Constant-force pushing device

Abstract

The utility model relates to a constant force pushing device which comprises a balance weight piece and multiple stages of hydraulic or pneumatic systems which are sequentially arranged, the multiple stages of hydraulic or pneumatic systems at least comprise a bearing hydraulic or pneumatic system and a constant force output hydraulic or pneumatic system, and the second end of a piston rod of the bearing hydraulic or pneumatic system is connected with the balance weight piece. Piston rods of the bearing hydraulic or pneumatic systems extend in the gravity direction of the balance weight piece, and a cylinder body of one stage of hydraulic or pneumatic system is communicated with a cylinder body of the other adjacent stage of hydraulic or pneumatic system through a fluid medium pipeline. Or the second end of the piston rod of one stage of hydraulic or pneumatic system is connected with the second end of the piston rod of the other adjacent stage of hydraulic or pneumatic system. And the second end of the piston rod of the constant-force output hydraulic or pneumatic system outputs constant force.

Description

Technical Field

[0001] The utility model relates to the technical field of constant force pushing devices, in particular to a constant force pushing device. Background Technique

[0002] In the current technical field, constant force pushing devices play a crucial role, especially in application scenarios with strict requirements for precise force control. Traditional constant force pushing devices mostly rely on complex electronic control systems or elastic mechanical structures, which not only increase the cost and maintenance difficulty of the system, but also may affect its long-term stability and reliability due to factors such as unstable power supply and mechanical wear. Especially in fields such as medical equipment and precision manufacturing, any force fluctuation may lead to operation failure or unqualified products. Therefore, the market's demand for reliable, economical and efficient constant force solutions is increasing day by day.

[0003] In view of the deficiencies in the prior art, such as high energy consumption of the electric drive system, limited response speed, and high complexity and inconvenient adjustment of the pure mechanical structure, the industry has been exploring more efficient and simple alternative solutions. Although there have been attempts in the market to utilize natural forces (such as spring forces), these designs often have limitations in the force adjustment range and continuous output capacity, and are difficult to meet the requirements of diverse application scenarios. Summary of the Utility Model

[0004] Based on this, it is necessary to provide an efficient, reliable, flexible and environmentally friendly constant force pushing device.

[0005] A constant force pushing device includes a counterweight and a multi-stage hydraulic or pneumatic system arranged in sequence. The multi-stage hydraulic or pneumatic system at least includes a load-bearing hydraulic or pneumatic system and a constant force output hydraulic or pneumatic system. The load-bearing hydraulic or pneumatic system is the first-stage hydraulic or pneumatic system, and the constant force output hydraulic or pneumatic system is the last-stage hydraulic or pneumatic system;

[0006] Each stage of the hydraulic or pneumatic system includes a cylinder block and a piston rod. The first end of the piston rod is disposed within the cylinder block, and the second end of the piston rod is disposed outside the cylinder block. The piston rod can axially expand and contract relative to the cylinder block along the axis of the hydraulic or pneumatic system. The second end of the piston rod of the load-bearing hydraulic or pneumatic system is connected to the counterweight. The piston rod of the load-bearing hydraulic or pneumatic system extends along the direction of gravity of the counterweight. The cylinder block of one stage of the hydraulic or pneumatic system is connected and communicated with the cylinder block of an adjacent other stage of the hydraulic or pneumatic system through a fluid medium pipeline, or the second end of the piston rod of one stage of the hydraulic or pneumatic system is connected to the second end of the piston rod of an adjacent other stage of the hydraulic or pneumatic system. By the constant gravity output by the counterweight and combined with the mechanical principle of the fluid medium of the hydraulic or pneumatic system, the second end of the piston rod of the constant force output hydraulic or pneumatic system outputs a constant force.

[0007] In one embodiment, the multi-stage hydraulic or pneumatic system further includes at least one stage of constant force adjustment hydraulic or pneumatic system disposed between the load-bearing hydraulic or pneumatic system and the constant force output hydraulic or pneumatic system.

