speed control area (the part to the right of section II) includes the coupling paths of various control measures and adaptive resistance devices. Among them, the speed limiting mechanism, the braking mechanism, and the "forward driving assistance" measures are connected by the movable end of the branch arm 31 or the planetary shaft 32; the "reverse lifting" measure (which can be switched to) is connected by the power wheel 21 or the driving shaft 34.
[0033] The resistance torque M z of the planetary lever resistance mechanism 30 operating in the "resistance sliding" state is always less than the driving torque M d ; therefore, the initial operation of the planetary lever resistance mechanism 30 is always in an acceleration state. In this state, it is usually necessary to set the adjustment torque M v in the speed control area for further control. In some examples, the planetary lever needs to be speed limited; then a speed limiting mechanism can be added in the speed control area. The speed limiting mechanism is preferably a centrifugal friction resistance mechanism 40; wherein the centrifugal disc 41 is connected to the movable end of the branch arm 31 or the planetary shaft 32, see Figure 8 . The adjustment torque M v generated by the centrifugal friction resistance mechanism 40 is in the opposite direction of the driving torque M d . Only when the adjustment torque M v of the speed limiting mechanism = M d -M z , the running speed of the planetary lever will not continue to accelerate. For the embodiments that need to add control measures in the speed control zone, usually need to add auxiliary matching variable speed mechanism. The preferred gear variable speed mechanism is planetary gear mechanism. Its layout can be inserted from the right of section II (not shown); but, the preferred layout is inserted before the power wheel, see Figure 9 ; here, the power wheel 21 is the center pinion in the planetary gear mechanism.
[0034] Embodiment three: a slow escape device, see Figure 9 ; using two sets of circumferentially distributed planetary lever resistance mechanisms 30, using double-acting planetary levers 33b, setting the resistance control angle tan θ = (1.43-1.05) tan φ, so that the planetary lever resistance mechanism 30 operates in the "resistance sliding" state. The speed limiting mechanism added in the speed control zone is connected by the running end of the arm 31 or the planetary shaft 32, and the auxiliary matching variable speed mechanism is inserted before the power wheel. This slow escape device, the speed limiting ability is increased by about 70-95% than the existing slow escape device, and the problem of "the drop speed is too dependent on gravity" is eliminated.
[0035] The planetary lever resistance mechanism 30 operating in the "resistance sliding" state also needs to be braked in some embodiments; then the brake mechanism can be added in the speed control zone. The preferred brake mechanism is a wheel type brake mechanism; in which, the brake wheel 51 is connected with the running end of the arm 31 or the planetary shaft 32, see Figure 10 . The additional brake force F s on the brake wheel 51 can also generate an adjusting torque M v , the direction of the adjusting torque M v is opposite to the direction of the power torque M d , so as to slow down or stop the operation of the planetary lever resistance mechanism 30.
[0036] Embodiment four: a ship anchor machine, see Figure 10 ; using two sets of circumferentially distributed planetary lever resistance mechanisms 30, using one-way planetary levers 33, setting the resistance control angle tan θ = (1.43-1.05) tan φ, so that the planetary lever resistance mechanism 30 operates in the "resistance sliding" state. The brake mechanism added in the speed control zone is connected by the running end of the arm 31 or the planetary shaft 32, and the auxiliary matching variable speed mechanism is inserted before the power wheel. This anchor machine makes the acceleration of the anchor chain drop by about 70-95%; so that the anchor machine can comfortably reduce the chain length and shorten the anchor throwing time; also can greatly improve the braking ability.
[0037] The planetary lever resistance mechanism 30 operating in the "resistance sliding" state, in some embodiments, also needs to be equipped with a speed limiting mechanism and a braking mechanism in the speed control area to achieve the safety and maneuverability of operation; wherein the centrifugal disc 41 and the braking wheel 51 are connected with the movable end of the support arm 31 or the planetary support shaft 32. At this time, the adjusting torque M v generated by the speed limiting mechanism and the braking mechanism is opposite to the direction of the driving torque M d ; only when the combined adjusting torque M v >M d -M z , the operating speed of the planetary lever resistance mechanism 30 can be reduced until the braking is stationary. Embodiment five: a gravity slider, see Figure 11 ; two sets of planetary lever resistance mechanisms 30 with circumferentially distributed planets are used, double-acting planetary levers 33b are applied, the resistance control angle tanθ=(1.43-1.05)tanφ is set, so that the planetary lever resistance mechanism 30 operates in the "resistance sliding" state. The speed limiting mechanism and the braking mechanism equipped in the speed control area are connected with the movable end of the support arm 31 or the planetary support shaft 32, and the auxiliary matching speed change mechanism is inserted before the driving wheel. This slider has a speed limiting capacity increased by about 70-95% compared with the existing slow descending device, and has the characteristics of precise speed limiting and easy control.