[0008] In one embodiment, the constant force adjustment hydraulic or pneumatic system includes two stages. The cylinder block of the load-bearing hydraulic or pneumatic system is connected and communicated with the cylinder block of the first stage of the constant force adjustment hydraulic or pneumatic system through a fluid medium pipeline. The second end of the piston rod of the first stage of the constant force adjustment hydraulic or pneumatic system is connected to the second end of the piston rod of the second stage of the constant force adjustment hydraulic or pneumatic system. The cylinder block of the second stage of the constant force adjustment hydraulic or pneumatic system is connected and communicated with the cylinder block of the constant force output hydraulic or pneumatic system through a fluid medium pipeline;

[0009] The inner diameter of the cylinder block of the first stage of the constant force adjustment hydraulic or pneumatic system is greater than the inner diameter of the cylinder block of the load-bearing hydraulic or pneumatic system. The inner diameter of the cylinder block of the first stage of the constant force adjustment hydraulic or pneumatic system is greater than the inner diameter of the cylinder block of the second stage of the constant force adjustment hydraulic or pneumatic system. The inner diameter of the cylinder block of the constant force output hydraulic or pneumatic system is greater than the inner diameter of the cylinder block of the second stage of the constant force adjustment hydraulic or pneumatic system;

[0010] The extending direction of the piston rod of each stage of the constant force adjustment hydraulic or pneumatic system and the constant force output hydraulic or pneumatic system is perpendicular to the extending direction of the piston rod of the load-bearing hydraulic or pneumatic system.

[0011] In one embodiment, by changing the inner diameter of the cylinder block of different stages of the hydraulic or pneumatic system and / or the relative position between the piston rods of different stages of the hydraulic or pneumatic system, the magnitude and / or direction of the constant force output by the second end of the piston rod of the constant force output hydraulic or pneumatic system can be adjusted.

[0012] In one embodiment, when the inner diameters of the cylinder bodies of each stage of the hydraulic or pneumatic system are equal, by changing the relative positions between the piston rods of different stages of the hydraulic or pneumatic system, the constant force output by the second end of the piston rod of the constant force output hydraulic or pneumatic system remains unchanged in magnitude and adjustable in direction.

[0013] In one embodiment, the piston rod has a T-shaped structure. The piston rod includes a plug body and a rod body. The plug body is disposed inside the cylinder body and divides the interior of the cylinder body into two chambers. One end of the rod body is disposed outside the cylinder body, and the other end of the rod body extends into one of the chambers and is connected to the plug body.

[0014] In one embodiment, when the chamber of the cylinder body of the constant force output hydraulic or pneumatic system where the rod body is not provided is filled with a fluid medium, a constant thrust is output at the second end of the constant force output hydraulic or pneumatic system;

[0015] When the chamber of the cylinder body of the constant force output hydraulic or pneumatic system where the rod body is provided is filled with the fluid medium, a constant tensile force is output at the second end of the constant force output hydraulic or pneumatic system.

[0016] In one embodiment, the constant force pushing device further includes a medium capacity adjustment cylinder, and the medium capacity adjustment cylinder is connected to the fluid medium pipeline.

[0017] In one embodiment, the constant force pushing device further includes a pressure gauge, and the pressure gauge is connected to the fluid medium pipeline.

[0018] In one embodiment, the constant force pushing device further includes a fluid medium inlet and outlet pipe, and the fluid medium inlet and outlet pipe is connected to the fluid medium pipeline. The fluid medium inlet and outlet pipe is used for inputting or outputting the fluid medium to or from the fluid medium pipeline.

[0019] The constant force pushing device provided by the present application smoothly and efficiently converts and transmits the driving force generated by the gravity of the counterweight through a carefully designed hydraulic or pneumatic system to the execution end, so that a constant force is output at the second end of the piston rod of the constant force output hydraulic or pneumatic system. This constant force pushing device has at least the following advantages:

[0020] 1) Improving reliability and reducing costs: By adopting a pure mechanical structure, reducing the dependence on electronic components, reducing failure rates and maintenance costs, and at the same time improving the reliability of the overall system;

[0021] 2) Utilizing natural energy: Innovatively using gravity as the driving force, without the need for an external power source, realizing green and sustainable utilization of energy, and enhancing the adaptability of the device in various environments;

[0022] 3) Enhance stability and control precision: Ensure the continuity and accuracy of constant force output and improve control precision through the smooth transmission of liquid or gas media.

[0023] 4) Compact structure and flexibility: Compact design for easy installation in narrow spaces, while providing a wide range of force value adjustment capabilities to meet the specific needs of different application scenarios.

[0024] 5) Wide application potential: Specifically targeting industries with high requirements for force control such as medical, packaging, or laboratories, providing a simple and efficient solution to promote technological innovation and development in related fields and meet the market's urgent demand for high-performance and low-cost force control equipment. Brief Description of the Drawings

[0025] Figure 1 Schematic structural diagram of the constant force pushing device provided by the embodiment of the present utility model;

[0026] Figure 2 Another schematic structural diagram of the constant force pushing device provided by the embodiment of the present utility model;

[0027] Figure 3 Another schematic structural diagram of the constant force pushing device provided by the embodiment of the present utility model. Detailed Description of the Embodiment

[0028] To facilitate the understanding of the present utility model, the present utility model will be described more comprehensively below with reference to the relevant drawings. The preferred embodiments of the present utility model are shown in the drawings. However, the present utility model can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, these embodiments are provided to make the understanding of the disclosure of the present utility model more thorough and comprehensive.

[0029] It should be noted that when an element is referred to as being "fixed to" another element, it can be directly on the other element or there may also be an intermediate element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intermediate element at the same time.

[0030] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which the present utility model belongs. The terms used in the description of the present utility model herein are only for the purpose of describing specific embodiments and are not intended to limit the present utility model.

[0031] As Figures 1 to 3As shown in the figure, the present application provides a constant-force pushing device, which includes a counterweight 100 and a multi-stage hydraulic or pneumatic system 200 arranged in sequence. The multi-stage hydraulic or pneumatic system 200 includes at least a load-bearing hydraulic or pneumatic system 201 and a constant-force output hydraulic or pneumatic system 202. The load-bearing hydraulic or pneumatic system 201 is the first-stage hydraulic or pneumatic system 200, and the constant-force output hydraulic or pneumatic system 202 is the last-stage hydraulic or pneumatic system 200;

[0032] Each stage of the hydraulic or pneumatic system 200 includes a cylinder block 210 and a piston rod 220. The first end of the piston rod 220 is arranged inside the cylinder block 210, and the second end of the piston rod 220 is arranged outside the cylinder block 210. The piston rod 220 can telescopically move relative to the cylinder block 210 along the axial direction of the hydraulic or pneumatic system 200. The second end of the piston rod 220 of the load-bearing hydraulic or pneumatic system 201 is connected to the counterweight 100, and the piston rod 220 of the load-bearing hydraulic or pneumatic system 201 extends along the direction of the gravity of the counterweight 100. The cylinder block 210 of one stage of the hydraulic or pneumatic system 200 is connected and communicated with the cylinder block 210 of the adjacent other stage of the hydraulic or pneumatic system 200 through a fluid medium pipeline 300, or the second end of the piston rod 220 of one stage of the hydraulic or pneumatic system 200 is connected to the second end of the piston rod 220 of the adjacent other stage of the hydraulic or pneumatic system 200. By the constant gravity output by the counterweight 100 and combined with the mechanical principle of the fluid medium of the hydraulic or pneumatic system 200, the second end of the piston rod 220 of the constant-force output hydraulic or pneumatic system 202 outputs a constant force.

[0033] For the constant-force pushing device provided by the present application, the driving force generated by the gravity of the counterweight 100 is smoothly and efficiently converted and transmitted to the execution end through the carefully designed hydraulic or pneumatic system 200, so that the second end of the piston rod 220 of the constant-force output hydraulic or pneumatic system 202 outputs a constant force. This constant-force pushing device has at least the following advantages:

[0034] 1) Improve reliability and reduce costs: By adopting a pure mechanical structure, reduce the dependence on electronic components, reduce failure rates and maintenance costs, and at the same time improve the reliability of the overall system;

[0035] 2) Utilize natural energy: Innovatively use gravity as the driving force, without an external power supply, realize the green and sustainable utilization of energy, and enhance the adaptability of the device in various environments;

[0036] 3) Enhance stability and control accuracy: Through the smooth transmission of liquid or gas media, ensure the continuity and accuracy of constant-force output, and improve control accuracy;

[0037] 4) Compact structure and flexibility: The design is compact, which is convenient for installation in a narrow space. At the same time, it provides a wide range of force value adjustment capabilities to meet the specific needs of different application scenarios.