[0038] The one-way planetary lever 33 operating in the "static locking" state has a resistance torque M z equal to the driving torque M d . This condition usually does not need speed limiting, but needs another additional adjusting torque M v . In some embodiments, if it is intended to release the "static locking" of the one-way planetary lever 33 and maintain the driving torque M d to the one-way planetary lever 33; "forward driving assistance" measures can be added in the speed control area. In the "forward driving assistance" control, the left end of the braking wheel 51 is connected with the movable end of the support arm 31 or the planetary support shaft 32, see Figure 12 ; the right end of the braking wheel 51 is connected with a small power motor (not shown). The additional adjusting torque M v applied by the small power motor is the same as the direction of the driving torque M d , achieving the effect of "easy driving assistance".
[0039] In some embodiments, it is also necessary to "reverse lift" the one-way planetary lever 33; "reverse lifting" measures can be added in the speed control area. In the "reverse lifting" control, the left end of the braking wheel 51 is connected with the driving wheel 21 or the driving shaft 34, see Figure 13 ; the right end of the braking wheel 51 is connected with a large power motor (not shown). The additional adjusting torque M v applied by the large power motor is opposite to the direction of the driving torque M dThe direction of the opposite, to achieve reverse lifting.
[0040] Embodiment six: an electric hoist or hoist motor device, a cargo lifting anti-slip device, a self-locking joint of an industrial robot (mechanical arm). Two sets of circumferentially distributed planetary lever resistance mechanisms 30 are adopted, one-way planetary levers 33 are applied, resistance control angle θ = φ is set, so that the planetary lever resistance mechanism 30 operates in the "static locking" state; and in the speed control area, "forward driving assistance" and "reverse lifting" control measures are simultaneously added; the auxiliary matching speed change mechanism is also inserted before the power wheel. In the "forward driving assistance" control, the right end of the brake wheel 51 is connected with a small power motor (not shown), and the left end of the brake wheel 51 is connected with the movable end of the support arm 31 or the planetary support shaft 32; in the "reverse lifting" control, the right end of the brake wheel 51 is connected with a large power motor (not shown), and the left end of the brake wheel 51 is connected with the power wheel 21 or the driving shaft 34. The control device structure of the "forward driving assistance" measure and the "reverse lifting" measure is the same, except that the access points of the control measures are different; if in the occasion of sharing one motor (such as the self-locking joint of the mechanical arm), an order switching measure between two different access points can also be set on the control wheel 51 (see Figure 14 ), to realize the free switching connection of the control measures between the two access points. This device has the characteristics of anti-slip, vibration reduction, accurate positioning, easy operation, etc.
Claims
1. A torque self-adapting resistance device and its function and control, comprising: a housing; a friction ring fixed in the housing; a middle shaft installed on the housing, the axis of which coincides with the axis of the friction ring; a power wheel rotatably sleeved on the middle shaft; a planetary lever resistance mechanism capable of performing circumferential operation around the middle shaft; Its characteristic is that when a driving torque M is applied to the driving wheel... d When the effort point A is transmitted to the planetary lever, a lever resistance torque M will be generated at the resistance point C (C′) of the planetary lever. z The resulting lever resistance torque M z Able to determine the dynamic torque M d The size is automatically adjusted to maintain the same level as the torque M. d The linear proportional relationship is formed; and by preset this proportional value, or by applying an external force to the fulcrum B or the power point A, the operating state of the resistance device can be adjusted, which has the characteristics of "easy control and precise speed limiting".