[0038] 5) Wide application potential: Specifically for industries with high requirements for force control such as medical, packaging, or laboratories, it provides a simple and efficient solution, promotes technological innovation and development in related fields, and meets the urgent market demand for high-performance and low-cost force control equipment.

[0039] Specifically, the counterweight 100 can be, but is not limited to, a heavy weight. When the hydraulic or pneumatic system 200 is specifically a hydraulic system, the fluid medium corresponds to a liquid. When the hydraulic or pneumatic system 200 is specifically a pneumatic system, the fluid medium corresponds to a gas.

[0040] As Figure 1 shown, specifically in this embodiment, the piston rod 220 has a T-shaped structure. The piston rod 220 includes a plug body 221 and a rod body 222. The plug body 221 is disposed inside the cylinder body 210 and divides the interior of the cylinder body 210 into two chambers 230. One end of the rod body 222 is disposed outside the cylinder body 210, and the other end of the rod body 222 extends into one of the chambers 230 and is connected to the plug body 221. Specifically, the outer diameter of the plug body 221 matches the inner diameter of the cylinder body 210, and the plug body 221 and the rod body 222 can be integrally formed.

[0041] As Figure 1 shown, in the first embodiment, when the chamber 230 of the cylinder body 210 of the constant force output hydraulic or pneumatic system 202 without the rod body 222 is filled with the fluid medium, the second end of the constant force output hydraulic or pneumatic system 202 outputs a constant thrust.

[0042] As Figure 2 shown, in the second embodiment, when the chamber 230 of the cylinder body 210 of the constant force output hydraulic or pneumatic system 202 with the rod body 222 is filled with the fluid medium, the second end of the constant force output hydraulic or pneumatic system 202 outputs a constant tensile force.

[0043] Furthermore, the multi-stage hydraulic or pneumatic system 200 further includes at least one stage of constant force adjustment hydraulic or pneumatic system 203 disposed between the load-bearing hydraulic or pneumatic system 201 and the constant force output hydraulic or pneumatic system 202.

[0044] By arranging the constant force adjustment hydraulic or pneumatic system 203 inside the constant force pushing device, even for small or medium-sized counterweights 100, a large constant force output can be achieved through the physical structure design of the constant force pushing device, thereby meeting different force requirements in different scenarios and improving the versatility and application range of the constant force pushing device.

[0045] Preferably, by changing the inner diameter of the cylinder block 210 of different - stage hydraulic or pneumatic systems 200 and / or the relative position between the piston rods 220 of different - stage hydraulic or pneumatic systems 200, the magnitude and / or direction of the constant force output at the second end of the piston rod 220 of the constant - force output hydraulic or pneumatic system 202 can be adjusted.

[0046] Further, when the inner diameters of the cylinder blocks 210 of each - stage hydraulic or pneumatic systems 200 are equal, by changing the relative position between the piston rods 220 of different - stage hydraulic or pneumatic systems 200, the magnitude of the constant force output at the second end of the piston rod 220 of the constant - force output hydraulic or pneumatic system 202 remains unchanged, and the direction can be adjusted.

[0047] In an embodiment, the constant - force adjusting hydraulic or pneumatic system 203 includes two stages. The cylinder block 210 of the load - bearing hydraulic or pneumatic system 201 is connected to the cylinder block 210 of the first - stage constant - force adjusting hydraulic or pneumatic system 203 through a fluid - medium pipeline 300. The second end of the piston rod 220 of the first - stage constant - force adjusting hydraulic or pneumatic system 203 is connected to the second end of the piston rod 220 of the second - stage constant - force adjusting hydraulic or pneumatic system 203. The cylinder block 210 of the second - stage constant - force adjusting hydraulic or pneumatic system 203 is connected to the cylinder block 210 of the constant - force output hydraulic or pneumatic system 202 through a fluid - medium pipeline 300;

[0048] The inner diameter of the cylinder block 210 of the first - stage constant - force adjusting hydraulic or pneumatic system 203 is larger than the inner diameter of the cylinder block 210 of the load - bearing hydraulic or pneumatic system 201. The inner diameter of the cylinder block 210 of the first - stage constant - force adjusting hydraulic or pneumatic system 203 is larger than the inner diameter of the cylinder block 210 of the second - stage constant - force adjusting hydraulic or pneumatic system 203. The inner diameter of the cylinder block 210 of the constant - force output hydraulic or pneumatic system 202 is larger than the inner diameter of the cylinder block 210 of the second - stage constant - force adjusting hydraulic or pneumatic system 203;

[0049] The extending direction of the piston rod 220 of each - stage constant - force adjusting hydraulic or pneumatic system 203 and the constant - force output hydraulic or pneumatic system 202 is perpendicular to the extending direction of the piston rod 220 of the load - bearing hydraulic or pneumatic system 201.

[0050] The working principle of the constant - force pushing device in this embodiment is as follows:

[0051] Place the counterweight 100 at the second end of the piston rod 220 of the load-bearing hydraulic or pneumatic system 201. The gravity of the counterweight 100 is transmitted to the first-stage constant-force regulating hydraulic or pneumatic system 203 through a fluid medium (liquid or gas). Since the inner diameter of the cylinder block 210 of the load-bearing hydraulic or pneumatic system 201 is smaller than that of the cylinder block 210 of the first-stage constant-force regulating hydraulic or pneumatic system 203, and the cylinder block 210 of the load-bearing hydraulic or pneumatic system 201 is connected to the cylinder block 210 of the first-stage constant-force regulating hydraulic or pneumatic system 203, the pressures of the liquid media in the two cylinder blocks 210 are equal. According to the mechanical formula: pressure equals pressure * force-bearing area, it can be seen that this scheme setting can achieve a first-stage amplification of the constant force; at the same time, since the second end of the piston rod 220 of the first-stage constant-force regulating hydraulic or pneumatic system 203 is connected to the second end of the piston rod 220 of the second-stage constant-force regulating hydraulic or pneumatic system 203, the first-stage constant-force regulating hydraulic or pneumatic system 203 directly transmits the force to the second-stage constant-force regulating hydraulic or pneumatic system 203 through its piston rod 220; then the second-stage constant-force regulating hydraulic or pneumatic system 203 transmits the force to the constant-force output hydraulic or pneumatic system 202 through the fluid medium. Similarly, since the inner diameter of the cylinder block 210 of the second-stage constant-force regulating hydraulic or pneumatic system 203 is smaller than that of the cylinder block 210 of the constant-force output hydraulic or pneumatic system 202, this scheme setting can achieve a further amplification of the constant force.

[0052] It should be noted that the implementation of this embodiment to achieve two-stage amplification of the constant force by setting two-stage constant-force regulating hydraulic or pneumatic systems 203 is only illustrative. It can be understood that by increasing or decreasing the constant-force regulating hydraulic or pneumatic systems 203 in pairs, one-stage or multiple-stage amplification of the constant force can be achieved. Simplifying the constant-force pushing device or changing or substituting it in a simple way such as increasing the number of constant-force regulating hydraulic or pneumatic systems 203 all belong to the variant design of this application.

[0053] As Figure 1 shown, the constant-force pushing device further includes a medium capacity regulating cylinder 400, and the medium capacity regulating cylinder 400 is connected to the fluid medium pipeline 300. By adjusting the position of the piston rod 220 of the medium capacity regulating cylinder 400, the flow rate of the fluid medium in the fluid medium pipeline 300 is changed, so as to adjust the piston rod 220 of each hydraulic or pneumatic system 200 to a suitable position.

[0054] The constant-force pushing device further includes an adjusting handwheel 410, and the adjusting handwheel 410 is connected to one end of the piston rod of the medium capacity regulating cylinder 400. By setting the adjusting handwheel 410, it is convenient for the operator to apply an external force to the piston rod of the medium capacity regulating cylinder 400, so as to adjust the position of the piston rod of the medium capacity regulating cylinder 400.