2. The planetary lever resistance mechanism according to claim 1, comprising: a support arm; wherein, the first end is a support end rotatably sleeved on the middle shaft, and the second end is a floating end, the direction of which away from the support end is perpendicular to the axis of the middle shaft, and a planetary shaft is suspended on the floating end, the axis of which is parallel to the axis of the middle shaft; a driving shaft; wherein, the first end is suspended on the side of the power wheel, and the second end is a shaft journal, the axis of which is parallel to the middle shaft; a one-way planetary lever or a double-acting planetary lever; wherein, the one-way planetary lever or the double-acting planetary lever is provided with a power point A, a fulcrum point B, a resistance point C (or and) a reverse resistance point C', wherein the axis of the fulcrum point B is perpendicular to the lever plane formed by the three points A, B and C (close to), and the fulcrum point B is hinged on the planetary shaft of the floating end of the support arm and can perform planetary rotation around the middle shaft; the resistance point C (or and) the reverse resistance point C' are in contact with the inner cylindrical surface of the friction ring; the power point A is indirectly connected with the driving shaft and receives the circumferential drive of the power wheel; The planetary lever resistance mechanism is characterized in that the associated range of the resistance control angle θ and the resistance end friction angle φ is tan θ = (1.43-1.0) tan φ.
3. The planetary lever resistance mechanism according to claim 2, in some preferred embodiments, two sets of planetary lever resistance mechanisms are provided, which are evenly distributed on the circumference of the middle shaft; wherein, The two support arms are distributed at 180°, or the support ends of the two support arms are integrated, and the floating ends of the two support arms are distributed at 180° to each other; characterized in that the support forces on the support arms collide with each other to eliminate the radial bending moment on the middle shaft.
4. The torque self-adapting resistance device according to claim 1, claim 2 or claim 3, in its function and control, when speed limiting, braking or "forward driving assistance" control of the planetary lever resistance mechanism is needed, the relevant control measures are arranged to be connected by the floating end of the support arm or the planetary shaft; when "reverse lifting" control of the planetary lever resistance mechanism is needed, the "reverse lifting" control measures are arranged to be connected by the power wheel or the driving shaft.
5. A planetary lever resistance device in a four-limb strength (fitness) training equipment: a single set or two sets of circumferentially distributed planetary lever resistance mechanisms are used, a double-acting planetary lever is applied, the resistance control angle tan θ = (1.43-1.05) tan φ is set, and the planetary lever resistance mechanism operates in a "resistance sliding" state.
6. A high-power overrunning clutch: a single set or two sets of circumferentially distributed planetary lever resistance mechanisms are used, a one-way planetary lever is applied, the resistance control angle θ = φ is set, and the planetary lever resistance mechanism operates in a "static locking" state.
7. A kind of escape slow descent device: with two sets of circumferentially distributed planetary lever resistance mechanism, using double-acting planetary lever, set resistance control angle tan θ =(1.43~1.05) tan φ, make planetary lever resistance mechanism run in " resistance sliding ” state;In the speed control area, the speed limiting mechanism of additional allocation is connected by the movable end of the arm or the planetary support shaft, and the auxiliary matching speed change mechanism is inserted before the power wheel.
8. A kind of ship anchor machine: with two sets of circumferentially distributed planetary lever resistance mechanism, using one-way planetary lever, set resistance control angle tan θ =(1.43~1.05) tan φ, make planetary lever resistance mechanism run in " resistance sliding ” state;In the speed control area, the brake mechanism of additional allocation is connected by the movable end of the arm or the planetary support shaft, and the auxiliary matching speed change mechanism is inserted before the power wheel.
9. A kind of gravity sliding device: with two sets of circumferentially distributed planetary lever resistance mechanism, using double-acting planetary lever, set resistance control angle tan θ =(1.43~1.05) tan φ, make planetary lever resistance mechanism run in " resistance sliding ” state;In the speed control area, the speed limiting mechanism and the brake mechanism of additional allocation are connected with the movable end of the arm or the planetary support shaft;Auxiliary matching speed change mechanism is inserted before the power wheel.
10. A motorized hoist or lifting motor device, a cargo lifting anti-slip device, a self-locking joint of an industrial robot (robotic arm): adopt two sets of circumferentially distributed planetary lever resistance mechanisms, apply one-way planetary levers, set resistance control angle θ = φ, make the planetary lever resistance mechanism run in the "static locking" state; and simultaneously add "forward driving assistance" and "reverse lifting" control measures in the speed control area; the auxiliary matching speed change mechanism is also inserted before the power wheel; wherein, In " forward drive ” control, the right end of the brake wheel is connected with the low-power motor, and the left end of the brake wheel is connected with the movable end of the arm or the planetary support shaft;In " reverse lifting ” control, the right end of the brake wheel is connected with the high-power motor, and the left end of the brake wheel is connected with the power wheel or the drive shaft;If in the occasion of sharing an electric motor (such as self-locking joint of mechanical arm), order switching measures between two different access points can also be set on the control wheel to realize free switching connection of control measures between two access points.