[0055] The constant force pushing device further includes a pressure gauge 500. The pressure gauge 500 is connected to the fluid medium pipeline 300. By arranging the pressure gauge 500 on the fluid medium pipeline 300, the pressure condition in the fluid medium pipeline 300 can be recorded in real time. In this way, the operator can flexibly adjust the mass of the counterweight 100 according to the pressure detection result of the pressure gauge 500, so as to adjust the medium pressure in the fluid medium pipeline 300, and then adjust the magnitude of the constant force output of the constant force pushing device. Because when the mass of the counterweight 100 is certain and the inner diameter of the cylinder block 210 of each hydraulic or pneumatic system 200 is certain, it can ensure that the force output by the constant force output hydraulic or pneumatic system 202 is constant, and the magnitude of the output force is not affected by the terminal displacement.

[0056] As Figure 1 shown, the constant force pushing device further includes a fluid medium inlet and outlet pipe 600. The fluid medium inlet and outlet pipe 600 is connected to the fluid medium pipeline 300. The fluid medium inlet and outlet pipe 600 is used for inputting or outputting the fluid medium to or from the fluid medium pipeline 300.

[0057] The constant force pushing device further includes a valve 610. The valve 610 can be but is not limited to a ball valve. The valve 610 is arranged on the fluid medium inlet and outlet pipe 600. The valve 610 is used to control the on and off of the fluid medium inlet and outlet pipe 600. For example, when the valve 610 is opened, through the piston movement of the medium capacity adjusting cylinder 400, the fluid medium can be injected into the fluid medium pipeline 300 and the cylinder blocks 210 of each hydraulic or pneumatic system 200. When the fluid medium is filled, the valve 610 is closed.

[0058] Specifically, each fluid medium pipeline 300 is connected with a medium capacity adjusting cylinder 400, a pressure gauge 500 and a fluid medium inlet and outlet pipe 600.

[0059] As Figure 3 shown, in an embodiment, the constant force pushing device further includes a base 700. Each hydraulic or pneumatic system 200 is installed on the base 700. Specifically, the medium capacity adjusting cylinder 400 is also installed on the base 700.

[0060] The technical features of the above embodiments can be combined arbitrarily. For the sake of brief description, not all possible combinations of the technical features in the above embodiments are described. However, as long as the combinations of these technical features do not conflict, they should be considered as the scope described in this specification.

[0061] The above embodiments only represent the preferred embodiments of the present utility model, and the description thereof is relatively specific and detailed. However, it should not be construed as a limitation to the scope of the utility model patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present utility model, several modifications and improvements can still be made, and these all belong to the protection scope of the present utility model. Therefore, the protection scope of the present utility model patent shall be subject to the appended claims.

Claims

1. A constant force pushing device, characterized in that: include: A counterweight and a multi-stage hydraulic or pneumatic system arranged in sequence, wherein the multi-stage hydraulic or pneumatic system at least includes a load-bearing hydraulic or pneumatic system and a constant-force output hydraulic or pneumatic system, wherein the load-bearing hydraulic or pneumatic system is the first-stage hydraulic or pneumatic system, and the constant-force output hydraulic or pneumatic system is the last-stage hydraulic or pneumatic system; Each level of the hydraulic or pneumatic system includes a cylinder body and a piston rod, wherein the first end of the piston rod is arranged in the cylinder body, and the second end of the piston rod is arranged outside the cylinder body, and the piston rod can be extended and retracted relative to the cylinder body along the axial direction of the hydraulic or pneumatic system, and the second end of the piston rod of the load-bearing hydraulic or pneumatic system is connected to the counterweight, and the piston rod of the load-bearing hydraulic or pneumatic system extends along the gravity direction of the counterweight, wherein the cylinder body of the hydraulic or pneumatic system of one level is connected to the cylinder body of the hydraulic or pneumatic system of another adjacent level through a fluid medium pipeline, or the second end of the piston rod of the hydraulic or pneumatic system of one level is connected to the second end of the piston rod of the hydraulic or pneumatic system of another adjacent level, through the constant gravity output by the counterweight, and combined with the mechanical principle of the fluid medium of the hydraulic or pneumatic system, the second end of the piston rod of the constant force output hydraulic or pneumatic system outputs constant force.

2. The constant force pushing device according to claim 1, characterized in that: The multi-stage hydraulic or pneumatic system also includes at least one stage of constant force regulating hydraulic or pneumatic system arranged between the load-bearing hydraulic or pneumatic system and the constant force output hydraulic or pneumatic system.

3. The constant force pushing device according to claim 2, characterized in that: The constant force regulating hydraulic or pneumatic system comprises two stages, the cylinder of the load-bearing hydraulic or pneumatic system is connected to the cylinder of the constant force regulating hydraulic or pneumatic system of the first stage through a fluid medium pipeline, the second end of the piston rod of the constant force regulating hydraulic or pneumatic system of the first stage is connected to the second end of the piston rod of the constant force regulating hydraulic or pneumatic system of the second stage, and the cylinder of the constant force regulating hydraulic or pneumatic system of the second stage is connected to the cylinder of the constant force output hydraulic or pneumatic system through a fluid medium pipeline; The inner diameter of the cylinder of the first-level constant force regulating hydraulic or pneumatic system is greater than the inner diameter of the cylinder of the load-bearing hydraulic or pneumatic system, the inner diameter of the cylinder of the first-level constant force regulating hydraulic or pneumatic system is greater than the inner diameter of the cylinder of the second-level constant force regulating hydraulic or pneumatic system, and the inner diameter of the cylinder of the constant force output hydraulic or pneumatic system is greater than the inner diameter of the cylinder of the second-level constant force regulating hydraulic or pneumatic system; The extension direction of the piston rods of the constant force regulating hydraulic or pneumatic system at each level and the constant force output hydraulic or pneumatic system is perpendicular to the extension direction of the piston rod of the load-bearing hydraulic or pneumatic system.

4. The constant force pushing device according to claim 1, characterized in that: By changing the inner diameter of the cylinder body of the hydraulic or pneumatic system at different levels and / or the relative position between the piston rods of the hydraulic or pneumatic system at different levels, the magnitude and / or direction of the constant force output by the second end of the piston rod of the constant force output hydraulic or pneumatic system can be adjusted.

5. The constant force pushing device according to claim 4, characterized in that: When the inner diameters of the cylinders of the hydraulic or pneumatic systems at different levels are equal, the relative positions of the piston rods of the hydraulic or pneumatic systems at different levels are changed so that the constant force output by the second end of the piston rod of the constant force output hydraulic or pneumatic system remains unchanged and its direction is adjustable.

6. The constant force pushing device according to claim 1, characterized in that: The piston rod is a T-shaped structure, comprising a plug body and a rod body. The plug body is disposed in the cylinder body and divides the interior of the cylinder body into two chambers. One end of the rod body is disposed outside the cylinder body, and the other end of the rod body extends into one of the chambers and is connected to the plug body.

7. The constant force pushing device according to claim 6, characterized in that: When the cylinder of the constant force output hydraulic or pneumatic system is not provided with the chamber of the rod body and a fluid medium is passed through the chamber, the second end of the constant force output hydraulic or pneumatic system outputs a constant thrust; When the cylinder body of the constant force output hydraulic or pneumatic system is provided with the chamber of the rod body and the fluid medium is passed through the chamber, the second end of the constant force output hydraulic or pneumatic system outputs a constant pulling force.

8. The constant force pushing device according to claim 1, characterized in that: The constant force pushing device also includes a medium capacity adjusting cylinder, and the medium capacity adjusting cylinder is connected to the fluid medium pipeline.

9. The constant force pushing device according to claim 1, characterized in that: The constant force pushing device also includes a pressure gauge, which is connected to the fluid medium pipeline.

10. The constant force pushing device according to claim 1, characterized in that: The constant force pushing device also includes a fluid medium inlet and outlet pipe, which is connected to the fluid medium pipeline and is used for supplying fluid medium into or out of the fluid medium pipeline.

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